2020_TeamA / Mbed 2 deprecated Yoshida_MiniRobo

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Dependencies:   mbed YKNCT_Movement SBDBT BNO055 YKNCT_MD YKNCT_I2C

main.cpp@12:10ce310bbdf4, 2020-03-17 (annotated)

Committer:
yoshidayuito
Date:
Tue Mar 17 08:03:36 2020 +0000
Revision:
12:10ce310bbdf4
Parent:
11:42310638e241
Child:
13:c8af1467ba8b
Fix Move X;Ver.yoshida

Who changed what in which revision?

UserRevisionLine numberNew contents of line
TakushimaYukimasa 0:9e851dc42cde 1 /**
TakushimaYukimasa 0:9e851dc42cde 2 ********************************************************************************
TakushimaYukimasa 0:9e851dc42cde 3 * @file main.c
TakushimaYukimasa 0:9e851dc42cde 4 * @author You
TakushimaYukimasa 0:9e851dc42cde 5 * @version V?.?.?
TakushimaYukimasa 0:9e851dc42cde 6 * @date Today
TakushimaYukimasa 0:9e851dc42cde 7 * @brief メインファイル
TakushimaYukimasa 0:9e851dc42cde 8 ******************************************************************************
TakushimaYukimasa 0:9e851dc42cde 9 */
TakushimaYukimasa 0:9e851dc42cde 10
TakushimaYukimasa 0:9e851dc42cde 11 /* Includes ------------------------------------------------------------------*/
TakushimaYukimasa 0:9e851dc42cde 12 #include <main.h>
TakushimaYukimasa 0:9e851dc42cde 13
TakushimaYukimasa 0:9e851dc42cde 14 /* 型定義 --------------------------------------------------------------------*/
TakushimaYukimasa 0:9e851dc42cde 15
TakushimaYukimasa 0:9e851dc42cde 16 /* ロボットの加速度 */
TakushimaYukimasa 0:9e851dc42cde 17 ROCATION NowAcc;
TakushimaYukimasa 0:9e851dc42cde 18 /* ロボットの座標 */
TakushimaYukimasa 0:9e851dc42cde 19 ROCATION NowLoc;
TakushimaYukimasa 0:9e851dc42cde 20
TakushimaYukimasa 0:9e851dc42cde 21 /* 定数定義 ------------------------------------------------------------------*/
TakushimaYukimasa 0:9e851dc42cde 22 /* マクロ定義 ----------------------------------------------------------------*/
TakushimaYukimasa 0:9e851dc42cde 23 /* 関数プロトタイプ宣言 -------------------------------------------------------*/
TakushimaYukimasa 0:9e851dc42cde 24
TakushimaYukimasa 0:9e851dc42cde 25 /* タイマ呼び出し用 */
TakushimaYukimasa 0:9e851dc42cde 26 void IT_CallBack(void);
TakushimaYukimasa 0:9e851dc42cde 27
TakushimaYukimasa 0:9e851dc42cde 28 /* 自己位置推定処理 */
TakushimaYukimasa 0:9e851dc42cde 29 void LocEstimate(void);
TakushimaYukimasa 0:9e851dc42cde 30
yoshidayuito 7:8bea84f72e64 31 /* 壁あて */
yoshidayuito 7:8bea84f72e64 32 void ToWall(void);
TakushimaYukimasa 0:9e851dc42cde 33
TakushimaYukimasa 0:9e851dc42cde 34 /* 変数定義 ------------------------------------------------------------------*/
TakushimaYukimasa 0:9e851dc42cde 35
TakushimaYukimasa 0:9e851dc42cde 36 /* 操作権 0…なし 1…手動 2…自動 */
TakushimaYukimasa 0:9e851dc42cde 37 int operate=0;
TakushimaYukimasa 0:9e851dc42cde 38
TakushimaYukimasa 0:9e851dc42cde 39 /* 自動シーケンス */
TakushimaYukimasa 0:9e851dc42cde 40 int auto_mode=0;
TakushimaYukimasa 0:9e851dc42cde 41
TakushimaYukimasa 0:9e851dc42cde 42 /* 直読みエンコーダ角度保存(degree) */
TakushimaYukimasa 0:9e851dc42cde 43 double EncoderDeg[EncoderMAX] = {0};
TakushimaYukimasa 0:9e851dc42cde 44
TakushimaYukimasa 0:9e851dc42cde 45 /* 足回り値保存変数 */
yoshidayuito 7:8bea84f72e64 46 int MovMotor[4]= {0};
TakushimaYukimasa 0:9e851dc42cde 47
TakushimaYukimasa 0:9e851dc42cde 48 /* 自動yaw補整目標角度 */
TakushimaYukimasa 0:9e851dc42cde 49 double TarTheta=0;
TakushimaYukimasa 0:9e851dc42cde 50
TakushimaYukimasa 0:9e851dc42cde 51 /* クラス定義 ----------------------------------------------------------------*/
TakushimaYukimasa 0:9e851dc42cde 52
TakushimaYukimasa 0:9e851dc42cde 53 /* 割り込み用クラス */
TakushimaYukimasa 0:9e851dc42cde 54 Ticker flipper;
TakushimaYukimasa 0:9e851dc42cde 55
TakushimaYukimasa 0:9e851dc42cde 56 /* UART (Tx,Rx) */
TakushimaYukimasa 0:9e851dc42cde 57 Serial telemetry(USBTX, USBRX, 115200);
TakushimaYukimasa 0:9e851dc42cde 58
TakushimaYukimasa 0:9e851dc42cde 59 /* コントローラー */
TakushimaYukimasa 0:9e851dc42cde 60 SBDBT DS3(PA_0, PA_1, 9600);
TakushimaYukimasa 0:9e851dc42cde 61
TakushimaYukimasa 0:9e851dc42cde 62 /* オンボードLED */
TakushimaYukimasa 0:9e851dc42cde 63 DigitalOut led(LED2);
TakushimaYukimasa 0:9e851dc42cde 64
TakushimaYukimasa 0:9e851dc42cde 65 /* USERボタン */
TakushimaYukimasa 0:9e851dc42cde 66 DigitalIn UB(PC_13,PullDown);
TakushimaYukimasa 0:9e851dc42cde 67
TakushimaYukimasa 0:9e851dc42cde 68 /* エンコーダーピン CS */
TakushimaYukimasa 0:9e851dc42cde 69 DigitalOut CS[] = {PA_2,PA_3};
TakushimaYukimasa 0:9e851dc42cde 70 DigitalOut CL[] = {PA_4,PA_5};
TakushimaYukimasa 0:9e851dc42cde 71 DigitalIn DO[] = {PA_6,PA_7};
TakushimaYukimasa 0:9e851dc42cde 72
yoshidayuito 1:520233a969e2 73 /* ジャイロ用タイマー */
yoshidayuito 1:520233a969e2 74 Timer yawCnt;
yoshidayuito 1:520233a969e2 75
yoshidayuito 10:9ee22b22e583 76 /* x座標移動タイマー */
yoshidayuito 10:9ee22b22e583 77 Timer CooCnt;
yoshidayuito 10:9ee22b22e583 78
TakushimaYukimasa 0:9e851dc42cde 79 /* 足回り動作クラス定義 */
TakushimaYukimasa 0:9e851dc42cde 80 Move omuni(MovMotor,NowLoc.theta);
TakushimaYukimasa 0:9e851dc42cde 81
TakushimaYukimasa 0:9e851dc42cde 82 /* I2C MDのクラス定義 */
TakushimaYukimasa 0:9e851dc42cde 83 YKNCT_MD_I2C MD(PB_9,PB_8);
TakushimaYukimasa 0:9e851dc42cde 84
yoshidayuito 8:367c7d6ef5a3 85 /* I2C Inputのクラス定義 */
yoshidayuito 8:367c7d6ef5a3 86 YKNCT_I2C_IN In(PB_9,PB_8);
yoshidayuito 8:367c7d6ef5a3 87
TakushimaYukimasa 0:9e851dc42cde 88 /* ジャイロのピン設定 */
TakushimaYukimasa 0:9e851dc42cde 89 BNO055 bno(PB_9, PB_8);
TakushimaYukimasa 0:9e851dc42cde 90
TakushimaYukimasa 0:9e851dc42cde 91
TakushimaYukimasa 0:9e851dc42cde 92 /*----------------------------------- main ----------------------------------*/
TakushimaYukimasa 0:9e851dc42cde 93 int main()
TakushimaYukimasa 0:9e851dc42cde 94 {
yoshidayuito 7:8bea84f72e64 95 telemetry.printf("\n\rMainStart");
TakushimaYukimasa 0:9e851dc42cde 96
yoshidayuito 7:8bea84f72e64 97 /* 割り込みの設定
yoshidayuito 7:8bea84f72e64 98 * IT_CallBack関数を0.1msで割り込み */
yoshidayuito 7:8bea84f72e64 99 flipper.attach_us(&IT_CallBack, 100);
TakushimaYukimasa 0:9e851dc42cde 100
yoshidayuito 7:8bea84f72e64 101 /* ジャイロの設定 */
yoshidayuito 7:8bea84f72e64 102 bno.setmode(OPERATION_MODE_IMUPLUS);
TakushimaYukimasa 0:9e851dc42cde 103
yoshidayuito 7:8bea84f72e64 104 /* I2CMDの設定 */
yoshidayuito 7:8bea84f72e64 105 MD.Init(0,MD_SMB);
yoshidayuito 7:8bea84f72e64 106 MD.Init(1,MD_SMB);
yoshidayuito 7:8bea84f72e64 107 MD.Init(2,MD_SMB);
yoshidayuito 7:8bea84f72e64 108 MD.Init(3,MD_SMB);
yoshidayuito 10:9ee22b22e583 109
yoshidayuito 8:367c7d6ef5a3 110 In.Init(0,0);
yoshidayuito 8:367c7d6ef5a3 111 In.Init(0,1);
TakushimaYukimasa 0:9e851dc42cde 112
yoshidayuito 7:8bea84f72e64 113 telemetry.printf("\n\rMainLoopStart");
yoshidayuito 7:8bea84f72e64 114 /* メインループ --------------------------------------------------------------*/
yoshidayuito 11:42310638e241 115 while(1) {
yoshidayuito 7:8bea84f72e64 116 /* オンボードLED点滅 */
yoshidayuito 7:8bea84f72e64 117 led=!led;
yoshidayuito 7:8bea84f72e64 118
yoshidayuito 7:8bea84f72e64 119 /* 表示改行 */
yoshidayuito 7:8bea84f72e64 120 telemetry.printf("\n\r");
TakushimaYukimasa 0:9e851dc42cde 121
yoshidayuito 7:8bea84f72e64 122 /* 自動処理関連テレメトリ */
yoshidayuito 7:8bea84f72e64 123 telemetry.printf("ope:%d ",operate);
yoshidayuito 7:8bea84f72e64 124 /* 座標テレメトリ */
yoshidayuito 7:8bea84f72e64 125 telemetry.printf("X:%4.0f Y:%4.0f T:%4.0f ",NowLoc.X,NowLoc.Y,NowLoc.theta);
TakushimaYukimasa 0:9e851dc42cde 126
yoshidayuito 7:8bea84f72e64 127 /* 自己位置推定更新 */
yoshidayuito 7:8bea84f72e64 128 LocEstimate();
TakushimaYukimasa 0:9e851dc42cde 129
yoshidayuito 7:8bea84f72e64 130 /* I2CMD実行 */
yoshidayuito 7:8bea84f72e64 131 MD.Exe();
TakushimaYukimasa 0:9e851dc42cde 132
yoshidayuito 11:42310638e241 133 /* ジャイロ用タイマースタート */
yoshidayuito 7:8bea84f72e64 134 yawCnt.start();
yoshidayuito 11:42310638e241 135 /* ジャイロ用タイマーリセット */
yoshidayuito 7:8bea84f72e64 136 yawCnt.reset();
yoshidayuito 7:8bea84f72e64 137
yoshidayuito 11:42310638e241 138
yoshidayuito 11:42310638e241 139 /* X座標移動用タイマーリセット */
yoshidayuito 11:42310638e241 140 CooCnt.reset();
yoshidayuito 11:42310638e241 141
yoshidayuito 7:8bea84f72e64 142 /* 操縦権変更 ×停止 △手動 〇自動 */
yoshidayuito 7:8bea84f72e64 143 if(DS3.CROSS) operate=0;
yoshidayuito 7:8bea84f72e64 144 if(DS3.TRIANGLE) operate=1;
yoshidayuito 7:8bea84f72e64 145 if(DS3.CIRCLE) operate=2;
TakushimaYukimasa 0:9e851dc42cde 146
yoshidayuito 7:8bea84f72e64 147 /* 操縦権：なし 停止動作 */
yoshidayuito 7:8bea84f72e64 148 if(operate==0) {
yoshidayuito 7:8bea84f72e64 149 /* 足回り停止 */
yoshidayuito 7:8bea84f72e64 150 omuni.XmarkOmni_Move(0,0,0);
yoshidayuito 10:9ee22b22e583 151
yoshidayuito 7:8bea84f72e64 152 for(int i=0; i<4; i++)
yoshidayuito 7:8bea84f72e64 153 MD.Set(i,MovMotor[i]);
yoshidayuito 7:8bea84f72e64 154 }
yoshidayuito 7:8bea84f72e64 155 /* 操縦権：手動 */
yoshidayuito 7:8bea84f72e64 156 else if(operate==1) {
yoshidayuito 7:8bea84f72e64 157 /* 足回り手動動作 */
yoshidayuito 7:8bea84f72e64 158 int x_val = (double)(DS3.LX-64)*100/64;
yoshidayuito 7:8bea84f72e64 159 int y_val = (double)(64-DS3.LY)*100/64;
yoshidayuito 7:8bea84f72e64 160 int r_val = (double)(DS3.RX-64)*100/64;
yoshidayuito 7:8bea84f72e64 161
yoshidayuito 7:8bea84f72e64 162 /* タイマーをリセット */
yoshidayuito 7:8bea84f72e64 163 if(DS3.RX!=64) yawCnt.reset();
yoshidayuito 7:8bea84f72e64 164 /* 目標角度再設定 */
yoshidayuito 7:8bea84f72e64 165 if(yawCnt.read_ms()<1000) TarTheta=NowLoc.theta;
yoshidayuito 7:8bea84f72e64 166 /* r_val補正 */
yoshidayuito 7:8bea84f72e64 167 r_val+=(TarTheta-NowLoc.theta)*CONST_CORRECTION_YAW;
yoshidayuito 7:8bea84f72e64 168
yoshidayuito 7:8bea84f72e64 169 omuni.XmarkOmni_Move(x_val,y_val,r_val);
yoshidayuito 10:9ee22b22e583 170
yoshidayuito 9:94112b5df540 171 /* 壁あて実行 */
yoshidayuito 9:94112b5df540 172 if(DS3.R1) ToWall();
yoshidayuito 10:9ee22b22e583 173
yoshidayuito 7:8bea84f72e64 174 for(int i=0; i<4; i++)
yoshidayuito 7:8bea84f72e64 175 MD.Set(i,MovMotor[i]);
yoshidayuito 7:8bea84f72e64 176 }
yoshidayuito 7:8bea84f72e64 177 /* 操縦権：自動 */
yoshidayuito 7:8bea84f72e64 178 else if(operate==2) {
yoshidayuito 7:8bea84f72e64 179 switch(auto_mode) {
yoshidayuito 7:8bea84f72e64 180 /* スタート待機処理 */
yoshidayuito 7:8bea84f72e64 181 case 0:
yoshidayuito 7:8bea84f72e64 182 /* オンボードSWで次のステップに */
yoshidayuito 7:8bea84f72e64 183 if(UB) auto_mode++;
yoshidayuito 7:8bea84f72e64 184 break;
yoshidayuito 7:8bea84f72e64 185
yoshidayuito 7:8bea84f72e64 186 /* 〇〇の処理 */
yoshidayuito 7:8bea84f72e64 187 case 1:
yoshidayuito 7:8bea84f72e64 188 /* 〇〇の時次のステップに */
yoshidayuito 7:8bea84f72e64 189 if(1) auto_mode++;
yoshidayuito 7:8bea84f72e64 190 break;
yoshidayuito 7:8bea84f72e64 191
yoshidayuito 7:8bea84f72e64 192 /* 終了処理 */
yoshidayuito 7:8bea84f72e64 193 default:
yoshidayuito 7:8bea84f72e64 194 auto_mode=0;
yoshidayuito 7:8bea84f72e64 195 operate=0;
yoshidayuito 7:8bea84f72e64 196 break;
yoshidayuito 7:8bea84f72e64 197 }
yoshidayuito 7:8bea84f72e64 198 }
yoshidayuito 7:8bea84f72e64 199
TakushimaYukimasa 0:9e851dc42cde 200 }
TakushimaYukimasa 0:9e851dc42cde 201 }
TakushimaYukimasa 0:9e851dc42cde 202
TakushimaYukimasa 0:9e851dc42cde 203
TakushimaYukimasa 0:9e851dc42cde 204 /*******************************************************************************
TakushimaYukimasa 0:9e851dc42cde 205 * @概要 自己位置推定関数
TakushimaYukimasa 0:9e851dc42cde 206 * @引数 なし
TakushimaYukimasa 0:9e851dc42cde 207 * @返り値 なし
TakushimaYukimasa 0:9e851dc42cde 208 *******************************************************************************/
yoshidayuito 7:8bea84f72e64 209 void LocEstimate(void)
yoshidayuito 7:8bea84f72e64 210 {
yoshidayuito 7:8bea84f72e64 211 static double GyroDeg[2]= {0};
yoshidayuito 7:8bea84f72e64 212 static double EncDeg[2][2]= {0};
yoshidayuito 7:8bea84f72e64 213 static double disp[3]= {0};
TakushimaYukimasa 0:9e851dc42cde 214
yoshidayuito 7:8bea84f72e64 215 /* ジャイロの値取得 */
yoshidayuito 7:8bea84f72e64 216 bno.get_angles();
yoshidayuito 7:8bea84f72e64 217 GyroDeg[1]=GyroDeg[0];
yoshidayuito 7:8bea84f72e64 218 GyroDeg[0]=bno.euler.yaw;
yoshidayuito 7:8bea84f72e64 219 if(GyroDeg[0]!=0) {
yoshidayuito 7:8bea84f72e64 220 /* 359→0を跨いだ時，前回の値を0から逆回転で負の値で表記 */
yoshidayuito 7:8bea84f72e64 221 if(GyroDeg[1]<90 && GyroDeg[0]>270) GyroDeg[1]+=360;
yoshidayuito 7:8bea84f72e64 222 /* 0→359を跨いだ時，前回の値を360以上の値で表記 */
yoshidayuito 7:8bea84f72e64 223 else if(GyroDeg[1]>270 && GyroDeg[0]<90) GyroDeg[1]-=360;
yoshidayuito 7:8bea84f72e64 224 /* 差を求める*/
yoshidayuito 7:8bea84f72e64 225 disp[2]=GyroDeg[1]-GyroDeg[0];
yoshidayuito 7:8bea84f72e64 226 }
yoshidayuito 7:8bea84f72e64 227 /* Enc2つの差分求める */
yoshidayuito 7:8bea84f72e64 228 for(int i=0; i<2; i++) {
yoshidayuito 7:8bea84f72e64 229 EncDeg[i][1]=EncDeg[i][0];
yoshidayuito 7:8bea84f72e64 230 EncDeg[i][0]=EncoderDeg[i];
yoshidayuito 7:8bea84f72e64 231 disp[i]=EncDeg[i][1]-EncDeg[i][0];
yoshidayuito 7:8bea84f72e64 232 }
yoshidayuito 7:8bea84f72e64 233 /* 差分を加速度として保存 */
yoshidayuito 7:8bea84f72e64 234 NowAcc.theta = disp[2];
yoshidayuito 7:8bea84f72e64 235 NowAcc.X = disp[0] * cos(NowLoc.theta) + disp[1] * sin(NowLoc.theta)+200*disp[2];
yoshidayuito 7:8bea84f72e64 236 NowAcc.Y = -disp[0] * sin(NowLoc.theta) + disp[1] * cos(NowLoc.theta)+200*disp[2];
yoshidayuito 7:8bea84f72e64 237 /* 差分を累積して現在位置を保存 */
yoshidayuito 7:8bea84f72e64 238 NowLoc.X += NowAcc.X;
yoshidayuito 7:8bea84f72e64 239 NowLoc.Y += NowAcc.Y;
yoshidayuito 7:8bea84f72e64 240 NowLoc.theta += NowAcc.theta;
TakushimaYukimasa 0:9e851dc42cde 241 }
TakushimaYukimasa 0:9e851dc42cde 242
TakushimaYukimasa 0:9e851dc42cde 243
TakushimaYukimasa 0:9e851dc42cde 244
TakushimaYukimasa 0:9e851dc42cde 245
TakushimaYukimasa 0:9e851dc42cde 246 /* 割り込み(100us) *************************************************************/
TakushimaYukimasa 0:9e851dc42cde 247 void IT_CallBack(void)
TakushimaYukimasa 0:9e851dc42cde 248 {
yoshidayuito 7:8bea84f72e64 249 static int cnt = 0;
yoshidayuito 7:8bea84f72e64 250 static int data[EncoderMAX] = {0};
yoshidayuito 7:8bea84f72e64 251 static double EncDeg[EncoderMAX][2] = {0};
TakushimaYukimasa 0:9e851dc42cde 252
yoshidayuito 7:8bea84f72e64 253 for(int i=0; i<EncoderMAX; i++)
yoshidayuito 7:8bea84f72e64 254 switch(cnt) {
yoshidayuito 7:8bea84f72e64 255 /* 最初の処理 */
yoshidayuito 7:8bea84f72e64 256 case 0:
yoshidayuito 7:8bea84f72e64 257 data[i] = 0;
yoshidayuito 7:8bea84f72e64 258 CS[i] = 0;
yoshidayuito 7:8bea84f72e64 259 CL[i] = 1;
yoshidayuito 7:8bea84f72e64 260 break;
yoshidayuito 7:8bea84f72e64 261 /* 最後の処理 */
yoshidayuito 7:8bea84f72e64 262 case 25:
yoshidayuito 7:8bea84f72e64 263 CS[i]=1;
yoshidayuito 7:8bea84f72e64 264 /* 前回の値更新 今回の値更新(エンコーダの値(0~4096)を角度(0~360)に) */
yoshidayuito 7:8bea84f72e64 265 EncDeg[i][1] = EncDeg[i][0];
yoshidayuito 7:8bea84f72e64 266 EncDeg[i][0] = (double)data[i] * 360.0 / 4096;
yoshidayuito 7:8bea84f72e64 267 /* 359→0を跨いだ時，前回の値を0から逆回転で負の値で表記 */
yoshidayuito 7:8bea84f72e64 268 if ((270 <= EncDeg[i][1]) && (EncDeg[i][0] < 90))
yoshidayuito 7:8bea84f72e64 269 EncDeg[i][1] -= 360;
yoshidayuito 7:8bea84f72e64 270 /* 0→359を跨いだ時，前回の値を360以上の値で表記 */
yoshidayuito 7:8bea84f72e64 271 else if ((EncDeg[i][1] < 90) && (270 <= EncDeg[i][0]))
yoshidayuito 7:8bea84f72e64 272 EncDeg[i][1] += 360;
yoshidayuito 7:8bea84f72e64 273 /* 差を求める*/
yoshidayuito 7:8bea84f72e64 274 EncoderDeg[i] += EncDeg[i][0] - EncDeg[i][1];
yoshidayuito 7:8bea84f72e64 275 break;
yoshidayuito 7:8bea84f72e64 276 /* 通常の処理 */
yoshidayuito 7:8bea84f72e64 277 default:
yoshidayuito 7:8bea84f72e64 278 CL[i]=!CL[i];
yoshidayuito 7:8bea84f72e64 279 /* 最初でも最後でもなく奇数回で最初以外の時読み取り処理 */
yoshidayuito 7:8bea84f72e64 280 if(cnt != 1 && cnt % 2) {
yoshidayuito 7:8bea84f72e64 281 data[i] |= (DO[i]==1);
yoshidayuito 7:8bea84f72e64 282 data[i] = data[i] << 1;
yoshidayuito 7:8bea84f72e64 283 }
yoshidayuito 7:8bea84f72e64 284 break;
yoshidayuito 7:8bea84f72e64 285 }
yoshidayuito 7:8bea84f72e64 286 cnt++;
yoshidayuito 7:8bea84f72e64 287 cnt%=26;
yoshidayuito 7:8bea84f72e64 288 }
yoshidayuito 7:8bea84f72e64 289
yoshidayuito 7:8bea84f72e64 290
yoshidayuito 7:8bea84f72e64 291
yoshidayuito 7:8bea84f72e64 292
yoshidayuito 7:8bea84f72e64 293 /*******************************************************************************
yoshidayuito 7:8bea84f72e64 294 * @概要 壁あて関数
yoshidayuito 7:8bea84f72e64 295 * @引数 なし
yoshidayuito 7:8bea84f72e64 296 * @返り値 なし
yoshidayuito 7:8bea84f72e64 297 *******************************************************************************/
yoshidayuito 7:8bea84f72e64 298 void ToWall(void)
yoshidayuito 7:8bea84f72e64 299 {
yoshidayuito 9:94112b5df540 300 if(In.Get(0)==0)
yoshidayuito 7:8bea84f72e64 301 for(int i=0; i<2; i++) MovMotor[i]-=10;
yoshidayuito 7:8bea84f72e64 302 else for(int i=0; i<2; i++) MovMotor[i]+=0;
yoshidayuito 9:94112b5df540 303 if(In.Get(1)==0)
yoshidayuito 7:8bea84f72e64 304 for(int i=2; i<4; i++) MovMotor[i]+=10;
yoshidayuito 7:8bea84f72e64 305 else for(int i=2; i<4; i++) MovMotor[i]+=0;
yoshidayuito 10:9ee22b22e583 306 }
yoshidayuito 10:9ee22b22e583 307
yoshidayuito 10:9ee22b22e583 308
yoshidayuito 10:9ee22b22e583 309
yoshidayuito 10:9ee22b22e583 310 /*******************************************************************************
yoshidayuito 10:9ee22b22e583 311 * @概要 x座標移動関数
yoshidayuito 11:42310638e241 312 * @引数 Tar:目標値
yoshidayuito 10:9ee22b22e583 313 * @引数 Err :許容誤差
yoshidayuito 10:9ee22b22e583 314 * @返り値 val_p:残り距離
yoshidayuito 10:9ee22b22e583 315 *******************************************************************************/
yoshidayuito 11:42310638e241 316 int XCooMove(int Tar,int Err)
yoshidayuito 10:9ee22b22e583 317 {
yoshidayuito 11:42310638e241 318 int val_p=0,val_t=0,val=0;
yoshidayuito 10:9ee22b22e583 319
yoshidayuito 10:9ee22b22e583 320 /* タイマースタート */
yoshidayuito 10:9ee22b22e583 321 CooCnt.start();
yoshidayuito 10:9ee22b22e583 322
yoshidayuito 12:10ce310bbdf4 323
yoshidayuito 11:42310638e241 324 val_p=Tar-NowLoc.X*CONST_CORRECTION_X;
yoshidayuito 11:42310638e241 325 val_t=CooCnt.read_ms()*CONST_CORRECTION_X;
yoshidayuito 11:42310638e241 326
yoshidayuito 11:42310638e241 327 val=MIN(val_p,val_t);
yoshidayuito 10:9ee22b22e583 328
yoshidayuito 11:42310638e241 329 /* -100~100に調整 */
yoshidayuito 10:9ee22b22e583 330 if(val>100) val=100;
yoshidayuito 11:42310638e241 331 else if(val<-100) val=-100;
yoshidayuito 11:42310638e241 332
yoshidayuito 10:9ee22b22e583 333 omuni.XmarkOmni_Move(val,0,0);
yoshidayuito 11:42310638e241 334
yoshidayuito 11:42310638e241 335 int RemDis=(int)sqrt(pow((double)Tar-NowLoc.X,2.0));
yoshidayuito 11:42310638e241 336
yoshidayuito 11:42310638e241 337 if(RemDis<=Err) return 0;
yoshidayuito 11:42310638e241 338 else return RemDis;
TakushimaYukimasa 0:9e851dc42cde 339 }