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@6:405c665a75f6, 2019-02-25 (annotated)

Committer:
yuki0701
Date:
Mon Feb 25 15:28:59 2019 +0000
Revision:
6:405c665a75f6
Parent:
5:51aa9e3256c5 
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 6:405c665a75f6 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 6:405c665a75f6 40
yuki0701 6:405c665a75f6 41 can_start();
yuki0701 6:405c665a75f6 42 ticker.attach(&can_read,0.01);
yuki0701 3:112c4ddf324d 43
yuki0701 6:405c665a75f6 44 /*while(1){
yuki0701 6:405c665a75f6 45 printf("usw_data3 = %f\n\r",usw_data3);
yuki0701 6:405c665a75f6 46 }*/
yuki0701 6:405c665a75f6 47
yuki0701 6:405c665a75f6 48 set_cond(2,1,-700,1,-700);
yuki0701 6:405c665a75f6 49 gogo_straight(0,0,0,0,-300,-300,700,700,5,0.1,10,0.1,600,0);
yuki0701 6:405c665a75f6 50 MotorControl(0,0,0,0);
yuki0701 6:405c665a75f6 51 pos_correction(-300,-300,0,0,0);
yuki0701 6:405c665a75f6 52
yuki0701 6:405c665a75f6 53 /* gogo_straight(1,1,0,0,0,-300,200,2500,5,0.1,10,0.1,600,0);
yuki0701 6:405c665a75f6 54 purecurve2(6,1,1,0,-300,-600,-1000,9,2500,5,0.1,10,0.1,600,0);
yuki0701 6:405c665a75f6 55 purecurve2(5,1,1,-600,-1000,-1200,-1700,9,2500,5,0.1,10,0.1,600,0);
yuki0701 6:405c665a75f6 56 gogo_straight(1,1,-1200,-1700,-1200,-2000,2500,200,5,0.1,10,0.1,600,0);
yuki0701 5:51aa9e3256c5 57 MotorControl(0,0,0,0);
yuki0701 5:51aa9e3256c5 58 pos_correction(-1200,-2000,0,1,1);
yuki0701 5:51aa9e3256c5 59 wait(0.5);
yuki0701 5:51aa9e3256c5 60
yuki0701 6:405c665a75f6 61 gogo_straight(1,1,-1200,-2000,-1200,-1700,200,2500,5,0.1,10,0.1,600,0);
yuki0701 6:405c665a75f6 62 purecurve2(2,1,1,-1200,-1700,-600,-1000,9,2500,5,0.1,10,0.1,600,0);
yuki0701 6:405c665a75f6 63 purecurve2(1,1,1,-600,-1000,0,-300,9,2500,5,0.1,10,0.1,600,90);
yuki0701 6:405c665a75f6 64 gogo_straight(1,1,0,-300,0,300,2500,200,5,0.1,10,0.1,600,90);
yuki0701 5:51aa9e3256c5 65 MotorControl(0,0,0,0);
yuki0701 5:51aa9e3256c5 66 pos_correction(0,300,90,1,1);
yuki0701 5:51aa9e3256c5 67
yuki0701 5:51aa9e3256c5 68 gogo_straight(1,1,0,300,-200,300,200,200,5,0.1,10,0.1,800,90);
yuki0701 5:51aa9e3256c5 69 MotorControl(0,0,0,0);
yuki0701 5:51aa9e3256c5 70 pos_correction(-200,300,90,1,1);
yuki0701 5:51aa9e3256c5 71 wait(0.5);
yuki0701 3:112c4ddf324d 72
yuki0701 6:405c665a75f6 73 gogo_straight(1,1,-200,300,0,600,200,2500,5,0.1,10,0.1,800,90);
yuki0701 6:405c665a75f6 74 purecurve2(3,1,1,0,600,-400,1000,9,2500,5,0.1,10,0.1,800,90);
yuki0701 6:405c665a75f6 75 purecurve2(4,1,1,-400,1000,-800,1400,9,2500,5,0.1,10,0.1,800,90);
yuki0701 6:405c665a75f6 76 purecurve2(2,1,1,-800,1400,-400,1800,9,2500,5,0.1,10,0.1,800,90);
yuki0701 6:405c665a75f6 77 gogo_straight(1,1,-400,1800,-300,1800,2500,2500,5,0.1,10,0.1,800,90);
yuki0701 6:405c665a75f6 78 gogo_straight(1,1,-300,1800,0,1800,2500,200,5,0.1,10,0.1,800,90);
yuki0701 5:51aa9e3256c5 79 MotorControl(0,0,0,0);
yuki0701 5:51aa9e3256c5 80 pos_correction(0,1800,90,1,1);
yuki0701 5:51aa9e3256c5 81 wait(0.5);
yuki0701 4:deac46c43ef4 82
yuki0701 6:405c665a75f6 83 gogo_straight(1,1,0,1800,-300,1800,200,2500,5,0.1,10,0.1,800,90);
yuki0701 6:405c665a75f6 84 gogo_straight(1,1,-300,1800,-900,1800,2500,2500,5,0.1,10,0.1,800,90);
yuki0701 6:405c665a75f6 85 purecurve2(5,1,1,-900,1800,-1300,1400,9,2500,5,0.1,10,0.1,600,180);
yuki0701 6:405c665a75f6 86 gogo_straight(1,1,-1300,1400,-1300,900,2500,2500,5,0.1,10,0.1,600,180);
yuki0701 6:405c665a75f6 87 gogo_straight(1,1,-1300,900,-1300,600,2500,200,5,0.1,10,0.1,800,180);
yuki0701 5:51aa9e3256c5 88 MotorControl(0,0,0,0);
yuki0701 5:51aa9e3256c5 89 pos_correction(-1300,600,180,1,1);
yuki0701 6:405c665a75f6 90 */
yuki0701 5:51aa9e3256c5 91
yuki0701 5:51aa9e3256c5 92 //ticker.attach(&can_read,0.01);
yuki0701 4:deac46c43ef4 93
yuki0701 5:51aa9e3256c5 94 //can_start();
yuki0701 5:51aa9e3256c5 95 //set_cond(1,0,0,1,-1000);
yuki0701 5:51aa9e3256c5 96 //gogo_straight(1,1,0,0,0,-300,500,500,5,0.1,10,0.1,600,0);
yuki0701 5:51aa9e3256c5 97 //pos_correction(100,0,0,1,1);
yuki0701 4:deac46c43ef4 98 //{
yuki0701 4:deac46c43ef4 99
yuki0701 4:deac46c43ef4 100 //while(1);
yuki0701 4:deac46c43ef4 101
yuki0701 5:51aa9e3256c5 102 // MotorControl(0,0,0,0);
yuki0701 3:112c4ddf324d 103
yuki0701 3:112c4ddf324d 104 #endif
yuki0701 0:f0f40dddc0c4 105
yuki0701 0:f0f40dddc0c4 106
yuki0701 3:112c4ddf324d 107 #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 108
yuki0701 3:112c4ddf324d 109 //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 110
yuki0701 3:112c4ddf324d 111 #endif
yuki0701 3:112c4ddf324d 112
yuki0701 3:112c4ddf324d 113
yuki0701 3:112c4ddf324d 114 #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 115
yuki0701 3:112c4ddf324d 116 //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 117
yuki0701 3:112c4ddf324d 118 #endif
yuki0701 0:f0f40dddc0c4 119
yuki0701 3:112c4ddf324d 120
yuki0701 3:112c4ddf324d 121 /////////自動モードプログラム終了/////////
yuki0701 3:112c4ddf324d 122
yuki0701 1:0c9f53f5c9d0 123 }