春ロボ1班(元F3RC4班+) / Mbed 2 deprecated harurobo_mbed_undercarriage_sub_2_26

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Dependencies:   Harurobo_CAN_2_26 mbed Maxon_setting_1_11 move4wheel2 EC PathFollowing_2_26 CruizCore_R1370P

main.cpp@5:51aa9e3256c5, 2019-02-08 (annotated)

Committer:
yuki0701
Date:
Fri Feb 08 06:53:37 2019 +0000
Revision:
5:51aa9e3256c5
Parent:
4:deac46c43ef4
Child:
6:405c665a75f6
a

Who changed what in which revision?

UserRevisionLine numberNew contents of line
yuki0701 3:112c4ddf324d 1 #include <mbed.h>
yuki0701 0:f0f40dddc0c4 2 #include "EC.h"
yuki0701 0:f0f40dddc0c4 3 #include "R1370P.h"
yuki0701 0:f0f40dddc0c4 4 #include "move4wheel.h"
yuki0701 0:f0f40dddc0c4 5 #include "PathFollowing.h"
yuki0701 1:0c9f53f5c9d0 6 #include "Maxon_setting.h"
yuki0701 3:112c4ddf324d 7 #include "Harurobo_CAN.h"
yuki0701 0:f0f40dddc0c4 8
yuki0701 3:112c4ddf324d 9 #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 3:112c4ddf324d 10
yuki0701 3:112c4ddf324d 11 #define HARUROBO_TEST_MODE //テスト自動プログラム（練習・動作確認用）使用時に定義
yuki0701 3:112c4ddf324d 12 //#define HARUROBO_RIGHT_MODE //本番用自動プログラム（右側フィールド）使用時に定義
yuki0701 3:112c4ddf324d 13 //#define HARUROBO_LEFT_MODE //本番用自動プログラム（左側フィールド）使用時に定義
yuki0701 3:112c4ddf324d 14
yuki0701 1:0c9f53f5c9d0 15 Ticker ticker;
yuki0701 0:f0f40dddc0c4 16
yuki0701 3:112c4ddf324d 17 //////////////////////////////////////////////////////////////以下main文/////////////////////////////////////////////////////////////////
yuki0701 3:112c4ddf324d 18
yuki0701 3:112c4ddf324d 19 int main()
yuki0701 4:deac46c43ef4 20 {
yuki0701 3:112c4ddf324d 21 UserLoopSetting(); //Maxon関連設定関数
yuki0701 3:112c4ddf324d 22 UserLoopSetting2(); //PathFollowing関連設定関数
yuki0701 3:112c4ddf324d 23
yuki0701 4:deac46c43ef4 24 #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
yuki0701 3:112c4ddf324d 25
yuki0701 4:deac46c43ef4 26 printf("ソースファイル名 : %s\n\r", __FILE__);
yuki0701 4:deac46c43ef4 27 printf("作成日付 : %s\n\r", __DATE__);
yuki0701 4:deac46c43ef4 28 printf("作成時刻 : %s\n\r", __TIME__); //イギリスの時間（9時間前）の時間が表示される。
yuki0701 3:112c4ddf324d 29
yuki0701 3:112c4ddf324d 30 #endif
yuki0701 3:112c4ddf324d 31
yuki0701 3:112c4ddf324d 32
yuki0701 0:f0f40dddc0c4 33
yuki0701 3:112c4ddf324d 34
yuki0701 3:112c4ddf324d 35 /////////////以下自動モードプログラム/////////////
yuki0701 3:112c4ddf324d 36
yuki0701 3:112c4ddf324d 37 #ifdef HARUROBO_TEST_MODE //テスト自動プログラム（練習・動作確認用）
yuki0701 3:112c4ddf324d 38
yuki0701 3:112c4ddf324d 39 //Debug_Control();
yuki0701 3:112c4ddf324d 40
yuki0701 5:51aa9e3256c5 41 gogo_straight(1,1,0,0,0,-300,200,1000,5,0.1,10,0.1,600,0);
yuki0701 5:51aa9e3256c5 42 purecurve2(6,1,1,0,-300,-600,-1000,9,1000,5,0.1,10,0.1,600,0);
yuki0701 5:51aa9e3256c5 43 purecurve2(5,1,1,-600,-1000,-1200,-1700,9,1000,5,0.1,10,0.1,600,0);
yuki0701 5:51aa9e3256c5 44 gogo_straight(1,1,-1200,-1700,-1200,-2000,1000,200,5,0.1,10,0.1,600,0);
yuki0701 5:51aa9e3256c5 45 MotorControl(0,0,0,0);
yuki0701 5:51aa9e3256c5 46 pos_correction(-1200,-2000,0,1,1);
yuki0701 5:51aa9e3256c5 47 wait(0.5);
yuki0701 5:51aa9e3256c5 48
yuki0701 5:51aa9e3256c5 49 gogo_straight(1,1,-1200,-2000,-1200,-1700,200,1000,5,0.1,10,0.1,600,0);
yuki0701 5:51aa9e3256c5 50 purecurve2(2,1,1,-1200,-1700,-600,-1000,9,1000,5,0.1,10,0.1,600,0);
yuki0701 5:51aa9e3256c5 51 purecurve2(1,1,1,-600,-1000,0,-300,9,1000,5,0.1,10,0.1,600,90);
yuki0701 5:51aa9e3256c5 52 gogo_straight(1,1,0,-300,0,300,1000,200,5,0.1,10,0.1,600,90);
yuki0701 5:51aa9e3256c5 53 MotorControl(0,0,0,0);
yuki0701 5:51aa9e3256c5 54 pos_correction(0,300,90,1,1);
yuki0701 5:51aa9e3256c5 55
yuki0701 5:51aa9e3256c5 56 gogo_straight(1,1,0,300,-200,300,200,200,5,0.1,10,0.1,800,90);
yuki0701 5:51aa9e3256c5 57 MotorControl(0,0,0,0);
yuki0701 5:51aa9e3256c5 58 pos_correction(-200,300,90,1,1);
yuki0701 5:51aa9e3256c5 59 wait(0.5);
yuki0701 3:112c4ddf324d 60
yuki0701 5:51aa9e3256c5 61 gogo_straight(1,1,-200,300,0,600,200,1000,5,0.1,10,0.1,800,90);
yuki0701 5:51aa9e3256c5 62 purecurve2(3,1,1,0,600,-400,1000,9,1000,5,0.1,10,0.1,800,90);
yuki0701 5:51aa9e3256c5 63 purecurve2(4,1,1,-400,1000,-800,1400,9,1000,5,0.1,10,0.1,800,90);
yuki0701 5:51aa9e3256c5 64 purecurve2(2,1,1,-800,1400,-400,1800,9,1000,5,0.1,10,0.1,800,90);
yuki0701 5:51aa9e3256c5 65 gogo_straight(1,1,-400,1800,-300,1800,1000,1000,5,0.1,10,0.1,800,90);
yuki0701 5:51aa9e3256c5 66 gogo_straight(1,1,-300,1800,0,1800,1000,200,5,0.1,10,0.1,800,90);
yuki0701 5:51aa9e3256c5 67 MotorControl(0,0,0,0);
yuki0701 5:51aa9e3256c5 68 pos_correction(0,1800,90,1,1);
yuki0701 5:51aa9e3256c5 69 wait(0.5);
yuki0701 4:deac46c43ef4 70
yuki0701 5:51aa9e3256c5 71 gogo_straight(1,1,0,1800,-300,1800,200,1000,5,0.1,10,0.1,800,90);
yuki0701 5:51aa9e3256c5 72 gogo_straight(1,1,-300,1800,-900,1800,1000,1000,5,0.1,10,0.1,800,90);
yuki0701 5:51aa9e3256c5 73 purecurve2(5,1,1,-900,1800,-1300,1400,9,1000,5,0.1,10,0.1,600,180);
yuki0701 5:51aa9e3256c5 74 gogo_straight(1,1,-1300,1400,-1300,900,1000,1000,5,0.1,10,0.1,600,180);
yuki0701 5:51aa9e3256c5 75 gogo_straight(1,1,-1300,900,-1300,600,1000,200,5,0.1,10,0.1,800,180);
yuki0701 5:51aa9e3256c5 76 MotorControl(0,0,0,0);
yuki0701 5:51aa9e3256c5 77 pos_correction(-1300,600,180,1,1);
yuki0701 5:51aa9e3256c5 78
yuki0701 5:51aa9e3256c5 79
yuki0701 5:51aa9e3256c5 80 //ticker.attach(&can_read,0.01);
yuki0701 4:deac46c43ef4 81
yuki0701 5:51aa9e3256c5 82 //can_start();
yuki0701 5:51aa9e3256c5 83 //set_cond(1,0,0,1,-1000);
yuki0701 5:51aa9e3256c5 84 //gogo_straight(1,1,0,0,0,-300,500,500,5,0.1,10,0.1,600,0);
yuki0701 5:51aa9e3256c5 85 //pos_correction(100,0,0,1,1);
yuki0701 4:deac46c43ef4 86 //{
yuki0701 4:deac46c43ef4 87
yuki0701 4:deac46c43ef4 88 //while(1);
yuki0701 4:deac46c43ef4 89
yuki0701 5:51aa9e3256c5 90 // MotorControl(0,0,0,0);
yuki0701 3:112c4ddf324d 91
yuki0701 3:112c4ddf324d 92 #endif
yuki0701 0:f0f40dddc0c4 93
yuki0701 0:f0f40dddc0c4 94
yuki0701 3:112c4ddf324d 95 #ifdef HARUROBO_RIGHT_MODE //本番用自動プログラム（右側フィールド用）
yuki0701 3:112c4ddf324d 96
yuki0701 3:112c4ddf324d 97 //ここに本番用自動プログラム（右側フィールド用）を書く
yuki0701 3:112c4ddf324d 98
yuki0701 3:112c4ddf324d 99 #endif
yuki0701 3:112c4ddf324d 100
yuki0701 3:112c4ddf324d 101
yuki0701 3:112c4ddf324d 102 #ifdef HARUROBO_LEFT_MODE //本番用自動プログラム（左側フィールド用）
yuki0701 0:f0f40dddc0c4 103
yuki0701 3:112c4ddf324d 104 //ここに本番用自動プログラム（左側フィールド用）を書く
yuki0701 3:112c4ddf324d 105
yuki0701 3:112c4ddf324d 106 #endif
yuki0701 0:f0f40dddc0c4 107
yuki0701 3:112c4ddf324d 108
yuki0701 3:112c4ddf324d 109 /////////自動モードプログラム終了/////////
yuki0701 3:112c4ddf324d 110
yuki0701 1:0c9f53f5c9d0 111 }