ui no
Dependencies: _sensorGen Robot omni_wheel PID jy901 solenoid IRsensor camera beep kohiMD linesSnsor lpf RCJESC
main.cpp
- Committer:
- THtakahiro702286
- Date:
- 2021-03-06
- Revision:
- 0:9ad378866e21
File content as of revision 0:9ad378866e21:
#include "main.h" #include "robot.h" //#include "ui.h" Robot robo; //UI ui; //Thread displaythread; 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)}; //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"); // 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"); // 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"); // 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"); // 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; // 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; // lcdvalue[0] = 0; // lcdvalue[1] = 0; // /*} 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; // robo.pidtest(); while(1){ // printf("%d ",ui._tgl[0]); // ui.updatebt(); // main2ui(); // 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){ // 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._tgl[0])) robo.moveTest();//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]){ // 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{ // robo.motorStop(0.0); // } //// } else if(ui.mode == 2){ // if(ui.start){ // robo.kickCheck(); // } // robo.motorStop(0.0); //// } else if(ui.mode == 3){ // if(ui.start){ // robo.dribbleCheck(0.4); // } else { // robo.dribbleCheck(0); // } // robo.motorStop(0.0); //// } else if(ui.mode == 4){ // if(ui.flag[3]){ // sensor.jy.yawcalibrate(); //// } // } // printf("e \r\n"); if(!sensor.start) robo.moveTest(); if(sensor.b0) { if(sensor.test) robo.dribbleCheck(0.6); else robo.kickCheck(); } else robo.dribbleCheck(0.0); } }