Miya Miyagawa
/
Orewotaosita
If you wont to knock me down, look this file...
System/Process/Process.cpp@0:4df75b08b14a, 2019-05-03 (annotated)
- Committer:
- Ryosei
- Date:
- Fri May 03 11:47:27 2019 +0000
- Revision:
- 0:4df75b08b14a
a
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Ryosei | 0:4df75b08b14a | 1 | |
Ryosei | 0:4df75b08b14a | 2 | |
Ryosei | 0:4df75b08b14a | 3 | |
Ryosei | 0:4df75b08b14a | 4 | /* |
Ryosei | 0:4df75b08b14a | 5 | このプログラムを見る人へ |
Ryosei | 0:4df75b08b14a | 6 | |
Ryosei | 0:4df75b08b14a | 7 | 用語解説 |
Ryosei | 0:4df75b08b14a | 8 | |
Ryosei | 0:4df75b08b14a | 9 | ご挨拶モード:足回りでロボットを左右に振りご挨拶しつつ、回路リセットを行うおれたおになくてはならないモード |
Ryosei | 0:4df75b08b14a | 10 | 足回り:宮川は十字キー足回りを、新村はアナログスティック足回りを担当しました。宮川のプログラムは猫でも書けますが、新村のは難易度S+です。わからないことがあれば新村へ |
Ryosei | 0:4df75b08b14a | 11 | |
Ryosei | 0:4df75b08b14a | 12 | わからないことがあればアナログスティック以外、なんでも宮川に聞いてください |
Ryosei | 0:4df75b08b14a | 13 | */ |
Ryosei | 0:4df75b08b14a | 14 | |
Ryosei | 0:4df75b08b14a | 15 | |
Ryosei | 0:4df75b08b14a | 16 | |
Ryosei | 0:4df75b08b14a | 17 | |
Ryosei | 0:4df75b08b14a | 18 | //------------------------------------------------------------------------------------------------------------------------------------------ |
Ryosei | 0:4df75b08b14a | 19 | #include "Process.h" |
Ryosei | 0:4df75b08b14a | 20 | |
Ryosei | 0:4df75b08b14a | 21 | #include "mbed.h" |
Ryosei | 0:4df75b08b14a | 22 | #include "../../Communication/XBee/XBee.h" |
Ryosei | 0:4df75b08b14a | 23 | //#include "../../Input/Switch/Switch.h" |
Ryosei | 0:4df75b08b14a | 24 | #include "../../Output/Motor/Motor.h" |
Ryosei | 0:4df75b08b14a | 25 | #include "../../Output/Servo/Servo.h" |
Ryosei | 0:4df75b08b14a | 26 | |
Ryosei | 0:4df75b08b14a | 27 | //_____________________ |
Ryosei | 0:4df75b08b14a | 28 | /*---------------- HOW TO WRITE ----------------/ |
Ryosei | 0:4df75b08b14a | 29 | |
Ryosei | 0:4df75b08b14a | 30 | ・motor の割り当てを決める |
Ryosei | 0:4df75b08b14a | 31 | #define TIRE_L 1 |
Ryosei | 0:4df75b08b14a | 32 | |
Ryosei | 0:4df75b08b14a | 33 | ・リミットスイッチの割り当てを決める |
Ryosei | 0:4df75b08b14a | 34 | #define ARM_L 1 |
Ryosei | 0:4df75b08b14a | 35 | |
Ryosei | 0:4df75b08b14a | 36 | ・他にも自由に定義してもいいです (pwmとか) |
Ryosei | 0:4df75b08b14a | 37 | |
Ryosei | 0:4df75b08b14a | 38 | /---------------- HOW TO WRITE ----------------*/ |
Ryosei | 0:4df75b08b14a | 39 | //↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓ |
Ryosei | 0:4df75b08b14a | 40 | |
Ryosei | 0:4df75b08b14a | 41 | |
Ryosei | 0:4df75b08b14a | 42 | #define TIRE_1 0 |
Ryosei | 0:4df75b08b14a | 43 | #define TIRE_2 1 |
Ryosei | 0:4df75b08b14a | 44 | #define TIRE_3 2 |
Ryosei | 0:4df75b08b14a | 45 | #define ARM 3 |
Ryosei | 0:4df75b08b14a | 46 | |
Ryosei | 0:4df75b08b14a | 47 | #define ARMlim 0 |
Ryosei | 0:4df75b08b14a | 48 | |
Ryosei | 0:4df75b08b14a | 49 | int Air0=0; |
Ryosei | 0:4df75b08b14a | 50 | int Air1=1; |
Ryosei | 0:4df75b08b14a | 51 | |
Ryosei | 0:4df75b08b14a | 52 | #define a 0 |
Ryosei | 0:4df75b08b14a | 53 | #define b 1 |
Ryosei | 0:4df75b08b14a | 54 | #define c 2 |
Ryosei | 0:4df75b08b14a | 55 | |
Ryosei | 0:4df75b08b14a | 56 | int a_array[15][15] = { |
Ryosei | 0:4df75b08b14a | 57 | { -30, -20, -10, 0, 0, 0, 0, 0, 0, 0, 0, 0, 10, 20, 30 }, |
Ryosei | 0:4df75b08b14a | 58 | { -40, -30, -20, -10, 0, 0, 0, 0, 0, 0, 0, 10, 20, 30, 40 }, |
Ryosei | 0:4df75b08b14a | 59 | { -50, -40, -30, -20, -10, 0, 0, 0, 0, 0, 10, 20, 30, 40, 50 }, |
Ryosei | 0:4df75b08b14a | 60 | { -60, -50, -40, -30, -20, -10, 0, 0, 0, 10, 20, 30, 40, 50, 60 }, |
Ryosei | 0:4df75b08b14a | 61 | { -70, -60, -50, -40, -30, -20, -10, 0, 10, 20, 30, 40, 50, 60, 70 }, |
Ryosei | 0:4df75b08b14a | 62 | { -80, -70, -60, -50, -40, -30, -20, 0, 20, 30, 40, 50, 60, 70, 80 }, |
Ryosei | 0:4df75b08b14a | 63 | { -90, -80, -70, -60, -50, -40, -30, 0, 30, 40, 50, 60, 70, 80, 90 }, |
Ryosei | 0:4df75b08b14a | 64 | { -100, -90, -80, -70, -60, -50, -40, 0, 40, 50, 60, 70, 80, 90, 100 }, |
Ryosei | 0:4df75b08b14a | 65 | { -90, -80, -70, -60, -50, -40, -30, 0, 30, 40, 50, 60, 70, 80, 90 }, |
Ryosei | 0:4df75b08b14a | 66 | { -80, -70, -60, -50, -40, -30, -20, 0, 20, 30, 40, 50, 60, 70, 80 }, |
Ryosei | 0:4df75b08b14a | 67 | { -70, -60, -50, -40, -30, -20, -10, 0, 10, 20, 30, 40, 50, 60, 70 }, |
Ryosei | 0:4df75b08b14a | 68 | { -60, -50, -40, -30, -20, -10, 0, 0, 0, 10, 20, 30, 40, 50, 60 }, |
Ryosei | 0:4df75b08b14a | 69 | { -50, -40, -30, -20, -10, 0, 0, 0, 0, 0, 10, 20, 30, 40, 50 }, |
Ryosei | 0:4df75b08b14a | 70 | { -40, -30, -20, -10, 0, 0, 0, 0, 0, 0, 0, 10, 20, 30, 40 }, |
Ryosei | 0:4df75b08b14a | 71 | { -30, -20, -10, 0, 0, 0, 0, 0, 0, 0, 0, 0, 10, 20, 30 } |
Ryosei | 0:4df75b08b14a | 72 | }; |
Ryosei | 0:4df75b08b14a | 73 | |
Ryosei | 0:4df75b08b14a | 74 | int b_array[15][15] = { |
Ryosei | 0:4df75b08b14a | 75 | { 100, 92, 84, 76, 68, 60, 52, 100, 36, 28, 20, 12, 4, 0, 0 }, |
Ryosei | 0:4df75b08b14a | 76 | { 92, 84, 76, 68, 60, 52, 44, 36, 28, 20, 12, 4, 0, 0, 0 }, |
Ryosei | 0:4df75b08b14a | 77 | { 84, 76, 68, 60, 52, 44, 36, 28, 20, 12, 4, 0, 0, 0, -4 }, |
Ryosei | 0:4df75b08b14a | 78 | { 76, 68, 60, 52, 44, 36, 28, 20, 12, 4, 0, 0, 0, -4, -12 }, |
Ryosei | 0:4df75b08b14a | 79 | { 68, 60, 52, 44, 36, 28, 20, 12, 4, 0, 0, 0, -4, -12, -20 }, |
Ryosei | 0:4df75b08b14a | 80 | { 60, 52, 44, 36, 28, 20, 12, 4, 0, 0, 0, -4, -12, -20, -28 }, |
Ryosei | 0:4df75b08b14a | 81 | { 52, 44, 36, 28, 20, 12, 4, 0, 0, 0, -4, -12, -20, -28, -36 }, |
Ryosei | 0:4df75b08b14a | 82 | { 100, 36, 28, 20, 12, 4, 0, 0, 0, -4, -12, -20, -28, -36, -44 }, |
Ryosei | 0:4df75b08b14a | 83 | { 85, 28, 20, 12, 4, 0, 0, 0, -4, -12, -20, -28, -36, -44, -52 }, |
Ryosei | 0:4df75b08b14a | 84 | { 70, 20, 12, 4, 0, 0, 0, -4, -12, -20, -28, -36, -44, -52, -60 }, |
Ryosei | 0:4df75b08b14a | 85 | { 55, 12, 4, 0, 0, 0, -4, -12, -20, -28, -36, -44, -52, -60, -68 }, |
Ryosei | 0:4df75b08b14a | 86 | { 40, 4, 0, 0, 0, -4, -12, -20, -28, -36, -44, -52, -60, -68, -76 }, |
Ryosei | 0:4df75b08b14a | 87 | { 25, 0, 0, 0, -4, -12, -20, -28, -36, -44, -52, -60, -68, -76, -84 }, |
Ryosei | 0:4df75b08b14a | 88 | { 10, 0, 0, -4, -12, -20, -28, -36, -44, -52, -60, -68, -76, -84, -92 }, |
Ryosei | 0:4df75b08b14a | 89 | { 0, 0, -4, -12, -20, -28, -36, -100, -52, -60, -68, -76, -84, -92, -100 } |
Ryosei | 0:4df75b08b14a | 90 | }; |
Ryosei | 0:4df75b08b14a | 91 | |
Ryosei | 0:4df75b08b14a | 92 | |
Ryosei | 0:4df75b08b14a | 93 | int c_array[15][15] = { |
Ryosei | 0:4df75b08b14a | 94 | { 0, 0, 4, 12, 20, 28, 36, 100, 52, 60, 68, 76, 84, 92, 100 }, |
Ryosei | 0:4df75b08b14a | 95 | { 0, 0, 0, 4, 12, 20, 28, 36, 44, 52, 60, 68, 76, 84, 92 }, |
Ryosei | 0:4df75b08b14a | 96 | { -4, 0, 0, 0, 4, 12, 20, 28, 36, 44, 52, 60, 68, 76, 84 }, |
Ryosei | 0:4df75b08b14a | 97 | { -12, -4, 0, 0, 0, 4, 12, 20, 28, 36, 44, 52, 60, 68, 76 }, |
Ryosei | 0:4df75b08b14a | 98 | { -20, -12, -4, 0, 0, 0, 4, 12, 20, 28, 36, 44, 52, 60, 68 }, |
Ryosei | 0:4df75b08b14a | 99 | { -28, -20, -12, -4, 0, 0, 0, 4, 12, 20, 28, 36, 44, 52, 60 }, |
Ryosei | 0:4df75b08b14a | 100 | { -36, -28, -20, -12, -4, 0, 0, 0, 4, 12, 20, 28, 36, 44, 52 }, |
Ryosei | 0:4df75b08b14a | 101 | { -44, -36, -28, -20, -12, -4, 0, 0, 0, 4, 12, 20, 28, 36, 44 }, |
Ryosei | 0:4df75b08b14a | 102 | { -52, -44, -36, -28, -20, -12, 4, 0, 0, 0, 4, 12, 20, 28, 36 }, |
Ryosei | 0:4df75b08b14a | 103 | { -60, -52, -44, -36, -28, -20, -12, -4, 0, 0, 0, 4, 12, 20, 28 }, |
Ryosei | 0:4df75b08b14a | 104 | { -68, -60, -52, -44, -36, -28, -20, -12, -4, 0, 0, 0, 4, 12, 20 }, |
Ryosei | 0:4df75b08b14a | 105 | { -76, -68, -60, -52, -44, -36, -28, -20, -12, -4, 0, 0, 0, 4, 12 }, |
Ryosei | 0:4df75b08b14a | 106 | { -84, -76, -68, -60, -52, -44, -36, -28, -20, -12, -4, 0, 0, 0, 4 }, |
Ryosei | 0:4df75b08b14a | 107 | { -92, -84, -76, -68, -60, -52, -44, -36, -28, -20, -12, -4, 0, 0, 0 }, |
Ryosei | 0:4df75b08b14a | 108 | { -100, -92, -84, -76, -76, -60, -100, -100, -36, -28, -20, -12, -4, 0, 0 } |
Ryosei | 0:4df75b08b14a | 109 | }; |
Ryosei | 0:4df75b08b14a | 110 | |
Ryosei | 0:4df75b08b14a | 111 | int pwm_array[15] = { 30, 25, 20, 15, 10, 5, 0, 0, 0, -5, -10, -15, -20, -25, -30 }; |
Ryosei | 0:4df75b08b14a | 112 | |
Ryosei | 0:4df75b08b14a | 113 | #define usiro 0 |
Ryosei | 0:4df75b08b14a | 114 | #define mae 0 |
Ryosei | 0:4df75b08b14a | 115 | uint8_t motorData[5]; |
Ryosei | 0:4df75b08b14a | 116 | uint8_t pwmData[5]; |
Ryosei | 0:4df75b08b14a | 117 | |
Ryosei | 0:4df75b08b14a | 118 | int conlx; |
Ryosei | 0:4df75b08b14a | 119 | int conly; |
Ryosei | 0:4df75b08b14a | 120 | int conrx; |
Ryosei | 0:4df75b08b14a | 121 | int conry; |
Ryosei | 0:4df75b08b14a | 122 | int conba; |
Ryosei | 0:4df75b08b14a | 123 | int conbb; |
Ryosei | 0:4df75b08b14a | 124 | int conbx; |
Ryosei | 0:4df75b08b14a | 125 | int conby; |
Ryosei | 0:4df75b08b14a | 126 | int homes=0; |
Ryosei | 0:4df75b08b14a | 127 | //↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑ |
Ryosei | 0:4df75b08b14a | 128 | //_____________________ |
Ryosei | 0:4df75b08b14a | 129 | |
Ryosei | 0:4df75b08b14a | 130 | //#define USE_USB_SERIAL |
Ryosei | 0:4df75b08b14a | 131 | #ifdef USE_USB_SERIAL |
Ryosei | 0:4df75b08b14a | 132 | Serial pc(SERIAL_TX, SERIAL_RX); |
Ryosei | 0:4df75b08b14a | 133 | #endif |
Ryosei | 0:4df75b08b14a | 134 | Serial pc(SERIAL_TX,SERIAL_RX); |
Ryosei | 0:4df75b08b14a | 135 | XBEE::ControllerData *controller; |
Ryosei | 0:4df75b08b14a | 136 | MOTOR::MotorStatus motor[MOUNTING_MOTOR_NUM]; |
Ryosei | 0:4df75b08b14a | 137 | ////////////////////////////////// |
Ryosei | 0:4df75b08b14a | 138 | //関数、タイマーの宣言 |
Ryosei | 0:4df75b08b14a | 139 | DigitalOut Air[]= { |
Ryosei | 0:4df75b08b14a | 140 | DigitalOut(A5), |
Ryosei | 0:4df75b08b14a | 141 | DigitalOut(A4), |
Ryosei | 0:4df75b08b14a | 142 | }; |
Ryosei | 0:4df75b08b14a | 143 | DigitalIn limit[]= { |
Ryosei | 0:4df75b08b14a | 144 | DigitalIn(A7), |
Ryosei | 0:4df75b08b14a | 145 | DigitalIn(A6), |
Ryosei | 0:4df75b08b14a | 146 | }; |
Ryosei | 0:4df75b08b14a | 147 | Timer Airtime; |
Ryosei | 0:4df75b08b14a | 148 | Timer home; |
Ryosei | 0:4df75b08b14a | 149 | void AirOut(int pin,int mode) |
Ryosei | 0:4df75b08b14a | 150 | { |
Ryosei | 0:4df75b08b14a | 151 | Air[pin]=mode; |
Ryosei | 0:4df75b08b14a | 152 | } |
Ryosei | 0:4df75b08b14a | 153 | bool LimitRead(int pin) |
Ryosei | 0:4df75b08b14a | 154 | { |
Ryosei | 0:4df75b08b14a | 155 | int x; |
Ryosei | 0:4df75b08b14a | 156 | x=limit[pin]; |
Ryosei | 0:4df75b08b14a | 157 | if(x==0) { |
Ryosei | 0:4df75b08b14a | 158 | return false; |
Ryosei | 0:4df75b08b14a | 159 | } else if(x==1) { |
Ryosei | 0:4df75b08b14a | 160 | return true; |
Ryosei | 0:4df75b08b14a | 161 | } else { |
Ryosei | 0:4df75b08b14a | 162 | return false; |
Ryosei | 0:4df75b08b14a | 163 | } |
Ryosei | 0:4df75b08b14a | 164 | } |
Ryosei | 0:4df75b08b14a | 165 | //関数、タイマーの宣言 |
Ryosei | 0:4df75b08b14a | 166 | ////////////////////////////////// |
Ryosei | 0:4df75b08b14a | 167 | //using namespace SWITCH; |
Ryosei | 0:4df75b08b14a | 168 | |
Ryosei | 0:4df75b08b14a | 169 | void SystemProcess(void) |
Ryosei | 0:4df75b08b14a | 170 | { |
Ryosei | 0:4df75b08b14a | 171 | while(true) { |
Ryosei | 0:4df75b08b14a | 172 | controller = XBEE::Controller::GetData(); |
Ryosei | 0:4df75b08b14a | 173 | //____________________________ |
Ryosei | 0:4df75b08b14a | 174 | /*------------------------ HOW TO WRITE ------------------------/ |
Ryosei | 0:4df75b08b14a | 175 | |
Ryosei | 0:4df75b08b14a | 176 | ここにメインのプログラムを書く |
Ryosei | 0:4df75b08b14a | 177 | |
Ryosei | 0:4df75b08b14a | 178 | ・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 |
Ryosei | 0:4df75b08b14a | 179 | (コントローラのデータは controller-> で取る) |
Ryosei | 0:4df75b08b14a | 180 | |
Ryosei | 0:4df75b08b14a | 181 | if(controller->Button.RIGHT) { |
Ryosei | 0:4df75b08b14a | 182 | motor[TIRE_L].dir = FOR; |
Ryosei | 0:4df75b08b14a | 183 | motor[TIRE_R].dir = BACK; |
Ryosei | 0:4df75b08b14a | 184 | motor[TIRE_L].pwm = 12.3; |
Ryosei | 0:4df75b08b14a | 185 | motor[TIRE_R].pwm = 12.3; |
Ryosei | 0:4df75b08b14a | 186 | } |
Ryosei | 0:4df75b08b14a | 187 | |
Ryosei | 0:4df75b08b14a | 188 | motor[0].dirは FOR (正転) |
Ryosei | 0:4df75b08b14a | 189 | BACK (逆転) |
Ryosei | 0:4df75b08b14a | 190 | BRAKE (ブレーキ) |
Ryosei | 0:4df75b08b14a | 191 | FREE (フリー) |
Ryosei | 0:4df75b08b14a | 192 | |
Ryosei | 0:4df75b08b14a | 193 | motor[0].pwmは 0.0(%) ~ 100.0(%) |
Ryosei | 0:4df75b08b14a | 194 | |
Ryosei | 0:4df75b08b14a | 195 | controllerは XBee.hの構造体の中身 |
Ryosei | 0:4df75b08b14a | 196 | |
Ryosei | 0:4df75b08b14a | 197 | (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) |
Ryosei | 0:4df75b08b14a | 198 | |
Ryosei | 0:4df75b08b14a | 199 | ・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 |
Ryosei | 0:4df75b08b14a | 200 | |
Ryosei | 0:4df75b08b14a | 201 | if(Switch::CheckPushed(ARM_L)) |
Ryosei | 0:4df75b08b14a | 202 | { |
Ryosei | 0:4df75b08b14a | 203 | if(controller->Button.L) |
Ryosei | 0:4df75b08b14a | 204 | { |
Ryosei | 0:4df75b08b14a | 205 | motor[ARM].dir = FOR; |
Ryosei | 0:4df75b08b14a | 206 | motor[ARM].pwm = 80.0; |
Ryosei | 0:4df75b08b14a | 207 | } |
Ryosei | 0:4df75b08b14a | 208 | if(motor[ARM].dir == BACK) |
Ryosei | 0:4df75b08b14a | 209 | { |
Ryosei | 0:4df75b08b14a | 210 | motor[ARM].dir = BRAKE; |
Ryosei | 0:4df75b08b14a | 211 | } |
Ryosei | 0:4df75b08b14a | 212 | } |
Ryosei | 0:4df75b08b14a | 213 | |
Ryosei | 0:4df75b08b14a | 214 | →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) |
Ryosei | 0:4df75b08b14a | 215 | |
Ryosei | 0:4df75b08b14a | 216 | ・他にもやりたいことがあったら自由にどうぞ |
Ryosei | 0:4df75b08b14a | 217 | |
Ryosei | 0:4df75b08b14a | 218 | ps.わからないことがあったら聞いてください |
Ryosei | 0:4df75b08b14a | 219 | |
Ryosei | 0:4df75b08b14a | 220 | /------------------------ HOW TO WRITE ------------------------*/ |
Ryosei | 0:4df75b08b14a | 221 | //↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓ |
Ryosei | 0:4df75b08b14a | 222 | |
Ryosei | 0:4df75b08b14a | 223 | float precision; //精密モード変数 |
Ryosei | 0:4df75b08b14a | 224 | float s=Airtime.read();//エアータイム |
Ryosei | 0:4df75b08b14a | 225 | float hometime=home.read();//ホームタイム(ご挨拶モード兼回路リセット) |
Ryosei | 0:4df75b08b14a | 226 | float goaisatsu_time=0.2;//ご挨拶タイム |
Ryosei | 0:4df75b08b14a | 227 | ////////////////////////////////////////////////////////////////////////////////// |
Ryosei | 0:4df75b08b14a | 228 | //ご挨拶モード |
Ryosei | 0:4df75b08b14a | 229 | |
Ryosei | 0:4df75b08b14a | 230 | if(controller->Button.HOME) { |
Ryosei | 0:4df75b08b14a | 231 | home.start(); |
Ryosei | 0:4df75b08b14a | 232 | homes=1; |
Ryosei | 0:4df75b08b14a | 233 | } |
Ryosei | 0:4df75b08b14a | 234 | |
Ryosei | 0:4df75b08b14a | 235 | if((hometime<=goaisatsu_time)&&(!(homes==0))) { |
Ryosei | 0:4df75b08b14a | 236 | homes=2; |
Ryosei | 0:4df75b08b14a | 237 | } else if(hometime<=2*goaisatsu_time) { |
Ryosei | 0:4df75b08b14a | 238 | homes=1; |
Ryosei | 0:4df75b08b14a | 239 | } else if(hometime<=3*goaisatsu_time) { |
Ryosei | 0:4df75b08b14a | 240 | homes=2; |
Ryosei | 0:4df75b08b14a | 241 | } else if(hometime<4*goaisatsu_time) { |
Ryosei | 0:4df75b08b14a | 242 | homes=1; |
Ryosei | 0:4df75b08b14a | 243 | } else if(hometime<5*goaisatsu_time) { |
Ryosei | 0:4df75b08b14a | 244 | homes=0; |
Ryosei | 0:4df75b08b14a | 245 | home.stop(); |
Ryosei | 0:4df75b08b14a | 246 | home.reset(); |
Ryosei | 0:4df75b08b14a | 247 | } else { |
Ryosei | 0:4df75b08b14a | 248 | homes=0; |
Ryosei | 0:4df75b08b14a | 249 | home.stop(); |
Ryosei | 0:4df75b08b14a | 250 | home.reset(); |
Ryosei | 0:4df75b08b14a | 251 | } |
Ryosei | 0:4df75b08b14a | 252 | |
Ryosei | 0:4df75b08b14a | 253 | //ご挨拶モード |
Ryosei | 0:4df75b08b14a | 254 | //////////////////////////////////////////////////////////////////////////////////// |
Ryosei | 0:4df75b08b14a | 255 | |
Ryosei | 0:4df75b08b14a | 256 | //////////////////////////////////////////////////////////////////////////////////// |
Ryosei | 0:4df75b08b14a | 257 | //精密モード |
Ryosei | 0:4df75b08b14a | 258 | if(controller->Button.ZR) { |
Ryosei | 0:4df75b08b14a | 259 | precision=0.5; |
Ryosei | 0:4df75b08b14a | 260 | } else { |
Ryosei | 0:4df75b08b14a | 261 | precision=1.0; |
Ryosei | 0:4df75b08b14a | 262 | } |
Ryosei | 0:4df75b08b14a | 263 | //精密モード |
Ryosei | 0:4df75b08b14a | 264 | //////////////////////////////////////////////////////////////////////////////////// |
Ryosei | 0:4df75b08b14a | 265 | |
Ryosei | 0:4df75b08b14a | 266 | //////////////////////////////////////////////////////////////////////////////////// |
Ryosei | 0:4df75b08b14a | 267 | //アーム機構 |
Ryosei | 0:4df75b08b14a | 268 | //motor[ARM].pwm=100; |
Ryosei | 0:4df75b08b14a | 269 | |
Ryosei | 0:4df75b08b14a | 270 | if(controller->Button.X) { |
Ryosei | 0:4df75b08b14a | 271 | if(LimitRead(0)){ |
Ryosei | 0:4df75b08b14a | 272 | motor[ARM].dir = BACK; |
Ryosei | 0:4df75b08b14a | 273 | motor[ARM].pwm = 100; |
Ryosei | 0:4df75b08b14a | 274 | }else{ |
Ryosei | 0:4df75b08b14a | 275 | motor[ARM].dir = FREE; |
Ryosei | 0:4df75b08b14a | 276 | motor[ARM].pwm = 100; |
Ryosei | 0:4df75b08b14a | 277 | } |
Ryosei | 0:4df75b08b14a | 278 | }else if(controller->Button.Y) { |
Ryosei | 0:4df75b08b14a | 279 | motor[ARM].dir = FOR; |
Ryosei | 0:4df75b08b14a | 280 | motor[ARM].pwm = 100; |
Ryosei | 0:4df75b08b14a | 281 | }else{ |
Ryosei | 0:4df75b08b14a | 282 | motor[ARM].dir = FREE; |
Ryosei | 0:4df75b08b14a | 283 | motor[ARM].pwm = 100; |
Ryosei | 0:4df75b08b14a | 284 | } |
Ryosei | 0:4df75b08b14a | 285 | |
Ryosei | 0:4df75b08b14a | 286 | //アーム機構 |
Ryosei | 0:4df75b08b14a | 287 | //////////////////////////////////////////////////////////////////////////////////// |
Ryosei | 0:4df75b08b14a | 288 | |
Ryosei | 0:4df75b08b14a | 289 | //////////////////////////////////////////////////////////////////////////////////// |
Ryosei | 0:4df75b08b14a | 290 | //十字キー足回り(宮川ver) |
Ryosei | 0:4df75b08b14a | 291 | |
Ryosei | 0:4df75b08b14a | 292 | if(controller->Button.L) { |
Ryosei | 0:4df75b08b14a | 293 | motor[TIRE_1].dir = FOR; |
Ryosei | 0:4df75b08b14a | 294 | motor[TIRE_2].dir = FOR; |
Ryosei | 0:4df75b08b14a | 295 | motor[TIRE_3].dir = FOR; |
Ryosei | 0:4df75b08b14a | 296 | motor[TIRE_1].pwm = 100*precision; |
Ryosei | 0:4df75b08b14a | 297 | motor[TIRE_2].pwm = 100*precision; |
Ryosei | 0:4df75b08b14a | 298 | motor[TIRE_3].pwm = 100*precision; |
Ryosei | 0:4df75b08b14a | 299 | } else if(controller->Button.R) { |
Ryosei | 0:4df75b08b14a | 300 | motor[TIRE_1].dir = BACK; |
Ryosei | 0:4df75b08b14a | 301 | motor[TIRE_2].dir = BACK; |
Ryosei | 0:4df75b08b14a | 302 | motor[TIRE_3].dir = BACK; |
Ryosei | 0:4df75b08b14a | 303 | motor[TIRE_1].pwm = 100*precision; |
Ryosei | 0:4df75b08b14a | 304 | motor[TIRE_2].pwm = 100*precision; |
Ryosei | 0:4df75b08b14a | 305 | motor[TIRE_3].pwm = 100*precision; |
Ryosei | 0:4df75b08b14a | 306 | } else if(controller->Button.RIGHT) { |
Ryosei | 0:4df75b08b14a | 307 | motor[TIRE_1].dir = BACK; |
Ryosei | 0:4df75b08b14a | 308 | motor[TIRE_2].dir = FOR; |
Ryosei | 0:4df75b08b14a | 309 | motor[TIRE_3].dir = FOR; |
Ryosei | 0:4df75b08b14a | 310 | motor[TIRE_1].pwm = 100*precision; |
Ryosei | 0:4df75b08b14a | 311 | motor[TIRE_2].pwm = 60*precision; |
Ryosei | 0:4df75b08b14a | 312 | motor[TIRE_3].pwm = 60*precision; |
Ryosei | 0:4df75b08b14a | 313 | } else if(controller->Button.LEFT) { |
Ryosei | 0:4df75b08b14a | 314 | motor[TIRE_1].dir = FOR; |
Ryosei | 0:4df75b08b14a | 315 | motor[TIRE_2].dir = BACK; |
Ryosei | 0:4df75b08b14a | 316 | motor[TIRE_3].dir = BACK; |
Ryosei | 0:4df75b08b14a | 317 | motor[TIRE_1].pwm = 100*precision; |
Ryosei | 0:4df75b08b14a | 318 | motor[TIRE_2].pwm = 60*precision; |
Ryosei | 0:4df75b08b14a | 319 | motor[TIRE_3].pwm = 60*precision; |
Ryosei | 0:4df75b08b14a | 320 | } else if(controller->Button.DOWN) { |
Ryosei | 0:4df75b08b14a | 321 | motor[TIRE_1].dir = BRAKE; |
Ryosei | 0:4df75b08b14a | 322 | motor[TIRE_2].dir = FOR; |
Ryosei | 0:4df75b08b14a | 323 | motor[TIRE_3].dir = BACK; |
Ryosei | 0:4df75b08b14a | 324 | motor[TIRE_1].pwm = 100; |
Ryosei | 0:4df75b08b14a | 325 | motor[TIRE_2].pwm = 100*precision; |
Ryosei | 0:4df75b08b14a | 326 | motor[TIRE_3].pwm = 100*precision; |
Ryosei | 0:4df75b08b14a | 327 | } else if(controller->Button.UP) { |
Ryosei | 0:4df75b08b14a | 328 | motor[TIRE_1].dir = BRAKE; |
Ryosei | 0:4df75b08b14a | 329 | motor[TIRE_2].dir = BACK; |
Ryosei | 0:4df75b08b14a | 330 | motor[TIRE_3].dir = FOR; |
Ryosei | 0:4df75b08b14a | 331 | motor[TIRE_1].pwm = 100; |
Ryosei | 0:4df75b08b14a | 332 | motor[TIRE_2].pwm = 100*precision; |
Ryosei | 0:4df75b08b14a | 333 | motor[TIRE_3].pwm = 100*precision; |
Ryosei | 0:4df75b08b14a | 334 | } else if((controller->Button.UP) && (controller->Button.RIGHT)) { |
Ryosei | 0:4df75b08b14a | 335 | motor[TIRE_1].dir = BACK; |
Ryosei | 0:4df75b08b14a | 336 | motor[TIRE_2].dir = BRAKE; |
Ryosei | 0:4df75b08b14a | 337 | motor[TIRE_3].dir = FOR; |
Ryosei | 0:4df75b08b14a | 338 | motor[TIRE_1].pwm = 100*precision; |
Ryosei | 0:4df75b08b14a | 339 | motor[TIRE_2].pwm = 100; |
Ryosei | 0:4df75b08b14a | 340 | motor[TIRE_3].pwm = 100*precision; |
Ryosei | 0:4df75b08b14a | 341 | } else if((controller->Button.UP) && (controller->Button.LEFT)) { |
Ryosei | 0:4df75b08b14a | 342 | motor[TIRE_1].dir = FOR; |
Ryosei | 0:4df75b08b14a | 343 | motor[TIRE_2].dir = BACK; |
Ryosei | 0:4df75b08b14a | 344 | motor[TIRE_3].dir = BRAKE; |
Ryosei | 0:4df75b08b14a | 345 | motor[TIRE_1].pwm = 100*precision; |
Ryosei | 0:4df75b08b14a | 346 | motor[TIRE_2].pwm = 100*precision; |
Ryosei | 0:4df75b08b14a | 347 | motor[TIRE_3].pwm = 100; |
Ryosei | 0:4df75b08b14a | 348 | } else if((controller->Button.DOWN) && (controller->Button.RIGHT)) { |
Ryosei | 0:4df75b08b14a | 349 | motor[TIRE_1].dir = BACK; |
Ryosei | 0:4df75b08b14a | 350 | motor[TIRE_2].dir = FOR; |
Ryosei | 0:4df75b08b14a | 351 | motor[TIRE_3].dir = BRAKE; |
Ryosei | 0:4df75b08b14a | 352 | motor[TIRE_1].pwm = 100*precision; |
Ryosei | 0:4df75b08b14a | 353 | motor[TIRE_2].pwm = 100*precision; |
Ryosei | 0:4df75b08b14a | 354 | motor[TIRE_3].pwm = 100; |
Ryosei | 0:4df75b08b14a | 355 | } else if((controller->Button.DOWN) && (controller->Button.LEFT)) { |
Ryosei | 0:4df75b08b14a | 356 | motor[TIRE_1].dir = FOR; |
Ryosei | 0:4df75b08b14a | 357 | motor[TIRE_2].dir = BRAKE; |
Ryosei | 0:4df75b08b14a | 358 | motor[TIRE_3].dir = BACK; |
Ryosei | 0:4df75b08b14a | 359 | motor[TIRE_1].pwm = 100*precision; |
Ryosei | 0:4df75b08b14a | 360 | motor[TIRE_2].pwm = 100; |
Ryosei | 0:4df75b08b14a | 361 | motor[TIRE_3].pwm = 100*precision; |
Ryosei | 0:4df75b08b14a | 362 | } else if(homes==1) { |
Ryosei | 0:4df75b08b14a | 363 | motor[TIRE_1].dir = FOR; |
Ryosei | 0:4df75b08b14a | 364 | motor[TIRE_2].dir = FOR; |
Ryosei | 0:4df75b08b14a | 365 | motor[TIRE_3].dir = FOR; |
Ryosei | 0:4df75b08b14a | 366 | motor[TIRE_1].pwm = 70*precision; |
Ryosei | 0:4df75b08b14a | 367 | motor[TIRE_2].pwm = 70*precision; |
Ryosei | 0:4df75b08b14a | 368 | motor[TIRE_3].pwm = 70*precision; |
Ryosei | 0:4df75b08b14a | 369 | } else if(homes==2) { |
Ryosei | 0:4df75b08b14a | 370 | motor[TIRE_1].dir = BACK; |
Ryosei | 0:4df75b08b14a | 371 | motor[TIRE_2].dir = BACK; |
Ryosei | 0:4df75b08b14a | 372 | motor[TIRE_3].dir = BACK; |
Ryosei | 0:4df75b08b14a | 373 | motor[TIRE_1].pwm = 70*precision; |
Ryosei | 0:4df75b08b14a | 374 | motor[TIRE_2].pwm = 70*precision; |
Ryosei | 0:4df75b08b14a | 375 | motor[TIRE_3].pwm = 70*precision; |
Ryosei | 0:4df75b08b14a | 376 | } else { |
Ryosei | 0:4df75b08b14a | 377 | motor[TIRE_1].dir=BRAKE; |
Ryosei | 0:4df75b08b14a | 378 | motor[TIRE_2].dir=BRAKE; |
Ryosei | 0:4df75b08b14a | 379 | motor[TIRE_3].dir=BRAKE; |
Ryosei | 0:4df75b08b14a | 380 | motor[TIRE_1].pwm=100; |
Ryosei | 0:4df75b08b14a | 381 | motor[TIRE_2].pwm=100; |
Ryosei | 0:4df75b08b14a | 382 | motor[TIRE_3].pwm=100; |
Ryosei | 0:4df75b08b14a | 383 | } |
Ryosei | 0:4df75b08b14a | 384 | //十字キー足回り(みやがわver) |
Ryosei | 0:4df75b08b14a | 385 | /////////////////////////////////// |
Ryosei | 0:4df75b08b14a | 386 | |
Ryosei | 0:4df75b08b14a | 387 | /////////////////////////////////// |
Ryosei | 0:4df75b08b14a | 388 | //課題1 |
Ryosei | 0:4df75b08b14a | 389 | if(controller->Button.A) { |
Ryosei | 0:4df75b08b14a | 390 | AirOut(Air0,1); |
Ryosei | 0:4df75b08b14a | 391 | } else if(controller->Button.B) { |
Ryosei | 0:4df75b08b14a | 392 | AirOut(Air0,0); |
Ryosei | 0:4df75b08b14a | 393 | } |
Ryosei | 0:4df75b08b14a | 394 | |
Ryosei | 0:4df75b08b14a | 395 | if(controller->Button.ZL) { |
Ryosei | 0:4df75b08b14a | 396 | Airtime.start(); |
Ryosei | 0:4df75b08b14a | 397 | AirOut(Air1,0); |
Ryosei | 0:4df75b08b14a | 398 | } |
Ryosei | 0:4df75b08b14a | 399 | if(s>1) { |
Ryosei | 0:4df75b08b14a | 400 | Airtime.stop(); |
Ryosei | 0:4df75b08b14a | 401 | Airtime.reset(); |
Ryosei | 0:4df75b08b14a | 402 | AirOut(Air1,1); |
Ryosei | 0:4df75b08b14a | 403 | } |
Ryosei | 0:4df75b08b14a | 404 | //課題1 |
Ryosei | 0:4df75b08b14a | 405 | /////////////////////////////////// |
Ryosei | 0:4df75b08b14a | 406 | |
Ryosei | 0:4df75b08b14a | 407 | ///////////////////////////////////////////////////////////////////////////////////// |
Ryosei | 0:4df75b08b14a | 408 | //アナログスティック足回り(新村ver) |
Ryosei | 0:4df75b08b14a | 409 | |
Ryosei | 0:4df75b08b14a | 410 | conlx = controller->AnalogL.X; |
Ryosei | 0:4df75b08b14a | 411 | conly = controller->AnalogL.Y; |
Ryosei | 0:4df75b08b14a | 412 | conrx = controller->AnalogR.X; |
Ryosei | 0:4df75b08b14a | 413 | conry = controller->AnalogR.Y; |
Ryosei | 0:4df75b08b14a | 414 | if((!(controller->Button.RIGHT))&&(!(controller->Button.DOWN))&& |
Ryosei | 0:4df75b08b14a | 415 | (!(controller->Button.LEFT))&&(!(controller->Button.UP))&& |
Ryosei | 0:4df75b08b14a | 416 | (!(controller->Button.L))&&(!(controller->Button.R))&& |
Ryosei | 0:4df75b08b14a | 417 | (!(controller->Button.HOME))) { |
Ryosei | 0:4df75b08b14a | 418 | if(((conlx >6) && (conly <8)) ||((conrx >6)&&(conry <8))) { |
Ryosei | 0:4df75b08b14a | 419 | motor[a].dir = BRAKE; |
Ryosei | 0:4df75b08b14a | 420 | motor[b].dir = BRAKE; |
Ryosei | 0:4df75b08b14a | 421 | motor[c].dir = BRAKE; |
Ryosei | 0:4df75b08b14a | 422 | motor[a].pwm = 100.0; |
Ryosei | 0:4df75b08b14a | 423 | motor[b].pwm = 100.0; |
Ryosei | 0:4df75b08b14a | 424 | motor[c].pwm = 100.0; |
Ryosei | 0:4df75b08b14a | 425 | } |
Ryosei | 0:4df75b08b14a | 426 | |
Ryosei | 0:4df75b08b14a | 427 | if(a_array[conly][conlx]<0) { |
Ryosei | 0:4df75b08b14a | 428 | motor[a].pwm = -1*a_array[conly][conlx]*precision; |
Ryosei | 0:4df75b08b14a | 429 | motor[a].dir = FOR; |
Ryosei | 0:4df75b08b14a | 430 | } else if(a_array[conly][conlx] > 0) { |
Ryosei | 0:4df75b08b14a | 431 | motor[a].pwm = a_array[conly][conlx]*precision; |
Ryosei | 0:4df75b08b14a | 432 | motor[a].dir = BACK; |
Ryosei | 0:4df75b08b14a | 433 | } else if(a_array[conly][conlx] == 0) { |
Ryosei | 0:4df75b08b14a | 434 | if(conry < 6) { |
Ryosei | 0:4df75b08b14a | 435 | motor[a].dir = BACK; |
Ryosei | 0:4df75b08b14a | 436 | motor[b].dir = BACK; |
Ryosei | 0:4df75b08b14a | 437 | motor[c].dir = BACK; |
Ryosei | 0:4df75b08b14a | 438 | motor[a].pwm = 100.0*precision; |
Ryosei | 0:4df75b08b14a | 439 | motor[b].pwm = 100.0*precision; |
Ryosei | 0:4df75b08b14a | 440 | motor[c].pwm = 100.0*precision; |
Ryosei | 0:4df75b08b14a | 441 | } else if(conry > 8) { |
Ryosei | 0:4df75b08b14a | 442 | motor[a].dir = FOR; |
Ryosei | 0:4df75b08b14a | 443 | motor[b].dir = FOR; |
Ryosei | 0:4df75b08b14a | 444 | motor[c].dir = FOR; |
Ryosei | 0:4df75b08b14a | 445 | motor[a].pwm = 100.0*precision; |
Ryosei | 0:4df75b08b14a | 446 | motor[b].pwm = 100.0*precision; |
Ryosei | 0:4df75b08b14a | 447 | motor[c].pwm = 100.0*precision; |
Ryosei | 0:4df75b08b14a | 448 | } else { |
Ryosei | 0:4df75b08b14a | 449 | motor[a].dir = BRAKE; |
Ryosei | 0:4df75b08b14a | 450 | motor[b].dir = BRAKE; |
Ryosei | 0:4df75b08b14a | 451 | motor[c].dir = BRAKE; |
Ryosei | 0:4df75b08b14a | 452 | motor[a].pwm = 100.0; |
Ryosei | 0:4df75b08b14a | 453 | motor[b].pwm = 100.0; |
Ryosei | 0:4df75b08b14a | 454 | motor[c].pwm = 100.0; |
Ryosei | 0:4df75b08b14a | 455 | } |
Ryosei | 0:4df75b08b14a | 456 | } |
Ryosei | 0:4df75b08b14a | 457 | |
Ryosei | 0:4df75b08b14a | 458 | if(b_array[conly][conlx] <0 ) { |
Ryosei | 0:4df75b08b14a | 459 | motor[b].pwm = -1*b_array[conly][conlx]*precision; |
Ryosei | 0:4df75b08b14a | 460 | motor[b].dir = FOR; |
Ryosei | 0:4df75b08b14a | 461 | } else if(b_array[conly][conlx] > 0) { |
Ryosei | 0:4df75b08b14a | 462 | motor[b].pwm = b_array[conly][conlx]*precision; |
Ryosei | 0:4df75b08b14a | 463 | motor[b].dir = BACK; |
Ryosei | 0:4df75b08b14a | 464 | } else if(a_array[conly][conlx] == 0 ) { |
Ryosei | 0:4df75b08b14a | 465 | if(conrx < 6 ) { |
Ryosei | 0:4df75b08b14a | 466 | motor[a].dir = BACK; |
Ryosei | 0:4df75b08b14a | 467 | motor[b].dir = BACK; |
Ryosei | 0:4df75b08b14a | 468 | motor[c].dir = BACK; |
Ryosei | 0:4df75b08b14a | 469 | motor[a].pwm = 100.0*precision; |
Ryosei | 0:4df75b08b14a | 470 | motor[b].pwm = 100.0*precision; |
Ryosei | 0:4df75b08b14a | 471 | motor[c].pwm = 100.0*precision; |
Ryosei | 0:4df75b08b14a | 472 | } else if(conrx > 8) { |
Ryosei | 0:4df75b08b14a | 473 | motor[a].dir = FOR*precision; |
Ryosei | 0:4df75b08b14a | 474 | motor[b].dir = FOR*precision; |
Ryosei | 0:4df75b08b14a | 475 | motor[c].dir = FOR*precision; |
Ryosei | 0:4df75b08b14a | 476 | motor[a].pwm = 100.0*precision; |
Ryosei | 0:4df75b08b14a | 477 | motor[b].pwm = 100.0*precision; |
Ryosei | 0:4df75b08b14a | 478 | motor[c].pwm = 100.0*precision; |
Ryosei | 0:4df75b08b14a | 479 | } else { |
Ryosei | 0:4df75b08b14a | 480 | motor[a].dir = BRAKE; |
Ryosei | 0:4df75b08b14a | 481 | motor[b].dir = BRAKE; |
Ryosei | 0:4df75b08b14a | 482 | motor[c].dir = BRAKE; |
Ryosei | 0:4df75b08b14a | 483 | motor[a].pwm = 100.0; |
Ryosei | 0:4df75b08b14a | 484 | motor[b].pwm = 100.0; |
Ryosei | 0:4df75b08b14a | 485 | motor[c].pwm = 100.0; |
Ryosei | 0:4df75b08b14a | 486 | } |
Ryosei | 0:4df75b08b14a | 487 | } |
Ryosei | 0:4df75b08b14a | 488 | |
Ryosei | 0:4df75b08b14a | 489 | |
Ryosei | 0:4df75b08b14a | 490 | if(c_array[conly][conlx] <0 ) { |
Ryosei | 0:4df75b08b14a | 491 | motor[c].pwm =-1*c_array[conly][conlx]*precision; |
Ryosei | 0:4df75b08b14a | 492 | motor[c].dir = BACK; |
Ryosei | 0:4df75b08b14a | 493 | } else if(c_array[conly][conlx] > 0) { |
Ryosei | 0:4df75b08b14a | 494 | motor[c].pwm = c_array[conly][conlx]*precision; |
Ryosei | 0:4df75b08b14a | 495 | motor[c].dir = FOR; |
Ryosei | 0:4df75b08b14a | 496 | } else if(a_array[conly][conlx] == 0 ) { |
Ryosei | 0:4df75b08b14a | 497 | if(conrx < 6 ) { |
Ryosei | 0:4df75b08b14a | 498 | motor[a].dir = BACK; |
Ryosei | 0:4df75b08b14a | 499 | motor[b].dir = BACK; |
Ryosei | 0:4df75b08b14a | 500 | motor[c].dir = BACK; |
Ryosei | 0:4df75b08b14a | 501 | motor[a].pwm = 100.0*precision; |
Ryosei | 0:4df75b08b14a | 502 | motor[b].pwm = 100.0*precision; |
Ryosei | 0:4df75b08b14a | 503 | motor[c].pwm = 100.0*precision; |
Ryosei | 0:4df75b08b14a | 504 | } else if(conrx > 8) { |
Ryosei | 0:4df75b08b14a | 505 | motor[a].dir = FOR; |
Ryosei | 0:4df75b08b14a | 506 | motor[b].dir = FOR; |
Ryosei | 0:4df75b08b14a | 507 | motor[c].dir = FOR; |
Ryosei | 0:4df75b08b14a | 508 | motor[a].pwm = 100.0*precision; |
Ryosei | 0:4df75b08b14a | 509 | motor[b].pwm = 100.0*precision; |
Ryosei | 0:4df75b08b14a | 510 | motor[c].pwm = 100.0*precision; |
Ryosei | 0:4df75b08b14a | 511 | } else { |
Ryosei | 0:4df75b08b14a | 512 | motor[a].dir = BRAKE; |
Ryosei | 0:4df75b08b14a | 513 | motor[b].dir = BRAKE; |
Ryosei | 0:4df75b08b14a | 514 | motor[c].dir = BRAKE; |
Ryosei | 0:4df75b08b14a | 515 | motor[a].pwm = 100.0; |
Ryosei | 0:4df75b08b14a | 516 | motor[b].pwm = 100.0; |
Ryosei | 0:4df75b08b14a | 517 | motor[c].pwm = 100.0; |
Ryosei | 0:4df75b08b14a | 518 | } |
Ryosei | 0:4df75b08b14a | 519 | //アナログスティック足回り(新村ver) |
Ryosei | 0:4df75b08b14a | 520 | ///////////////////////////////////////////////////////////////////////////////////// |
Ryosei | 0:4df75b08b14a | 521 | |
Ryosei | 0:4df75b08b14a | 522 | |
Ryosei | 0:4df75b08b14a | 523 | |
Ryosei | 0:4df75b08b14a | 524 | |
Ryosei | 0:4df75b08b14a | 525 | |
Ryosei | 0:4df75b08b14a | 526 | |
Ryosei | 0:4df75b08b14a | 527 | } |
Ryosei | 0:4df75b08b14a | 528 | } |
Ryosei | 0:4df75b08b14a | 529 | |
Ryosei | 0:4df75b08b14a | 530 | |
Ryosei | 0:4df75b08b14a | 531 | |
Ryosei | 0:4df75b08b14a | 532 | //↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑ |
Ryosei | 0:4df75b08b14a | 533 | |
Ryosei | 0:4df75b08b14a | 534 | |
Ryosei | 0:4df75b08b14a | 535 | MOTOR::Motor::Update(motor); |
Ryosei | 0:4df75b08b14a | 536 | } |
Ryosei | 0:4df75b08b14a | 537 | } |
Ryosei | 0:4df75b08b14a | 538 |