春ロボ1班(元F3RC4班+) / Mbed 2 deprecated harurobo_ashi_3_19

3/19

Dependencies:   mbed move4wheel2 EC CruizCore_R1370P

main.cpp@5:6cebe1c458a9, 2019-03-02 (annotated)

Committer:
yuki0701
Date:
Sat Mar 02 07:18:38 2019 +0000
Revision:
5:6cebe1c458a9
Parent:
4:317c53a674fa
Child:
6:26724c287387
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 #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
la00noix 0:c61c6e4775ca 17
la00noix 0:c61c6e4775ca 18 int go_waitmode = 0;
la00noix 0:c61c6e4775ca 19
la00noix 0:c61c6e4775ca 20 //-----mbed led------------------//点灯条件-----------------------//参照場所------------------------------//
la00noix 0:c61c6e4775ca 21 //DigitalOut canread_led(LED1); //canread -> on //can.cpp
la00noix 0:c61c6e4775ca 22 //DigitalOut cansend_led(LED2); //cansend -> on //can.cpp
la00noix 0:c61c6e4775ca 23 //DigitalOut debug_led(LED3); //maxon debug programme -> on //maxonsetting.cpp
la00noix 0:c61c6e4775ca 24
la00noix 0:c61c6e4775ca 25 //////////////////////////////////////////////////////////////以下main文/////////////////////////////////////////////////////////////////
la00noix 0:c61c6e4775ca 26
la00noix 0:c61c6e4775ca 27 int main(){
la00noix 0:c61c6e4775ca 28
la00noix 0:c61c6e4775ca 29 UserLoopSetting_maxon();
la00noix 0:c61c6e4775ca 30 UserLoopSetting_sensor();
la00noix 0:c61c6e4775ca 31 UserLoopSetting_can();
la00noix 0:c61c6e4775ca 32
la00noix 0:c61c6e4775ca 33 #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 34
la00noix 0:c61c6e4775ca 35 printf("ソースファイル名 : %s¥n", __FILE__);
la00noix 0:c61c6e4775ca 36 printf("作成日付 : %s¥n", __DATE__);
la00noix 0:c61c6e4775ca 37 printf("作成時刻 : %s¥n", __TIME__);
la00noix 0:c61c6e4775ca 38
la00noix 0:c61c6e4775ca 39 #endif
la00noix 0:c61c6e4775ca 40
la00noix 0:c61c6e4775ca 41 while(1){
la00noix 0:c61c6e4775ca 42
la00noix 2:7cba05e70367 43 id1_value[0] = 1;
yuki0701 1:3c11e07da92a 44
la00noix 0:c61c6e4775ca 45 switch(id1_value[0]){
la00noix 0:c61c6e4775ca 46
la00noix 0:c61c6e4775ca 47 //-----auto mode----------------------------------------------------------------------------------------------------------------------//
la00noix 0:c61c6e4775ca 48 case 1:
la00noix 0:c61c6e4775ca 49
la00noix 0:c61c6e4775ca 50 //-----テスト自動プログラム（練習・動作確認用--------------------------------------------------------------------//
la00noix 0:c61c6e4775ca 51 #ifdef HARUROBO_TEST_MODE
la00noix 0:c61c6e4775ca 52
la00noix 0:c61c6e4775ca 53 if(go_waitmode == 0){
yuki0701 1:3c11e07da92a 54
yuki0701 5:6cebe1c458a9 55 while(1);
la00noix 2:7cba05e70367 56 //can_start();
la00noix 2:7cba05e70367 57 //set_cond(2,1,-700,1,-700);
la00noix 4:317c53a674fa 58 gogo_straight(1,1,-2962,3500,-2962,2900,200,1000,5,0.1,10,0.1,600,0);
la00noix 4:317c53a674fa 59 purecurve(7,1,1,-2962,2900,-2317,2500,9,1000,5,0.1,10,0.1,600,0);
la00noix 4:317c53a674fa 60 purecurve(8,1,1,-2317,2500,-1610,2000,9,1000,5,0.1,10,0.1,600,0);
la00noix 4:317c53a674fa 61 gogo_straight(1,1,-1610,2000,-1610,1250,1000,200,5,0.1,10,0.1,600,0);
yuki0701 1:3c11e07da92a 62 MaxonControl(0,0,0,0);
la00noix 4:317c53a674fa 63 set_cond(2,0,-1243,1,1080);
la00noix 4:317c53a674fa 64 pos_correction(-1610,1250,0,1,0);
yuki0701 1:3c11e07da92a 65 wait(0.5);
yuki0701 1:3c11e07da92a 66
la00noix 4:317c53a674fa 67 gogo_straight(1,1,-1610,1250,-1610,2000,200,1000,5,0.1,10,0.1,600,0);
la00noix 4:317c53a674fa 68 purecurve(3,1,1,-1610,2000,-2317,2500,9,1000,5,0.1,10,0.1,600,0);
yuki0701 3:8a0faa3b08c3 69 purecurve(4,1,1,-2317,2500,-2962,3000,9,1000,5,0.1,10,0.1,600,-90);
yuki0701 3:8a0faa3b08c3 70 gogo_straight(1,1,-2962,3000,-2962,4000,1000,1000,5,0.1,10,0.1,600,-90);
yuki0701 3:8a0faa3b08c3 71 gogo_straight(1,1,-2962,4000,-2962,4500,1000,200,5,0.1,10,0.1,600,-90);
yuki0701 1:3c11e07da92a 72 MaxonControl(0,0,0,0);
yuki0701 3:8a0faa3b08c3 73 pos_correction(-2962,4500,-90,1,1);
yuki0701 1:3c11e07da92a 74
yuki0701 1:3c11e07da92a 75 set_cond(0,0,-2462,0,0);
la00noix 4:317c53a674fa 76 gogo_straight(1,1,-2962,4500,-2850,4500,200,200,5,0.1,10,0.1,800,-90);
yuki0701 1:3c11e07da92a 77 MaxonControl(0,0,0,0);
la00noix 4:317c53a674fa 78 pos_correction(-2850,4500,-90,1,1);
yuki0701 1:3c11e07da92a 79 wait(0.5);
yuki0701 1:3c11e07da92a 80
yuki0701 3:8a0faa3b08c3 81 gogo_straight(1,1,-2850,4500,-2850,5150,200,1000,5,0.1,10,0.1,800,-90);
yuki0701 3:8a0faa3b08c3 82 purecurve(2,1,1,-2850,5150,-2257,5500,9,1000,5,0.1,10,0.1,800,-90);
yuki0701 3:8a0faa3b08c3 83 purecurve(1,1,1,-2257,5500,-1700,6000,9,1000,5,0.1,10,0.1,800,-90);
yuki0701 3:8a0faa3b08c3 84 purecurve(3,1,1,-1700,6000,-2257,6647,9,1000,5,0.1,10,0.1,800,-90);
yuki0701 3:8a0faa3b08c3 85 gogo_straight(1,1,-2257,6647,-2500,6647,1000,1000,5,0.1,10,0.1,800,-90);
la00noix 4:317c53a674fa 86 set_cond(2,1,-3500,1,6324);
la00noix 4:317c53a674fa 87 gogo_straight(1,1,-2500,6647,-2700,6647,1000,200,5,0.1,10,0.1,800,-90);
yuki0701 1:3c11e07da92a 88 MaxonControl(0,0,0,0);
la00noix 4:317c53a674fa 89 pos_correction(-2700,6647,-90,1,1);
yuki0701 1:3c11e07da92a 90 wait(0.5);
yuki0701 1:3c11e07da92a 91
yuki0701 3:8a0faa3b08c3 92 gogo_straight(1,1,-2700,6647,-2500,6647,200,1000,5,0.1,10,0.1,800,-90);
la00noix 4:317c53a674fa 93 gogo_straight(1,1,-2500,6647,-1000,6647,1000,1000,5,0.1,10,0.1,800,-90);
la00noix 4:317c53a674fa 94 purecurve(8,1,1,-1000,6647,-350,6000,9,1000,5,0.1,10,0.1,600,-180);
la00noix 4:317c53a674fa 95 gogo_straight(1,1,-350,6000,-350,4700,1000,1000,5,0.1,10,0.1,600,-180);
la00noix 4:317c53a674fa 96 set_cond(2,1,1243,1,4000);
la00noix 4:317c53a674fa 97 gogo_straight(1,1,-350,4700,-350,4500,1000,200,5,0.1,10,0.1,800,-180);
yuki0701 1:3c11e07da92a 98 MaxonControl(0,0,0,0);
la00noix 4:317c53a674fa 99 pos_correction(-400,4500,-180,1,1);
yuki0701 1:3c11e07da92a 100
yuki0701 1:3c11e07da92a 101 go_waitmode = 1;
la00noix 0:c61c6e4775ca 102
la00noix 0:c61c6e4775ca 103 }else if(go_waitmode == 1){
la00noix 0:c61c6e4775ca 104
la00noix 0:c61c6e4775ca 105 MaxonControl(0,0,0,0);
la00noix 0:c61c6e4775ca 106
la00noix 0:c61c6e4775ca 107 }
la00noix 0:c61c6e4775ca 108
la00noix 0:c61c6e4775ca 109
la00noix 0:c61c6e4775ca 110 #endif
la00noix 0:c61c6e4775ca 111 //--------------------------------------------------------------------------------------------------------//
la00noix 0:c61c6e4775ca 112
la00noix 0:c61c6e4775ca 113
la00noix 0:c61c6e4775ca 114
la00noix 0:c61c6e4775ca 115
la00noix 0:c61c6e4775ca 116 //-----本番用自動プログラム（右側フィールド用）-------------------------------------------------------------------//
la00noix 0:c61c6e4775ca 117 #ifdef HARUROBO_RIGHT_MODE
la00noix 0:c61c6e4775ca 118
la00noix 0:c61c6e4775ca 119 //ここに本番用自動プログラム（右側フィールド用）を書く
la00noix 0:c61c6e4775ca 120
la00noix 0:c61c6e4775ca 121 #endif
la00noix 0:c61c6e4775ca 122 //---------------------------------------------------------------------------------------------------------//
la00noix 0:c61c6e4775ca 123
la00noix 0:c61c6e4775ca 124
la00noix 0:c61c6e4775ca 125
la00noix 0:c61c6e4775ca 126 //-----本番用自動プログラム（左側フィールド用）-------------------------------------------------------------------//
la00noix 0:c61c6e4775ca 127 #ifdef HARUROBO_LEFT_MODE //
la00noix 0:c61c6e4775ca 128
la00noix 0:c61c6e4775ca 129 //ここに本番用自動プログラム（左側フィールド用）を書く
la00noix 0:c61c6e4775ca 130
la00noix 0:c61c6e4775ca 131 #endif
la00noix 0:c61c6e4775ca 132 //---------------------------------------------------------------------------------------------------------//
la00noix 0:c61c6e4775ca 133 MaxonControl(0,0,0,0);
la00noix 0:c61c6e4775ca 134 break;
la00noix 0:c61c6e4775ca 135
la00noix 0:c61c6e4775ca 136 //-----wait mode----------------------------------------------------------------------------------------------------------------------//
la00noix 0:c61c6e4775ca 137 case 0:
la00noix 0:c61c6e4775ca 138
la00noix 0:c61c6e4775ca 139 calc_xy(0,1,1);
la00noix 0:c61c6e4775ca 140 ashi_led();
la00noix 0:c61c6e4775ca 141 MaxonControl(0,0,0,0);
yuki0701 1:3c11e07da92a 142 printf("now_angle: %f, now_x: %f, now_y: %f\n\r",now_angle,now_x,now_y);
la00noix 0:c61c6e4775ca 143
la00noix 0:c61c6e4775ca 144 break;
la00noix 0:c61c6e4775ca 145
la00noix 0:c61c6e4775ca 146 //-----manual mode--------------------------------------------------------------------------------------------------------------------//
la00noix 0:c61c6e4775ca 147 case 2:
la00noix 0:c61c6e4775ca 148
la00noix 0:c61c6e4775ca 149 ManualOut(250,100,500,200);
la00noix 0:c61c6e4775ca 150
la00noix 0:c61c6e4775ca 151 break;
la00noix 0:c61c6e4775ca 152 //------------------------------------------------------------------------------------------------------------------------------------//
la00noix 0:c61c6e4775ca 153 }
la00noix 0:c61c6e4775ca 154 }
la00noix 0:c61c6e4775ca 155 }