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

Committer:
naoakiarimoto
Date:
2016-04-04
Revision:
12:2450012ce888
Child:
14:3403ce49a37a

File content as of revision 12:2450012ce888:

// 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;
            }
*/
        }
}