Diff: main.cpp

Revision:

10:cf5c159e729a

Parent:

9:63924280272d

--- a/main.cpp	Thu Mar 07 05:47:18 2019 +0000
+++ b/main.cpp	Fri Mar 08 07:09:33 2019 +0000
@@ -40,53 +40,85 @@
 
 #ifdef HARUROBO_TEST_MODE
 
+    id1_value[0] = 1;
+    
+    //while(1);
+
     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);
+    set_cond(2,0,-1050,1,1076);
+    gogo_straight(0,0,-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);
+    purecurve(4,1,1,-2317,2500,-2962,3000,9,1000,5,0.1,10,0.1,600,-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,-2962,4000,1000,1000,5,0.1,10,0.1,600,-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);
+    set_cond(2,0,-2462,0,6000);
+    gogo_straight(0,0,-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);
+    pos_correction(-2850,4500,-90,0,0);
+    enc_correction(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(0,0,-2500,6647,-2700,6647,1000,200,5,0.1,10,0.1,800,-90);
+    purecurve(3,1,1,-1700,6000,-2257,6550,9,1000,5,0.1,10,0.1,800,-90);
+    gogo_straight(1,1,-2257,6550,-2500,6550,1000,1000,5,0.1,10,0.1,800,-90);
+    set_cond(2,1,-3500,1,6050);
+    gogo_straight(0,0,-2500,6550,-2700,6600,1000,200,5,0.1,10,0.1,800,-90);
     MaxonControl(0,0,0,0);
-    pos_correction(-2700,6647,-90,0,0);
+    pos_correction(-2700,6600,-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,-2700,6600,-2500,6550,200,1000,5,0.1,10,0.1,800,-90);
+    gogo_straight(1,1,-2500,6550,-1300,6550,1000,1000,5,0.1,10,0.1,800,-90);
+    gogo_straight(1,1,-1300,6550,-1000,6500,1000,1000,5,0.1,10,0.1,800,-90);
+    purecurve(8,1,1,-1000,6550,-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);
+    set_cond(2,1,-1000,1,4000);
     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);
+    enc_correction(1,1);
     MaxonControl(0,0,0,0);
 
+//以下自動で初期位置に戻るプログラム
+    wait(3);
+    
+    gogo_straight(1,1,-519,4500,-519,5000,200,1000,5,0.1,10,0.1,600,-180);
+    gogo_straight(1,1,-519,5000,-519,6000,1000,1000,5,0.1,10,0.1,600,-180);
+    gogo_straight(1,1,-519,6000,-519,6600,1000,200,5,0.1,10,0.1,600,-180);
+    MaxonControl(0,0,0,0);
+    set_cond(2,0,0,0,7000);
+    pos_correction(-519,6600,-180,0,0);
+    enc_correction(1,1);
+    gogo_straight(1,1,-519,6600,-1000,6600,200,1000,5,0.1,10,0.1,600,-180);
+    purecurve(5,1,1,-1000,6600,-1672,6000,9,1000,5,0.1,10,0.1,600,-180);
+    purecurve(6,1,1,-1672,6000,-2462,5500,9,1000,5,0.1,10,0.1,600,-180);
+    gogo_straight(1,1,-2462,5500,-2962,5500,1000,200,5,0.1,10,0.1,600,-180);
+    MaxonControl(0,0,0,0);
+    set_cond(2,1,-3500,0,6000);
+    pos_correction(-2962,5500,-180,0,0);
+    enc_correction(1,1);
+    gogo_straight(1,1,-2962,5500,-2962,4700,200,1000,5,0.1,10,0.1,600,-90);
+    gogo_straight(1,1,-2962,4700,-2962,4000,1000,1000,5,0.1,10,0.1,600,0);
+    gogo_straight(1,1,-2962,4000,-2962,3500,1000,200,5,0.1,10,0.1,600,0);
+    MaxonControl(0,0,0,0);
+    set_cond(2,1,-3500,1,2000);
+    pos_correction(-3000,3500,0,0,0);
+    enc_correction(1,1);
+    MaxonControl(0,0,0,0);
+    
 #endif
 
 #ifdef HARUROBO_MAIN_MODE