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

Diff: main.cpp

Revision:
5:51aa9e3256c5
Parent:
4:deac46c43ef4
Child:
6:405c665a75f6
--- a/main.cpp	Wed Feb 06 04:26:34 2019 +0000
+++ b/main.cpp	Fri Feb 08 06:53:37 2019 +0000
@@ -38,22 +38,56 @@
 
       //Debug_Control();
     
-      //purecurve2(5,1,1,0,0,-500,-500,9,1500,5,0.1,10,0.1,600,0);
+      gogo_straight(1,1,0,0,0,-300,200,1000,5,0.1,10,0.1,600,0);
+      purecurve2(6,1,1,0,-300,-600,-1000,9,1000,5,0.1,10,0.1,600,0);
+      purecurve2(5,1,1,-600,-1000,-1200,-1700,9,1000,5,0.1,10,0.1,600,0);
+      gogo_straight(1,1,-1200,-1700,-1200,-2000,1000,200,5,0.1,10,0.1,600,0);
+      MotorControl(0,0,0,0);
+      pos_correction(-1200,-2000,0,1,1);
+      wait(0.5);
+
+      gogo_straight(1,1,-1200,-2000,-1200,-1700,200,1000,5,0.1,10,0.1,600,0);
+      purecurve2(2,1,1,-1200,-1700,-600,-1000,9,1000,5,0.1,10,0.1,600,0);
+      purecurve2(1,1,1,-600,-1000,0,-300,9,1000,5,0.1,10,0.1,600,90);
+      gogo_straight(1,1,0,-300,0,300,1000,200,5,0.1,10,0.1,600,90);
+      MotorControl(0,0,0,0);
+      pos_correction(0,300,90,1,1);
+      
+      gogo_straight(1,1,0,300,-200,300,200,200,5,0.1,10,0.1,800,90);
+      MotorControl(0,0,0,0);
+      pos_correction(-200,300,90,1,1);
+      wait(0.5);
       
-     // gogo_straight(0,1,0,0,-500,0,500,500,5,0.1,10,0.1,600,0);
+      gogo_straight(1,1,-200,300,0,600,200,1000,5,0.1,10,0.1,800,90);
+      purecurve2(3,1,1,0,600,-400,1000,9,1000,5,0.1,10,0.1,800,90);
+      purecurve2(4,1,1,-400,1000,-800,1400,9,1000,5,0.1,10,0.1,800,90);
+      purecurve2(2,1,1,-800,1400,-400,1800,9,1000,5,0.1,10,0.1,800,90);
+      gogo_straight(1,1,-400,1800,-300,1800,1000,1000,5,0.1,10,0.1,800,90);
+      gogo_straight(1,1,-300,1800,0,1800,1000,200,5,0.1,10,0.1,800,90);
+      MotorControl(0,0,0,0);
+      pos_correction(0,1800,90,1,1);
+      wait(0.5);
       
-      ticker.attach(&can_read,0.01);
+      gogo_straight(1,1,0,1800,-300,1800,200,1000,5,0.1,10,0.1,800,90);
+      gogo_straight(1,1,-300,1800,-900,1800,1000,1000,5,0.1,10,0.1,800,90);
+      purecurve2(5,1,1,-900,1800,-1300,1400,9,1000,5,0.1,10,0.1,600,180);
+      gogo_straight(1,1,-1300,1400,-1300,900,1000,1000,5,0.1,10,0.1,600,180);
+      gogo_straight(1,1,-1300,900,-1300,600,1000,200,5,0.1,10,0.1,800,180);
+      MotorControl(0,0,0,0);
+      pos_correction(-1300,600,180,1,1);
+      
+      
+      //ticker.attach(&can_read,0.01);
        
-      //printf("%f\n",usw_data3);
-      //if(usw_data3!=0){
-     can_start();
-     set_cond(1,0,0,1,-1000);
-     gogo_straight(1,0,0,0,0,-300,500,500,5,0.1,10,0.1,600,0);
+     //can_start();
+     //set_cond(1,0,0,1,-1000);
+     //gogo_straight(1,1,0,0,0,-300,500,500,5,0.1,10,0.1,600,0);
+     //pos_correction(100,0,0,1,1);
       //{
 
 //while(1);
 
-    MotorControl(0,0,0,0);
+   // MotorControl(0,0,0,0);
 
 #endif