2015_robocon_bteam / Mbed 2 deprecated 2015robot_main_zenkoku

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependencies:   PID QEI mbed

manualMode.h@30:cd344beb415d, 2015-11-10 (annotated)

Committer:
DeguNaoto
Date:
Tue Nov 10 09:42:33 2015 +0000
Revision:
30:cd344beb415d
Parent:
27:88863fab46c0
Child:
32:b8c8ad2eeca7
20151110 ??????????????????????????????????

Who changed what in which revision?

UserRevisionLine numberNew contents of line
DeguNaoto 0:b613dc16f27d 1 #ifndef MANUALMODE_H
DeguNaoto 0:b613dc16f27d 2 #define MANUALMODE_H
DeguNaoto 0:b613dc16f27d 3
DeguNaoto 0:b613dc16f27d 4 void manualIM920()
DeguNaoto 0:b613dc16f27d 5 {
DeguNaoto 0:b613dc16f27d 6 if(b==7){ /*mode change*/
DeguNaoto 0:b613dc16f27d 7 if(edge7){
DeguNaoto 0:b613dc16f27d 8 edge7=0;
DeguNaoto 0:b613dc16f27d 9 autoflag=1;
DeguNaoto 0:b613dc16f27d 10 Indicator4=1;
DeguNaoto 0:b613dc16f27d 11 IndicatorAuto=0;
DeguNaoto 30:cd344beb415d 12 resetState(1);
DeguNaoto 0:b613dc16f27d 13 flaga=0;
DeguNaoto 0:b613dc16f27d 14 step=114;
DeguNaoto 0:b613dc16f27d 15 CStep=114;
DeguNaoto 30:cd344beb415d 16 mstep=114;
DeguNaoto 30:cd344beb415d 17 mCStep=114;
DeguNaoto 3:8d8c25c556ae 18 spcount=speed;
DeguNaoto 26:760f1bce8214 19 dpcount=0.0;
DeguNaoto 0:b613dc16f27d 20 }
DeguNaoto 0:b613dc16f27d 21 }
DeguNaoto 0:b613dc16f27d 22 else if(b==5){
DeguNaoto 0:b613dc16f27d 23 if(edge5){
DeguNaoto 0:b613dc16f27d 24 edge5=0;
DeguNaoto 24:6d2573d6f2b6 25 resetSwingSpeed = 1;
DeguNaoto 24:6d2573d6f2b6 26 interruptSwingSpeed.attach(&countSwingSpeed, 0.05);
DeguNaoto 24:6d2573d6f2b6 27 enableSwing=1;
DeguNaoto 24:6d2573d6f2b6 28 /*for(float i=0.0;i<0.6;i+=0.01){
DeguNaoto 3:8d8c25c556ae 29 Motor_swing=i;
DeguNaoto 24:6d2573d6f2b6 30 wait(0.01);
DeguNaoto 3:8d8c25c556ae 31 }
DeguNaoto 24:6d2573d6f2b6 32 Motor_swing = 0.6;*/
DeguNaoto 3:8d8c25c556ae 33 }
DeguNaoto 3:8d8c25c556ae 34 }
DeguNaoto 3:8d8c25c556ae 35 else if(b==9){
DeguNaoto 3:8d8c25c556ae 36 interruptSwingSpeed.detach();
DeguNaoto 3:8d8c25c556ae 37 targSwingRadVelocity = 0.0;
DeguNaoto 24:6d2573d6f2b6 38 enableSwing=0;
DeguNaoto 3:8d8c25c556ae 39 contSwing.reset();
DeguNaoto 7:4aa57a35ec0b 40 sendData(2,8);
DeguNaoto 3:8d8c25c556ae 41 Motor_swing = 0.0;
DeguNaoto 3:8d8c25c556ae 42 }
DeguNaoto 17:726b6f53a457 43 else if(b==6){
DeguNaoto 17:726b6f53a457 44 if(edge6){
DeguNaoto 17:726b6f53a457 45 edge6=0;
DeguNaoto 17:726b6f53a457 46 sendData(1,1);
DeguNaoto 17:726b6f53a457 47 }
DeguNaoto 17:726b6f53a457 48 }
DeguNaoto 24:6d2573d6f2b6 49 else if(b==8){
DeguNaoto 24:6d2573d6f2b6 50 if(edge8){
DeguNaoto 24:6d2573d6f2b6 51 edge8=0;
DeguNaoto 30:cd344beb415d 52 sendData(1,1);
DeguNaoto 30:cd344beb415d 53 wait(0.5);
DeguNaoto 24:6d2573d6f2b6 54 }
DeguNaoto 24:6d2573d6f2b6 55 }
DeguNaoto 27:88863fab46c0 56 else if(b==1){
DeguNaoto 0:b613dc16f27d 57 if(edge1){
DeguNaoto 0:b613dc16f27d 58 edge1=0;
DeguNaoto 0:b613dc16f27d 59 if(stateL!=1) stateL--;
DeguNaoto 0:b613dc16f27d 60 sendData(4,stateL);
DeguNaoto 0:b613dc16f27d 61 }
DeguNaoto 0:b613dc16f27d 62 }
DeguNaoto 26:760f1bce8214 63 else if(b==2){
DeguNaoto 0:b613dc16f27d 64 if(edge2){
DeguNaoto 0:b613dc16f27d 65 edge2=0;
DeguNaoto 0:b613dc16f27d 66 if(stateL!=92) stateL++;
DeguNaoto 0:b613dc16f27d 67 sendData(4,stateL);
DeguNaoto 0:b613dc16f27d 68 }
DeguNaoto 0:b613dc16f27d 69 }
DeguNaoto 26:760f1bce8214 70 else if(b==3){
DeguNaoto 0:b613dc16f27d 71 if(edge3){
DeguNaoto 0:b613dc16f27d 72 edge3=0;
DeguNaoto 0:b613dc16f27d 73 if(stateR!=1) stateR--;
DeguNaoto 0:b613dc16f27d 74 sendData(5,stateR);
DeguNaoto 0:b613dc16f27d 75 }
DeguNaoto 0:b613dc16f27d 76 }
DeguNaoto 26:760f1bce8214 77 else if(b==4){
DeguNaoto 0:b613dc16f27d 78 if(edge4){
DeguNaoto 0:b613dc16f27d 79 edge4=0;
DeguNaoto 0:b613dc16f27d 80 if(stateR!=92) stateR++;
DeguNaoto 0:b613dc16f27d 81 sendData(5,stateR);
DeguNaoto 0:b613dc16f27d 82 }
DeguNaoto 27:88863fab46c0 83 }
DeguNaoto 30:cd344beb415d 84 else if((b==10)&&(!flaga)){ //Swing Start
DeguNaoto 30:cd344beb415d 85 if(edge10){
DeguNaoto 30:cd344beb415d 86 edge10=0;
DeguNaoto 30:cd344beb415d 87 resetState(0);
DeguNaoto 30:cd344beb415d 88 flagf=1;
DeguNaoto 30:cd344beb415d 89 spcount=0.0;
DeguNaoto 30:cd344beb415d 90 dpcount=0.0;
DeguNaoto 30:cd344beb415d 91 direction_controller.setBias(0.0);
DeguNaoto 30:cd344beb415d 92 sendData(5,90); //right
DeguNaoto 30:cd344beb415d 93 wait(0.05);
DeguNaoto 30:cd344beb415d 94 sendData(4,90); //left
DeguNaoto 30:cd344beb415d 95 wait(0.05);
DeguNaoto 30:cd344beb415d 96 sendData(6,90); //middle
DeguNaoto 30:cd344beb415d 97 stateR = 90;
DeguNaoto 30:cd344beb415d 98 stateL = 90;
DeguNaoto 30:cd344beb415d 99 mstep = 0;
DeguNaoto 30:cd344beb415d 100 mCStep = 0;
DeguNaoto 30:cd344beb415d 101 flaga = 1;
DeguNaoto 26:760f1bce8214 102 }
DeguNaoto 26:760f1bce8214 103 }
DeguNaoto 0:b613dc16f27d 104 if(b!=1) edge1=1;
DeguNaoto 0:b613dc16f27d 105 if(b!=2) edge2=1;
DeguNaoto 0:b613dc16f27d 106 if(b!=3) edge3=1;
DeguNaoto 0:b613dc16f27d 107 if(b!=4) edge4=1;
DeguNaoto 0:b613dc16f27d 108 if(b!=5) edge5=1;
DeguNaoto 21:bdf8ac5c200c 109 if(b!=6) edge6=1;
DeguNaoto 30:cd344beb415d 110 if(b!=7) edge7=1;
DeguNaoto 0:b613dc16f27d 111 if(b!=8) edge8=1;
DeguNaoto 0:b613dc16f27d 112 if(b!=9) edge9=1;
DeguNaoto 30:cd344beb415d 113 if(b!=10) edge10=1;
DeguNaoto 30:cd344beb415d 114 if(b!=11) edge11=1;
DeguNaoto 0:b613dc16f27d 115 }
DeguNaoto 13:57d8e360e9aa 116
DeguNaoto 30:cd344beb415d 117 #endif /*manualMode.h*/