robostep8th
/
harurobo_ashi_com7
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Dependencies: mbed move4wheel2 EC CruizCore_R1370P
Diff: main.cpp
- Revision:
- 8:2ba338b4590e
- Parent:
- 7:44ce34007499
- Child:
- 9:63924280272d
--- a/main.cpp Sat Mar 02 08:27:05 2019 +0000
+++ b/main.cpp Thu Mar 07 02:54:55 2019 +0000
@@ -45,65 +45,59 @@
switch(id1_value[6]) {
case 0:
//-----right mode-------------------------------------------------------------------------------------------------------------//
+ if(T1 == 0) {
+ //スタート位置からみかんの木まで移動
+ wait(0.5);
+ T1++;
+
+ }
+ if(T1 == 1) {
+ while(1) {
+ wait(0.5);
+ if(T1 == 2) {
+ break;
+ }
+ }
+ }
+ if(T1 == 2) {
+
+ //みかんの木から三宝置き場まで移動
+ T1++;
+ }
+ if(T1 == 3) {
+ while(1) {
+ wait(0.5);
+ if(T1 == 4) {
+ break;
+ }
+ }
+ }
+ if(T1 == 4) {
+
+ //三宝置き場からりんごの木まで移動
+ wait(0.5);
+ T1++;
+ }
+ if(T1 == 5) {
+ while(1) {
+
+ wait(0.5);
+ if(T1 == 6) {
+ break;
+ }
+ }
+ }
+ if(T1 == 6) {
+
+ //りんごの木からお供え台まで移動
+ wait(0.5);
+ T1++;
+ }
break;
case 1:
//-----left mode--------------------------------------------------------------------------------------------------------------//
- if(go_waitmode == 0) {
-
- //can_start();
- //set_cond(2,1,-700,1,-700);
- gogo_straight(1,1,-2962,3500,-2962,2900,200,1000,5,0.1,10,0.1,600,0);
- purecurve(7,1,1,-2962,2900,-2317,2500,9,1000,5,0.1,10,0.1,600,0);
- purecurve(8,1,1,-2317,2500,-1610,2000,9,1000,5,0.1,10,0.1,600,0);
- gogo_straight(1,1,-1610,2000,-1610,1250,1000,200,5,0.1,10,0.1,600,0);
- MaxonControl(0,0,0,0);
- set_cond(2,0,-1243,1,1080);
- pos_correction(-1610,1250,0,1,0);
- wait(0.5);
-
- gogo_straight(1,1,-1610,1250,-1610,2000,200,1000,5,0.1,10,0.1,600,0);
- purecurve(3,1,1,-1610,2000,-2317,2500,9,1000,5,0.1,10,0.1,600,0);
- purecurve(4,1,1,-2317,2500,-2962,3000,9,1000,5,0.1,10,0.1,600,-90);
- gogo_straight(1,1,-2962,3000,-2962,4000,1000,1000,5,0.1,10,0.1,600,-90);
- gogo_straight(1,1,-2962,4000,-2962,4500,1000,200,5,0.1,10,0.1,600,-90);
- MaxonControl(0,0,0,0);
- pos_correction(-2962,4500,-90,1,1);
-
- set_cond(0,0,-2462,0,0);
- gogo_straight(1,1,-2962,4500,-2850,4500,200,200,5,0.1,10,0.1,800,-90);
- MaxonControl(0,0,0,0);
- pos_correction(-2850,4500,-90,1,1);
- wait(0.5);
-
- gogo_straight(1,1,-2850,4500,-2850,5150,200,1000,5,0.1,10,0.1,800,-90);
- purecurve(2,1,1,-2850,5150,-2257,5500,9,1000,5,0.1,10,0.1,800,-90);
- purecurve(1,1,1,-2257,5500,-1700,6000,9,1000,5,0.1,10,0.1,800,-90);
- purecurve(3,1,1,-1700,6000,-2257,6647,9,1000,5,0.1,10,0.1,800,-90);
- gogo_straight(1,1,-2257,6647,-2500,6647,1000,1000,5,0.1,10,0.1,800,-90);
- set_cond(2,1,-3500,1,6324);
- gogo_straight(1,1,-2500,6647,-2700,6647,1000,200,5,0.1,10,0.1,800,-90);
- MaxonControl(0,0,0,0);
- pos_correction(-2700,6647,-90,1,1);
- wait(0.5);
-
- gogo_straight(1,1,-2700,6647,-2500,6647,200,1000,5,0.1,10,0.1,800,-90);
- gogo_straight(1,1,-2500,6647,-1000,6647,1000,1000,5,0.1,10,0.1,800,-90);
- purecurve(8,1,1,-1000,6647,-350,6000,9,1000,5,0.1,10,0.1,600,-180);
- gogo_straight(1,1,-350,6000,-350,4700,1000,1000,5,0.1,10,0.1,600,-180);
- set_cond(2,1,1243,1,4000);
- gogo_straight(1,1,-350,4700,-350,4500,1000,200,5,0.1,10,0.1,800,-180);
- MaxonControl(0,0,0,0);
- pos_correction(-400,4500,-180,1,1);
-
- go_waitmode = 1;
-
- } else if(go_waitmode == 1) {
-
- MaxonControl(0,0,0,0);
-
- }
break;
}
//-----wait mode----------------------------------------------------------------------------------------------------------------------//