Miya Miyagawa
lknds
Dependencies: mbed TrapezoidControl Pulse QEI
Diff: System/Process/Process.cpp
- Revision:
- 5:3ae504b88679
- Parent:
- 3:e10d8736fd22
--- a/System/Process/Process.cpp Sat Sep 22 10:58:25 2018 +0000
+++ b/System/Process/Process.cpp Mon Oct 01 09:07:27 2018 +0000
@@ -12,11 +12,14 @@
#include "../../LED/LED.h"
#include "../../Safty/Safty.h"
#include "../Using.h"
+#include "../../Communication/PID/PID.h"
using namespace SWITCH;
using namespace COLORSENSOR;
using namespace ACCELERATIONSENSOR;
+using namespace PID_SPACE;
+using namespace ROTARYENCODER;
static CONTROLLER::ControllerData *controller;
ACTUATORHUB::MOTOR::MotorStatus motor[MOUNTING_MOTOR_NUM];
@@ -55,13 +58,20 @@
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 TIRE_FR 0 //足回り前右
+#define TIRE_FL 1 //足回り前左
+#define TIRE_BR 2 //足回り後右
+#define TIRE_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
+#define Angle_R 4 //角度調節右
+#define Angle_L 5 //角度調節左
+
+#define Lim_AR 3 //角度調節右
+#define Lim_AL 4 //角度調節左
+#define Lim_R 0 //センター右
+#define Lim_L 1 //センター左
+
+//************メカナム********************
const int mecanum[15][15]=
{
@@ -96,44 +106,71 @@
else return abs(pwmVal);
}
+//************メカナム********************
+
+//************カラーセンサ変数********************
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;
+/*int averageR_A;
+int averageG_A;
+int averageB_A;
+int averageR_B;
+int averageG_B;
+int averageB_B;
+int averageR_C;
+int averageG_C;
+int averageB_C;
+int averageR_D;
+int averageG_D;
+int averageB_D;*/
void ColorDetection();
+/*DigitalIn www(RT11_PIN);
+DigitalIn mmm(RT12_PIN);
+
+int pp = 0;
+int bb = 0;
+
+*/
+
+
+//************カラーセンサ変数********************
+
+//************ライントレース変数*******************
+int Point[3] = {234, 466, 590};//赤，緑，青
+int colorSN;
+int startP = 35;
+int downP = 5;
+
+bool Goal_flag = false;
+PID goal = PID(0.03,-255,255,0,0,0);
+void GoalArrival();
+//************ライントレース変数*******************
+
+//************ジャイロ*******************
+//void AngleDetection();
+//void AngleControl();
+float AngleY;
+PID gyro = PID(0.03, -150 , 150 , 8 , 0.03, 0);
+bool Angle_flag = false;
+float rotateY;
+int AngletargetX = 50;
+int AngletargetY = -50;
+int Angle_I;
+//************ジャイロ*******************
+
+//************ロタコン*******************
+int MemoRt;
+int Rt0;
+int Rt1;
+int Rt_A;
+int Rt_B;
+int PresentRt;
+//************ロタコン*******************
#pragma endregion USER-DEFINED_VARIABLES_AND_PROTOTYPE
#ifdef USE_SUBPROCESS
@@ -174,7 +211,6 @@
#pragma region USER-DEFINED_VARIABLE_INIT
/*Replace here with the initialization code of your variables.*/
-
#pragma endregion USER-DEFINED_VARIABLE_INIT
lock = true;
@@ -256,22 +292,8 @@
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
@@ -311,37 +333,87 @@
#if USE_PROCESS_NUM>0
static void Process0()
{
- ColorDetection();
+
+ if(LimitSw::IsPressed(Lim_AR) && motor[4].dir == FOR && motor[5].dir == BACK){
+ motor[Angle_R].dir = BRAKE;
+ motor[Angle_L].dir = BRAKE;
+ motor[Angle_R].pwm = 255;
+ motor[Angle_L].pwm = 255;
+ }else if(LimitSw::IsPressed(Lim_AL) && motor[4].dir == BACK && motor[5].dir == FOR){
+ motor[Angle_R].dir = BRAKE;
+ motor[Angle_L].dir = BRAKE;
+ motor[Angle_R].pwm = 255;
+ motor[Angle_L].pwm = 255;
+ }
+ for(int i = 0;i<20;i++){
+ float y = 0;
+ y = acc[1]*1000;
+ float rotateY = (y - 305)/2.21 - 90;
+ AngleY += rotateY;
+ }
+ AngleY = AngleY /20;
+ int gyropwm = gyro.SetPV(AngleY,Angle_I);
+
+ if(controller->Button.A){
+ Angle_flag = true;
+ }/*
+ if(controller->Button.Y){
+ Angle_flag = true;
+ }*/
+ if (Angle_flag){
+ motor[Angle_R].dir = SetStatus(gyropwm);
+ motor[Angle_L].dir = SetStatus(-gyropwm);
+ motor[Angle_R].pwm = SetPWM(gyropwm);
+ motor[Angle_L].pwm = SetPWM(gyropwm);
+ if(Angle_I - 2 < AngleY && AngleY < Angle_I + 2){
+ motor[Angle_R].dir = BRAKE;
+ motor[Angle_L].dir = BRAKE;
+ Angle_flag = false;
+ }
+ }
}
#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[TIRE_FR].dir = SetStatus(-mecanum[controller->AnalogL.Y][14-controller->AnalogL.X] + curve[controller->AnalogR.X]);
+ motor[TIRE_FL].dir = SetStatus(mecanum[controller->AnalogL.Y][controller->AnalogL.X] + curve[controller->AnalogR.X]);
+ motor[TIRE_BR].dir = SetStatus(-mecanum[14-controller->AnalogL.X][14-controller->AnalogL.Y] + curve[controller->AnalogR.X]);
+ motor[TIRE_BL].dir = SetStatus(mecanum[controller->AnalogL.X][14-controller->AnalogL.Y] + curve[controller->AnalogR.X]);
- 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]);
+ motor[TIRE_FR].pwm = SetPWM(mecanum[controller->AnalogL.Y][14-controller->AnalogL.X]);
+ motor[TIRE_FL].pwm = SetPWM(mecanum[controller->AnalogL.Y][controller->AnalogL.X]);
+ motor[TIRE_BR].pwm = SetPWM(mecanum[14-controller->AnalogL.X][14-controller->AnalogL.Y]);
+ motor[TIRE_BL].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;
-
+ motor[TIRE_FR].pwm = motor[0].pwm * 1.3;
+ motor[TIRE_FL].pwm = motor[1].pwm * 1.3;
}
}
#endif
-bool buttoncomp = false;
#if USE_PROCESS_NUM>2
static void Process2()
{
- /*ColorDetection();
+ static bool color_flag = false;
+ static bool traceon = false;
+
+ static bool yokofla = false;
+ static bool compA = false;
+ static bool compB = false;
+ static bool compC = false;
+ static bool compD = false;
+
+ static bool invationA = false;
+ static bool invationB = false;
+ static bool invationC = false;
+ static bool invationD = false;
+
+ 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
@@ -349,21 +421,147 @@
}
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)
+ if(Color_B[0] > Point[0] && Color_B[1] > Point[1] && Color_B[2] > Point[2] && !compB)//白
{
- motor[0].dir = dir;
- motor[0].pwm = startP;
+ invationB ^= 1;//start false,over true
+ compB = true;//on true,noon false
+ }
+ else if(!(Color_B[0] > Point[0] && Color_B[1] > Point[1] && Color_B[2] > Point[2]))compB = false;//茶
+ //
+
+ if(controller->Button.B && !color_flag)
+ {
+ traceon ^= 1;
+ color_flag = true;
+ }
+ else if(!controller->Button.B)
+ {
+ color_flag = false;
}
- if(invationA)
+ if(traceon)
{
- motor[0].PWM = startP
+ if(!invationA && !compA && !invationB && !compB){
+ motor[TIRE_FR].dir = FOR;
+ motor[TIRE_FL].dir = FOR;
+ motor[TIRE_BR].dir = BACK;
+ motor[TIRE_BL].dir = BACK;
+
+ motor[TIRE_FR].pwm = startP;
+ motor[TIRE_FL].pwm = startP;
+ motor[TIRE_BR].pwm = startP;
+ motor[TIRE_BL].pwm = startP;
+ }
+ else if(invationA && compA && !invationB && !compB){
+ motor[TIRE_FR].dir = FOR;
+ motor[TIRE_FL].dir = FOR;
+ motor[TIRE_BR].dir = BACK;
+ motor[TIRE_BL].dir = BACK;
+
+ motor[TIRE_FR].pwm = startP - downP;
+ motor[TIRE_FL].pwm = startP - downP;
+ motor[TIRE_BR].pwm = startP - downP;
+ motor[TIRE_BL].pwm = startP - downP;
+ }
+ else if(!invationA && !compA && !invationB && !compB){
+ motor[TIRE_FR].dir = BRAKE;
+ motor[TIRE_FL].dir = BRAKE;
+ motor[TIRE_BR].dir = BRAKE;
+ motor[TIRE_BL].dir = BRAKE;
+
+ motor[0].pwm = 255;
+ motor[1].pwm = 255;
+ motor[2].pwm = 255;
+ motor[3].pwm = 255;
+
+ wait(5);
+ yokofla = true;
+ }
+ else if(invationA && !compA && invationB && !compB && yokofla){
+ motor[TIRE_FR].dir = BACK;
+ motor[TIRE_FL].dir = BACK;
+ motor[TIRE_BR].dir = FOR;
+ motor[TIRE_BL].dir = FOR;
+
+ motor[TIRE_FR].pwm = startP - downP;
+ motor[TIRE_FL].pwm = startP - downP;
+ motor[TIRE_BR].pwm = startP - downP;
+ motor[TIRE_BL].pwm = startP - downP;
+ }
+ else if(invationA && !compA && !invationB && !compB && yokofla){
+ motor[TIRE_FR].dir = FOR;
+ motor[TIRE_FL].dir = BACK;
+ motor[TIRE_BR].dir = FOR;
+ motor[TIRE_BL].dir = BACK;
- }*/
-
-
-
-
+ motor[TIRE_FR].pwm = startP;
+ motor[TIRE_FL].pwm = startP;
+ motor[TIRE_BR].pwm = startP;
+ motor[TIRE_BL].pwm = startP;
+ }
+ else if(LimitSw::IsPressed(3) && LimitSw::IsPressed(4) && invationA && !compA && !invationB && !compB && yokofla && traceon){
+ motor[TIRE_FR].dir = BRAKE;
+ motor[TIRE_FL].dir = BRAKE;
+ motor[TIRE_BR].dir = BRAKE;
+ motor[TIRE_BL].dir = BRAKE;
+
+ motor[TIRE_FR].pwm = 255;
+ motor[TIRE_FL].pwm = 255;
+ motor[TIRE_BR].pwm = 255;
+ motor[TIRE_BL].pwm = 255;
+ }
+ /*////
+ motor[0].dir = BACK;
+ motor[1].dir = BACK;
+ motor[2].dir = FOR;
+ motor[3].dir = FOR;
+
+ motor[0].pwm = startP;
+ motor[1].pwm = startP;
+ motor[2].pwm = startP;
+ motor[3].pwm = startP;
+ else if()
+ {
+ motor[0].dir = BRAKE;
+ motor[1].dir = BRAKE;
+ motor[2].dir = BRAKE;
+ motor[3].dir = BRAKE;
+
+ motor[0].pwm = 255;
+ motor[1].pwm = 255;
+ motor[2].pwm = 255;
+ motor[3].pwm = 255;
+ }*//////
+ else if(LimitSw::IsPressed(Lim_R) && LimitSw::IsPressed(Lim_L)){
+ motor[TIRE_FR].dir = FOR;
+ motor[TIRE_FL].dir = FOR;
+ motor[TIRE_BR].dir = BACK;
+ motor[TIRE_BL].dir = BACK;
+ motor[TIRE_FR].pwm = 100;
+ motor[TIRE_FL].pwm = 100;
+ motor[TIRE_BR].pwm = 100;
+ motor[TIRE_BL].pwm = 100;
+ }else if(!LimitSw::IsPressed(3) && LimitSw::IsPressed(4)){
+ motor[TIRE_FR].dir = FOR;
+ motor[TIRE_BR].dir = FOR;
+ motor[TIRE_FR].pwm = 20;
+ motor[TIRE_BR].pwm = 20;
+ }else if(LimitSw::IsPressed(3) && !LimitSw::IsPressed(4)){
+ motor[TIRE_FL].dir = BACK;
+ motor[TIRE_BL].dir = BACK;
+ motor[TIRE_FL].pwm = 20;
+ motor[TIRE_BL].pwm = 20;
+ }
+ else if(!LimitSw::IsPressed(3) && !LimitSw::IsPressed(4)){
+ Goal_flag = true;
+ GoalArrival();
+ }else{
+ motor[TIRE_FR].dir = BRAKE;
+ motor[TIRE_FL].dir = BRAKE;
+ motor[TIRE_BR].dir = BRAKE;
+ motor[TIRE_BL].dir = BRAKE;
+ }
+ }
}
#endif
@@ -371,86 +569,146 @@
static void Process3()
{
if(controller->Button.R){
- motor[4].dir = FOR;
- motor[5].dir = BACK;
- motor[4].pwm = 150;
- motor[5].pwm = 150;
+ motor[Angle_R].dir = FOR;
+ motor[Angle_L].dir = BACK;
+ motor[Angle_R].pwm = 150;
+ motor[Angle_L].pwm = 150;
}else if(controller->Button.L){
- motor[4].dir = BACK;
- motor[5].dir = FOR;
- motor[4].pwm = 150;
- motor[5].pwm = 150;
+ motor[Angle_R].dir = BACK;
+ motor[Angle_L].dir = FOR;
+ motor[Angle_R].pwm = 150;
+ motor[Angle_L].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;
- }
+ motor[Angle_R].dir = BRAKE;
+ motor[Angle_L].dir = BRAKE;
+ }
+
+ if(LimitSw::IsPressed(Lim_AR) && motor[4].dir == FOR && motor[5].dir == BACK){
+ motor[Angle_R].dir = BRAKE;
+ motor[Angle_L].dir = BRAKE;
+
+ motor[Angle_R].pwm = 255;
+ motor[Angle_L].pwm = 255;
+ }else if(LimitSw::IsPressed(Lim_AL) && motor[4].dir == BACK && motor[5].dir == FOR){
+ motor[Angle_R].dir = BRAKE;
+ motor[Angle_L].dir = BRAKE;
+
+ motor[Angle_R].pwm = 255;
+ motor[Angle_L].pwm = 255;
+ }
}
#endif
#if USE_PROCESS_NUM>4
static void Process4()
{
- //ColorDetection();
-
- for(int i=0;i<=10;i++)
+ /* 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];
+ averageR_A += Color_A[0];
+ averageG_A += Color_A[1];
+ averageB_A += Color_A[2];
+ averageR_B += Color_B[0];
+ averageG_B += Color_B[1];
+ averageB_B += Color_B[2];
+ averageR_C += Color_C[0];
+ averageG_C += Color_C[1];
+ averageB_C += Color_C[2];
+ averageR_D += Color_D[0];
+ averageG_D += Color_D[1];
+ averageB_D += 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);
+ pc.printf("AR_A:%d, AG_A:%d ,AB_A:%d \r\n",averageR_A / 10 ,averageG_A / 10, averageB_A / 10);
+ pc.printf("AR_B:%d, AG_B:%d ,AB_B:%d \r\n",averageR_B / 10 ,averageG_B / 10, averageB_B / 10);
+ pc.printf("AR_C:%d, AG_C:%d ,AB_C:%d \r\n",averageR_C / 10 ,averageG_C / 10, averageB_C / 10);
+ pc.printf("AR_D:%d, AG_D:%d ,AB_D:%d \r\n",averageR_D / 10 ,averageG_D / 10, averageB_D / 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;
+ averageR_A = 0;
+ averageG_A = 0;
+ averageB_A = 0;
+ averageR_B = 0;
+ averageG_B = 0;
+ averageB_B = 0;
+ averageR_C = 0;
+ averageG_C = 0;
+ averageB_C = 0;
+ averageR_D = 0;
+ averageG_D = 0;
+ averageB_D = 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);
+{
+ if(LimitSw::IsPressed(Lim_AR) && motor[4].dir == FOR && motor[5].dir == BACK){
+ motor[Angle_R].dir = BRAKE;
+ motor[Angle_L].dir = BRAKE;
+ motor[Angle_R].pwm = 255;
+ motor[Angle_L].pwm = 255;
+ }else if(LimitSw::IsPressed(Lim_AL) && motor[4].dir == BACK && motor[5].dir == FOR){
+ motor[Angle_R].dir = BRAKE;
+ motor[Angle_L].dir = BRAKE;
+ motor[Angle_R].pwm = 255;
+ motor[Angle_L].pwm = 255;
+ }
+ for(int i = 0;i<20;i++){
+ float y = 0;
+ y = acc[1]*1000;
+ float rotateY = (y - 305)/2.21 - 90;
+ AngleY += rotateY;
+ }
+ AngleY = AngleY /20;
+ int gyropwm = gyro.SetPV(AngleY,AngletargetY);
+
+ if(controller->Button.X){
+ Angle_flag = true;
+ }/*
+ if(controller->Button.Y){
+ Angle_flag = true;
+ }*/
+ if (Angle_flag){
+ motor[Angle_R].dir = SetStatus(gyropwm);
+ motor[Angle_L].dir = SetStatus(-gyropwm);
+ motor[Angle_R].pwm = SetPWM(gyropwm);
+ motor[Angle_L].pwm = SetPWM(gyropwm);
+ if(AngletargetY - 2 < AngleY && AngleY < AngletargetY + 2){
+ motor[Angle_R].dir = BRAKE;
+ motor[Angle_L].dir = BRAKE;
+ Angle_flag = false;
+ }
+ }
+ /*float y = 0;
+ y = acc[1]*1000;
+ float rotateY = (y - 305)/2.21 - 90;
+ int gyropwm = gyro.SetPV(rotateY , Angletarget);
+
+ if(controller->Button.X){
+ Angle_flag = true;
+ }
+ if (Angle_flag){
+ motor[Angle_R].dir = SetStatus(gyropwm);
+ motor[Angle_L].dir = SetStatus(-gyropwm);
+ motor[Angle_R].pwm = SetPWM(gyropwm);
+ motor[Angle_L].pwm = SetPWM(gyropwm);
+ if(Angletarget - 2 < rotateY && rotateY < Angletarget + 2){
+ motor[Angle_R].dir = BRAKE;
+ motor[Angle_L].dir = BRAKE;
+ Angle_flag = false;
+ }
+ }*/
+ else{
+ motor[Angle_R].dir = BRAKE;
+ motor[Angle_L].dir = BRAKE;
+ }
}
#endif
#if USE_PROCESS_NUM>6
static void Process6()
-{
-
+{
+ //void Int::Initialize(BoardRtInt[0].fall(int2));
}
#endif
@@ -515,17 +773,11 @@
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);
@@ -533,16 +785,94 @@
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");*/
}
+/*void AngleDetection(){
+ float x = 0, y= 0, z = 0;
+
+ //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;
+ //float rotateZ = (z - 300)/1.18 - 90;
+ //pc.printf("X:%3.1f , Y:%3.1f , Z:%3.1f \r\n" , rotateX , rotateY , rotateZ);
+}*/
+/*void AngleControl(){
+ int Angletarget = -50;
+ float AnglevalueY = rotateY;
+ int gyropwm = gyro.SetPV(AnglevalueY , Angletarget);
+
+ if (Angle_flag){
+ motor[Angle_R].dir = SetStatus(gyropwm);
+ motor[Angle_L].dir = SetStatus(-gyropwm);
+ motor[Angle_R].pwm = SetPWM(gyropwm);
+ motor[Angle_L].pwm = SetPWM(gyropwm);
+ if(Angletarget - 2 < AnglevalueY && AnglevalueY < Angletarget + 2){
+ motor[Angle_R].dir = BRAKE;
+ motor[Angle_L].dir = BRAKE;
+ Angle_flag = false;
+ }
+ }else{
+ motor[Angle_R].dir = BRAKE;
+ motor[Angle_L].dir = BRAKE;
+ }
+ //pc.printf("PWM:%d \r\n" , gyropwm);
+}*/
+void GoalArrival(){
+ int Goaltarget = 0;
+ float Goalvalue = 0;
+ int goalpwm = goal.SetPV(Goalvalue,Goaltarget);
+
+ if (Goal_flag){
+ motor[TIRE_FR].dir = SetStatus(goalpwm);
+ motor[TIRE_FL].dir = SetStatus(-goalpwm);
+ motor[TIRE_BR].dir = SetStatus(goalpwm);
+ motor[TIRE_BL].dir = SetStatus(-goalpwm);
+ motor[TIRE_FR].pwm = SetPWM(goalpwm);
+ motor[TIRE_FL].pwm = SetPWM(goalpwm);
+ motor[TIRE_BR].pwm = SetPWM(goalpwm);
+ motor[TIRE_BL].pwm = SetPWM(goalpwm);
+ if(Goaltarget > Goalvalue - 10 && Goaltarget < Goalvalue+ 10){
+ motor[TIRE_FR].dir = BRAKE;
+ motor[TIRE_FL].dir = BRAKE;
+ motor[TIRE_BR].dir = BRAKE;
+ motor[TIRE_BL].dir = BRAKE;
+ Goal_flag = false;
+ }
+ }else{
+ motor[Angle_R].dir = BRAKE;
+ motor[Angle_L].dir = BRAKE;
+ }
+}
+/*
+void RotaryD(uint8_t, uint8_t){
+ uint8_t D;
+ MemoRt = Rt1;
+ Rt0 = Rt0 << 1;
+ Rt0 = Rt0 & 3;
+ Rt1 = Rt1 & 3;
+ D = (Rt0 + Rt1) & 3;
+ //return (D);
+}
+void GetRt(){
+ uint8_t DJ;
+ double rad = 0;
+ PresentRt = 0x00;
+ if(LimitSw::IsPressed(Rt_A))
+ PresentRt = 0x02;
+ if(LimitSw::IsPressed(Rt_B))
+ PresentRt = 0x01;
+ if(MemoRt != PresentRt)
+ DJ = RotaryD(MemoRt,PresentRt);
+ if(D>=2)rad = 360.0 /50.0;
+ else rad = -(360.0/50.0);
+ Rt = Rt + rad /360.0*20;
+}*/
+
#pragma endregion