新部内対抗A班 / Mbed 2 deprecated circle_war_ver_A_NUCLEO__

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Dependencies:   mbed

Fork of circle_war_ver_A_NUCLEO_ by 新部内対抗A班

step.h@14:3403ce49a37a, 2016-04-05 (annotated)

Committer:
baba2357
Date:
Tue Apr 05 17:25:09 2016 +0000
Revision:
14:3403ce49a37a
Parent:
12:2450012ce888 
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Who changed what in which revision?

UserRevisionLine numberNew contents of line
naoakiarimoto 12:2450012ce888 1 // 各作業段階の動作を定義
naoakiarimoto 12:2450012ce888 2
naoakiarimoto 12:2450012ce888 3
naoakiarimoto 12:2450012ce888 4
naoakiarimoto 12:2450012ce888 5 void expand_gf(){ //１つ目の幹を取得し、持ち上げる
naoakiarimoto 12:2450012ce888 6 valve(1);
naoakiarimoto 12:2450012ce888 7 pid(TARGET1,count,gear1);
naoakiarimoto 12:2450012ce888 8 if(HMIN<=devi&&devi<=HMAX){
naoakiarimoto 12:2450012ce888 9 arm=1;
naoakiarimoto 12:2450012ce888 10 if(!c0){
naoakiarimoto 12:2450012ce888 11 bole_checker.attach(bole_check,0.2);
naoakiarimoto 12:2450012ce888 12 c0=1;
naoakiarimoto 12:2450012ce888 13 }
naoakiarimoto 12:2450012ce888 14 }
naoakiarimoto 12:2450012ce888 15 }
naoakiarimoto 12:2450012ce888 16
naoakiarimoto 12:2450012ce888 17 void expand_ff(){ //２段に重ねて、持ち上げる
naoakiarimoto 12:2450012ce888 18 if(!c1){
naoakiarimoto 12:2450012ce888 19 valve(0);
naoakiarimoto 12:2450012ce888 20 while(1){
naoakiarimoto 12:2450012ce888 21 pid(TARGET2,count,gear1);
naoakiarimoto 12:2450012ce888 22 if(HMIN<=devi&&devi<=HMAX){
naoakiarimoto 12:2450012ce888 23 valve(1);
naoakiarimoto 12:2450012ce888 24 break;
naoakiarimoto 12:2450012ce888 25 }
naoakiarimoto 12:2450012ce888 26 }
naoakiarimoto 12:2450012ce888 27 while(1){
naoakiarimoto 12:2450012ce888 28 pid(TARGET1,count,gear1);
naoakiarimoto 12:2450012ce888 29 if(HMIN<=devi&&devi<=HMAX){
naoakiarimoto 12:2450012ce888 30 bole_checker.attach(bole_check,0.2);
naoakiarimoto 12:2450012ce888 31 arm=2;
naoakiarimoto 12:2450012ce888 32 c1=1;
naoakiarimoto 12:2450012ce888 33 break;
naoakiarimoto 12:2450012ce888 34 }
naoakiarimoto 12:2450012ce888 35 }
naoakiarimoto 12:2450012ce888 36 }else{
naoakiarimoto 12:2450012ce888 37 pid(TARGET1,count,gear1);
naoakiarimoto 12:2450012ce888 38 }
naoakiarimoto 12:2450012ce888 39 }
naoakiarimoto 12:2450012ce888 40
naoakiarimoto 12:2450012ce888 41 void expand_sf(){ //３段に重ねて、持ち上げる
naoakiarimoto 12:2450012ce888 42 if(!c2){
naoakiarimoto 12:2450012ce888 43 valve(0);
naoakiarimoto 12:2450012ce888 44 while(1){
naoakiarimoto 12:2450012ce888 45 pid(TARGET2,count,gear1);
naoakiarimoto 12:2450012ce888 46 if(HMIN<=devi&&devi<=HMAX){
naoakiarimoto 12:2450012ce888 47 valve(1);
naoakiarimoto 12:2450012ce888 48 break;
naoakiarimoto 12:2450012ce888 49 }
naoakiarimoto 12:2450012ce888 50 }
naoakiarimoto 12:2450012ce888 51 while(1){
naoakiarimoto 12:2450012ce888 52 pid(TARGET3,count,gear1);
naoakiarimoto 12:2450012ce888 53 if(HMIN<=devi&&devi<=HMAX){
naoakiarimoto 12:2450012ce888 54 arm=3;
naoakiarimoto 12:2450012ce888 55 c2=1;
naoakiarimoto 12:2450012ce888 56 break;
naoakiarimoto 12:2450012ce888 57 }
naoakiarimoto 12:2450012ce888 58 }
naoakiarimoto 12:2450012ce888 59 }else{
naoakiarimoto 12:2450012ce888 60 pid(TARGET3,count,gear1);
naoakiarimoto 12:2450012ce888 61 }
naoakiarimoto 12:2450012ce888 62 }
naoakiarimoto 12:2450012ce888 63
naoakiarimoto 12:2450012ce888 64 void set_bole(){ //雑木林・花見場に幹を置く
naoakiarimoto 12:2450012ce888 65 if(!c3){ //雑木林
naoakiarimoto 12:2450012ce888 66 while(1){
naoakiarimoto 12:2450012ce888 67 pid(TARGET1,count,gear1);
naoakiarimoto 12:2450012ce888 68 if(devi<=PUT){
naoakiarimoto 12:2450012ce888 69 valve(0);
naoakiarimoto 12:2450012ce888 70 break;
naoakiarimoto 12:2450012ce888 71 }
naoakiarimoto 12:2450012ce888 72 }
naoakiarimoto 12:2450012ce888 73 wait(1);
naoakiarimoto 12:2450012ce888 74 valve(1);
naoakiarimoto 12:2450012ce888 75 while(1){
naoakiarimoto 12:2450012ce888 76 pid(TARGET3,count,gear1);
naoakiarimoto 12:2450012ce888 77 if(HMIN<=devi&&devi<=HMAX){
naoakiarimoto 12:2450012ce888 78 arm=4;
naoakiarimoto 12:2450012ce888 79 c3=1;
naoakiarimoto 12:2450012ce888 80 break;
naoakiarimoto 12:2450012ce888 81 }
naoakiarimoto 12:2450012ce888 82 }
naoakiarimoto 12:2450012ce888 83 }else{ //花見場
naoakiarimoto 12:2450012ce888 84 pid(TARGET2,count,gear1);
naoakiarimoto 12:2450012ce888 85 if(devi<=PUT){
naoakiarimoto 12:2450012ce888 86 valve(0);
naoakiarimoto 12:2450012ce888 87 }
naoakiarimoto 12:2450012ce888 88 }
naoakiarimoto 12:2450012ce888 89 }
naoakiarimoto 12:2450012ce888 90
baba2357 14:3403ce49a37a 91 /*
naoakiarimoto 12:2450012ce888 92 void blossom(){ //桜を掴み、持ち上げる
naoakiarimoto 12:2450012ce888 93 sw_check.attach(&state_check,0.2);
naoakiarimoto 12:2450012ce888 94 while(1){
naoakiarimoto 12:2450012ce888 95 catch1_f=CLOSE;
naoakiarimoto 12:2450012ce888 96 catch1_b=0;
naoakiarimoto 12:2450012ce888 97 catch2_f=0;
naoakiarimoto 12:2450012ce888 98 catch2_b=CLOSE;
naoakiarimoto 12:2450012ce888 99
naoakiarimoto 12:2450012ce888 100 if(sw_state){ //タッチセンサにより検知
naoakiarimoto 12:2450012ce888 101 catch1_f=0;
naoakiarimoto 12:2450012ce888 102 catch1_b=0;
naoakiarimoto 12:2450012ce888 103 catch2_f=0;
naoakiarimoto 12:2450012ce888 104 catch2_b=0;
naoakiarimoto 12:2450012ce888 105 sw_check.detach();
naoakiarimoto 12:2450012ce888 106 break;
naoakiarimoto 12:2450012ce888 107 }
naoakiarimoto 12:2450012ce888 108 }
naoakiarimoto 12:2450012ce888 109
naoakiarimoto 12:2450012ce888 110 while(1){
naoakiarimoto 12:2450012ce888 111 pid(TARGET4,count2,gear2,1);
naoakiarimoto 12:2450012ce888 112 if(HMIN<=devi&&devi<=HMAX){
naoakiarimoto 12:2450012ce888 113 arm=5;
naoakiarimoto 12:2450012ce888 114 }
baba2357 14:3403ce49a37a 115 if(){ //花見場
naoakiarimoto 12:2450012ce888 116 bloss1_f=0;
naoakiarimoto 12:2450012ce888 117 bloss1_b=OPEN;
naoakiarimoto 12:2450012ce888 118 bloss1_f=OPEN;
naoakiarimoto 12:2450012ce888 119 bloss1_b=0;
naoakiarimoto 12:2450012ce888 120 }
baba2357 14:3403ce49a37a 121 *//*
naoakiarimoto 12:2450012ce888 122 }
naoakiarimoto 12:2450012ce888 123 }
baba2357 14:3403ce49a37a 124 */