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Dependents: 00_yotsuba 200_yotsuba_21 200_yotuba_21_uiChange
robot.cpp@9:904dac75a729, 2021-03-04 (annotated)
- Committer:
- piroro4560
- Date:
- Thu Mar 04 11:58:52 2021 +0000
- Revision:
- 9:904dac75a729
- Parent:
- 8:713bbc1fb58f
- Child:
- 11:39f44a1dc256
robot
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
piroro4560 | 0:3f87ec23c3cf | 1 | #include "robot.h" |
piroro4560 | 0:3f87ec23c3cf | 2 | |
piroro4560 | 4:a4f94f186ba0 | 3 | Robot::Robot() : |
piroro4560 | 4:a4f94f186ba0 | 4 | spin(P, I, D, interval), |
piroro4560 | 1:6a5065829cfc | 5 | pc(USBTX, USBRX, 115200), |
piroro4560 | 1:6a5065829cfc | 6 | shot(kicker), |
piroro4560 | 9:904dac75a729 | 7 | drib(ESCpin) |
piroro4560 | 0:3f87ec23c3cf | 8 | { |
piroro4560 | 4:a4f94f186ba0 | 9 | |
piroro4560 | 0:3f87ec23c3cf | 10 | omni.wheel[0].setRadian(PI/4 * 1); |
piroro4560 | 0:3f87ec23c3cf | 11 | omni.wheel[1].setRadian(PI/4 * 3); |
piroro4560 | 0:3f87ec23c3cf | 12 | omni.wheel[2].setRadian(PI/4 * 5); |
piroro4560 | 0:3f87ec23c3cf | 13 | omni.wheel[3].setRadian(PI/4 * 7); |
piroro4560 | 9:904dac75a729 | 14 | motor[0] = new KohiMD(PA_15); |
piroro4560 | 9:904dac75a729 | 15 | motor[1] = new KohiMD(PA_6); |
piroro4560 | 9:904dac75a729 | 16 | motor[2] = new KohiMD(PA_7); |
piroro4560 | 9:904dac75a729 | 17 | motor[3] = new KohiMD(PB_6); |
piroro4560 | 1:6a5065829cfc | 18 | spin.setInputLimits(-180, 180); |
THtakahiro702286 | 5:f5e79163d0eb | 19 | spin.setOutputLimits(-0.4,0.4); |
piroro4560 | 1:6a5065829cfc | 20 | spin.setBias(0); |
piroro4560 | 1:6a5065829cfc | 21 | spin.setMode(1); |
piroro4560 | 1:6a5065829cfc | 22 | spin.setSetPoint(0); |
piroro4560 | 9:904dac75a729 | 23 | shot.setkickperiod(2.0); |
piroro4560 | 9:904dac75a729 | 24 | shot.setoutputtime(0.1); |
piroro4560 | 4:a4f94f186ba0 | 25 | drib.setspeed(0.0); |
THtakahiro702286 | 5:f5e79163d0eb | 26 | startb = 0; |
piroro4560 | 0:3f87ec23c3cf | 27 | } |
piroro4560 | 0:3f87ec23c3cf | 28 | |
piroro4560 | 9:904dac75a729 | 29 | void Robot::start(uint8_t Team, uint8_t Algorithm) |
piroro4560 | 0:3f87ec23c3cf | 30 | { |
piroro4560 | 4:a4f94f186ba0 | 31 | |
piroro4560 | 9:904dac75a729 | 32 | while (1) { |
piroro4560 | 9:904dac75a729 | 33 | startb=1; |
piroro4560 | 9:904dac75a729 | 34 | spin.setProcessValue(sensor_.angleLimit); |
piroro4560 | 9:904dac75a729 | 35 | theta = sensor_.ballAngle * ballExtra * PI / 180.0; |
piroro4560 | 4:a4f94f186ba0 | 36 | spin_power = spin.compute(); |
piroro4560 | 9:904dac75a729 | 37 | if (sensor_.ballKeep) { |
piroro4560 | 9:904dac75a729 | 38 | /*ボールをつかんでるなら*/ |
THtakahiro702286 | 7:dcc0faa86da7 | 39 | // drib.setspeed(0.5); |
piroro4560 | 9:904dac75a729 | 40 | if(Team) |
piroro4560 | 4:a4f94f186ba0 | 41 | { |
piroro4560 | 9:904dac75a729 | 42 | /*あおに向かうよ*/ |
THtakahiro702286 | 7:dcc0faa86da7 | 43 | /*if(!sensor.bluex)*/ omni.computeCircular(1,0,0/* spin_power*/); |
THtakahiro702286 | 7:dcc0faa86da7 | 44 | // else omni.computeCircular(sensor.blueRange,PI / 180.0 * sensor.blueAngle, spin_power); |
piroro4560 | 4:a4f94f186ba0 | 45 | |
piroro4560 | 4:a4f94f186ba0 | 46 | } |
piroro4560 | 4:a4f94f186ba0 | 47 | else |
piroro4560 | 4:a4f94f186ba0 | 48 | { |
piroro4560 | 9:904dac75a729 | 49 | /*きいろに向かうよ*/ |
THtakahiro702286 | 7:dcc0faa86da7 | 50 | /*if(!sensor.yellowx)*/ omni.computeCircular(1,0,0/* spin_power*/); |
piroro4560 | 9:904dac75a729 | 51 | /*else*/ omni.computeCircular(sensor_.yellowRange,PI / 180.0 * sensor_.yellowAngle, spin_power); |
piroro4560 | 4:a4f94f186ba0 | 52 | } |
piroro4560 | 9:904dac75a729 | 53 | } |
piroro4560 | 4:a4f94f186ba0 | 54 | else |
piroro4560 | 9:904dac75a729 | 55 | /*つかんでないなら*/ |
piroro4560 | 4:a4f94f186ba0 | 56 | { |
piroro4560 | 9:904dac75a729 | 57 | // for(int i=0; i<6; i++) pc.printf("%d ",sensor.line[i]); |
piroro4560 | 9:904dac75a729 | 58 | // pc.printf("\r\n"); |
THtakahiro702286 | 5:f5e79163d0eb | 59 | drib.setspeed(0.0); |
piroro4560 | 9:904dac75a729 | 60 | omni.computeCircular(sensor_.ballRange, (PI / 180.0) * sensor_.ballAngle + theta, spin_power); |
piroro4560 | 4:a4f94f186ba0 | 61 | } |
piroro4560 | 9:904dac75a729 | 62 | // printf("%d ",(int)sensor.ballKeep); |
piroro4560 | 9:904dac75a729 | 63 | if(sensor_.line[0] || sensor_.line[1]) |
piroro4560 | 4:a4f94f186ba0 | 64 | { |
piroro4560 | 4:a4f94f186ba0 | 65 | omni.computeCircular(1,-1*PI/2.0,spin_power); |
piroro4560 | 4:a4f94f186ba0 | 66 | } |
piroro4560 | 9:904dac75a729 | 67 | if(sensor_.line[2] || sensor_.line[3]) |
piroro4560 | 4:a4f94f186ba0 | 68 | { |
piroro4560 | 4:a4f94f186ba0 | 69 | omni.computeCircular(1,PI/2.0,spin_power); |
piroro4560 | 4:a4f94f186ba0 | 70 | } |
piroro4560 | 9:904dac75a729 | 71 | if(sensor_.line[4]) |
piroro4560 | 4:a4f94f186ba0 | 72 | { |
piroro4560 | 4:a4f94f186ba0 | 73 | omni.computeCircular(1,0,spin_power); |
piroro4560 | 4:a4f94f186ba0 | 74 | } |
piroro4560 | 9:904dac75a729 | 75 | if(sensor_.line[5]) |
piroro4560 | 4:a4f94f186ba0 | 76 | { |
piroro4560 | 4:a4f94f186ba0 | 77 | omni.computeCircular(1,PI,spin_power); |
piroro4560 | 4:a4f94f186ba0 | 78 | } |
piroro4560 | 4:a4f94f186ba0 | 79 | |
piroro4560 | 4:a4f94f186ba0 | 80 | if (startb) { |
piroro4560 | 4:a4f94f186ba0 | 81 | omni2wheel = omni.wheel[2]; |
THtakahiro702286 | 5:f5e79163d0eb | 82 | omni3wheel = omni.wheel[3]; |
piroro4560 | 9:904dac75a729 | 83 | // motor[0]->setSpeed(omni.wheel[0]); |
piroro4560 | 9:904dac75a729 | 84 | // motor[1]->setSpeed(omni.wheel[1]); |
piroro4560 | 9:904dac75a729 | 85 | // motor[2]->setSpeed(omni.wheel[2]); |
piroro4560 | 9:904dac75a729 | 86 | // motor[3]->setSpeed(omni.wheel[3]); |
THtakahiro702286 | 5:f5e79163d0eb | 87 | // motor[3]->setSpeed(-omni3wheel); |
THtakahiro702286 | 7:dcc0faa86da7 | 88 | shot.outPut(); |
THtakahiro702286 | 7:dcc0faa86da7 | 89 | |
piroro4560 | 4:a4f94f186ba0 | 90 | } else { |
piroro4560 | 9:904dac75a729 | 91 | // motor[0]->setSpeed(0); |
piroro4560 | 9:904dac75a729 | 92 | // motor[1]->setSpeed(0); |
piroro4560 | 9:904dac75a729 | 93 | // motor[2]->setSpeed(0); |
piroro4560 | 9:904dac75a729 | 94 | // motor[3]->setSpeed(0); |
piroro4560 | 4:a4f94f186ba0 | 95 | } |
piroro4560 | 2:fc5545ddf69a | 96 | } |
piroro4560 | 0:3f87ec23c3cf | 97 | } |
THtakahiro702286 | 8:713bbc1fb58f | 98 | |
THtakahiro702286 | 8:713bbc1fb58f | 99 | void Robot::motorCheck(int motorNumber, float power) |
THtakahiro702286 | 8:713bbc1fb58f | 100 | { |
THtakahiro702286 | 8:713bbc1fb58f | 101 | _motorNumber = motorNumber; |
piroro4560 | 9:904dac75a729 | 102 | for(i = 0; i < 4; i++) |
THtakahiro702286 | 8:713bbc1fb58f | 103 | { |
piroro4560 | 9:904dac75a729 | 104 | if(i == _motorNumber) motor[i]->setSpeed(power); |
piroro4560 | 9:904dac75a729 | 105 | else motor[i]->setSpeed(0); |
THtakahiro702286 | 8:713bbc1fb58f | 106 | } |
THtakahiro702286 | 8:713bbc1fb58f | 107 | } |
THtakahiro702286 | 8:713bbc1fb58f | 108 | |
piroro4560 | 9:904dac75a729 | 109 | void Robot::motorStop(double pwm) |
THtakahiro702286 | 8:713bbc1fb58f | 110 | { |
piroro4560 | 9:904dac75a729 | 111 | motorSpeed = 0.5; |
piroro4560 | 9:904dac75a729 | 112 | printf("%d\r\n", (int)(motorSpeed*10)); |
piroro4560 | 9:904dac75a729 | 113 | for(i=0; i<4; i++) motor[i]->setSpeed(motorSpeed); |
THtakahiro702286 | 8:713bbc1fb58f | 114 | } |
THtakahiro702286 | 8:713bbc1fb58f | 115 | |
THtakahiro702286 | 8:713bbc1fb58f | 116 | void Robot::kickCheck() |
THtakahiro702286 | 8:713bbc1fb58f | 117 | { |
THtakahiro702286 | 8:713bbc1fb58f | 118 | shot.outPut(); |
THtakahiro702286 | 8:713bbc1fb58f | 119 | } |
THtakahiro702286 | 8:713bbc1fb58f | 120 | |
THtakahiro702286 | 8:713bbc1fb58f | 121 | void Robot::dribbleCheck(float power) |
THtakahiro702286 | 8:713bbc1fb58f | 122 | { |
THtakahiro702286 | 8:713bbc1fb58f | 123 | drib.setspeed(power); |
THtakahiro702286 | 8:713bbc1fb58f | 124 | } |
THtakahiro702286 | 8:713bbc1fb58f | 125 | |
THtakahiro702286 | 8:713bbc1fb58f | 126 | // theta = sensor.ballAngle * ballExtra * PI / 180.0; |
THtakahiro702286 | 8:713bbc1fb58f | 127 | // omni.computeCircular(sensor.ballRange,PI / 180.0 * sensor.ballAngle + theta, spin_power); |