三浦 颯太
/
MainBoard2019_Master
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Dependencies: mbed TrapezoidControl QEI
Diff: System/Process/Process.cpp
- Revision:
- 2:c015739085d3
- Parent:
- 1:b1219d8ca117
- Child:
- 3:e10d8736fd22
diff -r b1219d8ca117 -r c015739085d3 System/Process/Process.cpp
--- a/System/Process/Process.cpp Mon Sep 10 01:39:15 2018 +0000
+++ b/System/Process/Process.cpp Sat Sep 22 10:55:22 2018 +0000
@@ -13,7 +13,10 @@
#include "../../Safty/Safty.h"
#include "../Using.h"
+
using namespace SWITCH;
+using namespace COLORSENSOR;
+using namespace ACCELERATIONSENSOR;
static CONTROLLER::ControllerData *controller;
ACTUATORHUB::MOTOR::MotorStatus motor[MOUNTING_MOTOR_NUM];
@@ -33,6 +36,104 @@
/*Replace here with the definition code of your variables.*/
+Serial pc(USBTX, USBRX);
+
+unsigned long ColorIn(int index)
+{
+ int result = 0;
+ bool rtn = false;
+ for(int i=0; i<12; i++)
+ {
+ CK[index] = 1;
+ rtn = DOUT[index];
+ CK[index] = 0;
+ if(rtn)
+ {
+ result|=(1 << i);
+ }
+ }
+ return result;
+}
+
+#define TILE_FR 0 //足回り前右
+#define TILE_FL 1 //足回り前左
+#define TILE_BR 2 //足回り後右
+#define TILE_BL 3 //足回り後左
+
+#define Anguladjust_R 4 //角度調節右
+#define Anguladjust_L 5 //角度調節左
+
+const int mecanum[15][15]=
+{
+ { 0, 5, 21, 47, 83, 130, 187, 255, 255, 255, 255, 255, 255, 255, 255},
+ { -5, 0, 5, 21, 47, 83, 130, 187, 193, 208, 234, 255, 255, 255, 255},
+ { -21, -5, 0, 5, 21, 47, 83, 130, 135, 151, 177, 213, 255, 255, 255},
+ { -47, -21, 5, 0, 5, 21, 47, 83, 88, 104, 130, 167, 213, 255, 255},
+ { -83, -47, -21, 5, 0, 5, 21, 47, 52, 68, 94, 130, 177, 234, 255},
+ {-130, -83, -47, -21, 5, 0, 5, 21, 26, 42, 68, 104, 151, 208, 255},
+ {-187, -130, -83, -47, -21, -5, 0, 5, 10, 26, 52, 88, 135, 193, 255},
+ {-255, -187, -130, -83, -47, -21, -5, 0, 5, 21, 47, 83, 130, 187, 255},
+ {-255, -193, -135, -88, -52, -26, -10, -5, 0, 5, 21, 47, 83, 130, 187},
+ {-255, -208, -151, -104, -68, -42, -26, -21, -5, 0, 5, 21, 47, 83, 130},
+ {-255, -234, -177, -130, -94, -68, -52, -47, -21, -7, 0, 7, 21, 47, 83},
+ {-255, -255, -213, -167, -130, -104, -88, -83, -47, -21, -5, 0, 5, 21, 47},
+ {-255, -255, -255, -213, -177, -151, -135, -130, -83, -47, -21, -5, 0, 5, 21},
+ {-255, -255, -255, -255, -234, -208, -193, -187, -130, -83, -47, -21, -5, 0, 5},
+ {-255, -255, -255, -255, -255, -255, -255, -255, -187, -130, -83, -47, -21, -5, 0}
+};
+
+const int curve[15] = {-204, -150, -104, -66, -38, -17, -4, 0, 4, 17, 38, 66, 104, 150, 204};
+uint8_t SetStatus(int);
+uint8_t SetStatus(int pwmVal){
+ if(pwmVal < 0) return BACK;
+ else if(pwmVal > 0) return FOR;
+ else if(pwmVal == 0) return BRAKE;
+ else return BRAKE;
+}
+uint8_t SetPWM(int);
+uint8_t SetPWM(int pwmVal){
+ if(pwmVal == 0 || pwmVal > 255 || pwmVal < -255) return 255;
+ else return abs(pwmVal);
+}
+
+int Color_A[3]; //[赤,緑,青]
+int Color_B[3];
+int Color_C[3];
+int Color_D[3];
+int intergration = 50;
+
+//************ライントレース変数*******************
+ int Point[3] = {234, 466, 590};//赤，緑，青
+
+ int startP = 150;
+ int downP = 70;
+
+ bool compA = false;
+ bool compB = false;
+ bool compC = false;
+ bool compD = false;
+
+ bool invationA = false;
+ bool invationB = false;
+ bool invationC = false;
+ bool invationD = false;
+//************ライントレース変数*******************
+
+int averageR_0;
+int averageG_0;
+int averageB_0;
+int averageR_1;
+int averageG_1;
+int averageB_1;
+int averageR_2;
+int averageG_2;
+int averageB_2;
+int averageR_3;
+int averageG_3;
+int averageB_3;
+
+void ColorDetection();
+
#pragma endregion USER-DEFINED_VARIABLES_AND_PROTOTYPE
#ifdef USE_SUBPROCESS
@@ -148,12 +249,29 @@
}
+
+
void SystemProcess()
{
SystemProcessInitialize();
while(1)
- {
+ {
+ float x = 0, y= 0, z = 0;
+
+ pc.printf("X:%1.3f , Y:%1.3f , Z:%1.3f \r\n",acc[0].read(),acc[1].read(),acc[2].read());
+
+ x = acc[0]*1000;
+ y = acc[1]*1000;
+ z = acc[2]*1000;
+
+ pc.printf("X:%3.1f , Y:%3.1f , Z:%3.1f \r\n",x,y,z);
+
+ float rotateX = (x - 306)/2.22 - 90;
+ float rotateY = (y - 305)/2.21 - 90;
+ pc.printf("X:%3.1f , Y:%3.1f \r\n" , rotateX , rotateY);
+ wait_ms(50);
+
#ifdef USE_MU
controller = CONTROLLER::Controller::GetData();
#endif
@@ -185,47 +303,147 @@
}
}
+
+
+
#pragma region PROCESS
#ifdef USE_SUBPROCESS
#if USE_PROCESS_NUM>0
static void Process0()
{
-
+ ColorDetection();
}
#endif
#if USE_PROCESS_NUM>1
static void Process1()
{
-
+ motor[0].dir = SetStatus(-mecanum[controller->AnalogL.Y][14-controller->AnalogL.X] + curve[controller->AnalogR.X]) * 0.8;
+ motor[1].dir = SetStatus(mecanum[controller->AnalogL.Y][controller->AnalogL.X] + curve[controller->AnalogR.X]) * 0.8;
+ motor[2].dir = SetStatus(-mecanum[14-controller->AnalogL.X][14-controller->AnalogL.Y] + curve[controller->AnalogR.X]) * 0.8;
+ motor[3].dir = SetStatus(mecanum[controller->AnalogL.X][14-controller->AnalogL.Y] + curve[controller->AnalogR.X]) * 0.8;
+
+ motor[0].pwm = SetPWM(mecanum[controller->AnalogL.Y][14-controller->AnalogL.X]);
+ motor[1].pwm = SetPWM(mecanum[controller->AnalogL.Y][controller->AnalogL.X]);
+ motor[2].pwm = SetPWM(mecanum[14-controller->AnalogL.X][14-controller->AnalogL.Y]);
+ motor[3].pwm = SetPWM(mecanum[controller->AnalogL.X][14-controller->AnalogL.Y]);
+
+ if (abs(controller->AnalogL.X-7) <= 4 && controller->AnalogL.X!=7 && controller->AnalogL.Y!=7 && controller->AnalogR.X==7){
+ motor[0].pwm = motor[0].pwm * 1.3;
+ motor[1].pwm = motor[1].pwm * 1.3;
+
+ }
}
#endif
+bool buttoncomp = false;
#if USE_PROCESS_NUM>2
static void Process2()
{
-
+ ColorDetection();
+
+ if(Color_A[0] > Point[0] && Color_A[1] > Point[1] && Color_A[2] > Point[2] && !compA)//白
+ {
+ invationA ^= 1;//start false,over true
+ compA = true;//on true,noon false
+ }
+ else if(!(Color_A[0] > Point[0] && Color_A[1] > Point[1] && Color_A[2] > Point[2]))compA = false;//茶
+
+ if(controller->Button.A && buttoncomp = false)
+ {
+ motor[0].dir = dir;
+ motor[0].pwm = startP;
+ }
+
+ if(invationA)
+ {
+ motor[0].PWM = startP
+
+ }
+
+
+
+
}
#endif
#if USE_PROCESS_NUM>3
static void Process3()
{
-
+ if(controller->Button.R){
+ motor[4].dir = FOR;
+ motor[5].dir = BACK;
+ motor[4].pwm = 150;
+ motor[5].pwm = 150;
+ }else if(controller->Button.L){
+ motor[4].dir = BACK;
+ motor[5].dir = FOR;
+ motor[4].pwm = 150;
+ motor[5].pwm = 150;
+ }else{
+ motor[4].dir = BRAKE;
+ motor[5].dir = BRAKE;
+ }
+ if(LimitSw::IsPressed(0)){
+ motor[4].dir = BRAKE;
+ motor[5].dir = BRAKE;
+ }else if(LimitSw::IsPressed(1)){
+ motor[4].dir = BRAKE;
+ motor[5].dir = BRAKE;
+ }
}
#endif
#if USE_PROCESS_NUM>4
static void Process4()
{
-
+ //ColorDetection();
+
+ for(int i=0;i<=10;i++)
+ {
+ ColorDetection();
+
+ averageR_0 += Color_A[0];
+ averageG_0 += Color_A[1];
+ averageB_0 += Color_A[2];
+ averageR_1 += Color_B[0];
+ averageG_1 += Color_B[1];
+ averageB_1 += Color_B[2];
+ averageR_2 += Color_C[0];
+ averageG_2 += Color_C[1];
+ averageB_2 += Color_C[2];
+ averageR_3 += Color_D[0];
+ averageG_3 += Color_D[1];
+ averageB_3 += Color_D[2];
+ }
+ pc.printf("AR_0:%d, AG_0:%d ,AB_0:%d \r\n",averageR_0 / 10 ,averageG_0 / 10, averageB_0 / 10);
+ pc.printf("AR_1:%d, AG_1:%d ,AB_1:%d \r\n",averageR_1 / 10 ,averageG_1 / 10, averageB_1 / 10);
+ pc.printf("AR_2:%d, AG_2:%d ,AB_2:%d \r\n",averageR_2 / 10 ,averageG_2 / 10, averageB_2 / 10);
+ pc.printf("AR_3:%d, AG_3:%d ,AB_3:%d \r\n",averageR_3 / 10 ,averageG_3 / 10, averageB_3 / 10);
+
+ averageR_0 = 0;
+ averageG_0 = 0;
+ averageB_0 = 0;
+ averageR_1 = 0;
+ averageG_1 = 0;
+ averageB_1 = 0;
+ averageR_2 = 0;
+ averageG_2 = 0;
+ averageB_2 = 0;
+ averageR_3 = 0;
+ averageG_3 = 0;
+ averageB_3 = 0;
}
#endif
#if USE_PROCESS_NUM>5
static void Process5()
{
-
+ pc.printf("X:1.3% , Y:1.3%f , Z:1.3%f \r\n",acc[0].read(),acc[1].read(),acc[2].read());
+ //int rotateX = (acc[0].read()-)/ -90;
+ //int rotateY = (acc[1].read()-)/ -90;
+ //pc.printf("X:%d ,Y:%d", rotateX, rotateY);
+ wait_ms(50);
}
#endif
@@ -276,5 +494,55 @@
}
#pragma region USER-DEFINED-FUNCTIONS
-
+void ColorDetection(){
+ GATE = 0;
+
+ CK[0] = 0;
+ CK[1] = 0;
+ CK[2] = 0;
+ CK[3] = 0;
+
+ RANGE = 1;
+
+ GATE = 1;
+ wait_ms(intergration);
+ GATE = 0;
+ wait_us(4);
+
+ Color_A[0] = ColorIn(0); //赤
+ wait_us(3);
+ Color_A[1] = ColorIn(0); //青
+ wait_us(3);
+ Color_A[2] = ColorIn(0); //緑
+
+ //pc.printf("Red_0=%d , Green_0=%d , Blue_0=%d",Color_A[0],Color_A[1],Color_A[2]);
+ //pc.printf("\r\n");
+
+ Color_B[0] = ColorIn(1);
+ wait_us(3);
+ Color_B[1] = ColorIn(1);
+ wait_us(3);
+ Color_B[2] = ColorIn(1);
+
+ //pc.printf("Red_1=%d , Green_1=%d , Blue_1=%d",Color_B[0],Color_B[1],Color_B[2]);
+ //pc.printf("\r\n");
+
+ Color_C[0] = ColorIn(2);
+ wait_us(3);
+ Color_C[1] = ColorIn(2);
+ wait_us(3);
+ Color_C[2] = ColorIn(2);
+
+ /*pc.printf("Red_2=%d , Green_2=%d , Blue_2=%d",Color_C[0],Color_C[1],Color_C[2]);
+ pc.printf("\r\n");*/
+
+ Color_D[0] = ColorIn(3);
+ wait_us(3);
+ Color_D[1] = ColorIn(3);
+ wait_us(3);
+ Color_D[2] = ColorIn(3);
+
+ /*pc.printf("Red_3=%d , Green_3=%d , Blue_3=%d",Color_D[0],Color_D[1],Color_D[2]);
+ pc.printf("\r\n");*/
+}
#pragma endregion