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Dependencies: mbed TrapezoidControl QEI Pulse LM61CIZ
System/Process/Process.cpp@13:b6e02d6261d7, 2018-10-08 (annotated)
- Committer:
- kishibekairohan
- Date:
- Mon Oct 08 15:51:15 2018 +0000
- Revision:
- 13:b6e02d6261d7
- Parent:
- 12:c09b3e08a316
- Child:
- 14:93776ca449a4
- Child:
- 15:dfcec98f5aa9
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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 | |
kishibekairohan | 7:e88c5d47a3be | 81 | //************メカナム******************** |
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 | |
kishibekairohan | 7:e88c5d47a3be | 100 | //************カラーセンサ******************** |
kishibekairohan | 7:e88c5d47a3be | 101 | |
kishibekairohan | 2:c015739085d3 | 102 | //************ライントレース変数******************* |
kishibekairohan | 13:b6e02d6261d7 | 103 | int PointA[3] = {400, 700, 1000};//赤,緑,青 |
kishibekairohan | 13:b6e02d6261d7 | 104 | int PointB[3] = {400, 700, 1000};//赤,緑,青 |
kishibekairohan | 13:b6e02d6261d7 | 105 | int PointC[3] = {1000, 1700, 2400};//赤,緑,青 |
kishibekairohan | 2:c015739085d3 | 106 | |
kishibekairohan | 7:e88c5d47a3be | 107 | int startP = 35; |
kishibekairohan | 7:e88c5d47a3be | 108 | int downP = 5; |
kishibekairohan | 8:6fb3723f7747 | 109 | |
kishibekairohan | 8:6fb3723f7747 | 110 | int Asasult = 0; |
kishibekairohan | 8:6fb3723f7747 | 111 | int Bsasult = 0; |
kishibekairohan | 8:6fb3723f7747 | 112 | int Csasult = 0; |
kishibekairohan | 8:6fb3723f7747 | 113 | int Dsasult = 0; |
kishibekairohan | 8:6fb3723f7747 | 114 | |
kishibekairohan | 13:b6e02d6261d7 | 115 | bool compA = false; |
kishibekairohan | 13:b6e02d6261d7 | 116 | bool compB = false; |
kishibekairohan | 13:b6e02d6261d7 | 117 | bool compC = false; |
kishibekairohan | 13:b6e02d6261d7 | 118 | bool compD = false; |
kishibekairohan | 13:b6e02d6261d7 | 119 | |
kishibekairohan | 13:b6e02d6261d7 | 120 | bool invationA = false; |
kishibekairohan | 13:b6e02d6261d7 | 121 | bool invationB = false; |
kishibekairohan | 13:b6e02d6261d7 | 122 | bool invationC = false; |
kishibekairohan | 13:b6e02d6261d7 | 123 | bool invationD = false; |
kishibekairohan | 8:6fb3723f7747 | 124 | |
kishibekairohan | 8:6fb3723f7747 | 125 | Ticker Color_T; |
kishibekairohan | 13:b6e02d6261d7 | 126 | |
kishibekairohan | 13:b6e02d6261d7 | 127 | void ColorDetection(); |
kishibekairohan | 13:b6e02d6261d7 | 128 | void Color_changeflag(); |
kishibekairohan | 13:b6e02d6261d7 | 129 | |
kishibekairohan | 2:c015739085d3 | 130 | //************ライントレース変数******************* |
kishibekairohan | 9:f93fc79a49ea | 131 | |
kishibekairohan | 10:1295d39fec3a | 132 | //************ROタコン****************** |
kishibekairohan | 9:f93fc79a49ea | 133 | QEI RtX(RT11_PIN, RT12_PIN, NC, ROTATE_PER_REVOLUTIONS, QEI::X4_ENCODING); |
kishibekairohan | 9:f93fc79a49ea | 134 | QEI RtY(RT21_PIN, RT22_PIN, NC, ROTATE_PER_REVOLUTIONS, QEI::X4_ENCODING); |
kishibekairohan | 8:6fb3723f7747 | 135 | Ticker get_rpm; |
kishibekairohan | 13:b6e02d6261d7 | 136 | PID Rt_X = PID(0.03, -255, 255, 0.12, 0, 0); |
kishibekairohan | 8:6fb3723f7747 | 137 | PID Rt_Y = PID(0.03, -255, 255, 0.1, 0, 0); |
kishibekairohan | 9:f93fc79a49ea | 138 | double rpmX; |
kishibekairohan | 9:f93fc79a49ea | 139 | double rpmY; |
kishibekairohan | 9:f93fc79a49ea | 140 | double disX; |
kishibekairohan | 9:f93fc79a49ea | 141 | double disY; |
kishibekairohan | 8:6fb3723f7747 | 142 | int palseX; |
kishibekairohan | 8:6fb3723f7747 | 143 | int palseY; |
kishibekairohan | 8:6fb3723f7747 | 144 | int RtpwmX; |
kishibekairohan | 8:6fb3723f7747 | 145 | int RtpwmY; |
kishibekairohan | 13:b6e02d6261d7 | 146 | double goalX = 900.000; |
kishibekairohan | 13:b6e02d6261d7 | 147 | double goalY = 700.000; |
kishibekairohan | 8:6fb3723f7747 | 148 | void filip(); |
kishibekairohan | 12:c09b3e08a316 | 149 | |
kishibekairohan | 10:1295d39fec3a | 150 | //************ROタコン****************** |
kishibekairohan | 2:c015739085d3 | 151 | |
kishibekairohan | 7:e88c5d47a3be | 152 | //************ジャイロ******************* |
kishibekairohan | 9:f93fc79a49ea | 153 | bool Angle_flagI = false; |
kishibekairohan | 11:028a150943b5 | 154 | int Angle; |
kishibekairohan | 7:e88c5d47a3be | 155 | PID gyro = PID(0.03, -150 , 150 , 8 , 0.03, 0); |
kishibekairohan | 7:e88c5d47a3be | 156 | float rotateY; |
kishibekairohan | 11:028a150943b5 | 157 | //初期値 -5 |
kishibekairohan | 11:028a150943b5 | 158 | int AngletargetX = 4; |
kishibekairohan | 11:028a150943b5 | 159 | int AngletargetY = -12; |
kishibekairohan | 12:c09b3e08a316 | 160 | int AngletargetI = -5; |
kishibekairohan | 7:e88c5d47a3be | 161 | //************ジャイロ******************* |
kishibekairohan | 2:c015739085d3 | 162 | |
kishibekairohan | 9:f93fc79a49ea | 163 | //************Buzzer****************** |
kishibekairohan | 11:028a150943b5 | 164 | //DigitalOut buzzer(BUZZER_PIN); |
kishibekairohan | 11:028a150943b5 | 165 | PwmOut buzzer(BUZZER_PIN); |
kishibekairohan | 9:f93fc79a49ea | 166 | void BuzzerTimer_func(); |
kishibekairohan | 9:f93fc79a49ea | 167 | Ticker BuzzerTimer; |
kishibekairohan | 9:f93fc79a49ea | 168 | bool Emsflag = false; |
kishibekairohan | 9:f93fc79a49ea | 169 | //************Buzzer****************** |
kishibekairohan | 11:028a150943b5 | 170 | |
kishibekairohan | 11:028a150943b5 | 171 | //************TapeLed***************** |
kishibekairohan | 11:028a150943b5 | 172 | void TapeLedEms_func(); |
kishibekairohan | 11:028a150943b5 | 173 | TapeLedData tapeLED; |
kishibekairohan | 11:028a150943b5 | 174 | TapeLedData sendLedData; |
kishibekairohan | 11:028a150943b5 | 175 | TapeLED_Mode ledMode = Normal; |
kishibekairohan | 11:028a150943b5 | 176 | Ticker tapeLedTimer; |
kishibekairohan | 11:028a150943b5 | 177 | //************TapaLed***************** |
t_yamamoto | 0:669ef71cba68 | 178 | #pragma endregion USER-DEFINED_VARIABLES_AND_PROTOTYPE |
t_yamamoto | 0:669ef71cba68 | 179 | |
t_yamamoto | 0:669ef71cba68 | 180 | #ifdef USE_SUBPROCESS |
t_yamamoto | 0:669ef71cba68 | 181 | #if USE_PROCESS_NUM>0 |
t_yamamoto | 0:669ef71cba68 | 182 | static void Process0(void); |
t_yamamoto | 0:669ef71cba68 | 183 | #endif |
t_yamamoto | 0:669ef71cba68 | 184 | #if USE_PROCESS_NUM>1 |
t_yamamoto | 0:669ef71cba68 | 185 | static void Process1(void); |
t_yamamoto | 0:669ef71cba68 | 186 | #endif |
t_yamamoto | 0:669ef71cba68 | 187 | #if USE_PROCESS_NUM>2 |
t_yamamoto | 0:669ef71cba68 | 188 | static void Process2(void); |
t_yamamoto | 0:669ef71cba68 | 189 | #endif |
t_yamamoto | 0:669ef71cba68 | 190 | #if USE_PROCESS_NUM>3 |
t_yamamoto | 0:669ef71cba68 | 191 | static void Process3(void); |
t_yamamoto | 0:669ef71cba68 | 192 | #endif |
t_yamamoto | 0:669ef71cba68 | 193 | #if USE_PROCESS_NUM>4 |
t_yamamoto | 0:669ef71cba68 | 194 | static void Process4(void); |
t_yamamoto | 0:669ef71cba68 | 195 | #endif |
t_yamamoto | 0:669ef71cba68 | 196 | #if USE_PROCESS_NUM>5 |
t_yamamoto | 0:669ef71cba68 | 197 | static void Process5(void); |
t_yamamoto | 0:669ef71cba68 | 198 | #endif |
t_yamamoto | 0:669ef71cba68 | 199 | #if USE_PROCESS_NUM>6 |
t_yamamoto | 0:669ef71cba68 | 200 | static void Process6(void); |
t_yamamoto | 0:669ef71cba68 | 201 | #endif |
t_yamamoto | 0:669ef71cba68 | 202 | #if USE_PROCESS_NUM>7 |
t_yamamoto | 0:669ef71cba68 | 203 | static void Process7(void); |
t_yamamoto | 0:669ef71cba68 | 204 | #endif |
t_yamamoto | 0:669ef71cba68 | 205 | #if USE_PROCESS_NUM>8 |
t_yamamoto | 0:669ef71cba68 | 206 | static void Process8(void); |
t_yamamoto | 0:669ef71cba68 | 207 | #endif |
t_yamamoto | 0:669ef71cba68 | 208 | #if USE_PROCESS_NUM>9 |
t_yamamoto | 0:669ef71cba68 | 209 | static void Process9(void); |
t_yamamoto | 0:669ef71cba68 | 210 | #endif |
t_yamamoto | 0:669ef71cba68 | 211 | #endif |
t_yamamoto | 0:669ef71cba68 | 212 | |
t_yamamoto | 0:669ef71cba68 | 213 | void SystemProcessInitialize() |
t_yamamoto | 0:669ef71cba68 | 214 | { |
t_yamamoto | 0:669ef71cba68 | 215 | #pragma region USER-DEFINED_VARIABLE_INIT |
kishibekairohan | 11:028a150943b5 | 216 | /*Replace here with the initialization code of your variables.*/ |
kishibekairohan | 9:f93fc79a49ea | 217 | get_rpm.attach_us(&filip,100); |
kishibekairohan | 11:028a150943b5 | 218 | buzzer.period(1.0/800); |
t_yamamoto | 0:669ef71cba68 | 219 | |
t_yamamoto | 0:669ef71cba68 | 220 | #pragma endregion USER-DEFINED_VARIABLE_INIT |
t_yamamoto | 0:669ef71cba68 | 221 | |
t_yamamoto | 0:669ef71cba68 | 222 | lock = true; |
t_yamamoto | 0:669ef71cba68 | 223 | processChangeComp = true; |
t_yamamoto | 0:669ef71cba68 | 224 | current = DEFAULT_PROCESS; |
t_yamamoto | 0:669ef71cba68 | 225 | |
t_yamamoto | 0:669ef71cba68 | 226 | #ifdef USE_SUBPROCESS |
t_yamamoto | 0:669ef71cba68 | 227 | #if USE_PROCESS_NUM>0 |
t_yamamoto | 0:669ef71cba68 | 228 | Process[0] = Process0; |
t_yamamoto | 0:669ef71cba68 | 229 | #endif |
t_yamamoto | 0:669ef71cba68 | 230 | #if USE_PROCESS_NUM>1 |
t_yamamoto | 0:669ef71cba68 | 231 | Process[1] = Process1; |
t_yamamoto | 0:669ef71cba68 | 232 | #endif |
t_yamamoto | 0:669ef71cba68 | 233 | #if USE_PROCESS_NUM>2 |
t_yamamoto | 0:669ef71cba68 | 234 | Process[2] = Process2; |
t_yamamoto | 0:669ef71cba68 | 235 | #endif |
t_yamamoto | 0:669ef71cba68 | 236 | #if USE_PROCESS_NUM>3 |
t_yamamoto | 0:669ef71cba68 | 237 | Process[3] = Process3; |
t_yamamoto | 0:669ef71cba68 | 238 | #endif |
t_yamamoto | 0:669ef71cba68 | 239 | #if USE_PROCESS_NUM>4 |
t_yamamoto | 0:669ef71cba68 | 240 | Process[4] = Process4; |
t_yamamoto | 0:669ef71cba68 | 241 | #endif |
t_yamamoto | 0:669ef71cba68 | 242 | #if USE_PROCESS_NUM>5 |
t_yamamoto | 0:669ef71cba68 | 243 | Process[5] = Process5; |
t_yamamoto | 0:669ef71cba68 | 244 | #endif |
t_yamamoto | 0:669ef71cba68 | 245 | #if USE_PROCESS_NUM>6 |
t_yamamoto | 0:669ef71cba68 | 246 | Process[6] = Process6; |
t_yamamoto | 0:669ef71cba68 | 247 | #endif |
t_yamamoto | 0:669ef71cba68 | 248 | #if USE_PROCESS_NUM>7 |
t_yamamoto | 0:669ef71cba68 | 249 | Process[7] = Process7; |
t_yamamoto | 0:669ef71cba68 | 250 | #endif |
t_yamamoto | 0:669ef71cba68 | 251 | #if USE_PROCESS_NUM>8 |
t_yamamoto | 0:669ef71cba68 | 252 | Process[8] = Process8; |
t_yamamoto | 0:669ef71cba68 | 253 | #endif |
t_yamamoto | 0:669ef71cba68 | 254 | #if USE_PROCESS_NUM>9 |
t_yamamoto | 0:669ef71cba68 | 255 | Process[9] = Process9; |
t_yamamoto | 0:669ef71cba68 | 256 | #endif |
t_yamamoto | 0:669ef71cba68 | 257 | #endif |
t_yamamoto | 0:669ef71cba68 | 258 | } |
t_yamamoto | 0:669ef71cba68 | 259 | |
t_yamamoto | 0:669ef71cba68 | 260 | static void SystemProcessUpdate() |
t_yamamoto | 0:669ef71cba68 | 261 | { |
t_yamamoto | 0:669ef71cba68 | 262 | #ifdef USE_SUBPROCESS |
t_yamamoto | 0:669ef71cba68 | 263 | if(controller->Button.HOME) lock = false; |
t_yamamoto | 0:669ef71cba68 | 264 | |
t_yamamoto | 0:669ef71cba68 | 265 | if(controller->Button.START && processChangeComp) |
t_yamamoto | 0:669ef71cba68 | 266 | { |
t_yamamoto | 0:669ef71cba68 | 267 | current++; |
t_yamamoto | 0:669ef71cba68 | 268 | if (USE_PROCESS_NUM < current) current = USE_PROCESS_NUM; |
t_yamamoto | 0:669ef71cba68 | 269 | processChangeComp = false; |
t_yamamoto | 0:669ef71cba68 | 270 | } |
t_yamamoto | 0:669ef71cba68 | 271 | else if(controller->Button.SELECT && processChangeComp) |
t_yamamoto | 0:669ef71cba68 | 272 | { |
t_yamamoto | 0:669ef71cba68 | 273 | current--; |
t_yamamoto | 0:669ef71cba68 | 274 | if (current < 0) current = 0; |
t_yamamoto | 0:669ef71cba68 | 275 | processChangeComp = false; |
t_yamamoto | 0:669ef71cba68 | 276 | } |
t_yamamoto | 0:669ef71cba68 | 277 | else if(!controller->Button.SELECT && !controller->Button.START) processChangeComp = true; |
t_yamamoto | 0:669ef71cba68 | 278 | #endif |
t_yamamoto | 0:669ef71cba68 | 279 | |
t_yamamoto | 0:669ef71cba68 | 280 | #ifdef USE_MOTOR |
t_yamamoto | 0:669ef71cba68 | 281 | ACTUATORHUB::MOTOR::Motor::Update(motor); |
t_yamamoto | 0:669ef71cba68 | 282 | #endif |
t_yamamoto | 0:669ef71cba68 | 283 | |
t_yamamoto | 0:669ef71cba68 | 284 | #ifdef USE_SOLENOID |
t_yamamoto | 0:669ef71cba68 | 285 | ACTUATORHUB::SOLENOID::Solenoid::Update(solenoid); |
t_yamamoto | 0:669ef71cba68 | 286 | #endif |
t_yamamoto | 0:669ef71cba68 | 287 | |
t_yamamoto | 0:669ef71cba68 | 288 | #ifdef USE_RS485 |
t_yamamoto | 0:669ef71cba68 | 289 | ACTUATORHUB::ActuatorHub::Update(); |
t_yamamoto | 0:669ef71cba68 | 290 | #endif |
t_yamamoto | 0:669ef71cba68 | 291 | |
t_yamamoto | 0:669ef71cba68 | 292 | } |
t_yamamoto | 0:669ef71cba68 | 293 | |
kishibekairohan | 2:c015739085d3 | 294 | |
kishibekairohan | 2:c015739085d3 | 295 | |
t_yamamoto | 0:669ef71cba68 | 296 | void SystemProcess() |
t_yamamoto | 0:669ef71cba68 | 297 | { |
t_yamamoto | 0:669ef71cba68 | 298 | SystemProcessInitialize(); |
t_yamamoto | 0:669ef71cba68 | 299 | |
t_yamamoto | 0:669ef71cba68 | 300 | while(1) |
kishibekairohan | 13:b6e02d6261d7 | 301 | { /* |
kishibekairohan | 12:c09b3e08a316 | 302 | getcolor(); |
kishibekairohan | 12:c09b3e08a316 | 303 | pc.printf("R1:%d, G1:%d, B1:%d \r\n",Avecolor_A[0],Avecolor_A[1],Avecolor_A[2]); |
kishibekairohan | 12:c09b3e08a316 | 304 | pc.printf("R2:%d, G2:%d, B2:%d \r\n",Avecolor_B[0],Avecolor_B[1],Avecolor_B[2]); |
kishibekairohan | 12:c09b3e08a316 | 305 | pc.printf("R3:%d, G3:%d, B3:%d \r\n",Avecolor_C[0],Avecolor_C[1],Avecolor_C[2]); |
kishibekairohan | 12:c09b3e08a316 | 306 | pc.printf("R4:%d, G4:%d, B4:%d \r\n",Avecolor_D[0],Avecolor_D[1],Avecolor_D[2]); |
kishibekairohan | 13:b6e02d6261d7 | 307 | */ |
t_yamamoto | 0:669ef71cba68 | 308 | #ifdef USE_MU |
t_yamamoto | 0:669ef71cba68 | 309 | controller = CONTROLLER::Controller::GetData(); |
t_yamamoto | 0:669ef71cba68 | 310 | #endif |
t_yamamoto | 0:669ef71cba68 | 311 | |
t_yamamoto | 0:669ef71cba68 | 312 | #ifdef USE_ERRORCHECK |
t_yamamoto | 0:669ef71cba68 | 313 | if(SAFTY::ErrorCheck::Check() & SAFTY::Error::ControllerLost) |
t_yamamoto | 0:669ef71cba68 | 314 | { |
t_yamamoto | 0:669ef71cba68 | 315 | CONTROLLER::Controller::DataReset(); |
t_yamamoto | 0:669ef71cba68 | 316 | AllActuatorReset(); |
t_yamamoto | 0:669ef71cba68 | 317 | lock = true; |
t_yamamoto | 0:669ef71cba68 | 318 | } |
t_yamamoto | 0:669ef71cba68 | 319 | else |
t_yamamoto | 0:669ef71cba68 | 320 | #endif |
t_yamamoto | 0:669ef71cba68 | 321 | { |
t_yamamoto | 0:669ef71cba68 | 322 | |
t_yamamoto | 0:669ef71cba68 | 323 | #ifdef USE_SUBPROCESS |
t_yamamoto | 0:669ef71cba68 | 324 | if(!lock) |
t_yamamoto | 0:669ef71cba68 | 325 | { |
t_yamamoto | 0:669ef71cba68 | 326 | Process[current](); |
t_yamamoto | 0:669ef71cba68 | 327 | } |
t_yamamoto | 0:669ef71cba68 | 328 | else |
t_yamamoto | 0:669ef71cba68 | 329 | #endif |
t_yamamoto | 0:669ef71cba68 | 330 | { |
t_yamamoto | 0:669ef71cba68 | 331 | //ロック時の処理 |
t_yamamoto | 0:669ef71cba68 | 332 | } |
t_yamamoto | 0:669ef71cba68 | 333 | } |
t_yamamoto | 0:669ef71cba68 | 334 | |
kishibekairohan | 10:1295d39fec3a | 335 | if ((EMS_0 || EMS_1) && !Emsflag){ |
kishibekairohan | 11:028a150943b5 | 336 | buzzer = 0.5; |
kishibekairohan | 9:f93fc79a49ea | 337 | BuzzerTimer.attach(BuzzerTimer_func, 1.2); |
kishibekairohan | 9:f93fc79a49ea | 338 | Emsflag = true; |
kishibekairohan | 11:028a150943b5 | 339 | ledMode = EMS; |
kishibekairohan | 11:028a150943b5 | 340 | current = 0; |
kishibekairohan | 11:028a150943b5 | 341 | tapeLedTimer.attach(TapeLedEms_func, 1.2); |
kishibekairohan | 11:028a150943b5 | 342 | sendLedData.code = (uint32_t)Red; |
kishibekairohan | 9:f93fc79a49ea | 343 | } |
kishibekairohan | 9:f93fc79a49ea | 344 | |
kishibekairohan | 9:f93fc79a49ea | 345 | if(!EMS_0 && !EMS_1) { |
kishibekairohan | 9:f93fc79a49ea | 346 | buzzer = 0; |
kishibekairohan | 9:f93fc79a49ea | 347 | BuzzerTimer.detach(); |
kishibekairohan | 9:f93fc79a49ea | 348 | Emsflag = false; |
kishibekairohan | 11:028a150943b5 | 349 | if(ledMode == EMS) ledMode = Normal; |
kishibekairohan | 11:028a150943b5 | 350 | tapeLedTimer.detach(); |
kishibekairohan | 11:028a150943b5 | 351 | } |
kishibekairohan | 11:028a150943b5 | 352 | |
kishibekairohan | 11:028a150943b5 | 353 | switch(ledMode) |
kishibekairohan | 11:028a150943b5 | 354 | { |
kishibekairohan | 11:028a150943b5 | 355 | case EMS : |
kishibekairohan | 11:028a150943b5 | 356 | break; |
kishibekairohan | 11:028a150943b5 | 357 | |
kishibekairohan | 11:028a150943b5 | 358 | case Normal : |
kishibekairohan | 11:028a150943b5 | 359 | sendLedData.code = tapeLED.code; |
kishibekairohan | 11:028a150943b5 | 360 | |
kishibekairohan | 11:028a150943b5 | 361 | default: |
kishibekairohan | 11:028a150943b5 | 362 | break; |
kishibekairohan | 9:f93fc79a49ea | 363 | } |
kishibekairohan | 9:f93fc79a49ea | 364 | |
t_yamamoto | 0:669ef71cba68 | 365 | SystemProcessUpdate(); |
t_yamamoto | 0:669ef71cba68 | 366 | } |
t_yamamoto | 0:669ef71cba68 | 367 | } |
t_yamamoto | 0:669ef71cba68 | 368 | |
kishibekairohan | 2:c015739085d3 | 369 | |
kishibekairohan | 2:c015739085d3 | 370 | |
kishibekairohan | 2:c015739085d3 | 371 | |
t_yamamoto | 0:669ef71cba68 | 372 | #pragma region PROCESS |
t_yamamoto | 0:669ef71cba68 | 373 | #ifdef USE_SUBPROCESS |
t_yamamoto | 0:669ef71cba68 | 374 | #if USE_PROCESS_NUM>0 |
kishibekairohan | 12:c09b3e08a316 | 375 | static void Process0() |
kishibekairohan | 10:1295d39fec3a | 376 | { |
kishibekairohan | 12:c09b3e08a316 | 377 | tapeLED.code = (uint32_t)Green; |
kishibekairohan | 13:b6e02d6261d7 | 378 | if(RedSW){ |
kishibekairohan | 13:b6e02d6261d7 | 379 | current = 1; |
kishibekairohan | 13:b6e02d6261d7 | 380 | } |
kishibekairohan | 13:b6e02d6261d7 | 381 | if(BlueSW){ |
kishibekairohan | 13:b6e02d6261d7 | 382 | current = 2; |
kishibekairohan | 13:b6e02d6261d7 | 383 | } |
t_yamamoto | 0:669ef71cba68 | 384 | } |
t_yamamoto | 0:669ef71cba68 | 385 | #endif |
t_yamamoto | 0:669ef71cba68 | 386 | |
t_yamamoto | 0:669ef71cba68 | 387 | #if USE_PROCESS_NUM>1 |
kishibekairohan | 12:c09b3e08a316 | 388 | static void Process1() //手動 |
t_yamamoto | 0:669ef71cba68 | 389 | { |
kishibekairohan | 12:c09b3e08a316 | 390 | tapeLED.code = (uint32_t)Orange; |
7ka884 | 4:ba9df71868df | 391 | motor[TIRE_FR].dir = SetStatus(-mecanum[controller->AnalogL.Y][14-controller->AnalogL.X] + curve[controller->AnalogR.X]); |
7ka884 | 4:ba9df71868df | 392 | motor[TIRE_FL].dir = SetStatus(mecanum[controller->AnalogL.Y][controller->AnalogL.X] + curve[controller->AnalogR.X]); |
7ka884 | 4:ba9df71868df | 393 | motor[TIRE_BR].dir = SetStatus(-mecanum[14-controller->AnalogL.X][14-controller->AnalogL.Y] + curve[controller->AnalogR.X]); |
7ka884 | 4:ba9df71868df | 394 | motor[TIRE_BL].dir = SetStatus(mecanum[controller->AnalogL.X][14-controller->AnalogL.Y] + curve[controller->AnalogR.X]); |
kishibekairohan | 2:c015739085d3 | 395 | |
kishibekairohan | 7:e88c5d47a3be | 396 | motor[TIRE_FR].pwm = SetPWM(mecanum[controller->AnalogL.Y][14-controller->AnalogL.X]) *0.8; |
kishibekairohan | 7:e88c5d47a3be | 397 | motor[TIRE_FL].pwm = SetPWM(mecanum[controller->AnalogL.Y][controller->AnalogL.X]) *0.8; |
kishibekairohan | 7:e88c5d47a3be | 398 | motor[TIRE_BR].pwm = SetPWM(mecanum[14-controller->AnalogL.X][14-controller->AnalogL.Y]) *0.8; |
kishibekairohan | 7:e88c5d47a3be | 399 | motor[TIRE_BL].pwm = SetPWM(mecanum[controller->AnalogL.X][14-controller->AnalogL.Y]) *0.8; |
kishibekairohan | 2:c015739085d3 | 400 | |
kishibekairohan | 2:c015739085d3 | 401 | if (abs(controller->AnalogL.X-7) <= 4 && controller->AnalogL.X!=7 && controller->AnalogL.Y!=7 && controller->AnalogR.X==7){ |
kishibekairohan | 7:e88c5d47a3be | 402 | motor[TIRE_FR].pwm = motor[TIRE_FR].pwm * 1.3; |
kishibekairohan | 7:e88c5d47a3be | 403 | motor[TIRE_FL].pwm = motor[TIRE_FL].pwm * 1.3; |
7ka884 | 4:ba9df71868df | 404 | } |
7ka884 | 4:ba9df71868df | 405 | |
kishibekairohan | 12:c09b3e08a316 | 406 | if(controller->Button.R){ |
kishibekairohan | 12:c09b3e08a316 | 407 | motor[Angle_R].dir = FOR; |
kishibekairohan | 12:c09b3e08a316 | 408 | motor[Angle_L].dir = BACK; |
kishibekairohan | 12:c09b3e08a316 | 409 | motor[Angle_R].pwm = 150; |
kishibekairohan | 12:c09b3e08a316 | 410 | motor[Angle_L].pwm = 150; |
kishibekairohan | 12:c09b3e08a316 | 411 | }else if(controller->Button.L){ |
kishibekairohan | 12:c09b3e08a316 | 412 | motor[Angle_R].dir = BACK; |
kishibekairohan | 12:c09b3e08a316 | 413 | motor[Angle_L].dir = FOR; |
kishibekairohan | 12:c09b3e08a316 | 414 | motor[Angle_R].pwm = 150; |
kishibekairohan | 12:c09b3e08a316 | 415 | motor[Angle_L].pwm = 150; |
kishibekairohan | 12:c09b3e08a316 | 416 | }else{ |
kishibekairohan | 12:c09b3e08a316 | 417 | motor[Angle_R].dir = BRAKE; |
kishibekairohan | 12:c09b3e08a316 | 418 | motor[Angle_L].dir = BRAKE; |
kishibekairohan | 12:c09b3e08a316 | 419 | motor[Angle_R].pwm = 255; |
kishibekairohan | 12:c09b3e08a316 | 420 | motor[Angle_L].pwm = 255; |
kishibekairohan | 12:c09b3e08a316 | 421 | } |
kishibekairohan | 12:c09b3e08a316 | 422 | |
kishibekairohan | 12:c09b3e08a316 | 423 | if(LimitSw::IsPressed(Lim_AR) && motor[Angle_R].dir == FOR && motor[Angle_L].dir == BACK){ |
kishibekairohan | 12:c09b3e08a316 | 424 | motor[Angle_R].dir = BRAKE; |
kishibekairohan | 12:c09b3e08a316 | 425 | motor[Angle_L].dir = BRAKE; |
kishibekairohan | 12:c09b3e08a316 | 426 | motor[Angle_R].pwm = 255; |
kishibekairohan | 12:c09b3e08a316 | 427 | motor[Angle_L].pwm = 255; |
kishibekairohan | 12:c09b3e08a316 | 428 | }else if(LimitSw::IsPressed(Lim_AL) && motor[Angle_R].dir == BACK && motor[Angle_L].dir == FOR){ |
kishibekairohan | 12:c09b3e08a316 | 429 | motor[Angle_R].dir = BRAKE; |
kishibekairohan | 12:c09b3e08a316 | 430 | motor[Angle_L].dir = BRAKE; |
kishibekairohan | 12:c09b3e08a316 | 431 | motor[Angle_R].pwm = 255; |
kishibekairohan | 12:c09b3e08a316 | 432 | motor[Angle_L].pwm = 255; |
kishibekairohan | 12:c09b3e08a316 | 433 | } |
kishibekairohan | 12:c09b3e08a316 | 434 | /*for(int i = 0;i<20;i++){ |
kishibekairohan | 12:c09b3e08a316 | 435 | float y = 0; |
kishibekairohan | 12:c09b3e08a316 | 436 | y = acc[1]*1000; |
kishibekairohan | 12:c09b3e08a316 | 437 | float rotateY = (y - 305)/2.21 - 90; |
kishibekairohan | 12:c09b3e08a316 | 438 | Angle += rotateY; |
kishibekairohan | 12:c09b3e08a316 | 439 | } |
kishibekairohan | 12:c09b3e08a316 | 440 | Angle = Angle/20; |
kishibekairohan | 12:c09b3e08a316 | 441 | pc.printf("Y:%d \r\n",Angle);*/ |
kishibekairohan | 2:c015739085d3 | 442 | |
kishibekairohan | 12:c09b3e08a316 | 443 | //wheel.getPulses()...どちらの方向にどれだけ回ったか |
kishibekairohan | 12:c09b3e08a316 | 444 | //pc.printf("Pulses:%07d \r\n",wheel.getPulses()); |
kishibekairohan | 12:c09b3e08a316 | 445 | //軸が何回転したか |
kishibekairohan | 12:c09b3e08a316 | 446 | //pc.printf("Rotate:%04.3f \r\n",(double)wheel.getPulses()/(ROTATE_PER_REVOLUTIONS*4)); |
t_yamamoto | 0:669ef71cba68 | 447 | } |
t_yamamoto | 0:669ef71cba68 | 448 | #endif |
t_yamamoto | 0:669ef71cba68 | 449 | |
t_yamamoto | 0:669ef71cba68 | 450 | #if USE_PROCESS_NUM>2 |
kishibekairohan | 13:b6e02d6261d7 | 451 | static void Process2() //trace |
kishibekairohan | 13:b6e02d6261d7 | 452 | { |
kishibekairohan | 13:b6e02d6261d7 | 453 | tapeLED.code = (uint32_t)Yellow; |
kishibekairohan | 13:b6e02d6261d7 | 454 | static bool color_flag = false; |
kishibekairohan | 13:b6e02d6261d7 | 455 | |
kishibekairohan | 13:b6e02d6261d7 | 456 | static bool traceon = false;//fase1 |
kishibekairohan | 13:b6e02d6261d7 | 457 | static bool yokofla = false;//fase2 |
kishibekairohan | 13:b6e02d6261d7 | 458 | static bool boxslip = false;//fase3 |
kishibekairohan | 13:b6e02d6261d7 | 459 | |
kishibekairohan | 13:b6e02d6261d7 | 460 | //static bool syu = false; |
kishibekairohan | 13:b6e02d6261d7 | 461 | |
kishibekairohan | 13:b6e02d6261d7 | 462 | ColorDetection(); |
kishibekairohan | 13:b6e02d6261d7 | 463 | Color_changeflag(); |
kishibekairohan | 13:b6e02d6261d7 | 464 | |
kishibekairohan | 13:b6e02d6261d7 | 465 | if(controller->Button.B && !color_flag) |
kishibekairohan | 13:b6e02d6261d7 | 466 | { |
kishibekairohan | 13:b6e02d6261d7 | 467 | traceon = true; |
kishibekairohan | 13:b6e02d6261d7 | 468 | color_flag = true; |
kishibekairohan | 13:b6e02d6261d7 | 469 | } |
kishibekairohan | 13:b6e02d6261d7 | 470 | else if(!controller->Button.B)color_flag = false; |
kishibekairohan | 13:b6e02d6261d7 | 471 | |
kishibekairohan | 13:b6e02d6261d7 | 472 | if(traceon) |
kishibekairohan | 13:b6e02d6261d7 | 473 | { |
kishibekairohan | 13:b6e02d6261d7 | 474 | Color_changeflag(); |
kishibekairohan | 13:b6e02d6261d7 | 475 | if(!invationA && !compA && !invationB && !compB) |
kishibekairohan | 13:b6e02d6261d7 | 476 | { |
kishibekairohan | 13:b6e02d6261d7 | 477 | motor[TIRE_FR].dir = FOR; |
kishibekairohan | 13:b6e02d6261d7 | 478 | motor[TIRE_FL].dir = FOR; |
kishibekairohan | 13:b6e02d6261d7 | 479 | motor[TIRE_BR].dir = BACK; |
kishibekairohan | 13:b6e02d6261d7 | 480 | motor[TIRE_BL].dir = BACK; |
kishibekairohan | 13:b6e02d6261d7 | 481 | |
kishibekairohan | 13:b6e02d6261d7 | 482 | motor[TIRE_FR].pwm = startP; |
kishibekairohan | 13:b6e02d6261d7 | 483 | motor[TIRE_FL].pwm = startP; |
kishibekairohan | 13:b6e02d6261d7 | 484 | motor[TIRE_BR].pwm = startP; |
kishibekairohan | 13:b6e02d6261d7 | 485 | motor[TIRE_BL].pwm = startP; |
kishibekairohan | 13:b6e02d6261d7 | 486 | |
kishibekairohan | 13:b6e02d6261d7 | 487 | Color_changeflag(); |
kishibekairohan | 13:b6e02d6261d7 | 488 | } |
kishibekairohan | 13:b6e02d6261d7 | 489 | else if(invationC && compC && !invationB && !compB) |
kishibekairohan | 13:b6e02d6261d7 | 490 | { |
kishibekairohan | 13:b6e02d6261d7 | 491 | for(int i = 0; i<1000; i++){ |
kishibekairohan | 13:b6e02d6261d7 | 492 | motor[TIRE_FR].dir = BRAKE; |
kishibekairohan | 13:b6e02d6261d7 | 493 | motor[TIRE_FL].dir = BRAKE; |
kishibekairohan | 13:b6e02d6261d7 | 494 | motor[TIRE_BR].dir = BRAKE; |
kishibekairohan | 13:b6e02d6261d7 | 495 | motor[TIRE_BL].dir = BRAKE; |
kishibekairohan | 13:b6e02d6261d7 | 496 | |
kishibekairohan | 13:b6e02d6261d7 | 497 | motor[TIRE_FR].pwm = 255; |
kishibekairohan | 13:b6e02d6261d7 | 498 | motor[TIRE_FL].pwm = 255; |
kishibekairohan | 13:b6e02d6261d7 | 499 | motor[TIRE_BR].pwm = 255; |
kishibekairohan | 13:b6e02d6261d7 | 500 | motor[TIRE_BL].pwm = 255; |
kishibekairohan | 13:b6e02d6261d7 | 501 | } |
kishibekairohan | 13:b6e02d6261d7 | 502 | |
kishibekairohan | 13:b6e02d6261d7 | 503 | yokofla = true; |
kishibekairohan | 13:b6e02d6261d7 | 504 | traceon = false; |
kishibekairohan | 13:b6e02d6261d7 | 505 | } |
kishibekairohan | 13:b6e02d6261d7 | 506 | } |
kishibekairohan | 13:b6e02d6261d7 | 507 | |
kishibekairohan | 13:b6e02d6261d7 | 508 | |
kishibekairohan | 13:b6e02d6261d7 | 509 | if(yokofla && !traceon) |
kishibekairohan | 13:b6e02d6261d7 | 510 | { |
kishibekairohan | 13:b6e02d6261d7 | 511 | //pointcalculation(); |
kishibekairohan | 13:b6e02d6261d7 | 512 | Color_changeflag(); |
kishibekairohan | 13:b6e02d6261d7 | 513 | if(LimitSw::IsPressed(Lim_R) && LimitSw::IsPressed(Lim_L)) |
kishibekairohan | 13:b6e02d6261d7 | 514 | { |
kishibekairohan | 13:b6e02d6261d7 | 515 | motor[TIRE_FR].dir = BRAKE; |
kishibekairohan | 13:b6e02d6261d7 | 516 | motor[TIRE_FL].dir = BRAKE; |
kishibekairohan | 13:b6e02d6261d7 | 517 | motor[TIRE_BR].dir = BRAKE; |
kishibekairohan | 13:b6e02d6261d7 | 518 | motor[TIRE_BL].dir = BRAKE; |
kishibekairohan | 13:b6e02d6261d7 | 519 | |
kishibekairohan | 13:b6e02d6261d7 | 520 | motor[TIRE_FR].pwm = 255; |
kishibekairohan | 13:b6e02d6261d7 | 521 | motor[TIRE_FL].pwm = 255; |
kishibekairohan | 13:b6e02d6261d7 | 522 | motor[TIRE_BR].pwm = 255; |
kishibekairohan | 13:b6e02d6261d7 | 523 | motor[TIRE_BL].pwm = 255; |
kishibekairohan | 13:b6e02d6261d7 | 524 | |
kishibekairohan | 13:b6e02d6261d7 | 525 | wait(2); |
kishibekairohan | 13:b6e02d6261d7 | 526 | |
kishibekairohan | 13:b6e02d6261d7 | 527 | boxslip = true; |
kishibekairohan | 13:b6e02d6261d7 | 528 | yokofla = false; |
kishibekairohan | 13:b6e02d6261d7 | 529 | } |
kishibekairohan | 13:b6e02d6261d7 | 530 | else if(compA && compB && compC) |
kishibekairohan | 13:b6e02d6261d7 | 531 | { |
kishibekairohan | 13:b6e02d6261d7 | 532 | motor[TIRE_FR].dir = FOR; |
kishibekairohan | 13:b6e02d6261d7 | 533 | motor[TIRE_FL].dir = BACK; |
kishibekairohan | 13:b6e02d6261d7 | 534 | motor[TIRE_BR].dir = FOR; |
kishibekairohan | 13:b6e02d6261d7 | 535 | motor[TIRE_BL].dir = BACK; |
kishibekairohan | 13:b6e02d6261d7 | 536 | |
kishibekairohan | 13:b6e02d6261d7 | 537 | motor[TIRE_FR].pwm = startP; |
kishibekairohan | 13:b6e02d6261d7 | 538 | motor[TIRE_FL].pwm = startP; |
kishibekairohan | 13:b6e02d6261d7 | 539 | motor[TIRE_BR].pwm = startP; |
kishibekairohan | 13:b6e02d6261d7 | 540 | motor[TIRE_BL].pwm = startP; |
kishibekairohan | 13:b6e02d6261d7 | 541 | |
kishibekairohan | 13:b6e02d6261d7 | 542 | Color_changeflag(); |
kishibekairohan | 13:b6e02d6261d7 | 543 | } |
kishibekairohan | 13:b6e02d6261d7 | 544 | else if(invationA && invationB && invationC) |
kishibekairohan | 13:b6e02d6261d7 | 545 | { |
kishibekairohan | 13:b6e02d6261d7 | 546 | motor[TIRE_FR].dir = FREE; |
kishibekairohan | 13:b6e02d6261d7 | 547 | motor[TIRE_FL].dir = BACK; |
kishibekairohan | 13:b6e02d6261d7 | 548 | motor[TIRE_BR].dir = FOR; |
kishibekairohan | 13:b6e02d6261d7 | 549 | motor[TIRE_BL].dir = FREE; |
kishibekairohan | 13:b6e02d6261d7 | 550 | |
kishibekairohan | 13:b6e02d6261d7 | 551 | //motor[TIRE_FR].pwm = startP; |
kishibekairohan | 13:b6e02d6261d7 | 552 | motor[TIRE_FL].pwm = startP; |
kishibekairohan | 13:b6e02d6261d7 | 553 | motor[TIRE_BR].pwm = startP; |
kishibekairohan | 13:b6e02d6261d7 | 554 | //motor[TIRE_BL].pwm = startP; |
kishibekairohan | 13:b6e02d6261d7 | 555 | } |
kishibekairohan | 13:b6e02d6261d7 | 556 | else if(!invationA && !invationB && !invationC) |
kishibekairohan | 13:b6e02d6261d7 | 557 | { |
kishibekairohan | 13:b6e02d6261d7 | 558 | motor[TIRE_FR].dir = FOR; |
kishibekairohan | 13:b6e02d6261d7 | 559 | motor[TIRE_FL].dir = FREE; |
kishibekairohan | 13:b6e02d6261d7 | 560 | motor[TIRE_BR].dir = FREE; |
kishibekairohan | 13:b6e02d6261d7 | 561 | motor[TIRE_BL].dir = BACK; |
kishibekairohan | 13:b6e02d6261d7 | 562 | |
kishibekairohan | 13:b6e02d6261d7 | 563 | motor[TIRE_FR].pwm = startP; |
kishibekairohan | 13:b6e02d6261d7 | 564 | //motor[TIRE_FL].pwm = startP; |
kishibekairohan | 13:b6e02d6261d7 | 565 | //motor[TIRE_BR].pwm = startP; |
kishibekairohan | 13:b6e02d6261d7 | 566 | motor[TIRE_BL].pwm = startP; |
kishibekairohan | 13:b6e02d6261d7 | 567 | } |
kishibekairohan | 13:b6e02d6261d7 | 568 | else if(!invationA && compC && invationC)//C固定A下 |
kishibekairohan | 13:b6e02d6261d7 | 569 | { |
kishibekairohan | 13:b6e02d6261d7 | 570 | motor[TIRE_FR].dir = BRAKE; |
kishibekairohan | 13:b6e02d6261d7 | 571 | motor[TIRE_FL].dir = BRAKE; |
kishibekairohan | 13:b6e02d6261d7 | 572 | motor[TIRE_BR].dir = BACK; |
kishibekairohan | 13:b6e02d6261d7 | 573 | motor[TIRE_BL].dir = BACK; |
kishibekairohan | 13:b6e02d6261d7 | 574 | |
kishibekairohan | 13:b6e02d6261d7 | 575 | motor[TIRE_FR].pwm = 255; |
kishibekairohan | 13:b6e02d6261d7 | 576 | motor[TIRE_FL].pwm = 100; |
kishibekairohan | 13:b6e02d6261d7 | 577 | motor[TIRE_BR].pwm = 55; |
kishibekairohan | 13:b6e02d6261d7 | 578 | motor[TIRE_BL].pwm = startP; |
kishibekairohan | 13:b6e02d6261d7 | 579 | |
kishibekairohan | 13:b6e02d6261d7 | 580 | Color_changeflag(); |
kishibekairohan | 13:b6e02d6261d7 | 581 | } |
kishibekairohan | 13:b6e02d6261d7 | 582 | else if(compA && compB && !invationC)//AB固定C下 |
kishibekairohan | 13:b6e02d6261d7 | 583 | { |
kishibekairohan | 13:b6e02d6261d7 | 584 | motor[TIRE_FR].dir = FOR; |
kishibekairohan | 13:b6e02d6261d7 | 585 | motor[TIRE_FL].dir = FOR; |
kishibekairohan | 13:b6e02d6261d7 | 586 | motor[TIRE_BR].dir = BRAKE; |
kishibekairohan | 13:b6e02d6261d7 | 587 | motor[TIRE_BL].dir = BRAKE; |
kishibekairohan | 13:b6e02d6261d7 | 588 | |
kishibekairohan | 13:b6e02d6261d7 | 589 | motor[TIRE_FR].pwm = 55; |
kishibekairohan | 13:b6e02d6261d7 | 590 | motor[TIRE_FL].pwm = startP; |
kishibekairohan | 13:b6e02d6261d7 | 591 | motor[TIRE_BR].pwm = 255; |
kishibekairohan | 13:b6e02d6261d7 | 592 | motor[TIRE_BL].pwm = 100; |
kishibekairohan | 13:b6e02d6261d7 | 593 | |
kishibekairohan | 13:b6e02d6261d7 | 594 | Color_changeflag(); |
kishibekairohan | 13:b6e02d6261d7 | 595 | } |
kishibekairohan | 13:b6e02d6261d7 | 596 | else if(compA && compB && !compC && invationC)//AB固定C上 |
kishibekairohan | 13:b6e02d6261d7 | 597 | { |
kishibekairohan | 13:b6e02d6261d7 | 598 | motor[TIRE_FR].dir = BACK; |
kishibekairohan | 13:b6e02d6261d7 | 599 | motor[TIRE_FL].dir = BACK; |
kishibekairohan | 13:b6e02d6261d7 | 600 | motor[TIRE_BR].dir = BRAKE; |
kishibekairohan | 13:b6e02d6261d7 | 601 | motor[TIRE_BL].dir = BRAKE; |
kishibekairohan | 13:b6e02d6261d7 | 602 | |
kishibekairohan | 13:b6e02d6261d7 | 603 | motor[TIRE_FR].pwm = startP; |
kishibekairohan | 13:b6e02d6261d7 | 604 | motor[TIRE_FL].pwm = 55; |
kishibekairohan | 13:b6e02d6261d7 | 605 | motor[TIRE_BR].pwm = 255; |
kishibekairohan | 13:b6e02d6261d7 | 606 | motor[TIRE_BL].pwm = 100; |
kishibekairohan | 13:b6e02d6261d7 | 607 | |
kishibekairohan | 13:b6e02d6261d7 | 608 | Color_changeflag(); |
kishibekairohan | 13:b6e02d6261d7 | 609 | } |
kishibekairohan | 13:b6e02d6261d7 | 610 | else if(!compA && invationA && compC)//C固定A上 |
kishibekairohan | 13:b6e02d6261d7 | 611 | { |
kishibekairohan | 13:b6e02d6261d7 | 612 | motor[TIRE_FR].dir = BRAKE; |
kishibekairohan | 13:b6e02d6261d7 | 613 | motor[TIRE_FL].dir = BRAKE; |
kishibekairohan | 13:b6e02d6261d7 | 614 | motor[TIRE_BR].dir = FOR; |
kishibekairohan | 13:b6e02d6261d7 | 615 | motor[TIRE_BL].dir = FOR; |
kishibekairohan | 13:b6e02d6261d7 | 616 | |
kishibekairohan | 13:b6e02d6261d7 | 617 | motor[TIRE_FR].pwm = 255; |
kishibekairohan | 13:b6e02d6261d7 | 618 | motor[TIRE_FL].pwm = 100; |
kishibekairohan | 13:b6e02d6261d7 | 619 | motor[TIRE_BR].pwm = startP; |
kishibekairohan | 13:b6e02d6261d7 | 620 | motor[TIRE_BL].pwm = 55; |
kishibekairohan | 13:b6e02d6261d7 | 621 | |
kishibekairohan | 13:b6e02d6261d7 | 622 | Color_changeflag(); |
kishibekairohan | 13:b6e02d6261d7 | 623 | } |
kishibekairohan | 13:b6e02d6261d7 | 624 | } |
kishibekairohan | 13:b6e02d6261d7 | 625 | |
kishibekairohan | 13:b6e02d6261d7 | 626 | if(boxslip) |
kishibekairohan | 13:b6e02d6261d7 | 627 | { |
kishibekairohan | 13:b6e02d6261d7 | 628 | motor[TIRE_FR].dir = BRAKE; |
kishibekairohan | 13:b6e02d6261d7 | 629 | motor[TIRE_FL].dir = BRAKE; |
kishibekairohan | 13:b6e02d6261d7 | 630 | motor[TIRE_BR].dir = BRAKE; |
kishibekairohan | 13:b6e02d6261d7 | 631 | motor[TIRE_BL].dir = BRAKE; |
kishibekairohan | 13:b6e02d6261d7 | 632 | |
kishibekairohan | 13:b6e02d6261d7 | 633 | motor[TIRE_FR].pwm = 255; |
kishibekairohan | 13:b6e02d6261d7 | 634 | motor[TIRE_FL].pwm = 255; |
kishibekairohan | 13:b6e02d6261d7 | 635 | motor[TIRE_BR].pwm = 255; |
kishibekairohan | 13:b6e02d6261d7 | 636 | motor[TIRE_BL].pwm = 255; |
kishibekairohan | 13:b6e02d6261d7 | 637 | } |
kishibekairohan | 13:b6e02d6261d7 | 638 | } |
kishibekairohan | 13:b6e02d6261d7 | 639 | #endif |
kishibekairohan | 13:b6e02d6261d7 | 640 | |
kishibekairohan | 13:b6e02d6261d7 | 641 | #if USE_PROCESS_NUM>3 |
kishibekairohan | 13:b6e02d6261d7 | 642 | static void Process3() |
kishibekairohan | 13:b6e02d6261d7 | 643 | { |
kishibekairohan | 13:b6e02d6261d7 | 644 | |
kishibekairohan | 13:b6e02d6261d7 | 645 | } |
kishibekairohan | 13:b6e02d6261d7 | 646 | #endif |
kishibekairohan | 13:b6e02d6261d7 | 647 | |
kishibekairohan | 13:b6e02d6261d7 | 648 | #if USE_PROCESS_NUM>4 |
kishibekairohan | 13:b6e02d6261d7 | 649 | static void Process4() |
kishibekairohan | 12:c09b3e08a316 | 650 | { |
kishibekairohan | 13:b6e02d6261d7 | 651 | } |
kishibekairohan | 13:b6e02d6261d7 | 652 | #endif |
kishibekairohan | 13:b6e02d6261d7 | 653 | |
kishibekairohan | 13:b6e02d6261d7 | 654 | #if USE_PROCESS_NUM>5 |
kishibekairohan | 13:b6e02d6261d7 | 655 | static void Process5() //ロタコンXY |
kishibekairohan | 13:b6e02d6261d7 | 656 | { |
kishibekairohan | 13:b6e02d6261d7 | 657 | tapeLED.code = (uint32_t)White; |
kishibekairohan | 13:b6e02d6261d7 | 658 | |
kishibekairohan | 13:b6e02d6261d7 | 659 | static bool nopushed = false; |
kishibekairohan | 13:b6e02d6261d7 | 660 | static bool Rt_flagX = false; |
kishibekairohan | 13:b6e02d6261d7 | 661 | static bool Rt_flagY = false; |
kishibekairohan | 13:b6e02d6261d7 | 662 | |
kishibekairohan | 13:b6e02d6261d7 | 663 | if(controller->Button.A && !nopushed){ |
kishibekairohan | 13:b6e02d6261d7 | 664 | Rt_flagX = true; |
kishibekairohan | 13:b6e02d6261d7 | 665 | nopushed = true; |
kishibekairohan | 13:b6e02d6261d7 | 666 | |
kishibekairohan | 13:b6e02d6261d7 | 667 | RtX.reset(); |
kishibekairohan | 13:b6e02d6261d7 | 668 | RtY.reset(); |
kishibekairohan | 13:b6e02d6261d7 | 669 | }else if(!controller->Button.A)nopushed = false; |
kishibekairohan | 13:b6e02d6261d7 | 670 | |
kishibekairohan | 13:b6e02d6261d7 | 671 | filip(); |
kishibekairohan | 13:b6e02d6261d7 | 672 | |
kishibekairohan | 13:b6e02d6261d7 | 673 | if(Rt_flagX) |
kishibekairohan | 13:b6e02d6261d7 | 674 | { |
kishibekairohan | 13:b6e02d6261d7 | 675 | filip(); |
kishibekairohan | 13:b6e02d6261d7 | 676 | if(disX < goalX - 5){ |
kishibekairohan | 13:b6e02d6261d7 | 677 | filip(); |
kishibekairohan | 13:b6e02d6261d7 | 678 | |
kishibekairohan | 13:b6e02d6261d7 | 679 | motor[TIRE_FR].dir = SetStatus(-RtpwmX); |
kishibekairohan | 13:b6e02d6261d7 | 680 | motor[TIRE_FL].dir = SetStatus(-RtpwmX); |
kishibekairohan | 13:b6e02d6261d7 | 681 | motor[TIRE_BR].dir = SetStatus(RtpwmX); |
kishibekairohan | 13:b6e02d6261d7 | 682 | motor[TIRE_BL].dir = SetStatus(RtpwmX); |
kishibekairohan | 13:b6e02d6261d7 | 683 | motor[TIRE_FR].pwm = SetPWM(RtpwmX)*0.8; |
kishibekairohan | 13:b6e02d6261d7 | 684 | motor[TIRE_FL].pwm = SetPWM(RtpwmX); |
kishibekairohan | 13:b6e02d6261d7 | 685 | motor[TIRE_BR].pwm = SetPWM(RtpwmX); |
kishibekairohan | 13:b6e02d6261d7 | 686 | motor[TIRE_BL].pwm = SetPWM(RtpwmX); |
kishibekairohan | 13:b6e02d6261d7 | 687 | } |
kishibekairohan | 13:b6e02d6261d7 | 688 | else if(disX > goalX - 5){ |
kishibekairohan | 13:b6e02d6261d7 | 689 | |
kishibekairohan | 13:b6e02d6261d7 | 690 | for(int i = 0; i<200; i++){ |
kishibekairohan | 13:b6e02d6261d7 | 691 | motor[TIRE_FR].dir = BRAKE; |
kishibekairohan | 13:b6e02d6261d7 | 692 | motor[TIRE_FL].dir = BRAKE; |
kishibekairohan | 13:b6e02d6261d7 | 693 | motor[TIRE_BR].dir = BRAKE; |
kishibekairohan | 13:b6e02d6261d7 | 694 | motor[TIRE_BL].dir = BRAKE; |
kishibekairohan | 13:b6e02d6261d7 | 695 | |
kishibekairohan | 13:b6e02d6261d7 | 696 | motor[TIRE_FR].pwm = 255; |
kishibekairohan | 13:b6e02d6261d7 | 697 | motor[TIRE_FL].pwm = 255; |
kishibekairohan | 13:b6e02d6261d7 | 698 | motor[TIRE_BR].pwm = 255; |
kishibekairohan | 13:b6e02d6261d7 | 699 | motor[TIRE_BL].pwm = 255; |
kishibekairohan | 13:b6e02d6261d7 | 700 | } |
kishibekairohan | 13:b6e02d6261d7 | 701 | |
kishibekairohan | 13:b6e02d6261d7 | 702 | Rt_flagY = true; |
kishibekairohan | 13:b6e02d6261d7 | 703 | Rt_flagX = false; |
kishibekairohan | 13:b6e02d6261d7 | 704 | } |
kishibekairohan | 13:b6e02d6261d7 | 705 | } |
kishibekairohan | 13:b6e02d6261d7 | 706 | |
kishibekairohan | 13:b6e02d6261d7 | 707 | |
kishibekairohan | 13:b6e02d6261d7 | 708 | if(Rt_flagY && !Rt_flagX){ |
kishibekairohan | 13:b6e02d6261d7 | 709 | filip(); |
kishibekairohan | 13:b6e02d6261d7 | 710 | if(disY < goalY - 5){ |
kishibekairohan | 13:b6e02d6261d7 | 711 | filip(); |
kishibekairohan | 13:b6e02d6261d7 | 712 | motor[TIRE_FR].dir = SetStatus(-RtpwmY); |
kishibekairohan | 13:b6e02d6261d7 | 713 | motor[TIRE_FL].dir = SetStatus(RtpwmY); |
kishibekairohan | 13:b6e02d6261d7 | 714 | motor[TIRE_BR].dir = SetStatus(-RtpwmY); |
kishibekairohan | 13:b6e02d6261d7 | 715 | motor[TIRE_BL].dir = SetStatus(RtpwmY); |
kishibekairohan | 13:b6e02d6261d7 | 716 | motor[TIRE_FR].pwm = SetPWM(RtpwmY); |
kishibekairohan | 13:b6e02d6261d7 | 717 | motor[TIRE_FL].pwm = SetPWM(RtpwmY); |
kishibekairohan | 13:b6e02d6261d7 | 718 | motor[TIRE_BR].pwm = SetPWM(RtpwmY); |
kishibekairohan | 13:b6e02d6261d7 | 719 | motor[TIRE_BL].pwm = SetPWM(RtpwmY); |
kishibekairohan | 13:b6e02d6261d7 | 720 | } |
kishibekairohan | 13:b6e02d6261d7 | 721 | else if(disY > goalY - 5) |
kishibekairohan | 13:b6e02d6261d7 | 722 | { |
kishibekairohan | 13:b6e02d6261d7 | 723 | filip(); |
kishibekairohan | 13:b6e02d6261d7 | 724 | motor[TIRE_FR].dir = BRAKE; |
kishibekairohan | 13:b6e02d6261d7 | 725 | motor[TIRE_FL].dir = BRAKE; |
kishibekairohan | 13:b6e02d6261d7 | 726 | motor[TIRE_BR].dir = BRAKE; |
kishibekairohan | 13:b6e02d6261d7 | 727 | motor[TIRE_BL].dir = BRAKE; |
kishibekairohan | 13:b6e02d6261d7 | 728 | motor[TIRE_FR].pwm = 255*0.85; |
kishibekairohan | 13:b6e02d6261d7 | 729 | motor[TIRE_FL].pwm = 255; |
kishibekairohan | 13:b6e02d6261d7 | 730 | motor[TIRE_BR].pwm = 255; |
kishibekairohan | 13:b6e02d6261d7 | 731 | motor[TIRE_BL].pwm = 255; |
kishibekairohan | 13:b6e02d6261d7 | 732 | } |
kishibekairohan | 13:b6e02d6261d7 | 733 | } |
kishibekairohan | 13:b6e02d6261d7 | 734 | } |
kishibekairohan | 13:b6e02d6261d7 | 735 | #endif |
kishibekairohan | 13:b6e02d6261d7 | 736 | |
kishibekairohan | 13:b6e02d6261d7 | 737 | #if USE_PROCESS_NUM>6 |
kishibekairohan | 13:b6e02d6261d7 | 738 | static void Process6() |
kishibekairohan | 13:b6e02d6261d7 | 739 | { |
kishibekairohan | 13:b6e02d6261d7 | 740 | tapeLED.code = (uint32_t)Yellow; |
kishibekairohan | 13:b6e02d6261d7 | 741 | static bool color_flag = false; |
kishibekairohan | 13:b6e02d6261d7 | 742 | |
kishibekairohan | 13:b6e02d6261d7 | 743 | static bool traceon = false;//fase1 |
kishibekairohan | 13:b6e02d6261d7 | 744 | static bool yokofla = false;//fase2 |
kishibekairohan | 13:b6e02d6261d7 | 745 | static bool boxslip = false;//fase3 |
kishibekairohan | 13:b6e02d6261d7 | 746 | |
kishibekairohan | 13:b6e02d6261d7 | 747 | static bool nopushed = false; |
kishibekairohan | 13:b6e02d6261d7 | 748 | static bool Rt_flagX = false; |
kishibekairohan | 13:b6e02d6261d7 | 749 | static bool Rt_flagY = false; |
kishibekairohan | 13:b6e02d6261d7 | 750 | |
kishibekairohan | 13:b6e02d6261d7 | 751 | //static bool syu = false; |
kishibekairohan | 13:b6e02d6261d7 | 752 | |
kishibekairohan | 13:b6e02d6261d7 | 753 | ColorDetection(); |
kishibekairohan | 13:b6e02d6261d7 | 754 | Color_changeflag(); |
kishibekairohan | 13:b6e02d6261d7 | 755 | |
kishibekairohan | 13:b6e02d6261d7 | 756 | if(controller->Button.B && !color_flag) |
kishibekairohan | 13:b6e02d6261d7 | 757 | { |
kishibekairohan | 13:b6e02d6261d7 | 758 | traceon = true; |
kishibekairohan | 13:b6e02d6261d7 | 759 | color_flag = true; |
kishibekairohan | 13:b6e02d6261d7 | 760 | } |
kishibekairohan | 13:b6e02d6261d7 | 761 | else if(!controller->Button.B)color_flag = false; |
kishibekairohan | 13:b6e02d6261d7 | 762 | |
kishibekairohan | 13:b6e02d6261d7 | 763 | if(traceon) |
kishibekairohan | 13:b6e02d6261d7 | 764 | { |
kishibekairohan | 13:b6e02d6261d7 | 765 | Color_changeflag(); |
kishibekairohan | 13:b6e02d6261d7 | 766 | if(!invationA && !compA && !invationB && !compB) |
kishibekairohan | 13:b6e02d6261d7 | 767 | { |
kishibekairohan | 13:b6e02d6261d7 | 768 | motor[TIRE_FR].dir = FOR; |
kishibekairohan | 13:b6e02d6261d7 | 769 | motor[TIRE_FL].dir = FOR; |
kishibekairohan | 13:b6e02d6261d7 | 770 | motor[TIRE_BR].dir = BACK; |
kishibekairohan | 13:b6e02d6261d7 | 771 | motor[TIRE_BL].dir = BACK; |
kishibekairohan | 13:b6e02d6261d7 | 772 | |
kishibekairohan | 13:b6e02d6261d7 | 773 | motor[TIRE_FR].pwm = startP; |
kishibekairohan | 13:b6e02d6261d7 | 774 | motor[TIRE_FL].pwm = startP; |
kishibekairohan | 13:b6e02d6261d7 | 775 | motor[TIRE_BR].pwm = startP; |
kishibekairohan | 13:b6e02d6261d7 | 776 | motor[TIRE_BL].pwm = startP; |
kishibekairohan | 13:b6e02d6261d7 | 777 | |
kishibekairohan | 13:b6e02d6261d7 | 778 | Color_changeflag(); |
kishibekairohan | 13:b6e02d6261d7 | 779 | } |
kishibekairohan | 13:b6e02d6261d7 | 780 | else if(invationC && compC && !invationB && !compB) |
kishibekairohan | 13:b6e02d6261d7 | 781 | { |
kishibekairohan | 13:b6e02d6261d7 | 782 | for(int i = 0; i<1000; i++){ |
kishibekairohan | 13:b6e02d6261d7 | 783 | motor[TIRE_FR].dir = BRAKE; |
kishibekairohan | 13:b6e02d6261d7 | 784 | motor[TIRE_FL].dir = BRAKE; |
kishibekairohan | 13:b6e02d6261d7 | 785 | motor[TIRE_BR].dir = BRAKE; |
kishibekairohan | 13:b6e02d6261d7 | 786 | motor[TIRE_BL].dir = BRAKE; |
kishibekairohan | 13:b6e02d6261d7 | 787 | |
kishibekairohan | 13:b6e02d6261d7 | 788 | motor[TIRE_FR].pwm = 255; |
kishibekairohan | 13:b6e02d6261d7 | 789 | motor[TIRE_FL].pwm = 255; |
kishibekairohan | 13:b6e02d6261d7 | 790 | motor[TIRE_BR].pwm = 255; |
kishibekairohan | 13:b6e02d6261d7 | 791 | motor[TIRE_BL].pwm = 255; |
kishibekairohan | 13:b6e02d6261d7 | 792 | } |
kishibekairohan | 13:b6e02d6261d7 | 793 | |
kishibekairohan | 13:b6e02d6261d7 | 794 | yokofla = true; |
kishibekairohan | 13:b6e02d6261d7 | 795 | traceon = false; |
kishibekairohan | 13:b6e02d6261d7 | 796 | } |
kishibekairohan | 13:b6e02d6261d7 | 797 | } |
kishibekairohan | 13:b6e02d6261d7 | 798 | |
kishibekairohan | 13:b6e02d6261d7 | 799 | |
kishibekairohan | 13:b6e02d6261d7 | 800 | if(yokofla && !traceon) |
kishibekairohan | 13:b6e02d6261d7 | 801 | { |
kishibekairohan | 13:b6e02d6261d7 | 802 | //pointcalculation(); |
kishibekairohan | 13:b6e02d6261d7 | 803 | Color_changeflag(); |
kishibekairohan | 13:b6e02d6261d7 | 804 | if(LimitSw::IsPressed(Lim_R) && LimitSw::IsPressed(Lim_L)) |
kishibekairohan | 13:b6e02d6261d7 | 805 | { |
kishibekairohan | 13:b6e02d6261d7 | 806 | motor[TIRE_FR].dir = BRAKE; |
kishibekairohan | 13:b6e02d6261d7 | 807 | motor[TIRE_FL].dir = BRAKE; |
kishibekairohan | 13:b6e02d6261d7 | 808 | motor[TIRE_BR].dir = BRAKE; |
kishibekairohan | 13:b6e02d6261d7 | 809 | motor[TIRE_BL].dir = BRAKE; |
kishibekairohan | 13:b6e02d6261d7 | 810 | |
kishibekairohan | 13:b6e02d6261d7 | 811 | motor[TIRE_FR].pwm = 255; |
kishibekairohan | 13:b6e02d6261d7 | 812 | motor[TIRE_FL].pwm = 255; |
kishibekairohan | 13:b6e02d6261d7 | 813 | motor[TIRE_BR].pwm = 255; |
kishibekairohan | 13:b6e02d6261d7 | 814 | motor[TIRE_BL].pwm = 255; |
kishibekairohan | 13:b6e02d6261d7 | 815 | |
kishibekairohan | 13:b6e02d6261d7 | 816 | wait(2); |
kishibekairohan | 13:b6e02d6261d7 | 817 | |
kishibekairohan | 13:b6e02d6261d7 | 818 | boxslip = true; |
kishibekairohan | 13:b6e02d6261d7 | 819 | yokofla = false; |
kishibekairohan | 13:b6e02d6261d7 | 820 | } |
kishibekairohan | 13:b6e02d6261d7 | 821 | else if(compA && compB && compC) |
kishibekairohan | 13:b6e02d6261d7 | 822 | { |
kishibekairohan | 13:b6e02d6261d7 | 823 | motor[TIRE_FR].dir = FOR; |
kishibekairohan | 13:b6e02d6261d7 | 824 | motor[TIRE_FL].dir = BACK; |
kishibekairohan | 13:b6e02d6261d7 | 825 | motor[TIRE_BR].dir = FOR; |
kishibekairohan | 13:b6e02d6261d7 | 826 | motor[TIRE_BL].dir = BACK; |
kishibekairohan | 13:b6e02d6261d7 | 827 | |
kishibekairohan | 13:b6e02d6261d7 | 828 | motor[TIRE_FR].pwm = startP; |
kishibekairohan | 13:b6e02d6261d7 | 829 | motor[TIRE_FL].pwm = startP; |
kishibekairohan | 13:b6e02d6261d7 | 830 | motor[TIRE_BR].pwm = startP; |
kishibekairohan | 13:b6e02d6261d7 | 831 | motor[TIRE_BL].pwm = startP; |
kishibekairohan | 13:b6e02d6261d7 | 832 | |
kishibekairohan | 13:b6e02d6261d7 | 833 | Color_changeflag(); |
kishibekairohan | 13:b6e02d6261d7 | 834 | } |
kishibekairohan | 13:b6e02d6261d7 | 835 | else if(invationA && invationB && invationC) |
kishibekairohan | 13:b6e02d6261d7 | 836 | { |
kishibekairohan | 13:b6e02d6261d7 | 837 | motor[TIRE_FR].dir = FREE; |
kishibekairohan | 13:b6e02d6261d7 | 838 | motor[TIRE_FL].dir = BACK; |
kishibekairohan | 13:b6e02d6261d7 | 839 | motor[TIRE_BR].dir = FOR; |
kishibekairohan | 13:b6e02d6261d7 | 840 | motor[TIRE_BL].dir = FREE; |
kishibekairohan | 13:b6e02d6261d7 | 841 | |
kishibekairohan | 13:b6e02d6261d7 | 842 | //motor[TIRE_FR].pwm = startP; |
kishibekairohan | 13:b6e02d6261d7 | 843 | motor[TIRE_FL].pwm = startP; |
kishibekairohan | 13:b6e02d6261d7 | 844 | motor[TIRE_BR].pwm = startP; |
kishibekairohan | 13:b6e02d6261d7 | 845 | //motor[TIRE_BL].pwm = startP; |
kishibekairohan | 13:b6e02d6261d7 | 846 | } |
kishibekairohan | 13:b6e02d6261d7 | 847 | else if(!invationA && !invationB && !invationC) |
kishibekairohan | 13:b6e02d6261d7 | 848 | { |
kishibekairohan | 13:b6e02d6261d7 | 849 | motor[TIRE_FR].dir = FOR; |
kishibekairohan | 13:b6e02d6261d7 | 850 | motor[TIRE_FL].dir = FREE; |
kishibekairohan | 13:b6e02d6261d7 | 851 | motor[TIRE_BR].dir = FREE; |
kishibekairohan | 13:b6e02d6261d7 | 852 | motor[TIRE_BL].dir = BACK; |
kishibekairohan | 13:b6e02d6261d7 | 853 | |
kishibekairohan | 13:b6e02d6261d7 | 854 | motor[TIRE_FR].pwm = startP; |
kishibekairohan | 13:b6e02d6261d7 | 855 | //motor[TIRE_FL].pwm = startP; |
kishibekairohan | 13:b6e02d6261d7 | 856 | //motor[TIRE_BR].pwm = startP; |
kishibekairohan | 13:b6e02d6261d7 | 857 | motor[TIRE_BL].pwm = startP; |
kishibekairohan | 13:b6e02d6261d7 | 858 | } |
kishibekairohan | 13:b6e02d6261d7 | 859 | else if(!invationA && compC && invationC)//C固定A下 |
kishibekairohan | 13:b6e02d6261d7 | 860 | { |
kishibekairohan | 13:b6e02d6261d7 | 861 | motor[TIRE_FR].dir = BRAKE; |
kishibekairohan | 13:b6e02d6261d7 | 862 | motor[TIRE_FL].dir = BRAKE; |
kishibekairohan | 13:b6e02d6261d7 | 863 | motor[TIRE_BR].dir = BACK; |
kishibekairohan | 13:b6e02d6261d7 | 864 | motor[TIRE_BL].dir = BACK; |
kishibekairohan | 13:b6e02d6261d7 | 865 | |
kishibekairohan | 13:b6e02d6261d7 | 866 | motor[TIRE_FR].pwm = 255; |
kishibekairohan | 13:b6e02d6261d7 | 867 | motor[TIRE_FL].pwm = 100; |
kishibekairohan | 13:b6e02d6261d7 | 868 | motor[TIRE_BR].pwm = 55; |
kishibekairohan | 13:b6e02d6261d7 | 869 | motor[TIRE_BL].pwm = startP; |
kishibekairohan | 13:b6e02d6261d7 | 870 | |
kishibekairohan | 13:b6e02d6261d7 | 871 | Color_changeflag(); |
kishibekairohan | 13:b6e02d6261d7 | 872 | } |
kishibekairohan | 13:b6e02d6261d7 | 873 | else if(compA && compB && !invationC)//AB固定C下 |
kishibekairohan | 13:b6e02d6261d7 | 874 | { |
kishibekairohan | 13:b6e02d6261d7 | 875 | motor[TIRE_FR].dir = FOR; |
kishibekairohan | 13:b6e02d6261d7 | 876 | motor[TIRE_FL].dir = FOR; |
kishibekairohan | 13:b6e02d6261d7 | 877 | motor[TIRE_BR].dir = BRAKE; |
kishibekairohan | 13:b6e02d6261d7 | 878 | motor[TIRE_BL].dir = BRAKE; |
kishibekairohan | 13:b6e02d6261d7 | 879 | |
kishibekairohan | 13:b6e02d6261d7 | 880 | motor[TIRE_FR].pwm = 55; |
kishibekairohan | 13:b6e02d6261d7 | 881 | motor[TIRE_FL].pwm = startP; |
kishibekairohan | 13:b6e02d6261d7 | 882 | motor[TIRE_BR].pwm = 255; |
kishibekairohan | 13:b6e02d6261d7 | 883 | motor[TIRE_BL].pwm = 100; |
kishibekairohan | 13:b6e02d6261d7 | 884 | |
kishibekairohan | 13:b6e02d6261d7 | 885 | Color_changeflag(); |
kishibekairohan | 13:b6e02d6261d7 | 886 | } |
kishibekairohan | 13:b6e02d6261d7 | 887 | else if(compA && compB && !compC && invationC)//AB固定C上 |
kishibekairohan | 13:b6e02d6261d7 | 888 | { |
kishibekairohan | 13:b6e02d6261d7 | 889 | motor[TIRE_FR].dir = BACK; |
kishibekairohan | 13:b6e02d6261d7 | 890 | motor[TIRE_FL].dir = BACK; |
kishibekairohan | 13:b6e02d6261d7 | 891 | motor[TIRE_BR].dir = BRAKE; |
kishibekairohan | 13:b6e02d6261d7 | 892 | motor[TIRE_BL].dir = BRAKE; |
kishibekairohan | 13:b6e02d6261d7 | 893 | |
kishibekairohan | 13:b6e02d6261d7 | 894 | motor[TIRE_FR].pwm = startP; |
kishibekairohan | 13:b6e02d6261d7 | 895 | motor[TIRE_FL].pwm = 55; |
kishibekairohan | 13:b6e02d6261d7 | 896 | motor[TIRE_BR].pwm = 255; |
kishibekairohan | 13:b6e02d6261d7 | 897 | motor[TIRE_BL].pwm = 100; |
kishibekairohan | 13:b6e02d6261d7 | 898 | |
kishibekairohan | 13:b6e02d6261d7 | 899 | Color_changeflag(); |
kishibekairohan | 13:b6e02d6261d7 | 900 | } |
kishibekairohan | 13:b6e02d6261d7 | 901 | else if(!compA && invationA && compC)//C固定A上 |
kishibekairohan | 13:b6e02d6261d7 | 902 | { |
kishibekairohan | 13:b6e02d6261d7 | 903 | motor[TIRE_FR].dir = BRAKE; |
kishibekairohan | 13:b6e02d6261d7 | 904 | motor[TIRE_FL].dir = BRAKE; |
kishibekairohan | 13:b6e02d6261d7 | 905 | motor[TIRE_BR].dir = FOR; |
kishibekairohan | 13:b6e02d6261d7 | 906 | motor[TIRE_BL].dir = FOR; |
kishibekairohan | 13:b6e02d6261d7 | 907 | |
kishibekairohan | 13:b6e02d6261d7 | 908 | motor[TIRE_FR].pwm = 255; |
kishibekairohan | 13:b6e02d6261d7 | 909 | motor[TIRE_FL].pwm = 100; |
kishibekairohan | 13:b6e02d6261d7 | 910 | motor[TIRE_BR].pwm = startP; |
kishibekairohan | 13:b6e02d6261d7 | 911 | motor[TIRE_BL].pwm = 55; |
kishibekairohan | 13:b6e02d6261d7 | 912 | |
kishibekairohan | 13:b6e02d6261d7 | 913 | Color_changeflag(); |
kishibekairohan | 13:b6e02d6261d7 | 914 | } |
kishibekairohan | 13:b6e02d6261d7 | 915 | } |
kishibekairohan | 13:b6e02d6261d7 | 916 | |
kishibekairohan | 13:b6e02d6261d7 | 917 | if(boxslip) |
kishibekairohan | 13:b6e02d6261d7 | 918 | { |
kishibekairohan | 13:b6e02d6261d7 | 919 | for(int i = 0; i<500; i++) |
kishibekairohan | 13:b6e02d6261d7 | 920 | motor[TIRE_FR].dir = BRAKE; |
kishibekairohan | 13:b6e02d6261d7 | 921 | motor[TIRE_FL].dir = BRAKE; |
kishibekairohan | 13:b6e02d6261d7 | 922 | motor[TIRE_BR].dir = BRAKE; |
kishibekairohan | 13:b6e02d6261d7 | 923 | motor[TIRE_BL].dir = BRAKE; |
kishibekairohan | 13:b6e02d6261d7 | 924 | |
kishibekairohan | 13:b6e02d6261d7 | 925 | motor[TIRE_FR].pwm = 255; |
kishibekairohan | 13:b6e02d6261d7 | 926 | motor[TIRE_FL].pwm = 255; |
kishibekairohan | 13:b6e02d6261d7 | 927 | motor[TIRE_BR].pwm = 255; |
kishibekairohan | 13:b6e02d6261d7 | 928 | motor[TIRE_BL].pwm = 255; |
kishibekairohan | 13:b6e02d6261d7 | 929 | |
kishibekairohan | 13:b6e02d6261d7 | 930 | Rt_flagX = true; |
kishibekairohan | 13:b6e02d6261d7 | 931 | nopushed = true; |
kishibekairohan | 13:b6e02d6261d7 | 932 | |
kishibekairohan | 13:b6e02d6261d7 | 933 | RtX.reset(); |
kishibekairohan | 13:b6e02d6261d7 | 934 | RtY.reset(); |
kishibekairohan | 13:b6e02d6261d7 | 935 | } |
kishibekairohan | 13:b6e02d6261d7 | 936 | |
kishibekairohan | 13:b6e02d6261d7 | 937 | |
kishibekairohan | 13:b6e02d6261d7 | 938 | /*if(controller->Button.A && !nopushed){ |
kishibekairohan | 13:b6e02d6261d7 | 939 | Rt_flagX = true; |
kishibekairohan | 13:b6e02d6261d7 | 940 | nopushed = true; |
kishibekairohan | 13:b6e02d6261d7 | 941 | |
kishibekairohan | 13:b6e02d6261d7 | 942 | RtX.reset(); |
kishibekairohan | 13:b6e02d6261d7 | 943 | RtY.reset(); |
kishibekairohan | 13:b6e02d6261d7 | 944 | }else if(!controller->Button.A)nopushed = false; |
kishibekairohan | 13:b6e02d6261d7 | 945 | */ |
kishibekairohan | 13:b6e02d6261d7 | 946 | filip(); |
kishibekairohan | 13:b6e02d6261d7 | 947 | |
kishibekairohan | 13:b6e02d6261d7 | 948 | if(Rt_flagX) |
kishibekairohan | 13:b6e02d6261d7 | 949 | { |
kishibekairohan | 13:b6e02d6261d7 | 950 | filip(); |
kishibekairohan | 13:b6e02d6261d7 | 951 | if(disX < goalX - 5){ |
kishibekairohan | 13:b6e02d6261d7 | 952 | filip(); |
kishibekairohan | 13:b6e02d6261d7 | 953 | |
kishibekairohan | 13:b6e02d6261d7 | 954 | motor[TIRE_FR].dir = SetStatus(-RtpwmX); |
kishibekairohan | 13:b6e02d6261d7 | 955 | motor[TIRE_FL].dir = SetStatus(-RtpwmX); |
kishibekairohan | 13:b6e02d6261d7 | 956 | motor[TIRE_BR].dir = SetStatus(RtpwmX); |
kishibekairohan | 13:b6e02d6261d7 | 957 | motor[TIRE_BL].dir = SetStatus(RtpwmX); |
kishibekairohan | 13:b6e02d6261d7 | 958 | motor[TIRE_FR].pwm = SetPWM(RtpwmX)*0.8; |
kishibekairohan | 13:b6e02d6261d7 | 959 | motor[TIRE_FL].pwm = SetPWM(RtpwmX); |
kishibekairohan | 13:b6e02d6261d7 | 960 | motor[TIRE_BR].pwm = SetPWM(RtpwmX); |
kishibekairohan | 13:b6e02d6261d7 | 961 | motor[TIRE_BL].pwm = SetPWM(RtpwmX); |
kishibekairohan | 13:b6e02d6261d7 | 962 | } |
kishibekairohan | 13:b6e02d6261d7 | 963 | else if(disX > goalX - 5){ |
kishibekairohan | 13:b6e02d6261d7 | 964 | |
kishibekairohan | 13:b6e02d6261d7 | 965 | for(int i = 0; i<500; i++){ |
kishibekairohan | 13:b6e02d6261d7 | 966 | motor[TIRE_FR].dir = BRAKE; |
kishibekairohan | 13:b6e02d6261d7 | 967 | motor[TIRE_FL].dir = BRAKE; |
kishibekairohan | 13:b6e02d6261d7 | 968 | motor[TIRE_BR].dir = BRAKE; |
kishibekairohan | 13:b6e02d6261d7 | 969 | motor[TIRE_BL].dir = BRAKE; |
kishibekairohan | 13:b6e02d6261d7 | 970 | |
kishibekairohan | 13:b6e02d6261d7 | 971 | motor[TIRE_FR].pwm = 255; |
kishibekairohan | 13:b6e02d6261d7 | 972 | motor[TIRE_FL].pwm = 255; |
kishibekairohan | 13:b6e02d6261d7 | 973 | motor[TIRE_BR].pwm = 255; |
kishibekairohan | 13:b6e02d6261d7 | 974 | motor[TIRE_BL].pwm = 255; |
kishibekairohan | 13:b6e02d6261d7 | 975 | } |
kishibekairohan | 13:b6e02d6261d7 | 976 | |
kishibekairohan | 13:b6e02d6261d7 | 977 | Rt_flagY = true; |
kishibekairohan | 13:b6e02d6261d7 | 978 | Rt_flagX = false; |
kishibekairohan | 13:b6e02d6261d7 | 979 | } |
kishibekairohan | 13:b6e02d6261d7 | 980 | } |
kishibekairohan | 13:b6e02d6261d7 | 981 | |
kishibekairohan | 13:b6e02d6261d7 | 982 | |
kishibekairohan | 13:b6e02d6261d7 | 983 | if(Rt_flagY && !Rt_flagX){ |
kishibekairohan | 13:b6e02d6261d7 | 984 | filip(); |
kishibekairohan | 13:b6e02d6261d7 | 985 | if(disY < goalY - 5){ |
kishibekairohan | 13:b6e02d6261d7 | 986 | filip(); |
kishibekairohan | 13:b6e02d6261d7 | 987 | motor[TIRE_FR].dir = SetStatus(-RtpwmY); |
kishibekairohan | 13:b6e02d6261d7 | 988 | motor[TIRE_FL].dir = SetStatus(RtpwmY); |
kishibekairohan | 13:b6e02d6261d7 | 989 | motor[TIRE_BR].dir = SetStatus(-RtpwmY); |
kishibekairohan | 13:b6e02d6261d7 | 990 | motor[TIRE_BL].dir = SetStatus(RtpwmY); |
kishibekairohan | 13:b6e02d6261d7 | 991 | motor[TIRE_FR].pwm = SetPWM(RtpwmY); |
kishibekairohan | 13:b6e02d6261d7 | 992 | motor[TIRE_FL].pwm = SetPWM(RtpwmY); |
kishibekairohan | 13:b6e02d6261d7 | 993 | motor[TIRE_BR].pwm = SetPWM(RtpwmY); |
kishibekairohan | 13:b6e02d6261d7 | 994 | motor[TIRE_BL].pwm = SetPWM(RtpwmY); |
kishibekairohan | 13:b6e02d6261d7 | 995 | } |
kishibekairohan | 13:b6e02d6261d7 | 996 | else if(disY > goalY - 5) |
kishibekairohan | 13:b6e02d6261d7 | 997 | { |
kishibekairohan | 13:b6e02d6261d7 | 998 | filip(); |
kishibekairohan | 13:b6e02d6261d7 | 999 | motor[TIRE_FR].dir = BRAKE; |
kishibekairohan | 13:b6e02d6261d7 | 1000 | motor[TIRE_FL].dir = BRAKE; |
kishibekairohan | 13:b6e02d6261d7 | 1001 | motor[TIRE_BR].dir = BRAKE; |
kishibekairohan | 13:b6e02d6261d7 | 1002 | motor[TIRE_BL].dir = BRAKE; |
kishibekairohan | 13:b6e02d6261d7 | 1003 | motor[TIRE_FR].pwm = 255; |
kishibekairohan | 13:b6e02d6261d7 | 1004 | motor[TIRE_FL].pwm = 255; |
kishibekairohan | 13:b6e02d6261d7 | 1005 | motor[TIRE_BR].pwm = 255; |
kishibekairohan | 13:b6e02d6261d7 | 1006 | motor[TIRE_BL].pwm = 255; |
kishibekairohan | 13:b6e02d6261d7 | 1007 | } |
kishibekairohan | 13:b6e02d6261d7 | 1008 | } |
kishibekairohan | 13:b6e02d6261d7 | 1009 | |
kishibekairohan | 13:b6e02d6261d7 | 1010 | } |
kishibekairohan | 13:b6e02d6261d7 | 1011 | #endif |
kishibekairohan | 13:b6e02d6261d7 | 1012 | |
kishibekairohan | 13:b6e02d6261d7 | 1013 | #if USE_PROCESS_NUM>7 |
kishibekairohan | 13:b6e02d6261d7 | 1014 | static void Process7() |
kishibekairohan | 13:b6e02d6261d7 | 1015 | { |
kishibekairohan | 12:c09b3e08a316 | 1016 | tapeLED.code = (uint32_t)Hotpink; |
kishibekairohan | 12:c09b3e08a316 | 1017 | static bool Xnopush = false; |
kishibekairohan | 12:c09b3e08a316 | 1018 | static bool Ynopush = false; |
kishibekairohan | 12:c09b3e08a316 | 1019 | static bool Inopush = false; |
kishibekairohan | 12:c09b3e08a316 | 1020 | |
kishibekairohan | 12:c09b3e08a316 | 1021 | static bool Angle_flagX = false; |
kishibekairohan | 12:c09b3e08a316 | 1022 | static bool Angle_flagY = false; |
kishibekairohan | 12:c09b3e08a316 | 1023 | static bool ANgle_flagI = false; |
kishibekairohan | 12:c09b3e08a316 | 1024 | |
kishibekairohan | 12:c09b3e08a316 | 1025 | if(LimitSw::IsPressed(Lim_AR) && motor[Angle_R].dir == FOR && motor[Angle_L].dir == BACK){ |
kishibekairohan | 12:c09b3e08a316 | 1026 | motor[Angle_R].dir = BRAKE; |
kishibekairohan | 12:c09b3e08a316 | 1027 | motor[Angle_L].dir = BRAKE; |
kishibekairohan | 12:c09b3e08a316 | 1028 | motor[Angle_R].pwm = 255; |
kishibekairohan | 12:c09b3e08a316 | 1029 | motor[Angle_L].pwm = 255; |
kishibekairohan | 12:c09b3e08a316 | 1030 | }else if(LimitSw::IsPressed(Lim_AL) && motor[Angle_R].dir == BACK && motor[Angle_L].dir == FOR){ |
kishibekairohan | 12:c09b3e08a316 | 1031 | motor[Angle_R].dir = BRAKE; |
kishibekairohan | 12:c09b3e08a316 | 1032 | motor[Angle_L].dir = BRAKE; |
kishibekairohan | 12:c09b3e08a316 | 1033 | motor[Angle_R].pwm = 255; |
kishibekairohan | 12:c09b3e08a316 | 1034 | motor[Angle_L].pwm = 255; |
kishibekairohan | 12:c09b3e08a316 | 1035 | } |
kishibekairohan | 12:c09b3e08a316 | 1036 | for(int i = 0;i<20;i++){ |
kishibekairohan | 12:c09b3e08a316 | 1037 | float y = 0; |
kishibekairohan | 12:c09b3e08a316 | 1038 | y = acc[1]*1000; |
kishibekairohan | 12:c09b3e08a316 | 1039 | float rotateY = (y - 305)/2.21 - 90; |
kishibekairohan | 12:c09b3e08a316 | 1040 | Angle += rotateY; |
kishibekairohan | 12:c09b3e08a316 | 1041 | } |
kishibekairohan | 12:c09b3e08a316 | 1042 | Angle = Angle /20; |
kishibekairohan | 12:c09b3e08a316 | 1043 | |
kishibekairohan | 12:c09b3e08a316 | 1044 | int gyropwmX = gyro.SetPV(Angle,AngletargetX); |
kishibekairohan | 12:c09b3e08a316 | 1045 | int gyropwmY = gyro.SetPV(Angle,AngletargetY); |
kishibekairohan | 12:c09b3e08a316 | 1046 | int gyropwmI = gyro.SetPV(Angle,AngletargetI); |
kishibekairohan | 12:c09b3e08a316 | 1047 | |
kishibekairohan | 12:c09b3e08a316 | 1048 | if(controller->Button.X && !Xnopush){ |
kishibekairohan | 12:c09b3e08a316 | 1049 | Angle_flagX = true; |
kishibekairohan | 12:c09b3e08a316 | 1050 | Xnopush = true; |
kishibekairohan | 12:c09b3e08a316 | 1051 | }else if(!controller->Button.X)Xnopush = false; |
kishibekairohan | 12:c09b3e08a316 | 1052 | |
kishibekairohan | 12:c09b3e08a316 | 1053 | if(controller->Button.Y && !Ynopush){ |
kishibekairohan | 12:c09b3e08a316 | 1054 | Angle_flagY = true; |
kishibekairohan | 12:c09b3e08a316 | 1055 | Ynopush = true; |
kishibekairohan | 12:c09b3e08a316 | 1056 | }else if(!controller->Button.Y)Ynopush = false; |
kishibekairohan | 12:c09b3e08a316 | 1057 | |
kishibekairohan | 12:c09b3e08a316 | 1058 | if(controller->Button.A && !Inopush){ |
kishibekairohan | 12:c09b3e08a316 | 1059 | Angle_flagI = true; |
kishibekairohan | 12:c09b3e08a316 | 1060 | Inopush = true; |
kishibekairohan | 12:c09b3e08a316 | 1061 | }else if(!controller->Button.A)Inopush = false; |
kishibekairohan | 12:c09b3e08a316 | 1062 | |
kishibekairohan | 12:c09b3e08a316 | 1063 | if (Angle_flagX){ |
kishibekairohan | 12:c09b3e08a316 | 1064 | motor[Angle_R].dir = SetStatus(gyropwmX); |
kishibekairohan | 12:c09b3e08a316 | 1065 | motor[Angle_L].dir = SetStatus(-gyropwmX); |
kishibekairohan | 12:c09b3e08a316 | 1066 | motor[Angle_R].pwm = SetPWM(gyropwmX); |
kishibekairohan | 12:c09b3e08a316 | 1067 | motor[Angle_L].pwm = SetPWM(gyropwmX); |
kishibekairohan | 12:c09b3e08a316 | 1068 | if(AngletargetX - 2 < Angle && Angle < AngletargetX + 2){ |
kishibekairohan | 12:c09b3e08a316 | 1069 | motor[Angle_R].dir = BRAKE; |
kishibekairohan | 12:c09b3e08a316 | 1070 | motor[Angle_L].dir = BRAKE; |
kishibekairohan | 12:c09b3e08a316 | 1071 | motor[Angle_R].pwm = 255; |
kishibekairohan | 12:c09b3e08a316 | 1072 | motor[Angle_L].pwm = 255; |
kishibekairohan | 12:c09b3e08a316 | 1073 | Angle_flagX = false; |
kishibekairohan | 12:c09b3e08a316 | 1074 | } |
kishibekairohan | 12:c09b3e08a316 | 1075 | } |
kishibekairohan | 12:c09b3e08a316 | 1076 | |
kishibekairohan | 12:c09b3e08a316 | 1077 | if (Angle_flagY){ |
kishibekairohan | 12:c09b3e08a316 | 1078 | motor[Angle_R].dir = SetStatus(-gyropwmY); |
kishibekairohan | 12:c09b3e08a316 | 1079 | motor[Angle_L].dir = SetStatus(gyropwmY); |
kishibekairohan | 12:c09b3e08a316 | 1080 | motor[Angle_R].pwm = SetPWM(gyropwmY); |
kishibekairohan | 12:c09b3e08a316 | 1081 | motor[Angle_L].pwm = SetPWM(gyropwmY); |
kishibekairohan | 12:c09b3e08a316 | 1082 | if(AngletargetY - 2 < Angle && Angle < AngletargetY + 2){ |
kishibekairohan | 12:c09b3e08a316 | 1083 | motor[Angle_R].dir = BRAKE; |
kishibekairohan | 12:c09b3e08a316 | 1084 | motor[Angle_L].dir = BRAKE; |
kishibekairohan | 12:c09b3e08a316 | 1085 | motor[Angle_R].pwm = 255; |
kishibekairohan | 12:c09b3e08a316 | 1086 | motor[Angle_L].pwm = 255; |
kishibekairohan | 12:c09b3e08a316 | 1087 | Angle_flagY = false; |
kishibekairohan | 12:c09b3e08a316 | 1088 | } |
kishibekairohan | 12:c09b3e08a316 | 1089 | } |
kishibekairohan | 12:c09b3e08a316 | 1090 | |
kishibekairohan | 12:c09b3e08a316 | 1091 | if (Angle_flagI){ |
kishibekairohan | 12:c09b3e08a316 | 1092 | if(Angle < 0) |
kishibekairohan | 12:c09b3e08a316 | 1093 | { |
kishibekairohan | 12:c09b3e08a316 | 1094 | motor[Angle_R].dir = SetStatus(-gyropwmI); |
kishibekairohan | 12:c09b3e08a316 | 1095 | motor[Angle_L].dir = SetStatus(gyropwmI); |
kishibekairohan | 12:c09b3e08a316 | 1096 | motor[Angle_R].pwm = SetPWM(gyropwmI); |
kishibekairohan | 12:c09b3e08a316 | 1097 | motor[Angle_L].pwm = SetPWM(gyropwmI); |
kishibekairohan | 12:c09b3e08a316 | 1098 | |
kishibekairohan | 12:c09b3e08a316 | 1099 | if(AngletargetI - 2 < Angle && Angle < AngletargetI + 2){ |
kishibekairohan | 12:c09b3e08a316 | 1100 | motor[Angle_R].dir = BRAKE; |
kishibekairohan | 12:c09b3e08a316 | 1101 | motor[Angle_L].dir = BRAKE; |
kishibekairohan | 12:c09b3e08a316 | 1102 | motor[Angle_R].pwm = 255; |
kishibekairohan | 12:c09b3e08a316 | 1103 | motor[Angle_L].pwm = 255; |
kishibekairohan | 12:c09b3e08a316 | 1104 | Angle_flagI = false; |
kishibekairohan | 12:c09b3e08a316 | 1105 | } |
kishibekairohan | 12:c09b3e08a316 | 1106 | } |
kishibekairohan | 12:c09b3e08a316 | 1107 | else if(Angle > 0) |
kishibekairohan | 12:c09b3e08a316 | 1108 | { |
kishibekairohan | 12:c09b3e08a316 | 1109 | motor[Angle_R].dir = FOR; |
kishibekairohan | 12:c09b3e08a316 | 1110 | motor[Angle_L].dir = BACK; |
kishibekairohan | 12:c09b3e08a316 | 1111 | motor[Angle_R].pwm = 150; |
kishibekairohan | 12:c09b3e08a316 | 1112 | motor[Angle_L].pwm = 150; |
kishibekairohan | 12:c09b3e08a316 | 1113 | |
kishibekairohan | 12:c09b3e08a316 | 1114 | if(Angle < 0){ |
kishibekairohan | 12:c09b3e08a316 | 1115 | motor[Angle_R].dir = SetStatus(gyropwmI); |
kishibekairohan | 12:c09b3e08a316 | 1116 | motor[Angle_L].dir = SetStatus(-gyropwmI); |
kishibekairohan | 12:c09b3e08a316 | 1117 | motor[Angle_R].pwm = SetPWM(gyropwmI); |
kishibekairohan | 12:c09b3e08a316 | 1118 | motor[Angle_L].pwm = SetPWM(gyropwmI); |
kishibekairohan | 12:c09b3e08a316 | 1119 | |
kishibekairohan | 12:c09b3e08a316 | 1120 | if(AngletargetI - 2 < Angle && Angle < AngletargetI + 2){ |
kishibekairohan | 12:c09b3e08a316 | 1121 | motor[Angle_R].dir = BRAKE; |
kishibekairohan | 12:c09b3e08a316 | 1122 | motor[Angle_L].dir = BRAKE; |
kishibekairohan | 12:c09b3e08a316 | 1123 | motor[Angle_R].pwm = 255; |
kishibekairohan | 12:c09b3e08a316 | 1124 | motor[Angle_L].pwm = 255; |
kishibekairohan | 12:c09b3e08a316 | 1125 | Angle_flagI = false; |
kishibekairohan | 12:c09b3e08a316 | 1126 | } |
kishibekairohan | 12:c09b3e08a316 | 1127 | } |
kishibekairohan | 12:c09b3e08a316 | 1128 | } |
kishibekairohan | 12:c09b3e08a316 | 1129 | } |
kishibekairohan | 12:c09b3e08a316 | 1130 | else{ |
kishibekairohan | 12:c09b3e08a316 | 1131 | motor[Angle_R].dir = BRAKE; |
kishibekairohan | 12:c09b3e08a316 | 1132 | motor[Angle_L].dir = BRAKE; |
kishibekairohan | 12:c09b3e08a316 | 1133 | motor[Angle_R].pwm = 255; |
kishibekairohan | 12:c09b3e08a316 | 1134 | motor[Angle_L].pwm = 255; |
kishibekairohan | 12:c09b3e08a316 | 1135 | } |
kishibekairohan | 12:c09b3e08a316 | 1136 | } |
kishibekairohan | 12:c09b3e08a316 | 1137 | #endif |
kishibekairohan | 12:c09b3e08a316 | 1138 | |
kishibekairohan | 13:b6e02d6261d7 | 1139 | #if USE_PROCESS_NUM>8 //kakudo |
kishibekairohan | 13:b6e02d6261d7 | 1140 | static void Process8() |
kishibekairohan | 12:c09b3e08a316 | 1141 | { |
kishibekairohan | 12:c09b3e08a316 | 1142 | |
kishibekairohan | 12:c09b3e08a316 | 1143 | } |
kishibekairohan | 12:c09b3e08a316 | 1144 | #endif |
kishibekairohan | 12:c09b3e08a316 | 1145 | |
kishibekairohan | 13:b6e02d6261d7 | 1146 | #if USE_PROCESS_NUM>9 |
kishibekairohan | 13:b6e02d6261d7 | 1147 | static void Process9() |
kishibekairohan | 12:c09b3e08a316 | 1148 | { |
kishibekairohan | 2:c015739085d3 | 1149 | |
t_yamamoto | 0:669ef71cba68 | 1150 | } |
t_yamamoto | 0:669ef71cba68 | 1151 | #endif |
t_yamamoto | 0:669ef71cba68 | 1152 | #endif |
t_yamamoto | 0:669ef71cba68 | 1153 | #pragma endregion PROCESS |
t_yamamoto | 0:669ef71cba68 | 1154 | |
t_yamamoto | 0:669ef71cba68 | 1155 | static void AllActuatorReset() |
t_yamamoto | 0:669ef71cba68 | 1156 | { |
t_yamamoto | 0:669ef71cba68 | 1157 | |
t_yamamoto | 0:669ef71cba68 | 1158 | #ifdef USE_SOLENOID |
t_yamamoto | 0:669ef71cba68 | 1159 | solenoid.all = ALL_SOLENOID_OFF; |
t_yamamoto | 0:669ef71cba68 | 1160 | #endif |
t_yamamoto | 0:669ef71cba68 | 1161 | |
t_yamamoto | 0:669ef71cba68 | 1162 | #ifdef USE_MOTOR |
t_yamamoto | 0:669ef71cba68 | 1163 | for (uint8_t i = 0; i < MOUNTING_MOTOR_NUM; i++) |
t_yamamoto | 0:669ef71cba68 | 1164 | { |
t_yamamoto | 0:669ef71cba68 | 1165 | motor[i].dir = FREE; |
t_yamamoto | 0:669ef71cba68 | 1166 | motor[i].pwm = 0; |
t_yamamoto | 0:669ef71cba68 | 1167 | } |
t_yamamoto | 0:669ef71cba68 | 1168 | #endif |
t_yamamoto | 0:669ef71cba68 | 1169 | } |
t_yamamoto | 0:669ef71cba68 | 1170 | |
t_yamamoto | 0:669ef71cba68 | 1171 | #pragma region USER-DEFINED-FUNCTIONS |
kishibekairohan | 8:6fb3723f7747 | 1172 | |
kishibekairohan | 8:6fb3723f7747 | 1173 | void filip(){ |
kishibekairohan | 8:6fb3723f7747 | 1174 | palseX = RtX.getPulses(); |
kishibekairohan | 8:6fb3723f7747 | 1175 | palseY = RtY.getPulses(); |
7ka884 | 6:10e22bc327ce | 1176 | |
kishibekairohan | 9:f93fc79a49ea | 1177 | rpmX = (double)palseX/(ROTATE_PER_REVOLUTIONS*4); |
kishibekairohan | 9:f93fc79a49ea | 1178 | rpmY = (double)palseY/(ROTATE_PER_REVOLUTIONS*4); |
kishibekairohan | 9:f93fc79a49ea | 1179 | |
kishibekairohan | 10:1295d39fec3a | 1180 | disX = 48*3.141*rpmX; |
kishibekairohan | 9:f93fc79a49ea | 1181 | disY = 48*3.141*rpmY; |
kishibekairohan | 9:f93fc79a49ea | 1182 | |
kishibekairohan | 10:1295d39fec3a | 1183 | RtpwmX = (int)Rt_X.SetPV(disX , goalX); |
kishibekairohan | 9:f93fc79a49ea | 1184 | RtpwmY = (int)Rt_Y.SetPV(disY , goalY); |
kishibekairohan | 8:6fb3723f7747 | 1185 | } |
7ka884 | 6:10e22bc327ce | 1186 | |
kishibekairohan | 12:c09b3e08a316 | 1187 | unsigned long ColorIn(int index) |
kishibekairohan | 12:c09b3e08a316 | 1188 | { |
kishibekairohan | 12:c09b3e08a316 | 1189 | int result = 0; |
kishibekairohan | 12:c09b3e08a316 | 1190 | bool rtn = false; |
kishibekairohan | 12:c09b3e08a316 | 1191 | for(int i=0; i<12; i++) |
kishibekairohan | 12:c09b3e08a316 | 1192 | { |
kishibekairohan | 12:c09b3e08a316 | 1193 | CK[index] = 1; |
kishibekairohan | 12:c09b3e08a316 | 1194 | rtn = DOUT[index]; |
kishibekairohan | 12:c09b3e08a316 | 1195 | CK[index] = 0; |
kishibekairohan | 12:c09b3e08a316 | 1196 | if(rtn) |
kishibekairohan | 12:c09b3e08a316 | 1197 | { |
kishibekairohan | 12:c09b3e08a316 | 1198 | result|=(1 << i); |
kishibekairohan | 12:c09b3e08a316 | 1199 | } |
kishibekairohan | 12:c09b3e08a316 | 1200 | } |
kishibekairohan | 12:c09b3e08a316 | 1201 | return result; |
kishibekairohan | 12:c09b3e08a316 | 1202 | } |
7ka884 | 6:10e22bc327ce | 1203 | |
kishibekairohan | 2:c015739085d3 | 1204 | void ColorDetection(){ |
kishibekairohan | 2:c015739085d3 | 1205 | GATE = 0; |
kishibekairohan | 2:c015739085d3 | 1206 | |
kishibekairohan | 2:c015739085d3 | 1207 | CK[0] = 0; |
kishibekairohan | 2:c015739085d3 | 1208 | CK[1] = 0; |
kishibekairohan | 2:c015739085d3 | 1209 | CK[2] = 0; |
kishibekairohan | 2:c015739085d3 | 1210 | CK[3] = 0; |
kishibekairohan | 2:c015739085d3 | 1211 | |
kishibekairohan | 2:c015739085d3 | 1212 | RANGE = 1; |
kishibekairohan | 2:c015739085d3 | 1213 | |
kishibekairohan | 2:c015739085d3 | 1214 | GATE = 1; |
kishibekairohan | 2:c015739085d3 | 1215 | wait_ms(intergration); |
kishibekairohan | 2:c015739085d3 | 1216 | GATE = 0; |
kishibekairohan | 2:c015739085d3 | 1217 | wait_us(4); |
kishibekairohan | 2:c015739085d3 | 1218 | |
kishibekairohan | 2:c015739085d3 | 1219 | Color_A[0] = ColorIn(0); //赤 |
kishibekairohan | 2:c015739085d3 | 1220 | wait_us(3); |
kishibekairohan | 2:c015739085d3 | 1221 | Color_A[1] = ColorIn(0); //青 |
kishibekairohan | 2:c015739085d3 | 1222 | wait_us(3); |
kishibekairohan | 2:c015739085d3 | 1223 | Color_A[2] = ColorIn(0); //緑 |
kishibekairohan | 2:c015739085d3 | 1224 | |
kishibekairohan | 2:c015739085d3 | 1225 | Color_B[0] = ColorIn(1); |
kishibekairohan | 2:c015739085d3 | 1226 | wait_us(3); |
kishibekairohan | 2:c015739085d3 | 1227 | Color_B[1] = ColorIn(1); |
kishibekairohan | 2:c015739085d3 | 1228 | wait_us(3); |
kishibekairohan | 2:c015739085d3 | 1229 | Color_B[2] = ColorIn(1); |
kishibekairohan | 2:c015739085d3 | 1230 | |
kishibekairohan | 2:c015739085d3 | 1231 | Color_C[0] = ColorIn(2); |
kishibekairohan | 2:c015739085d3 | 1232 | wait_us(3); |
kishibekairohan | 2:c015739085d3 | 1233 | Color_C[1] = ColorIn(2); |
kishibekairohan | 2:c015739085d3 | 1234 | wait_us(3); |
kishibekairohan | 2:c015739085d3 | 1235 | Color_C[2] = ColorIn(2); |
kishibekairohan | 2:c015739085d3 | 1236 | |
kishibekairohan | 2:c015739085d3 | 1237 | Color_D[0] = ColorIn(3); |
kishibekairohan | 2:c015739085d3 | 1238 | wait_us(3); |
kishibekairohan | 2:c015739085d3 | 1239 | Color_D[1] = ColorIn(3); |
kishibekairohan | 2:c015739085d3 | 1240 | wait_us(3); |
kishibekairohan | 2:c015739085d3 | 1241 | Color_D[2] = ColorIn(3); |
kishibekairohan | 2:c015739085d3 | 1242 | } |
kishibekairohan | 12:c09b3e08a316 | 1243 | |
kishibekairohan | 13:b6e02d6261d7 | 1244 | void Color_changeflag(){ |
kishibekairohan | 13:b6e02d6261d7 | 1245 | ColorDetection(); |
kishibekairohan | 13:b6e02d6261d7 | 1246 | |
kishibekairohan | 13:b6e02d6261d7 | 1247 | if(Color_A[0] > PointA[0] && Color_A[1] > PointA[1] && Color_A[2] > PointA[2] && !compA)//白 |
kishibekairohan | 13:b6e02d6261d7 | 1248 | { |
kishibekairohan | 13:b6e02d6261d7 | 1249 | invationA ^= 1;//start false,over true |
kishibekairohan | 13:b6e02d6261d7 | 1250 | compA = true;//on true,noon false |
kishibekairohan | 13:b6e02d6261d7 | 1251 | } |
kishibekairohan | 13:b6e02d6261d7 | 1252 | else if(!(Color_A[0] > PointA[0] && Color_A[1] > PointA[1] && Color_A[2] > PointA[2]))compA = false;//茶 |
kishibekairohan | 13:b6e02d6261d7 | 1253 | |
kishibekairohan | 13:b6e02d6261d7 | 1254 | if(Color_B[0] > PointB[0] && Color_B[1] > PointB[1] && Color_B[2] > PointB[2] && !compB)//白 |
kishibekairohan | 13:b6e02d6261d7 | 1255 | { |
kishibekairohan | 13:b6e02d6261d7 | 1256 | invationB ^= 1;//start false,over true |
kishibekairohan | 13:b6e02d6261d7 | 1257 | compB = true;//on true,noon false |
kishibekairohan | 13:b6e02d6261d7 | 1258 | } |
kishibekairohan | 13:b6e02d6261d7 | 1259 | else if(!(Color_B[0] > PointB[0] && Color_B[1] > PointB[1] && Color_B[2] > PointB[2]))compB = false;//茶 |
kishibekairohan | 13:b6e02d6261d7 | 1260 | |
kishibekairohan | 13:b6e02d6261d7 | 1261 | if(Color_C[0] > PointC[0] && Color_C[1] > PointC[1] && Color_C[2] > PointC[2] && !compC)//白 |
kishibekairohan | 13:b6e02d6261d7 | 1262 | { |
kishibekairohan | 13:b6e02d6261d7 | 1263 | invationC ^= 1;//start false,over true |
kishibekairohan | 13:b6e02d6261d7 | 1264 | compC = true;//on true,noon false |
kishibekairohan | 13:b6e02d6261d7 | 1265 | } |
kishibekairohan | 13:b6e02d6261d7 | 1266 | else if(!(Color_C[0] > PointC[0] && Color_C[1] > PointC[1] && Color_C[2] > PointC[2]))compC = false;//茶 |
kishibekairohan | 13:b6e02d6261d7 | 1267 | /* |
kishibekairohan | 13:b6e02d6261d7 | 1268 | if(Color_D[0] > Point[0] && Color_D[1] > Point[1] && Color_D[2] > Point[2] && !compD)//白 |
kishibekairohan | 13:b6e02d6261d7 | 1269 | { |
kishibekairohan | 13:b6e02d6261d7 | 1270 | invationD ^= 1;//start false,over true |
kishibekairohan | 13:b6e02d6261d7 | 1271 | compD = true;//on true,noon false |
kishibekairohan | 13:b6e02d6261d7 | 1272 | } |
kishibekairohan | 13:b6e02d6261d7 | 1273 | else if(!(Color_D[0] > Point[0] && Color_D[1] > Point[1] && Color_D[2] > Point[2]))compD = false;//茶 |
kishibekairohan | 13:b6e02d6261d7 | 1274 | */ |
kishibekairohan | 13:b6e02d6261d7 | 1275 | } |
kishibekairohan | 13:b6e02d6261d7 | 1276 | |
kishibekairohan | 12:c09b3e08a316 | 1277 | void getcolor(){ |
kishibekairohan | 13:b6e02d6261d7 | 1278 | for(int i=0;i<10;i++){ |
kishibekairohan | 12:c09b3e08a316 | 1279 | ColorDetection(); |
kishibekairohan | 12:c09b3e08a316 | 1280 | |
kishibekairohan | 12:c09b3e08a316 | 1281 | Avecolor_A[0] += Color_A[0]; |
kishibekairohan | 12:c09b3e08a316 | 1282 | Avecolor_A[1] += Color_A[1]; |
kishibekairohan | 12:c09b3e08a316 | 1283 | Avecolor_A[2] += Color_A[2]; |
kishibekairohan | 12:c09b3e08a316 | 1284 | Avecolor_B[0] += Color_B[0]; |
kishibekairohan | 12:c09b3e08a316 | 1285 | Avecolor_B[1] += Color_B[1]; |
kishibekairohan | 12:c09b3e08a316 | 1286 | Avecolor_B[2] += Color_B[2]; |
kishibekairohan | 12:c09b3e08a316 | 1287 | Avecolor_C[0] += Color_C[0]; |
kishibekairohan | 12:c09b3e08a316 | 1288 | Avecolor_C[1] += Color_C[1]; |
kishibekairohan | 12:c09b3e08a316 | 1289 | Avecolor_C[2] += Color_C[2]; |
kishibekairohan | 12:c09b3e08a316 | 1290 | Avecolor_D[0] += Color_D[0]; |
kishibekairohan | 12:c09b3e08a316 | 1291 | Avecolor_D[1] += Color_D[1]; |
kishibekairohan | 12:c09b3e08a316 | 1292 | Avecolor_D[2] += Color_D[2]; |
kishibekairohan | 12:c09b3e08a316 | 1293 | } |
kishibekairohan | 12:c09b3e08a316 | 1294 | |
kishibekairohan | 13:b6e02d6261d7 | 1295 | Avecolor_A[0] = Avecolor_A[0]/10; |
kishibekairohan | 13:b6e02d6261d7 | 1296 | Avecolor_A[1] = Avecolor_A[1]/10; |
kishibekairohan | 13:b6e02d6261d7 | 1297 | Avecolor_A[2] = Avecolor_A[2]/10; |
kishibekairohan | 13:b6e02d6261d7 | 1298 | Avecolor_B[0] = Avecolor_B[0]/10; |
kishibekairohan | 13:b6e02d6261d7 | 1299 | Avecolor_B[1] = Avecolor_B[1]/10; |
kishibekairohan | 13:b6e02d6261d7 | 1300 | Avecolor_B[2] = Avecolor_B[2]/10; |
kishibekairohan | 13:b6e02d6261d7 | 1301 | Avecolor_C[0] = Avecolor_C[0]/10; |
kishibekairohan | 13:b6e02d6261d7 | 1302 | Avecolor_C[1] = Avecolor_C[1]/10; |
kishibekairohan | 13:b6e02d6261d7 | 1303 | Avecolor_C[2] = Avecolor_C[2]/10; |
kishibekairohan | 13:b6e02d6261d7 | 1304 | Avecolor_D[0] = Avecolor_D[0]/10; |
kishibekairohan | 13:b6e02d6261d7 | 1305 | Avecolor_D[1] = Avecolor_D[1]/10; |
kishibekairohan | 13:b6e02d6261d7 | 1306 | Avecolor_D[2] = Avecolor_D[2]/10; |
kishibekairohan | 13:b6e02d6261d7 | 1307 | |
kishibekairohan | 12:c09b3e08a316 | 1308 | } |
kishibekairohan | 12:c09b3e08a316 | 1309 | |
kishibekairohan | 9:f93fc79a49ea | 1310 | void BuzzerTimer_func() { |
kishibekairohan | 11:028a150943b5 | 1311 | if(buzzer == 0.5){ |
kishibekairohan | 11:028a150943b5 | 1312 | buzzer = 0; |
kishibekairohan | 11:028a150943b5 | 1313 | } |
kishibekairohan | 11:028a150943b5 | 1314 | else if(buzzer == 0){ |
kishibekairohan | 11:028a150943b5 | 1315 | buzzer = 0.5; |
kishibekairohan | 11:028a150943b5 | 1316 | } |
kishibekairohan | 11:028a150943b5 | 1317 | } |
kishibekairohan | 11:028a150943b5 | 1318 | |
kishibekairohan | 11:028a150943b5 | 1319 | void TapeLedEms_func() { |
kishibekairohan | 11:028a150943b5 | 1320 | sendLedData.code = sendLedData.code == (uint32_t)Red ? (uint32_t)Black : (uint32_t)Red; |
kishibekairohan | 9:f93fc79a49ea | 1321 | } |
t_yamamoto | 0:669ef71cba68 | 1322 | #pragma endregion |