File content as of revision 11:88f17bc0724f:

//2018/02/24のやつ

#include "Process.h"
#include "mbed.h"
#include "../../Communication/XBee/XBee.h"
#include "../../Input/Switch/Switch.h"
#include "../../Output/Motor/Motor.h"
#include "../../Output/Servo/Servo.h"

//_____________________
/*---------------- HOW TO WRITE ----------------/

    ・motor の割り当てを決める
        #define TIRE_L 1

    ・リミットスイッチの割り当てを決める
        #define ARM_L 1

    ・他にも自由に定義してもいいです (pwmとか)

/---------------- HOW TO WRITE ----------------*/
//↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓

#define a 0
#define b 1
#define c 2
#define d 3
#define e 4
#define ARMlim 0
#define lim 1


int Air0=0;
int Air1=1;
int homes=0;



//////////////////関数、タイマーの宣言///////////////
DigitalOut Air[]= {
    DigitalOut(A5),
    DigitalOut(A4),
};
Timer Airtime;
Timer home;
void AirOut(int pin,int mode)
{
    Air[pin]=mode;
}
////////////
float s=Airtime.read();//エアータイム

int a_array[15][15] = {
{-80, -70, -60, -50, -40, -20, -10, 0,   10,  20,  40,  50,  60,  70,  80},
{-79, -69, -55, -47, -35, -20, -10, 0,   10,  20,  35,  47,  55,  69,  79},
{-77, -68, -50, -45, -30, -20, -10, 0,   10,  20,  30,  45,  50,  68,  77},
{-75, -67, -49, -40, -25, -20, -10, 0,   10,  20,  25,  40,  49,  67,  75},
{-73, -66, -48, -37, -20, -20, -10, 0,   10,  20,  20,  37,  48,  66,  73},
{-71, -62, -46, -32, -20, -10, 0  , 0,   0 ,  10,  20,  32,  46,  62,  71},
{-70, -60, -45, -30, -20, -10, 0  , 0,   0 ,  10,  20,  30,  45,  60,  70},
{-71, -62, -46, -32, 10 , -10, 0  , 0,   0 ,  10,  20,  32,  46,  62,  71},
{-72, -64, -47, -35, 20 , -10, -10, 0,   10,  10,  20,  35,  47,  64,  72},
{-73, -66, -48, -37, -20, -20, -10, 0,   10,  20,  20,  37,  48,  66,  73},
{-75, -67, -49, -40, 40 , -20, -10, 0,   10,  20,  25,  40,  49,  67,  75},
{-77, -68, -50, -45, 60 , -20, -10, 0,   10,  20,  30,  45,  50,  68,  77},
{-79, -69, -55, -47, 70 , -20, -10, 0,   10,  20,  35,  47,  55,  69,  79},
{-80, -70, -60, -50, -40, -20, -10, 0,   10,  20,  40,  50,  60,  70,  80},
{-80, -70, -60, -50, -40, -20,s-10, 0,   10,  20,  40,  50,  60,  70,  80}}; 

int b_array[15][15] = {
{80,  80,  80 , 77 , 75 , 72 , 71 , 70,  60,  50,  40,  30,  20,  10,  0},
{80,  80,  75 , 70 , 65 , 60 , 55 , 50,  45,  40,  30,  20,  10,  0 ,  -10},
{80,  71,  70 , 60 , 55 , 50 , 45 , 40,  35,  30,  20,  10,  0,   -10, -13},
{60,  60,  57 , 50 , 45 , 40 , 35 , 30,  25,  20,  10,  0 ,  -10, -13, -17},
{50,  50,  50 , 40 , 35 , 30 , 23 , 20,  15,  10,  0 ,  -10, -15, -17, -20},
{45,  45,  43 , 35 , 30 , 25 , 10 , 10,  10,  0 ,  -10, -15, -20, -20, -25},
{40,  37,  35 , 30 , 25 , 20 , 0  , 0 ,  0 ,  -10, -15, -20, -25, -25, -30},
{35,  30,  30 , 25 , 20 , 15 , 0  , 0 ,  0 ,  -15, -20, -25, -30, -30, -35},
{30,  25,  25 , 20 , 15 , 10 , 0  , 0 ,  0 ,  -20, -25, -30, -35, -37, -40},
{20,  17,  15 , 10 , 0  , -10, -15,-20, -23, -30 ,-35 ,-40 ,-50 ,-50 , -50},
{17,  13,  10 , 0  , -10, -20, -25,-30, -35, -40 ,-45 ,-50 ,-57 ,-60 , -60},
{13,  10,  0  , -10, -20, -30, -35,-40, -45, -50 ,-55 ,-60 , -70, -71, -80},
{10,  0 ,  -10, -20, -30, -40, -45,-50, -55, -60 ,-65 ,-70 ,-75 ,-80 , -80},
{0 ,  -10, -20, -30, -40, -50, -60,-70, -71, -72 ,-75 ,-77 ,-80 ,-80 , -80},
{0 ,  -10, -20, -30, -40, -50, -60,-70, -71, -72 ,-75 ,-77 ,-80 ,-80 , -80}};

 int c_array[15][15] = {
{0,   10,  20 , 30 , 40 , 50 , 60 ,70 ,  71,  72 , 75 , 77 , 80 , 80 , 80},
{-10, 0  , 10 , 20 , 30 , 40 , 45 ,50 , 55 , 60  ,65  ,70  ,75  ,80  ,80},
{-13, -10, 0  , 10 , 20 , 30 , 35 ,40 , 45 , 50  ,55  ,60  ,70  ,71  ,80},
{-17, -13, -10, 0  , 10 , 20 , 25 ,30 , 35 , 40  ,45  ,50  ,57  ,60  ,60},
{-20, -17, -15, -10, 0  , 10 , 15 ,20 , 23 , 30  ,35  ,40  ,50  ,50  ,50},
{-25, -20, -20, -15, -10, 0  , 10 ,10 , 10 , 25  ,30  ,35  ,43  ,45  ,45},
{-30, -25, -25, -20, -15, -10, 0  ,0  , 0  , 20  ,25  ,30  ,35  ,37  ,40},
{-35, -30, -30, -25, -20, -15, 0  ,0  , 0  , 15  ,20  ,25  ,30  ,30  ,35},
{-40, -37, -35, -30, -25, -20, 0  ,0  , 0  , 10  ,15  ,20  ,25  ,25  ,30},
{-50, -50, -50, -40, -35, -30, -23,-20, -15, -10 ,0   ,10  ,15  ,17  ,20},
{-60, -60, -57, -50, -45, -40, -35,-30, -25, -20 ,-10 ,0   ,10  ,13  ,17},
{-80, -71, -70, -60, -55, -50, -45,-40, -35, -30 ,-20 ,-10 ,0   ,10  ,13},
{-80, -80, -75, -70, -65, -60, -55,-50, -45, -40 ,-30 ,-20 ,-10 ,0   ,10},
{-80, -80, -80, -77, -75, -72, -71,-70, -60, -50 ,-40 ,-30 ,-20 ,-10 ,0},
{-80, -80, -80, -77, -75, -72, -71,-70, -60, -50 ,-40 ,-30 ,-20 ,-10 ,0}};



    
    

#define usiro 0
#define mae 0
uint8_t motorData[5];
uint8_t pwmData[5];

int conlx;
int conly;
int conrx;
int conry;

int mode=0;

//↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑
//_____________________

//#define USE_USB_SERIAL
#ifdef USE_USB_SERIAL
Serial pc(SERIAL_TX, SERIAL_RX);
#endif
XBEE::ControllerData *controller;
MOTOR::MotorStatus motor[MOUNTING_MOTOR_NUM];

using namespace SWITCH;

void SystemProcess(void) {  
    while(true) {
        controller = XBEE::Controller::GetData();
//____________________________
/*------------------------ HOW TO WRITE ------------------------/

    ここにメインのプログラムを書く

    ・コントローラから受け取ったデータをもとに動作のプログラムを書く
     (コントローラのデータは controller-> で取る)

        if(controller->Button.RIGHT) {
            motor[TIRE_L].dir = FOR;
            motor[TIRE_R].dir = BACK;
            motor[TIRE_L].pwm = 12.3;
            motor[TIRE_R].pwm = 12.3;
        }

     motor[0].dirは     FOR   (正転)
                        BACK  (逆転)
                        BRAKE (ブレーキ)
                        FREE  (フリー)

     motor[0].pwmは     0.0(%) ~ 100.0(%)

     controllerは       XBee.hの構造体の中身

     (AnalogL・Rを使いたかったら、頑張って考える or 聞いてください)

    ・リミットスイッチの値をもとに動作のプログラムを書く

        if(Switch::CheckPushed(ARM_L))
        {
            if(controller->Button.L)
            {
                motor[ARM].dir = FOR;
                motor[ARM].pwm = 80.0;
            }
            if(motor[ARM].dir == BACK)
            {
                motor[ARM].dir = BRAKE;
            }
        }

     →関数 Switch::CheckPushed の引数はリミットスイッチの名前 (limitSw[0]みたいな), 返り値はbool型 (true or false)

    ・他にもやりたいことがあったら自由にどうぞ

    ps.わからないことがあったら聞いてください

/------------------------ HOW TO WRITE ------------------------*/
//↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓

conlx = controller->AnalogL.X;
conly = controller->AnalogL.Y;
conrx = controller->AnalogR.X;
conry = controller->AnalogR.Y;
//conba = controller->Button.A;
//conbb = controller->Button.B;
//conby = controller->Button.Y;
//conbx = controller->Button.X;

    if(a_array[conly][conlx]<0){
        motor[a].pwm = (-1*a_array[conly][conlx]*100)/80;
        motor[a].dir = FOR;
    }else if(a_array[conly][conlx] > 0){
        motor[a].pwm = (a_array[conly][conlx]*100)/80;
        motor[a].dir = BACK;
    }else if(a_array[conly][conlx] == 0){
        if(conry < 6){
            motor[a].dir = BACK;
            motor[b].dir = BACK;
            motor[c].dir = BACK;
            motor[a].pwm = 100.0;
            motor[b].pwm = 100.0;
            motor[c].pwm = 100.0;
        }else if(conry > 8){
            motor[a].dir = FOR;
            motor[b].dir = FOR;
            motor[c].dir = FOR;
            motor[a].pwm = 100.0;
            motor[b].pwm = 100.0;
            motor[c].pwm = 100.0;   
        }else{
            motor[a].dir = BRAKE;
            motor[b].dir = BRAKE;
            motor[c].dir = BRAKE;
            motor[a].pwm = 100.0;
            motor[b].pwm = 100.0;
            motor[c].pwm = 100.0;
        }
    }
            
    if(b_array[conly][conlx] <0 ){
        motor[b].pwm = (-1*b_array[conly][conlx]*100)/80;
        motor[b].dir = FOR;
    }else if(b_array[conly][conlx] > 0){
        motor[b].pwm = (b_array[conly][conlx]*100)/80;
        motor[b].dir = BACK;
    }else if(a_array[conly][conlx] == 0 ){
         if(conrx < 6 ) {
            motor[a].dir = BACK;
            motor[b].dir = BACK;
            motor[c].dir = BACK;
            motor[a].pwm = 100.0;
            motor[b].pwm = 100.0;
            motor[c].pwm = 100.0;
         }else if(conrx > 8){
            motor[a].dir = FOR;
            motor[b].dir = FOR;
            motor[c].dir = FOR;
            motor[a].pwm = 100.0;
            motor[b].pwm = 100.0;
            motor[c].pwm = 100.0;
         }else{
            motor[a].dir = BRAKE;
            motor[b].dir = BRAKE;
            motor[c].dir = BRAKE;
            motor[a].pwm = 100.0;
            motor[b].pwm = 100.0;
            motor[c].pwm = 100.0;
        }
    }
        
    if(c_array[conly][conlx] <0 ){
        motor[c].pwm =(-1*c_array[conly][conlx]*100)/80;
        motor[c].dir = BACK;
    }else if(c_array[conly][conlx] > 0){
        motor[c].pwm =(c_array[conly][conlx]*100)/80;
        motor[c].dir = FOR;
    }else if(a_array[conly][conlx] == 0 ){
        if(conrx < 6 ) {
            motor[a].dir = BACK;
            motor[b].dir = BACK;
            motor[c].dir = BACK;
            motor[a].pwm = 100.0;
            motor[b].pwm = 100.0;
            motor[c].pwm = 100.0;
        }else if(conrx > 8){
            motor[a].dir = FOR;
            motor[b].dir = FOR;
            motor[c].dir = FOR;
            motor[a].pwm = 100.0;
            motor[b].pwm = 100.0;
            motor[c].pwm = 100.0;
        }else{
            motor[a].dir = BRAKE;
            motor[b].dir = BRAKE;
            motor[c].dir = BRAKE;
            motor[a].pwm = 100.0;
            motor[b].pwm = 100.0;
            motor[c].pwm = 100.0;
        }
    }
 
////////////課題１////////////
         if(controller->Button.X){
            if(Switch::checkPushed(ARMlim)){
                motor[d].dir = BRAKE;
                motor[d].pwm = 100;
            }else{
                motor[d].dir = FOR;
                motor[d].pwm = 100;
            }                                                                                                
        }else   if(controller->Button.Y){
            motor[d].dir = BACK;
            motor[d].pwm = 100;
        }else{
            motor[d].dir = BRAKE;
            motor[d].pwm = 100;
        }
        if(controller->Button.A) {
            AirOut(Air0,1);
        } else if(controller->Button.B) {
            AirOut(Air0,0);
        }
//////////////課題2/////////////////////
//        if((controller->Button.ZL)&&(mode==0)) {
//            Airtime.start();
//            AirOut(Air1,0);
//        }
//        if((s>1)&&(s<3)) {
//            AirOut(Air1,1);
//        }else if(s>=3){
//            Airtime.stop();
//            Airtime.reset();
//            mode=1;
//        }
//        if((mode==2)||((controller->Button.ZR)&&(mode==1))) {
//            motor[4].dir=FOR;
//            motor[4].pwm=10;
//        }
//        if(!(Switch::checkPushed(lim))&&(mode==1)){
//                mode=2;
//        }
//        if((Switch::checkPushed(lim))&&(mode==2)){
//            motor[4].dir=BRAKE;
//            motor[4].pwm=100;
//            mode=0;
//        }                                                                                    
//        
//        if (controller->Button.ZL)
//        AiOut(Air1,0);

        if(controller->Button.ZL){
            AirOut(Air1,1)
            AirOut(Air1.0)
            motor[4].dir = FOR;
            motor[4].pwm = 100.0;
            if(Switch::checkPushed(lim)){
                motor.
                }
        
//↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑
//___________________________


     
        MOTOR::Motor::Update(motor);
    }
}