Takushima Yukimasa
/
R19_ManuTakukAHWGeo
a
main.cpp@4:236e5c58e8ee, 2019-08-23 (annotated)
- Committer:
- Tom0108
- Date:
- Fri Aug 23 09:20:04 2019 +0000
- Revision:
- 4:236e5c58e8ee
- Parent:
- 3:1063aa133b62
- Child:
- 5:fcc79e507610
Gyro erase
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Tom0108 | 0:761a63c6d020 | 1 | /*今日 やること*/ |
Tom0108 | 0:761a63c6d020 | 2 | |
Tom0108 | 3:1063aa133b62 | 3 | /******************************************************************************/ |
Tom0108 | 0:761a63c6d020 | 4 | #include "main.h" |
Tom0108 | 0:761a63c6d020 | 5 | //#include "gyro.h" |
Tom0108 | 0:761a63c6d020 | 6 | #include <math.h> |
Tom0108 | 0:761a63c6d020 | 7 | |
Tom0108 | 3:1063aa133b62 | 8 | /******************************************************************************/ |
Tom0108 | 0:761a63c6d020 | 9 | #define CIRCLE sbdbt.CIRCLE |
Tom0108 | 0:761a63c6d020 | 10 | #define SQUARE sbdbt.SQUARE |
Tom0108 | 0:761a63c6d020 | 11 | #define CROSS sbdbt.CROSS |
Tom0108 | 0:761a63c6d020 | 12 | #define TRIANGLE sbdbt.TRIANGLE |
Tom0108 | 0:761a63c6d020 | 13 | #define LEFTkey sbdbt.LEFTkey |
Tom0108 | 0:761a63c6d020 | 14 | #define RIGHTkey sbdbt.RIGHTkey |
Tom0108 | 0:761a63c6d020 | 15 | #define UPkey sbdbt.UPkey |
Tom0108 | 0:761a63c6d020 | 16 | #define DOWNkey sbdbt.DOWNkey |
Tom0108 | 0:761a63c6d020 | 17 | |
Tom0108 | 3:1063aa133b62 | 18 | /******************************************************************************/ |
Tom0108 | 0:761a63c6d020 | 19 | |
Tom0108 | 0:761a63c6d020 | 20 | /* 型定義 --------------------------------------------------------------------*/ |
Tom0108 | 0:761a63c6d020 | 21 | |
Tom0108 | 0:761a63c6d020 | 22 | MD_I2C_Data_TypeDef MD_Data[Motor_MAX] = { |
Tom0108 | 0:761a63c6d020 | 23 | { 8, 0, 0, 0, {0}}, //足回り |
Tom0108 | 0:761a63c6d020 | 24 | { 9, 1, 0, 0, {0}}, |
Tom0108 | 0:761a63c6d020 | 25 | {10, 0, 0, 0, {0}}, |
Tom0108 | 0:761a63c6d020 | 26 | {11, 1, 0, 0, {0}}, |
Tom0108 | 0:761a63c6d020 | 27 | {12, 0, 0, 0, {0}}, // 洗濯物回収 |
Tom0108 | 0:761a63c6d020 | 28 | {13, 1, 0, 0, {0}}, // 上下機構 |
Tom0108 | 0:761a63c6d020 | 29 | {14, 0, 0, 0, {0}}, // 洗濯物排出 |
Tom0108 | 0:761a63c6d020 | 30 | {15, 1, 0, 0, {0}} // 左右移動 |
Tom0108 | 0:761a63c6d020 | 31 | }; |
Tom0108 | 0:761a63c6d020 | 32 | |
Tom0108 | 3:1063aa133b62 | 33 | IN_I2C_Data_TypeDef In_Data[] = { |
Tom0108 | 0:761a63c6d020 | 34 | {1,0,0}, // 洗濯物排出(初期位置) |
Tom0108 | 0:761a63c6d020 | 35 | {1,1,0}, // 洗濯物排出(停止) |
Tom0108 | 0:761a63c6d020 | 36 | {1,2,0}, // 腕(最大 タオル) |
Tom0108 | 3:1063aa133b62 | 37 | {1,3,0}, // 腕(初期位置) |
Tom0108 | 0:761a63c6d020 | 38 | {3,0,0}, // 上下機構(上) |
Tom0108 | 0:761a63c6d020 | 39 | {3,1,0}, // (下) |
Tom0108 | 0:761a63c6d020 | 40 | {3,2,0}, // 腕(シーツ兼シャツ) |
Tom0108 | 0:761a63c6d020 | 41 | }; |
Tom0108 | 0:761a63c6d020 | 42 | |
Tom0108 | 0:761a63c6d020 | 43 | OUT_I2C_Data_TypeDef Out_Data[] = { |
Tom0108 | 0:761a63c6d020 | 44 | {0,0,0}, // 腕の上下 |
Tom0108 | 2:47954f05d32d | 45 | {0,1,0}, // 爪 |
Tom0108 | 2:47954f05d32d | 46 | {0,2,0}, // タオルの先 |
Tom0108 | 2:47954f05d32d | 47 | {0,3,0}, // タオル展開 |
Tom0108 | 2:47954f05d32d | 48 | {1,0,0}, // タオルの中央 |
Tom0108 | 0:761a63c6d020 | 49 | }; |
Tom0108 | 0:761a63c6d020 | 50 | /* 関数宣言 ------------------------------------------------------------------*/ |
Tom0108 | 0:761a63c6d020 | 51 | void mecanum_Move(void); |
Tom0108 | 0:761a63c6d020 | 52 | void mecanum_Turn(void); |
Tom0108 | 0:761a63c6d020 | 53 | void mecanum_Stop(void); |
Tom0108 | 0:761a63c6d020 | 54 | |
Tom0108 | 0:761a63c6d020 | 55 | /* 変数宣言 ------------------------------------------------------------------*/ |
Tom0108 | 1:199c4a71da88 | 56 | //かご回転用 |
Tom0108 | 3:1063aa133b62 | 57 | int kago=0, kago_f=0; |
Tom0108 | 1:199c4a71da88 | 58 | |
Tom0108 | 1:199c4a71da88 | 59 | //コントローラーの状態を保存するため |
Tom0108 | 1:199c4a71da88 | 60 | int once=0; |
Tom0108 | 1:199c4a71da88 | 61 | |
Tom0108 | 1:199c4a71da88 | 62 | //タオル引く用 |
Tom0108 | 3:1063aa133b62 | 63 | int pull=0, pull_f=0; |
Tom0108 | 1:199c4a71da88 | 64 | |
Tom0108 | 4:236e5c58e8ee | 65 | //タオル掴む用 |
Tom0108 | 4:236e5c58e8ee | 66 | //sgrab_f: 中央のリミットでつかむ |
Tom0108 | 4:236e5c58e8ee | 67 | int grab=0, grab_f=0, sgrab_f=0; |
Tom0108 | 3:1063aa133b62 | 68 | |
Tom0108 | 4:236e5c58e8ee | 69 | //タオル横展開用 |
Tom0108 | 3:1063aa133b62 | 70 | int unfold_f=0; |
Tom0108 | 3:1063aa133b62 | 71 | |
Tom0108 | 3:1063aa133b62 | 72 | //90度回転のフラグ |
Tom0108 | 4:236e5c58e8ee | 73 | int left_f=0, right_f=0; |
Tom0108 | 1:199c4a71da88 | 74 | |
Tom0108 | 3:1063aa133b62 | 75 | //y_deg: 起動時から絶対の角度 |
Tom0108 | 3:1063aa133b62 | 76 | //yaw: 相対角 初期状態が0になるようにする |
Tom0108 | 3:1063aa133b62 | 77 | //offset: 初期状態を0にするために引く値 |
Tom0108 | 4:236e5c58e8ee | 78 | double y_deg, offset; |
Tom0108 | 4:236e5c58e8ee | 79 | int yaw=0; |
Tom0108 | 3:1063aa133b62 | 80 | |
Tom0108 | 3:1063aa133b62 | 81 | //Turn_val: 補正の目標値 |
Tom0108 | 3:1063aa133b62 | 82 | //dif_val: 補正値との差 |
Tom0108 | 3:1063aa133b62 | 83 | double Turn_val, dif_val; |
Tom0108 | 3:1063aa133b62 | 84 | |
Tom0108 | 3:1063aa133b62 | 85 | //short_lim: 腕中央 |
Tom0108 | 3:1063aa133b62 | 86 | //max_lim: 腕奥側 |
Tom0108 | 3:1063aa133b62 | 87 | //short_lim: 腕手前側 |
Tom0108 | 3:1063aa133b62 | 88 | int short_lim, max_lim, start_lim; |
Tom0108 | 1:199c4a71da88 | 89 | |
Tom0108 | 4:236e5c58e8ee | 90 | //機体の前方を変更する |
Tom0108 | 4:236e5c58e8ee | 91 | int dir=0; |
Tom0108 | 4:236e5c58e8ee | 92 | |
Tom0108 | 0:761a63c6d020 | 93 | int limit_up,limit_down; // リミットスイッチ |
Tom0108 | 1:199c4a71da88 | 94 | int slide_start,slide_stop; //かごのリミット |
Tom0108 | 0:761a63c6d020 | 95 | |
Tom0108 | 0:761a63c6d020 | 96 | int lx,ly,rx,L,R; // 足回り |
Tom0108 | 0:761a63c6d020 | 97 | int g; |
Tom0108 | 0:761a63c6d020 | 98 | |
Tom0108 | 0:761a63c6d020 | 99 | int as=0; |
Tom0108 | 0:761a63c6d020 | 100 | |
Tom0108 | 0:761a63c6d020 | 101 | /*クラス宣言-------------------------------------------------------------------*/ |
Tom0108 | 0:761a63c6d020 | 102 | Ticker flipper1; // 割込み |
Tom0108 | 0:761a63c6d020 | 103 | Y_I2C i2c(PB_9, PB_8); // I2C |
Tom0108 | 0:761a63c6d020 | 104 | DigitalOut myled(LED1); // オンボードLED |
Tom0108 | 0:761a63c6d020 | 105 | SBDBT sbdbt(PA_0, PA_1, 9600); // SDBDT |
Tom0108 | 0:761a63c6d020 | 106 | MyMPU6050 mpu(PC_9, PA_8); // ジャイロセンサ |
Tom0108 | 0:761a63c6d020 | 107 | |
Tom0108 | 0:761a63c6d020 | 108 | DigitalOut blue(PA_10); |
Tom0108 | 0:761a63c6d020 | 109 | DigitalOut green(PB_4); |
Tom0108 | 0:761a63c6d020 | 110 | DigitalOut red(PB_5); |
Tom0108 | 0:761a63c6d020 | 111 | |
Tom0108 | 3:1063aa133b62 | 112 | //半自動の時に使う |
Tom0108 | 3:1063aa133b62 | 113 | Timer tim; |
Tom0108 | 3:1063aa133b62 | 114 | |
Tom0108 | 0:761a63c6d020 | 115 | /*----------------------------------- main -----------------------------------*/ |
Tom0108 | 0:761a63c6d020 | 116 | /* @brief メインプログラム |
Tom0108 | 0:761a63c6d020 | 117 | * @param なし |
Tom0108 | 0:761a63c6d020 | 118 | * @retval なし |
Tom0108 | 0:761a63c6d020 | 119 | */ |
Tom0108 | 0:761a63c6d020 | 120 | int main() |
Tom0108 | 0:761a63c6d020 | 121 | { |
Tom0108 | 0:761a63c6d020 | 122 | //flipper1.attach(&flip1, 0.001); // 割り込み |
Tom0108 | 0:761a63c6d020 | 123 | while(1) { |
Tom0108 | 1:199c4a71da88 | 124 | //自動系のタイマースタート |
Tom0108 | 1:199c4a71da88 | 125 | tim.start(); |
Tom0108 | 0:761a63c6d020 | 126 | mpu.loop(); |
Tom0108 | 0:761a63c6d020 | 127 | if(sbdbt.State_check()) { |
Tom0108 | 0:761a63c6d020 | 128 | |
Tom0108 | 3:1063aa133b62 | 129 | for(int i=0; i<7; i++) i2c.In(In_Data,i); |
Tom0108 | 0:761a63c6d020 | 130 | |
Tom0108 | 4:236e5c58e8ee | 131 | // y_deg = (double)mpu.ypr[0] * 180 / M_PI; |
Tom0108 | 4:236e5c58e8ee | 132 | // yaw = offset-y_deg; |
Tom0108 | 4:236e5c58e8ee | 133 | yaw=90*dir; |
Tom0108 | 4:236e5c58e8ee | 134 | yaw%=360; |
Tom0108 | 3:1063aa133b62 | 135 | dif_val = y_deg-Turn_val; |
Tom0108 | 0:761a63c6d020 | 136 | |
Tom0108 | 0:761a63c6d020 | 137 | lx = ((64-sbdbt.LY)*100.0/64)*sin(yaw*M_PI/180)+((sbdbt.LX-64)*100.0/64)*cos(yaw*M_PI/180); |
Tom0108 | 0:761a63c6d020 | 138 | ly = ((64-sbdbt.LY)*100.0/64)*cos(yaw*M_PI/180)-((sbdbt.LX-64)*100.0/64)*sin(yaw*M_PI/180); |
Tom0108 | 0:761a63c6d020 | 139 | rx = (sbdbt.RX - 64)*100/64; |
Tom0108 | 0:761a63c6d020 | 140 | L = lx+ly; |
Tom0108 | 0:761a63c6d020 | 141 | R = ly-lx; |
Tom0108 | 0:761a63c6d020 | 142 | |
Tom0108 | 0:761a63c6d020 | 143 | if(sbdbt.LX !=64 || sbdbt.LY !=64) { |
Tom0108 | 0:761a63c6d020 | 144 | |
Tom0108 | 0:761a63c6d020 | 145 | mecanum_Move(); |
Tom0108 | 0:761a63c6d020 | 146 | |
Tom0108 | 0:761a63c6d020 | 147 | // 以下,ジャイロセンサーのプログラム |
Tom0108 | 0:761a63c6d020 | 148 | if(g) { |
Tom0108 | 0:761a63c6d020 | 149 | if(abs(ly) > 10) { |
Tom0108 | 0:761a63c6d020 | 150 | if(ly>10) { |
Tom0108 | 0:761a63c6d020 | 151 | (MD_Data+0)->PWMVal = MD_GET_PWM(MD_Data,0)-dif_val; |
Tom0108 | 0:761a63c6d020 | 152 | (MD_Data+1)->PWMVal = MD_GET_PWM(MD_Data,1)+dif_val; |
Tom0108 | 0:761a63c6d020 | 153 | } else { |
Tom0108 | 0:761a63c6d020 | 154 | (MD_Data+0)->PWMVal = MD_GET_PWM(MD_Data,0)+dif_val; |
Tom0108 | 0:761a63c6d020 | 155 | (MD_Data+1)->PWMVal = MD_GET_PWM(MD_Data,1)-dif_val; |
Tom0108 | 0:761a63c6d020 | 156 | } |
Tom0108 | 0:761a63c6d020 | 157 | } |
Tom0108 | 0:761a63c6d020 | 158 | |
Tom0108 | 0:761a63c6d020 | 159 | if(abs(lx) > 10) { |
Tom0108 | 0:761a63c6d020 | 160 | if(lx>10) { |
Tom0108 | 0:761a63c6d020 | 161 | (MD_Data+0)->PWMVal = MD_GET_PWM(MD_Data,0)-dif_val; |
Tom0108 | 0:761a63c6d020 | 162 | (MD_Data+2)->PWMVal = MD_GET_PWM(MD_Data,2)+dif_val; |
Tom0108 | 0:761a63c6d020 | 163 | } else { |
Tom0108 | 0:761a63c6d020 | 164 | (MD_Data+0)->PWMVal = MD_GET_PWM(MD_Data,0)+dif_val; |
Tom0108 | 0:761a63c6d020 | 165 | (MD_Data+2)->PWMVal = MD_GET_PWM(MD_Data,2)-dif_val; |
Tom0108 | 0:761a63c6d020 | 166 | } |
Tom0108 | 0:761a63c6d020 | 167 | } |
Tom0108 | 0:761a63c6d020 | 168 | |
Tom0108 | 0:761a63c6d020 | 169 | if((abs(ly)-abs(lx)) > 0) { |
Tom0108 | 0:761a63c6d020 | 170 | (MD_Data+2)->PWMVal = MD_GET_PWM(MD_Data,0); |
Tom0108 | 0:761a63c6d020 | 171 | (MD_Data+3)->PWMVal = MD_GET_PWM(MD_Data,1); |
Tom0108 | 0:761a63c6d020 | 172 | } else { |
Tom0108 | 0:761a63c6d020 | 173 | (MD_Data+1)->PWMVal = MD_GET_PWM(MD_Data,0); |
Tom0108 | 0:761a63c6d020 | 174 | (MD_Data+3)->PWMVal = MD_GET_PWM(MD_Data,2); |
Tom0108 | 0:761a63c6d020 | 175 | } |
Tom0108 | 0:761a63c6d020 | 176 | } // if(g) |
Tom0108 | 0:761a63c6d020 | 177 | }// if(LX !=64 || LY !=64) |
Tom0108 | 0:761a63c6d020 | 178 | else if(sbdbt.RX != 64) { // 旋回 |
Tom0108 | 0:761a63c6d020 | 179 | Turn_val=y_deg; |
Tom0108 | 0:761a63c6d020 | 180 | mecanum_Turn(); |
Tom0108 | 0:761a63c6d020 | 181 | } else { |
Tom0108 | 0:761a63c6d020 | 182 | mecanum_Stop(); |
Tom0108 | 0:761a63c6d020 | 183 | } |
Tom0108 | 3:1063aa133b62 | 184 | |
Tom0108 | 3:1063aa133b62 | 185 | // 90°旋回 |
Tom0108 | 3:1063aa133b62 | 186 | if(left_f) { |
Tom0108 | 0:761a63c6d020 | 187 | if(abs(yaw)<60) { |
Tom0108 | 0:761a63c6d020 | 188 | for(int i=0; i<4; i++) { |
Tom0108 | 0:761a63c6d020 | 189 | MD_SET_PWM(MD_Data, i,60); |
Tom0108 | 0:761a63c6d020 | 190 | MD_SET_DRIVE(MD_Data, i,MD_REVERSE); |
Tom0108 | 0:761a63c6d020 | 191 | } |
Tom0108 | 0:761a63c6d020 | 192 | } else { |
Tom0108 | 0:761a63c6d020 | 193 | left_f=0; |
Tom0108 | 3:1063aa133b62 | 194 | Turn_val=y_deg; |
Tom0108 | 0:761a63c6d020 | 195 | mecanum_Stop(); |
Tom0108 | 0:761a63c6d020 | 196 | } |
Tom0108 | 0:761a63c6d020 | 197 | } |
Tom0108 | 0:761a63c6d020 | 198 | if(right_f) { |
Tom0108 | 0:761a63c6d020 | 199 | if(yaw>-60) { |
Tom0108 | 0:761a63c6d020 | 200 | for(int i=0; i<4; i++) { |
Tom0108 | 0:761a63c6d020 | 201 | MD_SET_PWM(MD_Data, i,60); |
Tom0108 | 0:761a63c6d020 | 202 | MD_SET_DRIVE(MD_Data, i,MD_FORWARD); |
Tom0108 | 0:761a63c6d020 | 203 | } |
Tom0108 | 0:761a63c6d020 | 204 | } else { |
Tom0108 | 0:761a63c6d020 | 205 | right_f=0; |
Tom0108 | 3:1063aa133b62 | 206 | Turn_val=y_deg; |
Tom0108 | 0:761a63c6d020 | 207 | mecanum_Stop(); |
Tom0108 | 0:761a63c6d020 | 208 | } |
Tom0108 | 0:761a63c6d020 | 209 | } |
Tom0108 | 0:761a63c6d020 | 210 | |
Tom0108 | 3:1063aa133b62 | 211 | /*---ハンガーかけるやつ----------------------------------------------*/ |
Tom0108 | 1:199c4a71da88 | 212 | if(sbdbt.SELECT)as=1;//selectキー |
Tom0108 | 0:761a63c6d020 | 213 | |
Tom0108 | 0:761a63c6d020 | 214 | if(as==1 && limit_up == 0) { |
Tom0108 | 0:761a63c6d020 | 215 | MD_SET_DRIVE(MD_Data, 5,MD_REVERSE); |
Tom0108 | 0:761a63c6d020 | 216 | MD_SET_PWM(MD_Data, 5,50); |
Tom0108 | 0:761a63c6d020 | 217 | } else if(UPkey && limit_up == 0) { |
Tom0108 | 0:761a63c6d020 | 218 | as=0; |
Tom0108 | 0:761a63c6d020 | 219 | MD_SET_DRIVE(MD_Data, 5,MD_REVERSE); |
Tom0108 | 0:761a63c6d020 | 220 | MD_SET_PWM(MD_Data, 5,50); |
Tom0108 | 0:761a63c6d020 | 221 | } else if(as==1 && limit_up == 1) { |
Tom0108 | 0:761a63c6d020 | 222 | as=0; |
Tom0108 | 0:761a63c6d020 | 223 | MD_SET_PWM(MD_Data,5,0); |
Tom0108 | 0:761a63c6d020 | 224 | MD_SET_DRIVE(MD_Data, 5,MD_BRAKE); |
Tom0108 | 0:761a63c6d020 | 225 | } else if(DOWNkey && limit_down == 0) { |
Tom0108 | 0:761a63c6d020 | 226 | MD_SET_DRIVE(MD_Data, 5,MD_FORWARD); |
Tom0108 | 0:761a63c6d020 | 227 | MD_SET_PWM(MD_Data, 5,50); |
Tom0108 | 0:761a63c6d020 | 228 | } else { |
Tom0108 | 0:761a63c6d020 | 229 | MD_SET_PWM(MD_Data,5,0); |
Tom0108 | 0:761a63c6d020 | 230 | MD_SET_DRIVE(MD_Data, 5,MD_BRAKE); |
Tom0108 | 0:761a63c6d020 | 231 | } |
Tom0108 | 0:761a63c6d020 | 232 | |
Tom0108 | 1:199c4a71da88 | 233 | //タオルつかむ 四角 |
Tom0108 | 4:236e5c58e8ee | 234 | if(grab_f || sgrab_f) { |
Tom0108 | 1:199c4a71da88 | 235 | switch(grab) { |
Tom0108 | 1:199c4a71da88 | 236 | //腕を前に動かす |
Tom0108 | 1:199c4a71da88 | 237 | case 0: |
Tom0108 | 1:199c4a71da88 | 238 | //爪開く |
Tom0108 | 1:199c4a71da88 | 239 | i2c.Out_Set(Out_Data,1,1); |
Tom0108 | 1:199c4a71da88 | 240 | MD_SET_DRIVE(MD_Data,4,MD_REVERSE); |
Tom0108 | 4:236e5c58e8ee | 241 | MD_SET_PWM(MD_Data,4,40); |
Tom0108 | 4:236e5c58e8ee | 242 | if((sgrab_f && short_lim) || max_lim==1) { |
Tom0108 | 1:199c4a71da88 | 243 | grab++; |
Tom0108 | 1:199c4a71da88 | 244 | tim.reset(); |
Tom0108 | 1:199c4a71da88 | 245 | } |
Tom0108 | 1:199c4a71da88 | 246 | break; |
Tom0108 | 0:761a63c6d020 | 247 | |
Tom0108 | 1:199c4a71da88 | 248 | case 1: |
Tom0108 | 2:47954f05d32d | 249 | //腕停止 |
Tom0108 | 2:47954f05d32d | 250 | MD_SET_DRIVE(MD_Data,4,MD_BRAKE); |
Tom0108 | 3:1063aa133b62 | 251 | MD_SET_PWM(MD_Data,4,0); |
Tom0108 | 2:47954f05d32d | 252 | |
Tom0108 | 1:199c4a71da88 | 253 | //腕おろす |
Tom0108 | 0:761a63c6d020 | 254 | i2c.Out_Set(Out_Data,0,1); |
Tom0108 | 3:1063aa133b62 | 255 | if(tim.read_ms()>300) { |
Tom0108 | 1:199c4a71da88 | 256 | grab++; |
Tom0108 | 1:199c4a71da88 | 257 | tim.reset(); |
Tom0108 | 1:199c4a71da88 | 258 | } |
Tom0108 | 1:199c4a71da88 | 259 | break; |
Tom0108 | 0:761a63c6d020 | 260 | |
Tom0108 | 1:199c4a71da88 | 261 | case 2: |
Tom0108 | 1:199c4a71da88 | 262 | //爪閉じる |
Tom0108 | 1:199c4a71da88 | 263 | i2c.Out_Set(Out_Data,1,0); |
Tom0108 | 3:1063aa133b62 | 264 | if(tim.read_ms()>100) { |
Tom0108 | 1:199c4a71da88 | 265 | grab++; |
Tom0108 | 0:761a63c6d020 | 266 | tim.reset(); |
Tom0108 | 0:761a63c6d020 | 267 | } |
Tom0108 | 1:199c4a71da88 | 268 | break; |
Tom0108 | 1:199c4a71da88 | 269 | |
Tom0108 | 1:199c4a71da88 | 270 | case 3: |
Tom0108 | 1:199c4a71da88 | 271 | //腕上げる |
Tom0108 | 1:199c4a71da88 | 272 | i2c.Out_Set(Out_Data,0,0); |
Tom0108 | 3:1063aa133b62 | 273 | if(tim.read_ms()>300) { |
Tom0108 | 3:1063aa133b62 | 274 | grab++; |
Tom0108 | 3:1063aa133b62 | 275 | tim.reset(); |
Tom0108 | 3:1063aa133b62 | 276 | } |
Tom0108 | 3:1063aa133b62 | 277 | break; |
Tom0108 | 3:1063aa133b62 | 278 | |
Tom0108 | 3:1063aa133b62 | 279 | case 4: |
Tom0108 | 1:199c4a71da88 | 280 | MD_SET_DRIVE(MD_Data,4,MD_FORWARD); |
Tom0108 | 3:1063aa133b62 | 281 | MD_SET_PWM (MD_Data,4,60); |
Tom0108 | 4:236e5c58e8ee | 282 | if(start_lim==1) { |
Tom0108 | 4:236e5c58e8ee | 283 | grab_f=0; |
Tom0108 | 4:236e5c58e8ee | 284 | sgrab_f=0; |
Tom0108 | 4:236e5c58e8ee | 285 | } |
Tom0108 | 1:199c4a71da88 | 286 | break; |
Tom0108 | 0:761a63c6d020 | 287 | } |
Tom0108 | 3:1063aa133b62 | 288 | } //if(grab_f) |
Tom0108 | 3:1063aa133b62 | 289 | |
Tom0108 | 2:47954f05d32d | 290 | //タオル引く 丸 |
Tom0108 | 3:1063aa133b62 | 291 | else if(pull_f) { |
Tom0108 | 1:199c4a71da88 | 292 | switch(pull) { |
Tom0108 | 1:199c4a71da88 | 293 | //腕を前に動かす |
Tom0108 | 1:199c4a71da88 | 294 | case 0: |
Tom0108 | 1:199c4a71da88 | 295 | //爪閉じる |
Tom0108 | 1:199c4a71da88 | 296 | i2c.Out_Set(Out_Data,1,0); |
Tom0108 | 0:761a63c6d020 | 297 | MD_SET_DRIVE(MD_Data,4,MD_REVERSE); |
Tom0108 | 3:1063aa133b62 | 298 | MD_SET_PWM (MD_Data,4,60); |
Tom0108 | 1:199c4a71da88 | 299 | if(max_lim==1) { |
Tom0108 | 1:199c4a71da88 | 300 | pull++; |
Tom0108 | 1:199c4a71da88 | 301 | tim.reset(); |
Tom0108 | 1:199c4a71da88 | 302 | } |
Tom0108 | 1:199c4a71da88 | 303 | break; |
Tom0108 | 0:761a63c6d020 | 304 | |
Tom0108 | 1:199c4a71da88 | 305 | case 1: |
Tom0108 | 2:47954f05d32d | 306 | //腕停止 |
Tom0108 | 2:47954f05d32d | 307 | MD_SET_DRIVE(MD_Data,4,MD_BRAKE); |
Tom0108 | 2:47954f05d32d | 308 | MD_SET_PWM (MD_Data,4,0); |
Tom0108 | 2:47954f05d32d | 309 | |
Tom0108 | 1:199c4a71da88 | 310 | //腕おろす |
Tom0108 | 0:761a63c6d020 | 311 | i2c.Out_Set(Out_Data,0,1); |
Tom0108 | 3:1063aa133b62 | 312 | if(tim.read_ms()>300) { |
Tom0108 | 1:199c4a71da88 | 313 | pull++; |
Tom0108 | 1:199c4a71da88 | 314 | tim.reset(); |
Tom0108 | 0:761a63c6d020 | 315 | } |
Tom0108 | 1:199c4a71da88 | 316 | break; |
Tom0108 | 1:199c4a71da88 | 317 | |
Tom0108 | 1:199c4a71da88 | 318 | case 2: |
Tom0108 | 3:1063aa133b62 | 319 | if(tim.read_ms()>300) { |
Tom0108 | 1:199c4a71da88 | 320 | pull++; |
Tom0108 | 0:761a63c6d020 | 321 | tim.reset(); |
Tom0108 | 0:761a63c6d020 | 322 | } |
Tom0108 | 1:199c4a71da88 | 323 | break; |
Tom0108 | 1:199c4a71da88 | 324 | |
Tom0108 | 1:199c4a71da88 | 325 | case 3: |
Tom0108 | 1:199c4a71da88 | 326 | MD_SET_DRIVE(MD_Data,4,MD_FORWARD); |
Tom0108 | 3:1063aa133b62 | 327 | MD_SET_PWM (MD_Data,4,60); |
Tom0108 | 3:1063aa133b62 | 328 | if(start_lim==1) pull_f=0; |
Tom0108 | 1:199c4a71da88 | 329 | break; |
Tom0108 | 0:761a63c6d020 | 330 | } |
Tom0108 | 3:1063aa133b62 | 331 | } //if(pull_f) |
Tom0108 | 3:1063aa133b62 | 332 | |
Tom0108 | 3:1063aa133b62 | 333 | //かごを倒す |
Tom0108 | 3:1063aa133b62 | 334 | else if(kago_f) { |
Tom0108 | 1:199c4a71da88 | 335 | //腕の先を閉じておく |
Tom0108 | 1:199c4a71da88 | 336 | i2c.Out_Set(Out_Data,1,0); |
Tom0108 | 0:761a63c6d020 | 337 | |
Tom0108 | 1:199c4a71da88 | 338 | switch(kago) { |
Tom0108 | 1:199c4a71da88 | 339 | //腕を前に動かす |
Tom0108 | 1:199c4a71da88 | 340 | case 0: |
Tom0108 | 0:761a63c6d020 | 341 | MD_SET_DRIVE(MD_Data,4,MD_REVERSE); |
Tom0108 | 3:1063aa133b62 | 342 | MD_SET_PWM (MD_Data,4,60); |
Tom0108 | 2:47954f05d32d | 343 | if(max_lim==1) { |
Tom0108 | 2:47954f05d32d | 344 | kago++; |
Tom0108 | 2:47954f05d32d | 345 | tim.reset(); |
Tom0108 | 2:47954f05d32d | 346 | } |
Tom0108 | 1:199c4a71da88 | 347 | break; |
Tom0108 | 1:199c4a71da88 | 348 | |
Tom0108 | 1:199c4a71da88 | 349 | case 1: |
Tom0108 | 1:199c4a71da88 | 350 | //腕停止 |
Tom0108 | 0:761a63c6d020 | 351 | MD_SET_DRIVE(MD_Data,4,MD_BRAKE); |
Tom0108 | 1:199c4a71da88 | 352 | MD_SET_PWM (MD_Data,4,0); |
Tom0108 | 0:761a63c6d020 | 353 | |
Tom0108 | 1:199c4a71da88 | 354 | //かご回転 |
Tom0108 | 1:199c4a71da88 | 355 | MD_SET_DRIVE(MD_Data,6,MD_FORWARD); |
Tom0108 | 3:1063aa133b62 | 356 | MD_SET_PWM (MD_Data,6,80); |
Tom0108 | 2:47954f05d32d | 357 | if(slide_stop==1 || tim.read_ms()>3000) { |
Tom0108 | 1:199c4a71da88 | 358 | kago++; |
Tom0108 | 2:47954f05d32d | 359 | tim.reset(); |
Tom0108 | 1:199c4a71da88 | 360 | MD_SET_DRIVE(MD_Data,6,MD_BRAKE); |
Tom0108 | 1:199c4a71da88 | 361 | MD_SET_PWM (MD_Data,6,0); |
Tom0108 | 1:199c4a71da88 | 362 | } |
Tom0108 | 1:199c4a71da88 | 363 | break; |
Tom0108 | 0:761a63c6d020 | 364 | |
Tom0108 | 1:199c4a71da88 | 365 | case 2: |
Tom0108 | 3:1063aa133b62 | 366 | if(tim.read_ms()>1000) { |
Tom0108 | 2:47954f05d32d | 367 | kago++; |
Tom0108 | 2:47954f05d32d | 368 | tim.reset(); |
Tom0108 | 2:47954f05d32d | 369 | } |
Tom0108 | 1:199c4a71da88 | 370 | break; |
Tom0108 | 1:199c4a71da88 | 371 | |
Tom0108 | 1:199c4a71da88 | 372 | case 3: |
Tom0108 | 1:199c4a71da88 | 373 | MD_SET_DRIVE(MD_Data,6,MD_REVERSE); |
Tom0108 | 3:1063aa133b62 | 374 | MD_SET_PWM (MD_Data,6,80); |
Tom0108 | 2:47954f05d32d | 375 | if(slide_start==1 || tim.read_ms()>3000) kago++; |
Tom0108 | 1:199c4a71da88 | 376 | break; |
Tom0108 | 1:199c4a71da88 | 377 | |
Tom0108 | 1:199c4a71da88 | 378 | case 4: |
Tom0108 | 1:199c4a71da88 | 379 | MD_SET_DRIVE(MD_Data,4,MD_FORWARD); |
Tom0108 | 3:1063aa133b62 | 380 | MD_SET_PWM (MD_Data,4,60); |
Tom0108 | 3:1063aa133b62 | 381 | if(start_lim==1) kago_f=0; |
Tom0108 | 1:199c4a71da88 | 382 | break; |
Tom0108 | 0:761a63c6d020 | 383 | } |
Tom0108 | 0:761a63c6d020 | 384 | } else { |
Tom0108 | 3:1063aa133b62 | 385 | //かごと腕を停止 |
Tom0108 | 0:761a63c6d020 | 386 | MD_SET_DRIVE(MD_Data,4,MD_BRAKE); |
Tom0108 | 1:199c4a71da88 | 387 | MD_SET_PWM (MD_Data,4,0); |
Tom0108 | 1:199c4a71da88 | 388 | MD_SET_DRIVE(MD_Data,6,MD_BRAKE); |
Tom0108 | 1:199c4a71da88 | 389 | MD_SET_PWM (MD_Data,6,0); |
Tom0108 | 3:1063aa133b62 | 390 | |
Tom0108 | 1:199c4a71da88 | 391 | //爪開く |
Tom0108 | 2:47954f05d32d | 392 | i2c.Out_Set(Out_Data,1,1); |
Tom0108 | 1:199c4a71da88 | 393 | //腕上げる |
Tom0108 | 2:47954f05d32d | 394 | i2c.Out_Set(Out_Data,0,0); |
Tom0108 | 2:47954f05d32d | 395 | |
Tom0108 | 1:199c4a71da88 | 396 | kago=0; |
Tom0108 | 1:199c4a71da88 | 397 | pull=0; |
Tom0108 | 1:199c4a71da88 | 398 | grab=0; |
Tom0108 | 3:1063aa133b62 | 399 | |
Tom0108 | 2:47954f05d32d | 400 | tim.reset(); |
Tom0108 | 0:761a63c6d020 | 401 | } |
Tom0108 | 0:761a63c6d020 | 402 | |
Tom0108 | 3:1063aa133b62 | 403 | //-------------- 出力 --------------// |
Tom0108 | 3:1063aa133b62 | 404 | //第二引数には使う最大の個数 |
Tom0108 | 3:1063aa133b62 | 405 | i2c.Out(Out_Data,5); |
Tom0108 | 3:1063aa133b62 | 406 | |
Tom0108 | 3:1063aa133b62 | 407 | //モータ出力 |
Tom0108 | 3:1063aa133b62 | 408 | for(int i=0; i<8; i++) i2c.MD_I2C(MD_Data,i); |
Tom0108 | 3:1063aa133b62 | 409 | |
Tom0108 | 3:1063aa133b62 | 410 | /* ----------- りみっと --------------- */ |
Tom0108 | 3:1063aa133b62 | 411 | limit_up = (In_Data+4)->in_data; |
Tom0108 | 3:1063aa133b62 | 412 | limit_down = (In_Data+5)->in_data; |
Tom0108 | 3:1063aa133b62 | 413 | max_lim = (In_Data+1)->in_data; |
Tom0108 | 3:1063aa133b62 | 414 | start_lim =(In_Data+2)->in_data; |
Tom0108 | 3:1063aa133b62 | 415 | short_lim = (In_Data+6)->in_data; |
Tom0108 | 3:1063aa133b62 | 416 | slide_start = (In_Data+3)->in_data; |
Tom0108 | 3:1063aa133b62 | 417 | slide_stop = (In_Data+0)->in_data; |
Tom0108 | 3:1063aa133b62 | 418 | |
Tom0108 | 3:1063aa133b62 | 419 | //半自動のデバック |
Tom0108 | 3:1063aa133b62 | 420 | // pc.printf("pull %2d%2d ",pull,pull_f); |
Tom0108 | 3:1063aa133b62 | 421 | // pc.printf("grab %2d%2d ",grab,grab_f); |
Tom0108 | 3:1063aa133b62 | 422 | // pc.printf("kago %2d%2d ",kago,kago_f); |
Tom0108 | 4:236e5c58e8ee | 423 | // pc.printf("deg:%f dif:%f ",y_deg,dif_val); |
Tom0108 | 4:236e5c58e8ee | 424 | // pc.printf("%2d ",dir); |
Tom0108 | 3:1063aa133b62 | 425 | pc.printf("\n\r"); |
Tom0108 | 3:1063aa133b62 | 426 | |
Tom0108 | 3:1063aa133b62 | 427 | |
Tom0108 | 3:1063aa133b62 | 428 | /* --------------電磁弁系-------------------- */ |
Tom0108 | 0:761a63c6d020 | 429 | /*タオル掛け*/ |
Tom0108 | 0:761a63c6d020 | 430 | if(sbdbt.L2)i2c.Out_Set(Out_Data,2,1); |
Tom0108 | 0:761a63c6d020 | 431 | else i2c.Out_Set(Out_Data,2,0); |
Tom0108 | 3:1063aa133b62 | 432 | |
Tom0108 | 0:761a63c6d020 | 433 | /*タオルを引っ張るやつ*/ |
Tom0108 | 1:199c4a71da88 | 434 | if(sbdbt.R2)i2c.Out_Set(Out_Data,4,1); |
Tom0108 | 1:199c4a71da88 | 435 | else i2c.Out_Set(Out_Data,4,0); |
Tom0108 | 0:761a63c6d020 | 436 | |
Tom0108 | 3:1063aa133b62 | 437 | if(unfold_f)i2c.Out_Set(Out_Data,3,1); |
Tom0108 | 3:1063aa133b62 | 438 | else i2c.Out_Set(Out_Data,3,0); |
Tom0108 | 0:761a63c6d020 | 439 | |
Tom0108 | 0:761a63c6d020 | 440 | |
Tom0108 | 3:1063aa133b62 | 441 | /* ----------------ボタン系--------------- */ |
Tom0108 | 3:1063aa133b62 | 442 | //補正角リセット |
Tom0108 | 2:47954f05d32d | 443 | if(sbdbt.L1) { |
Tom0108 | 2:47954f05d32d | 444 | Turn_val=y_deg; |
Tom0108 | 2:47954f05d32d | 445 | offset=y_deg; |
Tom0108 | 2:47954f05d32d | 446 | } |
Tom0108 | 2:47954f05d32d | 447 | //90度回転して補正の角度を固定する |
Tom0108 | 3:1063aa133b62 | 448 | if(LEFTkey) { |
Tom0108 | 3:1063aa133b62 | 449 | if(once==0) { |
Tom0108 | 4:236e5c58e8ee | 450 | dir++; |
Tom0108 | 4:236e5c58e8ee | 451 | // left_f++; |
Tom0108 | 4:236e5c58e8ee | 452 | // left_f%=2; |
Tom0108 | 3:1063aa133b62 | 453 | once++; |
Tom0108 | 3:1063aa133b62 | 454 | } |
Tom0108 | 3:1063aa133b62 | 455 | } else if(RIGHTkey) { |
Tom0108 | 3:1063aa133b62 | 456 | if(once==0) { |
Tom0108 | 4:236e5c58e8ee | 457 | dir--; |
Tom0108 | 4:236e5c58e8ee | 458 | // right_f++; |
Tom0108 | 4:236e5c58e8ee | 459 | // right_f%=2; |
Tom0108 | 3:1063aa133b62 | 460 | once++; |
Tom0108 | 3:1063aa133b62 | 461 | } |
Tom0108 | 2:47954f05d32d | 462 | } |
Tom0108 | 3:1063aa133b62 | 463 | //かごを倒す |
Tom0108 | 3:1063aa133b62 | 464 | else if(CROSS) { |
Tom0108 | 1:199c4a71da88 | 465 | if(once==0) { |
Tom0108 | 3:1063aa133b62 | 466 | kago_f++; |
Tom0108 | 3:1063aa133b62 | 467 | kago_f%=2; |
Tom0108 | 1:199c4a71da88 | 468 | once++; |
Tom0108 | 1:199c4a71da88 | 469 | } |
Tom0108 | 3:1063aa133b62 | 470 | } |
Tom0108 | 3:1063aa133b62 | 471 | //タオルを掴んで動かす |
Tom0108 | 3:1063aa133b62 | 472 | else if(SQUARE) { |
Tom0108 | 1:199c4a71da88 | 473 | if(once==0) { |
Tom0108 | 3:1063aa133b62 | 474 | grab_f++; |
Tom0108 | 3:1063aa133b62 | 475 | grab_f%=2; |
Tom0108 | 1:199c4a71da88 | 476 | once++; |
Tom0108 | 1:199c4a71da88 | 477 | } |
Tom0108 | 4:236e5c58e8ee | 478 | } else if(TRIANGLE) { |
Tom0108 | 4:236e5c58e8ee | 479 | if(once==0) { |
Tom0108 | 4:236e5c58e8ee | 480 | sgrab_f++; |
Tom0108 | 4:236e5c58e8ee | 481 | sgrab_f%=2; |
Tom0108 | 4:236e5c58e8ee | 482 | once++; |
Tom0108 | 4:236e5c58e8ee | 483 | } |
Tom0108 | 3:1063aa133b62 | 484 | } |
Tom0108 | 3:1063aa133b62 | 485 | //倒すを引いて動かす |
Tom0108 | 3:1063aa133b62 | 486 | else if(CIRCLE) { |
Tom0108 | 1:199c4a71da88 | 487 | if(once==0) { |
Tom0108 | 3:1063aa133b62 | 488 | pull_f++; |
Tom0108 | 3:1063aa133b62 | 489 | pull_f%=2; |
Tom0108 | 3:1063aa133b62 | 490 | once++; |
Tom0108 | 3:1063aa133b62 | 491 | } |
Tom0108 | 3:1063aa133b62 | 492 | } |
Tom0108 | 3:1063aa133b62 | 493 | //タオル展開用 |
Tom0108 | 3:1063aa133b62 | 494 | else if(sbdbt.START) { |
Tom0108 | 3:1063aa133b62 | 495 | if(once==0) { |
Tom0108 | 3:1063aa133b62 | 496 | unfold_f++; |
Tom0108 | 3:1063aa133b62 | 497 | unfold_f%=2; |
Tom0108 | 1:199c4a71da88 | 498 | once++; |
Tom0108 | 1:199c4a71da88 | 499 | } |
Tom0108 | 1:199c4a71da88 | 500 | } else once=0; |
Tom0108 | 1:199c4a71da88 | 501 | |
Tom0108 | 1:199c4a71da88 | 502 | |
Tom0108 | 0:761a63c6d020 | 503 | } // if(sbdbt.State_check()) |
Tom0108 | 0:761a63c6d020 | 504 | } // while(1) |
Tom0108 | 0:761a63c6d020 | 505 | } // int main() |
Tom0108 | 0:761a63c6d020 | 506 | |
Tom0108 | 0:761a63c6d020 | 507 | /* メカナムの基本移動 */ |
Tom0108 | 0:761a63c6d020 | 508 | void mecanum_Move(void) |
Tom0108 | 0:761a63c6d020 | 509 | { |
Tom0108 | 0:761a63c6d020 | 510 | int val1,val2; |
Tom0108 | 0:761a63c6d020 | 511 | |
Tom0108 | 0:761a63c6d020 | 512 | MD_SET_DRIVE(MD_Data, 0,(L > 0) ? MD_FORWARD : MD_REVERSE); |
Tom0108 | 0:761a63c6d020 | 513 | MD_SET_DRIVE(MD_Data, 1,(R > 0) ? MD_REVERSE : MD_FORWARD); |
Tom0108 | 0:761a63c6d020 | 514 | MD_SET_DRIVE(MD_Data, 2,(R > 0) ? MD_FORWARD : MD_REVERSE); |
Tom0108 | 0:761a63c6d020 | 515 | MD_SET_DRIVE(MD_Data, 3,(L > 0) ? MD_REVERSE : MD_FORWARD); |
Tom0108 | 0:761a63c6d020 | 516 | |
Tom0108 | 0:761a63c6d020 | 517 | val1 = (int)sqrt( 1.0*abs( abs(lx)*lx + abs(ly)*ly ) ); |
Tom0108 | 0:761a63c6d020 | 518 | val2 = (int)sqrt( 1.0*abs( abs(ly)*ly - abs(lx)*lx ) ); |
Tom0108 | 0:761a63c6d020 | 519 | |
Tom0108 | 0:761a63c6d020 | 520 | MD_SET_PWM(MD_Data,0,val1); |
Tom0108 | 0:761a63c6d020 | 521 | MD_SET_PWM(MD_Data,1,val2); |
Tom0108 | 0:761a63c6d020 | 522 | MD_SET_PWM(MD_Data,2,val2); |
Tom0108 | 0:761a63c6d020 | 523 | MD_SET_PWM(MD_Data,3,val1); |
Tom0108 | 0:761a63c6d020 | 524 | |
Tom0108 | 0:761a63c6d020 | 525 | |
Tom0108 | 0:761a63c6d020 | 526 | if(MD_GET_PWM(MD_Data,0)*2 < MD_GET_PWM(MD_Data,1) ) { |
Tom0108 | 0:761a63c6d020 | 527 | MD_SET_PWM(MD_Data, 0, 0); |
Tom0108 | 0:761a63c6d020 | 528 | g = 0; |
Tom0108 | 0:761a63c6d020 | 529 | } else if( MD_GET_PWM(MD_Data,1)*2 < MD_GET_PWM(MD_Data,0) ) { |
Tom0108 | 0:761a63c6d020 | 530 | MD_SET_PWM(MD_Data, 1, 0); |
Tom0108 | 0:761a63c6d020 | 531 | g = 0; |
Tom0108 | 0:761a63c6d020 | 532 | } |
Tom0108 | 0:761a63c6d020 | 533 | |
Tom0108 | 0:761a63c6d020 | 534 | // 斜めじゃないなら大きいほうにPWMをそろえて完全縦横移動 |
Tom0108 | 0:761a63c6d020 | 535 | else if( MD_GET_PWM(MD_Data,0) < MD_GET_PWM(MD_Data,1) ) { |
Tom0108 | 0:761a63c6d020 | 536 | MD_SET_PWM(MD_Data, 0, MD_GET_PWM(MD_Data,1)); |
Tom0108 | 0:761a63c6d020 | 537 | g = 1; |
Tom0108 | 0:761a63c6d020 | 538 | |
Tom0108 | 0:761a63c6d020 | 539 | } else { |
Tom0108 | 0:761a63c6d020 | 540 | MD_SET_PWM(MD_Data, 1, MD_GET_PWM(MD_Data,0)); |
Tom0108 | 0:761a63c6d020 | 541 | g = 1; |
Tom0108 | 0:761a63c6d020 | 542 | } |
Tom0108 | 0:761a63c6d020 | 543 | |
Tom0108 | 0:761a63c6d020 | 544 | MD_SET_PWM(MD_Data, 2, MD_GET_PWM(MD_Data,1)); |
Tom0108 | 0:761a63c6d020 | 545 | MD_SET_PWM(MD_Data, 3, MD_GET_PWM(MD_Data,0)); |
Tom0108 | 0:761a63c6d020 | 546 | |
Tom0108 | 0:761a63c6d020 | 547 | } |
Tom0108 | 0:761a63c6d020 | 548 | |
Tom0108 | 0:761a63c6d020 | 549 | /* メカナム旋回 */ |
Tom0108 | 0:761a63c6d020 | 550 | void mecanum_Turn(void) |
Tom0108 | 0:761a63c6d020 | 551 | { |
Tom0108 | 0:761a63c6d020 | 552 | for(int i=0; i<4; i++) { |
Tom0108 | 0:761a63c6d020 | 553 | MD_SET_PWM(MD_Data, i,sbdbt.R1?abs(sbdbt.RX - 64)*50/64:abs(sbdbt.RX - 64)*100/64); |
Tom0108 | 0:761a63c6d020 | 554 | MD_SET_DRIVE(MD_Data, i,(sbdbt.RX < 64)? MD_REVERSE: MD_FORWARD); |
Tom0108 | 0:761a63c6d020 | 555 | } |
Tom0108 | 0:761a63c6d020 | 556 | } |
Tom0108 | 0:761a63c6d020 | 557 | |
Tom0108 | 0:761a63c6d020 | 558 | /* 停止 */ |
Tom0108 | 0:761a63c6d020 | 559 | void mecanum_Stop(void) |
Tom0108 | 0:761a63c6d020 | 560 | { |
Tom0108 | 0:761a63c6d020 | 561 | for(int i=0; i<4; i++) { |
Tom0108 | 0:761a63c6d020 | 562 | MD_SET_PWM(MD_Data, i, 0); |
Tom0108 | 0:761a63c6d020 | 563 | MD_SET_DRIVE(MD_Data, i, MD_BRAKE); |
Tom0108 | 0:761a63c6d020 | 564 | } |
Tom0108 | 0:761a63c6d020 | 565 | } |
Tom0108 | 0:761a63c6d020 | 566 | |
Tom0108 | 0:761a63c6d020 | 567 | /*操作法*/ |
Tom0108 | 0:761a63c6d020 | 568 | /* |
Tom0108 | 0:761a63c6d020 | 569 | 〇 ボタン == 回収(引きずる) |
Tom0108 | 0:761a63c6d020 | 570 | ? ボタン == 籠 |
Tom0108 | 0:761a63c6d020 | 571 | △ ボタン == 回収(シーツ兼シャツ) |
Tom0108 | 0:761a63c6d020 | 572 | □ ボタン == 回収(タオル) |
Tom0108 | 0:761a63c6d020 | 573 | 上 ボタン == ハンガーかけ機構 上昇 |
Tom0108 | 0:761a63c6d020 | 574 | 下 ボタン == ハンガーかけ機構 下降 |
Tom0108 | 0:761a63c6d020 | 575 | 左 ボタン == 90回転 |
Tom0108 | 0:761a63c6d020 | 576 | 右 ボタン == 90回転 |
Tom0108 | 0:761a63c6d020 | 577 | L1 ボタン == リセット(足回り) |
Tom0108 | 0:761a63c6d020 | 578 | L2 ボタン == タオル掛け |
Tom0108 | 0:761a63c6d020 | 579 | R1 ボタン == 押しながら回転でゆっくりになる |
Tom0108 | 0:761a63c6d020 | 580 | R2 ボタン == タオルひっぱる奴 |
Tom0108 | 0:761a63c6d020 | 581 | select == ハンガー掛け 最大まで上昇 |
Tom0108 | 0:761a63c6d020 | 582 | start == ハンガー展開 |
Tom0108 | 0:761a63c6d020 | 583 | */ |
Tom0108 | 0:761a63c6d020 | 584 | /*その他注意点*/ |
Tom0108 | 0:761a63c6d020 | 585 | /* |
Tom0108 | 0:761a63c6d020 | 586 | 動かすときはジャイロの値を安定させるため15秒から20秒待つ |
Tom0108 | 0:761a63c6d020 | 587 | メカナムは振動が大きいせいかナット等が外れやすいため、定期的に確認をする(特に足回り) |
Tom0108 | 0:761a63c6d020 | 588 | あまり急発進をさせない(たまに暴走) |
Tom0108 | 0:761a63c6d020 | 589 | 暴走したときはコントローラーを動かしたら治るはず |
Tom0108 | 0:761a63c6d020 | 590 | コントローラー接続が切れたらSTMの黒い奴を押す(わからないときは近くの回路班へ) |
Tom0108 | 0:761a63c6d020 | 591 | */ |