File content as of revision 21:9f917ee199ff:

#include "mbed.h"
#include "rotary_inc.hpp"
#include "scrp_slave.hpp"
#include "Motor.hpp"

//-----インスタンス--------------------------

Motor motor_revolver(PA_7,PA_8);//リボルバーモーター
Motor motor_shoot(PA_1,PA_3);//発射機構モーター
PwmOut servo(PB_6);//ロック解除用サーボ

ScrpSlave slave(PA_9,PA_10,PA_12,SERIAL_TX,SERIAL_RX,3);//id=3

RotaryInc v(PA_0,PA_4,1,1024,2);//リボルバーロリコン

DigitalIn limit_1(PB_0);//リミットスイッチ１
DigitalIn limit_2(PB_1);//リミットスイッチ２

//-----変数---------------------------------

int shoot_phase = 0;//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　
int shoot_phase_manual = 0;//発射フェーズ 0:待機　1:装填動作　2:リボルバー回転　3;モーター復帰　4:発射　
bool turn_able = 0;//回転可否
bool back_able = 0;//復帰可否　

bool shoot_auto = 1;//手動発射か自動発射か　0:手動　1:自動
bool mode = 0;//0:手動　1:自動

bool emergency = 0;//0:停止　1:停止
double revolver_pwm = -0.1;//リボルバー回転速度
double load_pwm = -0.5;//装填モーター速度
double back_pwm = 0.5;//復帰モーター速度

int theta_0 = 1290;//0度
int theta_45 = 1875;//45度
int roricon = 0;//ロリコン

//-----関数---------------------------------

//自動発射開始を受信
bool get_all(int rx_data,int &tx_data){
    if(shoot_phase == 0){//フェーズ0以外は、発射できないように
        shoot_auto = 1;
        shoot_phase = 1;
    }
    return true;  
}

//装填動作受信
bool get_load(int rx_data,int &tx_data){
    shoot_auto = 0;
    shoot_phase_manual = 1;
    return true;  
}

//動作リボルバー受信
bool get_revolver(int rx_data,int &tx_data){
    shoot_auto = 0;
    shoot_phase_manual = 2;
    return true;  
}

//復帰動作受信
bool get_back(int rx_data,int &tx_data){
    shoot_auto = 0;
    shoot_phase_manual = 3;
    return true;  
}

//発射動作受信
bool get_shoot(int rx_data,int &tx_data){
    shoot_phase_manual = 4;
    shoot_auto = 0;
    return true;  
}

//モード変更を受信
bool get_changemode(int rx_data,int &tx_data){
    if(mode == 0){
        mode = 1;
    }else{
        mode = 0;
    }
    return 0;
}

//非常停止を受信
bool get_stop(int rx_data,int &tx_data){
    if(emergency == 0){
        emergency = 1;//停止
        shoot_phase = 10;
    }else{
        emergency = 0;//解除
    }
    return 0;
}

//リボルバー、ラック復帰
void revolver_back(int count){
    while(turn_able == 1 || back_able == 1){
        //リボルバー
        if(count == 1){
            motor_revolver.output(0);
            turn_able = 0;
            printf("no turn\n");  
        }
        if(count > 1){
            if(roricon < 341 * (count - 1)){
                if(turn_able == 1){
                    roricon = v.get();
                    motor_revolver.output(revolver_pwm);
                    printf("roricon = %d\n",roricon); 
                }    
            }
            else{
                motor_revolver.output(0);
                turn_able = 0;   
            } 
        }     
        //復帰   
        if(limit_2.read() == 0){
            if(back_able == 1){
                motor_shoot.output(back_pwm);
                printf("backing\n");    
            }
        }
        if(limit_2.read() == 1){
            motor_shoot.output(0);
            back_able = 0;
            printf("finished backing\n");
        }
        //ループ抜け出し   
        if(turn_able == 0 && back_able == 0){
            break;
        }
        wait(0.01);
    }
}

//リボルバー回転のみ
void revolver(int count){
    if(turn_able == 1){
        while(roricon < 341 * count){
        //while(1){
            roricon = v.get();
            motor_revolver.output(revolver_pwm);
            printf("roricon = %d\n",roricon);
            wait(0.01);
        }
        turn_able = 0;
    }
}

//------------------------------------------

int main(){
    int count = 1;//何発目か
    
    servo.period_us(20000);
    limit_1.mode(PullUp);
    limit_2.mode(PullUp);
    
    slave.addCMD(2,get_all);
    slave.addCMD(3,get_load);
    slave.addCMD(4,get_revolver);
    slave.addCMD(5,get_back);
    slave.addCMD(6,get_shoot);
    
    slave.addCMD(50,get_changemode);
    slave.addCMD(51,get_stop);
    
    while(1){
//----------自動発射------------------------------
        if(mode == 1 && shoot_auto == 1){
            switch (shoot_phase){
                case 0://待機
                while(shoot_phase == 0){
                    wait(0.1);
                    printf("waiting\n");  
                }
                shoot_phase = 1;
                printf("finished waiting\n");  
                break;
                
                case 1://装填動作
                while(limit_1.read() == 0){
                    motor_shoot.output(load_pwm);
                    printf("loading\n");
                    if(limit_2.read() == 1){
                        break;
                    }
                    wait(0.1);
                } 
                motor_shoot.output(0);
                shoot_phase = 2;
                printf("finished loading\n");
                wait(3); 
                break;
                
                case 2://リボルバー回転,モーター復帰
                turn_able = 1;
                back_able = 1;
                revolver_back(count);
                shoot_phase = 3;
                printf("finished backing\n"); 
                wait(3);
                break;
                
                case 3://発射動作
                servo.pulsewidth_us(theta_45);
                printf("%d shot\n",count);  
                wait(3);
                servo.pulsewidth_us(theta_0);
                motor_shoot.output(load_pwm);
                wait(0.15);
                motor_shoot.output(0);
                shoot_phase = 0;
                printf("finished init\n");  
                count ++;
                break;   
                
                case 10://非常停止
                while(emergency == 1){
                    motor_shoot.output(0);
                    motor_revolver.output(0);
                    printf("emergency\n"); 
                    wait(0.1);
                }
                break;         
            }   
        }
        
//----------手動発射------------------------------
        if(mode == 1 && shoot_auto == 0){
            switch (shoot_phase_manual){
                case 0://待機
                while(shoot_phase_manual == 0){
                    wait(0.1);
                    printf("waiting\n");  
                }
                printf("finished waiting\n");  
                break;
                
                case 1://装填動作
                while(limit_1.read() == 0){
                    motor_shoot.output(load_pwm);
                    printf("loading\n");
                    wait(0.1);
                    if(limit_2.read() == 1){
                        break;
                    }
                } 
                motor_shoot.output(0);
                shoot_phase_manual = 0;
                printf("finished loading\n");
                wait(5); 
                break;
                
                case 2://リボルバー回転
                turn_able = 1;
                revolver(count);
                if(turn_able == 0){
                    motor_revolver.output(0);
                    shoot_phase_manual = 0;
                }
                else{
                    printf("error\n");
                }
                count ++;
                printf("finished turnning\n");  
                break;
                
                case 3://モーター復帰
                while(limit_2.read() == 0){
                    motor_shoot.output(back_pwm);
                    printf("backing\n");
                    wait(0.1); 
                }
                
                motor_shoot.output(0);
                shoot_phase_manual = 0;
                printf("finished backing\n"); 
                break;
                
                case 4://発射動作
                servo.pulsewidth_us(theta_45);
                printf("finished shooting %d shot\n",count);  
                wait(5);
                servo.pulsewidth_us(theta_0);
                motor_shoot.output(load_pwm);
                wait(0.15);
                motor_shoot.output(0);
                shoot_phase_manual = 0;
                printf("finished init\n");  
                break;      
            }
        }
    }
}