3/19
Dependencies: mbed move4wheel2 EC CruizCore_R1370P
Diff: main.cpp
- Revision:
- 8:2ba338b4590e
- Parent:
- 7:44ce34007499
- Child:
- 9:7667dcfc7ce5
diff -r 44ce34007499 -r 2ba338b4590e main.cpp --- a/main.cpp Sat Mar 02 08:27:05 2019 +0000 +++ b/main.cpp Thu Mar 07 02:54:55 2019 +0000 @@ -45,65 +45,59 @@ switch(id1_value[6]) { case 0: //-----right mode-------------------------------------------------------------------------------------------------------------// + if(T1 == 0) { + //スタート位置からみかんの木まで移動 + wait(0.5); + T1++; + + } + if(T1 == 1) { + while(1) { + wait(0.5); + if(T1 == 2) { + break; + } + } + } + if(T1 == 2) { + + //みかんの木から三宝置き場まで移動 + T1++; + } + if(T1 == 3) { + while(1) { + wait(0.5); + if(T1 == 4) { + break; + } + } + } + if(T1 == 4) { + + //三宝置き場からりんごの木まで移動 + wait(0.5); + T1++; + } + if(T1 == 5) { + while(1) { + + wait(0.5); + if(T1 == 6) { + break; + } + } + } + if(T1 == 6) { + + //りんごの木からお供え台まで移動 + wait(0.5); + T1++; + } break; case 1: //-----left mode--------------------------------------------------------------------------------------------------------------// - if(go_waitmode == 0) { - - //can_start(); - //set_cond(2,1,-700,1,-700); - 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,-1243,1,1080); - pos_correction(-1610,1250,0,1,0); - wait(0.5); - - 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); - MaxonControl(0,0,0,0); - pos_correction(-2962,4500,-90,1,1); - - set_cond(0,0,-2462,0,0); - 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,-90,1,1); - wait(0.5); - - gogo_straight(1,1,-2850,4500,-2850,5150,200,1000,5,0.1,10,0.1,800,-90); - purecurve(2,1,1,-2850,5150,-2257,5500,9,1000,5,0.1,10,0.1,800,-90); - 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(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,-90,1,1); - 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,-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(-400,4500,-180,1,1); - - go_waitmode = 1; - - } else if(go_waitmode == 1) { - - MaxonControl(0,0,0,0); - - } break; } //-----wait mode----------------------------------------------------------------------------------------------------------------------//