春ロボ1班(元F3RC4班+)
/
harurobo_ashi_3_5
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Dependencies: mbed move4wheel2 EC CruizCore_R1370P
Diff: main.cpp
- Revision:
- 6:26724c287387
- Parent:
- 5:6cebe1c458a9
- Child:
- 7:44ce34007499
diff -r 6cebe1c458a9 -r 26724c287387 main.cpp
--- a/main.cpp Sat Mar 02 07:18:38 2019 +0000
+++ b/main.cpp Sat Mar 02 07:48:18 2019 +0000
@@ -13,143 +13,114 @@
//#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
-#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
-
int go_waitmode = 0;
//-----mbed led------------------//点灯条件-----------------------//参照場所------------------------------//
-//DigitalOut canread_led(LED1); //canread -> on //can.cpp
-//DigitalOut cansend_led(LED2); //cansend -> on //can.cpp
+//DigitalOut cansend_led(LED1); //canread -> on //can.cpp
+//DigitalOut canread_led(LED2); //cansend -> on //can.cpp
//DigitalOut debug_led(LED3); //maxon debug programme -> on //maxonsetting.cpp
//////////////////////////////////////////////////////////////以下main文/////////////////////////////////////////////////////////////////
-int main(){
-
+int main()
+{
UserLoopSetting_maxon();
UserLoopSetting_sensor();
UserLoopSetting_can();
-
+
#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
- printf("ソースファイル名 : %s¥n", __FILE__);
- printf("作成日付 : %s¥n", __DATE__);
- printf("作成時刻 : %s¥n", __TIME__);
-
+ printf("ソースファイル名 : %s¥n", __FILE__);
+ printf("作成日付 : %s¥n", __DATE__);
+ printf("作成時刻 : %s¥n", __TIME__);
+
#endif
-while(1){
-
- id1_value[0] = 1;
-
- switch(id1_value[0]){
-
+ while(1) {
+
+ switch(id1_value[0]) {
//-----auto mode----------------------------------------------------------------------------------------------------------------------//
- case 1:
+ case 1:
+
+ switch(id1_value[6]) {
+ case 0:
+ //-----right mode-------------------------------------------------------------------------------------------------------------//
+
+ break;
+ case 1:
+ //-----left mode--------------------------------------------------------------------------------------------------------------//
+
+ if(go_waitmode == 0) {
-//-----テスト自動プログラム（練習・動作確認用--------------------------------------------------------------------//
-#ifdef HARUROBO_TEST_MODE
-
- if(go_waitmode == 0){
-
- while(1);
- //can_start();
- //set_cond(2,1,-700,1,-700);
- gogo_straight(1,1,-2962,3500,-2962,2900,200,1000,5,0.1,10,0.1,600,0);
- purecurve(7,1,1,-2962,2900,-2317,2500,9,1000,5,0.1,10,0.1,600,0);
- purecurve(8,1,1,-2317,2500,-1610,2000,9,1000,5,0.1,10,0.1,600,0);
- gogo_straight(1,1,-1610,2000,-1610,1250,1000,200,5,0.1,10,0.1,600,0);
- MaxonControl(0,0,0,0);
- set_cond(2,0,-1243,1,1080);
- pos_correction(-1610,1250,0,1,0);
- wait(0.5);
+ //can_start();
+ //set_cond(2,1,-700,1,-700);
+ gogo_straight(1,1,-2962,3500,-2962,2900,200,1000,5,0.1,10,0.1,600,0);
+ purecurve(7,1,1,-2962,2900,-2317,2500,9,1000,5,0.1,10,0.1,600,0);
+ purecurve(8,1,1,-2317,2500,-1610,2000,9,1000,5,0.1,10,0.1,600,0);
+ gogo_straight(1,1,-1610,2000,-1610,1250,1000,200,5,0.1,10,0.1,600,0);
+ MaxonControl(0,0,0,0);
+ set_cond(2,0,-1243,1,1080);
+ pos_correction(-1610,1250,0,1,0);
+ wait(0.5);
+
+ gogo_straight(1,1,-1610,1250,-1610,2000,200,1000,5,0.1,10,0.1,600,0);
+ purecurve(3,1,1,-1610,2000,-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(1,1,-2962,4500,-2850,4500,200,200,5,0.1,10,0.1,800,-90);
+ MaxonControl(0,0,0,0);
+ pos_correction(-2850,4500,-90,1,1);
+ wait(0.5);
- gogo_straight(1,1,-1610,1250,-1610,2000,200,1000,5,0.1,10,0.1,600,0);
- purecurve(3,1,1,-1610,2000,-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(1,1,-2962,4500,-2850,4500,200,200,5,0.1,10,0.1,800,-90);
- MaxonControl(0,0,0,0);
- pos_correction(-2850,4500,-90,1,1);
- 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(2,1,-3500,1,6324);
- gogo_straight(1,1,-2500,6647,-2700,6647,1000,200,5,0.1,10,0.1,800,-90);
- MaxonControl(0,0,0,0);
- pos_correction(-2700,6647,-90,1,1);
- 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,-1000,6647,1000,1000,5,0.1,10,0.1,800,-90);
- purecurve(8,1,1,-1000,6647,-350,6000,9,1000,5,0.1,10,0.1,600,-180);
- gogo_straight(1,1,-350,6000,-350,4700,1000,1000,5,0.1,10,0.1,600,-180);
- set_cond(2,1,1243,1,4000);
- gogo_straight(1,1,-350,4700,-350,4500,1000,200,5,0.1,10,0.1,800,-180);
- MaxonControl(0,0,0,0);
- pos_correction(-400,4500,-180,1,1);
+ 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(2,1,-3500,1,6324);
+ gogo_straight(1,1,-2500,6647,-2700,6647,1000,200,5,0.1,10,0.1,800,-90);
+ MaxonControl(0,0,0,0);
+ pos_correction(-2700,6647,-90,1,1);
+ 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,-1000,6647,1000,1000,5,0.1,10,0.1,800,-90);
+ purecurve(8,1,1,-1000,6647,-350,6000,9,1000,5,0.1,10,0.1,600,-180);
+ gogo_straight(1,1,-350,6000,-350,4700,1000,1000,5,0.1,10,0.1,600,-180);
+ set_cond(2,1,1243,1,4000);
+ gogo_straight(1,1,-350,4700,-350,4500,1000,200,5,0.1,10,0.1,800,-180);
+ MaxonControl(0,0,0,0);
+ pos_correction(-400,4500,-180,1,1);
+
+ go_waitmode = 1;
- go_waitmode = 1;
-
- }else if(go_waitmode == 1){
-
- MaxonControl(0,0,0,0);
-
+ } else if(go_waitmode == 1) {
+
+ MaxonControl(0,0,0,0);
+
+ }
+ break;
+ }
+//-----wait mode----------------------------------------------------------------------------------------------------------------------//
+ case 0:
+
+ calc_xy(0,1,1);
+ ashi_led();
+ MaxonControl(0,0,0,0);
+
+ break;
+//-----manual mode--------------------------------------------------------------------------------------------------------------------//
+ case 2:
+
+ ManualOut(250,100,500,200);
+
+ break;
}
-
-
-#endif
-//--------------------------------------------------------------------------------------------------------//
-
-
-
-
-//-----本番用自動プログラム（右側フィールド用）-------------------------------------------------------------------//
-#ifdef HARUROBO_RIGHT_MODE
-
- //ここに本番用自動プログラム（右側フィールド用）を書く
-
-#endif
-//---------------------------------------------------------------------------------------------------------//
-
-
-
-//-----本番用自動プログラム（左側フィールド用）-------------------------------------------------------------------//
-#ifdef HARUROBO_LEFT_MODE //
-
- //ここに本番用自動プログラム（左側フィールド用）を書く
-
-#endif
-//---------------------------------------------------------------------------------------------------------//
- MaxonControl(0,0,0,0);
- break;
-
-//-----wait mode----------------------------------------------------------------------------------------------------------------------//
- case 0:
-
- 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;
-
-//-----manual mode--------------------------------------------------------------------------------------------------------------------//
- case 2:
-
- ManualOut(250,100,500,200);
-
- break;
//------------------------------------------------------------------------------------------------------------------------------------//
}
-}
}
\ No newline at end of file