3/20 13:39

Dependencies:   mbed move4wheel2 EC CruizCore_R1370P

Revision:
13:f9867c3b97b0
Parent:
12:762061580168
Child:
14:6c1b36c55915
--- a/main.cpp	Tue Mar 19 14:31:24 2019 +0000
+++ b/main.cpp	Tue Mar 19 17:03:27 2019 +0000
@@ -144,7 +144,7 @@
                             }
                         }
                         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(1,0,2700,6610,2500,6550,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);
@@ -307,9 +307,248 @@
                 break;
 //-----manual mode--------------------------------------------------------------------------------------------------------------------//
             case 2:
+                switch(id1_value[6]) {
+                    case 0:
+                        //-----right mode-------------------------------------------------------------------------------------------------------------//
+                        //未修正
 
-                ManualOut(250,100,500,200);
-                go_waitmode = 0;
+                        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(1,1,3112,3500,2962,3100,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,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(0,0,1672,1600,1672,1375,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) {
+                            while(1) {
+                                ManualOut(250,100,500,200);
+                                //calc_xy(0,0,0);
+                                if(T1 == 2) {
+                                    //  enc_correction(1,1);
+                                    break;
+                                }
+                            }
+                        }
+                        if(T1 == 2) {  //みかんの木から三宝置き場まで移動
+
+                            gogo_straight(1,1,1672,1375,1672,2000,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);
+                            set_cond(2,1,2462,0,6000);
+                            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);
+
+                            //printf("t1 = 2\n\r");
+                            //wait(1);
+                            T1++;
+                        }
+                        if(T1 == 3) {
+                            while(1) {
+                                ManualOut(250,100,500,200);
+                                //calc_xy(90,0,0);
+                                if(T1 == 4) {
+                                    //  enc_correction(1,1);
+                                    break;
+                                }
+                            }
+                        }
+                        if(T1 == 4) {  //三宝置き場からりんごの木まで移動
+
+                            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);
+                            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);
+
+                            // printf("t1 = 4\n\r");
+                            // wait(1);
+                            T1++;
+                        }
+                        if(T1 == 5) {
+                            while(1) {
+                                ManualOut(250,100,500,200);
+                                //calc_xy(90,0,0);
+                                if(T1 == 6) {
+                                    //  enc_correction(1,1);
+                                    break;
+                                }
+                            }
+                        }
+                        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(1,0,2700,6610,2500,6550,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(620,4370,180,0,0,30);
+                            enc_correction(1,1);
+                            MaxonControl(0,0,0,0);
+
+                            // printf("t1 = 6\n\r");
+                            // wait(1);
+                            T1++;
+                        }
+                        if(T1 == 7) {
+                            while(1) {
+                                ManualOut(250,100,500,200);
+                                //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;
+                        printf("start\n\r");
+                        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,-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);
+                            MaxonControl(0,0,0,0);
+                            pos_correction(-1672,1600,0,0,0,25);
+                            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);
+
+                            T1++;
+                        }
+                        
+                        if(T1 == 1) {
+                            while(1) {
+                                ManualOut(250,100,500,200);
+                                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,-1672,1375,-1672,2000,st_speed,turn_speed,5,0.1,10,0.1,600,0);
+                            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,-2962,4810,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,-90,0,0,10);
+                            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);
+
+                            T1++;
+                        }
+                        if(T1 == 3) {
+                            while(1) {
+                                ManualOut(250,100,500,200);
+                                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,-2782,4837.5,-2782,5150,st_speed,turn_speed,5,0.1,10,0.1,800,-90);
+                            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,-2500,6605,turn_speed,end_speed,5,0.1,10,0.1,800,-90);
+                            MaxonControl(0,0,0,0);
+                            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,-2500,6610,-2700,6610,fruit_speed,fruit_speed,5,0.1,10,0.1,800,-90);
+                            MaxonControl(0,0,0,0);
+                            enc_correction(1,1);
+
+                            T1++;
+                        }
+                        if(T1 == 5) {
+                            while(1) {
+                                ManualOut(250,100,500,200);
+                                if(T1 == 6) {
+                                    break;
+                                }
+                            }
+                        }
+                        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,-2700,6610,-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,-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,-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,-620,5000,-620,4600,max_speed,end_speed,5,0.1,10,0.1,800,-180);
+                            MaxonControl(0,0,0,0);
+                            pos_correction(-620,4370,-180,0,0,30);
+                            enc_correction(1,1);
+                            MaxonControl(0,0,0,0);
+
+                            T1++;
+                        }
+                        if(T1 == 7) {
+                            while(1) {
+                                //printf("ashi finished\n\r");
+                                ManualOut(250,100,500,200);
+                                //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;
+                }
+               // ManualOut(250,100,500,200);
+                //go_waitmode = 0;
 
                 break;
         }