3/20 13:39
Dependencies: mbed move4wheel2 EC CruizCore_R1370P
Diff: main.cpp
- 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; }