春ロボ1班(元F3RC4班+)
/
harurobo_ashi_3_19_23_30
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Dependencies: mbed move4wheel2 EC CruizCore_R1370P
Diff: main.cpp
- Revision:
- 11:9db93bce4eef
- Parent:
- 10:c741191360de
- Child:
- 12:762061580168
diff -r c741191360de -r 9db93bce4eef main.cpp
--- a/main.cpp Wed Mar 13 04:23:18 2019 +0000
+++ b/main.cpp Tue Mar 19 02:30:34 2019 +0000
@@ -15,6 +15,15 @@
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
@@ -37,62 +46,74 @@
#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(0,0,1672,2000,1672,1400,1000,200,5,0.1,10,0.1,600,0);
+ 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(1672,1400,0,0,0);
+ pos_correction(1672,1600,0,0,0,25);
enc_correction(1,1);
- wait(0.5);
+ 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);
+ /*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);
+ // 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);
+ pos_correction(2850,4500,90,0,0,10);
enc_correction(1,1);
- wait(0.5);
+ 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);
+ /*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);
@@ -100,31 +121,38 @@
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);
+ pos_correction(2700,6600,90,0,0,15);
enc_correction(1,1);
- wait(0.5);
+ 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(1,1,2700,6600,2500,6550,200,1000,5,0.1,10,0.1,800,90);
- 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);
+ /*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(519,4500,180,0,0);
+ 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) {
@@ -136,105 +164,154 @@
}
}
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,-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);
+
+ 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,-1672,1400,1000,200,5,0.1,10,0.1,600,0);
+ 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(-1672,1400,0,0,0);
+ pos_correction(-1672,1600,0,0,0,25);
enc_correction(1,1);
- wait(0.5);
+ 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,-1672,1400,-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);
+ 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);
- 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);
+ 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);
- pos_correction(-2850,4500,-90,0,0);
enc_correction(1,1);
- wait(0.5);
+
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(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);
+ 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);
- pos_correction(-2700,6600,-90,0,0);
+ 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);
- wait(0.5);
+
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,-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(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,-519,4700,-519,4500,1000,200,5,0.1,10,0.1,800,-180);
+ 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(-519,4500,-180,0,0);
+ 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);