2020_TeamA / Mbed 2 deprecated Yoshida_MiniRobo

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Dependencies:   mbed YKNCT_Movement SBDBT BNO055 YKNCT_MD YKNCT_I2C

main.cpp@13:c8af1467ba8b, 2020-03-17 (annotated)

Committer:
yoshidayuito
Date:
Tue Mar 17 13:32:34 2020 +0000
Revision:
13:c8af1467ba8b
Parent:
12:10ce310bbdf4
Child:
14:18ec50f38993
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
yoshidayuito 13:c8af1467ba8b 34 /* x座標移動 */
yoshidayuito 13:c8af1467ba8b 35 int XCooMove(int Tar,int Err);
yoshidayuito 13:c8af1467ba8b 36
TakushimaYukimasa 0:9e851dc42cde 37 /* 変数定義 ------------------------------------------------------------------*/
TakushimaYukimasa 0:9e851dc42cde 38
TakushimaYukimasa 0:9e851dc42cde 39 /* 操作権 0…なし 1…手動 2…自動 */
TakushimaYukimasa 0:9e851dc42cde 40 int operate=0;
TakushimaYukimasa 0:9e851dc42cde 41
TakushimaYukimasa 0:9e851dc42cde 42 /* 自動シーケンス */
TakushimaYukimasa 0:9e851dc42cde 43 int auto_mode=0;
TakushimaYukimasa 0:9e851dc42cde 44
TakushimaYukimasa 0:9e851dc42cde 45 /* 直読みエンコーダ角度保存(degree) */
TakushimaYukimasa 0:9e851dc42cde 46 double EncoderDeg[EncoderMAX] = {0};
TakushimaYukimasa 0:9e851dc42cde 47
TakushimaYukimasa 0:9e851dc42cde 48 /* 足回り値保存変数 */
yoshidayuito 7:8bea84f72e64 49 int MovMotor[4]= {0};
TakushimaYukimasa 0:9e851dc42cde 50
TakushimaYukimasa 0:9e851dc42cde 51 /* 自動yaw補整目標角度 */
TakushimaYukimasa 0:9e851dc42cde 52 double TarTheta=0;
TakushimaYukimasa 0:9e851dc42cde 53
yoshidayuito 13:c8af1467ba8b 54 /* x座標移動タイマーリセットフラグ */
yoshidayuito 13:c8af1467ba8b 55 bool flag=0;
yoshidayuito 13:c8af1467ba8b 56
TakushimaYukimasa 0:9e851dc42cde 57 /* クラス定義 ----------------------------------------------------------------*/
TakushimaYukimasa 0:9e851dc42cde 58
TakushimaYukimasa 0:9e851dc42cde 59 /* 割り込み用クラス */
TakushimaYukimasa 0:9e851dc42cde 60 Ticker flipper;
TakushimaYukimasa 0:9e851dc42cde 61
TakushimaYukimasa 0:9e851dc42cde 62 /* UART (Tx,Rx) */
TakushimaYukimasa 0:9e851dc42cde 63 Serial telemetry(USBTX, USBRX, 115200);
TakushimaYukimasa 0:9e851dc42cde 64
TakushimaYukimasa 0:9e851dc42cde 65 /* コントローラー */
TakushimaYukimasa 0:9e851dc42cde 66 SBDBT DS3(PA_0, PA_1, 9600);
TakushimaYukimasa 0:9e851dc42cde 67
TakushimaYukimasa 0:9e851dc42cde 68 /* オンボードLED */
TakushimaYukimasa 0:9e851dc42cde 69 DigitalOut led(LED2);
TakushimaYukimasa 0:9e851dc42cde 70
TakushimaYukimasa 0:9e851dc42cde 71 /* USERボタン */
TakushimaYukimasa 0:9e851dc42cde 72 DigitalIn UB(PC_13,PullDown);
TakushimaYukimasa 0:9e851dc42cde 73
TakushimaYukimasa 0:9e851dc42cde 74 /* エンコーダーピン CS */
TakushimaYukimasa 0:9e851dc42cde 75 DigitalOut CS[] = {PA_2,PA_3};
TakushimaYukimasa 0:9e851dc42cde 76 DigitalOut CL[] = {PA_4,PA_5};
TakushimaYukimasa 0:9e851dc42cde 77 DigitalIn DO[] = {PA_6,PA_7};
TakushimaYukimasa 0:9e851dc42cde 78
yoshidayuito 1:520233a969e2 79 /* ジャイロ用タイマー */
yoshidayuito 1:520233a969e2 80 Timer yawCnt;
yoshidayuito 1:520233a969e2 81
yoshidayuito 10:9ee22b22e583 82 /* x座標移動タイマー */
yoshidayuito 10:9ee22b22e583 83 Timer CooCnt;
yoshidayuito 10:9ee22b22e583 84
TakushimaYukimasa 0:9e851dc42cde 85 /* 足回り動作クラス定義 */
TakushimaYukimasa 0:9e851dc42cde 86 Move omuni(MovMotor,NowLoc.theta);
TakushimaYukimasa 0:9e851dc42cde 87
TakushimaYukimasa 0:9e851dc42cde 88 /* I2C MDのクラス定義 */
TakushimaYukimasa 0:9e851dc42cde 89 YKNCT_MD_I2C MD(PB_9,PB_8);
TakushimaYukimasa 0:9e851dc42cde 90
yoshidayuito 8:367c7d6ef5a3 91 /* I2C Inputのクラス定義 */
yoshidayuito 8:367c7d6ef5a3 92 YKNCT_I2C_IN In(PB_9,PB_8);
yoshidayuito 8:367c7d6ef5a3 93
TakushimaYukimasa 0:9e851dc42cde 94 /* ジャイロのピン設定 */
TakushimaYukimasa 0:9e851dc42cde 95 BNO055 bno(PB_9, PB_8);
TakushimaYukimasa 0:9e851dc42cde 96
TakushimaYukimasa 0:9e851dc42cde 97
TakushimaYukimasa 0:9e851dc42cde 98 /*----------------------------------- main ----------------------------------*/
TakushimaYukimasa 0:9e851dc42cde 99 int main()
TakushimaYukimasa 0:9e851dc42cde 100 {
yoshidayuito 7:8bea84f72e64 101 telemetry.printf("\n\rMainStart");
TakushimaYukimasa 0:9e851dc42cde 102
yoshidayuito 7:8bea84f72e64 103 /* 割り込みの設定
yoshidayuito 7:8bea84f72e64 104 * IT_CallBack関数を0.1msで割り込み */
yoshidayuito 7:8bea84f72e64 105 flipper.attach_us(&IT_CallBack, 100);
TakushimaYukimasa 0:9e851dc42cde 106
yoshidayuito 7:8bea84f72e64 107 /* ジャイロの設定 */
yoshidayuito 7:8bea84f72e64 108 bno.setmode(OPERATION_MODE_IMUPLUS);
TakushimaYukimasa 0:9e851dc42cde 109
yoshidayuito 7:8bea84f72e64 110 /* I2CMDの設定 */
yoshidayuito 7:8bea84f72e64 111 MD.Init(0,MD_SMB);
yoshidayuito 7:8bea84f72e64 112 MD.Init(1,MD_SMB);
yoshidayuito 7:8bea84f72e64 113 MD.Init(2,MD_SMB);
yoshidayuito 7:8bea84f72e64 114 MD.Init(3,MD_SMB);
yoshidayuito 10:9ee22b22e583 115
yoshidayuito 8:367c7d6ef5a3 116 In.Init(0,0);
yoshidayuito 8:367c7d6ef5a3 117 In.Init(0,1);
TakushimaYukimasa 0:9e851dc42cde 118
yoshidayuito 7:8bea84f72e64 119 telemetry.printf("\n\rMainLoopStart");
yoshidayuito 7:8bea84f72e64 120 /* メインループ --------------------------------------------------------------*/
yoshidayuito 11:42310638e241 121 while(1) {
yoshidayuito 7:8bea84f72e64 122 /* オンボードLED点滅 */
yoshidayuito 7:8bea84f72e64 123 led=!led;
yoshidayuito 7:8bea84f72e64 124
yoshidayuito 7:8bea84f72e64 125 /* 表示改行 */
yoshidayuito 7:8bea84f72e64 126 telemetry.printf("\n\r");
TakushimaYukimasa 0:9e851dc42cde 127
yoshidayuito 7:8bea84f72e64 128 /* 自動処理関連テレメトリ */
yoshidayuito 7:8bea84f72e64 129 telemetry.printf("ope:%d ",operate);
yoshidayuito 7:8bea84f72e64 130 /* 座標テレメトリ */
yoshidayuito 7:8bea84f72e64 131 telemetry.printf("X:%4.0f Y:%4.0f T:%4.0f ",NowLoc.X,NowLoc.Y,NowLoc.theta);
TakushimaYukimasa 0:9e851dc42cde 132
yoshidayuito 7:8bea84f72e64 133 /* 自己位置推定更新 */
yoshidayuito 7:8bea84f72e64 134 LocEstimate();
TakushimaYukimasa 0:9e851dc42cde 135
yoshidayuito 7:8bea84f72e64 136 /* I2CMD実行 */
yoshidayuito 7:8bea84f72e64 137 MD.Exe();
TakushimaYukimasa 0:9e851dc42cde 138
yoshidayuito 11:42310638e241 139 /* ジャイロ用タイマースタート */
yoshidayuito 7:8bea84f72e64 140 yawCnt.start();
yoshidayuito 11:42310638e241 141 /* ジャイロ用タイマーリセット */
yoshidayuito 7:8bea84f72e64 142 yawCnt.reset();
yoshidayuito 7:8bea84f72e64 143
yoshidayuito 7:8bea84f72e64 144 /* 操縦権変更 ×停止 △手動 〇自動 */
yoshidayuito 7:8bea84f72e64 145 if(DS3.CROSS) operate=0;
yoshidayuito 7:8bea84f72e64 146 if(DS3.TRIANGLE) operate=1;
yoshidayuito 7:8bea84f72e64 147 if(DS3.CIRCLE) operate=2;
TakushimaYukimasa 0:9e851dc42cde 148
yoshidayuito 7:8bea84f72e64 149 /* 操縦権：なし 停止動作 */
yoshidayuito 7:8bea84f72e64 150 if(operate==0) {
yoshidayuito 7:8bea84f72e64 151 /* 足回り停止 */
yoshidayuito 7:8bea84f72e64 152 omuni.XmarkOmni_Move(0,0,0);
yoshidayuito 10:9ee22b22e583 153
yoshidayuito 7:8bea84f72e64 154 for(int i=0; i<4; i++)
yoshidayuito 7:8bea84f72e64 155 MD.Set(i,MovMotor[i]);
yoshidayuito 7:8bea84f72e64 156 }
yoshidayuito 7:8bea84f72e64 157 /* 操縦権：手動 */
yoshidayuito 7:8bea84f72e64 158 else if(operate==1) {
yoshidayuito 7:8bea84f72e64 159 /* 足回り手動動作 */
yoshidayuito 7:8bea84f72e64 160 int x_val = (double)(DS3.LX-64)*100/64;
yoshidayuito 7:8bea84f72e64 161 int y_val = (double)(64-DS3.LY)*100/64;
yoshidayuito 7:8bea84f72e64 162 int r_val = (double)(DS3.RX-64)*100/64;
yoshidayuito 7:8bea84f72e64 163
yoshidayuito 7:8bea84f72e64 164 /* タイマーをリセット */
yoshidayuito 7:8bea84f72e64 165 if(DS3.RX!=64) yawCnt.reset();
yoshidayuito 7:8bea84f72e64 166 /* 目標角度再設定 */
yoshidayuito 7:8bea84f72e64 167 if(yawCnt.read_ms()<1000) TarTheta=NowLoc.theta;
yoshidayuito 7:8bea84f72e64 168 /* r_val補正 */
yoshidayuito 7:8bea84f72e64 169 r_val+=(TarTheta-NowLoc.theta)*CONST_CORRECTION_YAW;
yoshidayuito 7:8bea84f72e64 170
yoshidayuito 7:8bea84f72e64 171 omuni.XmarkOmni_Move(x_val,y_val,r_val);
yoshidayuito 10:9ee22b22e583 172
yoshidayuito 9:94112b5df540 173 /* 壁あて実行 */
yoshidayuito 9:94112b5df540 174 if(DS3.R1) ToWall();
yoshidayuito 10:9ee22b22e583 175
yoshidayuito 7:8bea84f72e64 176 for(int i=0; i<4; i++)
yoshidayuito 7:8bea84f72e64 177 MD.Set(i,MovMotor[i]);
yoshidayuito 7:8bea84f72e64 178 }
yoshidayuito 7:8bea84f72e64 179 /* 操縦権：自動 */
yoshidayuito 7:8bea84f72e64 180 else if(operate==2) {
yoshidayuito 7:8bea84f72e64 181 switch(auto_mode) {
yoshidayuito 7:8bea84f72e64 182 /* スタート待機処理 */
yoshidayuito 7:8bea84f72e64 183 case 0:
yoshidayuito 7:8bea84f72e64 184 /* オンボードSWで次のステップに */
yoshidayuito 7:8bea84f72e64 185 if(UB) auto_mode++;
yoshidayuito 7:8bea84f72e64 186 break;
yoshidayuito 7:8bea84f72e64 187
yoshidayuito 7:8bea84f72e64 188 /* 〇〇の処理 */
yoshidayuito 7:8bea84f72e64 189 case 1:
yoshidayuito 13:c8af1467ba8b 190 XCooMove(1000,50);
yoshidayuito 13:c8af1467ba8b 191 /* 動作終了時次のステップに */
yoshidayuito 13:c8af1467ba8b 192 if(XCooMove(1000,50)==0)
yoshidayuito 13:c8af1467ba8b 193 auto_mode++;
yoshidayuito 7:8bea84f72e64 194 break;
yoshidayuito 7:8bea84f72e64 195
yoshidayuito 7:8bea84f72e64 196 /* 終了処理 */
yoshidayuito 7:8bea84f72e64 197 default:
yoshidayuito 7:8bea84f72e64 198 auto_mode=0;
yoshidayuito 7:8bea84f72e64 199 operate=0;
yoshidayuito 7:8bea84f72e64 200 break;
yoshidayuito 7:8bea84f72e64 201 }
yoshidayuito 7:8bea84f72e64 202 }
yoshidayuito 7:8bea84f72e64 203
TakushimaYukimasa 0:9e851dc42cde 204 }
TakushimaYukimasa 0:9e851dc42cde 205 }
TakushimaYukimasa 0:9e851dc42cde 206
TakushimaYukimasa 0:9e851dc42cde 207
TakushimaYukimasa 0:9e851dc42cde 208 /*******************************************************************************
TakushimaYukimasa 0:9e851dc42cde 209 * @概要 自己位置推定関数
TakushimaYukimasa 0:9e851dc42cde 210 * @引数 なし
TakushimaYukimasa 0:9e851dc42cde 211 * @返り値 なし
TakushimaYukimasa 0:9e851dc42cde 212 *******************************************************************************/
yoshidayuito 7:8bea84f72e64 213 void LocEstimate(void)
yoshidayuito 7:8bea84f72e64 214 {
yoshidayuito 7:8bea84f72e64 215 static double GyroDeg[2]= {0};
yoshidayuito 7:8bea84f72e64 216 static double EncDeg[2][2]= {0};
yoshidayuito 7:8bea84f72e64 217 static double disp[3]= {0};
TakushimaYukimasa 0:9e851dc42cde 218
yoshidayuito 7:8bea84f72e64 219 /* ジャイロの値取得 */
yoshidayuito 7:8bea84f72e64 220 bno.get_angles();
yoshidayuito 7:8bea84f72e64 221 GyroDeg[1]=GyroDeg[0];
yoshidayuito 7:8bea84f72e64 222 GyroDeg[0]=bno.euler.yaw;
yoshidayuito 7:8bea84f72e64 223 if(GyroDeg[0]!=0) {
yoshidayuito 7:8bea84f72e64 224 /* 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 225 if(GyroDeg[1]<90 && GyroDeg[0]>270) GyroDeg[1]+=360;
yoshidayuito 7:8bea84f72e64 226 /* 0→359を跨いだ時，前回の値を360以上の値で表記 */
yoshidayuito 7:8bea84f72e64 227 else if(GyroDeg[1]>270 && GyroDeg[0]<90) GyroDeg[1]-=360;
yoshidayuito 7:8bea84f72e64 228 /* 差を求める*/
yoshidayuito 7:8bea84f72e64 229 disp[2]=GyroDeg[1]-GyroDeg[0];
yoshidayuito 7:8bea84f72e64 230 }
yoshidayuito 7:8bea84f72e64 231 /* Enc2つの差分求める */
yoshidayuito 7:8bea84f72e64 232 for(int i=0; i<2; i++) {
yoshidayuito 7:8bea84f72e64 233 EncDeg[i][1]=EncDeg[i][0];
yoshidayuito 7:8bea84f72e64 234 EncDeg[i][0]=EncoderDeg[i];
yoshidayuito 7:8bea84f72e64 235 disp[i]=EncDeg[i][1]-EncDeg[i][0];
yoshidayuito 7:8bea84f72e64 236 }
yoshidayuito 7:8bea84f72e64 237 /* 差分を加速度として保存 */
yoshidayuito 7:8bea84f72e64 238 NowAcc.theta = disp[2];
yoshidayuito 7:8bea84f72e64 239 NowAcc.X = disp[0] * cos(NowLoc.theta) + disp[1] * sin(NowLoc.theta)+200*disp[2];
yoshidayuito 7:8bea84f72e64 240 NowAcc.Y = -disp[0] * sin(NowLoc.theta) + disp[1] * cos(NowLoc.theta)+200*disp[2];
yoshidayuito 7:8bea84f72e64 241 /* 差分を累積して現在位置を保存 */
yoshidayuito 7:8bea84f72e64 242 NowLoc.X += NowAcc.X;
yoshidayuito 7:8bea84f72e64 243 NowLoc.Y += NowAcc.Y;
yoshidayuito 7:8bea84f72e64 244 NowLoc.theta += NowAcc.theta;
TakushimaYukimasa 0:9e851dc42cde 245 }
TakushimaYukimasa 0:9e851dc42cde 246
TakushimaYukimasa 0:9e851dc42cde 247
TakushimaYukimasa 0:9e851dc42cde 248
TakushimaYukimasa 0:9e851dc42cde 249
TakushimaYukimasa 0:9e851dc42cde 250 /* 割り込み(100us) *************************************************************/
TakushimaYukimasa 0:9e851dc42cde 251 void IT_CallBack(void)
TakushimaYukimasa 0:9e851dc42cde 252 {
yoshidayuito 7:8bea84f72e64 253 static int cnt = 0;
yoshidayuito 7:8bea84f72e64 254 static int data[EncoderMAX] = {0};
yoshidayuito 7:8bea84f72e64 255 static double EncDeg[EncoderMAX][2] = {0};
TakushimaYukimasa 0:9e851dc42cde 256
yoshidayuito 7:8bea84f72e64 257 for(int i=0; i<EncoderMAX; i++)
yoshidayuito 7:8bea84f72e64 258 switch(cnt) {
yoshidayuito 7:8bea84f72e64 259 /* 最初の処理 */
yoshidayuito 7:8bea84f72e64 260 case 0:
yoshidayuito 7:8bea84f72e64 261 data[i] = 0;
yoshidayuito 7:8bea84f72e64 262 CS[i] = 0;
yoshidayuito 7:8bea84f72e64 263 CL[i] = 1;
yoshidayuito 7:8bea84f72e64 264 break;
yoshidayuito 7:8bea84f72e64 265 /* 最後の処理 */
yoshidayuito 7:8bea84f72e64 266 case 25:
yoshidayuito 7:8bea84f72e64 267 CS[i]=1;
yoshidayuito 7:8bea84f72e64 268 /* 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 269 EncDeg[i][1] = EncDeg[i][0];
yoshidayuito 7:8bea84f72e64 270 EncDeg[i][0] = (double)data[i] * 360.0 / 4096;
yoshidayuito 7:8bea84f72e64 271 /* 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 272 if ((270 <= EncDeg[i][1]) && (EncDeg[i][0] < 90))
yoshidayuito 7:8bea84f72e64 273 EncDeg[i][1] -= 360;
yoshidayuito 7:8bea84f72e64 274 /* 0→359を跨いだ時，前回の値を360以上の値で表記 */
yoshidayuito 7:8bea84f72e64 275 else if ((EncDeg[i][1] < 90) && (270 <= EncDeg[i][0]))
yoshidayuito 7:8bea84f72e64 276 EncDeg[i][1] += 360;
yoshidayuito 7:8bea84f72e64 277 /* 差を求める*/
yoshidayuito 7:8bea84f72e64 278 EncoderDeg[i] += EncDeg[i][0] - EncDeg[i][1];
yoshidayuito 7:8bea84f72e64 279 break;
yoshidayuito 7:8bea84f72e64 280 /* 通常の処理 */
yoshidayuito 7:8bea84f72e64 281 default:
yoshidayuito 7:8bea84f72e64 282 CL[i]=!CL[i];
yoshidayuito 7:8bea84f72e64 283 /* 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 284 if(cnt != 1 && cnt % 2) {
yoshidayuito 7:8bea84f72e64 285 data[i] |= (DO[i]==1);
yoshidayuito 7:8bea84f72e64 286 data[i] = data[i] << 1;
yoshidayuito 7:8bea84f72e64 287 }
yoshidayuito 7:8bea84f72e64 288 break;
yoshidayuito 7:8bea84f72e64 289 }
yoshidayuito 7:8bea84f72e64 290 cnt++;
yoshidayuito 7:8bea84f72e64 291 cnt%=26;
yoshidayuito 7:8bea84f72e64 292 }
yoshidayuito 7:8bea84f72e64 293
yoshidayuito 7:8bea84f72e64 294
yoshidayuito 7:8bea84f72e64 295
yoshidayuito 7:8bea84f72e64 296
yoshidayuito 7:8bea84f72e64 297 /*******************************************************************************
yoshidayuito 7:8bea84f72e64 298 * @概要 壁あて関数
yoshidayuito 7:8bea84f72e64 299 * @引数 なし
yoshidayuito 7:8bea84f72e64 300 * @返り値 なし
yoshidayuito 7:8bea84f72e64 301 *******************************************************************************/
yoshidayuito 7:8bea84f72e64 302 void ToWall(void)
yoshidayuito 7:8bea84f72e64 303 {
yoshidayuito 9:94112b5df540 304 if(In.Get(0)==0)
yoshidayuito 7:8bea84f72e64 305 for(int i=0; i<2; i++) MovMotor[i]-=10;
yoshidayuito 7:8bea84f72e64 306 else for(int i=0; i<2; i++) MovMotor[i]+=0;
yoshidayuito 9:94112b5df540 307 if(In.Get(1)==0)
yoshidayuito 7:8bea84f72e64 308 for(int i=2; i<4; i++) MovMotor[i]+=10;
yoshidayuito 7:8bea84f72e64 309 else for(int i=2; i<4; i++) MovMotor[i]+=0;
yoshidayuito 10:9ee22b22e583 310 }
yoshidayuito 10:9ee22b22e583 311
yoshidayuito 10:9ee22b22e583 312
yoshidayuito 10:9ee22b22e583 313
yoshidayuito 10:9ee22b22e583 314 /*******************************************************************************
yoshidayuito 10:9ee22b22e583 315 * @概要 x座標移動関数
yoshidayuito 11:42310638e241 316 * @引数 Tar:目標値
yoshidayuito 10:9ee22b22e583 317 * @引数 Err :許容誤差
yoshidayuito 10:9ee22b22e583 318 * @返り値 val_p:残り距離
yoshidayuito 10:9ee22b22e583 319 *******************************************************************************/
yoshidayuito 11:42310638e241 320 int XCooMove(int Tar,int Err)
yoshidayuito 10:9ee22b22e583 321 {
yoshidayuito 11:42310638e241 322 int val_p=0,val_t=0,val=0;
yoshidayuito 10:9ee22b22e583 323
yoshidayuito 13:c8af1467ba8b 324 if(flag==0) {
yoshidayuito 13:c8af1467ba8b 325 /* タイマースタート */
yoshidayuito 13:c8af1467ba8b 326 CooCnt.start();
yoshidayuito 13:c8af1467ba8b 327 /* X座標移動用タイマーリセット */
yoshidayuito 13:c8af1467ba8b 328 CooCnt.reset();
yoshidayuito 13:c8af1467ba8b 329 flag=1;
yoshidayuito 13:c8af1467ba8b 330 }
yoshidayuito 10:9ee22b22e583 331
yoshidayuito 13:c8af1467ba8b 332 val_p=(Tar-NowLoc.X)*CONST_MOVE_X;
yoshidayuito 13:c8af1467ba8b 333 val_t=CooCnt.read_ms()*CONST_MOVE_X;
yoshidayuito 11:42310638e241 334
yoshidayuito 11:42310638e241 335 val=MIN(val_p,val_t);
yoshidayuito 10:9ee22b22e583 336
yoshidayuito 11:42310638e241 337 /* -100~100に調整 */
yoshidayuito 10:9ee22b22e583 338 if(val>100) val=100;
yoshidayuito 11:42310638e241 339 else if(val<-100) val=-100;
yoshidayuito 11:42310638e241 340
yoshidayuito 10:9ee22b22e583 341 omuni.XmarkOmni_Move(val,0,0);
yoshidayuito 11:42310638e241 342
yoshidayuito 13:c8af1467ba8b 343 int RemDis=Tar-NowLoc.X;
yoshidayuito 11:42310638e241 344
yoshidayuito 11:42310638e241 345 if(RemDis<=Err) return 0;
yoshidayuito 11:42310638e241 346 else return RemDis;
TakushimaYukimasa 0:9e851dc42cde 347 }