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another
Dependencies: mbed KondoServoLibrary Encoder
User.cpp@25:4eb2f2795120, 2020-03-19 (annotated)
- Committer:
- maxnagazumi
- Date:
- Thu Mar 19 08:35:23 2020 +0000
- Revision:
- 25:4eb2f2795120
- Parent:
- 24:674b011da45b
- Child:
- 26:3adbabf7d770
3/19;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
hirokimineshita | 0:736c76a75def | 1 | #include "Utils.h" |
hirokimineshita | 0:736c76a75def | 2 | #include "USBHost.h" |
hirokimineshita | 0:736c76a75def | 3 | #include "hci.h" |
hirokimineshita | 0:736c76a75def | 4 | #include "ps3.h" |
hirokimineshita | 0:736c76a75def | 5 | #include "User.h" |
o2132613 | 19:510b87211851 | 6 | #include "mbed.h" |
o2132613 | 19:510b87211851 | 7 | #include "math.h" |
hirokimineshita | 0:736c76a75def | 8 | #include "mbed.h" |
o2132613 | 19:510b87211851 | 9 | #include"KondoServo.h" |
o2132613 | 19:510b87211851 | 10 | #include "EC.h" //Encoderライブラリをインクルード |
o2132613 | 19:510b87211851 | 11 | #define RESOLUTION 500 |
hirokimineshita | 0:736c76a75def | 12 | |
hirokimineshita | 0:736c76a75def | 13 | int RSX,RSY,LSX,LSY,BSU,BSL; |
o2132613 | 19:510b87211851 | 14 | //Digitalout cs(p8); |
o2132613 | 22:f0e17f3129cc | 15 | int move=5,shoot=0,ball=0,box=0,ball_count=0,box_count=0; |
o2132613 | 19:510b87211851 | 16 | CAN controller(p30,p29);//CANpin_name |
koheim | 21:0f12ee2322e4 | 17 | |
o2132613 | 19:510b87211851 | 18 | DigitalOut led1(LED1); |
o2132613 | 19:510b87211851 | 19 | DigitalOut led2(LED2); |
o2132613 | 19:510b87211851 | 20 | DigitalOut led3(LED3); |
o2132613 | 19:510b87211851 | 21 | DigitalOut led4(LED4); |
o2132613 | 19:510b87211851 | 22 | char can[1]= {0}; |
koheim | 21:0f12ee2322e4 | 23 | |
o2132613 | 19:510b87211851 | 24 | KondoServo servo(p28,p27);//サーボ |
o2132613 | 19:510b87211851 | 25 | |
o2132613 | 19:510b87211851 | 26 | PwmOut f(p26);//投F |
o2132613 | 19:510b87211851 | 27 | PwmOut b(p25);//投B |
koheim | 21:0f12ee2322e4 | 28 | |
o2132613 | 19:510b87211851 | 29 | Ticker ticker; |
koheim | 21:0f12ee2322e4 | 30 | |
o2132613 | 19:510b87211851 | 31 | Ec1multi EC(p16,p17,RESOLUTION);//投E |
o2132613 | 19:510b87211851 | 32 | InterruptIn X(p15); |
koheim | 21:0f12ee2322e4 | 33 | |
maxnagazumi | 24:674b011da45b | 34 | DigitalIn touchSensor(p14);//タッチセンサー |
maxnagazumi | 24:674b011da45b | 35 | |
maxnagazumi | 25:4eb2f2795120 | 36 | DigitalOut out1(p19);//エアシリンダー(投擲) |
maxnagazumi | 25:4eb2f2795120 | 37 | DigitalOut out2(p20);//エアシリンダー(つかむ) |
koheim | 21:0f12ee2322e4 | 38 | DigitalOut out3(p18);//エアシリンダー(ボックス) |
baba2357 | 11:86d717718dbf | 39 | |
maxnagazumi | 25:4eb2f2795120 | 40 | int id = 0;//ballbreak; |
maxnagazumi | 25:4eb2f2795120 | 41 | int id2 = 1;//box |
o2132613 | 19:510b87211851 | 42 | double SERVO2DEG = 270.0 / (11500 - 3500); |
maxnagazumi | 25:4eb2f2795120 | 43 | double first_ball = (4500 - 3500) * SERVO2DEG; |
maxnagazumi | 25:4eb2f2795120 | 44 | double first_box = (4000 - 3500) * SERVO2DEG; //X haven't be decided |
maxnagazumi | 25:4eb2f2795120 | 45 | double grab_ball = (3830 - 3500) * SERVO2DEG; |
maxnagazumi | 25:4eb2f2795120 | 46 | double pass = (7080 - 3500) * SERVO2DEG; |
maxnagazumi | 24:674b011da45b | 47 | double grab_box = (3500 - 3500) * SERVO2DEG; |
o2132613 | 19:510b87211851 | 48 | |
o2132613 | 19:510b87211851 | 49 | void cal() |
o2132613 | 19:510b87211851 | 50 | { |
o2132613 | 19:510b87211851 | 51 | EC.calOmega(); |
o2132613 | 19:510b87211851 | 52 | } |
maxnagazumi | 20:dd4634500bb3 | 53 | |
o2132613 | 19:510b87211851 | 54 | void shot(); |
o2132613 | 19:510b87211851 | 55 | void catch_ball(); |
maxnagazumi | 20:dd4634500bb3 | 56 | void show_angle(); |
o2132613 | 19:510b87211851 | 57 | |
o2132613 | 19:510b87211851 | 58 | int X_count=0; |
o2132613 | 19:510b87211851 | 59 | void Xcount() |
o2132613 | 19:510b87211851 | 60 | { |
o2132613 | 19:510b87211851 | 61 | X_count++; |
o2132613 | 19:510b87211851 | 62 | } |
o2132613 | 19:510b87211851 | 63 | |
o2132613 | 17:348c660ea6f6 | 64 | void UserLoopSetting() |
o2132613 | 17:348c660ea6f6 | 65 | { |
maxnagazumi | 24:674b011da45b | 66 | f.period_us(50); |
maxnagazumi | 24:674b011da45b | 67 | b.period_us(50); |
maxnagazumi | 24:674b011da45b | 68 | touchSensor.mode(PullUp); |
hirokimineshita | 0:736c76a75def | 69 | } |
o2132613 | 17:348c660ea6f6 | 70 | void UserLoop(char n,const u8* data) |
o2132613 | 17:348c660ea6f6 | 71 | { |
maxnagazumi | 24:674b011da45b | 72 | static int i=0; |
maxnagazumi | 24:674b011da45b | 73 | if(i==0) { |
maxnagazumi | 24:674b011da45b | 74 | wait(2); |
maxnagazumi | 24:674b011da45b | 75 | i++; |
maxnagazumi | 24:674b011da45b | 76 | } |
hirokimineshita | 0:736c76a75def | 77 | u16 ButtonState; |
o2132613 | 17:348c660ea6f6 | 78 | if(n==0) { //有線Ps3USB.cpp |
hirokimineshita | 0:736c76a75def | 79 | RSX = ((ps3report*)data)->RightStickX; |
hirokimineshita | 0:736c76a75def | 80 | RSY = ((ps3report*)data)->RightStickY; |
hirokimineshita | 0:736c76a75def | 81 | LSX = ((ps3report*)data)->LeftStickX; |
hirokimineshita | 0:736c76a75def | 82 | LSY = ((ps3report*)data)->LeftStickY; |
hirokimineshita | 0:736c76a75def | 83 | BSU = (u8)(((ps3report*)data)->ButtonState & 0x00ff); |
hirokimineshita | 0:736c76a75def | 84 | BSL = (u8)(((ps3report*)data)->ButtonState >> 8); |
hirokimineshita | 0:736c76a75def | 85 | //ボタンの処理 |
hirokimineshita | 0:736c76a75def | 86 | ButtonState = ((ps3report*)data)->ButtonState; |
o2132613 | 17:348c660ea6f6 | 87 | } else {//無線TestShell.cpp |
hirokimineshita | 0:736c76a75def | 88 | RSX = ((ps3report*)(data + 1))->RightStickX; |
hirokimineshita | 0:736c76a75def | 89 | RSY = ((ps3report*)(data + 1))->RightStickY; |
hirokimineshita | 0:736c76a75def | 90 | LSX = ((ps3report*)(data + 1))->LeftStickX; |
hirokimineshita | 0:736c76a75def | 91 | LSY = ((ps3report*)(data + 1))->LeftStickY; |
hirokimineshita | 0:736c76a75def | 92 | BSU = (u8)(((ps3report*)(data + 1))->ButtonState & 0x00ff); |
hirokimineshita | 0:736c76a75def | 93 | BSL = (u8)(((ps3report*)(data + 1))->ButtonState >> 8); |
hirokimineshita | 0:736c76a75def | 94 | //ボタンの処理 |
hirokimineshita | 0:736c76a75def | 95 | ButtonState = ((ps3report*)(data + 1))->ButtonState; |
hirokimineshita | 0:736c76a75def | 96 | } |
hirokimineshita | 0:736c76a75def | 97 | //ここより下にプログラムを書く |
o2132613 | 19:510b87211851 | 98 | controller.frequency(1000000); |
o2132613 | 19:510b87211851 | 99 | led1=0; |
o2132613 | 19:510b87211851 | 100 | led2=0; |
o2132613 | 19:510b87211851 | 101 | led3=0; |
o2132613 | 19:510b87211851 | 102 | led4=0; |
maxnagazumi | 25:4eb2f2795120 | 103 | //reset |
maxnagazumi | 25:4eb2f2795120 | 104 | if((ButtonState >> BUTTONUP)&1 == 1 &&(ButtonState >> BUTTONTRIANGEL)&1 == 1 ) {//R2 |
maxnagazumi | 25:4eb2f2795120 | 105 | NVIC_SystemReset(); |
maxnagazumi | 25:4eb2f2795120 | 106 | printf("reset\r\n"); |
maxnagazumi | 25:4eb2f2795120 | 107 | } |
o2132613 | 19:510b87211851 | 108 | |
o2132613 | 19:510b87211851 | 109 | //move |
o2132613 | 19:510b87211851 | 110 | if((ButtonState >> BUTTONUP)&1 == 1&&(ButtonState >> BUTTONL1)&1 == 1) { //UPL1 |
o2132613 | 19:510b87211851 | 111 | move = 9; |
o2132613 | 19:510b87211851 | 112 | } else if ((ButtonState >> BUTTONDOWN)&1 == 1&&(ButtonState >> BUTTONR1)&1 == 1) { //DownR1 |
o2132613 | 19:510b87211851 | 113 | move = 3; |
o2132613 | 19:510b87211851 | 114 | } else if ((ButtonState >> BUTTONUP)&1 == 1&&(ButtonState >> BUTTONR1)&1 == 1) { //UPR1 |
o2132613 | 19:510b87211851 | 115 | move = 7; |
o2132613 | 19:510b87211851 | 116 | } else if ((ButtonState >> BUTTONDOWN)&1 == 1&&(ButtonState >> BUTTONL1)&1 == 1) { //DownL1 |
o2132613 | 19:510b87211851 | 117 | move = 1; |
o2132613 | 19:510b87211851 | 118 | } else if((ButtonState >> BUTTONUP)&1 == 1) { //up |
o2132613 | 19:510b87211851 | 119 | move = 8; |
o2132613 | 19:510b87211851 | 120 | led1 = 1; |
o2132613 | 19:510b87211851 | 121 | } else if((ButtonState >> BUTTONDOWN)&1 == 1) { //down |
o2132613 | 19:510b87211851 | 122 | move = 2; |
o2132613 | 19:510b87211851 | 123 | led2 =1; |
o2132613 | 19:510b87211851 | 124 | } else if((ButtonState >> BUTTONRIGHT)&1 == 1) { //right |
o2132613 | 19:510b87211851 | 125 | move = 6; |
o2132613 | 19:510b87211851 | 126 | led3 = 1; |
o2132613 | 19:510b87211851 | 127 | } else if((ButtonState >> BUTTONLEFT)&1 == 1) { //left |
o2132613 | 19:510b87211851 | 128 | move = 4; |
o2132613 | 19:510b87211851 | 129 | led4 = 1; |
o2132613 | 19:510b87211851 | 130 | } else if((ButtonState >> BUTTONL1)&1 == 1) { //L1 |
o2132613 | 19:510b87211851 | 131 | move = 10; |
o2132613 | 19:510b87211851 | 132 | } else if((ButtonState >> BUTTONR1)&1 == 1) { //R1 |
o2132613 | 19:510b87211851 | 133 | move = 11; |
maxnagazumi | 25:4eb2f2795120 | 134 | } else if((ButtonState >> BUTTONSTART)&1 == 1 ) {//対応するボタンを書く(今回startボタン |
maxnagazumi | 24:674b011da45b | 135 | move = 12; |
o2132613 | 19:510b87211851 | 136 | } else if((ButtonState >> BUTTONSELECT)&1 == 1 ) {//対応するボタンを書く(今回SELLECTボタン |
maxnagazumi | 24:674b011da45b | 137 | move = 13; |
o2132613 | 19:510b87211851 | 138 | } else { |
o2132613 | 19:510b87211851 | 139 | move = 5; |
o2132613 | 19:510b87211851 | 140 | } |
o2132613 | 19:510b87211851 | 141 | //move |
o2132613 | 19:510b87211851 | 142 | //shoot |
o2132613 | 19:510b87211851 | 143 | if((ButtonState >> BUTTONCIRCLE)&1 == 1) {//O |
o2132613 | 19:510b87211851 | 144 | shoot = 1; |
maxnagazumi | 24:674b011da45b | 145 | printf("shoot 1\r\n"); |
o2132613 | 19:510b87211851 | 146 | led1 = 1; |
o2132613 | 19:510b87211851 | 147 | } else if((ButtonState >> BUTTONCROSS)&1 == 1) {//X |
o2132613 | 22:f0e17f3129cc | 148 | ball = 1; |
maxnagazumi | 24:674b011da45b | 149 | printf("ball 1\r\n"); |
o2132613 | 19:510b87211851 | 150 | led2 = 1; |
o2132613 | 19:510b87211851 | 151 | } else if((ButtonState >> BUTTONTRIANGEL)&1 == 1) {//△ |
o2132613 | 22:f0e17f3129cc | 152 | box = 1; |
maxnagazumi | 24:674b011da45b | 153 | printf("box 1\r\n"); |
o2132613 | 19:510b87211851 | 154 | led3 = 1; |
o2132613 | 19:510b87211851 | 155 | } else if((ButtonState >> BUTTONSQUARE)&1 == 1) {//□ |
o2132613 | 22:f0e17f3129cc | 156 | ball = 2; |
maxnagazumi | 24:674b011da45b | 157 | printf("ball 2\r\n"); |
maxnagazumi | 20:dd4634500bb3 | 158 | led4 = 1; |
maxnagazumi | 20:dd4634500bb3 | 159 | } else if((ButtonState >> BUTTONR2)&1 == 1) {//R2 |
o2132613 | 22:f0e17f3129cc | 160 | box = 2; |
maxnagazumi | 24:674b011da45b | 161 | printf("box 2\r\n"); |
o2132613 | 19:510b87211851 | 162 | led4 = 1; |
o2132613 | 17:348c660ea6f6 | 163 | } |
maxnagazumi | 25:4eb2f2795120 | 164 | |
maxnagazumi | 20:dd4634500bb3 | 165 | show_angle(); |
o2132613 | 19:510b87211851 | 166 | //CAN通信用プログラム |
o2132613 | 19:510b87211851 | 167 | if(shoot==1)shot(); |
maxnagazumi | 24:674b011da45b | 168 | catch_ball(); |
o2132613 | 19:510b87211851 | 169 | can[0] = move; |
o2132613 | 19:510b87211851 | 170 | controller.write(CANMessage(1,can,1)); |
o2132613 | 19:510b87211851 | 171 | printf("%d\r\n",can[0]); |
o2132613 | 19:510b87211851 | 172 | } |
o2132613 | 19:510b87211851 | 173 | |
maxnagazumi | 20:dd4634500bb3 | 174 | void show_angle() |
maxnagazumi | 20:dd4634500bb3 | 175 | { |
maxnagazumi | 20:dd4634500bb3 | 176 | X.rise(&Xcount); |
maxnagazumi | 20:dd4634500bb3 | 177 | f.period_us(50); |
maxnagazumi | 20:dd4634500bb3 | 178 | b.period_us(50); |
maxnagazumi | 20:dd4634500bb3 | 179 | double a=0,r=0.4,v=0; |
maxnagazumi | 20:dd4634500bb3 | 180 | int i=0,count;//rで半径指定 a*r=v |
maxnagazumi | 20:dd4634500bb3 | 181 | //ticker.attach(&cal,0.05); |
maxnagazumi | 20:dd4634500bb3 | 182 | if(X_count ==1) { |
maxnagazumi | 20:dd4634500bb3 | 183 | printf("set ok"); |
maxnagazumi | 20:dd4634500bb3 | 184 | EC.reset(); |
maxnagazumi | 20:dd4634500bb3 | 185 | } |
maxnagazumi | 20:dd4634500bb3 | 186 | //角度リセット |
maxnagazumi | 20:dd4634500bb3 | 187 | a=EC.getOmega(); |
maxnagazumi | 20:dd4634500bb3 | 188 | count=EC.getCount(); |
maxnagazumi | 20:dd4634500bb3 | 189 | i =count%500; |
maxnagazumi | 20:dd4634500bb3 | 190 | printf("%.3f %.3f %d %d stop\r\n",a,v,X_count,count); |
maxnagazumi | 20:dd4634500bb3 | 191 | f=0; |
maxnagazumi | 20:dd4634500bb3 | 192 | b=0; |
maxnagazumi | 20:dd4634500bb3 | 193 | led1=0; |
maxnagazumi | 20:dd4634500bb3 | 194 | led2=1; |
maxnagazumi | 20:dd4634500bb3 | 195 | led3=1; |
maxnagazumi | 20:dd4634500bb3 | 196 | led4=0; |
maxnagazumi | 20:dd4634500bb3 | 197 | |
maxnagazumi | 20:dd4634500bb3 | 198 | } |
o2132613 | 19:510b87211851 | 199 | void shot() |
o2132613 | 19:510b87211851 | 200 | { |
maxnagazumi | 24:674b011da45b | 201 | int breaknum=0; |
o2132613 | 19:510b87211851 | 202 | X.rise(&Xcount); |
o2132613 | 19:510b87211851 | 203 | double a=0,r=0.4,v=0; |
o2132613 | 19:510b87211851 | 204 | int i=0,count;//rで半径指定 a*r=v |
o2132613 | 19:510b87211851 | 205 | ticker.attach(&cal,0.05); |
maxnagazumi | 20:dd4634500bb3 | 206 | while(1) { |
maxnagazumi | 25:4eb2f2795120 | 207 | out1=1; |
maxnagazumi | 24:674b011da45b | 208 | printf("%d\r\n",touchSensor.read()); |
maxnagazumi | 24:674b011da45b | 209 | f=0; |
maxnagazumi | 24:674b011da45b | 210 | b=0.05; |
maxnagazumi | 24:674b011da45b | 211 | if(touchSensor==0) {//受け渡し |
maxnagazumi | 24:674b011da45b | 212 | f=0; |
maxnagazumi | 24:674b011da45b | 213 | b=0; |
maxnagazumi | 24:674b011da45b | 214 | printf("%d",EC.getCount()); |
maxnagazumi | 20:dd4634500bb3 | 215 | EC.reset(); |
maxnagazumi | 24:674b011da45b | 216 | printf("%d",EC.getCount()); |
maxnagazumi | 24:674b011da45b | 217 | wait(1); |
maxnagazumi | 24:674b011da45b | 218 | out2=0; |
maxnagazumi | 25:4eb2f2795120 | 219 | out2=1; |
maxnagazumi | 24:674b011da45b | 220 | printf("passed\r\n"); |
maxnagazumi | 24:674b011da45b | 221 | wait(1); |
maxnagazumi | 24:674b011da45b | 222 | while(1) { |
maxnagazumi | 24:674b011da45b | 223 | f=0.1; |
maxnagazumi | 24:674b011da45b | 224 | b=0; |
maxnagazumi | 24:674b011da45b | 225 | printf("moving to remove servo\r\n"); |
maxnagazumi | 24:674b011da45b | 226 | if(EC.getCount()>200) { |
maxnagazumi | 24:674b011da45b | 227 | printf("servo move\r\n"); |
maxnagazumi | 24:674b011da45b | 228 | f=0; |
maxnagazumi | 24:674b011da45b | 229 | b=0; |
maxnagazumi | 24:674b011da45b | 230 | servo.set_degree(id, first_ball); |
maxnagazumi | 24:674b011da45b | 231 | breaknum=1; |
maxnagazumi | 24:674b011da45b | 232 | break; |
maxnagazumi | 24:674b011da45b | 233 | } |
maxnagazumi | 24:674b011da45b | 234 | |
maxnagazumi | 24:674b011da45b | 235 | } |
maxnagazumi | 24:674b011da45b | 236 | if(X_count ==1) { |
maxnagazumi | 24:674b011da45b | 237 | EC.reset(); |
maxnagazumi | 24:674b011da45b | 238 | X_count =0; |
maxnagazumi | 24:674b011da45b | 239 | } |
maxnagazumi | 20:dd4634500bb3 | 240 | } |
maxnagazumi | 24:674b011da45b | 241 | if(breaknum==1)break; |
o2132613 | 17:348c660ea6f6 | 242 | } |
maxnagazumi | 24:674b011da45b | 243 | EC.reset(); |
maxnagazumi | 24:674b011da45b | 244 | wait(1); |
maxnagazumi | 24:674b011da45b | 245 | X_count=0; |
maxnagazumi | 24:674b011da45b | 246 | double m=0; |
o2132613 | 19:510b87211851 | 247 | //角度リセット |
o2132613 | 19:510b87211851 | 248 | while(1) { |
maxnagazumi | 24:674b011da45b | 249 | //printf("%.3f %d %d\r\n",v,X_count,i); |
maxnagazumi | 24:674b011da45b | 250 | //a=EC.getOmega(); |
o2132613 | 19:510b87211851 | 251 | count=EC.getCount(); |
o2132613 | 19:510b87211851 | 252 | i =count%500; |
maxnagazumi | 24:674b011da45b | 253 | //v=a*r; |
maxnagazumi | 24:674b011da45b | 254 | if(m<1.0) { |
maxnagazumi | 24:674b011da45b | 255 | m=m+0.05; |
maxnagazumi | 24:674b011da45b | 256 | } |
maxnagazumi | 24:674b011da45b | 257 | if(m>1) { |
maxnagazumi | 24:674b011da45b | 258 | m=1; |
maxnagazumi | 24:674b011da45b | 259 | } |
maxnagazumi | 25:4eb2f2795120 | 260 | f=0.1*m;//速度一定 |
o2132613 | 19:510b87211851 | 261 | b=0.0; |
maxnagazumi | 24:674b011da45b | 262 | if(X_count>2) { |
maxnagazumi | 24:674b011da45b | 263 | if(i > 345 && i < 355) {//離す角度を決める |
maxnagazumi | 24:674b011da45b | 264 | out1=1; //ボールを離す |
maxnagazumi | 24:674b011da45b | 265 | f=0; |
maxnagazumi | 24:674b011da45b | 266 | b=0; |
maxnagazumi | 24:674b011da45b | 267 | wait(1); |
o2132613 | 19:510b87211851 | 268 | printf("shot\r\n"); |
o2132613 | 19:510b87211851 | 269 | led1=1; |
o2132613 | 19:510b87211851 | 270 | led2=1; |
o2132613 | 19:510b87211851 | 271 | led3=1; |
o2132613 | 19:510b87211851 | 272 | led4=1; |
o2132613 | 19:510b87211851 | 273 | break; |
o2132613 | 19:510b87211851 | 274 | } |
o2132613 | 19:510b87211851 | 275 | } |
o2132613 | 17:348c660ea6f6 | 276 | } |
maxnagazumi | 24:674b011da45b | 277 | printf("%.3f %.3f %d\r\n",a,v,i); |
o2132613 | 19:510b87211851 | 278 | X.rise(&Xcount); |
o2132613 | 19:510b87211851 | 279 | a=EC.getOmega(); |
o2132613 | 19:510b87211851 | 280 | count=EC.getCount(); |
o2132613 | 19:510b87211851 | 281 | i =count%500; |
o2132613 | 19:510b87211851 | 282 | f=0; |
o2132613 | 19:510b87211851 | 283 | b=0; |
o2132613 | 19:510b87211851 | 284 | led1=0; |
o2132613 | 19:510b87211851 | 285 | led2=1; |
o2132613 | 19:510b87211851 | 286 | led3=1; |
o2132613 | 19:510b87211851 | 287 | led4=0; |
maxnagazumi | 24:674b011da45b | 288 | shoot=0; |
o2132613 | 19:510b87211851 | 289 | } |
o2132613 | 19:510b87211851 | 290 | void catch_ball() |
o2132613 | 19:510b87211851 | 291 | { |
o2132613 | 22:f0e17f3129cc | 292 | switch (ball) { |
o2132613 | 22:f0e17f3129cc | 293 | case 1: //ball servo |
o2132613 | 22:f0e17f3129cc | 294 | if(ball_count ==0) { |
maxnagazumi | 24:674b011da45b | 295 | printf("pass\r\n"); |
maxnagazumi | 24:674b011da45b | 296 | servo.set_degree(id,pass); |
maxnagazumi | 20:dd4634500bb3 | 297 | wait(0.5); |
o2132613 | 23:0c6bc29c8f86 | 298 | ball_count =1; |
o2132613 | 23:0c6bc29c8f86 | 299 | ball = 0; |
o2132613 | 22:f0e17f3129cc | 300 | } else if(ball_count ==1) { |
maxnagazumi | 24:674b011da45b | 301 | printf("glab\r\n"); |
maxnagazumi | 24:674b011da45b | 302 | servo.set_degree(id, first_ball); |
maxnagazumi | 24:674b011da45b | 303 | wait(0.5); |
maxnagazumi | 24:674b011da45b | 304 | ball_count = 2; |
maxnagazumi | 24:674b011da45b | 305 | ball =0; |
maxnagazumi | 24:674b011da45b | 306 | } else if(ball_count ==2) { |
maxnagazumi | 24:674b011da45b | 307 | printf("first"); |
o2132613 | 22:f0e17f3129cc | 308 | servo.set_degree(id, grab_ball); |
maxnagazumi | 20:dd4634500bb3 | 309 | wait(0.5); |
o2132613 | 23:0c6bc29c8f86 | 310 | ball_count = 0; |
maxnagazumi | 20:dd4634500bb3 | 311 | ball =0; |
maxnagazumi | 20:dd4634500bb3 | 312 | } |
maxnagazumi | 20:dd4634500bb3 | 313 | break; |
o2132613 | 22:f0e17f3129cc | 314 | case 2://ball air |
maxnagazumi | 20:dd4634500bb3 | 315 | if (out1==0) { |
maxnagazumi | 20:dd4634500bb3 | 316 | out1=1; |
o2132613 | 23:0c6bc29c8f86 | 317 | ball=0; |
maxnagazumi | 20:dd4634500bb3 | 318 | } else if (out1 == 1) { |
maxnagazumi | 20:dd4634500bb3 | 319 | out1=0; |
o2132613 | 23:0c6bc29c8f86 | 320 | ball=0; |
maxnagazumi | 20:dd4634500bb3 | 321 | } |
maxnagazumi | 24:674b011da45b | 322 | break; |
o2132613 | 19:510b87211851 | 323 | } |
o2132613 | 19:510b87211851 | 324 | } |
o2132613 | 19:510b87211851 | 325 | |
o2132613 | 19:510b87211851 | 326 | void catch_box() |
o2132613 | 19:510b87211851 | 327 | { |
o2132613 | 22:f0e17f3129cc | 328 | switch(box) { |
o2132613 | 22:f0e17f3129cc | 329 | case 1:// box servo |
o2132613 | 22:f0e17f3129cc | 330 | if(box_count ==0) { |
maxnagazumi | 24:674b011da45b | 331 | printf("Box first"); |
o2132613 | 23:0c6bc29c8f86 | 332 | servo.set_degree(id2, first_box); |
o2132613 | 22:f0e17f3129cc | 333 | wait(0.5); |
o2132613 | 23:0c6bc29c8f86 | 334 | box_count =1; |
maxnagazumi | 24:674b011da45b | 335 | box = 0; |
o2132613 | 22:f0e17f3129cc | 336 | } else if(box_count ==1) { |
maxnagazumi | 24:674b011da45b | 337 | printf("Box grab"); |
o2132613 | 22:f0e17f3129cc | 338 | servo.set_degree(id2, grab_box); |
o2132613 | 22:f0e17f3129cc | 339 | wait(0.5); |
o2132613 | 23:0c6bc29c8f86 | 340 | box_count = 0; |
o2132613 | 23:0c6bc29c8f86 | 341 | box =0; |
o2132613 | 22:f0e17f3129cc | 342 | } |
maxnagazumi | 24:674b011da45b | 343 | break; |
o2132613 | 22:f0e17f3129cc | 344 | case 2: //box air |
o2132613 | 22:f0e17f3129cc | 345 | if (out3==0) { |
o2132613 | 22:f0e17f3129cc | 346 | out3=1; |
o2132613 | 23:0c6bc29c8f86 | 347 | box = 0; |
o2132613 | 22:f0e17f3129cc | 348 | } else if (out3 == 1) { |
o2132613 | 22:f0e17f3129cc | 349 | out3=0; |
o2132613 | 23:0c6bc29c8f86 | 350 | box = 0; |
o2132613 | 22:f0e17f3129cc | 351 | } |
maxnagazumi | 24:674b011da45b | 352 | break; |
o2132613 | 22:f0e17f3129cc | 353 | } |
hirokimineshita | 0:736c76a75def | 354 | } |