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Dependencies: mbed TrapezoidControl QEI Pulse LM61CIZ
System/Process/Process.cpp@14:93776ca449a4, 2018-10-25 (annotated)
- Committer:
- 7ka884
- Date:
- Thu Oct 25 09:00:19 2018 +0000
- Revision:
- 14:93776ca449a4
- Parent:
- 13:b6e02d6261d7
okok
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
kishibekairohan | 13:b6e02d6261d7 | 1 | |
t_yamamoto | 0:669ef71cba68 | 2 | #include "mbed.h" |
t_yamamoto | 0:669ef71cba68 | 3 | #include "Process.h" |
7ka884 | 4:ba9df71868df | 4 | #include "QEI.h" |
t_yamamoto | 0:669ef71cba68 | 5 | |
7ka884 | 4:ba9df71868df | 6 | #include "../../CommonLibraries/PID/PID.h" |
t_yamamoto | 0:669ef71cba68 | 7 | #include "../../Communication/RS485/ActuatorHub/ActuatorHub.h" |
t_yamamoto | 0:669ef71cba68 | 8 | #include "../../Communication/Controller/Controller.h" |
t_yamamoto | 0:669ef71cba68 | 9 | #include "../../Input/ExternalInt/ExternalInt.h" |
t_yamamoto | 0:669ef71cba68 | 10 | #include "../../Input/Switch/Switch.h" |
7ka884 | 1:b1219d8ca117 | 11 | #include "../../Input/ColorSensor/ColorSensor.h" |
7ka884 | 1:b1219d8ca117 | 12 | #include "../../Input/AccelerationSensor/AccelerationSensor.h" |
t_yamamoto | 0:669ef71cba68 | 13 | #include "../../Input/Potentiometer/Potentiometer.h" |
7ka884 | 1:b1219d8ca117 | 14 | #include "../../Input/Rotaryencoder/Rotaryencoder.h" |
t_yamamoto | 0:669ef71cba68 | 15 | #include "../../LED/LED.h" |
t_yamamoto | 0:669ef71cba68 | 16 | #include "../../Safty/Safty.h" |
t_yamamoto | 0:669ef71cba68 | 17 | #include "../Using.h" |
t_yamamoto | 0:669ef71cba68 | 18 | |
kishibekairohan | 2:c015739085d3 | 19 | |
t_yamamoto | 0:669ef71cba68 | 20 | using namespace SWITCH; |
kishibekairohan | 2:c015739085d3 | 21 | using namespace COLORSENSOR; |
kishibekairohan | 2:c015739085d3 | 22 | using namespace ACCELERATIONSENSOR; |
7ka884 | 4:ba9df71868df | 23 | using namespace PID_SPACE; |
7ka884 | 4:ba9df71868df | 24 | using namespace ROTARYENCODER; |
t_yamamoto | 0:669ef71cba68 | 25 | |
t_yamamoto | 0:669ef71cba68 | 26 | static CONTROLLER::ControllerData *controller; |
t_yamamoto | 0:669ef71cba68 | 27 | ACTUATORHUB::MOTOR::MotorStatus motor[MOUNTING_MOTOR_NUM]; |
t_yamamoto | 0:669ef71cba68 | 28 | ACTUATORHUB::SOLENOID::SolenoidStatus solenoid; |
t_yamamoto | 0:669ef71cba68 | 29 | |
t_yamamoto | 0:669ef71cba68 | 30 | static bool lock; |
t_yamamoto | 0:669ef71cba68 | 31 | static bool processChangeComp; |
t_yamamoto | 0:669ef71cba68 | 32 | static int current; |
t_yamamoto | 0:669ef71cba68 | 33 | |
t_yamamoto | 0:669ef71cba68 | 34 | static void AllActuatorReset(); |
t_yamamoto | 0:669ef71cba68 | 35 | |
t_yamamoto | 0:669ef71cba68 | 36 | #ifdef USE_SUBPROCESS |
t_yamamoto | 0:669ef71cba68 | 37 | static void (*Process[USE_PROCESS_NUM])(void); |
t_yamamoto | 0:669ef71cba68 | 38 | #endif |
t_yamamoto | 0:669ef71cba68 | 39 | |
t_yamamoto | 0:669ef71cba68 | 40 | #pragma region USER-DEFINED_VARIABLES_AND_PROTOTYPE |
t_yamamoto | 0:669ef71cba68 | 41 | |
t_yamamoto | 0:669ef71cba68 | 42 | /*Replace here with the definition code of your variables.*/ |
t_yamamoto | 0:669ef71cba68 | 43 | |
kishibekairohan | 2:c015739085d3 | 44 | Serial pc(USBTX, USBRX); |
kishibekairohan | 2:c015739085d3 | 45 | |
kishibekairohan | 7:e88c5d47a3be | 46 | //************メカナム******************** |
kishibekairohan | 2:c015739085d3 | 47 | |
kishibekairohan | 2:c015739085d3 | 48 | const int mecanum[15][15]= |
kishibekairohan | 2:c015739085d3 | 49 | { |
kishibekairohan | 2:c015739085d3 | 50 | { 0, 5, 21, 47, 83, 130, 187, 255, 255, 255, 255, 255, 255, 255, 255}, |
kishibekairohan | 2:c015739085d3 | 51 | { -5, 0, 5, 21, 47, 83, 130, 187, 193, 208, 234, 255, 255, 255, 255}, |
kishibekairohan | 2:c015739085d3 | 52 | { -21, -5, 0, 5, 21, 47, 83, 130, 135, 151, 177, 213, 255, 255, 255}, |
kishibekairohan | 2:c015739085d3 | 53 | { -47, -21, 5, 0, 5, 21, 47, 83, 88, 104, 130, 167, 213, 255, 255}, |
kishibekairohan | 2:c015739085d3 | 54 | { -83, -47, -21, 5, 0, 5, 21, 47, 52, 68, 94, 130, 177, 234, 255}, |
kishibekairohan | 2:c015739085d3 | 55 | {-130, -83, -47, -21, 5, 0, 5, 21, 26, 42, 68, 104, 151, 208, 255}, |
kishibekairohan | 2:c015739085d3 | 56 | {-187, -130, -83, -47, -21, -5, 0, 5, 10, 26, 52, 88, 135, 193, 255}, |
kishibekairohan | 2:c015739085d3 | 57 | {-255, -187, -130, -83, -47, -21, -5, 0, 5, 21, 47, 83, 130, 187, 255}, |
kishibekairohan | 2:c015739085d3 | 58 | {-255, -193, -135, -88, -52, -26, -10, -5, 0, 5, 21, 47, 83, 130, 187}, |
kishibekairohan | 2:c015739085d3 | 59 | {-255, -208, -151, -104, -68, -42, -26, -21, -5, 0, 5, 21, 47, 83, 130}, |
kishibekairohan | 2:c015739085d3 | 60 | {-255, -234, -177, -130, -94, -68, -52, -47, -21, -7, 0, 7, 21, 47, 83}, |
kishibekairohan | 2:c015739085d3 | 61 | {-255, -255, -213, -167, -130, -104, -88, -83, -47, -21, -5, 0, 5, 21, 47}, |
kishibekairohan | 2:c015739085d3 | 62 | {-255, -255, -255, -213, -177, -151, -135, -130, -83, -47, -21, -5, 0, 5, 21}, |
kishibekairohan | 2:c015739085d3 | 63 | {-255, -255, -255, -255, -234, -208, -193, -187, -130, -83, -47, -21, -5, 0, 5}, |
kishibekairohan | 2:c015739085d3 | 64 | {-255, -255, -255, -255, -255, -255, -255, -255, -187, -130, -83, -47, -21, -5, 0} |
kishibekairohan | 2:c015739085d3 | 65 | }; |
kishibekairohan | 2:c015739085d3 | 66 | |
kishibekairohan | 2:c015739085d3 | 67 | const int curve[15] = {-204, -150, -104, -66, -38, -17, -4, 0, 4, 17, 38, 66, 104, 150, 204}; |
kishibekairohan | 2:c015739085d3 | 68 | uint8_t SetStatus(int); |
kishibekairohan | 2:c015739085d3 | 69 | uint8_t SetStatus(int pwmVal){ |
kishibekairohan | 2:c015739085d3 | 70 | if(pwmVal < 0) return BACK; |
kishibekairohan | 2:c015739085d3 | 71 | else if(pwmVal > 0) return FOR; |
kishibekairohan | 2:c015739085d3 | 72 | else if(pwmVal == 0) return BRAKE; |
kishibekairohan | 2:c015739085d3 | 73 | else return BRAKE; |
kishibekairohan | 2:c015739085d3 | 74 | } |
kishibekairohan | 2:c015739085d3 | 75 | uint8_t SetPWM(int); |
kishibekairohan | 2:c015739085d3 | 76 | uint8_t SetPWM(int pwmVal){ |
kishibekairohan | 2:c015739085d3 | 77 | if(pwmVal == 0 || pwmVal > 255 || pwmVal < -255) return 255; |
kishibekairohan | 2:c015739085d3 | 78 | else return abs(pwmVal); |
kishibekairohan | 2:c015739085d3 | 79 | } |
kishibekairohan | 2:c015739085d3 | 80 | |
7ka884 | 14:93776ca449a4 | 81 | //**************************************************************************************************** |
kishibekairohan | 7:e88c5d47a3be | 82 | |
kishibekairohan | 7:e88c5d47a3be | 83 | //************カラーセンサ******************** |
kishibekairohan | 7:e88c5d47a3be | 84 | |
kishibekairohan | 2:c015739085d3 | 85 | int Color_A[3]; //[赤,緑,青] |
kishibekairohan | 2:c015739085d3 | 86 | int Color_B[3]; |
kishibekairohan | 2:c015739085d3 | 87 | int Color_C[3]; |
kishibekairohan | 2:c015739085d3 | 88 | int Color_D[3]; |
kishibekairohan | 2:c015739085d3 | 89 | int intergration = 50; |
kishibekairohan | 2:c015739085d3 | 90 | |
kishibekairohan | 12:c09b3e08a316 | 91 | int Avecolor_A[3]; |
kishibekairohan | 12:c09b3e08a316 | 92 | int Avecolor_B[3]; |
kishibekairohan | 12:c09b3e08a316 | 93 | int Avecolor_C[3]; |
kishibekairohan | 12:c09b3e08a316 | 94 | int Avecolor_D[3]; |
kishibekairohan | 12:c09b3e08a316 | 95 | |
kishibekairohan | 12:c09b3e08a316 | 96 | void ColorIn(); |
kishibekairohan | 7:e88c5d47a3be | 97 | void ColorDetection(); |
kishibekairohan | 12:c09b3e08a316 | 98 | void getcolor(); |
kishibekairohan | 13:b6e02d6261d7 | 99 | |
7ka884 | 14:93776ca449a4 | 100 | //*************************************************************************************************************** |
kishibekairohan | 7:e88c5d47a3be | 101 | |
kishibekairohan | 2:c015739085d3 | 102 | //************ライントレース変数******************* |
7ka884 | 14:93776ca449a4 | 103 | int PointA[3] = {350, 600, 800};//赤,緑,青 |
7ka884 | 14:93776ca449a4 | 104 | int PointB[3] = {350, 600, 800};//赤,緑,青 |
kishibekairohan | 13:b6e02d6261d7 | 105 | int PointC[3] = {1000, 1700, 2400};//赤,緑,青 |
kishibekairohan | 8:6fb3723f7747 | 106 | |
kishibekairohan | 13:b6e02d6261d7 | 107 | bool compA = false; |
kishibekairohan | 13:b6e02d6261d7 | 108 | bool compB = false; |
kishibekairohan | 13:b6e02d6261d7 | 109 | bool compC = false; |
kishibekairohan | 13:b6e02d6261d7 | 110 | bool compD = false; |
kishibekairohan | 13:b6e02d6261d7 | 111 | |
kishibekairohan | 13:b6e02d6261d7 | 112 | bool invationA = false; |
kishibekairohan | 13:b6e02d6261d7 | 113 | bool invationB = false; |
kishibekairohan | 13:b6e02d6261d7 | 114 | bool invationC = false; |
kishibekairohan | 13:b6e02d6261d7 | 115 | bool invationD = false; |
kishibekairohan | 8:6fb3723f7747 | 116 | |
kishibekairohan | 8:6fb3723f7747 | 117 | Ticker Color_T; |
kishibekairohan | 13:b6e02d6261d7 | 118 | |
kishibekairohan | 13:b6e02d6261d7 | 119 | void ColorDetection(); |
7ka884 | 14:93776ca449a4 | 120 | void Color_changeflagA(); |
7ka884 | 14:93776ca449a4 | 121 | void Color_changeflagB(); |
7ka884 | 14:93776ca449a4 | 122 | //***************************************************************************************************** |
kishibekairohan | 9:f93fc79a49ea | 123 | |
kishibekairohan | 10:1295d39fec3a | 124 | //************ROタコン****************** |
kishibekairohan | 9:f93fc79a49ea | 125 | QEI RtX(RT11_PIN, RT12_PIN, NC, ROTATE_PER_REVOLUTIONS, QEI::X4_ENCODING); |
kishibekairohan | 9:f93fc79a49ea | 126 | QEI RtY(RT21_PIN, RT22_PIN, NC, ROTATE_PER_REVOLUTIONS, QEI::X4_ENCODING); |
kishibekairohan | 8:6fb3723f7747 | 127 | Ticker get_rpm; |
7ka884 | 14:93776ca449a4 | 128 | PID Rt_X = PID(0.03, -255, 255, 0.15, 0, 0); |
7ka884 | 14:93776ca449a4 | 129 | PID Rt_Y = PID(0.03, -255, 255, 0.17, 0, 0); |
7ka884 | 14:93776ca449a4 | 130 | double rpmX = 0, rpmXB =0; |
7ka884 | 14:93776ca449a4 | 131 | double rpmY = 0, rpmYB =0; |
7ka884 | 14:93776ca449a4 | 132 | double disX =0,disXB =0; |
7ka884 | 14:93776ca449a4 | 133 | double disY =0,disYB =0; |
kishibekairohan | 8:6fb3723f7747 | 134 | int palseX; |
kishibekairohan | 8:6fb3723f7747 | 135 | int palseY; |
7ka884 | 14:93776ca449a4 | 136 | int RtpwmX =0,RtpwmXB =0; |
7ka884 | 14:93776ca449a4 | 137 | int RtpwmY =0,RtpwmYB =0; |
7ka884 | 14:93776ca449a4 | 138 | double goalAX = 1000.000; |
7ka884 | 14:93776ca449a4 | 139 | double goalAY = 850.000; |
7ka884 | 14:93776ca449a4 | 140 | double goalBX = -430.000; |
7ka884 | 14:93776ca449a4 | 141 | double goalBY = 1000.000; |
kishibekairohan | 8:6fb3723f7747 | 142 | void filip(); |
7ka884 | 14:93776ca449a4 | 143 | void filipB(); |
kishibekairohan | 12:c09b3e08a316 | 144 | |
kishibekairohan | 10:1295d39fec3a | 145 | //************ROタコン****************** |
kishibekairohan | 2:c015739085d3 | 146 | |
kishibekairohan | 7:e88c5d47a3be | 147 | //************ジャイロ******************* |
kishibekairohan | 9:f93fc79a49ea | 148 | bool Angle_flagI = false; |
kishibekairohan | 11:028a150943b5 | 149 | int Angle; |
kishibekairohan | 7:e88c5d47a3be | 150 | PID gyro = PID(0.03, -150 , 150 , 8 , 0.03, 0); |
kishibekairohan | 7:e88c5d47a3be | 151 | float rotateY; |
kishibekairohan | 11:028a150943b5 | 152 | //初期値 -5 |
kishibekairohan | 11:028a150943b5 | 153 | int AngletargetX = 4; |
kishibekairohan | 11:028a150943b5 | 154 | int AngletargetY = -12; |
kishibekairohan | 12:c09b3e08a316 | 155 | int AngletargetI = -5; |
kishibekairohan | 7:e88c5d47a3be | 156 | //************ジャイロ******************* |
kishibekairohan | 2:c015739085d3 | 157 | |
kishibekairohan | 9:f93fc79a49ea | 158 | //************Buzzer****************** |
kishibekairohan | 11:028a150943b5 | 159 | //DigitalOut buzzer(BUZZER_PIN); |
kishibekairohan | 11:028a150943b5 | 160 | PwmOut buzzer(BUZZER_PIN); |
kishibekairohan | 9:f93fc79a49ea | 161 | void BuzzerTimer_func(); |
kishibekairohan | 9:f93fc79a49ea | 162 | Ticker BuzzerTimer; |
7ka884 | 14:93776ca449a4 | 163 | Ticker LostTimer; |
kishibekairohan | 9:f93fc79a49ea | 164 | bool Emsflag = false; |
kishibekairohan | 9:f93fc79a49ea | 165 | //************Buzzer****************** |
kishibekairohan | 11:028a150943b5 | 166 | |
kishibekairohan | 11:028a150943b5 | 167 | //************TapeLed***************** |
kishibekairohan | 11:028a150943b5 | 168 | void TapeLedEms_func(); |
kishibekairohan | 11:028a150943b5 | 169 | TapeLedData tapeLED; |
kishibekairohan | 11:028a150943b5 | 170 | TapeLedData sendLedData; |
kishibekairohan | 11:028a150943b5 | 171 | TapeLED_Mode ledMode = Normal; |
kishibekairohan | 11:028a150943b5 | 172 | Ticker tapeLedTimer; |
7ka884 | 14:93776ca449a4 | 173 | Ticker LostLedTimer; |
7ka884 | 14:93776ca449a4 | 174 | //void LostLed_func(); |
kishibekairohan | 11:028a150943b5 | 175 | //************TapaLed***************** |
t_yamamoto | 0:669ef71cba68 | 176 | #pragma endregion USER-DEFINED_VARIABLES_AND_PROTOTYPE |
t_yamamoto | 0:669ef71cba68 | 177 | |
t_yamamoto | 0:669ef71cba68 | 178 | #ifdef USE_SUBPROCESS |
t_yamamoto | 0:669ef71cba68 | 179 | #if USE_PROCESS_NUM>0 |
t_yamamoto | 0:669ef71cba68 | 180 | static void Process0(void); |
t_yamamoto | 0:669ef71cba68 | 181 | #endif |
t_yamamoto | 0:669ef71cba68 | 182 | #if USE_PROCESS_NUM>1 |
t_yamamoto | 0:669ef71cba68 | 183 | static void Process1(void); |
t_yamamoto | 0:669ef71cba68 | 184 | #endif |
t_yamamoto | 0:669ef71cba68 | 185 | #if USE_PROCESS_NUM>2 |
t_yamamoto | 0:669ef71cba68 | 186 | static void Process2(void); |
t_yamamoto | 0:669ef71cba68 | 187 | #endif |
t_yamamoto | 0:669ef71cba68 | 188 | #if USE_PROCESS_NUM>3 |
t_yamamoto | 0:669ef71cba68 | 189 | static void Process3(void); |
t_yamamoto | 0:669ef71cba68 | 190 | #endif |
t_yamamoto | 0:669ef71cba68 | 191 | #if USE_PROCESS_NUM>4 |
t_yamamoto | 0:669ef71cba68 | 192 | static void Process4(void); |
t_yamamoto | 0:669ef71cba68 | 193 | #endif |
t_yamamoto | 0:669ef71cba68 | 194 | #if USE_PROCESS_NUM>5 |
t_yamamoto | 0:669ef71cba68 | 195 | static void Process5(void); |
t_yamamoto | 0:669ef71cba68 | 196 | #endif |
t_yamamoto | 0:669ef71cba68 | 197 | #if USE_PROCESS_NUM>6 |
t_yamamoto | 0:669ef71cba68 | 198 | static void Process6(void); |
t_yamamoto | 0:669ef71cba68 | 199 | #endif |
t_yamamoto | 0:669ef71cba68 | 200 | #if USE_PROCESS_NUM>7 |
t_yamamoto | 0:669ef71cba68 | 201 | static void Process7(void); |
t_yamamoto | 0:669ef71cba68 | 202 | #endif |
t_yamamoto | 0:669ef71cba68 | 203 | #if USE_PROCESS_NUM>8 |
t_yamamoto | 0:669ef71cba68 | 204 | static void Process8(void); |
t_yamamoto | 0:669ef71cba68 | 205 | #endif |
t_yamamoto | 0:669ef71cba68 | 206 | #if USE_PROCESS_NUM>9 |
t_yamamoto | 0:669ef71cba68 | 207 | static void Process9(void); |
t_yamamoto | 0:669ef71cba68 | 208 | #endif |
t_yamamoto | 0:669ef71cba68 | 209 | #endif |
t_yamamoto | 0:669ef71cba68 | 210 | |
t_yamamoto | 0:669ef71cba68 | 211 | void SystemProcessInitialize() |
t_yamamoto | 0:669ef71cba68 | 212 | { |
t_yamamoto | 0:669ef71cba68 | 213 | #pragma region USER-DEFINED_VARIABLE_INIT |
kishibekairohan | 11:028a150943b5 | 214 | /*Replace here with the initialization code of your variables.*/ |
kishibekairohan | 9:f93fc79a49ea | 215 | get_rpm.attach_us(&filip,100); |
kishibekairohan | 11:028a150943b5 | 216 | buzzer.period(1.0/800); |
t_yamamoto | 0:669ef71cba68 | 217 | |
t_yamamoto | 0:669ef71cba68 | 218 | #pragma endregion USER-DEFINED_VARIABLE_INIT |
t_yamamoto | 0:669ef71cba68 | 219 | |
t_yamamoto | 0:669ef71cba68 | 220 | lock = true; |
t_yamamoto | 0:669ef71cba68 | 221 | processChangeComp = true; |
t_yamamoto | 0:669ef71cba68 | 222 | current = DEFAULT_PROCESS; |
t_yamamoto | 0:669ef71cba68 | 223 | |
t_yamamoto | 0:669ef71cba68 | 224 | #ifdef USE_SUBPROCESS |
t_yamamoto | 0:669ef71cba68 | 225 | #if USE_PROCESS_NUM>0 |
t_yamamoto | 0:669ef71cba68 | 226 | Process[0] = Process0; |
t_yamamoto | 0:669ef71cba68 | 227 | #endif |
t_yamamoto | 0:669ef71cba68 | 228 | #if USE_PROCESS_NUM>1 |
t_yamamoto | 0:669ef71cba68 | 229 | Process[1] = Process1; |
t_yamamoto | 0:669ef71cba68 | 230 | #endif |
t_yamamoto | 0:669ef71cba68 | 231 | #if USE_PROCESS_NUM>2 |
t_yamamoto | 0:669ef71cba68 | 232 | Process[2] = Process2; |
t_yamamoto | 0:669ef71cba68 | 233 | #endif |
t_yamamoto | 0:669ef71cba68 | 234 | #if USE_PROCESS_NUM>3 |
t_yamamoto | 0:669ef71cba68 | 235 | Process[3] = Process3; |
t_yamamoto | 0:669ef71cba68 | 236 | #endif |
t_yamamoto | 0:669ef71cba68 | 237 | #if USE_PROCESS_NUM>4 |
t_yamamoto | 0:669ef71cba68 | 238 | Process[4] = Process4; |
t_yamamoto | 0:669ef71cba68 | 239 | #endif |
t_yamamoto | 0:669ef71cba68 | 240 | #if USE_PROCESS_NUM>5 |
t_yamamoto | 0:669ef71cba68 | 241 | Process[5] = Process5; |
t_yamamoto | 0:669ef71cba68 | 242 | #endif |
t_yamamoto | 0:669ef71cba68 | 243 | #if USE_PROCESS_NUM>6 |
t_yamamoto | 0:669ef71cba68 | 244 | Process[6] = Process6; |
t_yamamoto | 0:669ef71cba68 | 245 | #endif |
t_yamamoto | 0:669ef71cba68 | 246 | #if USE_PROCESS_NUM>7 |
t_yamamoto | 0:669ef71cba68 | 247 | Process[7] = Process7; |
t_yamamoto | 0:669ef71cba68 | 248 | #endif |
t_yamamoto | 0:669ef71cba68 | 249 | #if USE_PROCESS_NUM>8 |
t_yamamoto | 0:669ef71cba68 | 250 | Process[8] = Process8; |
t_yamamoto | 0:669ef71cba68 | 251 | #endif |
t_yamamoto | 0:669ef71cba68 | 252 | #if USE_PROCESS_NUM>9 |
t_yamamoto | 0:669ef71cba68 | 253 | Process[9] = Process9; |
t_yamamoto | 0:669ef71cba68 | 254 | #endif |
t_yamamoto | 0:669ef71cba68 | 255 | #endif |
t_yamamoto | 0:669ef71cba68 | 256 | } |
t_yamamoto | 0:669ef71cba68 | 257 | |
t_yamamoto | 0:669ef71cba68 | 258 | static void SystemProcessUpdate() |
t_yamamoto | 0:669ef71cba68 | 259 | { |
t_yamamoto | 0:669ef71cba68 | 260 | #ifdef USE_SUBPROCESS |
t_yamamoto | 0:669ef71cba68 | 261 | if(controller->Button.HOME) lock = false; |
t_yamamoto | 0:669ef71cba68 | 262 | |
t_yamamoto | 0:669ef71cba68 | 263 | if(controller->Button.START && processChangeComp) |
t_yamamoto | 0:669ef71cba68 | 264 | { |
t_yamamoto | 0:669ef71cba68 | 265 | current++; |
t_yamamoto | 0:669ef71cba68 | 266 | if (USE_PROCESS_NUM < current) current = USE_PROCESS_NUM; |
t_yamamoto | 0:669ef71cba68 | 267 | processChangeComp = false; |
t_yamamoto | 0:669ef71cba68 | 268 | } |
t_yamamoto | 0:669ef71cba68 | 269 | else if(controller->Button.SELECT && processChangeComp) |
t_yamamoto | 0:669ef71cba68 | 270 | { |
t_yamamoto | 0:669ef71cba68 | 271 | current--; |
t_yamamoto | 0:669ef71cba68 | 272 | if (current < 0) current = 0; |
t_yamamoto | 0:669ef71cba68 | 273 | processChangeComp = false; |
t_yamamoto | 0:669ef71cba68 | 274 | } |
t_yamamoto | 0:669ef71cba68 | 275 | else if(!controller->Button.SELECT && !controller->Button.START) processChangeComp = true; |
t_yamamoto | 0:669ef71cba68 | 276 | #endif |
t_yamamoto | 0:669ef71cba68 | 277 | |
t_yamamoto | 0:669ef71cba68 | 278 | #ifdef USE_MOTOR |
t_yamamoto | 0:669ef71cba68 | 279 | ACTUATORHUB::MOTOR::Motor::Update(motor); |
t_yamamoto | 0:669ef71cba68 | 280 | #endif |
t_yamamoto | 0:669ef71cba68 | 281 | |
t_yamamoto | 0:669ef71cba68 | 282 | #ifdef USE_SOLENOID |
t_yamamoto | 0:669ef71cba68 | 283 | ACTUATORHUB::SOLENOID::Solenoid::Update(solenoid); |
t_yamamoto | 0:669ef71cba68 | 284 | #endif |
t_yamamoto | 0:669ef71cba68 | 285 | |
t_yamamoto | 0:669ef71cba68 | 286 | #ifdef USE_RS485 |
t_yamamoto | 0:669ef71cba68 | 287 | ACTUATORHUB::ActuatorHub::Update(); |
t_yamamoto | 0:669ef71cba68 | 288 | #endif |
t_yamamoto | 0:669ef71cba68 | 289 | |
t_yamamoto | 0:669ef71cba68 | 290 | } |
t_yamamoto | 0:669ef71cba68 | 291 | |
kishibekairohan | 2:c015739085d3 | 292 | |
kishibekairohan | 2:c015739085d3 | 293 | |
t_yamamoto | 0:669ef71cba68 | 294 | void SystemProcess() |
t_yamamoto | 0:669ef71cba68 | 295 | { |
t_yamamoto | 0:669ef71cba68 | 296 | SystemProcessInitialize(); |
t_yamamoto | 0:669ef71cba68 | 297 | |
t_yamamoto | 0:669ef71cba68 | 298 | while(1) |
7ka884 | 14:93776ca449a4 | 299 | { |
7ka884 | 14:93776ca449a4 | 300 | /* |
kishibekairohan | 12:c09b3e08a316 | 301 | getcolor(); |
kishibekairohan | 12:c09b3e08a316 | 302 | pc.printf("R1:%d, G1:%d, B1:%d \r\n",Avecolor_A[0],Avecolor_A[1],Avecolor_A[2]); |
kishibekairohan | 12:c09b3e08a316 | 303 | pc.printf("R2:%d, G2:%d, B2:%d \r\n",Avecolor_B[0],Avecolor_B[1],Avecolor_B[2]); |
kishibekairohan | 12:c09b3e08a316 | 304 | pc.printf("R3:%d, G3:%d, B3:%d \r\n",Avecolor_C[0],Avecolor_C[1],Avecolor_C[2]); |
kishibekairohan | 12:c09b3e08a316 | 305 | pc.printf("R4:%d, G4:%d, B4:%d \r\n",Avecolor_D[0],Avecolor_D[1],Avecolor_D[2]); |
7ka884 | 14:93776ca449a4 | 306 | |
7ka884 | 14:93776ca449a4 | 307 | palseX = RtX.getPulses(); |
7ka884 | 14:93776ca449a4 | 308 | palseY = RtY.getPulses(); |
7ka884 | 14:93776ca449a4 | 309 | |
7ka884 | 14:93776ca449a4 | 310 | pc.printf("X:%d",palseX); |
7ka884 | 14:93776ca449a4 | 311 | pc.printf("Y:%d",palseY); |
kishibekairohan | 13:b6e02d6261d7 | 312 | */ |
7ka884 | 14:93776ca449a4 | 313 | //wheel.getPulses()...どちらの方向にどれだけ回ったか |
7ka884 | 14:93776ca449a4 | 314 | //pc.printf("Pulses:%07d \r\n",wheel.getPulses()); |
7ka884 | 14:93776ca449a4 | 315 | //軸が何回転したか |
7ka884 | 14:93776ca449a4 | 316 | //pc.printf("Rotate:%04.3f \r\n",(double)wheel.getPulses()/(ROTATE_PER_REVOLUTIONS*4)); |
t_yamamoto | 0:669ef71cba68 | 317 | #ifdef USE_MU |
t_yamamoto | 0:669ef71cba68 | 318 | controller = CONTROLLER::Controller::GetData(); |
t_yamamoto | 0:669ef71cba68 | 319 | #endif |
t_yamamoto | 0:669ef71cba68 | 320 | |
t_yamamoto | 0:669ef71cba68 | 321 | #ifdef USE_ERRORCHECK |
t_yamamoto | 0:669ef71cba68 | 322 | if(SAFTY::ErrorCheck::Check() & SAFTY::Error::ControllerLost) |
t_yamamoto | 0:669ef71cba68 | 323 | { |
t_yamamoto | 0:669ef71cba68 | 324 | CONTROLLER::Controller::DataReset(); |
t_yamamoto | 0:669ef71cba68 | 325 | AllActuatorReset(); |
t_yamamoto | 0:669ef71cba68 | 326 | lock = true; |
7ka884 | 14:93776ca449a4 | 327 | //BuzzerTimer.attach(BuzzerTimer_func, 0.5); |
7ka884 | 14:93776ca449a4 | 328 | //LostLedTimer.attach(LostLed_func, 0.5); |
7ka884 | 14:93776ca449a4 | 329 | //sendLedData.code = (uint32_t)Yellow; |
7ka884 | 14:93776ca449a4 | 330 | //buzzer = 0.5; |
7ka884 | 14:93776ca449a4 | 331 | //LostTimer.attach(BuzzerTimer_func, 1.2); |
t_yamamoto | 0:669ef71cba68 | 332 | } |
t_yamamoto | 0:669ef71cba68 | 333 | else |
t_yamamoto | 0:669ef71cba68 | 334 | #endif |
t_yamamoto | 0:669ef71cba68 | 335 | { |
t_yamamoto | 0:669ef71cba68 | 336 | |
t_yamamoto | 0:669ef71cba68 | 337 | #ifdef USE_SUBPROCESS |
t_yamamoto | 0:669ef71cba68 | 338 | if(!lock) |
t_yamamoto | 0:669ef71cba68 | 339 | { |
t_yamamoto | 0:669ef71cba68 | 340 | Process[current](); |
t_yamamoto | 0:669ef71cba68 | 341 | } |
t_yamamoto | 0:669ef71cba68 | 342 | else |
t_yamamoto | 0:669ef71cba68 | 343 | #endif |
t_yamamoto | 0:669ef71cba68 | 344 | { |
t_yamamoto | 0:669ef71cba68 | 345 | //ロック時の処理 |
t_yamamoto | 0:669ef71cba68 | 346 | } |
t_yamamoto | 0:669ef71cba68 | 347 | } |
t_yamamoto | 0:669ef71cba68 | 348 | |
kishibekairohan | 10:1295d39fec3a | 349 | if ((EMS_0 || EMS_1) && !Emsflag){ |
kishibekairohan | 11:028a150943b5 | 350 | buzzer = 0.5; |
kishibekairohan | 9:f93fc79a49ea | 351 | BuzzerTimer.attach(BuzzerTimer_func, 1.2); |
kishibekairohan | 9:f93fc79a49ea | 352 | Emsflag = true; |
kishibekairohan | 11:028a150943b5 | 353 | ledMode = EMS; |
kishibekairohan | 11:028a150943b5 | 354 | current = 0; |
kishibekairohan | 11:028a150943b5 | 355 | tapeLedTimer.attach(TapeLedEms_func, 1.2); |
kishibekairohan | 11:028a150943b5 | 356 | sendLedData.code = (uint32_t)Red; |
kishibekairohan | 9:f93fc79a49ea | 357 | } |
kishibekairohan | 9:f93fc79a49ea | 358 | |
kishibekairohan | 9:f93fc79a49ea | 359 | if(!EMS_0 && !EMS_1) { |
kishibekairohan | 9:f93fc79a49ea | 360 | buzzer = 0; |
kishibekairohan | 9:f93fc79a49ea | 361 | BuzzerTimer.detach(); |
kishibekairohan | 9:f93fc79a49ea | 362 | Emsflag = false; |
kishibekairohan | 11:028a150943b5 | 363 | if(ledMode == EMS) ledMode = Normal; |
kishibekairohan | 11:028a150943b5 | 364 | tapeLedTimer.detach(); |
kishibekairohan | 11:028a150943b5 | 365 | } |
kishibekairohan | 11:028a150943b5 | 366 | |
kishibekairohan | 11:028a150943b5 | 367 | switch(ledMode) |
kishibekairohan | 11:028a150943b5 | 368 | { |
kishibekairohan | 11:028a150943b5 | 369 | case EMS : |
kishibekairohan | 11:028a150943b5 | 370 | break; |
kishibekairohan | 11:028a150943b5 | 371 | |
kishibekairohan | 11:028a150943b5 | 372 | case Normal : |
kishibekairohan | 11:028a150943b5 | 373 | sendLedData.code = tapeLED.code; |
kishibekairohan | 11:028a150943b5 | 374 | |
kishibekairohan | 11:028a150943b5 | 375 | default: |
kishibekairohan | 11:028a150943b5 | 376 | break; |
kishibekairohan | 9:f93fc79a49ea | 377 | } |
kishibekairohan | 9:f93fc79a49ea | 378 | |
t_yamamoto | 0:669ef71cba68 | 379 | SystemProcessUpdate(); |
t_yamamoto | 0:669ef71cba68 | 380 | } |
t_yamamoto | 0:669ef71cba68 | 381 | } |
t_yamamoto | 0:669ef71cba68 | 382 | |
kishibekairohan | 2:c015739085d3 | 383 | |
kishibekairohan | 2:c015739085d3 | 384 | |
kishibekairohan | 2:c015739085d3 | 385 | |
t_yamamoto | 0:669ef71cba68 | 386 | #pragma region PROCESS |
t_yamamoto | 0:669ef71cba68 | 387 | #ifdef USE_SUBPROCESS |
t_yamamoto | 0:669ef71cba68 | 388 | #if USE_PROCESS_NUM>0 |
kishibekairohan | 12:c09b3e08a316 | 389 | static void Process0() |
kishibekairohan | 10:1295d39fec3a | 390 | { |
kishibekairohan | 12:c09b3e08a316 | 391 | tapeLED.code = (uint32_t)Green; |
kishibekairohan | 13:b6e02d6261d7 | 392 | if(RedSW){ |
7ka884 | 14:93776ca449a4 | 393 | current = 6; |
kishibekairohan | 13:b6e02d6261d7 | 394 | } |
kishibekairohan | 13:b6e02d6261d7 | 395 | if(BlueSW){ |
7ka884 | 14:93776ca449a4 | 396 | current = 5; |
kishibekairohan | 13:b6e02d6261d7 | 397 | } |
t_yamamoto | 0:669ef71cba68 | 398 | } |
t_yamamoto | 0:669ef71cba68 | 399 | #endif |
t_yamamoto | 0:669ef71cba68 | 400 | |
t_yamamoto | 0:669ef71cba68 | 401 | #if USE_PROCESS_NUM>1 |
kishibekairohan | 12:c09b3e08a316 | 402 | static void Process1() //手動 |
t_yamamoto | 0:669ef71cba68 | 403 | { |
kishibekairohan | 12:c09b3e08a316 | 404 | tapeLED.code = (uint32_t)Orange; |
7ka884 | 14:93776ca449a4 | 405 | |
7ka884 | 4:ba9df71868df | 406 | motor[TIRE_FR].dir = SetStatus(-mecanum[controller->AnalogL.Y][14-controller->AnalogL.X] + curve[controller->AnalogR.X]); |
7ka884 | 4:ba9df71868df | 407 | motor[TIRE_FL].dir = SetStatus(mecanum[controller->AnalogL.Y][controller->AnalogL.X] + curve[controller->AnalogR.X]); |
7ka884 | 4:ba9df71868df | 408 | motor[TIRE_BR].dir = SetStatus(-mecanum[14-controller->AnalogL.X][14-controller->AnalogL.Y] + curve[controller->AnalogR.X]); |
7ka884 | 4:ba9df71868df | 409 | motor[TIRE_BL].dir = SetStatus(mecanum[controller->AnalogL.X][14-controller->AnalogL.Y] + curve[controller->AnalogR.X]); |
kishibekairohan | 2:c015739085d3 | 410 | |
kishibekairohan | 7:e88c5d47a3be | 411 | motor[TIRE_FR].pwm = SetPWM(mecanum[controller->AnalogL.Y][14-controller->AnalogL.X]) *0.8; |
kishibekairohan | 7:e88c5d47a3be | 412 | motor[TIRE_FL].pwm = SetPWM(mecanum[controller->AnalogL.Y][controller->AnalogL.X]) *0.8; |
kishibekairohan | 7:e88c5d47a3be | 413 | motor[TIRE_BR].pwm = SetPWM(mecanum[14-controller->AnalogL.X][14-controller->AnalogL.Y]) *0.8; |
kishibekairohan | 7:e88c5d47a3be | 414 | motor[TIRE_BL].pwm = SetPWM(mecanum[controller->AnalogL.X][14-controller->AnalogL.Y]) *0.8; |
kishibekairohan | 2:c015739085d3 | 415 | |
kishibekairohan | 2:c015739085d3 | 416 | if (abs(controller->AnalogL.X-7) <= 4 && controller->AnalogL.X!=7 && controller->AnalogL.Y!=7 && controller->AnalogR.X==7){ |
kishibekairohan | 7:e88c5d47a3be | 417 | motor[TIRE_FR].pwm = motor[TIRE_FR].pwm * 1.3; |
kishibekairohan | 7:e88c5d47a3be | 418 | motor[TIRE_FL].pwm = motor[TIRE_FL].pwm * 1.3; |
7ka884 | 4:ba9df71868df | 419 | } |
7ka884 | 4:ba9df71868df | 420 | |
kishibekairohan | 12:c09b3e08a316 | 421 | if(controller->Button.R){ |
kishibekairohan | 12:c09b3e08a316 | 422 | motor[Angle_R].dir = FOR; |
kishibekairohan | 12:c09b3e08a316 | 423 | motor[Angle_L].dir = BACK; |
kishibekairohan | 12:c09b3e08a316 | 424 | motor[Angle_R].pwm = 150; |
kishibekairohan | 12:c09b3e08a316 | 425 | motor[Angle_L].pwm = 150; |
kishibekairohan | 12:c09b3e08a316 | 426 | }else if(controller->Button.L){ |
kishibekairohan | 12:c09b3e08a316 | 427 | motor[Angle_R].dir = BACK; |
kishibekairohan | 12:c09b3e08a316 | 428 | motor[Angle_L].dir = FOR; |
kishibekairohan | 12:c09b3e08a316 | 429 | motor[Angle_R].pwm = 150; |
kishibekairohan | 12:c09b3e08a316 | 430 | motor[Angle_L].pwm = 150; |
kishibekairohan | 12:c09b3e08a316 | 431 | }else{ |
kishibekairohan | 12:c09b3e08a316 | 432 | motor[Angle_R].dir = BRAKE; |
kishibekairohan | 12:c09b3e08a316 | 433 | motor[Angle_L].dir = BRAKE; |
kishibekairohan | 12:c09b3e08a316 | 434 | motor[Angle_R].pwm = 255; |
kishibekairohan | 12:c09b3e08a316 | 435 | motor[Angle_L].pwm = 255; |
kishibekairohan | 12:c09b3e08a316 | 436 | } |
kishibekairohan | 12:c09b3e08a316 | 437 | |
kishibekairohan | 12:c09b3e08a316 | 438 | if(LimitSw::IsPressed(Lim_AR) && motor[Angle_R].dir == FOR && motor[Angle_L].dir == BACK){ |
kishibekairohan | 12:c09b3e08a316 | 439 | motor[Angle_R].dir = BRAKE; |
kishibekairohan | 12:c09b3e08a316 | 440 | motor[Angle_L].dir = BRAKE; |
kishibekairohan | 12:c09b3e08a316 | 441 | motor[Angle_R].pwm = 255; |
kishibekairohan | 12:c09b3e08a316 | 442 | motor[Angle_L].pwm = 255; |
kishibekairohan | 12:c09b3e08a316 | 443 | }else if(LimitSw::IsPressed(Lim_AL) && motor[Angle_R].dir == BACK && motor[Angle_L].dir == FOR){ |
kishibekairohan | 12:c09b3e08a316 | 444 | motor[Angle_R].dir = BRAKE; |
kishibekairohan | 12:c09b3e08a316 | 445 | motor[Angle_L].dir = BRAKE; |
kishibekairohan | 12:c09b3e08a316 | 446 | motor[Angle_R].pwm = 255; |
kishibekairohan | 12:c09b3e08a316 | 447 | motor[Angle_L].pwm = 255; |
kishibekairohan | 12:c09b3e08a316 | 448 | } |
kishibekairohan | 12:c09b3e08a316 | 449 | /*for(int i = 0;i<20;i++){ |
kishibekairohan | 12:c09b3e08a316 | 450 | float y = 0; |
kishibekairohan | 12:c09b3e08a316 | 451 | y = acc[1]*1000; |
kishibekairohan | 12:c09b3e08a316 | 452 | float rotateY = (y - 305)/2.21 - 90; |
kishibekairohan | 12:c09b3e08a316 | 453 | Angle += rotateY; |
kishibekairohan | 12:c09b3e08a316 | 454 | } |
kishibekairohan | 12:c09b3e08a316 | 455 | Angle = Angle/20; |
kishibekairohan | 12:c09b3e08a316 | 456 | pc.printf("Y:%d \r\n",Angle);*/ |
kishibekairohan | 2:c015739085d3 | 457 | |
kishibekairohan | 12:c09b3e08a316 | 458 | //wheel.getPulses()...どちらの方向にどれだけ回ったか |
kishibekairohan | 12:c09b3e08a316 | 459 | //pc.printf("Pulses:%07d \r\n",wheel.getPulses()); |
kishibekairohan | 12:c09b3e08a316 | 460 | //軸が何回転したか |
kishibekairohan | 12:c09b3e08a316 | 461 | //pc.printf("Rotate:%04.3f \r\n",(double)wheel.getPulses()/(ROTATE_PER_REVOLUTIONS*4)); |
7ka884 | 14:93776ca449a4 | 462 | |
7ka884 | 14:93776ca449a4 | 463 | //filip(); |
7ka884 | 14:93776ca449a4 | 464 | //pc.printf("AKApwmX:%d , AKApwmY:%d\r\n",RtpwmX,RtpwmY); |
7ka884 | 14:93776ca449a4 | 465 | |
7ka884 | 14:93776ca449a4 | 466 | //filipB(); |
7ka884 | 14:93776ca449a4 | 467 | //pc.printf("BLUEpwmX:%d , BLUEpwmY:%d \r\n",RtpwmXB,RtpwmYB); |
t_yamamoto | 0:669ef71cba68 | 468 | } |
t_yamamoto | 0:669ef71cba68 | 469 | #endif |
t_yamamoto | 0:669ef71cba68 | 470 | |
7ka884 | 14:93776ca449a4 | 471 | #if USE_PROCESS_NUM>2 //Blue Zone |
kishibekairohan | 13:b6e02d6261d7 | 472 | static void Process2() //trace |
kishibekairohan | 13:b6e02d6261d7 | 473 | { |
7ka884 | 14:93776ca449a4 | 474 | /*//tapeLED.code = (uint32_t)Blue; |
kishibekairohan | 13:b6e02d6261d7 | 475 | static bool traceon = false;//fase1 |
kishibekairohan | 13:b6e02d6261d7 | 476 | static bool yokofla = false;//fase2 |
kishibekairohan | 13:b6e02d6261d7 | 477 | static bool boxslip = false;//fase3 |
kishibekairohan | 13:b6e02d6261d7 | 478 | |
7ka884 | 14:93776ca449a4 | 479 | static bool Rt_flagX = false; |
7ka884 | 14:93776ca449a4 | 480 | static bool Rt_flagY = false; |
7ka884 | 14:93776ca449a4 | 481 | |
kishibekairohan | 13:b6e02d6261d7 | 482 | |
kishibekairohan | 13:b6e02d6261d7 | 483 | ColorDetection(); |
7ka884 | 14:93776ca449a4 | 484 | Color_changeflagA(); |
kishibekairohan | 13:b6e02d6261d7 | 485 | |
7ka884 | 14:93776ca449a4 | 486 | /*if(controller->Button.B && !color_nopush) |
kishibekairohan | 13:b6e02d6261d7 | 487 | { |
kishibekairohan | 13:b6e02d6261d7 | 488 | traceon = true; |
7ka884 | 14:93776ca449a4 | 489 | color_nopush = true; |
kishibekairohan | 13:b6e02d6261d7 | 490 | } |
7ka884 | 14:93776ca449a4 | 491 | traceon = true; |
7ka884 | 14:93776ca449a4 | 492 | |
7ka884 | 14:93776ca449a4 | 493 | //else if(!controller->Button.B)color_nopush = false; |
kishibekairohan | 13:b6e02d6261d7 | 494 | |
kishibekairohan | 13:b6e02d6261d7 | 495 | if(traceon) |
kishibekairohan | 13:b6e02d6261d7 | 496 | { |
7ka884 | 14:93776ca449a4 | 497 | Color_changeflagA(); |
7ka884 | 14:93776ca449a4 | 498 | if(!invationA && !compA && !invationB && !compB && !invationC && !compC) |
kishibekairohan | 13:b6e02d6261d7 | 499 | { |
7ka884 | 14:93776ca449a4 | 500 | motor[TIRE_FR].dir = BACK; |
7ka884 | 14:93776ca449a4 | 501 | motor[TIRE_FL].dir = BACK; |
7ka884 | 14:93776ca449a4 | 502 | motor[TIRE_BR].dir = FOR; |
7ka884 | 14:93776ca449a4 | 503 | motor[TIRE_BL].dir = FOR; |
kishibekairohan | 13:b6e02d6261d7 | 504 | |
7ka884 | 14:93776ca449a4 | 505 | motor[TIRE_FR].pwm = 42; |
kishibekairohan | 13:b6e02d6261d7 | 506 | motor[TIRE_FL].pwm = startP; |
kishibekairohan | 13:b6e02d6261d7 | 507 | motor[TIRE_BR].pwm = startP; |
kishibekairohan | 13:b6e02d6261d7 | 508 | motor[TIRE_BL].pwm = startP; |
kishibekairohan | 13:b6e02d6261d7 | 509 | } |
7ka884 | 14:93776ca449a4 | 510 | else if(invationB || compB || invationA || compA || invationC || compC) |
kishibekairohan | 13:b6e02d6261d7 | 511 | { |
kishibekairohan | 13:b6e02d6261d7 | 512 | for(int i = 0; i<1000; i++){ |
kishibekairohan | 13:b6e02d6261d7 | 513 | motor[TIRE_FR].dir = BRAKE; |
kishibekairohan | 13:b6e02d6261d7 | 514 | motor[TIRE_FL].dir = BRAKE; |
kishibekairohan | 13:b6e02d6261d7 | 515 | motor[TIRE_BR].dir = BRAKE; |
kishibekairohan | 13:b6e02d6261d7 | 516 | motor[TIRE_BL].dir = BRAKE; |
kishibekairohan | 13:b6e02d6261d7 | 517 | |
kishibekairohan | 13:b6e02d6261d7 | 518 | motor[TIRE_FR].pwm = 255; |
kishibekairohan | 13:b6e02d6261d7 | 519 | motor[TIRE_FL].pwm = 255; |
kishibekairohan | 13:b6e02d6261d7 | 520 | motor[TIRE_BR].pwm = 255; |
kishibekairohan | 13:b6e02d6261d7 | 521 | motor[TIRE_BL].pwm = 255; |
kishibekairohan | 13:b6e02d6261d7 | 522 | } |
kishibekairohan | 13:b6e02d6261d7 | 523 | |
kishibekairohan | 13:b6e02d6261d7 | 524 | yokofla = true; |
kishibekairohan | 13:b6e02d6261d7 | 525 | traceon = false; |
kishibekairohan | 13:b6e02d6261d7 | 526 | } |
kishibekairohan | 13:b6e02d6261d7 | 527 | } |
kishibekairohan | 13:b6e02d6261d7 | 528 | |
kishibekairohan | 13:b6e02d6261d7 | 529 | |
kishibekairohan | 13:b6e02d6261d7 | 530 | if(yokofla && !traceon) |
kishibekairohan | 13:b6e02d6261d7 | 531 | { |
kishibekairohan | 13:b6e02d6261d7 | 532 | //pointcalculation(); |
7ka884 | 14:93776ca449a4 | 533 | Color_changeflagA(); |
7ka884 | 14:93776ca449a4 | 534 | if(LimitSw::IsPressed(Lim_R) || LimitSw::IsPressed(Lim_L)) |
7ka884 | 14:93776ca449a4 | 535 | { |
7ka884 | 14:93776ca449a4 | 536 | motor[TIRE_FR].dir = BRAKE; |
7ka884 | 14:93776ca449a4 | 537 | motor[TIRE_FL].dir = BRAKE; |
7ka884 | 14:93776ca449a4 | 538 | motor[TIRE_BR].dir = BRAKE; |
7ka884 | 14:93776ca449a4 | 539 | motor[TIRE_BL].dir = BRAKE; |
7ka884 | 14:93776ca449a4 | 540 | |
7ka884 | 14:93776ca449a4 | 541 | motor[TIRE_FR].pwm = 255; |
7ka884 | 14:93776ca449a4 | 542 | motor[TIRE_FL].pwm = 255; |
7ka884 | 14:93776ca449a4 | 543 | motor[TIRE_BR].pwm = 255; |
7ka884 | 14:93776ca449a4 | 544 | motor[TIRE_BL].pwm = 255; |
7ka884 | 14:93776ca449a4 | 545 | |
7ka884 | 14:93776ca449a4 | 546 | |
7ka884 | 14:93776ca449a4 | 547 | boxslip = true; |
7ka884 | 14:93776ca449a4 | 548 | yokofla = false; |
7ka884 | 14:93776ca449a4 | 549 | } |
7ka884 | 14:93776ca449a4 | 550 | else{ |
7ka884 | 14:93776ca449a4 | 551 | motor[TIRE_FR].dir = FOR; |
7ka884 | 14:93776ca449a4 | 552 | motor[TIRE_FL].dir = BACK; |
7ka884 | 14:93776ca449a4 | 553 | motor[TIRE_BR].dir = FOR; |
7ka884 | 14:93776ca449a4 | 554 | motor[TIRE_BL].dir = BACK; |
7ka884 | 14:93776ca449a4 | 555 | |
7ka884 | 14:93776ca449a4 | 556 | motor[TIRE_FR].pwm = startP; |
7ka884 | 14:93776ca449a4 | 557 | motor[TIRE_FL].pwm = startP; |
7ka884 | 14:93776ca449a4 | 558 | motor[TIRE_BR].pwm = startP; |
7ka884 | 14:93776ca449a4 | 559 | motor[TIRE_BL].pwm = 47; |
7ka884 | 14:93776ca449a4 | 560 | } |
7ka884 | 14:93776ca449a4 | 561 | } |
7ka884 | 14:93776ca449a4 | 562 | |
7ka884 | 14:93776ca449a4 | 563 | if(boxslip) |
7ka884 | 14:93776ca449a4 | 564 | { |
7ka884 | 14:93776ca449a4 | 565 | for(int i = 0; i<500; i++){ |
7ka884 | 14:93776ca449a4 | 566 | motor[TIRE_FR].dir = BRAKE; |
7ka884 | 14:93776ca449a4 | 567 | motor[TIRE_FL].dir = BRAKE; |
7ka884 | 14:93776ca449a4 | 568 | motor[TIRE_BR].dir = BRAKE; |
7ka884 | 14:93776ca449a4 | 569 | motor[TIRE_BL].dir = BRAKE; |
7ka884 | 14:93776ca449a4 | 570 | |
7ka884 | 14:93776ca449a4 | 571 | motor[TIRE_FR].pwm = 255; |
7ka884 | 14:93776ca449a4 | 572 | motor[TIRE_FL].pwm = 255; |
7ka884 | 14:93776ca449a4 | 573 | motor[TIRE_BR].pwm = 255; |
7ka884 | 14:93776ca449a4 | 574 | motor[TIRE_BL].pwm = 255; |
7ka884 | 14:93776ca449a4 | 575 | } |
7ka884 | 14:93776ca449a4 | 576 | |
7ka884 | 14:93776ca449a4 | 577 | RtX.reset(); |
7ka884 | 14:93776ca449a4 | 578 | RtY.reset(); |
7ka884 | 14:93776ca449a4 | 579 | |
7ka884 | 14:93776ca449a4 | 580 | Rt_flagX = true; |
7ka884 | 14:93776ca449a4 | 581 | boxslip = false; |
7ka884 | 14:93776ca449a4 | 582 | } |
7ka884 | 14:93776ca449a4 | 583 | |
7ka884 | 14:93776ca449a4 | 584 | filipB(); |
7ka884 | 14:93776ca449a4 | 585 | if(Rt_flagX && !boxslip) |
7ka884 | 14:93776ca449a4 | 586 | { |
7ka884 | 14:93776ca449a4 | 587 | filipB(); |
7ka884 | 14:93776ca449a4 | 588 | if(disX > -goalAX + 5){ |
7ka884 | 14:93776ca449a4 | 589 | motor[TIRE_FR].dir = BACK; |
7ka884 | 14:93776ca449a4 | 590 | motor[TIRE_FL].dir = BACK; |
7ka884 | 14:93776ca449a4 | 591 | motor[TIRE_BR].dir = FOR; |
7ka884 | 14:93776ca449a4 | 592 | motor[TIRE_BL].dir = FOR; |
7ka884 | 14:93776ca449a4 | 593 | motor[TIRE_FR].pwm = SetPWM(RtpwmX)*0.8; |
7ka884 | 14:93776ca449a4 | 594 | motor[TIRE_FL].pwm = SetPWM(RtpwmX); |
7ka884 | 14:93776ca449a4 | 595 | motor[TIRE_BR].pwm = SetPWM(RtpwmX); |
7ka884 | 14:93776ca449a4 | 596 | motor[TIRE_BL].pwm = SetPWM(RtpwmX); |
7ka884 | 14:93776ca449a4 | 597 | } |
7ka884 | 14:93776ca449a4 | 598 | else if(disX < -goalAX + 5){ |
7ka884 | 14:93776ca449a4 | 599 | motor[TIRE_FR].dir = BRAKE; |
7ka884 | 14:93776ca449a4 | 600 | motor[TIRE_FL].dir = BRAKE; |
7ka884 | 14:93776ca449a4 | 601 | motor[TIRE_BR].dir = BRAKE; |
7ka884 | 14:93776ca449a4 | 602 | motor[TIRE_BL].dir = BRAKE; |
7ka884 | 14:93776ca449a4 | 603 | |
7ka884 | 14:93776ca449a4 | 604 | motor[TIRE_FR].pwm = 255; |
7ka884 | 14:93776ca449a4 | 605 | motor[TIRE_FL].pwm = 255; |
7ka884 | 14:93776ca449a4 | 606 | motor[TIRE_BR].pwm = 255; |
7ka884 | 14:93776ca449a4 | 607 | motor[TIRE_BL].pwm = 255; |
7ka884 | 14:93776ca449a4 | 608 | |
7ka884 | 14:93776ca449a4 | 609 | Rt_flagY = true; |
7ka884 | 14:93776ca449a4 | 610 | Rt_flagX = false; |
7ka884 | 14:93776ca449a4 | 611 | } |
7ka884 | 14:93776ca449a4 | 612 | } |
7ka884 | 14:93776ca449a4 | 613 | |
7ka884 | 14:93776ca449a4 | 614 | |
7ka884 | 14:93776ca449a4 | 615 | if(Rt_flagY && !Rt_flagX){ |
7ka884 | 14:93776ca449a4 | 616 | filipB(); |
7ka884 | 14:93776ca449a4 | 617 | if(disY < goalAY - 5){ |
7ka884 | 14:93776ca449a4 | 618 | motor[TIRE_FR].dir = SetStatus(-RtpwmY); |
7ka884 | 14:93776ca449a4 | 619 | motor[TIRE_FL].dir = SetStatus(RtpwmY); |
7ka884 | 14:93776ca449a4 | 620 | motor[TIRE_BR].dir = SetStatus(-RtpwmY); |
7ka884 | 14:93776ca449a4 | 621 | motor[TIRE_BL].dir = SetStatus(RtpwmY); |
7ka884 | 14:93776ca449a4 | 622 | motor[TIRE_FR].pwm = SetPWM(RtpwmY); |
7ka884 | 14:93776ca449a4 | 623 | motor[TIRE_FL].pwm = SetPWM(RtpwmY); |
7ka884 | 14:93776ca449a4 | 624 | motor[TIRE_BR].pwm = SetPWM(RtpwmY); |
7ka884 | 14:93776ca449a4 | 625 | motor[TIRE_BL].pwm = SetPWM(RtpwmY)*1.2; |
7ka884 | 14:93776ca449a4 | 626 | } |
7ka884 | 14:93776ca449a4 | 627 | else if(disY > goalAY - 5) |
7ka884 | 14:93776ca449a4 | 628 | { |
7ka884 | 14:93776ca449a4 | 629 | motor[TIRE_FR].dir = BRAKE; |
7ka884 | 14:93776ca449a4 | 630 | motor[TIRE_FL].dir = BRAKE; |
7ka884 | 14:93776ca449a4 | 631 | motor[TIRE_BR].dir = BRAKE; |
7ka884 | 14:93776ca449a4 | 632 | motor[TIRE_BL].dir = BRAKE; |
7ka884 | 14:93776ca449a4 | 633 | motor[TIRE_FR].pwm = 255; |
7ka884 | 14:93776ca449a4 | 634 | motor[TIRE_FL].pwm = 255; |
7ka884 | 14:93776ca449a4 | 635 | motor[TIRE_BR].pwm = 255; |
7ka884 | 14:93776ca449a4 | 636 | motor[TIRE_BL].pwm = 255; |
7ka884 | 14:93776ca449a4 | 637 | } |
7ka884 | 14:93776ca449a4 | 638 | }*/ |
7ka884 | 14:93776ca449a4 | 639 | } |
7ka884 | 14:93776ca449a4 | 640 | #endif |
7ka884 | 14:93776ca449a4 | 641 | |
7ka884 | 14:93776ca449a4 | 642 | #if USE_PROCESS_NUM>3 |
7ka884 | 14:93776ca449a4 | 643 | static void Process3() //Red Zone |
7ka884 | 14:93776ca449a4 | 644 | { |
7ka884 | 14:93776ca449a4 | 645 | /*tapeLED.code = (uint32_t)Red; |
7ka884 | 14:93776ca449a4 | 646 | |
7ka884 | 14:93776ca449a4 | 647 | //static bool color_nopush = false; |
7ka884 | 14:93776ca449a4 | 648 | |
7ka884 | 14:93776ca449a4 | 649 | static bool traceon = false;//fase1 |
7ka884 | 14:93776ca449a4 | 650 | static bool yokofla = false;//fase2 |
7ka884 | 14:93776ca449a4 | 651 | static bool boxslip = false;//fase3 |
7ka884 | 14:93776ca449a4 | 652 | |
7ka884 | 14:93776ca449a4 | 653 | static bool Rt_flagX = false; |
7ka884 | 14:93776ca449a4 | 654 | static bool Rt_flagY = false; |
7ka884 | 14:93776ca449a4 | 655 | |
7ka884 | 14:93776ca449a4 | 656 | //static bool syu = false; |
7ka884 | 14:93776ca449a4 | 657 | |
7ka884 | 14:93776ca449a4 | 658 | ColorDetection(); |
7ka884 | 14:93776ca449a4 | 659 | Color_changeflagA(); |
7ka884 | 14:93776ca449a4 | 660 | |
7ka884 | 14:93776ca449a4 | 661 | /*if(controller->Button.B && !color_nopush) |
7ka884 | 14:93776ca449a4 | 662 | { |
7ka884 | 14:93776ca449a4 | 663 | traceon = true; |
7ka884 | 14:93776ca449a4 | 664 | color_nopush = true; |
7ka884 | 14:93776ca449a4 | 665 | } |
7ka884 | 14:93776ca449a4 | 666 | //else if(!controller->Button.B)color_nopush = false; |
7ka884 | 14:93776ca449a4 | 667 | traceon = true; |
7ka884 | 14:93776ca449a4 | 668 | |
7ka884 | 14:93776ca449a4 | 669 | if(traceon) |
7ka884 | 14:93776ca449a4 | 670 | { |
7ka884 | 14:93776ca449a4 | 671 | Color_changeflagA(); |
7ka884 | 14:93776ca449a4 | 672 | if(!invationA && !compA && !invationB && !compB && !invationC && !compC) |
7ka884 | 14:93776ca449a4 | 673 | { |
7ka884 | 14:93776ca449a4 | 674 | motor[TIRE_FR].dir = FOR; |
7ka884 | 14:93776ca449a4 | 675 | motor[TIRE_FL].dir = FOR; |
7ka884 | 14:93776ca449a4 | 676 | motor[TIRE_BR].dir = BACK; |
7ka884 | 14:93776ca449a4 | 677 | motor[TIRE_BL].dir = BACK; |
7ka884 | 14:93776ca449a4 | 678 | |
7ka884 | 14:93776ca449a4 | 679 | motor[TIRE_FR].pwm = startP; |
7ka884 | 14:93776ca449a4 | 680 | motor[TIRE_FL].pwm = startP; |
7ka884 | 14:93776ca449a4 | 681 | motor[TIRE_BR].pwm = startP; |
7ka884 | 14:93776ca449a4 | 682 | motor[TIRE_BL].pwm = startP; |
7ka884 | 14:93776ca449a4 | 683 | } |
7ka884 | 14:93776ca449a4 | 684 | else if(invationA || compA || invationB || compB || invationC || compC) |
7ka884 | 14:93776ca449a4 | 685 | { |
7ka884 | 14:93776ca449a4 | 686 | motor[TIRE_FR].dir = BRAKE; |
7ka884 | 14:93776ca449a4 | 687 | motor[TIRE_FL].dir = BRAKE; |
7ka884 | 14:93776ca449a4 | 688 | motor[TIRE_BR].dir = BRAKE; |
7ka884 | 14:93776ca449a4 | 689 | motor[TIRE_BL].dir = BRAKE; |
7ka884 | 14:93776ca449a4 | 690 | |
7ka884 | 14:93776ca449a4 | 691 | motor[TIRE_FR].pwm = 255; |
7ka884 | 14:93776ca449a4 | 692 | motor[TIRE_FL].pwm = 255; |
7ka884 | 14:93776ca449a4 | 693 | motor[TIRE_BR].pwm = 255; |
7ka884 | 14:93776ca449a4 | 694 | motor[TIRE_BL].pwm = 255; |
7ka884 | 14:93776ca449a4 | 695 | |
7ka884 | 14:93776ca449a4 | 696 | yokofla = true; |
7ka884 | 14:93776ca449a4 | 697 | traceon = false; |
7ka884 | 14:93776ca449a4 | 698 | } |
7ka884 | 14:93776ca449a4 | 699 | } |
7ka884 | 14:93776ca449a4 | 700 | |
7ka884 | 14:93776ca449a4 | 701 | |
7ka884 | 14:93776ca449a4 | 702 | if(yokofla && !traceon) |
7ka884 | 14:93776ca449a4 | 703 | { |
7ka884 | 14:93776ca449a4 | 704 | //pointcalculation(); |
7ka884 | 14:93776ca449a4 | 705 | Color_changeflagA(); |
7ka884 | 14:93776ca449a4 | 706 | if(LimitSw::IsPressed(Lim_R) && LimitSw::IsPressed(Lim_L)) |
7ka884 | 14:93776ca449a4 | 707 | { |
7ka884 | 14:93776ca449a4 | 708 | motor[TIRE_FR].dir = BRAKE; |
7ka884 | 14:93776ca449a4 | 709 | motor[TIRE_FL].dir = BRAKE; |
7ka884 | 14:93776ca449a4 | 710 | motor[TIRE_BR].dir = BRAKE; |
7ka884 | 14:93776ca449a4 | 711 | motor[TIRE_BL].dir = BRAKE; |
7ka884 | 14:93776ca449a4 | 712 | |
7ka884 | 14:93776ca449a4 | 713 | motor[TIRE_FR].pwm = 255; |
7ka884 | 14:93776ca449a4 | 714 | motor[TIRE_FL].pwm = 255; |
7ka884 | 14:93776ca449a4 | 715 | motor[TIRE_BR].pwm = 255; |
7ka884 | 14:93776ca449a4 | 716 | motor[TIRE_BL].pwm = 255; |
7ka884 | 14:93776ca449a4 | 717 | |
7ka884 | 14:93776ca449a4 | 718 | boxslip = true; |
7ka884 | 14:93776ca449a4 | 719 | yokofla = false; |
7ka884 | 14:93776ca449a4 | 720 | } |
7ka884 | 14:93776ca449a4 | 721 | else{ |
7ka884 | 14:93776ca449a4 | 722 | motor[TIRE_FR].dir = FOR; |
7ka884 | 14:93776ca449a4 | 723 | motor[TIRE_FL].dir = BACK; |
7ka884 | 14:93776ca449a4 | 724 | motor[TIRE_BR].dir = FOR; |
7ka884 | 14:93776ca449a4 | 725 | motor[TIRE_BL].dir = BACK; |
7ka884 | 14:93776ca449a4 | 726 | |
7ka884 | 14:93776ca449a4 | 727 | motor[TIRE_FR].pwm = startP; |
7ka884 | 14:93776ca449a4 | 728 | motor[TIRE_FL].pwm = startP; |
7ka884 | 14:93776ca449a4 | 729 | motor[TIRE_BR].pwm = startP; |
7ka884 | 14:93776ca449a4 | 730 | motor[TIRE_BL].pwm = startP; |
7ka884 | 14:93776ca449a4 | 731 | } |
7ka884 | 14:93776ca449a4 | 732 | } |
7ka884 | 14:93776ca449a4 | 733 | |
7ka884 | 14:93776ca449a4 | 734 | |
7ka884 | 14:93776ca449a4 | 735 | /******************************** |
7ka884 | 14:93776ca449a4 | 736 | if(boxslip && !yokofla) |
7ka884 | 14:93776ca449a4 | 737 | { |
7ka884 | 14:93776ca449a4 | 738 | motor[TIRE_FR].dir = BRAKE; |
7ka884 | 14:93776ca449a4 | 739 | motor[TIRE_FL].dir = BRAKE; |
7ka884 | 14:93776ca449a4 | 740 | motor[TIRE_BR].dir = BRAKE; |
7ka884 | 14:93776ca449a4 | 741 | motor[TIRE_BL].dir = BRAKE; |
7ka884 | 14:93776ca449a4 | 742 | |
7ka884 | 14:93776ca449a4 | 743 | motor[TIRE_FR].pwm = 255; |
7ka884 | 14:93776ca449a4 | 744 | motor[TIRE_FL].pwm = 255; |
7ka884 | 14:93776ca449a4 | 745 | motor[TIRE_BR].pwm = 255; |
7ka884 | 14:93776ca449a4 | 746 | motor[TIRE_BL].pwm = 255; |
7ka884 | 14:93776ca449a4 | 747 | |
7ka884 | 14:93776ca449a4 | 748 | |
7ka884 | 14:93776ca449a4 | 749 | RtX.reset(); |
7ka884 | 14:93776ca449a4 | 750 | RtY.reset(); |
7ka884 | 14:93776ca449a4 | 751 | |
7ka884 | 14:93776ca449a4 | 752 | Rt_flagX = true; |
7ka884 | 14:93776ca449a4 | 753 | boxslip = false; |
7ka884 | 14:93776ca449a4 | 754 | } |
7ka884 | 14:93776ca449a4 | 755 | |
7ka884 | 14:93776ca449a4 | 756 | if(Rt_flagX && !boxslip) |
7ka884 | 14:93776ca449a4 | 757 | { |
7ka884 | 14:93776ca449a4 | 758 | filip(); |
7ka884 | 14:93776ca449a4 | 759 | if(disX < goalAX - 5){ |
7ka884 | 14:93776ca449a4 | 760 | |
7ka884 | 14:93776ca449a4 | 761 | motor[TIRE_FR].dir = FOR; |
7ka884 | 14:93776ca449a4 | 762 | motor[TIRE_FL].dir = FOR; |
7ka884 | 14:93776ca449a4 | 763 | motor[TIRE_BR].dir = BACK; |
7ka884 | 14:93776ca449a4 | 764 | motor[TIRE_BL].dir = BACK; |
7ka884 | 14:93776ca449a4 | 765 | motor[TIRE_FR].pwm = SetPWM(RtpwmX)*0.8; |
7ka884 | 14:93776ca449a4 | 766 | motor[TIRE_FL].pwm = SetPWM(RtpwmX); |
7ka884 | 14:93776ca449a4 | 767 | motor[TIRE_BR].pwm = SetPWM(RtpwmX); |
7ka884 | 14:93776ca449a4 | 768 | motor[TIRE_BL].pwm = SetPWM(RtpwmX); |
7ka884 | 14:93776ca449a4 | 769 | } |
7ka884 | 14:93776ca449a4 | 770 | else if(disX > goalAX - 5){ |
7ka884 | 14:93776ca449a4 | 771 | |
7ka884 | 14:93776ca449a4 | 772 | motor[TIRE_FR].dir = BRAKE; |
7ka884 | 14:93776ca449a4 | 773 | motor[TIRE_FL].dir = BRAKE; |
7ka884 | 14:93776ca449a4 | 774 | motor[TIRE_BR].dir = BRAKE; |
7ka884 | 14:93776ca449a4 | 775 | motor[TIRE_BL].dir = BRAKE; |
7ka884 | 14:93776ca449a4 | 776 | |
7ka884 | 14:93776ca449a4 | 777 | motor[TIRE_FR].pwm = 255; |
7ka884 | 14:93776ca449a4 | 778 | motor[TIRE_FL].pwm = 255; |
7ka884 | 14:93776ca449a4 | 779 | motor[TIRE_BR].pwm = 255; |
7ka884 | 14:93776ca449a4 | 780 | motor[TIRE_BL].pwm = 255; |
7ka884 | 14:93776ca449a4 | 781 | |
7ka884 | 14:93776ca449a4 | 782 | Rt_flagY = true; |
7ka884 | 14:93776ca449a4 | 783 | Rt_flagX = false; |
7ka884 | 14:93776ca449a4 | 784 | } |
7ka884 | 14:93776ca449a4 | 785 | } |
7ka884 | 14:93776ca449a4 | 786 | |
7ka884 | 14:93776ca449a4 | 787 | |
7ka884 | 14:93776ca449a4 | 788 | if(Rt_flagY && !Rt_flagX){ |
7ka884 | 14:93776ca449a4 | 789 | filip(); |
7ka884 | 14:93776ca449a4 | 790 | if(disY < goalAY - 5){ |
7ka884 | 14:93776ca449a4 | 791 | motor[TIRE_FR].dir = SetStatus(-RtpwmY); |
7ka884 | 14:93776ca449a4 | 792 | motor[TIRE_FL].dir = SetStatus(RtpwmY); |
7ka884 | 14:93776ca449a4 | 793 | motor[TIRE_BR].dir = SetStatus(-RtpwmY); |
7ka884 | 14:93776ca449a4 | 794 | motor[TIRE_BL].dir = SetStatus(RtpwmY); |
7ka884 | 14:93776ca449a4 | 795 | motor[TIRE_FR].pwm = SetPWM(RtpwmY); |
7ka884 | 14:93776ca449a4 | 796 | motor[TIRE_FL].pwm = SetPWM(RtpwmY); |
7ka884 | 14:93776ca449a4 | 797 | motor[TIRE_BR].pwm = SetPWM(RtpwmY); |
7ka884 | 14:93776ca449a4 | 798 | motor[TIRE_BL].pwm = SetPWM(RtpwmY); |
7ka884 | 14:93776ca449a4 | 799 | } |
7ka884 | 14:93776ca449a4 | 800 | else if(disY > goalAY - 5) |
7ka884 | 14:93776ca449a4 | 801 | { |
7ka884 | 14:93776ca449a4 | 802 | motor[TIRE_FR].dir = BRAKE; |
7ka884 | 14:93776ca449a4 | 803 | motor[TIRE_FL].dir = BRAKE; |
7ka884 | 14:93776ca449a4 | 804 | motor[TIRE_BR].dir = BRAKE; |
7ka884 | 14:93776ca449a4 | 805 | motor[TIRE_BL].dir = BRAKE; |
7ka884 | 14:93776ca449a4 | 806 | motor[TIRE_FR].pwm = 255; |
7ka884 | 14:93776ca449a4 | 807 | motor[TIRE_FL].pwm = 255; |
7ka884 | 14:93776ca449a4 | 808 | motor[TIRE_BR].pwm = 255; |
7ka884 | 14:93776ca449a4 | 809 | motor[TIRE_BL].pwm = 255; |
7ka884 | 14:93776ca449a4 | 810 | } |
7ka884 | 14:93776ca449a4 | 811 | }*/ |
7ka884 | 14:93776ca449a4 | 812 | } |
7ka884 | 14:93776ca449a4 | 813 | #endif |
7ka884 | 14:93776ca449a4 | 814 | |
7ka884 | 14:93776ca449a4 | 815 | #if USE_PROCESS_NUM>4 |
7ka884 | 14:93776ca449a4 | 816 | static void Process4() |
7ka884 | 14:93776ca449a4 | 817 | { |
7ka884 | 14:93776ca449a4 | 818 | |
7ka884 | 14:93776ca449a4 | 819 | } |
7ka884 | 14:93776ca449a4 | 820 | #endif |
7ka884 | 14:93776ca449a4 | 821 | |
7ka884 | 14:93776ca449a4 | 822 | #if USE_PROCESS_NUM>5 |
7ka884 | 14:93776ca449a4 | 823 | static void Process5()//traceB |
7ka884 | 14:93776ca449a4 | 824 | { |
7ka884 | 14:93776ca449a4 | 825 | static bool traceonB = true;//fase1 |
7ka884 | 14:93776ca449a4 | 826 | static bool yokoflaB = false;//fase2 |
7ka884 | 14:93776ca449a4 | 827 | static bool boxslipB = false;//fase3 |
7ka884 | 14:93776ca449a4 | 828 | |
7ka884 | 14:93776ca449a4 | 829 | static bool Rt_flagXB = false; |
7ka884 | 14:93776ca449a4 | 830 | static bool Rt_flagYB = false; |
7ka884 | 14:93776ca449a4 | 831 | |
7ka884 | 14:93776ca449a4 | 832 | ColorDetection(); |
7ka884 | 14:93776ca449a4 | 833 | Color_changeflagB(); |
7ka884 | 14:93776ca449a4 | 834 | |
7ka884 | 14:93776ca449a4 | 835 | if(traceonB && !Rt_flagXB && !Rt_flagYB && !boxslipB) |
7ka884 | 14:93776ca449a4 | 836 | { |
7ka884 | 14:93776ca449a4 | 837 | Color_changeflagB(); |
7ka884 | 14:93776ca449a4 | 838 | if(!invationA && !compA && !invationB && !compB && !invationC && !compC) |
7ka884 | 14:93776ca449a4 | 839 | { |
7ka884 | 14:93776ca449a4 | 840 | motor[TIRE_FR].dir = BACK; |
7ka884 | 14:93776ca449a4 | 841 | motor[TIRE_FL].dir = BACK; |
7ka884 | 14:93776ca449a4 | 842 | motor[TIRE_BR].dir = FOR; |
7ka884 | 14:93776ca449a4 | 843 | motor[TIRE_BL].dir = FOR; |
7ka884 | 14:93776ca449a4 | 844 | |
7ka884 | 14:93776ca449a4 | 845 | motor[TIRE_FR].pwm = 48; |
7ka884 | 14:93776ca449a4 | 846 | motor[TIRE_FL].pwm = 43; |
7ka884 | 14:93776ca449a4 | 847 | motor[TIRE_BR].pwm = 43; |
7ka884 | 14:93776ca449a4 | 848 | motor[TIRE_BL].pwm = 43; |
7ka884 | 14:93776ca449a4 | 849 | } |
7ka884 | 14:93776ca449a4 | 850 | else if(invationA || compA || invationB || compB || invationC || compC) |
7ka884 | 14:93776ca449a4 | 851 | { |
7ka884 | 14:93776ca449a4 | 852 | motor[TIRE_FR].dir = BRAKE; |
7ka884 | 14:93776ca449a4 | 853 | motor[TIRE_FL].dir = BRAKE; |
7ka884 | 14:93776ca449a4 | 854 | motor[TIRE_BR].dir = BRAKE; |
7ka884 | 14:93776ca449a4 | 855 | motor[TIRE_BL].dir = BRAKE; |
7ka884 | 14:93776ca449a4 | 856 | |
7ka884 | 14:93776ca449a4 | 857 | motor[TIRE_FR].pwm = 255; |
7ka884 | 14:93776ca449a4 | 858 | motor[TIRE_FL].pwm = 255; |
7ka884 | 14:93776ca449a4 | 859 | motor[TIRE_BR].pwm = 255; |
7ka884 | 14:93776ca449a4 | 860 | motor[TIRE_BL].pwm = 255; |
7ka884 | 14:93776ca449a4 | 861 | |
7ka884 | 14:93776ca449a4 | 862 | yokoflaB = true; |
7ka884 | 14:93776ca449a4 | 863 | traceonB = false; |
7ka884 | 14:93776ca449a4 | 864 | } |
7ka884 | 14:93776ca449a4 | 865 | } |
7ka884 | 14:93776ca449a4 | 866 | |
7ka884 | 14:93776ca449a4 | 867 | |
7ka884 | 14:93776ca449a4 | 868 | if(yokoflaB && !traceonB) |
7ka884 | 14:93776ca449a4 | 869 | { |
7ka884 | 14:93776ca449a4 | 870 | Color_changeflagB(); |
7ka884 | 14:93776ca449a4 | 871 | if(LimitSw::IsPressed(Lim_R) && LimitSw::IsPressed(Lim_L)) |
kishibekairohan | 13:b6e02d6261d7 | 872 | { |
kishibekairohan | 13:b6e02d6261d7 | 873 | motor[TIRE_FR].dir = BRAKE; |
kishibekairohan | 13:b6e02d6261d7 | 874 | motor[TIRE_FL].dir = BRAKE; |
kishibekairohan | 13:b6e02d6261d7 | 875 | motor[TIRE_BR].dir = BRAKE; |
kishibekairohan | 13:b6e02d6261d7 | 876 | motor[TIRE_BL].dir = BRAKE; |
kishibekairohan | 13:b6e02d6261d7 | 877 | |
kishibekairohan | 13:b6e02d6261d7 | 878 | motor[TIRE_FR].pwm = 255; |
kishibekairohan | 13:b6e02d6261d7 | 879 | motor[TIRE_FL].pwm = 255; |
kishibekairohan | 13:b6e02d6261d7 | 880 | motor[TIRE_BR].pwm = 255; |
kishibekairohan | 13:b6e02d6261d7 | 881 | motor[TIRE_BL].pwm = 255; |
kishibekairohan | 13:b6e02d6261d7 | 882 | |
7ka884 | 14:93776ca449a4 | 883 | boxslipB = true; |
7ka884 | 14:93776ca449a4 | 884 | yokoflaB = false; |
kishibekairohan | 13:b6e02d6261d7 | 885 | } |
7ka884 | 14:93776ca449a4 | 886 | else if(LimitSw::IsPressed(Lim_R) || LimitSw::IsPressed(Lim_L)) |
kishibekairohan | 13:b6e02d6261d7 | 887 | { |
7ka884 | 14:93776ca449a4 | 888 | motor[TIRE_FR].dir = FOR; |
kishibekairohan | 13:b6e02d6261d7 | 889 | motor[TIRE_FL].dir = BACK; |
kishibekairohan | 13:b6e02d6261d7 | 890 | motor[TIRE_BR].dir = FOR; |
kishibekairohan | 13:b6e02d6261d7 | 891 | motor[TIRE_BL].dir = BACK; |
kishibekairohan | 13:b6e02d6261d7 | 892 | |
7ka884 | 14:93776ca449a4 | 893 | motor[TIRE_FR].pwm = 55; |
7ka884 | 14:93776ca449a4 | 894 | motor[TIRE_FL].pwm = 55; |
7ka884 | 14:93776ca449a4 | 895 | motor[TIRE_BR].pwm = 55; |
7ka884 | 14:93776ca449a4 | 896 | motor[TIRE_BL].pwm = 55; |
kishibekairohan | 13:b6e02d6261d7 | 897 | } |
7ka884 | 14:93776ca449a4 | 898 | else if(invationA || invationB && (!LimitSw::IsPressed(Lim_R) && !LimitSw::IsPressed(Lim_L))) |
kishibekairohan | 13:b6e02d6261d7 | 899 | { |
kishibekairohan | 13:b6e02d6261d7 | 900 | motor[TIRE_FR].dir = FOR; |
kishibekairohan | 13:b6e02d6261d7 | 901 | motor[TIRE_FL].dir = FREE; |
kishibekairohan | 13:b6e02d6261d7 | 902 | motor[TIRE_BR].dir = FREE; |
kishibekairohan | 13:b6e02d6261d7 | 903 | motor[TIRE_BL].dir = BACK; |
kishibekairohan | 13:b6e02d6261d7 | 904 | |
7ka884 | 14:93776ca449a4 | 905 | motor[TIRE_FR].pwm = 55; |
7ka884 | 14:93776ca449a4 | 906 | //motor[TIRE_FL].pwm = 30; |
7ka884 | 14:93776ca449a4 | 907 | //motor[TIRE_BR].pwm = 30; |
7ka884 | 14:93776ca449a4 | 908 | motor[TIRE_BL].pwm = 55; |
7ka884 | 14:93776ca449a4 | 909 | } |
7ka884 | 14:93776ca449a4 | 910 | else if(!invationA || !invationB && (!LimitSw::IsPressed(Lim_R) && !LimitSw::IsPressed(Lim_L))) |
7ka884 | 14:93776ca449a4 | 911 | { |
7ka884 | 14:93776ca449a4 | 912 | motor[TIRE_FR].dir = FREE; |
7ka884 | 14:93776ca449a4 | 913 | motor[TIRE_FL].dir = BACK; |
7ka884 | 14:93776ca449a4 | 914 | motor[TIRE_BR].dir = FOR; |
7ka884 | 14:93776ca449a4 | 915 | motor[TIRE_BL].dir = FREE; |
7ka884 | 14:93776ca449a4 | 916 | |
7ka884 | 14:93776ca449a4 | 917 | //motor[TIRE_FR].pwm = 30; |
7ka884 | 14:93776ca449a4 | 918 | motor[TIRE_FL].pwm = 55; |
7ka884 | 14:93776ca449a4 | 919 | motor[TIRE_BR].pwm = 55; |
7ka884 | 14:93776ca449a4 | 920 | //motor[TIRE_BL].pwm = 30; |
kishibekairohan | 13:b6e02d6261d7 | 921 | } |
7ka884 | 14:93776ca449a4 | 922 | else |
7ka884 | 14:93776ca449a4 | 923 | { |
7ka884 | 14:93776ca449a4 | 924 | motor[TIRE_FR].dir = FOR; |
7ka884 | 14:93776ca449a4 | 925 | motor[TIRE_FL].dir = BACK; |
7ka884 | 14:93776ca449a4 | 926 | motor[TIRE_BR].dir = FOR; |
7ka884 | 14:93776ca449a4 | 927 | motor[TIRE_BL].dir = BACK; |
7ka884 | 14:93776ca449a4 | 928 | |
7ka884 | 14:93776ca449a4 | 929 | motor[TIRE_FR].pwm = 50; |
7ka884 | 14:93776ca449a4 | 930 | motor[TIRE_FL].pwm = 50; |
7ka884 | 14:93776ca449a4 | 931 | motor[TIRE_BR].pwm = 50; |
7ka884 | 14:93776ca449a4 | 932 | motor[TIRE_BL].pwm = 50; |
7ka884 | 14:93776ca449a4 | 933 | } |
7ka884 | 14:93776ca449a4 | 934 | } |
7ka884 | 14:93776ca449a4 | 935 | |
7ka884 | 14:93776ca449a4 | 936 | |
7ka884 | 14:93776ca449a4 | 937 | /*********************************/ |
7ka884 | 14:93776ca449a4 | 938 | if(boxslipB && !yokoflaB && !traceonB) |
7ka884 | 14:93776ca449a4 | 939 | { |
7ka884 | 14:93776ca449a4 | 940 | Color_changeflagB(); |
7ka884 | 14:93776ca449a4 | 941 | if((compA && compB) || compC){ |
7ka884 | 14:93776ca449a4 | 942 | |
7ka884 | 14:93776ca449a4 | 943 | RtX.reset(); |
7ka884 | 14:93776ca449a4 | 944 | RtY.reset(); |
7ka884 | 14:93776ca449a4 | 945 | |
7ka884 | 14:93776ca449a4 | 946 | Rt_flagXB = true; |
7ka884 | 14:93776ca449a4 | 947 | boxslipB = false; |
7ka884 | 14:93776ca449a4 | 948 | } |
7ka884 | 14:93776ca449a4 | 949 | else if(invationA || invationB){ |
7ka884 | 14:93776ca449a4 | 950 | motor[TIRE_FR].dir = FOR; |
7ka884 | 14:93776ca449a4 | 951 | motor[TIRE_FL].dir = FOR; |
kishibekairohan | 13:b6e02d6261d7 | 952 | motor[TIRE_BR].dir = BACK; |
kishibekairohan | 13:b6e02d6261d7 | 953 | motor[TIRE_BL].dir = BACK; |
kishibekairohan | 13:b6e02d6261d7 | 954 | |
7ka884 | 14:93776ca449a4 | 955 | motor[TIRE_FR].pwm = 25; |
7ka884 | 14:93776ca449a4 | 956 | motor[TIRE_FL].pwm = 25; |
7ka884 | 14:93776ca449a4 | 957 | motor[TIRE_BR].pwm = 25; |
7ka884 | 14:93776ca449a4 | 958 | motor[TIRE_BL].pwm = 25; |
kishibekairohan | 13:b6e02d6261d7 | 959 | } |
7ka884 | 14:93776ca449a4 | 960 | else if(!invationA || !invationB){ |
kishibekairohan | 13:b6e02d6261d7 | 961 | motor[TIRE_FR].dir = BACK; |
kishibekairohan | 13:b6e02d6261d7 | 962 | motor[TIRE_FL].dir = BACK; |
kishibekairohan | 13:b6e02d6261d7 | 963 | motor[TIRE_BR].dir = FOR; |
kishibekairohan | 13:b6e02d6261d7 | 964 | motor[TIRE_BL].dir = FOR; |
kishibekairohan | 13:b6e02d6261d7 | 965 | |
7ka884 | 14:93776ca449a4 | 966 | motor[TIRE_FR].pwm = 25; |
7ka884 | 14:93776ca449a4 | 967 | motor[TIRE_FL].pwm = 25; |
7ka884 | 14:93776ca449a4 | 968 | motor[TIRE_BR].pwm = 25; |
7ka884 | 14:93776ca449a4 | 969 | motor[TIRE_BL].pwm = 25; |
kishibekairohan | 13:b6e02d6261d7 | 970 | } |
kishibekairohan | 13:b6e02d6261d7 | 971 | } |
7ka884 | 14:93776ca449a4 | 972 | |
7ka884 | 14:93776ca449a4 | 973 | |
7ka884 | 14:93776ca449a4 | 974 | |
7ka884 | 14:93776ca449a4 | 975 | filipB(); |
7ka884 | 14:93776ca449a4 | 976 | if(Rt_flagXB && !boxslipB) |
kishibekairohan | 13:b6e02d6261d7 | 977 | { |
7ka884 | 14:93776ca449a4 | 978 | filipB(); |
7ka884 | 14:93776ca449a4 | 979 | if(disXB > goalBX + 5){ |
7ka884 | 14:93776ca449a4 | 980 | motor[TIRE_FR].dir = BACK; |
7ka884 | 14:93776ca449a4 | 981 | motor[TIRE_FL].dir = BACK; |
7ka884 | 14:93776ca449a4 | 982 | motor[TIRE_BR].dir = FOR; |
7ka884 | 14:93776ca449a4 | 983 | motor[TIRE_BL].dir = FOR; |
kishibekairohan | 13:b6e02d6261d7 | 984 | motor[TIRE_FR].pwm = SetPWM(RtpwmX)*0.8; |
kishibekairohan | 13:b6e02d6261d7 | 985 | motor[TIRE_FL].pwm = SetPWM(RtpwmX); |
kishibekairohan | 13:b6e02d6261d7 | 986 | motor[TIRE_BR].pwm = SetPWM(RtpwmX); |
kishibekairohan | 13:b6e02d6261d7 | 987 | motor[TIRE_BL].pwm = SetPWM(RtpwmX); |
kishibekairohan | 13:b6e02d6261d7 | 988 | } |
7ka884 | 14:93776ca449a4 | 989 | else if(disXB < goalBX + 5){ |
kishibekairohan | 13:b6e02d6261d7 | 990 | motor[TIRE_FR].dir = BRAKE; |
kishibekairohan | 13:b6e02d6261d7 | 991 | motor[TIRE_FL].dir = BRAKE; |
kishibekairohan | 13:b6e02d6261d7 | 992 | motor[TIRE_BR].dir = BRAKE; |
kishibekairohan | 13:b6e02d6261d7 | 993 | motor[TIRE_BL].dir = BRAKE; |
kishibekairohan | 13:b6e02d6261d7 | 994 | |
kishibekairohan | 13:b6e02d6261d7 | 995 | motor[TIRE_FR].pwm = 255; |
kishibekairohan | 13:b6e02d6261d7 | 996 | motor[TIRE_FL].pwm = 255; |
kishibekairohan | 13:b6e02d6261d7 | 997 | motor[TIRE_BR].pwm = 255; |
kishibekairohan | 13:b6e02d6261d7 | 998 | motor[TIRE_BL].pwm = 255; |
7ka884 | 14:93776ca449a4 | 999 | |
7ka884 | 14:93776ca449a4 | 1000 | wait(1); |
kishibekairohan | 13:b6e02d6261d7 | 1001 | |
7ka884 | 14:93776ca449a4 | 1002 | Rt_flagYB = true; |
7ka884 | 14:93776ca449a4 | 1003 | Rt_flagXB = false; |
kishibekairohan | 13:b6e02d6261d7 | 1004 | } |
kishibekairohan | 13:b6e02d6261d7 | 1005 | } |
kishibekairohan | 13:b6e02d6261d7 | 1006 | |
kishibekairohan | 13:b6e02d6261d7 | 1007 | |
7ka884 | 14:93776ca449a4 | 1008 | if(Rt_flagYB && !Rt_flagXB){ |
7ka884 | 14:93776ca449a4 | 1009 | filipB(); |
7ka884 | 14:93776ca449a4 | 1010 | if(disYB < goalBY - 5){ |
kishibekairohan | 13:b6e02d6261d7 | 1011 | motor[TIRE_FR].dir = SetStatus(-RtpwmY); |
kishibekairohan | 13:b6e02d6261d7 | 1012 | motor[TIRE_FL].dir = SetStatus(RtpwmY); |
kishibekairohan | 13:b6e02d6261d7 | 1013 | motor[TIRE_BR].dir = SetStatus(-RtpwmY); |
kishibekairohan | 13:b6e02d6261d7 | 1014 | motor[TIRE_BL].dir = SetStatus(RtpwmY); |
kishibekairohan | 13:b6e02d6261d7 | 1015 | motor[TIRE_FR].pwm = SetPWM(RtpwmY); |
kishibekairohan | 13:b6e02d6261d7 | 1016 | motor[TIRE_FL].pwm = SetPWM(RtpwmY); |
kishibekairohan | 13:b6e02d6261d7 | 1017 | motor[TIRE_BR].pwm = SetPWM(RtpwmY); |
7ka884 | 14:93776ca449a4 | 1018 | motor[TIRE_BL].pwm = SetPWM(RtpwmY)*1.2; |
kishibekairohan | 13:b6e02d6261d7 | 1019 | } |
7ka884 | 14:93776ca449a4 | 1020 | else if(disYB > goalBY - 5) |
kishibekairohan | 13:b6e02d6261d7 | 1021 | { |
kishibekairohan | 13:b6e02d6261d7 | 1022 | motor[TIRE_FR].dir = BRAKE; |
kishibekairohan | 13:b6e02d6261d7 | 1023 | motor[TIRE_FL].dir = BRAKE; |
kishibekairohan | 13:b6e02d6261d7 | 1024 | motor[TIRE_BR].dir = BRAKE; |
kishibekairohan | 13:b6e02d6261d7 | 1025 | motor[TIRE_BL].dir = BRAKE; |
7ka884 | 14:93776ca449a4 | 1026 | motor[TIRE_FR].pwm = 255; |
kishibekairohan | 13:b6e02d6261d7 | 1027 | motor[TIRE_FL].pwm = 255; |
kishibekairohan | 13:b6e02d6261d7 | 1028 | motor[TIRE_BR].pwm = 255; |
kishibekairohan | 13:b6e02d6261d7 | 1029 | motor[TIRE_BL].pwm = 255; |
kishibekairohan | 13:b6e02d6261d7 | 1030 | } |
kishibekairohan | 13:b6e02d6261d7 | 1031 | } |
kishibekairohan | 13:b6e02d6261d7 | 1032 | } |
kishibekairohan | 13:b6e02d6261d7 | 1033 | #endif |
kishibekairohan | 13:b6e02d6261d7 | 1034 | |
7ka884 | 14:93776ca449a4 | 1035 | #if USE_PROCESS_NUM>6//traceA |
kishibekairohan | 13:b6e02d6261d7 | 1036 | static void Process6() |
7ka884 | 14:93776ca449a4 | 1037 | { |
7ka884 | 14:93776ca449a4 | 1038 | static bool traceon = true;//fase1 |
kishibekairohan | 13:b6e02d6261d7 | 1039 | static bool yokofla = false;//fase2 |
kishibekairohan | 13:b6e02d6261d7 | 1040 | static bool boxslip = false;//fase3 |
kishibekairohan | 13:b6e02d6261d7 | 1041 | |
kishibekairohan | 13:b6e02d6261d7 | 1042 | static bool Rt_flagX = false; |
kishibekairohan | 13:b6e02d6261d7 | 1043 | static bool Rt_flagY = false; |
kishibekairohan | 13:b6e02d6261d7 | 1044 | |
7ka884 | 14:93776ca449a4 | 1045 | ColorDetection(); |
7ka884 | 14:93776ca449a4 | 1046 | Color_changeflagA(); |
kishibekairohan | 13:b6e02d6261d7 | 1047 | |
7ka884 | 14:93776ca449a4 | 1048 | if(traceon && !Rt_flagX && !Rt_flagY && !boxslip ) |
kishibekairohan | 13:b6e02d6261d7 | 1049 | { |
7ka884 | 14:93776ca449a4 | 1050 | Color_changeflagA(); |
7ka884 | 14:93776ca449a4 | 1051 | if(!invationA && !compA && !invationB && !compB && !invationC && !compC) |
kishibekairohan | 13:b6e02d6261d7 | 1052 | { |
kishibekairohan | 13:b6e02d6261d7 | 1053 | motor[TIRE_FR].dir = FOR; |
kishibekairohan | 13:b6e02d6261d7 | 1054 | motor[TIRE_FL].dir = FOR; |
kishibekairohan | 13:b6e02d6261d7 | 1055 | motor[TIRE_BR].dir = BACK; |
kishibekairohan | 13:b6e02d6261d7 | 1056 | motor[TIRE_BL].dir = BACK; |
kishibekairohan | 13:b6e02d6261d7 | 1057 | |
7ka884 | 14:93776ca449a4 | 1058 | motor[TIRE_FR].pwm = 42; |
7ka884 | 14:93776ca449a4 | 1059 | motor[TIRE_FL].pwm = 42; |
7ka884 | 14:93776ca449a4 | 1060 | motor[TIRE_BR].pwm = 42; |
7ka884 | 14:93776ca449a4 | 1061 | motor[TIRE_BL].pwm = 42; |
kishibekairohan | 13:b6e02d6261d7 | 1062 | } |
7ka884 | 14:93776ca449a4 | 1063 | else if(invationA || compA || invationB || compB || invationC || compC) |
kishibekairohan | 13:b6e02d6261d7 | 1064 | { |
kishibekairohan | 13:b6e02d6261d7 | 1065 | motor[TIRE_FR].dir = BRAKE; |
kishibekairohan | 13:b6e02d6261d7 | 1066 | motor[TIRE_FL].dir = BRAKE; |
kishibekairohan | 13:b6e02d6261d7 | 1067 | motor[TIRE_BR].dir = BRAKE; |
kishibekairohan | 13:b6e02d6261d7 | 1068 | motor[TIRE_BL].dir = BRAKE; |
kishibekairohan | 13:b6e02d6261d7 | 1069 | |
kishibekairohan | 13:b6e02d6261d7 | 1070 | motor[TIRE_FR].pwm = 255; |
kishibekairohan | 13:b6e02d6261d7 | 1071 | motor[TIRE_FL].pwm = 255; |
kishibekairohan | 13:b6e02d6261d7 | 1072 | motor[TIRE_BR].pwm = 255; |
kishibekairohan | 13:b6e02d6261d7 | 1073 | motor[TIRE_BL].pwm = 255; |
kishibekairohan | 13:b6e02d6261d7 | 1074 | |
kishibekairohan | 13:b6e02d6261d7 | 1075 | yokofla = true; |
kishibekairohan | 13:b6e02d6261d7 | 1076 | traceon = false; |
kishibekairohan | 13:b6e02d6261d7 | 1077 | } |
kishibekairohan | 13:b6e02d6261d7 | 1078 | } |
kishibekairohan | 13:b6e02d6261d7 | 1079 | |
kishibekairohan | 13:b6e02d6261d7 | 1080 | |
kishibekairohan | 13:b6e02d6261d7 | 1081 | if(yokofla && !traceon) |
kishibekairohan | 13:b6e02d6261d7 | 1082 | { |
7ka884 | 14:93776ca449a4 | 1083 | Color_changeflagA(); |
7ka884 | 14:93776ca449a4 | 1084 | if(LimitSw::IsPressed(Lim_R) && LimitSw::IsPressed(Lim_L)) |
kishibekairohan | 13:b6e02d6261d7 | 1085 | { |
kishibekairohan | 13:b6e02d6261d7 | 1086 | motor[TIRE_FR].dir = BRAKE; |
kishibekairohan | 13:b6e02d6261d7 | 1087 | motor[TIRE_FL].dir = BRAKE; |
kishibekairohan | 13:b6e02d6261d7 | 1088 | motor[TIRE_BR].dir = BRAKE; |
kishibekairohan | 13:b6e02d6261d7 | 1089 | motor[TIRE_BL].dir = BRAKE; |
kishibekairohan | 13:b6e02d6261d7 | 1090 | |
kishibekairohan | 13:b6e02d6261d7 | 1091 | motor[TIRE_FR].pwm = 255; |
kishibekairohan | 13:b6e02d6261d7 | 1092 | motor[TIRE_FL].pwm = 255; |
kishibekairohan | 13:b6e02d6261d7 | 1093 | motor[TIRE_BR].pwm = 255; |
kishibekairohan | 13:b6e02d6261d7 | 1094 | motor[TIRE_BL].pwm = 255; |
kishibekairohan | 13:b6e02d6261d7 | 1095 | |
kishibekairohan | 13:b6e02d6261d7 | 1096 | boxslip = true; |
kishibekairohan | 13:b6e02d6261d7 | 1097 | yokofla = false; |
kishibekairohan | 13:b6e02d6261d7 | 1098 | } |
7ka884 | 14:93776ca449a4 | 1099 | else if(LimitSw::IsPressed(Lim_R) || LimitSw::IsPressed(Lim_L)) |
kishibekairohan | 13:b6e02d6261d7 | 1100 | { |
7ka884 | 14:93776ca449a4 | 1101 | motor[TIRE_FR].dir = FOR; |
kishibekairohan | 13:b6e02d6261d7 | 1102 | motor[TIRE_FL].dir = BACK; |
kishibekairohan | 13:b6e02d6261d7 | 1103 | motor[TIRE_BR].dir = FOR; |
kishibekairohan | 13:b6e02d6261d7 | 1104 | motor[TIRE_BL].dir = BACK; |
kishibekairohan | 13:b6e02d6261d7 | 1105 | |
7ka884 | 14:93776ca449a4 | 1106 | motor[TIRE_FR].pwm = 55; |
7ka884 | 14:93776ca449a4 | 1107 | motor[TIRE_FL].pwm = 55; |
7ka884 | 14:93776ca449a4 | 1108 | motor[TIRE_BR].pwm = 55; |
7ka884 | 14:93776ca449a4 | 1109 | motor[TIRE_BL].pwm = 55; |
kishibekairohan | 13:b6e02d6261d7 | 1110 | } |
7ka884 | 14:93776ca449a4 | 1111 | else if((invationA || invationB) && !LimitSw::IsPressed(Lim_R) && !LimitSw::IsPressed(Lim_L)) |
kishibekairohan | 13:b6e02d6261d7 | 1112 | { |
kishibekairohan | 13:b6e02d6261d7 | 1113 | motor[TIRE_FR].dir = FREE; |
kishibekairohan | 13:b6e02d6261d7 | 1114 | motor[TIRE_FL].dir = BACK; |
kishibekairohan | 13:b6e02d6261d7 | 1115 | motor[TIRE_BR].dir = FOR; |
kishibekairohan | 13:b6e02d6261d7 | 1116 | motor[TIRE_BL].dir = FREE; |
kishibekairohan | 13:b6e02d6261d7 | 1117 | |
kishibekairohan | 13:b6e02d6261d7 | 1118 | //motor[TIRE_FR].pwm = startP; |
7ka884 | 14:93776ca449a4 | 1119 | motor[TIRE_FL].pwm = 55; |
7ka884 | 14:93776ca449a4 | 1120 | motor[TIRE_BR].pwm = 55; |
kishibekairohan | 13:b6e02d6261d7 | 1121 | //motor[TIRE_BL].pwm = startP; |
kishibekairohan | 13:b6e02d6261d7 | 1122 | } |
7ka884 | 14:93776ca449a4 | 1123 | else if((!invationA || !invationB) && !LimitSw::IsPressed(Lim_R) && !LimitSw::IsPressed(Lim_L)) |
kishibekairohan | 13:b6e02d6261d7 | 1124 | { |
kishibekairohan | 13:b6e02d6261d7 | 1125 | motor[TIRE_FR].dir = FOR; |
kishibekairohan | 13:b6e02d6261d7 | 1126 | motor[TIRE_FL].dir = FREE; |
kishibekairohan | 13:b6e02d6261d7 | 1127 | motor[TIRE_BR].dir = FREE; |
kishibekairohan | 13:b6e02d6261d7 | 1128 | motor[TIRE_BL].dir = BACK; |
kishibekairohan | 13:b6e02d6261d7 | 1129 | |
7ka884 | 14:93776ca449a4 | 1130 | motor[TIRE_FR].pwm = 55; |
kishibekairohan | 13:b6e02d6261d7 | 1131 | //motor[TIRE_FL].pwm = startP; |
7ka884 | 14:93776ca449a4 | 1132 | //motor[TIRE_BR].pwm = startP; |
7ka884 | 14:93776ca449a4 | 1133 | motor[TIRE_BL].pwm = 55; |
7ka884 | 14:93776ca449a4 | 1134 | } |
7ka884 | 14:93776ca449a4 | 1135 | else |
7ka884 | 14:93776ca449a4 | 1136 | { |
7ka884 | 14:93776ca449a4 | 1137 | motor[TIRE_FR].dir = FOR; |
7ka884 | 14:93776ca449a4 | 1138 | motor[TIRE_FL].dir = BACK; |
7ka884 | 14:93776ca449a4 | 1139 | motor[TIRE_BR].dir = FOR; |
7ka884 | 14:93776ca449a4 | 1140 | motor[TIRE_BL].dir = BACK; |
7ka884 | 14:93776ca449a4 | 1141 | |
7ka884 | 14:93776ca449a4 | 1142 | motor[TIRE_FR].pwm = 50; |
7ka884 | 14:93776ca449a4 | 1143 | motor[TIRE_FL].pwm = 50; |
7ka884 | 14:93776ca449a4 | 1144 | motor[TIRE_BR].pwm = 50; |
7ka884 | 14:93776ca449a4 | 1145 | motor[TIRE_BL].pwm = 50; |
kishibekairohan | 13:b6e02d6261d7 | 1146 | } |
7ka884 | 14:93776ca449a4 | 1147 | } |
7ka884 | 14:93776ca449a4 | 1148 | |
7ka884 | 14:93776ca449a4 | 1149 | |
7ka884 | 14:93776ca449a4 | 1150 | /*********************************/ |
7ka884 | 14:93776ca449a4 | 1151 | if(boxslip && !yokofla && !traceon) |
7ka884 | 14:93776ca449a4 | 1152 | { |
7ka884 | 14:93776ca449a4 | 1153 | Color_changeflagA(); |
7ka884 | 14:93776ca449a4 | 1154 | if((compA && compB) || compC){ |
7ka884 | 14:93776ca449a4 | 1155 | |
7ka884 | 14:93776ca449a4 | 1156 | RtX.reset(); |
7ka884 | 14:93776ca449a4 | 1157 | RtY.reset(); |
7ka884 | 14:93776ca449a4 | 1158 | |
7ka884 | 14:93776ca449a4 | 1159 | Rt_flagX = true; |
7ka884 | 14:93776ca449a4 | 1160 | boxslip = false; |
7ka884 | 14:93776ca449a4 | 1161 | } |
7ka884 | 14:93776ca449a4 | 1162 | else if(invationA || invationB && !compC && !(compA && compB)){ |
7ka884 | 14:93776ca449a4 | 1163 | motor[TIRE_FR].dir = BACK; |
7ka884 | 14:93776ca449a4 | 1164 | motor[TIRE_FL].dir = BACK; |
7ka884 | 14:93776ca449a4 | 1165 | motor[TIRE_BR].dir = FOR; |
7ka884 | 14:93776ca449a4 | 1166 | motor[TIRE_BL].dir = FOR; |
7ka884 | 14:93776ca449a4 | 1167 | |
7ka884 | 14:93776ca449a4 | 1168 | motor[TIRE_FR].pwm = 25; |
7ka884 | 14:93776ca449a4 | 1169 | motor[TIRE_FL].pwm = 25; |
7ka884 | 14:93776ca449a4 | 1170 | motor[TIRE_BR].pwm = 25; |
7ka884 | 14:93776ca449a4 | 1171 | motor[TIRE_BL].pwm = 25; |
7ka884 | 14:93776ca449a4 | 1172 | } |
7ka884 | 14:93776ca449a4 | 1173 | else if(!invationA || !invationB && !compC && !(compA && compB)){ |
7ka884 | 14:93776ca449a4 | 1174 | motor[TIRE_FR].dir = FOR; |
7ka884 | 14:93776ca449a4 | 1175 | motor[TIRE_FL].dir = FOR; |
kishibekairohan | 13:b6e02d6261d7 | 1176 | motor[TIRE_BR].dir = BACK; |
kishibekairohan | 13:b6e02d6261d7 | 1177 | motor[TIRE_BL].dir = BACK; |
kishibekairohan | 13:b6e02d6261d7 | 1178 | |
7ka884 | 14:93776ca449a4 | 1179 | motor[TIRE_FR].pwm = 25; |
7ka884 | 14:93776ca449a4 | 1180 | motor[TIRE_FL].pwm = 25; |
7ka884 | 14:93776ca449a4 | 1181 | motor[TIRE_BR].pwm = 25; |
7ka884 | 14:93776ca449a4 | 1182 | motor[TIRE_BL].pwm = 25; |
7ka884 | 14:93776ca449a4 | 1183 | } |
7ka884 | 14:93776ca449a4 | 1184 | } |
7ka884 | 14:93776ca449a4 | 1185 | |
7ka884 | 14:93776ca449a4 | 1186 | |
7ka884 | 14:93776ca449a4 | 1187 | filip(); |
7ka884 | 14:93776ca449a4 | 1188 | if(Rt_flagX && !boxslip) |
7ka884 | 14:93776ca449a4 | 1189 | { |
7ka884 | 14:93776ca449a4 | 1190 | filip(); |
7ka884 | 14:93776ca449a4 | 1191 | if(disX < goalAX - 5){ |
kishibekairohan | 13:b6e02d6261d7 | 1192 | |
kishibekairohan | 13:b6e02d6261d7 | 1193 | motor[TIRE_FR].dir = FOR; |
kishibekairohan | 13:b6e02d6261d7 | 1194 | motor[TIRE_FL].dir = FOR; |
7ka884 | 14:93776ca449a4 | 1195 | motor[TIRE_BR].dir = BACK; |
7ka884 | 14:93776ca449a4 | 1196 | motor[TIRE_BL].dir = BACK; |
7ka884 | 14:93776ca449a4 | 1197 | motor[TIRE_FR].pwm = SetPWM(RtpwmX)*0.8; |
7ka884 | 14:93776ca449a4 | 1198 | motor[TIRE_FL].pwm = SetPWM(RtpwmX); |
7ka884 | 14:93776ca449a4 | 1199 | motor[TIRE_BR].pwm = SetPWM(RtpwmX); |
7ka884 | 14:93776ca449a4 | 1200 | motor[TIRE_BL].pwm = SetPWM(RtpwmX); |
7ka884 | 14:93776ca449a4 | 1201 | } |
7ka884 | 14:93776ca449a4 | 1202 | else if(disX > goalAX - 5){ |
kishibekairohan | 13:b6e02d6261d7 | 1203 | |
kishibekairohan | 13:b6e02d6261d7 | 1204 | motor[TIRE_FR].dir = BRAKE; |
kishibekairohan | 13:b6e02d6261d7 | 1205 | motor[TIRE_FL].dir = BRAKE; |
kishibekairohan | 13:b6e02d6261d7 | 1206 | motor[TIRE_BR].dir = BRAKE; |
kishibekairohan | 13:b6e02d6261d7 | 1207 | motor[TIRE_BL].dir = BRAKE; |
kishibekairohan | 13:b6e02d6261d7 | 1208 | |
kishibekairohan | 13:b6e02d6261d7 | 1209 | motor[TIRE_FR].pwm = 255; |
kishibekairohan | 13:b6e02d6261d7 | 1210 | motor[TIRE_FL].pwm = 255; |
kishibekairohan | 13:b6e02d6261d7 | 1211 | motor[TIRE_BR].pwm = 255; |
kishibekairohan | 13:b6e02d6261d7 | 1212 | motor[TIRE_BL].pwm = 255; |
kishibekairohan | 13:b6e02d6261d7 | 1213 | |
7ka884 | 14:93776ca449a4 | 1214 | wait(1); |
kishibekairohan | 13:b6e02d6261d7 | 1215 | |
kishibekairohan | 13:b6e02d6261d7 | 1216 | Rt_flagY = true; |
kishibekairohan | 13:b6e02d6261d7 | 1217 | Rt_flagX = false; |
kishibekairohan | 13:b6e02d6261d7 | 1218 | } |
kishibekairohan | 13:b6e02d6261d7 | 1219 | } |
kishibekairohan | 13:b6e02d6261d7 | 1220 | |
kishibekairohan | 13:b6e02d6261d7 | 1221 | |
kishibekairohan | 13:b6e02d6261d7 | 1222 | if(Rt_flagY && !Rt_flagX){ |
kishibekairohan | 13:b6e02d6261d7 | 1223 | filip(); |
7ka884 | 14:93776ca449a4 | 1224 | if(disY < goalAY - 5){ |
kishibekairohan | 13:b6e02d6261d7 | 1225 | motor[TIRE_FR].dir = SetStatus(-RtpwmY); |
kishibekairohan | 13:b6e02d6261d7 | 1226 | motor[TIRE_FL].dir = SetStatus(RtpwmY); |
kishibekairohan | 13:b6e02d6261d7 | 1227 | motor[TIRE_BR].dir = SetStatus(-RtpwmY); |
kishibekairohan | 13:b6e02d6261d7 | 1228 | motor[TIRE_BL].dir = SetStatus(RtpwmY); |
kishibekairohan | 13:b6e02d6261d7 | 1229 | motor[TIRE_FR].pwm = SetPWM(RtpwmY); |
kishibekairohan | 13:b6e02d6261d7 | 1230 | motor[TIRE_FL].pwm = SetPWM(RtpwmY); |
kishibekairohan | 13:b6e02d6261d7 | 1231 | motor[TIRE_BR].pwm = SetPWM(RtpwmY); |
kishibekairohan | 13:b6e02d6261d7 | 1232 | motor[TIRE_BL].pwm = SetPWM(RtpwmY); |
kishibekairohan | 13:b6e02d6261d7 | 1233 | } |
7ka884 | 14:93776ca449a4 | 1234 | else if(disY > goalAY - 5) |
kishibekairohan | 13:b6e02d6261d7 | 1235 | { |
kishibekairohan | 13:b6e02d6261d7 | 1236 | motor[TIRE_FR].dir = BRAKE; |
kishibekairohan | 13:b6e02d6261d7 | 1237 | motor[TIRE_FL].dir = BRAKE; |
kishibekairohan | 13:b6e02d6261d7 | 1238 | motor[TIRE_BR].dir = BRAKE; |
kishibekairohan | 13:b6e02d6261d7 | 1239 | motor[TIRE_BL].dir = BRAKE; |
kishibekairohan | 13:b6e02d6261d7 | 1240 | motor[TIRE_FR].pwm = 255; |
kishibekairohan | 13:b6e02d6261d7 | 1241 | motor[TIRE_FL].pwm = 255; |
kishibekairohan | 13:b6e02d6261d7 | 1242 | motor[TIRE_BR].pwm = 255; |
kishibekairohan | 13:b6e02d6261d7 | 1243 | motor[TIRE_BL].pwm = 255; |
kishibekairohan | 13:b6e02d6261d7 | 1244 | } |
kishibekairohan | 13:b6e02d6261d7 | 1245 | } |
kishibekairohan | 13:b6e02d6261d7 | 1246 | } |
kishibekairohan | 13:b6e02d6261d7 | 1247 | #endif |
kishibekairohan | 13:b6e02d6261d7 | 1248 | |
kishibekairohan | 13:b6e02d6261d7 | 1249 | #if USE_PROCESS_NUM>7 |
kishibekairohan | 13:b6e02d6261d7 | 1250 | static void Process7() |
kishibekairohan | 13:b6e02d6261d7 | 1251 | { |
kishibekairohan | 12:c09b3e08a316 | 1252 | tapeLED.code = (uint32_t)Hotpink; |
kishibekairohan | 12:c09b3e08a316 | 1253 | static bool Xnopush = false; |
kishibekairohan | 12:c09b3e08a316 | 1254 | static bool Ynopush = false; |
kishibekairohan | 12:c09b3e08a316 | 1255 | static bool Inopush = false; |
kishibekairohan | 12:c09b3e08a316 | 1256 | |
kishibekairohan | 12:c09b3e08a316 | 1257 | static bool Angle_flagX = false; |
kishibekairohan | 12:c09b3e08a316 | 1258 | static bool Angle_flagY = false; |
kishibekairohan | 12:c09b3e08a316 | 1259 | static bool ANgle_flagI = false; |
kishibekairohan | 12:c09b3e08a316 | 1260 | |
kishibekairohan | 12:c09b3e08a316 | 1261 | if(LimitSw::IsPressed(Lim_AR) && motor[Angle_R].dir == FOR && motor[Angle_L].dir == BACK){ |
kishibekairohan | 12:c09b3e08a316 | 1262 | motor[Angle_R].dir = BRAKE; |
kishibekairohan | 12:c09b3e08a316 | 1263 | motor[Angle_L].dir = BRAKE; |
kishibekairohan | 12:c09b3e08a316 | 1264 | motor[Angle_R].pwm = 255; |
kishibekairohan | 12:c09b3e08a316 | 1265 | motor[Angle_L].pwm = 255; |
kishibekairohan | 12:c09b3e08a316 | 1266 | }else if(LimitSw::IsPressed(Lim_AL) && motor[Angle_R].dir == BACK && motor[Angle_L].dir == FOR){ |
kishibekairohan | 12:c09b3e08a316 | 1267 | motor[Angle_R].dir = BRAKE; |
kishibekairohan | 12:c09b3e08a316 | 1268 | motor[Angle_L].dir = BRAKE; |
kishibekairohan | 12:c09b3e08a316 | 1269 | motor[Angle_R].pwm = 255; |
kishibekairohan | 12:c09b3e08a316 | 1270 | motor[Angle_L].pwm = 255; |
kishibekairohan | 12:c09b3e08a316 | 1271 | } |
kishibekairohan | 12:c09b3e08a316 | 1272 | for(int i = 0;i<20;i++){ |
kishibekairohan | 12:c09b3e08a316 | 1273 | float y = 0; |
kishibekairohan | 12:c09b3e08a316 | 1274 | y = acc[1]*1000; |
kishibekairohan | 12:c09b3e08a316 | 1275 | float rotateY = (y - 305)/2.21 - 90; |
kishibekairohan | 12:c09b3e08a316 | 1276 | Angle += rotateY; |
kishibekairohan | 12:c09b3e08a316 | 1277 | } |
kishibekairohan | 12:c09b3e08a316 | 1278 | Angle = Angle /20; |
kishibekairohan | 12:c09b3e08a316 | 1279 | |
kishibekairohan | 12:c09b3e08a316 | 1280 | int gyropwmX = gyro.SetPV(Angle,AngletargetX); |
kishibekairohan | 12:c09b3e08a316 | 1281 | int gyropwmY = gyro.SetPV(Angle,AngletargetY); |
kishibekairohan | 12:c09b3e08a316 | 1282 | int gyropwmI = gyro.SetPV(Angle,AngletargetI); |
kishibekairohan | 12:c09b3e08a316 | 1283 | |
kishibekairohan | 12:c09b3e08a316 | 1284 | if(controller->Button.X && !Xnopush){ |
kishibekairohan | 12:c09b3e08a316 | 1285 | Angle_flagX = true; |
kishibekairohan | 12:c09b3e08a316 | 1286 | Xnopush = true; |
kishibekairohan | 12:c09b3e08a316 | 1287 | }else if(!controller->Button.X)Xnopush = false; |
kishibekairohan | 12:c09b3e08a316 | 1288 | |
kishibekairohan | 12:c09b3e08a316 | 1289 | if(controller->Button.Y && !Ynopush){ |
kishibekairohan | 12:c09b3e08a316 | 1290 | Angle_flagY = true; |
kishibekairohan | 12:c09b3e08a316 | 1291 | Ynopush = true; |
kishibekairohan | 12:c09b3e08a316 | 1292 | }else if(!controller->Button.Y)Ynopush = false; |
kishibekairohan | 12:c09b3e08a316 | 1293 | |
kishibekairohan | 12:c09b3e08a316 | 1294 | if(controller->Button.A && !Inopush){ |
kishibekairohan | 12:c09b3e08a316 | 1295 | Angle_flagI = true; |
kishibekairohan | 12:c09b3e08a316 | 1296 | Inopush = true; |
kishibekairohan | 12:c09b3e08a316 | 1297 | }else if(!controller->Button.A)Inopush = false; |
kishibekairohan | 12:c09b3e08a316 | 1298 | |
kishibekairohan | 12:c09b3e08a316 | 1299 | if (Angle_flagX){ |
kishibekairohan | 12:c09b3e08a316 | 1300 | motor[Angle_R].dir = SetStatus(gyropwmX); |
kishibekairohan | 12:c09b3e08a316 | 1301 | motor[Angle_L].dir = SetStatus(-gyropwmX); |
kishibekairohan | 12:c09b3e08a316 | 1302 | motor[Angle_R].pwm = SetPWM(gyropwmX); |
kishibekairohan | 12:c09b3e08a316 | 1303 | motor[Angle_L].pwm = SetPWM(gyropwmX); |
kishibekairohan | 12:c09b3e08a316 | 1304 | if(AngletargetX - 2 < Angle && Angle < AngletargetX + 2){ |
kishibekairohan | 12:c09b3e08a316 | 1305 | motor[Angle_R].dir = BRAKE; |
kishibekairohan | 12:c09b3e08a316 | 1306 | motor[Angle_L].dir = BRAKE; |
kishibekairohan | 12:c09b3e08a316 | 1307 | motor[Angle_R].pwm = 255; |
kishibekairohan | 12:c09b3e08a316 | 1308 | motor[Angle_L].pwm = 255; |
kishibekairohan | 12:c09b3e08a316 | 1309 | Angle_flagX = false; |
kishibekairohan | 12:c09b3e08a316 | 1310 | } |
kishibekairohan | 12:c09b3e08a316 | 1311 | } |
kishibekairohan | 12:c09b3e08a316 | 1312 | |
kishibekairohan | 12:c09b3e08a316 | 1313 | if (Angle_flagY){ |
kishibekairohan | 12:c09b3e08a316 | 1314 | motor[Angle_R].dir = SetStatus(-gyropwmY); |
kishibekairohan | 12:c09b3e08a316 | 1315 | motor[Angle_L].dir = SetStatus(gyropwmY); |
kishibekairohan | 12:c09b3e08a316 | 1316 | motor[Angle_R].pwm = SetPWM(gyropwmY); |
kishibekairohan | 12:c09b3e08a316 | 1317 | motor[Angle_L].pwm = SetPWM(gyropwmY); |
kishibekairohan | 12:c09b3e08a316 | 1318 | if(AngletargetY - 2 < Angle && Angle < AngletargetY + 2){ |
kishibekairohan | 12:c09b3e08a316 | 1319 | motor[Angle_R].dir = BRAKE; |
kishibekairohan | 12:c09b3e08a316 | 1320 | motor[Angle_L].dir = BRAKE; |
kishibekairohan | 12:c09b3e08a316 | 1321 | motor[Angle_R].pwm = 255; |
kishibekairohan | 12:c09b3e08a316 | 1322 | motor[Angle_L].pwm = 255; |
kishibekairohan | 12:c09b3e08a316 | 1323 | Angle_flagY = false; |
kishibekairohan | 12:c09b3e08a316 | 1324 | } |
kishibekairohan | 12:c09b3e08a316 | 1325 | } |
kishibekairohan | 12:c09b3e08a316 | 1326 | |
kishibekairohan | 12:c09b3e08a316 | 1327 | if (Angle_flagI){ |
kishibekairohan | 12:c09b3e08a316 | 1328 | if(Angle < 0) |
kishibekairohan | 12:c09b3e08a316 | 1329 | { |
kishibekairohan | 12:c09b3e08a316 | 1330 | motor[Angle_R].dir = SetStatus(-gyropwmI); |
kishibekairohan | 12:c09b3e08a316 | 1331 | motor[Angle_L].dir = SetStatus(gyropwmI); |
kishibekairohan | 12:c09b3e08a316 | 1332 | motor[Angle_R].pwm = SetPWM(gyropwmI); |
kishibekairohan | 12:c09b3e08a316 | 1333 | motor[Angle_L].pwm = SetPWM(gyropwmI); |
kishibekairohan | 12:c09b3e08a316 | 1334 | |
kishibekairohan | 12:c09b3e08a316 | 1335 | if(AngletargetI - 2 < Angle && Angle < AngletargetI + 2){ |
kishibekairohan | 12:c09b3e08a316 | 1336 | motor[Angle_R].dir = BRAKE; |
kishibekairohan | 12:c09b3e08a316 | 1337 | motor[Angle_L].dir = BRAKE; |
kishibekairohan | 12:c09b3e08a316 | 1338 | motor[Angle_R].pwm = 255; |
kishibekairohan | 12:c09b3e08a316 | 1339 | motor[Angle_L].pwm = 255; |
kishibekairohan | 12:c09b3e08a316 | 1340 | Angle_flagI = false; |
kishibekairohan | 12:c09b3e08a316 | 1341 | } |
kishibekairohan | 12:c09b3e08a316 | 1342 | } |
kishibekairohan | 12:c09b3e08a316 | 1343 | else if(Angle > 0) |
kishibekairohan | 12:c09b3e08a316 | 1344 | { |
kishibekairohan | 12:c09b3e08a316 | 1345 | motor[Angle_R].dir = FOR; |
kishibekairohan | 12:c09b3e08a316 | 1346 | motor[Angle_L].dir = BACK; |
kishibekairohan | 12:c09b3e08a316 | 1347 | motor[Angle_R].pwm = 150; |
kishibekairohan | 12:c09b3e08a316 | 1348 | motor[Angle_L].pwm = 150; |
kishibekairohan | 12:c09b3e08a316 | 1349 | |
kishibekairohan | 12:c09b3e08a316 | 1350 | if(Angle < 0){ |
kishibekairohan | 12:c09b3e08a316 | 1351 | motor[Angle_R].dir = SetStatus(gyropwmI); |
kishibekairohan | 12:c09b3e08a316 | 1352 | motor[Angle_L].dir = SetStatus(-gyropwmI); |
kishibekairohan | 12:c09b3e08a316 | 1353 | motor[Angle_R].pwm = SetPWM(gyropwmI); |
kishibekairohan | 12:c09b3e08a316 | 1354 | motor[Angle_L].pwm = SetPWM(gyropwmI); |
kishibekairohan | 12:c09b3e08a316 | 1355 | |
kishibekairohan | 12:c09b3e08a316 | 1356 | if(AngletargetI - 2 < Angle && Angle < AngletargetI + 2){ |
kishibekairohan | 12:c09b3e08a316 | 1357 | motor[Angle_R].dir = BRAKE; |
kishibekairohan | 12:c09b3e08a316 | 1358 | motor[Angle_L].dir = BRAKE; |
kishibekairohan | 12:c09b3e08a316 | 1359 | motor[Angle_R].pwm = 255; |
kishibekairohan | 12:c09b3e08a316 | 1360 | motor[Angle_L].pwm = 255; |
kishibekairohan | 12:c09b3e08a316 | 1361 | Angle_flagI = false; |
kishibekairohan | 12:c09b3e08a316 | 1362 | } |
kishibekairohan | 12:c09b3e08a316 | 1363 | } |
kishibekairohan | 12:c09b3e08a316 | 1364 | } |
kishibekairohan | 12:c09b3e08a316 | 1365 | } |
kishibekairohan | 12:c09b3e08a316 | 1366 | else{ |
kishibekairohan | 12:c09b3e08a316 | 1367 | motor[Angle_R].dir = BRAKE; |
kishibekairohan | 12:c09b3e08a316 | 1368 | motor[Angle_L].dir = BRAKE; |
kishibekairohan | 12:c09b3e08a316 | 1369 | motor[Angle_R].pwm = 255; |
kishibekairohan | 12:c09b3e08a316 | 1370 | motor[Angle_L].pwm = 255; |
kishibekairohan | 12:c09b3e08a316 | 1371 | } |
kishibekairohan | 12:c09b3e08a316 | 1372 | } |
kishibekairohan | 12:c09b3e08a316 | 1373 | #endif |
kishibekairohan | 12:c09b3e08a316 | 1374 | |
kishibekairohan | 13:b6e02d6261d7 | 1375 | #if USE_PROCESS_NUM>8 //kakudo |
kishibekairohan | 13:b6e02d6261d7 | 1376 | static void Process8() |
kishibekairohan | 12:c09b3e08a316 | 1377 | { |
kishibekairohan | 12:c09b3e08a316 | 1378 | } |
kishibekairohan | 12:c09b3e08a316 | 1379 | #endif |
kishibekairohan | 12:c09b3e08a316 | 1380 | |
kishibekairohan | 13:b6e02d6261d7 | 1381 | #if USE_PROCESS_NUM>9 |
kishibekairohan | 13:b6e02d6261d7 | 1382 | static void Process9() |
kishibekairohan | 12:c09b3e08a316 | 1383 | { |
kishibekairohan | 2:c015739085d3 | 1384 | |
t_yamamoto | 0:669ef71cba68 | 1385 | } |
t_yamamoto | 0:669ef71cba68 | 1386 | #endif |
t_yamamoto | 0:669ef71cba68 | 1387 | #endif |
t_yamamoto | 0:669ef71cba68 | 1388 | #pragma endregion PROCESS |
t_yamamoto | 0:669ef71cba68 | 1389 | |
t_yamamoto | 0:669ef71cba68 | 1390 | static void AllActuatorReset() |
t_yamamoto | 0:669ef71cba68 | 1391 | { |
t_yamamoto | 0:669ef71cba68 | 1392 | |
t_yamamoto | 0:669ef71cba68 | 1393 | #ifdef USE_SOLENOID |
t_yamamoto | 0:669ef71cba68 | 1394 | solenoid.all = ALL_SOLENOID_OFF; |
t_yamamoto | 0:669ef71cba68 | 1395 | #endif |
t_yamamoto | 0:669ef71cba68 | 1396 | |
t_yamamoto | 0:669ef71cba68 | 1397 | #ifdef USE_MOTOR |
t_yamamoto | 0:669ef71cba68 | 1398 | for (uint8_t i = 0; i < MOUNTING_MOTOR_NUM; i++) |
t_yamamoto | 0:669ef71cba68 | 1399 | { |
t_yamamoto | 0:669ef71cba68 | 1400 | motor[i].dir = FREE; |
t_yamamoto | 0:669ef71cba68 | 1401 | motor[i].pwm = 0; |
t_yamamoto | 0:669ef71cba68 | 1402 | } |
t_yamamoto | 0:669ef71cba68 | 1403 | #endif |
t_yamamoto | 0:669ef71cba68 | 1404 | } |
t_yamamoto | 0:669ef71cba68 | 1405 | |
t_yamamoto | 0:669ef71cba68 | 1406 | #pragma region USER-DEFINED-FUNCTIONS |
kishibekairohan | 8:6fb3723f7747 | 1407 | |
kishibekairohan | 8:6fb3723f7747 | 1408 | void filip(){ |
kishibekairohan | 8:6fb3723f7747 | 1409 | palseX = RtX.getPulses(); |
kishibekairohan | 8:6fb3723f7747 | 1410 | palseY = RtY.getPulses(); |
7ka884 | 6:10e22bc327ce | 1411 | |
kishibekairohan | 9:f93fc79a49ea | 1412 | rpmX = (double)palseX/(ROTATE_PER_REVOLUTIONS*4); |
kishibekairohan | 9:f93fc79a49ea | 1413 | rpmY = (double)palseY/(ROTATE_PER_REVOLUTIONS*4); |
kishibekairohan | 9:f93fc79a49ea | 1414 | |
kishibekairohan | 10:1295d39fec3a | 1415 | disX = 48*3.141*rpmX; |
kishibekairohan | 9:f93fc79a49ea | 1416 | disY = 48*3.141*rpmY; |
kishibekairohan | 9:f93fc79a49ea | 1417 | |
7ka884 | 14:93776ca449a4 | 1418 | RtpwmX = (int)Rt_X.SetPV(disX , goalAX); |
7ka884 | 14:93776ca449a4 | 1419 | RtpwmY = (int)Rt_Y.SetPV(disY , goalAY); |
7ka884 | 14:93776ca449a4 | 1420 | } |
7ka884 | 14:93776ca449a4 | 1421 | |
7ka884 | 14:93776ca449a4 | 1422 | void filipB(){ |
7ka884 | 14:93776ca449a4 | 1423 | palseX = RtX.getPulses(); |
7ka884 | 14:93776ca449a4 | 1424 | palseY = RtY.getPulses(); |
7ka884 | 14:93776ca449a4 | 1425 | |
7ka884 | 14:93776ca449a4 | 1426 | rpmXB = (double)palseX/(ROTATE_PER_REVOLUTIONS*4); |
7ka884 | 14:93776ca449a4 | 1427 | rpmYB = (double)palseY/(ROTATE_PER_REVOLUTIONS*4); |
7ka884 | 14:93776ca449a4 | 1428 | |
7ka884 | 14:93776ca449a4 | 1429 | disXB = 48*3.141*rpmXB; |
7ka884 | 14:93776ca449a4 | 1430 | disYB = 48*3.141*rpmYB; |
7ka884 | 14:93776ca449a4 | 1431 | |
7ka884 | 14:93776ca449a4 | 1432 | RtpwmXB = (int)Rt_X.SetPV(disXB , goalBX); |
7ka884 | 14:93776ca449a4 | 1433 | RtpwmYB = (int)Rt_Y.SetPV(disYB , goalBY); |
kishibekairohan | 8:6fb3723f7747 | 1434 | } |
7ka884 | 6:10e22bc327ce | 1435 | |
kishibekairohan | 12:c09b3e08a316 | 1436 | unsigned long ColorIn(int index) |
kishibekairohan | 12:c09b3e08a316 | 1437 | { |
kishibekairohan | 12:c09b3e08a316 | 1438 | int result = 0; |
kishibekairohan | 12:c09b3e08a316 | 1439 | bool rtn = false; |
kishibekairohan | 12:c09b3e08a316 | 1440 | for(int i=0; i<12; i++) |
kishibekairohan | 12:c09b3e08a316 | 1441 | { |
kishibekairohan | 12:c09b3e08a316 | 1442 | CK[index] = 1; |
kishibekairohan | 12:c09b3e08a316 | 1443 | rtn = DOUT[index]; |
kishibekairohan | 12:c09b3e08a316 | 1444 | CK[index] = 0; |
kishibekairohan | 12:c09b3e08a316 | 1445 | if(rtn) |
kishibekairohan | 12:c09b3e08a316 | 1446 | { |
kishibekairohan | 12:c09b3e08a316 | 1447 | result|=(1 << i); |
kishibekairohan | 12:c09b3e08a316 | 1448 | } |
kishibekairohan | 12:c09b3e08a316 | 1449 | } |
kishibekairohan | 12:c09b3e08a316 | 1450 | return result; |
kishibekairohan | 12:c09b3e08a316 | 1451 | } |
7ka884 | 6:10e22bc327ce | 1452 | |
kishibekairohan | 2:c015739085d3 | 1453 | void ColorDetection(){ |
kishibekairohan | 2:c015739085d3 | 1454 | GATE = 0; |
kishibekairohan | 2:c015739085d3 | 1455 | |
kishibekairohan | 2:c015739085d3 | 1456 | CK[0] = 0; |
kishibekairohan | 2:c015739085d3 | 1457 | CK[1] = 0; |
kishibekairohan | 2:c015739085d3 | 1458 | CK[2] = 0; |
kishibekairohan | 2:c015739085d3 | 1459 | CK[3] = 0; |
kishibekairohan | 2:c015739085d3 | 1460 | |
kishibekairohan | 2:c015739085d3 | 1461 | RANGE = 1; |
kishibekairohan | 2:c015739085d3 | 1462 | |
kishibekairohan | 2:c015739085d3 | 1463 | GATE = 1; |
kishibekairohan | 2:c015739085d3 | 1464 | wait_ms(intergration); |
kishibekairohan | 2:c015739085d3 | 1465 | GATE = 0; |
kishibekairohan | 2:c015739085d3 | 1466 | wait_us(4); |
kishibekairohan | 2:c015739085d3 | 1467 | |
kishibekairohan | 2:c015739085d3 | 1468 | Color_A[0] = ColorIn(0); //赤 |
kishibekairohan | 2:c015739085d3 | 1469 | wait_us(3); |
kishibekairohan | 2:c015739085d3 | 1470 | Color_A[1] = ColorIn(0); //青 |
kishibekairohan | 2:c015739085d3 | 1471 | wait_us(3); |
kishibekairohan | 2:c015739085d3 | 1472 | Color_A[2] = ColorIn(0); //緑 |
kishibekairohan | 2:c015739085d3 | 1473 | |
kishibekairohan | 2:c015739085d3 | 1474 | Color_B[0] = ColorIn(1); |
kishibekairohan | 2:c015739085d3 | 1475 | wait_us(3); |
kishibekairohan | 2:c015739085d3 | 1476 | Color_B[1] = ColorIn(1); |
kishibekairohan | 2:c015739085d3 | 1477 | wait_us(3); |
kishibekairohan | 2:c015739085d3 | 1478 | Color_B[2] = ColorIn(1); |
kishibekairohan | 2:c015739085d3 | 1479 | |
kishibekairohan | 2:c015739085d3 | 1480 | Color_C[0] = ColorIn(2); |
kishibekairohan | 2:c015739085d3 | 1481 | wait_us(3); |
kishibekairohan | 2:c015739085d3 | 1482 | Color_C[1] = ColorIn(2); |
kishibekairohan | 2:c015739085d3 | 1483 | wait_us(3); |
kishibekairohan | 2:c015739085d3 | 1484 | Color_C[2] = ColorIn(2); |
kishibekairohan | 2:c015739085d3 | 1485 | |
kishibekairohan | 2:c015739085d3 | 1486 | Color_D[0] = ColorIn(3); |
kishibekairohan | 2:c015739085d3 | 1487 | wait_us(3); |
kishibekairohan | 2:c015739085d3 | 1488 | Color_D[1] = ColorIn(3); |
kishibekairohan | 2:c015739085d3 | 1489 | wait_us(3); |
kishibekairohan | 2:c015739085d3 | 1490 | Color_D[2] = ColorIn(3); |
kishibekairohan | 2:c015739085d3 | 1491 | } |
kishibekairohan | 12:c09b3e08a316 | 1492 | |
7ka884 | 14:93776ca449a4 | 1493 | void Color_changeflagA(){ |
kishibekairohan | 13:b6e02d6261d7 | 1494 | ColorDetection(); |
kishibekairohan | 13:b6e02d6261d7 | 1495 | |
kishibekairohan | 13:b6e02d6261d7 | 1496 | if(Color_A[0] > PointA[0] && Color_A[1] > PointA[1] && Color_A[2] > PointA[2] && !compA)//白 |
kishibekairohan | 13:b6e02d6261d7 | 1497 | { |
kishibekairohan | 13:b6e02d6261d7 | 1498 | compA = true;//on true,noon false |
kishibekairohan | 13:b6e02d6261d7 | 1499 | } |
7ka884 | 14:93776ca449a4 | 1500 | else if(Color_A[0] < PointA[0] && Color_A[1] < PointA[1] && Color_A[2] < PointA[2])compA = false;//茶 |
kishibekairohan | 13:b6e02d6261d7 | 1501 | |
kishibekairohan | 13:b6e02d6261d7 | 1502 | if(Color_B[0] > PointB[0] && Color_B[1] > PointB[1] && Color_B[2] > PointB[2] && !compB)//白 |
kishibekairohan | 13:b6e02d6261d7 | 1503 | { |
kishibekairohan | 13:b6e02d6261d7 | 1504 | compB = true;//on true,noon false |
kishibekairohan | 13:b6e02d6261d7 | 1505 | } |
7ka884 | 14:93776ca449a4 | 1506 | else if(Color_B[0] < PointB[0] && Color_B[1] < PointB[1] && Color_B[2] < PointB[2])compB = false;//茶 |
kishibekairohan | 13:b6e02d6261d7 | 1507 | |
kishibekairohan | 13:b6e02d6261d7 | 1508 | if(Color_C[0] > PointC[0] && Color_C[1] > PointC[1] && Color_C[2] > PointC[2] && !compC)//白 |
kishibekairohan | 13:b6e02d6261d7 | 1509 | { |
kishibekairohan | 13:b6e02d6261d7 | 1510 | compC = true;//on true,noon false |
kishibekairohan | 13:b6e02d6261d7 | 1511 | } |
7ka884 | 14:93776ca449a4 | 1512 | else if(Color_C[0] < PointC[0] && Color_C[1] < PointC[1] && Color_C[2] < PointC[2])compC = false;//茶 |
kishibekairohan | 13:b6e02d6261d7 | 1513 | /* |
kishibekairohan | 13:b6e02d6261d7 | 1514 | if(Color_D[0] > Point[0] && Color_D[1] > Point[1] && Color_D[2] > Point[2] && !compD)//白 |
kishibekairohan | 13:b6e02d6261d7 | 1515 | { |
kishibekairohan | 13:b6e02d6261d7 | 1516 | invationD ^= 1;//start false,over true |
kishibekairohan | 13:b6e02d6261d7 | 1517 | compD = true;//on true,noon false |
kishibekairohan | 13:b6e02d6261d7 | 1518 | } |
kishibekairohan | 13:b6e02d6261d7 | 1519 | else if(!(Color_D[0] > Point[0] && Color_D[1] > Point[1] && Color_D[2] > Point[2]))compD = false;//茶 |
kishibekairohan | 13:b6e02d6261d7 | 1520 | */ |
7ka884 | 14:93776ca449a4 | 1521 | |
7ka884 | 14:93776ca449a4 | 1522 | if(compA && !compB) |
7ka884 | 14:93776ca449a4 | 1523 | { |
7ka884 | 14:93776ca449a4 | 1524 | invationA = false; |
7ka884 | 14:93776ca449a4 | 1525 | } |
7ka884 | 14:93776ca449a4 | 1526 | else if(!compA && compB) |
7ka884 | 14:93776ca449a4 | 1527 | { |
7ka884 | 14:93776ca449a4 | 1528 | invationA = true; |
7ka884 | 14:93776ca449a4 | 1529 | } |
7ka884 | 14:93776ca449a4 | 1530 | |
7ka884 | 14:93776ca449a4 | 1531 | if(!invationA && !compA && !compB){ |
7ka884 | 14:93776ca449a4 | 1532 | invationB = false; |
7ka884 | 14:93776ca449a4 | 1533 | } |
7ka884 | 14:93776ca449a4 | 1534 | else if(invationA && !compA && !compB){ |
7ka884 | 14:93776ca449a4 | 1535 | invationB = true; |
7ka884 | 14:93776ca449a4 | 1536 | } |
7ka884 | 14:93776ca449a4 | 1537 | } |
7ka884 | 14:93776ca449a4 | 1538 | |
7ka884 | 14:93776ca449a4 | 1539 | void Color_changeflagB(){ |
7ka884 | 14:93776ca449a4 | 1540 | ColorDetection(); |
7ka884 | 14:93776ca449a4 | 1541 | |
7ka884 | 14:93776ca449a4 | 1542 | if(Color_A[0] > PointA[0] && Color_A[1] > PointA[1] && Color_A[2] > PointA[2] && !compA)//白 |
7ka884 | 14:93776ca449a4 | 1543 | { |
7ka884 | 14:93776ca449a4 | 1544 | compA = true;//on true,noon false |
7ka884 | 14:93776ca449a4 | 1545 | } |
7ka884 | 14:93776ca449a4 | 1546 | else if(Color_A[0] < PointA[0] && Color_A[1] < PointA[1] && Color_A[2] < PointA[2])compA = false;//茶 |
7ka884 | 14:93776ca449a4 | 1547 | |
7ka884 | 14:93776ca449a4 | 1548 | if(Color_B[0] > PointB[0] && Color_B[1] > PointB[1] && Color_B[2] > PointB[2] && !compB)//白 |
7ka884 | 14:93776ca449a4 | 1549 | { |
7ka884 | 14:93776ca449a4 | 1550 | compB = true;//on true,noon false |
7ka884 | 14:93776ca449a4 | 1551 | } |
7ka884 | 14:93776ca449a4 | 1552 | else if(Color_B[0] < PointB[0] && Color_B[1] < PointB[1] && Color_B[2] < PointB[2])compB = false;//茶 |
7ka884 | 14:93776ca449a4 | 1553 | |
7ka884 | 14:93776ca449a4 | 1554 | if(Color_C[0] > PointC[0] && Color_C[1] > PointC[1] && Color_C[2] > PointC[2] && !compC)//白 |
7ka884 | 14:93776ca449a4 | 1555 | { |
7ka884 | 14:93776ca449a4 | 1556 | compC = true;//on true,noon false |
7ka884 | 14:93776ca449a4 | 1557 | } |
7ka884 | 14:93776ca449a4 | 1558 | else if(Color_C[0] < PointC[0] && Color_C[1] < PointC[1] && Color_C[2] < PointC[2])compC = false;//茶 |
7ka884 | 14:93776ca449a4 | 1559 | /* |
7ka884 | 14:93776ca449a4 | 1560 | if(Color_D[0] > Point[0] && Color_D[1] > Point[1] && Color_D[2] > Point[2] && !compD)//白 |
7ka884 | 14:93776ca449a4 | 1561 | { |
7ka884 | 14:93776ca449a4 | 1562 | invationD ^= 1;//start false,over true |
7ka884 | 14:93776ca449a4 | 1563 | compD = true;//on true,noon false |
7ka884 | 14:93776ca449a4 | 1564 | } |
7ka884 | 14:93776ca449a4 | 1565 | else if(!(Color_D[0] > Point[0] && Color_D[1] > Point[1] && Color_D[2] > Point[2]))compD = false;//茶 |
7ka884 | 14:93776ca449a4 | 1566 | */ |
7ka884 | 14:93776ca449a4 | 1567 | |
7ka884 | 14:93776ca449a4 | 1568 | if(compB && !compA) |
7ka884 | 14:93776ca449a4 | 1569 | { |
7ka884 | 14:93776ca449a4 | 1570 | invationB = false; |
7ka884 | 14:93776ca449a4 | 1571 | } |
7ka884 | 14:93776ca449a4 | 1572 | else if(!compB && compA) |
7ka884 | 14:93776ca449a4 | 1573 | { |
7ka884 | 14:93776ca449a4 | 1574 | invationB = true; |
7ka884 | 14:93776ca449a4 | 1575 | } |
7ka884 | 14:93776ca449a4 | 1576 | |
7ka884 | 14:93776ca449a4 | 1577 | if(!invationB && !compA && !compB){ |
7ka884 | 14:93776ca449a4 | 1578 | invationA = false; |
7ka884 | 14:93776ca449a4 | 1579 | } |
7ka884 | 14:93776ca449a4 | 1580 | else if(invationB && !compA && !compB){ |
7ka884 | 14:93776ca449a4 | 1581 | invationA = true; |
7ka884 | 14:93776ca449a4 | 1582 | } |
kishibekairohan | 13:b6e02d6261d7 | 1583 | } |
kishibekairohan | 13:b6e02d6261d7 | 1584 | |
kishibekairohan | 12:c09b3e08a316 | 1585 | void getcolor(){ |
kishibekairohan | 13:b6e02d6261d7 | 1586 | for(int i=0;i<10;i++){ |
kishibekairohan | 12:c09b3e08a316 | 1587 | ColorDetection(); |
kishibekairohan | 12:c09b3e08a316 | 1588 | |
kishibekairohan | 12:c09b3e08a316 | 1589 | Avecolor_A[0] += Color_A[0]; |
kishibekairohan | 12:c09b3e08a316 | 1590 | Avecolor_A[1] += Color_A[1]; |
kishibekairohan | 12:c09b3e08a316 | 1591 | Avecolor_A[2] += Color_A[2]; |
kishibekairohan | 12:c09b3e08a316 | 1592 | Avecolor_B[0] += Color_B[0]; |
kishibekairohan | 12:c09b3e08a316 | 1593 | Avecolor_B[1] += Color_B[1]; |
kishibekairohan | 12:c09b3e08a316 | 1594 | Avecolor_B[2] += Color_B[2]; |
kishibekairohan | 12:c09b3e08a316 | 1595 | Avecolor_C[0] += Color_C[0]; |
kishibekairohan | 12:c09b3e08a316 | 1596 | Avecolor_C[1] += Color_C[1]; |
kishibekairohan | 12:c09b3e08a316 | 1597 | Avecolor_C[2] += Color_C[2]; |
kishibekairohan | 12:c09b3e08a316 | 1598 | Avecolor_D[0] += Color_D[0]; |
kishibekairohan | 12:c09b3e08a316 | 1599 | Avecolor_D[1] += Color_D[1]; |
kishibekairohan | 12:c09b3e08a316 | 1600 | Avecolor_D[2] += Color_D[2]; |
kishibekairohan | 12:c09b3e08a316 | 1601 | } |
kishibekairohan | 12:c09b3e08a316 | 1602 | |
kishibekairohan | 13:b6e02d6261d7 | 1603 | Avecolor_A[0] = Avecolor_A[0]/10; |
kishibekairohan | 13:b6e02d6261d7 | 1604 | Avecolor_A[1] = Avecolor_A[1]/10; |
kishibekairohan | 13:b6e02d6261d7 | 1605 | Avecolor_A[2] = Avecolor_A[2]/10; |
kishibekairohan | 13:b6e02d6261d7 | 1606 | Avecolor_B[0] = Avecolor_B[0]/10; |
kishibekairohan | 13:b6e02d6261d7 | 1607 | Avecolor_B[1] = Avecolor_B[1]/10; |
kishibekairohan | 13:b6e02d6261d7 | 1608 | Avecolor_B[2] = Avecolor_B[2]/10; |
kishibekairohan | 13:b6e02d6261d7 | 1609 | Avecolor_C[0] = Avecolor_C[0]/10; |
kishibekairohan | 13:b6e02d6261d7 | 1610 | Avecolor_C[1] = Avecolor_C[1]/10; |
kishibekairohan | 13:b6e02d6261d7 | 1611 | Avecolor_C[2] = Avecolor_C[2]/10; |
kishibekairohan | 13:b6e02d6261d7 | 1612 | Avecolor_D[0] = Avecolor_D[0]/10; |
kishibekairohan | 13:b6e02d6261d7 | 1613 | Avecolor_D[1] = Avecolor_D[1]/10; |
kishibekairohan | 13:b6e02d6261d7 | 1614 | Avecolor_D[2] = Avecolor_D[2]/10; |
kishibekairohan | 13:b6e02d6261d7 | 1615 | |
kishibekairohan | 12:c09b3e08a316 | 1616 | } |
kishibekairohan | 12:c09b3e08a316 | 1617 | |
kishibekairohan | 9:f93fc79a49ea | 1618 | void BuzzerTimer_func() { |
kishibekairohan | 11:028a150943b5 | 1619 | if(buzzer == 0.5){ |
kishibekairohan | 11:028a150943b5 | 1620 | buzzer = 0; |
kishibekairohan | 11:028a150943b5 | 1621 | } |
kishibekairohan | 11:028a150943b5 | 1622 | else if(buzzer == 0){ |
kishibekairohan | 11:028a150943b5 | 1623 | buzzer = 0.5; |
kishibekairohan | 11:028a150943b5 | 1624 | } |
kishibekairohan | 11:028a150943b5 | 1625 | } |
kishibekairohan | 11:028a150943b5 | 1626 | |
kishibekairohan | 11:028a150943b5 | 1627 | void TapeLedEms_func() { |
kishibekairohan | 11:028a150943b5 | 1628 | sendLedData.code = sendLedData.code == (uint32_t)Red ? (uint32_t)Black : (uint32_t)Red; |
kishibekairohan | 9:f93fc79a49ea | 1629 | } |
7ka884 | 14:93776ca449a4 | 1630 | |
7ka884 | 14:93776ca449a4 | 1631 | void LostLed_func(){ |
7ka884 | 14:93776ca449a4 | 1632 | sendLedData.code = sendLedData.code == (uint32_t)Yellow ? (uint32_t)Black : (uint32_t)Yellow; |
7ka884 | 14:93776ca449a4 | 1633 | } |
t_yamamoto | 0:669ef71cba68 | 1634 | #pragma endregion |