3/19 23:30
Dependencies: mbed move4wheel2 EC CruizCore_R1370P
Revision 12:762061580168, committed 2019-03-19
- Comitter:
- yuki0701
- Date:
- Tue Mar 19 14:31:24 2019 +0000
- Parent:
- 11:9db93bce4eef
- Commit message:
- a
Changed in this revision
main.cpp | Show annotated file Show diff for this revision Revisions of this file |
diff -r 9db93bce4eef -r 762061580168 main.cpp --- a/main.cpp Tue Mar 19 02:30:34 2019 +0000 +++ b/main.cpp Tue Mar 19 14:31:24 2019 +0000 @@ -59,19 +59,21 @@ 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); + + 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(6,1,1,2962,2900,2317,2500,9,turn_speed,5,0.1,10,0.1,600,0); + purecurve(5,1,1,2317,2500,1672,2000,9,turn_speed,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); + 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(0,0,1672,1600,1672,1400,200,200,5,0.1,10,0.1,600,0); - */ - printf("t1 = 0\n\r"); - wait(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 = 0\n\r"); + //wait(1); T1++; } if(T1 == 1) { @@ -85,21 +87,21 @@ } } 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); + + gogo_straight(1,1,1672,1375,1672,2000,st_speed,turn_speed,5,0.1,10,0.1,600,0); + purecurve(2,1,1,1672,2000,2317,2500,9,turn_speed,5,0.1,10,0.1,600,0); + purecurve(1,1,1,2317,2500,2962,3000,9,turn_speed,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(1,1,2962,4000,2962,4810,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(2,1,2462,0,6000); - gogo_straight(0,0,2962,4500,2850,4500,200,200,5,0.1,10,0.1,800,90); + pos_correction(2962,4837.5,90,0,0,10); + gogo_straight(0,0,2962,4837.5,2782,4837.5,300,200,5,0.1,10,0.1,800,90); 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); + + //printf("t1 = 2\n\r"); + //wait(1); T1++; } if(T1 == 3) { @@ -113,19 +115,22 @@ } } 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); + + gogo_straight(1,1,2782,4837.5,2782,5150,st_speed,turn_speed,5,0.1,10,0.1,800,90); + purecurve(3,1,1,2850,5150,2257,5500,9,turn_speed,5,0.1,10,0.1,800,90); + purecurve(4,1,1,2257,5500,1700,6000,9,turn_speed,5,0.1,10,0.1,800,90); + purecurve(2,1,1,1700,6000,2257,6550,9,turn_speed,5,0.1,10,0.1,800,90); + gogo_straight(1,1,2257,6550,2500,6605,turn_speed,end_speed,5,0.1,10,0.1,800,90); MaxonControl(0,0,0,0); - pos_correction(2700,6600,90,0,0,15); + set_cond(1,0,0,1,6038); + pos_correction(2500,6610,90,1,0,8); + set_cond(2,0,3162,1,6038); + gogo_straight(0,0,2500,6610,2700,6610,fruit_speed,fruit_speed,5,0.1,10,0.1,800,90); + MaxonControl(0,0,0,0); enc_correction(1,1); - wait(0.5);*/ - printf("t1 = 4\n\r"); - wait(1); + + // printf("t1 = 4\n\r"); + // wait(1); T1++; } if(T1 == 5) { @@ -139,20 +144,27 @@ } } 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); + + set_cond(1,0,0,0,6962); + gogo_straight(1,0,2700,6610,2500,6550,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(2,1,19,0,6962); //要修正 + purecurve(5,0,0,850,6550,620,6000,9,turn_speed,10,0.1,10,0.1,600,180); //要修正 + enc_correction(1,0); + set_cond(0,1,19,0,0); + gogo_straight(0,1,620,6000,620,5500,turn_speed,max_speed,5,0.1,10,0.1,600,180); + gogo_straight(0,1,620,5500,620,5000,max_speed,max_speed,5,0.1,10,0.1,600,180); + set_cond(2,0,1000,1,4000); + gogo_straight(0,0,620,5000,620,4600,max_speed,end_speed,5,0.1,10,0.1,800,180); MaxonControl(0,0,0,0); - pos_correction(-1672,1600,0,0,0,25); + pos_correction(620,4370,180,0,0,30); 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); + + // printf("t1 = 6\n\r"); + // wait(1); T1++; } if(T1 == 7) { @@ -201,11 +213,11 @@ 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); + gogo_straight(1,1,-2962,4000,-2962,4810,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); + pos_correction(-2962,4837.5,-90,0,0,10); + gogo_straight(0,0,-2962,4837.5,-2782,4837.5,300,200,5,0.1,10,0.1,800,-90); MaxonControl(0,0,0,0); enc_correction(1,1); @@ -226,12 +238,12 @@ 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); + gogo_straight(1,1,-2257,6550,-2500,6605,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(1,0,0,1,6038); + pos_correction(-2500,6610,-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); + gogo_straight(0,0,-2500,6610,-2700,6610,fruit_speed,fruit_speed,5,0.1,10,0.1,800,-90); MaxonControl(0,0,0,0); enc_correction(1,1); @@ -249,20 +261,21 @@ } 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,-2700,6610,-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); + purecurve(8,0,0,-850,6550,-620,6000,9,turn_speed,10,0.1,10,0.1,600,-180); //要修正 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); + gogo_straight(0,1,-620,6000,-620,5500,turn_speed,max_speed,5,0.1,10,0.1,600,-180); + gogo_straight(0,1,-620,5500,-620,5000,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); + gogo_straight(0,0,-620,5000,-620,4600,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); + pos_correction(-620,4370,-180,0,0,30); enc_correction(1,1); MaxonControl(0,0,0,0); @@ -273,32 +286,6 @@ 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; }