春ロボ1班(元F3RC4班+) / Mbed 2 deprecated harurobo_ashi_3_20

3/20 2:04

Dependencies:   mbed move4wheel2 EC CruizCore_R1370P

main.cpp@4:317c53a674fa, 2019-03-01 (annotated)

Committer:
la00noix
Date:
Fri Mar 01 08:00:53 2019 +0000
Revision:
4:317c53a674fa
Parent:
3:8a0faa3b08c3
Child:
5:6cebe1c458a9
a

Who changed what in which revision?

UserRevisionLine numberNew contents of line
la00noix 0:c61c6e4775ca 1 #include "EC.h"
la00noix 0:c61c6e4775ca 2 #include "R1370P.h"
la00noix 0:c61c6e4775ca 3 #include "move4wheel.h"
la00noix 0:c61c6e4775ca 4 #include "mbed.h"
la00noix 0:c61c6e4775ca 5 #include "math.h"
la00noix 0:c61c6e4775ca 6 #include "PathFollowing.h"
la00noix 0:c61c6e4775ca 7 #include "movement.h"
la00noix 0:c61c6e4775ca 8 #include "maxonsetting.h"
la00noix 0:c61c6e4775ca 9 #include "manual.h"
la00noix 0:c61c6e4775ca 10 #include "can.h"
la00noix 0:c61c6e4775ca 11
la00noix 0:c61c6e4775ca 12 #define PI 3.141592
la00noix 0:c61c6e4775ca 13
la00noix 0:c61c6e4775ca 14 //#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
la00noix 0:c61c6e4775ca 15
la00noix 0:c61c6e4775ca 16 #define HARUROBO_TEST_MODE //テスト自動プログラム（練習・動作確認用）使用時に定義
la00noix 0:c61c6e4775ca 17
la00noix 0:c61c6e4775ca 18 int go_waitmode = 0;
la00noix 0:c61c6e4775ca 19
la00noix 0:c61c6e4775ca 20 //-----mbed led------------------//点灯条件-----------------------//参照場所------------------------------//
la00noix 0:c61c6e4775ca 21 //DigitalOut canread_led(LED1); //canread -> on //can.cpp
la00noix 0:c61c6e4775ca 22 //DigitalOut cansend_led(LED2); //cansend -> on //can.cpp
la00noix 0:c61c6e4775ca 23 //DigitalOut debug_led(LED3); //maxon debug programme -> on //maxonsetting.cpp
la00noix 0:c61c6e4775ca 24
la00noix 0:c61c6e4775ca 25 //////////////////////////////////////////////////////////////以下main文/////////////////////////////////////////////////////////////////
la00noix 0:c61c6e4775ca 26
la00noix 0:c61c6e4775ca 27 int main(){
la00noix 0:c61c6e4775ca 28
la00noix 0:c61c6e4775ca 29 UserLoopSetting_maxon();
la00noix 0:c61c6e4775ca 30 UserLoopSetting_sensor();
la00noix 0:c61c6e4775ca 31 UserLoopSetting_can();
la00noix 0:c61c6e4775ca 32
la00noix 0:c61c6e4775ca 33 #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
la00noix 0:c61c6e4775ca 34
la00noix 0:c61c6e4775ca 35 printf("ソースファイル名 : %s¥n", __FILE__);
la00noix 0:c61c6e4775ca 36 printf("作成日付 : %s¥n", __DATE__);
la00noix 0:c61c6e4775ca 37 printf("作成時刻 : %s¥n", __TIME__);
la00noix 0:c61c6e4775ca 38
la00noix 0:c61c6e4775ca 39 #endif
la00noix 0:c61c6e4775ca 40
la00noix 0:c61c6e4775ca 41 while(1){
la00noix 0:c61c6e4775ca 42
la00noix 2:7cba05e70367 43 id1_value[0] = 1;
yuki0701 1:3c11e07da92a 44
la00noix 0:c61c6e4775ca 45 switch(id1_value[0]){
la00noix 0:c61c6e4775ca 46
la00noix 0:c61c6e4775ca 47 //-----auto mode----------------------------------------------------------------------------------------------------------------------//
la00noix 0:c61c6e4775ca 48 case 1:
la00noix 0:c61c6e4775ca 49
la00noix 0:c61c6e4775ca 50 //-----テスト自動プログラム（練習・動作確認用--------------------------------------------------------------------//
la00noix 0:c61c6e4775ca 51 #ifdef HARUROBO_TEST_MODE
la00noix 0:c61c6e4775ca 52
la00noix 0:c61c6e4775ca 53 if(go_waitmode == 0){
yuki0701 1:3c11e07da92a 54
la00noix 2:7cba05e70367 55 //can_start();
la00noix 2:7cba05e70367 56 //set_cond(2,1,-700,1,-700);
la00noix 4:317c53a674fa 57 gogo_straight(1,1,-2962,3500,-2962,2900,200,1000,5,0.1,10,0.1,600,0);
la00noix 4:317c53a674fa 58 purecurve(7,1,1,-2962,2900,-2317,2500,9,1000,5,0.1,10,0.1,600,0);
la00noix 4:317c53a674fa 59 purecurve(8,1,1,-2317,2500,-1610,2000,9,1000,5,0.1,10,0.1,600,0);
la00noix 4:317c53a674fa 60 gogo_straight(1,1,-1610,2000,-1610,1250,1000,200,5,0.1,10,0.1,600,0);
yuki0701 1:3c11e07da92a 61 MaxonControl(0,0,0,0);
la00noix 4:317c53a674fa 62 set_cond(2,0,-1243,1,1080);
la00noix 4:317c53a674fa 63 pos_correction(-1610,1250,0,1,0);
yuki0701 1:3c11e07da92a 64 wait(0.5);
yuki0701 1:3c11e07da92a 65
la00noix 4:317c53a674fa 66 gogo_straight(1,1,-1610,1250,-1610,2000,200,1000,5,0.1,10,0.1,600,0);
la00noix 4:317c53a674fa 67 purecurve(3,1,1,-1610,2000,-2317,2500,9,1000,5,0.1,10,0.1,600,0);
yuki0701 3:8a0faa3b08c3 68 purecurve(4,1,1,-2317,2500,-2962,3000,9,1000,5,0.1,10,0.1,600,-90);
yuki0701 3:8a0faa3b08c3 69 gogo_straight(1,1,-2962,3000,-2962,4000,1000,1000,5,0.1,10,0.1,600,-90);
yuki0701 3:8a0faa3b08c3 70 gogo_straight(1,1,-2962,4000,-2962,4500,1000,200,5,0.1,10,0.1,600,-90);
yuki0701 1:3c11e07da92a 71 MaxonControl(0,0,0,0);
yuki0701 3:8a0faa3b08c3 72 pos_correction(-2962,4500,-90,1,1);
yuki0701 1:3c11e07da92a 73
yuki0701 1:3c11e07da92a 74 set_cond(0,0,-2462,0,0);
la00noix 4:317c53a674fa 75 gogo_straight(1,1,-2962,4500,-2850,4500,200,200,5,0.1,10,0.1,800,-90);
yuki0701 1:3c11e07da92a 76 MaxonControl(0,0,0,0);
la00noix 4:317c53a674fa 77 pos_correction(-2850,4500,-90,1,1);
yuki0701 1:3c11e07da92a 78 wait(0.5);
yuki0701 1:3c11e07da92a 79
yuki0701 3:8a0faa3b08c3 80 gogo_straight(1,1,-2850,4500,-2850,5150,200,1000,5,0.1,10,0.1,800,-90);
yuki0701 3:8a0faa3b08c3 81 purecurve(2,1,1,-2850,5150,-2257,5500,9,1000,5,0.1,10,0.1,800,-90);
yuki0701 3:8a0faa3b08c3 82 purecurve(1,1,1,-2257,5500,-1700,6000,9,1000,5,0.1,10,0.1,800,-90);
yuki0701 3:8a0faa3b08c3 83 purecurve(3,1,1,-1700,6000,-2257,6647,9,1000,5,0.1,10,0.1,800,-90);
yuki0701 3:8a0faa3b08c3 84 gogo_straight(1,1,-2257,6647,-2500,6647,1000,1000,5,0.1,10,0.1,800,-90);
la00noix 4:317c53a674fa 85 set_cond(2,1,-3500,1,6324);
la00noix 4:317c53a674fa 86 gogo_straight(1,1,-2500,6647,-2700,6647,1000,200,5,0.1,10,0.1,800,-90);
yuki0701 1:3c11e07da92a 87 MaxonControl(0,0,0,0);
la00noix 4:317c53a674fa 88 pos_correction(-2700,6647,-90,1,1);
yuki0701 1:3c11e07da92a 89 wait(0.5);
yuki0701 1:3c11e07da92a 90
yuki0701 3:8a0faa3b08c3 91 gogo_straight(1,1,-2700,6647,-2500,6647,200,1000,5,0.1,10,0.1,800,-90);
la00noix 4:317c53a674fa 92 gogo_straight(1,1,-2500,6647,-1000,6647,1000,1000,5,0.1,10,0.1,800,-90);
la00noix 4:317c53a674fa 93 purecurve(8,1,1,-1000,6647,-350,6000,9,1000,5,0.1,10,0.1,600,-180);
la00noix 4:317c53a674fa 94 gogo_straight(1,1,-350,6000,-350,4700,1000,1000,5,0.1,10,0.1,600,-180);
la00noix 4:317c53a674fa 95 set_cond(2,1,1243,1,4000);
la00noix 4:317c53a674fa 96 gogo_straight(1,1,-350,4700,-350,4500,1000,200,5,0.1,10,0.1,800,-180);
yuki0701 1:3c11e07da92a 97 MaxonControl(0,0,0,0);
la00noix 4:317c53a674fa 98 pos_correction(-400,4500,-180,1,1);
yuki0701 1:3c11e07da92a 99
yuki0701 1:3c11e07da92a 100 go_waitmode = 1;
la00noix 0:c61c6e4775ca 101
la00noix 0:c61c6e4775ca 102 }else if(go_waitmode == 1){
la00noix 0:c61c6e4775ca 103
la00noix 0:c61c6e4775ca 104 MaxonControl(0,0,0,0);
la00noix 0:c61c6e4775ca 105
la00noix 0:c61c6e4775ca 106 }
la00noix 0:c61c6e4775ca 107
la00noix 0:c61c6e4775ca 108
la00noix 0:c61c6e4775ca 109 #endif
la00noix 0:c61c6e4775ca 110 //--------------------------------------------------------------------------------------------------------//
la00noix 0:c61c6e4775ca 111
la00noix 0:c61c6e4775ca 112
la00noix 0:c61c6e4775ca 113
la00noix 0:c61c6e4775ca 114
la00noix 0:c61c6e4775ca 115 //-----本番用自動プログラム（右側フィールド用）-------------------------------------------------------------------//
la00noix 0:c61c6e4775ca 116 #ifdef HARUROBO_RIGHT_MODE
la00noix 0:c61c6e4775ca 117
la00noix 0:c61c6e4775ca 118 //ここに本番用自動プログラム（右側フィールド用）を書く
la00noix 0:c61c6e4775ca 119
la00noix 0:c61c6e4775ca 120 #endif
la00noix 0:c61c6e4775ca 121 //---------------------------------------------------------------------------------------------------------//
la00noix 0:c61c6e4775ca 122
la00noix 0:c61c6e4775ca 123
la00noix 0:c61c6e4775ca 124
la00noix 0:c61c6e4775ca 125 //-----本番用自動プログラム（左側フィールド用）-------------------------------------------------------------------//
la00noix 0:c61c6e4775ca 126 #ifdef HARUROBO_LEFT_MODE //
la00noix 0:c61c6e4775ca 127
la00noix 0:c61c6e4775ca 128 //ここに本番用自動プログラム（左側フィールド用）を書く
la00noix 0:c61c6e4775ca 129
la00noix 0:c61c6e4775ca 130 #endif
la00noix 0:c61c6e4775ca 131 //---------------------------------------------------------------------------------------------------------//
la00noix 0:c61c6e4775ca 132 MaxonControl(0,0,0,0);
la00noix 0:c61c6e4775ca 133 break;
la00noix 0:c61c6e4775ca 134
la00noix 0:c61c6e4775ca 135 //-----wait mode----------------------------------------------------------------------------------------------------------------------//
la00noix 0:c61c6e4775ca 136 case 0:
la00noix 0:c61c6e4775ca 137
la00noix 0:c61c6e4775ca 138 calc_xy(0,1,1);
la00noix 0:c61c6e4775ca 139 ashi_led();
la00noix 0:c61c6e4775ca 140 MaxonControl(0,0,0,0);
yuki0701 1:3c11e07da92a 141 printf("now_angle: %f, now_x: %f, now_y: %f\n\r",now_angle,now_x,now_y);
la00noix 0:c61c6e4775ca 142
la00noix 0:c61c6e4775ca 143 break;
la00noix 0:c61c6e4775ca 144
la00noix 0:c61c6e4775ca 145 //-----manual mode--------------------------------------------------------------------------------------------------------------------//
la00noix 0:c61c6e4775ca 146 case 2:
la00noix 0:c61c6e4775ca 147
la00noix 0:c61c6e4775ca 148 ManualOut(250,100,500,200);
la00noix 0:c61c6e4775ca 149
la00noix 0:c61c6e4775ca 150 break;
la00noix 0:c61c6e4775ca 151 //------------------------------------------------------------------------------------------------------------------------------------//
la00noix 0:c61c6e4775ca 152 }
la00noix 0:c61c6e4775ca 153 }
la00noix 0:c61c6e4775ca 154 }