春ロボ1班(元F3RC4班+) / Mbed 2 deprecated harurobo_mbed_undercarriage_sub_2_6

harurobo_mbed_undercarriage_sub

Dependencies:   Harurobo_CAN_1_19 mbed Maxon_setting_1_11 move4wheel2 EC PathFollowing_2_6 CruizCore_R1370P

main.cpp@4:deac46c43ef4, 2019-02-06 (annotated)

Committer:
yuki0701
Date:
Wed Feb 06 04:26:34 2019 +0000
Revision:
4:deac46c43ef4
Parent:
3:112c4ddf324d 
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 3:112c4ddf324d 41 //purecurve2(5,1,1,0,0,-500,-500,9,1500,5,0.1,10,0.1,600,0);
yuki0701 3:112c4ddf324d 42
yuki0701 4:deac46c43ef4 43 // gogo_straight(0,1,0,0,-500,0,500,500,5,0.1,10,0.1,600,0);
yuki0701 4:deac46c43ef4 44
yuki0701 3:112c4ddf324d 45 ticker.attach(&can_read,0.01);
yuki0701 4:deac46c43ef4 46
yuki0701 4:deac46c43ef4 47 //printf("%f\n",usw_data3);
yuki0701 4:deac46c43ef4 48 //if(usw_data3!=0){
yuki0701 4:deac46c43ef4 49 can_start();
yuki0701 4:deac46c43ef4 50 set_cond(1,0,0,1,-1000);
yuki0701 4:deac46c43ef4 51 gogo_straight(1,0,0,0,0,-300,500,500,5,0.1,10,0.1,600,0);
yuki0701 4:deac46c43ef4 52 //{
yuki0701 4:deac46c43ef4 53
yuki0701 4:deac46c43ef4 54 //while(1);
yuki0701 4:deac46c43ef4 55
yuki0701 4:deac46c43ef4 56 MotorControl(0,0,0,0);
yuki0701 3:112c4ddf324d 57
yuki0701 3:112c4ddf324d 58 #endif
yuki0701 0:f0f40dddc0c4 59
yuki0701 0:f0f40dddc0c4 60
yuki0701 3:112c4ddf324d 61 #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 62
yuki0701 3:112c4ddf324d 63 //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 64
yuki0701 3:112c4ddf324d 65 #endif
yuki0701 3:112c4ddf324d 66
yuki0701 3:112c4ddf324d 67
yuki0701 3:112c4ddf324d 68 #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 69
yuki0701 3:112c4ddf324d 70 //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 71
yuki0701 3:112c4ddf324d 72 #endif
yuki0701 0:f0f40dddc0c4 73
yuki0701 3:112c4ddf324d 74
yuki0701 3:112c4ddf324d 75 /////////自動モードプログラム終了/////////
yuki0701 3:112c4ddf324d 76
yuki0701 1:0c9f53f5c9d0 77 }