Takushima Yukimasa
/
R19_ManuTakukAHWGeo
a
main.cpp@13:48c4a4c95e77, 2019-09-15 (annotated)
- Committer:
- Tom0108
- Date:
- Sun Sep 15 11:43:13 2019 +0000
- Revision:
- 13:48c4a4c95e77
- Parent:
- 12:7e33e400a48d
- Child:
- 14:e6d16095ffa8
Move arm manually
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Tom0108 | 0:761a63c6d020 | 1 | #include "main.h" |
Tom0108 | 0:761a63c6d020 | 2 | |
Tom0108 | 0:761a63c6d020 | 3 | /* 型定義 --------------------------------------------------------------------*/ |
Tom0108 | 8:b79d21c8178b | 4 | //ゾーン対応 |
Tom0108 | 13:48c4a4c95e77 | 5 | #define _RED_ZONE_ |
Tom0108 | 8:b79d21c8178b | 6 | #ifdef _RED_ZONE_ |
Tom0108 | 8:b79d21c8178b | 7 | const int def_val=0; |
Tom0108 | 8:b79d21c8178b | 8 | #else |
Tom0108 | 8:b79d21c8178b | 9 | const int def_val=180; |
Tom0108 | 8:b79d21c8178b | 10 | #endif |
Tom0108 | 0:761a63c6d020 | 11 | |
Tom0108 | 0:761a63c6d020 | 12 | /* 関数宣言 ------------------------------------------------------------------*/ |
Tom0108 | 0:761a63c6d020 | 13 | |
Tom0108 | 0:761a63c6d020 | 14 | /* 変数宣言 ------------------------------------------------------------------*/ |
Tom0108 | 1:199c4a71da88 | 15 | |
Tom0108 | 1:199c4a71da88 | 16 | //コントローラーの状態を保存するため |
Tom0108 | 1:199c4a71da88 | 17 | int once=0; |
Tom0108 | 1:199c4a71da88 | 18 | |
Tom0108 | 12:7e33e400a48d | 19 | //kogo: かごをひっくり返す |
Tom0108 | 10:7c73e1577742 | 20 | //pull: 奥のリミットで引く |
Tom0108 | 13:48c4a4c95e77 | 21 | //spull: 中央のリミットでつかむ(short_pull |
Tom0108 | 10:7c73e1577742 | 22 | //grab: 掴む |
Tom0108 | 8:b79d21c8178b | 23 | //back_f: 真ん中目で下がるとき |
Tom0108 | 12:7e33e400a48d | 24 | //release_f: 全体のエアー開放用 |
Tom0108 | 12:7e33e400a48d | 25 | //unfold_f: タオル横展開用 |
Tom0108 | 13:48c4a4c95e77 | 26 | |
Tom0108 | 12:7e33e400a48d | 27 | int kago=0, kago_f=0, pull=0, pull_f=0, grab=0, grab_f=0, spull=0, spull_f=0; |
Tom0108 | 12:7e33e400a48d | 28 | int back_f=0, release_f=0, unfold_f=0, short_f=0; |
Tom0108 | 3:1063aa133b62 | 29 | |
Tom0108 | 12:7e33e400a48d | 30 | //上下動作を保持 |
Tom0108 | 12:7e33e400a48d | 31 | //[0]: 上 |
Tom0108 | 12:7e33e400a48d | 32 | //[1]: 下 |
Tom0108 | 12:7e33e400a48d | 33 | int keep_f[2]= {0}; |
Tom0108 | 3:1063aa133b62 | 34 | |
Tom0108 | 6:040d001acb12 | 35 | //yaw: 実際に使う角度 |
Tom0108 | 10:7c73e1577742 | 36 | double yaw=def_val; |
Tom0108 | 1:199c4a71da88 | 37 | |
Tom0108 | 12:7e33e400a48d | 38 | //[0]: 今回の値 |
Tom0108 | 12:7e33e400a48d | 39 | //[1]: 前回の値 |
Tom0108 | 10:7c73e1577742 | 40 | double rawyaw[2]; |
Tom0108 | 3:1063aa133b62 | 41 | |
Tom0108 | 3:1063aa133b62 | 42 | //Turn_val: 補正の目標値 |
Tom0108 | 11:c1a22e2e3534 | 43 | double Turn_val=def_val; |
Tom0108 | 3:1063aa133b62 | 44 | |
Tom0108 | 3:1063aa133b62 | 45 | //short_lim: 腕中央 |
Tom0108 | 3:1063aa133b62 | 46 | //max_lim: 腕奥側 |
Tom0108 | 3:1063aa133b62 | 47 | //short_lim: 腕手前側 |
Tom0108 | 3:1063aa133b62 | 48 | int short_lim, max_lim, start_lim; |
Tom0108 | 12:7e33e400a48d | 49 | int limit_up,limit_down; // リミットスイッチ |
Tom0108 | 12:7e33e400a48d | 50 | int slide_start,slide_stop; //かごのリミット |
Tom0108 | 1:199c4a71da88 | 51 | |
Tom0108 | 6:040d001acb12 | 52 | //足回りのpwm値 |
Tom0108 | 6:040d001acb12 | 53 | int duty[4]; |
Tom0108 | 4:236e5c58e8ee | 54 | |
Tom0108 | 6:040d001acb12 | 55 | // 足回り |
Tom0108 | 6:040d001acb12 | 56 | int lx,ly,rx; |
Tom0108 | 0:761a63c6d020 | 57 | |
Tom0108 | 0:761a63c6d020 | 58 | /*----------------------------------- main -----------------------------------*/ |
Tom0108 | 0:761a63c6d020 | 59 | int main() |
Tom0108 | 0:761a63c6d020 | 60 | { |
Tom0108 | 11:c1a22e2e3534 | 61 | //ジャイロリセット |
Tom0108 | 10:7c73e1577742 | 62 | bno.reset(); |
Tom0108 | 5:fcc79e507610 | 63 | |
Tom0108 | 0:761a63c6d020 | 64 | while(1) { |
Tom0108 | 1:199c4a71da88 | 65 | //自動系のタイマースタート |
Tom0108 | 1:199c4a71da88 | 66 | tim.start(); |
Tom0108 | 6:040d001acb12 | 67 | drift_tim.start(); |
Tom0108 | 12:7e33e400a48d | 68 | keep_tim[0].start(); |
Tom0108 | 12:7e33e400a48d | 69 | keep_tim[1].start(); |
Tom0108 | 0:761a63c6d020 | 70 | |
Tom0108 | 11:c1a22e2e3534 | 71 | bno.setmode(OPERATION_MODE_IMUPLUS); |
Tom0108 | 10:7c73e1577742 | 72 | //角度の取得 |
Tom0108 | 10:7c73e1577742 | 73 | bno.get_angles(); |
Tom0108 | 10:7c73e1577742 | 74 | rawyaw[1]=rawyaw[0]; |
Tom0108 | 10:7c73e1577742 | 75 | rawyaw[0]=bno.euler.yaw; |
Tom0108 | 11:c1a22e2e3534 | 76 | |
Tom0108 | 5:fcc79e507610 | 77 | //180~-180をまたいだ時 |
Tom0108 | 10:7c73e1577742 | 78 | if(rawyaw[1]<90 && rawyaw[0]>270) rawyaw[1]+=360; |
Tom0108 | 10:7c73e1577742 | 79 | else if(rawyaw[1]>270 && rawyaw[0]<90) rawyaw[1]-=360; |
Tom0108 | 11:c1a22e2e3534 | 80 | |
Tom0108 | 10:7c73e1577742 | 81 | yaw-=rawyaw[0]-rawyaw[1]; |
Tom0108 | 13:48c4a4c95e77 | 82 | yaw=fmod(yaw, 360); |
Tom0108 | 0:761a63c6d020 | 83 | |
Tom0108 | 12:7e33e400a48d | 84 | //ゾーン対応 |
Tom0108 | 12:7e33e400a48d | 85 | #ifdef _RED_ZONE_ |
Tom0108 | 12:7e33e400a48d | 86 | PALETTE(RED); |
Tom0108 | 12:7e33e400a48d | 87 | #else |
Tom0108 | 12:7e33e400a48d | 88 | PALETTE(BLUE); |
Tom0108 | 12:7e33e400a48d | 89 | #endif |
Tom0108 | 12:7e33e400a48d | 90 | |
Tom0108 | 5:fcc79e507610 | 91 | if(sbdbt.State_check()) { |
Tom0108 | 12:7e33e400a48d | 92 | //リミット |
Tom0108 | 5:fcc79e507610 | 93 | for(int i=0; i<7; i++) i2c.In(In_Data,i); |
Tom0108 | 6:040d001acb12 | 94 | |
Tom0108 | 0:761a63c6d020 | 95 | 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 | 96 | ly = ((64-sbdbt.LY)*100.0/64)*cos(yaw*M_PI/180)-((sbdbt.LX-64)*100.0/64)*sin(yaw*M_PI/180); |
Tom0108 | 8:b79d21c8178b | 97 | rx = (sbdbt.RX - 64)*60/64; |
Tom0108 | 8:b79d21c8178b | 98 | |
Tom0108 | 8:b79d21c8178b | 99 | //R1で停止 |
Tom0108 | 13:48c4a4c95e77 | 100 | if(1) { |
Tom0108 | 8:b79d21c8178b | 101 | //メカナム基本動作 |
Tom0108 | 8:b79d21c8178b | 102 | mecanum_Move(lx, ly, rx); |
Tom0108 | 0:761a63c6d020 | 103 | |
Tom0108 | 8:b79d21c8178b | 104 | //旋回している間タイマーをリセット |
Tom0108 | 8:b79d21c8178b | 105 | if(sbdbt.RX != 64) drift_tim.reset(); |
Tom0108 | 8:b79d21c8178b | 106 | |
Tom0108 | 8:b79d21c8178b | 107 | //旋回して慣性で動いた後の角度に補正する |
Tom0108 | 11:c1a22e2e3534 | 108 | if(drift_tim.read_ms()<1000) Turn_val=yaw; |
Tom0108 | 0:761a63c6d020 | 109 | |
Tom0108 | 8:b79d21c8178b | 110 | //角度補正 |
Tom0108 | 8:b79d21c8178b | 111 | AngleCorrection(yaw, Turn_val); |
Tom0108 | 8:b79d21c8178b | 112 | |
Tom0108 | 8:b79d21c8178b | 113 | /*---ハンガーかけるやつ----------------------------------------------*/ |
Tom0108 | 12:7e33e400a48d | 114 | //上方向 |
Tom0108 | 12:7e33e400a48d | 115 | if(!DOWNkey && ((UPkey || keep_f[0]) && limit_up == 0)) { |
Tom0108 | 12:7e33e400a48d | 116 | //一定秒以上押されたら保持 |
Tom0108 | 12:7e33e400a48d | 117 | if(keep_tim[0].read_ms()>500) keep_f[0]=1; |
Tom0108 | 12:7e33e400a48d | 118 | //下方向の保持を解除 |
Tom0108 | 12:7e33e400a48d | 119 | keep_f[1]=0; |
Tom0108 | 12:7e33e400a48d | 120 | |
Tom0108 | 12:7e33e400a48d | 121 | MD_SET_DRIVE(MD_Data, 5,MD_FORWARD); |
Tom0108 | 12:7e33e400a48d | 122 | MD_SET_PWM(MD_Data, 5,100); |
Tom0108 | 12:7e33e400a48d | 123 | } |
Tom0108 | 12:7e33e400a48d | 124 | //下方向 |
Tom0108 | 12:7e33e400a48d | 125 | else if(!UPkey && ((DOWNkey || keep_f[1]) && limit_down == 0)) { |
Tom0108 | 12:7e33e400a48d | 126 | if(keep_tim[1].read_ms()>500) keep_f[1]=1; |
Tom0108 | 12:7e33e400a48d | 127 | keep_f[0]=0; |
Tom0108 | 12:7e33e400a48d | 128 | |
Tom0108 | 8:b79d21c8178b | 129 | MD_SET_DRIVE(MD_Data, 5,MD_REVERSE); |
Tom0108 | 8:b79d21c8178b | 130 | MD_SET_PWM(MD_Data, 5,100); |
Tom0108 | 8:b79d21c8178b | 131 | } else { |
Tom0108 | 12:7e33e400a48d | 132 | keep_f[0]=0; |
Tom0108 | 12:7e33e400a48d | 133 | keep_tim[0].reset(); |
Tom0108 | 12:7e33e400a48d | 134 | keep_f[1]=0; |
Tom0108 | 12:7e33e400a48d | 135 | keep_tim[1].reset(); |
Tom0108 | 12:7e33e400a48d | 136 | |
Tom0108 | 8:b79d21c8178b | 137 | MD_SET_PWM(MD_Data,5,0); |
Tom0108 | 8:b79d21c8178b | 138 | MD_SET_DRIVE(MD_Data, 5,MD_BRAKE); |
Tom0108 | 8:b79d21c8178b | 139 | } |
Tom0108 | 6:040d001acb12 | 140 | |
Tom0108 | 8:b79d21c8178b | 141 | //タオルつかむ 四角 |
Tom0108 | 10:7c73e1577742 | 142 | if(grab_f) { |
Tom0108 | 10:7c73e1577742 | 143 | //真ん中で止まる用 |
Tom0108 | 8:b79d21c8178b | 144 | short_f=1; |
Tom0108 | 8:b79d21c8178b | 145 | switch(grab) { |
Tom0108 | 8:b79d21c8178b | 146 | //腕を前に動かす |
Tom0108 | 8:b79d21c8178b | 147 | case 0: |
Tom0108 | 8:b79d21c8178b | 148 | //爪開く |
Tom0108 | 8:b79d21c8178b | 149 | i2c.Out_Set(Out_Data,1,1); |
Tom0108 | 13:48c4a4c95e77 | 150 | //腕上げる |
Tom0108 | 13:48c4a4c95e77 | 151 | i2c.Out_Set(Out_Data,0,0); |
Tom0108 | 0:761a63c6d020 | 152 | |
Tom0108 | 10:7c73e1577742 | 153 | MD_SET_DRIVE(MD_Data,4,MD_REVERSE); |
Tom0108 | 9:64fcbcc182d9 | 154 | MD_SET_PWM (MD_Data,4,60); |
Tom0108 | 0:761a63c6d020 | 155 | |
Tom0108 | 10:7c73e1577742 | 156 | if(max_lim==1) { |
Tom0108 | 10:7c73e1577742 | 157 | grab++; |
Tom0108 | 10:7c73e1577742 | 158 | tim.reset(); |
Tom0108 | 8:b79d21c8178b | 159 | } |
Tom0108 | 8:b79d21c8178b | 160 | break; |
Tom0108 | 8:b79d21c8178b | 161 | |
Tom0108 | 8:b79d21c8178b | 162 | case 1: |
Tom0108 | 8:b79d21c8178b | 163 | //腕停止 |
Tom0108 | 8:b79d21c8178b | 164 | MD_SET_DRIVE(MD_Data,4,MD_BRAKE); |
Tom0108 | 8:b79d21c8178b | 165 | MD_SET_PWM(MD_Data,4,0); |
Tom0108 | 8:b79d21c8178b | 166 | |
Tom0108 | 8:b79d21c8178b | 167 | //腕おろす |
Tom0108 | 8:b79d21c8178b | 168 | i2c.Out_Set(Out_Data,0,1); |
Tom0108 | 9:64fcbcc182d9 | 169 | if(tim.read_ms()>200) { |
Tom0108 | 8:b79d21c8178b | 170 | grab++; |
Tom0108 | 8:b79d21c8178b | 171 | tim.reset(); |
Tom0108 | 8:b79d21c8178b | 172 | } |
Tom0108 | 8:b79d21c8178b | 173 | break; |
Tom0108 | 0:761a63c6d020 | 174 | |
Tom0108 | 8:b79d21c8178b | 175 | case 2: |
Tom0108 | 8:b79d21c8178b | 176 | //爪閉じる |
Tom0108 | 8:b79d21c8178b | 177 | i2c.Out_Set(Out_Data,1,0); |
Tom0108 | 9:64fcbcc182d9 | 178 | if(tim.read_ms()>0) { |
Tom0108 | 8:b79d21c8178b | 179 | grab++; |
Tom0108 | 8:b79d21c8178b | 180 | tim.reset(); |
Tom0108 | 8:b79d21c8178b | 181 | } |
Tom0108 | 8:b79d21c8178b | 182 | break; |
Tom0108 | 8:b79d21c8178b | 183 | |
Tom0108 | 8:b79d21c8178b | 184 | case 3: |
Tom0108 | 8:b79d21c8178b | 185 | //腕上げる |
Tom0108 | 8:b79d21c8178b | 186 | i2c.Out_Set(Out_Data,0,0); |
Tom0108 | 9:64fcbcc182d9 | 187 | if(tim.read_ms()>0) { |
Tom0108 | 8:b79d21c8178b | 188 | grab++; |
Tom0108 | 8:b79d21c8178b | 189 | tim.reset(); |
Tom0108 | 8:b79d21c8178b | 190 | } |
Tom0108 | 8:b79d21c8178b | 191 | break; |
Tom0108 | 8:b79d21c8178b | 192 | |
Tom0108 | 8:b79d21c8178b | 193 | //腕戻す |
Tom0108 | 8:b79d21c8178b | 194 | case 4: |
Tom0108 | 8:b79d21c8178b | 195 | MD_SET_DRIVE(MD_Data,4,MD_FORWARD); |
Tom0108 | 9:64fcbcc182d9 | 196 | MD_SET_PWM (MD_Data,4,60); |
Tom0108 | 8:b79d21c8178b | 197 | if(start_lim==1) { |
Tom0108 | 8:b79d21c8178b | 198 | grab_f=0; |
Tom0108 | 8:b79d21c8178b | 199 | tim.reset(); |
Tom0108 | 8:b79d21c8178b | 200 | } |
Tom0108 | 8:b79d21c8178b | 201 | break; |
Tom0108 | 8:b79d21c8178b | 202 | } |
Tom0108 | 8:b79d21c8178b | 203 | } //if(grab_f) |
Tom0108 | 0:761a63c6d020 | 204 | |
Tom0108 | 10:7c73e1577742 | 205 | //シーツ用 |
Tom0108 | 10:7c73e1577742 | 206 | else if(spull_f) { |
Tom0108 | 10:7c73e1577742 | 207 | short_f=1; |
Tom0108 | 10:7c73e1577742 | 208 | switch(spull) { |
Tom0108 | 10:7c73e1577742 | 209 | //腕を前に動かす |
Tom0108 | 10:7c73e1577742 | 210 | case 0: |
Tom0108 | 13:48c4a4c95e77 | 211 | //爪閉じる |
Tom0108 | 13:48c4a4c95e77 | 212 | i2c.Out_Set(Out_Data,1,0); |
Tom0108 | 13:48c4a4c95e77 | 213 | //腕上げる |
Tom0108 | 13:48c4a4c95e77 | 214 | i2c.Out_Set(Out_Data,0,0); |
Tom0108 | 13:48c4a4c95e77 | 215 | |
Tom0108 | 10:7c73e1577742 | 216 | //真ん中のリミットより前に腕があった場合にバックする |
Tom0108 | 10:7c73e1577742 | 217 | if(back_f) MD_SET_DRIVE(MD_Data,4,MD_FORWARD); |
Tom0108 | 10:7c73e1577742 | 218 | else MD_SET_DRIVE(MD_Data,4,MD_REVERSE); |
Tom0108 | 11:c1a22e2e3534 | 219 | MD_SET_PWM (MD_Data,4,30); |
Tom0108 | 10:7c73e1577742 | 220 | |
Tom0108 | 10:7c73e1577742 | 221 | if(short_lim==1) { |
Tom0108 | 10:7c73e1577742 | 222 | spull++; |
Tom0108 | 10:7c73e1577742 | 223 | tim.reset(); |
Tom0108 | 10:7c73e1577742 | 224 | } else if(max_lim) back_f=1; |
Tom0108 | 10:7c73e1577742 | 225 | break; |
Tom0108 | 11:c1a22e2e3534 | 226 | |
Tom0108 | 11:c1a22e2e3534 | 227 | case 1: |
Tom0108 | 10:7c73e1577742 | 228 | //腕停止 |
Tom0108 | 10:7c73e1577742 | 229 | MD_SET_DRIVE(MD_Data,4,MD_BRAKE); |
Tom0108 | 10:7c73e1577742 | 230 | MD_SET_PWM(MD_Data,4,0); |
Tom0108 | 10:7c73e1577742 | 231 | |
Tom0108 | 10:7c73e1577742 | 232 | //腕おろす |
Tom0108 | 10:7c73e1577742 | 233 | i2c.Out_Set(Out_Data,0,1); |
Tom0108 | 10:7c73e1577742 | 234 | if(tim.read_ms()>200) { |
Tom0108 | 10:7c73e1577742 | 235 | spull++; |
Tom0108 | 10:7c73e1577742 | 236 | tim.reset(); |
Tom0108 | 10:7c73e1577742 | 237 | } |
Tom0108 | 10:7c73e1577742 | 238 | break; |
Tom0108 | 10:7c73e1577742 | 239 | |
Tom0108 | 10:7c73e1577742 | 240 | case 2: |
Tom0108 | 10:7c73e1577742 | 241 | //爪閉じる |
Tom0108 | 10:7c73e1577742 | 242 | i2c.Out_Set(Out_Data,1,0); |
Tom0108 | 10:7c73e1577742 | 243 | if(tim.read_ms()>0) { |
Tom0108 | 10:7c73e1577742 | 244 | spull++; |
Tom0108 | 10:7c73e1577742 | 245 | tim.reset(); |
Tom0108 | 10:7c73e1577742 | 246 | } |
Tom0108 | 10:7c73e1577742 | 247 | break; |
Tom0108 | 10:7c73e1577742 | 248 | |
Tom0108 | 10:7c73e1577742 | 249 | case 3: |
Tom0108 | 10:7c73e1577742 | 250 | //腕上げる |
Tom0108 | 13:48c4a4c95e77 | 251 | // i2c.Out_Set(Out_Data,0,0); |
Tom0108 | 10:7c73e1577742 | 252 | if(tim.read_ms()>0) { |
Tom0108 | 10:7c73e1577742 | 253 | spull++; |
Tom0108 | 10:7c73e1577742 | 254 | tim.reset(); |
Tom0108 | 10:7c73e1577742 | 255 | } |
Tom0108 | 10:7c73e1577742 | 256 | break; |
Tom0108 | 10:7c73e1577742 | 257 | |
Tom0108 | 10:7c73e1577742 | 258 | //腕戻す |
Tom0108 | 10:7c73e1577742 | 259 | case 4: |
Tom0108 | 10:7c73e1577742 | 260 | MD_SET_DRIVE(MD_Data,4,MD_FORWARD); |
Tom0108 | 10:7c73e1577742 | 261 | MD_SET_PWM (MD_Data,4,60); |
Tom0108 | 10:7c73e1577742 | 262 | if(start_lim==1) { |
Tom0108 | 10:7c73e1577742 | 263 | spull_f=0; |
Tom0108 | 10:7c73e1577742 | 264 | tim.reset(); |
Tom0108 | 10:7c73e1577742 | 265 | } |
Tom0108 | 10:7c73e1577742 | 266 | break; |
Tom0108 | 10:7c73e1577742 | 267 | |
Tom0108 | 10:7c73e1577742 | 268 | } |
Tom0108 | 10:7c73e1577742 | 269 | } //if(spull_f) |
Tom0108 | 10:7c73e1577742 | 270 | |
Tom0108 | 8:b79d21c8178b | 271 | //タオル引く 丸 |
Tom0108 | 8:b79d21c8178b | 272 | else if(pull_f) { |
Tom0108 | 8:b79d21c8178b | 273 | short_f=1; |
Tom0108 | 8:b79d21c8178b | 274 | switch(pull) { |
Tom0108 | 8:b79d21c8178b | 275 | //腕を前に動かす |
Tom0108 | 8:b79d21c8178b | 276 | case 0: |
Tom0108 | 8:b79d21c8178b | 277 | //爪閉じる |
Tom0108 | 8:b79d21c8178b | 278 | i2c.Out_Set(Out_Data,1,0); |
Tom0108 | 13:48c4a4c95e77 | 279 | //腕上げる |
Tom0108 | 13:48c4a4c95e77 | 280 | i2c.Out_Set(Out_Data,0,0); |
Tom0108 | 8:b79d21c8178b | 281 | |
Tom0108 | 8:b79d21c8178b | 282 | MD_SET_DRIVE(MD_Data,4,MD_REVERSE); |
Tom0108 | 9:64fcbcc182d9 | 283 | MD_SET_PWM (MD_Data,4,60); |
Tom0108 | 8:b79d21c8178b | 284 | |
Tom0108 | 8:b79d21c8178b | 285 | if(max_lim==1) { |
Tom0108 | 8:b79d21c8178b | 286 | pull++; |
Tom0108 | 8:b79d21c8178b | 287 | tim.reset(); |
Tom0108 | 8:b79d21c8178b | 288 | } |
Tom0108 | 8:b79d21c8178b | 289 | break; |
Tom0108 | 8:b79d21c8178b | 290 | |
Tom0108 | 8:b79d21c8178b | 291 | case 1: |
Tom0108 | 8:b79d21c8178b | 292 | //腕停止 |
Tom0108 | 8:b79d21c8178b | 293 | MD_SET_DRIVE(MD_Data,4,MD_BRAKE); |
Tom0108 | 8:b79d21c8178b | 294 | MD_SET_PWM (MD_Data,4,0); |
Tom0108 | 2:47954f05d32d | 295 | |
Tom0108 | 8:b79d21c8178b | 296 | //腕おろす |
Tom0108 | 8:b79d21c8178b | 297 | i2c.Out_Set(Out_Data,0,1); |
Tom0108 | 9:64fcbcc182d9 | 298 | if(tim.read_ms()>100) { |
Tom0108 | 8:b79d21c8178b | 299 | pull++; |
Tom0108 | 8:b79d21c8178b | 300 | tim.reset(); |
Tom0108 | 8:b79d21c8178b | 301 | } |
Tom0108 | 8:b79d21c8178b | 302 | break; |
Tom0108 | 8:b79d21c8178b | 303 | |
Tom0108 | 9:64fcbcc182d9 | 304 | //停止 |
Tom0108 | 8:b79d21c8178b | 305 | case 2: |
Tom0108 | 9:64fcbcc182d9 | 306 | if(tim.read_ms()>0) { |
Tom0108 | 8:b79d21c8178b | 307 | pull++; |
Tom0108 | 8:b79d21c8178b | 308 | tim.reset(); |
Tom0108 | 8:b79d21c8178b | 309 | } |
Tom0108 | 8:b79d21c8178b | 310 | break; |
Tom0108 | 0:761a63c6d020 | 311 | |
Tom0108 | 8:b79d21c8178b | 312 | case 3: |
Tom0108 | 8:b79d21c8178b | 313 | MD_SET_DRIVE(MD_Data,4,MD_FORWARD); |
Tom0108 | 9:64fcbcc182d9 | 314 | MD_SET_PWM (MD_Data,4,60); |
Tom0108 | 8:b79d21c8178b | 315 | if(start_lim==1) { |
Tom0108 | 8:b79d21c8178b | 316 | pull_f=0; |
Tom0108 | 8:b79d21c8178b | 317 | tim.reset(); |
Tom0108 | 8:b79d21c8178b | 318 | } |
Tom0108 | 8:b79d21c8178b | 319 | break; |
Tom0108 | 8:b79d21c8178b | 320 | } |
Tom0108 | 8:b79d21c8178b | 321 | } //if(pull_f) |
Tom0108 | 8:b79d21c8178b | 322 | |
Tom0108 | 8:b79d21c8178b | 323 | //かごを倒す |
Tom0108 | 8:b79d21c8178b | 324 | else if(kago_f) { |
Tom0108 | 11:c1a22e2e3534 | 325 | // PALETTE(MAGENTA); |
Tom0108 | 8:b79d21c8178b | 326 | short_f=1; |
Tom0108 | 1:199c4a71da88 | 327 | |
Tom0108 | 8:b79d21c8178b | 328 | switch(kago) { |
Tom0108 | 8:b79d21c8178b | 329 | //腕を前に動かす |
Tom0108 | 8:b79d21c8178b | 330 | case 0: |
Tom0108 | 13:48c4a4c95e77 | 331 | //爪閉じる |
Tom0108 | 13:48c4a4c95e77 | 332 | i2c.Out_Set(Out_Data,1,0); |
Tom0108 | 13:48c4a4c95e77 | 333 | //腕上げる |
Tom0108 | 13:48c4a4c95e77 | 334 | i2c.Out_Set(Out_Data,0,0); |
Tom0108 | 13:48c4a4c95e77 | 335 | |
Tom0108 | 8:b79d21c8178b | 336 | MD_SET_DRIVE(MD_Data,4,MD_REVERSE); |
Tom0108 | 9:64fcbcc182d9 | 337 | MD_SET_PWM (MD_Data,4,60); |
Tom0108 | 8:b79d21c8178b | 338 | if(max_lim==1) { |
Tom0108 | 8:b79d21c8178b | 339 | kago++; |
Tom0108 | 8:b79d21c8178b | 340 | tim.reset(); |
Tom0108 | 8:b79d21c8178b | 341 | } |
Tom0108 | 8:b79d21c8178b | 342 | break; |
Tom0108 | 8:b79d21c8178b | 343 | |
Tom0108 | 8:b79d21c8178b | 344 | case 1: |
Tom0108 | 8:b79d21c8178b | 345 | //腕停止 |
Tom0108 | 8:b79d21c8178b | 346 | MD_SET_DRIVE(MD_Data,4,MD_BRAKE); |
Tom0108 | 8:b79d21c8178b | 347 | MD_SET_PWM (MD_Data,4,0); |
Tom0108 | 8:b79d21c8178b | 348 | |
Tom0108 | 8:b79d21c8178b | 349 | //かご回転 |
Tom0108 | 8:b79d21c8178b | 350 | MD_SET_DRIVE(MD_Data,6,MD_FORWARD); |
Tom0108 | 9:64fcbcc182d9 | 351 | MD_SET_PWM (MD_Data,6,100); |
Tom0108 | 8:b79d21c8178b | 352 | if(slide_stop==1) { |
Tom0108 | 8:b79d21c8178b | 353 | kago++; |
Tom0108 | 8:b79d21c8178b | 354 | tim.reset(); |
Tom0108 | 8:b79d21c8178b | 355 | MD_SET_DRIVE(MD_Data,6,MD_BRAKE); |
Tom0108 | 8:b79d21c8178b | 356 | MD_SET_PWM (MD_Data,6,0); |
Tom0108 | 8:b79d21c8178b | 357 | } |
Tom0108 | 8:b79d21c8178b | 358 | break; |
Tom0108 | 3:1063aa133b62 | 359 | |
Tom0108 | 8:b79d21c8178b | 360 | case 2: |
Tom0108 | 8:b79d21c8178b | 361 | if(tim.read_ms()>0) { |
Tom0108 | 8:b79d21c8178b | 362 | kago++; |
Tom0108 | 8:b79d21c8178b | 363 | tim.reset(); |
Tom0108 | 8:b79d21c8178b | 364 | } |
Tom0108 | 8:b79d21c8178b | 365 | break; |
Tom0108 | 8:b79d21c8178b | 366 | |
Tom0108 | 8:b79d21c8178b | 367 | case 3: |
Tom0108 | 8:b79d21c8178b | 368 | MD_SET_DRIVE(MD_Data,6,MD_REVERSE); |
Tom0108 | 9:64fcbcc182d9 | 369 | MD_SET_PWM (MD_Data,6,100); |
Tom0108 | 8:b79d21c8178b | 370 | if(slide_start==1) kago++; |
Tom0108 | 8:b79d21c8178b | 371 | break; |
Tom0108 | 3:1063aa133b62 | 372 | |
Tom0108 | 8:b79d21c8178b | 373 | case 4: |
Tom0108 | 8:b79d21c8178b | 374 | MD_SET_DRIVE(MD_Data,4,MD_FORWARD); |
Tom0108 | 9:64fcbcc182d9 | 375 | MD_SET_PWM (MD_Data,4,60); |
Tom0108 | 8:b79d21c8178b | 376 | if(start_lim==1) { |
Tom0108 | 8:b79d21c8178b | 377 | kago_f=0; |
Tom0108 | 8:b79d21c8178b | 378 | tim.reset(); |
Tom0108 | 8:b79d21c8178b | 379 | } |
Tom0108 | 8:b79d21c8178b | 380 | break; |
Tom0108 | 8:b79d21c8178b | 381 | } |
Tom0108 | 8:b79d21c8178b | 382 | } else { |
Tom0108 | 8:b79d21c8178b | 383 | //爪開く |
Tom0108 | 8:b79d21c8178b | 384 | i2c.Out_Set(Out_Data,1,1); |
Tom0108 | 13:48c4a4c95e77 | 385 | |
Tom0108 | 13:48c4a4c95e77 | 386 | //腕おろす |
Tom0108 | 13:48c4a4c95e77 | 387 | if(sbdbt.R1) i2c.Out_Set(Out_Data,0,1); |
Tom0108 | 13:48c4a4c95e77 | 388 | //腕あげる |
Tom0108 | 13:48c4a4c95e77 | 389 | else i2c.Out_Set(Out_Data,0,0); |
Tom0108 | 8:b79d21c8178b | 390 | |
Tom0108 | 8:b79d21c8178b | 391 | //腕真ん中で停止 |
Tom0108 | 8:b79d21c8178b | 392 | if(short_f) { |
Tom0108 | 9:64fcbcc182d9 | 393 | if(short_lim==1) { |
Tom0108 | 9:64fcbcc182d9 | 394 | short_f=0; |
Tom0108 | 9:64fcbcc182d9 | 395 | back_f=0; |
Tom0108 | 9:64fcbcc182d9 | 396 | } |
Tom0108 | 9:64fcbcc182d9 | 397 | //奥のリミットに当たったら逆回転 |
Tom0108 | 9:64fcbcc182d9 | 398 | if(max_lim==1) back_f=1; |
Tom0108 | 9:64fcbcc182d9 | 399 | //手前のリミットに当たったら正回転 |
Tom0108 | 9:64fcbcc182d9 | 400 | else if(start_lim==1) back_f=0; |
Tom0108 | 10:7c73e1577742 | 401 | |
Tom0108 | 9:64fcbcc182d9 | 402 | if(back_f) MD_SET_DRIVE(MD_Data,4,MD_FORWARD); |
Tom0108 | 13:48c4a4c95e77 | 403 | else MD_SET_DRIVE(MD_Data,4,MD_REVERSE); |
Tom0108 | 9:64fcbcc182d9 | 404 | MD_SET_PWM (MD_Data,4,30); |
Tom0108 | 13:48c4a4c95e77 | 405 | } |
Tom0108 | 13:48c4a4c95e77 | 406 | //赤ゾーン |
Tom0108 | 13:48c4a4c95e77 | 407 | else if(yaw<=45 || 315<=yaw) { |
Tom0108 | 13:48c4a4c95e77 | 408 | MD_SET_PWM(MD_Data,4,20); |
Tom0108 | 13:48c4a4c95e77 | 409 | if(RIGHTkey && max_lim==0) MD_SET_DRIVE(MD_Data,4,MD_REVERSE); |
Tom0108 | 13:48c4a4c95e77 | 410 | else if(LEFTkey && start_lim==0) MD_SET_DRIVE(MD_Data,4,MD_FORWARD); |
Tom0108 | 13:48c4a4c95e77 | 411 | else { |
Tom0108 | 13:48c4a4c95e77 | 412 | MD_SET_DRIVE(MD_Data,4,MD_BRAKE); |
Tom0108 | 13:48c4a4c95e77 | 413 | MD_SET_PWM (MD_Data,4,0); |
Tom0108 | 13:48c4a4c95e77 | 414 | } |
Tom0108 | 13:48c4a4c95e77 | 415 | } |
Tom0108 | 13:48c4a4c95e77 | 416 | //青ゾーン |
Tom0108 | 13:48c4a4c95e77 | 417 | else if(135<=yaw && yaw<=225) { |
Tom0108 | 13:48c4a4c95e77 | 418 | MD_SET_PWM(MD_Data,4,20); |
Tom0108 | 13:48c4a4c95e77 | 419 | if(LEFTkey && max_lim==0) MD_SET_DRIVE(MD_Data,4,MD_REVERSE); |
Tom0108 | 13:48c4a4c95e77 | 420 | else if(RIGHTkey && start_lim==0) MD_SET_DRIVE(MD_Data,4,MD_FORWARD); |
Tom0108 | 13:48c4a4c95e77 | 421 | else { |
Tom0108 | 13:48c4a4c95e77 | 422 | MD_SET_DRIVE(MD_Data,4,MD_BRAKE); |
Tom0108 | 13:48c4a4c95e77 | 423 | MD_SET_PWM (MD_Data,4,0); |
Tom0108 | 13:48c4a4c95e77 | 424 | } |
Tom0108 | 13:48c4a4c95e77 | 425 | } |
Tom0108 | 13:48c4a4c95e77 | 426 | |
Tom0108 | 13:48c4a4c95e77 | 427 | //止まる |
Tom0108 | 13:48c4a4c95e77 | 428 | else { |
Tom0108 | 2:47954f05d32d | 429 | MD_SET_DRIVE(MD_Data,4,MD_BRAKE); |
Tom0108 | 2:47954f05d32d | 430 | MD_SET_PWM (MD_Data,4,0); |
Tom0108 | 8:b79d21c8178b | 431 | } |
Tom0108 | 8:b79d21c8178b | 432 | //かご停止 |
Tom0108 | 8:b79d21c8178b | 433 | MD_SET_DRIVE(MD_Data,6,MD_BRAKE); |
Tom0108 | 8:b79d21c8178b | 434 | MD_SET_PWM (MD_Data,6,0); |
Tom0108 | 1:199c4a71da88 | 435 | |
Tom0108 | 8:b79d21c8178b | 436 | kago=0; |
Tom0108 | 8:b79d21c8178b | 437 | pull=0; |
Tom0108 | 8:b79d21c8178b | 438 | grab=0; |
Tom0108 | 10:7c73e1577742 | 439 | spull=0; |
Tom0108 | 8:b79d21c8178b | 440 | tim.reset(); |
Tom0108 | 0:761a63c6d020 | 441 | } |
Tom0108 | 8:b79d21c8178b | 442 | } |
Tom0108 | 8:b79d21c8178b | 443 | //非常停止 |
Tom0108 | 8:b79d21c8178b | 444 | else { |
Tom0108 | 8:b79d21c8178b | 445 | for(int i=0; i<8; i++) { |
Tom0108 | 8:b79d21c8178b | 446 | MD_SET_DRIVE(MD_Data,i,MD_BRAKE); |
Tom0108 | 8:b79d21c8178b | 447 | MD_SET_PWM (MD_Data,i,0); |
Tom0108 | 8:b79d21c8178b | 448 | } |
Tom0108 | 0:761a63c6d020 | 449 | } |
Tom0108 | 0:761a63c6d020 | 450 | |
Tom0108 | 12:7e33e400a48d | 451 | /* --------------電磁弁系-------------------- */ |
Tom0108 | 12:7e33e400a48d | 452 | /*タオル掛け*/ |
Tom0108 | 12:7e33e400a48d | 453 | if(sbdbt.L2)i2c.Out_Set(Out_Data,2,1); |
Tom0108 | 12:7e33e400a48d | 454 | else i2c.Out_Set(Out_Data,2,0); |
Tom0108 | 12:7e33e400a48d | 455 | |
Tom0108 | 12:7e33e400a48d | 456 | /*タオルを引っ張るやつ*/ |
Tom0108 | 12:7e33e400a48d | 457 | if(sbdbt.R2)i2c.Out_Set(Out_Data,4,1); |
Tom0108 | 12:7e33e400a48d | 458 | else i2c.Out_Set(Out_Data,4,0); |
Tom0108 | 12:7e33e400a48d | 459 | |
Tom0108 | 12:7e33e400a48d | 460 | //タオル展開 |
Tom0108 | 12:7e33e400a48d | 461 | if(unfold_f) i2c.Out_Set(Out_Data,3,1); |
Tom0108 | 12:7e33e400a48d | 462 | else i2c.Out_Set(Out_Data,3,0); |
Tom0108 | 12:7e33e400a48d | 463 | |
Tom0108 | 12:7e33e400a48d | 464 | //エアー解放 |
Tom0108 | 12:7e33e400a48d | 465 | if(release_f) { |
Tom0108 | 12:7e33e400a48d | 466 | PALETTE(YELLOW); |
Tom0108 | 12:7e33e400a48d | 467 | i2c.Out_Set(Out_Data,5,1); |
Tom0108 | 12:7e33e400a48d | 468 | } else i2c.Out_Set(Out_Data,5,0); |
Tom0108 | 12:7e33e400a48d | 469 | |
Tom0108 | 3:1063aa133b62 | 470 | //-------------- 出力 --------------// |
Tom0108 | 3:1063aa133b62 | 471 | //第二引数には使う最大の個数 |
Tom0108 | 12:7e33e400a48d | 472 | i2c.Out(Out_Data,9); |
Tom0108 | 3:1063aa133b62 | 473 | |
Tom0108 | 3:1063aa133b62 | 474 | //モータ出力 |
Tom0108 | 3:1063aa133b62 | 475 | for(int i=0; i<8; i++) i2c.MD_I2C(MD_Data,i); |
Tom0108 | 3:1063aa133b62 | 476 | |
Tom0108 | 3:1063aa133b62 | 477 | /* ----------- りみっと --------------- */ |
Tom0108 | 3:1063aa133b62 | 478 | limit_up = (In_Data+4)->in_data; |
Tom0108 | 3:1063aa133b62 | 479 | limit_down = (In_Data+5)->in_data; |
Tom0108 | 3:1063aa133b62 | 480 | max_lim = (In_Data+1)->in_data; |
Tom0108 | 3:1063aa133b62 | 481 | start_lim =(In_Data+2)->in_data; |
Tom0108 | 3:1063aa133b62 | 482 | short_lim = (In_Data+6)->in_data; |
Tom0108 | 3:1063aa133b62 | 483 | slide_start = (In_Data+3)->in_data; |
Tom0108 | 3:1063aa133b62 | 484 | slide_stop = (In_Data+0)->in_data; |
Tom0108 | 3:1063aa133b62 | 485 | |
Tom0108 | 3:1063aa133b62 | 486 | /* ----------------ボタン系--------------- */ |
Tom0108 | 6:040d001acb12 | 487 | //角度リセット |
Tom0108 | 2:47954f05d32d | 488 | if(sbdbt.L1) { |
Tom0108 | 8:b79d21c8178b | 489 | yaw=def_val; |
Tom0108 | 8:b79d21c8178b | 490 | Turn_val=def_val; |
Tom0108 | 2:47954f05d32d | 491 | } |
Tom0108 | 3:1063aa133b62 | 492 | //かごを倒す |
Tom0108 | 6:040d001acb12 | 493 | if(CROSS) { |
Tom0108 | 1:199c4a71da88 | 494 | if(once==0) { |
Tom0108 | 3:1063aa133b62 | 495 | kago_f++; |
Tom0108 | 3:1063aa133b62 | 496 | kago_f%=2; |
Tom0108 | 1:199c4a71da88 | 497 | once++; |
Tom0108 | 1:199c4a71da88 | 498 | } |
Tom0108 | 3:1063aa133b62 | 499 | } |
Tom0108 | 3:1063aa133b62 | 500 | //タオルを掴んで動かす |
Tom0108 | 3:1063aa133b62 | 501 | else if(SQUARE) { |
Tom0108 | 1:199c4a71da88 | 502 | if(once==0) { |
Tom0108 | 3:1063aa133b62 | 503 | grab_f++; |
Tom0108 | 3:1063aa133b62 | 504 | grab_f%=2; |
Tom0108 | 1:199c4a71da88 | 505 | once++; |
Tom0108 | 1:199c4a71da88 | 506 | } |
Tom0108 | 4:236e5c58e8ee | 507 | } else if(TRIANGLE) { |
Tom0108 | 4:236e5c58e8ee | 508 | if(once==0) { |
Tom0108 | 8:b79d21c8178b | 509 | spull_f++; |
Tom0108 | 8:b79d21c8178b | 510 | spull_f%=2; |
Tom0108 | 4:236e5c58e8ee | 511 | once++; |
Tom0108 | 4:236e5c58e8ee | 512 | } |
Tom0108 | 3:1063aa133b62 | 513 | } |
Tom0108 | 3:1063aa133b62 | 514 | //倒すを引いて動かす |
Tom0108 | 3:1063aa133b62 | 515 | else if(CIRCLE) { |
Tom0108 | 1:199c4a71da88 | 516 | if(once==0) { |
Tom0108 | 3:1063aa133b62 | 517 | pull_f++; |
Tom0108 | 3:1063aa133b62 | 518 | pull_f%=2; |
Tom0108 | 3:1063aa133b62 | 519 | once++; |
Tom0108 | 3:1063aa133b62 | 520 | } |
Tom0108 | 3:1063aa133b62 | 521 | } |
Tom0108 | 3:1063aa133b62 | 522 | //タオル展開用 |
Tom0108 | 3:1063aa133b62 | 523 | else if(sbdbt.START) { |
Tom0108 | 3:1063aa133b62 | 524 | if(once==0) { |
Tom0108 | 3:1063aa133b62 | 525 | unfold_f++; |
Tom0108 | 3:1063aa133b62 | 526 | unfold_f%=2; |
Tom0108 | 1:199c4a71da88 | 527 | once++; |
Tom0108 | 1:199c4a71da88 | 528 | } |
Tom0108 | 11:c1a22e2e3534 | 529 | } |
Tom0108 | 11:c1a22e2e3534 | 530 | //タオル展開用 |
Tom0108 | 11:c1a22e2e3534 | 531 | else if(sbdbt.SELECT) { |
Tom0108 | 11:c1a22e2e3534 | 532 | if(once==0) { |
Tom0108 | 11:c1a22e2e3534 | 533 | release_f++; |
Tom0108 | 11:c1a22e2e3534 | 534 | release_f%=2; |
Tom0108 | 11:c1a22e2e3534 | 535 | once++; |
Tom0108 | 11:c1a22e2e3534 | 536 | } |
Tom0108 | 1:199c4a71da88 | 537 | } else once=0; |
Tom0108 | 1:199c4a71da88 | 538 | |
Tom0108 | 1:199c4a71da88 | 539 | |
Tom0108 | 0:761a63c6d020 | 540 | } // if(sbdbt.State_check()) |
Tom0108 | 13:48c4a4c95e77 | 541 | |
Tom0108 | 13:48c4a4c95e77 | 542 | //半自動のデバック |
Tom0108 | 13:48c4a4c95e77 | 543 | // pc.printf("pull %2d%2d ",pull,pull_f); |
Tom0108 | 13:48c4a4c95e77 | 544 | // pc.printf("grab %2d%2d ",grab,grab_f); |
Tom0108 | 13:48c4a4c95e77 | 545 | // pc.printf("kago %2d%2d ",kago,kago_f); |
Tom0108 | 13:48c4a4c95e77 | 546 | // pc.printf("%.1f %.1f ",rawyaw[0],rawyaw[1]); |
Tom0108 | 13:48c4a4c95e77 | 547 | pc.printf("yaw:%.1f %.1f",yaw, bno.euler.yaw); |
Tom0108 | 13:48c4a4c95e77 | 548 | // pc.printf("lx %d ly %d rx %d",lx, ly, rx); |
Tom0108 | 13:48c4a4c95e77 | 549 | // pc.printf("%d %d",keep_tim[0].read_ms(),keep_f[0]); |
Tom0108 | 13:48c4a4c95e77 | 550 | // pc.printf("LX:%d, LY:%d, RX:%d, RY:%d",sbdbt.LX, sbdbt.LY, sbdbt.RX, sbdbt.RY); |
Tom0108 | 13:48c4a4c95e77 | 551 | pc.printf("\n\r"); |
Tom0108 | 0:761a63c6d020 | 552 | } // while(1) |
Tom0108 | 0:761a63c6d020 | 553 | } // int main() |
Tom0108 | 0:761a63c6d020 | 554 | |
Tom0108 | 0:761a63c6d020 | 555 | /* メカナムの基本移動 */ |
Tom0108 | 6:040d001acb12 | 556 | void mecanum_Move(int lx, int ly, int rx) |
Tom0108 | 0:761a63c6d020 | 557 | { |
Tom0108 | 6:040d001acb12 | 558 | duty[0]=lx+ly; |
Tom0108 | 6:040d001acb12 | 559 | duty[1]=-(-lx+ly); |
Tom0108 | 6:040d001acb12 | 560 | duty[2]=-lx+ly; |
Tom0108 | 6:040d001acb12 | 561 | duty[3]=-(lx+ly); |
Tom0108 | 0:761a63c6d020 | 562 | |
Tom0108 | 0:761a63c6d020 | 563 | for(int i=0; i<4; i++) { |
Tom0108 | 8:b79d21c8178b | 564 | //旋回 |
Tom0108 | 6:040d001acb12 | 565 | duty[i]+=rx; |
Tom0108 | 8:b79d21c8178b | 566 | |
Tom0108 | 8:b79d21c8178b | 567 | //制限 |
Tom0108 | 8:b79d21c8178b | 568 | if(duty[i]>=99) duty[i]=99; |
Tom0108 | 8:b79d21c8178b | 569 | else if(duty[i]<=-99) duty[i]=-99; |
Tom0108 | 6:040d001acb12 | 570 | MD_SET_DRIVE(MD_Data, i, duty[i]==0? MD_BRAKE: (duty[i]>0? MD_FORWARD: MD_REVERSE)); |
Tom0108 | 6:040d001acb12 | 571 | MD_SET_PWM(MD_Data, i, abs(duty[i])); |
Tom0108 | 0:761a63c6d020 | 572 | } |
Tom0108 | 0:761a63c6d020 | 573 | } |
Tom0108 | 0:761a63c6d020 | 574 | |
Tom0108 | 6:040d001acb12 | 575 | void AngleCorrection(double n_angle, double t_angle) |
Tom0108 | 0:761a63c6d020 | 576 | { |
Tom0108 | 6:040d001acb12 | 577 | double dif=-(t_angle-n_angle); |
Tom0108 | 6:040d001acb12 | 578 | |
Tom0108 | 6:040d001acb12 | 579 | if(dif>=30) dif=30; |
Tom0108 | 6:040d001acb12 | 580 | else if(dif<=-30) dif=-30; |
Tom0108 | 6:040d001acb12 | 581 | |
Tom0108 | 0:761a63c6d020 | 582 | for(int i=0; i<4; i++) { |
Tom0108 | 6:040d001acb12 | 583 | duty[i]+=dif; |
Tom0108 | 6:040d001acb12 | 584 | MD_SET_DRIVE(MD_Data, i, duty[i]==0? MD_BRAKE: (duty[i]>0? MD_FORWARD: MD_REVERSE)); |
Tom0108 | 6:040d001acb12 | 585 | MD_SET_PWM(MD_Data, i, abs(duty[i])); |
Tom0108 | 0:761a63c6d020 | 586 | } |
Tom0108 | 0:761a63c6d020 | 587 | } |
Tom0108 | 0:761a63c6d020 | 588 | |
Tom0108 | 0:761a63c6d020 | 589 | /*操作法*/ |
Tom0108 | 0:761a63c6d020 | 590 | /* |
Tom0108 | 0:761a63c6d020 | 591 | 〇 ボタン == 回収(引きずる) |
Tom0108 | 0:761a63c6d020 | 592 | ? ボタン == 籠 |
Tom0108 | 0:761a63c6d020 | 593 | △ ボタン == 回収(シーツ兼シャツ) |
Tom0108 | 0:761a63c6d020 | 594 | □ ボタン == 回収(タオル) |
Tom0108 | 0:761a63c6d020 | 595 | 上 ボタン == ハンガーかけ機構 上昇 |
Tom0108 | 0:761a63c6d020 | 596 | 下 ボタン == ハンガーかけ機構 下降 |
Tom0108 | 0:761a63c6d020 | 597 | L1 ボタン == リセット(足回り) |
Tom0108 | 0:761a63c6d020 | 598 | L2 ボタン == タオル掛け |
Tom0108 | 6:040d001acb12 | 599 | R2 ボタン == タオル真ん中掴む |
Tom0108 | 0:761a63c6d020 | 600 | select == ハンガー掛け 最大まで上昇 |
Tom0108 | 0:761a63c6d020 | 601 | start == ハンガー展開 |
Tom0108 | 0:761a63c6d020 | 602 | */ |