春ロボ1班(元F3RC4班+) / Mbed 2 deprecated harurobo_mbed_undercarriage_sub_2_8

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Dependencies:   Harurobo_CAN_1_19 mbed Maxon_setting_1_11 move4wheel2 EC PathFollowing_2_8 CruizCore_R1370P

Files at this revision

API Documentation at this revision

Revision 5:51aa9e3256c5, committed 2019-02-08

Comitter:
yuki0701
Date:
Fri Feb 08 06:53:37 2019 +0000
Parent:
4:deac46c43ef4
Commit message:
a

Changed in this revision

PathFollowing.lib Show annotated file Show diff for this revision Revisions of this file
main.cpp Show annotated file Show diff for this revision Revisions of this file 
diff -r deac46c43ef4 -r 51aa9e3256c5 PathFollowing.lib
--- a/PathFollowing.lib	Wed Feb 06 04:26:34 2019 +0000
+++ b/PathFollowing.lib	Fri Feb 08 06:53:37 2019 +0000
@@ -1,1 +1,1 @@
-https://os.mbed.com/teams/F3RC4/code/PathFollowing_2_6/#135bbd007509
+https://os.mbed.com/teams/F3RC4/code/PathFollowing_2_8/#8407c616b1a8

diff -r deac46c43ef4 -r 51aa9e3256c5 main.cpp
--- 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