go-roboB / aa2_master

master

Dependencies:   arrc_mbed

main.cpp@0:55f25431e6d1, 2022-04-12 (annotated)

Committer:
darkumatar
Date:
Tue Apr 12 10:32:57 2022 +0000
Revision:
0:55f25431e6d1
Child:
1:9f57d402ea10
master; ;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
darkumatar 0:55f25431e6d1 1 #include "mbed.h"
darkumatar 0:55f25431e6d1 2 #include"scrp_slave.hpp"
darkumatar 0:55f25431e6d1 3 #include "rotary_inc.hpp"
darkumatar 0:55f25431e6d1 4 #include"cmath"
darkumatar 0:55f25431e6d1 5 #include"gy521.hpp"
darkumatar 0:55f25431e6d1 6 #include "neopixel.h"
darkumatar 0:55f25431e6d1 7
darkumatar 0:55f25431e6d1 8 double goal_x = -17700.0;
darkumatar 0:55f25431e6d1 9 double goal_y = 28800.0;
darkumatar 0:55f25431e6d1 10
darkumatar 0:55f25431e6d1 11 int goal_x2 = -8000000;
darkumatar 0:55f25431e6d1 12 int goal_y2 = 10000000;
darkumatar 0:55f25431e6d1 13
darkumatar 0:55f25431e6d1 14 #define goal_x_right -17700.0
darkumatar 0:55f25431e6d1 15 #define goal_y_right 28800.0//23800.0
darkumatar 0:55f25431e6d1 16 #define goal_x2_right -8000000
darkumatar 0:55f25431e6d1 17 #define goal_y2_right 10000000
darkumatar 0:55f25431e6d1 18
darkumatar 0:55f25431e6d1 19 #define goal_x_left -17700.0
darkumatar 0:55f25431e6d1 20 #define goal_y_left -23800.0
darkumatar 0:55f25431e6d1 21 #define goal_x2_left -8000000
darkumatar 0:55f25431e6d1 22 #define goal_y2_left -8000000
darkumatar 0:55f25431e6d1 23
darkumatar 0:55f25431e6d1 24 #define period_r 8000.0
darkumatar 0:55f25431e6d1 25 NeoPixelOut npx(PB_4,7);
darkumatar 0:55f25431e6d1 26 I2C i2d(PB_3,PB_10);
darkumatar 0:55f25431e6d1 27 GY521 gyro(i2d);
darkumatar 0:55f25431e6d1 28 ScrpSlave slave(PC_12,PD_2 ,PH_1 ,SERIAL_TX,SERIAL_RX,0x0807f800);//srcslave設定
darkumatar 0:55f25431e6d1 29 RotaryInc v[4]{RotaryInc(PC_5,PA_12,1,256,4),RotaryInc(PA_9,PA_8,1,256,4),RotaryInc(PC_3,PC_2,1,256,4),RotaryInc(PC_11,PC_10,1,256,4)};//ロリコンピン
darkumatar 0:55f25431e6d1 30 RotaryInc rote[4]{RotaryInc(PA_15,PA_14,1,256,4),RotaryInc(PA_7,PA_6,1,256,4),RotaryInc(PC_1,PC_0,1,256,4),RotaryInc(PA_13,PC_4,1,256,4)};//読み取り用ピン
darkumatar 0:55f25431e6d1 31 int target[4];//target変数　この変数の値を目指すように動く
darkumatar 0:55f25431e6d1 32 bool auto_swich = false;
darkumatar 0:55f25431e6d1 33 bool limit_switch = true;
darkumatar 0:55f25431e6d1 34 int step=0;
darkumatar 0:55f25431e6d1 35 int auto_mode=0;
darkumatar 0:55f25431e6d1 36
darkumatar 0:55f25431e6d1 37 int direct_xx=0;
darkumatar 0:55f25431e6d1 38 int direct_yy=0;
darkumatar 0:55f25431e6d1 39 int direct_turn=0;
darkumatar 0:55f25431e6d1 40
darkumatar 0:55f25431e6d1 41 DigitalOut Led1(PB_2);
darkumatar 0:55f25431e6d1 42 DigitalOut Led2(PC_6);
darkumatar 0:55f25431e6d1 43 DigitalOut Led3(PB_15);
darkumatar 0:55f25431e6d1 44 DigitalOut Led4(PA_10);
darkumatar 0:55f25431e6d1 45 int check_tepu=0;
darkumatar 0:55f25431e6d1 46
darkumatar 0:55f25431e6d1 47 bool limi=true;
darkumatar 0:55f25431e6d1 48 bool liset_abc=false;
darkumatar 0:55f25431e6d1 49
darkumatar 0:55f25431e6d1 50
darkumatar 0:55f25431e6d1 51 DigitalIn limitB(PB_12,PullUp);
darkumatar 0:55f25431e6d1 52
darkumatar 0:55f25431e6d1 53
darkumatar 0:55f25431e6d1 54
darkumatar 0:55f25431e6d1 55 bool add(int id,int ppp){//速度を変えるやつ
darkumatar 0:55f25431e6d1 56 Led4.write(0);
darkumatar 0:55f25431e6d1 57 if(auto_swich==false&&limi==true){
darkumatar 0:55f25431e6d1 58 target[id]=30*ppp;
darkumatar 0:55f25431e6d1 59 }
darkumatar 0:55f25431e6d1 60 return true;
darkumatar 0:55f25431e6d1 61 }
darkumatar 0:55f25431e6d1 62
darkumatar 0:55f25431e6d1 63 bool auto_on(int id,int ppp){//おまけで作ったやつ　スピードを決めてその方向へ走る
darkumatar 0:55f25431e6d1 64 if(ppp==1){
darkumatar 0:55f25431e6d1 65 auto_swich=true;
darkumatar 0:55f25431e6d1 66 step=0;
darkumatar 0:55f25431e6d1 67 }
darkumatar 0:55f25431e6d1 68 return true;
darkumatar 0:55f25431e6d1 69 }
darkumatar 0:55f25431e6d1 70
darkumatar 0:55f25431e6d1 71 bool auto_off(int id,int ppp){//おまけで作ったやつ　スピードを決めてその方向へ走る
darkumatar 0:55f25431e6d1 72 if(ppp==1){
darkumatar 0:55f25431e6d1 73 auto_swich=false;
darkumatar 0:55f25431e6d1 74 step=0;
darkumatar 0:55f25431e6d1 75 }
darkumatar 0:55f25431e6d1 76 return true;
darkumatar 0:55f25431e6d1 77 }
darkumatar 0:55f25431e6d1 78
darkumatar 0:55f25431e6d1 79 bool pro2(){ //アングルとスピードを同時に決める　下から3桁で角度を決める(0~360)　それ以外でスピードを決める　これなに？私もわからん
darkumatar 0:55f25431e6d1 80 double anglert=-135.000000000;
darkumatar 0:55f25431e6d1 81 Led4.write(1);
darkumatar 0:55f25431e6d1 82 for(int i=0;i<4;i++){
darkumatar 0:55f25431e6d1 83 target[i]=(direct_yy*sin(M_PI/180.0*(90*i - gyro.yaw - anglert))-direct_xx*cos(M_PI/180.0*(90*i - gyro.yaw - anglert))+direct_turn)*30.0;
darkumatar 0:55f25431e6d1 84
darkumatar 0:55f25431e6d1 85 }
darkumatar 0:55f25431e6d1 86 return true;
darkumatar 0:55f25431e6d1 87 }
darkumatar 0:55f25431e6d1 88 bool pro3(double goal_angle_ppp,int goal_x_speed,int goal_y_speed){
darkumatar 0:55f25431e6d1 89 double anglert=-135.000000000;
darkumatar 0:55f25431e6d1 90 for(int i=0;i<4;i++){
darkumatar 0:55f25431e6d1 91 target[i]=(goal_y_speed*sin(M_PI/180.0*(90*i - gyro.yaw - anglert))-goal_x_speed*cos(M_PI/180.0*(90*i - gyro.yaw - anglert))+goal_angle_ppp)*30.0;
darkumatar 0:55f25431e6d1 92
darkumatar 0:55f25431e6d1 93 }
darkumatar 0:55f25431e6d1 94 return true;
darkumatar 0:55f25431e6d1 95 }
darkumatar 0:55f25431e6d1 96 int test_limit(int test_limilimi){
darkumatar 0:55f25431e6d1 97 test_limilimi=test_limilimi/100;
darkumatar 0:55f25431e6d1 98 if(test_limilimi>64){
darkumatar 0:55f25431e6d1 99 test_limilimi=64;
darkumatar 0:55f25431e6d1 100 }
darkumatar 0:55f25431e6d1 101 if(test_limilimi<-64){
darkumatar 0:55f25431e6d1 102 test_limilimi=-64;
darkumatar 0:55f25431e6d1 103 }
darkumatar 0:55f25431e6d1 104 return test_limilimi;
darkumatar 0:55f25431e6d1 105 }
darkumatar 0:55f25431e6d1 106
darkumatar 0:55f25431e6d1 107 double test_ang(double test_limilimi){
darkumatar 0:55f25431e6d1 108 test_limilimi=test_limilimi*2;
darkumatar 0:55f25431e6d1 109 if(test_limilimi>40){
darkumatar 0:55f25431e6d1 110 test_limilimi=40;
darkumatar 0:55f25431e6d1 111 }
darkumatar 0:55f25431e6d1 112 if(test_limilimi<-40){
darkumatar 0:55f25431e6d1 113 test_limilimi=-40;
darkumatar 0:55f25431e6d1 114 }
darkumatar 0:55f25431e6d1 115 return test_limilimi;
darkumatar 0:55f25431e6d1 116 }
darkumatar 0:55f25431e6d1 117
darkumatar 0:55f25431e6d1 118 bool limit2(int id,int ppp){
darkumatar 0:55f25431e6d1 119 if(ppp==1){
darkumatar 0:55f25431e6d1 120 limit_switch=false;
darkumatar 0:55f25431e6d1 121 }
darkumatar 0:55f25431e6d1 122 return true;
darkumatar 0:55f25431e6d1 123 }
darkumatar 0:55f25431e6d1 124
darkumatar 0:55f25431e6d1 125 bool direct_x(int id,int ppp){
darkumatar 0:55f25431e6d1 126 direct_xx=ppp;
darkumatar 0:55f25431e6d1 127 pro2();
darkumatar 0:55f25431e6d1 128 return true;
darkumatar 0:55f25431e6d1 129 }
darkumatar 0:55f25431e6d1 130 bool direct_y(int id,int ppp){
darkumatar 0:55f25431e6d1 131 direct_yy=ppp;
darkumatar 0:55f25431e6d1 132 pro2();
darkumatar 0:55f25431e6d1 133 return true;
darkumatar 0:55f25431e6d1 134 }
darkumatar 0:55f25431e6d1 135
darkumatar 0:55f25431e6d1 136 bool direct_tu(int id,int ppp){
darkumatar 0:55f25431e6d1 137 direct_turn=ppp;
darkumatar 0:55f25431e6d1 138 pro2();
darkumatar 0:55f25431e6d1 139 return true;
darkumatar 0:55f25431e6d1 140 }
darkumatar 0:55f25431e6d1 141
darkumatar 0:55f25431e6d1 142 bool limit(int a,int &b){
darkumatar 0:55f25431e6d1 143 return limit2(0,a);
darkumatar 0:55f25431e6d1 144 }
darkumatar 0:55f25431e6d1 145 bool abc1(int a,int &b){
darkumatar 0:55f25431e6d1 146 check_tepu+=1;
darkumatar 0:55f25431e6d1 147 return add(0,a);
darkumatar 0:55f25431e6d1 148 }
darkumatar 0:55f25431e6d1 149 bool abc2(int a,int &b){
darkumatar 0:55f25431e6d1 150 check_tepu+=1;
darkumatar 0:55f25431e6d1 151 return add(1,a);
darkumatar 0:55f25431e6d1 152 }
darkumatar 0:55f25431e6d1 153 bool abc3(int a,int &b){
darkumatar 0:55f25431e6d1 154 check_tepu+=1;
darkumatar 0:55f25431e6d1 155 return add(2,a);
darkumatar 0:55f25431e6d1 156 }
darkumatar 0:55f25431e6d1 157 bool abc4(int a,int &b){
darkumatar 0:55f25431e6d1 158 check_tepu+=1;
darkumatar 0:55f25431e6d1 159 return add(3,a);
darkumatar 0:55f25431e6d1 160 }
darkumatar 0:55f25431e6d1 161
darkumatar 0:55f25431e6d1 162 bool abc9(int a,int &b){
darkumatar 0:55f25431e6d1 163 return auto_on(0,a);
darkumatar 0:55f25431e6d1 164 }
darkumatar 0:55f25431e6d1 165 bool abc10(int a,int &b){
darkumatar 0:55f25431e6d1 166 return auto_off(0,a);
darkumatar 0:55f25431e6d1 167 }
darkumatar 0:55f25431e6d1 168 bool abc11(int a,int &b){
darkumatar 0:55f25431e6d1 169 check_tepu+=1;
darkumatar 0:55f25431e6d1 170 return direct_x(0,a);
darkumatar 0:55f25431e6d1 171 }
darkumatar 0:55f25431e6d1 172 bool abc12(int a,int &b){
darkumatar 0:55f25431e6d1 173 check_tepu+=1;
darkumatar 0:55f25431e6d1 174 return direct_y(0,a);
darkumatar 0:55f25431e6d1 175 }
darkumatar 0:55f25431e6d1 176 bool abc13(int a,int &b){
darkumatar 0:55f25431e6d1 177 check_tepu+=1;
darkumatar 0:55f25431e6d1 178 return direct_tu(0,a);
darkumatar 0:55f25431e6d1 179 }
darkumatar 0:55f25431e6d1 180 bool abc14(int a,int &b){
darkumatar 0:55f25431e6d1 181 if(a==1){
darkumatar 0:55f25431e6d1 182 liset_abc=true;
darkumatar 0:55f25431e6d1 183 }else{
darkumatar 0:55f25431e6d1 184 liset_abc=false;
darkumatar 0:55f25431e6d1 185 }
darkumatar 0:55f25431e6d1 186 return true;
darkumatar 0:55f25431e6d1 187 }
darkumatar 0:55f25431e6d1 188
darkumatar 0:55f25431e6d1 189
darkumatar 0:55f25431e6d1 190 int main() {
darkumatar 0:55f25431e6d1 191 Led1.write(1);
darkumatar 0:55f25431e6d1 192 Led2.write(0);
darkumatar 0:55f25431e6d1 193 slave.addCMD(1,limit);
darkumatar 0:55f25431e6d1 194 slave.addCMD(2,abc1);
darkumatar 0:55f25431e6d1 195 slave.addCMD(3,abc2);
darkumatar 0:55f25431e6d1 196 slave.addCMD(4,abc3);
darkumatar 0:55f25431e6d1 197 slave.addCMD(5,abc4);
darkumatar 0:55f25431e6d1 198 slave.addCMD(12,abc9);
darkumatar 0:55f25431e6d1 199 slave.addCMD(13,abc10);
darkumatar 0:55f25431e6d1 200 slave.addCMD(31,abc11);
darkumatar 0:55f25431e6d1 201 slave.addCMD(32,abc12);
darkumatar 0:55f25431e6d1 202 slave.addCMD(33,abc13);
darkumatar 0:55f25431e6d1 203 slave.addCMD(34,abc14);
darkumatar 0:55f25431e6d1 204 int side_change=0;
darkumatar 0:55f25431e6d1 205
darkumatar 0:55f25431e6d1 206 goal_x=goal_x_right;
darkumatar 0:55f25431e6d1 207 goal_y=goal_y_right;
darkumatar 0:55f25431e6d1 208 goal_x2=goal_x2_right;
darkumatar 0:55f25431e6d1 209 goal_y2=goal_y2_right;
darkumatar 0:55f25431e6d1 210
darkumatar 0:55f25431e6d1 211 if(limitB){
darkumatar 0:55f25431e6d1 212 side_change=1;
darkumatar 0:55f25431e6d1 213 goal_x=goal_x_left;
darkumatar 0:55f25431e6d1 214 goal_y=goal_y_left;
darkumatar 0:55f25431e6d1 215 goal_x2=goal_x2_left;
darkumatar 0:55f25431e6d1 216 goal_y2=goal_y2_left;
darkumatar 0:55f25431e6d1 217 }
darkumatar 0:55f25431e6d1 218
darkumatar 0:55f25431e6d1 219
darkumatar 0:55f25431e6d1 220
darkumatar 0:55f25431e6d1 221
darkumatar 0:55f25431e6d1 222 int i;
darkumatar 0:55f25431e6d1 223 double x_period=0;
darkumatar 0:55f25431e6d1 224 double y_period=0;
darkumatar 0:55f25431e6d1 225 int after[4],before[4],before_parus[4],speed_pwm[4],after_pwm[4],before_pwm[4];
darkumatar 0:55f25431e6d1 226 double ca[4],P[4],I[4],D[4],integral[4];
darkumatar 0:55f25431e6d1 227 PwmOut motor_p[4]{PwmOut(PB_1),PwmOut(PB_13),PwmOut(PC_9),PwmOut(PB_7)};//モーター宣言 PB_6 PC_8
darkumatar 0:55f25431e6d1 228 PwmOut motor_m[4]{PwmOut(PA_11),PwmOut(PB_14),PwmOut(PC_8),PwmOut(PB_6)};//モーター宣言 PB_7 PC_9
darkumatar 0:55f25431e6d1 229 for(i=0;i<4;i++){
darkumatar 0:55f25431e6d1 230 motor_p[i].period_us(2048);
darkumatar 0:55f25431e6d1 231 motor_m[i].period_us(2048);
darkumatar 0:55f25431e6d1 232 target[i]=0;
darkumatar 0:55f25431e6d1 233 after[i]=0;
darkumatar 0:55f25431e6d1 234 before[i]=0;
darkumatar 0:55f25431e6d1 235 ca[i]=0;
darkumatar 0:55f25431e6d1 236 P[i]=0;
darkumatar 0:55f25431e6d1 237 I[i]=0;
darkumatar 0:55f25431e6d1 238 D[i]=0;
darkumatar 0:55f25431e6d1 239 before_parus[i]=0;
darkumatar 0:55f25431e6d1 240 integral[i]=0;
darkumatar 0:55f25431e6d1 241 speed_pwm[i]=0;
darkumatar 0:55f25431e6d1 242 after_pwm[i]=0;
darkumatar 0:55f25431e6d1 243 before_pwm[i]=0;
darkumatar 0:55f25431e6d1 244 }
darkumatar 0:55f25431e6d1 245 Timer name;
darkumatar 0:55f25431e6d1 246 name.start();
darkumatar 0:55f25431e6d1 247 gyro.start();
darkumatar 0:55f25431e6d1 248 double angle=0;
darkumatar 0:55f25431e6d1 249 double goal_angle1=0;
darkumatar 0:55f25431e6d1 250 Led1.write(1);
darkumatar 0:55f25431e6d1 251 while(limit_switch==true) {
darkumatar 0:55f25431e6d1 252 angle=gyro.yaw-90.00000;
darkumatar 0:55f25431e6d1 253 if(auto_swich==true){
darkumatar 0:55f25431e6d1 254 goal_angle1=-1.0*atan((goal_x2-x_period)/(goal_y2-y_period))/M_PI*180.0;
darkumatar 0:55f25431e6d1 255
darkumatar 0:55f25431e6d1 256 if(side_change==0){
darkumatar 0:55f25431e6d1 257 if(goal_angle1>0){
darkumatar 0:55f25431e6d1 258 goal_angle1-=180.0;
darkumatar 0:55f25431e6d1 259 }else{
darkumatar 0:55f25431e6d1 260 goal_angle1+=180.0;
darkumatar 0:55f25431e6d1 261 }
darkumatar 0:55f25431e6d1 262 }
darkumatar 0:55f25431e6d1 263
darkumatar 0:55f25431e6d1 264
darkumatar 0:55f25431e6d1 265 if(step==0&&((sqrt((goal_y-y_period)*(goal_y-y_period)+(goal_x-x_period)*(goal_x-x_period))>1000)|| (sqrt((goal_y-y_period)*(goal_y-y_period)+(goal_x-x_period)*(goal_x-x_period))<-1000))){
darkumatar 0:55f25431e6d1 266 pro3(-test_ang(goal_angle1-gyro.yaw),test_limit(goal_x-x_period),test_limit(goal_y-y_period));
darkumatar 0:55f25431e6d1 267 }else if(step>=0&&step<60){
darkumatar 0:55f25431e6d1 268 for(i=0;i<4;i++){
darkumatar 0:55f25431e6d1 269 target[i]=0;
darkumatar 0:55f25431e6d1 270 motor_p[i]=0;
darkumatar 0:55f25431e6d1 271 motor_m[i]=0;
darkumatar 0:55f25431e6d1 272 }
darkumatar 0:55f25431e6d1 273 pro3(-test_ang(goal_angle1-gyro.yaw),test_limit(goal_x-x_period),test_limit(goal_y-y_period));
darkumatar 0:55f25431e6d1 274 }else if(step==60&&((sqrt((goal_y-y_period)*(goal_y-y_period)+(goal_x-x_period)*(goal_x-x_period))-sqrt(period_r*period_r)>1000)|| (sqrt((goal_y-y_period)*(goal_y-y_period)+(goal_x-x_period)*(goal_x-x_period))-sqrt(period_r*period_r)<-1000))){
darkumatar 0:55f25431e6d1 275
darkumatar 0:55f25431e6d1 276
darkumatar 0:55f25431e6d1 277 }else {
darkumatar 0:55f25431e6d1 278 auto_swich=false;
darkumatar 0:55f25431e6d1 279 }
darkumatar 0:55f25431e6d1 280
darkumatar 0:55f25431e6d1 281
darkumatar 0:55f25431e6d1 282 }
darkumatar 0:55f25431e6d1 283
darkumatar 0:55f25431e6d1 284 for(i=0;i<4;i++){
darkumatar 0:55f25431e6d1 285 after_pwm[i]=rote[i].get();
darkumatar 0:55f25431e6d1 286 after[i]=v[i].get();//ロリコンから値読み取り
darkumatar 0:55f25431e6d1 287 integral[i]+= (((((target[i]/10.0-(after[i]-before[i]))+ before_parus[i])*0.1)/2.0)/102.40);//積分の所
darkumatar 0:55f25431e6d1 288 P[i]=0.05*(target[i]/10.0-(after[i]-before[i]))/102.40;//比例
darkumatar 0:55f25431e6d1 289 D[i]=0.0001*((((target[i]/10.0-(after[i]-before[i]))- before_parus[i])/0.1)/102.40);//微分
darkumatar 0:55f25431e6d1 290 I[i]=0.0001*integral[i];//積分
darkumatar 0:55f25431e6d1 291 ca[i]=ca[i]+P[i]+I[i]+D[i];//足し合わせる
darkumatar 0:55f25431e6d1 292 if(ca[i]>0.4){ca[i]=0.4;}
darkumatar 0:55f25431e6d1 293 if(ca[i]<-0.4){ca[i]=-0.4;}
darkumatar 0:55f25431e6d1 294 if(0.03>ca[i]&&ca[i]>-0.03){ca[i]=0;}
darkumatar 0:55f25431e6d1 295 motor_p[i]=ca[i];
darkumatar 0:55f25431e6d1 296 motor_m[i]=ca[i]*-1.0;
darkumatar 0:55f25431e6d1 297 speed_pwm[i]=after_pwm[i]-before_pwm[i];
darkumatar 0:55f25431e6d1 298 before_parus[i]=target[i]/10.0-(after[i]-before[i]);
darkumatar 0:55f25431e6d1 299 before[i]=after[i];
darkumatar 0:55f25431e6d1 300 before_pwm[i]=after_pwm[i];
darkumatar 0:55f25431e6d1 301 }
darkumatar 0:55f25431e6d1 302 x_period+=(((speed_pwm[0]-speed_pwm[2])*cos(M_PI/180.0*angle)+(speed_pwm[1]-speed_pwm[3])*cos(M_PI/180.0*(angle+90.0))*(-1.0))/2);
darkumatar 0:55f25431e6d1 303 y_period+=(((speed_pwm[0]-speed_pwm[2])*sin(M_PI/180.0*angle)+(speed_pwm[1]-speed_pwm[3])*sin(M_PI/180.0*(angle+90.0))*(-1.0))/2);
darkumatar 0:55f25431e6d1 304
darkumatar 0:55f25431e6d1 305 if(liset_abc==true){
darkumatar 0:55f25431e6d1 306 x_period=0;
darkumatar 0:55f25431e6d1 307 y_period=0;
darkumatar 0:55f25431e6d1 308 gyro.reset(0);
darkumatar 0:55f25431e6d1 309
darkumatar 0:55f25431e6d1 310 }
darkumatar 0:55f25431e6d1 311
darkumatar 0:55f25431e6d1 312 //slave.port2.printf("%d\n",1);
darkumatar 0:55f25431e6d1 313 while(name.read_ms()<30){}
darkumatar 0:55f25431e6d1 314 //slave.send1(255,16,x_period*1);
darkumatar 0:55f25431e6d1 315 while(name.read_ms()<60){}
darkumatar 0:55f25431e6d1 316 //slave.send1(255,17,y_period*1);
darkumatar 0:55f25431e6d1 317 while(name.read_ms()<100){}
darkumatar 0:55f25431e6d1 318 //slave.send1(255,18,gyro.yaw*1);
darkumatar 0:55f25431e6d1 319 for(i = 0; i < 2; i++){
darkumatar 0:55f25431e6d1 320 npx.global_scale = 0.05f;
darkumatar 0:55f25431e6d1 321 npx.normalize = false;
darkumatar 0:55f25431e6d1 322 if(check_tepu>0){
darkumatar 0:55f25431e6d1 323 npx.setPixelColor(i,0xFF0000);
darkumatar 0:55f25431e6d1 324 }else {
darkumatar 0:55f25431e6d1 325 npx.setPixelColor(i,0x0000FF);
darkumatar 0:55f25431e6d1 326 }
darkumatar 0:55f25431e6d1 327 }
darkumatar 0:55f25431e6d1 328 for(i = 2; i < 4; i++){
darkumatar 0:55f25431e6d1 329 npx.global_scale = 0.05f;
darkumatar 0:55f25431e6d1 330 npx.normalize = false;
darkumatar 0:55f25431e6d1 331 if(auto_swich){
darkumatar 0:55f25431e6d1 332 npx.setPixelColor(i,0xFFFFFF);
darkumatar 0:55f25431e6d1 333 }else {
darkumatar 0:55f25431e6d1 334 npx.setPixelColor(i,0x00FF00);
darkumatar 0:55f25431e6d1 335 }
darkumatar 0:55f25431e6d1 336 }
darkumatar 0:55f25431e6d1 337 for(i = 4; i < 6; i++){
darkumatar 0:55f25431e6d1 338 npx.global_scale = 0.05f;
darkumatar 0:55f25431e6d1 339 npx.normalize = false;
darkumatar 0:55f25431e6d1 340 if(side_change==0){
darkumatar 0:55f25431e6d1 341 npx.setPixelColor(i,0xFF00FF);
darkumatar 0:55f25431e6d1 342 }else {
darkumatar 0:55f25431e6d1 343 npx.setPixelColor(i,0xFFFF00);
darkumatar 0:55f25431e6d1 344 }
darkumatar 0:55f25431e6d1 345 }
darkumatar 0:55f25431e6d1 346 npx.show();
darkumatar 0:55f25431e6d1 347
darkumatar 0:55f25431e6d1 348
darkumatar 0:55f25431e6d1 349 if(check_tepu==0){
darkumatar 0:55f25431e6d1 350 auto_mode+=1;
darkumatar 0:55f25431e6d1 351 Led2.write(1);
darkumatar 0:55f25431e6d1 352 }else {
darkumatar 0:55f25431e6d1 353 auto_mode=0;
darkumatar 0:55f25431e6d1 354 Led2.write(0);
darkumatar 0:55f25431e6d1 355 }
darkumatar 0:55f25431e6d1 356 if(auto_mode>1){
darkumatar 0:55f25431e6d1 357 limit_switch=false;
darkumatar 0:55f25431e6d1 358 }
darkumatar 0:55f25431e6d1 359 check_tepu=0;
darkumatar 0:55f25431e6d1 360 gyro.update();
darkumatar 0:55f25431e6d1 361 name.reset();
darkumatar 0:55f25431e6d1 362 }
darkumatar 0:55f25431e6d1 363 while(1){
darkumatar 0:55f25431e6d1 364 Led3.write(1);
darkumatar 0:55f25431e6d1 365 for(i=0;i<4;i++){
darkumatar 0:55f25431e6d1 366 target[i]=0;
darkumatar 0:55f25431e6d1 367 motor_p[i]=0;
darkumatar 0:55f25431e6d1 368 motor_m[i]=0;
darkumatar 0:55f25431e6d1 369 npx.global_scale = 0.05f;
darkumatar 0:55f25431e6d1 370 npx.normalize = false;
darkumatar 0:55f25431e6d1 371 npx.setPixelColor(i,0x00FFFF);
darkumatar 0:55f25431e6d1 372 }
darkumatar 0:55f25431e6d1 373 npx.show();
darkumatar 0:55f25431e6d1 374 }
darkumatar 0:55f25431e6d1 375 }