Takushima Yukimasa
/
R19_ManuTakukAHWGeo
a
main.cpp@16:829b953d1ac1, 2019-09-23 (annotated)
- Committer:
- Tom0108
- Date:
- Mon Sep 23 08:45:17 2019 +0000
- Revision:
- 16:829b953d1ac1
- Parent:
- 15:68720ff6bbc9
- Child:
- 17:446be2c278d1
09231745 on a diet
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 | 0:761a63c6d020 | 4 | |
Tom0108 | 0:761a63c6d020 | 5 | /* 関数宣言 ------------------------------------------------------------------*/ |
Tom0108 | 0:761a63c6d020 | 6 | |
Tom0108 | 0:761a63c6d020 | 7 | /* 変数宣言 ------------------------------------------------------------------*/ |
Tom0108 | 1:199c4a71da88 | 8 | |
Tom0108 | 14:e6d16095ffa8 | 9 | //0: 赤 |
Tom0108 | 14:e6d16095ffa8 | 10 | //1: 青 |
Tom0108 | 14:e6d16095ffa8 | 11 | int zone=0; |
Tom0108 | 14:e6d16095ffa8 | 12 | |
Tom0108 | 14:e6d16095ffa8 | 13 | //デフォルトの角度 |
Tom0108 | 14:e6d16095ffa8 | 14 | int def_val=0; |
Tom0108 | 14:e6d16095ffa8 | 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 | 14:e6d16095ffa8 | 30 | //妨害に使う |
Tom0108 | 14:e6d16095ffa8 | 31 | int disturb, disturb_f; |
Tom0108 | 14:e6d16095ffa8 | 32 | |
Tom0108 | 12:7e33e400a48d | 33 | //上下動作を保持 |
Tom0108 | 12:7e33e400a48d | 34 | //[0]: 上 |
Tom0108 | 12:7e33e400a48d | 35 | //[1]: 下 |
Tom0108 | 12:7e33e400a48d | 36 | int keep_f[2]= {0}; |
Tom0108 | 3:1063aa133b62 | 37 | |
Tom0108 | 14:e6d16095ffa8 | 38 | //実際に使う角度 |
Tom0108 | 14:e6d16095ffa8 | 39 | double yaw; |
Tom0108 | 1:199c4a71da88 | 40 | |
Tom0108 | 12:7e33e400a48d | 41 | //[0]: 今回の値 |
Tom0108 | 12:7e33e400a48d | 42 | //[1]: 前回の値 |
Tom0108 | 10:7c73e1577742 | 43 | double rawyaw[2]; |
Tom0108 | 3:1063aa133b62 | 44 | |
Tom0108 | 3:1063aa133b62 | 45 | //Turn_val: 補正の目標値 |
Tom0108 | 14:e6d16095ffa8 | 46 | double Turn_val; |
Tom0108 | 3:1063aa133b62 | 47 | |
Tom0108 | 3:1063aa133b62 | 48 | //short_lim: 腕中央 |
Tom0108 | 3:1063aa133b62 | 49 | //max_lim: 腕奥側 |
Tom0108 | 3:1063aa133b62 | 50 | //short_lim: 腕手前側 |
Tom0108 | 3:1063aa133b62 | 51 | int short_lim, max_lim, start_lim; |
Tom0108 | 12:7e33e400a48d | 52 | int limit_up,limit_down; // リミットスイッチ |
Tom0108 | 12:7e33e400a48d | 53 | int slide_start,slide_stop; //かごのリミット |
Tom0108 | 1:199c4a71da88 | 54 | |
Tom0108 | 6:040d001acb12 | 55 | //足回りのpwm値 |
Tom0108 | 6:040d001acb12 | 56 | int duty[4]; |
Tom0108 | 4:236e5c58e8ee | 57 | |
Tom0108 | 6:040d001acb12 | 58 | // 足回り |
Tom0108 | 6:040d001acb12 | 59 | int lx,ly,rx; |
Tom0108 | 0:761a63c6d020 | 60 | |
Tom0108 | 0:761a63c6d020 | 61 | /*----------------------------------- main -----------------------------------*/ |
Tom0108 | 0:761a63c6d020 | 62 | int main() |
Tom0108 | 0:761a63c6d020 | 63 | { |
Tom0108 | 16:829b953d1ac1 | 64 | //ゾーン切り替え |
Tom0108 | 14:e6d16095ffa8 | 65 | i2c.In(In_Data,7); |
Tom0108 | 14:e6d16095ffa8 | 66 | zone=(In_Data+7)->in_data; |
Tom0108 | 14:e6d16095ffa8 | 67 | |
Tom0108 | 14:e6d16095ffa8 | 68 | if(zone==0) def_val=0; |
Tom0108 | 14:e6d16095ffa8 | 69 | else def_val=180; |
Tom0108 | 14:e6d16095ffa8 | 70 | |
Tom0108 | 16:829b953d1ac1 | 71 | yaw=def_val; //初期角度 |
Tom0108 | 16:829b953d1ac1 | 72 | Turn_val=def_val; //補正角度 |
Tom0108 | 14:e6d16095ffa8 | 73 | |
Tom0108 | 14:e6d16095ffa8 | 74 | sbdbt.LX=64; |
Tom0108 | 14:e6d16095ffa8 | 75 | sbdbt.LY=64; |
Tom0108 | 14:e6d16095ffa8 | 76 | sbdbt.RX=64; |
Tom0108 | 14:e6d16095ffa8 | 77 | sbdbt.RY=64; |
Tom0108 | 11:c1a22e2e3534 | 78 | //ジャイロリセット |
Tom0108 | 10:7c73e1577742 | 79 | bno.reset(); |
Tom0108 | 5:fcc79e507610 | 80 | |
Tom0108 | 0:761a63c6d020 | 81 | while(1) { |
Tom0108 | 1:199c4a71da88 | 82 | //自動系のタイマースタート |
Tom0108 | 1:199c4a71da88 | 83 | tim.start(); |
Tom0108 | 6:040d001acb12 | 84 | drift_tim.start(); |
Tom0108 | 12:7e33e400a48d | 85 | keep_tim[0].start(); |
Tom0108 | 12:7e33e400a48d | 86 | keep_tim[1].start(); |
Tom0108 | 0:761a63c6d020 | 87 | |
Tom0108 | 11:c1a22e2e3534 | 88 | bno.setmode(OPERATION_MODE_IMUPLUS); |
Tom0108 | 10:7c73e1577742 | 89 | //角度の取得 |
Tom0108 | 10:7c73e1577742 | 90 | bno.get_angles(); |
Tom0108 | 10:7c73e1577742 | 91 | rawyaw[1]=rawyaw[0]; |
Tom0108 | 10:7c73e1577742 | 92 | rawyaw[0]=bno.euler.yaw; |
Tom0108 | 11:c1a22e2e3534 | 93 | |
Tom0108 | 5:fcc79e507610 | 94 | //180~-180をまたいだ時 |
Tom0108 | 10:7c73e1577742 | 95 | if(rawyaw[1]<90 && rawyaw[0]>270) rawyaw[1]+=360; |
Tom0108 | 10:7c73e1577742 | 96 | else if(rawyaw[1]>270 && rawyaw[0]<90) rawyaw[1]-=360; |
Tom0108 | 11:c1a22e2e3534 | 97 | |
Tom0108 | 10:7c73e1577742 | 98 | yaw-=rawyaw[0]-rawyaw[1]; |
Tom0108 | 14:e6d16095ffa8 | 99 | yaw=fmod(yaw, 360.0); |
Tom0108 | 0:761a63c6d020 | 100 | |
Tom0108 | 12:7e33e400a48d | 101 | //ゾーン対応 |
Tom0108 | 14:e6d16095ffa8 | 102 | if(zone==0) PALETTE(RED); |
Tom0108 | 14:e6d16095ffa8 | 103 | else PALETTE(BLUE); |
Tom0108 | 14:e6d16095ffa8 | 104 | |
Tom0108 | 16:829b953d1ac1 | 105 | if(release_f) PALETTE(YELLOW); |
Tom0108 | 16:829b953d1ac1 | 106 | |
Tom0108 | 14:e6d16095ffa8 | 107 | //リミット |
Tom0108 | 14:e6d16095ffa8 | 108 | for(int i=0; i<7; i++) i2c.In(In_Data,i); |
Tom0108 | 14:e6d16095ffa8 | 109 | |
Tom0108 | 14:e6d16095ffa8 | 110 | lx = ((64-sbdbt.LY)*100.0/64)*sin(yaw*M_PI/180)+((sbdbt.LX-64)*100.0/64)*cos(yaw*M_PI/180); |
Tom0108 | 14:e6d16095ffa8 | 111 | ly = ((64-sbdbt.LY)*100.0/64)*cos(yaw*M_PI/180)-((sbdbt.LX-64)*100.0/64)*sin(yaw*M_PI/180); |
Tom0108 | 14:e6d16095ffa8 | 112 | rx = (sbdbt.RX - 64)*60/64; |
Tom0108 | 14:e6d16095ffa8 | 113 | |
Tom0108 | 16:829b953d1ac1 | 114 | //メカナム基本動作 |
Tom0108 | 16:829b953d1ac1 | 115 | mecanum_Move(lx, ly, rx); |
Tom0108 | 16:829b953d1ac1 | 116 | |
Tom0108 | 16:829b953d1ac1 | 117 | //旋回している間タイマーをリセット |
Tom0108 | 16:829b953d1ac1 | 118 | if(sbdbt.RX != 64) drift_tim.reset(); |
Tom0108 | 16:829b953d1ac1 | 119 | |
Tom0108 | 16:829b953d1ac1 | 120 | //旋回して慣性で動いた後の角度に補正する |
Tom0108 | 16:829b953d1ac1 | 121 | if(drift_tim.read_ms()<1000) Turn_val=yaw; |
Tom0108 | 16:829b953d1ac1 | 122 | |
Tom0108 | 16:829b953d1ac1 | 123 | //角度補正 |
Tom0108 | 16:829b953d1ac1 | 124 | AngleCorrection(yaw, Turn_val); |
Tom0108 | 16:829b953d1ac1 | 125 | |
Tom0108 | 16:829b953d1ac1 | 126 | /*---ハンガーかけるやつ----------------------------------------------*/ |
Tom0108 | 16:829b953d1ac1 | 127 | //上方向 |
Tom0108 | 16:829b953d1ac1 | 128 | if(!DOWNkey && ((UPkey || keep_f[0]) && limit_up == 0)) { |
Tom0108 | 16:829b953d1ac1 | 129 | //一定秒以上押されたら保持 |
Tom0108 | 16:829b953d1ac1 | 130 | if(keep_tim[0].read_ms()>500) keep_f[0]=1; |
Tom0108 | 16:829b953d1ac1 | 131 | //下方向の保持を解除 |
Tom0108 | 16:829b953d1ac1 | 132 | keep_f[1]=0; |
Tom0108 | 16:829b953d1ac1 | 133 | keep_tim[1].reset(); |
Tom0108 | 16:829b953d1ac1 | 134 | |
Tom0108 | 16:829b953d1ac1 | 135 | MD_SET_DRIVE(MD_Data, 5,MD_FORWARD); |
Tom0108 | 16:829b953d1ac1 | 136 | MD_SET_PWM(MD_Data, 5,100); |
Tom0108 | 16:829b953d1ac1 | 137 | } |
Tom0108 | 16:829b953d1ac1 | 138 | //下方向 |
Tom0108 | 16:829b953d1ac1 | 139 | else if(!UPkey && ((DOWNkey || keep_f[1]) && limit_down == 0)) { |
Tom0108 | 16:829b953d1ac1 | 140 | if(keep_tim[1].read_ms()>500) keep_f[1]=1; |
Tom0108 | 16:829b953d1ac1 | 141 | keep_f[0]=0; |
Tom0108 | 16:829b953d1ac1 | 142 | keep_tim[0].reset(); |
Tom0108 | 14:e6d16095ffa8 | 143 | |
Tom0108 | 16:829b953d1ac1 | 144 | MD_SET_DRIVE(MD_Data, 5,MD_REVERSE); |
Tom0108 | 16:829b953d1ac1 | 145 | MD_SET_PWM(MD_Data, 5,100); |
Tom0108 | 16:829b953d1ac1 | 146 | } else { |
Tom0108 | 16:829b953d1ac1 | 147 | keep_f[0]=0; |
Tom0108 | 16:829b953d1ac1 | 148 | keep_tim[0].reset(); |
Tom0108 | 16:829b953d1ac1 | 149 | keep_f[1]=0; |
Tom0108 | 16:829b953d1ac1 | 150 | keep_tim[1].reset(); |
Tom0108 | 16:829b953d1ac1 | 151 | |
Tom0108 | 16:829b953d1ac1 | 152 | MD_SET_PWM(MD_Data,5,0); |
Tom0108 | 16:829b953d1ac1 | 153 | MD_SET_DRIVE(MD_Data, 5,MD_BRAKE); |
Tom0108 | 16:829b953d1ac1 | 154 | } |
Tom0108 | 14:e6d16095ffa8 | 155 | |
Tom0108 | 16:829b953d1ac1 | 156 | //タオルつかむ 四角 |
Tom0108 | 16:829b953d1ac1 | 157 | if(grab_f) { |
Tom0108 | 16:829b953d1ac1 | 158 | //真ん中で止まる用 |
Tom0108 | 16:829b953d1ac1 | 159 | short_f=1; |
Tom0108 | 16:829b953d1ac1 | 160 | switch(grab) { |
Tom0108 | 16:829b953d1ac1 | 161 | //腕を前に動かす |
Tom0108 | 16:829b953d1ac1 | 162 | case 0: |
Tom0108 | 16:829b953d1ac1 | 163 | //爪開く |
Tom0108 | 16:829b953d1ac1 | 164 | i2c.Out_Set(Out_Data,1,1); |
Tom0108 | 16:829b953d1ac1 | 165 | //腕上げる |
Tom0108 | 16:829b953d1ac1 | 166 | i2c.Out_Set(Out_Data,0,0); |
Tom0108 | 16:829b953d1ac1 | 167 | |
Tom0108 | 16:829b953d1ac1 | 168 | MD_SET_DRIVE(MD_Data,4,MD_REVERSE); |
Tom0108 | 16:829b953d1ac1 | 169 | MD_SET_PWM (MD_Data,4,60); |
Tom0108 | 16:829b953d1ac1 | 170 | |
Tom0108 | 16:829b953d1ac1 | 171 | if(max_lim==1) { |
Tom0108 | 16:829b953d1ac1 | 172 | grab++; |
Tom0108 | 16:829b953d1ac1 | 173 | tim.reset(); |
Tom0108 | 16:829b953d1ac1 | 174 | } |
Tom0108 | 16:829b953d1ac1 | 175 | break; |
Tom0108 | 16:829b953d1ac1 | 176 | |
Tom0108 | 16:829b953d1ac1 | 177 | case 1: |
Tom0108 | 16:829b953d1ac1 | 178 | //腕停止 |
Tom0108 | 16:829b953d1ac1 | 179 | MD_SET_DRIVE(MD_Data,4,MD_BRAKE); |
Tom0108 | 16:829b953d1ac1 | 180 | MD_SET_PWM(MD_Data,4,0); |
Tom0108 | 14:e6d16095ffa8 | 181 | |
Tom0108 | 16:829b953d1ac1 | 182 | //腕おろす |
Tom0108 | 16:829b953d1ac1 | 183 | i2c.Out_Set(Out_Data,0,1); |
Tom0108 | 16:829b953d1ac1 | 184 | if(tim.read_ms()>200) { |
Tom0108 | 16:829b953d1ac1 | 185 | grab++; |
Tom0108 | 16:829b953d1ac1 | 186 | tim.reset(); |
Tom0108 | 16:829b953d1ac1 | 187 | } |
Tom0108 | 16:829b953d1ac1 | 188 | break; |
Tom0108 | 16:829b953d1ac1 | 189 | |
Tom0108 | 16:829b953d1ac1 | 190 | case 2: |
Tom0108 | 16:829b953d1ac1 | 191 | //爪閉じる |
Tom0108 | 16:829b953d1ac1 | 192 | i2c.Out_Set(Out_Data,1,0); |
Tom0108 | 16:829b953d1ac1 | 193 | if(tim.read_ms()>0) { |
Tom0108 | 16:829b953d1ac1 | 194 | grab++; |
Tom0108 | 16:829b953d1ac1 | 195 | tim.reset(); |
Tom0108 | 16:829b953d1ac1 | 196 | } |
Tom0108 | 16:829b953d1ac1 | 197 | break; |
Tom0108 | 16:829b953d1ac1 | 198 | |
Tom0108 | 16:829b953d1ac1 | 199 | case 3: |
Tom0108 | 16:829b953d1ac1 | 200 | //腕上げる |
Tom0108 | 16:829b953d1ac1 | 201 | i2c.Out_Set(Out_Data,0,0); |
Tom0108 | 16:829b953d1ac1 | 202 | if(tim.read_ms()>0) { |
Tom0108 | 16:829b953d1ac1 | 203 | grab++; |
Tom0108 | 16:829b953d1ac1 | 204 | tim.reset(); |
Tom0108 | 16:829b953d1ac1 | 205 | } |
Tom0108 | 16:829b953d1ac1 | 206 | break; |
Tom0108 | 14:e6d16095ffa8 | 207 | |
Tom0108 | 16:829b953d1ac1 | 208 | //腕戻す |
Tom0108 | 16:829b953d1ac1 | 209 | case 4: |
Tom0108 | 16:829b953d1ac1 | 210 | MD_SET_DRIVE(MD_Data,4,MD_FORWARD); |
Tom0108 | 16:829b953d1ac1 | 211 | MD_SET_PWM (MD_Data,4,60); |
Tom0108 | 16:829b953d1ac1 | 212 | if(start_lim==1) { |
Tom0108 | 16:829b953d1ac1 | 213 | grab_f=0; |
Tom0108 | 16:829b953d1ac1 | 214 | tim.reset(); |
Tom0108 | 16:829b953d1ac1 | 215 | } |
Tom0108 | 16:829b953d1ac1 | 216 | break; |
Tom0108 | 16:829b953d1ac1 | 217 | } |
Tom0108 | 16:829b953d1ac1 | 218 | } //if(grab_f) |
Tom0108 | 16:829b953d1ac1 | 219 | |
Tom0108 | 16:829b953d1ac1 | 220 | //シーツ用 |
Tom0108 | 16:829b953d1ac1 | 221 | else if(spull_f) { |
Tom0108 | 16:829b953d1ac1 | 222 | short_f=1; |
Tom0108 | 16:829b953d1ac1 | 223 | switch(spull) { |
Tom0108 | 16:829b953d1ac1 | 224 | //腕を前に動かす |
Tom0108 | 16:829b953d1ac1 | 225 | case 0: |
Tom0108 | 16:829b953d1ac1 | 226 | //爪閉じる |
Tom0108 | 16:829b953d1ac1 | 227 | i2c.Out_Set(Out_Data,1,0); |
Tom0108 | 16:829b953d1ac1 | 228 | //腕上げる |
Tom0108 | 16:829b953d1ac1 | 229 | i2c.Out_Set(Out_Data,0,0); |
Tom0108 | 16:829b953d1ac1 | 230 | |
Tom0108 | 16:829b953d1ac1 | 231 | //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 | 16:829b953d1ac1 | 232 | if(back_f) MD_SET_DRIVE(MD_Data,4,MD_FORWARD); |
Tom0108 | 16:829b953d1ac1 | 233 | else MD_SET_DRIVE(MD_Data,4,MD_REVERSE); |
Tom0108 | 16:829b953d1ac1 | 234 | MD_SET_PWM (MD_Data,4,30); |
Tom0108 | 16:829b953d1ac1 | 235 | |
Tom0108 | 16:829b953d1ac1 | 236 | if(short_lim==1) { |
Tom0108 | 16:829b953d1ac1 | 237 | spull++; |
Tom0108 | 16:829b953d1ac1 | 238 | tim.reset(); |
Tom0108 | 16:829b953d1ac1 | 239 | } else if(max_lim) back_f=1; |
Tom0108 | 16:829b953d1ac1 | 240 | break; |
Tom0108 | 16:829b953d1ac1 | 241 | |
Tom0108 | 16:829b953d1ac1 | 242 | case 1: |
Tom0108 | 16:829b953d1ac1 | 243 | //腕停止 |
Tom0108 | 16:829b953d1ac1 | 244 | MD_SET_DRIVE(MD_Data,4,MD_BRAKE); |
Tom0108 | 16:829b953d1ac1 | 245 | MD_SET_PWM(MD_Data,4,0); |
Tom0108 | 16:829b953d1ac1 | 246 | |
Tom0108 | 16:829b953d1ac1 | 247 | //腕おろす |
Tom0108 | 16:829b953d1ac1 | 248 | i2c.Out_Set(Out_Data,0,1); |
Tom0108 | 16:829b953d1ac1 | 249 | if(tim.read_ms()>200) { |
Tom0108 | 16:829b953d1ac1 | 250 | spull++; |
Tom0108 | 16:829b953d1ac1 | 251 | tim.reset(); |
Tom0108 | 16:829b953d1ac1 | 252 | } |
Tom0108 | 16:829b953d1ac1 | 253 | break; |
Tom0108 | 12:7e33e400a48d | 254 | |
Tom0108 | 16:829b953d1ac1 | 255 | case 2: |
Tom0108 | 16:829b953d1ac1 | 256 | //爪閉じる |
Tom0108 | 16:829b953d1ac1 | 257 | i2c.Out_Set(Out_Data,1,0); |
Tom0108 | 16:829b953d1ac1 | 258 | if(tim.read_ms()>0) { |
Tom0108 | 16:829b953d1ac1 | 259 | spull++; |
Tom0108 | 16:829b953d1ac1 | 260 | tim.reset(); |
Tom0108 | 16:829b953d1ac1 | 261 | } |
Tom0108 | 16:829b953d1ac1 | 262 | break; |
Tom0108 | 16:829b953d1ac1 | 263 | |
Tom0108 | 16:829b953d1ac1 | 264 | case 3: |
Tom0108 | 16:829b953d1ac1 | 265 | //腕上げる |
Tom0108 | 16:829b953d1ac1 | 266 | // i2c.Out_Set(Out_Data,0,0); |
Tom0108 | 16:829b953d1ac1 | 267 | if(tim.read_ms()>0) { |
Tom0108 | 16:829b953d1ac1 | 268 | spull++; |
Tom0108 | 16:829b953d1ac1 | 269 | tim.reset(); |
Tom0108 | 16:829b953d1ac1 | 270 | } |
Tom0108 | 16:829b953d1ac1 | 271 | break; |
Tom0108 | 16:829b953d1ac1 | 272 | |
Tom0108 | 16:829b953d1ac1 | 273 | //腕戻す |
Tom0108 | 16:829b953d1ac1 | 274 | case 4: |
Tom0108 | 16:829b953d1ac1 | 275 | MD_SET_DRIVE(MD_Data,4,MD_FORWARD); |
Tom0108 | 16:829b953d1ac1 | 276 | MD_SET_PWM (MD_Data,4,60); |
Tom0108 | 16:829b953d1ac1 | 277 | if(start_lim==1) { |
Tom0108 | 16:829b953d1ac1 | 278 | spull_f=0; |
Tom0108 | 16:829b953d1ac1 | 279 | tim.reset(); |
Tom0108 | 16:829b953d1ac1 | 280 | } |
Tom0108 | 16:829b953d1ac1 | 281 | break; |
Tom0108 | 16:829b953d1ac1 | 282 | |
Tom0108 | 14:e6d16095ffa8 | 283 | } |
Tom0108 | 16:829b953d1ac1 | 284 | } //if(spull_f) |
Tom0108 | 16:829b953d1ac1 | 285 | |
Tom0108 | 16:829b953d1ac1 | 286 | //タオル引く 丸 |
Tom0108 | 16:829b953d1ac1 | 287 | else if(pull_f) { |
Tom0108 | 16:829b953d1ac1 | 288 | short_f=1; |
Tom0108 | 16:829b953d1ac1 | 289 | switch(pull) { |
Tom0108 | 16:829b953d1ac1 | 290 | //腕を前に動かす |
Tom0108 | 16:829b953d1ac1 | 291 | case 0: |
Tom0108 | 16:829b953d1ac1 | 292 | //爪閉じる |
Tom0108 | 16:829b953d1ac1 | 293 | i2c.Out_Set(Out_Data,1,0); |
Tom0108 | 16:829b953d1ac1 | 294 | //腕上げる |
Tom0108 | 16:829b953d1ac1 | 295 | i2c.Out_Set(Out_Data,0,0); |
Tom0108 | 16:829b953d1ac1 | 296 | |
Tom0108 | 16:829b953d1ac1 | 297 | MD_SET_DRIVE(MD_Data,4,MD_REVERSE); |
Tom0108 | 16:829b953d1ac1 | 298 | MD_SET_PWM (MD_Data,4,60); |
Tom0108 | 16:829b953d1ac1 | 299 | |
Tom0108 | 16:829b953d1ac1 | 300 | if(max_lim==1) { |
Tom0108 | 16:829b953d1ac1 | 301 | pull++; |
Tom0108 | 16:829b953d1ac1 | 302 | tim.reset(); |
Tom0108 | 16:829b953d1ac1 | 303 | } |
Tom0108 | 16:829b953d1ac1 | 304 | break; |
Tom0108 | 16:829b953d1ac1 | 305 | |
Tom0108 | 16:829b953d1ac1 | 306 | case 1: |
Tom0108 | 16:829b953d1ac1 | 307 | //腕停止 |
Tom0108 | 16:829b953d1ac1 | 308 | MD_SET_DRIVE(MD_Data,4,MD_BRAKE); |
Tom0108 | 16:829b953d1ac1 | 309 | MD_SET_PWM (MD_Data,4,0); |
Tom0108 | 16:829b953d1ac1 | 310 | |
Tom0108 | 16:829b953d1ac1 | 311 | //腕おろす |
Tom0108 | 16:829b953d1ac1 | 312 | i2c.Out_Set(Out_Data,0,1); |
Tom0108 | 16:829b953d1ac1 | 313 | if(tim.read_ms()>100) { |
Tom0108 | 16:829b953d1ac1 | 314 | pull++; |
Tom0108 | 16:829b953d1ac1 | 315 | tim.reset(); |
Tom0108 | 16:829b953d1ac1 | 316 | } |
Tom0108 | 16:829b953d1ac1 | 317 | break; |
Tom0108 | 16:829b953d1ac1 | 318 | |
Tom0108 | 16:829b953d1ac1 | 319 | //停止 |
Tom0108 | 16:829b953d1ac1 | 320 | case 2: |
Tom0108 | 16:829b953d1ac1 | 321 | if(tim.read_ms()>0) { |
Tom0108 | 16:829b953d1ac1 | 322 | pull++; |
Tom0108 | 16:829b953d1ac1 | 323 | tim.reset(); |
Tom0108 | 16:829b953d1ac1 | 324 | } |
Tom0108 | 16:829b953d1ac1 | 325 | break; |
Tom0108 | 14:e6d16095ffa8 | 326 | |
Tom0108 | 16:829b953d1ac1 | 327 | case 3: |
Tom0108 | 16:829b953d1ac1 | 328 | MD_SET_DRIVE(MD_Data,4,MD_FORWARD); |
Tom0108 | 16:829b953d1ac1 | 329 | MD_SET_PWM (MD_Data,4,60); |
Tom0108 | 16:829b953d1ac1 | 330 | if(start_lim==1) { |
Tom0108 | 16:829b953d1ac1 | 331 | pull_f=0; |
Tom0108 | 16:829b953d1ac1 | 332 | tim.reset(); |
Tom0108 | 16:829b953d1ac1 | 333 | } |
Tom0108 | 16:829b953d1ac1 | 334 | break; |
Tom0108 | 16:829b953d1ac1 | 335 | } |
Tom0108 | 16:829b953d1ac1 | 336 | } //if(pull_f) |
Tom0108 | 16:829b953d1ac1 | 337 | |
Tom0108 | 16:829b953d1ac1 | 338 | //かごを倒す |
Tom0108 | 16:829b953d1ac1 | 339 | else if(kago_f) { |
Tom0108 | 16:829b953d1ac1 | 340 | short_f=1; |
Tom0108 | 16:829b953d1ac1 | 341 | |
Tom0108 | 16:829b953d1ac1 | 342 | switch(kago) { |
Tom0108 | 16:829b953d1ac1 | 343 | //腕を前に動かす |
Tom0108 | 16:829b953d1ac1 | 344 | case 0: |
Tom0108 | 16:829b953d1ac1 | 345 | //爪閉じる |
Tom0108 | 16:829b953d1ac1 | 346 | i2c.Out_Set(Out_Data,1,0); |
Tom0108 | 16:829b953d1ac1 | 347 | //腕上げる |
Tom0108 | 16:829b953d1ac1 | 348 | i2c.Out_Set(Out_Data,0,0); |
Tom0108 | 16:829b953d1ac1 | 349 | |
Tom0108 | 16:829b953d1ac1 | 350 | MD_SET_DRIVE(MD_Data,4,MD_REVERSE); |
Tom0108 | 16:829b953d1ac1 | 351 | MD_SET_PWM (MD_Data,4,60); |
Tom0108 | 16:829b953d1ac1 | 352 | if(max_lim==1) { |
Tom0108 | 16:829b953d1ac1 | 353 | kago++; |
Tom0108 | 16:829b953d1ac1 | 354 | tim.reset(); |
Tom0108 | 16:829b953d1ac1 | 355 | } |
Tom0108 | 16:829b953d1ac1 | 356 | break; |
Tom0108 | 16:829b953d1ac1 | 357 | |
Tom0108 | 16:829b953d1ac1 | 358 | case 1: |
Tom0108 | 16:829b953d1ac1 | 359 | //腕停止 |
Tom0108 | 16:829b953d1ac1 | 360 | MD_SET_DRIVE(MD_Data,4,MD_BRAKE); |
Tom0108 | 16:829b953d1ac1 | 361 | MD_SET_PWM (MD_Data,4,0); |
Tom0108 | 14:e6d16095ffa8 | 362 | |
Tom0108 | 16:829b953d1ac1 | 363 | //かご回転 |
Tom0108 | 16:829b953d1ac1 | 364 | MD_SET_DRIVE(MD_Data,6,MD_FORWARD); |
Tom0108 | 16:829b953d1ac1 | 365 | MD_SET_PWM (MD_Data,6,100); |
Tom0108 | 16:829b953d1ac1 | 366 | if(slide_stop==1) { |
Tom0108 | 16:829b953d1ac1 | 367 | kago++; |
Tom0108 | 16:829b953d1ac1 | 368 | tim.reset(); |
Tom0108 | 16:829b953d1ac1 | 369 | MD_SET_DRIVE(MD_Data,6,MD_BRAKE); |
Tom0108 | 16:829b953d1ac1 | 370 | MD_SET_PWM (MD_Data,6,0); |
Tom0108 | 16:829b953d1ac1 | 371 | } |
Tom0108 | 16:829b953d1ac1 | 372 | break; |
Tom0108 | 16:829b953d1ac1 | 373 | |
Tom0108 | 16:829b953d1ac1 | 374 | case 2: |
Tom0108 | 16:829b953d1ac1 | 375 | if(tim.read_ms()>0) { |
Tom0108 | 16:829b953d1ac1 | 376 | kago++; |
Tom0108 | 16:829b953d1ac1 | 377 | tim.reset(); |
Tom0108 | 16:829b953d1ac1 | 378 | } |
Tom0108 | 16:829b953d1ac1 | 379 | break; |
Tom0108 | 16:829b953d1ac1 | 380 | |
Tom0108 | 16:829b953d1ac1 | 381 | case 3: |
Tom0108 | 16:829b953d1ac1 | 382 | MD_SET_DRIVE(MD_Data,6,MD_REVERSE); |
Tom0108 | 16:829b953d1ac1 | 383 | MD_SET_PWM (MD_Data,6,100); |
Tom0108 | 16:829b953d1ac1 | 384 | if(slide_start==1) kago++; |
Tom0108 | 16:829b953d1ac1 | 385 | break; |
Tom0108 | 16:829b953d1ac1 | 386 | |
Tom0108 | 16:829b953d1ac1 | 387 | case 4: |
Tom0108 | 16:829b953d1ac1 | 388 | MD_SET_DRIVE(MD_Data,4,MD_FORWARD); |
Tom0108 | 16:829b953d1ac1 | 389 | MD_SET_PWM (MD_Data,4,60); |
Tom0108 | 16:829b953d1ac1 | 390 | if(start_lim==1) { |
Tom0108 | 16:829b953d1ac1 | 391 | kago_f=0; |
Tom0108 | 16:829b953d1ac1 | 392 | tim.reset(); |
Tom0108 | 16:829b953d1ac1 | 393 | } |
Tom0108 | 16:829b953d1ac1 | 394 | break; |
Tom0108 | 14:e6d16095ffa8 | 395 | } |
Tom0108 | 16:829b953d1ac1 | 396 | } else { |
Tom0108 | 16:829b953d1ac1 | 397 | if(sbdbt.R1) { |
Tom0108 | 16:829b953d1ac1 | 398 | //腕おろす |
Tom0108 | 16:829b953d1ac1 | 399 | i2c.Out_Set(Out_Data,0,1); |
Tom0108 | 16:829b953d1ac1 | 400 | //爪閉じる |
Tom0108 | 16:829b953d1ac1 | 401 | i2c.Out_Set(Out_Data,1,0); |
Tom0108 | 16:829b953d1ac1 | 402 | } |
Tom0108 | 16:829b953d1ac1 | 403 | //腕あげる |
Tom0108 | 16:829b953d1ac1 | 404 | else i2c.Out_Set(Out_Data,0,0); |
Tom0108 | 6:040d001acb12 | 405 | |
Tom0108 | 16:829b953d1ac1 | 406 | if(disturb_f) { |
Tom0108 | 14:e6d16095ffa8 | 407 | //真ん中で止まる用 |
Tom0108 | 14:e6d16095ffa8 | 408 | short_f=1; |
Tom0108 | 16:829b953d1ac1 | 409 | switch(disturb) { |
Tom0108 | 14:e6d16095ffa8 | 410 | //腕を前に動かす |
Tom0108 | 14:e6d16095ffa8 | 411 | case 0: |
Tom0108 | 14:e6d16095ffa8 | 412 | //爪開く |
Tom0108 | 14:e6d16095ffa8 | 413 | i2c.Out_Set(Out_Data,1,1); |
Tom0108 | 14:e6d16095ffa8 | 414 | //腕上げる |
Tom0108 | 14:e6d16095ffa8 | 415 | i2c.Out_Set(Out_Data,0,0); |
Tom0108 | 14:e6d16095ffa8 | 416 | |
Tom0108 | 14:e6d16095ffa8 | 417 | MD_SET_DRIVE(MD_Data,4,MD_REVERSE); |
Tom0108 | 14:e6d16095ffa8 | 418 | MD_SET_PWM (MD_Data,4,60); |
Tom0108 | 14:e6d16095ffa8 | 419 | |
Tom0108 | 14:e6d16095ffa8 | 420 | if(max_lim==1) { |
Tom0108 | 16:829b953d1ac1 | 421 | disturb++; |
Tom0108 | 14:e6d16095ffa8 | 422 | tim.reset(); |
Tom0108 | 14:e6d16095ffa8 | 423 | } |
Tom0108 | 14:e6d16095ffa8 | 424 | break; |
Tom0108 | 8:b79d21c8178b | 425 | |
Tom0108 | 14:e6d16095ffa8 | 426 | case 1: |
Tom0108 | 14:e6d16095ffa8 | 427 | //腕停止 |
Tom0108 | 14:e6d16095ffa8 | 428 | MD_SET_DRIVE(MD_Data,4,MD_BRAKE); |
Tom0108 | 14:e6d16095ffa8 | 429 | MD_SET_PWM(MD_Data,4,0); |
Tom0108 | 14:e6d16095ffa8 | 430 | |
Tom0108 | 14:e6d16095ffa8 | 431 | //腕おろす |
Tom0108 | 14:e6d16095ffa8 | 432 | i2c.Out_Set(Out_Data,0,1); |
Tom0108 | 14:e6d16095ffa8 | 433 | if(tim.read_ms()>200) { |
Tom0108 | 16:829b953d1ac1 | 434 | disturb++; |
Tom0108 | 14:e6d16095ffa8 | 435 | tim.reset(); |
Tom0108 | 14:e6d16095ffa8 | 436 | } |
Tom0108 | 14:e6d16095ffa8 | 437 | break; |
Tom0108 | 8:b79d21c8178b | 438 | |
Tom0108 | 14:e6d16095ffa8 | 439 | case 2: |
Tom0108 | 14:e6d16095ffa8 | 440 | //爪閉じる |
Tom0108 | 14:e6d16095ffa8 | 441 | i2c.Out_Set(Out_Data,1,0); |
Tom0108 | 14:e6d16095ffa8 | 442 | if(tim.read_ms()>0) { |
Tom0108 | 16:829b953d1ac1 | 443 | disturb++; |
Tom0108 | 14:e6d16095ffa8 | 444 | tim.reset(); |
Tom0108 | 14:e6d16095ffa8 | 445 | } |
Tom0108 | 14:e6d16095ffa8 | 446 | break; |
Tom0108 | 12:7e33e400a48d | 447 | |
Tom0108 | 14:e6d16095ffa8 | 448 | case 3: |
Tom0108 | 14:e6d16095ffa8 | 449 | //腕上げる |
Tom0108 | 14:e6d16095ffa8 | 450 | i2c.Out_Set(Out_Data,0,0); |
Tom0108 | 14:e6d16095ffa8 | 451 | |
Tom0108 | 16:829b953d1ac1 | 452 | //赤ゾーン |
Tom0108 | 16:829b953d1ac1 | 453 | if( yaw<=90 || 270<yaw ) { |
Tom0108 | 16:829b953d1ac1 | 454 | MD_SET_PWM(MD_Data,4,20); |
Tom0108 | 16:829b953d1ac1 | 455 | if(RIGHTkey && max_lim==0) MD_SET_DRIVE(MD_Data,4,MD_REVERSE); |
Tom0108 | 16:829b953d1ac1 | 456 | else if(LEFTkey && start_lim==0) MD_SET_DRIVE(MD_Data,4,MD_FORWARD); |
Tom0108 | 16:829b953d1ac1 | 457 | else { |
Tom0108 | 16:829b953d1ac1 | 458 | MD_SET_DRIVE(MD_Data,4,MD_BRAKE); |
Tom0108 | 16:829b953d1ac1 | 459 | MD_SET_PWM (MD_Data,4,0); |
Tom0108 | 16:829b953d1ac1 | 460 | } |
Tom0108 | 14:e6d16095ffa8 | 461 | } |
Tom0108 | 16:829b953d1ac1 | 462 | //青ゾーン |
Tom0108 | 16:829b953d1ac1 | 463 | else if( 90<yaw && yaw<=270 ) { |
Tom0108 | 16:829b953d1ac1 | 464 | MD_SET_PWM(MD_Data,4,20); |
Tom0108 | 16:829b953d1ac1 | 465 | if(LEFTkey && max_lim==0) MD_SET_DRIVE(MD_Data,4,MD_REVERSE); |
Tom0108 | 16:829b953d1ac1 | 466 | else if(RIGHTkey && start_lim==0) MD_SET_DRIVE(MD_Data,4,MD_FORWARD); |
Tom0108 | 16:829b953d1ac1 | 467 | else { |
Tom0108 | 16:829b953d1ac1 | 468 | MD_SET_DRIVE(MD_Data,4,MD_BRAKE); |
Tom0108 | 16:829b953d1ac1 | 469 | MD_SET_PWM (MD_Data,4,0); |
Tom0108 | 16:829b953d1ac1 | 470 | } |
Tom0108 | 14:e6d16095ffa8 | 471 | } |
Tom0108 | 14:e6d16095ffa8 | 472 | } |
Tom0108 | 16:829b953d1ac1 | 473 | } //if(disturb_f) |
Tom0108 | 8:b79d21c8178b | 474 | |
Tom0108 | 16:829b953d1ac1 | 475 | //腕真ん中で停止 |
Tom0108 | 16:829b953d1ac1 | 476 | else if(short_f) { |
Tom0108 | 16:829b953d1ac1 | 477 | //爪開く |
Tom0108 | 16:829b953d1ac1 | 478 | i2c.Out_Set(Out_Data,1,1); |
Tom0108 | 1:199c4a71da88 | 479 | |
Tom0108 | 16:829b953d1ac1 | 480 | if(short_lim==1) { |
Tom0108 | 16:829b953d1ac1 | 481 | short_f=0; |
Tom0108 | 16:829b953d1ac1 | 482 | back_f=0; |
Tom0108 | 16:829b953d1ac1 | 483 | } |
Tom0108 | 16:829b953d1ac1 | 484 | //奥のリミットに当たったら逆回転 |
Tom0108 | 16:829b953d1ac1 | 485 | if(max_lim==1) back_f=1; |
Tom0108 | 16:829b953d1ac1 | 486 | //手前のリミットに当たったら正回転 |
Tom0108 | 16:829b953d1ac1 | 487 | else if(start_lim==1) back_f=0; |
Tom0108 | 8:b79d21c8178b | 488 | |
Tom0108 | 16:829b953d1ac1 | 489 | if(back_f) MD_SET_DRIVE(MD_Data,4,MD_FORWARD); |
Tom0108 | 16:829b953d1ac1 | 490 | else MD_SET_DRIVE(MD_Data,4,MD_REVERSE); |
Tom0108 | 16:829b953d1ac1 | 491 | MD_SET_PWM (MD_Data,4,30); |
Tom0108 | 16:829b953d1ac1 | 492 | } else { |
Tom0108 | 16:829b953d1ac1 | 493 | //爪開く |
Tom0108 | 16:829b953d1ac1 | 494 | i2c.Out_Set(Out_Data,1,1); |
Tom0108 | 13:48c4a4c95e77 | 495 | |
Tom0108 | 16:829b953d1ac1 | 496 | //赤ゾーン |
Tom0108 | 16:829b953d1ac1 | 497 | if( yaw<=90 || 270<yaw ) { |
Tom0108 | 16:829b953d1ac1 | 498 | MD_SET_PWM(MD_Data,4,20); |
Tom0108 | 16:829b953d1ac1 | 499 | if(RIGHTkey && max_lim==0) MD_SET_DRIVE(MD_Data,4,MD_REVERSE); |
Tom0108 | 16:829b953d1ac1 | 500 | else if(LEFTkey && start_lim==0) MD_SET_DRIVE(MD_Data,4,MD_FORWARD); |
Tom0108 | 13:48c4a4c95e77 | 501 | else { |
Tom0108 | 2:47954f05d32d | 502 | MD_SET_DRIVE(MD_Data,4,MD_BRAKE); |
Tom0108 | 2:47954f05d32d | 503 | MD_SET_PWM (MD_Data,4,0); |
Tom0108 | 8:b79d21c8178b | 504 | } |
Tom0108 | 16:829b953d1ac1 | 505 | } |
Tom0108 | 16:829b953d1ac1 | 506 | //青ゾーン |
Tom0108 | 16:829b953d1ac1 | 507 | else if( 90<yaw && yaw<=270 ) { |
Tom0108 | 16:829b953d1ac1 | 508 | MD_SET_PWM(MD_Data,4,20); |
Tom0108 | 16:829b953d1ac1 | 509 | if(LEFTkey && max_lim==0) MD_SET_DRIVE(MD_Data,4,MD_REVERSE); |
Tom0108 | 16:829b953d1ac1 | 510 | else if(RIGHTkey && start_lim==0) MD_SET_DRIVE(MD_Data,4,MD_FORWARD); |
Tom0108 | 16:829b953d1ac1 | 511 | else { |
Tom0108 | 16:829b953d1ac1 | 512 | MD_SET_DRIVE(MD_Data,4,MD_BRAKE); |
Tom0108 | 16:829b953d1ac1 | 513 | MD_SET_PWM (MD_Data,4,0); |
Tom0108 | 16:829b953d1ac1 | 514 | } |
Tom0108 | 16:829b953d1ac1 | 515 | } |
Tom0108 | 1:199c4a71da88 | 516 | |
Tom0108 | 16:829b953d1ac1 | 517 | //止まる |
Tom0108 | 16:829b953d1ac1 | 518 | else { |
Tom0108 | 16:829b953d1ac1 | 519 | MD_SET_DRIVE(MD_Data,4,MD_BRAKE); |
Tom0108 | 16:829b953d1ac1 | 520 | MD_SET_PWM (MD_Data,4,0); |
Tom0108 | 8:b79d21c8178b | 521 | } |
Tom0108 | 16:829b953d1ac1 | 522 | //かご停止 |
Tom0108 | 16:829b953d1ac1 | 523 | MD_SET_DRIVE(MD_Data,6,MD_BRAKE); |
Tom0108 | 16:829b953d1ac1 | 524 | MD_SET_PWM (MD_Data,6,0); |
Tom0108 | 16:829b953d1ac1 | 525 | |
Tom0108 | 16:829b953d1ac1 | 526 | kago=0; |
Tom0108 | 16:829b953d1ac1 | 527 | pull=0; |
Tom0108 | 16:829b953d1ac1 | 528 | grab=0; |
Tom0108 | 16:829b953d1ac1 | 529 | spull=0; |
Tom0108 | 2:47954f05d32d | 530 | } |
Tom0108 | 14:e6d16095ffa8 | 531 | } |
Tom0108 | 14:e6d16095ffa8 | 532 | |
Tom0108 | 14:e6d16095ffa8 | 533 | /* --------------電磁弁系-------------------- */ |
Tom0108 | 16:829b953d1ac1 | 534 | i2c.Out_Set(Out_Data, 2, sbdbt.L2); //タオル掛け |
Tom0108 | 16:829b953d1ac1 | 535 | i2c.Out_Set(Out_Data, 4, sbdbt.R2); //タオルを引っ張るやつ |
Tom0108 | 16:829b953d1ac1 | 536 | i2c.Out_Set(Out_Data, 3, unfold_f); //タオル展開 |
Tom0108 | 16:829b953d1ac1 | 537 | i2c.Out_Set(Out_Data, 5, release_f);//エアー解放 |
Tom0108 | 14:e6d16095ffa8 | 538 | |
Tom0108 | 16:829b953d1ac1 | 539 | //-------------- 出力 --------------/ |
Tom0108 | 16:829b953d1ac1 | 540 | i2c.Out(Out_Data,9); //第二引数には使う最大の個数 |
Tom0108 | 16:829b953d1ac1 | 541 | for(int i=0; i<8; i++) i2c.MD_I2C(MD_Data,i); //モータ出力 |
Tom0108 | 14:e6d16095ffa8 | 542 | |
Tom0108 | 14:e6d16095ffa8 | 543 | /* ----------- りみっと --------------- */ |
Tom0108 | 14:e6d16095ffa8 | 544 | limit_up = (In_Data+4)->in_data; |
Tom0108 | 14:e6d16095ffa8 | 545 | limit_down = (In_Data+5)->in_data; |
Tom0108 | 14:e6d16095ffa8 | 546 | max_lim = (In_Data+1)->in_data; |
Tom0108 | 14:e6d16095ffa8 | 547 | start_lim =(In_Data+2)->in_data; |
Tom0108 | 14:e6d16095ffa8 | 548 | short_lim = (In_Data+6)->in_data; |
Tom0108 | 14:e6d16095ffa8 | 549 | slide_start = (In_Data+3)->in_data; |
Tom0108 | 14:e6d16095ffa8 | 550 | slide_stop = (In_Data+0)->in_data; |
Tom0108 | 14:e6d16095ffa8 | 551 | |
Tom0108 | 14:e6d16095ffa8 | 552 | /* ----------------ボタン系--------------- */ |
Tom0108 | 14:e6d16095ffa8 | 553 | //角度リセット |
Tom0108 | 14:e6d16095ffa8 | 554 | if(sbdbt.L1) { |
Tom0108 | 14:e6d16095ffa8 | 555 | yaw=def_val; |
Tom0108 | 14:e6d16095ffa8 | 556 | Turn_val=def_val; |
Tom0108 | 14:e6d16095ffa8 | 557 | } |
Tom0108 | 16:829b953d1ac1 | 558 | if(CROSS) Toggle(&kago_f, CROSS); //かごを倒す |
Tom0108 | 16:829b953d1ac1 | 559 | else if(SQUARE) Toggle(&grab_f, SQUARE); //タオルを掴んで動かす |
Tom0108 | 16:829b953d1ac1 | 560 | else if(TRIANGLE) Toggle(&spull_f, TRIANGLE); |
Tom0108 | 16:829b953d1ac1 | 561 | else if(CIRCLE) Toggle(&pull_f, CIRCLE); |
Tom0108 | 16:829b953d1ac1 | 562 | else if(sbdbt.START) Toggle(&unfold_f, sbdbt.START); |
Tom0108 | 16:829b953d1ac1 | 563 | else if(sbdbt.SELECT) Toggle(&release_f, sbdbt.SELECT); |
Tom0108 | 16:829b953d1ac1 | 564 | else if(sbdbt.PS) Toggle(&disturb_f, sbdbt.PS); |
Tom0108 | 16:829b953d1ac1 | 565 | else once=0; |
Tom0108 | 13:48c4a4c95e77 | 566 | |
Tom0108 | 13:48c4a4c95e77 | 567 | //半自動のデバック |
Tom0108 | 16:829b953d1ac1 | 568 | pc.printf("%d %d ",kago_f, grab_f); |
Tom0108 | 13:48c4a4c95e77 | 569 | pc.printf("\n\r"); |
Tom0108 | 0:761a63c6d020 | 570 | } // while(1) |
Tom0108 | 0:761a63c6d020 | 571 | } // int main() |
Tom0108 | 0:761a63c6d020 | 572 | |
Tom0108 | 0:761a63c6d020 | 573 | /* メカナムの基本移動 */ |
Tom0108 | 6:040d001acb12 | 574 | void mecanum_Move(int lx, int ly, int rx) |
Tom0108 | 0:761a63c6d020 | 575 | { |
Tom0108 | 6:040d001acb12 | 576 | duty[0]=lx+ly; |
Tom0108 | 6:040d001acb12 | 577 | duty[1]=-(-lx+ly); |
Tom0108 | 6:040d001acb12 | 578 | duty[2]=-lx+ly; |
Tom0108 | 6:040d001acb12 | 579 | duty[3]=-(lx+ly); |
Tom0108 | 0:761a63c6d020 | 580 | |
Tom0108 | 0:761a63c6d020 | 581 | for(int i=0; i<4; i++) { |
Tom0108 | 8:b79d21c8178b | 582 | //旋回 |
Tom0108 | 6:040d001acb12 | 583 | duty[i]+=rx; |
Tom0108 | 8:b79d21c8178b | 584 | |
Tom0108 | 8:b79d21c8178b | 585 | //制限 |
Tom0108 | 8:b79d21c8178b | 586 | if(duty[i]>=99) duty[i]=99; |
Tom0108 | 8:b79d21c8178b | 587 | else if(duty[i]<=-99) duty[i]=-99; |
Tom0108 | 6:040d001acb12 | 588 | MD_SET_DRIVE(MD_Data, i, duty[i]==0? MD_BRAKE: (duty[i]>0? MD_FORWARD: MD_REVERSE)); |
Tom0108 | 6:040d001acb12 | 589 | MD_SET_PWM(MD_Data, i, abs(duty[i])); |
Tom0108 | 0:761a63c6d020 | 590 | } |
Tom0108 | 0:761a63c6d020 | 591 | } |
Tom0108 | 0:761a63c6d020 | 592 | |
Tom0108 | 6:040d001acb12 | 593 | void AngleCorrection(double n_angle, double t_angle) |
Tom0108 | 0:761a63c6d020 | 594 | { |
Tom0108 | 6:040d001acb12 | 595 | double dif=-(t_angle-n_angle); |
Tom0108 | 6:040d001acb12 | 596 | |
Tom0108 | 6:040d001acb12 | 597 | if(dif>=30) dif=30; |
Tom0108 | 6:040d001acb12 | 598 | else if(dif<=-30) dif=-30; |
Tom0108 | 6:040d001acb12 | 599 | |
Tom0108 | 0:761a63c6d020 | 600 | for(int i=0; i<4; i++) { |
Tom0108 | 6:040d001acb12 | 601 | duty[i]+=dif; |
Tom0108 | 6:040d001acb12 | 602 | MD_SET_DRIVE(MD_Data, i, duty[i]==0? MD_BRAKE: (duty[i]>0? MD_FORWARD: MD_REVERSE)); |
Tom0108 | 6:040d001acb12 | 603 | MD_SET_PWM(MD_Data, i, abs(duty[i])); |
Tom0108 | 0:761a63c6d020 | 604 | } |
Tom0108 | 0:761a63c6d020 | 605 | } |
Tom0108 | 0:761a63c6d020 | 606 | |
Tom0108 | 15:68720ff6bbc9 | 607 | void Toggle(int *variable, int val) |
Tom0108 | 15:68720ff6bbc9 | 608 | { |
Tom0108 | 15:68720ff6bbc9 | 609 | static int data[2]= {0}; |
Tom0108 | 15:68720ff6bbc9 | 610 | |
Tom0108 | 15:68720ff6bbc9 | 611 | if(once==0) { |
Tom0108 | 15:68720ff6bbc9 | 612 | data[0]=0; |
Tom0108 | 15:68720ff6bbc9 | 613 | once=1; |
Tom0108 | 15:68720ff6bbc9 | 614 | } |
Tom0108 | 15:68720ff6bbc9 | 615 | |
Tom0108 | 15:68720ff6bbc9 | 616 | data[1]=data[0]; |
Tom0108 | 15:68720ff6bbc9 | 617 | data[0]=val; |
Tom0108 | 15:68720ff6bbc9 | 618 | |
Tom0108 | 15:68720ff6bbc9 | 619 | if(data[1]==0 && data[0]==1) { |
Tom0108 | 16:829b953d1ac1 | 620 | (*variable)++; |
Tom0108 | 16:829b953d1ac1 | 621 | (*variable)%=2; |
Tom0108 | 15:68720ff6bbc9 | 622 | } |
Tom0108 | 15:68720ff6bbc9 | 623 | } |