春ロボ1班(元F3RC4班+) / Mbed 2 deprecated harurobo_ashi_3_13_13h_24m

3/13 13時24分 up

Dependencies:   mbed move4wheel2 EC CruizCore_R1370P

main.cpp@6:26724c287387, 2019-03-02 (annotated)

Committer:
la00noix
Date:
Sat Mar 02 07:48:18 2019 +0000
Revision:
6:26724c287387
Parent:
5:6cebe1c458a9
Child:
7:44ce34007499
a

Who changed what in which revision?

UserRevisionLine numberNew contents of line
la00noix 0:c61c6e4775ca 1 #include "EC.h"
la00noix 0:c61c6e4775ca 2 #include "R1370P.h"
la00noix 0:c61c6e4775ca 3 #include "move4wheel.h"
la00noix 0:c61c6e4775ca 4 #include "mbed.h"
la00noix 0:c61c6e4775ca 5 #include "math.h"
la00noix 0:c61c6e4775ca 6 #include "PathFollowing.h"
la00noix 0:c61c6e4775ca 7 #include "movement.h"
la00noix 0:c61c6e4775ca 8 #include "maxonsetting.h"
la00noix 0:c61c6e4775ca 9 #include "manual.h"
la00noix 0:c61c6e4775ca 10 #include "can.h"
la00noix 0:c61c6e4775ca 11
la00noix 0:c61c6e4775ca 12 #define PI 3.141592
la00noix 0:c61c6e4775ca 13
la00noix 0:c61c6e4775ca 14 //#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
la00noix 0:c61c6e4775ca 15
la00noix 0:c61c6e4775ca 16 int go_waitmode = 0;
la00noix 0:c61c6e4775ca 17
la00noix 0:c61c6e4775ca 18 //-----mbed led------------------//点灯条件-----------------------//参照場所------------------------------//
la00noix 6:26724c287387 19 //DigitalOut cansend_led(LED1); //canread -> on //can.cpp
la00noix 6:26724c287387 20 //DigitalOut canread_led(LED2); //cansend -> on //can.cpp
la00noix 0:c61c6e4775ca 21 //DigitalOut debug_led(LED3); //maxon debug programme -> on //maxonsetting.cpp
la00noix 0:c61c6e4775ca 22
la00noix 0:c61c6e4775ca 23 //////////////////////////////////////////////////////////////以下main文/////////////////////////////////////////////////////////////////
la00noix 0:c61c6e4775ca 24
la00noix 6:26724c287387 25 int main()
la00noix 6:26724c287387 26 {
la00noix 0:c61c6e4775ca 27 UserLoopSetting_maxon();
la00noix 0:c61c6e4775ca 28 UserLoopSetting_sensor();
la00noix 0:c61c6e4775ca 29 UserLoopSetting_can();
la00noix 6:26724c287387 30
la00noix 0:c61c6e4775ca 31 #ifdef 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
la00noix 0:c61c6e4775ca 32
la00noix 6:26724c287387 33 printf("ソースファイル名 : %s¥n", __FILE__);
la00noix 6:26724c287387 34 printf("作成日付 : %s¥n", __DATE__);
la00noix 6:26724c287387 35 printf("作成時刻 : %s¥n", __TIME__);
la00noix 6:26724c287387 36
la00noix 0:c61c6e4775ca 37 #endif
la00noix 0:c61c6e4775ca 38
la00noix 6:26724c287387 39 while(1) {
la00noix 6:26724c287387 40
la00noix 6:26724c287387 41 switch(id1_value[0]) {
la00noix 0:c61c6e4775ca 42 //-----auto mode----------------------------------------------------------------------------------------------------------------------//
la00noix 6:26724c287387 43 case 1:
la00noix 6:26724c287387 44
la00noix 6:26724c287387 45 switch(id1_value[6]) {
la00noix 6:26724c287387 46 case 0:
la00noix 6:26724c287387 47 //-----right mode-------------------------------------------------------------------------------------------------------------//
la00noix 6:26724c287387 48
la00noix 6:26724c287387 49 break;
la00noix 6:26724c287387 50 case 1:
la00noix 6:26724c287387 51 //-----left mode--------------------------------------------------------------------------------------------------------------//
la00noix 6:26724c287387 52
la00noix 6:26724c287387 53 if(go_waitmode == 0) {
la00noix 0:c61c6e4775ca 54
la00noix 6:26724c287387 55 //can_start();
la00noix 6:26724c287387 56 //set_cond(2,1,-700,1,-700);
la00noix 6:26724c287387 57 gogo_straight(1,1,-2962,3500,-2962,2900,200,1000,5,0.1,10,0.1,600,0);
la00noix 6:26724c287387 58 purecurve(7,1,1,-2962,2900,-2317,2500,9,1000,5,0.1,10,0.1,600,0);
la00noix 6:26724c287387 59 purecurve(8,1,1,-2317,2500,-1610,2000,9,1000,5,0.1,10,0.1,600,0);
la00noix 6:26724c287387 60 gogo_straight(1,1,-1610,2000,-1610,1250,1000,200,5,0.1,10,0.1,600,0);
la00noix 6:26724c287387 61 MaxonControl(0,0,0,0);
la00noix 6:26724c287387 62 set_cond(2,0,-1243,1,1080);
la00noix 6:26724c287387 63 pos_correction(-1610,1250,0,1,0);
la00noix 6:26724c287387 64 wait(0.5);
la00noix 6:26724c287387 65
la00noix 6:26724c287387 66 gogo_straight(1,1,-1610,1250,-1610,2000,200,1000,5,0.1,10,0.1,600,0);
la00noix 6:26724c287387 67 purecurve(3,1,1,-1610,2000,-2317,2500,9,1000,5,0.1,10,0.1,600,0);
la00noix 6:26724c287387 68 purecurve(4,1,1,-2317,2500,-2962,3000,9,1000,5,0.1,10,0.1,600,-90);
la00noix 6:26724c287387 69 gogo_straight(1,1,-2962,3000,-2962,4000,1000,1000,5,0.1,10,0.1,600,-90);
la00noix 6:26724c287387 70 gogo_straight(1,1,-2962,4000,-2962,4500,1000,200,5,0.1,10,0.1,600,-90);
la00noix 6:26724c287387 71 MaxonControl(0,0,0,0);
la00noix 6:26724c287387 72 pos_correction(-2962,4500,-90,1,1);
la00noix 6:26724c287387 73
la00noix 6:26724c287387 74 set_cond(0,0,-2462,0,0);
la00noix 6:26724c287387 75 gogo_straight(1,1,-2962,4500,-2850,4500,200,200,5,0.1,10,0.1,800,-90);
la00noix 6:26724c287387 76 MaxonControl(0,0,0,0);
la00noix 6:26724c287387 77 pos_correction(-2850,4500,-90,1,1);
la00noix 6:26724c287387 78 wait(0.5);
yuki0701 1:3c11e07da92a 79
la00noix 6:26724c287387 80 gogo_straight(1,1,-2850,4500,-2850,5150,200,1000,5,0.1,10,0.1,800,-90);
la00noix 6:26724c287387 81 purecurve(2,1,1,-2850,5150,-2257,5500,9,1000,5,0.1,10,0.1,800,-90);
la00noix 6:26724c287387 82 purecurve(1,1,1,-2257,5500,-1700,6000,9,1000,5,0.1,10,0.1,800,-90);
la00noix 6:26724c287387 83 purecurve(3,1,1,-1700,6000,-2257,6647,9,1000,5,0.1,10,0.1,800,-90);
la00noix 6:26724c287387 84 gogo_straight(1,1,-2257,6647,-2500,6647,1000,1000,5,0.1,10,0.1,800,-90);
la00noix 6:26724c287387 85 set_cond(2,1,-3500,1,6324);
la00noix 6:26724c287387 86 gogo_straight(1,1,-2500,6647,-2700,6647,1000,200,5,0.1,10,0.1,800,-90);
la00noix 6:26724c287387 87 MaxonControl(0,0,0,0);
la00noix 6:26724c287387 88 pos_correction(-2700,6647,-90,1,1);
la00noix 6:26724c287387 89 wait(0.5);
la00noix 6:26724c287387 90
la00noix 6:26724c287387 91 gogo_straight(1,1,-2700,6647,-2500,6647,200,1000,5,0.1,10,0.1,800,-90);
la00noix 6:26724c287387 92 gogo_straight(1,1,-2500,6647,-1000,6647,1000,1000,5,0.1,10,0.1,800,-90);
la00noix 6:26724c287387 93 purecurve(8,1,1,-1000,6647,-350,6000,9,1000,5,0.1,10,0.1,600,-180);
la00noix 6:26724c287387 94 gogo_straight(1,1,-350,6000,-350,4700,1000,1000,5,0.1,10,0.1,600,-180);
la00noix 6:26724c287387 95 set_cond(2,1,1243,1,4000);
la00noix 6:26724c287387 96 gogo_straight(1,1,-350,4700,-350,4500,1000,200,5,0.1,10,0.1,800,-180);
la00noix 6:26724c287387 97 MaxonControl(0,0,0,0);
la00noix 6:26724c287387 98 pos_correction(-400,4500,-180,1,1);
la00noix 6:26724c287387 99
la00noix 6:26724c287387 100 go_waitmode = 1;
yuki0701 1:3c11e07da92a 101
la00noix 6:26724c287387 102 } else if(go_waitmode == 1) {
la00noix 6:26724c287387 103
la00noix 6:26724c287387 104 MaxonControl(0,0,0,0);
la00noix 6:26724c287387 105
la00noix 6:26724c287387 106 }
la00noix 6:26724c287387 107 break;
la00noix 6:26724c287387 108 }
la00noix 6:26724c287387 109 //-----wait mode----------------------------------------------------------------------------------------------------------------------//
la00noix 6:26724c287387 110 case 0:
la00noix 6:26724c287387 111
la00noix 6:26724c287387 112 calc_xy(0,1,1);
la00noix 6:26724c287387 113 ashi_led();
la00noix 6:26724c287387 114 MaxonControl(0,0,0,0);
la00noix 6:26724c287387 115
la00noix 6:26724c287387 116 break;
la00noix 6:26724c287387 117 //-----manual mode--------------------------------------------------------------------------------------------------------------------//
la00noix 6:26724c287387 118 case 2:
la00noix 6:26724c287387 119
la00noix 6:26724c287387 120 ManualOut(250,100,500,200);
la00noix 6:26724c287387 121
la00noix 6:26724c287387 122 break;
la00noix 0:c61c6e4775ca 123 }
la00noix 0:c61c6e4775ca 124 //------------------------------------------------------------------------------------------------------------------------------------//
la00noix 0:c61c6e4775ca 125 }
la00noix 0:c61c6e4775ca 126 }