2015_robocon_bteam / Mbed 2 deprecated 2015robot_main_zenkoku

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Dependencies:   PID QEI mbed

main_ps3.cpp

Committer:
DeguNaoto
Date:
2015-11-02
Revision:
12:ffea2f8c861f
Parent:
10:8a2255451513
Child:
18:c127b39b3776

File content as of revision 12:ffea2f8c861f:

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

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

/***コントローラ選択***/
#define IM920
//#define PS3

/***マシン状態計測***/
//#define MESURE

#if defined(IM920) && defined(PS3)
#error Caution, You should define either IM920 or PS3
#endif

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

#include "machine_ps3.h"

#define deff 70.0

Serial pc(USBTX, USBRX);
#ifdef MESURE
short mesureflag=0;
LocalFileSystem local("local");
#endif

int main() {
    Com.attach(&Call,RATE);
#ifdef IM920
    initializeIM920();
#else
    initializeSBDBT();
#endif
    initializeMotors();
    initializeControllers();
    initializeRS485();
#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;
#ifdef MESURE
    FILE *fp_r = fopen("/local/velocity.dat", "w");
    double time=0.0;
#endif
    wait(0.3);
    sendData(7,0);
    while(1) {
        if(autoflag){
#ifdef IM920
            autoIM920(); /*IM920 button*/
#else
            autoPS3();   /*PS3 button*/
#endif
#ifdef BLUE
            //Blue            
            /********************************Nomal Mode*********************************/
            if((step==0)&&((8650.0>x)&&(x>800.0))) {
                targ_sita=0.0;
                step=1;
            }
            if((step==1)&&(x>8600.0+deff)) {
                targ_velocity=0.0;
                direction_controller.setBias(0.0);
                direction_controller.reset();
                velocity_controller.setBias(0.0);
                velocity_controller.reset();
                step=2;
            }
            if((step==2)&&((velocity<500.0)&&(velocity>-500.0))){
                step=3;
                spcount=0.0;
                flagf=0;
                targ_sita=0.0;
            }
//            if((step==3)&&(x<2000.0)) {
            if((step==3)&&(x<1900.0)) {
                targ_sita=PI/4;
                step=4;
            }
            if((step==4)&&(x<100.0)) {
                targ_velocity=0.0;
                step=114;
            }
            /***Cylinder***/
            if((x>3130.0+deff)&&(CStep==1)) { 
                if(!skip) sendData(1,1);
                CStep=2; 
            }
            if((x>5900.0+deff)&&(CStep==2)) {
                if(!skip) sendData(1,3);
                CStep=3;
            }
            if((x>7680.0+deff)&&(CStep==3)) {
                if(!skip) sendData(1,2);
                CStep=4;
            }
            if((x<6580.0+deff)&&(CStep==4)) {
                if(!skip) sendData(1,5);
                CStep=5;
            }
            if((x<6100.0+deff)&&(CStep==5)) {
                if(!skip) sendData(1,4);
                CStep=6;
            }
            if((x<4000.0)&&(CStep==6)){
                sendData(7,0);
                CStep=114;
            }
            /////////////////////////////////////////////////////////////////////////
            /******************************Middle Mode******************************/
            if((step==5)&&((5700.0>x)&&(x>800.0))) {
                targ_sita=0.0;
                step=6;
            }
            if((step==6)&&(x>7000.0)){
                targ_velocity=0.0;
                direction_controller.reset();
                direction_controller.setBias(0.0);
                step=7;
            }
            if((step==7)&&((velocity<500.0)&&(velocity>-500.0))){
                flagf=0;
                spcount=0.0;
                targ_sita=0.0;
                step=8;
            }
            if((step==8)&&(x<1900.0)) {
                targ_sita=PI/4;
                step=9;
            }
            if((step==9)&&(x<-10.0)) {
                targ_velocity=0.0;
                step=114;
            }
            
            if((x>4620.0+deff)&&(CStep==7)){
                sendData(1,5);
                CStep=8;
            }
            if((x>5720.0+deff)&&(CStep==8)){
                sendData(1,4);
                CStep=9;
            }
            if((x<4000.0)&&(CStep==9)){
                sendData(7,0);
                CStep=114;
            }
            /////////////////////////////////////////////////////////////////////////
            /*****************************Opponents Mode****************************/
            if((step==15)&&((5700.0>x)&&(x>50.0))) {
                targ_sita=0.0;
                step=16;
            }
            if((step==16)&&(x>2850.0+deff)){
                targ_velocity=0.0;
                step=17;
            }
            if((step==17)&&((velocity<5000.0)&&(velocity>-5000.0))){
                flagf=0;
                spcount=0.0;
                targ_sita=0.0;
                step=18;
                direction_controller.reset();
                direction_controller.setBias(0.0);
            }
            if((step==18)&&(x<-100.0)){
                targ_velocity=0.0;
                targ_sita=PI/4.0;
                step=114;
            }
            
            if((x>1050.0+deff)&&(CStep==15)){
                sendData(1,5);
                CStep=16;
            }
            if((x>2505.0+deff)&&(CStep==16)){
                sendData(1,4);
                CStep=17;
            }
            if((x<2400.0+deff)&&(CStep==17)){
                sendData(7,0);
                CStep=114;
            }
#else       
            //Red
            /********************************Nomal Mode*********************************/
            if((step==0)&&((8650.0>x)&&(x>800.0))) {
                targ_sita=0.0;
                step=1;
            }
            if((step==1)&&(x>8600.0+deff)) {
                targ_velocity=0.0;
                direction_controller.setBias(0.0);
                direction_controller.reset();
                velocity_controller.setBias(0.0);
                velocity_controller.reset();
                step=2;
            }
            if((step==2)&&((velocity<500.0)&&(velocity>-500.0))){
                step=3;
                spcount=0.0;
                flagf=0;
                targ_sita=0.0;
            }
            if((step==3)&&(x<1850.0)) {
                targ_sita=-PI/4;
                step=4;
            }
            if((step==4)&&(x<100.0)) {
                targ_velocity=0.0;
                step=114;
            }
            /***Cylinder***/
            if((x>3100.0+deff)&&(CStep==1)) { 
                if(!skip) sendData(1,1);
                CStep=2; 
            }
            if((x>6000.0+deff)&&(CStep==2)) {
                if(!skip) sendData(1,2);
                CStep=3;
            }
            if((x>7680.0+deff)&&(CStep==3)) {
                if(!skip) sendData(1,3);
                CStep=4;
            }
            if((x<6730.0+deff)&&(CStep==4)) {
                if(!skip) sendData(1,4);
                CStep=5;
            }
            if((x<6170.0+deff)&&(CStep==5)) {
                if(!skip) sendData(1,5);
                CStep=6;
            }
            if((x<4000.0)&&(CStep==6)){
                sendData(7,0);
                CStep=114;
            }
            /////////////////////////////////////////////////////////////////////////
            /******************************Middle Mode******************************/
            if((step==5)&&((5700.0>x)&&(x>800.0))) {
                targ_sita=-0.025;
                step=6;
            }
            if((step==6)&&(x>7000.0)){
                targ_velocity=0.0;
                direction_controller.reset();
                direction_controller.setBias(0.0);
                step=7;
            }
            if((step==7)&&((velocity<500.0)&&(velocity>-500.0))){
                flagf=0;
                spcount=0.0;
                targ_sita=-0.035;
                step=8;
            }
            if((step==8)&&(x<1820.0)) {
                targ_sita=-PI/4;
                step=9;
            }
            if((step==9)&&(x<-10.0)) {
                targ_velocity=0.0;
                step=114;
            }
            
            if((x>4690.0+deff)&&(CStep==7)){
                sendData(1,4);
                CStep=8;
            }
            if((x>5790.0+deff)&&(CStep==8)){
                sendData(1,5);
                CStep=9;
            }
            if((x<4000.0)&&(CStep==9)){
                sendData(7,0);
                CStep=114;
            }
            /////////////////////////////////////////////////////////////////////////
            /*****************************Opponents Mode****************************/
            if((step==15)&&((5700.0>x)&&(x>50.0))) {
                targ_sita=-0.025;
                step=16;
            }
            if((step==16)&&(x>2850.0+deff)){
                targ_velocity=0.0;
                step=17;
            }
            if((step==17)&&((velocity<5000.0)&&(velocity>-5000.0))){
                flagf=0;
                spcount=0.0;
                targ_sita=-0.035;
                step=18;
                direction_controller.reset();
                direction_controller.setBias(0.0);
            }
            if((step==18)&&(x<-100.0)){
                targ_velocity=0.0;
                targ_sita=-PI/4.0;
                step=114;
            }
            
            if((x>1400.0+deff)&&(CStep==15)){
                sendData(1,4);
                CStep=16;
            }
            if((x>2700.0+deff)&&(CStep==16)){
                sendData(1,5);
                CStep=17;
            }
            if((x<2400.0+deff)&&(CStep==17)){
                sendData(7,0);
                CStep=114;
                
            }
#endif
#ifdef MESURE
            if(down) fclose(fp_r);
            if(b==9) fclose(fp_r);
#endif
//            mesure_state();   /*位置測定*/
//            move_following(); /*移動制御*/
        }
        else if(!autoflag) {
            flaga=0;
            mesureSwing();
#ifdef IM920
            manualMoveIM920(); /*analogStick*/
            manualIM920();     /*IM920 button*/
#else
            manualMovePS3();   /*analogStick*/
            manualPS3();       /*PS3 button*/
#endif
        }
        /***update state***/ 
#ifdef IM920
        readIM920();
#endif
        pc.printf("x:%f,y:%f\r\n",x,y);
//        wait(RATE);

//        pc.printf("%f\r\n",(float)((((2.0 * PI) / swingRadVelocity) / 4.0)));
    }
}