Ryo Ogata
jump!
Dependencies: ColorSensor1 HMC6352 Servo TextLCD mbed
Diff: main.cpp
- Revision:
- 0:feefc7aaa114
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Mon Sep 23 06:35:28 2013 +0000
@@ -0,0 +1,265 @@
+#include "mbed.h"
+#include "ColorSensor.h"
+#include "TextLCD.h"
+#include "Servo.h"
+#include "HMC6352.h"
+
+#include "main.h"
+
+
+void tic_sensor()
+{
+ Ultrasonic();
+
+ colorUpdate();
+
+ /*lcd.cls();
+ lcd.locate(0,0);
+ lcd.printf("R:%d G:%d B:%d\n", redp[0], greenp[0], bluep[0]);
+ */
+}
+
+////////////////////////////////////////移動関数//////////////////////////////////////////////
+/////////////////////////////////////////////////////////////////////////////////////////////
+void move(int vl,int vs){
+ double fut_R,fut_L,true_vs;
+
+ true_vs = abs(vs)/SPIN;
+
+ if(true_vs > 40){
+ vl = 0;
+ vs = 100*(vs/abs(vs));
+ }
+
+ fut_R = Convert_dekaruto((vl + vs));
+ fut_L = Convert_dekaruto((vl - vs)/**1.4*/);
+
+ fut_R = Convert_dekaruto(-50);
+ fut_L = Convert_dekaruto(-50);
+
+ servoR = fut_R;
+ servoL = fut_L;
+
+ //printf("R:%lf L:%lf\n",fut_R,fut_L);
+ //printf("R:%d L:%d\n",(vl + vs),-(vl - vs));
+}
+
+/*void PidUpdate()
+{
+ inputPID = (((int)(compass.sample() - ((207.0) * 10.0) + 5400.0) % 3600) / 10.0);
+ //printf("%lf\n",inputPID);
+}*/
+
+double vsOut(){
+ double vs;
+ vs = ((inputPID / 360 - 0.5) * 2 * 100) * -1;
+ vs = vs * 8;
+
+ if(vs/abs(vs) < 0){
+ //vs *= 1.3;
+ }
+
+ if(abs(vs) > 90)vs = 90*(vs/abs(vs));
+ if(abs(vs) < 25) vs = 25*(vs/abs(vs));
+
+ return vs;
+}
+
+////////////////////////////////////////超音波センサの////////////////////////////////////////
+////////////////////////////////////////スイッチ的な関数//////////////////////////////////////
+int ping_button(int ping,int button){
+ static int continue_flag = 0;
+ static int change_flag = 0;
+
+ if(continue_flag == 0){
+ if(ping <= PINR_THR){
+ ping_t.start();
+ continue_flag = 1;
+ }
+ }
+
+ if(continue_flag == 1){
+ //agatterutoki
+ if(ping <= PINR_THR){
+ if(change_flag == 0){
+ if(ping_t.read_ms() >= 300){
+ button = !button;
+ change_flag = 1;
+ }
+ }
+ }
+ //tatisagari
+ if(ping >= (PINR_THR+200)){
+ ping_t.stop();
+ ping_t.reset();
+ continue_flag = 0;
+ change_flag = 0;
+ }
+ }
+ return button;
+}
+
+////////////////////////////////////////カラーセンサの////////////////////////////////////////
+////////////////////////////////////////補正プログラム////////////////////////////////////////
+void rivisedate()
+{
+ unsigned long red = 0,green = 0,blue =0;
+ static unsigned R[COLOR_NUM], G[COLOR_NUM], B[COLOR_NUM];
+
+ //最初の20回だけ平均を取る
+ for (int i=0;i<=20;i++){
+ color0.getRGB(R[0],G[0],B[0]);
+ red += R[0] ;
+ green += G[0] ;
+ blue += B[0] ;
+ //pc.printf(" %d %d\n",ptm(sum),sum);
+ }
+
+ rir = (double)green/ red ;
+ rib = (double)green/ blue ;
+}
+
+void colorUpdate()
+{
+ double colorSum[COLOR_NUM];
+ unsigned R[COLOR_NUM], G[COLOR_NUM], B[COLOR_NUM];
+
+ color0.getRGB(R[0],G[0],B[0]);
+ color1.getRGB(R[1],G[1],B[1]);
+ color2.getRGB(R[2],G[2],B[2]);
+ /*color3.getRGB(R[3],G[3],B[3]);
+ color4.getRGB(R[4],G[4],B[4]);
+ color5.getRGB(R[5],G[5],B[5]);*/
+
+ for (int i=0; i<COLOR_NUM; i++){
+ colorSum[i] = R[i]*rir + G[i] + B[i]*rib ;
+ redp[i] = R[i]* rir * 100 / colorSum[i];
+ greenp[i] = G[i] * 100 / colorSum[i];
+ bluep[i] = B[i]* rib * 100 / colorSum[i];
+ }
+}
+
+////////////////////////////////////////ジャンププログラム////////////////////////////////////
+///////////////////////////////////////////////////////////////////////////////////////////
+uint8_t jumpcondition()
+{
+ uint8_t threshold = 0, t[3] = {0};
+
+ //青から赤に0.5秒以内に反応したらジャンプ
+ for(int i=0; i<COLOR_NUM; i++){
+ if(bluep[i] >= B_THR){
+ color_t[i].reset();
+ color_t[i].start();
+ t[i] = 0;
+ }else if(redp[i] >= R_THR){
+ t[i] = color_t[i].read_ms();
+ }else{
+ t[i] = 0;
+ }
+
+ if((t[i] <= 500) && (t[i] != 0)){
+ threshold++;
+ }
+ }
+
+ return threshold;
+}
+
+void jumping(uint8_t threshold)
+{
+ //超音波でジャンプのタイミング合わせる
+ if(threshold >= 1){
+ jump_t.reset();
+ jump_t.start();
+ while(ultrasonicVal[0] < 1700){
+ led[0] = 1; led[1] = 1; led[2] = 0; led[3] = 0;
+ air[0] = 1; air[1] = 0;
+
+ if(jump_t.read_ms() > 1000)break;
+ }
+ led[0] = 0; led[1] = 0; led[2] = 1; led[3] = 1;
+ air[0] = 0; air[1] = 1;
+ wait(0.5);
+ }else{
+ led[0] = 0; led[1] = 0; led[2] = 0; led[3] = 0;
+ }
+}
+
+
+
+
+
+
+
+
+
+
+
+int main()
+{
+ rivisedate();
+
+ timer2.start();
+ ping_t.start();
+
+
+ //unsigned R, G, B;
+ int vl;
+ double vs;
+ uint8_t button, state=0;
+
+ //pc.baud(115200);
+ air[0] = 0; air[1] = 1;
+
+
+ //compass.setOpMode(HMC6352_CONTINUOUS, 1, 20);
+ //pidUpdata.attach(&PidUpdate, PID_CYCLE);
+ interrupt0.attach(&tic_sensor, 0.05/*sec*/);//0.04sec以上じゃないとmain動かない
+
+ while(1)
+ {
+
+
+
+ pc.printf("R:%d G:%d B:%d\n", redp[0], greenp[0], bluep[0]);
+ /*
+ lcd.cls();
+ lcd.locate(0,0);
+ lcd.printf("R:%d G:%d B:%d", redp[0][0], greenp[0][0], bluep[0][0]);
+ lcd.locate(0,1);
+ lcd.printf("R:%d G:%d B:%d", redp[1][0], greenp[1][0], bluep[1][0]);
+ */
+ //pc.printf("%d\n", ultrasonicVal[0]);
+
+
+ jumping(jumpcondition());
+
+
+
+ button = ping_button(ultrasonicVal[1],button);
+
+ if(button){
+ state = GO;
+ }else{
+ state = STOP;
+ }
+
+
+
+
+
+ if(state == GO){
+ vl = -90;//led[0] = 1; led[1] = 1;
+ }else if(state == STOP){
+ vl = 0;//led[0] = 0; led[1] = 0;
+ }
+
+ vl = vl * STRAIGHT ;
+ vs = vsOut() * SPIN ;
+
+ vl *= 0.5;
+ vs *= 0.3;
+
+ move(vl,(int)vs);
+ }
+}
\ No newline at end of file