Takushima Yukimasa
/
R19_ManuTakukAHWGeo
a
main.cpp@14:e6d16095ffa8, 2019-09-21 (annotated)
- Committer:
- Tom0108
- Date:
- Sat Sep 21 01:06:15 2019 +0000
- Revision:
- 14:e6d16095ffa8
- Parent:
- 13:48c4a4c95e77
- Child:
- 15:68720ff6bbc9
- Child:
- 18:d6be6154f9aa
With jamming function
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 | 14:e6d16095ffa8 | 64 | //リミット |
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 | 14:e6d16095ffa8 | 71 | yaw=def_val; |
Tom0108 | 14:e6d16095ffa8 | 72 | |
Tom0108 | 14:e6d16095ffa8 | 73 | //補正角度 |
Tom0108 | 14:e6d16095ffa8 | 74 | Turn_val=def_val; |
Tom0108 | 14:e6d16095ffa8 | 75 | |
Tom0108 | 14:e6d16095ffa8 | 76 | sbdbt.LX=64; |
Tom0108 | 14:e6d16095ffa8 | 77 | sbdbt.LY=64; |
Tom0108 | 14:e6d16095ffa8 | 78 | sbdbt.RX=64; |
Tom0108 | 14:e6d16095ffa8 | 79 | sbdbt.RY=64; |
Tom0108 | 11:c1a22e2e3534 | 80 | //ジャイロリセット |
Tom0108 | 10:7c73e1577742 | 81 | bno.reset(); |
Tom0108 | 5:fcc79e507610 | 82 | |
Tom0108 | 0:761a63c6d020 | 83 | while(1) { |
Tom0108 | 1:199c4a71da88 | 84 | //自動系のタイマースタート |
Tom0108 | 1:199c4a71da88 | 85 | tim.start(); |
Tom0108 | 6:040d001acb12 | 86 | drift_tim.start(); |
Tom0108 | 12:7e33e400a48d | 87 | keep_tim[0].start(); |
Tom0108 | 12:7e33e400a48d | 88 | keep_tim[1].start(); |
Tom0108 | 0:761a63c6d020 | 89 | |
Tom0108 | 11:c1a22e2e3534 | 90 | bno.setmode(OPERATION_MODE_IMUPLUS); |
Tom0108 | 10:7c73e1577742 | 91 | //角度の取得 |
Tom0108 | 10:7c73e1577742 | 92 | bno.get_angles(); |
Tom0108 | 10:7c73e1577742 | 93 | rawyaw[1]=rawyaw[0]; |
Tom0108 | 10:7c73e1577742 | 94 | rawyaw[0]=bno.euler.yaw; |
Tom0108 | 11:c1a22e2e3534 | 95 | |
Tom0108 | 5:fcc79e507610 | 96 | //180~-180をまたいだ時 |
Tom0108 | 10:7c73e1577742 | 97 | if(rawyaw[1]<90 && rawyaw[0]>270) rawyaw[1]+=360; |
Tom0108 | 10:7c73e1577742 | 98 | else if(rawyaw[1]>270 && rawyaw[0]<90) rawyaw[1]-=360; |
Tom0108 | 11:c1a22e2e3534 | 99 | |
Tom0108 | 10:7c73e1577742 | 100 | yaw-=rawyaw[0]-rawyaw[1]; |
Tom0108 | 14:e6d16095ffa8 | 101 | yaw=fmod(yaw, 360.0); |
Tom0108 | 0:761a63c6d020 | 102 | |
Tom0108 | 12:7e33e400a48d | 103 | //ゾーン対応 |
Tom0108 | 14:e6d16095ffa8 | 104 | if(zone==0) PALETTE(RED); |
Tom0108 | 14:e6d16095ffa8 | 105 | else PALETTE(BLUE); |
Tom0108 | 14:e6d16095ffa8 | 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 | 14:e6d16095ffa8 | 114 | //R1で停止 |
Tom0108 | 14:e6d16095ffa8 | 115 | if(1) { |
Tom0108 | 14:e6d16095ffa8 | 116 | //メカナム基本動作 |
Tom0108 | 14:e6d16095ffa8 | 117 | mecanum_Move(lx, ly, rx); |
Tom0108 | 14:e6d16095ffa8 | 118 | |
Tom0108 | 14:e6d16095ffa8 | 119 | //旋回している間タイマーをリセット |
Tom0108 | 14:e6d16095ffa8 | 120 | if(sbdbt.RX != 64) drift_tim.reset(); |
Tom0108 | 14:e6d16095ffa8 | 121 | |
Tom0108 | 14:e6d16095ffa8 | 122 | //旋回して慣性で動いた後の角度に補正する |
Tom0108 | 14:e6d16095ffa8 | 123 | if(drift_tim.read_ms()<1000) Turn_val=yaw; |
Tom0108 | 14:e6d16095ffa8 | 124 | |
Tom0108 | 14:e6d16095ffa8 | 125 | //角度補正 |
Tom0108 | 14:e6d16095ffa8 | 126 | AngleCorrection(yaw, Turn_val); |
Tom0108 | 14:e6d16095ffa8 | 127 | |
Tom0108 | 14:e6d16095ffa8 | 128 | /*---ハンガーかけるやつ----------------------------------------------*/ |
Tom0108 | 14:e6d16095ffa8 | 129 | //上方向 |
Tom0108 | 14:e6d16095ffa8 | 130 | if(!DOWNkey && ((UPkey || keep_f[0]) && limit_up == 0)) { |
Tom0108 | 14:e6d16095ffa8 | 131 | //一定秒以上押されたら保持 |
Tom0108 | 14:e6d16095ffa8 | 132 | if(keep_tim[0].read_ms()>500) keep_f[0]=1; |
Tom0108 | 14:e6d16095ffa8 | 133 | //下方向の保持を解除 |
Tom0108 | 14:e6d16095ffa8 | 134 | keep_f[1]=0; |
Tom0108 | 14:e6d16095ffa8 | 135 | keep_tim[1].reset(); |
Tom0108 | 12:7e33e400a48d | 136 | |
Tom0108 | 14:e6d16095ffa8 | 137 | MD_SET_DRIVE(MD_Data, 5,MD_FORWARD); |
Tom0108 | 14:e6d16095ffa8 | 138 | MD_SET_PWM(MD_Data, 5,100); |
Tom0108 | 14:e6d16095ffa8 | 139 | } |
Tom0108 | 14:e6d16095ffa8 | 140 | //下方向 |
Tom0108 | 14:e6d16095ffa8 | 141 | else if(!UPkey && ((DOWNkey || keep_f[1]) && limit_down == 0)) { |
Tom0108 | 14:e6d16095ffa8 | 142 | if(keep_tim[1].read_ms()>500) keep_f[1]=1; |
Tom0108 | 14:e6d16095ffa8 | 143 | keep_f[0]=0; |
Tom0108 | 14:e6d16095ffa8 | 144 | keep_tim[0].reset(); |
Tom0108 | 14:e6d16095ffa8 | 145 | |
Tom0108 | 14:e6d16095ffa8 | 146 | MD_SET_DRIVE(MD_Data, 5,MD_REVERSE); |
Tom0108 | 14:e6d16095ffa8 | 147 | MD_SET_PWM(MD_Data, 5,100); |
Tom0108 | 14:e6d16095ffa8 | 148 | } else { |
Tom0108 | 14:e6d16095ffa8 | 149 | keep_f[0]=0; |
Tom0108 | 14:e6d16095ffa8 | 150 | keep_tim[0].reset(); |
Tom0108 | 14:e6d16095ffa8 | 151 | keep_f[1]=0; |
Tom0108 | 14:e6d16095ffa8 | 152 | keep_tim[1].reset(); |
Tom0108 | 14:e6d16095ffa8 | 153 | |
Tom0108 | 14:e6d16095ffa8 | 154 | MD_SET_PWM(MD_Data,5,0); |
Tom0108 | 14:e6d16095ffa8 | 155 | MD_SET_DRIVE(MD_Data, 5,MD_BRAKE); |
Tom0108 | 14:e6d16095ffa8 | 156 | } |
Tom0108 | 6:040d001acb12 | 157 | |
Tom0108 | 14:e6d16095ffa8 | 158 | //タオルつかむ 四角 |
Tom0108 | 14:e6d16095ffa8 | 159 | if(grab_f) { |
Tom0108 | 14:e6d16095ffa8 | 160 | //真ん中で止まる用 |
Tom0108 | 14:e6d16095ffa8 | 161 | short_f=1; |
Tom0108 | 14:e6d16095ffa8 | 162 | switch(grab) { |
Tom0108 | 14:e6d16095ffa8 | 163 | //腕を前に動かす |
Tom0108 | 14:e6d16095ffa8 | 164 | case 0: |
Tom0108 | 14:e6d16095ffa8 | 165 | //爪開く |
Tom0108 | 14:e6d16095ffa8 | 166 | i2c.Out_Set(Out_Data,1,1); |
Tom0108 | 14:e6d16095ffa8 | 167 | //腕上げる |
Tom0108 | 14:e6d16095ffa8 | 168 | i2c.Out_Set(Out_Data,0,0); |
Tom0108 | 14:e6d16095ffa8 | 169 | |
Tom0108 | 14:e6d16095ffa8 | 170 | MD_SET_DRIVE(MD_Data,4,MD_REVERSE); |
Tom0108 | 14:e6d16095ffa8 | 171 | MD_SET_PWM (MD_Data,4,60); |
Tom0108 | 14:e6d16095ffa8 | 172 | |
Tom0108 | 14:e6d16095ffa8 | 173 | if(max_lim==1) { |
Tom0108 | 14:e6d16095ffa8 | 174 | grab++; |
Tom0108 | 14:e6d16095ffa8 | 175 | tim.reset(); |
Tom0108 | 14:e6d16095ffa8 | 176 | } |
Tom0108 | 14:e6d16095ffa8 | 177 | break; |
Tom0108 | 8:b79d21c8178b | 178 | |
Tom0108 | 14:e6d16095ffa8 | 179 | case 1: |
Tom0108 | 14:e6d16095ffa8 | 180 | //腕停止 |
Tom0108 | 14:e6d16095ffa8 | 181 | MD_SET_DRIVE(MD_Data,4,MD_BRAKE); |
Tom0108 | 14:e6d16095ffa8 | 182 | MD_SET_PWM(MD_Data,4,0); |
Tom0108 | 14:e6d16095ffa8 | 183 | |
Tom0108 | 14:e6d16095ffa8 | 184 | //腕おろす |
Tom0108 | 14:e6d16095ffa8 | 185 | i2c.Out_Set(Out_Data,0,1); |
Tom0108 | 14:e6d16095ffa8 | 186 | if(tim.read_ms()>200) { |
Tom0108 | 14:e6d16095ffa8 | 187 | grab++; |
Tom0108 | 14:e6d16095ffa8 | 188 | tim.reset(); |
Tom0108 | 14:e6d16095ffa8 | 189 | } |
Tom0108 | 14:e6d16095ffa8 | 190 | break; |
Tom0108 | 14:e6d16095ffa8 | 191 | |
Tom0108 | 14:e6d16095ffa8 | 192 | case 2: |
Tom0108 | 14:e6d16095ffa8 | 193 | //爪閉じる |
Tom0108 | 14:e6d16095ffa8 | 194 | i2c.Out_Set(Out_Data,1,0); |
Tom0108 | 14:e6d16095ffa8 | 195 | if(tim.read_ms()>0) { |
Tom0108 | 14:e6d16095ffa8 | 196 | grab++; |
Tom0108 | 14:e6d16095ffa8 | 197 | tim.reset(); |
Tom0108 | 14:e6d16095ffa8 | 198 | } |
Tom0108 | 14:e6d16095ffa8 | 199 | break; |
Tom0108 | 14:e6d16095ffa8 | 200 | |
Tom0108 | 14:e6d16095ffa8 | 201 | case 3: |
Tom0108 | 14:e6d16095ffa8 | 202 | //腕上げる |
Tom0108 | 14:e6d16095ffa8 | 203 | i2c.Out_Set(Out_Data,0,0); |
Tom0108 | 14:e6d16095ffa8 | 204 | if(tim.read_ms()>0) { |
Tom0108 | 14:e6d16095ffa8 | 205 | grab++; |
Tom0108 | 14:e6d16095ffa8 | 206 | tim.reset(); |
Tom0108 | 14:e6d16095ffa8 | 207 | } |
Tom0108 | 14:e6d16095ffa8 | 208 | break; |
Tom0108 | 0:761a63c6d020 | 209 | |
Tom0108 | 14:e6d16095ffa8 | 210 | //腕戻す |
Tom0108 | 14:e6d16095ffa8 | 211 | case 4: |
Tom0108 | 14:e6d16095ffa8 | 212 | MD_SET_DRIVE(MD_Data,4,MD_FORWARD); |
Tom0108 | 14:e6d16095ffa8 | 213 | MD_SET_PWM (MD_Data,4,60); |
Tom0108 | 14:e6d16095ffa8 | 214 | if(start_lim==1) { |
Tom0108 | 14:e6d16095ffa8 | 215 | grab_f=0; |
Tom0108 | 14:e6d16095ffa8 | 216 | tim.reset(); |
Tom0108 | 14:e6d16095ffa8 | 217 | } |
Tom0108 | 14:e6d16095ffa8 | 218 | break; |
Tom0108 | 14:e6d16095ffa8 | 219 | } |
Tom0108 | 14:e6d16095ffa8 | 220 | } //if(grab_f) |
Tom0108 | 14:e6d16095ffa8 | 221 | |
Tom0108 | 14:e6d16095ffa8 | 222 | //シーツ用 |
Tom0108 | 14:e6d16095ffa8 | 223 | else if(spull_f) { |
Tom0108 | 14:e6d16095ffa8 | 224 | short_f=1; |
Tom0108 | 14:e6d16095ffa8 | 225 | switch(spull) { |
Tom0108 | 14:e6d16095ffa8 | 226 | //腕を前に動かす |
Tom0108 | 14:e6d16095ffa8 | 227 | case 0: |
Tom0108 | 14:e6d16095ffa8 | 228 | //爪閉じる |
Tom0108 | 14:e6d16095ffa8 | 229 | i2c.Out_Set(Out_Data,1,0); |
Tom0108 | 14:e6d16095ffa8 | 230 | //腕上げる |
Tom0108 | 14:e6d16095ffa8 | 231 | i2c.Out_Set(Out_Data,0,0); |
Tom0108 | 8:b79d21c8178b | 232 | |
Tom0108 | 14:e6d16095ffa8 | 233 | //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 | 14:e6d16095ffa8 | 234 | if(back_f) MD_SET_DRIVE(MD_Data,4,MD_FORWARD); |
Tom0108 | 14:e6d16095ffa8 | 235 | else MD_SET_DRIVE(MD_Data,4,MD_REVERSE); |
Tom0108 | 14:e6d16095ffa8 | 236 | MD_SET_PWM (MD_Data,4,30); |
Tom0108 | 14:e6d16095ffa8 | 237 | |
Tom0108 | 14:e6d16095ffa8 | 238 | if(short_lim==1) { |
Tom0108 | 14:e6d16095ffa8 | 239 | spull++; |
Tom0108 | 14:e6d16095ffa8 | 240 | tim.reset(); |
Tom0108 | 14:e6d16095ffa8 | 241 | } else if(max_lim) back_f=1; |
Tom0108 | 14:e6d16095ffa8 | 242 | break; |
Tom0108 | 0:761a63c6d020 | 243 | |
Tom0108 | 14:e6d16095ffa8 | 244 | case 1: |
Tom0108 | 14:e6d16095ffa8 | 245 | //腕停止 |
Tom0108 | 14:e6d16095ffa8 | 246 | MD_SET_DRIVE(MD_Data,4,MD_BRAKE); |
Tom0108 | 14:e6d16095ffa8 | 247 | MD_SET_PWM(MD_Data,4,0); |
Tom0108 | 14:e6d16095ffa8 | 248 | |
Tom0108 | 14:e6d16095ffa8 | 249 | //腕おろす |
Tom0108 | 14:e6d16095ffa8 | 250 | i2c.Out_Set(Out_Data,0,1); |
Tom0108 | 14:e6d16095ffa8 | 251 | if(tim.read_ms()>200) { |
Tom0108 | 14:e6d16095ffa8 | 252 | spull++; |
Tom0108 | 14:e6d16095ffa8 | 253 | tim.reset(); |
Tom0108 | 14:e6d16095ffa8 | 254 | } |
Tom0108 | 14:e6d16095ffa8 | 255 | break; |
Tom0108 | 8:b79d21c8178b | 256 | |
Tom0108 | 14:e6d16095ffa8 | 257 | case 2: |
Tom0108 | 14:e6d16095ffa8 | 258 | //爪閉じる |
Tom0108 | 14:e6d16095ffa8 | 259 | i2c.Out_Set(Out_Data,1,0); |
Tom0108 | 14:e6d16095ffa8 | 260 | if(tim.read_ms()>0) { |
Tom0108 | 14:e6d16095ffa8 | 261 | spull++; |
Tom0108 | 14:e6d16095ffa8 | 262 | tim.reset(); |
Tom0108 | 14:e6d16095ffa8 | 263 | } |
Tom0108 | 14:e6d16095ffa8 | 264 | break; |
Tom0108 | 12:7e33e400a48d | 265 | |
Tom0108 | 14:e6d16095ffa8 | 266 | case 3: |
Tom0108 | 14:e6d16095ffa8 | 267 | //腕上げる |
Tom0108 | 14:e6d16095ffa8 | 268 | // i2c.Out_Set(Out_Data,0,0); |
Tom0108 | 14:e6d16095ffa8 | 269 | if(tim.read_ms()>0) { |
Tom0108 | 14:e6d16095ffa8 | 270 | spull++; |
Tom0108 | 14:e6d16095ffa8 | 271 | tim.reset(); |
Tom0108 | 14:e6d16095ffa8 | 272 | } |
Tom0108 | 14:e6d16095ffa8 | 273 | break; |
Tom0108 | 14:e6d16095ffa8 | 274 | |
Tom0108 | 14:e6d16095ffa8 | 275 | //腕戻す |
Tom0108 | 14:e6d16095ffa8 | 276 | case 4: |
Tom0108 | 14:e6d16095ffa8 | 277 | MD_SET_DRIVE(MD_Data,4,MD_FORWARD); |
Tom0108 | 14:e6d16095ffa8 | 278 | MD_SET_PWM (MD_Data,4,60); |
Tom0108 | 14:e6d16095ffa8 | 279 | if(start_lim==1) { |
Tom0108 | 14:e6d16095ffa8 | 280 | spull_f=0; |
Tom0108 | 14:e6d16095ffa8 | 281 | tim.reset(); |
Tom0108 | 14:e6d16095ffa8 | 282 | } |
Tom0108 | 14:e6d16095ffa8 | 283 | break; |
Tom0108 | 14:e6d16095ffa8 | 284 | |
Tom0108 | 12:7e33e400a48d | 285 | } |
Tom0108 | 14:e6d16095ffa8 | 286 | } //if(spull_f) |
Tom0108 | 14:e6d16095ffa8 | 287 | |
Tom0108 | 14:e6d16095ffa8 | 288 | //タオル引く 丸 |
Tom0108 | 14:e6d16095ffa8 | 289 | else if(pull_f) { |
Tom0108 | 14:e6d16095ffa8 | 290 | short_f=1; |
Tom0108 | 14:e6d16095ffa8 | 291 | switch(pull) { |
Tom0108 | 14:e6d16095ffa8 | 292 | //腕を前に動かす |
Tom0108 | 14:e6d16095ffa8 | 293 | case 0: |
Tom0108 | 14:e6d16095ffa8 | 294 | //爪閉じる |
Tom0108 | 14:e6d16095ffa8 | 295 | i2c.Out_Set(Out_Data,1,0); |
Tom0108 | 14:e6d16095ffa8 | 296 | //腕上げる |
Tom0108 | 14:e6d16095ffa8 | 297 | i2c.Out_Set(Out_Data,0,0); |
Tom0108 | 14:e6d16095ffa8 | 298 | |
Tom0108 | 14:e6d16095ffa8 | 299 | MD_SET_DRIVE(MD_Data,4,MD_REVERSE); |
Tom0108 | 14:e6d16095ffa8 | 300 | MD_SET_PWM (MD_Data,4,60); |
Tom0108 | 14:e6d16095ffa8 | 301 | |
Tom0108 | 14:e6d16095ffa8 | 302 | if(max_lim==1) { |
Tom0108 | 14:e6d16095ffa8 | 303 | pull++; |
Tom0108 | 14:e6d16095ffa8 | 304 | tim.reset(); |
Tom0108 | 14:e6d16095ffa8 | 305 | } |
Tom0108 | 14:e6d16095ffa8 | 306 | break; |
Tom0108 | 14:e6d16095ffa8 | 307 | |
Tom0108 | 14:e6d16095ffa8 | 308 | case 1: |
Tom0108 | 14:e6d16095ffa8 | 309 | //腕停止 |
Tom0108 | 14:e6d16095ffa8 | 310 | MD_SET_DRIVE(MD_Data,4,MD_BRAKE); |
Tom0108 | 14:e6d16095ffa8 | 311 | MD_SET_PWM (MD_Data,4,0); |
Tom0108 | 14:e6d16095ffa8 | 312 | |
Tom0108 | 14:e6d16095ffa8 | 313 | //腕おろす |
Tom0108 | 14:e6d16095ffa8 | 314 | i2c.Out_Set(Out_Data,0,1); |
Tom0108 | 14:e6d16095ffa8 | 315 | if(tim.read_ms()>100) { |
Tom0108 | 14:e6d16095ffa8 | 316 | pull++; |
Tom0108 | 14:e6d16095ffa8 | 317 | tim.reset(); |
Tom0108 | 14:e6d16095ffa8 | 318 | } |
Tom0108 | 14:e6d16095ffa8 | 319 | break; |
Tom0108 | 14:e6d16095ffa8 | 320 | |
Tom0108 | 14:e6d16095ffa8 | 321 | //停止 |
Tom0108 | 14:e6d16095ffa8 | 322 | case 2: |
Tom0108 | 14:e6d16095ffa8 | 323 | if(tim.read_ms()>0) { |
Tom0108 | 14:e6d16095ffa8 | 324 | pull++; |
Tom0108 | 14:e6d16095ffa8 | 325 | tim.reset(); |
Tom0108 | 14:e6d16095ffa8 | 326 | } |
Tom0108 | 14:e6d16095ffa8 | 327 | break; |
Tom0108 | 14:e6d16095ffa8 | 328 | |
Tom0108 | 14:e6d16095ffa8 | 329 | case 3: |
Tom0108 | 14:e6d16095ffa8 | 330 | MD_SET_DRIVE(MD_Data,4,MD_FORWARD); |
Tom0108 | 14:e6d16095ffa8 | 331 | MD_SET_PWM (MD_Data,4,60); |
Tom0108 | 14:e6d16095ffa8 | 332 | if(start_lim==1) { |
Tom0108 | 14:e6d16095ffa8 | 333 | pull_f=0; |
Tom0108 | 14:e6d16095ffa8 | 334 | tim.reset(); |
Tom0108 | 14:e6d16095ffa8 | 335 | } |
Tom0108 | 14:e6d16095ffa8 | 336 | break; |
Tom0108 | 14:e6d16095ffa8 | 337 | } |
Tom0108 | 14:e6d16095ffa8 | 338 | } //if(pull_f) |
Tom0108 | 14:e6d16095ffa8 | 339 | |
Tom0108 | 14:e6d16095ffa8 | 340 | //かごを倒す |
Tom0108 | 14:e6d16095ffa8 | 341 | else if(kago_f) { |
Tom0108 | 14:e6d16095ffa8 | 342 | // PALETTE(MAGENTA); |
Tom0108 | 14:e6d16095ffa8 | 343 | short_f=1; |
Tom0108 | 12:7e33e400a48d | 344 | |
Tom0108 | 14:e6d16095ffa8 | 345 | switch(kago) { |
Tom0108 | 14:e6d16095ffa8 | 346 | //腕を前に動かす |
Tom0108 | 14:e6d16095ffa8 | 347 | case 0: |
Tom0108 | 14:e6d16095ffa8 | 348 | //爪閉じる |
Tom0108 | 14:e6d16095ffa8 | 349 | i2c.Out_Set(Out_Data,1,0); |
Tom0108 | 14:e6d16095ffa8 | 350 | //腕上げる |
Tom0108 | 14:e6d16095ffa8 | 351 | i2c.Out_Set(Out_Data,0,0); |
Tom0108 | 14:e6d16095ffa8 | 352 | |
Tom0108 | 14:e6d16095ffa8 | 353 | MD_SET_DRIVE(MD_Data,4,MD_REVERSE); |
Tom0108 | 14:e6d16095ffa8 | 354 | MD_SET_PWM (MD_Data,4,60); |
Tom0108 | 14:e6d16095ffa8 | 355 | if(max_lim==1) { |
Tom0108 | 14:e6d16095ffa8 | 356 | kago++; |
Tom0108 | 14:e6d16095ffa8 | 357 | tim.reset(); |
Tom0108 | 14:e6d16095ffa8 | 358 | } |
Tom0108 | 14:e6d16095ffa8 | 359 | break; |
Tom0108 | 14:e6d16095ffa8 | 360 | |
Tom0108 | 14:e6d16095ffa8 | 361 | case 1: |
Tom0108 | 14:e6d16095ffa8 | 362 | //腕停止 |
Tom0108 | 14:e6d16095ffa8 | 363 | MD_SET_DRIVE(MD_Data,4,MD_BRAKE); |
Tom0108 | 14:e6d16095ffa8 | 364 | MD_SET_PWM (MD_Data,4,0); |
Tom0108 | 14:e6d16095ffa8 | 365 | |
Tom0108 | 14:e6d16095ffa8 | 366 | //かご回転 |
Tom0108 | 14:e6d16095ffa8 | 367 | MD_SET_DRIVE(MD_Data,6,MD_FORWARD); |
Tom0108 | 14:e6d16095ffa8 | 368 | MD_SET_PWM (MD_Data,6,100); |
Tom0108 | 14:e6d16095ffa8 | 369 | if(slide_stop==1) { |
Tom0108 | 14:e6d16095ffa8 | 370 | kago++; |
Tom0108 | 14:e6d16095ffa8 | 371 | tim.reset(); |
Tom0108 | 14:e6d16095ffa8 | 372 | MD_SET_DRIVE(MD_Data,6,MD_BRAKE); |
Tom0108 | 14:e6d16095ffa8 | 373 | MD_SET_PWM (MD_Data,6,0); |
Tom0108 | 14:e6d16095ffa8 | 374 | } |
Tom0108 | 14:e6d16095ffa8 | 375 | break; |
Tom0108 | 12:7e33e400a48d | 376 | |
Tom0108 | 14:e6d16095ffa8 | 377 | case 2: |
Tom0108 | 14:e6d16095ffa8 | 378 | if(tim.read_ms()>0) { |
Tom0108 | 14:e6d16095ffa8 | 379 | kago++; |
Tom0108 | 14:e6d16095ffa8 | 380 | tim.reset(); |
Tom0108 | 14:e6d16095ffa8 | 381 | } |
Tom0108 | 14:e6d16095ffa8 | 382 | break; |
Tom0108 | 14:e6d16095ffa8 | 383 | |
Tom0108 | 14:e6d16095ffa8 | 384 | case 3: |
Tom0108 | 14:e6d16095ffa8 | 385 | MD_SET_DRIVE(MD_Data,6,MD_REVERSE); |
Tom0108 | 14:e6d16095ffa8 | 386 | MD_SET_PWM (MD_Data,6,100); |
Tom0108 | 14:e6d16095ffa8 | 387 | if(slide_start==1) kago++; |
Tom0108 | 14:e6d16095ffa8 | 388 | break; |
Tom0108 | 14:e6d16095ffa8 | 389 | |
Tom0108 | 14:e6d16095ffa8 | 390 | case 4: |
Tom0108 | 14:e6d16095ffa8 | 391 | MD_SET_DRIVE(MD_Data,4,MD_FORWARD); |
Tom0108 | 14:e6d16095ffa8 | 392 | MD_SET_PWM (MD_Data,4,60); |
Tom0108 | 14:e6d16095ffa8 | 393 | if(start_lim==1) { |
Tom0108 | 14:e6d16095ffa8 | 394 | kago_f=0; |
Tom0108 | 14:e6d16095ffa8 | 395 | tim.reset(); |
Tom0108 | 14:e6d16095ffa8 | 396 | } |
Tom0108 | 14:e6d16095ffa8 | 397 | break; |
Tom0108 | 8:b79d21c8178b | 398 | } |
Tom0108 | 14:e6d16095ffa8 | 399 | } else { |
Tom0108 | 14:e6d16095ffa8 | 400 | if(sbdbt.R1) { |
Tom0108 | 14:e6d16095ffa8 | 401 | //腕おろす |
Tom0108 | 14:e6d16095ffa8 | 402 | i2c.Out_Set(Out_Data,0,1); |
Tom0108 | 14:e6d16095ffa8 | 403 | //爪閉じる |
Tom0108 | 14:e6d16095ffa8 | 404 | i2c.Out_Set(Out_Data,1,0); |
Tom0108 | 14:e6d16095ffa8 | 405 | } |
Tom0108 | 14:e6d16095ffa8 | 406 | //腕あげる |
Tom0108 | 14:e6d16095ffa8 | 407 | else i2c.Out_Set(Out_Data,0,0); |
Tom0108 | 6:040d001acb12 | 408 | |
Tom0108 | 14:e6d16095ffa8 | 409 | if(disturb_f) { |
Tom0108 | 10:7c73e1577742 | 410 | //真ん中で止まる用 |
Tom0108 | 8:b79d21c8178b | 411 | short_f=1; |
Tom0108 | 14:e6d16095ffa8 | 412 | switch(disturb) { |
Tom0108 | 8:b79d21c8178b | 413 | //腕を前に動かす |
Tom0108 | 8:b79d21c8178b | 414 | case 0: |
Tom0108 | 8:b79d21c8178b | 415 | //爪開く |
Tom0108 | 8:b79d21c8178b | 416 | i2c.Out_Set(Out_Data,1,1); |
Tom0108 | 13:48c4a4c95e77 | 417 | //腕上げる |
Tom0108 | 13:48c4a4c95e77 | 418 | i2c.Out_Set(Out_Data,0,0); |
Tom0108 | 0:761a63c6d020 | 419 | |
Tom0108 | 10:7c73e1577742 | 420 | MD_SET_DRIVE(MD_Data,4,MD_REVERSE); |
Tom0108 | 9:64fcbcc182d9 | 421 | MD_SET_PWM (MD_Data,4,60); |
Tom0108 | 0:761a63c6d020 | 422 | |
Tom0108 | 10:7c73e1577742 | 423 | if(max_lim==1) { |
Tom0108 | 14:e6d16095ffa8 | 424 | disturb++; |
Tom0108 | 10:7c73e1577742 | 425 | tim.reset(); |
Tom0108 | 8:b79d21c8178b | 426 | } |
Tom0108 | 8:b79d21c8178b | 427 | break; |
Tom0108 | 8:b79d21c8178b | 428 | |
Tom0108 | 8:b79d21c8178b | 429 | case 1: |
Tom0108 | 8:b79d21c8178b | 430 | //腕停止 |
Tom0108 | 8:b79d21c8178b | 431 | MD_SET_DRIVE(MD_Data,4,MD_BRAKE); |
Tom0108 | 8:b79d21c8178b | 432 | MD_SET_PWM(MD_Data,4,0); |
Tom0108 | 8:b79d21c8178b | 433 | |
Tom0108 | 8:b79d21c8178b | 434 | //腕おろす |
Tom0108 | 8:b79d21c8178b | 435 | i2c.Out_Set(Out_Data,0,1); |
Tom0108 | 9:64fcbcc182d9 | 436 | if(tim.read_ms()>200) { |
Tom0108 | 14:e6d16095ffa8 | 437 | disturb++; |
Tom0108 | 10:7c73e1577742 | 438 | tim.reset(); |
Tom0108 | 10:7c73e1577742 | 439 | } |
Tom0108 | 10:7c73e1577742 | 440 | break; |
Tom0108 | 10:7c73e1577742 | 441 | |
Tom0108 | 10:7c73e1577742 | 442 | case 2: |
Tom0108 | 10:7c73e1577742 | 443 | //爪閉じる |
Tom0108 | 10:7c73e1577742 | 444 | i2c.Out_Set(Out_Data,1,0); |
Tom0108 | 10:7c73e1577742 | 445 | if(tim.read_ms()>0) { |
Tom0108 | 14:e6d16095ffa8 | 446 | disturb++; |
Tom0108 | 10:7c73e1577742 | 447 | tim.reset(); |
Tom0108 | 10:7c73e1577742 | 448 | } |
Tom0108 | 10:7c73e1577742 | 449 | break; |
Tom0108 | 10:7c73e1577742 | 450 | |
Tom0108 | 10:7c73e1577742 | 451 | case 3: |
Tom0108 | 10:7c73e1577742 | 452 | //腕上げる |
Tom0108 | 13:48c4a4c95e77 | 453 | i2c.Out_Set(Out_Data,0,0); |
Tom0108 | 8:b79d21c8178b | 454 | |
Tom0108 | 14:e6d16095ffa8 | 455 | //赤ゾーン |
Tom0108 | 14:e6d16095ffa8 | 456 | if( yaw<=90 || 270<yaw ) { |
Tom0108 | 14:e6d16095ffa8 | 457 | MD_SET_PWM(MD_Data,4,20); |
Tom0108 | 14:e6d16095ffa8 | 458 | if(RIGHTkey && max_lim==0) MD_SET_DRIVE(MD_Data,4,MD_REVERSE); |
Tom0108 | 14:e6d16095ffa8 | 459 | else if(LEFTkey && start_lim==0) MD_SET_DRIVE(MD_Data,4,MD_FORWARD); |
Tom0108 | 14:e6d16095ffa8 | 460 | else { |
Tom0108 | 14:e6d16095ffa8 | 461 | MD_SET_DRIVE(MD_Data,4,MD_BRAKE); |
Tom0108 | 14:e6d16095ffa8 | 462 | MD_SET_PWM (MD_Data,4,0); |
Tom0108 | 14:e6d16095ffa8 | 463 | } |
Tom0108 | 8:b79d21c8178b | 464 | } |
Tom0108 | 14:e6d16095ffa8 | 465 | //青ゾーン |
Tom0108 | 14:e6d16095ffa8 | 466 | else if( 90<yaw && yaw<=270 ) { |
Tom0108 | 14:e6d16095ffa8 | 467 | MD_SET_PWM(MD_Data,4,20); |
Tom0108 | 14:e6d16095ffa8 | 468 | if(LEFTkey && max_lim==0) MD_SET_DRIVE(MD_Data,4,MD_REVERSE); |
Tom0108 | 14:e6d16095ffa8 | 469 | else if(RIGHTkey && start_lim==0) MD_SET_DRIVE(MD_Data,4,MD_FORWARD); |
Tom0108 | 14:e6d16095ffa8 | 470 | else { |
Tom0108 | 14:e6d16095ffa8 | 471 | MD_SET_DRIVE(MD_Data,4,MD_BRAKE); |
Tom0108 | 14:e6d16095ffa8 | 472 | MD_SET_PWM (MD_Data,4,0); |
Tom0108 | 14:e6d16095ffa8 | 473 | } |
Tom0108 | 8:b79d21c8178b | 474 | } |
Tom0108 | 8:b79d21c8178b | 475 | } |
Tom0108 | 14:e6d16095ffa8 | 476 | } //if(disturb_f) |
Tom0108 | 1:199c4a71da88 | 477 | |
Tom0108 | 14:e6d16095ffa8 | 478 | //腕真ん中で停止 |
Tom0108 | 14:e6d16095ffa8 | 479 | else if(short_f) { |
Tom0108 | 14:e6d16095ffa8 | 480 | //爪開く |
Tom0108 | 14:e6d16095ffa8 | 481 | i2c.Out_Set(Out_Data,1,1); |
Tom0108 | 13:48c4a4c95e77 | 482 | |
Tom0108 | 14:e6d16095ffa8 | 483 | if(short_lim==1) { |
Tom0108 | 14:e6d16095ffa8 | 484 | short_f=0; |
Tom0108 | 14:e6d16095ffa8 | 485 | back_f=0; |
Tom0108 | 14:e6d16095ffa8 | 486 | } |
Tom0108 | 14:e6d16095ffa8 | 487 | //奥のリミットに当たったら逆回転 |
Tom0108 | 14:e6d16095ffa8 | 488 | if(max_lim==1) back_f=1; |
Tom0108 | 14:e6d16095ffa8 | 489 | //手前のリミットに当たったら正回転 |
Tom0108 | 14:e6d16095ffa8 | 490 | else if(start_lim==1) back_f=0; |
Tom0108 | 8:b79d21c8178b | 491 | |
Tom0108 | 14:e6d16095ffa8 | 492 | if(back_f) MD_SET_DRIVE(MD_Data,4,MD_FORWARD); |
Tom0108 | 14:e6d16095ffa8 | 493 | else MD_SET_DRIVE(MD_Data,4,MD_REVERSE); |
Tom0108 | 14:e6d16095ffa8 | 494 | MD_SET_PWM (MD_Data,4,30); |
Tom0108 | 8:b79d21c8178b | 495 | } else { |
Tom0108 | 8:b79d21c8178b | 496 | //爪開く |
Tom0108 | 8:b79d21c8178b | 497 | i2c.Out_Set(Out_Data,1,1); |
Tom0108 | 8:b79d21c8178b | 498 | |
Tom0108 | 13:48c4a4c95e77 | 499 | //赤ゾーン |
Tom0108 | 14:e6d16095ffa8 | 500 | if( yaw<=90 || 270<yaw ) { |
Tom0108 | 13:48c4a4c95e77 | 501 | MD_SET_PWM(MD_Data,4,20); |
Tom0108 | 13:48c4a4c95e77 | 502 | if(RIGHTkey && max_lim==0) MD_SET_DRIVE(MD_Data,4,MD_REVERSE); |
Tom0108 | 13:48c4a4c95e77 | 503 | else if(LEFTkey && start_lim==0) MD_SET_DRIVE(MD_Data,4,MD_FORWARD); |
Tom0108 | 13:48c4a4c95e77 | 504 | else { |
Tom0108 | 13:48c4a4c95e77 | 505 | MD_SET_DRIVE(MD_Data,4,MD_BRAKE); |
Tom0108 | 13:48c4a4c95e77 | 506 | MD_SET_PWM (MD_Data,4,0); |
Tom0108 | 13:48c4a4c95e77 | 507 | } |
Tom0108 | 13:48c4a4c95e77 | 508 | } |
Tom0108 | 13:48c4a4c95e77 | 509 | //青ゾーン |
Tom0108 | 14:e6d16095ffa8 | 510 | else if( 90<yaw && yaw<=270 ) { |
Tom0108 | 13:48c4a4c95e77 | 511 | MD_SET_PWM(MD_Data,4,20); |
Tom0108 | 13:48c4a4c95e77 | 512 | if(LEFTkey && max_lim==0) MD_SET_DRIVE(MD_Data,4,MD_REVERSE); |
Tom0108 | 13:48c4a4c95e77 | 513 | else if(RIGHTkey && start_lim==0) MD_SET_DRIVE(MD_Data,4,MD_FORWARD); |
Tom0108 | 13:48c4a4c95e77 | 514 | else { |
Tom0108 | 13:48c4a4c95e77 | 515 | MD_SET_DRIVE(MD_Data,4,MD_BRAKE); |
Tom0108 | 13:48c4a4c95e77 | 516 | MD_SET_PWM (MD_Data,4,0); |
Tom0108 | 13:48c4a4c95e77 | 517 | } |
Tom0108 | 13:48c4a4c95e77 | 518 | } |
Tom0108 | 13:48c4a4c95e77 | 519 | |
Tom0108 | 13:48c4a4c95e77 | 520 | //止まる |
Tom0108 | 13:48c4a4c95e77 | 521 | else { |
Tom0108 | 2:47954f05d32d | 522 | MD_SET_DRIVE(MD_Data,4,MD_BRAKE); |
Tom0108 | 2:47954f05d32d | 523 | MD_SET_PWM (MD_Data,4,0); |
Tom0108 | 8:b79d21c8178b | 524 | } |
Tom0108 | 8:b79d21c8178b | 525 | //かご停止 |
Tom0108 | 8:b79d21c8178b | 526 | MD_SET_DRIVE(MD_Data,6,MD_BRAKE); |
Tom0108 | 8:b79d21c8178b | 527 | MD_SET_PWM (MD_Data,6,0); |
Tom0108 | 1:199c4a71da88 | 528 | |
Tom0108 | 8:b79d21c8178b | 529 | kago=0; |
Tom0108 | 8:b79d21c8178b | 530 | pull=0; |
Tom0108 | 8:b79d21c8178b | 531 | grab=0; |
Tom0108 | 10:7c73e1577742 | 532 | spull=0; |
Tom0108 | 8:b79d21c8178b | 533 | } |
Tom0108 | 0:761a63c6d020 | 534 | } |
Tom0108 | 14:e6d16095ffa8 | 535 | } |
Tom0108 | 14:e6d16095ffa8 | 536 | //非常停止 |
Tom0108 | 14:e6d16095ffa8 | 537 | else { |
Tom0108 | 14:e6d16095ffa8 | 538 | for(int i=0; i<8; i++) { |
Tom0108 | 14:e6d16095ffa8 | 539 | MD_SET_DRIVE(MD_Data,i,MD_BRAKE); |
Tom0108 | 14:e6d16095ffa8 | 540 | MD_SET_PWM (MD_Data,i,0); |
Tom0108 | 2:47954f05d32d | 541 | } |
Tom0108 | 14:e6d16095ffa8 | 542 | } |
Tom0108 | 14:e6d16095ffa8 | 543 | |
Tom0108 | 14:e6d16095ffa8 | 544 | /* --------------電磁弁系-------------------- */ |
Tom0108 | 14:e6d16095ffa8 | 545 | /*タオル掛け*/ |
Tom0108 | 14:e6d16095ffa8 | 546 | if(sbdbt.L2)i2c.Out_Set(Out_Data,2,1); |
Tom0108 | 14:e6d16095ffa8 | 547 | else i2c.Out_Set(Out_Data,2,0); |
Tom0108 | 14:e6d16095ffa8 | 548 | |
Tom0108 | 14:e6d16095ffa8 | 549 | /*タオルを引っ張るやつ*/ |
Tom0108 | 14:e6d16095ffa8 | 550 | if(sbdbt.R2)i2c.Out_Set(Out_Data,4,1); |
Tom0108 | 14:e6d16095ffa8 | 551 | else i2c.Out_Set(Out_Data,4,0); |
Tom0108 | 14:e6d16095ffa8 | 552 | |
Tom0108 | 14:e6d16095ffa8 | 553 | //タオル展開 |
Tom0108 | 14:e6d16095ffa8 | 554 | if(unfold_f) i2c.Out_Set(Out_Data,3,1); |
Tom0108 | 14:e6d16095ffa8 | 555 | else i2c.Out_Set(Out_Data,3,0); |
Tom0108 | 14:e6d16095ffa8 | 556 | |
Tom0108 | 14:e6d16095ffa8 | 557 | //エアー解放 |
Tom0108 | 14:e6d16095ffa8 | 558 | if(release_f) { |
Tom0108 | 14:e6d16095ffa8 | 559 | PALETTE(YELLOW); |
Tom0108 | 14:e6d16095ffa8 | 560 | i2c.Out_Set(Out_Data,5,1); |
Tom0108 | 14:e6d16095ffa8 | 561 | } else i2c.Out_Set(Out_Data,5,0); |
Tom0108 | 14:e6d16095ffa8 | 562 | |
Tom0108 | 14:e6d16095ffa8 | 563 | //-------------- 出力 --------------// |
Tom0108 | 14:e6d16095ffa8 | 564 | //第二引数には使う最大の個数 |
Tom0108 | 14:e6d16095ffa8 | 565 | i2c.Out(Out_Data,9); |
Tom0108 | 14:e6d16095ffa8 | 566 | |
Tom0108 | 14:e6d16095ffa8 | 567 | //モータ出力 |
Tom0108 | 14:e6d16095ffa8 | 568 | for(int i=0; i<8; i++) i2c.MD_I2C(MD_Data,i); |
Tom0108 | 14:e6d16095ffa8 | 569 | |
Tom0108 | 14:e6d16095ffa8 | 570 | /* ----------- りみっと --------------- */ |
Tom0108 | 14:e6d16095ffa8 | 571 | limit_up = (In_Data+4)->in_data; |
Tom0108 | 14:e6d16095ffa8 | 572 | limit_down = (In_Data+5)->in_data; |
Tom0108 | 14:e6d16095ffa8 | 573 | max_lim = (In_Data+1)->in_data; |
Tom0108 | 14:e6d16095ffa8 | 574 | start_lim =(In_Data+2)->in_data; |
Tom0108 | 14:e6d16095ffa8 | 575 | short_lim = (In_Data+6)->in_data; |
Tom0108 | 14:e6d16095ffa8 | 576 | slide_start = (In_Data+3)->in_data; |
Tom0108 | 14:e6d16095ffa8 | 577 | slide_stop = (In_Data+0)->in_data; |
Tom0108 | 14:e6d16095ffa8 | 578 | |
Tom0108 | 14:e6d16095ffa8 | 579 | /* ----------------ボタン系--------------- */ |
Tom0108 | 14:e6d16095ffa8 | 580 | //角度リセット |
Tom0108 | 14:e6d16095ffa8 | 581 | if(sbdbt.L1) { |
Tom0108 | 14:e6d16095ffa8 | 582 | yaw=def_val; |
Tom0108 | 14:e6d16095ffa8 | 583 | Turn_val=def_val; |
Tom0108 | 14:e6d16095ffa8 | 584 | } |
Tom0108 | 14:e6d16095ffa8 | 585 | //かごを倒す |
Tom0108 | 14:e6d16095ffa8 | 586 | if(CROSS) { |
Tom0108 | 14:e6d16095ffa8 | 587 | if(once==0) { |
Tom0108 | 14:e6d16095ffa8 | 588 | kago_f++; |
Tom0108 | 14:e6d16095ffa8 | 589 | kago_f%=2; |
Tom0108 | 14:e6d16095ffa8 | 590 | once++; |
Tom0108 | 3:1063aa133b62 | 591 | } |
Tom0108 | 14:e6d16095ffa8 | 592 | } |
Tom0108 | 14:e6d16095ffa8 | 593 | //タオルを掴んで動かす |
Tom0108 | 14:e6d16095ffa8 | 594 | else if(SQUARE) { |
Tom0108 | 14:e6d16095ffa8 | 595 | if(once==0) { |
Tom0108 | 14:e6d16095ffa8 | 596 | grab_f++; |
Tom0108 | 14:e6d16095ffa8 | 597 | grab_f%=2; |
Tom0108 | 14:e6d16095ffa8 | 598 | once++; |
Tom0108 | 14:e6d16095ffa8 | 599 | } |
Tom0108 | 14:e6d16095ffa8 | 600 | } else if(TRIANGLE) { |
Tom0108 | 14:e6d16095ffa8 | 601 | if(once==0) { |
Tom0108 | 14:e6d16095ffa8 | 602 | spull_f++; |
Tom0108 | 14:e6d16095ffa8 | 603 | spull_f%=2; |
Tom0108 | 14:e6d16095ffa8 | 604 | once++; |
Tom0108 | 14:e6d16095ffa8 | 605 | } |
Tom0108 | 14:e6d16095ffa8 | 606 | } |
Tom0108 | 14:e6d16095ffa8 | 607 | //倒すを引いて動かす |
Tom0108 | 14:e6d16095ffa8 | 608 | else if(CIRCLE) { |
Tom0108 | 14:e6d16095ffa8 | 609 | if(once==0) { |
Tom0108 | 14:e6d16095ffa8 | 610 | pull_f++; |
Tom0108 | 14:e6d16095ffa8 | 611 | pull_f%=2; |
Tom0108 | 14:e6d16095ffa8 | 612 | once++; |
Tom0108 | 3:1063aa133b62 | 613 | } |
Tom0108 | 14:e6d16095ffa8 | 614 | } |
Tom0108 | 14:e6d16095ffa8 | 615 | //タオル展開用 |
Tom0108 | 14:e6d16095ffa8 | 616 | else if(sbdbt.START) { |
Tom0108 | 14:e6d16095ffa8 | 617 | if(once==0) { |
Tom0108 | 14:e6d16095ffa8 | 618 | unfold_f++; |
Tom0108 | 14:e6d16095ffa8 | 619 | unfold_f%=2; |
Tom0108 | 14:e6d16095ffa8 | 620 | once++; |
Tom0108 | 11:c1a22e2e3534 | 621 | } |
Tom0108 | 14:e6d16095ffa8 | 622 | } |
Tom0108 | 14:e6d16095ffa8 | 623 | //タオル展開用 |
Tom0108 | 14:e6d16095ffa8 | 624 | else if(sbdbt.SELECT) { |
Tom0108 | 14:e6d16095ffa8 | 625 | if(once==0) { |
Tom0108 | 14:e6d16095ffa8 | 626 | release_f++; |
Tom0108 | 14:e6d16095ffa8 | 627 | release_f%=2; |
Tom0108 | 14:e6d16095ffa8 | 628 | once++; |
Tom0108 | 14:e6d16095ffa8 | 629 | } |
Tom0108 | 14:e6d16095ffa8 | 630 | } else if(sbdbt.PS) { |
Tom0108 | 14:e6d16095ffa8 | 631 | if(once==0) { |
Tom0108 | 14:e6d16095ffa8 | 632 | disturb=0; |
Tom0108 | 14:e6d16095ffa8 | 633 | disturb_f++; |
Tom0108 | 14:e6d16095ffa8 | 634 | disturb_f%=2; |
Tom0108 | 14:e6d16095ffa8 | 635 | once++; |
Tom0108 | 14:e6d16095ffa8 | 636 | } |
Tom0108 | 14:e6d16095ffa8 | 637 | } else once=0; |
Tom0108 | 13:48c4a4c95e77 | 638 | |
Tom0108 | 13:48c4a4c95e77 | 639 | //半自動のデバック |
Tom0108 | 13:48c4a4c95e77 | 640 | // pc.printf("pull %2d%2d ",pull,pull_f); |
Tom0108 | 13:48c4a4c95e77 | 641 | // pc.printf("grab %2d%2d ",grab,grab_f); |
Tom0108 | 13:48c4a4c95e77 | 642 | // pc.printf("kago %2d%2d ",kago,kago_f); |
Tom0108 | 13:48c4a4c95e77 | 643 | // pc.printf("%.1f %.1f ",rawyaw[0],rawyaw[1]); |
Tom0108 | 14:e6d16095ffa8 | 644 | // pc.printf("yaw:%.1f %.1f",yaw, bno.euler.yaw); |
Tom0108 | 13:48c4a4c95e77 | 645 | // pc.printf("%d %d",keep_tim[0].read_ms(),keep_f[0]); |
Tom0108 | 13:48c4a4c95e77 | 646 | // pc.printf("LX:%d, LY:%d, RX:%d, RY:%d",sbdbt.LX, sbdbt.LY, sbdbt.RX, sbdbt.RY); |
Tom0108 | 14:e6d16095ffa8 | 647 | //for(int i=0; i<7; i++) |
Tom0108 | 14:e6d16095ffa8 | 648 | pc.printf("%d ",sbdbt.PS); |
Tom0108 | 14:e6d16095ffa8 | 649 | pc.printf("%d ",disturb); |
Tom0108 | 13:48c4a4c95e77 | 650 | pc.printf("\n\r"); |
Tom0108 | 0:761a63c6d020 | 651 | } // while(1) |
Tom0108 | 0:761a63c6d020 | 652 | } // int main() |
Tom0108 | 0:761a63c6d020 | 653 | |
Tom0108 | 0:761a63c6d020 | 654 | /* メカナムの基本移動 */ |
Tom0108 | 6:040d001acb12 | 655 | void mecanum_Move(int lx, int ly, int rx) |
Tom0108 | 0:761a63c6d020 | 656 | { |
Tom0108 | 6:040d001acb12 | 657 | duty[0]=lx+ly; |
Tom0108 | 6:040d001acb12 | 658 | duty[1]=-(-lx+ly); |
Tom0108 | 6:040d001acb12 | 659 | duty[2]=-lx+ly; |
Tom0108 | 6:040d001acb12 | 660 | duty[3]=-(lx+ly); |
Tom0108 | 0:761a63c6d020 | 661 | |
Tom0108 | 0:761a63c6d020 | 662 | for(int i=0; i<4; i++) { |
Tom0108 | 8:b79d21c8178b | 663 | //旋回 |
Tom0108 | 6:040d001acb12 | 664 | duty[i]+=rx; |
Tom0108 | 8:b79d21c8178b | 665 | |
Tom0108 | 8:b79d21c8178b | 666 | //制限 |
Tom0108 | 8:b79d21c8178b | 667 | if(duty[i]>=99) duty[i]=99; |
Tom0108 | 8:b79d21c8178b | 668 | else if(duty[i]<=-99) duty[i]=-99; |
Tom0108 | 6:040d001acb12 | 669 | MD_SET_DRIVE(MD_Data, i, duty[i]==0? MD_BRAKE: (duty[i]>0? MD_FORWARD: MD_REVERSE)); |
Tom0108 | 6:040d001acb12 | 670 | MD_SET_PWM(MD_Data, i, abs(duty[i])); |
Tom0108 | 0:761a63c6d020 | 671 | } |
Tom0108 | 0:761a63c6d020 | 672 | } |
Tom0108 | 0:761a63c6d020 | 673 | |
Tom0108 | 6:040d001acb12 | 674 | void AngleCorrection(double n_angle, double t_angle) |
Tom0108 | 0:761a63c6d020 | 675 | { |
Tom0108 | 6:040d001acb12 | 676 | double dif=-(t_angle-n_angle); |
Tom0108 | 6:040d001acb12 | 677 | |
Tom0108 | 6:040d001acb12 | 678 | if(dif>=30) dif=30; |
Tom0108 | 6:040d001acb12 | 679 | else if(dif<=-30) dif=-30; |
Tom0108 | 6:040d001acb12 | 680 | |
Tom0108 | 0:761a63c6d020 | 681 | for(int i=0; i<4; i++) { |
Tom0108 | 6:040d001acb12 | 682 | duty[i]+=dif; |
Tom0108 | 6:040d001acb12 | 683 | MD_SET_DRIVE(MD_Data, i, duty[i]==0? MD_BRAKE: (duty[i]>0? MD_FORWARD: MD_REVERSE)); |
Tom0108 | 6:040d001acb12 | 684 | MD_SET_PWM(MD_Data, i, abs(duty[i])); |
Tom0108 | 0:761a63c6d020 | 685 | } |
Tom0108 | 0:761a63c6d020 | 686 | } |
Tom0108 | 0:761a63c6d020 | 687 | |
Tom0108 | 0:761a63c6d020 | 688 | /*操作法*/ |
Tom0108 | 0:761a63c6d020 | 689 | /* |
Tom0108 | 0:761a63c6d020 | 690 | 〇 ボタン == 回収(引きずる) |
Tom0108 | 0:761a63c6d020 | 691 | ? ボタン == 籠 |
Tom0108 | 0:761a63c6d020 | 692 | △ ボタン == 回収(シーツ兼シャツ) |
Tom0108 | 0:761a63c6d020 | 693 | □ ボタン == 回収(タオル) |
Tom0108 | 0:761a63c6d020 | 694 | 上 ボタン == ハンガーかけ機構 上昇 |
Tom0108 | 0:761a63c6d020 | 695 | 下 ボタン == ハンガーかけ機構 下降 |
Tom0108 | 0:761a63c6d020 | 696 | L1 ボタン == リセット(足回り) |
Tom0108 | 0:761a63c6d020 | 697 | L2 ボタン == タオル掛け |
Tom0108 | 6:040d001acb12 | 698 | R2 ボタン == タオル真ん中掴む |
Tom0108 | 0:761a63c6d020 | 699 | select == ハンガー掛け 最大まで上昇 |
Tom0108 | 0:761a63c6d020 | 700 | start == ハンガー展開 |
Tom0108 | 0:761a63c6d020 | 701 | */ |