2015_robocon_bteam / Mbed 2 deprecated 2015robot_main_zenkoku

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Dependencies:   PID QEI mbed

autoMode.h

Committer:
DeguNaoto
Date:
2015-11-10
Revision:
30:cd344beb415d
Parent:
29:460e49e37048
Child:
32:b8c8ad2eeca7

File content as of revision 30:cd344beb415d:

#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;
        }
    }
    else 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(5,67); //right
            wait(0.05);
            sendData(4,67); //left
            wait(0.05);
            sendData(6,60); //middle
            stateR = 69;
            stateL = 69;
            /*sendData(5,65); //right
            wait(0.05);
            sendData(4,65); //left
            wait(0.05);
            sendData(6,10); //middle
            stateR = 69;
            stateL = 69;*/
#else       
            sendData(5,69); //right
            wait(0.05);
            sendData(4,69); //left
            wait(0.05);
            sendData(6,69); //middle
            stateR = 69;
            stateL = 69;
#endif
            step   = 0;
            CStep  = 0;
            flaga  = 1;
        }
    }
    else if((b==9)&&(!flaga)){ //Own & Opponent Start
        if(edge9){
            edge9=0;
            resetState(1);
            flagf=1;
            spcount=0.0;
            dpcount=0.0;
            direction_controller.setBias(0.0);
#ifdef BLUE
            sendData(5,67); //right
            wait(0.05);
            sendData(4,67); //left
            wait(0.05);
            sendData(6,60); //middle
            stateR = 69;
            stateL = 69;
            /*sendData(5,65); //right
            wait(0.05);
            sendData(4,65); //left
            wait(0.05);
            sendData(6,10); //middle
            stateR = 69;
            stateL = 69;*/
#else       
            sendData(5,69); //right
            wait(0.05);
            sendData(4,69); //left
            wait(0.05);
            sendData(6,69); //middle
            stateR = 69;
            stateL = 69;
#endif
            step   = 10;
            CStep  = 10;
            flaga  = 1;
        }
    }
    /*if(a2){
        skip = 1;
    }
    else if(!a2){
        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*/