2015_robocon_bteam / Mbed 2 deprecated 2015robot_main_zenkoku

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Dependencies:   PID QEI mbed

manualMode.h@32:b8c8ad2eeca7, 2015-11-11 (annotated)

Committer:
DeguNaoto
Date:
Wed Nov 11 06:40:39 2015 +0000
Revision:
32:b8c8ad2eeca7
Parent:
30:cd344beb415d
Child:
33:a4323c20494b
20151110 ???

Who changed what in which revision?

UserRevisionLine numberNew contents of line
DeguNaoto 0:b613dc16f27d 1 #ifndef MANUALMODE_H
DeguNaoto 0:b613dc16f27d 2 #define MANUALMODE_H
DeguNaoto 0:b613dc16f27d 3
DeguNaoto 0:b613dc16f27d 4 void manualIM920()
DeguNaoto 0:b613dc16f27d 5 {
DeguNaoto 0:b613dc16f27d 6 if(b==7){ /*mode change*/
DeguNaoto 0:b613dc16f27d 7 if(edge7){
DeguNaoto 0:b613dc16f27d 8 edge7=0;
DeguNaoto 0:b613dc16f27d 9 autoflag=1;
DeguNaoto 0:b613dc16f27d 10 Indicator4=1;
DeguNaoto 0:b613dc16f27d 11 IndicatorAuto=0;
DeguNaoto 30:cd344beb415d 12 resetState(1);
DeguNaoto 0:b613dc16f27d 13 flaga=0;
DeguNaoto 0:b613dc16f27d 14 step=114;
DeguNaoto 0:b613dc16f27d 15 CStep=114;
DeguNaoto 30:cd344beb415d 16 mstep=114;
DeguNaoto 30:cd344beb415d 17 mCStep=114;
DeguNaoto 3:8d8c25c556ae 18 spcount=speed;
DeguNaoto 26:760f1bce8214 19 dpcount=0.0;
DeguNaoto 0:b613dc16f27d 20 }
DeguNaoto 0:b613dc16f27d 21 }
DeguNaoto 0:b613dc16f27d 22 else if(b==5){
DeguNaoto 0:b613dc16f27d 23 if(edge5){
DeguNaoto 0:b613dc16f27d 24 edge5=0;
DeguNaoto 24:6d2573d6f2b6 25 resetSwingSpeed = 1;
DeguNaoto 24:6d2573d6f2b6 26 interruptSwingSpeed.attach(&countSwingSpeed, 0.05);
DeguNaoto 24:6d2573d6f2b6 27 enableSwing=1;
DeguNaoto 24:6d2573d6f2b6 28 /*for(float i=0.0;i<0.6;i+=0.01){
DeguNaoto 3:8d8c25c556ae 29 Motor_swing=i;
DeguNaoto 24:6d2573d6f2b6 30 wait(0.01);
DeguNaoto 3:8d8c25c556ae 31 }
DeguNaoto 24:6d2573d6f2b6 32 Motor_swing = 0.6;*/
DeguNaoto 3:8d8c25c556ae 33 }
DeguNaoto 3:8d8c25c556ae 34 }
DeguNaoto 3:8d8c25c556ae 35 else if(b==9){
DeguNaoto 3:8d8c25c556ae 36 interruptSwingSpeed.detach();
DeguNaoto 3:8d8c25c556ae 37 targSwingRadVelocity = 0.0;
DeguNaoto 24:6d2573d6f2b6 38 enableSwing=0;
DeguNaoto 3:8d8c25c556ae 39 contSwing.reset();
DeguNaoto 7:4aa57a35ec0b 40 sendData(2,8);
DeguNaoto 3:8d8c25c556ae 41 Motor_swing = 0.0;
DeguNaoto 3:8d8c25c556ae 42 }
DeguNaoto 17:726b6f53a457 43 else if(b==6){
DeguNaoto 17:726b6f53a457 44 if(edge6){
DeguNaoto 17:726b6f53a457 45 edge6=0;
DeguNaoto 32:b8c8ad2eeca7 46 // sendData(1,7);
DeguNaoto 17:726b6f53a457 47 sendData(1,1);
DeguNaoto 32:b8c8ad2eeca7 48 /*wait(0.5);
DeguNaoto 32:b8c8ad2eeca7 49 sendData(1,2);
DeguNaoto 32:b8c8ad2eeca7 50 wait(0.5);
DeguNaoto 32:b8c8ad2eeca7 51 sendData(1,3);
DeguNaoto 32:b8c8ad2eeca7 52 wait(0.5);
DeguNaoto 32:b8c8ad2eeca7 53 sendData(1,4);
DeguNaoto 32:b8c8ad2eeca7 54 wait(0.5);
DeguNaoto 32:b8c8ad2eeca7 55 sendData(1,5);
DeguNaoto 32:b8c8ad2eeca7 56 wait(0.5);
DeguNaoto 32:b8c8ad2eeca7 57 sendData(1,6);*/
DeguNaoto 17:726b6f53a457 58 }
DeguNaoto 17:726b6f53a457 59 }
DeguNaoto 24:6d2573d6f2b6 60 else if(b==8){
DeguNaoto 24:6d2573d6f2b6 61 if(edge8){
DeguNaoto 24:6d2573d6f2b6 62 edge8=0;
DeguNaoto 32:b8c8ad2eeca7 63 targ_sita=PI/4.0;
DeguNaoto 24:6d2573d6f2b6 64 }
DeguNaoto 24:6d2573d6f2b6 65 }
DeguNaoto 27:88863fab46c0 66 else if(b==1){
DeguNaoto 0:b613dc16f27d 67 if(edge1){
DeguNaoto 0:b613dc16f27d 68 edge1=0;
DeguNaoto 0:b613dc16f27d 69 if(stateL!=1) stateL--;
DeguNaoto 0:b613dc16f27d 70 sendData(4,stateL);
DeguNaoto 0:b613dc16f27d 71 }
DeguNaoto 0:b613dc16f27d 72 }
DeguNaoto 26:760f1bce8214 73 else if(b==2){
DeguNaoto 0:b613dc16f27d 74 if(edge2){
DeguNaoto 0:b613dc16f27d 75 edge2=0;
DeguNaoto 0:b613dc16f27d 76 if(stateL!=92) stateL++;
DeguNaoto 0:b613dc16f27d 77 sendData(4,stateL);
DeguNaoto 0:b613dc16f27d 78 }
DeguNaoto 0:b613dc16f27d 79 }
DeguNaoto 26:760f1bce8214 80 else if(b==3){
DeguNaoto 0:b613dc16f27d 81 if(edge3){
DeguNaoto 0:b613dc16f27d 82 edge3=0;
DeguNaoto 0:b613dc16f27d 83 if(stateR!=1) stateR--;
DeguNaoto 0:b613dc16f27d 84 sendData(5,stateR);
DeguNaoto 0:b613dc16f27d 85 }
DeguNaoto 0:b613dc16f27d 86 }
DeguNaoto 26:760f1bce8214 87 else if(b==4){
DeguNaoto 0:b613dc16f27d 88 if(edge4){
DeguNaoto 0:b613dc16f27d 89 edge4=0;
DeguNaoto 0:b613dc16f27d 90 if(stateR!=92) stateR++;
DeguNaoto 0:b613dc16f27d 91 sendData(5,stateR);
DeguNaoto 0:b613dc16f27d 92 }
DeguNaoto 27:88863fab46c0 93 }
DeguNaoto 30:cd344beb415d 94 else if((b==10)&&(!flaga)){ //Swing Start
DeguNaoto 30:cd344beb415d 95 if(edge10){
DeguNaoto 30:cd344beb415d 96 edge10=0;
DeguNaoto 30:cd344beb415d 97 resetState(0);
DeguNaoto 32:b8c8ad2eeca7 98 flagf=0;
DeguNaoto 30:cd344beb415d 99 spcount=0.0;
DeguNaoto 30:cd344beb415d 100 dpcount=0.0;
DeguNaoto 30:cd344beb415d 101 direction_controller.setBias(0.0);
DeguNaoto 32:b8c8ad2eeca7 102 sendData(5,60); //right
DeguNaoto 30:cd344beb415d 103 wait(0.05);
DeguNaoto 32:b8c8ad2eeca7 104 sendData(4,60); //left
DeguNaoto 30:cd344beb415d 105 wait(0.05);
DeguNaoto 32:b8c8ad2eeca7 106 sendData(6,30); //middle
DeguNaoto 30:cd344beb415d 107 stateR = 90;
DeguNaoto 30:cd344beb415d 108 stateL = 90;
DeguNaoto 30:cd344beb415d 109 mstep = 0;
DeguNaoto 30:cd344beb415d 110 mCStep = 0;
DeguNaoto 30:cd344beb415d 111 flaga = 1;
DeguNaoto 26:760f1bce8214 112 }
DeguNaoto 26:760f1bce8214 113 }
DeguNaoto 0:b613dc16f27d 114 if(b!=1) edge1=1;
DeguNaoto 0:b613dc16f27d 115 if(b!=2) edge2=1;
DeguNaoto 0:b613dc16f27d 116 if(b!=3) edge3=1;
DeguNaoto 0:b613dc16f27d 117 if(b!=4) edge4=1;
DeguNaoto 0:b613dc16f27d 118 if(b!=5) edge5=1;
DeguNaoto 21:bdf8ac5c200c 119 if(b!=6) edge6=1;
DeguNaoto 30:cd344beb415d 120 if(b!=7) edge7=1;
DeguNaoto 0:b613dc16f27d 121 if(b!=8) edge8=1;
DeguNaoto 0:b613dc16f27d 122 if(b!=9) edge9=1;
DeguNaoto 30:cd344beb415d 123 if(b!=10) edge10=1;
DeguNaoto 30:cd344beb415d 124 if(b!=11) edge11=1;
DeguNaoto 0:b613dc16f27d 125 }
DeguNaoto 13:57d8e360e9aa 126
DeguNaoto 30:cd344beb415d 127 #endif /*manualMode.h*/