File content as of revision 48:d9f3ce701aca:

#include "mbed.h"
#include "debug.h"
#include "microinfinity.h"
#include "sensors.h"
#include "moves.h"
#include <stdlib.h>


#define BADRULEMODE

void StateFlow(int i);
void SetMode();
void Start();
void NoHandSignal();
void LoadParameter();

int start_state=0;
LocalFileSystem SeqFile("Local");

struct Param {
    float argument[2];
    float duty;
    float condition;
};
struct Param params[17]= {}; //とりあえずいっぱい作った

int main()
{
    LoadParameter();

    //setup関連
    can1.frequency(1000000);
    SetupMoves();
    set_gyro();

    /*while(1)
    {
        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());
        wait(0.1);
    }*/

    printf("hand read:%d\r\n",hand.read());

    printf("reset standby\r\n");
    reset();//足をリセット位置に移動
    printf("bus standby\r\n");
    while(1) {
        if(bus_in.read() == 1) break;
    }
    printf("bus is %d\r\n", bus_in.read());
    wait(0.5);
    //一歩動かして初期位置へ
    motor_lo.setDutyLimit(0.1);
    motor_li.setDutyLimit(0.1);
    straight();


//    mode選択
    Start();
    //SetMode();
#ifndef BADRULEMODE
    if(RightOrLeft == 0) {
        if(start_state == 0) theta0 = -degree/100.0;
        else if(start_state == 1) theta0 = -degree/100.0 - 45;
        else if(start_state == 2) theta0 = -degree/100.0 - 90;
        else if(start_state == 3) theta0 = -degree/100.0 + 90;
        else printf("state_error");
    } else {
        if(start_state == 0) theta0 = -degree/100.0;
        else if(start_state == 1) theta0 = -degree/100.0 + 45;
        else if(start_state == 2) theta0 = -degree/100.0 + 90;
        else if(start_state == 3) theta0 = -degree/100.0 - 90;
        else printf("state_error");
    }
#endif
#ifdef BADRULEMODE
    if(RightOrLeft == 0) {
        if(start_state == 0) theta0 = -degree/100.0;
        else if(start_state == 1) {
            theta0 = -degree/100.0 + 90;
            motor_lo.setDutyLimit(0.6);//0.5
            motor_li.setDutyLimit(0.6);
            turn(35.0);
        } else if(start_state == 2) {
            theta0 = -degree/100.0 - 135;
            motor_lo.setDutyLimit(0.6);//0.5
            motor_li.setDutyLimit(0.6);
            turn(100.0);
        } else if(start_state == 3) theta0 = -degree/100.0 + 90;
        else printf("state_error");
    } else {
        if(start_state == 0) theta0 = -degree/100.0;
        else if(start_state == 1) {
            theta0 = -degree/100.0 - 45;
            //段差前旋回
            motor_lo.setDutyLimit(0.6);//0.5
            motor_li.setDutyLimit(0.6);
            turn(-35.0);
        } else if(start_state == 2) {
            theta0 = -degree/100.0 + 135;
            motor_lo.setDutyLimit(0.6);//0.5
            motor_li.setDutyLimit(0.6);
            turn(-100.0);
        } else if(start_state == 3) theta0 = -degree/100.0 - 90;
        else printf("state_error");
    }
#endif
    FileOpen();
    printf("LR:%d StateFlow:%d\r\n", RightOrLeft,start_state);
    StateFlow(start_state);
    FileClose();
}

void StateFlow(int i)
{
    switch(i) {
        case 0://最初の直線
            printf("go straight!!!!!!!!!!\r\n");
            motor_lo.setDutyLimit(0.6);
            motor_li.setDutyLimit(0.6);
            for(int i = 0; i < 30; i++) {
                straightAndInfinity(0, 7);
            }
            printf("get distance mode");
            for(int i=0; i<1; ++i) {
                while(get_dist_back() < 320) {//300
                    straightAndInfinity(0, 7);
                }
            }
            //段差前旋回
            motor_lo.setDutyLimit(0.6);//0.5
            motor_li.setDutyLimit(0.6);

            if(RightOrLeft == 0) turn(35.0);
            else turn(-35.0);
        case 1://段差前
            printf("climb!!!!!!!!!!\r\n");
            //段差乗り越え
            while(get_dist_forward() < 60) {
                if(RightOrLeft == 0) straightAndInfinity(45, 5);
                else straightAndInfinity(-45, 5);
            }
            if(RightOrLeft == 0) phasing(45.0);
            else phasing(-45.0);

            motor_lo.setDutyLimit(0.2);//0.5
            motor_li.setDutyLimit(0.2);

            for(int i= 0; i<14; ++i) straight();
            while(get_dist_back() > 80) straight();
            //段差後旋回
            motor_lo.setDutyLimit(0.6);//0.5
            motor_li.setDutyLimit(0.6);

            if(RightOrLeft == 0) turn(85.0);
            else turn(-85.0);

        case 2://段差直後
            printf("go lope!!!!!!!!!!\r\n");
            //前進
            motor_lo.setDutyLimit(0.6);
            motor_li.setDutyLimit(0.6);
            for(int i=0; i<13; ++i) {
                if(RightOrLeft == 0) straightAndInfinity(90.0, 7.0);
                else straightAndInfinity(-90.0, 7.0);
            }
            for(int i=0; i<3; ++i) {
                while(get_dist_forward() > 65) {
                    if(RightOrLeft == 0) straightAndInfinity(90.0, 7.0);
                    else straightAndInfinity(-90.0, 7.0);
                }
            }
            //ロープ前旋回
            printf("before roop deg:%.3f\r\n",degree0);

            if(RightOrLeft == 0) turn(5.0);
            else turn(-5.0);

            //ロープ位置ジャストまで前進
            for(int i=0; i<3; ++i) {
                straightAndInfinity(0.0, 7.0);
            }
            for(int i=0; i<2; ++i) {
                while(get_dist_back() < 100) {
                    straightAndInfinity(0.0, 7.0);
                }
            }
            phasing(0.0);
            //ロープ
            while(switch_modes[2].read() == 0) {
                //straightAndInfinity(0, 7);
                straight();
            }
            printf("uhai stand by ok!!!!!!!!!!\r\n");
            NoHandSignal();
        case 3://坂
            printf("last spart!!!!!!!!");

            if(RightOrLeft == 0) theta0 = -degree/100.0+90;
            else theta0 = -degree/100.0-90;
            motor_lo.setDutyLimit(0.4);//0.3
            motor_li.setDutyLimit(0.4);
            for(int i=0; i<20; ++i) {
                if(RightOrLeft == 0) straightAndInfinity(-90, 15);//straight();//climbAndInfinity(-90,5);
                else straightAndInfinity(90, 15);
            }
            printf("wall standby");
            motor_lo.setDutyLimit(0.3);//0.3
            motor_li.setDutyLimit(0.3);
            while(get_dist_back() < 250) {
//                straight();
                if(RightOrLeft == 0) climbAndInfinity(-90,15);
                else climbAndInfinity(90,15);
            }
            for(int i=0; i<1; ++i) {
                while(get_dist_forward() > 60) {
                    //straight();
                    if(RightOrLeft == 0) climbAndInfinity(-90,15);
                    else climbAndInfinity(90,15);
                }
            }
            hand_mode = GOAL;
            stop();
            printf("uhai!!!!!!!!!!!!!!!/r/n");
    }
}
void Start()
{
    if(hand.read()==0) { //開始時すでにスイッチが押されていた場合

        SetMode();
        hand_mode = G_CLOSE;
        NoHandSignal();
    } else {
        SetMode();
        hand_mode = G_OPEN;
        stop();//ここで開くことをcanでslaveに送る
        wait(1);
        wait_gerege();
        hand_mode = G_CLOSE;
        HandMove();
        wait(0.5);
    }
}
void SetMode()
{
    while(get_dist_back() > 50.0) {
        led1 = led2 = led3 = led4 = 0;
        if(switch_modes[2].read()) start_state=3;
        else if(switch_modes[1].read()) start_state=2;
        else if(switch_modes[0].read()) start_state=1;
        else start_state=0;

        if(switch_LR.read()) RightOrLeft = 1;
        else RightOrLeft = 0;

        if(start_state==0)led4 = 1;
        else if(start_state==1)led3 = 1;
        else if(start_state==2)led2 = 1;
        else if(start_state==3)led1 = 1;

    }
    printf("mode is %d  RightOrLeft is %d \r\n", start_state, RightOrLeft);
    led1 = led2 = led3 = led4 = 1;
}
void NoHandSignal()
{
    while(get_dist_back() > 40.0) {
        wait(0.01);
    }
    while(get_dist_back() < 40.0) {
        wait(0.01);
    }
}
void LoadParameter()
{
    FILE *fp;
    if ((fp = fopen("/Local/params.csv", "r")) == NULL) {//ファイル操作はじめかつエラー処理
        printf("file open error!!\n");
        exit(EXIT_FAILURE);
    }
    //以下ファイル操作の中身
    int i;
    while (fscanf(fp, "%f,%f,%f,%f", &params[i].argument[0], &params[i].argument[1], &params[i].duty,&params[i].condition) != EOF) {
        i++;
        printf("%f,%f,%f,%f\r\n",params[i].argument[0],params[i].argument[1],params[i].duty,params[i].condition);
    }
    fclose(fp);//ファイル操作終わり
}