Quadrifoglio
2021 rcj
Dependencies: _sensorGen ui Robot omni_wheel PID jy901 solenoid IRsensor aqm0802 camera beep kohiMD linesSnsor lpf RCJESC
Revision 3:f763ce2f35db, committed 2021-03-05
- Comitter:
- piroro4560
- Date:
- Fri Mar 05 05:05:42 2021 +0000
- Parent:
- 2:540f68b1a40e
- Child:
- 4:b9d156177b88
- Commit message:
- can move
Changed in this revision
--- a/Robot.lib Fri Mar 05 00:01:18 2021 +0000 +++ b/Robot.lib Fri Mar 05 05:05:42 2021 +0000 @@ -1,1 +1,1 @@ -https://os.mbed.com/teams/Quadrifoglio/code/Robot/#39f44a1dc256 +https://os.mbed.com/teams/Quadrifoglio/code/Robot/#19149697667d
--- a/lib/jy901.lib Fri Mar 05 00:01:18 2021 +0000 +++ b/lib/jy901.lib Fri Mar 05 05:05:42 2021 +0000 @@ -1,1 +1,1 @@ -https://os.mbed.com/teams/Quadrifoglio/code/jy901/#9fa716a2100a +https://os.mbed.com/teams/Quadrifoglio/code/jy901/#a5ce2d3c49ac
--- a/lib/kohiMD.lib Fri Mar 05 00:01:18 2021 +0000 +++ b/lib/kohiMD.lib Fri Mar 05 05:05:42 2021 +0000 @@ -1,1 +1,1 @@ -https://os.mbed.com/teams/Quadrifoglio/code/kohiMD/#ba7b31b888f2 +https://os.mbed.com/teams/Quadrifoglio/code/kohiMD/#f8af7b48531c
--- a/main.cpp Fri Mar 05 00:01:18 2021 +0000
+++ b/main.cpp Fri Mar 05 05:05:42 2021 +0000
@@ -1,13 +1,11 @@
#include "main.h"
#include "robot.h"
-//#include "sensorGen.h"
#include "ui.h"
-//#include "kohiMD.h"
Robot robo;
UI ui;
Thread displaythread;
-sensorgen sensor_;
+sensorgen sensor;
BufferedSerial pc(USBTX, USBRX, 115200);
KohiMD *md[4] = {new KohiMD(PA_15), new KohiMD(PA_6), new KohiMD(PA_7), new KohiMD(PB_6)};
@@ -22,38 +20,47 @@
if(ui.displayst == 0){
strcpy(lcdname1, "gyr");
strcpy(lcdname2, "bal");
- lcdvalue[0] = sensor_.angle;
+ if(sensor.angle >= 0)lcdvalue[0] = sensor.angle;
+ else lcdvalue[0] = 360+sensor.angle;
} else if(ui.displayst == 1) {
strcpy(lcdname1, "bar");
strcpy(lcdname2, "bax");
- lcdvalue[0] = sensor_.ballAngle;
- lcdvalue[1] = sensor_.ballRange;
+ if(sensor.ballAngle >= 0)lcdvalue[0] = sensor.ballAngle;
+ else lcdvalue[0] = 360+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;
+ if(sensor.yellowAngle >= 0)lcdvalue[0] = sensor.yellowAngle;
+ else lcdvalue[0] = 360+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;
+ if(sensor.blueAngle >= 0)lcdvalue[0] = sensor.blueAngle;
+ else lcdvalue[0] = 360+sensor.blueAngle;
+ 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;
+// temp[0] = robo.omni.wheel[0];
+// temp[1] = robo.omni.wheel[1];
+// lcdvalue[0] = temp[0] * 100;
+// lcdvalue[1] = temp[1] * 100;
+ lcdvalue[0] = 0;
+ lcdvalue[1] = 0;
} else if(ui.displayst == 5) {
strcpy(lcdname1, "mt2");
strcpy(lcdname2, "mt3");
- temp[0] = robo.omni.wheel[2];
- temp[1] = robo.omni.wheel[3];
- lcdvalue[0] = temp[0] * 100;
- lcdvalue[1] = temp[1] * 100;
+// temp[0] = robo.omni.wheel[2];
+// temp[1] = robo.omni.wheel[3];
+// lcdvalue[0] = temp[0] * 100;
+// lcdvalue[1] = temp[1] * 100;
+ lcdvalue[0] = 0;
+ lcdvalue[1] = 0;
/*} else if(ui.displayst == 6) {
- strcpy(lcdname1, "ln1");
+ strcpy(lcdname1, "
+ ln1");
strcpy(lcdname2, "ln2");
lcdvalue[2] = sensor.;
lcdvalue[3] = sensor.;
@@ -75,15 +82,19 @@
displaythread.start(main2ui);
uint8_t motorChecknum, uibt[4];
bool startflag;
+// robo.pidtest();
while(1){
- robo.motorStop(0.0);
-// for (int i=0; i < 4; i++) md[i]->setSpeed(0.0);
- /*
- ui.returnbt(uibt);
-// printf("%d %d %d %d %d\r\n", uibt[0], uibt[1], uibt[2], uibt[3], ui.start);
+ printf("ball: x %5d,r %6d | yellow: x %5d,r %6d | blue: x %5d,r %6d gyro %4d | \r\n"
+ , (int)(sensor.ballRange), (int)(sensor.ballAngle), (int)(sensor.yellowRange), (int)(sensor.yellowAngle), (int)(sensor.blueRange), (int)(sensor.blueAngle), (int)(sensor.tempAngle));
+// printf("gyro : %d\r\n",(int)sensor.angle);
+
+// ui.returnbt(uibt);
+// printf("%d %d %d %d %d\r\n", ui.flag[0], ui.flag[1], ui.flag[2], ui.flag[3], ui.start);
if(ui.mode == 0){
-// if(ui.b[3]) robo.start(ui.team, ui.algorithm);
-// else robo.motorStop();
+// printf("ball: x %d,r %d | yellow: x %d,r %d | blue: x %d,r %d gyro %d | \r\n"
+// , (int)(100*sensor.ballRange), (int)(100*sensor.ballAngle), (int)(100*sensor.yellowRange), (int)(100*sensor.yellowAngle), (int)(100*sensor.blueRange), (int)(100*sensor.blueAngle), (int)(sensor.rawAngle));
+ if(ui.flag[3]) robo.pidtest();//robo.start(ui.team, ui.algorithm);
+ else robo.motorStop(0.0);
} 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]){
@@ -94,24 +105,25 @@
robo.motorCheck(2, 0.3);
}else if(ui.b[3]){
robo.motorCheck(3, 0.3);
+ }else{
+ robo.motorStop(0.0);
}
} else if(ui.mode == 2){
if(ui.start){
robo.kickCheck();
}
- robo.motorStop();
+ robo.motorStop(0.0);
} else if(ui.mode == 3){
if(ui.start){
robo.dribbleCheck(0.4);
} else {
robo.dribbleCheck(0);
}
- robo.motorStop();
+ robo.motorStop(0.0);
} else if(ui.mode == 4){
- if(ui.b[3] - ui.b_[3]){
- sensor_.jy.jyroReset();
+ if(ui.flag[3]){
+ sensor.jy.yawcalibrate();
}
-
- }*/
+ }
}
}
\ No newline at end of file
--- a/sensorGen.lib Fri Mar 05 00:01:18 2021 +0000 +++ b/sensorGen.lib Fri Mar 05 05:05:42 2021 +0000 @@ -1,1 +1,1 @@ -https://os.mbed.com/users/THtakahiro702286/code/_sensorGen/#8ed76df0196b +https://os.mbed.com/teams/Quadrifoglio/code/sensorGen_21/#41c2f80bf005
--- a/ui.lib Fri Mar 05 00:01:18 2021 +0000 +++ b/ui.lib Fri Mar 05 05:05:42 2021 +0000 @@ -1,1 +1,1 @@ -https://os.mbed.com/teams/Quadrifoglio/code/ui/#a5e8e6156172 +https://os.mbed.com/teams/Quadrifoglio/code/ui/#1f322deb75d8