Diff: main.cpp

Revision:

9:63924280272d

Parent:

8:2ba338b4590e

Child:

10:cf5c159e729a

diff -r 2ba338b4590e -r 63924280272d main.cpp
--- a/main.cpp	Thu Mar 07 02:54:55 2019 +0000
+++ b/main.cpp	Thu Mar 07 05:47:18 2019 +0000
@@ -12,6 +12,8 @@
 #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;
 
@@ -36,6 +38,58 @@
 
 #endif
 
+#ifdef HARUROBO_TEST_MODE
+
+    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,-1672,2000,9,1000,5,0.1,10,0.1,600,0);
+    gogo_straight(1,1,-1672,2000,-1672,1400,1000,200,5,0.1,10,0.1,600,0);
+    MaxonControl(0,0,0,0);
+    set_cond(2,0,-1243,1,1076);
+    pos_correction(-1672,1400,0,0,0);
+    enc_correction(1,1);
+    wait(0.5);
+
+    gogo_straight(1,1,-1672,1400,-1672,2000,200,1000,5,0.1,10,0.1,600,0);
+    purecurve(3,1,1,-1672,2000,-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(0,1,-2962,4500,-2850,4500,200,200,5,0.1,10,0.1,800,-90);
+    MaxonControl(0,0,0,0);
+    pos_correction(-2850,4500,-90,0,1);
+    enc_correction(1,0);
+    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(0,0,-2500,6647,-2700,6647,1000,200,5,0.1,10,0.1,800,-90);
+    MaxonControl(0,0,0,0);
+    pos_correction(-2700,6647,-90,0,0);
+    enc_correction(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,-519,6000,9,1000,5,0.1,10,0.1,600,-180);
+    gogo_straight(1,1,-519,6000,-519,4700,1000,1000,5,0.1,10,0.1,600,-180);
+    set_cond(2,1,1243,1,4000);
+    gogo_straight(0,0,-519,4700,-519,4500,1000,200,5,0.1,10,0.1,800,-180);
+    MaxonControl(0,0,0,0);
+    pos_correction(-519,4500,-180,0,0);
+    MaxonControl(0,0,0,0);
+
+#endif
+
+#ifdef HARUROBO_MAIN_MODE
     while(1) {
 
         switch(id1_value[0]) {
@@ -119,4 +173,7 @@
         }
 //------------------------------------------------------------------------------------------------------------------------------------//
     }
+
+#endif
+
 }
\ No newline at end of file