2020_TeamA / Mbed 2 deprecated Yoshida_MiniRobo

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Dependencies:   mbed YKNCT_Movement SBDBT BNO055 YKNCT_MD YKNCT_I2C

main.cpp@10:9ee22b22e583, 2020-03-17 (annotated)

Committer:
yoshidayuito
Date:
Tue Mar 17 05:04:17 2020 +0000
Revision:
10:9ee22b22e583
Parent:
9:94112b5df540
Child:
11:42310638e241
add 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 10:9ee22b22e583 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 7:8bea84f72e64 133 /* タイマースタート */
yoshidayuito 7:8bea84f72e64 134 yawCnt.start();
yoshidayuito 7:8bea84f72e64 135 /* タイマーリセット */
yoshidayuito 7:8bea84f72e64 136 yawCnt.reset();
yoshidayuito 7:8bea84f72e64 137
yoshidayuito 7:8bea84f72e64 138 /* 操縦権変更 ×停止 △手動 〇自動 */
yoshidayuito 7:8bea84f72e64 139 if(DS3.CROSS) operate=0;
yoshidayuito 7:8bea84f72e64 140 if(DS3.TRIANGLE) operate=1;
yoshidayuito 7:8bea84f72e64 141 if(DS3.CIRCLE) operate=2;
TakushimaYukimasa 0:9e851dc42cde 142
yoshidayuito 7:8bea84f72e64 143 /* 操縦権：なし 停止動作 */
yoshidayuito 7:8bea84f72e64 144 if(operate==0) {
yoshidayuito 7:8bea84f72e64 145 /* 足回り停止 */
yoshidayuito 7:8bea84f72e64 146 omuni.XmarkOmni_Move(0,0,0);
yoshidayuito 10:9ee22b22e583 147
yoshidayuito 7:8bea84f72e64 148 for(int i=0; i<4; i++)
yoshidayuito 7:8bea84f72e64 149 MD.Set(i,MovMotor[i]);
yoshidayuito 7:8bea84f72e64 150 }
yoshidayuito 7:8bea84f72e64 151 /* 操縦権：手動 */
yoshidayuito 7:8bea84f72e64 152 else if(operate==1) {
yoshidayuito 7:8bea84f72e64 153 /* 足回り手動動作 */
yoshidayuito 7:8bea84f72e64 154 int x_val = (double)(DS3.LX-64)*100/64;
yoshidayuito 7:8bea84f72e64 155 int y_val = (double)(64-DS3.LY)*100/64;
yoshidayuito 7:8bea84f72e64 156 int r_val = (double)(DS3.RX-64)*100/64;
yoshidayuito 7:8bea84f72e64 157
yoshidayuito 7:8bea84f72e64 158 /* タイマーをリセット */
yoshidayuito 7:8bea84f72e64 159 if(DS3.RX!=64) yawCnt.reset();
yoshidayuito 7:8bea84f72e64 160 /* 目標角度再設定 */
yoshidayuito 7:8bea84f72e64 161 if(yawCnt.read_ms()<1000) TarTheta=NowLoc.theta;
yoshidayuito 7:8bea84f72e64 162 /* r_val補正 */
yoshidayuito 7:8bea84f72e64 163 r_val+=(TarTheta-NowLoc.theta)*CONST_CORRECTION_YAW;
yoshidayuito 7:8bea84f72e64 164
yoshidayuito 7:8bea84f72e64 165 omuni.XmarkOmni_Move(x_val,y_val,r_val);
yoshidayuito 10:9ee22b22e583 166
yoshidayuito 9:94112b5df540 167 /* 壁あて実行 */
yoshidayuito 9:94112b5df540 168 if(DS3.R1) ToWall();
yoshidayuito 10:9ee22b22e583 169
yoshidayuito 7:8bea84f72e64 170 for(int i=0; i<4; i++)
yoshidayuito 7:8bea84f72e64 171 MD.Set(i,MovMotor[i]);
yoshidayuito 7:8bea84f72e64 172 }
yoshidayuito 7:8bea84f72e64 173 /* 操縦権：自動 */
yoshidayuito 7:8bea84f72e64 174 else if(operate==2) {
yoshidayuito 7:8bea84f72e64 175 switch(auto_mode) {
yoshidayuito 7:8bea84f72e64 176 /* スタート待機処理 */
yoshidayuito 7:8bea84f72e64 177 case 0:
yoshidayuito 7:8bea84f72e64 178 /* オンボードSWで次のステップに */
yoshidayuito 7:8bea84f72e64 179 if(UB) auto_mode++;
yoshidayuito 7:8bea84f72e64 180 break;
yoshidayuito 7:8bea84f72e64 181
yoshidayuito 7:8bea84f72e64 182 /* 〇〇の処理 */
yoshidayuito 7:8bea84f72e64 183 case 1:
yoshidayuito 7:8bea84f72e64 184 /* 〇〇の時次のステップに */
yoshidayuito 7:8bea84f72e64 185 if(1) auto_mode++;
yoshidayuito 7:8bea84f72e64 186 break;
yoshidayuito 7:8bea84f72e64 187
yoshidayuito 7:8bea84f72e64 188 /* 終了処理 */
yoshidayuito 7:8bea84f72e64 189 default:
yoshidayuito 7:8bea84f72e64 190 auto_mode=0;
yoshidayuito 7:8bea84f72e64 191 operate=0;
yoshidayuito 7:8bea84f72e64 192 break;
yoshidayuito 7:8bea84f72e64 193 }
yoshidayuito 7:8bea84f72e64 194 }
yoshidayuito 7:8bea84f72e64 195
TakushimaYukimasa 0:9e851dc42cde 196 }
TakushimaYukimasa 0:9e851dc42cde 197 }
TakushimaYukimasa 0:9e851dc42cde 198
TakushimaYukimasa 0:9e851dc42cde 199
TakushimaYukimasa 0:9e851dc42cde 200 /*******************************************************************************
TakushimaYukimasa 0:9e851dc42cde 201 * @概要 自己位置推定関数
TakushimaYukimasa 0:9e851dc42cde 202 * @引数 なし
TakushimaYukimasa 0:9e851dc42cde 203 * @返り値 なし
TakushimaYukimasa 0:9e851dc42cde 204 *******************************************************************************/
yoshidayuito 7:8bea84f72e64 205 void LocEstimate(void)
yoshidayuito 7:8bea84f72e64 206 {
yoshidayuito 7:8bea84f72e64 207 static double GyroDeg[2]= {0};
yoshidayuito 7:8bea84f72e64 208 static double EncDeg[2][2]= {0};
yoshidayuito 7:8bea84f72e64 209 static double disp[3]= {0};
TakushimaYukimasa 0:9e851dc42cde 210
yoshidayuito 7:8bea84f72e64 211 /* ジャイロの値取得 */
yoshidayuito 7:8bea84f72e64 212 bno.get_angles();
yoshidayuito 7:8bea84f72e64 213 GyroDeg[1]=GyroDeg[0];
yoshidayuito 7:8bea84f72e64 214 GyroDeg[0]=bno.euler.yaw;
yoshidayuito 7:8bea84f72e64 215 if(GyroDeg[0]!=0) {
yoshidayuito 7:8bea84f72e64 216 /* 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 217 if(GyroDeg[1]<90 && GyroDeg[0]>270) GyroDeg[1]+=360;
yoshidayuito 7:8bea84f72e64 218 /* 0→359を跨いだ時，前回の値を360以上の値で表記 */
yoshidayuito 7:8bea84f72e64 219 else if(GyroDeg[1]>270 && GyroDeg[0]<90) GyroDeg[1]-=360;
yoshidayuito 7:8bea84f72e64 220 /* 差を求める*/
yoshidayuito 7:8bea84f72e64 221 disp[2]=GyroDeg[1]-GyroDeg[0];
yoshidayuito 7:8bea84f72e64 222 }
yoshidayuito 7:8bea84f72e64 223 /* Enc2つの差分求める */
yoshidayuito 7:8bea84f72e64 224 for(int i=0; i<2; i++) {
yoshidayuito 7:8bea84f72e64 225 EncDeg[i][1]=EncDeg[i][0];
yoshidayuito 7:8bea84f72e64 226 EncDeg[i][0]=EncoderDeg[i];
yoshidayuito 7:8bea84f72e64 227 disp[i]=EncDeg[i][1]-EncDeg[i][0];
yoshidayuito 7:8bea84f72e64 228 }
yoshidayuito 7:8bea84f72e64 229 /* 差分を加速度として保存 */
yoshidayuito 7:8bea84f72e64 230 NowAcc.theta = disp[2];
yoshidayuito 7:8bea84f72e64 231 NowAcc.X = disp[0] * cos(NowLoc.theta) + disp[1] * sin(NowLoc.theta)+200*disp[2];
yoshidayuito 7:8bea84f72e64 232 NowAcc.Y = -disp[0] * sin(NowLoc.theta) + disp[1] * cos(NowLoc.theta)+200*disp[2];
yoshidayuito 7:8bea84f72e64 233 /* 差分を累積して現在位置を保存 */
yoshidayuito 7:8bea84f72e64 234 NowLoc.X += NowAcc.X;
yoshidayuito 7:8bea84f72e64 235 NowLoc.Y += NowAcc.Y;
yoshidayuito 7:8bea84f72e64 236 NowLoc.theta += NowAcc.theta;
TakushimaYukimasa 0:9e851dc42cde 237 }
TakushimaYukimasa 0:9e851dc42cde 238
TakushimaYukimasa 0:9e851dc42cde 239
TakushimaYukimasa 0:9e851dc42cde 240
TakushimaYukimasa 0:9e851dc42cde 241
TakushimaYukimasa 0:9e851dc42cde 242 /* 割り込み(100us) *************************************************************/
TakushimaYukimasa 0:9e851dc42cde 243 void IT_CallBack(void)
TakushimaYukimasa 0:9e851dc42cde 244 {
yoshidayuito 7:8bea84f72e64 245 static int cnt = 0;
yoshidayuito 7:8bea84f72e64 246 static int data[EncoderMAX] = {0};
yoshidayuito 7:8bea84f72e64 247 static double EncDeg[EncoderMAX][2] = {0};
TakushimaYukimasa 0:9e851dc42cde 248
yoshidayuito 7:8bea84f72e64 249 for(int i=0; i<EncoderMAX; i++)
yoshidayuito 7:8bea84f72e64 250 switch(cnt) {
yoshidayuito 7:8bea84f72e64 251 /* 最初の処理 */
yoshidayuito 7:8bea84f72e64 252 case 0:
yoshidayuito 7:8bea84f72e64 253 data[i] = 0;
yoshidayuito 7:8bea84f72e64 254 CS[i] = 0;
yoshidayuito 7:8bea84f72e64 255 CL[i] = 1;
yoshidayuito 7:8bea84f72e64 256 break;
yoshidayuito 7:8bea84f72e64 257 /* 最後の処理 */
yoshidayuito 7:8bea84f72e64 258 case 25:
yoshidayuito 7:8bea84f72e64 259 CS[i]=1;
yoshidayuito 7:8bea84f72e64 260 /* 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 261 EncDeg[i][1] = EncDeg[i][0];
yoshidayuito 7:8bea84f72e64 262 EncDeg[i][0] = (double)data[i] * 360.0 / 4096;
yoshidayuito 7:8bea84f72e64 263 /* 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 264 if ((270 <= EncDeg[i][1]) && (EncDeg[i][0] < 90))
yoshidayuito 7:8bea84f72e64 265 EncDeg[i][1] -= 360;
yoshidayuito 7:8bea84f72e64 266 /* 0→359を跨いだ時，前回の値を360以上の値で表記 */
yoshidayuito 7:8bea84f72e64 267 else if ((EncDeg[i][1] < 90) && (270 <= EncDeg[i][0]))
yoshidayuito 7:8bea84f72e64 268 EncDeg[i][1] += 360;
yoshidayuito 7:8bea84f72e64 269 /* 差を求める*/
yoshidayuito 7:8bea84f72e64 270 EncoderDeg[i] += EncDeg[i][0] - EncDeg[i][1];
yoshidayuito 7:8bea84f72e64 271 break;
yoshidayuito 7:8bea84f72e64 272 /* 通常の処理 */
yoshidayuito 7:8bea84f72e64 273 default:
yoshidayuito 7:8bea84f72e64 274 CL[i]=!CL[i];
yoshidayuito 7:8bea84f72e64 275 /* 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 276 if(cnt != 1 && cnt % 2) {
yoshidayuito 7:8bea84f72e64 277 data[i] |= (DO[i]==1);
yoshidayuito 7:8bea84f72e64 278 data[i] = data[i] << 1;
yoshidayuito 7:8bea84f72e64 279 }
yoshidayuito 7:8bea84f72e64 280 break;
yoshidayuito 7:8bea84f72e64 281 }
yoshidayuito 7:8bea84f72e64 282 cnt++;
yoshidayuito 7:8bea84f72e64 283 cnt%=26;
yoshidayuito 7:8bea84f72e64 284 }
yoshidayuito 7:8bea84f72e64 285
yoshidayuito 7:8bea84f72e64 286
yoshidayuito 7:8bea84f72e64 287
yoshidayuito 7:8bea84f72e64 288
yoshidayuito 7:8bea84f72e64 289 /*******************************************************************************
yoshidayuito 7:8bea84f72e64 290 * @概要 壁あて関数
yoshidayuito 7:8bea84f72e64 291 * @引数 なし
yoshidayuito 7:8bea84f72e64 292 * @返り値 なし
yoshidayuito 7:8bea84f72e64 293 *******************************************************************************/
yoshidayuito 7:8bea84f72e64 294 void ToWall(void)
yoshidayuito 7:8bea84f72e64 295 {
yoshidayuito 9:94112b5df540 296 if(In.Get(0)==0)
yoshidayuito 7:8bea84f72e64 297 for(int i=0; i<2; i++) MovMotor[i]-=10;
yoshidayuito 7:8bea84f72e64 298 else for(int i=0; i<2; i++) MovMotor[i]+=0;
yoshidayuito 9:94112b5df540 299 if(In.Get(1)==0)
yoshidayuito 7:8bea84f72e64 300 for(int i=2; i<4; i++) MovMotor[i]+=10;
yoshidayuito 7:8bea84f72e64 301 else for(int i=2; i<4; i++) MovMotor[i]+=0;
yoshidayuito 10:9ee22b22e583 302 }
yoshidayuito 10:9ee22b22e583 303
yoshidayuito 10:9ee22b22e583 304
yoshidayuito 10:9ee22b22e583 305
yoshidayuito 10:9ee22b22e583 306 /*******************************************************************************
yoshidayuito 10:9ee22b22e583 307 * @概要 x座標移動関数
yoshidayuito 10:9ee22b22e583 308 * @引数 tarpt:目標値
yoshidayuito 10:9ee22b22e583 309 * @引数 Err :許容誤差
yoshidayuito 10:9ee22b22e583 310 * @返り値 val_p:残り距離
yoshidayuito 10:9ee22b22e583 311 *******************************************************************************/
yoshidayuito 10:9ee22b22e583 312 int XCooMove(double Tar,double Err)
yoshidayuito 10:9ee22b22e583 313 {
yoshidayuito 10:9ee22b22e583 314 double val_p=0,TimVal=0,val=0;
yoshidayuito 10:9ee22b22e583 315
yoshidayuito 10:9ee22b22e583 316 /* タイマースタート */
yoshidayuito 10:9ee22b22e583 317 CooCnt.start();
yoshidayuito 10:9ee22b22e583 318 /* タイマーリセット */
yoshidayuito 10:9ee22b22e583 319 CooCnt.reset();
yoshidayuito 10:9ee22b22e583 320
yoshidayuito 10:9ee22b22e583 321 val_p=Tar-NowLoc.X ;
yoshidayuito 10:9ee22b22e583 322 TimVal=CooCnt.read_ms()*CONST_CORRECTION_TIME;
yoshidayuito 10:9ee22b22e583 323
yoshidayuito 10:9ee22b22e583 324 val=MIN(val_p,TimVal);
yoshidayuito 10:9ee22b22e583 325
yoshidayuito 10:9ee22b22e583 326 if(val>100) val=100;
yoshidayuito 10:9ee22b22e583 327
yoshidayuito 10:9ee22b22e583 328 omuni.XmarkOmni_Move(val,0,0);
yoshidayuito 10:9ee22b22e583 329
yoshidayuito 10:9ee22b22e583 330 if(val_p<=Err) return 0;
yoshidayuito 10:9ee22b22e583 331 else return val_p;
TakushimaYukimasa 0:9e851dc42cde 332 }