Quadrifoglio
2021 rcj
Dependencies: _sensorGen ui Robot omni_wheel PID jy901 solenoid IRsensor aqm0802 camera beep kohiMD linesSnsor lpf RCJESC
Revision 0:304a5472ddd8, committed 2021-03-04
- Comitter:
- piroro4560
- Date:
- Thu Mar 04 12:03:30 2021 +0000
- Child:
- 1:e8c3c7f14070
- Commit message:
- dekinai---
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Robot.lib Thu Mar 04 12:03:30 2021 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/teams/Quadrifoglio/code/Robot/#904dac75a729
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/lib/PID.lib Thu Mar 04 12:03:30 2021 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/aberk/code/PID/#6e12a3e5af19
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/lib/RCJESC.lib Thu Mar 04 12:03:30 2021 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/teams/Quadrifoglio/code/RCJESC/#5f1959f9d2db
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/lib/aqm0802.lib Thu Mar 04 12:03:30 2021 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/piroro4560/code/aqm0802/#d2dce9901580
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/lib/beep.lib Thu Mar 04 12:03:30 2021 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/teams/Quadrifoglio/code/beep/#ed6c6a4e6101
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/lib/camera.lib Thu Mar 04 12:03:30 2021 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/teams/Quadrifoglio/code/camera/#12ef615ee47f
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/lib/jy901.lib Thu Mar 04 12:03:30 2021 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/teams/Quadrifoglio/code/jy901/#9fa716a2100a
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/lib/kohiMD.lib Thu Mar 04 12:03:30 2021 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/teams/Quadrifoglio/code/kohiMD/#d4d97efd8881
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/lib/lineSensor.lib Thu Mar 04 12:03:30 2021 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/teams/Quadrifoglio/code/linesSnsor/#2d25db124969
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/lib/lpf.lib Thu Mar 04 12:03:30 2021 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/teams/Quadrifoglio/code/lpf/#f252bd51e899
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/lib/omni_wheel.lib Thu Mar 04 12:03:30 2021 +0000 @@ -0,0 +1,1 @@ +http://os.mbed.com/teams/NHK-Robocon2016_Nagaoka_B_Team/code/omni_wheel/#cfec945ea421
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/lib/solenoid.lib Thu Mar 04 12:03:30 2021 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/teams/Quadrifoglio/code/solenoid/#028d1164ff74
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Thu Mar 04 12:03:30 2021 +0000
@@ -0,0 +1,114 @@
+#include "main.h"
+#include "robot.h"
+#include "sensorGen.h"
+#include "ui.h"
+
+Robot robo;
+UI ui;
+Thread displaythread;
+sensorgen sensor_;
+BufferedSerial pc(USBTX, USBRX, 115200);
+
+
+void main2ui()
+{
+ char lcdname1[4] = {}, lcdname2[4] = {};
+ int lcdvalue[2] = {};
+ double temp[2] = {};
+ while(1){
+// printf("test\r\n");
+ if(ui.displayst == 0){
+ strcpy(lcdname1, "gyr");
+ strcpy(lcdname2, "bal");
+ lcdvalue[0] = sensor_.angle;
+ } else if(ui.displayst == 1) {
+ strcpy(lcdname1, "bar");
+ strcpy(lcdname2, "bax");
+ lcdvalue[0] = sensor_.ballAngle;
+ lcdvalue[1] = sensor_.ballRange;
+ } else if(ui.displayst == 2) {
+ strcpy(lcdname1, "ylr");
+ strcpy(lcdname2, "ylx");
+ lcdvalue[0] = sensor_.yellowAngle;
+ lcdvalue[1] = sensor_.yellowRange;
+ } else if(ui.displayst == 3) {
+ strcpy(lcdname1, "blr");
+ strcpy(lcdname2, "blx");
+ lcdvalue[0] = sensor_.yellowAngle;
+ lcdvalue[1] = sensor_.yellowRange;
+ } else if(ui.displayst == 4) {
+ strcpy(lcdname1, "mt0");
+ strcpy(lcdname2, "mt1");
+ temp[0] = robo.omni.wheel[0];
+ temp[1] = robo.omni.wheel[1];
+ lcdvalue[0] = temp[0] * 100;
+ lcdvalue[1] = temp[1] * 100;
+ } else if(ui.displayst == 5) {
+ strcpy(lcdname1, "mt2");
+ strcpy(lcdname2, "mt3");
+ temp[0] = robo.omni.wheel[2];
+ temp[1] = robo.omni.wheel[3];
+ lcdvalue[2] = temp[0] * 100;
+ lcdvalue[3] = temp[1] * 100;
+ /*} else if(ui.displayst == 6) {
+ strcpy(lcdname1, "ln1");
+ strcpy(lcdname2, "ln2");
+ lcdvalue[2] = sensor.;
+ lcdvalue[3] = sensor.;
+ break;
+ } else if(ui.displayst == 7) {
+ strcpy(lcdname1, "ln3");
+ strcpy(lcdname2, "ln4");
+ lcdvalue[2] = sensor.;
+ lcdvalue[3] = sensor.;
+ break;*/
+ }
+ ui.change(lcdname1, lcdname2, lcdvalue);
+ thread_sleep_for(3);
+ }
+}
+
+int main(){
+
+ displaythread.start(main2ui);
+ uint8_t motorChecknum, uibt[4];
+ bool startflag;
+ while(1){
+ robo.motorStop(0.0);
+ /*
+ ui.returnbt(uibt);
+// printf("%d %d %d %d %d\r\n", uibt[0], uibt[1], uibt[2], uibt[3], ui.start);
+ if(ui.mode == 0){
+// if(ui.b[3]) robo.start(ui.team, ui.algorithm);
+// else robo.motorStop();
+ } else if(ui.mode == 1){
+// motorChecknum = (8*ui.b[3])+(4*ui.b[2])+(2*ui.b[1])+(ui.b[0]);
+ if(ui.b[0]){
+ robo.motorCheck(0, 0.3);
+ }else if(ui.b[1]){
+ robo.motorCheck(1, 0.3);
+ }else if(ui.b[2]){
+ robo.motorCheck(2, 0.3);
+ }else if(ui.b[3]){
+ robo.motorCheck(3, 0.3);
+ }
+ } else if(ui.mode == 2){
+ if(ui.start){
+ robo.kickCheck();
+ }
+ robo.motorStop();
+ } else if(ui.mode == 3){
+ if(ui.start){
+ robo.dribbleCheck(0.4);
+ } else {
+ robo.dribbleCheck(0);
+ }
+ robo.motorStop();
+ } else if(ui.mode == 4){
+ if(ui.b[3] - ui.b_[3]){
+ sensor_.jy.jyroReset();
+ }
+
+ }*/
+ }
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/main.h Thu Mar 04 12:03:30 2021 +0000 @@ -0,0 +1,48 @@ +#ifndef MAIN_H +#define MAIN_H + +#include "mbed.h" + +#define PI 3.1415926535897932 + + +static PinName const US1trig = PC_8; +static PinName const US1echo = PC_6; +static PinName const US2trig = PC_5; +static PinName const US2echo = PA_12; +static PinName const US3trig = PA_11; +static PinName const US3echo = PB_12; +static PinName const US4trig = PB_2; +static PinName const US4echo = PB_1; +static PinName const jyscl = PA_8; +static PinName const jysda = PB_4; +static PinName const IR = PC_2; + +static PinName const motor0 = PA_15; +static PinName const motor1 = PA_6; +static PinName const motor2 = PA_7; +static PinName const motor3 = PB_6; +static PinName const kicker = PA_10; +static PinName const ESCpin = PC_9; + +static PinName const buzz = PC_7; +static PinName const lcdscl = PB_8; +static PinName const lcdsda = PB_9; +static PinName const button = PC_3; +static PinName const toggle1 = PA_9; +static PinName const toggle2 = PB_10; +static PinName const toggle3 = PB_5; + +static PinName const line1 = A0; +static PinName const line2 = A1; +static PinName const line3 = A2; +static PinName const line4 = A3; +static PinName const line5 = A4; +static PinName const line6 = A5; + +static PinName const pixysclk = PB_13; +static PinName const pixymiso = PB_14; +static PinName const pixymosi = PB_15; + + +#endif \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed-os.lib Thu Mar 04 12:03:30 2021 +0000 @@ -0,0 +1,1 @@ +https://github.com/ARMmbed/mbed-os/#bfde5aa1e74802771eaeacfa74789f71677325cb
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/sensorGen.lib Thu Mar 04 12:03:30 2021 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/piroro4560/code/sensorGen_0202/#f651e59a9805
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/ui.lib Thu Mar 04 12:03:30 2021 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/teams/Quadrifoglio/code/ui/#a5e8e6156172