Revision 0:44f9a43e4ab2, committed 2020-02-25

Comitter:

yuki0701

Date:

Tue Feb 25 01:20:43 2020 +0000

Commit message:

a;

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/CruizCore_R1370P.lib	Tue Feb 25 01:20:43 2020 +0000
@@ -0,0 +1,1 @@
+http://os.mbed.com/teams/ROBOSTEP_LIBRARY/code/CruizCore_R1370P/#b034f6d0b378

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/CruizCore_R6093U.lib	Tue Feb 25 01:20:43 2020 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/teams/2019-11/code/CruizCore_R6093U/#56f68dbbd195

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/EC.lib	Tue Feb 25 01:20:43 2020 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/teams/2019-11/code/EC/#bb5068ea1444

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/can/can.cpp	Tue Feb 25 01:20:43 2020 +0000
@@ -0,0 +1,86 @@
+#include "mbed.h"
+#include "PathFollowing.h"
+#include "movement.h"
+#include "manual.h"
+#include "can.h"
+
+CAN can1(p30,p29);
+Ticker can_ticker;  //can用ticker
+
+DigitalOut cansend_led(LED1);  //cansend -> on
+DigitalOut canread_led(LED2);  //canread -> on
+
+int t1_r=0, T1=0; //動作番号（受け取った値、送信する値（int型））
+int k = 0;
+
+void can_readsend()
+{
+    CANMessage msg;
+    if(can1.read(msg)) {
+        //printf(" CAN success\n\r");
+        if(msg.id == 2) {
+            t1_r = msg.data[0];
+            //printf("main T1 = %d  t1_r = %d\n\r",T1,t1_r);
+        }
+
+    } else {
+        canread_led = 0;
+        //printf("fale\n\r");
+    }
+ /*   if(k > 100){
+           printf("T1 in can_read = %d\n\r",T1);
+           k = 0;
+    }
+    k++;*/
+    can_num[0] = T1;  //動作番号（id節約のため、can_ashileddata[]と一緒に送る）
+    //can_num[0] = 1;
+    
+    can_ashileddata2[0] = m1 >> 8;
+    can_ashileddata2[1] = m1 &255;
+
+    can_ashileddata2[2] = m2 >> 8;
+    can_ashileddata2[3] = m2 &255;
+
+    can_ashileddata2[4] = m3 >> 8;
+    can_ashileddata2[5] = m3 &255;
+
+    can_ashileddata2[6] = m4 >> 8;
+    can_ashileddata2[7] = m4 &255;
+    
+     
+    if(can1.write(CANMessage(1,can_num,1))) {
+        cansend_led = 1;
+    }
+
+    if(can1.write(CANMessage(4,can_ashileddata2,8))) {  //IDを4にして送信
+        //printf("success : %d \n\r",m1);
+        cansend_led = 1;
+    }
+
+    if(t1_r > T1) {
+        T1 = t1_r;
+    }
+    
+}
+
+void can_start()
+{
+
+    while(1) {
+
+        CANMessage msg;
+
+//        debug_printf("wait\n\r");
+        printf("wait\n\r");
+        wait(0.1);
+        if(can1.read(msg)) {
+            break;
+        }
+    }
+}
+
+void UserLoopSetting_can()
+{
+    can1.frequency(1000000);
+    can_ticker.attach(&can_readsend,0.01);  //遅かったら早める
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/can/can.h	Tue Feb 25 01:20:43 2020 +0000
@@ -0,0 +1,13 @@
+#ifndef HARUROBO2019_CAN
+#define HARUROBO2019_CAN
+
+extern int T1;
+extern int t1_r;
+
+void can_readsend();
+
+void can_start();
+
+void UserLoopSetting_can();
+
+#endif
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Feb 25 01:20:43 2020 +0000
@@ -0,0 +1,68 @@
+#include "EC.h"
+#include "R1370P.h"
+#include "move4wheel.h"
+#include "mbed.h"
+#include "math.h"
+#include "PathFollowing.h"
+#include "movement.h"
+#include "manual.h"
+#include "can.h"
+
+#include <ros.h>
+#include <geometry_msgs/Point.h>
+#include <geometry_msgs/Pose.h>
+
+ros::NodeHandle nh;
+geometry_msgs::Point posi_xyr;
+geometry_msgs::Quaternion usw_4info;
+
+ros::Publisher pub_xyr("/mbed_main1",&posi_xyr);
+ros::Publisher pub_usw("/mbed_main2",&usw_4info);
+
+Ticker cm_pc;
+#define PI 3.141592
+
+void cm_to_pc(){
+    
+    copy_xyr_usw();
+    
+    posi_xyr.x = info_x;
+    posi_xyr.y = info_y;
+    posi_xyr.z = info_r;
+    
+    usw_4info.x = usw_data1;
+    usw_4info.y = usw_data2;
+    usw_4info.z = usw_data3;
+    usw_4info.w = usw_data4;
+    
+    pub_xyr.publish(&posi_xyr);
+    pub_usw.publish(&usw_4info);
+}
+
+
+//-----mbed led------------------//点灯条件-----------------------//参照場所------------------------------//
+//DigitalOut cansend_led(LED1);  //cansend -> on                //can.cpp
+//DigitalOut canread_led(LED2);  //canread -> on                //can.cpp
+//DigitalOut debug_led(LED3);    //maxon debug programme -> on  //maxonsetting.cpp
+
+//////////////////////////////////////////////////////////////以下main文/////////////////////////////////////////////////////////////////
+
+int main()
+{
+    nh.getHardware()->setBaud(115200);
+    nh.initNode();
+    nh.advertise(pub_xyr);
+    nh.advertise(pub_usw);
+    
+    cm_pc.attach(&cm_to_pc,0.01);
+
+    UserLoopSetting_sensor();
+    
+    while(1) {
+
+        nh.spinOnce();
+        wait(0.01);
+
+    }
+
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/manual/manual.cpp	Tue Feb 25 01:20:43 2020 +0000
@@ -0,0 +1,68 @@
+#include "EC.h"
+#include "R1370P.h"
+#include "move4wheel.h"
+#include "mbed.h"
+#include "math.h"
+#include "PathFollowing.h"
+#include "movement.h"
+#include "manual.h"
+#include "can.h"
+
+#define PI 3.141592
+
+int id1_value[7]= {0};
+
+//-----手動用の変数宣言--------------------------------------------------------------------------//
+int stick_theta;  //ジョイスティックの角度
+int manual_xout,manual_yout;  //フィールド座標系のx,y方向の速度
+int manual_realxout,manual_realyout;  //機体座標系のx,y方向の速度
+int manual_rout;  //旋回速度
+
+void CalManualOut(int v,int r_out)  //vはθ方向の速度、r_outは旋回速度(正の値)
+//PS3ジョイスティックの x=127.5 かつ y>127.5 の直線を0°としてθをとる
+{
+    stick_theta = (short)((id1_value[1]<<8) | id1_value[2]);
+    //debug_printf("stick = %d\n\r",stick_theta);
+
+    //ジョイスティック方向の速度をフィールド座標系の速度に変換
+    manual_xout = v * sin(PI*stick_theta/180);
+    manual_yout = -v * cos(PI*stick_theta/180);
+
+    //フィールド座標系の速度を機体座標系の速度に変換
+    manual_realxout = manual_xout * cos(PI*now_angle/180) + manual_yout * sin(PI*now_angle/180);
+    manual_realyout = -manual_xout * sin(PI*now_angle/180) + manual_yout * cos(PI*now_angle/180);
+
+    if(id1_value[4] == 1) { //旋回速度を代入
+        manual_rout = 0;
+    } else if(id1_value[4] == 2) {
+        manual_rout = r_out;
+    } else if(id1_value[4] == 3) {
+        manual_rout = -r_out;
+    }
+
+
+}
+
+void ManualOut(int slow_v, int slow_r, int fast_v, int fast_r)
+{
+
+    calc_gyro();
+
+    if(id1_value[3]==1) { //BOTTONR1押したら減速
+        CalManualOut(slow_v,slow_r);
+    } else {
+        CalManualOut(fast_v,fast_r);
+    }
+
+    if(id1_value[5] == 1) { //ニュートラルポジションなら出力0
+        output(0,0,0,0);
+        base(manual_rout,manual_rout,manual_rout,manual_rout,4095);
+    } else {
+        CalMotorOut(manual_realxout,manual_realyout,0);
+        base(GetMotorOut(0)+manual_rout,GetMotorOut(1)+manual_rout,GetMotorOut(2)+manual_rout,GetMotorOut(3)+manual_rout,4095);
+    }
+
+    //MaxonControl(m1,m2,m3,m4);
+//    debug_printf("m1=%d m2=%d m3=%d m4=%d now_angle=%f\n\r",m1,m2,m3,m4,now_angle);
+    printf("m1=%d m2=%d m3=%d m4=%d now_angle=%f\n\r",m1,m2,m3,m4,now_angle);
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/manual/manual.h	Tue Feb 25 01:20:43 2020 +0000
@@ -0,0 +1,10 @@
+#ifndef HARUROBO2019_MANUAL
+#define HARUROBO2019_MANUAL
+
+extern int id1_value[7];
+
+void CalManualOut(int v,int r_out);
+
+void ManualOut(int slow_v, int slow_r, int fast_v, int fast_r);
+
+#endif
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Tue Feb 25 01:20:43 2020 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/mbed_official/code/mbed/builds/3a7713b1edbc
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/move4wheel.lib	Tue Feb 25 01:20:43 2020 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/teams/F3RC4/code/move4wheel2/#fefdbba20795

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/movement/movement.cpp	Tue Feb 25 01:20:43 2020 +0000
@@ -0,0 +1,940 @@
+#include "EC.h"
+#include "R1370P.h"
+#include "move4wheel.h"
+#include "mbed.h"
+#include "math.h"
+#include "PathFollowing.h"
+#include "movement.h"
+#include "manual.h"
+#include "can.h"
+#include "R6093U.h"
+#include "uw.h"
+
+#define PI 3.141592
+
+char can_ashileddata[2]= {0};
+char can_ashileddata2[8]= {0};
+char can_num[1]= {0};
+double info_x, info_y, info_r;
+
+//char can_ashileddata3[2]= {0};
+//char can_ashileddata4[2]= {0};
+//char can_ashileddata5[2]= {0};
+
+int can_ashileddata0_0,can_ashileddata0_1,can_ashileddata0_2,can_ashileddata0_3;
+
+Ec EC2(p16,p15,NC,2048,0.05);
+Ec EC1(p18,p17,NC,2048,0.05);
+
+
+Uw uw1(p28);
+Uw uw4(p27);
+
+
+Ticker ec_ticker;  //ec角速度計算用ticker
+Ticker uw_ticker;  //uw値取得用ticker
+
+//R1370P gyro(p9,p10);
+
+R6093U gyro(p9,p10);
+
+double new_dist1=0,new_dist2=0;
+double old_dist1=0,old_dist2=0;
+double d_dist1=0,d_dist2=0;  //座標計算用関数
+double d_x,d_y;
+//現在地X,y座標、現在角度については、PathFollowingでnow_x,now_y,now_angleを定義済
+double start_x=0,start_y=0;  //スタート位置
+double x_out,y_out,r_out;  //出力値
+
+int16_t m1=0, m2=0, m3=0, m4=0;  //int16bit = int2byte
+
+double xy_type,pm_typeX,pm_typeY,x_base,y_base;
+
+int flag;
+double angle_base = 0;
+
+int RL_mode;
+
+int uw_flag1 = 0,uw_flag2 = 0,uw_flag3 = 0,uw_flag4 = 0;
+
+///////////////////機体情報をメンバとする構造体"robo_data"と構造体型変数info(←この変数に各センサーにより求めた機体情報(機体位置/機体角度)を格納する)の宣言/////////////////
+
+/*「info.(機体情報の種類).(使用センサーの種類)」に各情報を格納する
+ *状況に応じて、どのセンサーにより算出した情報を信用するかを選択し、その都度now_angle,now_x,now_yに代入する。（何種類かのセンサーの情報を混ぜて使用することも可能）
+ *(ex)
+ *info.nowX.enc → エンコーダにより算出した機体位置のx座標
+ *info.nowY.usw → 超音波センサーにより求めた機体位置のy座標
+*/
+
+typedef struct { //使用センサーの種類
+    double usw;  //超音波センサー
+    double enc;  //エンコーダ
+    double gyro; //ジャイロ
+    //double line;//ラインセンサー
+} robo_sensor;
+
+typedef struct { //機体情報の種類
+    robo_sensor angle; //←機体角度は超音波センサーやラインセンサーからも算出可能なので一応格納先を用意したが、ジャイロの値を完全に信用してもいいかも
+    robo_sensor nowX;
+    robo_sensor nowY;
+} robo_data;
+
+robo_data info= {{0,0,0},{0,0,0},{0,0,0}}; //全てのデータを0に初期化
+
+////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+void UserLoopSetting_sensor()
+{
+
+    gyro.initialize();
+    ec_ticker.attach(&calOmega,0.02);  //0.05秒間隔で角速度を計算
+    uw_ticker.attach(&cal_uw,0.05);
+    EC1.setDiameter_mm(70);
+    EC2.setDiameter_mm(70);  //測定輪半径//後で測定
+    //info.nowX.enc = 457; //初期位置の設定
+    //info.nowY.enc = 457;
+    info.nowX.enc = 0; //初期位置の設定
+    info.nowY.enc = 0;
+    angle_base = -90;
+}
+
+void UserLoopSetting_enc_right()
+{
+    info.nowX.enc = 3112; //エンコーダの初期位置の設定(右側フィールド)
+    info.nowY.enc = 3500;
+    RL_mode = 0;
+}
+
+void UserLoopSetting_enc_left()
+{
+    info.nowX.enc = -3112; //エンコーダの初期位置の設定(左側フィールド)
+    info.nowY.enc = 3500;
+    RL_mode = 1;
+}
+
+void calOmega()  //角速度計算関数
+{
+    EC1.CalOmega();
+    EC2.CalOmega();
+    calc_xy_enc();
+
+    //usw_data1 = 10 * uw1.get_dist();
+    ////usw_data2 = 10 * uw2.get_dist();
+    //usw_data3 = 10 * uw3.get_dist();
+    ////usw_data4 = 10 * uw4.get_dist();
+}
+
+void cal_uw()   //uw値取得用
+{
+    if(uw_flag1 == 1) {
+        usw_data1 = 10 * uw1.get_dist();
+        //printf("uw1 = %f\n\r",usw_data1);
+    }
+    if(uw_flag2 == 1) {
+        //usw_data2 = 10 * uw2.get_dist();
+    }
+    if(uw_flag3 == 1) {
+        //usw_data3 = 10 * uw3.get_dist();
+    }
+    if(uw_flag4 == 1) {
+        usw_data4 = 10 * uw4.get_dist();
+        //printf("uw4 = %f\n\r",usw_data4);
+    }
+}
+
+void output(double FL,double BL,double BR,double FR)
+{
+    m1=FL;
+    m2=BL;
+    m3=BR;
+    m4=FR;
+}
+
+void base(double FL,double BL,double BR,double FR,double Max)
+//いろんな加算をしても最大OR最小がMaxになるような補正//絶対値が一番でかいやつで除算
+//DCモーターならMax=1、マクソンは-4095～4095だからMax=4095にする
+{
+    if(fabs(FL)>=Max||fabs(BL)>=Max||fabs(BR)>=Max||fabs(FR)>=Max) {
+
+        if     (fabs(FL)>=fabs(BL)&&fabs(FL)>=fabs(BR)&&fabs(FL)>=fabs(FR))output(Max*FL/fabs(FL),Max*BL/fabs(FL),Max*BR/fabs(FL),Max*FR/fabs(FL));
+        else if(fabs(BL)>=fabs(FL)&&fabs(BL)>=fabs(BR)&&fabs(BL)>=fabs(FR))output(Max*FL/fabs(BL),Max*BL/fabs(BL),Max*BR/fabs(BL),Max*FR/fabs(BL));
+        else if(fabs(BR)>=fabs(FL)&&fabs(BR)>=fabs(BL)&&fabs(BR)>=fabs(FR))output(Max*FL/fabs(BR),Max*BL/fabs(BR),Max*BR/fabs(BR),Max*FR/fabs(BR));
+        else                                                               output(Max*FL/fabs(FR),Max*BL/fabs(FR),Max*BR/fabs(FR),Max*FR/fabs(FR));
+    } else {
+        output(FL,BL,BR,FR);
+    }
+}
+
+void ashi_led()
+{
+    if(now_angle > -1 && now_angle < 1) {
+        can_ashileddata0_0 = 1;
+    } else {
+        can_ashileddata0_0 = 0;
+    }
+
+    if(now_angle > 350) {
+        can_ashileddata0_1 = 1;
+    } else {
+        can_ashileddata0_1 = 0;
+    }
+
+    if(RL_mode == 0) {
+        if(now_x > 3110 && now_x < 3114) {
+            can_ashileddata0_2 = 1;
+        } else {
+            can_ashileddata0_2 = 0;
+        }
+
+        if(now_y > 3498 && now_y < 3502) {
+            can_ashileddata0_3 = 1;
+        } else {
+            can_ashileddata0_3 = 0;
+        }
+    } else if(RL_mode == 1) {
+        if(now_x > -3114 && now_x < -3110) {
+            can_ashileddata0_2 = 1;
+        } else {
+            can_ashileddata0_2 = 0;
+        }
+
+        if(now_y > 3498 && now_y < 3502) {
+            can_ashileddata0_3 = 1;
+        } else {
+            can_ashileddata0_3 = 0;
+        }
+    }
+
+    can_ashileddata[0] = (can_ashileddata0_0<<7 | can_ashileddata0_1<<6 | can_ashileddata0_2<<5 | can_ashileddata0_3<<4);
+}
+
+void calc_gyro()
+{
+    //now_angle=gyro.getAngle();  //ジャイロの値読み込み
+    now_angle = -gyro.getZ_Angle() + angle_base;
+}
+
+void print_gyro()
+{
+    while(1) {
+        //printf("now_gyro = %f\n\r",-gyro.getAngle());
+    }
+
+}
+
+void calc_xy_enc()  //エンコーダ&ジャイロによる座標計算
+{
+    old_angle=now_angle;
+    //now_angle=gyro.getAngle();  //ジャイロの値読み込み
+    now_angle = -gyro.getZ_Angle() + angle_base;
+    adj_angle=(now_angle+old_angle)/2;
+
+    new_dist1=EC1.getDistance_mm();
+    new_dist2=EC2.getDistance_mm();
+    d_dist1=new_dist1-old_dist1;
+    d_dist2=new_dist2-old_dist2;
+    old_dist1=new_dist1;
+    old_dist2=new_dist2;  //微小時間当たりのエンコーダ読み込み
+
+    d_x=d_dist2*sin(adj_angle*PI/180)-d_dist1*cos(adj_angle*PI/180);
+    d_y=d_dist2*cos(adj_angle*PI/180)+d_dist1*sin(adj_angle*PI/180);  //微小時間毎の座標変化
+    info.nowX.enc = info.nowX.enc + d_x;
+    info.nowY.enc = info.nowY.enc - d_y;  //微小時間毎に座標に加算
+}
+
+
+void set_cond(int t, int px, double bx, int py, double by)   //超音波センサーを使用するときの条件設定関数
+{
+//引数の詳細は関数"calc_xy_usw"参照
+
+    xy_type = t;
+
+    pm_typeX = px;
+    x_base = bx;
+
+    pm_typeY = py;
+    y_base = by;
+}
+
+void calc_xy_usw(double tgt_angle)   //超音波センサーによる座標計算（機体が旋回する場合はこの方法による座標計算は出来ない）
+{
+//tgt_angle:機体の目標角度（運動初期角度と同じ/今大会では0,90,180のみ）
+//xy_type:（0:Y軸平行の壁を読む/1:X軸平行の壁を読む/2:X,Y軸平行の壁を共に読む）
+//pm_typeX,pm_typeY:（0:各軸正方向側の壁を読む/1:各軸負方向側の壁を読む）
+//x_base,y_base:超音波センサーで読む壁の座標(y軸並行の壁のx座標/x軸平行の壁のy座標)
+
+    double R1=414.5,R2=414.5,R3=414.5,R4=414.5; //機体の中心から各超音波センサーが付いている面までの距離
+    double D1=-237.5,D2=237.5,D3=237.5,D4=-237.5; //各超音波センサーが付いている面の中心から各超音波センサーまでの距離（時計回りを正とする）
+
+//    now_angle=gyro.getAngle();  //ジャイロの値読み込み
+    now_angle = -gyro.getZ_Angle() + angle_base ;
+
+    if(tgt_angle > -45 && tgt_angle < 45) {
+        if((xy_type==0 || xy_type==2) && pm_typeX==0) {
+
+            info.nowX.usw = x_base - (usw_data4 + R4*cos(now_angle*PI/180) + D4*sin(now_angle*PI/180));
+            uw_flag4 = 1;
+
+        } else if((xy_type==0 || xy_type==2) && pm_typeX==1) {
+
+            info.nowX.usw = x_base + (usw_data3 + R3*cos(now_angle*PI/180) + D3*sin(now_angle*PI/180));
+            uw_flag3 = 1;
+
+        }
+        if((xy_type==1 || xy_type==2) && pm_typeY==0) {
+
+            info.nowY.usw = y_base - (usw_data2 + R2*cos(now_angle*PI/180) + D2*sin(now_angle*PI/180));
+            uw_flag2 = 1;
+
+        } else if((xy_type==1 || xy_type==2) && pm_typeY==1) {
+
+            info.nowY.usw = y_base + (usw_data1 + R1*cos(now_angle*PI/180) + D1*sin(now_angle*PI/180));
+            uw_flag1 = 1;
+
+        }
+
+    } else if(tgt_angle > 45 && tgt_angle < 135) {
+        if((xy_type==0 || xy_type==2) && pm_typeX==0) {
+
+            info.nowX.usw = x_base - (usw_data1 + R1*cos((now_angle-tgt_angle)*PI/180) + D1*sin((now_angle-tgt_angle)*PI/180));
+            uw_flag1 = 1;
+
+        } else if((xy_type==0 || xy_type==2) && pm_typeX==1) {
+
+            info.nowX.usw = x_base + (usw_data2 + R2*cos((now_angle-tgt_angle)*PI/180) + D2*sin((now_angle-tgt_angle)*PI/180));
+            uw_flag2 = 1;
+
+        }
+        if((xy_type==1 || xy_type==2) && pm_typeY==0) {
+
+            info.nowY.usw = y_base - (usw_data4 + R4*cos((now_angle-tgt_angle)*PI/180) + D4*sin((now_angle-tgt_angle)*PI/180));
+            uw_flag4 = 1;
+
+        } else if((xy_type==1 || xy_type==2) && pm_typeY==1) {
+
+            info.nowY.usw = y_base + (usw_data3 + R3*cos((now_angle-tgt_angle)*PI/180) + D3*sin((now_angle-tgt_angle)*PI/180));
+            uw_flag3 = 1;
+
+        }
+
+    } else if((tgt_angle > 135 && tgt_angle < 225) || (tgt_angle > -225 && tgt_angle < -135)) {
+        if((xy_type==0 || xy_type==2) && pm_typeX==0) {
+
+            info.nowX.usw = x_base - (usw_data3 + R3*cos((now_angle-tgt_angle)*PI/180) + D3*sin((now_angle-tgt_angle)*PI/180));
+            uw_flag3 = 1;
+
+        } else if((xy_type==0 || xy_type==2) && pm_typeX==1) {
+
+            info.nowX.usw = x_base + (usw_data4 + R4*cos((now_angle-tgt_angle)*PI/180) + D4*sin((now_angle-tgt_angle)*PI/180));
+            uw_flag4 = 1;
+
+        }
+        if((xy_type==1 || xy_type==2) && pm_typeY==0) {
+
+            info.nowY.usw = y_base - (usw_data1+ R1*cos((now_angle-tgt_angle)*PI/180) + D1*sin((now_angle-tgt_angle)*PI/180));
+            uw_flag1 = 1;
+
+        } else if((xy_type==1 || xy_type==2) && pm_typeY==1) {
+
+            info.nowY.usw = y_base + (usw_data2 + R2*cos((now_angle-tgt_angle)*PI/180) + D2*sin((now_angle-tgt_angle)*PI/180));
+            uw_flag2 = 1;
+
+        }
+    } else if(tgt_angle > -135 && tgt_angle < -45) {
+        if((xy_type==0 || xy_type==2) && pm_typeX==0) {
+
+            info.nowX.usw = x_base - (usw_data2 + R2*cos((now_angle-tgt_angle)*PI/180) + D2*sin((now_angle-tgt_angle)*PI/180));
+            uw_flag2 = 1;
+
+        } else if((xy_type==0 || xy_type==2) && pm_typeX==1) {
+
+            info.nowX.usw = x_base + (usw_data1 + R1*cos((now_angle-tgt_angle)*PI/180) + D1*sin((now_angle-tgt_angle)*PI/180));
+            uw_flag1 = 1;
+
+        }
+        if((xy_type==1 || xy_type==2) && pm_typeY==0) {
+
+            info.nowY.usw = y_base - (usw_data3 + R3*cos((now_angle-tgt_angle)*PI/180) + D3*sin((now_angle-tgt_angle)*PI/180));
+            uw_flag3 = 1;
+
+        } else if((xy_type==1 || xy_type==2) && pm_typeY==1) {
+
+            info.nowY.usw = y_base + (usw_data4 + R4*cos((now_angle-tgt_angle)*PI/180) + D4*sin((now_angle-tgt_angle)*PI/180));
+            uw_flag4 = 1;
+
+        }
+    }
+}
+
+void uwflag_reset()
+{
+    uw_flag1 = 0;
+    uw_flag2 = 0;
+    uw_flag3 = 0;
+    uw_flag4 = 0;
+}
+
+void uwflag_change(int u1,int u2, int u3, int u4)
+{
+    uw_flag1 = u1;
+    uw_flag2 = u2;
+    uw_flag3 = u3;
+    uw_flag4 = u4;
+}
+
+
+void calc_xy(double target_angle, double u,double v)
+{
+//エンコーダにより求めた機体の座標と超音波センサーにより求めた機体の座標を(エンコーダ : 超音波 = u : 1-u / v : 1-v)の割合で混ぜて now_x,now_y に代入する
+
+    calc_xy_enc();
+    //usw_data1 = 10 * uw1.get_dist();
+    ///usw_data2 = 10 * uw2.get_dist();
+    //usw_data3 = 10 * uw3.get_dist();
+    ///usw_data4 = 10 * uw4.get_dist();
+
+    //printf("uw2 = %f,  uw4 = %f\n\r",usw_data2,usw_data4);
+
+    if(u != 1 || v != 1) {
+        calc_xy_usw(target_angle);  //エンコーダの値しか使用しない場合は超音波センサーによる座標計算は行わずに計算量を減らす。
+    }
+
+    now_x = u * info.nowX.enc + (1-u) * info.nowX.usw;
+    now_y = v * info.nowY.enc + (1-v) * info.nowY.usw;
+
+    /*if(now_x >-1 && now_x <1 && now_y >-1 && now_y <1){  //スタート時の0合わせ用
+        ec_led = 1;
+    }else{
+        ec_led = 0;
+    }
+
+    if(now_angle >-0.5 && now_angle <0.5){
+        gyro_led = 1;
+    }else{
+        gyro_led = 0;
+    }*/
+}
+
+void copy_xyr_usw(){
+    calc_xy_enc();
+    now_angle = -gyro.getZ_Angle() + angle_base;
+    
+    info_x = info.nowX.enc;
+    info_y = info.nowY.enc;
+    info_r = now_angle;
+    
+    usw_data1 = 10 * uw1.get_dist();
+    usw_data2 = 2000; //10 * uw2.get_dist();
+    usw_data3 = 3000; //10 * uw3.get_dist();
+    usw_data4 = 10 * uw4.get_dist();
+}
+
+void enc_correction(int x_select,int y_select)  //エンコーダの座標を超音波センサの座標で上書き
+{
+//x_select,y_select → (0:上書きしない/1:上書きする)
+
+    if(x_select == 1) {
+        info.nowX.enc = info.nowX.usw;
+    }
+    if(y_select == 1) {
+        info.nowY.enc = info.nowY.usw;
+    }
+
+}
+
+void enc_correction2(int x_plot1, int y_plot2) //引数の座標でエンコーダの座標を修正
+{
+    info.nowX.enc = x_plot1;
+    info.nowY.enc = y_plot2;
+}
+
+//ここからそれぞれのプログラム/////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+//now_x(現在のx座標),now_y(現在のy座標),now_angle(機体角度(ラジアンではない)(0~360や-180~180とは限らない))(反時計回りが正)
+//ジャイロの出力は角度だが三角関数はラジアンとして計算する
+//通常の移動＋座標のずれ補正＋機体の角度補正(＋必要に応じさらに別補正)
+//ジャイロの仕様上、角度補正をするときに計算式内で角度はそのままよりsinをとったほうがいいかもね
+
+void purecurve(int type,double u,double v,       //正面を変えずに円弧or楕円を描いて曲がる
+               double point_x1,double point_y1,
+               double point_x2,double point_y2,
+               int theta,
+               double speed,
+               double q_p,double q_d,
+               double r_p,double r_d,
+               double r_out_max,
+               double target_angle, double v_base, double q_out_max)
+//type:動きの種類（8パターン) point_x1,point_y1=出発地点の座標 point_x2,point_x2=目標地点の座標 theta=plotの間隔(0～90°) speed=速度
+{
+    //-----PathFollowingのパラメーター設定-----//
+    q_setPDparam(q_p,q_d);  //ベクトルABに垂直な方向の誤差を埋めるPD制御のパラメータ設定関数
+    r_setPDparam(r_p,r_d);  //機体角度と目標角度の誤差を埋めるPD制御のパラメータ設定関数
+    set_r_out(r_out_max);  //旋回時の最大出力値設定関数
+    set_q_out(q_out_max);
+    set_target_angle(target_angle);  //機体目標角度設定関数
+
+    int s;
+    int t = 0;
+    double X,Y;//X=楕円の中心座標、Y=楕円の中心座標
+    double a,b; //a=楕円のx軸方向の幅の半分,b=楕円のy軸方向の幅の半分
+    double plotx[(90/theta)+1];  //楕円にとるplotのx座標
+    double ploty[(90/theta)+1];
+
+    double x_out,y_out,r_out;
+
+    a=fabs(point_x1-point_x2);
+    b=fabs(point_y1-point_y2);
+
+    switch(type) {
+
+        case 1://→↑移動
+            X=point_x1;
+            Y=point_y2;
+
+            for(s=0; s<((90/theta)+1); s++) {
+                plotx[s] = X + a * cos(-PI/2 + s * (PI*theta/180));
+                ploty[s] = Y + b * sin(-PI/2 + s * (PI*theta/180));
+                //debug_printf("plotx[%d]=%f ploty[%d]=%f\n\r",s,plotx[s],s,ploty[s]);
+            }
+            break;
+
+        case 2://↑→移動
+            X=point_x2;
+            Y=point_y1;
+
+            for(s=0; s<((90/theta)+1); s++) {
+                plotx[s] = X + a * cos(PI - s * (PI*theta/180));
+                ploty[s] = Y + b * sin(PI - s * (PI*theta/180));
+                //debug_printf("plotx[%d]=%f ploty[%d]=%f\n\r",s,plotx[s],s,ploty[s]);
+            }
+            break;
+
+        case 3://↑←移動
+            X=point_x2;
+            Y=point_y1;
+
+            for(s=0; s<((90/theta)+1); s++) {
+                plotx[s] = X + a * cos(s * (PI*theta/180));
+                ploty[s] = Y + b * sin(s * (PI*theta/180));
+                //debug_printf("plotx[%d]=%f ploty[%d]=%f\n\r",s,plotx[s],s,ploty[s]);
+            }
+            break;
+
+        case 4://←↑移動
+            X=point_x1;
+            Y=point_y2;
+
+            for(s=0; s<((90/theta)+1); s++) {
+                plotx[s] = X + a * cos(-PI/2 - s * (PI*theta/180));
+                ploty[s] = Y + b * sin(-PI/2 - s * (PI*theta/180));
+                //debug_printf("plotx[%d]=%f ploty[%d]=%f\n\r",s,plotx[s],s,ploty[s]);
+            }
+            break;
+
+        case 5://←↓移動
+            X=point_x1;
+            Y=point_y2;
+
+            for(s=0; s<((90/theta)+1); s++) {
+                plotx[s] = X + a * cos(PI/2 + s * (PI*theta/180));
+                ploty[s] = Y + b * sin(PI/2 + s * (PI*theta/180));
+                //debug_printf("plotx[%d]=%f ploty[%d]=%f\n\r",s,plotx[s],s,ploty[s]);
+            }
+            break;
+
+        case 6://↓←移動
+            X=point_x2;
+            Y=point_y1;
+
+            for(s=0; s<((90/theta)+1); s++) {
+                plotx[s] = X + a * cos(-s * (PI*theta/180));
+                ploty[s] = Y + b * sin(-s * (PI*theta/180));
+                //debug_printf("plotx[%d]=%f ploty[%d]=%f\n\r",s,plotx[s],s,ploty[s]);
+            }
+            break;
+
+        case 7://↓→移動
+            X=point_x2;
+            Y=point_y1;
+
+            for(s=0; s<((90/theta)+1); s++) {
+                plotx[s] = X + a * cos(PI + s * (PI*theta/180));
+                ploty[s] = Y + b * sin(PI + s * (PI*theta/180));
+                //debug_printf("plotx[%d]=%f ploty[%d]=%f\n\r",s,plotx[s],s,ploty[s]);
+            }
+            break;
+
+        case 8://→↓移動
+            X=point_x1;
+            Y=point_y2;
+
+            for(s=0; s<((90/theta)+1); s++) {
+                plotx[s] = X + a * cos(PI/2 - s * (PI*theta/180));
+                ploty[s] = Y + b * sin(PI/2 - s * (PI*theta/180));
+                //debug_printf("plotx[%d]=%f ploty[%d]=%f\n\r",s,plotx[s],s,ploty[s]);
+            }
+            break;
+    }
+
+    while(1) {
+
+        if(id1_value[0] != 1)break;
+        if(id1_value[6] != flag)break;
+
+        calc_xy(target_angle,u,v);
+
+        XYRmotorout(plotx[t],ploty[t],plotx[t+1],ploty[t+1],&x_out,&y_out,&r_out,speed,speed);
+        CalMotorOut(x_out,y_out,r_out);
+        //debug_printf("t=%d now_x=%f now_y=%f x_out=%f y_out=%f\n\r",t,now_x,now_y,x_out,y_out);
+
+        base(GetMotorOut(0),GetMotorOut(1),GetMotorOut(2),GetMotorOut(3),v_base);  //m1～m4に代入
+        //debug_printf("t=%d (0)=%f (1)=%f (2)=%f (3)=%f\n\r",t,GetMotorOut(0),GetMotorOut(1),GetMotorOut(2),GetMotorOut(3));
+
+        if(((plotx[t+1] - now_x)*(plotx[t+1] - plotx[t]) + (ploty[t+1] - now_y)*(ploty[t+1] - ploty[t])) < 0)t++;
+
+//        MaxonControl(m1,m2,m3,m4);  //出力
+//        debug_printf("t=%d m1=%d m2=%d m3=%d m4=%d x=%f y=%f angle=%f\n\r",t,m1,m2,m3,m4,now_x,now_y,now_angle);
+
+        if(t == (90/theta))break;
+    }
+}
+
+void gogo_straight(double u,double v,                //直線運動プログラム
+                   double x1_point,double y1_point,
+                   double x2_point,double y2_point,
+                   double speed1,double speed2,
+                   double q_p,double q_d,
+                   double r_p,double r_d,
+                   double r_out_max,
+                   double target_angle,double v_base, double q_out_max)
+//引数:出発地点の座標（x,y）、目標地点の座標(x,y)、初速度（speed1）、目標速度（speed2）//speed1=speed2 のとき等速運動
+{
+    //-----PathFollowingのパラメーター設定-----//
+    q_setPDparam(q_p,q_d);  //ベクトルABに垂直な方向の誤差を埋めるPD制御のパラメータ設定関数
+    r_setPDparam(r_p,r_d);  //機体角度と目標角度の誤差を埋めるPD制御のパラメータ設定関数
+    set_r_out(r_out_max);  //旋回時の最大出力値設定関数
+    set_q_out(q_out_max);
+    set_target_angle(target_angle);  //機体目標角度設定関数
+
+    while (1) {
+
+        if(id1_value[0] != 1)break;
+        if(id1_value[6] != flag)break;
+
+        calc_xy(target_angle,u,v);
+
+        XYRmotorout(x1_point,y1_point,x2_point,y2_point,&x_out,&y_out,&r_out,speed1,speed2);
+        //printf("n_x = %f, n_y = %f,n_angle = %f, t_x = %f, t_y = %f, t_angle = %f, x_out=%lf, y_out=%lf, r_out=%lf\n\r",now_x,now_y,now_angle,x2_point,y2_point,target_angle,x_out, y_out,r_out);
+
+        CalMotorOut(x_out,y_out,r_out);
+        //printf("out1=%lf, out2=%lf, out3=%lf, out4=%lf\n",GetMotorOut(0),GetMotorOut(1),GetMotorOut(2),GetMotorOut(3));
+
+        base(GetMotorOut(0),GetMotorOut(1),GetMotorOut(2),GetMotorOut(3),v_base);
+        //printf("m1=%d, m2=%d, m3=%d, m4=%d\r\n",m_1,m_2,m_3,m_4);
+
+//        MaxonControl(m1,m2,m3,m4);
+//        debug_printf("m1=%d m2=%d m3=%d m4=%d x=%f y=%f angle=%f\n\r",m1,m2,m3,m4,now_x,now_y,now_angle);
+        printf("m1=%d m2=%d m3=%d m4=%d x=%f y=%f angle=%f\n\r",m1,m2,m3,m4,now_x,now_y,now_angle);
+        //printf("usw2 = %f  usw4 = %f x=%f y=%f angle=%f\n\r",usw_data2,usw_data4,now_x,now_y,now_angle);
+
+        if(((x2_point - now_x)*(x2_point - x1_point) + (y2_point - now_y)*(y2_point - y1_point)) < 0)break;
+    }
+}
+
+
+
+double spline_base(int i, int k, double t, int nv[]) //スプライン基底関数を求める関数
+{
+    // i:0~(制御点の個数-1)
+    // k:スプライト曲線の次元
+    // t:0~(ノットベクトルの最大値)
+    // nv[]:ノットベクトル
+    double w1 = 0.0, w2 = 0.0;
+    if (k == 1) {
+        if (t > nv[i] && t <= nv[i + 1])
+            return 1.0;
+        else
+            return 0.0;
+    } else {
+        if ((nv[i + k] - nv[i + 1]) != 0) {
+            w1 = ((nv[i + k] - t) / (nv[i + k] - nv[i + 1])) * spline_base(i + 1, k - 1, t, nv);
+            //printf("%f\n\r",w1);
+        }
+        if ((nv[i + k - 1] - nv[i]) != 0) {
+            w2 = ((t - nv[i]) / (nv[i + k - 1] - nv[i])) * spline_base(i, k - 1, t, nv);
+            //printf("%f\n\r",w2);
+        }
+        return (w1 + w2);
+    }
+}
+
+
+void spline_move(double u, double v,
+                 double st_x,double st_y,double end_x,double end_y,
+                 double cont1_x,double cont1_y,double cont2_x,double cont2_y,
+                 double st_speed, double end_speed,
+                 double q_p,double q_d,
+                 double r_p,double r_d,
+                 double r_out_max,
+                 double target_angle, double v_base, double q_out_max, int num)
+{
+    double dx, dy, dr;
+    int nt[] = {0, 0, 0, 1, 2, 2, 2}; //ノットベクトル
+    //dr = (end_angle - st_angle) / num;
+    int ds = (end_speed - st_speed) / num;
+
+    //-----PathFollowingのパラメーター設定-----//
+    q_setPDparam(q_p,q_d);  //ベクトルABに垂直な方向の誤差を埋めるPD制御のパラメータ設定関数
+    r_setPDparam(r_p,r_d);  //機体角度と目標角度の誤差を埋めるPD制御のパラメータ設定関数
+    set_r_out(r_out_max);  //旋回時の最大出力値設定関数
+    set_q_out(q_out_max);
+    set_target_angle(target_angle);  //機体目標角度設定関数
+
+    double plotx[num + 1]; //楕円にとるplotのx座標
+    double ploty[num + 1];
+    double value_t;
+    int i, j;
+    int t = 0;
+    // for(i = 0; i < 7; i++){
+    //  printf("not_V = %d\n\r",nt[i]);
+    // }
+    for (i = 0; i < num + 1; i++) {
+        plotx[i] = 0.0;
+        ploty[i] = 0.0;
+    }
+    printf("{\n");
+    for (i = 0; i < num + 1; i++) {
+        value_t = (double)2 * i / num;
+        for (j = 0; j < 4; j++) {
+            if (j == 0) {
+                plotx[i] += st_x * spline_base(j, 3, value_t, nt);
+                ploty[i] += st_y * spline_base(j, 3, value_t, nt);
+            } else if (j == 1) {
+                plotx[i] += cont1_x * spline_base(j, 3, value_t, nt);
+                ploty[i] += cont1_y * spline_base(j, 3, value_t, nt);
+            } else if (j == 2) {
+                plotx[i] += cont2_x * spline_base(j, 3, value_t, nt);
+                ploty[i] += cont2_y * spline_base(j, 3, value_t, nt);
+            } else if (j == 3) {
+                plotx[i] += end_x * spline_base(j, 3, value_t, nt);
+                ploty[i] += end_y * spline_base(j, 3, value_t, nt);
+            }
+        }
+        //printf("plot_x = %f, plot_y = %f\n\r", plotx[i], ploty[i]);
+    }
+    while(1) {
+
+        if(id1_value[0] != 1)break;
+        if(id1_value[6] != flag)break;
+
+        calc_xy(target_angle,u,v);
+
+        XYRmotorout(plotx[t],ploty[t],plotx[t+1],ploty[t+1],&x_out,&y_out,&r_out,st_speed+ds*t,st_speed+ds*(t+1));
+        CalMotorOut(x_out,y_out,r_out);
+        //debug_printf("t=%d now_x=%f now_y=%f x_out=%f y_out=%f\n\r",t,now_x,now_y,x_out,y_out);
+
+        base(GetMotorOut(0),GetMotorOut(1),GetMotorOut(2),GetMotorOut(3),v_base);  //m1～m4に代入
+        //debug_printf("t=%d (0)=%f (1)=%f (2)=%f (3)=%f\n\r",t,GetMotorOut(0),GetMotorOut(1),GetMotorOut(2),GetMotorOut(3));
+
+        if(((plotx[t+1] - now_x)*(plotx[t+1] - plotx[t]) + (ploty[t+1] - now_y)*(ploty[t+1] - ploty[t])) < 0)t++;
+
+//        MaxonControl(m1,m2,m3,m4);  //出力
+//        debug_printf("t=%d m1=%d m2=%d m3=%d m4=%d x=%f y=%f angle=%f\n\r",t,m1,m2,m3,m4,now_x,now_y,now_angle);
+        printf("m1=%d m2=%d m3=%d m4=%d x=%f y=%f angle=%f\n\r",m1,m2,m3,m4,now_x,now_y,now_angle);
+
+        if(t == num)break;
+    }
+
+}
+
+
+
+
+/*void pos_correction(double tgt_x, double tgt_y, double tgt_angle, double u, double v)   //位置補正(使用前にMaxonControl(0,0,0,0)を入れる)
+{
+
+    double r, R=10;  // r:一回補正が入るごとの機体の位置と目標位置の距離(ズレ) R:補正終了とみなす目標位置からの機体の位置のズレ
+    double out;
+
+    calc_xy(tgt_angle, u, v);
+
+    while(1) { //機体の位置を目標領域（目標座標＋許容誤差）に収める
+        gogo_straight(u,v,now_x,now_y,tgt_x,tgt_y,200,50,5,0.1,10,0.1,500,tgt_angle);
+        MaxonControl(0,0,0,0);
+
+        calc_xy(tgt_angle, u, v);
+
+        r=hypot(now_x - tgt_x, now_y - tgt_y);
+
+        if(r < R) break;
+        if(id1_value[0] != 1)break;
+    }
+
+    while(1) {
+
+        calc_gyro();
+
+        out = 10 * (tgt_angle - now_angle);
+
+        if(out > 300) {  //0～179°のときは時計回りに回転
+            MaxonControl(300,300,300,300);
+        } else if(out < -300) {
+            MaxonControl(-300,-300,-300,-300);
+        } else if(out <= 300 && out > -300) {
+            MaxonControl(out,out,out,out);
+        }
+
+        if(tgt_angle - 0.5 < now_angle && now_angle < tgt_angle + 0.5) break;  //目標角度からの許容誤差内に機体の角度が収まった時、補正終了
+        if(id1_value[0] != 1)break;
+    }
+    MaxonControl(0,0,0,0);
+}*/
+
+void pos_correction(double tgt_x, double tgt_y, double tgt_angle, double u, double v, double v_base)   //改良版 位置補正(使用前にMaxonControl(0,0,0,0)を入れる)
+{
+//距離に比例させて補正初速度を増加させる。（最大速度を設定しそれ以上は出ないようにする）
+
+    double first_speed, first_speed50 = 10, last_speed = 10, Max_speed = 500, speed5 = 20;
+    double r, R=25;  // r:一回補正が入るごとの機体の位置と目標位置の距離(ズレ) R:補正終了とみなす目標位置からの機体の位置のズレ
+    double out;
+
+    calc_xy(tgt_angle, u, v);
+
+    //r = hypot(now_x - tgt_x, now_y - tgt_y);
+
+    while(1) { //機体の位置を目標領域（目標座標＋許容誤差）に収める
+        //printf("col\n\n\n");
+        if(id1_value[0] != 1)break;
+        if(id1_value[6] != flag)break;
+
+        //first_speed = first_speed50 * r / 50;
+
+        /*if(first_speed > Max_speed){
+            gogo_straight(u,v,now_x,now_y,tgt_x,tgt_y,Max_speed,Max_speed,5,0.1,10,0.1,500,tgt_angle, v_base);
+        }else{
+            gogo_straight(u,v,now_x,now_y,tgt_x,tgt_y,first_speed,last_speed,5,0.1,10,0.1,500,tgt_angle);
+        }*/
+
+        //gogo_straight(u,v,now_x,now_y,tgt_x,tgt_y,first_speed50,last_speed,5,0.1,10,0.1,500,tgt_angle);
+
+        int diff_sm = hypot(now_x-tgt_x,now_y-tgt_y);
+
+        int f_speed = diff_sm / 5 * (speed5 - last_speed);
+        gogo_straight(u,v,now_x,now_y,tgt_x,tgt_y,f_speed,last_speed,0.5,0.05,5,0.05,20,tgt_angle, v_base, 70);
+        //gogo_straight(1,1,0,0,200,0,50,500,5,0.1,10,0.1,50,0);
+        //gogo_straight(u,v,now_x,now_y,0,100,first_speed50,last_speed,5,0.1,10,0.1,500,tgt_angle);
+
+//      MaxonControl(0,0,0,0);
+        m1 = 0;
+        m2 = 0;
+        m3 = 0;
+        m4 = 0;
+
+        calc_xy(tgt_angle, u, v);
+
+        r=hypot(now_x - tgt_x, now_y - tgt_y);
+
+        if(r < R) break;
+    }
+
+    while(1) {
+
+        if(id1_value[0] != 1)break;
+        if(id1_value[6] != flag)break;
+
+        //calc_gyro();
+//        now_angle=gyro.getAngle();
+        now_angle = -gyro.getZ_Angle() + angle_base;
+        if(tgt_angle - 1 < now_angle && now_angle < tgt_angle + 1) break;  //目標角度からの許容誤差内に機体の角度が収まった時、補正終了
+        else if(now_angle > tgt_angle + 1)out = 5 * (tgt_angle - now_angle + 1);
+        else if(tgt_angle - 1 > now_angle)out = 5 * (tgt_angle - now_angle - 1);
+
+        printf("angle = %f  out = %f\n\r",now_angle,out);
+
+            if(out > 100) {  //0～179°のときは時計回りに回転
+        //            MaxonControl(-300,-300,-300,-300);
+                m1 = -100;
+                m2 = -100;
+                m3 = -100;
+                m4 = -100;
+
+            } else if(out < -100) {
+        //            MaxonControl(300,300,300,300);
+                m1 = 100;
+                m2 = 100;
+                m3 = 100;
+                m4 = 100;
+            } else if(out <= 100 && out > -100) {
+        //            MaxonControl(-out,-out,-out,-out);
+                m1 = -out;
+                m2 = -out;
+                m3 = -out;
+                m4 = -out;
+            }
+
+/*        if(out > 100) {  //0～179°のときは時計回りに回転
+//            MaxonControl(-300,-300,-300,-300);
+            m1 = 9900;
+            m2 = 9900;
+            m3 = 9900;
+            m4 = 9900;
+
+        } else if(out < -100) {
+//            MaxonControl(300,300,300,300);
+            m1 = 10100;
+            m2 = 10100;
+            m3 = 10100;
+            m4 = 10100;
+        } else if(out <= 100 && out > -100) {
+//            MaxonControl(-out,-out,-out,-out);
+            m1 = -out + 10000;
+            m2 = -out + 10000;
+            m3 = -out + 10000;
+            m4 = -out + 10000;
+        }*/
+
+    }
+//    MaxonControl(0,0,0,0);
+    m1 = 0;
+    m2 = 0;
+    m3 = 0;
+    m4 = 0;
+}
+
+void mt_stop()
+{
+    m1 = 0;
+    m2 = 0;
+    m3 = 0;
+    m4 = 0;
+    printf("motor stop\n\r");
+}
+
+void mt_check(double out, int dr)
+{
+    // dr→ 1:x+  2:x-  3:y+  4:y-
+    while(1) {
+        if(dr == 1) {
+            m1 = out;
+            m2 = -out;
+            m3 = -out;
+            m4 = out;
+        } else if(dr == 2) {
+            m1 = -out;
+            m2 = out;
+            m3 = out;
+            m4 = -out;
+        } else if(dr == 3) {
+            m1 = out;
+            m2 = out;
+            m3 = -out;
+            m4 = -out;
+        } else if(dr == 4) {
+            m1 = -out;
+            m2 = -out;
+            m3 = out;
+            m4 = out;
+        }
+
+        printf("motor check out = %f\n\r",out);
+    }
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/movement/movement.h	Tue Feb 25 01:20:43 2020 +0000
@@ -0,0 +1,88 @@
+#ifndef HARUROBO2019_MOVEMENT
+#define HARUROBO2019_MOVEMENT
+
+extern char can_ashileddata[2];
+extern char can_ashileddata2[8];
+extern char can_num[1];
+extern double info_x, info_y, info_r;
+//extern char can_ashileddata3[2];
+//extern char can_ashileddata4[2];
+//extern char can_ashileddata5[2];
+
+void print_gyro();
+
+extern int16_t m1,m2,m3,m4;
+
+extern int flag;
+
+void UserLoopSetting_sensor();
+
+void UserLoopSetting_enc_right();
+
+void UserLoopSetting_enc_left();
+
+void calOmega();
+
+void cal_uw();
+
+void output(double FL,double BL,double BR,double FR);
+
+void base(double FL,double BL,double BR,double FR,double Max);
+
+void ashi_led();
+
+void calc_gyro();
+
+void calc_xy_enc();
+
+void set_cond(int t, int px, double bx, int py, double by);
+
+void calc_xy_usw(double tgt_angle);
+
+void uwflag_reset();
+
+void uwflag_change(int u1,int u2, int u3, int u4);
+
+void calc_xy(double tgt_angle, double u, double v);
+
+void copy_xyr_usw();
+
+void enc_correction(int x_select,int y_select);
+
+void enc_correction2(int x_plot1, int y_plot2);
+
+void purecurve(int type,double u, double v,          //正面を変えずに円弧or楕円を描いて曲がる
+               double point_x1,double point_y1,
+               double point_x2,double point_y2,
+               int theta,
+               double speed,
+               double q_p,double q_d,
+               double r_p,double r_d,
+               double r_out_max,
+               double target_angle, double v_base, double q_out_max);
+
+void gogo_straight(double u, double v, double x1_point,double y1_point,  //直線運動プログラム
+                   double x2_point,double y2_point,
+                   double speed1,double speed2,
+                   double q_p,double q_d,
+                   double r_p,double r_d,
+                   double r_out_max,
+                   double target_angle, double v_base, double q_out_max);
+
+double spline_base(int i, int k, double t, int nv[]);
+
+void spline_move(double u, double v,
+                 double st_x,double st_y,double end_x,double end_y,
+                 double cont1_x,double cont1_y,double cont2_x,double cont2_y,
+                 double st_speed, double end_speed,
+                 double q_p,double q_d,
+                 double r_p,double r_d,
+                 double r_out_max,
+                 double target_angle, double v_base, double q_out_max, int num);
+
+void pos_correction(double tgt_x, double tgt_y, double tgt_angle, double u, double v, double v_base);
+
+void mt_stop();
+
+void mt_check(double out, int dr);
+#endif
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/pathfollowing/PathFollowing.cpp	Tue Feb 25 01:20:43 2020 +0000
@@ -0,0 +1,154 @@
+#include "PathFollowing.h"
+#include "mbed.h"
+#include "math.h"
+
+double p_out,r_out_max, q_out_max;
+double Kvq_p,Kvq_d,Kvr_p,Kvr_d;
+double diff_old,diffangle,diffangle_old;
+double out_dutyQ,out_dutyR;
+double now_angle,target_angle,old_angle,adj_angle;
+double now_timeQ,old_timeQ,now_timeR,old_timeR;
+double now_x, now_y;
+double diff_st,diff_tgt,diff_st_tgt,p_param;
+double usw_data1,usw_data2,usw_data3,usw_data4;
+
+Timer timer;
+
+//初期座標：A, 目標座標：B、機体位置：C、点Cから直線ABに下ろした垂線の足：H
+void XYRmotorout(double plot_x1, double plot_y1, double plot_x2, double plot_y2, double *ad_x_out, double *ad_y_out, double *ad_r_out, double speed1, double speed2 )  //プログラム使用時、now_x,now_yはグローバル変数として定義する必要あり
+//plot_x1,plot_y1:出発地点の座標
+//plot_x2,plot_y2:目標地点の座標
+//speed1:初期速度
+//speed2:目標速度
+{
+    double Vector_P[2] = {(plot_x2 - plot_x1), (plot_y2 - plot_y1)}; //ベクトルAB
+    double A_Vector_P = hypot(Vector_P[0], Vector_P[1]); //ベクトルABの大きさ（hypot(a,b)で√（a^2+b^2）を計算できる <math.h>））
+    double UnitVector_P[2] = {Vector_P[0]/A_Vector_P, Vector_P[1]/A_Vector_P}; //ベクトルABの単位ベクトル
+    double UnitVector_Q[2] = {UnitVector_P[1], -UnitVector_P[0]}; //ベクトルCHの単位ベクトル
+    double Vector_R[2] = {(now_x - plot_x1), (now_y - plot_y1)}; //ベクトルAC
+    double diff = UnitVector_P[0]*Vector_R[1] - UnitVector_P[1]*Vector_R[0]; //機体位置と直線ABの距離（外積を用いて計算）
+
+    //double VectorOut_P[2]= {0}; //ベクトルABに平行方向の出力をx軸方向、y軸方向の出力に分解
+
+///////////////////＜XYRmotorout関数内＞以下、ベクトルABに垂直な方向の誤差を埋めるPD制御（ベクトルABに垂直方向の出力を求め、x軸方向、y軸方向の出力に分解）//////////////////////
+
+    timer.start();
+    now_timeQ=timer.read();
+    out_dutyQ=Kvq_p*diff+Kvq_d*(diff-diff_old)/(now_timeQ-old_timeQ); //ベクトルABに垂直方向の出力を決定
+    diff_old=diff;
+
+    if(out_dutyQ>q_out_max)out_dutyQ=q_out_max;
+    if(out_dutyQ<-q_out_max)out_dutyQ=-q_out_max;
+
+    old_timeQ=now_timeQ;
+
+    double VectorOut_Q[2] = {out_dutyQ*UnitVector_Q[0], out_dutyQ*UnitVector_Q[1]}; //ベクトルABに垂直方向の出力をx軸方向、y軸方向の出力に分解
+
+///////////////////////////////<XYRmotorout関数内＞以下、機体角度と目標角度の誤差を埋めるPD制御（旋回のための出力値を決定）//////////////////////////////////
+
+    now_timeR=timer.read();
+    diffangle=target_angle-now_angle;
+    out_dutyR=-(Kvr_p*diffangle+Kvr_d*(diffangle-diffangle_old)/(now_timeR-old_timeR));
+    diffangle_old=diffangle;
+
+    if(out_dutyR>r_out_max)out_dutyR=r_out_max;
+    if(out_dutyR<-r_out_max)out_dutyR=-r_out_max;
+
+    old_timeR=now_timeR;
+
+//////////////////////////<XYRmotorout関数内＞以下、x軸方向、y軸方向、旋回の出力をそれぞれad_x_out,ad_y_out,ad_r_outの指すアドレスに書き込む/////////////////////////////
+////////////////////////////////////////////その際、x軸方向、y軸方向の出力はフィールドの座標系から機体の座標系に変換する。///////////////////////////////////////////////
+
+    diff_st = hypot(now_x-plot_x1,now_y-plot_y1); //出発座標と機体の位置の距離
+    diff_tgt = hypot(now_x - plot_x2, now_y - plot_y2); //機体の位置と目標座標の距離
+    diff_st_tgt = hypot(plot_x1-plot_x2,plot_y1-plot_y2); //出発座標と目標座標の距離
+
+    if(speed1 == speed2) { //等速移動
+
+        double VectorOut_P[2] = {speed1*UnitVector_P[0], speed1*UnitVector_P[1]};
+
+        *ad_x_out = (VectorOut_P[0]+VectorOut_Q[0])*cos(-now_angle*3.141592/180)-(VectorOut_P[1]+VectorOut_Q[1])*sin(-now_angle*3.141592/180);
+        *ad_y_out = (VectorOut_P[0]+VectorOut_Q[0])*sin(-now_angle*3.141592/180)+(VectorOut_P[1]+VectorOut_Q[1])*cos(-now_angle*3.141592/180);
+        *ad_r_out = out_dutyR;
+
+    } else if(speed2 == 0) { //減速移動(目標速度が０)→ベクトルABに垂直な方向の出力にもP制御をかける。
+
+        double VectorOut_P[2] = {speed1*UnitVector_P[0], speed1*UnitVector_P[1]};
+
+        if(diff_tgt > diff_st_tgt) {
+            diff_tgt = diff_st_tgt;
+        }
+
+        p_param=(diff_tgt/diff_st_tgt);
+
+        *ad_x_out = p_param*((VectorOut_P[0]+VectorOut_Q[0])*cos(-now_angle*3.141592/180)-(VectorOut_P[1]+VectorOut_Q[1])*sin(-now_angle*3.141592/180));
+        *ad_y_out = p_param*((VectorOut_P[0]+VectorOut_Q[0])*sin(-now_angle*3.141592/180)+(VectorOut_P[1]+VectorOut_Q[1])*cos(-now_angle*3.141592/180));
+        *ad_r_out = out_dutyR;
+
+    } else if(speed1 > speed2) { //減速移動（目標速度が０でない）
+
+        if(diff_tgt > diff_st_tgt) {
+            diff_tgt = diff_st_tgt;
+        }
+
+        p_param=(diff_tgt/diff_st_tgt);
+
+        double speed3 = speed2 + (speed1-speed2)*p_param;
+
+        double VectorOut_P[2] = {speed3*UnitVector_P[0], speed3*UnitVector_P[1]};
+
+        *ad_x_out = (VectorOut_P[0]+VectorOut_Q[0])*cos(-now_angle*3.141592/180)-(VectorOut_P[1]+VectorOut_Q[1])*sin(-now_angle*3.141592/180);
+        *ad_y_out = (VectorOut_P[0]+VectorOut_Q[0])*sin(-now_angle*3.141592/180)+(VectorOut_P[1]+VectorOut_Q[1])*cos(-now_angle*3.141592/180);
+        *ad_r_out = out_dutyR;
+
+    } else if(speed1 < speed2) { //加速移動(speed1)
+
+        if(diff_st > diff_st_tgt) {
+            diff_st = diff_st_tgt;
+        }
+
+        p_param=(diff_st/diff_st_tgt);
+
+        double speed4 = speed1 + (speed2-speed1)*p_param;
+
+        double VectorOut_P[2] = {speed4*UnitVector_P[0], speed4*UnitVector_P[1]};
+
+        *ad_x_out = (VectorOut_P[0]+VectorOut_Q[0])*cos(-now_angle*3.141592/180)-(VectorOut_P[1]+VectorOut_Q[1])*sin(-now_angle*3.141592/180);
+        *ad_y_out = (VectorOut_P[0]+VectorOut_Q[0])*sin(-now_angle*3.141592/180)+(VectorOut_P[1]+VectorOut_Q[1])*cos(-now_angle*3.141592/180);
+        *ad_r_out = out_dutyR;
+    }
+}
+
+////////////////////////////////////////////////////////////<XYRmotorout関数は以上>////////////////////////////////////////////////////////////////
+
+
+/*void set_p_out(double p)  //ベクトルABに平行方向の出力値設定関数
+{
+    p_out = p;
+}*/
+
+void q_setPDparam(double q_p,double q_d)  //ベクトルABに垂直な方向の誤差を埋めるPD制御のパラメータ設定関数
+{
+    Kvq_p=q_p;
+    Kvq_d=q_d;
+}
+
+void r_setPDparam(double r_p,double r_d)  //機体角度と目標角度の誤差を埋めるPD制御のパラメータ設定関数
+{
+    Kvr_p=r_p;
+    Kvr_d=r_d;
+}
+
+void set_r_out(double r)  //旋回時の最大出力値設定関数
+{
+    r_out_max = r;
+}
+
+void set_q_out(double q){
+    q_out_max = q;   
+}
+
+void set_target_angle(double t)  //機体の目標角度設定関数
+{
+    target_angle = t;
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/pathfollowing/PathFollowing.h	Tue Feb 25 01:20:43 2020 +0000
@@ -0,0 +1,36 @@
+#ifndef HARUROBO2019_PATHFOLLOWING
+#define HARUROBO2019_PATHFOLLOWING
+
+extern double now_x,now_y,now_angle,old_angle,adj_angle;  //main.cppにこれらの値の読み込みを書くこと
+extern double now_timeQ,now_timeR;
+extern double usw_data1,usw_data2,usw_data3,usw_data4;
+
+void XYRmotorout(double plot_x1, double plot_y1, double plot_x2, double plot_y2, double *ad_x_out, double *ad_y_out, double *ad_r_out,double speed1,double speed2);
+//出発地点、目標地点の座標から機体のx軸方向、y軸方向、旋回の出力を算出する関数
+/*
+ *1.main分内でx_out,y_out,r_outをdouble型で定義
+ *2.XYRmotorout関数使用時は、num番目のx、y座標、num+1番目のx,y座標に加え、
+  x_out,y_out,r_outのアドレス（&x_out,&y_out,&r_out）を渡す→（XYRmotorout(座標×４つ,&x_out,&y_out,&r_out)）
+*/
+
+//次の関数のパラメーターを定義すること
+
+//void set_p_out(double p);
+//ベクトルABに平行方向の出力値設定関数
+
+void q_setPDparam(double q_p,double q_d);
+//ベクトルABに垂直な方向の誤差を埋めるPD制御のパラメータ設定関数
+
+void r_setPDparam(double r_p,double r_d);
+//機体角度と目標角度の誤差を埋めるPD制御のパラメータ設定関数
+
+void set_r_out(double r);
+//旋回時の最大出力値設定関数
+
+void set_q_out(double q);
+//経路に垂直な方向の出力の最大値設定関数
+
+void set_target_angle(double t);
+//機体目標角度設定関数
+
+#endif
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ros_lib_kinetic.lib	Tue Feb 25 01:20:43 2020 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/garyservin/code/ros_lib_kinetic/#a849bf78d77f

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/uw_28015.lib	Tue Feb 25 01:20:43 2020 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/yuki0701/code/uw_28015/#c5ad8660c8fd