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Dependents: 00_yotsuba 200_yotsuba_21 200_yotuba_21_uiChange
robot.cpp@8:713bbc1fb58f, 2021-03-04 (annotated)
- Committer:
- THtakahiro702286
- Date:
- Thu Mar 04 01:20:51 2021 +0000
- Revision:
- 8:713bbc1fb58f
- Parent:
- 7:dcc0faa86da7
- Child:
- 9:904dac75a729
something add
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 | 4:a4f94f186ba0 | 7 | drib(ESC), |
piroro4560 | 4:a4f94f186ba0 | 8 | |
piroro4560 | 4:a4f94f186ba0 | 9 | but(USER_BUTTON), |
piroro4560 | 4:a4f94f186ba0 | 10 | dip1(dip1in), |
piroro4560 | 4:a4f94f186ba0 | 11 | dip2(dip2in), |
piroro4560 | 4:a4f94f186ba0 | 12 | dip3(dip3in), |
piroro4560 | 4:a4f94f186ba0 | 13 | b1(b1in), |
piroro4560 | 4:a4f94f186ba0 | 14 | b2(b2in), |
piroro4560 | 4:a4f94f186ba0 | 15 | lcd(PB_9, PB_8) |
piroro4560 | 1:6a5065829cfc | 16 | |
piroro4560 | 0:3f87ec23c3cf | 17 | { |
piroro4560 | 4:a4f94f186ba0 | 18 | |
piroro4560 | 0:3f87ec23c3cf | 19 | omni.wheel[0].setRadian(PI/4 * 1); |
piroro4560 | 0:3f87ec23c3cf | 20 | omni.wheel[1].setRadian(PI/4 * 3); |
piroro4560 | 0:3f87ec23c3cf | 21 | omni.wheel[2].setRadian(PI/4 * 5); |
piroro4560 | 0:3f87ec23c3cf | 22 | omni.wheel[3].setRadian(PI/4 * 7); |
piroro4560 | 4:a4f94f186ba0 | 23 | motor[0] = new KohiMD(motor1); |
piroro4560 | 4:a4f94f186ba0 | 24 | motor[1] = new KohiMD(motor2); |
piroro4560 | 4:a4f94f186ba0 | 25 | motor[2] = new KohiMD(motor3); |
piroro4560 | 4:a4f94f186ba0 | 26 | motor[3] = new KohiMD(motor4); |
piroro4560 | 1:6a5065829cfc | 27 | spin.setInputLimits(-180, 180); |
THtakahiro702286 | 5:f5e79163d0eb | 28 | spin.setOutputLimits(-0.4,0.4); |
piroro4560 | 1:6a5065829cfc | 29 | spin.setBias(0); |
piroro4560 | 1:6a5065829cfc | 30 | spin.setMode(1); |
piroro4560 | 1:6a5065829cfc | 31 | spin.setSetPoint(0); |
piroro4560 | 4:a4f94f186ba0 | 32 | shot.setkickperiod(0.8); |
piroro4560 | 1:6a5065829cfc | 33 | shot.setoutputtime(0.01); |
piroro4560 | 4:a4f94f186ba0 | 34 | drib.setspeed(0.0); |
piroro4560 | 4:a4f94f186ba0 | 35 | but.mode(PullUp); |
THtakahiro702286 | 5:f5e79163d0eb | 36 | startb = 0; |
piroro4560 | 0:3f87ec23c3cf | 37 | } |
piroro4560 | 0:3f87ec23c3cf | 38 | |
piroro4560 | 4:a4f94f186ba0 | 39 | void Robot::start() |
piroro4560 | 0:3f87ec23c3cf | 40 | { |
piroro4560 | 4:a4f94f186ba0 | 41 | |
piroro4560 | 4:a4f94f186ba0 | 42 | while (true) { |
THtakahiro702286 | 5:f5e79163d0eb | 43 | if (!but/*2*/) startb=1; |
piroro4560 | 4:a4f94f186ba0 | 44 | spin.setProcessValue(sensor.angleLimit); |
piroro4560 | 4:a4f94f186ba0 | 45 | theta = sensor.ballAngle * ballExtra * PI / 180.0; |
piroro4560 | 4:a4f94f186ba0 | 46 | spin_power = spin.compute(); |
piroro4560 | 4:a4f94f186ba0 | 47 | if (sensor.ballKeep) { |
THtakahiro702286 | 7:dcc0faa86da7 | 48 | // drib.setspeed(0.5); |
piroro4560 | 4:a4f94f186ba0 | 49 | if(dip1) |
piroro4560 | 4:a4f94f186ba0 | 50 | { |
THtakahiro702286 | 7:dcc0faa86da7 | 51 | // shot.outPut(); |
THtakahiro702286 | 7:dcc0faa86da7 | 52 | /*if(!sensor.bluex)*/ omni.computeCircular(1,0,0/* spin_power*/); |
THtakahiro702286 | 7:dcc0faa86da7 | 53 | // else omni.computeCircular(sensor.blueRange,PI / 180.0 * sensor.blueAngle, spin_power); |
piroro4560 | 4:a4f94f186ba0 | 54 | |
piroro4560 | 4:a4f94f186ba0 | 55 | } |
piroro4560 | 4:a4f94f186ba0 | 56 | else |
piroro4560 | 4:a4f94f186ba0 | 57 | { |
THtakahiro702286 | 7:dcc0faa86da7 | 58 | // shot.outPut(); |
THtakahiro702286 | 7:dcc0faa86da7 | 59 | /*if(!sensor.yellowx)*/ omni.computeCircular(1,0,0/* spin_power*/); |
THtakahiro702286 | 7:dcc0faa86da7 | 60 | // else omni.computeCircular(sensor.yellowRange,PI / 180.0 * sensor.yellowAngle, spin_power); |
piroro4560 | 4:a4f94f186ba0 | 61 | } |
piroro4560 | 4:a4f94f186ba0 | 62 | } |
piroro4560 | 4:a4f94f186ba0 | 63 | else |
piroro4560 | 4:a4f94f186ba0 | 64 | { |
piroro4560 | 4:a4f94f186ba0 | 65 | for(int i=0; i<6; i++) pc.printf("%d ",sensor.line[i]); |
piroro4560 | 4:a4f94f186ba0 | 66 | pc.printf("\r\n"); |
THtakahiro702286 | 5:f5e79163d0eb | 67 | drib.setspeed(0.0); |
piroro4560 | 4:a4f94f186ba0 | 68 | omni.computeCircular(sensor.ballRange,PI / 180.0 * sensor.ballAngle + theta, spin_power); |
piroro4560 | 4:a4f94f186ba0 | 69 | } |
piroro4560 | 4:a4f94f186ba0 | 70 | pc.printf("%d ",(int)sensor.ballKeep); |
piroro4560 | 4:a4f94f186ba0 | 71 | if(sensor.line[0] || sensor.line[1]) |
piroro4560 | 4:a4f94f186ba0 | 72 | { |
piroro4560 | 4:a4f94f186ba0 | 73 | omni.computeCircular(1,-1*PI/2.0,spin_power); |
piroro4560 | 4:a4f94f186ba0 | 74 | |
piroro4560 | 4:a4f94f186ba0 | 75 | } |
piroro4560 | 4:a4f94f186ba0 | 76 | if(sensor.line[2] || sensor.line[3]) |
piroro4560 | 4:a4f94f186ba0 | 77 | { |
piroro4560 | 4:a4f94f186ba0 | 78 | omni.computeCircular(1,PI/2.0,spin_power); |
piroro4560 | 4:a4f94f186ba0 | 79 | } |
piroro4560 | 4:a4f94f186ba0 | 80 | if(sensor.line[4]) |
piroro4560 | 4:a4f94f186ba0 | 81 | { |
piroro4560 | 4:a4f94f186ba0 | 82 | omni.computeCircular(1,0,spin_power); |
piroro4560 | 4:a4f94f186ba0 | 83 | } |
piroro4560 | 4:a4f94f186ba0 | 84 | if(sensor.line[5]) |
piroro4560 | 4:a4f94f186ba0 | 85 | { |
piroro4560 | 4:a4f94f186ba0 | 86 | omni.computeCircular(1,PI,spin_power); |
piroro4560 | 4:a4f94f186ba0 | 87 | } |
piroro4560 | 4:a4f94f186ba0 | 88 | |
piroro4560 | 4:a4f94f186ba0 | 89 | if (startb) { |
piroro4560 | 4:a4f94f186ba0 | 90 | omni2wheel = omni.wheel[2]; |
THtakahiro702286 | 5:f5e79163d0eb | 91 | omni3wheel = omni.wheel[3]; |
piroro4560 | 4:a4f94f186ba0 | 92 | motor[0]->setSpeed(omni.wheel[0]); |
piroro4560 | 4:a4f94f186ba0 | 93 | motor[1]->setSpeed(omni.wheel[1]); |
piroro4560 | 4:a4f94f186ba0 | 94 | motor[2]->setSpeed(-omni2wheel); |
piroro4560 | 4:a4f94f186ba0 | 95 | motor[3]->setSpeed(omni.wheel[3]); |
THtakahiro702286 | 5:f5e79163d0eb | 96 | // motor[3]->setSpeed(-omni3wheel); |
THtakahiro702286 | 7:dcc0faa86da7 | 97 | shot.outPut(); |
THtakahiro702286 | 7:dcc0faa86da7 | 98 | |
piroro4560 | 4:a4f94f186ba0 | 99 | } else { |
piroro4560 | 4:a4f94f186ba0 | 100 | motor[0]->setSpeed(0); |
piroro4560 | 4:a4f94f186ba0 | 101 | motor[1]->setSpeed(0); |
piroro4560 | 4:a4f94f186ba0 | 102 | motor[2]->setSpeed(0); |
piroro4560 | 4:a4f94f186ba0 | 103 | motor[3]->setSpeed(0); |
piroro4560 | 4:a4f94f186ba0 | 104 | } |
piroro4560 | 4:a4f94f186ba0 | 105 | |
piroro4560 | 4:a4f94f186ba0 | 106 | |
piroro4560 | 4:a4f94f186ba0 | 107 | if (!startb) { |
piroro4560 | 4:a4f94f186ba0 | 108 | if (!b1) { |
piroro4560 | 4:a4f94f186ba0 | 109 | if (dip3) { |
piroro4560 | 4:a4f94f186ba0 | 110 | sensor.jy.jyroReset(); |
piroro4560 | 4:a4f94f186ba0 | 111 | } else { |
piroro4560 | 4:a4f94f186ba0 | 112 | shot.outPut(); |
piroro4560 | 4:a4f94f186ba0 | 113 | } |
piroro4560 | 4:a4f94f186ba0 | 114 | } |
piroro4560 | 4:a4f94f186ba0 | 115 | } |
piroro4560 | 4:a4f94f186ba0 | 116 | |
piroro4560 | 2:fc5545ddf69a | 117 | } |
piroro4560 | 0:3f87ec23c3cf | 118 | } |
THtakahiro702286 | 8:713bbc1fb58f | 119 | |
THtakahiro702286 | 8:713bbc1fb58f | 120 | void Robot::motorCheck(int motorNumber, float power) |
THtakahiro702286 | 8:713bbc1fb58f | 121 | { |
THtakahiro702286 | 8:713bbc1fb58f | 122 | _motorNumber = motorNumber; |
THtakahiro702286 | 8:713bbc1fb58f | 123 | for(i = 3; i >= 0; i++) |
THtakahiro702286 | 8:713bbc1fb58f | 124 | { |
THtakahiro702286 | 8:713bbc1fb58f | 125 | if(_motorNumber % 2) motor[i] -> setSpeed(power); |
THtakahiro702286 | 8:713bbc1fb58f | 126 | _motorNumber /= 2; |
THtakahiro702286 | 8:713bbc1fb58f | 127 | } |
THtakahiro702286 | 8:713bbc1fb58f | 128 | } |
THtakahiro702286 | 8:713bbc1fb58f | 129 | |
THtakahiro702286 | 8:713bbc1fb58f | 130 | void Robot::motorStop() |
THtakahiro702286 | 8:713bbc1fb58f | 131 | { |
THtakahiro702286 | 8:713bbc1fb58f | 132 | for(i=0; i<4; i++) motor[i] -> setSpeed(0); |
THtakahiro702286 | 8:713bbc1fb58f | 133 | } |
THtakahiro702286 | 8:713bbc1fb58f | 134 | |
THtakahiro702286 | 8:713bbc1fb58f | 135 | void Robot::kickCheck() |
THtakahiro702286 | 8:713bbc1fb58f | 136 | { |
THtakahiro702286 | 8:713bbc1fb58f | 137 | shot.outPut(); |
THtakahiro702286 | 8:713bbc1fb58f | 138 | } |
THtakahiro702286 | 8:713bbc1fb58f | 139 | |
THtakahiro702286 | 8:713bbc1fb58f | 140 | void Robot::dribbleCheck(float power) |
THtakahiro702286 | 8:713bbc1fb58f | 141 | { |
THtakahiro702286 | 8:713bbc1fb58f | 142 | drib.setspeed(power); |
THtakahiro702286 | 8:713bbc1fb58f | 143 | } |
THtakahiro702286 | 8:713bbc1fb58f | 144 | |
THtakahiro702286 | 8:713bbc1fb58f | 145 | // theta = sensor.ballAngle * ballExtra * PI / 180.0; |
THtakahiro702286 | 8:713bbc1fb58f | 146 | // omni.computeCircular(sensor.ballRange,PI / 180.0 * sensor.ballAngle + theta, spin_power); |