Daisuke Nishii / Mbed 2 deprecated RobotGrandPrix

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Dependencies:   QEI mbed

global.cpp@0:ae5d19a716e1, 2014-03-05 (annotated)

Committer:
Nishii
Date:
Wed Mar 05 05:17:45 2014 +0000
Revision:
0:ae5d19a716e1
for Robot Grand Prix

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Nishii 0:ae5d19a716e1 1 /* global.cpp */
Nishii 0:ae5d19a716e1 2
Nishii 0:ae5d19a716e1 3 #include "global.h"
Nishii 0:ae5d19a716e1 4
Nishii 0:ae5d19a716e1 5 /**
Nishii 0:ae5d19a716e1 6 * Classes
Nishii 0:ae5d19a716e1 7 */
Nishii 0:ae5d19a716e1 8 PwmOut mortar_A(p21); //aori
Nishii 0:ae5d19a716e1 9 PwmOut mortar_U(p22); //UFO up down
Nishii 0:ae5d19a716e1 10 PwmOut mortar_M(p23); //merry-go-round
Nishii 0:ae5d19a716e1 11 PwmOut mortar_S(p24); //yosou
Nishii 0:ae5d19a716e1 12
Nishii 0:ae5d19a716e1 13 DigitalOut UFO(p6); //UFO ON:close, OFF:open
Nishii 0:ae5d19a716e1 14 DigitalOut RISE1(p5); //rise
Nishii 0:ae5d19a716e1 15 DigitalOut RISE2(p7);
Nishii 0:ae5d19a716e1 16 DigitalOut RISE3(p8);
Nishii 0:ae5d19a716e1 17
Nishii 0:ae5d19a716e1 18 DigitalOut led1(LED1);
Nishii 0:ae5d19a716e1 19 DigitalOut led2(LED2);
Nishii 0:ae5d19a716e1 20 DigitalOut led3(LED3);
Nishii 0:ae5d19a716e1 21 DigitalOut led4(LED4);
Nishii 0:ae5d19a716e1 22
Nishii 0:ae5d19a716e1 23 DigitalIn MS_A(p20); //microswitch
Nishii 0:ae5d19a716e1 24 DigitalIn MS_U(p19);
Nishii 0:ae5d19a716e1 25 DigitalIn MS_M(p18);
Nishii 0:ae5d19a716e1 26 DigitalIn MS_S(p17);
Nishii 0:ae5d19a716e1 27
Nishii 0:ae5d19a716e1 28 QEI hight(p29, p30, NC, 100);
Nishii 0:ae5d19a716e1 29
Nishii 0:ae5d19a716e1 30 Serial pc(USBTX, USBRX); //serialport
Nishii 0:ae5d19a716e1 31
Nishii 0:ae5d19a716e1 32 /**
Nishii 0:ae5d19a716e1 33 * Parameters
Nishii 0:ae5d19a716e1 34 */
Nishii 0:ae5d19a716e1 35 double duty_A=0.13, dutyr_A=0.42, dutyu_U=0.30, dutyd_U=0.65, duty_M=0.30, dutyr_M=0.70, duty_S=0.40, dutyr_S=0.60;
Nishii 0:ae5d19a716e1 36 double speed[4] = {STOP, STOP, STOP, STOP};
Nishii 0:ae5d19a716e1 37 double wait_A=0.45, wait_U=0.2, wait_M=0.2, wait_S=0.15;
Nishii 0:ae5d19a716e1 38
Nishii 0:ae5d19a716e1 39 bool STOP_STATUS=true; //false:stop
Nishii 0:ae5d19a716e1 40
Nishii 0:ae5d19a716e1 41 /**
Nishii 0:ae5d19a716e1 42 * Functions
Nishii 0:ae5d19a716e1 43 */
Nishii 0:ae5d19a716e1 44 void led_all(int s){
Nishii 0:ae5d19a716e1 45 if ( s==ON ){
Nishii 0:ae5d19a716e1 46 led1=led2=led3=led4=ON;
Nishii 0:ae5d19a716e1 47 }
Nishii 0:ae5d19a716e1 48 else if ( s==OFF ) {
Nishii 0:ae5d19a716e1 49 led1=led2=led3=led4=OFF;
Nishii 0:ae5d19a716e1 50 }
Nishii 0:ae5d19a716e1 51 }
Nishii 0:ae5d19a716e1 52
Nishii 0:ae5d19a716e1 53 void setspeed( double t_speed, int x ) {
Nishii 0:ae5d19a716e1 54 double step, waittime;
Nishii 0:ae5d19a716e1 55 if(speed[x]<t_speed) {
Nishii 0:ae5d19a716e1 56 while (speed[x]<t_speed) {
Nishii 0:ae5d19a716e1 57 if(t_speed-speed[x]>0.05) step = 0.05;
Nishii 0:ae5d19a716e1 58 else step = 0.01;
Nishii 0:ae5d19a716e1 59 speed[x]+=step;
Nishii 0:ae5d19a716e1 60 switch(x) {
Nishii 0:ae5d19a716e1 61 case _A_:
Nishii 0:ae5d19a716e1 62 waittime = wait_A;
Nishii 0:ae5d19a716e1 63 mortar_A = speed[x];
Nishii 0:ae5d19a716e1 64 break;
Nishii 0:ae5d19a716e1 65 case _U_:
Nishii 0:ae5d19a716e1 66 waittime = wait_U;
Nishii 0:ae5d19a716e1 67 mortar_U = speed[x];
Nishii 0:ae5d19a716e1 68 break;
Nishii 0:ae5d19a716e1 69 case _M_:
Nishii 0:ae5d19a716e1 70 waittime = wait_M;
Nishii 0:ae5d19a716e1 71 mortar_M = speed[x];
Nishii 0:ae5d19a716e1 72 break;
Nishii 0:ae5d19a716e1 73 case _S_:
Nishii 0:ae5d19a716e1 74 waittime = wait_S;
Nishii 0:ae5d19a716e1 75 mortar_S = speed[x];
Nishii 0:ae5d19a716e1 76 break;
Nishii 0:ae5d19a716e1 77 }
Nishii 0:ae5d19a716e1 78 wait(waittime);
Nishii 0:ae5d19a716e1 79 }
Nishii 0:ae5d19a716e1 80 }
Nishii 0:ae5d19a716e1 81 else {
Nishii 0:ae5d19a716e1 82 while(speed[x]>t_speed) {
Nishii 0:ae5d19a716e1 83 if(speed[x]-t_speed>0.05) step = 0.05;
Nishii 0:ae5d19a716e1 84 else step = 0.01;
Nishii 0:ae5d19a716e1 85 speed[x]-=step;
Nishii 0:ae5d19a716e1 86 switch(x) {
Nishii 0:ae5d19a716e1 87 case _A_:
Nishii 0:ae5d19a716e1 88 waittime = wait_A;
Nishii 0:ae5d19a716e1 89 mortar_A = speed[x];
Nishii 0:ae5d19a716e1 90 break;
Nishii 0:ae5d19a716e1 91 case _U_:
Nishii 0:ae5d19a716e1 92 waittime = wait_U;
Nishii 0:ae5d19a716e1 93 mortar_U = speed[x];
Nishii 0:ae5d19a716e1 94 break;
Nishii 0:ae5d19a716e1 95 case _M_:
Nishii 0:ae5d19a716e1 96 waittime = wait_M;
Nishii 0:ae5d19a716e1 97 mortar_M = speed[x];
Nishii 0:ae5d19a716e1 98 break;
Nishii 0:ae5d19a716e1 99 case _S_:
Nishii 0:ae5d19a716e1 100 waittime = wait_S;
Nishii 0:ae5d19a716e1 101 mortar_S = speed[x];
Nishii 0:ae5d19a716e1 102 break;
Nishii 0:ae5d19a716e1 103 }
Nishii 0:ae5d19a716e1 104 wait(waittime);
Nishii 0:ae5d19a716e1 105 }
Nishii 0:ae5d19a716e1 106 }
Nishii 0:ae5d19a716e1 107 }
Nishii 0:ae5d19a716e1 108
Nishii 0:ae5d19a716e1 109 void ALLSTOP() {
Nishii 0:ae5d19a716e1 110 setspeed(STOP, _A_);
Nishii 0:ae5d19a716e1 111 setspeed(STOP, _U_);
Nishii 0:ae5d19a716e1 112 setspeed(STOP, _M_);
Nishii 0:ae5d19a716e1 113 setspeed(STOP, _S_);
Nishii 0:ae5d19a716e1 114 }