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Dependencies:   PID QEI mbed

autoMode.h@33:a4323c20494b, 2015-11-12 (annotated)

Committer:
DeguNaoto
Date:
Thu Nov 12 07:23:30 2015 +0000
Revision:
33:a4323c20494b
Parent:
32:b8c8ad2eeca7
Child:
34:aa2a5c888a27
20151111 ???

Who changed what in which revision?

UserRevisionLine numberNew contents of line
DeguNaoto 0:b613dc16f27d 1 #ifndef AUTOMODE_H
DeguNaoto 0:b613dc16f27d 2 #define AUTOMODE_H
DeguNaoto 0:b613dc16f27d 3
DeguNaoto 0:b613dc16f27d 4 /***PID Controller***/
DeguNaoto 26:760f1bce8214 5 PID velocity_controller(9.0,5274.0,0.0,RATE);
DeguNaoto 26:760f1bce8214 6 PID direction_controller(36.0,3.5,0.0,RATE);
DeguNaoto 0:b613dc16f27d 7 //PID direction_controller(36.0,3.0,0.0,RATE);
DeguNaoto 0:b613dc16f27d 8
DeguNaoto 0:b613dc16f27d 9 /***IM920 correspondence***/
DeguNaoto 0:b613dc16f27d 10 void autoIM920() {
DeguNaoto 33:a4323c20494b 11 /*if(b==7){ //mode change
DeguNaoto 0:b613dc16f27d 12 if(edge7) {
DeguNaoto 0:b613dc16f27d 13 edge7=0;
DeguNaoto 0:b613dc16f27d 14 autoflag=0;
DeguNaoto 0:b613dc16f27d 15 Indicator4=0;
DeguNaoto 0:b613dc16f27d 16 IndicatorAuto=1;
DeguNaoto 26:760f1bce8214 17 targ_velocity=0.0;
DeguNaoto 30:cd344beb415d 18 resetState(0);
DeguNaoto 0:b613dc16f27d 19 flaga=0;
DeguNaoto 30:cd344beb415d 20 step=114;
DeguNaoto 30:cd344beb415d 21 CStep=114;
DeguNaoto 30:cd344beb415d 22 mstep=114;
DeguNaoto 30:cd344beb415d 23 mCStep=114;
DeguNaoto 26:760f1bce8214 24 spcount=speed;
DeguNaoto 26:760f1bce8214 25 dpcount=0.0;
DeguNaoto 0:b613dc16f27d 26 }
DeguNaoto 33:a4323c20494b 27 }*/
DeguNaoto 33:a4323c20494b 28 if(!modeflag){ //mode change
DeguNaoto 33:a4323c20494b 29 autoflag=0;
DeguNaoto 33:a4323c20494b 30 Indicator4=0;
DeguNaoto 33:a4323c20494b 31 IndicatorAuto=1;
DeguNaoto 33:a4323c20494b 32 targ_velocity=0.0;
DeguNaoto 33:a4323c20494b 33 resetState(1);
DeguNaoto 33:a4323c20494b 34 flaga=0;
DeguNaoto 33:a4323c20494b 35 step=114;
DeguNaoto 33:a4323c20494b 36 CStep=114;
DeguNaoto 33:a4323c20494b 37 mstep=114;
DeguNaoto 33:a4323c20494b 38 mCStep=114;
DeguNaoto 33:a4323c20494b 39 spcount=speed;
DeguNaoto 33:a4323c20494b 40 dpcount=0.0;
DeguNaoto 0:b613dc16f27d 41 }
DeguNaoto 33:a4323c20494b 42 if((b==6)&&(!flaga)){ //Own & Middle Start
DeguNaoto 0:b613dc16f27d 43 if(edge6){
DeguNaoto 0:b613dc16f27d 44 edge6=0;
DeguNaoto 30:cd344beb415d 45 resetState(1);
DeguNaoto 0:b613dc16f27d 46 flagf=1;
DeguNaoto 0:b613dc16f27d 47 spcount=0.0;
DeguNaoto 26:760f1bce8214 48 dpcount=0.0;
DeguNaoto 2:738b28f6a04b 49 direction_controller.setBias(0.0);
DeguNaoto 0:b613dc16f27d 50 #ifdef BLUE
DeguNaoto 33:a4323c20494b 51 sendData(5,69); //over
unicore32 29:460e49e37048 52 wait(0.05);
DeguNaoto 33:a4323c20494b 53 sendData(4,68); //front
unicore32 29:460e49e37048 54 wait(0.05);
DeguNaoto 33:a4323c20494b 55 sendData(6,7); //middle
unicore32 29:460e49e37048 56 stateR = 69;
unicore32 29:460e49e37048 57 stateL = 69;
DeguNaoto 0:b613dc16f27d 58 #else
DeguNaoto 0:b613dc16f27d 59 sendData(5,69); //right
DeguNaoto 0:b613dc16f27d 60 wait(0.05);
DeguNaoto 0:b613dc16f27d 61 sendData(4,69); //left
DeguNaoto 17:726b6f53a457 62 wait(0.05);
DeguNaoto 27:88863fab46c0 63 sendData(6,69); //middle
DeguNaoto 0:b613dc16f27d 64 stateR = 69;
DeguNaoto 0:b613dc16f27d 65 stateL = 69;
DeguNaoto 0:b613dc16f27d 66 #endif
DeguNaoto 0:b613dc16f27d 67 step = 0;
DeguNaoto 30:cd344beb415d 68 CStep = 0;
DeguNaoto 30:cd344beb415d 69 flaga = 1;
DeguNaoto 30:cd344beb415d 70 }
DeguNaoto 30:cd344beb415d 71 }
DeguNaoto 33:a4323c20494b 72 else if((b==5)&&(!flaga)){ //Own & Opponent Start
DeguNaoto 33:a4323c20494b 73 if(edge5){
DeguNaoto 33:a4323c20494b 74 edge5=0;
DeguNaoto 30:cd344beb415d 75 resetState(1);
DeguNaoto 30:cd344beb415d 76 flagf=1;
DeguNaoto 30:cd344beb415d 77 spcount=0.0;
DeguNaoto 30:cd344beb415d 78 dpcount=0.0;
DeguNaoto 30:cd344beb415d 79 direction_controller.setBias(0.0);
DeguNaoto 30:cd344beb415d 80 #ifdef BLUE
DeguNaoto 33:a4323c20494b 81 sendData(5,60); //right
DeguNaoto 30:cd344beb415d 82 wait(0.05);
DeguNaoto 33:a4323c20494b 83 sendData(4,60); //left
DeguNaoto 30:cd344beb415d 84 wait(0.05);
DeguNaoto 30:cd344beb415d 85 sendData(6,10); //middle
DeguNaoto 30:cd344beb415d 86 stateR = 69;
DeguNaoto 33:a4323c20494b 87 stateL = 69;
DeguNaoto 30:cd344beb415d 88 #else
DeguNaoto 30:cd344beb415d 89 sendData(5,69); //right
DeguNaoto 30:cd344beb415d 90 wait(0.05);
DeguNaoto 30:cd344beb415d 91 sendData(4,69); //left
DeguNaoto 30:cd344beb415d 92 wait(0.05);
DeguNaoto 30:cd344beb415d 93 sendData(6,69); //middle
DeguNaoto 30:cd344beb415d 94 stateR = 69;
DeguNaoto 30:cd344beb415d 95 stateL = 69;
DeguNaoto 30:cd344beb415d 96 #endif
DeguNaoto 30:cd344beb415d 97 step = 10;
DeguNaoto 30:cd344beb415d 98 CStep = 10;
DeguNaoto 0:b613dc16f27d 99 flaga = 1;
DeguNaoto 0:b613dc16f27d 100 }
DeguNaoto 0:b613dc16f27d 101 }
DeguNaoto 21:bdf8ac5c200c 102 /*if(a2){
DeguNaoto 0:b613dc16f27d 103 skip = 1;
DeguNaoto 0:b613dc16f27d 104 }
DeguNaoto 0:b613dc16f27d 105 else if(!a2){
DeguNaoto 0:b613dc16f27d 106 skip = 0;
DeguNaoto 21:bdf8ac5c200c 107 }*/
DeguNaoto 21:bdf8ac5c200c 108 skip=0;
DeguNaoto 0:b613dc16f27d 109 if(b!=1) edge1=1;
DeguNaoto 0:b613dc16f27d 110 if(b!=2) edge2=1;
DeguNaoto 0:b613dc16f27d 111 if(b!=3) edge3=1;
DeguNaoto 0:b613dc16f27d 112 if(b!=4) edge4=1;
DeguNaoto 0:b613dc16f27d 113 if(b!=5) edge5=1;
DeguNaoto 0:b613dc16f27d 114 if(b!=6) edge6=1;
DeguNaoto 0:b613dc16f27d 115 if(b!=7) edge7=1;
DeguNaoto 0:b613dc16f27d 116 if(b!=8) edge8=1;
DeguNaoto 0:b613dc16f27d 117 if(b!=9) edge9=1;
DeguNaoto 30:cd344beb415d 118 if(b!=10) edge10=1;
DeguNaoto 30:cd344beb415d 119 if(b!=11) edge11=1;
DeguNaoto 0:b613dc16f27d 120 }
DeguNaoto 0:b613dc16f27d 121
DeguNaoto 0:b613dc16f27d 122
DeguNaoto 30:cd344beb415d 123 #endif /*autoMode.h*/