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

Committer:
DeguNaoto
Date:
2015-11-12
Revision:
33:a4323c20494b
Parent:
32:b8c8ad2eeca7
Child:
34:aa2a5c888a27

File content as of revision 33:a4323c20494b:

#ifndef MANUALMODE_H
#define MANUALMODE_H

void manualIM920()
{
    /*if(b==7){  //mode change
        if(edge7){
            edge7=0;
            autoflag=1;
            Indicator4=1;
            IndicatorAuto=0;
            resetState(1);
            flaga=0;
            step=114;
            CStep=114;
            mstep=114;
            mCStep=114;
            spcount=speed;
            dpcount=0.0;
        }
    }*/
    if(modeflag){  //mode change
        autoflag=1;
        Indicator4=1;
        IndicatorAuto=0;
        resetState(1);
        flaga=0;
        step=114;
        CStep=114;
        mstep=114;
        mCStep=114;
        spcount=speed;
        dpcount=0.0;
    }
    if(b==1){
        if(edge1){
            edge1=0;
//            swingspeed=15.0;
            swingspeed=20.0;
            resetSwingSpeed = 1;
            interruptSwingSpeed.attach(&countSwingSpeed, 0.05);
            enableSwing=1;
            /*for(float i=0.0;i<0.6;i+=0.01){
                Motor_swing=i;
                wait(0.01);
            }
            Motor_swing = 0.6;*/
        }
    }
    else if(b==3){
        if(edge1){
            edge1=0;
            swingspeed=20.0;
            resetSwingSpeed = 1;
            interruptSwingSpeed.attach(&countSwingSpeed, 0.05);
            enableSwing=1;
        }
    }
    else if(b==4){
        interruptSwingSpeed.detach();
        targSwingRadVelocity = 0.0;
        enableSwing=0;
        contSwing.reset();
        sendData(2,8);
        Motor_swing = 0.0;
    }
    else if(b==2){
        if(edge2){
            edge2=0;
            enableShoot=!enableShoot;
            if(enableShoot) sendData(1,11);
            else sendData(1,12);
        }
    }
    else if((b==5)&&(!flaga)){ //Swing Start
        if(edge5){
            edge5=0;
            resetState(0);
            flagf=0;
            spcount=0.0;
            dpcount=0.0;
            direction_controller.setBias(0.0);
            sendData(5,60); //right
            wait(0.05);
            sendData(4,60); //left
            wait(0.05);
            sendData(6,30); //middle
            stateR = 90;
            stateL = 90;
            mstep   = 0;
            mCStep  = 114;
            flaga  = 1;
        }
    }
    else if((b==8)&&(!flaga)){
        if(edge8){
            edge8=0;
            resetState(1);
            flagf=1;
            spcount=0.0;
            dpcount=0.0;
            direction_controller.setBias(0.0);
#ifdef BLUE
            sendData(5,60); //right
            wait(0.05);
            sendData(4,60); //left
            wait(0.05);
            sendData(6,10); //middle
            stateR = 69;
            stateL = 69;
#else       
            sendData(5,60); //right
            wait(0.05);
            sendData(4,60); //left
            wait(0.05);
            sendData(6,10); //middle
            stateR = 69;
            stateL = 69;
#endif
            stateR = 90;
            stateL = 90;
            mstep  = 10;
            mCStep = 0;
            flaga  = 1;
        }
    }
    if(b!=1) edge1=1;
    if(b!=2) edge2=1;
    if(b!=3) edge3=1;
    if(b!=4) edge4=1;
    if(b!=5) edge5=1;
    if(b!=6) edge6=1;
    if(b!=7) edge7=1;
    if(b!=8) edge8=1;
    if(b!=9) edge9=1;
    if(b!=10) edge10=1;
    if(b!=11) edge11=1;
}

#endif /*manualMode.h*/