春ロボ1班(元F3RC4班+) / Mbed 2 deprecated harurobo_ashi_3_6

3/6

Dependencies:   mbed move4wheel2 EC CruizCore_R1370P

main.cpp@8:4bdfac5b52e1, 2019-03-05 (annotated)

Committer:
yuki0701
Date:
Tue Mar 05 04:29:49 2019 +0000
Revision:
8:4bdfac5b52e1
Parent:
7:44ce34007499
Child:
9:337fe0747940
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
yuki0701 8:4bdfac5b52e1 15 #define HARUROBO_TEST_MODE
yuki0701 8:4bdfac5b52e1 16 //#define HARUROBO_MAIN_MODE
la00noix 0:c61c6e4775ca 17
la00noix 0:c61c6e4775ca 18 int go_waitmode = 0;
la00noix 0:c61c6e4775ca 19
la00noix 0:c61c6e4775ca 20 //-----mbed led------------------//点灯条件-----------------------//参照場所------------------------------//
la00noix 6:26724c287387 21 //DigitalOut cansend_led(LED1); //canread -> on //can.cpp
la00noix 6:26724c287387 22 //DigitalOut canread_led(LED2); //cansend -> on //can.cpp
la00noix 0:c61c6e4775ca 23 //DigitalOut debug_led(LED3); //maxon debug programme -> on //maxonsetting.cpp
la00noix 0:c61c6e4775ca 24
la00noix 0:c61c6e4775ca 25 //////////////////////////////////////////////////////////////以下main文/////////////////////////////////////////////////////////////////
la00noix 0:c61c6e4775ca 26
la00noix 6:26724c287387 27 int main()
la00noix 6:26724c287387 28 {
la00noix 0:c61c6e4775ca 29 UserLoopSetting_maxon();
la00noix 0:c61c6e4775ca 30 UserLoopSetting_sensor();
la00noix 0:c61c6e4775ca 31 UserLoopSetting_can();
la00noix 6:26724c287387 32
la00noix 0:c61c6e4775ca 33 #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 34
la00noix 6:26724c287387 35 printf("ソースファイル名 : %s¥n", __FILE__);
la00noix 6:26724c287387 36 printf("作成日付 : %s¥n", __DATE__);
la00noix 6:26724c287387 37 printf("作成時刻 : %s¥n", __TIME__);
la00noix 6:26724c287387 38
la00noix 0:c61c6e4775ca 39 #endif
la00noix 0:c61c6e4775ca 40
yuki0701 8:4bdfac5b52e1 41 #ifdef HARUROBO_TEST_MODE
yuki0701 8:4bdfac5b52e1 42 T1 = 0;
yuki0701 8:4bdfac5b52e1 43 printf("start\n\r");
yuki0701 8:4bdfac5b52e1 44 printf("T1 = %d\n\r",T1);
yuki0701 8:4bdfac5b52e1 45 if(T1 == 0) {
yuki0701 8:4bdfac5b52e1 46
yuki0701 8:4bdfac5b52e1 47 //スタート位置からみかんの木まで移動
yuki0701 8:4bdfac5b52e1 48 printf("t = 0");
yuki0701 8:4bdfac5b52e1 49 T1++;
yuki0701 8:4bdfac5b52e1 50 //printf("t = %d\n\r",T1);
yuki0701 8:4bdfac5b52e1 51 }
yuki0701 8:4bdfac5b52e1 52
yuki0701 8:4bdfac5b52e1 53 if(T1 == 1) {
yuki0701 8:4bdfac5b52e1 54 while(1) {
yuki0701 8:4bdfac5b52e1 55 //printf("wait\n\r");
yuki0701 8:4bdfac5b52e1 56 if(T1 == 2) {
yuki0701 8:4bdfac5b52e1 57 break;
yuki0701 8:4bdfac5b52e1 58 }
yuki0701 8:4bdfac5b52e1 59 }
yuki0701 8:4bdfac5b52e1 60 }
yuki0701 8:4bdfac5b52e1 61
yuki0701 8:4bdfac5b52e1 62 if(T1 == 2) {
yuki0701 8:4bdfac5b52e1 63
yuki0701 8:4bdfac5b52e1 64 //みかんの木から三宝置き場まで移動
yuki0701 8:4bdfac5b52e1 65 printf("t = 2");
yuki0701 8:4bdfac5b52e1 66 T1++;
yuki0701 8:4bdfac5b52e1 67 }
yuki0701 8:4bdfac5b52e1 68
yuki0701 8:4bdfac5b52e1 69 if(T1 == 3) {
yuki0701 8:4bdfac5b52e1 70 while(1) {
yuki0701 8:4bdfac5b52e1 71 if(T1 == 4) {
yuki0701 8:4bdfac5b52e1 72 break;
yuki0701 8:4bdfac5b52e1 73 }
yuki0701 8:4bdfac5b52e1 74 }
yuki0701 8:4bdfac5b52e1 75 }
yuki0701 8:4bdfac5b52e1 76
yuki0701 8:4bdfac5b52e1 77 if(T1 == 4) {
yuki0701 8:4bdfac5b52e1 78
yuki0701 8:4bdfac5b52e1 79 //三宝置き場からりんごの木まで移動
yuki0701 8:4bdfac5b52e1 80 printf("t = 4");
yuki0701 8:4bdfac5b52e1 81 T1++;
yuki0701 8:4bdfac5b52e1 82 }
yuki0701 8:4bdfac5b52e1 83
yuki0701 8:4bdfac5b52e1 84 if(T1 == 5) {
yuki0701 8:4bdfac5b52e1 85 while(1) {
yuki0701 8:4bdfac5b52e1 86 if(T1 == 6) {
yuki0701 8:4bdfac5b52e1 87 break;
yuki0701 8:4bdfac5b52e1 88 }
yuki0701 8:4bdfac5b52e1 89 }
yuki0701 8:4bdfac5b52e1 90 }
yuki0701 8:4bdfac5b52e1 91
yuki0701 8:4bdfac5b52e1 92 if(T1 == 6) {
yuki0701 8:4bdfac5b52e1 93
yuki0701 8:4bdfac5b52e1 94 //りんごの木からお供え台まで移動
yuki0701 8:4bdfac5b52e1 95 printf("t = 6");
yuki0701 8:4bdfac5b52e1 96 T1++;
yuki0701 8:4bdfac5b52e1 97 }
yuki0701 8:4bdfac5b52e1 98 #endif
yuki0701 8:4bdfac5b52e1 99
yuki0701 8:4bdfac5b52e1 100 #ifdef HARUROBO_MAIN_MODE
la00noix 6:26724c287387 101 while(1) {
la00noix 6:26724c287387 102
yuki0701 8:4bdfac5b52e1 103 id1_value[0] = 1;
la00noix 6:26724c287387 104 switch(id1_value[0]) {
la00noix 0:c61c6e4775ca 105 //-----auto mode----------------------------------------------------------------------------------------------------------------------//
la00noix 6:26724c287387 106 case 1:
la00noix 6:26724c287387 107
yuki0701 8:4bdfac5b52e1 108 id1_value[6] = 1;
la00noix 6:26724c287387 109 switch(id1_value[6]) {
la00noix 6:26724c287387 110 case 0:
la00noix 6:26724c287387 111 //-----right mode-------------------------------------------------------------------------------------------------------------//
la00noix 6:26724c287387 112
la00noix 6:26724c287387 113 break;
la00noix 6:26724c287387 114 case 1:
la00noix 6:26724c287387 115 //-----left mode--------------------------------------------------------------------------------------------------------------//
la00noix 6:26724c287387 116
yuki0701 8:4bdfac5b52e1 117 go_waitmode = 0;
la00noix 6:26724c287387 118 if(go_waitmode == 0) {
la00noix 0:c61c6e4775ca 119
yuki0701 8:4bdfac5b52e1 120
yuki0701 8:4bdfac5b52e1 121
la00noix 6:26724c287387 122 //can_start();
la00noix 6:26724c287387 123 gogo_straight(1,1,-2962,3500,-2962,2900,200,1000,5,0.1,10,0.1,600,0);
la00noix 6:26724c287387 124 purecurve(7,1,1,-2962,2900,-2317,2500,9,1000,5,0.1,10,0.1,600,0);
la00noix 6:26724c287387 125 purecurve(8,1,1,-2317,2500,-1610,2000,9,1000,5,0.1,10,0.1,600,0);
la00noix 6:26724c287387 126 gogo_straight(1,1,-1610,2000,-1610,1250,1000,200,5,0.1,10,0.1,600,0);
la00noix 6:26724c287387 127 MaxonControl(0,0,0,0);
yuki0701 8:4bdfac5b52e1 128 set_cond(2,0,-1243,1,800);
la00noix 6:26724c287387 129 pos_correction(-1610,1250,0,1,0);
la00noix 6:26724c287387 130 wait(0.5);
la00noix 6:26724c287387 131
la00noix 6:26724c287387 132 gogo_straight(1,1,-1610,1250,-1610,2000,200,1000,5,0.1,10,0.1,600,0);
la00noix 6:26724c287387 133 purecurve(3,1,1,-1610,2000,-2317,2500,9,1000,5,0.1,10,0.1,600,0);
la00noix 6:26724c287387 134 purecurve(4,1,1,-2317,2500,-2962,3000,9,1000,5,0.1,10,0.1,600,-90);
la00noix 6:26724c287387 135 gogo_straight(1,1,-2962,3000,-2962,4000,1000,1000,5,0.1,10,0.1,600,-90);
la00noix 6:26724c287387 136 gogo_straight(1,1,-2962,4000,-2962,4500,1000,200,5,0.1,10,0.1,600,-90);
la00noix 6:26724c287387 137 MaxonControl(0,0,0,0);
la00noix 6:26724c287387 138 pos_correction(-2962,4500,-90,1,1);
la00noix 6:26724c287387 139
la00noix 6:26724c287387 140 set_cond(0,0,-2462,0,0);
yuki0701 8:4bdfac5b52e1 141 gogo_straight(0,1,-2962,4500,-2850,4500,200,200,5,0.1,10,0.1,800,-90);
la00noix 6:26724c287387 142 MaxonControl(0,0,0,0);
la00noix 6:26724c287387 143 pos_correction(-2850,4500,-90,1,1);
la00noix 6:26724c287387 144 wait(0.5);
yuki0701 1:3c11e07da92a 145
la00noix 6:26724c287387 146 gogo_straight(1,1,-2850,4500,-2850,5150,200,1000,5,0.1,10,0.1,800,-90);
la00noix 6:26724c287387 147 purecurve(2,1,1,-2850,5150,-2257,5500,9,1000,5,0.1,10,0.1,800,-90);
la00noix 6:26724c287387 148 purecurve(1,1,1,-2257,5500,-1700,6000,9,1000,5,0.1,10,0.1,800,-90);
la00noix 6:26724c287387 149 purecurve(3,1,1,-1700,6000,-2257,6647,9,1000,5,0.1,10,0.1,800,-90);
la00noix 6:26724c287387 150 gogo_straight(1,1,-2257,6647,-2500,6647,1000,1000,5,0.1,10,0.1,800,-90);
la00noix 6:26724c287387 151 set_cond(2,1,-3500,1,6324);
yuki0701 8:4bdfac5b52e1 152 gogo_straight(0,0,-2500,6647,-2700,6647,1000,200,5,0.1,10,0.1,800,-90);
la00noix 6:26724c287387 153 MaxonControl(0,0,0,0);
la00noix 6:26724c287387 154 pos_correction(-2700,6647,-90,1,1);
la00noix 6:26724c287387 155 wait(0.5);
la00noix 6:26724c287387 156
la00noix 6:26724c287387 157 gogo_straight(1,1,-2700,6647,-2500,6647,200,1000,5,0.1,10,0.1,800,-90);
la00noix 6:26724c287387 158 gogo_straight(1,1,-2500,6647,-1000,6647,1000,1000,5,0.1,10,0.1,800,-90);
la00noix 6:26724c287387 159 purecurve(8,1,1,-1000,6647,-350,6000,9,1000,5,0.1,10,0.1,600,-180);
la00noix 6:26724c287387 160 gogo_straight(1,1,-350,6000,-350,4700,1000,1000,5,0.1,10,0.1,600,-180);
la00noix 6:26724c287387 161 set_cond(2,1,1243,1,4000);
yuki0701 8:4bdfac5b52e1 162 gogo_straight(0,0,-350,4700,-350,4500,1000,200,5,0.1,10,0.1,800,-180);
la00noix 6:26724c287387 163 MaxonControl(0,0,0,0);
la00noix 6:26724c287387 164 pos_correction(-400,4500,-180,1,1);
yuki0701 8:4bdfac5b52e1 165 MaxonControl(0,0,0,0);
yuki0701 8:4bdfac5b52e1 166
la00noix 6:26724c287387 167 go_waitmode = 1;
yuki0701 1:3c11e07da92a 168
la00noix 6:26724c287387 169 } else if(go_waitmode == 1) {
la00noix 6:26724c287387 170
la00noix 6:26724c287387 171 MaxonControl(0,0,0,0);
la00noix 6:26724c287387 172
la00noix 6:26724c287387 173 }
la00noix 6:26724c287387 174 break;
la00noix 6:26724c287387 175 }
la00noix 6:26724c287387 176 //-----wait mode----------------------------------------------------------------------------------------------------------------------//
la00noix 6:26724c287387 177 case 0:
la00noix 6:26724c287387 178
la00noix 6:26724c287387 179 calc_xy(0,1,1);
la00noix 6:26724c287387 180 ashi_led();
la00noix 6:26724c287387 181 MaxonControl(0,0,0,0);
la00noix 7:44ce34007499 182 go_waitmode = 0;
la00noix 6:26724c287387 183
la00noix 6:26724c287387 184 break;
la00noix 6:26724c287387 185 //-----manual mode--------------------------------------------------------------------------------------------------------------------//
la00noix 6:26724c287387 186 case 2:
la00noix 6:26724c287387 187
la00noix 6:26724c287387 188 ManualOut(250,100,500,200);
la00noix 7:44ce34007499 189 go_waitmode = 0;
la00noix 6:26724c287387 190
la00noix 6:26724c287387 191 break;
la00noix 0:c61c6e4775ca 192 }
la00noix 0:c61c6e4775ca 193 //------------------------------------------------------------------------------------------------------------------------------------//
la00noix 0:c61c6e4775ca 194 }
yuki0701 8:4bdfac5b52e1 195 #endif
yuki0701 8:4bdfac5b52e1 196 }
yuki0701 8:4bdfac5b52e1 197