春ロボ1班(元F3RC4班+)
/
harurobo_ashi_3_19
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Dependencies: mbed move4wheel2 EC CruizCore_R1370P
Revision 4:317c53a674fa, committed 2019-03-01
- Comitter:
- la00noix
- Date:
- Fri Mar 01 08:00:53 2019 +0000
- Parent:
- 3:8a0faa3b08c3
- Child:
- 5:6cebe1c458a9
- 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);