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Dependencies: DriveConroller IMU MDD Mycan Odometer PID RotaryEncoder UART USS mbed
Fork of
AR_MastarNode
by 
MEC-B
Diff: main.cpp
- Revision:
- 6:a102603c99fd
- Parent:
- 5:7c5e07260e1e
- Child:
- 7:1ee46b2e8dce
--- a/main.cpp Sun Aug 12 02:26:00 2018 +0000
+++ b/main.cpp Fri Aug 17 08:00:09 2018 +0000
@@ -15,27 +15,27 @@
//(X, Y, θ, speed, angle, injection, 補給昇降)
float position[19][6] = {{0.0, 0.0, 0.0, 0, 90, 0},//初期位置
- {-3.825, 0.0, 0.0, 0, 82, 0},//x移動, 角度変化
+ {-1.825, 0.0, 0.0, 0, 82, 0},//x移動, 角度変化
+ {-1.825, 18.0, 0.0, 0, 82, 0},//y移動
+ {-1.825, 18.0, 0.0, 35, 82, 0},//発射
+ {-1.825, 0.0, 0.0, 0, 88, 1},//y移動,角度戻す, P上昇
+
+ {-2.825, 0.0, 0.0, 0, 88, 1},//x移動, 角度変化, 下降&バットマン駆動
+ {-2.825, 18.0, 0.0, 0, 82, 0},//y移動
+ {-2.825, 18.0, 0.0, 35, 82, 0},//発射
+ {-2.825, 0.0, 0.0, 0, 88, 1},//y移動,角度戻す, P上昇
+
+ {-3.825, 0.0, 0.0, 0, 88, 1},//x移動, 角度変化, 下降&バットマン駆動
{-3.825, 18.0, 0.0, 0, 82, 0},//y移動
{-3.825, 18.0, 0.0, 35, 82, 0},//発射
{-3.825, 0.0, 0.0, 0, 88, 1},//y移動,角度戻す, P上昇
- {-4.825, 0.0, 0.0, 0, 82, 0},//x移動, 角度変化, 下降&バットマン駆動
- {-4.825, 18.0, 0.0, 0, 82, 0},//y移動
- {-4.825, 18.0, 0.0, 35, 82, 0},//発射
- {-4.825, 0.0, 0.0, 0, 88, 1},//y移動,角度戻す, P上昇
-
- {-5.825, 0.0, 0.0, 0, 82, 0},//x移動, 角度変化, 下降&バットマン駆動
- {-5.825, 18.0, 0.0, 0, 82, 0},//y移動
- {-5.825, 18.0, 0.0, 35, 82, 0},//発射
- {-5.825, 0.0, 0.0, 0, 88, 0},//y移動,角度戻す, P上昇
-
- {-1.825, 0.0, 0.0, 0, 88, 1},//x移動, 角度変化, 下降&バットマン駆動
- {-1.825, 18.0, 0.0, 0, 82, 0},//y移動
- {-1.825, 18.0, 0.0, 18, 82, 0},//下段に発射
- {-1.825, 18.0, 0.0, 0, 88, 1},//角度戻す, P上昇
- {-1.825, 18.0, 0.0, 0, 85, 0},//角度変化, 下降&バットマン駆動
- {-1.825, 18.0, 0.0, 18, 85, 0},//上段に発射
+ {-0.825, 0.0, 0.0, 0, 88, 1},//x移動, 角度変化, 下降&バットマン駆動
+ {-0.825, 18.0, 0.0, 0, 82, 0},//y移動
+ {-0.825, 18.0, 0.0, 18, 82, 0},//下段に発射
+ {-0.825, 18.0, 0.0, 0, 88, 1},//角度戻す, P上昇
+ {-0.825, 18.0, 0.0, 0, 85, 0},//角度変化, 下降&バットマン駆動
+ {-0.825, 18.0, 0.0, 18, 85, 0},//上段に発射
};
controller getPropoData();
@@ -112,7 +112,7 @@
sw1.mode(PullUp);
sw2.mode(PullUp);
- while(1)
+ while(1)
{
controller cmd = getPropoData();
@@ -122,18 +122,20 @@
while(can.send() == 0);
can.read();
- int supply_pid = can.get(2, 1);
+ //int supply_pid = can.get(2, 1);
if(pidRobotX.isConvergence(1) == 1
&& pidRobotYow.isConvergence(1) == 1)
{
+ //超音波で近づくとき
if(position[posi_num][1] >= 10)
{
if(pidUss.isConvergence(1) == 1
&& isConvergetnceTops() == 1)
posi_num++;
}
- else if(pidRobotY.isConvergence(1) == 1 && supply_pid == 1)
+ //超音波使わないとき
+ else if(pidRobotY.isConvergence(1) == 1)
posi_num++;
}