Takushima Yukimasa
/
R19_ManuTakukAHWGeo
a
main.cpp@2:47954f05d32d, 2019-08-23 (annotated)
- Committer:
- Tom0108
- Date:
- Fri Aug 23 03:54:05 2019 +0000
- Revision:
- 2:47954f05d32d
- Parent:
- 1:199c4a71da88
- Child:
- 3:1063aa133b62
Basic operation is possible
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 | 0:761a63c6d020 | 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 | 0:761a63c6d020 | 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 | 0:761a63c6d020 | 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 | 0:761a63c6d020 | 33 | IN_I2C_Data_TypeDef In_Data[4] = { |
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 | 0:761a63c6d020 | 37 | {1,3,0} // 腕(初期位置) |
Tom0108 | 0:761a63c6d020 | 38 | }; |
Tom0108 | 0:761a63c6d020 | 39 | |
Tom0108 | 0:761a63c6d020 | 40 | IN_I2C_Data_TypeDef In_Data2[] = { |
Tom0108 | 0:761a63c6d020 | 41 | {3,0,0}, // 上下機構(上) |
Tom0108 | 0:761a63c6d020 | 42 | {3,1,0}, // (下) |
Tom0108 | 0:761a63c6d020 | 43 | {3,2,0}, // 腕(シーツ兼シャツ) |
Tom0108 | 0:761a63c6d020 | 44 | |
Tom0108 | 0:761a63c6d020 | 45 | }; |
Tom0108 | 0:761a63c6d020 | 46 | |
Tom0108 | 0:761a63c6d020 | 47 | OUT_I2C_Data_TypeDef Out_Data[] = { |
Tom0108 | 0:761a63c6d020 | 48 | {0,0,0}, // 腕の上下 |
Tom0108 | 2:47954f05d32d | 49 | {0,1,0}, // 爪 |
Tom0108 | 2:47954f05d32d | 50 | {0,2,0}, // タオルの先 |
Tom0108 | 2:47954f05d32d | 51 | {0,3,0}, // タオル展開 |
Tom0108 | 2:47954f05d32d | 52 | {1,0,0}, // タオルの中央 |
Tom0108 | 0:761a63c6d020 | 53 | }; |
Tom0108 | 0:761a63c6d020 | 54 | /* 関数宣言 ------------------------------------------------------------------*/ |
Tom0108 | 0:761a63c6d020 | 55 | void flip1(void); |
Tom0108 | 0:761a63c6d020 | 56 | void mecanum_Move(void); |
Tom0108 | 0:761a63c6d020 | 57 | void mecanum_Turn(void); |
Tom0108 | 0:761a63c6d020 | 58 | void mecanum_TurnMove(void); |
Tom0108 | 0:761a63c6d020 | 59 | void mecanum_Stop(void); |
Tom0108 | 0:761a63c6d020 | 60 | //int sum_deg(double deg,double old); |
Tom0108 | 0:761a63c6d020 | 61 | void big_sort(int16_t data[], uint8_t num); |
Tom0108 | 0:761a63c6d020 | 62 | int median_filter(int16_t data[], int16_t add_data, const uint8_t num); |
Tom0108 | 0:761a63c6d020 | 63 | |
Tom0108 | 0:761a63c6d020 | 64 | /* 変数宣言 ------------------------------------------------------------------*/ |
Tom0108 | 1:199c4a71da88 | 65 | //かご回転用 |
Tom0108 | 1:199c4a71da88 | 66 | int kago=0, kago_flag=0; |
Tom0108 | 1:199c4a71da88 | 67 | |
Tom0108 | 1:199c4a71da88 | 68 | //コントローラーの状態を保存するため |
Tom0108 | 1:199c4a71da88 | 69 | int once=0; |
Tom0108 | 1:199c4a71da88 | 70 | |
Tom0108 | 1:199c4a71da88 | 71 | //タオル引く用 |
Tom0108 | 1:199c4a71da88 | 72 | int pull=0, pull_flag=0; |
Tom0108 | 1:199c4a71da88 | 73 | |
Tom0108 | 1:199c4a71da88 | 74 | //タオル掴むよう |
Tom0108 | 1:199c4a71da88 | 75 | int grab=0, grab_flag=0; |
Tom0108 | 1:199c4a71da88 | 76 | |
Tom0108 | 1:199c4a71da88 | 77 | |
Tom0108 | 0:761a63c6d020 | 78 | int limit_up,limit_down; // リミットスイッチ |
Tom0108 | 1:199c4a71da88 | 79 | int slide_start,slide_stop; //かごのリミット |
Tom0108 | 0:761a63c6d020 | 80 | int short_lim,max_lim,start_lim; |
Tom0108 | 0:761a63c6d020 | 81 | |
Tom0108 | 0:761a63c6d020 | 82 | |
Tom0108 | 0:761a63c6d020 | 83 | int lx,ly,rx,L,R; // 足回り |
Tom0108 | 0:761a63c6d020 | 84 | int L_1,R_1; |
Tom0108 | 0:761a63c6d020 | 85 | int g; |
Tom0108 | 0:761a63c6d020 | 86 | double y_deg,yaw,offset; |
Tom0108 | 0:761a63c6d020 | 87 | |
Tom0108 | 0:761a63c6d020 | 88 | int cross_f; |
Tom0108 | 0:761a63c6d020 | 89 | int circle_f=0,circle_cnt=0; |
Tom0108 | 0:761a63c6d020 | 90 | int triangle_f=0,triangle_cnt=0; |
Tom0108 | 0:761a63c6d020 | 91 | int sel_f = 0,sel_cnt = 0; |
Tom0108 | 0:761a63c6d020 | 92 | int left_f=0,right_f=0; |
Tom0108 | 0:761a63c6d020 | 93 | int start_s=0,start_cnt=0,start_f=0; |
Tom0108 | 0:761a63c6d020 | 94 | |
Tom0108 | 0:761a63c6d020 | 95 | int val4; |
Tom0108 | 0:761a63c6d020 | 96 | int as=0; |
Tom0108 | 0:761a63c6d020 | 97 | int slide_f,slide_st; // 機構 |
Tom0108 | 0:761a63c6d020 | 98 | int back_f=0,start = 0,get=0,www=0; |
Tom0108 | 0:761a63c6d020 | 99 | int time_f=0,time_cnt=0; |
Tom0108 | 0:761a63c6d020 | 100 | int link_up=0,link_down=0; |
Tom0108 | 0:761a63c6d020 | 101 | int tach_f,back_cnt,del; |
Tom0108 | 0:761a63c6d020 | 102 | int tim_start=0; |
Tom0108 | 0:761a63c6d020 | 103 | double Turn_val,dif_val; |
Tom0108 | 0:761a63c6d020 | 104 | Timer tim; |
Tom0108 | 0:761a63c6d020 | 105 | |
Tom0108 | 0:761a63c6d020 | 106 | /*クラス宣言-------------------------------------------------------------------*/ |
Tom0108 | 0:761a63c6d020 | 107 | |
Tom0108 | 0:761a63c6d020 | 108 | Ticker flipper1; // 割込み |
Tom0108 | 0:761a63c6d020 | 109 | Y_I2C i2c(PB_9, PB_8); // I2C |
Tom0108 | 0:761a63c6d020 | 110 | DigitalOut myled(LED1); // オンボードLED |
Tom0108 | 0:761a63c6d020 | 111 | SBDBT sbdbt(PA_0, PA_1, 9600); // SDBDT |
Tom0108 | 0:761a63c6d020 | 112 | MyMPU6050 mpu(PC_9, PA_8); // ジャイロセンサ |
Tom0108 | 0:761a63c6d020 | 113 | |
Tom0108 | 0:761a63c6d020 | 114 | DigitalOut blue(PA_10); |
Tom0108 | 0:761a63c6d020 | 115 | DigitalOut green(PB_4); |
Tom0108 | 0:761a63c6d020 | 116 | DigitalOut red(PB_5); |
Tom0108 | 0:761a63c6d020 | 117 | |
Tom0108 | 0:761a63c6d020 | 118 | /*----------------------------------- main -----------------------------------*/ |
Tom0108 | 0:761a63c6d020 | 119 | /* @brief メインプログラム |
Tom0108 | 0:761a63c6d020 | 120 | * @param なし |
Tom0108 | 0:761a63c6d020 | 121 | * @retval なし |
Tom0108 | 0:761a63c6d020 | 122 | */ |
Tom0108 | 0:761a63c6d020 | 123 | int main() |
Tom0108 | 0:761a63c6d020 | 124 | { |
Tom0108 | 0:761a63c6d020 | 125 | //flipper1.attach(&flip1, 0.001); // 割り込み |
Tom0108 | 0:761a63c6d020 | 126 | while(1) { |
Tom0108 | 1:199c4a71da88 | 127 | //自動系のタイマースタート |
Tom0108 | 1:199c4a71da88 | 128 | tim.start(); |
Tom0108 | 0:761a63c6d020 | 129 | mpu.loop(); |
Tom0108 | 0:761a63c6d020 | 130 | if(sbdbt.State_check()) { |
Tom0108 | 0:761a63c6d020 | 131 | |
Tom0108 | 0:761a63c6d020 | 132 | i2c.In(In_Data,0); |
Tom0108 | 0:761a63c6d020 | 133 | i2c.In(In_Data,1); |
Tom0108 | 0:761a63c6d020 | 134 | i2c.In(In_Data,2); |
Tom0108 | 0:761a63c6d020 | 135 | i2c.In(In_Data,3); |
Tom0108 | 0:761a63c6d020 | 136 | i2c.In(In_Data2,0); |
Tom0108 | 0:761a63c6d020 | 137 | i2c.In(In_Data2,1); |
Tom0108 | 0:761a63c6d020 | 138 | i2c.In(In_Data2,2); |
Tom0108 | 0:761a63c6d020 | 139 | |
Tom0108 | 0:761a63c6d020 | 140 | y_deg = (double)mpu.ypr[0] * 180 / M_PI; |
Tom0108 | 0:761a63c6d020 | 141 | |
Tom0108 | 0:761a63c6d020 | 142 | |
Tom0108 | 0:761a63c6d020 | 143 | val4=tim.read_ms(); |
Tom0108 | 1:199c4a71da88 | 144 | slide_start = (In_Data+3)->in_data; |
Tom0108 | 1:199c4a71da88 | 145 | slide_stop = (In_Data+0)->in_data; |
Tom0108 | 0:761a63c6d020 | 146 | |
Tom0108 | 0:761a63c6d020 | 147 | |
Tom0108 | 0:761a63c6d020 | 148 | 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 | 149 | 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 | 150 | rx = (sbdbt.RX - 64)*100/64; |
Tom0108 | 0:761a63c6d020 | 151 | L = lx+ly; |
Tom0108 | 0:761a63c6d020 | 152 | R = ly-lx; |
Tom0108 | 0:761a63c6d020 | 153 | |
Tom0108 | 0:761a63c6d020 | 154 | yaw = -y_deg+offset; |
Tom0108 | 0:761a63c6d020 | 155 | dif_val=y_deg-Turn_val; |
Tom0108 | 0:761a63c6d020 | 156 | |
Tom0108 | 0:761a63c6d020 | 157 | if(sbdbt.LX !=64 || sbdbt.LY !=64) { |
Tom0108 | 0:761a63c6d020 | 158 | |
Tom0108 | 0:761a63c6d020 | 159 | mecanum_Move(); |
Tom0108 | 0:761a63c6d020 | 160 | |
Tom0108 | 0:761a63c6d020 | 161 | // 以下,ジャイロセンサーのプログラム |
Tom0108 | 0:761a63c6d020 | 162 | if(g) { |
Tom0108 | 0:761a63c6d020 | 163 | if(abs(ly) > 10) { |
Tom0108 | 0:761a63c6d020 | 164 | if(ly>10) { |
Tom0108 | 0:761a63c6d020 | 165 | (MD_Data+0)->PWMVal = MD_GET_PWM(MD_Data,0)-dif_val; |
Tom0108 | 0:761a63c6d020 | 166 | (MD_Data+1)->PWMVal = MD_GET_PWM(MD_Data,1)+dif_val; |
Tom0108 | 0:761a63c6d020 | 167 | } else { |
Tom0108 | 0:761a63c6d020 | 168 | (MD_Data+0)->PWMVal = MD_GET_PWM(MD_Data,0)+dif_val; |
Tom0108 | 0:761a63c6d020 | 169 | (MD_Data+1)->PWMVal = MD_GET_PWM(MD_Data,1)-dif_val; |
Tom0108 | 0:761a63c6d020 | 170 | } |
Tom0108 | 0:761a63c6d020 | 171 | } |
Tom0108 | 0:761a63c6d020 | 172 | |
Tom0108 | 0:761a63c6d020 | 173 | if(abs(lx) > 10) { |
Tom0108 | 0:761a63c6d020 | 174 | if(lx>10) { |
Tom0108 | 0:761a63c6d020 | 175 | (MD_Data+0)->PWMVal = MD_GET_PWM(MD_Data,0)-dif_val; |
Tom0108 | 0:761a63c6d020 | 176 | (MD_Data+2)->PWMVal = MD_GET_PWM(MD_Data,2)+dif_val; |
Tom0108 | 0:761a63c6d020 | 177 | } else { |
Tom0108 | 0:761a63c6d020 | 178 | (MD_Data+0)->PWMVal = MD_GET_PWM(MD_Data,0)+dif_val; |
Tom0108 | 0:761a63c6d020 | 179 | (MD_Data+2)->PWMVal = MD_GET_PWM(MD_Data,2)-dif_val; |
Tom0108 | 0:761a63c6d020 | 180 | } |
Tom0108 | 0:761a63c6d020 | 181 | } |
Tom0108 | 0:761a63c6d020 | 182 | |
Tom0108 | 0:761a63c6d020 | 183 | if((abs(ly)-abs(lx)) > 0) { |
Tom0108 | 0:761a63c6d020 | 184 | (MD_Data+2)->PWMVal = MD_GET_PWM(MD_Data,0); |
Tom0108 | 0:761a63c6d020 | 185 | (MD_Data+3)->PWMVal = MD_GET_PWM(MD_Data,1); |
Tom0108 | 0:761a63c6d020 | 186 | } else { |
Tom0108 | 0:761a63c6d020 | 187 | (MD_Data+1)->PWMVal = MD_GET_PWM(MD_Data,0); |
Tom0108 | 0:761a63c6d020 | 188 | (MD_Data+3)->PWMVal = MD_GET_PWM(MD_Data,2); |
Tom0108 | 0:761a63c6d020 | 189 | } |
Tom0108 | 0:761a63c6d020 | 190 | } // if(g) |
Tom0108 | 0:761a63c6d020 | 191 | }// if(LX !=64 || LY !=64) |
Tom0108 | 0:761a63c6d020 | 192 | else if(sbdbt.RX != 64) { // 旋回 |
Tom0108 | 0:761a63c6d020 | 193 | Turn_val=y_deg; |
Tom0108 | 0:761a63c6d020 | 194 | mecanum_Turn(); |
Tom0108 | 0:761a63c6d020 | 195 | } else { |
Tom0108 | 0:761a63c6d020 | 196 | mecanum_Stop(); |
Tom0108 | 0:761a63c6d020 | 197 | } |
Tom0108 | 0:761a63c6d020 | 198 | if(left_f) { // 90°旋回 |
Tom0108 | 0:761a63c6d020 | 199 | if(abs(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_REVERSE); |
Tom0108 | 0:761a63c6d020 | 203 | } |
Tom0108 | 0:761a63c6d020 | 204 | } else { |
Tom0108 | 0:761a63c6d020 | 205 | left_f=0; |
Tom0108 | 0:761a63c6d020 | 206 | mecanum_Stop(); |
Tom0108 | 0:761a63c6d020 | 207 | } |
Tom0108 | 0:761a63c6d020 | 208 | } |
Tom0108 | 0:761a63c6d020 | 209 | if(right_f) { |
Tom0108 | 0:761a63c6d020 | 210 | if(yaw>-60) { |
Tom0108 | 0:761a63c6d020 | 211 | for(int i=0; i<4; i++) { |
Tom0108 | 0:761a63c6d020 | 212 | MD_SET_PWM(MD_Data, i,60); |
Tom0108 | 0:761a63c6d020 | 213 | MD_SET_DRIVE(MD_Data, i,MD_FORWARD); |
Tom0108 | 0:761a63c6d020 | 214 | } |
Tom0108 | 0:761a63c6d020 | 215 | } else { |
Tom0108 | 0:761a63c6d020 | 216 | right_f=0; |
Tom0108 | 0:761a63c6d020 | 217 | mecanum_Stop(); |
Tom0108 | 0:761a63c6d020 | 218 | } |
Tom0108 | 0:761a63c6d020 | 219 | } |
Tom0108 | 0:761a63c6d020 | 220 | |
Tom0108 | 0:761a63c6d020 | 221 | /*---ハンガーかけるやつ--------------------------------------------------------------------------------------------------------------------------------------------*/ |
Tom0108 | 0:761a63c6d020 | 222 | limit_up = (In_Data2+0)->in_data; |
Tom0108 | 0:761a63c6d020 | 223 | limit_down = (In_Data2+1)->in_data; |
Tom0108 | 1:199c4a71da88 | 224 | if(sbdbt.SELECT)as=1;//selectキー |
Tom0108 | 0:761a63c6d020 | 225 | |
Tom0108 | 0:761a63c6d020 | 226 | if(as==1 && limit_up == 0) { |
Tom0108 | 0:761a63c6d020 | 227 | MD_SET_DRIVE(MD_Data, 5,MD_REVERSE); |
Tom0108 | 0:761a63c6d020 | 228 | MD_SET_PWM(MD_Data, 5,50); |
Tom0108 | 0:761a63c6d020 | 229 | } else if(UPkey && limit_up == 0) { |
Tom0108 | 0:761a63c6d020 | 230 | as=0; |
Tom0108 | 0:761a63c6d020 | 231 | MD_SET_DRIVE(MD_Data, 5,MD_REVERSE); |
Tom0108 | 0:761a63c6d020 | 232 | MD_SET_PWM(MD_Data, 5,50); |
Tom0108 | 0:761a63c6d020 | 233 | } else if(as==1 && limit_up == 1) { |
Tom0108 | 0:761a63c6d020 | 234 | as=0; |
Tom0108 | 0:761a63c6d020 | 235 | MD_SET_PWM(MD_Data,5,0); |
Tom0108 | 0:761a63c6d020 | 236 | MD_SET_DRIVE(MD_Data, 5,MD_BRAKE); |
Tom0108 | 0:761a63c6d020 | 237 | } else if(DOWNkey && limit_down == 0) { |
Tom0108 | 0:761a63c6d020 | 238 | MD_SET_DRIVE(MD_Data, 5,MD_FORWARD); |
Tom0108 | 0:761a63c6d020 | 239 | MD_SET_PWM(MD_Data, 5,50); |
Tom0108 | 0:761a63c6d020 | 240 | } else { |
Tom0108 | 0:761a63c6d020 | 241 | MD_SET_PWM(MD_Data,5,0); |
Tom0108 | 0:761a63c6d020 | 242 | MD_SET_DRIVE(MD_Data, 5,MD_BRAKE); |
Tom0108 | 0:761a63c6d020 | 243 | } |
Tom0108 | 0:761a63c6d020 | 244 | |
Tom0108 | 0:761a63c6d020 | 245 | max_lim = (In_Data+1)->in_data; |
Tom0108 | 0:761a63c6d020 | 246 | start_lim =(In_Data+2)->in_data; |
Tom0108 | 1:199c4a71da88 | 247 | short_lim = (In_Data2+2)->in_data; |
Tom0108 | 2:47954f05d32d | 248 | |
Tom0108 | 1:199c4a71da88 | 249 | //タオルつかむ 四角 |
Tom0108 | 1:199c4a71da88 | 250 | if(grab_flag) { |
Tom0108 | 1:199c4a71da88 | 251 | switch(grab) { |
Tom0108 | 1:199c4a71da88 | 252 | //腕を前に動かす |
Tom0108 | 1:199c4a71da88 | 253 | case 0: |
Tom0108 | 1:199c4a71da88 | 254 | //爪開く |
Tom0108 | 1:199c4a71da88 | 255 | i2c.Out_Set(Out_Data,1,1); |
Tom0108 | 1:199c4a71da88 | 256 | MD_SET_DRIVE(MD_Data,4,MD_REVERSE); |
Tom0108 | 1:199c4a71da88 | 257 | MD_SET_PWM (MD_Data,4,40); |
Tom0108 | 1:199c4a71da88 | 258 | if(max_lim==1) { |
Tom0108 | 1:199c4a71da88 | 259 | grab++; |
Tom0108 | 1:199c4a71da88 | 260 | tim.reset(); |
Tom0108 | 1:199c4a71da88 | 261 | } |
Tom0108 | 1:199c4a71da88 | 262 | break; |
Tom0108 | 0:761a63c6d020 | 263 | |
Tom0108 | 1:199c4a71da88 | 264 | case 1: |
Tom0108 | 2:47954f05d32d | 265 | //腕停止 |
Tom0108 | 2:47954f05d32d | 266 | MD_SET_DRIVE(MD_Data,4,MD_BRAKE); |
Tom0108 | 2:47954f05d32d | 267 | MD_SET_PWM (MD_Data,4,0); |
Tom0108 | 2:47954f05d32d | 268 | |
Tom0108 | 1:199c4a71da88 | 269 | //腕おろす |
Tom0108 | 0:761a63c6d020 | 270 | i2c.Out_Set(Out_Data,0,1); |
Tom0108 | 1:199c4a71da88 | 271 | if(tim.read_ms()>1000) { |
Tom0108 | 1:199c4a71da88 | 272 | grab++; |
Tom0108 | 1:199c4a71da88 | 273 | tim.reset(); |
Tom0108 | 1:199c4a71da88 | 274 | } |
Tom0108 | 1:199c4a71da88 | 275 | break; |
Tom0108 | 0:761a63c6d020 | 276 | |
Tom0108 | 1:199c4a71da88 | 277 | case 2: |
Tom0108 | 1:199c4a71da88 | 278 | //爪閉じる |
Tom0108 | 1:199c4a71da88 | 279 | i2c.Out_Set(Out_Data,1,0); |
Tom0108 | 1:199c4a71da88 | 280 | if(tim.read_ms()>500) { |
Tom0108 | 1:199c4a71da88 | 281 | grab++; |
Tom0108 | 0:761a63c6d020 | 282 | tim.reset(); |
Tom0108 | 0:761a63c6d020 | 283 | } |
Tom0108 | 1:199c4a71da88 | 284 | break; |
Tom0108 | 1:199c4a71da88 | 285 | |
Tom0108 | 1:199c4a71da88 | 286 | case 3: |
Tom0108 | 1:199c4a71da88 | 287 | //腕上げる |
Tom0108 | 1:199c4a71da88 | 288 | i2c.Out_Set(Out_Data,0,0); |
Tom0108 | 1:199c4a71da88 | 289 | MD_SET_DRIVE(MD_Data,4,MD_FORWARD); |
Tom0108 | 1:199c4a71da88 | 290 | MD_SET_PWM (MD_Data,4,40); |
Tom0108 | 1:199c4a71da88 | 291 | if(start_lim==1) grab_flag=0; |
Tom0108 | 1:199c4a71da88 | 292 | break; |
Tom0108 | 0:761a63c6d020 | 293 | } |
Tom0108 | 1:199c4a71da88 | 294 | } //if(grab_flag) |
Tom0108 | 2:47954f05d32d | 295 | //タオル引く 丸 |
Tom0108 | 1:199c4a71da88 | 296 | else if(pull_flag) { |
Tom0108 | 1:199c4a71da88 | 297 | switch(pull) { |
Tom0108 | 1:199c4a71da88 | 298 | //腕を前に動かす |
Tom0108 | 1:199c4a71da88 | 299 | case 0: |
Tom0108 | 1:199c4a71da88 | 300 | //爪閉じる |
Tom0108 | 1:199c4a71da88 | 301 | i2c.Out_Set(Out_Data,1,0); |
Tom0108 | 0:761a63c6d020 | 302 | MD_SET_DRIVE(MD_Data,4,MD_REVERSE); |
Tom0108 | 1:199c4a71da88 | 303 | MD_SET_PWM (MD_Data,4,40); |
Tom0108 | 1:199c4a71da88 | 304 | if(max_lim==1) { |
Tom0108 | 1:199c4a71da88 | 305 | pull++; |
Tom0108 | 1:199c4a71da88 | 306 | tim.reset(); |
Tom0108 | 1:199c4a71da88 | 307 | } |
Tom0108 | 1:199c4a71da88 | 308 | break; |
Tom0108 | 0:761a63c6d020 | 309 | |
Tom0108 | 1:199c4a71da88 | 310 | case 1: |
Tom0108 | 2:47954f05d32d | 311 | //腕停止 |
Tom0108 | 2:47954f05d32d | 312 | MD_SET_DRIVE(MD_Data,4,MD_BRAKE); |
Tom0108 | 2:47954f05d32d | 313 | MD_SET_PWM (MD_Data,4,0); |
Tom0108 | 2:47954f05d32d | 314 | |
Tom0108 | 1:199c4a71da88 | 315 | //腕おろす |
Tom0108 | 0:761a63c6d020 | 316 | i2c.Out_Set(Out_Data,0,1); |
Tom0108 | 1:199c4a71da88 | 317 | if(tim.read_ms()>1000) { |
Tom0108 | 1:199c4a71da88 | 318 | pull++; |
Tom0108 | 1:199c4a71da88 | 319 | tim.reset(); |
Tom0108 | 0:761a63c6d020 | 320 | } |
Tom0108 | 1:199c4a71da88 | 321 | break; |
Tom0108 | 1:199c4a71da88 | 322 | |
Tom0108 | 1:199c4a71da88 | 323 | case 2: |
Tom0108 | 1:199c4a71da88 | 324 | if(tim.read_ms()>500) { |
Tom0108 | 1:199c4a71da88 | 325 | pull++; |
Tom0108 | 0:761a63c6d020 | 326 | tim.reset(); |
Tom0108 | 0:761a63c6d020 | 327 | } |
Tom0108 | 1:199c4a71da88 | 328 | break; |
Tom0108 | 1:199c4a71da88 | 329 | |
Tom0108 | 1:199c4a71da88 | 330 | case 3: |
Tom0108 | 1:199c4a71da88 | 331 | MD_SET_DRIVE(MD_Data,4,MD_FORWARD); |
Tom0108 | 1:199c4a71da88 | 332 | MD_SET_PWM (MD_Data,4,40); |
Tom0108 | 1:199c4a71da88 | 333 | if(start_lim==1) pull_flag=0; |
Tom0108 | 1:199c4a71da88 | 334 | break; |
Tom0108 | 0:761a63c6d020 | 335 | } |
Tom0108 | 1:199c4a71da88 | 336 | } //if(pull_flag) |
Tom0108 | 1:199c4a71da88 | 337 | else if(kago_flag) { |
Tom0108 | 1:199c4a71da88 | 338 | //腕の先を閉じておく |
Tom0108 | 1:199c4a71da88 | 339 | i2c.Out_Set(Out_Data,1,0); |
Tom0108 | 0:761a63c6d020 | 340 | |
Tom0108 | 1:199c4a71da88 | 341 | switch(kago) { |
Tom0108 | 1:199c4a71da88 | 342 | //腕を前に動かす |
Tom0108 | 1:199c4a71da88 | 343 | case 0: |
Tom0108 | 0:761a63c6d020 | 344 | MD_SET_DRIVE(MD_Data,4,MD_REVERSE); |
Tom0108 | 1:199c4a71da88 | 345 | MD_SET_PWM (MD_Data,4,40); |
Tom0108 | 2:47954f05d32d | 346 | if(max_lim==1) { |
Tom0108 | 2:47954f05d32d | 347 | kago++; |
Tom0108 | 2:47954f05d32d | 348 | tim.reset(); |
Tom0108 | 2:47954f05d32d | 349 | } |
Tom0108 | 1:199c4a71da88 | 350 | break; |
Tom0108 | 1:199c4a71da88 | 351 | |
Tom0108 | 1:199c4a71da88 | 352 | //かごを倒す |
Tom0108 | 1:199c4a71da88 | 353 | case 1: |
Tom0108 | 1:199c4a71da88 | 354 | //腕停止 |
Tom0108 | 0:761a63c6d020 | 355 | MD_SET_DRIVE(MD_Data,4,MD_BRAKE); |
Tom0108 | 1:199c4a71da88 | 356 | MD_SET_PWM (MD_Data,4,0); |
Tom0108 | 0:761a63c6d020 | 357 | |
Tom0108 | 1:199c4a71da88 | 358 | //かご回転 |
Tom0108 | 1:199c4a71da88 | 359 | MD_SET_DRIVE(MD_Data,6,MD_FORWARD); |
Tom0108 | 1:199c4a71da88 | 360 | MD_SET_PWM (MD_Data,6,70); |
Tom0108 | 2:47954f05d32d | 361 | if(slide_stop==1 || tim.read_ms()>3000) { |
Tom0108 | 1:199c4a71da88 | 362 | kago++; |
Tom0108 | 2:47954f05d32d | 363 | tim.reset(); |
Tom0108 | 1:199c4a71da88 | 364 | MD_SET_DRIVE(MD_Data,6,MD_BRAKE); |
Tom0108 | 1:199c4a71da88 | 365 | MD_SET_PWM (MD_Data,6,0); |
Tom0108 | 1:199c4a71da88 | 366 | } |
Tom0108 | 1:199c4a71da88 | 367 | break; |
Tom0108 | 0:761a63c6d020 | 368 | |
Tom0108 | 1:199c4a71da88 | 369 | case 2: |
Tom0108 | 2:47954f05d32d | 370 | if(tim.read_ms()>1500) { |
Tom0108 | 2:47954f05d32d | 371 | kago++; |
Tom0108 | 2:47954f05d32d | 372 | tim.reset(); |
Tom0108 | 2:47954f05d32d | 373 | } |
Tom0108 | 1:199c4a71da88 | 374 | break; |
Tom0108 | 1:199c4a71da88 | 375 | |
Tom0108 | 1:199c4a71da88 | 376 | case 3: |
Tom0108 | 1:199c4a71da88 | 377 | MD_SET_DRIVE(MD_Data,6,MD_REVERSE); |
Tom0108 | 1:199c4a71da88 | 378 | MD_SET_PWM (MD_Data,6,65); |
Tom0108 | 2:47954f05d32d | 379 | if(slide_start==1 || tim.read_ms()>3000) kago++; |
Tom0108 | 1:199c4a71da88 | 380 | break; |
Tom0108 | 1:199c4a71da88 | 381 | |
Tom0108 | 1:199c4a71da88 | 382 | case 4: |
Tom0108 | 1:199c4a71da88 | 383 | MD_SET_DRIVE(MD_Data,4,MD_FORWARD); |
Tom0108 | 1:199c4a71da88 | 384 | MD_SET_PWM (MD_Data,4,40); |
Tom0108 | 1:199c4a71da88 | 385 | if(start_lim==1) kago_flag=0; |
Tom0108 | 1:199c4a71da88 | 386 | break; |
Tom0108 | 0:761a63c6d020 | 387 | } |
Tom0108 | 0:761a63c6d020 | 388 | } else { |
Tom0108 | 0:761a63c6d020 | 389 | MD_SET_DRIVE(MD_Data,4,MD_BRAKE); |
Tom0108 | 1:199c4a71da88 | 390 | MD_SET_PWM (MD_Data,4,0); |
Tom0108 | 1:199c4a71da88 | 391 | MD_SET_DRIVE(MD_Data,6,MD_BRAKE); |
Tom0108 | 1:199c4a71da88 | 392 | MD_SET_PWM (MD_Data,6,0); |
Tom0108 | 1:199c4a71da88 | 393 | |
Tom0108 | 1:199c4a71da88 | 394 | //爪開く |
Tom0108 | 2:47954f05d32d | 395 | i2c.Out_Set(Out_Data,1,1); |
Tom0108 | 1:199c4a71da88 | 396 | //腕上げる |
Tom0108 | 2:47954f05d32d | 397 | i2c.Out_Set(Out_Data,0,0); |
Tom0108 | 2:47954f05d32d | 398 | |
Tom0108 | 1:199c4a71da88 | 399 | kago=0; |
Tom0108 | 1:199c4a71da88 | 400 | pull=0; |
Tom0108 | 1:199c4a71da88 | 401 | grab=0; |
Tom0108 | 2:47954f05d32d | 402 | |
Tom0108 | 2:47954f05d32d | 403 | tim.reset(); |
Tom0108 | 0:761a63c6d020 | 404 | } |
Tom0108 | 0:761a63c6d020 | 405 | |
Tom0108 | 0:761a63c6d020 | 406 | /*タオル掛け*/ |
Tom0108 | 0:761a63c6d020 | 407 | if(sbdbt.L2)i2c.Out_Set(Out_Data,2,1); |
Tom0108 | 0:761a63c6d020 | 408 | else i2c.Out_Set(Out_Data,2,0); |
Tom0108 | 0:761a63c6d020 | 409 | /*タオルを引っ張るやつ*/ |
Tom0108 | 1:199c4a71da88 | 410 | if(sbdbt.R2)i2c.Out_Set(Out_Data,4,1); |
Tom0108 | 1:199c4a71da88 | 411 | else i2c.Out_Set(Out_Data,4,0); |
Tom0108 | 0:761a63c6d020 | 412 | /*展開*/ |
Tom0108 | 1:199c4a71da88 | 413 | if(sbdbt.START && start_f == 0) { |
Tom0108 | 0:761a63c6d020 | 414 | start_cnt++; |
Tom0108 | 0:761a63c6d020 | 415 | start_f = 1; |
Tom0108 | 1:199c4a71da88 | 416 | } else if(sbdbt.START==0 && start_f == 1) start_f =0; |
Tom0108 | 0:761a63c6d020 | 417 | |
Tom0108 | 0:761a63c6d020 | 418 | if(start_cnt%3==1) start_s=0; |
Tom0108 | 0:761a63c6d020 | 419 | else start_s=1; |
Tom0108 | 0:761a63c6d020 | 420 | |
Tom0108 | 1:199c4a71da88 | 421 | if(start_s==0)i2c.Out_Set(Out_Data,3,1); |
Tom0108 | 1:199c4a71da88 | 422 | else if(start_s==1)i2c.Out_Set(Out_Data,3,0); |
Tom0108 | 1:199c4a71da88 | 423 | else start_cnt=2; |
Tom0108 | 0:761a63c6d020 | 424 | //-------------- 出力 --------------// |
Tom0108 | 0:761a63c6d020 | 425 | i2c.Out(Out_Data,5); |
Tom0108 | 0:761a63c6d020 | 426 | |
Tom0108 | 0:761a63c6d020 | 427 | i2c.MD_I2C(MD_Data,0); |
Tom0108 | 0:761a63c6d020 | 428 | i2c.MD_I2C(MD_Data,1); |
Tom0108 | 0:761a63c6d020 | 429 | i2c.MD_I2C(MD_Data,2); |
Tom0108 | 0:761a63c6d020 | 430 | i2c.MD_I2C(MD_Data,3); |
Tom0108 | 0:761a63c6d020 | 431 | i2c.MD_I2C(MD_Data,4); |
Tom0108 | 0:761a63c6d020 | 432 | i2c.MD_I2C(MD_Data,5); |
Tom0108 | 0:761a63c6d020 | 433 | i2c.MD_I2C(MD_Data,6); |
Tom0108 | 0:761a63c6d020 | 434 | i2c.MD_I2C(MD_Data,7); |
Tom0108 | 0:761a63c6d020 | 435 | |
Tom0108 | 1:199c4a71da88 | 436 | pc.printf("pull %2d%2d ",pull,pull_flag); |
Tom0108 | 1:199c4a71da88 | 437 | pc.printf("grab %2d%2d ",grab,grab_flag); |
Tom0108 | 1:199c4a71da88 | 438 | pc.printf("kago %2d%2d ",kago,kago_flag); |
Tom0108 | 1:199c4a71da88 | 439 | pc.printf("\n\r"); |
Tom0108 | 1:199c4a71da88 | 440 | // pc.printf("%2d%2d%2d%2d%2d%2d\n\r",UPkey,RIGHTkey,DOWNkey,LEFTkey,sbdbt.SELECT,sbdbt.START); |
Tom0108 | 0:761a63c6d020 | 441 | // printf("y_deg%2f offset%2f yaw%2f Turn_val%2f dif_val%2f\r\n",y_deg,offset,yaw,Turn_val,dif_val); |
Tom0108 | 0:761a63c6d020 | 442 | |
Tom0108 | 2:47954f05d32d | 443 | //ボタン系 |
Tom0108 | 2:47954f05d32d | 444 | if(sbdbt.L1) { |
Tom0108 | 2:47954f05d32d | 445 | Turn_val=y_deg; |
Tom0108 | 2:47954f05d32d | 446 | offset=y_deg; |
Tom0108 | 2:47954f05d32d | 447 | } |
Tom0108 | 2:47954f05d32d | 448 | |
Tom0108 | 2:47954f05d32d | 449 | //90度回転して補正の角度を固定する |
Tom0108 | 2:47954f05d32d | 450 | if(LEFTkey) offset=y_deg; |
Tom0108 | 2:47954f05d32d | 451 | if(RIGHTkey) { |
Tom0108 | 2:47954f05d32d | 452 | offset=y_deg; |
Tom0108 | 2:47954f05d32d | 453 | right_f=1; |
Tom0108 | 2:47954f05d32d | 454 | } |
Tom0108 | 1:199c4a71da88 | 455 | if(CROSS) { |
Tom0108 | 1:199c4a71da88 | 456 | if(once==0) { |
Tom0108 | 1:199c4a71da88 | 457 | kago_flag++; |
Tom0108 | 1:199c4a71da88 | 458 | kago_flag%=2; |
Tom0108 | 1:199c4a71da88 | 459 | once++; |
Tom0108 | 1:199c4a71da88 | 460 | } |
Tom0108 | 1:199c4a71da88 | 461 | } else if(SQUARE) { |
Tom0108 | 1:199c4a71da88 | 462 | if(once==0) { |
Tom0108 | 1:199c4a71da88 | 463 | grab_flag++; |
Tom0108 | 1:199c4a71da88 | 464 | grab_flag%=2; |
Tom0108 | 1:199c4a71da88 | 465 | once++; |
Tom0108 | 1:199c4a71da88 | 466 | } |
Tom0108 | 1:199c4a71da88 | 467 | } else if(CIRCLE) { |
Tom0108 | 1:199c4a71da88 | 468 | if(once==0) { |
Tom0108 | 1:199c4a71da88 | 469 | pull_flag++; |
Tom0108 | 1:199c4a71da88 | 470 | pull_flag%=2; |
Tom0108 | 1:199c4a71da88 | 471 | once++; |
Tom0108 | 1:199c4a71da88 | 472 | } |
Tom0108 | 1:199c4a71da88 | 473 | } else once=0; |
Tom0108 | 1:199c4a71da88 | 474 | |
Tom0108 | 1:199c4a71da88 | 475 | |
Tom0108 | 0:761a63c6d020 | 476 | } // if(sbdbt.State_check()) |
Tom0108 | 0:761a63c6d020 | 477 | } // while(1) |
Tom0108 | 0:761a63c6d020 | 478 | } // int main() |
Tom0108 | 0:761a63c6d020 | 479 | |
Tom0108 | 0:761a63c6d020 | 480 | /* メカナムの基本移動 */ |
Tom0108 | 0:761a63c6d020 | 481 | void mecanum_Move(void) |
Tom0108 | 0:761a63c6d020 | 482 | { |
Tom0108 | 0:761a63c6d020 | 483 | int val1,val2; |
Tom0108 | 0:761a63c6d020 | 484 | |
Tom0108 | 0:761a63c6d020 | 485 | MD_SET_DRIVE(MD_Data, 0,(L > 0) ? MD_FORWARD : MD_REVERSE); |
Tom0108 | 0:761a63c6d020 | 486 | MD_SET_DRIVE(MD_Data, 1,(R > 0) ? MD_REVERSE : MD_FORWARD); |
Tom0108 | 0:761a63c6d020 | 487 | MD_SET_DRIVE(MD_Data, 2,(R > 0) ? MD_FORWARD : MD_REVERSE); |
Tom0108 | 0:761a63c6d020 | 488 | MD_SET_DRIVE(MD_Data, 3,(L > 0) ? MD_REVERSE : MD_FORWARD); |
Tom0108 | 0:761a63c6d020 | 489 | |
Tom0108 | 0:761a63c6d020 | 490 | val1 = (int)sqrt( 1.0*abs( abs(lx)*lx + abs(ly)*ly ) ); |
Tom0108 | 0:761a63c6d020 | 491 | val2 = (int)sqrt( 1.0*abs( abs(ly)*ly - abs(lx)*lx ) ); |
Tom0108 | 0:761a63c6d020 | 492 | |
Tom0108 | 0:761a63c6d020 | 493 | MD_SET_PWM(MD_Data,0,val1); |
Tom0108 | 0:761a63c6d020 | 494 | MD_SET_PWM(MD_Data,1,val2); |
Tom0108 | 0:761a63c6d020 | 495 | MD_SET_PWM(MD_Data,2,val2); |
Tom0108 | 0:761a63c6d020 | 496 | MD_SET_PWM(MD_Data,3,val1); |
Tom0108 | 0:761a63c6d020 | 497 | |
Tom0108 | 0:761a63c6d020 | 498 | |
Tom0108 | 0:761a63c6d020 | 499 | if(MD_GET_PWM(MD_Data,0)*2 < MD_GET_PWM(MD_Data,1) ) { |
Tom0108 | 0:761a63c6d020 | 500 | MD_SET_PWM(MD_Data, 0, 0); |
Tom0108 | 0:761a63c6d020 | 501 | g = 0; |
Tom0108 | 0:761a63c6d020 | 502 | } else if( MD_GET_PWM(MD_Data,1)*2 < MD_GET_PWM(MD_Data,0) ) { |
Tom0108 | 0:761a63c6d020 | 503 | MD_SET_PWM(MD_Data, 1, 0); |
Tom0108 | 0:761a63c6d020 | 504 | g = 0; |
Tom0108 | 0:761a63c6d020 | 505 | } |
Tom0108 | 0:761a63c6d020 | 506 | |
Tom0108 | 0:761a63c6d020 | 507 | // 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 | 508 | else if( MD_GET_PWM(MD_Data,0) < MD_GET_PWM(MD_Data,1) ) { |
Tom0108 | 0:761a63c6d020 | 509 | MD_SET_PWM(MD_Data, 0, MD_GET_PWM(MD_Data,1)); |
Tom0108 | 0:761a63c6d020 | 510 | g = 1; |
Tom0108 | 0:761a63c6d020 | 511 | |
Tom0108 | 0:761a63c6d020 | 512 | } else { |
Tom0108 | 0:761a63c6d020 | 513 | MD_SET_PWM(MD_Data, 1, MD_GET_PWM(MD_Data,0)); |
Tom0108 | 0:761a63c6d020 | 514 | g = 1; |
Tom0108 | 0:761a63c6d020 | 515 | } |
Tom0108 | 0:761a63c6d020 | 516 | |
Tom0108 | 0:761a63c6d020 | 517 | MD_SET_PWM(MD_Data, 2, MD_GET_PWM(MD_Data,1)); |
Tom0108 | 0:761a63c6d020 | 518 | MD_SET_PWM(MD_Data, 3, MD_GET_PWM(MD_Data,0)); |
Tom0108 | 0:761a63c6d020 | 519 | |
Tom0108 | 0:761a63c6d020 | 520 | } |
Tom0108 | 0:761a63c6d020 | 521 | |
Tom0108 | 0:761a63c6d020 | 522 | /* メカナム旋回 */ |
Tom0108 | 0:761a63c6d020 | 523 | void mecanum_Turn(void) |
Tom0108 | 0:761a63c6d020 | 524 | { |
Tom0108 | 0:761a63c6d020 | 525 | for(int i=0; i<4; i++) { |
Tom0108 | 0:761a63c6d020 | 526 | MD_SET_PWM(MD_Data, i,sbdbt.R1?abs(sbdbt.RX - 64)*50/64:abs(sbdbt.RX - 64)*100/64); |
Tom0108 | 0:761a63c6d020 | 527 | MD_SET_DRIVE(MD_Data, i,(sbdbt.RX < 64)? MD_REVERSE: MD_FORWARD); |
Tom0108 | 0:761a63c6d020 | 528 | } |
Tom0108 | 0:761a63c6d020 | 529 | } |
Tom0108 | 0:761a63c6d020 | 530 | |
Tom0108 | 0:761a63c6d020 | 531 | /*メカナム旋廻移動*/ |
Tom0108 | 0:761a63c6d020 | 532 | void mecanum_TurnMove(void) |
Tom0108 | 0:761a63c6d020 | 533 | { |
Tom0108 | 0:761a63c6d020 | 534 | int val1,val2; |
Tom0108 | 0:761a63c6d020 | 535 | |
Tom0108 | 0:761a63c6d020 | 536 | MD_SET_DRIVE(MD_Data, 0,(L_1 > 0) ? MD_FORWARD : MD_REVERSE); |
Tom0108 | 0:761a63c6d020 | 537 | MD_SET_DRIVE(MD_Data, 1,(R_1 > 0) ? MD_REVERSE : MD_FORWARD); |
Tom0108 | 0:761a63c6d020 | 538 | MD_SET_DRIVE(MD_Data, 2,(R_1 > 0) ? MD_FORWARD : MD_REVERSE); |
Tom0108 | 0:761a63c6d020 | 539 | MD_SET_DRIVE(MD_Data, 3,(L_1 > 0) ? MD_REVERSE : MD_FORWARD); |
Tom0108 | 0:761a63c6d020 | 540 | |
Tom0108 | 0:761a63c6d020 | 541 | val1 = (int)sqrt( 1.0*abs( abs(lx)*lx + abs(ly)*ly +rx)); |
Tom0108 | 0:761a63c6d020 | 542 | val2 = (int)sqrt( 1.0*abs( abs(ly)*ly - abs(lx)*lx +rx)); |
Tom0108 | 0:761a63c6d020 | 543 | |
Tom0108 | 0:761a63c6d020 | 544 | MD_SET_PWM(MD_Data,0,val1); |
Tom0108 | 0:761a63c6d020 | 545 | MD_SET_PWM(MD_Data,1,val2); |
Tom0108 | 0:761a63c6d020 | 546 | MD_SET_PWM(MD_Data,2,val2); |
Tom0108 | 0:761a63c6d020 | 547 | MD_SET_PWM(MD_Data,3,val1); |
Tom0108 | 0:761a63c6d020 | 548 | } |
Tom0108 | 0:761a63c6d020 | 549 | /* 停止 */ |
Tom0108 | 0:761a63c6d020 | 550 | void mecanum_Stop(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, 0); |
Tom0108 | 0:761a63c6d020 | 554 | MD_SET_DRIVE(MD_Data, i, MD_BRAKE); |
Tom0108 | 0:761a63c6d020 | 555 | } |
Tom0108 | 0:761a63c6d020 | 556 | } |
Tom0108 | 0:761a63c6d020 | 557 | |
Tom0108 | 0:761a63c6d020 | 558 | |
Tom0108 | 0:761a63c6d020 | 559 | /*割り込み*/ |
Tom0108 | 0:761a63c6d020 | 560 | // void flip1(void) { |
Tom0108 | 0:761a63c6d020 | 561 | // static int cnt=0; |
Tom0108 | 0:761a63c6d020 | 562 | // |
Tom0108 | 0:761a63c6d020 | 563 | // /* カウントアップ,1sループ */ |
Tom0108 | 0:761a63c6d020 | 564 | // cnt++; |
Tom0108 | 0:761a63c6d020 | 565 | // cnt%=10000; |
Tom0108 | 0:761a63c6d020 | 566 | // |
Tom0108 | 0:761a63c6d020 | 567 | // /* 100msの処理 */ |
Tom0108 | 0:761a63c6d020 | 568 | // if(cnt%100==0) { |
Tom0108 | 0:761a63c6d020 | 569 | // myled = !myled; |
Tom0108 | 0:761a63c6d020 | 570 | // if(tim_start==1) time_cnt++; |
Tom0108 | 0:761a63c6d020 | 571 | // if(time_cnt>10 && time_f==0) { |
Tom0108 | 0:761a63c6d020 | 572 | // time_f=1; |
Tom0108 | 0:761a63c6d020 | 573 | // } |
Tom0108 | 0:761a63c6d020 | 574 | // } |
Tom0108 | 0:761a63c6d020 | 575 | //} |
Tom0108 | 0:761a63c6d020 | 576 | |
Tom0108 | 0:761a63c6d020 | 577 | |
Tom0108 | 0:761a63c6d020 | 578 | /*操作法*/ |
Tom0108 | 0:761a63c6d020 | 579 | /* |
Tom0108 | 0:761a63c6d020 | 580 | 〇 ボタン == 回収(引きずる) |
Tom0108 | 0:761a63c6d020 | 581 | ? ボタン == 籠 |
Tom0108 | 0:761a63c6d020 | 582 | △ ボタン == 回収(シーツ兼シャツ) |
Tom0108 | 0:761a63c6d020 | 583 | □ ボタン == 回収(タオル) |
Tom0108 | 0:761a63c6d020 | 584 | 上 ボタン == ハンガーかけ機構 上昇 |
Tom0108 | 0:761a63c6d020 | 585 | 下 ボタン == ハンガーかけ機構 下降 |
Tom0108 | 0:761a63c6d020 | 586 | 左 ボタン == 90回転 |
Tom0108 | 0:761a63c6d020 | 587 | 右 ボタン == 90回転 |
Tom0108 | 0:761a63c6d020 | 588 | L1 ボタン == リセット(足回り) |
Tom0108 | 0:761a63c6d020 | 589 | L2 ボタン == タオル掛け |
Tom0108 | 0:761a63c6d020 | 590 | R1 ボタン == 押しながら回転でゆっくりになる |
Tom0108 | 0:761a63c6d020 | 591 | R2 ボタン == タオルひっぱる奴 |
Tom0108 | 0:761a63c6d020 | 592 | select == ハンガー掛け 最大まで上昇 |
Tom0108 | 0:761a63c6d020 | 593 | start == ハンガー展開 |
Tom0108 | 0:761a63c6d020 | 594 | */ |
Tom0108 | 0:761a63c6d020 | 595 | /*その他注意点*/ |
Tom0108 | 0:761a63c6d020 | 596 | /* |
Tom0108 | 0:761a63c6d020 | 597 | 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 | 598 | 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 | 599 | あまり急発進をさせない(たまに暴走) |
Tom0108 | 0:761a63c6d020 | 600 | 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 | 601 | 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 | 602 | */ |