Diff: cook.cpp

Revision:

0:ae5d19a716e1

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/cook.cpp	Wed Mar 05 05:17:45 2014 +0000
@@ -0,0 +1,237 @@
+/* cook.cpp */
+
+#include "global.h"
+
+/**
+ * Parameters
+ */
+int aori_times = 13;
+
+double hand_interval=0.5, egg_gasya_times=6, rice_gasya_times=12;
+int highest=0, lowest=-750, middle=-450;  //rotary encoder
+
+double servetime = 9.0;
+
+/**
+ * Functions
+ */
+void AORI() {
+    
+    int top, count=0;
+    if (MS_A.read()) {
+        top=ON;
+    } else {
+        top=OFF;
+    }
+    
+    setspeed(duty_A, _A_);
+    while(count<aori_times) {
+        if(MS_A.read()!=top) {
+            if(top==OFF) {
+                top=ON;
+                count++;
+            }
+            else {
+                top=OFF;
+            }
+        }
+        wait(0.05);
+    }
+    setspeed(dutyr_A, _A_);
+    while(MS_A.read()) {
+        wait(0.05);
+    }
+    setspeed(STOP, _A_);
+}
+
+void updown(int trg) {
+    
+    if(hight.getPulses()<trg) {
+        setspeed(dutyu_U, _U_);
+        if(trg==highest) {
+            
+        while(MS_U.read()==1 && hight.getPulses()<trg) {
+            wait(0.05);
+        }
+        setspeed(STOP, _U_);
+        
+        }
+        else{
+            while(hight.getPulses()<trg) {
+                wait(0.05);
+            }
+            setspeed(STOP, _U_);
+        }
+    }
+    
+    else if(hight.getPulses()>trg) {
+        setspeed(dutyd_U, _U_);
+        
+        if(trg==highest) {
+            
+        while(MS_U.read()==1 && hight.getPulses()>trg) {
+            wait(0.05);
+        }
+        setspeed(STOP, _U_);
+        
+        }
+        else{
+            while(hight.getPulses()>trg) {
+                wait(0.05);
+            }
+            setspeed(STOP, _U_);
+        }
+    }
+}
+
+void gasya ( short n ) {
+    for( short i=0; i<n; i++ ) {
+        UFO = CLOSE;
+        wait(hand_interval);
+        UFO = OPEN;
+        wait(hand_interval);
+    }
+}
+
+void egg_hand_rot(int n) {
+    
+    UFO = CLOSE;
+    updown(lowest);
+    wait(0.5);
+    gasya(n);
+    wait(0.5);
+    UFO = CLOSE;
+    wait(0.3);
+    updown(highest);
+    //UFO = CLOSE;
+}
+
+void rice_hand_rot(int n) {
+    
+    for (short i=0; i<n; i++) {
+        UFO = CLOSE;
+        updown(lowest);
+        wait(0.3);
+        gasya(rice_gasya_times);
+        UFO = CLOSE;
+        wait(0.3);
+        updown(middle);
+        wait(0.3);
+        UFO = OPEN;
+        wait(1);
+        UFO = CLOSE;
+     }
+     updown(highest);
+}
+
+void merry() {
+    //int count;
+    setspeed(duty_M, _M_);
+    wait(1);
+    while(MS_M.read()) {
+        wait(0.1);
+    }
+    setspeed(STOP, _M_);
+}
+
+void serve() {
+    setspeed(duty_S, _S_);
+    wait(servetime);
+    setspeed(STOP, _S_);
+    wait(4.0);
+    setspeed(dutyr_S, _S_);
+    while(MS_S.read()) {
+        wait(0.05);
+    }
+    setspeed(STOP, _S_);
+}
+
+void cook() {
+    pc.attach(cook_stop, Serial::RxIrq);
+    double gg=0.7;
+    wait(1.0);
+    
+    //merry rice
+    if(STOP_STATUS) {
+        pc.printf( "merry egg \r\n" );
+        merry();
+        wait(gg);
+    }
+    
+    //hand rice
+    if(STOP_STATUS) {
+        pc.printf( "hand \r\n" );
+        egg_hand_rot(egg_gasya_times-2);
+        wait(gg);
+    }
+    
+    //merry egg
+    if(STOP_STATUS) {
+        pc.printf( "merry rice \r\n" );
+        merry();
+        wait(gg);
+    }
+    
+    //hand egg
+    if(STOP_STATUS) {
+        pc.printf( "hand \r\n" );
+        egg_hand_rot(egg_gasya_times*2);
+        //rice_hand_rot(2);
+        wait(gg);
+    }
+    
+    //merry, hand 3
+    if(STOP_STATUS) {
+        pc.printf( "merry 3 \r\n" );
+        merry();
+        wait(gg);
+        pc.printf( "hand \r\n" );
+        egg_hand_rot(egg_gasya_times);
+        //rice_hand_rot(1);
+        wait(gg);
+    }
+    
+    //merry, hand 4
+    if(STOP_STATUS) {
+        pc.printf( "merry 4 \r\n" );
+        merry();
+        wait(gg);
+        pc.printf( "hand \r\n" );
+        egg_hand_rot(egg_gasya_times);
+        //rice_hand_rot(2);
+        wait(gg);
+    }
+    
+    //AORI
+    if(STOP_STATUS) {
+        pc.printf( "aori \r\n" );
+        RISE1 = UP;
+        wait(3.0);
+        AORI();
+        wait(1);
+        RISE1 = DOWN;
+        wait(2);
+        wait(gg);
+    }
+    
+    // serve
+    if(STOP_STATUS) {
+        pc.printf( "serve \r\n" );
+        serve();
+        wait(3.0);
+    }
+    
+    //end processing
+    if(STOP_STATUS) {
+        pc.printf( "finish!! \r\n" );
+    }
+    else if(!STOP_STATUS) {
+        pc.printf( "stop \r\n" );
+        STOP_STATUS = true;
+    }
+    
+    wait(0.2);
+    pc.putc('f');   //bgm stop
+    wait(0.2);
+    __disable_irq();    //stop interrupt
+}