2022_gorobo_Ateam / Mbed 2 deprecated beenbag_shoot

program to shoot beenbags

Dependencies:   mbed MOTOR

arrcmbedをインクルードしてください。

main.cpp@16:04f42eeb9561, 2022-01-26 (annotated)

Committer:
gennnisi
Date:
Wed Jan 26 16:16:41 2022 +0000
Revision:
16:04f42eeb9561
Parent:
15:7c26b01dcefd
Child:
17:9ee4c69d2d8b
a

Who changed what in which revision?

UserRevisionLine numberNew contents of line
gennnisi 0:0128d59ac729 1 //発射、リボルバープログラム
gennnisi 0:0128d59ac729 2 #include "mbed.h"
gennnisi 0:0128d59ac729 3 #include "rotary_inc.hpp"
gennnisi 0:0128d59ac729 4 #include "scrp_slave.hpp"
gennnisi 0:0128d59ac729 5 #include "Motor.hpp"
gennnisi 0:0128d59ac729 6
gennnisi 9:6008a52fb6ef 7 Motor motor_revolver(PB_4,PB_5);//リボルバーモーター
gennnisi 12:aef2a6626ea5 8 Motor motor_shoot(PB_1,PA_11);//発射機構モーター
gennnisi 9:6008a52fb6ef 9 PwmOut servo(PB_8);//ロック解除用サーボ
gennnisi 9:6008a52fb6ef 10
gennnisi 0:0128d59ac729 11 //ScrpSlave slave(PA_9,PA_10,PA_12,SERIAL_TX,SERIAL_RX,0x0803f800);//l432kc
gennnisi 12:aef2a6626ea5 12 ScrpSlave slave(PC_12,PD_2,PH_1,SERIAL_TX,SERIAL_RX,0x0807f800);
gennnisi 0:0128d59ac729 13
gennnisi 12:aef2a6626ea5 14 //RotaryInc v(PA_14,PA_15,1,1024,4);//リボルバーロリコン
gennnisi 12:aef2a6626ea5 15 RotaryInc v(PA_14,PA_15,1,1024,2);
gennnisi 0:0128d59ac729 16
gennnisi 9:6008a52fb6ef 17 DigitalIn limit_1(PA_9);//リミットスイッチ１
gennnisi 9:6008a52fb6ef 18 DigitalIn limit_2(PA_8);//リミットスイッチ２
gennnisi 6:7dcc827bbe96 19
gennnisi 13:66e37e0aa786 20 int shoot_phase;//発射フェーズ 0:待機　1:装填動作　2:リボルバー回転、モーター復帰（同時）　3:発射　
gennnisi 10:5e3c789e07dc 21 bool turn_able;//回転可否　0:待機　1:回転
gennnisi 16:04f42eeb9561 22 bool back_able;
gennnisi 0:0128d59ac729 23
gennnisi 12:aef2a6626ea5 24 double revolver_pwm = -0.03;//リボルバー回転速度
gennnisi 9:6008a52fb6ef 25 double load_pwm = -0.3;//装填モーター速度
gennnisi 9:6008a52fb6ef 26 double back_pwm = 0.3;//復帰モーター速度
gennnisi 9:6008a52fb6ef 27
gennnisi 12:aef2a6626ea5 28 double turn = 0.0;
gennnisi 12:aef2a6626ea5 29
gennnisi 12:aef2a6626ea5 30 int theta_0 = 1290;//0度
gennnisi 12:aef2a6626ea5 31 int theta_45 = 1875;//45度
gennnisi 9:6008a52fb6ef 32 int roricon = 0;//ロリコン
gennnisi 0:0128d59ac729 33
gennnisi 0:0128d59ac729 34 bool interrupt(int rx_data,int &tx_data){
gennnisi 10:5e3c789e07dc 35 if(shoot_phase == 0){//フェーズ0以外は、発射できないように
gennnisi 10:5e3c789e07dc 36 shoot_phase = rx_data;//1を受け取って装填動作開始
gennnisi 0:0128d59ac729 37 }
gennnisi 0:0128d59ac729 38 return true;
gennnisi 0:0128d59ac729 39 }
gennnisi 0:0128d59ac729 40
gennnisi 13:66e37e0aa786 41 void revolver_back(int count){
gennnisi 16:04f42eeb9561 42 while(turn_able == 1 || back_able == 1){
gennnisi 16:04f42eeb9561 43 //リボルバー
gennnisi 16:04f42eeb9561 44 if(count == 1){
gennnisi 16:04f42eeb9561 45 motor_revolver.output(0);
gennnisi 16:04f42eeb9561 46 turn_able = 0;
gennnisi 16:04f42eeb9561 47 printf("finished turnning\n");
gennnisi 16:04f42eeb9561 48 }
gennnisi 16:04f42eeb9561 49 if(count != 1){
gennnisi 16:04f42eeb9561 50 if(roricon < 341 * (count - 1)){
gennnisi 16:04f42eeb9561 51 if(turn_able == 1){
gennnisi 14:81f09ab5ed23 52 roricon = v.get();
gennnisi 14:81f09ab5ed23 53 motor_revolver.output(revolver_pwm);
gennnisi 16:04f42eeb9561 54 printf("roricon = %d\n",roricon);
gennnisi 14:81f09ab5ed23 55 }
gennnisi 13:66e37e0aa786 56 }
gennnisi 16:04f42eeb9561 57 else{
gennnisi 16:04f42eeb9561 58 motor_revolver.output(0);
gennnisi 16:04f42eeb9561 59 turn_able = 0;
gennnisi 16:04f42eeb9561 60 }
gennnisi 16:04f42eeb9561 61 }
gennnisi 16:04f42eeb9561 62 //復帰
gennnisi 16:04f42eeb9561 63 if(limit_2.read() == 0){
gennnisi 16:04f42eeb9561 64 if(back_able == 1){
gennnisi 13:66e37e0aa786 65 motor_shoot.output(back_pwm);
gennnisi 16:04f42eeb9561 66 printf("backing\n");
gennnisi 13:66e37e0aa786 67 }
gennnisi 16:04f42eeb9561 68 }
gennnisi 16:04f42eeb9561 69 if(limit_2.read() == 1){
gennnisi 16:04f42eeb9561 70 motor_shoot.output(0);
gennnisi 16:04f42eeb9561 71 back_able = 0;
gennnisi 16:04f42eeb9561 72 printf("finished backing\n");
gennnisi 9:6008a52fb6ef 73 }
gennnisi 16:04f42eeb9561 74 //ループ抜け出し
gennnisi 16:04f42eeb9561 75 if(turn_able == 0 && turn_able == 0){
gennnisi 16:04f42eeb9561 76 break;
gennnisi 16:04f42eeb9561 77 }
gennnisi 16:04f42eeb9561 78 wait(0.01);
gennnisi 9:6008a52fb6ef 79 }
gennnisi 9:6008a52fb6ef 80 }
gennnisi 9:6008a52fb6ef 81
gennnisi 9:6008a52fb6ef 82 int main(){
gennnisi 9:6008a52fb6ef 83 int count = 1;//何発目か
gennnisi 12:aef2a6626ea5 84 shoot_phase = 0;
gennnisi 9:6008a52fb6ef 85
gennnisi 9:6008a52fb6ef 86 servo.period_us(20000);
gennnisi 10:5e3c789e07dc 87 limit_1.mode(PullUp);
gennnisi 10:5e3c789e07dc 88 limit_2.mode(PullUp);
gennnisi 9:6008a52fb6ef 89
gennnisi 9:6008a52fb6ef 90 slave.addCMD(2,interrupt);
gennnisi 12:aef2a6626ea5 91
gennnisi 9:6008a52fb6ef 92 while(1){
gennnisi 10:5e3c789e07dc 93 switch (shoot_phase){
gennnisi 9:6008a52fb6ef 94
gennnisi 9:6008a52fb6ef 95 case 0://待機
gennnisi 10:5e3c789e07dc 96 while(shoot_phase == 0){
gennnisi 9:6008a52fb6ef 97 wait(0.1);
gennnisi 9:6008a52fb6ef 98 printf("waiting\n");
gennnisi 9:6008a52fb6ef 99 }
gennnisi 10:5e3c789e07dc 100 shoot_phase = 1;
gennnisi 9:6008a52fb6ef 101 printf("finished waiting\n");
gennnisi 9:6008a52fb6ef 102 break;
gennnisi 9:6008a52fb6ef 103
gennnisi 9:6008a52fb6ef 104 case 1://装填動作
gennnisi 9:6008a52fb6ef 105 while(limit_1.read() == 0){
gennnisi 10:5e3c789e07dc 106 motor_shoot.output(load_pwm);
gennnisi 11:62c85df03747 107 printf("loading\n");
gennnisi 11:62c85df03747 108 wait(0.1);
gennnisi 15:7c26b01dcefd 109 if(limit_2.read() == 1){
gennnisi 15:7c26b01dcefd 110 break;
gennnisi 15:7c26b01dcefd 111 }
gennnisi 11:62c85df03747 112 }
gennnisi 12:aef2a6626ea5 113 motor_shoot.output(0);
gennnisi 12:aef2a6626ea5 114 shoot_phase = 2;
gennnisi 12:aef2a6626ea5 115 printf("finished loading\n");
gennnisi 16:04f42eeb9561 116 wait(3);
gennnisi 9:6008a52fb6ef 117 break;
gennnisi 12:aef2a6626ea5 118
gennnisi 13:66e37e0aa786 119 case 2://リボルバー回転,モーター復帰
gennnisi 9:6008a52fb6ef 120 turn_able = 1;
gennnisi 16:04f42eeb9561 121 back_able = 1;
gennnisi 13:66e37e0aa786 122 revolver_back(count);
gennnisi 13:66e37e0aa786 123 printf("finished backing\n");
gennnisi 13:66e37e0aa786 124 shoot_phase = 3;
gennnisi 9:6008a52fb6ef 125 break;
gennnisi 12:aef2a6626ea5 126
gennnisi 13:66e37e0aa786 127 case 3://発射動作
gennnisi 16:04f42eeb9561 128 wait(3);
gennnisi 12:aef2a6626ea5 129 servo.pulsewidth_us(theta_45);
gennnisi 11:62c85df03747 130 printf("finished shooting %d shot\n",count);
gennnisi 9:6008a52fb6ef 131 count ++;
gennnisi 16:04f42eeb9561 132 wait(3);
gennnisi 9:6008a52fb6ef 133 servo.pulsewidth_us(theta_0);
gennnisi 15:7c26b01dcefd 134 motor_shoot.output(load_pwm);
gennnisi 16:04f42eeb9561 135 wait(0.15);
gennnisi 15:7c26b01dcefd 136 motor_shoot.output(0);
gennnisi 10:5e3c789e07dc 137 shoot_phase = 0;
gennnisi 11:62c85df03747 138 printf("finished init\n");
gennnisi 12:aef2a6626ea5 139 break;
gennnisi 11:62c85df03747 140 }
gennnisi 9:6008a52fb6ef 141 }
gennnisi 12:aef2a6626ea5 142 }