3/19 23:30
Dependencies: mbed move4wheel2 EC CruizCore_R1370P
main.cpp
- Committer:
- yuki0701
- Date:
- 2019-03-19
- Revision:
- 11:9db93bce4eef
- Parent:
- 10:c741191360de
- Child:
- 12:762061580168
File content as of revision 11:9db93bce4eef:
#include "EC.h" #include "R1370P.h" #include "move4wheel.h" #include "mbed.h" #include "math.h" #include "PathFollowing.h" #include "movement.h" #include "maxonsetting.h" #include "manual.h" #include "can.h" #define PI 3.141592 //#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 int go_waitmode = 0; /*------------運動時の各速度の設定----------*/ double st_speed = 500; // 移動開始時の速度 double max_speed = 2500; // 直線移動時の最大速度 double mid_speed = 2000; // 直線移動時の中間速度 double turn_speed = 1000; // 旋回時の速度 double end_speed = 200; // 停止直前の速度 double fruit_speed = 200; // 果物を取る時の速度 /*--------------------------------------*/ //-----mbed led------------------//点灯条件-----------------------//参照場所------------------------------// //DigitalOut cansend_led(LED1); //cansend -> on //can.cpp //DigitalOut canread_led(LED2); //canread -> on //can.cpp //DigitalOut debug_led(LED3); //maxon debug programme -> on //maxonsetting.cpp //////////////////////////////////////////////////////////////以下main文///////////////////////////////////////////////////////////////// int main() { UserLoopSetting_maxon(); UserLoopSetting_sensor(); UserLoopSetting_can(); #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 printf("ソースファイル名 : %s¥n", __FILE__); printf("作成日付 : %s¥n", __DATE__); printf("作成時刻 : %s¥n", __TIME__); #endif while(1) { //id1_value[0] = 1; switch(id1_value[0]) { //-----auto mode----------------------------------------------------------------------------------------------------------------------// case 1: //id1_value[6] = 0; switch(id1_value[6]) { case 0: //-----right mode-------------------------------------------------------------------------------------------------------------// //未修正 flag = 0; UserLoopSetting_enc_right(); if(T1 == 0) { //スタート位置からみかんの木まで移動 /* gogo_straight(1,1,2962,3500,2962,2900,200,1000,5,0.1,10,0.1,600,0); purecurve(6,1,1,2962,2900,2317,2500,9,1000,5,0.1,10,0.1,600,0); purecurve(5,1,1,2317,2500,1672,2000,9,1000,5,0.1,10,0.1,600,0); set_cond(2,1,1050,1,1076); gogo_straight(0,0,1672,2000,1672,1600,1000,200,5,0.1,10,0.1,600,0); MaxonControl(0,0,0,0); pos_correction(1672,1600,0,0,0,25); enc_correction(1,1); gogo_straight(0,0,1672,1600,1672,1400,200,200,5,0.1,10,0.1,600,0); */ printf("t1 = 0\n\r"); wait(1); T1++; } if(T1 == 1) { while(1) { wait(0.1); //calc_xy(0,0,0); if(T1 == 2) { // enc_correction(1,1); break; } } } if(T1 == 2) { //みかんの木から三宝置き場まで移動 /*gogo_straight(1,1,1672,1400,1672,2000,200,1000,5,0.1,10,0.1,600,0); purecurve(2,1,1,1672,2000,2317,2500,9,1000,5,0.1,10,0.1,600,0); purecurve(1,1,1,2317,2500,2962,3000,9,1000,5,0.1,10,0.1,600,90); //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(2,1,2462,0,6000); gogo_straight(0,0,2962,4500,2850,4500,200,200,5,0.1,10,0.1,800,90); MaxonControl(0,0,0,0); pos_correction(2850,4500,90,0,0,10); enc_correction(1,1); wait(0.5);*/ printf("t1 = 2\n\r"); wait(1); T1++; } if(T1 == 3) { while(1) { wait(0.1); //calc_xy(90,0,0); if(T1 == 4) { // enc_correction(1,1); break; } } } if(T1 == 4) { //三宝置き場からりんごの木まで移動 /*gogo_straight(1,1,2850,4500,2850,5150,200,1000,5,0.1,10,0.1,800,90); purecurve(3,1,1,2850,5150,2257,5500,9,1000,5,0.1,10,0.1,800,90); purecurve(4,1,1,2257,5500,1700,6000,9,1000,5,0.1,10,0.1,800,90); purecurve(2,1,1,1700,6000,2257,6550,9,1000,5,0.1,10,0.1,800,90); gogo_straight(1,1,2257,6550,2500,6550,1000,1000,5,0.1,10,0.1,800,90); set_cond(2,0,3500,1,6050); gogo_straight(0,0,2500,6550,2700,6600,1000,200,5,0.1,10,0.1,800,90); MaxonControl(0,0,0,0); pos_correction(2700,6600,90,0,0,15); enc_correction(1,1); wait(0.5);*/ printf("t1 = 4\n\r"); wait(1); T1++; } if(T1 == 5) { while(1) { wait(0.1); //calc_xy(90,0,0); if(T1 == 6) { // enc_correction(1,1); break; } } } if(T1 == 6) { //りんごの木からお供え台まで移動 /*gogo_straight(1,1,-3112,3500,-2962,3100,st_speed,mid_speed,5,0.1,10,0.1,600,0); gogo_straight(1,1,-2962,3100,-2962,2900,mid_speed,turn_speed,5,0.1,10,0.1,600,0); purecurve(7,1,1,-2962,2900,-2317,2500,9,turn_speed,5,0.1,10,0.1,600,0); purecurve(8,1,1,-2317,2500,-1672,2000,9,turn_speed,5,0.1,10,0.1,600,0); set_cond(2,0,-1050,1,1076); gogo_straight(0,0,-1672,2000,-1672,1600,turn_speed,end_speed,5,0.1,10,0.1,600,0); MaxonControl(0,0,0,0); pos_correction(-1672,1600,0,0,0,25); enc_correction(1,1); gogo_straight(0,0,-1672,1600,-1672,1375,fruit_speed,fruit_speed,5,0.1,10,0.1,600,0); MaxonControl(0,0,0,0); */ printf("t1 = 6\n\r"); wait(1); T1++; } if(T1 == 7) { while(1) { printf("ashi finished\n\r"); MaxonControl(0,0,0,0); if(id1_value[0] != 1)break; //これらは他のwhileにも入れる必要あり if(id1_value[6] != flag)break; } } break; case 1: //-----left mode--------------------------------------------------------------------------------------------------------------// flag = 1; printf("start\n\r"); UserLoopSetting_enc_left(); if(T1 == 0) { //スタート位置からみかんの木まで移動 gogo_straight(1,1,-3112,3500,-2962,3100,st_speed,mid_speed,5,0.1,10,0.1,600,0); gogo_straight(1,1,-2962,3100,-2962,2900,mid_speed,turn_speed,5,0.1,10,0.1,600,0); purecurve(7,1,1,-2962,2900,-2317,2500,9,turn_speed,5,0.1,10,0.1,600,0); purecurve(8,1,1,-2317,2500,-1672,2000,9,turn_speed,5,0.1,10,0.1,600,0); set_cond(2,0,-1050,1,1076); gogo_straight(0,0,-1672,2000,-1672,1600,turn_speed,end_speed,5,0.1,10,0.1,600,0); MaxonControl(0,0,0,0); pos_correction(-1672,1600,0,0,0,25); enc_correction(1,1); gogo_straight(0,0,-1672,1600,-1672,1375,fruit_speed,fruit_speed,5,0.1,10,0.1,600,0); MaxonControl(0,0,0,0); T1++; } if(T1 == 1) { while(1) { wait(0.1); calc_xy(0,0,0); if(T1 == 2) { enc_correction(1,1); break; } } } if(T1 == 2) { //みかんの木から三宝置き場まで移動 gogo_straight(1,1,-1672,1375,-1672,2000,st_speed,turn_speed,5,0.1,10,0.1,600,0); purecurve(3,1,1,-1672,2000,-2317,2500,9,turn_speed,5,0.1,10,0.1,600,0); purecurve(4,1,1,-2317,2500,-2962,3000,9,turn_speed,5,0.1,10,0.1,600,-90); //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,turn_speed,max_speed,5,0.1,10,0.1,600,-90); gogo_straight(1,1,-2962,4000,-2962,4820,max_speed,end_speed,5,0.1,10,0.1,600,-90); MaxonControl(0,0,0,0); set_cond(2,0,-2462,0,6000); pos_correction(-2962,4837.5,-90,0,0,7); gogo_straight(0,0,-2962,4837.5,-2800,4837.5,300,200,5,0.1,10,0.1,800,-90); MaxonControl(0,0,0,0); enc_correction(1,1); T1++; } if(T1 == 3) { while(1) { wait(0.1); calc_xy(-90,0,0); if(T1 == 4) { enc_correction(1,1); break; } } } if(T1 == 4) { //三宝置き場からりんごの木まで移動 gogo_straight(1,1,-2782,4837.5,-2782,5150,st_speed,turn_speed,5,0.1,10,0.1,800,-90); purecurve(2,1,1,-2850,5150,-2257,5500,9,turn_speed,5,0.1,10,0.1,800,-90); purecurve(1,1,1,-2257,5500,-1700,6000,9,turn_speed,5,0.1,10,0.1,800,-90); purecurve(3,1,1,-1700,6000,-2257,6550,9,turn_speed,5,0.1,10,0.1,800,-90); gogo_straight(1,1,-2257,6550,-2500,6593,turn_speed,end_speed,5,0.1,10,0.1,800,-90); MaxonControl(0,0,0,0); set_cond(1,0,0,1,6050); pos_correction(-2500,6600,-90,1,0,8); set_cond(2,1,-3162,1,6038); gogo_straight(0,0,-2500,6600,-2700,6600,fruit_speed,fruit_speed,5,0.1,10,0.1,800,-90); MaxonControl(0,0,0,0); enc_correction(1,1); T1++; } if(T1 == 5) { while(1) { wait(0.1); calc_xy(-90,0,0); if(T1 == 6) { enc_correction(1,1); break; } } } if(T1 == 6) { //りんごの木からお供え台まで移動 set_cond(1,0,0,0,6962); gogo_straight(1,0,-2700,6600,-2500,6550,st_speed,max_speed,5,0.1,10,0.1,800,-90); gogo_straight(1,0,-2500,6550,-1300,6550,max_speed,max_speed,5,0.1,10,0.1,800,-90); gogo_straight(1,0,-1300,6550,-850,6550,max_speed,turn_speed,5,0.1,10,0.1,800,-90); enc_correction(0,1); set_cond(2,0,-19,0,6962); purecurve(8,0,0,-850,6550,-519,6000,9,turn_speed,10,0.1,10,0.1,600,-180); enc_correction(1,0); set_cond(0,0,-19,0,0); gogo_straight(0,1,-519,6000,-519,5500,turn_speed,max_speed,5,0.1,10,0.1,600,-180); gogo_straight(0,1,-519,5500,-519,5000,max_speed,max_speed,5,0.1,10,0.1,600,-180); set_cond(2,1,-1000,1,4000); gogo_straight(0,0,-519,5000,-519,4600,max_speed,end_speed,5,0.1,10,0.1,800,-180); MaxonControl(0,0,0,0); pos_correction(-519,4370,-180,0,0,30); enc_correction(1,1); MaxonControl(0,0,0,0); T1++; } if(T1 == 7) { while(1) { printf("ashi finished\n\r"); MaxonControl(0,0,0,0); /*gogo_straight(1,1,-519,4500,-519,5000,200,1000,5,0.1,10,0.1,600,-180); gogo_straight(1,1,-519,5000,-519,6000,1000,1000,5,0.1,10,0.1,600,-180); gogo_straight(1,1,-519,6000,-519,6600,1000,200,5,0.1,10,0.1,600,-180); MaxonControl(0,0,0,0); set_cond(2,0,0,0,7000); //pos_correction(-519,6600,-180,0,0,30); calc_xy(-180,0,0); enc_correction(1,1); gogo_straight(1,1,-519,6600,-1000,6600,200,1000,5,0.1,10,0.1,600,-180); purecurve(5,1,1,-1000,6600,-1672,6000,9,1000,5,0.1,10,0.1,600,-180); purecurve(6,1,1,-1672,6000,-2462,5500,9,1000,5,0.1,10,0.1,600,-180); gogo_straight(1,1,-2462,5500,-2962,5500,1000,200,5,0.1,10,0.1,600,-180); MaxonControl(0,0,0,0); set_cond(2,1,-3500,0,6000); //pos_correction(-2962,5500,-180,0,0,30); enc_correction(1,1); calc_xy(-180,0,0); gogo_straight(1,1,-2962,5500,-2962,4700,200,1000,5,0.1,10,0.1,600,-90); gogo_straight(1,1,-2962,4700,-2962,4000,1000,1000,5,0.1,10,0.1,600,0); gogo_straight(1,1,-2962,4000,-2962,3500,1000,200,5,0.1,10,0.1,600,0); MaxonControl(0,0,0,0); set_cond(2,1,-3500,1,2000); pos_correction(-3112,3500,0,0,0,15); enc_correction(1,1); MaxonControl(0,0,0,0);*/ if(id1_value[0] != 1)break; //これらは他のwhileにも入れる必要あり if(id1_value[6] != flag)break; } } break; } //-----wait mode----------------------------------------------------------------------------------------------------------------------// case 0: // printf("wait\n\r"); calc_xy(0,1,1); ashi_led(); MaxonControl(0,0,0,0); go_waitmode = 0; break; //-----manual mode--------------------------------------------------------------------------------------------------------------------// case 2: ManualOut(250,100,500,200); go_waitmode = 0; break; } //------------------------------------------------------------------------------------------------------------------------------------// } }