ROBOSTEP_5期 / Mbed 2 deprecated George_Master_Param

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependencies:   mbed robot

main.cpp@49:6337717484fe, 2019-05-20 (annotated)

Committer:
yuto17320508
Date:
Mon May 20 00:54:03 2019 +0000
Revision:
49:6337717484fe
Parent:
48:d9f3ce701aca
Child:
50:3e73f68c3b37
Child:
54:f54d26e8d8ac
l

Who changed what in which revision?

UserRevisionLine numberNew contents of line
eri 0:c1476d342c13 1 #include "mbed.h"
shimizuta 17:2b3fa9b1a05b 2 #include "debug.h"
eri 0:c1476d342c13 3 #include "microinfinity.h"
shimizuta 21:14133581387b 4 #include "sensors.h"
shimizuta 22:0ed9de464f40 5 #include "moves.h"
yuto17320508 48:d9f3ce701aca 6 #include <stdlib.h>
yuto17320508 48:d9f3ce701aca 7
yuto17320508 48:d9f3ce701aca 8
yuto17320508 48:d9f3ce701aca 9 #define BADRULEMODE
shimizuta 21:14133581387b 10
yuto17320508 25:c740e6fd5dab 11 void StateFlow(int i);
yuto17320508 32:aee87dcaf7ca 12 void SetMode();
yuto17320508 32:aee87dcaf7ca 13 void Start();
yuto17320508 32:aee87dcaf7ca 14 void NoHandSignal();
yuto17320508 48:d9f3ce701aca 15 void LoadParameter();
yuto17320508 33:2dbbe198adaf 16
yuto17320508 32:aee87dcaf7ca 17 int start_state=0;
yuto17320508 48:d9f3ce701aca 18 LocalFileSystem SeqFile("Local");
yuto17320508 48:d9f3ce701aca 19
yuto17320508 48:d9f3ce701aca 20 struct Param {
yuto17320508 48:d9f3ce701aca 21 float argument[2];
yuto17320508 48:d9f3ce701aca 22 float duty;
yuto17320508 48:d9f3ce701aca 23 float condition;
yuto17320508 48:d9f3ce701aca 24 };
yuto17320508 48:d9f3ce701aca 25 struct Param params[17]= {}; //とりあえずいっぱい作った
shimizuta 26:5fb1aa9cb7f0 26
kageyuta 1:86c4c38abe40 27 int main()
kageyuta 1:86c4c38abe40 28 {
yuto17320508 48:d9f3ce701aca 29 LoadParameter();
yuto17320508 48:d9f3ce701aca 30
shimizuta 26:5fb1aa9cb7f0 31 //setup関連
shimizuta 22:0ed9de464f40 32 can1.frequency(1000000);
shimizuta 22:0ed9de464f40 33 SetupMoves();
yuto17320508 25:c740e6fd5dab 34 set_gyro();
yuto17320508 38:89d2a9e6c96f 35
yuto17320508 32:aee87dcaf7ca 36 /*while(1)
yuto17320508 32:aee87dcaf7ca 37 {
yuto17320508 32:aee87dcaf7ca 38 printf("switch 1:%d 2:%d 3:%d LR:%d \r\n", switch_modes[0].read(),switch_modes[1].read(),switch_modes[2].read(),switch_LR.read());
yuto17320508 38:89d2a9e6c96f 39 wait(0.1);
yuto17320508 32:aee87dcaf7ca 40 }*/
yuto17320508 48:d9f3ce701aca 41
yuto17320508 32:aee87dcaf7ca 42 printf("hand read:%d\r\n",hand.read());
yuto17320508 38:89d2a9e6c96f 43
shimizuta 22:0ed9de464f40 44 printf("reset standby\r\n");
shimizuta 26:5fb1aa9cb7f0 45 reset();//足をリセット位置に移動
shimizuta 22:0ed9de464f40 46 printf("bus standby\r\n");
yuto17320508 5:63462d696256 47 while(1) {
yuto17320508 5:63462d696256 48 if(bus_in.read() == 1) break;
yuto17320508 3:7a608fbd3bcd 49 }
shimizuta 22:0ed9de464f40 50 printf("bus is %d\r\n", bus_in.read());
yuto17320508 12:9a5de6adae9c 51 wait(0.5);
shimizuta 26:5fb1aa9cb7f0 52 //一歩動かして初期位置へ
yuto17320508 25:c740e6fd5dab 53 motor_lo.setDutyLimit(0.1);
yuto17320508 25:c740e6fd5dab 54 motor_li.setDutyLimit(0.1);
yuto17320508 12:9a5de6adae9c 55 straight();
yuto17320508 38:89d2a9e6c96f 56
yuto17320508 38:89d2a9e6c96f 57
shimizuta 26:5fb1aa9cb7f0 58 // mode選択
yuto17320508 32:aee87dcaf7ca 59 Start();
yuto17320508 32:aee87dcaf7ca 60 //SetMode();
yuto17320508 48:d9f3ce701aca 61 #ifndef BADRULEMODE
yuto17320508 38:89d2a9e6c96f 62 if(RightOrLeft == 0) {
yuto17320508 32:aee87dcaf7ca 63 if(start_state == 0) theta0 = -degree/100.0;
yuto17320508 32:aee87dcaf7ca 64 else if(start_state == 1) theta0 = -degree/100.0 - 45;
yuto17320508 32:aee87dcaf7ca 65 else if(start_state == 2) theta0 = -degree/100.0 - 90;
yuto17320508 32:aee87dcaf7ca 66 else if(start_state == 3) theta0 = -degree/100.0 + 90;
yuto17320508 32:aee87dcaf7ca 67 else printf("state_error");
yuto17320508 38:89d2a9e6c96f 68 } else {
yuto17320508 32:aee87dcaf7ca 69 if(start_state == 0) theta0 = -degree/100.0;
yuto17320508 32:aee87dcaf7ca 70 else if(start_state == 1) theta0 = -degree/100.0 + 45;
yuto17320508 32:aee87dcaf7ca 71 else if(start_state == 2) theta0 = -degree/100.0 + 90;
yuto17320508 32:aee87dcaf7ca 72 else if(start_state == 3) theta0 = -degree/100.0 - 90;
yuto17320508 32:aee87dcaf7ca 73 else printf("state_error");
yuto17320508 32:aee87dcaf7ca 74 }
yuto17320508 48:d9f3ce701aca 75 #endif
yuto17320508 48:d9f3ce701aca 76 #ifdef BADRULEMODE
yuto17320508 48:d9f3ce701aca 77 if(RightOrLeft == 0) {
yuto17320508 48:d9f3ce701aca 78 if(start_state == 0) theta0 = -degree/100.0;
yuto17320508 48:d9f3ce701aca 79 else if(start_state == 1) {
yuto17320508 48:d9f3ce701aca 80 theta0 = -degree/100.0 + 90;
yuto17320508 48:d9f3ce701aca 81 motor_lo.setDutyLimit(0.6);//0.5
yuto17320508 48:d9f3ce701aca 82 motor_li.setDutyLimit(0.6);
yuto17320508 48:d9f3ce701aca 83 turn(35.0);
yuto17320508 48:d9f3ce701aca 84 } else if(start_state == 2) {
yuto17320508 48:d9f3ce701aca 85 theta0 = -degree/100.0 - 135;
yuto17320508 48:d9f3ce701aca 86 motor_lo.setDutyLimit(0.6);//0.5
yuto17320508 48:d9f3ce701aca 87 motor_li.setDutyLimit(0.6);
yuto17320508 48:d9f3ce701aca 88 turn(100.0);
yuto17320508 48:d9f3ce701aca 89 } else if(start_state == 3) theta0 = -degree/100.0 + 90;
yuto17320508 48:d9f3ce701aca 90 else printf("state_error");
yuto17320508 48:d9f3ce701aca 91 } else {
yuto17320508 48:d9f3ce701aca 92 if(start_state == 0) theta0 = -degree/100.0;
yuto17320508 48:d9f3ce701aca 93 else if(start_state == 1) {
yuto17320508 48:d9f3ce701aca 94 theta0 = -degree/100.0 - 45;
yuto17320508 48:d9f3ce701aca 95 //段差前旋回
yuto17320508 48:d9f3ce701aca 96 motor_lo.setDutyLimit(0.6);//0.5
yuto17320508 48:d9f3ce701aca 97 motor_li.setDutyLimit(0.6);
yuto17320508 48:d9f3ce701aca 98 turn(-35.0);
yuto17320508 48:d9f3ce701aca 99 } else if(start_state == 2) {
yuto17320508 48:d9f3ce701aca 100 theta0 = -degree/100.0 + 135;
yuto17320508 48:d9f3ce701aca 101 motor_lo.setDutyLimit(0.6);//0.5
yuto17320508 48:d9f3ce701aca 102 motor_li.setDutyLimit(0.6);
yuto17320508 48:d9f3ce701aca 103 turn(-100.0);
yuto17320508 48:d9f3ce701aca 104 } else if(start_state == 3) theta0 = -degree/100.0 - 90;
yuto17320508 48:d9f3ce701aca 105 else printf("state_error");
yuto17320508 48:d9f3ce701aca 106 }
yuto17320508 48:d9f3ce701aca 107 #endif
yuto17320508 33:2dbbe198adaf 108 FileOpen();
yuto17320508 32:aee87dcaf7ca 109 printf("LR:%d StateFlow:%d\r\n", RightOrLeft,start_state);
yuto17320508 25:c740e6fd5dab 110 StateFlow(start_state);
yuto17320508 33:2dbbe198adaf 111 FileClose();
yuto17320508 25:c740e6fd5dab 112 }
yuto17320508 25:c740e6fd5dab 113
yuto17320508 25:c740e6fd5dab 114 void StateFlow(int i)
yuto17320508 25:c740e6fd5dab 115 {
yuto17320508 25:c740e6fd5dab 116 switch(i) {
yuto17320508 25:c740e6fd5dab 117 case 0://最初の直線
yuto17320508 25:c740e6fd5dab 118 printf("go straight!!!!!!!!!!\r\n");
yuto17320508 49:6337717484fe 119 motor_lo.setDutyLimit(params[0].duty);
yuto17320508 49:6337717484fe 120 motor_li.setDutyLimit(params[0].duty);
yuto17320508 49:6337717484fe 121 for(int i = 0; i < (int)params[0].condition; i++) {
yuto17320508 49:6337717484fe 122 straightAndInfinity(params[0].argument[0], params[0].argument[1]);
yuto17320508 25:c740e6fd5dab 123 }
yuto17320508 25:c740e6fd5dab 124 printf("get distance mode");
yuto17320508 49:6337717484fe 125
yuto17320508 49:6337717484fe 126 motor_lo.setDutyLimit(params[1].duty);
yuto17320508 49:6337717484fe 127 motor_li.setDutyLimit(params[1].duty);
yuto17320508 25:c740e6fd5dab 128 for(int i=0; i<1; ++i) {
yuto17320508 49:6337717484fe 129 while(get_dist_back() < params[1].condition) {//300
yuto17320508 49:6337717484fe 130 straightAndInfinity(params[1].argument[0], params[1].argument[1]);
yuto17320508 25:c740e6fd5dab 131 }
yuto17320508 25:c740e6fd5dab 132 }
yuto17320508 25:c740e6fd5dab 133 //段差前旋回
yuto17320508 49:6337717484fe 134 motor_lo.setDutyLimit(params[2].duty);
yuto17320508 49:6337717484fe 135 motor_li.setDutyLimit(params[2].duty);
yuto17320508 49:6337717484fe 136 if(RightOrLeft == 0) turn(params[2].argument[0]);
yuto17320508 49:6337717484fe 137 else turn(-params[2].argument[0]);
yuto17320508 25:c740e6fd5dab 138 case 1://段差前
yuto17320508 25:c740e6fd5dab 139 printf("climb!!!!!!!!!!\r\n");
yuto17320508 49:6337717484fe 140
yuto17320508 49:6337717484fe 141 motor_lo.setDutyLimit(params[3].duty);
yuto17320508 49:6337717484fe 142 motor_li.setDutyLimit(params[3].duty);
yuto17320508 38:89d2a9e6c96f 143 //段差乗り越え
yuto17320508 49:6337717484fe 144 while(get_dist_forward() < params[3].condition) {
yuto17320508 49:6337717484fe 145 if(RightOrLeft == 0) straightAndInfinity(params[3].argument[0], params[3].argument[1]);
yuto17320508 49:6337717484fe 146 else straightAndInfinity(-params[3].argument[0], params[3].argument[1]);
yuto17320508 25:c740e6fd5dab 147 }
yuto17320508 49:6337717484fe 148
yuto17320508 49:6337717484fe 149 motor_lo.setDutyLimit(params[4].duty);
yuto17320508 49:6337717484fe 150 motor_li.setDutyLimit(params[4].duty);
yuto17320508 49:6337717484fe 151 if(RightOrLeft == 0) phasing(params[4].argument[0]);
yuto17320508 49:6337717484fe 152 else phasing(-params[4].argument[0]);
yuto17320508 38:89d2a9e6c96f 153
yuto17320508 49:6337717484fe 154 motor_lo.setDutyLimit(params[5].duty);
yuto17320508 49:6337717484fe 155 motor_li.setDutyLimit(params[5].duty);
yuto17320508 49:6337717484fe 156 for(int i= 0; i<(int)params[5].condition; ++i) straight();
yuto17320508 49:6337717484fe 157
yuto17320508 49:6337717484fe 158 motor_lo.setDutyLimit(params[6].duty);
yuto17320508 49:6337717484fe 159 motor_li.setDutyLimit(params[6].duty);
yuto17320508 49:6337717484fe 160 while(get_dist_back() > params[6].condition) straight();
yuto17320508 49:6337717484fe 161
yuto17320508 25:c740e6fd5dab 162 //段差後旋回
yuto17320508 49:6337717484fe 163 motor_lo.setDutyLimit(params[7].duty);
yuto17320508 49:6337717484fe 164 motor_li.setDutyLimit(params[7].duty);
yuto17320508 49:6337717484fe 165 if(RightOrLeft == 0) turn(params[7].argument[0]);
yuto17320508 49:6337717484fe 166 else turn(-params[7].argument[0]);
yuto17320508 38:89d2a9e6c96f 167
yuto17320508 25:c740e6fd5dab 168 case 2://段差直後
yuto17320508 25:c740e6fd5dab 169 printf("go lope!!!!!!!!!!\r\n");
yuto17320508 25:c740e6fd5dab 170 //前進
yuto17320508 49:6337717484fe 171 motor_lo.setDutyLimit(params[8].duty);
yuto17320508 49:6337717484fe 172 motor_li.setDutyLimit(params[8].duty);
yuto17320508 49:6337717484fe 173 for(int i=0; i<(int)params[8].condition; ++i) {
yuto17320508 49:6337717484fe 174 if(RightOrLeft == 0) straightAndInfinity(params[8].argument[0], params[8].argument[1]);
yuto17320508 49:6337717484fe 175 else straightAndInfinity(-params[8].argument[0], params[8].argument[1]);
yuto17320508 38:89d2a9e6c96f 176 }
yuto17320508 49:6337717484fe 177
yuto17320508 49:6337717484fe 178 motor_lo.setDutyLimit(params[9].duty);
yuto17320508 49:6337717484fe 179 motor_li.setDutyLimit(params[9].duty);
yuto17320508 25:c740e6fd5dab 180 for(int i=0; i<3; ++i) {
yuto17320508 49:6337717484fe 181 while(get_dist_forward() > params[9].condition) {
yuto17320508 49:6337717484fe 182 if(RightOrLeft == 0) straightAndInfinity(params[9].argument[0], params[9].argument[1]);
yuto17320508 49:6337717484fe 183 else straightAndInfinity(-params[9].argument[0], params[9].argument[1]);
yuto17320508 25:c740e6fd5dab 184 }
yuto17320508 25:c740e6fd5dab 185 }
yuto17320508 25:c740e6fd5dab 186 //ロープ前旋回
yuto17320508 25:c740e6fd5dab 187 printf("before roop deg:%.3f\r\n",degree0);
yuto17320508 49:6337717484fe 188 motor_lo.setDutyLimit(params[10].duty);
yuto17320508 49:6337717484fe 189 motor_li.setDutyLimit(params[10].duty);
yuto17320508 49:6337717484fe 190 if(RightOrLeft == 0) turn(params[10].argument[0]);
yuto17320508 49:6337717484fe 191 else turn(-params[10].argument[0]);
yuto17320508 48:d9f3ce701aca 192
yuto17320508 25:c740e6fd5dab 193 //ロープ位置ジャストまで前進
yuto17320508 49:6337717484fe 194 motor_lo.setDutyLimit(params[11].duty);
yuto17320508 49:6337717484fe 195 motor_li.setDutyLimit(params[11].duty);
yuto17320508 25:c740e6fd5dab 196 for(int i=0; i<3; ++i) {
yuto17320508 49:6337717484fe 197 straightAndInfinity(params[11].argument[0], params[11].argument[1]);
yuto17320508 25:c740e6fd5dab 198 }
yuto17320508 25:c740e6fd5dab 199 for(int i=0; i<2; ++i) {
yuto17320508 49:6337717484fe 200 while(get_dist_back() < params[11].condition) {
yuto17320508 49:6337717484fe 201 straightAndInfinity(params[11].argument[0], params[11].argument[1]);
yuto17320508 25:c740e6fd5dab 202 }
yuto17320508 25:c740e6fd5dab 203 }
yuto17320508 49:6337717484fe 204
yuto17320508 49:6337717484fe 205 motor_lo.setDutyLimit(params[12].duty);
yuto17320508 49:6337717484fe 206 motor_li.setDutyLimit(params[12].duty);
yuto17320508 49:6337717484fe 207 phasing(params[12].argument[0]);
yuto17320508 49:6337717484fe 208
yuto17320508 25:c740e6fd5dab 209 //ロープ
yuto17320508 49:6337717484fe 210 motor_lo.setDutyLimit(params[13].duty);
yuto17320508 49:6337717484fe 211 motor_li.setDutyLimit(params[13].duty);
yuto17320508 32:aee87dcaf7ca 212 while(switch_modes[2].read() == 0) {
yuto17320508 49:6337717484fe 213 //straightAndInfinity(params[13].argument[0], params[13].argument[1]);
yuto17320508 48:d9f3ce701aca 214 straight();
yuto17320508 25:c740e6fd5dab 215 }
yuto17320508 32:aee87dcaf7ca 216 printf("uhai stand by ok!!!!!!!!!!\r\n");
yuto17320508 32:aee87dcaf7ca 217 NoHandSignal();
yuto17320508 25:c740e6fd5dab 218 case 3://坂
yuto17320508 32:aee87dcaf7ca 219 printf("last spart!!!!!!!!");
yuto17320508 38:89d2a9e6c96f 220
yuto17320508 32:aee87dcaf7ca 221 if(RightOrLeft == 0) theta0 = -degree/100.0+90;
yuto17320508 32:aee87dcaf7ca 222 else theta0 = -degree/100.0-90;
yuto17320508 49:6337717484fe 223 motor_lo.setDutyLimit(params[14].duty);
yuto17320508 49:6337717484fe 224 motor_li.setDutyLimit(params[14].duty);
yuto17320508 49:6337717484fe 225 for(int i=0; i<(int)params[14].condition; ++i) {
yuto17320508 49:6337717484fe 226 if(RightOrLeft == 0) straightAndInfinity(params[14].argument[0], params[14].argument[1]);//straight();//climbAndInfinity(-90,5);
yuto17320508 49:6337717484fe 227 else straightAndInfinity(-params[14].argument[0], params[14].argument[1]);
yuto17320508 25:c740e6fd5dab 228 }
yuto17320508 25:c740e6fd5dab 229 printf("wall standby");
yuto17320508 49:6337717484fe 230 motor_lo.setDutyLimit(params[15].duty);
yuto17320508 49:6337717484fe 231 motor_li.setDutyLimit(params[15].duty);
yuto17320508 49:6337717484fe 232 while(get_dist_back() < params[15].condition) {
shimizuta 27:d392a95f4799 233 // straight();
yuto17320508 49:6337717484fe 234 if(RightOrLeft == 0) climbAndInfinity(params[15].argument[0], params[15].argument[1]);
yuto17320508 49:6337717484fe 235 else climbAndInfinity(-params[15].argument[0], params[15].argument[1]);
yuto17320508 25:c740e6fd5dab 236 }
yuto17320508 49:6337717484fe 237
yuto17320508 25:c740e6fd5dab 238 for(int i=0; i<1; ++i) {
yuto17320508 49:6337717484fe 239 while(get_dist_forward() > params[16].condition) {
yuto17320508 25:c740e6fd5dab 240 //straight();
yuto17320508 49:6337717484fe 241 if(RightOrLeft == 0) climbAndInfinity(params[16].argument[0], params[16].argument[1]);
yuto17320508 49:6337717484fe 242 else climbAndInfinity(-params[16].argument[0], params[16].argument[1]);
yuto17320508 25:c740e6fd5dab 243 }
yuto17320508 25:c740e6fd5dab 244 }
yuto17320508 25:c740e6fd5dab 245 hand_mode = GOAL;
shimizuta 30:231e6584afe9 246 stop();
yuto17320508 32:aee87dcaf7ca 247 printf("uhai!!!!!!!!!!!!!!!/r/n");
yuto17320508 32:aee87dcaf7ca 248 }
yuto17320508 32:aee87dcaf7ca 249 }
yuto17320508 32:aee87dcaf7ca 250 void Start()
yuto17320508 32:aee87dcaf7ca 251 {
yuto17320508 38:89d2a9e6c96f 252 if(hand.read()==0) { //開始時すでにスイッチが押されていた場合
yuto17320508 38:89d2a9e6c96f 253
yuto17320508 32:aee87dcaf7ca 254 SetMode();
yuto17320508 35:04699b49c463 255 hand_mode = G_CLOSE;
yuto17320508 32:aee87dcaf7ca 256 NoHandSignal();
yuto17320508 38:89d2a9e6c96f 257 } else {
yuto17320508 32:aee87dcaf7ca 258 SetMode();
yuto17320508 35:04699b49c463 259 hand_mode = G_OPEN;
yuto17320508 35:04699b49c463 260 stop();//ここで開くことをcanでslaveに送る
yuto17320508 48:d9f3ce701aca 261 wait(1);
yuto17320508 32:aee87dcaf7ca 262 wait_gerege();
yuto17320508 35:04699b49c463 263 hand_mode = G_CLOSE;
yuto17320508 32:aee87dcaf7ca 264 HandMove();
yuto17320508 32:aee87dcaf7ca 265 wait(0.5);
yuto17320508 38:89d2a9e6c96f 266 }
yuto17320508 32:aee87dcaf7ca 267 }
yuto17320508 32:aee87dcaf7ca 268 void SetMode()
yuto17320508 32:aee87dcaf7ca 269 {
yuto17320508 38:89d2a9e6c96f 270 while(get_dist_back() > 50.0) {
yuto17320508 32:aee87dcaf7ca 271 led1 = led2 = led3 = led4 = 0;
yuto17320508 32:aee87dcaf7ca 272 if(switch_modes[2].read()) start_state=3;
yuto17320508 32:aee87dcaf7ca 273 else if(switch_modes[1].read()) start_state=2;
yuto17320508 32:aee87dcaf7ca 274 else if(switch_modes[0].read()) start_state=1;
yuto17320508 32:aee87dcaf7ca 275 else start_state=0;
yuto17320508 38:89d2a9e6c96f 276
yuto17320508 38:89d2a9e6c96f 277 if(switch_LR.read()) RightOrLeft = 1;
yuto17320508 38:89d2a9e6c96f 278 else RightOrLeft = 0;
yuto17320508 38:89d2a9e6c96f 279
yuto17320508 32:aee87dcaf7ca 280 if(start_state==0)led4 = 1;
yuto17320508 32:aee87dcaf7ca 281 else if(start_state==1)led3 = 1;
yuto17320508 32:aee87dcaf7ca 282 else if(start_state==2)led2 = 1;
yuto17320508 32:aee87dcaf7ca 283 else if(start_state==3)led1 = 1;
yuto17320508 38:89d2a9e6c96f 284
yuto17320508 32:aee87dcaf7ca 285 }
yuto17320508 32:aee87dcaf7ca 286 printf("mode is %d RightOrLeft is %d \r\n", start_state, RightOrLeft);
yuto17320508 32:aee87dcaf7ca 287 led1 = led2 = led3 = led4 = 1;
yuto17320508 32:aee87dcaf7ca 288 }
yuto17320508 32:aee87dcaf7ca 289 void NoHandSignal()
yuto17320508 32:aee87dcaf7ca 290 {
yuto17320508 38:89d2a9e6c96f 291 while(get_dist_back() > 40.0) {
yuto17320508 32:aee87dcaf7ca 292 wait(0.01);
yuto17320508 32:aee87dcaf7ca 293 }
yuto17320508 38:89d2a9e6c96f 294 while(get_dist_back() < 40.0) {
yuto17320508 32:aee87dcaf7ca 295 wait(0.01);
shimizuta 22:0ed9de464f40 296 }
yuto17320508 48:d9f3ce701aca 297 }
yuto17320508 48:d9f3ce701aca 298 void LoadParameter()
yuto17320508 48:d9f3ce701aca 299 {
yuto17320508 48:d9f3ce701aca 300 FILE *fp;
yuto17320508 48:d9f3ce701aca 301 if ((fp = fopen("/Local/params.csv", "r")) == NULL) {//ファイル操作はじめかつエラー処理
yuto17320508 48:d9f3ce701aca 302 printf("file open error!!\n");
yuto17320508 48:d9f3ce701aca 303 exit(EXIT_FAILURE);
yuto17320508 48:d9f3ce701aca 304 }
yuto17320508 48:d9f3ce701aca 305 //以下ファイル操作の中身
yuto17320508 48:d9f3ce701aca 306 int i;
yuto17320508 48:d9f3ce701aca 307 while (fscanf(fp, "%f,%f,%f,%f", &params[i].argument[0], &params[i].argument[1], &params[i].duty,&params[i].condition) != EOF) {
yuto17320508 49:6337717484fe 308 printf("%f,%f,%f,%f\r\n",params[i].argument[0],params[i].argument[1],params[i].duty,params[i].condition);
yuto17320508 48:d9f3ce701aca 309 i++;
yuto17320508 48:d9f3ce701aca 310 }
yuto17320508 48:d9f3ce701aca 311 fclose(fp);//ファイル操作終わり
shimizuta 22:0ed9de464f40 312 }