File content as of revision 33:a4323c20494b:

/**
 * This program is written in main micro computer "mbed" for 2015 NHK Robot Contest (Bteam).
 */

/***コース選択***/
#define BLUE
//#define RED

/***マシン状態計測***/
//#define MESURE

#if defined(BLUE) && defined(RED)
#error Caution, You should define either BLUE or RED
#endif

#include "machine_ps3.h"

Serial pc(USBTX, USBRX);

//LocalFileSystem local("local");

int main() {
//    FILE *fp_r = fopen("/local/velocity.dat", "w");
    Com.attach(&Call,RATE);
    initializeMotors();
    initializeControllers();
    initializeRS485();
    initializeMbedSerial();
    initializeSwing();
#ifdef BLUE
    sita=PI/4.0,targ_sita=PI/4.0;
    IndicatorBLUE = 1;
#else
    sita=-PI/4.0,targ_sita=-PI/4.0;
    IndicatorRED = 1;
#endif
    Indicator4=1;
    Enable=1;
    wait(0.3);
    sendData(7,0);
    while(1) {
//        if(modeflag){
        if(autoflag){
            autoIM920(); /*IM920 button*/
#ifdef BLUE
            /********************************Own & Middle Mode*********************************/
            if((step==0)&&((10000.0>x)&&(x>1000.0))) {
                targ_sita=-0.03;
//                targ_sita=0.0;
                step=1;
            }
            if((step==1)&&(x>9000.0)) {
                targ_velocity=0.0;
                velocity_controller.setBias(0.0);
                velocity_controller.reset();
//                dpcount=speed;
                step=2;
            }
            if((step==2)&&((velocity<500.0)&&(velocity>-500.0))){
                step=3;
                spcount=0.0;
                flagf=0;
//                targ_sita=0.0;
                targ_sita=-0.03;
            }
            if((step==3)&&(x<1700.0)) {
                targ_sita=PI/4;
                step=4;
            }
            if((step==4)&&(x<800.0)) {
                dpcount=speed;
                step=114;
            }
            
            //Cylinder
            if((x>3250.0)&&(CStep==0)) { 
                if(!skip) sendData(1,1);
                CStep=1; 
            }
            if((x>6200.0)&&(CStep==1)) {
                if(!skip) sendData(1,2);
                CStep=2;
            }
            if((x>7800.0)&&(CStep==2)) {
                if(!skip) sendData(1,3);
                CStep=3;
            }
            if((x<7000.0)&&(CStep==3)) {
                if(!skip) sendData(1,4); //over
                CStep=4;
            }
            if((x<6920.0)&&(CStep==4)) {
                if(!skip) sendData(1,5); //middle
                CStep=5;
            }
            if((x<6900.0)&&(CStep==5)) {
                if(!skip) sendData(1,6); //front
                CStep=6;
            }
            if((x<3000.0)&&(CStep==6)){
                sendData(7,0);
                CStep=114;
            }
            
            /********************************Own & Opponent Mode*********************************/
            if((step==10)&&((10000.0>x)&&(x>700.0))) {
                targ_sita=-0.03;
//                targ_sita=0.0;
                step=11;
            }
            if((step==11)&&(x>10000.0)) {
                targ_velocity=0.0;
                velocity_controller.setBias(0.0);
                velocity_controller.reset();
                step=12;
            }
            if((step==12)&&((velocity<500.0)&&(velocity>-500.0))){
                step=13;
                spcount=0.0;
                flagf=0;
//                targ_sita=0.0;
                targ_sita=-0.03;
            }
            if((step==13)&&(x<1400.0)) {
                targ_sita=PI/4;
                step=14;
            }
            if((step==14)&&(x<600.0)) {
                dpcount=speed;
                step=114;
            }
            
            //Cylinderd
            if((x>9500.0)&&(CStep==10)) CStep=11;
            if((x<9400.0)&&(CStep==11)) {
                if(!skip) sendData(1,4);
                CStep=12;
            }
            if((x<6900.0)&&(CStep==12)) {
                if(!skip) sendData(1,5);
                CStep=13;
            }
            if((x<5350.0)&&(CStep==13)) {
                if(!skip) sendData(1,6);
                CStep=14;
            }
            if((x<1000.0)&&(CStep==14)){
                sendData(7,0);
                CStep=114;
            }
#else
#endif
        }
//        else if(!modeflag) {
        else if(!autoflag){
            manualIM920();     /*IM920 button*/
            /********************************Swing Mode*********************************/
            if((mstep==0)&&((10000.0>x)&&(x>1700.0))) {
                dpcount=speed;
                mstep=1;
            }
            if((mstep==1)&&((velocity<5.0)&&(velocity>-5.0))){
                targ_velocity=PI/4.0;
                mstep=114;
            }
            
            /********************************Opponent Struct Mode*********************************/
            if((mstep==10)&&((10000.0>x)&&(x>1150.0))) {
                targ_sita=-0.03;
//                targ_sita=0.0;
                mstep=11;
            }
            /*if((mstep==11)&&(x>8000.0)) {
                targ_velocity=0.0;   
                mstep=13;
            }*/
            if((mstep==11)&&(x>8000.0)) {
                targ_sita=-PI/4.0;   
                mstep=12;
            }
            if((mstep==12)&&(x>8700.0)) {
                targ_velocity=0.0;   
                mstep=13;
            }
            if((mstep==13)&&((velocity<5.0)&&(velocity>-5.0))){
                targ_sita=0.0;
                mstep=14;
            }
            /*if((mstep==14)&&((sita<0.01)&&(sita>-0.01))){
                sendData(1,6);
                mstep=114;
            }*/
            /*if((mCStep==0)&&(x>7100.0)){
                sendData(1,4);
                mCStep=114;
            }*/
        }
        pc.printf("b:%d\r\n",swingRadVelocity);
//        pc.printf("Swing:%f\r\n",SwingSens.getPulses());
//        pc.printf("x:%f ,y:%f ,sita:%f ,r:%f\r\n",x,y,sita,Pulses_move_r);
    }
}