春ロボ1班(元F3RC4班+)
/
harurobo_ashi_3_19_23_30
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Dependencies: mbed move4wheel2 EC CruizCore_R1370P
main.cpp
- Committer:
- yuki0701
- Date:
- 2019-03-13
- Revision:
- 10:c741191360de
- Parent:
- 9:7667dcfc7ce5
- Child:
- 11:9db93bce4eef
File content as of revision 10:c741191360de:
#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;
//-----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) {
switch(id1_value[0]) {
//-----auto mode----------------------------------------------------------------------------------------------------------------------//
case 1:
switch(id1_value[6]) {
case 0:
//-----right mode-------------------------------------------------------------------------------------------------------------//
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(0,0,1672,2000,1672,1400,1000,200,5,0.1,10,0.1,600,0);
MaxonControl(0,0,0,0);
pos_correction(1672,1400,0,0,0);
enc_correction(1,1);
wait(0.5);
T1++;
}
if(T1 == 1) {
while(1) {
wait(0.1);
if(T1 == 2) {
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);
enc_correction(1,1);
wait(0.5);
T1++;
}
if(T1 == 3) {
while(1) {
wait(0.1);
if(T1 == 4) {
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);
enc_correction(1,1);
wait(0.5);
T1++;
}
if(T1 == 5) {
while(1) {
wait(0.1);
if(T1 == 6) {
break;
}
}
}
if(T1 == 6) { //りんごの木からお供え台まで移動
gogo_straight(1,1,2700,6600,2500,6550,200,1000,5,0.1,10,0.1,800,90);
gogo_straight(1,1,2500,6550,1300,6550,1000,1000,5,0.1,10,0.1,800,90);
gogo_straight(1,1,1300,6550,1000,6500,1000,1000,5,0.1,10,0.1,800,90);
purecurve(5,1,1,1000,6550,519,6000,9,1000,5,0.1,10,0.1,600,180);
gogo_straight(1,1,519,6000,519,4700,1000,1000,5,0.1,10,0.1,600,180);
set_cond(2,0,1000,1,4000);
gogo_straight(0,0,519,4700,519,4500,1000,200,5,0.1,10,0.1,800,180);
MaxonControl(0,0,0,0);
pos_correction(519,4500,180,0,0);
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);
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;
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,-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,-1672,2000,9,1000,5,0.1,10,0.1,600,0);
set_cond(2,0,-1050,1,1076);
gogo_straight(0,0,-1672,2000,-1672,1400,1000,200,5,0.1,10,0.1,600,0);
MaxonControl(0,0,0,0);
pos_correction(-1672,1400,0,0,0);
enc_correction(1,1);
wait(0.5);
T1++;
}
if(T1 == 1) {
while(1) {
wait(0.1);
if(T1 == 2) {
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(3,1,1,-1672,2000,-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); //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(2,0,-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);
enc_correction(1,1);
wait(0.5);
T1++;
}
if(T1 == 3) {
while(1) {
wait(0.1);
if(T1 == 4) {
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(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,-2257,6550,9,1000,5,0.1,10,0.1,800,-90);
gogo_straight(1,1,-2257,6550,-2500,6550,1000,1000,5,0.1,10,0.1,800,-90);
set_cond(2,1,-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);
enc_correction(1,1);
wait(0.5);
T1++;
}
if(T1 == 5) {
while(1) {
wait(0.1);
if(T1 == 6) {
break;
}
}
}
if(T1 == 6) { //りんごの木からお供え台まで移動
gogo_straight(1,1,-2700,6600,-2500,6550,200,1000,5,0.1,10,0.1,800,-90);
gogo_straight(1,1,-2500,6550,-1300,6550,1000,1000,5,0.1,10,0.1,800,-90);
gogo_straight(1,1,-1300,6550,-1000,6500,1000,1000,5,0.1,10,0.1,800,-90);
purecurve(8,1,1,-1000,6550,-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(2,1,-1000,1,4000);
gogo_straight(0,0,-519,4700,-519,4500,1000,200,5,0.1,10,0.1,800,-180);
MaxonControl(0,0,0,0);
pos_correction(-519,4500,-180,0,0);
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);
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:
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;
}
//------------------------------------------------------------------------------------------------------------------------------------//
}
}