Miya Miyagawa
aaaaa
Revision 10:53a92f2ab1c4, committed 2019-02-21
- Comitter:
- Ryosei
- Date:
- Thu Feb 21 10:06:09 2019 +0000
- Parent:
- 9:6901b1dfa688
- Commit message:
- unkounko
Changed in this revision
diff -r 6901b1dfa688 -r 53a92f2ab1c4 Input/Switch/Switch.cpp
--- a/Input/Switch/Switch.cpp Mon Feb 18 05:40:03 2019 +0000
+++ b/Input/Switch/Switch.cpp Thu Feb 21 10:06:09 2019 +0000
@@ -2,12 +2,12 @@
#include <stdint.h>
DigitalIn limitSw[] = {
- DigitalIn(LIMITSW2_PIN),
- DigitalIn(LIMITSW3_PIN),
+ DigitalIn(LIMITSW0_PIN),
+ DigitalIn(LIMITSW1_PIN),
+// DigitalIn(LIMITSW2_PIN),
+// DigitalIn(LIMITSW3_PIN),
};
-
-
namespace SWITCH
{
void Switch::Initialize(void) {
@@ -21,3 +21,4 @@
+
diff -r 6901b1dfa688 -r 53a92f2ab1c4 Input/Switch/Switch.h
--- a/Input/Switch/Switch.h Mon Feb 18 05:40:03 2019 +0000
+++ b/Input/Switch/Switch.h Thu Feb 21 10:06:09 2019 +0000
@@ -4,16 +4,15 @@
#include "mbed.h"
extern DigitalIn limitSw[];
-extern DigitalOut AIR[];
namespace SWITCH
{
- #define AIR1_PIN A7
- #define AIR2_PIN A6
- #define LIMITSW2_PIN A5
- #define LIMITSW3_PIN A4
+ #define LIMITSW0_PIN A7
+ #define LIMITSW1_PIN A6
+// #define LIMITSW2_PIN A5
+// #define LIMITSW3_PIN A4
- #define MOUNTING_LIMITSW_NUM 4
+ #define MOUNTING_LIMITSW_NUM 2
class Switch
{
@@ -21,11 +20,6 @@
static void Initialize(void);
static bool checkPushed(int mySwitch);
};
-
}
-
-
-
-
-#endif
+#endif
\ No newline at end of file
diff -r 6901b1dfa688 -r 53a92f2ab1c4 System/Process/Process.cpp
--- a/System/Process/Process.cpp Mon Feb 18 05:40:03 2019 +0000
+++ b/System/Process/Process.cpp Thu Feb 21 10:06:09 2019 +0000
@@ -26,11 +26,88 @@
#define TIRE_1 0
#define TIRE_2 1
#define TIRE_3 2
-#define ARM 3
-#define AIR_1 0
-#define AIR_2 1
-#define ARM_roll 0
+#define ARM 3
+
+#define ARMlim 0
+
+int Air0=0;
+int Air1=1;
+
+#define a 0
+#define b 1
+#define c 2
+
+int a_array[15][15] = {
+ { -30, -20, -10, 0, 0, 0, 0, 0, 0, 0, 0, 0, 10, 20, 30 },
+ { -40, -30, -20, -10, 0, 0, 0, 0, 0, 0, 0, 10, 20, 30, 40 },
+ { -50, -40, -30, -20, -10, 0, 0, 0, 0, 0, 10, 20, 30, 40, 50 },
+ { -60, -50, -40, -30, -20, -10, 0, 0, 0, 10, 20, 30, 40, 50, 60 },
+ { -70, -60, -50, -40, -30, -20, -10, 0, 10, 20, 30, 40, 50, 60, 70 },
+ { -80, -70, -60, -50, -40, -30, -20, 0, 20, 30, 40, 50, 60, 70, 80 },
+ { -90, -80, -70, -60, -50, -40, -30, 0, 30, 40, 50, 60, 70, 80, 90 },
+ { -100, -90, -80, -70, -60, -50, -40, 0, 40, 50, 60, 70, 80, 90, 100 },
+ { -90, -80, -70, -60, -50, -40, -30, 0, 30, 40, 50, 60, 70, 80, 90 },
+ { -80, -70, -60, -50, -40, -30, -20, 0, 20, 30, 40, 50, 60, 70, 80 },
+ { -70, -60, -50, -40, -30, -20, -10, 0, 10, 20, 30, 40, 50, 60, 70 },
+ { -60, -50, -40, -30, -20, -10, 0, 0, 0, 10, 20, 30, 40, 50, 60 },
+ { -50, -40, -30, -20, -10, 0, 0, 0, 0, 0, 10, 20, 30, 40, 50 },
+ { -40, -30, -20, -10, 0, 0, 0, 0, 0, 0, 0, 10, 20, 30, 40 },
+ { -30, -20, -10, 0, 0, 0, 0, 0, 0, 0, 0, 0, 10, 20, 30 }
+};
+int b_array[15][15] = {
+ { 100, 92, 84, 76, 68, 60, 52, 100, 36, 28, 20, 12, 4, 0, 0 },
+ { 92, 84, 76, 68, 60, 52, 44, 36, 28, 20, 12, 4, 0, 0, 0 },
+ { 84, 76, 68, 60, 52, 44, 36, 28, 20, 12, 4, 0, 0, 0, -4 },
+ { 76, 68, 60, 52, 44, 36, 28, 20, 12, 4, 0, 0, 0, -4, -12 },
+ { 68, 60, 52, 44, 36, 28, 20, 12, 4, 0, 0, 0, -4, -12, -20 },
+ { 60, 52, 44, 36, 28, 20, 12, 4, 0, 0, 0, -4, -12, -20, -28 },
+ { 52, 44, 36, 28, 20, 12, 4, 0, 0, 0, -4, -12, -20, -28, -36 },
+ { 100, 36, 28, 20, 12, 4, 0, 0, 0, -4, -12, -20, -28, -36, -44 },
+ { 85, 28, 20, 12, 4, 0, 0, 0, -4, -12, -20, -28, -36, -44, -52 },
+ { 70, 20, 12, 4, 0, 0, 0, -4, -12, -20, -28, -36, -44, -52, -60 },
+ { 55, 12, 4, 0, 0, 0, -4, -12, -20, -28, -36, -44, -52, -60, -68 },
+ { 40, 4, 0, 0, 0, -4, -12, -20, -28, -36, -44, -52, -60, -68, -76 },
+ { 25, 0, 0, 0, -4, -12, -20, -28, -36, -44, -52, -60, -68, -76, -84 },
+ { 10, 0, 0, -4, -12, -20, -28, -36, -44, -52, -60, -68, -76, -84, -92 },
+ { 0, 0, -4, -12, -20, -28, -36, -100, -52, -60, -68, -76, -84, -92, -100 }
+};
+
+
+int c_array[15][15] = {
+ { 0, 0, 4, 12, 20, 28, 36, 100, 52, 60, 68, 76, 84, 92, 100 },
+ { 0, 0, 0, 4, 12, 20, 28, 36, 44, 52, 60, 68, 76, 84, 92 },
+ { -4, 0, 0, 0, 4, 12, 20, 28, 36, 44, 52, 60, 68, 76, 84 },
+ { -12, -4, 0, 0, 0, 4, 12, 20, 28, 36, 44, 52, 60, 68, 76 },
+ { -20, -12, -4, 0, 0, 0, 4, 12, 20, 28, 36, 44, 52, 60, 68 },
+ { -28, -20, -12, -4, 0, 0, 0, 4, 12, 20, 28, 36, 44, 52, 60 },
+ { -36, -28, -20, -12, -4, 0, 0, 0, 4, 12, 20, 28, 36, 44, 52 },
+ { -44, -36, -28, -20, -12, -4, 0, 0, 0, 4, 12, 20, 28, 36, 44 },
+ { -52, -44, -36, -28, -20, -12, 4, 0, 0, 0, 4, 12, 20, 28, 36 },
+ { -60, -52, -44, -36, -28, -20, -12, -4, 0, 0, 0, 4, 12, 20, 28 },
+ { -68, -60, -52, -44, -36, -28, -20, -12, -4, 0, 0, 0, 4, 12, 20 },
+ { -76, -68, -60, -52, -44, -36, -28, -20, -12, -4, 0, 0, 0, 4, 12 },
+ { -84, -76, -68, -60, -52, -44, -36, -28, -20, -12, -4, 0, 0, 0, 4 },
+ { -92, -84, -76, -68, -60, -52, -44, -36, -28, -20, -12, -4, 0, 0, 0 },
+ { -100, -92, -84, -76, -76, -60, -100, -100, -36, -28, -20, -12, -4, 0, 0 }
+};
+
+int pwm_array[15] = { 30, 25, 20, 15, 10, 5, 0, 0, 0, -5, -10, -15, -20, -25, -30 };
+
+#define usiro 0
+#define mae 0
+uint8_t motorData[5];
+uint8_t pwmData[5];
+
+int conlx;
+int conly;
+int conrx;
+int conry;
+int conba;
+int conbb;
+int conbx;
+int conby;
+int homes=0;
//↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑
//_____________________
@@ -41,90 +118,150 @@
Serial pc(SERIAL_TX,SERIAL_RX);
XBEE::ControllerData *controller;
MOTOR::MotorStatus motor[MOUNTING_MOTOR_NUM];
-DigitalOut Air[]={
- DigitalOut(A7),
- DigitalOut(A6),
-
+//////////////////////////////////
+//関数、タイマーの宣言
+DigitalOut Air[]= {
+ DigitalOut(A5),
+ DigitalOut(A4),
};
Timer Airtime;
-void AirOut(int pin,int mode){
+Timer home;
+void AirOut(int pin,int mode)
+{
Air[pin]=mode;
}
+//
+//////////////////////////////////
using namespace SWITCH;
-void SystemProcess(void) {
+void SystemProcess(void)
+{
while(true) {
controller = XBEE::Controller::GetData();
//____________________________
-/*------------------------ HOW TO WRITE ------------------------/
+ /*------------------------ 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)
- ここにメインのプログラムを書く
+ 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
- ・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(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)
- 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;
+ ・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 ------------------------*/
+//↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓
+
+ float precision; //精密モード変数
+ float s=Airtime.read();//エアータイム
+ float hometime=home.read();//ホームタイム
+ float goaisatsu_time=0.2;
+ //////////////////////////////////////////////////////////////////////////////////
+ //ご挨拶モード
+
+ if(controller->Button.HOME){
+ home.start();
+ homes=1;
}
- 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((hometime<=goaisatsu_time)&&(!(homes==0))){
+ homes=2;
+ }else if(hometime<=2*goaisatsu_time){
+ homes=1;
+ }else if(hometime<=3*goaisatsu_time){
+ homes=2;
+ }else if(hometime<4*goaisatsu_time){
+ homes=1;
+ }else if(hometime<5*goaisatsu_time){
+ homes=0;
+ home.stop();
+ home.reset();
+ }else{
+ homes=0;
+ home.stop();
+ home.reset();
+ }
+
+ //ご挨拶モード
+ ////////////////////////////////////////////////////////////////////////////////////
- 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 ------------------------*/
-//↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓
- float precision;
- float s=Airtime.read();
- pc.printf("time= %d",Airtime.read());
- if(controller->Button.ZR){
+ ////////////////////////////////////////////////////////////////////////////////////
+ //精密モード
+ if(controller->Button.ZR) {
precision=0.5;
- }else{
+ } else {
precision=1.0;
}
+ //精密モード
+ ////////////////////////////////////////////////////////////////////////////////////
+
+ ////////////////////////////////////////////////////////////////////////////////////
+ //アーム機構
+ //motor[ARM].pwm=100;
if(controller->Button.X){
- motor[ARM].dir=FOR;
- motor[ARM].pwm=80;
- }else if((controller->Button.Y)&&(Switch::checkPushed(ARM_roll))){
- motor[ARM].dir=BACK;
- motor[ARM].pwm=80;
+ if(Switch::checkPushed(ARMlim)){
+ motor[ARM].dir = BRAKE;
+ motor[ARM].pwm = 100;
+ }else{
+ motor[ARM].dir = BACK;
+ motor[ARM].pwm = 100;
+ }
+ }else if(controller->Button.Y){
+ motor[ARM].dir = FOR;
+ motor[ARM].pwm = 100;
}else{
- motor[ARM].dir=BRAKE;
- motor[ARM].pwm=100;
+ motor[ARM].dir = BRAKE;
+ motor[ARM].pwm = 100;
}
+
+
+
+
+ //アーム機構
+ ////////////////////////////////////////////////////////////////////////////////////
+
+ ////////////////////////////////////////////////////////////////////////////////////
+ //十字キー足回り（宮川ver）
+
if(controller->Button.L) {
motor[TIRE_1].dir = FOR;
motor[TIRE_2].dir = FOR;
@@ -132,70 +269,85 @@
motor[TIRE_1].pwm = 100*precision;
motor[TIRE_2].pwm = 100*precision;
motor[TIRE_3].pwm = 100*precision;
- }else if(controller->Button.R){
+ } else if(controller->Button.R) {
motor[TIRE_1].dir = BACK;
motor[TIRE_2].dir = BACK;
motor[TIRE_3].dir = BACK;
motor[TIRE_1].pwm = 100*precision;
motor[TIRE_2].pwm = 100*precision;
motor[TIRE_3].pwm = 100*precision;
- }else if(controller->Button.RIGHT) {
+ } else if(controller->Button.RIGHT) {
motor[TIRE_1].dir = BACK;
motor[TIRE_2].dir = FOR;
motor[TIRE_3].dir = FOR;
motor[TIRE_1].pwm = 100*precision;
motor[TIRE_2].pwm = 60*precision;
motor[TIRE_3].pwm = 60*precision;
- }else if(controller->Button.LEFT){
+ } else if(controller->Button.LEFT) {
motor[TIRE_1].dir = FOR;
motor[TIRE_2].dir = BACK;
motor[TIRE_3].dir = BACK;
motor[TIRE_1].pwm = 100*precision;
motor[TIRE_2].pwm = 60*precision;
motor[TIRE_3].pwm = 60*precision;
- }else if(controller->Button.DOWN){
+ } else if(controller->Button.DOWN) {
motor[TIRE_1].dir = BRAKE;
motor[TIRE_2].dir = FOR;
motor[TIRE_3].dir = BACK;
- motor[TIRE_1].pwm = 100;
+ motor[TIRE_1].pwm = 100;
motor[TIRE_2].pwm = 100*precision;
motor[TIRE_3].pwm = 100*precision;
- }else if(controller->Button.UP){
+ } else if(controller->Button.UP) {
motor[TIRE_1].dir = BRAKE;
motor[TIRE_2].dir = BACK;
motor[TIRE_3].dir = FOR;
motor[TIRE_1].pwm = 100;
motor[TIRE_2].pwm = 100*precision;
motor[TIRE_3].pwm = 100*precision;
- }else if((controller->Button.UP) && (controller->Button.RIGHT)){
+ } else if((controller->Button.UP) && (controller->Button.RIGHT)) {
motor[TIRE_1].dir = BACK;
motor[TIRE_2].dir = BRAKE;
motor[TIRE_3].dir = FOR;
motor[TIRE_1].pwm = 100*precision;
motor[TIRE_2].pwm = 100;
- motor[TIRE_3].pwm = 100*precision;
- }else if((controller->Button.UP) && (controller->Button.LEFT)){
+ motor[TIRE_3].pwm = 100*precision;
+ } else if((controller->Button.UP) && (controller->Button.LEFT)) {
motor[TIRE_1].dir = FOR;
motor[TIRE_2].dir = BACK;
motor[TIRE_3].dir = BRAKE;
motor[TIRE_1].pwm = 100*precision;
motor[TIRE_2].pwm = 100*precision;
- motor[TIRE_3].pwm = 100;
- }else if((controller->Button.DOWN) && (controller->Button.RIGHT)){
+ motor[TIRE_3].pwm = 100;
+ } else if((controller->Button.DOWN) && (controller->Button.RIGHT)) {
motor[TIRE_1].dir = BACK;
motor[TIRE_2].dir = FOR;
motor[TIRE_3].dir = BRAKE;
motor[TIRE_1].pwm = 100*precision;
motor[TIRE_2].pwm = 100*precision;
- motor[TIRE_3].pwm = 100;
- }else if((controller->Button.DOWN) && (controller->Button.LEFT)){
+ motor[TIRE_3].pwm = 100;
+ } else if((controller->Button.DOWN) && (controller->Button.LEFT)) {
motor[TIRE_1].dir = FOR;
motor[TIRE_2].dir = BRAKE;
motor[TIRE_3].dir = BACK;
motor[TIRE_1].pwm = 100*precision;
motor[TIRE_2].pwm = 100;
- motor[TIRE_3].pwm = 100*precision;
- }else{
+ motor[TIRE_3].pwm = 100*precision;
+ } else if(homes==1) {
+ motor[TIRE_1].dir = FOR;
+ motor[TIRE_2].dir = FOR;
+ motor[TIRE_3].dir = FOR;
+ motor[TIRE_1].pwm = 70*precision;
+ motor[TIRE_2].pwm = 70*precision;
+ motor[TIRE_3].pwm = 70*precision;
+ } else if(homes==2) {
+ motor[TIRE_1].dir = BACK;
+ motor[TIRE_2].dir = BACK;
+ motor[TIRE_3].dir = BACK;
+ motor[TIRE_1].pwm = 70*precision;
+ motor[TIRE_2].pwm = 70*precision;
+ motor[TIRE_3].pwm = 70*precision;
+ }
+ else {
motor[TIRE_1].dir=BRAKE;
motor[TIRE_2].dir=BRAKE;
motor[TIRE_3].dir=BRAKE;
@@ -203,26 +355,152 @@
motor[TIRE_2].pwm=100;
motor[TIRE_3].pwm=100;
}
-
- if(controller->Button.A){
- AirOut(AIR_1,1);
- }else if(controller->Button.B){
- AirOut(AIR_1,0);
+ ///////////////////////////////////
+
+ if(controller->Button.A) {
+ AirOut(Air0,1);
+ } else if(controller->Button.B) {
+ AirOut(Air0,0);
}
-
- if(controller->Button.ZL){
+
+ if(controller->Button.ZL) {
Airtime.start();
- AirOut(AIR_2,0);
+ AirOut(Air1,0);
}
- if(s>1){
+ if(s>1) {
Airtime.stop();
Airtime.reset();
- AirOut(AIR_2,1);
+ AirOut(Air1,1);
}
+ /////////////////////////////////////////////////////////////////////////////////////
+ //アナログスティック足回り（新村ver）
+
+ conlx = controller->AnalogL.X;
+ conly = controller->AnalogL.Y;
+ conrx = controller->AnalogR.X;
+ conry = controller->AnalogR.Y;
+ if((!(controller->Button.RIGHT))&&(!(controller->Button.DOWN))&&
+ (!(controller->Button.LEFT))&&(!(controller->Button.UP))&&
+ (!(controller->Button.L))&&(!(controller->Button.R))&&
+ (!(controller->Button.HOME))) {
+ if(((conlx >6) && (conly <8)) ||((conrx >6)&&(conry <8))) {
+ 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(a_array[conly][conlx]<0) {
+ motor[a].pwm = -1*a_array[conly][conlx]*precision;
+ motor[a].dir = FOR;
+ } else if(a_array[conly][conlx] > 0) {
+ motor[a].pwm = a_array[conly][conlx]*precision;
+ 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*precision;
+ motor[b].pwm = 100.0*precision;
+ motor[c].pwm = 100.0*precision;
+ } else if(conry > 8) {
+ motor[a].dir = FOR;
+ motor[b].dir = FOR;
+ motor[c].dir = FOR;
+ motor[a].pwm = 100.0*precision;
+ motor[b].pwm = 100.0*precision;
+ motor[c].pwm = 100.0*precision;
+ } 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]*precision;
+ motor[b].dir = FOR;
+ } else if(b_array[conly][conlx] > 0) {
+ motor[b].pwm = b_array[conly][conlx]*precision;
+ 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*precision;
+ motor[b].pwm = 100.0*precision;
+ motor[c].pwm = 100.0*precision;
+ } else if(conrx > 8) {
+ motor[a].dir = FOR*precision;
+ motor[b].dir = FOR*precision;
+ motor[c].dir = FOR*precision;
+ motor[a].pwm = 100.0*precision;
+ motor[b].pwm = 100.0*precision;
+ motor[c].pwm = 100.0*precision;
+ } 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]*precision;
+ motor[c].dir = BACK;
+ } else if(c_array[conly][conlx] > 0) {
+ motor[c].pwm = c_array[conly][conlx]*precision;
+ 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*precision;
+ motor[b].pwm = 100.0*precision;
+ motor[c].pwm = 100.0*precision;
+ } else if(conrx > 8) {
+ motor[a].dir = FOR;
+ motor[b].dir = FOR;
+ motor[c].dir = FOR;
+ motor[a].pwm = 100.0*precision;
+ motor[b].pwm = 100.0*precision;
+ motor[c].pwm = 100.0*precision;
+ } 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;
+ }
+ //アナログスティック足回り（新村ver）
+ /////////////////////////////////////////////////////////////////////////////////////
+
+
+
+
+
+
+ }
+ }
+
+
+
//↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑
-//____________________________
+
MOTOR::Motor::Update(motor);
}