File content as of revision 0:ae5d19a716e1:

/* 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
}