2019NHK_teamA / Mbed 2 deprecated NHK2019robokon_10_4

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Dependencies:   mbed 2019ROBOKONmanualProgram

Files at this revision

API Documentation at this revision

Revision 4:ab73021bbce1, committed 2019-10-04

Comitter:
shina
Date:
Fri Oct 04 12:44:52 2019 +0000
Parent:
3:82008ebeb93c
Commit message:
NHK2019 team A manual robot program 10/4

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/main.cpp	Fri Sep 27 23:53:04 2019 +0000
+++ b/main.cpp	Fri Oct 04 12:44:52 2019 +0000
@@ -165,6 +165,7 @@
     data9=0x80;
     data10=0x80;
     data11=0x80;
+    data_servo=0x00;
 
     send_data(0x10,data1);
     send_data(0x12,data2);
@@ -177,6 +178,7 @@
     send_data(0x28,data9);
     send_data(0x40,data10);
     send_data(0x30,data11);
+    send_data(0x18,data_servo);
     
 
     data10=0x3f;
@@ -503,12 +505,12 @@
     } else if(circle!=old_circle) {
         old_circle=circle;
         //バスタオル挟む機構
-        if(circle==1) {
+        if(circle==1&&(get_data_rs232 & 0b00000011)) {
             if(k==1) {
                 data_servo=0x03;
                 //send_data(0x18,data_servo);
                 k=0;
-            } else if(k==0) {
+            } else if(k==0&&(get_data_rs232 & 0b00000011)) {
                 data_servo=0x04;
                 //send_data(0x18,data_servo);
                 k=1;
@@ -658,7 +660,7 @@
             
             data_servo=0x07;
             send_data(0x18,data_servo);
-            wait(1.3);
+            wait(1.2);
             data7=0x00;
             get_data_rs232=get_data_rs232 & 0b11101111;
             while(!(get_data_rs232 & 0x10)) {
@@ -669,7 +671,7 @@
             send_data(0x24,data7);
             data_servo=0x08;
             send_data(0x18,data_servo);
-            wait(1.3);
+            wait(1.2);
             data7=0xff;
             get_data_rs232=get_data_rs232 & 0b11011111;
             while(!(get_data_rs232 & 0x20)) {
@@ -685,7 +687,7 @@
                                 
                 data_servo=0x07;
                 send_data(0x18,data_servo);
-                wait(1.3);
+                wait(1.2);
                 data7=0x00;
                 send_data(0x24,data7);
                 wait(0.3);
@@ -693,7 +695,7 @@
                 send_data(0x24,data7);
                 data_servo=0x08;
                 send_data(0x18,data_servo);
-                wait(1.3);
+                wait(1.2);
                 data7=0xff;
                 get_data_rs232=get_data_rs232 & 0b11011111;
                 while(!(get_data_rs232 & 0x20)) {
@@ -724,7 +726,7 @@
             data_servo=0x07;
             send_data(0x24,data_servo);
             timer2.start();
-            if(timer2.read()>3.5){
+            if(timer2.read()>3.5f){
                 timer2.stop();
                 timer2.reset();
                 p=2;
@@ -745,7 +747,7 @@
             data_servo=0x08;
             send_data(0x18,data_servo);
             timer2.start();
-            if(timer2.read()>1.3){
+            if(timer2.read()>1.3f){
                 p=4;
             }
 
@@ -859,7 +861,7 @@
             data_servo=0x07;
             send_data(0x18,data_servo);
             timer2.start();
-            if(timer2.read()>1.5){
+            if(timer2.read()>1.5f){
                 timer2.stop();
                 timer2.reset();
                 r=2;
@@ -870,7 +872,7 @@
             data7=0x00;
             send_data(0x24,data7);
             timer2.start();
-            if(timer2.read()>0.3){
+            if(timer2.read()>0.3f){
                 timer2.stop();
                 timer2.reset();
                 data7=0x10;
@@ -882,6 +884,7 @@
             case 3:
             data11=0xff;
             send_data(0x30,data11);
+            //get_data_rs232=get_data_rs232 & 0b10111111;
             if(get_data_rs232 & 0x40){
                 data11=0x10;
                 send_data(0x30,data11);
@@ -892,6 +895,7 @@
             case 4:
             data11=0x00;
             send_data(0x30,data11);
+            //get_data_rs232=get_data_rs232 & 0b01111111;
             if(get_data_rs232 & 0x80){
                 data11=0x10;
                 send_data(0x30,data11);
@@ -902,6 +906,7 @@
             case 5:
             data7=0xff;
             send_data(0x24,data7);
+            //get_data_rs232=get_data_rs232 & 0b11011111;
             if(get_data_rs232 & 0x20){
                 data7=0x10;
                 send_data(0x24,data7);
@@ -930,7 +935,7 @@
         data8=0x00;
         data9=0x00;
         data10=0x00;
-    }else if(left2==0&&(old_triangle!=triangle)&&select==0){
+    }else if(left2==0&&(old_triangle!=triangle)&&select==0&&(get_data_rs232 & 0b00000011)){
         old_triangle=triangle;
         if(triangle==1){
             data8=0xff;