Diff: main.cpp

Revision:

9:63924280272d

Parent:

8:2ba338b4590e

--- a/main.cpp	Thu Mar 07 02:54:55 2019 +0000
+++ b/main.cpp	Thu Mar 07 05:47:18 2019 +0000
@@ -12,6 +12,8 @@
 #define PI 3.141592
 
 //#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
+//#define HARUROBO_MAIN_MODE
 
 int go_waitmode = 0;
 
@@ -36,6 +38,58 @@
 
 #endif
 
+#ifdef HARUROBO_TEST_MODE
+
+    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,-1672,2000,9,1000,5,0.1,10,0.1,600,0);
+    gogo_straight(1,1,-1672,2000,-1672,1400,1000,200,5,0.1,10,0.1,600,0);
+    MaxonControl(0,0,0,0);
+    set_cond(2,0,-1243,1,1076);
+    pos_correction(-1672,1400,0,0,0);
+    enc_correction(1,1);
+    wait(0.5);
+
+    gogo_straight(1,1,-1672,1400,-1672,2000,200,1000,5,0.1,10,0.1,600,0);
+    purecurve(3,1,1,-1672,2000,-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(0,1,-2962,4500,-2850,4500,200,200,5,0.1,10,0.1,800,-90);
+    MaxonControl(0,0,0,0);
+    pos_correction(-2850,4500,-90,0,1);
+    enc_correction(1,0);
+    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(0,0,-2500,6647,-2700,6647,1000,200,5,0.1,10,0.1,800,-90);
+    MaxonControl(0,0,0,0);
+    pos_correction(-2700,6647,-90,0,0);
+    enc_correction(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,-519,6000,9,1000,5,0.1,10,0.1,600,-180);
+    gogo_straight(1,1,-519,6000,-519,4700,1000,1000,5,0.1,10,0.1,600,-180);
+    set_cond(2,1,1243,1,4000);
+    gogo_straight(0,0,-519,4700,-519,4500,1000,200,5,0.1,10,0.1,800,-180);
+    MaxonControl(0,0,0,0);
+    pos_correction(-519,4500,-180,0,0);
+    MaxonControl(0,0,0,0);
+
+#endif
+
+#ifdef HARUROBO_MAIN_MODE
     while(1) {
 
         switch(id1_value[0]) {
@@ -119,4 +173,7 @@
         }
 //------------------------------------------------------------------------------------------------------------------------------------//
     }
+
+#endif
+
 }
\ No newline at end of file