Takushima Yukimasa
/
R19_ManuTakukAHWGeo
a
main.cpp@10:7c73e1577742, 2019-08-30 (annotated)
- Committer:
- Tom0108
- Date:
- Fri Aug 30 07:47:41 2019 +0000
- Revision:
- 10:7c73e1577742
- Parent:
- 9:64fcbcc182d9
- Child:
- 11:c1a22e2e3534
Now you can use bno055
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 | 8:b79d21c8178b | 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 | //かご回転用 |
Tom0108 | 3:1063aa133b62 | 16 | int kago=0, kago_f=0; |
Tom0108 | 1:199c4a71da88 | 17 | |
Tom0108 | 1:199c4a71da88 | 18 | //コントローラーの状態を保存するため |
Tom0108 | 1:199c4a71da88 | 19 | int once=0; |
Tom0108 | 1:199c4a71da88 | 20 | |
Tom0108 | 4:236e5c58e8ee | 21 | //タオル掴む用 |
Tom0108 | 10:7c73e1577742 | 22 | //pull: 奥のリミットで引く |
Tom0108 | 10:7c73e1577742 | 23 | //spull: 中央のリミットでつかむ |
Tom0108 | 10:7c73e1577742 | 24 | //grab: 掴む |
Tom0108 | 8:b79d21c8178b | 25 | //back_f: 真ん中目で下がるとき |
Tom0108 | 10:7c73e1577742 | 26 | int pull=0, pull_f=0, grab=0, grab_f=0, spull=0, spull_f=0; |
Tom0108 | 8:b79d21c8178b | 27 | int back_f=0; |
Tom0108 | 3:1063aa133b62 | 28 | |
Tom0108 | 4:236e5c58e8ee | 29 | //タオル横展開用 |
Tom0108 | 3:1063aa133b62 | 30 | int unfold_f=0; |
Tom0108 | 3:1063aa133b62 | 31 | |
Tom0108 | 6:040d001acb12 | 32 | //yaw: 実際に使う角度 |
Tom0108 | 10:7c73e1577742 | 33 | double yaw=def_val; |
Tom0108 | 1:199c4a71da88 | 34 | |
Tom0108 | 10:7c73e1577742 | 35 | //[0]: roll |
Tom0108 | 10:7c73e1577742 | 36 | //[1]: pitch |
Tom0108 | 10:7c73e1577742 | 37 | //[2]: yaw |
Tom0108 | 10:7c73e1577742 | 38 | double rawyaw[2]; |
Tom0108 | 3:1063aa133b62 | 39 | |
Tom0108 | 3:1063aa133b62 | 40 | //Turn_val: 補正の目標値 |
Tom0108 | 3:1063aa133b62 | 41 | //dif_val: 補正値との差 |
Tom0108 | 8:b79d21c8178b | 42 | double Turn_val=def_val, dif_val; |
Tom0108 | 3:1063aa133b62 | 43 | |
Tom0108 | 3:1063aa133b62 | 44 | //short_lim: 腕中央 |
Tom0108 | 3:1063aa133b62 | 45 | //max_lim: 腕奥側 |
Tom0108 | 3:1063aa133b62 | 46 | //short_lim: 腕手前側 |
Tom0108 | 3:1063aa133b62 | 47 | int short_lim, max_lim, start_lim; |
Tom0108 | 8:b79d21c8178b | 48 | int short_f=0; |
Tom0108 | 1:199c4a71da88 | 49 | |
Tom0108 | 6:040d001acb12 | 50 | //足回りのpwm値 |
Tom0108 | 6:040d001acb12 | 51 | int duty[4]; |
Tom0108 | 4:236e5c58e8ee | 52 | |
Tom0108 | 6:040d001acb12 | 53 | // 足回り |
Tom0108 | 6:040d001acb12 | 54 | int lx,ly,rx; |
Tom0108 | 0:761a63c6d020 | 55 | |
Tom0108 | 6:040d001acb12 | 56 | int limit_up,limit_down; // リミットスイッチ |
Tom0108 | 6:040d001acb12 | 57 | int slide_start,slide_stop; //かごのリミット |
Tom0108 | 0:761a63c6d020 | 58 | |
Tom0108 | 0:761a63c6d020 | 59 | int as=0; |
Tom0108 | 0:761a63c6d020 | 60 | |
Tom0108 | 0:761a63c6d020 | 61 | /*----------------------------------- main -----------------------------------*/ |
Tom0108 | 0:761a63c6d020 | 62 | int main() |
Tom0108 | 0:761a63c6d020 | 63 | { |
Tom0108 | 10:7c73e1577742 | 64 | bno.reset(); |
Tom0108 | 5:fcc79e507610 | 65 | |
Tom0108 | 0:761a63c6d020 | 66 | while(1) { |
Tom0108 | 10:7c73e1577742 | 67 | //ゾーン対応 |
Tom0108 | 10:7c73e1577742 | 68 | #ifdef _RED_ZONE_ |
Tom0108 | 10:7c73e1577742 | 69 | PALETTE(RED); |
Tom0108 | 10:7c73e1577742 | 70 | #else |
Tom0108 | 10:7c73e1577742 | 71 | PALETTE(BLUE); |
Tom0108 | 10:7c73e1577742 | 72 | #endif |
Tom0108 | 10:7c73e1577742 | 73 | |
Tom0108 | 10:7c73e1577742 | 74 | bno.setmode(OPERATION_MODE_IMUPLUS); |
Tom0108 | 10:7c73e1577742 | 75 | |
Tom0108 | 1:199c4a71da88 | 76 | //自動系のタイマースタート |
Tom0108 | 1:199c4a71da88 | 77 | tim.start(); |
Tom0108 | 6:040d001acb12 | 78 | drift_tim.start(); |
Tom0108 | 0:761a63c6d020 | 79 | |
Tom0108 | 10:7c73e1577742 | 80 | //角度の取得 |
Tom0108 | 10:7c73e1577742 | 81 | bno.get_angles(); |
Tom0108 | 10:7c73e1577742 | 82 | rawyaw[1]=rawyaw[0]; |
Tom0108 | 10:7c73e1577742 | 83 | rawyaw[0]=bno.euler.yaw; |
Tom0108 | 10:7c73e1577742 | 84 | |
Tom0108 | 5:fcc79e507610 | 85 | //180~-180をまたいだ時 |
Tom0108 | 10:7c73e1577742 | 86 | if(rawyaw[1]<90 && rawyaw[0]>270) rawyaw[1]+=360; |
Tom0108 | 10:7c73e1577742 | 87 | else if(rawyaw[1]>270 && rawyaw[0]<90) rawyaw[1]-=360; |
Tom0108 | 10:7c73e1577742 | 88 | |
Tom0108 | 10:7c73e1577742 | 89 | yaw-=rawyaw[0]-rawyaw[1]; |
Tom0108 | 0:761a63c6d020 | 90 | |
Tom0108 | 5:fcc79e507610 | 91 | if(sbdbt.State_check()) { |
Tom0108 | 5:fcc79e507610 | 92 | for(int i=0; i<7; i++) i2c.In(In_Data,i); |
Tom0108 | 6:040d001acb12 | 93 | |
Tom0108 | 6:040d001acb12 | 94 | dif_val = yaw-Turn_val; |
Tom0108 | 6:040d001acb12 | 95 | //制限 |
Tom0108 | 6:040d001acb12 | 96 | if(dif_val>=30) dif_val=30; |
Tom0108 | 6:040d001acb12 | 97 | else if(dif_val<=-30) dif_val=-30; |
Tom0108 | 0:761a63c6d020 | 98 | |
Tom0108 | 0:761a63c6d020 | 99 | 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 | 100 | 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 | 101 | rx = (sbdbt.RX - 64)*60/64; |
Tom0108 | 8:b79d21c8178b | 102 | |
Tom0108 | 8:b79d21c8178b | 103 | //R1で停止 |
Tom0108 | 8:b79d21c8178b | 104 | if(sbdbt.R1==0) { |
Tom0108 | 8:b79d21c8178b | 105 | //メカナム基本動作 |
Tom0108 | 8:b79d21c8178b | 106 | mecanum_Move(lx, ly, rx); |
Tom0108 | 0:761a63c6d020 | 107 | |
Tom0108 | 8:b79d21c8178b | 108 | //旋回している間タイマーをリセット |
Tom0108 | 8:b79d21c8178b | 109 | if(sbdbt.RX != 64) drift_tim.reset(); |
Tom0108 | 8:b79d21c8178b | 110 | |
Tom0108 | 8:b79d21c8178b | 111 | //旋回して慣性で動いた後の角度に補正する |
Tom0108 | 8:b79d21c8178b | 112 | if(drift_tim.read_ms()<500) Turn_val=yaw; |
Tom0108 | 0:761a63c6d020 | 113 | |
Tom0108 | 8:b79d21c8178b | 114 | //角度補正 |
Tom0108 | 8:b79d21c8178b | 115 | AngleCorrection(yaw, Turn_val); |
Tom0108 | 8:b79d21c8178b | 116 | |
Tom0108 | 8:b79d21c8178b | 117 | /*---ハンガーかけるやつ----------------------------------------------*/ |
Tom0108 | 8:b79d21c8178b | 118 | if(sbdbt.SELECT)as=1;//selectキー |
Tom0108 | 3:1063aa133b62 | 119 | |
Tom0108 | 8:b79d21c8178b | 120 | if(as==1 && limit_up == 0) { |
Tom0108 | 8:b79d21c8178b | 121 | MD_SET_DRIVE(MD_Data, 5,MD_REVERSE); |
Tom0108 | 8:b79d21c8178b | 122 | MD_SET_PWM(MD_Data, 5,100); |
Tom0108 | 8:b79d21c8178b | 123 | } else if(UPkey && limit_up == 0) { |
Tom0108 | 8:b79d21c8178b | 124 | as=0; |
Tom0108 | 8:b79d21c8178b | 125 | MD_SET_DRIVE(MD_Data, 5,MD_REVERSE); |
Tom0108 | 8:b79d21c8178b | 126 | MD_SET_PWM(MD_Data, 5,100); |
Tom0108 | 8:b79d21c8178b | 127 | } else if(as==1 && limit_up == 1) { |
Tom0108 | 8:b79d21c8178b | 128 | as=0; |
Tom0108 | 8:b79d21c8178b | 129 | MD_SET_PWM(MD_Data,5,0); |
Tom0108 | 8:b79d21c8178b | 130 | MD_SET_DRIVE(MD_Data, 5,MD_BRAKE); |
Tom0108 | 8:b79d21c8178b | 131 | } else if(DOWNkey && limit_down == 0) { |
Tom0108 | 8:b79d21c8178b | 132 | MD_SET_DRIVE(MD_Data, 5,MD_FORWARD); |
Tom0108 | 8:b79d21c8178b | 133 | MD_SET_PWM(MD_Data, 5,100); |
Tom0108 | 8:b79d21c8178b | 134 | } else { |
Tom0108 | 8:b79d21c8178b | 135 | MD_SET_PWM(MD_Data,5,0); |
Tom0108 | 8:b79d21c8178b | 136 | MD_SET_DRIVE(MD_Data, 5,MD_BRAKE); |
Tom0108 | 8:b79d21c8178b | 137 | } |
Tom0108 | 6:040d001acb12 | 138 | |
Tom0108 | 8:b79d21c8178b | 139 | //タオルつかむ 四角 |
Tom0108 | 10:7c73e1577742 | 140 | if(grab_f) { |
Tom0108 | 8:b79d21c8178b | 141 | PALETTE(GREEN); |
Tom0108 | 10:7c73e1577742 | 142 | |
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 | 0:761a63c6d020 | 150 | |
Tom0108 | 10:7c73e1577742 | 151 | MD_SET_DRIVE(MD_Data,4,MD_REVERSE); |
Tom0108 | 9:64fcbcc182d9 | 152 | MD_SET_PWM (MD_Data,4,60); |
Tom0108 | 0:761a63c6d020 | 153 | |
Tom0108 | 10:7c73e1577742 | 154 | if(max_lim==1) { |
Tom0108 | 10:7c73e1577742 | 155 | grab++; |
Tom0108 | 10:7c73e1577742 | 156 | tim.reset(); |
Tom0108 | 8:b79d21c8178b | 157 | } |
Tom0108 | 8:b79d21c8178b | 158 | break; |
Tom0108 | 8:b79d21c8178b | 159 | |
Tom0108 | 8:b79d21c8178b | 160 | case 1: |
Tom0108 | 8:b79d21c8178b | 161 | //腕停止 |
Tom0108 | 8:b79d21c8178b | 162 | MD_SET_DRIVE(MD_Data,4,MD_BRAKE); |
Tom0108 | 8:b79d21c8178b | 163 | MD_SET_PWM(MD_Data,4,0); |
Tom0108 | 8:b79d21c8178b | 164 | |
Tom0108 | 8:b79d21c8178b | 165 | //腕おろす |
Tom0108 | 8:b79d21c8178b | 166 | i2c.Out_Set(Out_Data,0,1); |
Tom0108 | 9:64fcbcc182d9 | 167 | if(tim.read_ms()>200) { |
Tom0108 | 8:b79d21c8178b | 168 | grab++; |
Tom0108 | 8:b79d21c8178b | 169 | tim.reset(); |
Tom0108 | 8:b79d21c8178b | 170 | } |
Tom0108 | 8:b79d21c8178b | 171 | break; |
Tom0108 | 0:761a63c6d020 | 172 | |
Tom0108 | 8:b79d21c8178b | 173 | case 2: |
Tom0108 | 8:b79d21c8178b | 174 | //爪閉じる |
Tom0108 | 8:b79d21c8178b | 175 | i2c.Out_Set(Out_Data,1,0); |
Tom0108 | 9:64fcbcc182d9 | 176 | if(tim.read_ms()>0) { |
Tom0108 | 8:b79d21c8178b | 177 | grab++; |
Tom0108 | 8:b79d21c8178b | 178 | tim.reset(); |
Tom0108 | 8:b79d21c8178b | 179 | } |
Tom0108 | 8:b79d21c8178b | 180 | break; |
Tom0108 | 8:b79d21c8178b | 181 | |
Tom0108 | 8:b79d21c8178b | 182 | case 3: |
Tom0108 | 8:b79d21c8178b | 183 | //腕上げる |
Tom0108 | 8:b79d21c8178b | 184 | i2c.Out_Set(Out_Data,0,0); |
Tom0108 | 9:64fcbcc182d9 | 185 | if(tim.read_ms()>0) { |
Tom0108 | 8:b79d21c8178b | 186 | grab++; |
Tom0108 | 8:b79d21c8178b | 187 | tim.reset(); |
Tom0108 | 8:b79d21c8178b | 188 | } |
Tom0108 | 8:b79d21c8178b | 189 | break; |
Tom0108 | 8:b79d21c8178b | 190 | |
Tom0108 | 8:b79d21c8178b | 191 | //腕戻す |
Tom0108 | 8:b79d21c8178b | 192 | case 4: |
Tom0108 | 8:b79d21c8178b | 193 | MD_SET_DRIVE(MD_Data,4,MD_FORWARD); |
Tom0108 | 9:64fcbcc182d9 | 194 | MD_SET_PWM (MD_Data,4,60); |
Tom0108 | 8:b79d21c8178b | 195 | if(start_lim==1) { |
Tom0108 | 8:b79d21c8178b | 196 | grab_f=0; |
Tom0108 | 8:b79d21c8178b | 197 | tim.reset(); |
Tom0108 | 8:b79d21c8178b | 198 | } |
Tom0108 | 8:b79d21c8178b | 199 | break; |
Tom0108 | 8:b79d21c8178b | 200 | } |
Tom0108 | 8:b79d21c8178b | 201 | } //if(grab_f) |
Tom0108 | 0:761a63c6d020 | 202 | |
Tom0108 | 10:7c73e1577742 | 203 | //シーツ用 |
Tom0108 | 10:7c73e1577742 | 204 | else if(spull_f) { |
Tom0108 | 10:7c73e1577742 | 205 | PALETTE(WHITE); |
Tom0108 | 10:7c73e1577742 | 206 | short_f=1; |
Tom0108 | 10:7c73e1577742 | 207 | switch(spull) { |
Tom0108 | 10:7c73e1577742 | 208 | //腕を前に動かす |
Tom0108 | 10:7c73e1577742 | 209 | case 0: |
Tom0108 | 10:7c73e1577742 | 210 | //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 | 211 | if(back_f) MD_SET_DRIVE(MD_Data,4,MD_FORWARD); |
Tom0108 | 10:7c73e1577742 | 212 | else MD_SET_DRIVE(MD_Data,4,MD_REVERSE); |
Tom0108 | 10:7c73e1577742 | 213 | MD_SET_PWM (MD_Data,4,60); |
Tom0108 | 10:7c73e1577742 | 214 | |
Tom0108 | 10:7c73e1577742 | 215 | if(short_lim==1) { |
Tom0108 | 10:7c73e1577742 | 216 | spull++; |
Tom0108 | 10:7c73e1577742 | 217 | tim.reset(); |
Tom0108 | 10:7c73e1577742 | 218 | } else if(max_lim) back_f=1; |
Tom0108 | 10:7c73e1577742 | 219 | break; |
Tom0108 | 10:7c73e1577742 | 220 | |
Tom0108 | 10:7c73e1577742 | 221 | case 1: |
Tom0108 | 10:7c73e1577742 | 222 | //腕停止 |
Tom0108 | 10:7c73e1577742 | 223 | MD_SET_DRIVE(MD_Data,4,MD_BRAKE); |
Tom0108 | 10:7c73e1577742 | 224 | MD_SET_PWM(MD_Data,4,0); |
Tom0108 | 10:7c73e1577742 | 225 | |
Tom0108 | 10:7c73e1577742 | 226 | //腕おろす |
Tom0108 | 10:7c73e1577742 | 227 | i2c.Out_Set(Out_Data,0,1); |
Tom0108 | 10:7c73e1577742 | 228 | if(tim.read_ms()>200) { |
Tom0108 | 10:7c73e1577742 | 229 | spull++; |
Tom0108 | 10:7c73e1577742 | 230 | tim.reset(); |
Tom0108 | 10:7c73e1577742 | 231 | } |
Tom0108 | 10:7c73e1577742 | 232 | break; |
Tom0108 | 10:7c73e1577742 | 233 | |
Tom0108 | 10:7c73e1577742 | 234 | case 2: |
Tom0108 | 10:7c73e1577742 | 235 | //爪閉じる |
Tom0108 | 10:7c73e1577742 | 236 | i2c.Out_Set(Out_Data,1,0); |
Tom0108 | 10:7c73e1577742 | 237 | if(tim.read_ms()>0) { |
Tom0108 | 10:7c73e1577742 | 238 | spull++; |
Tom0108 | 10:7c73e1577742 | 239 | tim.reset(); |
Tom0108 | 10:7c73e1577742 | 240 | } |
Tom0108 | 10:7c73e1577742 | 241 | break; |
Tom0108 | 10:7c73e1577742 | 242 | |
Tom0108 | 10:7c73e1577742 | 243 | case 3: |
Tom0108 | 10:7c73e1577742 | 244 | //腕上げる |
Tom0108 | 10:7c73e1577742 | 245 | i2c.Out_Set(Out_Data,0,0); |
Tom0108 | 10:7c73e1577742 | 246 | if(tim.read_ms()>0) { |
Tom0108 | 10:7c73e1577742 | 247 | spull++; |
Tom0108 | 10:7c73e1577742 | 248 | tim.reset(); |
Tom0108 | 10:7c73e1577742 | 249 | } |
Tom0108 | 10:7c73e1577742 | 250 | break; |
Tom0108 | 10:7c73e1577742 | 251 | |
Tom0108 | 10:7c73e1577742 | 252 | //腕戻す |
Tom0108 | 10:7c73e1577742 | 253 | case 4: |
Tom0108 | 10:7c73e1577742 | 254 | MD_SET_DRIVE(MD_Data,4,MD_FORWARD); |
Tom0108 | 10:7c73e1577742 | 255 | MD_SET_PWM (MD_Data,4,60); |
Tom0108 | 10:7c73e1577742 | 256 | if(start_lim==1) { |
Tom0108 | 10:7c73e1577742 | 257 | spull_f=0; |
Tom0108 | 10:7c73e1577742 | 258 | tim.reset(); |
Tom0108 | 10:7c73e1577742 | 259 | } |
Tom0108 | 10:7c73e1577742 | 260 | break; |
Tom0108 | 10:7c73e1577742 | 261 | |
Tom0108 | 10:7c73e1577742 | 262 | } |
Tom0108 | 10:7c73e1577742 | 263 | } //if(spull_f) |
Tom0108 | 10:7c73e1577742 | 264 | |
Tom0108 | 8:b79d21c8178b | 265 | //タオル引く 丸 |
Tom0108 | 8:b79d21c8178b | 266 | else if(pull_f) { |
Tom0108 | 8:b79d21c8178b | 267 | PALETTE(CYAN); |
Tom0108 | 8:b79d21c8178b | 268 | short_f=1; |
Tom0108 | 8:b79d21c8178b | 269 | switch(pull) { |
Tom0108 | 8:b79d21c8178b | 270 | //腕を前に動かす |
Tom0108 | 8:b79d21c8178b | 271 | case 0: |
Tom0108 | 8:b79d21c8178b | 272 | //爪閉じる |
Tom0108 | 8:b79d21c8178b | 273 | i2c.Out_Set(Out_Data,1,0); |
Tom0108 | 8:b79d21c8178b | 274 | |
Tom0108 | 8:b79d21c8178b | 275 | MD_SET_DRIVE(MD_Data,4,MD_REVERSE); |
Tom0108 | 9:64fcbcc182d9 | 276 | MD_SET_PWM (MD_Data,4,60); |
Tom0108 | 8:b79d21c8178b | 277 | |
Tom0108 | 8:b79d21c8178b | 278 | if(max_lim==1) { |
Tom0108 | 8:b79d21c8178b | 279 | pull++; |
Tom0108 | 8:b79d21c8178b | 280 | tim.reset(); |
Tom0108 | 8:b79d21c8178b | 281 | } |
Tom0108 | 8:b79d21c8178b | 282 | break; |
Tom0108 | 8:b79d21c8178b | 283 | |
Tom0108 | 8:b79d21c8178b | 284 | case 1: |
Tom0108 | 8:b79d21c8178b | 285 | //腕停止 |
Tom0108 | 8:b79d21c8178b | 286 | MD_SET_DRIVE(MD_Data,4,MD_BRAKE); |
Tom0108 | 8:b79d21c8178b | 287 | MD_SET_PWM (MD_Data,4,0); |
Tom0108 | 2:47954f05d32d | 288 | |
Tom0108 | 8:b79d21c8178b | 289 | //腕おろす |
Tom0108 | 8:b79d21c8178b | 290 | i2c.Out_Set(Out_Data,0,1); |
Tom0108 | 9:64fcbcc182d9 | 291 | if(tim.read_ms()>100) { |
Tom0108 | 8:b79d21c8178b | 292 | pull++; |
Tom0108 | 8:b79d21c8178b | 293 | tim.reset(); |
Tom0108 | 8:b79d21c8178b | 294 | } |
Tom0108 | 8:b79d21c8178b | 295 | break; |
Tom0108 | 8:b79d21c8178b | 296 | |
Tom0108 | 9:64fcbcc182d9 | 297 | //停止 |
Tom0108 | 8:b79d21c8178b | 298 | case 2: |
Tom0108 | 9:64fcbcc182d9 | 299 | if(tim.read_ms()>0) { |
Tom0108 | 8:b79d21c8178b | 300 | pull++; |
Tom0108 | 8:b79d21c8178b | 301 | tim.reset(); |
Tom0108 | 8:b79d21c8178b | 302 | } |
Tom0108 | 8:b79d21c8178b | 303 | break; |
Tom0108 | 0:761a63c6d020 | 304 | |
Tom0108 | 8:b79d21c8178b | 305 | case 3: |
Tom0108 | 8:b79d21c8178b | 306 | MD_SET_DRIVE(MD_Data,4,MD_FORWARD); |
Tom0108 | 9:64fcbcc182d9 | 307 | MD_SET_PWM (MD_Data,4,60); |
Tom0108 | 8:b79d21c8178b | 308 | if(start_lim==1) { |
Tom0108 | 8:b79d21c8178b | 309 | pull_f=0; |
Tom0108 | 8:b79d21c8178b | 310 | tim.reset(); |
Tom0108 | 8:b79d21c8178b | 311 | } |
Tom0108 | 8:b79d21c8178b | 312 | break; |
Tom0108 | 8:b79d21c8178b | 313 | } |
Tom0108 | 8:b79d21c8178b | 314 | } //if(pull_f) |
Tom0108 | 8:b79d21c8178b | 315 | |
Tom0108 | 8:b79d21c8178b | 316 | //かごを倒す |
Tom0108 | 8:b79d21c8178b | 317 | else if(kago_f) { |
Tom0108 | 8:b79d21c8178b | 318 | PALETTE(MAGENTA); |
Tom0108 | 8:b79d21c8178b | 319 | short_f=1; |
Tom0108 | 8:b79d21c8178b | 320 | //腕の先を閉じておく |
Tom0108 | 8:b79d21c8178b | 321 | i2c.Out_Set(Out_Data,1,0); |
Tom0108 | 1:199c4a71da88 | 322 | |
Tom0108 | 8:b79d21c8178b | 323 | switch(kago) { |
Tom0108 | 8:b79d21c8178b | 324 | //腕を前に動かす |
Tom0108 | 8:b79d21c8178b | 325 | case 0: |
Tom0108 | 8:b79d21c8178b | 326 | MD_SET_DRIVE(MD_Data,4,MD_REVERSE); |
Tom0108 | 9:64fcbcc182d9 | 327 | MD_SET_PWM (MD_Data,4,60); |
Tom0108 | 8:b79d21c8178b | 328 | if(max_lim==1) { |
Tom0108 | 8:b79d21c8178b | 329 | kago++; |
Tom0108 | 8:b79d21c8178b | 330 | tim.reset(); |
Tom0108 | 8:b79d21c8178b | 331 | } |
Tom0108 | 8:b79d21c8178b | 332 | break; |
Tom0108 | 8:b79d21c8178b | 333 | |
Tom0108 | 8:b79d21c8178b | 334 | case 1: |
Tom0108 | 8:b79d21c8178b | 335 | //腕停止 |
Tom0108 | 8:b79d21c8178b | 336 | MD_SET_DRIVE(MD_Data,4,MD_BRAKE); |
Tom0108 | 8:b79d21c8178b | 337 | MD_SET_PWM (MD_Data,4,0); |
Tom0108 | 8:b79d21c8178b | 338 | |
Tom0108 | 8:b79d21c8178b | 339 | //かご回転 |
Tom0108 | 8:b79d21c8178b | 340 | MD_SET_DRIVE(MD_Data,6,MD_FORWARD); |
Tom0108 | 9:64fcbcc182d9 | 341 | MD_SET_PWM (MD_Data,6,100); |
Tom0108 | 8:b79d21c8178b | 342 | if(slide_stop==1) { |
Tom0108 | 8:b79d21c8178b | 343 | kago++; |
Tom0108 | 8:b79d21c8178b | 344 | tim.reset(); |
Tom0108 | 8:b79d21c8178b | 345 | MD_SET_DRIVE(MD_Data,6,MD_BRAKE); |
Tom0108 | 8:b79d21c8178b | 346 | MD_SET_PWM (MD_Data,6,0); |
Tom0108 | 8:b79d21c8178b | 347 | } |
Tom0108 | 8:b79d21c8178b | 348 | break; |
Tom0108 | 3:1063aa133b62 | 349 | |
Tom0108 | 8:b79d21c8178b | 350 | case 2: |
Tom0108 | 8:b79d21c8178b | 351 | if(tim.read_ms()>0) { |
Tom0108 | 8:b79d21c8178b | 352 | kago++; |
Tom0108 | 8:b79d21c8178b | 353 | tim.reset(); |
Tom0108 | 8:b79d21c8178b | 354 | } |
Tom0108 | 8:b79d21c8178b | 355 | break; |
Tom0108 | 8:b79d21c8178b | 356 | |
Tom0108 | 8:b79d21c8178b | 357 | case 3: |
Tom0108 | 8:b79d21c8178b | 358 | MD_SET_DRIVE(MD_Data,6,MD_REVERSE); |
Tom0108 | 9:64fcbcc182d9 | 359 | MD_SET_PWM (MD_Data,6,100); |
Tom0108 | 8:b79d21c8178b | 360 | if(slide_start==1) kago++; |
Tom0108 | 8:b79d21c8178b | 361 | break; |
Tom0108 | 3:1063aa133b62 | 362 | |
Tom0108 | 8:b79d21c8178b | 363 | case 4: |
Tom0108 | 8:b79d21c8178b | 364 | MD_SET_DRIVE(MD_Data,4,MD_FORWARD); |
Tom0108 | 9:64fcbcc182d9 | 365 | MD_SET_PWM (MD_Data,4,60); |
Tom0108 | 8:b79d21c8178b | 366 | if(start_lim==1) { |
Tom0108 | 8:b79d21c8178b | 367 | kago_f=0; |
Tom0108 | 8:b79d21c8178b | 368 | tim.reset(); |
Tom0108 | 8:b79d21c8178b | 369 | } |
Tom0108 | 8:b79d21c8178b | 370 | break; |
Tom0108 | 8:b79d21c8178b | 371 | } |
Tom0108 | 8:b79d21c8178b | 372 | } else { |
Tom0108 | 8:b79d21c8178b | 373 | //爪開く |
Tom0108 | 8:b79d21c8178b | 374 | i2c.Out_Set(Out_Data,1,1); |
Tom0108 | 8:b79d21c8178b | 375 | //腕上げる |
Tom0108 | 8:b79d21c8178b | 376 | i2c.Out_Set(Out_Data,0,0); |
Tom0108 | 8:b79d21c8178b | 377 | |
Tom0108 | 8:b79d21c8178b | 378 | //腕真ん中で停止 |
Tom0108 | 8:b79d21c8178b | 379 | if(short_f) { |
Tom0108 | 9:64fcbcc182d9 | 380 | if(short_lim==1) { |
Tom0108 | 9:64fcbcc182d9 | 381 | short_f=0; |
Tom0108 | 9:64fcbcc182d9 | 382 | back_f=0; |
Tom0108 | 9:64fcbcc182d9 | 383 | } |
Tom0108 | 9:64fcbcc182d9 | 384 | //奥のリミットに当たったら逆回転 |
Tom0108 | 9:64fcbcc182d9 | 385 | if(max_lim==1) back_f=1; |
Tom0108 | 9:64fcbcc182d9 | 386 | //手前のリミットに当たったら正回転 |
Tom0108 | 9:64fcbcc182d9 | 387 | else if(start_lim==1) back_f=0; |
Tom0108 | 10:7c73e1577742 | 388 | |
Tom0108 | 9:64fcbcc182d9 | 389 | if(back_f) MD_SET_DRIVE(MD_Data,4,MD_FORWARD); |
Tom0108 | 9:64fcbcc182d9 | 390 | else MD_SET_DRIVE(MD_Data,4,MD_REVERSE); |
Tom0108 | 9:64fcbcc182d9 | 391 | MD_SET_PWM (MD_Data,4,30); |
Tom0108 | 8:b79d21c8178b | 392 | } else { |
Tom0108 | 2:47954f05d32d | 393 | MD_SET_DRIVE(MD_Data,4,MD_BRAKE); |
Tom0108 | 2:47954f05d32d | 394 | MD_SET_PWM (MD_Data,4,0); |
Tom0108 | 8:b79d21c8178b | 395 | } |
Tom0108 | 8:b79d21c8178b | 396 | //かご停止 |
Tom0108 | 8:b79d21c8178b | 397 | MD_SET_DRIVE(MD_Data,6,MD_BRAKE); |
Tom0108 | 8:b79d21c8178b | 398 | MD_SET_PWM (MD_Data,6,0); |
Tom0108 | 1:199c4a71da88 | 399 | |
Tom0108 | 8:b79d21c8178b | 400 | kago=0; |
Tom0108 | 8:b79d21c8178b | 401 | pull=0; |
Tom0108 | 8:b79d21c8178b | 402 | grab=0; |
Tom0108 | 10:7c73e1577742 | 403 | spull=0; |
Tom0108 | 8:b79d21c8178b | 404 | tim.reset(); |
Tom0108 | 0:761a63c6d020 | 405 | } |
Tom0108 | 8:b79d21c8178b | 406 | } |
Tom0108 | 8:b79d21c8178b | 407 | //非常停止 |
Tom0108 | 8:b79d21c8178b | 408 | else { |
Tom0108 | 8:b79d21c8178b | 409 | for(int i=0; i<8; i++) { |
Tom0108 | 8:b79d21c8178b | 410 | MD_SET_DRIVE(MD_Data,i,MD_BRAKE); |
Tom0108 | 8:b79d21c8178b | 411 | MD_SET_PWM (MD_Data,i,0); |
Tom0108 | 8:b79d21c8178b | 412 | } |
Tom0108 | 0:761a63c6d020 | 413 | } |
Tom0108 | 0:761a63c6d020 | 414 | |
Tom0108 | 3:1063aa133b62 | 415 | //-------------- 出力 --------------// |
Tom0108 | 3:1063aa133b62 | 416 | //第二引数には使う最大の個数 |
Tom0108 | 8:b79d21c8178b | 417 | i2c.Out(Out_Data,8); |
Tom0108 | 3:1063aa133b62 | 418 | |
Tom0108 | 3:1063aa133b62 | 419 | //モータ出力 |
Tom0108 | 3:1063aa133b62 | 420 | for(int i=0; i<8; i++) i2c.MD_I2C(MD_Data,i); |
Tom0108 | 3:1063aa133b62 | 421 | |
Tom0108 | 3:1063aa133b62 | 422 | /* ----------- りみっと --------------- */ |
Tom0108 | 3:1063aa133b62 | 423 | limit_up = (In_Data+4)->in_data; |
Tom0108 | 3:1063aa133b62 | 424 | limit_down = (In_Data+5)->in_data; |
Tom0108 | 3:1063aa133b62 | 425 | max_lim = (In_Data+1)->in_data; |
Tom0108 | 3:1063aa133b62 | 426 | start_lim =(In_Data+2)->in_data; |
Tom0108 | 3:1063aa133b62 | 427 | short_lim = (In_Data+6)->in_data; |
Tom0108 | 3:1063aa133b62 | 428 | slide_start = (In_Data+3)->in_data; |
Tom0108 | 3:1063aa133b62 | 429 | slide_stop = (In_Data+0)->in_data; |
Tom0108 | 3:1063aa133b62 | 430 | |
Tom0108 | 3:1063aa133b62 | 431 | //半自動のデバック |
Tom0108 | 3:1063aa133b62 | 432 | // pc.printf("pull %2d%2d ",pull,pull_f); |
Tom0108 | 3:1063aa133b62 | 433 | // pc.printf("grab %2d%2d ",grab,grab_f); |
Tom0108 | 3:1063aa133b62 | 434 | // pc.printf("kago %2d%2d ",kago,kago_f); |
Tom0108 | 10:7c73e1577742 | 435 | pc.printf("%.1f %.1f ",rawyaw[0],rawyaw[1]); |
Tom0108 | 10:7c73e1577742 | 436 | pc.printf("yaw:%.1f dif:%.1f",yaw,dif_val); |
Tom0108 | 4:236e5c58e8ee | 437 | // pc.printf("%2d ",dir); |
Tom0108 | 3:1063aa133b62 | 438 | pc.printf("\n\r"); |
Tom0108 | 3:1063aa133b62 | 439 | |
Tom0108 | 3:1063aa133b62 | 440 | /* --------------電磁弁系-------------------- */ |
Tom0108 | 0:761a63c6d020 | 441 | /*タオル掛け*/ |
Tom0108 | 0:761a63c6d020 | 442 | if(sbdbt.L2)i2c.Out_Set(Out_Data,2,1); |
Tom0108 | 0:761a63c6d020 | 443 | else i2c.Out_Set(Out_Data,2,0); |
Tom0108 | 3:1063aa133b62 | 444 | |
Tom0108 | 0:761a63c6d020 | 445 | /*タオルを引っ張るやつ*/ |
Tom0108 | 1:199c4a71da88 | 446 | if(sbdbt.R2)i2c.Out_Set(Out_Data,4,1); |
Tom0108 | 1:199c4a71da88 | 447 | else i2c.Out_Set(Out_Data,4,0); |
Tom0108 | 0:761a63c6d020 | 448 | |
Tom0108 | 3:1063aa133b62 | 449 | if(unfold_f)i2c.Out_Set(Out_Data,3,1); |
Tom0108 | 3:1063aa133b62 | 450 | else i2c.Out_Set(Out_Data,3,0); |
Tom0108 | 0:761a63c6d020 | 451 | |
Tom0108 | 3:1063aa133b62 | 452 | /* ----------------ボタン系--------------- */ |
Tom0108 | 6:040d001acb12 | 453 | //角度リセット |
Tom0108 | 2:47954f05d32d | 454 | if(sbdbt.L1) { |
Tom0108 | 8:b79d21c8178b | 455 | yaw=def_val; |
Tom0108 | 8:b79d21c8178b | 456 | Turn_val=def_val; |
Tom0108 | 2:47954f05d32d | 457 | } |
Tom0108 | 3:1063aa133b62 | 458 | //かごを倒す |
Tom0108 | 6:040d001acb12 | 459 | if(CROSS) { |
Tom0108 | 1:199c4a71da88 | 460 | if(once==0) { |
Tom0108 | 3:1063aa133b62 | 461 | kago_f++; |
Tom0108 | 3:1063aa133b62 | 462 | kago_f%=2; |
Tom0108 | 1:199c4a71da88 | 463 | once++; |
Tom0108 | 1:199c4a71da88 | 464 | } |
Tom0108 | 3:1063aa133b62 | 465 | } |
Tom0108 | 3:1063aa133b62 | 466 | //タオルを掴んで動かす |
Tom0108 | 3:1063aa133b62 | 467 | else if(SQUARE) { |
Tom0108 | 1:199c4a71da88 | 468 | if(once==0) { |
Tom0108 | 3:1063aa133b62 | 469 | grab_f++; |
Tom0108 | 3:1063aa133b62 | 470 | grab_f%=2; |
Tom0108 | 1:199c4a71da88 | 471 | once++; |
Tom0108 | 1:199c4a71da88 | 472 | } |
Tom0108 | 4:236e5c58e8ee | 473 | } else if(TRIANGLE) { |
Tom0108 | 4:236e5c58e8ee | 474 | if(once==0) { |
Tom0108 | 8:b79d21c8178b | 475 | spull_f++; |
Tom0108 | 8:b79d21c8178b | 476 | spull_f%=2; |
Tom0108 | 4:236e5c58e8ee | 477 | once++; |
Tom0108 | 4:236e5c58e8ee | 478 | } |
Tom0108 | 3:1063aa133b62 | 479 | } |
Tom0108 | 3:1063aa133b62 | 480 | //倒すを引いて動かす |
Tom0108 | 3:1063aa133b62 | 481 | else if(CIRCLE) { |
Tom0108 | 1:199c4a71da88 | 482 | if(once==0) { |
Tom0108 | 3:1063aa133b62 | 483 | pull_f++; |
Tom0108 | 3:1063aa133b62 | 484 | pull_f%=2; |
Tom0108 | 3:1063aa133b62 | 485 | once++; |
Tom0108 | 3:1063aa133b62 | 486 | } |
Tom0108 | 3:1063aa133b62 | 487 | } |
Tom0108 | 3:1063aa133b62 | 488 | //タオル展開用 |
Tom0108 | 3:1063aa133b62 | 489 | else if(sbdbt.START) { |
Tom0108 | 3:1063aa133b62 | 490 | if(once==0) { |
Tom0108 | 3:1063aa133b62 | 491 | unfold_f++; |
Tom0108 | 3:1063aa133b62 | 492 | unfold_f%=2; |
Tom0108 | 1:199c4a71da88 | 493 | once++; |
Tom0108 | 1:199c4a71da88 | 494 | } |
Tom0108 | 1:199c4a71da88 | 495 | } else once=0; |
Tom0108 | 1:199c4a71da88 | 496 | |
Tom0108 | 1:199c4a71da88 | 497 | |
Tom0108 | 0:761a63c6d020 | 498 | } // if(sbdbt.State_check()) |
Tom0108 | 0:761a63c6d020 | 499 | } // while(1) |
Tom0108 | 0:761a63c6d020 | 500 | } // int main() |
Tom0108 | 0:761a63c6d020 | 501 | |
Tom0108 | 0:761a63c6d020 | 502 | /* メカナムの基本移動 */ |
Tom0108 | 6:040d001acb12 | 503 | void mecanum_Move(int lx, int ly, int rx) |
Tom0108 | 0:761a63c6d020 | 504 | { |
Tom0108 | 6:040d001acb12 | 505 | duty[0]=lx+ly; |
Tom0108 | 6:040d001acb12 | 506 | duty[1]=-(-lx+ly); |
Tom0108 | 6:040d001acb12 | 507 | duty[2]=-lx+ly; |
Tom0108 | 6:040d001acb12 | 508 | duty[3]=-(lx+ly); |
Tom0108 | 0:761a63c6d020 | 509 | |
Tom0108 | 0:761a63c6d020 | 510 | for(int i=0; i<4; i++) { |
Tom0108 | 8:b79d21c8178b | 511 | //旋回 |
Tom0108 | 6:040d001acb12 | 512 | duty[i]+=rx; |
Tom0108 | 8:b79d21c8178b | 513 | |
Tom0108 | 8:b79d21c8178b | 514 | //制限 |
Tom0108 | 8:b79d21c8178b | 515 | if(duty[i]>=99) duty[i]=99; |
Tom0108 | 8:b79d21c8178b | 516 | else if(duty[i]<=-99) duty[i]=-99; |
Tom0108 | 6:040d001acb12 | 517 | MD_SET_DRIVE(MD_Data, i, duty[i]==0? MD_BRAKE: (duty[i]>0? MD_FORWARD: MD_REVERSE)); |
Tom0108 | 6:040d001acb12 | 518 | MD_SET_PWM(MD_Data, i, abs(duty[i])); |
Tom0108 | 0:761a63c6d020 | 519 | } |
Tom0108 | 0:761a63c6d020 | 520 | } |
Tom0108 | 0:761a63c6d020 | 521 | |
Tom0108 | 6:040d001acb12 | 522 | void AngleCorrection(double n_angle, double t_angle) |
Tom0108 | 0:761a63c6d020 | 523 | { |
Tom0108 | 6:040d001acb12 | 524 | double dif=-(t_angle-n_angle); |
Tom0108 | 6:040d001acb12 | 525 | |
Tom0108 | 6:040d001acb12 | 526 | if(dif>=30) dif=30; |
Tom0108 | 6:040d001acb12 | 527 | else if(dif<=-30) dif=-30; |
Tom0108 | 6:040d001acb12 | 528 | |
Tom0108 | 0:761a63c6d020 | 529 | for(int i=0; i<4; i++) { |
Tom0108 | 6:040d001acb12 | 530 | duty[i]+=dif; |
Tom0108 | 6:040d001acb12 | 531 | MD_SET_DRIVE(MD_Data, i, duty[i]==0? MD_BRAKE: (duty[i]>0? MD_FORWARD: MD_REVERSE)); |
Tom0108 | 6:040d001acb12 | 532 | MD_SET_PWM(MD_Data, i, abs(duty[i])); |
Tom0108 | 0:761a63c6d020 | 533 | } |
Tom0108 | 0:761a63c6d020 | 534 | } |
Tom0108 | 0:761a63c6d020 | 535 | |
Tom0108 | 0:761a63c6d020 | 536 | /*操作法*/ |
Tom0108 | 0:761a63c6d020 | 537 | /* |
Tom0108 | 0:761a63c6d020 | 538 | 〇 ボタン == 回収(引きずる) |
Tom0108 | 0:761a63c6d020 | 539 | ? ボタン == 籠 |
Tom0108 | 0:761a63c6d020 | 540 | △ ボタン == 回収(シーツ兼シャツ) |
Tom0108 | 0:761a63c6d020 | 541 | □ ボタン == 回収(タオル) |
Tom0108 | 0:761a63c6d020 | 542 | 上 ボタン == ハンガーかけ機構 上昇 |
Tom0108 | 0:761a63c6d020 | 543 | 下 ボタン == ハンガーかけ機構 下降 |
Tom0108 | 0:761a63c6d020 | 544 | L1 ボタン == リセット(足回り) |
Tom0108 | 0:761a63c6d020 | 545 | L2 ボタン == タオル掛け |
Tom0108 | 6:040d001acb12 | 546 | R2 ボタン == タオル真ん中掴む |
Tom0108 | 0:761a63c6d020 | 547 | select == ハンガー掛け 最大まで上昇 |
Tom0108 | 0:761a63c6d020 | 548 | start == ハンガー展開 |
Tom0108 | 0:761a63c6d020 | 549 | */ |