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:
- 10:c741191360de
- Parent:
- 9:7667dcfc7ce5
- Child:
- 11:9db93bce4eef
diff -r 7667dcfc7ce5 -r c741191360de main.cpp
--- a/main.cpp Wed Mar 13 03:24:49 2019 +0000
+++ b/main.cpp Wed Mar 13 04:23:18 2019 +0000
@@ -46,6 +46,101 @@
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);
@@ -134,10 +229,6 @@
if(id1_value[6] != flag)break;
}
}
- break;
- case 1:
- //-----left mode--------------------------------------------------------------------------------------------------------------//
- flag = 1;
break;
}