Revision 4:317c53a674fa, committed 2019-03-01

Comitter:

la00noix

Date:

Fri Mar 01 08:00:53 2019 +0000

Parent:

3:8a0faa3b08c3

Commit message:

a

Changed in this revision

--- a/can/can.cpp	Fri Mar 01 00:48:07 2019 +0000
+++ b/can/can.cpp	Fri Mar 01 08:00:53 2019 +0000
@@ -30,20 +30,20 @@
             //debug_printf("[0]=%d [1]=%d [2]=%d [3]=%d [4]=%d [5]=%d\n\r",id1_value[0],id1_value[1],id1_value[2],id1_value[3],id1_value[4],id1_value[5]);
         }
 
-        /*if(msg.id == 3) {
+        if(msg.id == 3) {
             usw_data1 = 0.1 * (short)((msg.data[0]<<8) | msg.data[1]);
             //debug_printf("usw_data1 = %f\n\r",usw_data1);
-        }*/
+        }
 
-        /*   if(msg.id == 4){
+        if(msg.id == 4){
                usw_data2 = 0.1 * (short)((msg.data[0]<<8) | msg.data[1]);
                //debug_printf("usw_data2 = %f\n\r",usw_data2);
-           }*/
+           }
 
-        /*    if(msg.id == 5){
+            if(msg.id == 5){
                 usw_data3 = 0.1 * (short)((msg.data[0]<<8) | msg.data[1]);
                 //debug_printf("usw_data3 = %f\n\r",usw_data3);
-            }*/
+            }
 
         if(msg.id == 6) {
             usw_data4 = 0.1 * (short)((msg.data[0]<<8) | msg.data[1]);

--- a/main.cpp	Fri Mar 01 00:48:07 2019 +0000
+++ b/main.cpp	Fri Mar 01 08:00:53 2019 +0000
@@ -14,8 +14,6 @@
 //#define PROGRAM_INFO //プログラム使用時に使用プログラムの情報を最初に表示する際に定義
 
 #define HARUROBO_TEST_MODE //テスト自動プログラム（練習・動作確認用）使用時に定義
-//#define HARUROBO_RIGHT_MODE //本番用自動プログラム（右側フィールド）使用時に定義
-//#define HARUROBO_LEFT_MODE //本番用自動プログラム（左側フィールド）使用時に定義
 
 int go_waitmode = 0;
 
@@ -56,17 +54,17 @@
            
            //can_start();
            //set_cond(2,1,-700,1,-700);
-           gogo_straight(1,1,-2962,3500,-2962,3000,200,1000,5,0.1,10,0.1,600,0);
-           purecurve(7,1,1,-2962,3000,-2317,2500,9,1000,5,0.1,10,0.1,600,0);
-           purecurve(8,1,1,-2317,2500,-1672,2000,9,1000,5,0.1,10,0.1,600,0);
-           gogo_straight(1,1,-1672,2000,-1672,1500,1000,200,5,0.1,10,0.1,600,0);
+           gogo_straight(1,1,-2962,3500,-2962,2900,200,1000,5,0.1,10,0.1,600,0);
+           purecurve(7,1,1,-2962,2900,-2317,2500,9,1000,5,0.1,10,0.1,600,0);
+           purecurve(8,1,1,-2317,2500,-1610,2000,9,1000,5,0.1,10,0.1,600,0);
+           gogo_straight(1,1,-1610,2000,-1610,1250,1000,200,5,0.1,10,0.1,600,0);
            MaxonControl(0,0,0,0);
-           set_cond(2,0,-1243,1,1076);
-           pos_correction(-1672,1500,0,0,1);
+           set_cond(2,0,-1243,1,1080);
+           pos_correction(-1610,1250,0,1,0);
            wait(0.5);
 
-           gogo_straight(1,1,-1672,1500,-1672,2000,200,1000,5,0.1,10,0.1,600,0);
-           purecurve(3,1,1,-1672,2000,-2317,2500,9,1000,5,0.1,10,0.1,600,0);
+           gogo_straight(1,1,-1610,1250,-1610,2000,200,1000,5,0.1,10,0.1,600,0);
+           purecurve(3,1,1,-1610,2000,-2317,2500,9,1000,5,0.1,10,0.1,600,0);
            purecurve(4,1,1,-2317,2500,-2962,3000,9,1000,5,0.1,10,0.1,600,-90);
            gogo_straight(1,1,-2962,3000,-2962,4000,1000,1000,5,0.1,10,0.1,600,-90);
            gogo_straight(1,1,-2962,4000,-2962,4500,1000,200,5,0.1,10,0.1,600,-90);
@@ -74,9 +72,9 @@
            pos_correction(-2962,4500,-90,1,1);
       
            set_cond(0,0,-2462,0,0);
-           gogo_straight(0,1,-2962,4500,-2850,4500,200,200,5,0.1,10,0.1,800,-90);
+           gogo_straight(1,1,-2962,4500,-2850,4500,200,200,5,0.1,10,0.1,800,-90);
            MaxonControl(0,0,0,0);
-           pos_correction(-2850,4500,-90,0,1);
+           pos_correction(-2850,4500,-90,1,1);
            wait(0.5);
       
            gogo_straight(1,1,-2850,4500,-2850,5150,200,1000,5,0.1,10,0.1,800,-90);
@@ -84,20 +82,20 @@
            purecurve(1,1,1,-2257,5500,-1700,6000,9,1000,5,0.1,10,0.1,800,-90);
            purecurve(3,1,1,-1700,6000,-2257,6647,9,1000,5,0.1,10,0.1,800,-90);
            gogo_straight(1,1,-2257,6647,-2500,6647,1000,1000,5,0.1,10,0.1,800,-90);
-           set_cond(1,0,0,0,7000);
-           gogo_straight(1,0,-2500,6647,-2700,6647,1000,200,5,0.1,10,0.1,800,-90);
+           set_cond(2,1,-3500,1,6324);
+           gogo_straight(1,1,-2500,6647,-2700,6647,1000,200,5,0.1,10,0.1,800,-90);
            MaxonControl(0,0,0,0);
-           pos_correction(-2700,6647,-90,1,0);
+           pos_correction(-2700,6647,-90,1,1);
            wait(0.5);
       
            gogo_straight(1,1,-2700,6647,-2500,6647,200,1000,5,0.1,10,0.1,800,-90);
-           gogo_straight(1,1,-2500,6647,-1243,6647,1000,1000,5,0.1,10,0.1,800,-90);
-           purecurve(8,1,1,-1243,6647,-519,6000,9,1000,5,0.1,10,0.1,600,-180);
-           gogo_straight(1,1,-519,6000,-519,4700,1000,1000,5,0.1,10,0.1,600,-180);
-           set_cond(2,0,0,1,4000);
-           gogo_straight(0,0,-519,4700,-519,4500,1000,200,5,0.1,10,0.1,800,-180);
+           gogo_straight(1,1,-2500,6647,-1000,6647,1000,1000,5,0.1,10,0.1,800,-90);
+           purecurve(8,1,1,-1000,6647,-350,6000,9,1000,5,0.1,10,0.1,600,-180);
+           gogo_straight(1,1,-350,6000,-350,4700,1000,1000,5,0.1,10,0.1,600,-180);
+           set_cond(2,1,1243,1,4000);
+           gogo_straight(1,1,-350,4700,-350,4500,1000,200,5,0.1,10,0.1,800,-180);
            MaxonControl(0,0,0,0);
-           pos_correction(-519,4500,180,0,0);
+           pos_correction(-400,4500,-180,1,1);
 
            go_waitmode = 1;
         

--- a/movement/movement.cpp	Fri Mar 01 00:48:07 2019 +0000
+++ b/movement/movement.cpp	Fri Mar 01 08:00:53 2019 +0000
@@ -61,8 +61,8 @@
     
     gyro.initialize();
     ec_ticker.attach(&calOmega,0.05);  //0.05秒間隔で角速度を計算
-    EC1.setDiameter_mm(48);
-    EC2.setDiameter_mm(48);  //測定輪半径//後で測定
+    EC1.setDiameter_mm(25.5);
+    EC2.setDiameter_mm(25.5);  //測定輪半径//後で測定
     info.nowX.enc = -2962; //初期位置の設定
     info.nowY.enc = 3500;
 }
@@ -447,7 +447,7 @@
     calc_xy(tgt_angle, u, v);
  
     while(1){  //機体の位置を目標領域（目標座標＋許容誤差）に収める
-        gogo_straight(u,v,now_x,now_y,tgt_x,tgt_y,200,100,5,0.1,10,0.1,500,tgt_angle);
+        gogo_straight(u,v,now_x,now_y,tgt_x,tgt_y,200,50,5,0.1,10,0.1,500,tgt_angle);
         MaxonControl(0,0,0,0);
     
         calc_xy(tgt_angle, u, v);