新部内対抗A班
/
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
Diff: step.h
- Revision:
- 12:2450012ce888
- Child:
- 14:3403ce49a37a
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/step.h Mon Apr 04 09:25:57 2016 +0000
@@ -0,0 +1,123 @@
+// 各作業段階の動作を定義
+
+
+
+void expand_gf(){ //１つ目の幹を取得し、持ち上げる
+ valve(1);
+ pid(TARGET1,count,gear1);
+ if(HMIN<=devi&&devi<=HMAX){
+ arm=1;
+ if(!c0){
+ bole_checker.attach(bole_check,0.2);
+ c0=1;
+ }
+ }
+}
+
+void expand_ff(){ //２段に重ねて、持ち上げる
+ if(!c1){
+ valve(0);
+ while(1){
+ pid(TARGET2,count,gear1);
+ if(HMIN<=devi&&devi<=HMAX){
+ valve(1);
+ break;
+ }
+ }
+ while(1){
+ pid(TARGET1,count,gear1);
+ if(HMIN<=devi&&devi<=HMAX){
+ bole_checker.attach(bole_check,0.2);
+ arm=2;
+ c1=1;
+ break;
+ }
+ }
+ }else{
+ pid(TARGET1,count,gear1);
+ }
+}
+
+void expand_sf(){ //３段に重ねて、持ち上げる
+ if(!c2){
+ valve(0);
+ while(1){
+ pid(TARGET2,count,gear1);
+ if(HMIN<=devi&&devi<=HMAX){
+ valve(1);
+ break;
+ }
+ }
+ while(1){
+ pid(TARGET3,count,gear1);
+ if(HMIN<=devi&&devi<=HMAX){
+ arm=3;
+ c2=1;
+ break;
+ }
+ }
+ }else{
+ pid(TARGET3,count,gear1);
+ }
+}
+
+void set_bole(){ //雑木林・花見場に幹を置く
+ if(!c3){ //雑木林
+ while(1){
+ pid(TARGET1,count,gear1);
+ if(devi<=PUT){
+ valve(0);
+ break;
+ }
+ }
+ wait(1);
+ valve(1);
+ while(1){
+ pid(TARGET3,count,gear1);
+ if(HMIN<=devi&&devi<=HMAX){
+ arm=4;
+ c3=1;
+ break;
+ }
+ }
+ }else{ //花見場
+ pid(TARGET2,count,gear1);
+ if(devi<=PUT){
+ valve(0);
+ }
+ }
+}
+
+
+void blossom(){ //桜を掴み、持ち上げる
+ sw_check.attach(&state_check,0.2);
+ while(1){
+ catch1_f=CLOSE;
+ catch1_b=0;
+ catch2_f=0;
+ catch2_b=CLOSE;
+
+ if(sw_state){ //タッチセンサにより検知
+ catch1_f=0;
+ catch1_b=0;
+ catch2_f=0;
+ catch2_b=0;
+ sw_check.detach();
+ break;
+ }
+ }
+
+ while(1){
+ pid(TARGET4,count2,gear2,1);
+ if(HMIN<=devi&&devi<=HMAX){
+ arm=5;
+ }
+/* if(){ //花見場
+ bloss1_f=0;
+ bloss1_b=OPEN;
+ bloss1_f=OPEN;
+ bloss1_b=0;
+ }
+*/
+ }
+}