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@13:f9867c3b97b0, 2019-03-19 (annotated)

Committer:
yuki0701
Date:
Tue Mar 19 17:03:27 2019 +0000
Revision:
13:f9867c3b97b0
Parent:
12:762061580168 
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 int go_waitmode = 0;
la00noix 0:c61c6e4775ca 17
yuki0701 11:9db93bce4eef 18 /*------------運動時の各速度の設定----------*/
yuki0701 11:9db93bce4eef 19 double st_speed = 500; // 移動開始時の速度
yuki0701 11:9db93bce4eef 20 double max_speed = 2500; // 直線移動時の最大速度
yuki0701 11:9db93bce4eef 21 double mid_speed = 2000; // 直線移動時の中間速度
yuki0701 11:9db93bce4eef 22 double turn_speed = 1000; // 旋回時の速度
yuki0701 11:9db93bce4eef 23 double end_speed = 200; // 停止直前の速度
yuki0701 11:9db93bce4eef 24 double fruit_speed = 200; // 果物を取る時の速度
yuki0701 11:9db93bce4eef 25 /*--------------------------------------*/
yuki0701 11:9db93bce4eef 26
la00noix 0:c61c6e4775ca 27 //-----mbed led------------------//点灯条件-----------------------//参照場所------------------------------//
la00noix 9:7667dcfc7ce5 28 //DigitalOut cansend_led(LED1); //cansend -> on //can.cpp
la00noix 9:7667dcfc7ce5 29 //DigitalOut canread_led(LED2); //canread -> on //can.cpp
la00noix 0:c61c6e4775ca 30 //DigitalOut debug_led(LED3); //maxon debug programme -> on //maxonsetting.cpp
la00noix 0:c61c6e4775ca 31
la00noix 0:c61c6e4775ca 32 //////////////////////////////////////////////////////////////以下main文/////////////////////////////////////////////////////////////////
la00noix 0:c61c6e4775ca 33
la00noix 6:26724c287387 34 int main()
la00noix 6:26724c287387 35 {
la00noix 0:c61c6e4775ca 36 UserLoopSetting_maxon();
la00noix 0:c61c6e4775ca 37 UserLoopSetting_sensor();
la00noix 0:c61c6e4775ca 38 UserLoopSetting_can();
la00noix 6:26724c287387 39
la00noix 0:c61c6e4775ca 40 #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 41
la00noix 6:26724c287387 42 printf("ソースファイル名 : %s¥n", __FILE__);
la00noix 6:26724c287387 43 printf("作成日付 : %s¥n", __DATE__);
la00noix 6:26724c287387 44 printf("作成時刻 : %s¥n", __TIME__);
la00noix 6:26724c287387 45
la00noix 0:c61c6e4775ca 46 #endif
la00noix 0:c61c6e4775ca 47
la00noix 6:26724c287387 48 while(1) {
yuki0701 11:9db93bce4eef 49 //id1_value[0] = 1;
la00noix 6:26724c287387 50 switch(id1_value[0]) {
la00noix 0:c61c6e4775ca 51 //-----auto mode----------------------------------------------------------------------------------------------------------------------//
la00noix 6:26724c287387 52 case 1:
yuki0701 11:9db93bce4eef 53 //id1_value[6] = 0;
la00noix 6:26724c287387 54 switch(id1_value[6]) {
la00noix 6:26724c287387 55 case 0:
la00noix 6:26724c287387 56 //-----right mode-------------------------------------------------------------------------------------------------------------//
yuki0701 11:9db93bce4eef 57 //未修正
yuki0701 11:9db93bce4eef 58
la00noix 9:7667dcfc7ce5 59 flag = 0;
yuki0701 10:c741191360de 60 UserLoopSetting_enc_right();
yuki0701 10:c741191360de 61 if(T1 == 0) { //スタート位置からみかんの木まで移動
yuki0701 12:762061580168 62
yuki0701 12:762061580168 63 gogo_straight(1,1,3112,3500,2962,3100,st_speed,mid_speed,5,0.1,10,0.1,600,0);
yuki0701 12:762061580168 64 gogo_straight(1,1,2962,3100,2962,2900,mid_speed,turn_speed,5,0.1,10,0.1,600,0);
yuki0701 12:762061580168 65 purecurve(6,1,1,2962,2900,2317,2500,9,turn_speed,5,0.1,10,0.1,600,0);
yuki0701 12:762061580168 66 purecurve(5,1,1,2317,2500,1672,2000,9,turn_speed,5,0.1,10,0.1,600,0);
yuki0701 10:c741191360de 67 set_cond(2,1,1050,1,1076);
yuki0701 12:762061580168 68 gogo_straight(0,0,1672,2000,1672,1600,turn_speed,end_speed,5,0.1,10,0.1,600,0);
yuki0701 10:c741191360de 69 MaxonControl(0,0,0,0);
yuki0701 11:9db93bce4eef 70 pos_correction(1672,1600,0,0,0,25);
yuki0701 10:c741191360de 71 enc_correction(1,1);
yuki0701 12:762061580168 72 gogo_straight(0,0,1672,1600,1672,1375,fruit_speed,fruit_speed,5,0.1,10,0.1,600,0);
yuki0701 12:762061580168 73 MaxonControl(0,0,0,0);
yuki0701 12:762061580168 74
yuki0701 12:762061580168 75 //printf("t1 = 0\n\r");
yuki0701 12:762061580168 76 //wait(1);
yuki0701 10:c741191360de 77 T1++;
yuki0701 10:c741191360de 78 }
yuki0701 10:c741191360de 79 if(T1 == 1) {
yuki0701 10:c741191360de 80 while(1) {
yuki0701 10:c741191360de 81 wait(0.1);
yuki0701 11:9db93bce4eef 82 //calc_xy(0,0,0);
yuki0701 10:c741191360de 83 if(T1 == 2) {
yuki0701 11:9db93bce4eef 84 // enc_correction(1,1);
yuki0701 10:c741191360de 85 break;
yuki0701 10:c741191360de 86 }
yuki0701 10:c741191360de 87 }
yuki0701 10:c741191360de 88 }
yuki0701 10:c741191360de 89 if(T1 == 2) { //みかんの木から三宝置き場まで移動
yuki0701 12:762061580168 90
yuki0701 12:762061580168 91 gogo_straight(1,1,1672,1375,1672,2000,st_speed,turn_speed,5,0.1,10,0.1,600,0);
yuki0701 12:762061580168 92 purecurve(2,1,1,1672,2000,2317,2500,9,turn_speed,5,0.1,10,0.1,600,0);
yuki0701 12:762061580168 93 purecurve(1,1,1,2317,2500,2962,3000,9,turn_speed,5,0.1,10,0.1,600,90);
yuki0701 12:762061580168 94 gogo_straight(1,1,2962,3000,2962,4000,turn_speed,max_speed,5,0.1,10,0.1,600,90);
yuki0701 12:762061580168 95 gogo_straight(1,1,2962,4000,2962,4810,max_speed,end_speed,5,0.1,10,0.1,600,90);
yuki0701 10:c741191360de 96 MaxonControl(0,0,0,0);
yuki0701 10:c741191360de 97 set_cond(2,1,2462,0,6000);
yuki0701 12:762061580168 98 pos_correction(2962,4837.5,90,0,0,10);
yuki0701 12:762061580168 99 gogo_straight(0,0,2962,4837.5,2782,4837.5,300,200,5,0.1,10,0.1,800,90);
yuki0701 10:c741191360de 100 MaxonControl(0,0,0,0);
yuki0701 10:c741191360de 101 enc_correction(1,1);
yuki0701 12:762061580168 102
yuki0701 12:762061580168 103 //printf("t1 = 2\n\r");
yuki0701 12:762061580168 104 //wait(1);
yuki0701 10:c741191360de 105 T1++;
yuki0701 10:c741191360de 106 }
yuki0701 10:c741191360de 107 if(T1 == 3) {
yuki0701 10:c741191360de 108 while(1) {
yuki0701 10:c741191360de 109 wait(0.1);
yuki0701 11:9db93bce4eef 110 //calc_xy(90,0,0);
yuki0701 10:c741191360de 111 if(T1 == 4) {
yuki0701 11:9db93bce4eef 112 // enc_correction(1,1);
yuki0701 10:c741191360de 113 break;
yuki0701 10:c741191360de 114 }
yuki0701 10:c741191360de 115 }
yuki0701 10:c741191360de 116 }
yuki0701 10:c741191360de 117 if(T1 == 4) { //三宝置き場からりんごの木まで移動
yuki0701 12:762061580168 118
yuki0701 12:762061580168 119 gogo_straight(1,1,2782,4837.5,2782,5150,st_speed,turn_speed,5,0.1,10,0.1,800,90);
yuki0701 12:762061580168 120 purecurve(3,1,1,2850,5150,2257,5500,9,turn_speed,5,0.1,10,0.1,800,90);
yuki0701 12:762061580168 121 purecurve(4,1,1,2257,5500,1700,6000,9,turn_speed,5,0.1,10,0.1,800,90);
yuki0701 12:762061580168 122 purecurve(2,1,1,1700,6000,2257,6550,9,turn_speed,5,0.1,10,0.1,800,90);
yuki0701 12:762061580168 123 gogo_straight(1,1,2257,6550,2500,6605,turn_speed,end_speed,5,0.1,10,0.1,800,90);
yuki0701 10:c741191360de 124 MaxonControl(0,0,0,0);
yuki0701 12:762061580168 125 set_cond(1,0,0,1,6038);
yuki0701 12:762061580168 126 pos_correction(2500,6610,90,1,0,8);
yuki0701 12:762061580168 127 set_cond(2,0,3162,1,6038);
yuki0701 12:762061580168 128 gogo_straight(0,0,2500,6610,2700,6610,fruit_speed,fruit_speed,5,0.1,10,0.1,800,90);
yuki0701 12:762061580168 129 MaxonControl(0,0,0,0);
yuki0701 10:c741191360de 130 enc_correction(1,1);
yuki0701 12:762061580168 131
yuki0701 12:762061580168 132 // printf("t1 = 4\n\r");
yuki0701 12:762061580168 133 // wait(1);
yuki0701 10:c741191360de 134 T1++;
yuki0701 10:c741191360de 135 }
yuki0701 10:c741191360de 136 if(T1 == 5) {
yuki0701 10:c741191360de 137 while(1) {
yuki0701 10:c741191360de 138 wait(0.1);
yuki0701 11:9db93bce4eef 139 //calc_xy(90,0,0);
yuki0701 10:c741191360de 140 if(T1 == 6) {
yuki0701 11:9db93bce4eef 141 // enc_correction(1,1);
yuki0701 10:c741191360de 142 break;
yuki0701 10:c741191360de 143 }
yuki0701 10:c741191360de 144 }
yuki0701 10:c741191360de 145 }
yuki0701 10:c741191360de 146 if(T1 == 6) { //りんごの木からお供え台まで移動
yuki0701 13:f9867c3b97b0 147
yuki0701 12:762061580168 148 set_cond(1,0,0,0,6962);
yuki0701 12:762061580168 149 gogo_straight(1,0,2700,6610,2500,6550,st_speed,max_speed,5,0.1,10,0.1,800,90);
yuki0701 12:762061580168 150 gogo_straight(1,0,2500,6550,1300,6550,max_speed,max_speed,5,0.1,10,0.1,800,90);
yuki0701 12:762061580168 151 gogo_straight(1,0,1300,6550,850,6550,max_speed,turn_speed,5,0.1,10,0.1,800,90);
yuki0701 12:762061580168 152 enc_correction(0,1);
yuki0701 12:762061580168 153 set_cond(2,1,19,0,6962); //要修正
yuki0701 12:762061580168 154 purecurve(5,0,0,850,6550,620,6000,9,turn_speed,10,0.1,10,0.1,600,180); //要修正
yuki0701 12:762061580168 155 enc_correction(1,0);
yuki0701 12:762061580168 156 set_cond(0,1,19,0,0);
yuki0701 12:762061580168 157 gogo_straight(0,1,620,6000,620,5500,turn_speed,max_speed,5,0.1,10,0.1,600,180);
yuki0701 12:762061580168 158 gogo_straight(0,1,620,5500,620,5000,max_speed,max_speed,5,0.1,10,0.1,600,180);
yuki0701 12:762061580168 159 set_cond(2,0,1000,1,4000);
yuki0701 12:762061580168 160 gogo_straight(0,0,620,5000,620,4600,max_speed,end_speed,5,0.1,10,0.1,800,180);
yuki0701 10:c741191360de 161 MaxonControl(0,0,0,0);
yuki0701 12:762061580168 162 pos_correction(620,4370,180,0,0,30);
yuki0701 10:c741191360de 163 enc_correction(1,1);
yuki0701 10:c741191360de 164 MaxonControl(0,0,0,0);
yuki0701 12:762061580168 165
yuki0701 12:762061580168 166 // printf("t1 = 6\n\r");
yuki0701 12:762061580168 167 // wait(1);
yuki0701 10:c741191360de 168 T1++;
yuki0701 10:c741191360de 169 }
yuki0701 10:c741191360de 170 if(T1 == 7) {
yuki0701 10:c741191360de 171 while(1) {
yuki0701 10:c741191360de 172 printf("ashi finished\n\r");
yuki0701 10:c741191360de 173 MaxonControl(0,0,0,0);
yuki0701 10:c741191360de 174 if(id1_value[0] != 1)break; //これらは他のwhileにも入れる必要あり
yuki0701 10:c741191360de 175 if(id1_value[6] != flag)break;
yuki0701 10:c741191360de 176 }
yuki0701 10:c741191360de 177 }
yuki0701 10:c741191360de 178 break;
yuki0701 11:9db93bce4eef 179
yuki0701 10:c741191360de 180 case 1:
yuki0701 10:c741191360de 181 //-----left mode--------------------------------------------------------------------------------------------------------------//
yuki0701 10:c741191360de 182 flag = 1;
yuki0701 11:9db93bce4eef 183 printf("start\n\r");
yuki0701 10:c741191360de 184 UserLoopSetting_enc_left();
la00noix 9:7667dcfc7ce5 185 if(T1 == 0) { //スタート位置からみかんの木まで移動
yuki0701 11:9db93bce4eef 186
yuki0701 11:9db93bce4eef 187 gogo_straight(1,1,-3112,3500,-2962,3100,st_speed,mid_speed,5,0.1,10,0.1,600,0);
yuki0701 11:9db93bce4eef 188 gogo_straight(1,1,-2962,3100,-2962,2900,mid_speed,turn_speed,5,0.1,10,0.1,600,0);
yuki0701 11:9db93bce4eef 189 purecurve(7,1,1,-2962,2900,-2317,2500,9,turn_speed,5,0.1,10,0.1,600,0);
yuki0701 11:9db93bce4eef 190 purecurve(8,1,1,-2317,2500,-1672,2000,9,turn_speed,5,0.1,10,0.1,600,0);
la00noix 9:7667dcfc7ce5 191 set_cond(2,0,-1050,1,1076);
yuki0701 11:9db93bce4eef 192 gogo_straight(0,0,-1672,2000,-1672,1600,turn_speed,end_speed,5,0.1,10,0.1,600,0);
la00noix 9:7667dcfc7ce5 193 MaxonControl(0,0,0,0);
yuki0701 11:9db93bce4eef 194 pos_correction(-1672,1600,0,0,0,25);
la00noix 9:7667dcfc7ce5 195 enc_correction(1,1);
yuki0701 11:9db93bce4eef 196 gogo_straight(0,0,-1672,1600,-1672,1375,fruit_speed,fruit_speed,5,0.1,10,0.1,600,0);
yuki0701 11:9db93bce4eef 197 MaxonControl(0,0,0,0);
yuki0701 11:9db93bce4eef 198
la00noix 8:2ba338b4590e 199 T1++;
la00noix 8:2ba338b4590e 200 }
la00noix 8:2ba338b4590e 201 if(T1 == 1) {
la00noix 8:2ba338b4590e 202 while(1) {
la00noix 9:7667dcfc7ce5 203 wait(0.1);
yuki0701 11:9db93bce4eef 204 calc_xy(0,0,0);
la00noix 8:2ba338b4590e 205 if(T1 == 2) {
yuki0701 11:9db93bce4eef 206 enc_correction(1,1);
la00noix 8:2ba338b4590e 207 break;
la00noix 8:2ba338b4590e 208 }
la00noix 8:2ba338b4590e 209 }
la00noix 8:2ba338b4590e 210 }
la00noix 9:7667dcfc7ce5 211 if(T1 == 2) { //みかんの木から三宝置き場まで移動
yuki0701 11:9db93bce4eef 212 gogo_straight(1,1,-1672,1375,-1672,2000,st_speed,turn_speed,5,0.1,10,0.1,600,0);
yuki0701 11:9db93bce4eef 213 purecurve(3,1,1,-1672,2000,-2317,2500,9,turn_speed,5,0.1,10,0.1,600,0);
yuki0701 11:9db93bce4eef 214 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);
yuki0701 11:9db93bce4eef 215 gogo_straight(1,1,-2962,3000,-2962,4000,turn_speed,max_speed,5,0.1,10,0.1,600,-90);
yuki0701 12:762061580168 216 gogo_straight(1,1,-2962,4000,-2962,4810,max_speed,end_speed,5,0.1,10,0.1,600,-90);
la00noix 9:7667dcfc7ce5 217 MaxonControl(0,0,0,0);
la00noix 9:7667dcfc7ce5 218 set_cond(2,0,-2462,0,6000);
yuki0701 12:762061580168 219 pos_correction(-2962,4837.5,-90,0,0,10);
yuki0701 12:762061580168 220 gogo_straight(0,0,-2962,4837.5,-2782,4837.5,300,200,5,0.1,10,0.1,800,-90);
la00noix 9:7667dcfc7ce5 221 MaxonControl(0,0,0,0);
la00noix 9:7667dcfc7ce5 222 enc_correction(1,1);
yuki0701 11:9db93bce4eef 223
la00noix 8:2ba338b4590e 224 T1++;
la00noix 8:2ba338b4590e 225 }
la00noix 8:2ba338b4590e 226 if(T1 == 3) {
la00noix 8:2ba338b4590e 227 while(1) {
la00noix 9:7667dcfc7ce5 228 wait(0.1);
yuki0701 11:9db93bce4eef 229 calc_xy(-90,0,0);
la00noix 8:2ba338b4590e 230 if(T1 == 4) {
yuki0701 11:9db93bce4eef 231 enc_correction(1,1);
la00noix 8:2ba338b4590e 232 break;
la00noix 8:2ba338b4590e 233 }
la00noix 8:2ba338b4590e 234 }
la00noix 8:2ba338b4590e 235 }
la00noix 9:7667dcfc7ce5 236 if(T1 == 4) { //三宝置き場からりんごの木まで移動
yuki0701 11:9db93bce4eef 237 gogo_straight(1,1,-2782,4837.5,-2782,5150,st_speed,turn_speed,5,0.1,10,0.1,800,-90);
yuki0701 11:9db93bce4eef 238 purecurve(2,1,1,-2850,5150,-2257,5500,9,turn_speed,5,0.1,10,0.1,800,-90);
yuki0701 11:9db93bce4eef 239 purecurve(1,1,1,-2257,5500,-1700,6000,9,turn_speed,5,0.1,10,0.1,800,-90);
yuki0701 11:9db93bce4eef 240 purecurve(3,1,1,-1700,6000,-2257,6550,9,turn_speed,5,0.1,10,0.1,800,-90);
yuki0701 12:762061580168 241 gogo_straight(1,1,-2257,6550,-2500,6605,turn_speed,end_speed,5,0.1,10,0.1,800,-90);
la00noix 9:7667dcfc7ce5 242 MaxonControl(0,0,0,0);
yuki0701 12:762061580168 243 set_cond(1,0,0,1,6038);
yuki0701 12:762061580168 244 pos_correction(-2500,6610,-90,1,0,8);
yuki0701 11:9db93bce4eef 245 set_cond(2,1,-3162,1,6038);
yuki0701 12:762061580168 246 gogo_straight(0,0,-2500,6610,-2700,6610,fruit_speed,fruit_speed,5,0.1,10,0.1,800,-90);
yuki0701 11:9db93bce4eef 247 MaxonControl(0,0,0,0);
la00noix 9:7667dcfc7ce5 248 enc_correction(1,1);
yuki0701 11:9db93bce4eef 249
la00noix 8:2ba338b4590e 250 T1++;
la00noix 8:2ba338b4590e 251 }
la00noix 8:2ba338b4590e 252 if(T1 == 5) {
la00noix 8:2ba338b4590e 253 while(1) {
la00noix 9:7667dcfc7ce5 254 wait(0.1);
yuki0701 11:9db93bce4eef 255 calc_xy(-90,0,0);
la00noix 8:2ba338b4590e 256 if(T1 == 6) {
yuki0701 11:9db93bce4eef 257 enc_correction(1,1);
la00noix 8:2ba338b4590e 258 break;
la00noix 8:2ba338b4590e 259 }
la00noix 8:2ba338b4590e 260 }
la00noix 8:2ba338b4590e 261 }
la00noix 9:7667dcfc7ce5 262 if(T1 == 6) { //りんごの木からお供え台まで移動
yuki0701 11:9db93bce4eef 263 set_cond(1,0,0,0,6962);
yuki0701 12:762061580168 264 gogo_straight(1,0,-2700,6610,-2500,6550,st_speed,max_speed,5,0.1,10,0.1,800,-90);
yuki0701 11:9db93bce4eef 265 gogo_straight(1,0,-2500,6550,-1300,6550,max_speed,max_speed,5,0.1,10,0.1,800,-90);
yuki0701 12:762061580168 266
yuki0701 11:9db93bce4eef 267 gogo_straight(1,0,-1300,6550,-850,6550,max_speed,turn_speed,5,0.1,10,0.1,800,-90);
yuki0701 11:9db93bce4eef 268 enc_correction(0,1);
yuki0701 11:9db93bce4eef 269 set_cond(2,0,-19,0,6962);
yuki0701 12:762061580168 270 purecurve(8,0,0,-850,6550,-620,6000,9,turn_speed,10,0.1,10,0.1,600,-180); //要修正
yuki0701 11:9db93bce4eef 271 enc_correction(1,0);
yuki0701 11:9db93bce4eef 272 set_cond(0,0,-19,0,0);
yuki0701 12:762061580168 273 gogo_straight(0,1,-620,6000,-620,5500,turn_speed,max_speed,5,0.1,10,0.1,600,-180);
yuki0701 12:762061580168 274 gogo_straight(0,1,-620,5500,-620,5000,max_speed,max_speed,5,0.1,10,0.1,600,-180);
la00noix 9:7667dcfc7ce5 275 set_cond(2,1,-1000,1,4000);
yuki0701 12:762061580168 276 gogo_straight(0,0,-620,5000,-620,4600,max_speed,end_speed,5,0.1,10,0.1,800,-180);
la00noix 9:7667dcfc7ce5 277 MaxonControl(0,0,0,0);
yuki0701 12:762061580168 278 pos_correction(-620,4370,-180,0,0,30);
la00noix 9:7667dcfc7ce5 279 enc_correction(1,1);
la00noix 9:7667dcfc7ce5 280 MaxonControl(0,0,0,0);
yuki0701 11:9db93bce4eef 281
la00noix 8:2ba338b4590e 282 T1++;
la00noix 8:2ba338b4590e 283 }
la00noix 9:7667dcfc7ce5 284 if(T1 == 7) {
la00noix 9:7667dcfc7ce5 285 while(1) {
la00noix 9:7667dcfc7ce5 286 printf("ashi finished\n\r");
la00noix 9:7667dcfc7ce5 287 MaxonControl(0,0,0,0);
yuki0701 11:9db93bce4eef 288
la00noix 9:7667dcfc7ce5 289 if(id1_value[0] != 1)break; //これらは他のwhileにも入れる必要あり
la00noix 9:7667dcfc7ce5 290 if(id1_value[6] != flag)break;
la00noix 9:7667dcfc7ce5 291 }
la00noix 9:7667dcfc7ce5 292 }
la00noix 6:26724c287387 293
yuki0701 11:9db93bce4eef 294
yuki0701 11:9db93bce4eef 295
la00noix 6:26724c287387 296 break;
la00noix 6:26724c287387 297 }
la00noix 6:26724c287387 298 //-----wait mode----------------------------------------------------------------------------------------------------------------------//
la00noix 6:26724c287387 299 case 0:
la00noix 6:26724c287387 300
yuki0701 11:9db93bce4eef 301 // printf("wait\n\r");
la00noix 6:26724c287387 302 calc_xy(0,1,1);
la00noix 6:26724c287387 303 ashi_led();
la00noix 6:26724c287387 304 MaxonControl(0,0,0,0);
la00noix 7:44ce34007499 305 go_waitmode = 0;
la00noix 6:26724c287387 306
la00noix 6:26724c287387 307 break;
la00noix 6:26724c287387 308 //-----manual mode--------------------------------------------------------------------------------------------------------------------//
la00noix 6:26724c287387 309 case 2:
yuki0701 13:f9867c3b97b0 310 switch(id1_value[6]) {
yuki0701 13:f9867c3b97b0 311 case 0:
yuki0701 13:f9867c3b97b0 312 //-----right mode-------------------------------------------------------------------------------------------------------------//
yuki0701 13:f9867c3b97b0 313 //未修正
la00noix 6:26724c287387 314
yuki0701 13:f9867c3b97b0 315 flag = 0;
yuki0701 13:f9867c3b97b0 316 UserLoopSetting_enc_right();
yuki0701 13:f9867c3b97b0 317 if(T1 == 0) { //スタート位置からみかんの木まで移動
yuki0701 13:f9867c3b97b0 318
yuki0701 13:f9867c3b97b0 319 gogo_straight(1,1,3112,3500,2962,3100,st_speed,mid_speed,5,0.1,10,0.1,600,0);
yuki0701 13:f9867c3b97b0 320 gogo_straight(1,1,2962,3100,2962,2900,mid_speed,turn_speed,5,0.1,10,0.1,600,0);
yuki0701 13:f9867c3b97b0 321 purecurve(6,1,1,2962,2900,2317,2500,9,turn_speed,5,0.1,10,0.1,600,0);
yuki0701 13:f9867c3b97b0 322 purecurve(5,1,1,2317,2500,1672,2000,9,turn_speed,5,0.1,10,0.1,600,0);
yuki0701 13:f9867c3b97b0 323 set_cond(2,1,1050,1,1076);
yuki0701 13:f9867c3b97b0 324 gogo_straight(0,0,1672,2000,1672,1600,turn_speed,end_speed,5,0.1,10,0.1,600,0);
yuki0701 13:f9867c3b97b0 325 MaxonControl(0,0,0,0);
yuki0701 13:f9867c3b97b0 326 pos_correction(1672,1600,0,0,0,25);
yuki0701 13:f9867c3b97b0 327 enc_correction(1,1);
yuki0701 13:f9867c3b97b0 328 gogo_straight(0,0,1672,1600,1672,1375,fruit_speed,fruit_speed,5,0.1,10,0.1,600,0);
yuki0701 13:f9867c3b97b0 329 MaxonControl(0,0,0,0);
yuki0701 13:f9867c3b97b0 330
yuki0701 13:f9867c3b97b0 331 //printf("t1 = 0\n\r");
yuki0701 13:f9867c3b97b0 332 //wait(1);
yuki0701 13:f9867c3b97b0 333 T1++;
yuki0701 13:f9867c3b97b0 334 }
yuki0701 13:f9867c3b97b0 335 if(T1 == 1) {
yuki0701 13:f9867c3b97b0 336 while(1) {
yuki0701 13:f9867c3b97b0 337 ManualOut(250,100,500,200);
yuki0701 13:f9867c3b97b0 338 //calc_xy(0,0,0);
yuki0701 13:f9867c3b97b0 339 if(T1 == 2) {
yuki0701 13:f9867c3b97b0 340 // enc_correction(1,1);
yuki0701 13:f9867c3b97b0 341 break;
yuki0701 13:f9867c3b97b0 342 }
yuki0701 13:f9867c3b97b0 343 }
yuki0701 13:f9867c3b97b0 344 }
yuki0701 13:f9867c3b97b0 345 if(T1 == 2) { //みかんの木から三宝置き場まで移動
yuki0701 13:f9867c3b97b0 346
yuki0701 13:f9867c3b97b0 347 gogo_straight(1,1,1672,1375,1672,2000,st_speed,turn_speed,5,0.1,10,0.1,600,0);
yuki0701 13:f9867c3b97b0 348 purecurve(2,1,1,1672,2000,2317,2500,9,turn_speed,5,0.1,10,0.1,600,0);
yuki0701 13:f9867c3b97b0 349 purecurve(1,1,1,2317,2500,2962,3000,9,turn_speed,5,0.1,10,0.1,600,90);
yuki0701 13:f9867c3b97b0 350 gogo_straight(1,1,2962,3000,2962,4000,turn_speed,max_speed,5,0.1,10,0.1,600,90);
yuki0701 13:f9867c3b97b0 351 gogo_straight(1,1,2962,4000,2962,4810,max_speed,end_speed,5,0.1,10,0.1,600,90);
yuki0701 13:f9867c3b97b0 352 MaxonControl(0,0,0,0);
yuki0701 13:f9867c3b97b0 353 set_cond(2,1,2462,0,6000);
yuki0701 13:f9867c3b97b0 354 pos_correction(2962,4837.5,90,0,0,10);
yuki0701 13:f9867c3b97b0 355 gogo_straight(0,0,2962,4837.5,2782,4837.5,300,200,5,0.1,10,0.1,800,90);
yuki0701 13:f9867c3b97b0 356 MaxonControl(0,0,0,0);
yuki0701 13:f9867c3b97b0 357 enc_correction(1,1);
yuki0701 13:f9867c3b97b0 358
yuki0701 13:f9867c3b97b0 359 //printf("t1 = 2\n\r");
yuki0701 13:f9867c3b97b0 360 //wait(1);
yuki0701 13:f9867c3b97b0 361 T1++;
yuki0701 13:f9867c3b97b0 362 }
yuki0701 13:f9867c3b97b0 363 if(T1 == 3) {
yuki0701 13:f9867c3b97b0 364 while(1) {
yuki0701 13:f9867c3b97b0 365 ManualOut(250,100,500,200);
yuki0701 13:f9867c3b97b0 366 //calc_xy(90,0,0);
yuki0701 13:f9867c3b97b0 367 if(T1 == 4) {
yuki0701 13:f9867c3b97b0 368 // enc_correction(1,1);
yuki0701 13:f9867c3b97b0 369 break;
yuki0701 13:f9867c3b97b0 370 }
yuki0701 13:f9867c3b97b0 371 }
yuki0701 13:f9867c3b97b0 372 }
yuki0701 13:f9867c3b97b0 373 if(T1 == 4) { //三宝置き場からりんごの木まで移動
yuki0701 13:f9867c3b97b0 374
yuki0701 13:f9867c3b97b0 375 gogo_straight(1,1,2782,4837.5,2782,5150,st_speed,turn_speed,5,0.1,10,0.1,800,90);
yuki0701 13:f9867c3b97b0 376 purecurve(3,1,1,2850,5150,2257,5500,9,turn_speed,5,0.1,10,0.1,800,90);
yuki0701 13:f9867c3b97b0 377 purecurve(4,1,1,2257,5500,1700,6000,9,turn_speed,5,0.1,10,0.1,800,90);
yuki0701 13:f9867c3b97b0 378 purecurve(2,1,1,1700,6000,2257,6550,9,turn_speed,5,0.1,10,0.1,800,90);
yuki0701 13:f9867c3b97b0 379 gogo_straight(1,1,2257,6550,2500,6605,turn_speed,end_speed,5,0.1,10,0.1,800,90);
yuki0701 13:f9867c3b97b0 380 MaxonControl(0,0,0,0);
yuki0701 13:f9867c3b97b0 381 set_cond(1,0,0,1,6038);
yuki0701 13:f9867c3b97b0 382 pos_correction(2500,6610,90,1,0,8);
yuki0701 13:f9867c3b97b0 383 set_cond(2,0,3162,1,6038);
yuki0701 13:f9867c3b97b0 384 gogo_straight(0,0,2500,6610,2700,6610,fruit_speed,fruit_speed,5,0.1,10,0.1,800,90);
yuki0701 13:f9867c3b97b0 385 MaxonControl(0,0,0,0);
yuki0701 13:f9867c3b97b0 386 enc_correction(1,1);
yuki0701 13:f9867c3b97b0 387
yuki0701 13:f9867c3b97b0 388 // printf("t1 = 4\n\r");
yuki0701 13:f9867c3b97b0 389 // wait(1);
yuki0701 13:f9867c3b97b0 390 T1++;
yuki0701 13:f9867c3b97b0 391 }
yuki0701 13:f9867c3b97b0 392 if(T1 == 5) {
yuki0701 13:f9867c3b97b0 393 while(1) {
yuki0701 13:f9867c3b97b0 394 ManualOut(250,100,500,200);
yuki0701 13:f9867c3b97b0 395 //calc_xy(90,0,0);
yuki0701 13:f9867c3b97b0 396 if(T1 == 6) {
yuki0701 13:f9867c3b97b0 397 // enc_correction(1,1);
yuki0701 13:f9867c3b97b0 398 break;
yuki0701 13:f9867c3b97b0 399 }
yuki0701 13:f9867c3b97b0 400 }
yuki0701 13:f9867c3b97b0 401 }
yuki0701 13:f9867c3b97b0 402 if(T1 == 6) { //りんごの木からお供え台まで移動
yuki0701 13:f9867c3b97b0 403
yuki0701 13:f9867c3b97b0 404 set_cond(1,0,0,0,6962);
yuki0701 13:f9867c3b97b0 405 gogo_straight(1,0,2700,6610,2500,6550,st_speed,max_speed,5,0.1,10,0.1,800,90);
yuki0701 13:f9867c3b97b0 406 gogo_straight(1,0,2500,6550,1300,6550,max_speed,max_speed,5,0.1,10,0.1,800,90);
yuki0701 13:f9867c3b97b0 407 gogo_straight(1,0,1300,6550,850,6550,max_speed,turn_speed,5,0.1,10,0.1,800,90);
yuki0701 13:f9867c3b97b0 408 enc_correction(0,1);
yuki0701 13:f9867c3b97b0 409 set_cond(2,1,19,0,6962); //要修正
yuki0701 13:f9867c3b97b0 410 purecurve(5,0,0,850,6550,620,6000,9,turn_speed,10,0.1,10,0.1,600,180); //要修正
yuki0701 13:f9867c3b97b0 411 enc_correction(1,0);
yuki0701 13:f9867c3b97b0 412 set_cond(0,1,19,0,0);
yuki0701 13:f9867c3b97b0 413 gogo_straight(0,1,620,6000,620,5500,turn_speed,max_speed,5,0.1,10,0.1,600,180);
yuki0701 13:f9867c3b97b0 414 gogo_straight(0,1,620,5500,620,5000,max_speed,max_speed,5,0.1,10,0.1,600,180);
yuki0701 13:f9867c3b97b0 415 set_cond(2,0,1000,1,4000);
yuki0701 13:f9867c3b97b0 416 gogo_straight(0,0,620,5000,620,4600,max_speed,end_speed,5,0.1,10,0.1,800,180);
yuki0701 13:f9867c3b97b0 417 MaxonControl(0,0,0,0);
yuki0701 13:f9867c3b97b0 418 pos_correction(620,4370,180,0,0,30);
yuki0701 13:f9867c3b97b0 419 enc_correction(1,1);
yuki0701 13:f9867c3b97b0 420 MaxonControl(0,0,0,0);
yuki0701 13:f9867c3b97b0 421
yuki0701 13:f9867c3b97b0 422 // printf("t1 = 6\n\r");
yuki0701 13:f9867c3b97b0 423 // wait(1);
yuki0701 13:f9867c3b97b0 424 T1++;
yuki0701 13:f9867c3b97b0 425 }
yuki0701 13:f9867c3b97b0 426 if(T1 == 7) {
yuki0701 13:f9867c3b97b0 427 while(1) {
yuki0701 13:f9867c3b97b0 428 ManualOut(250,100,500,200);
yuki0701 13:f9867c3b97b0 429 //printf("ashi finished\n\r");
yuki0701 13:f9867c3b97b0 430 //MaxonControl(0,0,0,0);
yuki0701 13:f9867c3b97b0 431 if(id1_value[0] != 1)break; //これらは他のwhileにも入れる必要あり
yuki0701 13:f9867c3b97b0 432 if(id1_value[6] != flag)break;
yuki0701 13:f9867c3b97b0 433 }
yuki0701 13:f9867c3b97b0 434 }
yuki0701 13:f9867c3b97b0 435 break;
yuki0701 13:f9867c3b97b0 436
yuki0701 13:f9867c3b97b0 437 case 1:
yuki0701 13:f9867c3b97b0 438 //-----left mode--------------------------------------------------------------------------------------------------------------//
yuki0701 13:f9867c3b97b0 439 flag = 1;
yuki0701 13:f9867c3b97b0 440 printf("start\n\r");
yuki0701 13:f9867c3b97b0 441 UserLoopSetting_enc_left();
yuki0701 13:f9867c3b97b0 442 if(T1 == 0) { //スタート位置からみかんの木まで移動
yuki0701 13:f9867c3b97b0 443
yuki0701 13:f9867c3b97b0 444 gogo_straight(1,1,-3112,3500,-2962,3100,st_speed,mid_speed,5,0.1,10,0.1,600,0);
yuki0701 13:f9867c3b97b0 445 gogo_straight(1,1,-2962,3100,-2962,2900,mid_speed,turn_speed,5,0.1,10,0.1,600,0);
yuki0701 13:f9867c3b97b0 446 purecurve(7,1,1,-2962,2900,-2317,2500,9,turn_speed,5,0.1,10,0.1,600,0);
yuki0701 13:f9867c3b97b0 447 purecurve(8,1,1,-2317,2500,-1672,2000,9,turn_speed,5,0.1,10,0.1,600,0);
yuki0701 13:f9867c3b97b0 448 set_cond(2,0,-1050,1,1076);
yuki0701 13:f9867c3b97b0 449 gogo_straight(0,0,-1672,2000,-1672,1600,turn_speed,end_speed,5,0.1,10,0.1,600,0);
yuki0701 13:f9867c3b97b0 450 MaxonControl(0,0,0,0);
yuki0701 13:f9867c3b97b0 451 pos_correction(-1672,1600,0,0,0,25);
yuki0701 13:f9867c3b97b0 452 enc_correction(1,1);
yuki0701 13:f9867c3b97b0 453 gogo_straight(0,0,-1672,1600,-1672,1375,fruit_speed,fruit_speed,5,0.1,10,0.1,600,0);
yuki0701 13:f9867c3b97b0 454 MaxonControl(0,0,0,0);
yuki0701 13:f9867c3b97b0 455
yuki0701 13:f9867c3b97b0 456 T1++;
yuki0701 13:f9867c3b97b0 457 }
yuki0701 13:f9867c3b97b0 458
yuki0701 13:f9867c3b97b0 459 if(T1 == 1) {
yuki0701 13:f9867c3b97b0 460 while(1) {
yuki0701 13:f9867c3b97b0 461 ManualOut(250,100,500,200);
yuki0701 13:f9867c3b97b0 462 if(T1 == 2) {
yuki0701 13:f9867c3b97b0 463 break;
yuki0701 13:f9867c3b97b0 464 }
yuki0701 13:f9867c3b97b0 465 }
yuki0701 13:f9867c3b97b0 466 }
yuki0701 13:f9867c3b97b0 467 if(T1 == 2) { //みかんの木から三宝置き場まで移動
yuki0701 13:f9867c3b97b0 468 gogo_straight(1,1,-1672,1375,-1672,2000,st_speed,turn_speed,5,0.1,10,0.1,600,0);
yuki0701 13:f9867c3b97b0 469 purecurve(3,1,1,-1672,2000,-2317,2500,9,turn_speed,5,0.1,10,0.1,600,0);
yuki0701 13:f9867c3b97b0 470 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);
yuki0701 13:f9867c3b97b0 471 gogo_straight(1,1,-2962,3000,-2962,4000,turn_speed,max_speed,5,0.1,10,0.1,600,-90);
yuki0701 13:f9867c3b97b0 472 gogo_straight(1,1,-2962,4000,-2962,4810,max_speed,end_speed,5,0.1,10,0.1,600,-90);
yuki0701 13:f9867c3b97b0 473 MaxonControl(0,0,0,0);
yuki0701 13:f9867c3b97b0 474 set_cond(2,0,-2462,0,6000);
yuki0701 13:f9867c3b97b0 475 pos_correction(-2962,4837.5,-90,0,0,10);
yuki0701 13:f9867c3b97b0 476 gogo_straight(0,0,-2962,4837.5,-2782,4837.5,300,200,5,0.1,10,0.1,800,-90);
yuki0701 13:f9867c3b97b0 477 MaxonControl(0,0,0,0);
yuki0701 13:f9867c3b97b0 478 enc_correction(1,1);
yuki0701 13:f9867c3b97b0 479
yuki0701 13:f9867c3b97b0 480 T1++;
yuki0701 13:f9867c3b97b0 481 }
yuki0701 13:f9867c3b97b0 482 if(T1 == 3) {
yuki0701 13:f9867c3b97b0 483 while(1) {
yuki0701 13:f9867c3b97b0 484 ManualOut(250,100,500,200);
yuki0701 13:f9867c3b97b0 485 if(T1 == 4) {
yuki0701 13:f9867c3b97b0 486 break;
yuki0701 13:f9867c3b97b0 487 }
yuki0701 13:f9867c3b97b0 488 }
yuki0701 13:f9867c3b97b0 489 }
yuki0701 13:f9867c3b97b0 490 if(T1 == 4) { //三宝置き場からりんごの木まで移動
yuki0701 13:f9867c3b97b0 491 gogo_straight(1,1,-2782,4837.5,-2782,5150,st_speed,turn_speed,5,0.1,10,0.1,800,-90);
yuki0701 13:f9867c3b97b0 492 purecurve(2,1,1,-2850,5150,-2257,5500,9,turn_speed,5,0.1,10,0.1,800,-90);
yuki0701 13:f9867c3b97b0 493 purecurve(1,1,1,-2257,5500,-1700,6000,9,turn_speed,5,0.1,10,0.1,800,-90);
yuki0701 13:f9867c3b97b0 494 purecurve(3,1,1,-1700,6000,-2257,6550,9,turn_speed,5,0.1,10,0.1,800,-90);
yuki0701 13:f9867c3b97b0 495 gogo_straight(1,1,-2257,6550,-2500,6605,turn_speed,end_speed,5,0.1,10,0.1,800,-90);
yuki0701 13:f9867c3b97b0 496 MaxonControl(0,0,0,0);
yuki0701 13:f9867c3b97b0 497 set_cond(1,0,0,1,6038);
yuki0701 13:f9867c3b97b0 498 pos_correction(-2500,6610,-90,1,0,8);
yuki0701 13:f9867c3b97b0 499 set_cond(2,1,-3162,1,6038);
yuki0701 13:f9867c3b97b0 500 gogo_straight(0,0,-2500,6610,-2700,6610,fruit_speed,fruit_speed,5,0.1,10,0.1,800,-90);
yuki0701 13:f9867c3b97b0 501 MaxonControl(0,0,0,0);
yuki0701 13:f9867c3b97b0 502 enc_correction(1,1);
yuki0701 13:f9867c3b97b0 503
yuki0701 13:f9867c3b97b0 504 T1++;
yuki0701 13:f9867c3b97b0 505 }
yuki0701 13:f9867c3b97b0 506 if(T1 == 5) {
yuki0701 13:f9867c3b97b0 507 while(1) {
yuki0701 13:f9867c3b97b0 508 ManualOut(250,100,500,200);
yuki0701 13:f9867c3b97b0 509 if(T1 == 6) {
yuki0701 13:f9867c3b97b0 510 break;
yuki0701 13:f9867c3b97b0 511 }
yuki0701 13:f9867c3b97b0 512 }
yuki0701 13:f9867c3b97b0 513 }
yuki0701 13:f9867c3b97b0 514 if(T1 == 6) { //りんごの木からお供え台まで移動
yuki0701 13:f9867c3b97b0 515 set_cond(1,0,0,0,6962);
yuki0701 13:f9867c3b97b0 516 gogo_straight(1,0,-2700,6610,-2500,6550,st_speed,max_speed,5,0.1,10,0.1,800,-90);
yuki0701 13:f9867c3b97b0 517 gogo_straight(1,0,-2500,6550,-1300,6550,max_speed,max_speed,5,0.1,10,0.1,800,-90);
yuki0701 13:f9867c3b97b0 518 gogo_straight(1,0,-1300,6550,-850,6550,max_speed,turn_speed,5,0.1,10,0.1,800,-90);
yuki0701 13:f9867c3b97b0 519 enc_correction(0,1);
yuki0701 13:f9867c3b97b0 520 set_cond(2,0,-19,0,6962);
yuki0701 13:f9867c3b97b0 521 purecurve(8,0,0,-850,6550,-620,6000,9,turn_speed,10,0.1,10,0.1,600,-180); //要修正
yuki0701 13:f9867c3b97b0 522 enc_correction(1,0);
yuki0701 13:f9867c3b97b0 523 set_cond(0,0,-19,0,0);
yuki0701 13:f9867c3b97b0 524 gogo_straight(0,1,-620,6000,-620,5500,turn_speed,max_speed,5,0.1,10,0.1,600,-180);
yuki0701 13:f9867c3b97b0 525 gogo_straight(0,1,-620,5500,-620,5000,max_speed,max_speed,5,0.1,10,0.1,600,-180);
yuki0701 13:f9867c3b97b0 526 set_cond(2,1,-1000,1,4000);
yuki0701 13:f9867c3b97b0 527 gogo_straight(0,0,-620,5000,-620,4600,max_speed,end_speed,5,0.1,10,0.1,800,-180);
yuki0701 13:f9867c3b97b0 528 MaxonControl(0,0,0,0);
yuki0701 13:f9867c3b97b0 529 pos_correction(-620,4370,-180,0,0,30);
yuki0701 13:f9867c3b97b0 530 enc_correction(1,1);
yuki0701 13:f9867c3b97b0 531 MaxonControl(0,0,0,0);
yuki0701 13:f9867c3b97b0 532
yuki0701 13:f9867c3b97b0 533 T1++;
yuki0701 13:f9867c3b97b0 534 }
yuki0701 13:f9867c3b97b0 535 if(T1 == 7) {
yuki0701 13:f9867c3b97b0 536 while(1) {
yuki0701 13:f9867c3b97b0 537 //printf("ashi finished\n\r");
yuki0701 13:f9867c3b97b0 538 ManualOut(250,100,500,200);
yuki0701 13:f9867c3b97b0 539 //MaxonControl(0,0,0,0);
yuki0701 13:f9867c3b97b0 540
yuki0701 13:f9867c3b97b0 541 if(id1_value[0] != 1)break; //これらは他のwhileにも入れる必要あり
yuki0701 13:f9867c3b97b0 542 if(id1_value[6] != flag)break;
yuki0701 13:f9867c3b97b0 543 }
yuki0701 13:f9867c3b97b0 544 }
yuki0701 13:f9867c3b97b0 545
yuki0701 13:f9867c3b97b0 546
yuki0701 13:f9867c3b97b0 547
yuki0701 13:f9867c3b97b0 548 break;
yuki0701 13:f9867c3b97b0 549 }
yuki0701 13:f9867c3b97b0 550 // ManualOut(250,100,500,200);
yuki0701 13:f9867c3b97b0 551 //go_waitmode = 0;
la00noix 6:26724c287387 552
la00noix 6:26724c287387 553 break;
la00noix 0:c61c6e4775ca 554 }
la00noix 0:c61c6e4775ca 555 //------------------------------------------------------------------------------------------------------------------------------------//
la00noix 0:c61c6e4775ca 556 }
la00noix 0:c61c6e4775ca 557 }