Diff: main.cpp

Revision:

1:3c11e07da92a

Parent:

0:c61c6e4775ca

Child:

2:7cba05e70367

--- a/main.cpp	Wed Feb 13 03:02:19 2019 +0000
+++ b/main.cpp	Mon Feb 25 06:18:09 2019 +0000
@@ -42,6 +42,8 @@
 
 while(1){
     
+    id1_value[0] = 0;
+    
     switch(id1_value[0]){
             
 //-----auto mode----------------------------------------------------------------------------------------------------------------------//
@@ -51,20 +53,53 @@
 #ifdef HARUROBO_TEST_MODE
         
         if(go_waitmode == 0){
-            
-        purecurve(1,1,1,
-                  0,0,
-                  1000,1000,
-                  9,
-                  1000,5,0.1,10,0.1,500,0);
-        gogo_straight(1,1,
-                     1000,1000,
-                     1000,2000,
-                     1000,1000,
-                     5,0.1,10,0.1,600,0);
-        MaxonControl(0,0,0,0);
-        
-        go_waitmode = 1;
+           
+           can_start();
+          // set_cond(2,1,-700,1,-700);
+           gogo_straight(1,1,-2962,3500,-2962,3000,200,1000,5,0.1,10,0.1,600,0);
+           purecurve(7,1,1,-2962,3000,-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,-1672,2000,-1672,1500,1000,200,5,0.1,10,0.1,600,0);
+           MaxonControl(0,0,0,0);
+           set_cond(2,0,-1243,1,1076);
+           pos_correction(-1672,1500,0,0,0);
+           wait(0.5);
+
+           gogo_straight(1,1,-1672,1500,-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);
+           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(0,0,-2462,0,0);
+           gogo_straight(0,1,-2962,4500,-2850,4500,200,200,5,0.1,10,0.1,800,90);
+           MaxonControl(0,0,0,0);
+           pos_correction(-2850,4500,90,0,1);
+           wait(0.5);
+      
+           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,-2257,6647,9,1000,5,0.1,10,0.1,800,90);
+           gogo_straight(1,1,-2257,6647,-2500,6647,1000,1000,5,0.1,10,0.1,800,90);
+           set_cond(1,0,0,0,7000);
+           gogo_straight(1,0,-2500,6647,-2700,6647,1000,200,5,0.1,10,0.1,800,90);
+           MaxonControl(0,0,0,0);
+           pos_correction(-2700,6647,90,1,0);
+           wait(0.5);
+      
+           gogo_straight(1,1,-2700,6647,-2500,6647,200,1000,5,0.1,10,0.1,800,90);
+           gogo_straight(1,1,-2500,6647,-1243,6647,1000,1000,5,0.1,10,0.1,800,90);
+           purecurve(8,1,1,-1243,6647,-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(2,0,0,1,4000);
+           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);
+
+           go_waitmode = 1;
         
         }else if(go_waitmode == 1){
             
@@ -105,6 +140,7 @@
         calc_xy(0,1,1);
         ashi_led();
         MaxonControl(0,0,0,0);
+        printf("now_angle: %f, now_x: %f, now_y: %f\n\r",now_angle,now_x,now_y);
         
         break;