2015_robocon_bteam / Mbed 2 deprecated 2015robot_main_zenkoku

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Dependencies:   PID QEI mbed

autoMode.h

Committer:
DeguNaoto
Date:
2015-11-19
Revision:
43:a7423cfee3c8
Parent:
39:5ba406327aa3

File content as of revision 43:a7423cfee3c8:

#ifndef AUTOMODE_H
#define AUTOMODE_H

/***PID Controller***/
PID velocity_controller(9.0,5274.0,0.0,RATE);
PID direction_controller(36.0,3.5,0.0,RATE);
//PID direction_controller(36.0,3.0,0.0,RATE);

/***IM920 correspondence***/
void autoIM920() {
    /*if(b==7){  //mode change
        if(edge7) {
            edge7=0;
            autoflag=0;
            Indicator4=0;
            IndicatorAuto=1;
            targ_velocity=0.0;
            resetState(0);
            flaga=0;
            step=114;
            CStep=114;
            mstep=114;
            mCStep=114;
            spcount=speed;
            dpcount=0.0;
        }
    }*/
    if(!modeflag){  //mode change
        autoflag=0;
        Indicator4=0;
        IndicatorAuto=1;
        targ_velocity=0.0;
        resetState(1);
        flaga=0;
        step=114;
        CStep=114;
        mstep=114;
        mCStep=114;
        spcount=speed;
        dpcount=0.0;
        swingmoved=0;
    }
    if((b==6)&&(!flaga)){ //Own & Middle Start
        if(edge6){
            edge6=0;
            resetState(1);
            flagf=1;
            spcount=0.0;
            dpcount=0.0;
            direction_controller.setBias(0.0);
#ifdef BLUE
            sendData(5,70); //over
//            sendData(5,68); //over
            wait(0.05);
            sendData(4,69); //front
//            sendData(4,68); //front
            wait(0.05);
            sendData(6,14); //middle
//            sendData(6,7); //middle
            stateR = 69;
            stateL = 69;
#else       
            sendData(4,70); //over
//            sendData(5,68); //over
            wait(0.05);
            sendData(5,70); //front
//            sendData(4,68); //front
            wait(0.05);
            sendData(6,14); //middle
//            sendData(6,7); //middle
            stateR = 69;
            stateL = 69;
#endif
            step   = 0;
            CStep  = 0;
            flaga  = 1;
        }
    }
    else if((b==5)&&(!flaga)){ //Own & Opponent Start
        if(edge5){
            edge5=0;
            resetState(1);
            flagf=1;
            spcount=0.0;
            dpcount=0.0;
            direction_controller.setBias(0.0);
#ifdef BLUE
            sendData(5,65); 
//            sendData(5,67); //over cylinder4
            wait(0.05);
            sendData(4,67); 
//            sendData(4,75); //front
            wait(0.05);
            sendData(6,1); //middle
            stateR = 69;
            stateL = 69;
#else       
//            sendData(4,65); 
            sendData(4,67); //over cylinder6
            wait(0.05);
//            sendData(5,75); 
            sendData(5,72); //front cylinder4
            wait(0.05);
//            sendData(6,1); //middle
            sendData(6,3); //middle
            stateR = 69;
            stateL = 69;
#endif
            step   = 10;
            CStep  = 10;
            flaga  = 1;
        }
    }
    if((b==8)&&(!flaga)){ //Middle Start
        if(edge8){
            edge8=0;
            resetState(1);
            flagf=1;
            spcount=0.0;
            dpcount=0.0;
            direction_controller.setBias(0.0);
#ifdef BLUE
            sendData(5,70); //over
//            sendData(5,69); //over
            wait(0.05);
            sendData(4,69); //front
//            sendData(4,71); //front
            wait(0.05);
            sendData(6,11); //middle
//            sendData(6,7); //middle
            stateR = 69;
            stateL = 69;
#else       
//            sendData(4,68); //over
            sendData(4,69); //over
            wait(0.05);
            sendData(5,70); //front
//            sendData(4,71); //front
            wait(0.05);
//            sendData(6,11); //middle
            sendData(6,12); //middle
            stateR = 69;
            stateL = 69;
#endif
            step   = 0;
            CStep  = 4;
            flaga  = 1;
        }
    }
    /*else if(b==1){
        if(edge1){
            edge1=0;
            sendData(1,5);
        }
    }
    else if(b==2){
        if(edge2){
            edge2=0;
            sendData(1,4);
        }
    }
    else if(b==3){
        if(edge3){
            edge3=0;
            sendData(1,6);
        }
    }
    else if(b==4){
        if(edge4){
            edge4=0;
            sendData(1,8);
        }
    }*/
    if(b==7){
        skip = 1;
    }
    else{
        skip = 0;
    }
//    skip=0;
    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 /*autoMode.h*/