2019NHK_teamA
/
NHK2019_A_manual_robot_program
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Dependencies: mbed 2019ROBOKONmanualProgram
Revision 3:82008ebeb93c, committed 2019-09-27
- Comitter:
- shina
- Date:
- Fri Sep 27 23:53:04 2019 +0000
- Parent:
- 2:830db42bae7e
- Commit message:
- NHK2019robocon manual program 9/28 version.
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/main.cpp Tue Sep 17 08:54:21 2019 +0000
+++ b/main.cpp Fri Sep 27 23:53:04 2019 +0000
@@ -32,7 +32,6 @@
DigitalOut led1(LED1);
Timer timer;
Timer timer2;
-Timer timer3;
//変数
char data1;//右上
@@ -102,9 +101,9 @@
void send_data(char address,char data);
void emergency();
void change_rack_2();
-//void sequence_kaisyu();
-void kaisyu();
-void kaisyu_short();
+void sequence_kaisyu();
+//void kaisyu();
+//void sequence_kaisyu_short();
//void sequence_hakidashi();
void hakidashi();
void mode_change();
@@ -126,9 +125,9 @@
change_data();
//change_rack();
change_rack_2();
- //sequence_kaisyu();
- kaisyu();
- kaisyu_short();
+ sequence_kaisyu();
+ //kaisyu();
+ //sequence_kaisyu_short();
//sequence_hakidashi();
hakidashi();
change_fan();
@@ -191,7 +190,11 @@
send_data(0x40,data10);
}
- timer.reset();
+ /*data_servo=0x03;
+ send_data(0x18,data_servo);
+ data_servo=0x04;
+ send_data(0x18,data_servo);*/
+ timer2.reset();
}
@@ -217,6 +220,7 @@
hidari1=ps3.getButtonState(hidari);
migi1=ps3.getButtonState(migi);
get_data_rs232=slave.getc();
+
if(get_data_rs232) {
@@ -263,6 +267,10 @@
if(q==0){
//送風モード
q=1;
+ /* data_servo=0x03;
+ send_data(0x18,data_servo);
+ data_servo=0x04;
+ send_data(0x18,data_servo);*/
data10=0xcf;
send_data(0x40,data10);
}else if(q==1){
@@ -606,6 +614,11 @@
if(ue1==1&&start==0){
data5=0x00;
data6=0xff;
+
+ /*data_servo=0x03;
+ send_data(0x18,data_servo);
+ data_servo=0x04;
+ send_data(0x18,data_servo);*/
}
}else if(shita!=old_shita){
old_shita=shita;
@@ -635,18 +648,19 @@
}
//回収機構
-/*
+
void sequence_kaisyu()
{
if(q==0){
if(square!=old_square) {
old_square=square;
- if(square==1) {
-
+ if(square==1&&select==0) {
+
data_servo=0x07;
send_data(0x18,data_servo);
- wait(1.5);
+ wait(1.3);
data7=0x00;
+ get_data_rs232=get_data_rs232 & 0b11101111;
while(!(get_data_rs232 & 0x10)) {
send_data(0x24,data7);
get_data_rs232=slave.getc();
@@ -655,22 +669,46 @@
send_data(0x24,data7);
data_servo=0x08;
send_data(0x18,data_servo);
- wait(1.5);
+ wait(1.3);
data7=0xff;
+ get_data_rs232=get_data_rs232 & 0b11011111;
while(!(get_data_rs232 & 0x20)) {
send_data(0x24,data7);
get_data_rs232=slave.getc();
}
data7=0x10;
send_data(0x24,data7);
-
+
+ }
+ }else if(triangle!=old_triangle){
+ if(triangle==1&&select==0){
+
+ data_servo=0x07;
+ send_data(0x18,data_servo);
+ wait(1.3);
+ data7=0x00;
+ send_data(0x24,data7);
+ wait(0.3);
+ data7=0x10;
+ send_data(0x24,data7);
+ data_servo=0x08;
+ send_data(0x18,data_servo);
+ wait(1.3);
+ data7=0xff;
+ get_data_rs232=get_data_rs232 & 0b11011111;
+ while(!(get_data_rs232 & 0x20)) {
+ send_data(0x24,data7);
+ get_data_rs232=slave.getc();
+ }
+ data7=0x10;
+ send_data(0x24,data7);
}
}
}
}
-*/
+/*
void kaisyu(){
if(q==0){
if(old_square!=square){
@@ -730,7 +768,7 @@
}
}
}
-
+*/
/*
void sequence_hakidashi()
@@ -775,12 +813,43 @@
}
*/
+/*
+void sequence_kaisyu_short(){
+ if(q==0){
+ if(old_triangle!=triangle){
+ old_triangle=triangle;
+ if(triangle==1){
+
+ data_servo=0x07;
+ send_data(0x18,data_servo);
+ wait(1.3);
+ data7=0x00;
+ send_data(0x24,data7);
+ wait(0.3);
+ data7=0x10;
+ send_data(0x24,data7);
+ data_servo=0x08;
+ send_data(0x18,data_servo);
+ wait(1.3);
+ data7=0xff;
+ get_data_rs232=get_data_rs232 & 0x;
+ while(!(get_data_rs232 & 0x20)) {
+ send_data(0x24,data7);
+ get_data_rs232=slave.getc();
+ }
+ data7=0x10;
+ send_data(0x24,data7);
+
+ }
+ }
+ }
+}*/
void hakidashi(){
if(q==0){
if(old_migi1!=migi1){
old_migi1=migi1;
- if(migi1==1){
+ if(migi1==1&&select==0){
r=1;
}
}
@@ -847,63 +916,7 @@
}
}
-void kaisyu_short(){
- if(q==0){
- if(triangle!=old_triangle){
- old_triangle=triangle;
- if(triangle==1){
- s=1;
- }
- }
-
- switch(s){
- case 1:
- data_servo=0x07;
- send_data(0x18,data_servo);
- timer3.start();
- if(timer3.read()>3.5){
- timer3.stop();
- timer3.reset();
- s=2;
- }
- break;
-
- case 2:
- data7=0x00;
- send_data(0x24,data7);
- timer3.start();
- if(timer3.read()>0.5){
- data7=0x10;
- send_data(0x24,data7);
- s=3;
- }
- break;
-
- case 3:
- data_servo=0x08;
- send_data(0x18,data_servo);
- timer3.start();
- if(timer3.read()>1.3){
- s=4;
- }
- break;
-
- case 4:
- data7=0xff;
- send_data(0x24,data7);
- if(get_data_rs232 & 0x20){
- data7=0x10;
- send_data(0x24,data7);
- s=5;
- }
- break;
-
- default:
- s=5;
- break;
- }
- }
-}
+
//ファン
void change_fan()
@@ -945,9 +958,6 @@
}
-
-
-
//i2c
void send_data(char address,char data)
{