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Dependencies:   PID QEI mbed

manualMode.h

Committer:
DeguNaoto
Date:
2015-11-13
Revision:
34:aa2a5c888a27
Parent:
33:a4323c20494b
Child:
36:b8954b13a6d5

File content as of revision 34:aa2a5c888a27:

#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==9){
        if(edge9){
            edge9=0;
            toggle9=!toggle9;
            if(toggle9){
//              swingspeed=15.0;
//                swingspeed=20.0;
                swingspeed=25.0;
                resetSwingSpeed = 1;
                interruptSwingSpeed.attach(&countSwingSpeed, 0.05);
                enableSwing=1;
                /*for(float i=0.0;i<1.0;i+=0.01){
                    Motor_swing=i;
                    wait(0.01);
                }
                Motor_swing = 1.0;*/
            }
            else{
                interruptSwingSpeed.detach();
                targSwingRadVelocity = 0.0;
                enableSwing=0;
                contSwing.reset();
                Motor_swing = 0.0;
            }
        }
    }
    else if(b==10){
        if(edge10){
            edge10=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;
        }
    }
    //Move
    if(b==2){
        flagf=1;
        targ_velocity=speed;
        move=1;
    }
    else if(b==3){
        flagf=0;
        targ_velocity=speed;
        move=1;
    }
    else if(move){
        move=0;
        targ_velocity=0.0;
    }
    if(b==1){
        if(edge1){
            edge1=0;
#ifdef BLUE
            targ_sita+=PI/4.0;
#else 
            targ_sita-=PI/4.0;
#endif
        }
    }
    else if(b==4){
        if(edge4){
            edge4=0;
#ifdef BLUE
            targ_sita-=PI/4.0;
#else
            targ_sita+=PI/4.0;
#endif
        }
    }
    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*/