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@9:337fe0747940, 2019-03-06 (annotated)

Committer:
yuki0701
Date:
Wed Mar 06 03:51:08 2019 +0000
Revision:
9:337fe0747940
Parent:
8:4bdfac5b52e1 
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 9:337fe0747940 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 9:337fe0747940 48 printf("T1 = 0\n\r");
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 9:337fe0747940 55 printf("T1 = 1\n\r");
yuki0701 9:337fe0747940 56 wait(0.5);
yuki0701 8:4bdfac5b52e1 57 if(T1 == 2) {
yuki0701 8:4bdfac5b52e1 58 break;
yuki0701 8:4bdfac5b52e1 59 }
yuki0701 8:4bdfac5b52e1 60 }
yuki0701 8:4bdfac5b52e1 61 }
yuki0701 8:4bdfac5b52e1 62
yuki0701 8:4bdfac5b52e1 63 if(T1 == 2) {
yuki0701 8:4bdfac5b52e1 64
yuki0701 8:4bdfac5b52e1 65 //みかんの木から三宝置き場まで移動
yuki0701 9:337fe0747940 66 printf("T1 = 2\n\r");
yuki0701 8:4bdfac5b52e1 67 T1++;
yuki0701 8:4bdfac5b52e1 68 }
yuki0701 8:4bdfac5b52e1 69
yuki0701 8:4bdfac5b52e1 70 if(T1 == 3) {
yuki0701 8:4bdfac5b52e1 71 while(1) {
yuki0701 9:337fe0747940 72 printf("T1 = 3\n\r");
yuki0701 8:4bdfac5b52e1 73 if(T1 == 4) {
yuki0701 9:337fe0747940 74
yuki0701 8:4bdfac5b52e1 75 break;
yuki0701 8:4bdfac5b52e1 76 }
yuki0701 8:4bdfac5b52e1 77 }
yuki0701 8:4bdfac5b52e1 78 }
yuki0701 8:4bdfac5b52e1 79
yuki0701 8:4bdfac5b52e1 80 if(T1 == 4) {
yuki0701 8:4bdfac5b52e1 81
yuki0701 8:4bdfac5b52e1 82 //三宝置き場からりんごの木まで移動
yuki0701 8:4bdfac5b52e1 83 printf("t = 4");
yuki0701 8:4bdfac5b52e1 84 T1++;
yuki0701 8:4bdfac5b52e1 85 }
yuki0701 8:4bdfac5b52e1 86
yuki0701 8:4bdfac5b52e1 87 if(T1 == 5) {
yuki0701 8:4bdfac5b52e1 88 while(1) {
yuki0701 8:4bdfac5b52e1 89 if(T1 == 6) {
yuki0701 8:4bdfac5b52e1 90 break;
yuki0701 8:4bdfac5b52e1 91 }
yuki0701 8:4bdfac5b52e1 92 }
yuki0701 8:4bdfac5b52e1 93 }
yuki0701 8:4bdfac5b52e1 94
yuki0701 8:4bdfac5b52e1 95 if(T1 == 6) {
yuki0701 8:4bdfac5b52e1 96
yuki0701 8:4bdfac5b52e1 97 //りんごの木からお供え台まで移動
yuki0701 8:4bdfac5b52e1 98 printf("t = 6");
yuki0701 8:4bdfac5b52e1 99 T1++;
yuki0701 8:4bdfac5b52e1 100 }
yuki0701 8:4bdfac5b52e1 101 #endif
yuki0701 8:4bdfac5b52e1 102
yuki0701 8:4bdfac5b52e1 103 #ifdef HARUROBO_MAIN_MODE
la00noix 6:26724c287387 104 while(1) {
la00noix 6:26724c287387 105
yuki0701 8:4bdfac5b52e1 106 id1_value[0] = 1;
la00noix 6:26724c287387 107 switch(id1_value[0]) {
la00noix 0:c61c6e4775ca 108 //-----auto mode----------------------------------------------------------------------------------------------------------------------//
la00noix 6:26724c287387 109 case 1:
la00noix 6:26724c287387 110
yuki0701 8:4bdfac5b52e1 111 id1_value[6] = 1;
la00noix 6:26724c287387 112 switch(id1_value[6]) {
la00noix 6:26724c287387 113 case 0:
la00noix 6:26724c287387 114 //-----right mode-------------------------------------------------------------------------------------------------------------//
la00noix 6:26724c287387 115
la00noix 6:26724c287387 116 break;
la00noix 6:26724c287387 117 case 1:
la00noix 6:26724c287387 118 //-----left mode--------------------------------------------------------------------------------------------------------------//
la00noix 6:26724c287387 119
yuki0701 8:4bdfac5b52e1 120 go_waitmode = 0;
la00noix 6:26724c287387 121 if(go_waitmode == 0) {
la00noix 0:c61c6e4775ca 122
yuki0701 8:4bdfac5b52e1 123
yuki0701 9:337fe0747940 124
la00noix 6:26724c287387 125 //can_start();
la00noix 6:26724c287387 126 gogo_straight(1,1,-2962,3500,-2962,2900,200,1000,5,0.1,10,0.1,600,0);
la00noix 6:26724c287387 127 purecurve(7,1,1,-2962,2900,-2317,2500,9,1000,5,0.1,10,0.1,600,0);
yuki0701 9:337fe0747940 128 purecurve(8,1,1,-2317,2500,-1672,2000,9,1000,5,0.1,10,0.1,600,0);
yuki0701 9:337fe0747940 129 gogo_straight(1,1,-1672,2000,-1672,1400,1000,200,5,0.1,10,0.1,600,0);
la00noix 6:26724c287387 130 MaxonControl(0,0,0,0);
yuki0701 9:337fe0747940 131 set_cond(2,0,-1243,1,1076);
yuki0701 9:337fe0747940 132 pos_correction(-1672,1400,0,0,0);
yuki0701 9:337fe0747940 133 enc_correction(1,1);
la00noix 6:26724c287387 134 wait(0.5);
la00noix 6:26724c287387 135
yuki0701 9:337fe0747940 136 gogo_straight(1,1,-1672,1400,-1672,2000,200,1000,5,0.1,10,0.1,600,0);
yuki0701 9:337fe0747940 137 purecurve(3,1,1,-1672,2000,-2317,2500,9,1000,5,0.1,10,0.1,600,0);
la00noix 6:26724c287387 138 purecurve(4,1,1,-2317,2500,-2962,3000,9,1000,5,0.1,10,0.1,600,-90);
la00noix 6:26724c287387 139 gogo_straight(1,1,-2962,3000,-2962,4000,1000,1000,5,0.1,10,0.1,600,-90);
la00noix 6:26724c287387 140 gogo_straight(1,1,-2962,4000,-2962,4500,1000,200,5,0.1,10,0.1,600,-90);
la00noix 6:26724c287387 141 MaxonControl(0,0,0,0);
la00noix 6:26724c287387 142 pos_correction(-2962,4500,-90,1,1);
la00noix 6:26724c287387 143
la00noix 6:26724c287387 144 set_cond(0,0,-2462,0,0);
yuki0701 8:4bdfac5b52e1 145 gogo_straight(0,1,-2962,4500,-2850,4500,200,200,5,0.1,10,0.1,800,-90);
la00noix 6:26724c287387 146 MaxonControl(0,0,0,0);
yuki0701 9:337fe0747940 147 pos_correction(-2850,4500,-90,0,1);
yuki0701 9:337fe0747940 148 enc_correction(1,0);
la00noix 6:26724c287387 149 wait(0.5);
yuki0701 1:3c11e07da92a 150
la00noix 6:26724c287387 151 gogo_straight(1,1,-2850,4500,-2850,5150,200,1000,5,0.1,10,0.1,800,-90);
la00noix 6:26724c287387 152 purecurve(2,1,1,-2850,5150,-2257,5500,9,1000,5,0.1,10,0.1,800,-90);
la00noix 6:26724c287387 153 purecurve(1,1,1,-2257,5500,-1700,6000,9,1000,5,0.1,10,0.1,800,-90);
la00noix 6:26724c287387 154 purecurve(3,1,1,-1700,6000,-2257,6647,9,1000,5,0.1,10,0.1,800,-90);
la00noix 6:26724c287387 155 gogo_straight(1,1,-2257,6647,-2500,6647,1000,1000,5,0.1,10,0.1,800,-90);
la00noix 6:26724c287387 156 set_cond(2,1,-3500,1,6324);
yuki0701 8:4bdfac5b52e1 157 gogo_straight(0,0,-2500,6647,-2700,6647,1000,200,5,0.1,10,0.1,800,-90);
la00noix 6:26724c287387 158 MaxonControl(0,0,0,0);
yuki0701 9:337fe0747940 159 pos_correction(-2700,6647,-90,0,0);
yuki0701 9:337fe0747940 160 enc_correction(1,1);
la00noix 6:26724c287387 161 wait(0.5);
la00noix 6:26724c287387 162
la00noix 6:26724c287387 163 gogo_straight(1,1,-2700,6647,-2500,6647,200,1000,5,0.1,10,0.1,800,-90);
la00noix 6:26724c287387 164 gogo_straight(1,1,-2500,6647,-1000,6647,1000,1000,5,0.1,10,0.1,800,-90);
yuki0701 9:337fe0747940 165 purecurve(8,1,1,-1000,6647,-519,6000,9,1000,5,0.1,10,0.1,600,-180);
yuki0701 9:337fe0747940 166 gogo_straight(1,1,-519,6000,-519,4700,1000,1000,5,0.1,10,0.1,600,-180);
la00noix 6:26724c287387 167 set_cond(2,1,1243,1,4000);
yuki0701 9:337fe0747940 168 gogo_straight(0,0,-519,4700,-519,4500,1000,200,5,0.1,10,0.1,800,-180);
la00noix 6:26724c287387 169 MaxonControl(0,0,0,0);
yuki0701 9:337fe0747940 170 pos_correction(-519,4500,-180,0,0);
yuki0701 8:4bdfac5b52e1 171 MaxonControl(0,0,0,0);
yuki0701 9:337fe0747940 172
la00noix 6:26724c287387 173 go_waitmode = 1;
yuki0701 1:3c11e07da92a 174
la00noix 6:26724c287387 175 } else if(go_waitmode == 1) {
la00noix 6:26724c287387 176
la00noix 6:26724c287387 177 MaxonControl(0,0,0,0);
la00noix 6:26724c287387 178
la00noix 6:26724c287387 179 }
la00noix 6:26724c287387 180 break;
la00noix 6:26724c287387 181 }
la00noix 6:26724c287387 182 //-----wait mode----------------------------------------------------------------------------------------------------------------------//
la00noix 6:26724c287387 183 case 0:
la00noix 6:26724c287387 184
la00noix 6:26724c287387 185 calc_xy(0,1,1);
la00noix 6:26724c287387 186 ashi_led();
la00noix 6:26724c287387 187 MaxonControl(0,0,0,0);
la00noix 7:44ce34007499 188 go_waitmode = 0;
la00noix 6:26724c287387 189
la00noix 6:26724c287387 190 break;
la00noix 6:26724c287387 191 //-----manual mode--------------------------------------------------------------------------------------------------------------------//
la00noix 6:26724c287387 192 case 2:
la00noix 6:26724c287387 193
la00noix 6:26724c287387 194 ManualOut(250,100,500,200);
la00noix 7:44ce34007499 195 go_waitmode = 0;
la00noix 6:26724c287387 196
la00noix 6:26724c287387 197 break;
la00noix 0:c61c6e4775ca 198 }
la00noix 0:c61c6e4775ca 199 //------------------------------------------------------------------------------------------------------------------------------------//
la00noix 0:c61c6e4775ca 200 }
yuki0701 8:4bdfac5b52e1 201 #endif
yuki0701 8:4bdfac5b52e1 202 }
yuki0701 8:4bdfac5b52e1 203