can出来ない~
Dependencies: mbed move4wheel2 EC CruizCore_R1370P
Diff: main.cpp
- Revision:
- 1:3c11e07da92a
- Parent:
- 0:c61c6e4775ca
- Child:
- 2:7cba05e70367
diff -r c61c6e4775ca -r 3c11e07da92a main.cpp --- a/main.cpp Wed Feb 13 03:02:19 2019 +0000 +++ b/main.cpp Mon Feb 25 06:18:09 2019 +0000 @@ -42,6 +42,8 @@ while(1){ + id1_value[0] = 0; + switch(id1_value[0]){ //-----auto mode----------------------------------------------------------------------------------------------------------------------// @@ -51,20 +53,53 @@ #ifdef HARUROBO_TEST_MODE if(go_waitmode == 0){ - - purecurve(1,1,1, - 0,0, - 1000,1000, - 9, - 1000,5,0.1,10,0.1,500,0); - gogo_straight(1,1, - 1000,1000, - 1000,2000, - 1000,1000, - 5,0.1,10,0.1,600,0); - MaxonControl(0,0,0,0); - - go_waitmode = 1; + + can_start(); + // set_cond(2,1,-700,1,-700); + gogo_straight(1,1,-2962,3500,-2962,3000,200,1000,5,0.1,10,0.1,600,0); + purecurve(7,1,1,-2962,3000,-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,-1672,1500,1000,200,5,0.1,10,0.1,600,0); + MaxonControl(0,0,0,0); + set_cond(2,0,-1243,1,1076); + pos_correction(-1672,1500,0,0,0); + wait(0.5); + + gogo_straight(1,1,-1672,1500,-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); + 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(1,0,0,0,7000); + gogo_straight(1,0,-2500,6647,-2700,6647,1000,200,5,0.1,10,0.1,800,90); + MaxonControl(0,0,0,0); + pos_correction(-2700,6647,90,1,0); + 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,-1243,6647,1000,1000,5,0.1,10,0.1,800,90); + purecurve(8,1,1,-1243,6647,-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(2,0,0,1,4000); + 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); + + go_waitmode = 1; }else if(go_waitmode == 1){ @@ -105,6 +140,7 @@ 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;