Bteam tactics plan A _ move table ver
Dependencies: HCSR04 PID QEI mbed
Fork of UNKO_FINAL by
main.cpp@14:32b05026b3b2, 2018-10-11 (annotated)
- Committer:
- BIGBOSS04
- Date:
- Thu Oct 11 15:54:40 2018 +0000
- Revision:
- 14:32b05026b3b2
- Parent:
- 13:93321c73df60
Bteam tactics plan A _ move table ver;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
yuron | 4:df334779a69e | 1 | /* ------------------------------------------------------------------- */ |
yuron | 4:df334779a69e | 2 | /* NHKロボコン2018-Bチーム自動ロボット(設計者: 4S 関) */ |
yuron | 4:df334779a69e | 3 | /* ------------------------------------------------------------------- */ |
yuron | 4:df334779a69e | 4 | /* このプログラムは上記のロボット専用の制御プログラムである。 */ |
yuron | 4:df334779a69e | 5 | /* ------------------------------------------------------------------- */ |
yuron | 4:df334779a69e | 6 | /* 対応機種: NUCLEO-F446RE */ |
yuron | 4:df334779a69e | 7 | /* ------------------------------------------------------------------- */ |
yuron | 4:df334779a69e | 8 | /* 製作者: 4D 高久 雄飛, mail: rab1sy23@gmail.com */ |
yuron | 4:df334779a69e | 9 | /* ------------------------------------------------------------------- */ |
yuron | 4:df334779a69e | 10 | /* 使用センサ: リミットスイッチ1個, ロータリーエンコーダ: 7個, 超音波センサ: 1個, フォトインタラプタ: 1個 */ |
yuron | 4:df334779a69e | 11 | /* 他にラインセンサ基板のPIC(16F1938)と通信をしてライントレースをさせている */ |
yuron | 4:df334779a69e | 12 | /* ------------------------------------------------------------------- */ |
yuron | 5:167327a82430 | 13 | |
yuron | 0:f73c1b076ae4 | 14 | #include "mbed.h" |
yuron | 0:f73c1b076ae4 | 15 | #include "math.h" |
yuron | 0:f73c1b076ae4 | 16 | #include "QEI.h" |
yuron | 0:f73c1b076ae4 | 17 | #include "PID.h" |
yuron | 4:df334779a69e | 18 | #include "hcsr04.h" |
yuron | 5:167327a82430 | 19 | |
yuron | 5:167327a82430 | 20 | //Pi |
yuron | 0:f73c1b076ae4 | 21 | #define PI 3.14159265359 |
yuron | 5:167327a82430 | 22 | //PIDGain of wheels(fast_mode) |
yuron | 4:df334779a69e | 23 | #define Kp 20.0 |
yuron | 4:df334779a69e | 24 | #define Ki 0.02 |
yuron | 4:df334779a69e | 25 | #define Kd 0.0 |
yuron | 5:167327a82430 | 26 | //PIDGain of rollers |
yuron | 6:5a051a378e42 | 27 | #define front_roller_Kp 1.3 |
yuron | 6:5a051a378e42 | 28 | #define front_roller_Ki 0.19 |
yuron | 6:5a051a378e42 | 29 | #define front_roller_Kd 0.0 |
yuron | 6:5a051a378e42 | 30 | #define back_roller_Kp 1.3 |
yuron | 6:5a051a378e42 | 31 | #define back_roller_Ki 0.1 |
yuron | 6:5a051a378e42 | 32 | #define back_roller_Kd 0.0 |
yuron | 5:167327a82430 | 33 | //PIDGain of wheels(slow_mode) |
yuron | 5:167327a82430 | 34 | #define Kp_slow 0.6 |
yuron | 5:167327a82430 | 35 | #define Ki_slow 0.03 |
yuron | 5:167327a82430 | 36 | #define Kd_slow 0.0 |
yuron | 5:167327a82430 | 37 | |
yuron | 7:7f16fb8b0192 | 38 | //搭載ボトル数 |
yuron | 8:3df97287c825 | 39 | //1弾倉当たり9発、残り3発になったら弾倉切り替えしよう |
yuron | 8:3df97287c825 | 40 | #define bottles 14 |
yuron | 7:7f16fb8b0192 | 41 | |
yuron | 5:167327a82430 | 42 | //停止 |
yuron | 5:167327a82430 | 43 | #define stop 0 |
yuron | 5:167327a82430 | 44 | //低速右移動 |
yuron | 5:167327a82430 | 45 | #define right_slow 1 |
yuron | 5:167327a82430 | 46 | //低速左移動 |
yuron | 5:167327a82430 | 47 | #define left_slow 2 |
yuron | 5:167327a82430 | 48 | //超低速右移動 |
yuron | 5:167327a82430 | 49 | #define right_super_slow 3 |
yuron | 5:167327a82430 | 50 | //超低速左移動 |
yuron | 5:167327a82430 | 51 | #define left_super_slow 4 |
yuron | 5:167327a82430 | 52 | //右旋回 |
yuron | 5:167327a82430 | 53 | #define turn_right 5 |
yuron | 5:167327a82430 | 54 | //左旋回 |
yuron | 5:167327a82430 | 55 | #define turn_left 6 |
yuron | 5:167327a82430 | 56 | //前進 |
yuron | 5:167327a82430 | 57 | #define front_trace 7 |
yuron | 5:167327a82430 | 58 | //後進 |
yuron | 5:167327a82430 | 59 | #define back_trace 8 |
yuron | 5:167327a82430 | 60 | //前前進後ろ右旋回 |
yuron | 5:167327a82430 | 61 | #define front_front_back_right 9 |
yuron | 5:167327a82430 | 62 | //前前進後ろ左旋回 |
yuron | 5:167327a82430 | 63 | #define front_front_back_left 10 |
yuron | 5:167327a82430 | 64 | //前右旋回後ろ前進 |
yuron | 5:167327a82430 | 65 | #define front_right_back_front 11 |
yuron | 5:167327a82430 | 66 | //前左旋回後ろ前進 |
yuron | 5:167327a82430 | 67 | #define front_left_back_front 12 |
yuron | 5:167327a82430 | 68 | |
yuron | 8:3df97287c825 | 69 | #define right_fast 13 |
yuron | 8:3df97287c825 | 70 | #define left_fast 14 |
yuron | 8:3df97287c825 | 71 | |
yuron | 9:1359f0c813b1 | 72 | //2段低 |
yuron | 9:1359f0c813b1 | 73 | #define low_grade 1 |
yuron | 9:1359f0c813b1 | 74 | //2段高 |
yuron | 9:1359f0c813b1 | 75 | #define high_grade 2 |
yuron | 9:1359f0c813b1 | 76 | //移動低 |
yuron | 9:1359f0c813b1 | 77 | #define low_table 3 |
yuron | 9:1359f0c813b1 | 78 | //移動中 |
yuron | 9:1359f0c813b1 | 79 | #define medium_table 4 |
yuron | 9:1359f0c813b1 | 80 | //移動高 |
yuron | 9:1359f0c813b1 | 81 | #define high_table 5 |
yuron | 9:1359f0c813b1 | 82 | |
yuron | 10:b672aa81b226 | 83 | //2段低最小距離 |
yuron | 13:93321c73df60 | 84 | #define low_grade_minimum_distance 4 |
yuron | 10:b672aa81b226 | 85 | //2段低最大距離 |
yuron | 11:5a0d6f69e751 | 86 | #define low_grade_maximum_distance 16 |
yuron | 10:b672aa81b226 | 87 | |
yuron | 10:b672aa81b226 | 88 | //2段高最小距離 |
yuron | 10:b672aa81b226 | 89 | //#define high_grade_minimum_distance 1 |
yuron | 10:b672aa81b226 | 90 | //2段高最大距離 |
yuron | 10:b672aa81b226 | 91 | //#define high_grade_maximum_distance 1 |
yuron | 10:b672aa81b226 | 92 | |
yuron | 10:b672aa81b226 | 93 | //移動低最小距離 |
yuron | 10:b672aa81b226 | 94 | #define low_table_minimum_distance 10 |
yuron | 10:b672aa81b226 | 95 | //移動低最大距離 |
yuron | 10:b672aa81b226 | 96 | #define low_table_maximum_distance 15 |
yuron | 10:b672aa81b226 | 97 | |
yuron | 10:b672aa81b226 | 98 | //移動中最小距離 |
yuron | 10:b672aa81b226 | 99 | #define medium_table_minimum_distance 20 |
yuron | 10:b672aa81b226 | 100 | //移動中最大距離 |
yuron | 10:b672aa81b226 | 101 | #define medium_table_maximum_distance 30 |
yuron | 10:b672aa81b226 | 102 | |
yuron | 10:b672aa81b226 | 103 | //移動高最小距離 |
yuron | 10:b672aa81b226 | 104 | #define high_table_minimum_distance 30 |
yuron | 10:b672aa81b226 | 105 | //移動高最大距離 |
yuron | 10:b672aa81b226 | 106 | #define high_table_maximum_distance 40 |
yuron | 10:b672aa81b226 | 107 | |
yuron | 10:b672aa81b226 | 108 | |
yuron | 5:167327a82430 | 109 | //赤ゾーン |
yuron | 5:167327a82430 | 110 | #define red 1 |
yuron | 5:167327a82430 | 111 | //青ゾーン |
yuron | 5:167327a82430 | 112 | #define blue 0 |
yuron | 4:df334779a69e | 113 | |
yuron | 4:df334779a69e | 114 | //右前オムニ |
yuron | 4:df334779a69e | 115 | PID migimae(Kp, Ki, Kd, 0.001); |
yuron | 4:df334779a69e | 116 | //右後オムニ |
yuron | 4:df334779a69e | 117 | PID migiusiro(Kp, Ki, Kd, 0.001); |
yuron | 4:df334779a69e | 118 | //左前オムニ |
yuron | 4:df334779a69e | 119 | PID hidarimae(Kp, Ki, Kd, 0.001); |
yuron | 4:df334779a69e | 120 | //左後オムニ |
yuron | 4:df334779a69e | 121 | PID hidariusiro(Kp, Ki, Kd, 0.001); |
yuron | 5:167327a82430 | 122 | |
yuron | 5:167327a82430 | 123 | //右前オムニ(スローモード) |
yuron | 5:167327a82430 | 124 | PID migimae_slow(Kp_slow, Ki_slow, Kd_slow, 0.001); |
yuron | 5:167327a82430 | 125 | //右後オムニ(スローモード) |
yuron | 5:167327a82430 | 126 | PID migiusiro_slow(Kp_slow, Ki_slow, Kd_slow, 0.001); |
yuron | 5:167327a82430 | 127 | //左前オムニ(スローモード) |
yuron | 5:167327a82430 | 128 | PID hidarimae_slow(Kp_slow, Ki_slow, Kd_slow, 0.001); |
yuron | 5:167327a82430 | 129 | //左後オムニ(スローモード) |
yuron | 5:167327a82430 | 130 | PID hidariusiro_slow(Kp_slow, Ki_slow, Kd_slow, 0.001); |
yuron | 5:167327a82430 | 131 | |
yuron | 4:df334779a69e | 132 | //前ローラー |
yuron | 6:5a051a378e42 | 133 | PID front_roller(front_roller_Kp, front_roller_Ki, front_roller_Kd, 0.001); |
yuron | 4:df334779a69e | 134 | //後ローラー |
yuron | 6:5a051a378e42 | 135 | PID back_roller (back_roller_Kp, back_roller_Ki, back_roller_Kd, 0.001); |
yuron | 0:f73c1b076ae4 | 136 | |
yuron | 4:df334779a69e | 137 | //MDとの通信ポート |
yuron | 4:df334779a69e | 138 | I2C i2c(PB_9, PB_8); //SDA, SCL |
yuron | 4:df334779a69e | 139 | //PCとの通信ポート |
yuron | 4:df334779a69e | 140 | Serial pc(USBTX, USBRX); //TX, RX |
yuron | 4:df334779a69e | 141 | //フォトインタラプタ制御基板からの受信ポート |
yuron | 4:df334779a69e | 142 | Serial photo(NC, PC_11); //TX, RX |
yuron | 4:df334779a69e | 143 | //TWE-Liteからの受信ポート |
yuron | 4:df334779a69e | 144 | Serial twe(PC_12, PD_2); //TX, RX |
yuron | 4:df334779a69e | 145 | |
yuron | 4:df334779a69e | 146 | //超音波センサ1 |
yuron | 4:df334779a69e | 147 | HCSR04 sonic(PB_3, PB_10); //Trig, Echo |
yuron | 4:df334779a69e | 148 | //超音波センサ2 |
yuron | 4:df334779a69e | 149 | //HCSR04 sonic2(PC_13, PA_15); //Trig, Echo |
yuron | 4:df334779a69e | 150 | //超音波センサ3 |
yuron | 4:df334779a69e | 151 | //HCSR04 sonic3(PC_15, PC_14); //Trig, Echo |
yuron | 4:df334779a69e | 152 | //超音波センサ4 |
yuron | 4:df334779a69e | 153 | //HCSR04 sonic4(PH_1 , PH_0 ); //Trig, Echo |
yuron | 4:df334779a69e | 154 | |
yuron | 4:df334779a69e | 155 | //赤、青ゾーン切り替え用スイッチ |
yuron | 4:df334779a69e | 156 | DigitalIn side(PC_1); |
yuron | 4:df334779a69e | 157 | //スタートボタン |
yuron | 4:df334779a69e | 158 | DigitalIn start_button(PC_4); |
yuron | 5:167327a82430 | 159 | //フェンス検知用リミットスイッチ |
yuron | 5:167327a82430 | 160 | DigitalIn limit(PH_1); |
yuron | 4:df334779a69e | 161 | //スイッチ1 |
yuron | 4:df334779a69e | 162 | DigitalIn user_switch1(PB_0); |
yuron | 4:df334779a69e | 163 | //スイッチ2 |
yuron | 4:df334779a69e | 164 | DigitalIn user_switch2(PA_4); |
yuron | 4:df334779a69e | 165 | //スイッチ3 |
yuron | 4:df334779a69e | 166 | DigitalIn user_switch3(PA_3); |
yuron | 4:df334779a69e | 167 | //スイッチ4 |
yuron | 4:df334779a69e | 168 | //以下の文を入れるとロリコンが読めなくなる |
yuron | 4:df334779a69e | 169 | //DigitalIn user_switch4(PA_2); |
yuron | 4:df334779a69e | 170 | //スイッチ5 |
yuron | 4:df334779a69e | 171 | DigitalIn user_switch5(PA_10); |
yuron | 4:df334779a69e | 172 | |
yuron | 4:df334779a69e | 173 | //フォトインタラプタ |
yuron | 4:df334779a69e | 174 | DigitalIn photo_interrupter(PA_15); |
yuron | 4:df334779a69e | 175 | |
yuron | 4:df334779a69e | 176 | //12V停止信号ピン |
yuron | 0:f73c1b076ae4 | 177 | DigitalOut emergency(PA_13); |
yuron | 4:df334779a69e | 178 | |
yuron | 4:df334779a69e | 179 | //赤ゾーンLED |
yuron | 4:df334779a69e | 180 | DigitalOut blue_side(PC_0); |
yuron | 4:df334779a69e | 181 | //青ゾーンLED |
yuron | 4:df334779a69e | 182 | DigitalOut red_side(PC_3); |
yuron | 4:df334779a69e | 183 | //スタートLED |
yuron | 6:5a051a378e42 | 184 | DigitalOut start_LED(PC_13); |
yuron | 6:5a051a378e42 | 185 | //DigitalOut start_LED(PA_8); |
yuron | 8:3df97287c825 | 186 | |
yuron | 4:df334779a69e | 187 | //LED1 |
yuron | 4:df334779a69e | 188 | DigitalOut myled1(PC_6); |
yuron | 4:df334779a69e | 189 | //LED2 |
yuron | 4:df334779a69e | 190 | DigitalOut myled2(PC_5); |
yuron | 4:df334779a69e | 191 | //LED3 |
yuron | 4:df334779a69e | 192 | DigitalOut myled3(PA_12); |
yuron | 4:df334779a69e | 193 | //LED4 |
yuron | 4:df334779a69e | 194 | DigitalOut myled4(PB_1); |
yuron | 4:df334779a69e | 195 | //LED5 |
yuron | 4:df334779a69e | 196 | DigitalOut myled5(PA_5); |
yuron | 0:f73c1b076ae4 | 197 | |
yuron | 4:df334779a69e | 198 | //前ローラー |
yuron | 4:df334779a69e | 199 | QEI front_roller_wheel(PA_0, PA_1, NC, 624); |
yuron | 4:df334779a69e | 200 | //後ローラー |
yuron | 4:df334779a69e | 201 | QEI back_roller_wheel(PB_5, PB_4, NC, 624); |
yuron | 4:df334779a69e | 202 | //計測オムニ1 |
yuron | 5:167327a82430 | 203 | QEI measure_wheel(PC_9, PC_8, NC, 624); |
yuron | 4:df334779a69e | 204 | //計測オムニ2(使用不可) |
yuron | 4:df334779a69e | 205 | //QEI measure2_wheel(PB_3, PB_10, NC, 624); |
yuron | 4:df334779a69e | 206 | //右前オムニ |
yuron | 4:df334779a69e | 207 | QEI migimae_wheel(PB_6 , PA_7 , NC, 624); |
yuron | 4:df334779a69e | 208 | //右後オムニ |
yuron | 4:df334779a69e | 209 | QEI migiusiro_wheel(PA_11, PB_12, NC, 624); |
yuron | 4:df334779a69e | 210 | //左前オムニ |
yuron | 4:df334779a69e | 211 | QEI hidarimae_wheel(PB_2, PB_15, NC, 624); |
yuron | 4:df334779a69e | 212 | //左後オムニ |
yuron | 4:df334779a69e | 213 | QEI hidariusiro_wheel(PB_14, PB_13, NC, 624); |
yuron | 0:f73c1b076ae4 | 214 | |
yuron | 6:5a051a378e42 | 215 | Ticker get_rpm; |
yuron | 1:62b321f6c9c3 | 216 | Timer timer; |
BIGBOSS04 | 14:32b05026b3b2 | 217 | Timer timer1; |
yuron | 5:167327a82430 | 218 | Timer back_timer1; |
yuron | 5:167327a82430 | 219 | Timer back_timer2; |
yuron | 5:167327a82430 | 220 | Timer back_timer3; |
yuron | 8:3df97287c825 | 221 | Timer start_timer; |
yuron | 0:f73c1b076ae4 | 222 | |
yuron | 7:7f16fb8b0192 | 223 | bool roller_flag = 0; |
yuron | 7:7f16fb8b0192 | 224 | bool start_flag = 0; |
yuron | 11:5a0d6f69e751 | 225 | bool trace_flag = 1; |
yuron | 8:3df97287c825 | 226 | |
yuron | 8:3df97287c825 | 227 | //2段下段乗ったかなフラグ |
yuron | 8:3df97287c825 | 228 | bool low_grade_flag = 0; |
yuron | 8:3df97287c825 | 229 | //2段上段乗ったかなフラグ |
yuron | 8:3df97287c825 | 230 | bool high_grade_flag = 0; |
yuron | 8:3df97287c825 | 231 | //移動(低)乗ったかなフラグ |
yuron | 8:3df97287c825 | 232 | bool low_table_flag = 0; |
yuron | 8:3df97287c825 | 233 | //移動(中)乗ったかなフラグ |
yuron | 8:3df97287c825 | 234 | bool medium_table_flag = 0; |
yuron | 8:3df97287c825 | 235 | //移動(高)乗ったかなフラグ |
yuron | 8:3df97287c825 | 236 | bool high_table_flag = 0; |
yuron | 8:3df97287c825 | 237 | |
yuron | 9:1359f0c813b1 | 238 | int table_fire = 0; |
yuron | 9:1359f0c813b1 | 239 | /* |
yuron | 9:1359f0c813b1 | 240 | //2段下段撃ったかなフラグ |
yuron | 9:1359f0c813b1 | 241 | bool low_grade_fire_flag = 0; |
yuron | 9:1359f0c813b1 | 242 | //2段上段撃ったかなフラグ |
yuron | 9:1359f0c813b1 | 243 | bool high_grade_fire_flag = 0; |
yuron | 9:1359f0c813b1 | 244 | //移動(低)撃ったかなフラグ |
yuron | 9:1359f0c813b1 | 245 | bool low_table_fire_flag = 0; |
yuron | 9:1359f0c813b1 | 246 | //移動(中)撃ったかなフラグ |
yuron | 9:1359f0c813b1 | 247 | bool medium_table_fire_flag = 0; |
yuron | 9:1359f0c813b1 | 248 | //移動(高)撃ったかなフラグ |
yuron | 9:1359f0c813b1 | 249 | bool high_table_fire_flag = 0; |
yuron | 9:1359f0c813b1 | 250 | */ |
yuron | 8:3df97287c825 | 251 | |
yuron | 8:3df97287c825 | 252 | static int mouted_bottles = 0; |
yuron | 7:7f16fb8b0192 | 253 | int loading_state = 0; |
yuron | 7:7f16fb8b0192 | 254 | int line_state = 0; |
yuron | 5:167327a82430 | 255 | int front_line_state = 0; |
yuron | 5:167327a82430 | 256 | int back_line_state = 0; |
yuron | 7:7f16fb8b0192 | 257 | int line_state_pettern = 0; |
yuron | 5:167327a82430 | 258 | unsigned int distance; |
yuron | 5:167327a82430 | 259 | int trace_direction = 0; |
yuron | 5:167327a82430 | 260 | static int i = 0; |
yuron | 6:5a051a378e42 | 261 | int lateral_frag = 0; |
yuron | 0:f73c1b076ae4 | 262 | |
yuron | 9:1359f0c813b1 | 263 | /* |
yuron | 9:1359f0c813b1 | 264 | int bottles_flag[20] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, |
yuron | 9:1359f0c813b1 | 265 | 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}; |
yuron | 9:1359f0c813b1 | 266 | */ |
yuron | 9:1359f0c813b1 | 267 | |
yuron | 10:b672aa81b226 | 268 | int firing_minimum_distamce = 0; |
yuron | 10:b672aa81b226 | 269 | int firing_maximum_distance = 0; |
yuron | 10:b672aa81b226 | 270 | |
yuron | 4:df334779a69e | 271 | int migimae_rpm; |
yuron | 4:df334779a69e | 272 | int migiusiro_rpm; |
yuron | 4:df334779a69e | 273 | int hidarimae_rpm; |
yuron | 4:df334779a69e | 274 | int hidariusiro_rpm; |
yuron | 5:167327a82430 | 275 | //int measure_rpm; |
yuron | 4:df334779a69e | 276 | int front_roller_rpm; |
yuron | 4:df334779a69e | 277 | int back_roller_rpm; |
yuron | 0:f73c1b076ae4 | 278 | |
yuron | 5:167327a82430 | 279 | //int migimae_pulse; |
yuron | 5:167327a82430 | 280 | //int migiusiro_pulse; |
yuron | 5:167327a82430 | 281 | //int hidarimae_pulse; |
yuron | 5:167327a82430 | 282 | //int hidariusiro_pulse; |
yuron | 5:167327a82430 | 283 | int measure_pulse; |
yuron | 5:167327a82430 | 284 | //int front_roller_pulse; |
yuron | 5:167327a82430 | 285 | //int back_roller_pulse; |
yuron | 5:167327a82430 | 286 | |
yuron | 5:167327a82430 | 287 | int migimae_pulse[10]; |
yuron | 5:167327a82430 | 288 | int migiusiro_pulse[10]; |
yuron | 5:167327a82430 | 289 | int hidarimae_pulse[10]; |
yuron | 5:167327a82430 | 290 | int hidariusiro_pulse[10]; |
yuron | 5:167327a82430 | 291 | //int measure_pulse[10]; |
yuron | 5:167327a82430 | 292 | int front_roller_pulse[10]; |
yuron | 5:167327a82430 | 293 | int back_roller_pulse[10]; |
yuron | 0:f73c1b076ae4 | 294 | |
yuron | 5:167327a82430 | 295 | int sum_migimae_pulse; |
yuron | 5:167327a82430 | 296 | int sum_migiusiro_pulse; |
yuron | 5:167327a82430 | 297 | int sum_hidarimae_pulse; |
yuron | 5:167327a82430 | 298 | int sum_hidariusiro_pulse; |
yuron | 5:167327a82430 | 299 | //int sum_measure_pulse; |
yuron | 5:167327a82430 | 300 | int sum_front_roller_pulse; |
yuron | 5:167327a82430 | 301 | int sum_back_roller_pulse; |
yuron | 0:f73c1b076ae4 | 302 | |
yuron | 5:167327a82430 | 303 | int ave_migimae_pulse; |
yuron | 5:167327a82430 | 304 | int ave_migiusiro_pulse; |
yuron | 5:167327a82430 | 305 | int ave_hidarimae_pulse; |
yuron | 5:167327a82430 | 306 | int ave_hidariusiro_pulse; |
yuron | 5:167327a82430 | 307 | //int ave_measure_pulse; |
yuron | 5:167327a82430 | 308 | int ave_front_roller_pulse; |
yuron | 5:167327a82430 | 309 | int ave_back_roller_pulse; |
yuron | 0:f73c1b076ae4 | 310 | |
yuron | 0:f73c1b076ae4 | 311 | char send_data[1]; |
yuron | 0:f73c1b076ae4 | 312 | char true_send_data[1]; |
yuron | 0:f73c1b076ae4 | 313 | |
yuron | 4:df334779a69e | 314 | char migimae_data[1]; |
yuron | 4:df334779a69e | 315 | char migiusiro_data[1]; |
yuron | 4:df334779a69e | 316 | char hidarimae_data[1]; |
yuron | 4:df334779a69e | 317 | char hidariusiro_data[1]; |
yuron | 4:df334779a69e | 318 | char front_roller_data[1]; |
yuron | 4:df334779a69e | 319 | char back_roller_data[1]; |
yuron | 4:df334779a69e | 320 | char loading_data[1]; |
yuron | 10:b672aa81b226 | 321 | char cylinder_data[1] = {0x80}; |
yuron | 4:df334779a69e | 322 | |
yuron | 4:df334779a69e | 323 | char true_migimae_data[1]; |
yuron | 4:df334779a69e | 324 | char true_migiusiro_data[1]; |
yuron | 4:df334779a69e | 325 | char true_hidarimae_data[1]; |
yuron | 4:df334779a69e | 326 | char true_hidariusiro_data[1]; |
yuron | 4:df334779a69e | 327 | |
yuron | 5:167327a82430 | 328 | //各関数のプロトタイプ宣言 |
yuron | 5:167327a82430 | 329 | //回転数取得関数 |
yuron | 0:f73c1b076ae4 | 330 | void flip(); |
yuron | 5:167327a82430 | 331 | //前進PID(fast_mode) |
yuron | 4:df334779a69e | 332 | int front_PID(int RF, int RB, int LF, int LB); |
yuron | 5:167327a82430 | 333 | //前進PID(slow_mode) |
yuron | 5:167327a82430 | 334 | int front_PID_slow(int RF, int RB, int LF, int LB); |
yuron | 5:167327a82430 | 335 | //前進PID(fast_mode) |
yuron | 4:df334779a69e | 336 | int back_PID(int RF, int RB, int LF, int LB); |
yuron | 5:167327a82430 | 337 | //後進PID(slow_mode) |
yuron | 5:167327a82430 | 338 | int back_PID_slow(int RF, int RB, int LF, int LB); |
yuron | 5:167327a82430 | 339 | //右進PID(fast_mode) |
yuron | 4:df334779a69e | 340 | int rihgt_PID(int RF, int RB, int LF, int LB); |
yuron | 5:167327a82430 | 341 | //左進PID(fast_mode) |
yuron | 4:df334779a69e | 342 | int left_PID(int RF, int RB, int LF, int LB); |
yuron | 5:167327a82430 | 343 | //右前PID(slow_mode) |
yuron | 4:df334779a69e | 344 | int right_front_PID(int RB, int LF); |
yuron | 5:167327a82430 | 345 | //右後PID(slow_mode) |
yuron | 4:df334779a69e | 346 | int right_back_PID(int RF, int LB); |
yuron | 5:167327a82430 | 347 | //左前PID(slow_mode) |
yuron | 4:df334779a69e | 348 | int left_front_PID(int RF, int LB); |
yuron | 5:167327a82430 | 349 | //左後PID(slow_mode) |
yuron | 4:df334779a69e | 350 | int left_back_PID(int RB, int RF); |
yuron | 5:167327a82430 | 351 | //右旋回PID(fast mode) |
yuron | 4:df334779a69e | 352 | int turn_right_PID(int RF, int RB, int LF, int LB); |
yuron | 5:167327a82430 | 353 | //右旋回PID(slow mode) |
yuron | 5:167327a82430 | 354 | int turn_right_PID_slow(int RF, int RB, int LF, int LB); |
yuron | 5:167327a82430 | 355 | //左旋回PID(fast mode) |
yuron | 4:df334779a69e | 356 | int turn_left_PID(int RF, int RB, int LF, int LB); |
yuron | 5:167327a82430 | 357 | //左旋回PID(sow mode) |
yuron | 5:167327a82430 | 358 | int turn_left_PID_slow(int RF, int RB, int LF, int LB); |
yuron | 5:167327a82430 | 359 | //前前進後右旋回(slow_mode) |
yuron | 5:167327a82430 | 360 | int front_front_back_right_PID(int RF, int RB, int LF, int LB); |
yuron | 5:167327a82430 | 361 | //前前進後左旋回(slow_mode) |
yuron | 5:167327a82430 | 362 | int front_front_back_left_PID(int RF, int RB, int LF, int LB); |
yuron | 5:167327a82430 | 363 | //前右旋回後前進(slow_mode) |
yuron | 5:167327a82430 | 364 | int front_right_back_front_PID(int RF, int RB, int LF, int LB); |
yuron | 5:167327a82430 | 365 | //前左旋回後前進(slow_mode) |
yuron | 5:167327a82430 | 366 | int front_left_back_front_PID(int RF, int RB, int LF, int LB); |
yuron | 5:167327a82430 | 367 | //ローラーPID |
yuron | 4:df334779a69e | 368 | int roller_PID(int front, int back); |
yuron | 5:167327a82430 | 369 | |
yuron | 5:167327a82430 | 370 | //ラインセンサ制御基板との通信用関数 |
yuron | 4:df334779a69e | 371 | void linetrace(); |
yuron | 5:167327a82430 | 372 | //超音波センサ用関数 |
yuron | 4:df334779a69e | 373 | void ultrasonic(); |
yuron | 0:f73c1b076ae4 | 374 | |
yuron | 5:167327a82430 | 375 | //移動平均をPID |
yuron | 4:df334779a69e | 376 | void flip() { |
yuron | 5:167327a82430 | 377 | |
yuron | 5:167327a82430 | 378 | //前回のi番目のデータを消して新たにそこにデータを書き込む(キューのような考え?) |
yuron | 5:167327a82430 | 379 | sum_migimae_pulse -= migimae_pulse[i]; |
yuron | 5:167327a82430 | 380 | sum_migiusiro_pulse -= migiusiro_pulse[i]; |
yuron | 5:167327a82430 | 381 | sum_hidarimae_pulse -= hidarimae_pulse[i]; |
yuron | 5:167327a82430 | 382 | sum_hidariusiro_pulse -= hidariusiro_pulse[i]; |
yuron | 5:167327a82430 | 383 | sum_front_roller_pulse -= front_roller_pulse[i]; |
yuron | 5:167327a82430 | 384 | sum_back_roller_pulse -= back_roller_pulse[i]; |
yuron | 4:df334779a69e | 385 | |
yuron | 5:167327a82430 | 386 | //配列のi番目の箱に取得パルスを代入 |
yuron | 5:167327a82430 | 387 | migimae_pulse[i] = migimae_wheel.getPulses(); |
yuron | 5:167327a82430 | 388 | migiusiro_pulse[i] = migiusiro_wheel.getPulses(); |
yuron | 5:167327a82430 | 389 | hidarimae_pulse[i] = hidarimae_wheel.getPulses(); |
yuron | 5:167327a82430 | 390 | hidariusiro_pulse[i] = hidariusiro_wheel.getPulses(); |
yuron | 5:167327a82430 | 391 | measure_pulse = measure_wheel.getPulses(); |
yuron | 5:167327a82430 | 392 | front_roller_pulse[i] = front_roller_wheel.getPulses(); |
yuron | 5:167327a82430 | 393 | back_roller_pulse[i] = back_roller_wheel.getPulses(); |
yuron | 5:167327a82430 | 394 | //migimae_pulse = migimae_wheel.getPulses(); |
yuron | 5:167327a82430 | 395 | //migiusiro_pulse = migiusiro_wheel.getPulses(); |
yuron | 5:167327a82430 | 396 | //hidarimae_pulse = hidarimae_wheel.getPulses(); |
yuron | 5:167327a82430 | 397 | //hidariusiro_pulse = hidariusiro_wheel.getPulses(); |
yuron | 4:df334779a69e | 398 | |
yuron | 4:df334779a69e | 399 | migimae_wheel.reset(); |
yuron | 4:df334779a69e | 400 | migiusiro_wheel.reset(); |
yuron | 4:df334779a69e | 401 | hidarimae_wheel.reset(); |
yuron | 4:df334779a69e | 402 | hidariusiro_wheel.reset(); |
yuron | 4:df334779a69e | 403 | front_roller_wheel.reset(); |
yuron | 4:df334779a69e | 404 | back_roller_wheel.reset(); |
yuron | 5:167327a82430 | 405 | |
yuron | 5:167327a82430 | 406 | //i[0]~i[9]までの合計値を代入 |
yuron | 5:167327a82430 | 407 | sum_migimae_pulse += migimae_pulse[i]; |
yuron | 5:167327a82430 | 408 | sum_migiusiro_pulse += migiusiro_pulse[i]; |
yuron | 5:167327a82430 | 409 | sum_hidarimae_pulse += hidarimae_pulse[i]; |
yuron | 5:167327a82430 | 410 | sum_hidariusiro_pulse += hidariusiro_pulse[i]; |
yuron | 5:167327a82430 | 411 | sum_front_roller_pulse += front_roller_pulse[i]; |
yuron | 5:167327a82430 | 412 | sum_back_roller_pulse += back_roller_pulse[i]; |
yuron | 5:167327a82430 | 413 | |
yuron | 5:167327a82430 | 414 | //インクリメント |
yuron | 5:167327a82430 | 415 | i++; |
yuron | 5:167327a82430 | 416 | |
yuron | 5:167327a82430 | 417 | //iが最大値(9)になったらリセット |
yuron | 5:167327a82430 | 418 | if(i > 9) { |
yuron | 5:167327a82430 | 419 | i = 0; |
yuron | 5:167327a82430 | 420 | } |
yuron | 5:167327a82430 | 421 | |
yuron | 5:167327a82430 | 422 | //10回分の合計値を10で割り、取得パルスの平均を出す |
yuron | 5:167327a82430 | 423 | ave_migimae_pulse = sum_migimae_pulse / 10; |
yuron | 5:167327a82430 | 424 | ave_migiusiro_pulse = sum_migiusiro_pulse / 10; |
yuron | 5:167327a82430 | 425 | ave_hidarimae_pulse = sum_hidarimae_pulse / 10; |
yuron | 5:167327a82430 | 426 | ave_hidariusiro_pulse = sum_hidariusiro_pulse / 10; |
yuron | 5:167327a82430 | 427 | ave_front_roller_pulse = sum_front_roller_pulse / 10; |
yuron | 5:167327a82430 | 428 | ave_back_roller_pulse = sum_back_roller_pulse / 10; |
yuron | 5:167327a82430 | 429 | |
yuron | 5:167327a82430 | 430 | //平均値をRPMへ変換 |
yuron | 5:167327a82430 | 431 | migimae_rpm = ave_migimae_pulse * 25 * 60 / 1200; |
yuron | 5:167327a82430 | 432 | migiusiro_rpm = ave_migiusiro_pulse * 25 * 60 / 1200; |
yuron | 5:167327a82430 | 433 | hidarimae_rpm = ave_hidarimae_pulse * 25 * 60 / 1200; |
yuron | 5:167327a82430 | 434 | hidariusiro_rpm = ave_hidariusiro_pulse * 25 * 60 / 1200; |
yuron | 5:167327a82430 | 435 | front_roller_rpm = ave_front_roller_pulse * 25 * 60 / 1200; |
yuron | 5:167327a82430 | 436 | back_roller_rpm = ave_back_roller_pulse * 25 * 60 / 1200; |
yuron | 5:167327a82430 | 437 | |
yuron | 5:167327a82430 | 438 | //pc.printf("左後 %d\n", abs(hidariusiro_rpm)); |
yuron | 5:167327a82430 | 439 | //pc.printf("%d\n\r", measure_pulse); |
yuron | 5:167327a82430 | 440 | //pc.printf("%d %d\n", abs(front_roller_rpm), abs(back_roller_rpm)); |
yuron | 5:167327a82430 | 441 | //pc.printf("前 %d 後 %d %d %d\n", abs(front_roller_rpm), abs(back_roller_rpm), distance, line_state); |
yuron | 4:df334779a69e | 442 | } |
yuron | 5:167327a82430 | 443 | //前進(fast mode) |
yuron | 4:df334779a69e | 444 | int front_PID(int RF, int RB, int LF, int LB) { |
yuron | 5:167327a82430 | 445 | // センサ出力値の最小、最大 |
yuron | 4:df334779a69e | 446 | migimae.setInputLimits(-400, 400); |
yuron | 4:df334779a69e | 447 | migiusiro.setInputLimits(-400, 400); |
yuron | 4:df334779a69e | 448 | hidarimae.setInputLimits(-400, 400); |
yuron | 4:df334779a69e | 449 | hidariusiro.setInputLimits(-400, 400); |
yuron | 5:167327a82430 | 450 | |
yuron | 5:167327a82430 | 451 | // 制御量の最小、最大 |
yuron | 4:df334779a69e | 452 | migimae.setOutputLimits(0x0C, 0x7C); |
yuron | 4:df334779a69e | 453 | migiusiro.setOutputLimits(0x0C, 0x7C); |
yuron | 4:df334779a69e | 454 | hidarimae.setOutputLimits(0x0C, 0x7C); |
yuron | 4:df334779a69e | 455 | hidariusiro.setOutputLimits(0x0C, 0x7C); |
yuron | 4:df334779a69e | 456 | |
yuron | 5:167327a82430 | 457 | // よくわからんやつ |
yuron | 4:df334779a69e | 458 | migimae.setMode(AUTO_MODE); |
yuron | 4:df334779a69e | 459 | migiusiro.setMode(AUTO_MODE); |
yuron | 4:df334779a69e | 460 | hidarimae.setMode(AUTO_MODE); |
yuron | 4:df334779a69e | 461 | hidariusiro.setMode(AUTO_MODE); |
yuron | 0:f73c1b076ae4 | 462 | |
yuron | 5:167327a82430 | 463 | // 目標値 |
yuron | 4:df334779a69e | 464 | migimae.setSetPoint(RF); |
yuron | 4:df334779a69e | 465 | migiusiro.setSetPoint(RB); |
yuron | 4:df334779a69e | 466 | hidarimae.setSetPoint(LF); |
yuron | 4:df334779a69e | 467 | hidariusiro.setSetPoint(LB); |
yuron | 5:167327a82430 | 468 | |
yuron | 5:167327a82430 | 469 | // センサ出力 |
yuron | 4:df334779a69e | 470 | migimae.setProcessValue(abs(migimae_rpm)); |
yuron | 4:df334779a69e | 471 | migiusiro.setProcessValue(abs(migiusiro_rpm)); |
yuron | 4:df334779a69e | 472 | hidarimae.setProcessValue(abs(hidarimae_rpm)); |
yuron | 4:df334779a69e | 473 | hidariusiro.setProcessValue(abs(hidariusiro_rpm)); |
yuron | 5:167327a82430 | 474 | |
yuron | 5:167327a82430 | 475 | // 制御量(計算結果) |
yuron | 4:df334779a69e | 476 | migimae_data[0] = migimae.compute(); |
yuron | 4:df334779a69e | 477 | migiusiro_data[0] = migiusiro.compute(); |
yuron | 4:df334779a69e | 478 | hidarimae_data[0] = hidarimae.compute(); |
yuron | 4:df334779a69e | 479 | hidariusiro_data[0] = hidariusiro.compute(); |
yuron | 0:f73c1b076ae4 | 480 | |
yuron | 5:167327a82430 | 481 | // 制御量をPWM値に変換 |
yuron | 4:df334779a69e | 482 | true_migimae_data[0] = 0x7D - migimae_data[0]; |
yuron | 4:df334779a69e | 483 | true_migiusiro_data[0] = 0x7D - migiusiro_data[0]; |
yuron | 4:df334779a69e | 484 | true_hidarimae_data[0] = 0x7D - hidarimae_data[0]; |
yuron | 4:df334779a69e | 485 | true_hidariusiro_data[0] = 0x7D - hidariusiro_data[0]; |
yuron | 5:167327a82430 | 486 | |
yuron | 4:df334779a69e | 487 | return 0; |
yuron | 0:f73c1b076ae4 | 488 | } |
yuron | 5:167327a82430 | 489 | //前進(slow mode) |
yuron | 5:167327a82430 | 490 | int front_PID_slow(int RF, int RB, int LF, int LB) { |
yuron | 5:167327a82430 | 491 | // センサ出力値の最小、最大 |
yuron | 5:167327a82430 | 492 | migimae_slow.setInputLimits(-400, 400); |
yuron | 5:167327a82430 | 493 | migiusiro_slow.setInputLimits(-400, 400); |
yuron | 5:167327a82430 | 494 | hidarimae_slow.setInputLimits(-400, 400); |
yuron | 5:167327a82430 | 495 | hidariusiro_slow.setInputLimits(-400, 400); |
yuron | 5:167327a82430 | 496 | |
yuron | 5:167327a82430 | 497 | // 制御量の最小、最大 |
yuron | 5:167327a82430 | 498 | migimae_slow.setOutputLimits(0x0C, 0x7C); |
yuron | 5:167327a82430 | 499 | migiusiro_slow.setOutputLimits(0x0C, 0x7C); |
yuron | 5:167327a82430 | 500 | hidarimae_slow.setOutputLimits(0x0C, 0x7C); |
yuron | 5:167327a82430 | 501 | hidariusiro_slow.setOutputLimits(0x0C, 0x7C); |
yuron | 5:167327a82430 | 502 | |
yuron | 5:167327a82430 | 503 | // よくわからんやつ |
yuron | 5:167327a82430 | 504 | migimae_slow.setMode(AUTO_MODE); |
yuron | 5:167327a82430 | 505 | migiusiro_slow.setMode(AUTO_MODE); |
yuron | 5:167327a82430 | 506 | hidarimae_slow.setMode(AUTO_MODE); |
yuron | 5:167327a82430 | 507 | hidariusiro_slow.setMode(AUTO_MODE); |
yuron | 5:167327a82430 | 508 | |
yuron | 5:167327a82430 | 509 | // 目標値 |
yuron | 5:167327a82430 | 510 | migimae_slow.setSetPoint(RF); |
yuron | 5:167327a82430 | 511 | migiusiro_slow.setSetPoint(RB); |
yuron | 5:167327a82430 | 512 | hidarimae_slow.setSetPoint(LF); |
yuron | 5:167327a82430 | 513 | hidariusiro_slow.setSetPoint(LB); |
yuron | 5:167327a82430 | 514 | |
yuron | 5:167327a82430 | 515 | // センサ出力 |
yuron | 5:167327a82430 | 516 | migimae_slow.setProcessValue(abs(migimae_rpm)); |
yuron | 5:167327a82430 | 517 | migiusiro_slow.setProcessValue(abs(migiusiro_rpm)); |
yuron | 5:167327a82430 | 518 | hidarimae_slow.setProcessValue(abs(hidarimae_rpm)); |
yuron | 5:167327a82430 | 519 | hidariusiro_slow.setProcessValue(abs(hidariusiro_rpm)); |
yuron | 5:167327a82430 | 520 | |
yuron | 5:167327a82430 | 521 | // 制御量(計算結果) |
yuron | 5:167327a82430 | 522 | migimae_data[0] = migimae_slow.compute(); |
yuron | 5:167327a82430 | 523 | migiusiro_data[0] = migiusiro_slow.compute(); |
yuron | 5:167327a82430 | 524 | hidarimae_data[0] = hidarimae_slow.compute(); |
yuron | 5:167327a82430 | 525 | hidariusiro_data[0] = hidariusiro_slow.compute(); |
yuron | 5:167327a82430 | 526 | |
yuron | 5:167327a82430 | 527 | // 制御量をPWM値に変換 |
yuron | 5:167327a82430 | 528 | true_migimae_data[0] = 0x7D - migimae_data[0]; |
yuron | 5:167327a82430 | 529 | true_migiusiro_data[0] = 0x7D - migiusiro_data[0]; |
yuron | 5:167327a82430 | 530 | true_hidarimae_data[0] = 0x7D - hidarimae_data[0]; |
yuron | 5:167327a82430 | 531 | true_hidariusiro_data[0] = 0x7D - hidariusiro_data[0]; |
yuron | 5:167327a82430 | 532 | |
yuron | 5:167327a82430 | 533 | return 0; |
yuron | 5:167327a82430 | 534 | } |
yuron | 5:167327a82430 | 535 | //後進(fast mode) |
yuron | 4:df334779a69e | 536 | int back_PID(int RF, int RB, int LF, int LB) { |
yuron | 5:167327a82430 | 537 | // センサ出力値の最小、最大 |
yuron | 4:df334779a69e | 538 | migimae.setInputLimits(-400, 400); |
yuron | 4:df334779a69e | 539 | migiusiro.setInputLimits(-400, 400); |
yuron | 4:df334779a69e | 540 | hidarimae.setInputLimits(-400, 400); |
yuron | 4:df334779a69e | 541 | hidariusiro.setInputLimits(-400, 400); |
yuron | 5:167327a82430 | 542 | |
yuron | 5:167327a82430 | 543 | // 制御量の最小、最大 |
yuron | 4:df334779a69e | 544 | migimae.setOutputLimits(0x84, 0xFF); |
yuron | 4:df334779a69e | 545 | migiusiro.setOutputLimits(0x84, 0xFF); |
yuron | 4:df334779a69e | 546 | hidarimae.setOutputLimits(0x84, 0xFF); |
yuron | 4:df334779a69e | 547 | hidariusiro.setOutputLimits(0x84, 0xFF); |
yuron | 5:167327a82430 | 548 | |
yuron | 5:167327a82430 | 549 | // よくわからんやつ |
yuron | 4:df334779a69e | 550 | migimae.setMode(AUTO_MODE); |
yuron | 4:df334779a69e | 551 | migiusiro.setMode(AUTO_MODE); |
yuron | 4:df334779a69e | 552 | hidarimae.setMode(AUTO_MODE); |
yuron | 4:df334779a69e | 553 | hidariusiro.setMode(AUTO_MODE); |
yuron | 5:167327a82430 | 554 | |
yuron | 5:167327a82430 | 555 | // 目標値 |
yuron | 4:df334779a69e | 556 | migimae.setSetPoint(RF); |
yuron | 4:df334779a69e | 557 | migiusiro.setSetPoint(RB); |
yuron | 4:df334779a69e | 558 | hidarimae.setSetPoint(LF); |
yuron | 4:df334779a69e | 559 | hidariusiro.setSetPoint(LB); |
yuron | 5:167327a82430 | 560 | |
yuron | 5:167327a82430 | 561 | // センサ出力 |
yuron | 4:df334779a69e | 562 | //目標値が負の数になると出力がバグるため目標値は絶対値で指定して出力は逆回転になるようにしてます。 |
yuron | 4:df334779a69e | 563 | migimae.setProcessValue(abs(migimae_rpm)); |
yuron | 4:df334779a69e | 564 | migiusiro.setProcessValue(abs(migiusiro_rpm)); |
yuron | 4:df334779a69e | 565 | hidarimae.setProcessValue(abs(hidarimae_rpm)); |
yuron | 4:df334779a69e | 566 | hidariusiro.setProcessValue(abs(hidariusiro_rpm)); |
yuron | 5:167327a82430 | 567 | |
yuron | 5:167327a82430 | 568 | // 制御量(計算結果) |
yuron | 4:df334779a69e | 569 | migimae_data[0] = migimae.compute(); |
yuron | 4:df334779a69e | 570 | migiusiro_data[0] = migiusiro.compute(); |
yuron | 4:df334779a69e | 571 | hidarimae_data[0] = hidarimae.compute(); |
yuron | 4:df334779a69e | 572 | hidariusiro_data[0] = hidariusiro.compute(); |
yuron | 5:167327a82430 | 573 | |
yuron | 4:df334779a69e | 574 | true_migimae_data[0] = migimae_data[0]; |
yuron | 4:df334779a69e | 575 | true_migiusiro_data[0] = migiusiro_data[0]; |
yuron | 4:df334779a69e | 576 | true_hidarimae_data[0] = hidarimae_data[0]; |
yuron | 4:df334779a69e | 577 | true_hidariusiro_data[0] = hidariusiro_data[0]; |
yuron | 5:167327a82430 | 578 | |
yuron | 4:df334779a69e | 579 | return 0; |
yuron | 4:df334779a69e | 580 | } |
yuron | 5:167327a82430 | 581 | //後進(slow mode) |
yuron | 5:167327a82430 | 582 | int back_PID_slow(int RF, int RB, int LF, int LB) { |
yuron | 5:167327a82430 | 583 | // センサ出力値の最小、最大 |
yuron | 5:167327a82430 | 584 | migimae_slow.setInputLimits(-400, 400); |
yuron | 5:167327a82430 | 585 | migiusiro_slow.setInputLimits(-400, 400); |
yuron | 5:167327a82430 | 586 | hidarimae_slow.setInputLimits(-400, 400); |
yuron | 5:167327a82430 | 587 | hidariusiro_slow.setInputLimits(-400, 400); |
yuron | 5:167327a82430 | 588 | |
yuron | 5:167327a82430 | 589 | // 制御量の最小、最大 |
yuron | 5:167327a82430 | 590 | migimae_slow.setOutputLimits(0x84, 0xFF); |
yuron | 5:167327a82430 | 591 | migiusiro_slow.setOutputLimits(0x84, 0xFF); |
yuron | 5:167327a82430 | 592 | hidarimae_slow.setOutputLimits(0x84, 0xFF); |
yuron | 5:167327a82430 | 593 | hidariusiro_slow.setOutputLimits(0x84, 0xFF); |
yuron | 5:167327a82430 | 594 | |
yuron | 5:167327a82430 | 595 | // よくわからんやつ |
yuron | 5:167327a82430 | 596 | migimae_slow.setMode(AUTO_MODE); |
yuron | 5:167327a82430 | 597 | migiusiro_slow.setMode(AUTO_MODE); |
yuron | 5:167327a82430 | 598 | hidarimae_slow.setMode(AUTO_MODE); |
yuron | 5:167327a82430 | 599 | hidariusiro_slow.setMode(AUTO_MODE); |
yuron | 5:167327a82430 | 600 | |
yuron | 5:167327a82430 | 601 | // 目標値 |
yuron | 5:167327a82430 | 602 | migimae_slow.setSetPoint(RF); |
yuron | 5:167327a82430 | 603 | migiusiro_slow.setSetPoint(RB); |
yuron | 5:167327a82430 | 604 | hidarimae_slow.setSetPoint(LF); |
yuron | 5:167327a82430 | 605 | hidariusiro_slow.setSetPoint(LB); |
yuron | 5:167327a82430 | 606 | |
yuron | 5:167327a82430 | 607 | // センサ出力 |
yuron | 5:167327a82430 | 608 | //目標値が負の数になると出力がバグるため目標値は絶対値で指定して出力は逆回転になるようにしてます。 |
yuron | 5:167327a82430 | 609 | migimae_slow.setProcessValue(abs(migimae_rpm)); |
yuron | 5:167327a82430 | 610 | migiusiro_slow.setProcessValue(abs(migiusiro_rpm)); |
yuron | 5:167327a82430 | 611 | hidarimae_slow.setProcessValue(abs(hidarimae_rpm)); |
yuron | 5:167327a82430 | 612 | hidariusiro_slow.setProcessValue(abs(hidariusiro_rpm)); |
yuron | 5:167327a82430 | 613 | |
yuron | 5:167327a82430 | 614 | // 制御量(計算結果) |
yuron | 5:167327a82430 | 615 | migimae_data[0] = migimae_slow.compute(); |
yuron | 5:167327a82430 | 616 | migiusiro_data[0] = migiusiro_slow.compute(); |
yuron | 5:167327a82430 | 617 | hidarimae_data[0] = hidarimae_slow.compute(); |
yuron | 5:167327a82430 | 618 | hidariusiro_data[0] = hidariusiro_slow.compute(); |
yuron | 5:167327a82430 | 619 | |
yuron | 5:167327a82430 | 620 | true_migimae_data[0] = migimae_data[0]; |
yuron | 5:167327a82430 | 621 | true_migiusiro_data[0] = migiusiro_data[0]; |
yuron | 5:167327a82430 | 622 | true_hidarimae_data[0] = hidarimae_data[0]; |
yuron | 5:167327a82430 | 623 | true_hidariusiro_data[0] = hidariusiro_data[0]; |
yuron | 5:167327a82430 | 624 | |
yuron | 5:167327a82430 | 625 | return 0; |
yuron | 5:167327a82430 | 626 | } |
yuron | 5:167327a82430 | 627 | //右進(fast mode) |
yuron | 4:df334779a69e | 628 | int right_PID(int RF, int RB, int LF, int LB) { |
yuron | 5:167327a82430 | 629 | // センサ出力値の最小、最大 |
yuron | 4:df334779a69e | 630 | migimae.setInputLimits(-400, 400); |
yuron | 4:df334779a69e | 631 | migiusiro.setInputLimits(-400, 400); |
yuron | 4:df334779a69e | 632 | hidarimae.setInputLimits(-400, 400); |
yuron | 4:df334779a69e | 633 | hidariusiro.setInputLimits(-400, 400); |
yuron | 5:167327a82430 | 634 | |
yuron | 5:167327a82430 | 635 | // 制御量の最小、最大 |
yuron | 4:df334779a69e | 636 | migimae.setOutputLimits(0x84, 0xFF); |
yuron | 4:df334779a69e | 637 | migiusiro.setOutputLimits(0x0C, 0x7C); |
yuron | 4:df334779a69e | 638 | hidarimae.setOutputLimits(0x0C, 0x7C); |
yuron | 4:df334779a69e | 639 | hidariusiro.setOutputLimits(0x84, 0xFF); |
yuron | 4:df334779a69e | 640 | |
yuron | 5:167327a82430 | 641 | // よくわからんやつ |
yuron | 4:df334779a69e | 642 | migimae.setMode(AUTO_MODE); |
yuron | 4:df334779a69e | 643 | migiusiro.setMode(AUTO_MODE); |
yuron | 4:df334779a69e | 644 | hidarimae.setMode(AUTO_MODE); |
yuron | 4:df334779a69e | 645 | hidariusiro.setMode(AUTO_MODE); |
yuron | 4:df334779a69e | 646 | |
yuron | 5:167327a82430 | 647 | // 目標値 |
yuron | 4:df334779a69e | 648 | migimae.setSetPoint(RF); |
yuron | 4:df334779a69e | 649 | migiusiro.setSetPoint(RB); |
yuron | 4:df334779a69e | 650 | hidarimae.setSetPoint(LF); |
yuron | 4:df334779a69e | 651 | hidariusiro.setSetPoint(LB); |
yuron | 5:167327a82430 | 652 | |
yuron | 5:167327a82430 | 653 | // センサ出力 |
yuron | 4:df334779a69e | 654 | migimae.setProcessValue(abs(migimae_rpm)); |
yuron | 4:df334779a69e | 655 | migiusiro.setProcessValue(abs(migiusiro_rpm)); |
yuron | 4:df334779a69e | 656 | hidarimae.setProcessValue(abs(hidarimae_rpm)); |
yuron | 4:df334779a69e | 657 | hidariusiro.setProcessValue(abs(hidariusiro_rpm)); |
yuron | 5:167327a82430 | 658 | |
yuron | 5:167327a82430 | 659 | // 制御量(計算結果) |
yuron | 4:df334779a69e | 660 | migimae_data[0] = migimae.compute(); |
yuron | 4:df334779a69e | 661 | migiusiro_data[0] = migiusiro.compute(); |
yuron | 4:df334779a69e | 662 | hidarimae_data[0] = hidarimae.compute(); |
yuron | 4:df334779a69e | 663 | hidariusiro_data[0] = hidariusiro.compute(); |
yuron | 4:df334779a69e | 664 | |
yuron | 5:167327a82430 | 665 | // 制御量をPWM値に変換 |
yuron | 4:df334779a69e | 666 | true_migimae_data[0] = migimae_data[0]; |
yuron | 4:df334779a69e | 667 | true_migiusiro_data[0] = 0x7D - migiusiro_data[0]; |
yuron | 4:df334779a69e | 668 | true_hidarimae_data[0] = 0x7D - hidarimae_data[0]; |
yuron | 4:df334779a69e | 669 | true_hidariusiro_data[0] = hidariusiro_data[0]; |
yuron | 5:167327a82430 | 670 | |
yuron | 4:df334779a69e | 671 | return 0; |
yuron | 4:df334779a69e | 672 | } |
yuron | 5:167327a82430 | 673 | //右進(slow mode) |
yuron | 5:167327a82430 | 674 | int right_PID_slow(int RF, int RB, int LF, int LB) { |
yuron | 5:167327a82430 | 675 | // センサ出力値の最小、最大 |
yuron | 5:167327a82430 | 676 | migimae_slow.setInputLimits(-400, 400); |
yuron | 5:167327a82430 | 677 | migiusiro_slow.setInputLimits(-400, 400); |
yuron | 5:167327a82430 | 678 | hidarimae_slow.setInputLimits(-400, 400); |
yuron | 5:167327a82430 | 679 | hidariusiro_slow.setInputLimits(-400, 400); |
yuron | 5:167327a82430 | 680 | |
yuron | 5:167327a82430 | 681 | // 制御量の最小、最大 |
yuron | 5:167327a82430 | 682 | migimae_slow.setOutputLimits(0x84, 0xFF); |
yuron | 5:167327a82430 | 683 | migiusiro_slow.setOutputLimits(0x0C, 0x7C); |
yuron | 5:167327a82430 | 684 | hidarimae_slow.setOutputLimits(0x0C, 0x7C); |
yuron | 5:167327a82430 | 685 | hidariusiro_slow.setOutputLimits(0x84, 0xFF); |
yuron | 5:167327a82430 | 686 | |
yuron | 5:167327a82430 | 687 | // よくわからんやつ |
yuron | 5:167327a82430 | 688 | migimae_slow.setMode(AUTO_MODE); |
yuron | 5:167327a82430 | 689 | migiusiro_slow.setMode(AUTO_MODE); |
yuron | 5:167327a82430 | 690 | hidarimae_slow.setMode(AUTO_MODE); |
yuron | 5:167327a82430 | 691 | hidariusiro_slow.setMode(AUTO_MODE); |
yuron | 5:167327a82430 | 692 | |
yuron | 5:167327a82430 | 693 | // 目標値 |
yuron | 5:167327a82430 | 694 | migimae_slow.setSetPoint(RF); |
yuron | 5:167327a82430 | 695 | migiusiro_slow.setSetPoint(RB); |
yuron | 5:167327a82430 | 696 | hidarimae_slow.setSetPoint(LF); |
yuron | 5:167327a82430 | 697 | hidariusiro_slow.setSetPoint(LB); |
yuron | 5:167327a82430 | 698 | |
yuron | 5:167327a82430 | 699 | // センサ出力 |
yuron | 5:167327a82430 | 700 | migimae_slow.setProcessValue(abs(migimae_rpm)); |
yuron | 5:167327a82430 | 701 | migiusiro_slow.setProcessValue(abs(migiusiro_rpm)); |
yuron | 5:167327a82430 | 702 | hidarimae_slow.setProcessValue(abs(hidarimae_rpm)); |
yuron | 5:167327a82430 | 703 | hidariusiro_slow.setProcessValue(abs(hidariusiro_rpm)); |
yuron | 5:167327a82430 | 704 | |
yuron | 5:167327a82430 | 705 | // 制御量(計算結果) |
yuron | 5:167327a82430 | 706 | migimae_data[0] = migimae_slow.compute(); |
yuron | 5:167327a82430 | 707 | migiusiro_data[0] = migiusiro_slow.compute(); |
yuron | 5:167327a82430 | 708 | hidarimae_data[0] = hidarimae_slow.compute(); |
yuron | 5:167327a82430 | 709 | hidariusiro_data[0] = hidariusiro_slow.compute(); |
yuron | 5:167327a82430 | 710 | |
yuron | 5:167327a82430 | 711 | // 制御量をPWM値に変換 |
yuron | 5:167327a82430 | 712 | true_migimae_data[0] = migimae_data[0]; |
yuron | 5:167327a82430 | 713 | true_migiusiro_data[0] = 0x7D - migiusiro_data[0]; |
yuron | 5:167327a82430 | 714 | true_hidarimae_data[0] = 0x7D - hidarimae_data[0]; |
yuron | 5:167327a82430 | 715 | true_hidariusiro_data[0] = hidariusiro_data[0]; |
yuron | 5:167327a82430 | 716 | |
yuron | 5:167327a82430 | 717 | return 0; |
yuron | 5:167327a82430 | 718 | } |
yuron | 5:167327a82430 | 719 | //左進(fast mode) |
yuron | 4:df334779a69e | 720 | int left_PID(int RF, int RB, int LF, int LB) { |
yuron | 5:167327a82430 | 721 | // センサ出力値の最小、最大 |
yuron | 4:df334779a69e | 722 | migimae.setInputLimits(-400, 400); |
yuron | 4:df334779a69e | 723 | migiusiro.setInputLimits(-400, 400); |
yuron | 4:df334779a69e | 724 | hidarimae.setInputLimits(-400, 400); |
yuron | 4:df334779a69e | 725 | hidariusiro.setInputLimits(-400, 400); |
yuron | 5:167327a82430 | 726 | |
yuron | 5:167327a82430 | 727 | // 制御量の最小、最大 |
yuron | 4:df334779a69e | 728 | migimae.setOutputLimits(0x0C, 0x7C); |
yuron | 4:df334779a69e | 729 | migiusiro.setOutputLimits(0x84, 0xFF); |
yuron | 4:df334779a69e | 730 | hidarimae.setOutputLimits(0x84, 0xFF); |
yuron | 4:df334779a69e | 731 | hidariusiro.setOutputLimits(0x0C, 0x7C); |
yuron | 0:f73c1b076ae4 | 732 | |
yuron | 5:167327a82430 | 733 | // よくわからんやつ |
yuron | 4:df334779a69e | 734 | migimae.setMode(AUTO_MODE); |
yuron | 4:df334779a69e | 735 | migiusiro.setMode(AUTO_MODE); |
yuron | 4:df334779a69e | 736 | hidarimae.setMode(AUTO_MODE); |
yuron | 4:df334779a69e | 737 | hidariusiro.setMode(AUTO_MODE); |
yuron | 4:df334779a69e | 738 | |
yuron | 5:167327a82430 | 739 | // 目標値 |
yuron | 4:df334779a69e | 740 | migimae.setSetPoint(RF); |
yuron | 4:df334779a69e | 741 | migiusiro.setSetPoint(RB); |
yuron | 4:df334779a69e | 742 | hidarimae.setSetPoint(LF); |
yuron | 4:df334779a69e | 743 | hidariusiro.setSetPoint(LB); |
yuron | 5:167327a82430 | 744 | |
yuron | 5:167327a82430 | 745 | // センサ出力 |
yuron | 4:df334779a69e | 746 | migimae.setProcessValue(abs(migimae_rpm)); |
yuron | 4:df334779a69e | 747 | migiusiro.setProcessValue(abs(migiusiro_rpm)); |
yuron | 4:df334779a69e | 748 | hidarimae.setProcessValue(abs(hidarimae_rpm)); |
yuron | 4:df334779a69e | 749 | hidariusiro.setProcessValue(abs(hidariusiro_rpm)); |
yuron | 5:167327a82430 | 750 | |
yuron | 5:167327a82430 | 751 | // 制御量(計算結果) |
yuron | 4:df334779a69e | 752 | migimae_data[0] = migimae.compute(); |
yuron | 4:df334779a69e | 753 | migiusiro_data[0] = migiusiro.compute(); |
yuron | 4:df334779a69e | 754 | hidarimae_data[0] = hidarimae.compute(); |
yuron | 4:df334779a69e | 755 | hidariusiro_data[0] = hidariusiro.compute(); |
yuron | 4:df334779a69e | 756 | |
yuron | 5:167327a82430 | 757 | // 制御量をPWM値に変換 |
yuron | 5:167327a82430 | 758 | true_migimae_data[0] = 0x7D - migimae_data[0]; |
yuron | 5:167327a82430 | 759 | true_migiusiro_data[0] = migiusiro_data[0]; |
yuron | 5:167327a82430 | 760 | true_hidarimae_data[0] = hidarimae_data[0]; |
yuron | 5:167327a82430 | 761 | true_hidariusiro_data[0] = 0x7D - hidariusiro_data[0]; |
yuron | 5:167327a82430 | 762 | |
yuron | 5:167327a82430 | 763 | return 0; |
yuron | 5:167327a82430 | 764 | } |
yuron | 5:167327a82430 | 765 | //左進(slow mode) |
yuron | 5:167327a82430 | 766 | int left_PID_slow(int RF, int RB, int LF, int LB) { |
yuron | 5:167327a82430 | 767 | // センサ出力値の最小、最大 |
yuron | 5:167327a82430 | 768 | migimae_slow.setInputLimits(-400, 400); |
yuron | 5:167327a82430 | 769 | migiusiro_slow.setInputLimits(-400, 400); |
yuron | 5:167327a82430 | 770 | hidarimae_slow.setInputLimits(-400, 400); |
yuron | 5:167327a82430 | 771 | hidariusiro_slow.setInputLimits(-400, 400); |
yuron | 5:167327a82430 | 772 | |
yuron | 5:167327a82430 | 773 | // 制御量の最小、最大 |
yuron | 5:167327a82430 | 774 | migimae_slow.setOutputLimits(0x0C, 0x7C); |
yuron | 5:167327a82430 | 775 | migiusiro_slow.setOutputLimits(0x84, 0xFF); |
yuron | 5:167327a82430 | 776 | hidarimae_slow.setOutputLimits(0x84, 0xFF); |
yuron | 5:167327a82430 | 777 | hidariusiro_slow.setOutputLimits(0x0C, 0x7C); |
yuron | 5:167327a82430 | 778 | |
yuron | 5:167327a82430 | 779 | // よくわからんやつ |
yuron | 5:167327a82430 | 780 | migimae_slow.setMode(AUTO_MODE); |
yuron | 5:167327a82430 | 781 | migiusiro_slow.setMode(AUTO_MODE); |
yuron | 5:167327a82430 | 782 | hidarimae_slow.setMode(AUTO_MODE); |
yuron | 5:167327a82430 | 783 | hidariusiro_slow.setMode(AUTO_MODE); |
yuron | 5:167327a82430 | 784 | |
yuron | 5:167327a82430 | 785 | // 目標値 |
yuron | 5:167327a82430 | 786 | migimae_slow.setSetPoint(RF); |
yuron | 5:167327a82430 | 787 | migiusiro_slow.setSetPoint(RB); |
yuron | 5:167327a82430 | 788 | hidarimae_slow.setSetPoint(LF); |
yuron | 5:167327a82430 | 789 | hidariusiro_slow.setSetPoint(LB); |
yuron | 5:167327a82430 | 790 | |
yuron | 5:167327a82430 | 791 | // センサ出力 |
yuron | 5:167327a82430 | 792 | migimae_slow.setProcessValue(abs(migimae_rpm)); |
yuron | 5:167327a82430 | 793 | migiusiro_slow.setProcessValue(abs(migiusiro_rpm)); |
yuron | 5:167327a82430 | 794 | hidarimae_slow.setProcessValue(abs(hidarimae_rpm)); |
yuron | 5:167327a82430 | 795 | hidariusiro_slow.setProcessValue(abs(hidariusiro_rpm)); |
yuron | 5:167327a82430 | 796 | |
yuron | 5:167327a82430 | 797 | // 制御量(計算結果) |
yuron | 5:167327a82430 | 798 | migimae_data[0] = migimae_slow.compute(); |
yuron | 5:167327a82430 | 799 | migiusiro_data[0] = migiusiro_slow.compute(); |
yuron | 5:167327a82430 | 800 | hidarimae_data[0] = hidarimae_slow.compute(); |
yuron | 5:167327a82430 | 801 | hidariusiro_data[0] = hidariusiro_slow.compute(); |
yuron | 5:167327a82430 | 802 | |
yuron | 5:167327a82430 | 803 | // 制御量をPWM値に変換 |
yuron | 4:df334779a69e | 804 | true_migimae_data[0] = 0x7D - migimae_data[0]; |
yuron | 4:df334779a69e | 805 | true_migiusiro_data[0] = migiusiro_data[0]; |
yuron | 4:df334779a69e | 806 | true_hidarimae_data[0] = hidarimae_data[0]; |
yuron | 4:df334779a69e | 807 | true_hidariusiro_data[0] = 0x7D - hidariusiro_data[0]; |
yuron | 5:167327a82430 | 808 | |
yuron | 4:df334779a69e | 809 | return 0; |
yuron | 4:df334779a69e | 810 | } |
yuron | 5:167327a82430 | 811 | //斜め右前(fast mode) |
yuron | 4:df334779a69e | 812 | int right_front_PID(int RB, int LF) { |
yuron | 5:167327a82430 | 813 | // センサ出力値の最小、最大 |
yuron | 5:167327a82430 | 814 | migiusiro.setInputLimits(0, 400); |
yuron | 5:167327a82430 | 815 | hidarimae.setInputLimits(0, 400); |
yuron | 5:167327a82430 | 816 | |
yuron | 5:167327a82430 | 817 | // 制御量の最小、最大 |
yuron | 4:df334779a69e | 818 | migiusiro.setOutputLimits(0x0C, 0x7C); |
yuron | 4:df334779a69e | 819 | hidarimae.setOutputLimits(0x0C, 0x7C); |
yuron | 4:df334779a69e | 820 | |
yuron | 5:167327a82430 | 821 | // よくわからんやつ |
yuron | 4:df334779a69e | 822 | migiusiro.setMode(AUTO_MODE); |
yuron | 4:df334779a69e | 823 | hidarimae.setMode(AUTO_MODE); |
yuron | 4:df334779a69e | 824 | |
yuron | 5:167327a82430 | 825 | // 目標値 |
yuron | 4:df334779a69e | 826 | migiusiro.setSetPoint(RB); |
yuron | 4:df334779a69e | 827 | hidarimae.setSetPoint(LF); |
yuron | 5:167327a82430 | 828 | |
yuron | 5:167327a82430 | 829 | // センサ出力 |
yuron | 4:df334779a69e | 830 | migiusiro.setProcessValue(abs(migiusiro_rpm)); |
yuron | 4:df334779a69e | 831 | hidarimae.setProcessValue(abs(hidarimae_rpm)); |
yuron | 5:167327a82430 | 832 | |
yuron | 5:167327a82430 | 833 | // 制御量(計算結果) |
yuron | 4:df334779a69e | 834 | migiusiro_data[0] = migiusiro.compute(); |
yuron | 4:df334779a69e | 835 | hidarimae_data[0] = hidarimae.compute(); |
yuron | 4:df334779a69e | 836 | |
yuron | 5:167327a82430 | 837 | // 制御量をPWM値に変換 |
yuron | 5:167327a82430 | 838 | true_migimae_data[0] = 0x80; |
yuron | 4:df334779a69e | 839 | true_migiusiro_data[0] = 0x7D - migiusiro_data[0]; |
yuron | 4:df334779a69e | 840 | true_hidarimae_data[0] = 0x7D - hidarimae_data[0]; |
yuron | 5:167327a82430 | 841 | true_hidariusiro_data[0] = 0x80; |
yuron | 5:167327a82430 | 842 | |
yuron | 4:df334779a69e | 843 | return 0; |
yuron | 4:df334779a69e | 844 | } |
yuron | 5:167327a82430 | 845 | //斜め右後(fast mode) |
yuron | 4:df334779a69e | 846 | int right_back_PID(int RF, int LB) { |
yuron | 5:167327a82430 | 847 | // センサ出力値の最小、最大 |
yuron | 4:df334779a69e | 848 | migimae.setInputLimits(-400, 400); |
yuron | 4:df334779a69e | 849 | hidariusiro.setInputLimits(-400, 400); |
yuron | 5:167327a82430 | 850 | |
yuron | 5:167327a82430 | 851 | // 制御量の最小、最大 |
yuron | 4:df334779a69e | 852 | migimae.setOutputLimits(0x84, 0xFF); |
yuron | 4:df334779a69e | 853 | hidariusiro.setOutputLimits(0x84, 0xFF); |
yuron | 5:167327a82430 | 854 | |
yuron | 5:167327a82430 | 855 | // よくわからんやつ |
yuron | 4:df334779a69e | 856 | migimae.setMode(AUTO_MODE); |
yuron | 4:df334779a69e | 857 | hidariusiro.setMode(AUTO_MODE); |
yuron | 5:167327a82430 | 858 | |
yuron | 5:167327a82430 | 859 | // 目標値 |
yuron | 4:df334779a69e | 860 | migimae.setSetPoint(RF); |
yuron | 4:df334779a69e | 861 | hidariusiro.setSetPoint(LB); |
yuron | 5:167327a82430 | 862 | |
yuron | 5:167327a82430 | 863 | // センサ出力 |
yuron | 4:df334779a69e | 864 | //目標値が負の数になると出力がバグるため目標値は絶対値で指定して出力は逆回転になるようにしてます。 |
yuron | 4:df334779a69e | 865 | migimae.setProcessValue(abs(migimae_rpm)); |
yuron | 4:df334779a69e | 866 | hidariusiro.setProcessValue(abs(hidariusiro_rpm)); |
yuron | 5:167327a82430 | 867 | |
yuron | 5:167327a82430 | 868 | // 制御量(計算結果) |
yuron | 4:df334779a69e | 869 | migimae_data[0] = migimae.compute(); |
yuron | 4:df334779a69e | 870 | hidariusiro_data[0] = hidariusiro.compute(); |
yuron | 5:167327a82430 | 871 | |
yuron | 4:df334779a69e | 872 | true_migimae_data[0] = migimae_data[0]; |
yuron | 5:167327a82430 | 873 | true_migiusiro_data[0] = 0x80; |
yuron | 5:167327a82430 | 874 | true_hidarimae_data[0] = 0x80; |
yuron | 4:df334779a69e | 875 | true_hidariusiro_data[0] = hidariusiro_data[0]; |
yuron | 5:167327a82430 | 876 | |
yuron | 4:df334779a69e | 877 | return 0; |
yuron | 4:df334779a69e | 878 | } |
yuron | 5:167327a82430 | 879 | //斜め左前(fast mode) |
yuron | 4:df334779a69e | 880 | int left_front_PID(int RF, int LB) { |
yuron | 5:167327a82430 | 881 | // センサ出力値の最小、最大 |
yuron | 4:df334779a69e | 882 | migimae.setInputLimits(-400, 400); |
yuron | 4:df334779a69e | 883 | hidariusiro.setInputLimits(-400, 400); |
yuron | 5:167327a82430 | 884 | |
yuron | 5:167327a82430 | 885 | // 制御量の最小、最大 |
yuron | 4:df334779a69e | 886 | migimae.setOutputLimits(0x0C, 0x7C); |
yuron | 4:df334779a69e | 887 | hidariusiro.setOutputLimits(0x0C, 0x7C); |
yuron | 4:df334779a69e | 888 | |
yuron | 5:167327a82430 | 889 | // よくわからんやつ |
yuron | 4:df334779a69e | 890 | migimae.setMode(AUTO_MODE); |
yuron | 4:df334779a69e | 891 | hidariusiro.setMode(AUTO_MODE); |
yuron | 4:df334779a69e | 892 | |
yuron | 5:167327a82430 | 893 | // 目標値 |
yuron | 4:df334779a69e | 894 | migimae.setSetPoint(RF); |
yuron | 4:df334779a69e | 895 | hidariusiro.setSetPoint(LB); |
yuron | 5:167327a82430 | 896 | |
yuron | 5:167327a82430 | 897 | // センサ出力 |
yuron | 4:df334779a69e | 898 | migimae.setProcessValue(abs(migimae_rpm)); |
yuron | 4:df334779a69e | 899 | hidariusiro.setProcessValue(abs(hidariusiro_rpm)); |
yuron | 5:167327a82430 | 900 | |
yuron | 5:167327a82430 | 901 | // 制御量(計算結果) |
yuron | 4:df334779a69e | 902 | migimae_data[0] = migimae.compute(); |
yuron | 4:df334779a69e | 903 | hidariusiro_data[0] = hidariusiro.compute(); |
yuron | 4:df334779a69e | 904 | |
yuron | 5:167327a82430 | 905 | // 制御量をPWM値に変換 |
yuron | 4:df334779a69e | 906 | true_migimae_data[0] = 0x7D - migimae_data[0]; |
yuron | 5:167327a82430 | 907 | true_migiusiro_data[0] = 0x80; |
yuron | 5:167327a82430 | 908 | true_hidarimae_data[0] = 0x80; |
yuron | 4:df334779a69e | 909 | true_hidariusiro_data[0] = 0x7D - hidariusiro_data[0]; |
yuron | 5:167327a82430 | 910 | |
yuron | 2:c32991ba628f | 911 | return 0; |
yuron | 0:f73c1b076ae4 | 912 | } |
yuron | 5:167327a82430 | 913 | //斜め左後(fast mode) |
yuron | 4:df334779a69e | 914 | int left_back_PID(int RB, int LF) { |
yuron | 5:167327a82430 | 915 | // センサ出力値の最小、最大 |
yuron | 4:df334779a69e | 916 | migiusiro.setInputLimits(-400, 400); |
yuron | 4:df334779a69e | 917 | hidarimae.setInputLimits(-400, 400); |
yuron | 5:167327a82430 | 918 | |
yuron | 5:167327a82430 | 919 | // 制御量の最小、最大 |
yuron | 4:df334779a69e | 920 | migiusiro.setOutputLimits(0x84, 0xFF); |
yuron | 4:df334779a69e | 921 | hidarimae.setOutputLimits(0x84, 0xFF); |
yuron | 5:167327a82430 | 922 | |
yuron | 5:167327a82430 | 923 | // よくわからんやつ |
yuron | 4:df334779a69e | 924 | migiusiro.setMode(AUTO_MODE); |
yuron | 4:df334779a69e | 925 | hidarimae.setMode(AUTO_MODE); |
yuron | 5:167327a82430 | 926 | |
yuron | 5:167327a82430 | 927 | // 目標値 |
yuron | 4:df334779a69e | 928 | migiusiro.setSetPoint(RB); |
yuron | 4:df334779a69e | 929 | hidarimae.setSetPoint(LF); |
yuron | 5:167327a82430 | 930 | |
yuron | 5:167327a82430 | 931 | // センサ出力 |
yuron | 2:c32991ba628f | 932 | //目標値が負の数になると出力がバグるため目標値は絶対値で指定して出力は逆回転になるようにしてます。 |
yuron | 4:df334779a69e | 933 | migiusiro.setProcessValue(abs(migiusiro_rpm)); |
yuron | 4:df334779a69e | 934 | hidarimae.setProcessValue(abs(hidarimae_rpm)); |
yuron | 5:167327a82430 | 935 | |
yuron | 5:167327a82430 | 936 | // 制御量(計算結果) |
yuron | 4:df334779a69e | 937 | migiusiro_data[0] = migiusiro.compute(); |
yuron | 4:df334779a69e | 938 | hidarimae_data[0] = hidarimae.compute(); |
yuron | 5:167327a82430 | 939 | |
yuron | 5:167327a82430 | 940 | true_migimae_data[0] = 0x80; |
yuron | 4:df334779a69e | 941 | true_migiusiro_data[0] = migiusiro_data[0]; |
yuron | 4:df334779a69e | 942 | true_hidarimae_data[0] = hidarimae_data[0]; |
yuron | 5:167327a82430 | 943 | true_hidariusiro_data[0] = 0x80; |
yuron | 5:167327a82430 | 944 | |
yuron | 2:c32991ba628f | 945 | return 0; |
yuron | 1:62b321f6c9c3 | 946 | } |
yuron | 5:167327a82430 | 947 | //右旋回(fast mode) |
yuron | 4:df334779a69e | 948 | int turn_right_PID(int RF, int RB, int LF, int LB) { |
yuron | 5:167327a82430 | 949 | // センサ出力値の最小、最大 |
yuron | 4:df334779a69e | 950 | migimae.setInputLimits(-400, 400); |
yuron | 4:df334779a69e | 951 | migiusiro.setInputLimits(-400, 400); |
yuron | 4:df334779a69e | 952 | hidarimae.setInputLimits(-400, 400); |
yuron | 4:df334779a69e | 953 | hidariusiro.setInputLimits(-400, 400); |
yuron | 5:167327a82430 | 954 | |
yuron | 5:167327a82430 | 955 | // 制御量の最小、最大 |
yuron | 4:df334779a69e | 956 | migimae.setOutputLimits(0x84, 0xFF); |
yuron | 4:df334779a69e | 957 | migiusiro.setOutputLimits(0x84, 0xFF); |
yuron | 4:df334779a69e | 958 | hidarimae.setOutputLimits(0x0C, 0x7C); |
yuron | 4:df334779a69e | 959 | hidariusiro.setOutputLimits(0x0C, 0x7C); |
yuron | 4:df334779a69e | 960 | |
yuron | 5:167327a82430 | 961 | // よくわからんやつ |
yuron | 4:df334779a69e | 962 | migimae.setMode(AUTO_MODE); |
yuron | 4:df334779a69e | 963 | migiusiro.setMode(AUTO_MODE); |
yuron | 4:df334779a69e | 964 | hidarimae.setMode(AUTO_MODE); |
yuron | 4:df334779a69e | 965 | hidariusiro.setMode(AUTO_MODE); |
yuron | 4:df334779a69e | 966 | |
yuron | 5:167327a82430 | 967 | // 目標値 |
yuron | 4:df334779a69e | 968 | migimae.setSetPoint(RF); |
yuron | 4:df334779a69e | 969 | migiusiro.setSetPoint(RB); |
yuron | 4:df334779a69e | 970 | hidarimae.setSetPoint(LF); |
yuron | 4:df334779a69e | 971 | hidariusiro.setSetPoint(LB); |
yuron | 5:167327a82430 | 972 | |
yuron | 5:167327a82430 | 973 | // センサ出力 |
yuron | 4:df334779a69e | 974 | migimae.setProcessValue(abs(migimae_rpm)); |
yuron | 4:df334779a69e | 975 | migiusiro.setProcessValue(abs(migiusiro_rpm)); |
yuron | 4:df334779a69e | 976 | hidarimae.setProcessValue(abs(hidarimae_rpm)); |
yuron | 4:df334779a69e | 977 | hidariusiro.setProcessValue(abs(hidariusiro_rpm)); |
yuron | 5:167327a82430 | 978 | |
yuron | 5:167327a82430 | 979 | // 制御量(計算結果) |
yuron | 4:df334779a69e | 980 | migimae_data[0] = migimae.compute(); |
yuron | 4:df334779a69e | 981 | migiusiro_data[0] = migiusiro.compute(); |
yuron | 4:df334779a69e | 982 | hidarimae_data[0] = hidarimae.compute(); |
yuron | 4:df334779a69e | 983 | hidariusiro_data[0] = hidariusiro.compute(); |
yuron | 4:df334779a69e | 984 | |
yuron | 5:167327a82430 | 985 | // 制御量をPWM値に変換 |
yuron | 4:df334779a69e | 986 | true_migimae_data[0] = migimae_data[0]; |
yuron | 4:df334779a69e | 987 | true_migiusiro_data[0] = migiusiro_data[0]; |
yuron | 4:df334779a69e | 988 | true_hidarimae_data[0] = 0x7D - hidarimae_data[0]; |
yuron | 4:df334779a69e | 989 | true_hidariusiro_data[0] = 0x7D - hidariusiro_data[0]; |
yuron | 5:167327a82430 | 990 | |
yuron | 4:df334779a69e | 991 | return 0; |
yuron | 4:df334779a69e | 992 | } |
yuron | 5:167327a82430 | 993 | //右旋回(slow mode) |
yuron | 5:167327a82430 | 994 | int turn_right_PID_slow(int RF, int RB, int LF, int LB) { |
yuron | 5:167327a82430 | 995 | // センサ出力値の最小、最大 |
yuron | 5:167327a82430 | 996 | migimae_slow.setInputLimits(-400, 400); |
yuron | 5:167327a82430 | 997 | migiusiro_slow.setInputLimits(-400, 400); |
yuron | 5:167327a82430 | 998 | hidarimae_slow.setInputLimits(-400, 400); |
yuron | 5:167327a82430 | 999 | hidariusiro_slow.setInputLimits(-400, 400); |
yuron | 5:167327a82430 | 1000 | |
yuron | 5:167327a82430 | 1001 | // 制御量の最小、最大 |
yuron | 5:167327a82430 | 1002 | migimae_slow.setOutputLimits(0x84, 0xFF); |
yuron | 5:167327a82430 | 1003 | migiusiro_slow.setOutputLimits(0x84, 0xFF); |
yuron | 5:167327a82430 | 1004 | hidarimae_slow.setOutputLimits(0x0C, 0x7C); |
yuron | 5:167327a82430 | 1005 | hidariusiro_slow.setOutputLimits(0x0C, 0x7C); |
yuron | 5:167327a82430 | 1006 | |
yuron | 5:167327a82430 | 1007 | // よくわからんやつ |
yuron | 5:167327a82430 | 1008 | migimae_slow.setMode(AUTO_MODE); |
yuron | 5:167327a82430 | 1009 | migiusiro_slow.setMode(AUTO_MODE); |
yuron | 5:167327a82430 | 1010 | hidarimae_slow.setMode(AUTO_MODE); |
yuron | 5:167327a82430 | 1011 | hidariusiro_slow.setMode(AUTO_MODE); |
yuron | 5:167327a82430 | 1012 | |
yuron | 5:167327a82430 | 1013 | // 目標値 |
yuron | 5:167327a82430 | 1014 | migimae_slow.setSetPoint(RF); |
yuron | 5:167327a82430 | 1015 | migiusiro_slow.setSetPoint(RB); |
yuron | 5:167327a82430 | 1016 | hidarimae_slow.setSetPoint(LF); |
yuron | 5:167327a82430 | 1017 | hidariusiro_slow.setSetPoint(LB); |
yuron | 5:167327a82430 | 1018 | |
yuron | 5:167327a82430 | 1019 | // センサ出力 |
yuron | 5:167327a82430 | 1020 | migimae_slow.setProcessValue(abs(migimae_rpm)); |
yuron | 5:167327a82430 | 1021 | migiusiro_slow.setProcessValue(abs(migiusiro_rpm)); |
yuron | 5:167327a82430 | 1022 | hidarimae_slow.setProcessValue(abs(hidarimae_rpm)); |
yuron | 5:167327a82430 | 1023 | hidariusiro_slow.setProcessValue(abs(hidariusiro_rpm)); |
yuron | 5:167327a82430 | 1024 | |
yuron | 5:167327a82430 | 1025 | // 制御量(計算結果) |
yuron | 5:167327a82430 | 1026 | migimae_data[0] = migimae_slow.compute(); |
yuron | 5:167327a82430 | 1027 | migiusiro_data[0] = migiusiro_slow.compute(); |
yuron | 5:167327a82430 | 1028 | hidarimae_data[0] = hidarimae_slow.compute(); |
yuron | 5:167327a82430 | 1029 | hidariusiro_data[0] = hidariusiro_slow.compute(); |
yuron | 5:167327a82430 | 1030 | |
yuron | 5:167327a82430 | 1031 | // 制御量をPWM値に変換 |
yuron | 5:167327a82430 | 1032 | true_migimae_data[0] = migimae_data[0]; |
yuron | 5:167327a82430 | 1033 | true_migiusiro_data[0] = migiusiro_data[0]; |
yuron | 5:167327a82430 | 1034 | true_hidarimae_data[0] = 0x7D - hidarimae_data[0]; |
yuron | 5:167327a82430 | 1035 | true_hidariusiro_data[0] = 0x7D - hidariusiro_data[0]; |
yuron | 5:167327a82430 | 1036 | |
yuron | 5:167327a82430 | 1037 | return 0; |
yuron | 5:167327a82430 | 1038 | } |
yuron | 5:167327a82430 | 1039 | //左旋回(fast mode) |
yuron | 4:df334779a69e | 1040 | int turn_left_PID(int RF, int RB, int LF, int LB) { |
yuron | 5:167327a82430 | 1041 | // センサ出力値の最小、最大 |
yuron | 4:df334779a69e | 1042 | migimae.setInputLimits(-400, 400); |
yuron | 4:df334779a69e | 1043 | migiusiro.setInputLimits(-400, 400); |
yuron | 4:df334779a69e | 1044 | hidarimae.setInputLimits(-400, 400); |
yuron | 4:df334779a69e | 1045 | hidariusiro.setInputLimits(-400, 400); |
yuron | 5:167327a82430 | 1046 | |
yuron | 5:167327a82430 | 1047 | // 制御量の最小、最大 |
yuron | 4:df334779a69e | 1048 | migimae.setOutputLimits(0x0C, 0x7C); |
yuron | 4:df334779a69e | 1049 | migiusiro.setOutputLimits(0x0C, 0x7C); |
yuron | 4:df334779a69e | 1050 | hidarimae.setOutputLimits(0x84, 0xFF); |
yuron | 4:df334779a69e | 1051 | hidariusiro.setOutputLimits(0x84, 0xFF); |
yuron | 4:df334779a69e | 1052 | |
yuron | 5:167327a82430 | 1053 | // よくわからんやつ |
yuron | 4:df334779a69e | 1054 | migimae.setMode(AUTO_MODE); |
yuron | 4:df334779a69e | 1055 | migiusiro.setMode(AUTO_MODE); |
yuron | 4:df334779a69e | 1056 | hidarimae.setMode(AUTO_MODE); |
yuron | 4:df334779a69e | 1057 | hidariusiro.setMode(AUTO_MODE); |
yuron | 4:df334779a69e | 1058 | |
yuron | 5:167327a82430 | 1059 | // 目標値 |
yuron | 4:df334779a69e | 1060 | migimae.setSetPoint(RF); |
yuron | 4:df334779a69e | 1061 | migiusiro.setSetPoint(RB); |
yuron | 4:df334779a69e | 1062 | hidarimae.setSetPoint(LF); |
yuron | 4:df334779a69e | 1063 | hidariusiro.setSetPoint(LB); |
yuron | 5:167327a82430 | 1064 | |
yuron | 5:167327a82430 | 1065 | // センサ出力 |
yuron | 4:df334779a69e | 1066 | migimae.setProcessValue(abs(migimae_rpm)); |
yuron | 4:df334779a69e | 1067 | migiusiro.setProcessValue(abs(migiusiro_rpm)); |
yuron | 4:df334779a69e | 1068 | hidarimae.setProcessValue(abs(hidarimae_rpm)); |
yuron | 4:df334779a69e | 1069 | hidariusiro.setProcessValue(abs(hidariusiro_rpm)); |
yuron | 5:167327a82430 | 1070 | |
yuron | 5:167327a82430 | 1071 | // 制御量(計算結果) |
yuron | 4:df334779a69e | 1072 | migimae_data[0] = migimae.compute(); |
yuron | 4:df334779a69e | 1073 | migiusiro_data[0] = migiusiro.compute(); |
yuron | 4:df334779a69e | 1074 | hidarimae_data[0] = hidarimae.compute(); |
yuron | 4:df334779a69e | 1075 | hidariusiro_data[0] = hidariusiro.compute(); |
yuron | 4:df334779a69e | 1076 | |
yuron | 5:167327a82430 | 1077 | // 制御量をPWM値に変換 |
yuron | 5:167327a82430 | 1078 | true_migimae_data[0] = 0x7D - migimae_data[0]; |
yuron | 5:167327a82430 | 1079 | true_migiusiro_data[0] = 0x7D - migiusiro_data[0]; |
yuron | 5:167327a82430 | 1080 | true_hidarimae_data[0] = hidarimae_data[0]; |
yuron | 5:167327a82430 | 1081 | true_hidariusiro_data[0] = hidariusiro_data[0]; |
yuron | 5:167327a82430 | 1082 | |
yuron | 5:167327a82430 | 1083 | return 0; |
yuron | 5:167327a82430 | 1084 | } |
yuron | 5:167327a82430 | 1085 | //左旋回(slow mode) |
yuron | 5:167327a82430 | 1086 | int turn_left_PID_slow(int RF, int RB, int LF, int LB) { |
yuron | 5:167327a82430 | 1087 | // センサ出力値の最小、最大 |
yuron | 5:167327a82430 | 1088 | migimae_slow.setInputLimits(-400, 400); |
yuron | 5:167327a82430 | 1089 | migiusiro_slow.setInputLimits(-400, 400); |
yuron | 5:167327a82430 | 1090 | hidarimae_slow.setInputLimits(-400, 400); |
yuron | 5:167327a82430 | 1091 | hidariusiro_slow.setInputLimits(-400, 400); |
yuron | 5:167327a82430 | 1092 | |
yuron | 5:167327a82430 | 1093 | // 制御量の最小、最大 |
yuron | 5:167327a82430 | 1094 | migimae_slow.setOutputLimits(0x0C, 0x7C); |
yuron | 5:167327a82430 | 1095 | migiusiro_slow.setOutputLimits(0x0C, 0x7C); |
yuron | 5:167327a82430 | 1096 | hidarimae_slow.setOutputLimits(0x84, 0xFF); |
yuron | 5:167327a82430 | 1097 | hidariusiro_slow.setOutputLimits(0x84, 0xFF); |
yuron | 5:167327a82430 | 1098 | |
yuron | 5:167327a82430 | 1099 | // よくわからんやつ |
yuron | 5:167327a82430 | 1100 | migimae_slow.setMode(AUTO_MODE); |
yuron | 5:167327a82430 | 1101 | migiusiro_slow.setMode(AUTO_MODE); |
yuron | 5:167327a82430 | 1102 | hidarimae_slow.setMode(AUTO_MODE); |
yuron | 5:167327a82430 | 1103 | hidariusiro_slow.setMode(AUTO_MODE); |
yuron | 5:167327a82430 | 1104 | |
yuron | 5:167327a82430 | 1105 | // 目標値 |
yuron | 5:167327a82430 | 1106 | migimae_slow.setSetPoint(RF); |
yuron | 5:167327a82430 | 1107 | migiusiro_slow.setSetPoint(RB); |
yuron | 5:167327a82430 | 1108 | hidarimae_slow.setSetPoint(LF); |
yuron | 5:167327a82430 | 1109 | hidariusiro_slow.setSetPoint(LB); |
yuron | 5:167327a82430 | 1110 | |
yuron | 5:167327a82430 | 1111 | // センサ出力 |
yuron | 5:167327a82430 | 1112 | migimae_slow.setProcessValue(abs(migimae_rpm)); |
yuron | 5:167327a82430 | 1113 | migiusiro_slow.setProcessValue(abs(migiusiro_rpm)); |
yuron | 5:167327a82430 | 1114 | hidarimae_slow.setProcessValue(abs(hidarimae_rpm)); |
yuron | 5:167327a82430 | 1115 | hidariusiro_slow.setProcessValue(abs(hidariusiro_rpm)); |
yuron | 5:167327a82430 | 1116 | |
yuron | 5:167327a82430 | 1117 | // 制御量(計算結果) |
yuron | 5:167327a82430 | 1118 | migimae_data[0] = migimae_slow.compute(); |
yuron | 5:167327a82430 | 1119 | migiusiro_data[0] = migiusiro_slow.compute(); |
yuron | 5:167327a82430 | 1120 | hidarimae_data[0] = hidarimae_slow.compute(); |
yuron | 5:167327a82430 | 1121 | hidariusiro_data[0] = hidariusiro_slow.compute(); |
yuron | 5:167327a82430 | 1122 | |
yuron | 5:167327a82430 | 1123 | // 制御量をPWM値に変換 |
yuron | 4:df334779a69e | 1124 | true_migimae_data[0] = 0x7D - migimae_data[0]; |
yuron | 4:df334779a69e | 1125 | true_migiusiro_data[0] = 0x7D - migiusiro_data[0]; |
yuron | 4:df334779a69e | 1126 | true_hidarimae_data[0] = hidarimae_data[0]; |
yuron | 4:df334779a69e | 1127 | true_hidariusiro_data[0] = hidariusiro_data[0]; |
yuron | 5:167327a82430 | 1128 | |
yuron | 5:167327a82430 | 1129 | return 0; |
yuron | 5:167327a82430 | 1130 | } |
yuron | 5:167327a82430 | 1131 | //前前進後右旋回(slow_mode) |
yuron | 5:167327a82430 | 1132 | int front_front_back_right_PID(int RF, int RB, int LF, int LB) { |
yuron | 5:167327a82430 | 1133 | // センサ出力値の最小、最大 |
yuron | 5:167327a82430 | 1134 | migimae_slow.setInputLimits(-400, 400); |
yuron | 5:167327a82430 | 1135 | migiusiro_slow.setInputLimits(-400, 400); |
yuron | 5:167327a82430 | 1136 | hidarimae_slow.setInputLimits(-400, 400); |
yuron | 5:167327a82430 | 1137 | hidariusiro_slow.setInputLimits(-400, 400); |
yuron | 5:167327a82430 | 1138 | |
yuron | 5:167327a82430 | 1139 | // 制御量の最小、最大 |
yuron | 5:167327a82430 | 1140 | migimae_slow.setOutputLimits(0x0C, 0x7C); |
yuron | 5:167327a82430 | 1141 | migiusiro_slow.setOutputLimits(0x0C, 0x7C); |
yuron | 5:167327a82430 | 1142 | hidarimae_slow.setOutputLimits(0x0C, 0x7C); |
yuron | 5:167327a82430 | 1143 | hidariusiro_slow.setOutputLimits(0x84, 0xFF); |
yuron | 5:167327a82430 | 1144 | |
yuron | 5:167327a82430 | 1145 | // よくわからんやつ |
yuron | 5:167327a82430 | 1146 | migimae_slow.setMode(AUTO_MODE); |
yuron | 5:167327a82430 | 1147 | migiusiro_slow.setMode(AUTO_MODE); |
yuron | 5:167327a82430 | 1148 | hidarimae_slow.setMode(AUTO_MODE); |
yuron | 5:167327a82430 | 1149 | hidariusiro_slow.setMode(AUTO_MODE); |
yuron | 5:167327a82430 | 1150 | |
yuron | 5:167327a82430 | 1151 | // 目標値 |
yuron | 5:167327a82430 | 1152 | migimae_slow.setSetPoint(RF); |
yuron | 5:167327a82430 | 1153 | migiusiro_slow.setSetPoint(RB); |
yuron | 5:167327a82430 | 1154 | hidarimae_slow.setSetPoint(LF); |
yuron | 5:167327a82430 | 1155 | hidariusiro_slow.setSetPoint(LB); |
yuron | 5:167327a82430 | 1156 | |
yuron | 5:167327a82430 | 1157 | // センサ出力 |
yuron | 5:167327a82430 | 1158 | migimae_slow.setProcessValue(abs(migimae_rpm)); |
yuron | 5:167327a82430 | 1159 | migiusiro_slow.setProcessValue(abs(migiusiro_rpm)); |
yuron | 5:167327a82430 | 1160 | hidarimae_slow.setProcessValue(abs(hidarimae_rpm)); |
yuron | 5:167327a82430 | 1161 | hidariusiro_slow.setProcessValue(abs(hidariusiro_rpm)); |
yuron | 5:167327a82430 | 1162 | |
yuron | 5:167327a82430 | 1163 | // 制御量(計算結果) |
yuron | 5:167327a82430 | 1164 | migimae_data[0] = migimae_slow.compute(); |
yuron | 5:167327a82430 | 1165 | migiusiro_data[0] = migiusiro_slow.compute(); |
yuron | 5:167327a82430 | 1166 | hidarimae_data[0] = hidarimae_slow.compute(); |
yuron | 5:167327a82430 | 1167 | hidariusiro_data[0] = hidariusiro_slow.compute(); |
yuron | 5:167327a82430 | 1168 | |
yuron | 5:167327a82430 | 1169 | // 制御量をPWM値に変換 |
yuron | 5:167327a82430 | 1170 | true_migimae_data[0] = 0x7D - migimae_data[0]; |
yuron | 5:167327a82430 | 1171 | true_migiusiro_data[0] = 0x7D - migiusiro_data[0]; |
yuron | 5:167327a82430 | 1172 | true_hidarimae_data[0] = 0x7D - hidarimae_data[0]; |
yuron | 5:167327a82430 | 1173 | true_hidariusiro_data[0] = hidariusiro_data[0]; |
yuron | 5:167327a82430 | 1174 | |
yuron | 4:df334779a69e | 1175 | return 0; |
yuron | 4:df334779a69e | 1176 | } |
yuron | 5:167327a82430 | 1177 | //前前進後左旋回(slow_mode) |
yuron | 5:167327a82430 | 1178 | int front_front_back_left_PID(int RF, int RB, int LF, int LB) { |
yuron | 5:167327a82430 | 1179 | // センサ出力値の最小、最大 |
yuron | 5:167327a82430 | 1180 | migimae_slow.setInputLimits(-400, 400); |
yuron | 5:167327a82430 | 1181 | migiusiro_slow.setInputLimits(-400, 400); |
yuron | 5:167327a82430 | 1182 | hidarimae_slow.setInputLimits(-400, 400); |
yuron | 5:167327a82430 | 1183 | hidariusiro_slow.setInputLimits(-400, 400); |
yuron | 5:167327a82430 | 1184 | |
yuron | 5:167327a82430 | 1185 | // 制御量の最小、最大 |
yuron | 5:167327a82430 | 1186 | migimae_slow.setOutputLimits(0x0C, 0x7C); |
yuron | 5:167327a82430 | 1187 | migiusiro_slow.setOutputLimits(0x84, 0xFF); |
yuron | 5:167327a82430 | 1188 | hidarimae_slow.setOutputLimits(0x0C, 0x7C); |
yuron | 5:167327a82430 | 1189 | hidariusiro_slow.setOutputLimits(0x0C, 0x7C); |
yuron | 5:167327a82430 | 1190 | |
yuron | 5:167327a82430 | 1191 | // よくわからんやつ |
yuron | 5:167327a82430 | 1192 | migimae_slow.setMode(AUTO_MODE); |
yuron | 5:167327a82430 | 1193 | migiusiro_slow.setMode(AUTO_MODE); |
yuron | 5:167327a82430 | 1194 | hidarimae_slow.setMode(AUTO_MODE); |
yuron | 5:167327a82430 | 1195 | hidariusiro_slow.setMode(AUTO_MODE); |
yuron | 5:167327a82430 | 1196 | |
yuron | 5:167327a82430 | 1197 | // 目標値 |
yuron | 5:167327a82430 | 1198 | migimae_slow.setSetPoint(RF); |
yuron | 5:167327a82430 | 1199 | migiusiro_slow.setSetPoint(RB); |
yuron | 5:167327a82430 | 1200 | hidarimae_slow.setSetPoint(LF); |
yuron | 5:167327a82430 | 1201 | hidariusiro_slow.setSetPoint(LB); |
yuron | 5:167327a82430 | 1202 | |
yuron | 5:167327a82430 | 1203 | // センサ出力 |
yuron | 5:167327a82430 | 1204 | migimae_slow.setProcessValue(abs(migimae_rpm)); |
yuron | 5:167327a82430 | 1205 | migiusiro_slow.setProcessValue(abs(migiusiro_rpm)); |
yuron | 5:167327a82430 | 1206 | hidarimae_slow.setProcessValue(abs(hidarimae_rpm)); |
yuron | 5:167327a82430 | 1207 | hidariusiro_slow.setProcessValue(abs(hidariusiro_rpm)); |
yuron | 5:167327a82430 | 1208 | |
yuron | 5:167327a82430 | 1209 | // 制御量(計算結果) |
yuron | 5:167327a82430 | 1210 | migimae_data[0] = migimae_slow.compute(); |
yuron | 5:167327a82430 | 1211 | migiusiro_data[0] = migiusiro_slow.compute(); |
yuron | 5:167327a82430 | 1212 | hidarimae_data[0] = hidarimae_slow.compute(); |
yuron | 5:167327a82430 | 1213 | hidariusiro_data[0] = hidariusiro_slow.compute(); |
yuron | 5:167327a82430 | 1214 | |
yuron | 5:167327a82430 | 1215 | // 制御量をPWM値に変換 |
yuron | 5:167327a82430 | 1216 | true_migimae_data[0] = 0x7D - migimae_data[0]; |
yuron | 5:167327a82430 | 1217 | true_migiusiro_data[0] = migiusiro_data[0]; |
yuron | 5:167327a82430 | 1218 | true_hidarimae_data[0] = 0x7D - hidarimae_data[0]; |
yuron | 5:167327a82430 | 1219 | true_hidariusiro_data[0] = 0x7D - hidariusiro_data[0]; |
yuron | 5:167327a82430 | 1220 | |
yuron | 5:167327a82430 | 1221 | return 0; |
yuron | 5:167327a82430 | 1222 | } |
yuron | 5:167327a82430 | 1223 | //前右旋回後前進(slow_mode) |
yuron | 5:167327a82430 | 1224 | int front_right_back_front_PID(int RF, int RB, int LF, int LB) { |
yuron | 5:167327a82430 | 1225 | // センサ出力値の最小、最大 |
yuron | 5:167327a82430 | 1226 | migimae_slow.setInputLimits(-400, 400); |
yuron | 5:167327a82430 | 1227 | migiusiro_slow.setInputLimits(-400, 400); |
yuron | 5:167327a82430 | 1228 | hidarimae_slow.setInputLimits(-400, 400); |
yuron | 5:167327a82430 | 1229 | hidariusiro_slow.setInputLimits(-400, 400); |
yuron | 5:167327a82430 | 1230 | |
yuron | 5:167327a82430 | 1231 | // 制御量の最小、最大 |
yuron | 5:167327a82430 | 1232 | migimae_slow.setOutputLimits(0x84, 0xFF); |
yuron | 5:167327a82430 | 1233 | migiusiro_slow.setOutputLimits(0x0C, 0x7C); |
yuron | 5:167327a82430 | 1234 | hidarimae_slow.setOutputLimits(0x0C, 0x7C); |
yuron | 5:167327a82430 | 1235 | hidariusiro_slow.setOutputLimits(0x0C, 0x7C); |
yuron | 5:167327a82430 | 1236 | |
yuron | 5:167327a82430 | 1237 | // よくわからんやつ |
yuron | 5:167327a82430 | 1238 | migimae_slow.setMode(AUTO_MODE); |
yuron | 5:167327a82430 | 1239 | migiusiro_slow.setMode(AUTO_MODE); |
yuron | 5:167327a82430 | 1240 | hidarimae_slow.setMode(AUTO_MODE); |
yuron | 5:167327a82430 | 1241 | hidariusiro_slow.setMode(AUTO_MODE); |
yuron | 5:167327a82430 | 1242 | |
yuron | 5:167327a82430 | 1243 | // 目標値 |
yuron | 5:167327a82430 | 1244 | migimae_slow.setSetPoint(RF); |
yuron | 5:167327a82430 | 1245 | migiusiro_slow.setSetPoint(RB); |
yuron | 5:167327a82430 | 1246 | hidarimae_slow.setSetPoint(LF); |
yuron | 5:167327a82430 | 1247 | hidariusiro_slow.setSetPoint(LB); |
yuron | 5:167327a82430 | 1248 | |
yuron | 5:167327a82430 | 1249 | // センサ出力 |
yuron | 5:167327a82430 | 1250 | migimae_slow.setProcessValue(abs(migimae_rpm)); |
yuron | 5:167327a82430 | 1251 | migiusiro_slow.setProcessValue(abs(migiusiro_rpm)); |
yuron | 5:167327a82430 | 1252 | hidarimae_slow.setProcessValue(abs(hidarimae_rpm)); |
yuron | 5:167327a82430 | 1253 | hidariusiro_slow.setProcessValue(abs(hidariusiro_rpm)); |
yuron | 5:167327a82430 | 1254 | |
yuron | 5:167327a82430 | 1255 | // 制御量(計算結果) |
yuron | 5:167327a82430 | 1256 | migimae_data[0] = migimae_slow.compute(); |
yuron | 5:167327a82430 | 1257 | migiusiro_data[0] = migiusiro_slow.compute(); |
yuron | 5:167327a82430 | 1258 | hidarimae_data[0] = hidarimae_slow.compute(); |
yuron | 5:167327a82430 | 1259 | hidariusiro_data[0] = hidariusiro_slow.compute(); |
yuron | 5:167327a82430 | 1260 | |
yuron | 5:167327a82430 | 1261 | // 制御量をPWM値に変換 |
yuron | 5:167327a82430 | 1262 | true_migimae_data[0] = migimae_data[0]; |
yuron | 5:167327a82430 | 1263 | true_migiusiro_data[0] = 0x7D - migiusiro_data[0]; |
yuron | 5:167327a82430 | 1264 | true_hidarimae_data[0] = 0x7D - hidarimae_data[0]; |
yuron | 5:167327a82430 | 1265 | true_hidariusiro_data[0] = 0x7D - hidariusiro_data[0]; |
yuron | 5:167327a82430 | 1266 | |
yuron | 5:167327a82430 | 1267 | return 0; |
yuron | 5:167327a82430 | 1268 | } |
yuron | 5:167327a82430 | 1269 | //前左旋回後前進(slow_mode) |
yuron | 5:167327a82430 | 1270 | int front_left_back_front_PID(int RF, int RB, int LF, int LB) { |
yuron | 5:167327a82430 | 1271 | // センサ出力値の最小、最大 |
yuron | 5:167327a82430 | 1272 | migimae_slow.setInputLimits(-400, 400); |
yuron | 5:167327a82430 | 1273 | migiusiro_slow.setInputLimits(-400, 400); |
yuron | 5:167327a82430 | 1274 | hidarimae_slow.setInputLimits(-400, 400); |
yuron | 5:167327a82430 | 1275 | hidariusiro_slow.setInputLimits(-400, 400); |
yuron | 5:167327a82430 | 1276 | |
yuron | 5:167327a82430 | 1277 | // 制御量の最小、最大 |
yuron | 5:167327a82430 | 1278 | migimae_slow.setOutputLimits(0x0C, 0x7C); |
yuron | 5:167327a82430 | 1279 | migiusiro_slow.setOutputLimits(0x0C, 0x7C); |
yuron | 5:167327a82430 | 1280 | hidarimae_slow.setOutputLimits(0x84, 0xFF); |
yuron | 5:167327a82430 | 1281 | hidariusiro_slow.setOutputLimits(0x0C, 0x7C); |
yuron | 5:167327a82430 | 1282 | |
yuron | 5:167327a82430 | 1283 | // よくわからんやつ |
yuron | 5:167327a82430 | 1284 | migimae_slow.setMode(AUTO_MODE); |
yuron | 5:167327a82430 | 1285 | migiusiro_slow.setMode(AUTO_MODE); |
yuron | 5:167327a82430 | 1286 | hidarimae_slow.setMode(AUTO_MODE); |
yuron | 5:167327a82430 | 1287 | hidariusiro_slow.setMode(AUTO_MODE); |
yuron | 5:167327a82430 | 1288 | |
yuron | 5:167327a82430 | 1289 | // 目標値 |
yuron | 5:167327a82430 | 1290 | migimae_slow.setSetPoint(RF); |
yuron | 5:167327a82430 | 1291 | migiusiro_slow.setSetPoint(RB); |
yuron | 5:167327a82430 | 1292 | hidarimae_slow.setSetPoint(LF); |
yuron | 5:167327a82430 | 1293 | hidariusiro_slow.setSetPoint(LB); |
yuron | 5:167327a82430 | 1294 | |
yuron | 5:167327a82430 | 1295 | // センサ出力 |
yuron | 5:167327a82430 | 1296 | migimae_slow.setProcessValue(abs(migimae_rpm)); |
yuron | 5:167327a82430 | 1297 | migiusiro_slow.setProcessValue(abs(migiusiro_rpm)); |
yuron | 5:167327a82430 | 1298 | hidarimae_slow.setProcessValue(abs(hidarimae_rpm)); |
yuron | 5:167327a82430 | 1299 | hidariusiro_slow.setProcessValue(abs(hidariusiro_rpm)); |
yuron | 5:167327a82430 | 1300 | |
yuron | 5:167327a82430 | 1301 | // 制御量(計算結果) |
yuron | 5:167327a82430 | 1302 | migimae_data[0] = migimae_slow.compute(); |
yuron | 5:167327a82430 | 1303 | migiusiro_data[0] = migiusiro_slow.compute(); |
yuron | 5:167327a82430 | 1304 | hidarimae_data[0] = hidarimae_slow.compute(); |
yuron | 5:167327a82430 | 1305 | hidariusiro_data[0] = hidariusiro_slow.compute(); |
yuron | 5:167327a82430 | 1306 | |
yuron | 5:167327a82430 | 1307 | // 制御量をPWM値に変換 |
yuron | 5:167327a82430 | 1308 | true_migimae_data[0] = 0x7D - migimae_data[0]; |
yuron | 5:167327a82430 | 1309 | true_migiusiro_data[0] = 0x7D - migiusiro_data[0]; |
yuron | 5:167327a82430 | 1310 | true_hidarimae_data[0] = hidarimae_data[0]; |
yuron | 5:167327a82430 | 1311 | true_hidariusiro_data[0] = 0x7D - hidariusiro_data[0]; |
yuron | 5:167327a82430 | 1312 | |
yuron | 5:167327a82430 | 1313 | return 0; |
yuron | 5:167327a82430 | 1314 | } |
yuron | 5:167327a82430 | 1315 | //ローラー |
yuron | 4:df334779a69e | 1316 | int roller_PID(int front, int back) { |
yuron | 4:df334779a69e | 1317 | front_roller.setInputLimits(-2000, 2000); |
yuron | 4:df334779a69e | 1318 | back_roller.setInputLimits(-2000, 2000); |
yuron | 5:167327a82430 | 1319 | |
yuron | 4:df334779a69e | 1320 | front_roller.setOutputLimits(0x84, 0xFF); |
yuron | 4:df334779a69e | 1321 | back_roller.setOutputLimits(0x84, 0xFF); |
yuron | 5:167327a82430 | 1322 | |
yuron | 4:df334779a69e | 1323 | front_roller.setMode(AUTO_MODE); |
yuron | 4:df334779a69e | 1324 | back_roller.setMode(AUTO_MODE); |
yuron | 5:167327a82430 | 1325 | |
yuron | 4:df334779a69e | 1326 | front_roller.setSetPoint(front); |
yuron | 4:df334779a69e | 1327 | back_roller.setSetPoint(back); |
yuron | 5:167327a82430 | 1328 | |
yuron | 4:df334779a69e | 1329 | front_roller.setProcessValue(abs(front_roller_rpm)); |
yuron | 4:df334779a69e | 1330 | back_roller.setProcessValue(abs(back_roller_rpm)); |
yuron | 5:167327a82430 | 1331 | |
yuron | 4:df334779a69e | 1332 | front_roller_data[0] = front_roller.compute(); |
yuron | 4:df334779a69e | 1333 | back_roller_data[0] = back_roller.compute(); |
yuron | 5:167327a82430 | 1334 | |
yuron | 4:df334779a69e | 1335 | return 0; |
yuron | 4:df334779a69e | 1336 | } |
yuron | 5:167327a82430 | 1337 | //ラインセンサ基板との通信用関数 |
yuron | 4:df334779a69e | 1338 | void linetrace() { |
yuron | 4:df334779a69e | 1339 | line_state = photo.getc(); |
yuron | 5:167327a82430 | 1340 | //7bit目が1だったら7bit目を0に戻す |
yuron | 5:167327a82430 | 1341 | if((0b10000000 & line_state) == 0b10000000) { |
yuron | 5:167327a82430 | 1342 | back_line_state = 0b01111111 & line_state; |
yuron | 8:3df97287c825 | 1343 | |
yuron | 6:5a051a378e42 | 1344 | } else { |
yuron | 5:167327a82430 | 1345 | front_line_state = line_state; |
yuron | 5:167327a82430 | 1346 | } |
yuron | 5:167327a82430 | 1347 | //4byte以上は出力できないよ |
yuron | 5:167327a82430 | 1348 | //pc.printf("%d\n\r", line_state); |
yuron | 5:167327a82430 | 1349 | //pc.printf("NAMA %d, front: %d, back: %d\n\r", line_state, front_line_state, back_line_state); |
yuron | 4:df334779a69e | 1350 | } |
yuron | 5:167327a82430 | 1351 | //超音波センサ用関数 |
yuron | 4:df334779a69e | 1352 | void ultrasonic() { |
yuron | 5:167327a82430 | 1353 | //超音波発射 |
yuron | 4:df334779a69e | 1354 | sonic.start(); |
yuron | 5:167327a82430 | 1355 | //10ms待機 |
yuron | 4:df334779a69e | 1356 | wait(0.01); |
yuron | 4:df334779a69e | 1357 | //get_dist_cm関数は、計測から得られた距離(cm)を返します。 |
yuron | 4:df334779a69e | 1358 | distance = sonic.get_dist_cm(); |
yuron | 5:167327a82430 | 1359 | //pc.printf("%d[cm]\r\n", distance); |
yuron | 4:df334779a69e | 1360 | } |
yuron | 4:df334779a69e | 1361 | int main(void) { |
yuron | 5:167327a82430 | 1362 | //こんにちは世界 |
yuron | 4:df334779a69e | 1363 | pc.printf("HelloWorld\n"); |
yuron | 5:167327a82430 | 1364 | //緊急停止用信号ピンをLow |
yuron | 0:f73c1b076ae4 | 1365 | emergency = 0; |
yuron | 10:b672aa81b226 | 1366 | //スタートボタンのLEDをHigh |
yuron | 10:b672aa81b226 | 1367 | start_LED = 1; |
yuron | 5:167327a82430 | 1368 | //回転数取得関数のタイマ割り込み(40ms) |
yuron | 6:5a051a378e42 | 1369 | get_rpm.attach_us(&flip, 40000); |
yuron | 5:167327a82430 | 1370 | |
yuron | 5:167327a82430 | 1371 | //フォトセンサ制御基板との通信ボーレートの設定(115200) |
yuron | 4:df334779a69e | 1372 | photo.baud(115200); |
yuron | 5:167327a82430 | 1373 | pc.baud(460800); |
yuron | 5:167327a82430 | 1374 | //フォトセンサ制御基板との通信関数の受信割り込み |
yuron | 4:df334779a69e | 1375 | photo.attach(linetrace, Serial::RxIrq); |
yuron | 5:167327a82430 | 1376 | //サイドチェンジボタンをPullDownに設定 |
yuron | 4:df334779a69e | 1377 | side.mode(PullDown); |
yuron | 5:167327a82430 | 1378 | limit.mode(PullDown); |
yuron | 10:b672aa81b226 | 1379 | |
yuron | 5:167327a82430 | 1380 | //超音波センサの温度設定 |
yuron | 4:df334779a69e | 1381 | // setTemp関数は、HCSR04のメンバ変数temperature(気温を保持する変数)を引数として受け取った値に変更します。 |
yuron | 4:df334779a69e | 1382 | sonic.setTemp(25); |
yuron | 5:167327a82430 | 1383 | |
yuron | 5:167327a82430 | 1384 | //各MD, エアシリ制御基板へ起動後0.1秒間0x80を送りつける(通信切断防止用) |
yuron | 2:c32991ba628f | 1385 | send_data[0] = 0x80; |
yuron | 4:df334779a69e | 1386 | i2c.write(0x10, send_data, 1); |
yuron | 4:df334779a69e | 1387 | i2c.write(0x12, send_data, 1); |
yuron | 4:df334779a69e | 1388 | i2c.write(0x14, send_data, 1); |
yuron | 4:df334779a69e | 1389 | i2c.write(0x16, send_data, 1); |
yuron | 3:1223cab367d9 | 1390 | i2c.write(0x20, send_data, 1); |
yuron | 3:1223cab367d9 | 1391 | i2c.write(0x22, send_data, 1); |
yuron | 4:df334779a69e | 1392 | i2c.write(0x30, send_data, 1); |
yuron | 4:df334779a69e | 1393 | i2c.write(0x40, send_data, 1); |
yuron | 0:f73c1b076ae4 | 1394 | wait(0.1); |
yuron | 5:167327a82430 | 1395 | |
yuron | 8:3df97287c825 | 1396 | myled1 = 0; |
yuron | 8:3df97287c825 | 1397 | myled2 = 0; |
yuron | 8:3df97287c825 | 1398 | myled3 = 0; |
yuron | 8:3df97287c825 | 1399 | myled4 = 0; |
yuron | 8:3df97287c825 | 1400 | myled5 = 0; |
yuron | 8:3df97287c825 | 1401 | |
yuron | 4:df334779a69e | 1402 | while(1) { |
yuron | 5:167327a82430 | 1403 | |
yuron | 5:167327a82430 | 1404 | //超音波取得関数の呼び出し |
yuron | 4:df334779a69e | 1405 | ultrasonic(); |
yuron | 8:3df97287c825 | 1406 | |
yuron | 5:167327a82430 | 1407 | //赤ゾーン選択 |
yuron | 5:167327a82430 | 1408 | if(side == red){ |
yuron | 4:df334779a69e | 1409 | red_side = 1; |
yuron | 4:df334779a69e | 1410 | blue_side = 0; |
yuron | 5:167327a82430 | 1411 | //青ゾーン選択 |
yuron | 4:df334779a69e | 1412 | } else { |
yuron | 4:df334779a69e | 1413 | red_side = 0; |
yuron | 4:df334779a69e | 1414 | blue_side = 1; |
yuron | 4:df334779a69e | 1415 | } |
yuron | 5:167327a82430 | 1416 | |
yuron | 6:5a051a378e42 | 1417 | //スタートボタン押したらエアシリ伸びる |
yuron | 5:167327a82430 | 1418 | if(start_button == 0){ |
yuron | 8:3df97287c825 | 1419 | start_flag = 1; |
yuron | 8:3df97287c825 | 1420 | } |
yuron | 8:3df97287c825 | 1421 | //2段下段スイッチでフラグ立てる |
yuron | 8:3df97287c825 | 1422 | if(user_switch1 == 0) { |
yuron | 8:3df97287c825 | 1423 | low_grade_flag = 1; |
yuron | 4:df334779a69e | 1424 | myled1 = 1; |
yuron | 5:167327a82430 | 1425 | } |
yuron | 8:3df97287c825 | 1426 | //2段上段スイッチでフラグ立てる |
yuron | 8:3df97287c825 | 1427 | if(user_switch2 == 0) { |
yuron | 8:3df97287c825 | 1428 | high_grade_flag = 1; |
yuron | 5:167327a82430 | 1429 | myled2 = 1; |
yuron | 5:167327a82430 | 1430 | } |
yuron | 8:3df97287c825 | 1431 | //移動(低)スイッチでフラグ立てる |
yuron | 8:3df97287c825 | 1432 | if(user_switch3 == 0) { |
yuron | 8:3df97287c825 | 1433 | low_table_flag = 1; |
yuron | 5:167327a82430 | 1434 | myled3 = 1; |
yuron | 5:167327a82430 | 1435 | } |
yuron | 5:167327a82430 | 1436 | |
yuron | 8:3df97287c825 | 1437 | //移動(中)スイッチでフラグ立てる |
yuron | 8:3df97287c825 | 1438 | /* |
yuron | 8:3df97287c825 | 1439 | if(user_switch4 == 0) { |
yuron | 8:3df97287c825 | 1440 | medium_table_flag = 1; |
yuron | 8:3df97287c825 | 1441 | myled4 = 1; |
yuron | 8:3df97287c825 | 1442 | } |
yuron | 8:3df97287c825 | 1443 | */ |
yuron | 8:3df97287c825 | 1444 | |
yuron | 8:3df97287c825 | 1445 | //移動(高)スイッチでフラグ立てる |
yuron | 8:3df97287c825 | 1446 | if(user_switch5 == 0) { |
yuron | 8:3df97287c825 | 1447 | high_table_flag = 1; |
yuron | 8:3df97287c825 | 1448 | myled5 = 1; |
yuron | 8:3df97287c825 | 1449 | } |
yuron | 8:3df97287c825 | 1450 | |
yuron | 9:1359f0c813b1 | 1451 | /* |
yuron | 9:1359f0c813b1 | 1452 | //2段高ローラー回転 |
yuron | 9:1359f0c813b1 | 1453 | if(high_grade_fire_flag == 0) { |
yuron | 9:1359f0c813b1 | 1454 | //ローラー回転開始 |
yuron | 9:1359f0c813b1 | 1455 | roller_PID(1006, 928); |
yuron | 9:1359f0c813b1 | 1456 | i2c.write(0x20, front_roller_data, 1, false); |
yuron | 9:1359f0c813b1 | 1457 | i2c.write(0x22, back_roller_data, 1, false); |
yuron | 9:1359f0c813b1 | 1458 | wait_us(20); |
yuron | 9:1359f0c813b1 | 1459 | } |
yuron | 9:1359f0c813b1 | 1460 | */ |
yuron | 9:1359f0c813b1 | 1461 | |
yuron | 8:3df97287c825 | 1462 | //フォトインタラプタ検知でLチカ |
yuron | 8:3df97287c825 | 1463 | if(photo_interrupter == 1) { |
yuron | 8:3df97287c825 | 1464 | myled4 = 1; |
yuron | 8:3df97287c825 | 1465 | } else { |
yuron | 8:3df97287c825 | 1466 | myled4 = 0; |
yuron | 8:3df97287c825 | 1467 | } |
yuron | 9:1359f0c813b1 | 1468 | |
yuron | 8:3df97287c825 | 1469 | //6発発射したら弾倉切り替え |
BIGBOSS04 | 14:32b05026b3b2 | 1470 | if(mouted_bottles == 11) { |
yuron | 8:3df97287c825 | 1471 | if(photo_interrupter == 0) { |
yuron | 8:3df97287c825 | 1472 | loading_data[0] = 0x0C; |
yuron | 9:1359f0c813b1 | 1473 | i2c.write(0x30, loading_data, 1, false); |
yuron | 8:3df97287c825 | 1474 | } else { |
yuron | 8:3df97287c825 | 1475 | loading_data[0] = 0x80; |
yuron | 9:1359f0c813b1 | 1476 | i2c.write(0x30, loading_data, 1, false); |
yuron | 8:3df97287c825 | 1477 | } |
yuron | 8:3df97287c825 | 1478 | } |
yuron | 8:3df97287c825 | 1479 | |
yuron | 11:5a0d6f69e751 | 1480 | //pc.printf("%3d %3d %3d %3d %3d %3d\n\r", front_line_state, back_line_state, line_state_pettern, abs(measure_pulse), distance, mouted_bottles); |
yuron | 9:1359f0c813b1 | 1481 | //pc.printf("%d %3lf\n\r", mouted_bottles, timer.read()); |
yuron | 11:5a0d6f69e751 | 1482 | pc.printf("%3d %3d %3d %3lf\n\r", trace_flag, line_state_pettern, distance, timer.read()); |
yuron | 5:167327a82430 | 1483 | |
yuron | 7:7f16fb8b0192 | 1484 | //スタートボタンで動作開始 |
yuron | 7:7f16fb8b0192 | 1485 | if(start_flag == 1) { |
BIGBOSS04 | 14:32b05026b3b2 | 1486 | timer1.start(); |
yuron | 8:3df97287c825 | 1487 | //2段下段 |
yuron | 8:3df97287c825 | 1488 | if(low_grade_flag == 0) { |
BIGBOSS04 | 14:32b05026b3b2 | 1489 | timer1.start(); |
BIGBOSS04 | 14:32b05026b3b2 | 1490 | |
BIGBOSS04 | 14:32b05026b3b2 | 1491 | if(timer1.read() < 10.0f){ |
BIGBOSS04 | 14:32b05026b3b2 | 1492 | trace_flag = 0; |
BIGBOSS04 | 14:32b05026b3b2 | 1493 | if(side == blue){ |
BIGBOSS04 | 14:32b05026b3b2 | 1494 | line_state_pettern = right_slow; |
BIGBOSS04 | 14:32b05026b3b2 | 1495 | }else{ |
BIGBOSS04 | 14:32b05026b3b2 | 1496 | line_state_pettern = left_slow; |
BIGBOSS04 | 14:32b05026b3b2 | 1497 | } |
BIGBOSS04 | 14:32b05026b3b2 | 1498 | |
BIGBOSS04 | 14:32b05026b3b2 | 1499 | /* |
BIGBOSS04 | 14:32b05026b3b2 | 1500 | }else if(timer1.read() > 10.0f && timer1.read() < 11.0f){ |
BIGBOSS04 | 14:32b05026b3b2 | 1501 | // trace_flag = 1; |
BIGBOSS04 | 14:32b05026b3b2 | 1502 | //line_state_pettern = back_trace; |
BIGBOSS04 | 14:32b05026b3b2 | 1503 | //timer1.reset(); |
BIGBOSS04 | 14:32b05026b3b2 | 1504 | }else if(timer1.read() > 11.5f){ |
BIGBOSS04 | 14:32b05026b3b2 | 1505 | trace_flag = 1; |
BIGBOSS04 | 14:32b05026b3b2 | 1506 | } |
BIGBOSS04 | 14:32b05026b3b2 | 1507 | */ |
BIGBOSS04 | 14:32b05026b3b2 | 1508 | |
BIGBOSS04 | 14:32b05026b3b2 | 1509 | }else if(timer1.read() > 7.0f ){ //赤ゾーンは10fでできる |
BIGBOSS04 | 14:32b05026b3b2 | 1510 | trace_flag = 1; |
BIGBOSS04 | 14:32b05026b3b2 | 1511 | //timer1.reset(); |
BIGBOSS04 | 14:32b05026b3b2 | 1512 | } |
BIGBOSS04 | 14:32b05026b3b2 | 1513 | |
yuron | 8:3df97287c825 | 1514 | //パルスがnを満たすまで無条件で横移動 |
yuron | 8:3df97287c825 | 1515 | //if(abs(measure_pulse) < 100) { |
yuron | 8:3df97287c825 | 1516 | /* |
yuron | 8:3df97287c825 | 1517 | start_timer.start(); |
yuron | 8:3df97287c825 | 1518 | if(start_timer.read() <= 1.0f) { |
yuron | 8:3df97287c825 | 1519 | //青ゾーンの時指定のパルス値まで無条件高速右移動 |
yuron | 8:3df97287c825 | 1520 | if(side == blue) { |
yuron | 8:3df97287c825 | 1521 | line_state_pettern = right_fast; |
yuron | 8:3df97287c825 | 1522 | //赤ゾーンの時指定のパルス値まで無条件高速左移動 |
yuron | 8:3df97287c825 | 1523 | } |
yuron | 8:3df97287c825 | 1524 | else if(side == red) { |
yuron | 8:3df97287c825 | 1525 | line_state_pettern = left_fast; |
yuron | 8:3df97287c825 | 1526 | } |
yuron | 8:3df97287c825 | 1527 | } else { |
yuron | 8:3df97287c825 | 1528 | //else if(start_timer.read() > 2.0f) { |
yuron | 10:b672aa81b226 | 1529 | } |
yuron | 8:3df97287c825 | 1530 | */ |
yuron | 8:3df97287c825 | 1531 | //一定の距離を超えたらゆっくり移動してライン見つけたら(ry |
yuron | 9:1359f0c813b1 | 1532 | //} else { |
yuron | 9:1359f0c813b1 | 1533 | |
yuron | 8:3df97287c825 | 1534 | //距離が11cm~29cmだったらトレースせずに停止 |
yuron | 11:5a0d6f69e751 | 1535 | if(distance >= firing_minimum_distamce && distance <= firing_maximum_distance && distance != 0) { |
yuron | 11:5a0d6f69e751 | 1536 | //ライントレースの停止 |
yuron | 11:5a0d6f69e751 | 1537 | trace_flag = 0; |
yuron | 8:3df97287c825 | 1538 | //タイマスタート |
yuron | 8:3df97287c825 | 1539 | timer.start(); |
BIGBOSS04 | 14:32b05026b3b2 | 1540 | |
yuron | 9:1359f0c813b1 | 1541 | //発射距離に到達して1秒待って発射 |
yuron | 11:5a0d6f69e751 | 1542 | if(timer.read() > 1.0f && timer.read() <= 2.5f) { |
BIGBOSS04 | 14:32b05026b3b2 | 1543 | cylinder_data[0] = 4; |
BIGBOSS04 | 14:32b05026b3b2 | 1544 | mouted_bottles = 4; |
yuron | 11:5a0d6f69e751 | 1545 | i2c.write(0x40, cylinder_data, 1); |
yuron | 11:5a0d6f69e751 | 1546 | } |
BIGBOSS04 | 14:32b05026b3b2 | 1547 | else if(timer.read() > 10.0f && timer.read() <= 14.0f) { |
BIGBOSS04 | 14:32b05026b3b2 | 1548 | trace_flag = 1; |
BIGBOSS04 | 14:32b05026b3b2 | 1549 | trace_direction = 1; |
yuron | 11:5a0d6f69e751 | 1550 | line_state_pettern = back_trace; |
BIGBOSS04 | 14:32b05026b3b2 | 1551 | |
yuron | 11:5a0d6f69e751 | 1552 | cylinder_data[0] = 0x80; |
yuron | 11:5a0d6f69e751 | 1553 | i2c.write(0x40, cylinder_data, 1); |
BIGBOSS04 | 14:32b05026b3b2 | 1554 | //ライントレースの復帰 |
BIGBOSS04 | 14:32b05026b3b2 | 1555 | |
BIGBOSS04 | 14:32b05026b3b2 | 1556 | //トレース方向の反転 |
BIGBOSS04 | 14:32b05026b3b2 | 1557 | // |
BIGBOSS04 | 14:32b05026b3b2 | 1558 | |
yuron | 11:5a0d6f69e751 | 1559 | } |
BIGBOSS04 | 14:32b05026b3b2 | 1560 | else if(timer.read() > 14.0f){ |
BIGBOSS04 | 14:32b05026b3b2 | 1561 | line_state_pettern = right_slow; |
BIGBOSS04 | 14:32b05026b3b2 | 1562 | trace_flag = 1; |
BIGBOSS04 | 14:32b05026b3b2 | 1563 | trace_direction = 1; |
yuron | 11:5a0d6f69e751 | 1564 | |
yuron | 8:3df97287c825 | 1565 | } else { |
yuron | 8:3df97287c825 | 1566 | line_state_pettern = stop; |
yuron | 8:3df97287c825 | 1567 | cylinder_data[0] = 0x80; |
yuron | 8:3df97287c825 | 1568 | i2c.write(0x40, cylinder_data, 1); |
yuron | 8:3df97287c825 | 1569 | } |
yuron | 9:1359f0c813b1 | 1570 | |
yuron | 8:3df97287c825 | 1571 | //上記以外の距離でライントレースするよん |
yuron | 7:7f16fb8b0192 | 1572 | } else { |
yuron | 11:5a0d6f69e751 | 1573 | if(trace_flag == 1) { |
yuron | 11:5a0d6f69e751 | 1574 | |
yuron | 8:3df97287c825 | 1575 | //タイマリセット |
yuron | 8:3df97287c825 | 1576 | timer.reset(); |
yuron | 8:3df97287c825 | 1577 | |
yuron | 8:3df97287c825 | 1578 | //ライン検知するまで右移動 |
yuron | 8:3df97287c825 | 1579 | if(back_line_state == 0) { |
yuron | 8:3df97287c825 | 1580 | //青ゾーンの時ライン検知するまで右移動 |
yuron | 8:3df97287c825 | 1581 | if(side == blue) { |
yuron | 8:3df97287c825 | 1582 | line_state_pettern = right_slow; |
yuron | 8:3df97287c825 | 1583 | //赤ゾーンの時ライン検知するまで左移動 |
yuron | 8:3df97287c825 | 1584 | } else { |
yuron | 8:3df97287c825 | 1585 | line_state_pettern = left_slow; |
yuron | 8:3df97287c825 | 1586 | } |
yuron | 8:3df97287c825 | 1587 | } |
yuron | 8:3df97287c825 | 1588 | |
yuron | 8:3df97287c825 | 1589 | //ライン検知するまで右移動 |
yuron | 8:3df97287c825 | 1590 | if((front_line_state == 0) && (back_line_state == 0)) { |
yuron | 8:3df97287c825 | 1591 | //青ゾーンの時ライン検知するまで右移動 |
yuron | 8:3df97287c825 | 1592 | if(side == blue) { |
yuron | 8:3df97287c825 | 1593 | line_state_pettern = right_slow; |
yuron | 8:3df97287c825 | 1594 | //赤ゾーンの時ライン検知するまで左移動 |
yuron | 8:3df97287c825 | 1595 | } else { |
yuron | 8:3df97287c825 | 1596 | line_state_pettern = left_slow; |
yuron | 8:3df97287c825 | 1597 | } |
yuron | 8:3df97287c825 | 1598 | } |
yuron | 8:3df97287c825 | 1599 | |
yuron | 8:3df97287c825 | 1600 | //前はライン検知してるけど後ろは検知できない時左移動 |
yuron | 8:3df97287c825 | 1601 | else if((front_line_state >= 1) && (back_line_state == 0)) { |
yuron | 8:3df97287c825 | 1602 | if(side == red) { |
yuron | 8:3df97287c825 | 1603 | line_state_pettern = left_super_slow; |
yuron | 8:3df97287c825 | 1604 | } |
yuron | 8:3df97287c825 | 1605 | else if(side == blue) { |
yuron | 8:3df97287c825 | 1606 | line_state_pettern = right_super_slow; |
yuron | 8:3df97287c825 | 1607 | } |
yuron | 8:3df97287c825 | 1608 | } |
yuron | 8:3df97287c825 | 1609 | //前はライン検知できないけど後ろは検知してる時左移動 |
yuron | 8:3df97287c825 | 1610 | else if((front_line_state == 0) && (back_line_state >= 1)) { |
yuron | 8:3df97287c825 | 1611 | if(side == red) { |
yuron | 8:3df97287c825 | 1612 | line_state_pettern = left_super_slow; |
yuron | 8:3df97287c825 | 1613 | } |
yuron | 8:3df97287c825 | 1614 | else if(side == blue) { |
yuron | 8:3df97287c825 | 1615 | line_state_pettern = right_super_slow; |
yuron | 8:3df97287c825 | 1616 | } |
yuron | 8:3df97287c825 | 1617 | } |
yuron | 8:3df97287c825 | 1618 | |
yuron | 8:3df97287c825 | 1619 | //前が右寄りの時 |
yuron | 8:3df97287c825 | 1620 | else if((front_line_state <= 5) && (front_line_state != 0)) { |
yuron | 6:5a051a378e42 | 1621 | |
yuron | 8:3df97287c825 | 1622 | //前も後ろも右寄りの時右移動 |
yuron | 8:3df97287c825 | 1623 | if((back_line_state >= 13) && (back_line_state <= 17)) { |
yuron | 8:3df97287c825 | 1624 | line_state_pettern = right_super_slow; |
yuron | 8:3df97287c825 | 1625 | } |
yuron | 8:3df97287c825 | 1626 | //前が右寄りで後ろが真ん中の時前右旋回後ろ前進 |
yuron | 8:3df97287c825 | 1627 | else if((back_line_state >= 6) && (back_line_state <= 12)) { |
yuron | 8:3df97287c825 | 1628 | line_state_pettern = front_right_back_front; |
yuron | 8:3df97287c825 | 1629 | } |
yuron | 8:3df97287c825 | 1630 | //前が右寄りで後ろが左寄りの時左旋回 |
yuron | 8:3df97287c825 | 1631 | else if((back_line_state <= 5) && (back_line_state != 0)) { |
yuron | 8:3df97287c825 | 1632 | line_state_pettern = turn_left; |
yuron | 8:3df97287c825 | 1633 | } |
yuron | 8:3df97287c825 | 1634 | |
yuron | 8:3df97287c825 | 1635 | } |
yuron | 8:3df97287c825 | 1636 | |
yuron | 8:3df97287c825 | 1637 | //前が真ん中寄りの時 |
yuron | 8:3df97287c825 | 1638 | else if((front_line_state >= 6) && (front_line_state <= 12)) { |
yuron | 8:3df97287c825 | 1639 | |
yuron | 8:3df97287c825 | 1640 | //前が真ん中で後ろが右寄りの時前前進後ろ右旋回 |
yuron | 8:3df97287c825 | 1641 | if((back_line_state >= 13) && (back_line_state <= 17)) { |
yuron | 8:3df97287c825 | 1642 | line_state_pettern = front_front_back_right; |
yuron | 8:3df97287c825 | 1643 | } |
yuron | 8:3df97287c825 | 1644 | //前も後ろも真ん中の時前進 |
yuron | 8:3df97287c825 | 1645 | else if((back_line_state >= 6) && (back_line_state <= 12)) { |
yuron | 8:3df97287c825 | 1646 | if(trace_direction == 0) { |
yuron | 8:3df97287c825 | 1647 | //20cm未満で後進 |
yuron | 10:b672aa81b226 | 1648 | if(distance < firing_minimum_distamce && distance != 0) { |
yuron | 8:3df97287c825 | 1649 | line_state_pettern = back_trace; |
yuron | 8:3df97287c825 | 1650 | } |
yuron | 8:3df97287c825 | 1651 | //25cmより遠くて前進 |
yuron | 10:b672aa81b226 | 1652 | else if(distance > firing_maximum_distance) { |
yuron | 8:3df97287c825 | 1653 | line_state_pettern = front_trace; |
yuron | 8:3df97287c825 | 1654 | } else { |
yuron | 8:3df97287c825 | 1655 | line_state_pettern = front_trace; |
yuron | 8:3df97287c825 | 1656 | } |
yuron | 8:3df97287c825 | 1657 | } |
yuron | 8:3df97287c825 | 1658 | else if(trace_direction == 1) { |
yuron | 8:3df97287c825 | 1659 | line_state_pettern = back_trace; |
yuron | 8:3df97287c825 | 1660 | } |
yuron | 8:3df97287c825 | 1661 | } |
yuron | 8:3df97287c825 | 1662 | //前が真ん中で後ろが左寄りの時前前進後ろ左旋回 |
yuron | 8:3df97287c825 | 1663 | else if((back_line_state <= 5) && (back_line_state != 0)) { |
yuron | 8:3df97287c825 | 1664 | line_state_pettern = front_front_back_left; |
yuron | 8:3df97287c825 | 1665 | } |
yuron | 8:3df97287c825 | 1666 | } |
yuron | 8:3df97287c825 | 1667 | //前が左寄りの時 |
yuron | 8:3df97287c825 | 1668 | else if((front_line_state >= 13) && (front_line_state <= 17)) { |
yuron | 8:3df97287c825 | 1669 | |
yuron | 8:3df97287c825 | 1670 | //前が左寄りで後ろが右寄りの時右旋回 |
yuron | 8:3df97287c825 | 1671 | if((back_line_state >= 13) && (back_line_state <= 17)) { |
yuron | 8:3df97287c825 | 1672 | line_state_pettern = turn_right; |
yuron | 8:3df97287c825 | 1673 | } |
yuron | 8:3df97287c825 | 1674 | //前が左寄りで後ろが真ん中の時前左旋回後ろ前進 |
yuron | 8:3df97287c825 | 1675 | else if((back_line_state >= 6) && (back_line_state <= 12)) { |
yuron | 8:3df97287c825 | 1676 | line_state_pettern = front_left_back_front; |
yuron | 8:3df97287c825 | 1677 | } |
yuron | 8:3df97287c825 | 1678 | //前が左よりで後ろも左寄りの時左移動 |
yuron | 8:3df97287c825 | 1679 | else if((back_line_state <= 5) && (back_line_state != 0)) { |
yuron | 8:3df97287c825 | 1680 | line_state_pettern = left_super_slow; |
yuron | 10:b672aa81b226 | 1681 | } |
yuron | 10:b672aa81b226 | 1682 | //前で白線の長いの検知したら無視するよ~ん |
yuron | 11:5a0d6f69e751 | 1683 | else if((front_line_state == 40) || (front_line_state == 80)) { |
yuron | 11:5a0d6f69e751 | 1684 | if(trace_direction == 0) { |
yuron | 11:5a0d6f69e751 | 1685 | line_state_pettern = front_trace; |
yuron | 11:5a0d6f69e751 | 1686 | } |
yuron | 11:5a0d6f69e751 | 1687 | else if(trace_direction == 1) { |
yuron | 11:5a0d6f69e751 | 1688 | line_state_pettern = back_trace; |
yuron | 11:5a0d6f69e751 | 1689 | } |
yuron | 10:b672aa81b226 | 1690 | } |
yuron | 11:5a0d6f69e751 | 1691 | //後で白線の長いの検知したら無視するよ~ん |
yuron | 11:5a0d6f69e751 | 1692 | else if((back_line_state == 40) || (back_line_state == 80)) { |
yuron | 11:5a0d6f69e751 | 1693 | if(trace_direction == 0) { |
yuron | 11:5a0d6f69e751 | 1694 | line_state_pettern = front_trace; |
yuron | 11:5a0d6f69e751 | 1695 | } |
yuron | 11:5a0d6f69e751 | 1696 | else if(trace_direction == 1) { |
yuron | 11:5a0d6f69e751 | 1697 | line_state_pettern = back_trace; |
yuron | 11:5a0d6f69e751 | 1698 | } |
yuron | 10:b672aa81b226 | 1699 | |
yuron | 8:3df97287c825 | 1700 | //それ以外 |
yuron | 11:5a0d6f69e751 | 1701 | } else { |
yuron | 8:3df97287c825 | 1702 | line_state_pettern = stop; |
yuron | 7:7f16fb8b0192 | 1703 | } |
yuron | 11:5a0d6f69e751 | 1704 | } |
yuron | 5:167327a82430 | 1705 | } |
yuron | 10:b672aa81b226 | 1706 | } |
yuron | 8:3df97287c825 | 1707 | //} |
yuron | 8:3df97287c825 | 1708 | } else { |
yuron | 8:3df97287c825 | 1709 | line_state_pettern = stop; |
yuron | 8:3df97287c825 | 1710 | } |
yuron | 8:3df97287c825 | 1711 | |
yuron | 8:3df97287c825 | 1712 | //lateral_fragが0(初期状態)の時 |
yuron | 8:3df97287c825 | 1713 | if(lateral_frag == 0) { |
yuron | 9:1359f0c813b1 | 1714 | //ローラー回転2段高 |
yuron | 9:1359f0c813b1 | 1715 | table_fire = low_grade; |
yuron | 10:b672aa81b226 | 1716 | firing_minimum_distamce = low_grade_minimum_distance; |
yuron | 10:b672aa81b226 | 1717 | firing_maximum_distance = low_grade_maximum_distance; |
yuron | 9:1359f0c813b1 | 1718 | //リミットONでlateral_frag = 1 |
yuron | 8:3df97287c825 | 1719 | if(limit.read() == 0) { |
yuron | 8:3df97287c825 | 1720 | lateral_frag = 1; |
yuron | 8:3df97287c825 | 1721 | } |
yuron | 8:3df97287c825 | 1722 | } |
yuron | 8:3df97287c825 | 1723 | //リミットがONの時(1回目) |
BIGBOSS04 | 14:32b05026b3b2 | 1724 | //if(lateral_frag == 1) { |
BIGBOSS04 | 14:32b05026b3b2 | 1725 | /* |
yuron | 12:1a22b9797004 | 1726 | //ライントレース有効果 |
yuron | 12:1a22b9797004 | 1727 | trace_flag = 1; |
yuron | 9:1359f0c813b1 | 1728 | //ローラー回転移動中 |
yuron | 9:1359f0c813b1 | 1729 | table_fire = low_table; |
yuron | 10:b672aa81b226 | 1730 | firing_minimum_distamce = low_table_minimum_distance; |
yuron | 10:b672aa81b226 | 1731 | firing_maximum_distance = low_table_maximum_distance; |
yuron | 9:1359f0c813b1 | 1732 | |
yuron | 8:3df97287c825 | 1733 | //トレース方向の反転(前進) |
yuron | 8:3df97287c825 | 1734 | trace_direction = 0; |
yuron | 8:3df97287c825 | 1735 | back_timer1.start(); |
yuron | 8:3df97287c825 | 1736 | if(back_timer1.read() <= 1.5f && back_timer1.read() != 0.0f) { |
yuron | 8:3df97287c825 | 1737 | if(side == blue) { |
yuron | 8:3df97287c825 | 1738 | line_state_pettern = right_slow; |
yuron | 8:3df97287c825 | 1739 | } |
yuron | 8:3df97287c825 | 1740 | else if(side == red) { |
yuron | 8:3df97287c825 | 1741 | line_state_pettern = left_slow; |
yuron | 8:3df97287c825 | 1742 | } |
BIGBOSS04 | 14:32b05026b3b2 | 1743 | |
yuron | 8:3df97287c825 | 1744 | } |
yuron | 8:3df97287c825 | 1745 | else if(back_timer1.read() > 1.5f) { |
yuron | 8:3df97287c825 | 1746 | back_timer1.reset(); |
yuron | 8:3df97287c825 | 1747 | lateral_frag = 2; |
yuron | 8:3df97287c825 | 1748 | } |
yuron | 8:3df97287c825 | 1749 | } |
yuron | 8:3df97287c825 | 1750 | else if(lateral_frag == 2) { |
yuron | 8:3df97287c825 | 1751 | if(limit.read() == 0) { |
yuron | 8:3df97287c825 | 1752 | lateral_frag = 3; |
yuron | 8:3df97287c825 | 1753 | } |
BIGBOSS04 | 14:32b05026b3b2 | 1754 | */ |
BIGBOSS04 | 14:32b05026b3b2 | 1755 | //} |
yuron | 8:3df97287c825 | 1756 | //リミットがONの時(2回目) |
BIGBOSS04 | 14:32b05026b3b2 | 1757 | if(lateral_frag == 1) { |
yuron | 12:1a22b9797004 | 1758 | |
yuron | 12:1a22b9797004 | 1759 | //ローラー回転停止 |
yuron | 12:1a22b9797004 | 1760 | table_fire = 0; |
yuron | 12:1a22b9797004 | 1761 | |
yuron | 12:1a22b9797004 | 1762 | //スタートゾーンに近づいたら減速 |
yuron | 12:1a22b9797004 | 1763 | if(abs(measure_pulse) < 1200) { |
yuron | 12:1a22b9797004 | 1764 | if(side == blue) { |
yuron | 12:1a22b9797004 | 1765 | line_state_pettern = left_super_slow; |
yuron | 12:1a22b9797004 | 1766 | } |
yuron | 12:1a22b9797004 | 1767 | else if(side == red) { |
yuron | 12:1a22b9797004 | 1768 | line_state_pettern = right_super_slow; |
yuron | 12:1a22b9797004 | 1769 | } |
yuron | 12:1a22b9797004 | 1770 | } |
yuron | 12:1a22b9797004 | 1771 | else if(abs(measure_pulse) < 500) { |
yuron | 12:1a22b9797004 | 1772 | line_state_pettern = stop; |
yuron | 12:1a22b9797004 | 1773 | } else { |
yuron | 12:1a22b9797004 | 1774 | if(side == blue) { |
yuron | 12:1a22b9797004 | 1775 | line_state_pettern = left_fast; |
yuron | 12:1a22b9797004 | 1776 | } |
yuron | 12:1a22b9797004 | 1777 | else if(side == red) { |
yuron | 12:1a22b9797004 | 1778 | line_state_pettern = right_fast; |
yuron | 12:1a22b9797004 | 1779 | } |
yuron | 12:1a22b9797004 | 1780 | } |
yuron | 8:3df97287c825 | 1781 | } |
yuron | 10:b672aa81b226 | 1782 | |
yuron | 9:1359f0c813b1 | 1783 | //テーブルごとに目標値を変えてローラー回転 |
yuron | 9:1359f0c813b1 | 1784 | switch(table_fire) { |
yuron | 9:1359f0c813b1 | 1785 | //2段低 |
yuron | 9:1359f0c813b1 | 1786 | case low_grade: |
yuron | 9:1359f0c813b1 | 1787 | //ローラー回転開始 |
BIGBOSS04 | 14:32b05026b3b2 | 1788 | //roller_PID(825, 695); |
BIGBOSS04 | 14:32b05026b3b2 | 1789 | roller_PID(818, 671); |
yuron | 9:1359f0c813b1 | 1790 | i2c.write(0x20, front_roller_data, 1, false); |
yuron | 9:1359f0c813b1 | 1791 | i2c.write(0x22, back_roller_data, 1, false); |
yuron | 9:1359f0c813b1 | 1792 | wait_us(20); |
yuron | 9:1359f0c813b1 | 1793 | break; |
yuron | 8:3df97287c825 | 1794 | |
yuron | 9:1359f0c813b1 | 1795 | //2段高 |
yuron | 9:1359f0c813b1 | 1796 | case high_grade: |
yuron | 9:1359f0c813b1 | 1797 | //ローラー回転開始 |
yuron | 9:1359f0c813b1 | 1798 | roller_PID(400, 400); |
yuron | 9:1359f0c813b1 | 1799 | i2c.write(0x20, front_roller_data, 1, false); |
yuron | 9:1359f0c813b1 | 1800 | i2c.write(0x22, back_roller_data, 1, false); |
yuron | 9:1359f0c813b1 | 1801 | wait_us(20); |
yuron | 9:1359f0c813b1 | 1802 | break; |
yuron | 8:3df97287c825 | 1803 | |
yuron | 9:1359f0c813b1 | 1804 | //移動低 |
yuron | 9:1359f0c813b1 | 1805 | case low_table: |
yuron | 9:1359f0c813b1 | 1806 | //ローラー回転開始 |
yuron | 10:b672aa81b226 | 1807 | roller_PID(820, 690); |
yuron | 9:1359f0c813b1 | 1808 | i2c.write(0x20, front_roller_data, 1, false); |
yuron | 9:1359f0c813b1 | 1809 | i2c.write(0x22, back_roller_data, 1, false); |
yuron | 9:1359f0c813b1 | 1810 | wait_us(20); |
yuron | 9:1359f0c813b1 | 1811 | break; |
yuron | 8:3df97287c825 | 1812 | |
yuron | 9:1359f0c813b1 | 1813 | //移動中 |
yuron | 9:1359f0c813b1 | 1814 | case medium_table: |
yuron | 9:1359f0c813b1 | 1815 | //ローラー回転開始 |
yuron | 9:1359f0c813b1 | 1816 | roller_PID(800, 800); |
yuron | 9:1359f0c813b1 | 1817 | i2c.write(0x20, front_roller_data, 1, false); |
yuron | 9:1359f0c813b1 | 1818 | i2c.write(0x22, back_roller_data, 1, false); |
yuron | 9:1359f0c813b1 | 1819 | wait_us(20); |
yuron | 9:1359f0c813b1 | 1820 | break; |
yuron | 8:3df97287c825 | 1821 | |
yuron | 9:1359f0c813b1 | 1822 | //移動高 |
yuron | 9:1359f0c813b1 | 1823 | case high_table: |
yuron | 9:1359f0c813b1 | 1824 | //ローラー回転開始 |
yuron | 9:1359f0c813b1 | 1825 | roller_PID(1000, 1000); |
yuron | 9:1359f0c813b1 | 1826 | i2c.write(0x20, front_roller_data, 1, false); |
yuron | 9:1359f0c813b1 | 1827 | i2c.write(0x22, back_roller_data, 1, false); |
yuron | 9:1359f0c813b1 | 1828 | wait_us(20); |
yuron | 9:1359f0c813b1 | 1829 | break; |
yuron | 9:1359f0c813b1 | 1830 | |
yuron | 9:1359f0c813b1 | 1831 | //それ以外ショートブレーキ |
yuron | 9:1359f0c813b1 | 1832 | default: |
yuron | 9:1359f0c813b1 | 1833 | front_roller_data[0] = 0x80; |
yuron | 9:1359f0c813b1 | 1834 | back_roller_data[0] = 0x80; |
yuron | 9:1359f0c813b1 | 1835 | i2c.write(0x20, front_roller_data, 1, false); |
yuron | 9:1359f0c813b1 | 1836 | i2c.write(0x22, back_roller_data, 1, false); |
yuron | 9:1359f0c813b1 | 1837 | wait_us(20); |
yuron | 9:1359f0c813b1 | 1838 | break; |
yuron | 4:df334779a69e | 1839 | } |
yuron | 8:3df97287c825 | 1840 | |
yuron | 5:167327a82430 | 1841 | switch(line_state_pettern) { |
yuron | 5:167327a82430 | 1842 | //青ゾーンでライン検知しないと低速右移動 |
yuron | 5:167327a82430 | 1843 | case right_slow: |
yuron | 8:3df97287c825 | 1844 | //右前、右後ろ、左前、左後ろ |
BIGBOSS04 | 14:32b05026b3b2 | 1845 | right_PID_slow(50, 53, 56, 55); |
yuron | 5:167327a82430 | 1846 | i2c.write(0x10, true_migimae_data, 1, false); |
yuron | 5:167327a82430 | 1847 | i2c.write(0x12, true_migiusiro_data, 1, false); |
yuron | 5:167327a82430 | 1848 | i2c.write(0x14, true_hidarimae_data, 1, false); |
yuron | 5:167327a82430 | 1849 | i2c.write(0x16, true_hidariusiro_data, 1, false); |
yuron | 5:167327a82430 | 1850 | wait_us(20); |
yuron | 5:167327a82430 | 1851 | break; |
yuron | 8:3df97287c825 | 1852 | |
yuron | 8:3df97287c825 | 1853 | //赤ゾーンでライン検知しないと低速左移動 |
yuron | 5:167327a82430 | 1854 | case left_slow: |
BIGBOSS04 | 14:32b05026b3b2 | 1855 | left_PID_slow(55, 55, 50, 55); |
yuron | 8:3df97287c825 | 1856 | //left_PID_slow(100, 110, 100, 110); |
yuron | 5:167327a82430 | 1857 | i2c.write(0x10, true_migimae_data, 1, false); |
yuron | 5:167327a82430 | 1858 | i2c.write(0x12, true_migiusiro_data, 1, false); |
yuron | 5:167327a82430 | 1859 | i2c.write(0x14, true_hidarimae_data, 1, false); |
yuron | 5:167327a82430 | 1860 | i2c.write(0x16, true_hidariusiro_data, 1, false); |
yuron | 5:167327a82430 | 1861 | wait_us(20); |
yuron | 5:167327a82430 | 1862 | break; |
yuron | 5:167327a82430 | 1863 | |
yuron | 5:167327a82430 | 1864 | //超低速右移動 |
yuron | 5:167327a82430 | 1865 | case right_super_slow: |
yuron | 8:3df97287c825 | 1866 | right_PID_slow(5, 5, 5, 5); |
yuron | 5:167327a82430 | 1867 | i2c.write(0x10, true_migimae_data, 1, false); |
yuron | 5:167327a82430 | 1868 | i2c.write(0x12, true_migiusiro_data, 1, false); |
yuron | 5:167327a82430 | 1869 | i2c.write(0x14, true_hidarimae_data, 1, false); |
yuron | 5:167327a82430 | 1870 | i2c.write(0x16, true_hidariusiro_data, 1, false); |
yuron | 5:167327a82430 | 1871 | wait_us(20); |
yuron | 5:167327a82430 | 1872 | break; |
yuron | 5:167327a82430 | 1873 | |
yuron | 5:167327a82430 | 1874 | //超低速左移動 |
yuron | 5:167327a82430 | 1875 | case left_super_slow: |
yuron | 8:3df97287c825 | 1876 | left_PID_slow(5, 5, 5, 5); |
yuron | 5:167327a82430 | 1877 | i2c.write(0x10, true_migimae_data, 1, false); |
yuron | 5:167327a82430 | 1878 | i2c.write(0x12, true_migiusiro_data, 1, false); |
yuron | 5:167327a82430 | 1879 | i2c.write(0x14, true_hidarimae_data, 1, false); |
yuron | 5:167327a82430 | 1880 | i2c.write(0x16, true_hidariusiro_data, 1, false); |
yuron | 5:167327a82430 | 1881 | wait_us(20); |
yuron | 5:167327a82430 | 1882 | break; |
yuron | 5:167327a82430 | 1883 | |
yuron | 5:167327a82430 | 1884 | //右旋回 |
yuron | 5:167327a82430 | 1885 | case turn_right: |
yuron | 8:3df97287c825 | 1886 | turn_right_PID_slow(5, 5, 5, 5); |
yuron | 5:167327a82430 | 1887 | i2c.write(0x10, true_migimae_data, 1, false); |
yuron | 5:167327a82430 | 1888 | i2c.write(0x12, true_migiusiro_data, 1, false); |
yuron | 5:167327a82430 | 1889 | i2c.write(0x14, true_hidarimae_data, 1, false); |
yuron | 5:167327a82430 | 1890 | i2c.write(0x16, true_hidariusiro_data, 1, false); |
yuron | 5:167327a82430 | 1891 | wait_us(20); |
yuron | 5:167327a82430 | 1892 | break; |
yuron | 5:167327a82430 | 1893 | |
yuron | 5:167327a82430 | 1894 | //左旋回 |
yuron | 5:167327a82430 | 1895 | case turn_left: |
yuron | 8:3df97287c825 | 1896 | turn_left_PID_slow(5, 5, 5, 5); |
yuron | 5:167327a82430 | 1897 | i2c.write(0x10, true_migimae_data, 1, false); |
yuron | 5:167327a82430 | 1898 | i2c.write(0x12, true_migiusiro_data, 1, false); |
yuron | 5:167327a82430 | 1899 | i2c.write(0x14, true_hidarimae_data, 1, false); |
yuron | 5:167327a82430 | 1900 | i2c.write(0x16, true_hidariusiro_data, 1, false); |
yuron | 5:167327a82430 | 1901 | wait_us(20); |
yuron | 5:167327a82430 | 1902 | break; |
yuron | 5:167327a82430 | 1903 | |
yuron | 5:167327a82430 | 1904 | //前進 |
yuron | 5:167327a82430 | 1905 | case front_trace: |
yuron | 5:167327a82430 | 1906 | front_PID_slow(30, 30, 30, 30); |
yuron | 5:167327a82430 | 1907 | //front_PID_slow(50, 50, 50, 50); |
yuron | 5:167327a82430 | 1908 | i2c.write(0x10, true_migimae_data, 1, false); |
yuron | 5:167327a82430 | 1909 | i2c.write(0x12, true_migiusiro_data, 1, false); |
yuron | 5:167327a82430 | 1910 | i2c.write(0x14, true_hidarimae_data, 1, false); |
yuron | 5:167327a82430 | 1911 | i2c.write(0x16, true_hidariusiro_data, 1, false); |
yuron | 5:167327a82430 | 1912 | wait_us(20); |
yuron | 5:167327a82430 | 1913 | break; |
yuron | 8:3df97287c825 | 1914 | |
yuron | 5:167327a82430 | 1915 | //後進 |
yuron | 5:167327a82430 | 1916 | case back_trace: |
yuron | 8:3df97287c825 | 1917 | back_PID_slow(33, 31, 35, 35); |
yuron | 5:167327a82430 | 1918 | //back_PID_slow(50, 50, 50, 50); |
yuron | 5:167327a82430 | 1919 | i2c.write(0x10, true_migimae_data, 1, false); |
yuron | 5:167327a82430 | 1920 | i2c.write(0x12, true_migiusiro_data, 1, false); |
yuron | 5:167327a82430 | 1921 | i2c.write(0x14, true_hidarimae_data, 1, false); |
yuron | 5:167327a82430 | 1922 | i2c.write(0x16, true_hidariusiro_data, 1, false); |
yuron | 5:167327a82430 | 1923 | wait_us(20); |
yuron | 5:167327a82430 | 1924 | break; |
yuron | 8:3df97287c825 | 1925 | |
yuron | 5:167327a82430 | 1926 | //前前進後ろ右旋回 |
yuron | 5:167327a82430 | 1927 | case front_front_back_right: |
yuron | 8:3df97287c825 | 1928 | front_front_back_right_PID(5, 5, 5, 5); |
yuron | 5:167327a82430 | 1929 | //true_hidarimae_data[0] = 0x80; |
yuron | 5:167327a82430 | 1930 | i2c.write(0x10, true_migimae_data, 1, false); |
yuron | 5:167327a82430 | 1931 | i2c.write(0x12, true_migiusiro_data, 1, false); |
yuron | 5:167327a82430 | 1932 | i2c.write(0x14, true_hidarimae_data, 1, false); |
yuron | 5:167327a82430 | 1933 | i2c.write(0x16, true_hidariusiro_data, 1, false); |
yuron | 5:167327a82430 | 1934 | wait_us(20); |
yuron | 5:167327a82430 | 1935 | break; |
yuron | 5:167327a82430 | 1936 | |
yuron | 5:167327a82430 | 1937 | //前前進後ろ左旋回 |
yuron | 5:167327a82430 | 1938 | case front_front_back_left: |
yuron | 8:3df97287c825 | 1939 | front_front_back_left_PID(5, 5, 5, 5); |
yuron | 5:167327a82430 | 1940 | //true_migimae_data[0] = 0x80; |
yuron | 5:167327a82430 | 1941 | i2c.write(0x10, true_migimae_data, 1, false); |
yuron | 5:167327a82430 | 1942 | i2c.write(0x12, true_migiusiro_data, 1, false); |
yuron | 5:167327a82430 | 1943 | i2c.write(0x14, true_hidarimae_data, 1, false); |
yuron | 5:167327a82430 | 1944 | i2c.write(0x16, true_hidariusiro_data, 1, false); |
yuron | 5:167327a82430 | 1945 | wait_us(20); |
yuron | 5:167327a82430 | 1946 | break; |
yuron | 5:167327a82430 | 1947 | |
yuron | 5:167327a82430 | 1948 | //前右旋回後ろ前進 |
yuron | 5:167327a82430 | 1949 | case front_right_back_front: |
yuron | 8:3df97287c825 | 1950 | front_right_back_front_PID(5, 5, 5, 5); |
yuron | 5:167327a82430 | 1951 | //true_migiusiro_data[0] = 0x80; |
yuron | 5:167327a82430 | 1952 | i2c.write(0x10, true_migimae_data, 1, false); |
yuron | 5:167327a82430 | 1953 | i2c.write(0x12, true_migiusiro_data, 1, false); |
yuron | 5:167327a82430 | 1954 | i2c.write(0x14, true_hidarimae_data, 1, false); |
yuron | 5:167327a82430 | 1955 | i2c.write(0x16, true_hidariusiro_data, 1, false); |
yuron | 5:167327a82430 | 1956 | wait_us(20); |
yuron | 5:167327a82430 | 1957 | break; |
yuron | 5:167327a82430 | 1958 | |
yuron | 5:167327a82430 | 1959 | //前左旋回後ろ前進 |
yuron | 5:167327a82430 | 1960 | case front_left_back_front: |
yuron | 8:3df97287c825 | 1961 | front_left_back_front_PID(5, 5, 5, 5); |
yuron | 5:167327a82430 | 1962 | //true_hidariusiro_data[0] = 0x80; |
yuron | 5:167327a82430 | 1963 | i2c.write(0x10, true_migimae_data, 1, false); |
yuron | 5:167327a82430 | 1964 | i2c.write(0x12, true_migiusiro_data, 1, false); |
yuron | 5:167327a82430 | 1965 | i2c.write(0x14, true_hidarimae_data, 1, false); |
yuron | 5:167327a82430 | 1966 | i2c.write(0x16, true_hidariusiro_data, 1, false); |
yuron | 5:167327a82430 | 1967 | wait_us(20); |
yuron | 5:167327a82430 | 1968 | break; |
yuron | 8:3df97287c825 | 1969 | |
yuron | 8:3df97287c825 | 1970 | case right_fast: |
yuron | 8:3df97287c825 | 1971 | //right_PID(300, 255, 300, 255); |
yuron | 10:b672aa81b226 | 1972 | right_PID_slow(100, 107, 100, 107); |
yuron | 8:3df97287c825 | 1973 | i2c.write(0x10, true_migimae_data, 1, false); |
yuron | 8:3df97287c825 | 1974 | i2c.write(0x12, true_migiusiro_data, 1, false); |
yuron | 8:3df97287c825 | 1975 | i2c.write(0x14, true_hidarimae_data, 1, false); |
yuron | 8:3df97287c825 | 1976 | i2c.write(0x16, true_hidariusiro_data, 1, false); |
yuron | 8:3df97287c825 | 1977 | wait_us(20); |
yuron | 8:3df97287c825 | 1978 | break; |
yuron | 8:3df97287c825 | 1979 | |
yuron | 8:3df97287c825 | 1980 | case left_fast: |
yuron | 8:3df97287c825 | 1981 | //left_PID(255, 300, 255, 300); |
yuron | 10:b672aa81b226 | 1982 | left_PID_slow(107, 100, 107, 100); |
yuron | 8:3df97287c825 | 1983 | i2c.write(0x10, true_migimae_data, 1, false); |
yuron | 8:3df97287c825 | 1984 | i2c.write(0x12, true_migiusiro_data, 1, false); |
yuron | 8:3df97287c825 | 1985 | i2c.write(0x14, true_hidarimae_data, 1, false); |
yuron | 8:3df97287c825 | 1986 | i2c.write(0x16, true_hidariusiro_data, 1, false); |
yuron | 8:3df97287c825 | 1987 | wait_us(20); |
yuron | 8:3df97287c825 | 1988 | break; |
yuron | 9:1359f0c813b1 | 1989 | |
yuron | 8:3df97287c825 | 1990 | case stop: |
yuron | 8:3df97287c825 | 1991 | true_migimae_data[0] = 0x80; |
yuron | 8:3df97287c825 | 1992 | true_migiusiro_data[0] = 0x80; |
yuron | 8:3df97287c825 | 1993 | true_hidarimae_data[0] = 0x80; |
yuron | 8:3df97287c825 | 1994 | true_hidariusiro_data[0] = 0x80; |
yuron | 8:3df97287c825 | 1995 | i2c.write(0x10, true_migimae_data, 1, false); |
yuron | 8:3df97287c825 | 1996 | i2c.write(0x12, true_migiusiro_data, 1, false); |
yuron | 8:3df97287c825 | 1997 | i2c.write(0x14, true_hidarimae_data, 1, false); |
yuron | 8:3df97287c825 | 1998 | i2c.write(0x16, true_hidariusiro_data, 1, false); |
yuron | 8:3df97287c825 | 1999 | wait_us(20); |
yuron | 8:3df97287c825 | 2000 | break; |
yuron | 8:3df97287c825 | 2001 | |
yuron | 5:167327a82430 | 2002 | //それ以外ショートブレーキ |
yuron | 5:167327a82430 | 2003 | default: |
yuron | 5:167327a82430 | 2004 | true_migimae_data[0] = 0x80; |
yuron | 5:167327a82430 | 2005 | true_migiusiro_data[0] = 0x80; |
yuron | 5:167327a82430 | 2006 | true_hidarimae_data[0] = 0x80; |
yuron | 5:167327a82430 | 2007 | true_hidariusiro_data[0] = 0x80; |
yuron | 5:167327a82430 | 2008 | i2c.write(0x10, true_migimae_data, 1, false); |
yuron | 5:167327a82430 | 2009 | i2c.write(0x12, true_migiusiro_data, 1, false); |
yuron | 5:167327a82430 | 2010 | i2c.write(0x14, true_hidarimae_data, 1, false); |
yuron | 5:167327a82430 | 2011 | i2c.write(0x16, true_hidariusiro_data, 1, false); |
yuron | 5:167327a82430 | 2012 | wait_us(20); |
yuron | 5:167327a82430 | 2013 | break; |
yuron | 7:7f16fb8b0192 | 2014 | } |
yuron | 8:3df97287c825 | 2015 | |
yuron | 0:f73c1b076ae4 | 2016 | } |
yuron | 0:f73c1b076ae4 | 2017 | } |
BIGBOSS04 | 14:32b05026b3b2 | 2018 | } |