File content as of revision 11:8eda88c96bb0:

#include "EC.h"
#include "R1370P.h"
#include "move4wheel.h"
#include "mbed.h"
#include "math.h"
#include "PathFollowing.h"
#include "movement.h"
#include "maxonsetting.h"
#include "manual.h"
#include "can.h"

#define PI 3.141592

//#define PROGRAM_INFO //プログラム使用時に使用プログラムの情報を最初に表示する際に定義
#define HARUROBO_TEST_MODE
//#define HARUROBO_MAIN_MODE

int go_waitmode = 0;

/*------------運動時の各速度の設定----------*/
double st_speed = 500; // 移動開始時の速度
double max_speed = 2000; // 直線移動時の最大速度
double mid_speed = 600; // 直線移動時の中間速度
double turn_speed = 1000; // 旋回時の速度
double end_speed = 200; // 停止直前の速度
double fruit_speed = 200; // 果物を取る時の速度
/*--------------------------------------*/



//-----mbed led------------------//点灯条件-----------------------//参照場所------------------------------//
//DigitalOut cansend_led(LED1);  //canread -> on                //can.cpp
//DigitalOut canread_led(LED2);  //cansend -> on                //can.cpp
//DigitalOut debug_led(LED3);    //maxon debug programme -> on  //maxonsetting.cpp

//////////////////////////////////////////////////////////////以下main文/////////////////////////////////////////////////////////////////

int main()
{
    UserLoopSetting_maxon();
    UserLoopSetting_sensor();
    UserLoopSetting_can();

#ifdef PROGRAM_INFO //プログラム使用時に使用プログラムの情報を最初に表示

    printf("ソースファイル名 : %s¥n", __FILE__);
    printf("作成日付 : %s¥n", __DATE__);
    printf("作成時刻 : %s¥n", __TIME__);

#endif

#ifdef HARUROBO_TEST_MODE

    id1_value[0] = 1;
    

    while(1){
         //int m1=0,m2=0,m3=0,m4=0;
         int m1=4095,m2=4095,m3=4095,m4=4095;
         MaxonControl(m1,m2,m3,m4); 
         debug_printf("m1=%d m2=%d m3=%d m4=%d\n\r",m1,m2,m3,m4);
        }

    gogo_straight(1,1,-3112,3500,-2962,3100,st_speed,mid_speed,5,0.1,10,0.1,600,0);
    gogo_straight(1,1,-2962,3100,-2962,2900,mid_speed,turn_speed,5,0.1,10,0.1,600,0);
    purecurve(7,1,1,-2962,2900,-2317,2500,9,turn_speed,5,0.1,10,0.1,600,0);
    purecurve(8,1,1,-2317,2500,-1672,2000,9,turn_speed,5,0.1,10,0.1,600,0);
    set_cond(2,0,-1050,1,1076);
    gogo_straight(0,0,-1672,2000,-1672,1600,turn_speed,end_speed,5,0.1,10,0.1,600,0);
    MaxonControl(0,0,0,0);
    pos_correction(-1672,1600,0,0,0,25);
    enc_correction(1,1);
    gogo_straight(0,0,-1672,1600,-1672,1375,fruit_speed,fruit_speed,5,0.1,10,0.1,600,0);
    MaxonControl(0,0,0,0);
    
    //wait(3);

    gogo_straight(1,1,-1672,1375,-1672,2000,st_speed,turn_speed,5,0.1,10,0.1,600,0);
    purecurve(3,1,1,-1672,2000,-2317,2500,9,turn_speed,5,0.1,10,0.1,600,0);
    purecurve(4,1,1,-2317,2500,-2962,3000,9,turn_speed,5,0.1,10,0.1,600,-90); //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,turn_speed,max_speed,5,0.1,10,0.1,600,-90);
    gogo_straight(1,1,-2962,4000,-2962,4810,max_speed,end_speed,5,0.1,10,0.1,600,-90);
    MaxonControl(0,0,0,0);
    set_cond(2,0,-2462,0,6000);
    pos_correction(-2962,4837.5,-90,0,0,10);
    gogo_straight(0,0,-2962,4837.5,-2782,4837.5,300,200,5,0.1,10,0.1,800,-90);
    MaxonControl(0,0,0,0);
    enc_correction(1,1);

    gogo_straight(1,1,-2782,4837.5,-2782,5150,st_speed,turn_speed,5,0.1,10,0.1,800,-90);
    purecurve(2,1,1,-2850,5150,-2257,5500,9,turn_speed,5,0.1,10,0.1,800,-90);
    purecurve(1,1,1,-2257,5500,-1700,6000,9,turn_speed,5,0.1,10,0.1,800,-90);
    purecurve(3,1,1,-1700,6000,-2257,6550,9,turn_speed,5,0.1,10,0.1,800,-90);
    gogo_straight(1,1,-2257,6550,-2500,6605,turn_speed,end_speed,5,0.1,10,0.1,800,-90);
    MaxonControl(0,0,0,0);
    set_cond(1,0,0,1,6038);
    pos_correction(-2500,6610,-90,1,0,8);
    set_cond(2,1,-3162,1,6038);
    gogo_straight(0,0,-2500,6610,-2700,6610,fruit_speed,fruit_speed,5,0.1,10,0.1,800,-90);
    MaxonControl(0,0,0,0);
    enc_correction(1,1);

    set_cond(1,0,0,0,6962);
    gogo_straight(1,0,-2700,6610,-2500,6550,st_speed,max_speed,5,0.1,10,0.1,800,-90);
    gogo_straight(1,0,-2500,6550,-1300,6550,max_speed,max_speed,5,0.1,10,0.1,800,-90);
    
    gogo_straight(1,0,-1300,6550,-850,6550,max_speed,turn_speed,5,0.1,10,0.1,800,-90);
    enc_correction(0,1);
     //set_cond(2,0,-19,0,6962);
    purecurve(8,1,1,-850,6550,-620,6000,9,turn_speed,10,0.1,10,0.1,600,-180); //要修正
    //enc_correction(1,0);
    set_cond(0,0,-19,0,0);
    gogo_straight(0,1,-620,6000,-620,5500,turn_speed,max_speed,5,0.1,10,0.1,600,-180);
    gogo_straight(0,1,-620,5500,-620,5000,max_speed,max_speed,5,0.1,10,0.1,600,-180);
    set_cond(2,1,-1000,1,4000);
    gogo_straight(0,0,-620,5000,-620,4600,max_speed,end_speed,5,0.1,10,0.1,800,-180);
    MaxonControl(0,0,0,0);
    pos_correction(-620,4370,-180,0,0,30);
    enc_correction(1,1);
    MaxonControl(0,0,0,0);



//以下自動で初期位置に戻るプログラム
    wait(3);

    gogo_straight(1,1,-620,4500,-620,5000,200,1000,5,0.1,10,0.1,600,-180);
    gogo_straight(1,1,-620,5000,-620,6000,1000,1000,5,0.1,10,0.1,600,-180);
    gogo_straight(1,1,-620,6000,-620,6600,1000,200,5,0.1,10,0.1,600,-180);
    MaxonControl(0,0,0,0);
    set_cond(2,0,0,0,7000);
    //pos_correction(-519,6600,-180,0,0,30);
    calc_xy(-180,0,0);
    enc_correction(1,1);
    gogo_straight(1,1,-620,6600,-1000,6600,200,1000,5,0.1,10,0.1,600,-180);
    purecurve(5,1,1,-1000,6600,-1672,6000,9,1000,5,0.1,10,0.1,600,-180);
    purecurve(6,1,1,-1672,6000,-2462,5500,9,1000,5,0.1,10,0.1,600,-180);
    gogo_straight(1,1,-2462,5500,-2962,5500,1000,200,5,0.1,10,0.1,600,-180);
    MaxonControl(0,0,0,0);
    set_cond(2,1,-3500,0,6000);
    //pos_correction(-2962,5500,-180,0,0,30);
    enc_correction(1,1);
    calc_xy(-180,0,0);
    gogo_straight(1,1,-2962,5500,-2962,4700,200,1000,5,0.1,10,0.1,600,-90);
    gogo_straight(1,1,-2962,4700,-2962,4000,1000,1000,5,0.1,10,0.1,600,0);
    gogo_straight(1,1,-2962,4000,-2962,3500,1000,200,5,0.1,10,0.1,600,0);
    MaxonControl(0,0,0,0);
    set_cond(2,1,-3500,1,2000);
    pos_correction(-3112,3500,0,0,0,15);
    enc_correction(1,1);
    MaxonControl(0,0,0,0);

#endif

#ifdef HARUROBO_MAIN_MODE
    while(1) {

        switch(id1_value[0]) {
//-----auto mode----------------------------------------------------------------------------------------------------------------------//
            case 1:

                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--------------------------------------------------------------------------------------------------------------//

                        break;
                }
//-----wait mode----------------------------------------------------------------------------------------------------------------------//
            case 0:

                calc_xy(0,1,1);
                ashi_led();
                MaxonControl(0,0,0,0);
                go_waitmode = 0;

                break;
//-----manual mode--------------------------------------------------------------------------------------------------------------------//
            case 2:

                ManualOut(250,100,500,200);
                go_waitmode = 0;

                break;
        }
//------------------------------------------------------------------------------------------------------------------------------------//
    }

#endif

}