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Dependencies:   mbed move4wheel2 EC CruizCore_R1370P

main.cpp@1:d66ba60fa9a9, 2019-06-15 (annotated)

Committer:
yuki0701
Date:
Sat Jun 15 04:46:41 2019 +0000
Revision:
1:d66ba60fa9a9
Parent:
0:0727df1dfa3e 
a

Who changed what in which revision?

UserRevisionLine numberNew contents of line
yuki0701 0:0727df1dfa3e 1 #include "EC.h"
yuki0701 0:0727df1dfa3e 2 #include "R1370P.h"
yuki0701 0:0727df1dfa3e 3 #include "move4wheel.h"
yuki0701 0:0727df1dfa3e 4 #include "mbed.h"
yuki0701 0:0727df1dfa3e 5 #include "math.h"
yuki0701 0:0727df1dfa3e 6 #include "PathFollowing.h"
yuki0701 0:0727df1dfa3e 7 #include "movement.h"
yuki0701 0:0727df1dfa3e 8 #include "maxonsetting.h"
yuki0701 0:0727df1dfa3e 9 #include "DCsetting.h"
yuki0701 0:0727df1dfa3e 10
yuki0701 0:0727df1dfa3e 11
yuki0701 0:0727df1dfa3e 12 /*---------------------使用モーターの種類を選択(maxonsetting.cpp / DCsetting.cpp / movement.cppでも同様に選択)-----------------------*/
yuki0701 0:0727df1dfa3e 13 //#define DC_MOTOR_MODE //DCモーター
yuki0701 0:0727df1dfa3e 14 #define MAXON_MOTOR_MODE //マクソンモーター
yuki0701 0:0727df1dfa3e 15 /*----------------------------------------------------------------------------------------------------------------------------*/
yuki0701 0:0727df1dfa3e 16
yuki0701 0:0727df1dfa3e 17
yuki0701 0:0727df1dfa3e 18 /*---------------------ESCONの使用有無を選択------------------------*/
yuki0701 0:0727df1dfa3e 19 #define ESCON_USE_MODE //ESCON使用
yuki0701 0:0727df1dfa3e 20 //#define ESCON_DISUSE_MODE //ESCON不使用
yuki0701 0:0727df1dfa3e 21 /*---------------------------------------------------------------*/
yuki0701 0:0727df1dfa3e 22
yuki0701 0:0727df1dfa3e 23
yuki0701 0:0727df1dfa3e 24 /*---------------------プログラムモードの選択------------------------*/
yuki0701 0:0727df1dfa3e 25 //#define NHK2020_DEBUG_MODE //デバッグ用（パソコン操作）
yuki0701 0:0727df1dfa3e 26 #define NHK2020_TEST_MODE //試走用
yuki0701 0:0727df1dfa3e 27 //#define NHK2020_MAIN_MODE //本番用
yuki0701 0:0727df1dfa3e 28 /*---------------------------------------------------------------*/
yuki0701 0:0727df1dfa3e 29
yuki0701 0:0727df1dfa3e 30
yuki0701 0:0727df1dfa3e 31 /*------------------使用プログラムの情報を出力-----------------------*/
yuki0701 0:0727df1dfa3e 32 //#define PROGRAM_INFO
yuki0701 0:0727df1dfa3e 33 /*---------------------------------------------------------------*/
yuki0701 0:0727df1dfa3e 34
yuki0701 0:0727df1dfa3e 35
yuki0701 0:0727df1dfa3e 36 /*------------運動時の各速度の設定----------*/
yuki0701 0:0727df1dfa3e 37 double st_speed = 500; // 移動開始時の速度
yuki0701 0:0727df1dfa3e 38 double max_speed = 2500; // 直線移動時の最大速度
yuki0701 0:0727df1dfa3e 39 double mid_speed = 2000; // 直線移動時の中間速度
yuki0701 0:0727df1dfa3e 40 double turn_speed = 1000; // 旋回時の速度
yuki0701 0:0727df1dfa3e 41 double end_speed = 200; // 停止直前の速度
yuki0701 0:0727df1dfa3e 42 /*--------------------------------------*/
yuki0701 0:0727df1dfa3e 43
yuki0701 0:0727df1dfa3e 44
yuki0701 0:0727df1dfa3e 45 //-----mbed led------------------//点灯条件-----------------------//参照場所------------------------------//
yuki0701 0:0727df1dfa3e 46 //DigitalOut debug_led(LED3); //maxon debug programme -> on //maxonsetting.cpp
yuki0701 0:0727df1dfa3e 47
yuki0701 0:0727df1dfa3e 48
yuki0701 0:0727df1dfa3e 49 Serial pc(USBTX,USBRX);
yuki0701 0:0727df1dfa3e 50
yuki0701 0:0727df1dfa3e 51 //////////////////////////////////////////////////////////////以下main文/////////////////////////////////////////////////////////////////
yuki0701 0:0727df1dfa3e 52
yuki0701 0:0727df1dfa3e 53 int main()
yuki0701 0:0727df1dfa3e 54 {
yuki0701 0:0727df1dfa3e 55
yuki0701 0:0727df1dfa3e 56 UserLoopSetting_maxon();
yuki0701 0:0727df1dfa3e 57 UserLoopSetting_sensor();
yuki0701 0:0727df1dfa3e 58 UserLoopSetting_enc();
yuki0701 0:0727df1dfa3e 59
yuki0701 0:0727df1dfa3e 60 #ifdef PROGRAM_INFO //プログラム使用時に使用プログラムの情報を最初に表示
yuki0701 0:0727df1dfa3e 61
yuki0701 0:0727df1dfa3e 62 printf("ソースファイル名 : %s¥n", __FILE__);
yuki0701 0:0727df1dfa3e 63 printf("作成日付 : %s¥n", __DATE__);
yuki0701 0:0727df1dfa3e 64 printf("作成時刻 : %s¥n", __TIME__);
yuki0701 0:0727df1dfa3e 65
yuki0701 0:0727df1dfa3e 66 #endif
yuki0701 0:0727df1dfa3e 67
yuki0701 0:0727df1dfa3e 68
yuki0701 0:0727df1dfa3e 69 /*-------------------------------------------デバッグ用プログラム-----------------------------------------------*/
yuki0701 0:0727df1dfa3e 70 #ifdef NHK2020_DEBUG_MODE
yuki0701 0:0727df1dfa3e 71
yuki0701 0:0727df1dfa3e 72 static char pc_command = '\0';
yuki0701 0:0727df1dfa3e 73 int md = 0;
yuki0701 0:0727df1dfa3e 74
yuki0701 0:0727df1dfa3e 75 while(1) {
yuki0701 0:0727df1dfa3e 76 pc_command = pc.getc();
yuki0701 0:0727df1dfa3e 77
yuki0701 0:0727df1dfa3e 78 if(pc_command == 'w') { //"w"を押すと全モーターを正方向に加速
yuki0701 0:0727df1dfa3e 79 md += 500;
yuki0701 0:0727df1dfa3e 80 } else if(pc_command == 's') { //"s"を押すと全モーターを負方向に加速
yuki0701 0:0727df1dfa3e 81 md -= 500;
yuki0701 0:0727df1dfa3e 82 }
yuki0701 0:0727df1dfa3e 83
yuki0701 0:0727df1dfa3e 84 #ifdef MAXON_MOTOR_MODE
yuki0701 0:0727df1dfa3e 85 MaxonControl(dm,dm,dm,dm);
yuki0701 0:0727df1dfa3e 86 #endif
yuki0701 0:0727df1dfa3e 87 #ifdef DC_MOTOR_MODE
yuki0701 0:0727df1dfa3e 88 DCControl(dm,dm,dm,dm);
yuki0701 0:0727df1dfa3e 89 #endif
yuki0701 0:0727df1dfa3e 90 }
yuki0701 0:0727df1dfa3e 91 #endif
yuki0701 0:0727df1dfa3e 92 /*-------------------------------------------------------------------------------------------------------*/
yuki0701 0:0727df1dfa3e 93
yuki0701 0:0727df1dfa3e 94
yuki0701 0:0727df1dfa3e 95 /*-------------------------------------------試走用プログラム-----------------------------------------------*/
yuki0701 0:0727df1dfa3e 96 #ifdef NHK2020_TEST_MODE
yuki0701 0:0727df1dfa3e 97
yuki0701 1:d66ba60fa9a9 98 //spline_curve(0,0,100,50,30,0,70,50,10);
yuki0701 1:d66ba60fa9a9 99 spline_curve(0,0,100,50,30,0,70,50,10);
yuki0701 1:d66ba60fa9a9 100 //straight(1,1,0,0,1000,0,5000,5000,5,0.1,10,0.1,600,0);
yuki0701 1:d66ba60fa9a9 101 //MaxonControl(0,0,0,0);
yuki0701 0:0727df1dfa3e 102
yuki0701 0:0727df1dfa3e 103 #endif
yuki0701 0:0727df1dfa3e 104 /*-------------------------------------------------------------------------------------------------------*/
yuki0701 0:0727df1dfa3e 105
yuki0701 0:0727df1dfa3e 106
yuki0701 0:0727df1dfa3e 107 /*-------------------------------------------本番用プログラム-----------------------------------------------*/
yuki0701 0:0727df1dfa3e 108 #ifdef NHK2020_MAIN_MODE
yuki0701 0:0727df1dfa3e 109
yuki0701 0:0727df1dfa3e 110
yuki0701 0:0727df1dfa3e 111 #endif
yuki0701 0:0727df1dfa3e 112 /*-------------------------------------------------------------------------------------------------------*/
yuki0701 0:0727df1dfa3e 113 }