Takushima Yukimasa
/
R19_ManuTakukAHWGeo
a
main.cpp@5:fcc79e507610, 2019-08-24 (annotated)
- Committer:
- Tom0108
- Date:
- Sat Aug 24 00:30:20 2019 +0000
- Revision:
- 5:fcc79e507610
- Parent:
- 4:236e5c58e8ee
- Child:
- 6:040d001acb12
You can use a gyro
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Tom0108 | 0:761a63c6d020 | 1 | /*今日 やること*/ |
Tom0108 | 0:761a63c6d020 | 2 | |
Tom0108 | 3:1063aa133b62 | 3 | /******************************************************************************/ |
Tom0108 | 0:761a63c6d020 | 4 | #include "main.h" |
Tom0108 | 0:761a63c6d020 | 5 | //#include "gyro.h" |
Tom0108 | 0:761a63c6d020 | 6 | #include <math.h> |
Tom0108 | 0:761a63c6d020 | 7 | |
Tom0108 | 3:1063aa133b62 | 8 | /******************************************************************************/ |
Tom0108 | 0:761a63c6d020 | 9 | #define CIRCLE sbdbt.CIRCLE |
Tom0108 | 0:761a63c6d020 | 10 | #define SQUARE sbdbt.SQUARE |
Tom0108 | 0:761a63c6d020 | 11 | #define CROSS sbdbt.CROSS |
Tom0108 | 0:761a63c6d020 | 12 | #define TRIANGLE sbdbt.TRIANGLE |
Tom0108 | 0:761a63c6d020 | 13 | #define LEFTkey sbdbt.LEFTkey |
Tom0108 | 0:761a63c6d020 | 14 | #define RIGHTkey sbdbt.RIGHTkey |
Tom0108 | 0:761a63c6d020 | 15 | #define UPkey sbdbt.UPkey |
Tom0108 | 0:761a63c6d020 | 16 | #define DOWNkey sbdbt.DOWNkey |
Tom0108 | 0:761a63c6d020 | 17 | |
Tom0108 | 3:1063aa133b62 | 18 | /******************************************************************************/ |
Tom0108 | 0:761a63c6d020 | 19 | |
Tom0108 | 0:761a63c6d020 | 20 | /* 型定義 --------------------------------------------------------------------*/ |
Tom0108 | 0:761a63c6d020 | 21 | |
Tom0108 | 0:761a63c6d020 | 22 | MD_I2C_Data_TypeDef MD_Data[Motor_MAX] = { |
Tom0108 | 0:761a63c6d020 | 23 | { 8, 0, 0, 0, {0}}, //足回り |
Tom0108 | 0:761a63c6d020 | 24 | { 9, 1, 0, 0, {0}}, |
Tom0108 | 0:761a63c6d020 | 25 | {10, 0, 0, 0, {0}}, |
Tom0108 | 0:761a63c6d020 | 26 | {11, 1, 0, 0, {0}}, |
Tom0108 | 0:761a63c6d020 | 27 | {12, 0, 0, 0, {0}}, // 洗濯物回収 |
Tom0108 | 0:761a63c6d020 | 28 | {13, 1, 0, 0, {0}}, // 上下機構 |
Tom0108 | 0:761a63c6d020 | 29 | {14, 0, 0, 0, {0}}, // 洗濯物排出 |
Tom0108 | 0:761a63c6d020 | 30 | {15, 1, 0, 0, {0}} // 左右移動 |
Tom0108 | 0:761a63c6d020 | 31 | }; |
Tom0108 | 0:761a63c6d020 | 32 | |
Tom0108 | 3:1063aa133b62 | 33 | IN_I2C_Data_TypeDef In_Data[] = { |
Tom0108 | 0:761a63c6d020 | 34 | {1,0,0}, // 洗濯物排出(初期位置) |
Tom0108 | 0:761a63c6d020 | 35 | {1,1,0}, // 洗濯物排出(停止) |
Tom0108 | 0:761a63c6d020 | 36 | {1,2,0}, // 腕(最大 タオル) |
Tom0108 | 3:1063aa133b62 | 37 | {1,3,0}, // 腕(初期位置) |
Tom0108 | 0:761a63c6d020 | 38 | {3,0,0}, // 上下機構(上) |
Tom0108 | 0:761a63c6d020 | 39 | {3,1,0}, // (下) |
Tom0108 | 0:761a63c6d020 | 40 | {3,2,0}, // 腕(シーツ兼シャツ) |
Tom0108 | 0:761a63c6d020 | 41 | }; |
Tom0108 | 0:761a63c6d020 | 42 | |
Tom0108 | 0:761a63c6d020 | 43 | OUT_I2C_Data_TypeDef Out_Data[] = { |
Tom0108 | 0:761a63c6d020 | 44 | {0,0,0}, // 腕の上下 |
Tom0108 | 2:47954f05d32d | 45 | {0,1,0}, // 爪 |
Tom0108 | 2:47954f05d32d | 46 | {0,2,0}, // タオルの先 |
Tom0108 | 2:47954f05d32d | 47 | {0,3,0}, // タオル展開 |
Tom0108 | 2:47954f05d32d | 48 | {1,0,0}, // タオルの中央 |
Tom0108 | 0:761a63c6d020 | 49 | }; |
Tom0108 | 0:761a63c6d020 | 50 | /* 関数宣言 ------------------------------------------------------------------*/ |
Tom0108 | 0:761a63c6d020 | 51 | void mecanum_Move(void); |
Tom0108 | 0:761a63c6d020 | 52 | void mecanum_Turn(void); |
Tom0108 | 0:761a63c6d020 | 53 | void mecanum_Stop(void); |
Tom0108 | 0:761a63c6d020 | 54 | |
Tom0108 | 0:761a63c6d020 | 55 | /* 変数宣言 ------------------------------------------------------------------*/ |
Tom0108 | 1:199c4a71da88 | 56 | //かご回転用 |
Tom0108 | 3:1063aa133b62 | 57 | int kago=0, kago_f=0; |
Tom0108 | 1:199c4a71da88 | 58 | |
Tom0108 | 1:199c4a71da88 | 59 | //コントローラーの状態を保存するため |
Tom0108 | 1:199c4a71da88 | 60 | int once=0; |
Tom0108 | 1:199c4a71da88 | 61 | |
Tom0108 | 1:199c4a71da88 | 62 | //タオル引く用 |
Tom0108 | 3:1063aa133b62 | 63 | int pull=0, pull_f=0; |
Tom0108 | 1:199c4a71da88 | 64 | |
Tom0108 | 4:236e5c58e8ee | 65 | //タオル掴む用 |
Tom0108 | 4:236e5c58e8ee | 66 | //sgrab_f: 中央のリミットでつかむ |
Tom0108 | 4:236e5c58e8ee | 67 | int grab=0, grab_f=0, sgrab_f=0; |
Tom0108 | 3:1063aa133b62 | 68 | |
Tom0108 | 4:236e5c58e8ee | 69 | //タオル横展開用 |
Tom0108 | 3:1063aa133b62 | 70 | int unfold_f=0; |
Tom0108 | 3:1063aa133b62 | 71 | |
Tom0108 | 3:1063aa133b62 | 72 | //90度回転のフラグ |
Tom0108 | 4:236e5c58e8ee | 73 | int left_f=0, right_f=0; |
Tom0108 | 1:199c4a71da88 | 74 | |
Tom0108 | 3:1063aa133b62 | 75 | //y_deg: 起動時から絶対の角度 |
Tom0108 | 3:1063aa133b62 | 76 | //yaw: 相対角 初期状態が0になるようにする |
Tom0108 | 3:1063aa133b62 | 77 | //offset: 初期状態を0にするために引く値 |
Tom0108 | 5:fcc79e507610 | 78 | double y_deg[2], offset; |
Tom0108 | 5:fcc79e507610 | 79 | double yaw=0; |
Tom0108 | 5:fcc79e507610 | 80 | double sum=0, ave=0; |
Tom0108 | 5:fcc79e507610 | 81 | int offset_cnt=0; |
Tom0108 | 3:1063aa133b62 | 82 | |
Tom0108 | 3:1063aa133b62 | 83 | //Turn_val: 補正の目標値 |
Tom0108 | 3:1063aa133b62 | 84 | //dif_val: 補正値との差 |
Tom0108 | 3:1063aa133b62 | 85 | double Turn_val, dif_val; |
Tom0108 | 3:1063aa133b62 | 86 | |
Tom0108 | 3:1063aa133b62 | 87 | //short_lim: 腕中央 |
Tom0108 | 3:1063aa133b62 | 88 | //max_lim: 腕奥側 |
Tom0108 | 3:1063aa133b62 | 89 | //short_lim: 腕手前側 |
Tom0108 | 3:1063aa133b62 | 90 | int short_lim, max_lim, start_lim; |
Tom0108 | 1:199c4a71da88 | 91 | |
Tom0108 | 4:236e5c58e8ee | 92 | //機体の前方を変更する |
Tom0108 | 4:236e5c58e8ee | 93 | int dir=0; |
Tom0108 | 4:236e5c58e8ee | 94 | |
Tom0108 | 0:761a63c6d020 | 95 | int limit_up,limit_down; // リミットスイッチ |
Tom0108 | 1:199c4a71da88 | 96 | int slide_start,slide_stop; //かごのリミット |
Tom0108 | 0:761a63c6d020 | 97 | |
Tom0108 | 0:761a63c6d020 | 98 | int lx,ly,rx,L,R; // 足回り |
Tom0108 | 0:761a63c6d020 | 99 | int g; |
Tom0108 | 0:761a63c6d020 | 100 | |
Tom0108 | 0:761a63c6d020 | 101 | int as=0; |
Tom0108 | 0:761a63c6d020 | 102 | |
Tom0108 | 0:761a63c6d020 | 103 | /*クラス宣言-------------------------------------------------------------------*/ |
Tom0108 | 0:761a63c6d020 | 104 | Ticker flipper1; // 割込み |
Tom0108 | 0:761a63c6d020 | 105 | Y_I2C i2c(PB_9, PB_8); // I2C |
Tom0108 | 0:761a63c6d020 | 106 | DigitalOut myled(LED1); // オンボードLED |
Tom0108 | 0:761a63c6d020 | 107 | SBDBT sbdbt(PA_0, PA_1, 9600); // SDBDT |
Tom0108 | 0:761a63c6d020 | 108 | MyMPU6050 mpu(PC_9, PA_8); // ジャイロセンサ |
Tom0108 | 0:761a63c6d020 | 109 | |
Tom0108 | 0:761a63c6d020 | 110 | DigitalOut blue(PA_10); |
Tom0108 | 0:761a63c6d020 | 111 | DigitalOut green(PB_4); |
Tom0108 | 0:761a63c6d020 | 112 | DigitalOut red(PB_5); |
Tom0108 | 0:761a63c6d020 | 113 | |
Tom0108 | 3:1063aa133b62 | 114 | //半自動の時に使う |
Tom0108 | 3:1063aa133b62 | 115 | Timer tim; |
Tom0108 | 3:1063aa133b62 | 116 | |
Tom0108 | 0:761a63c6d020 | 117 | /*----------------------------------- main -----------------------------------*/ |
Tom0108 | 0:761a63c6d020 | 118 | /* @brief メインプログラム |
Tom0108 | 0:761a63c6d020 | 119 | * @param なし |
Tom0108 | 0:761a63c6d020 | 120 | * @retval なし |
Tom0108 | 0:761a63c6d020 | 121 | */ |
Tom0108 | 0:761a63c6d020 | 122 | int main() |
Tom0108 | 0:761a63c6d020 | 123 | { |
Tom0108 | 0:761a63c6d020 | 124 | //flipper1.attach(&flip1, 0.001); // 割り込み |
Tom0108 | 5:fcc79e507610 | 125 | |
Tom0108 | 0:761a63c6d020 | 126 | while(1) { |
Tom0108 | 1:199c4a71da88 | 127 | //自動系のタイマースタート |
Tom0108 | 1:199c4a71da88 | 128 | tim.start(); |
Tom0108 | 0:761a63c6d020 | 129 | mpu.loop(); |
Tom0108 | 0:761a63c6d020 | 130 | |
Tom0108 | 5:fcc79e507610 | 131 | y_deg[1] = y_deg[0]; |
Tom0108 | 5:fcc79e507610 | 132 | y_deg[0] = (double)mpu.ypr[0] * 180 / M_PI; |
Tom0108 | 5:fcc79e507610 | 133 | |
Tom0108 | 5:fcc79e507610 | 134 | //180~-180をまたいだ時 |
Tom0108 | 5:fcc79e507610 | 135 | if(y_deg[1]<-90 && y_deg[0]>90) y_deg[1]+=360; |
Tom0108 | 5:fcc79e507610 | 136 | else if(y_deg[1]>90 && y_deg[0]<-90) y_deg[1]-=360; |
Tom0108 | 0:761a63c6d020 | 137 | |
Tom0108 | 5:fcc79e507610 | 138 | if(sbdbt.State_check()) { |
Tom0108 | 5:fcc79e507610 | 139 | for(int i=0; i<7; i++) i2c.In(In_Data,i); |
Tom0108 | 5:fcc79e507610 | 140 | |
Tom0108 | 5:fcc79e507610 | 141 | //誤差をさんぷりんぐ |
Tom0108 | 5:fcc79e507610 | 142 | if(offset_cnt<1000) { |
Tom0108 | 5:fcc79e507610 | 143 | if(offset_cnt!=0) { |
Tom0108 | 5:fcc79e507610 | 144 | sum+=(y_deg[0]-y_deg[1]); |
Tom0108 | 5:fcc79e507610 | 145 | ave=sum/offset_cnt; |
Tom0108 | 5:fcc79e507610 | 146 | } |
Tom0108 | 5:fcc79e507610 | 147 | offset_cnt++; |
Tom0108 | 5:fcc79e507610 | 148 | } else yaw += (y_deg[0]-y_deg[1])-ave; |
Tom0108 | 5:fcc79e507610 | 149 | // yaw=90*dir; |
Tom0108 | 5:fcc79e507610 | 150 | // yaw%=360; |
Tom0108 | 5:fcc79e507610 | 151 | dif_val = y_deg[0]-Turn_val; |
Tom0108 | 0:761a63c6d020 | 152 | |
Tom0108 | 0:761a63c6d020 | 153 | 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 | 154 | ly = ((64-sbdbt.LY)*100.0/64)*cos(yaw*M_PI/180)-((sbdbt.LX-64)*100.0/64)*sin(yaw*M_PI/180); |
Tom0108 | 0:761a63c6d020 | 155 | rx = (sbdbt.RX - 64)*100/64; |
Tom0108 | 0:761a63c6d020 | 156 | L = lx+ly; |
Tom0108 | 0:761a63c6d020 | 157 | R = ly-lx; |
Tom0108 | 0:761a63c6d020 | 158 | |
Tom0108 | 0:761a63c6d020 | 159 | if(sbdbt.LX !=64 || sbdbt.LY !=64) { |
Tom0108 | 0:761a63c6d020 | 160 | |
Tom0108 | 0:761a63c6d020 | 161 | mecanum_Move(); |
Tom0108 | 0:761a63c6d020 | 162 | |
Tom0108 | 0:761a63c6d020 | 163 | // 以下,ジャイロセンサーのプログラム |
Tom0108 | 0:761a63c6d020 | 164 | if(g) { |
Tom0108 | 0:761a63c6d020 | 165 | if(abs(ly) > 10) { |
Tom0108 | 0:761a63c6d020 | 166 | if(ly>10) { |
Tom0108 | 0:761a63c6d020 | 167 | (MD_Data+0)->PWMVal = MD_GET_PWM(MD_Data,0)-dif_val; |
Tom0108 | 0:761a63c6d020 | 168 | (MD_Data+1)->PWMVal = MD_GET_PWM(MD_Data,1)+dif_val; |
Tom0108 | 0:761a63c6d020 | 169 | } else { |
Tom0108 | 0:761a63c6d020 | 170 | (MD_Data+0)->PWMVal = MD_GET_PWM(MD_Data,0)+dif_val; |
Tom0108 | 0:761a63c6d020 | 171 | (MD_Data+1)->PWMVal = MD_GET_PWM(MD_Data,1)-dif_val; |
Tom0108 | 0:761a63c6d020 | 172 | } |
Tom0108 | 0:761a63c6d020 | 173 | } |
Tom0108 | 0:761a63c6d020 | 174 | |
Tom0108 | 0:761a63c6d020 | 175 | if(abs(lx) > 10) { |
Tom0108 | 0:761a63c6d020 | 176 | if(lx>10) { |
Tom0108 | 0:761a63c6d020 | 177 | (MD_Data+0)->PWMVal = MD_GET_PWM(MD_Data,0)-dif_val; |
Tom0108 | 0:761a63c6d020 | 178 | (MD_Data+2)->PWMVal = MD_GET_PWM(MD_Data,2)+dif_val; |
Tom0108 | 0:761a63c6d020 | 179 | } else { |
Tom0108 | 0:761a63c6d020 | 180 | (MD_Data+0)->PWMVal = MD_GET_PWM(MD_Data,0)+dif_val; |
Tom0108 | 0:761a63c6d020 | 181 | (MD_Data+2)->PWMVal = MD_GET_PWM(MD_Data,2)-dif_val; |
Tom0108 | 0:761a63c6d020 | 182 | } |
Tom0108 | 0:761a63c6d020 | 183 | } |
Tom0108 | 0:761a63c6d020 | 184 | |
Tom0108 | 0:761a63c6d020 | 185 | if((abs(ly)-abs(lx)) > 0) { |
Tom0108 | 0:761a63c6d020 | 186 | (MD_Data+2)->PWMVal = MD_GET_PWM(MD_Data,0); |
Tom0108 | 0:761a63c6d020 | 187 | (MD_Data+3)->PWMVal = MD_GET_PWM(MD_Data,1); |
Tom0108 | 0:761a63c6d020 | 188 | } else { |
Tom0108 | 0:761a63c6d020 | 189 | (MD_Data+1)->PWMVal = MD_GET_PWM(MD_Data,0); |
Tom0108 | 0:761a63c6d020 | 190 | (MD_Data+3)->PWMVal = MD_GET_PWM(MD_Data,2); |
Tom0108 | 0:761a63c6d020 | 191 | } |
Tom0108 | 0:761a63c6d020 | 192 | } // if(g) |
Tom0108 | 0:761a63c6d020 | 193 | }// if(LX !=64 || LY !=64) |
Tom0108 | 0:761a63c6d020 | 194 | else if(sbdbt.RX != 64) { // 旋回 |
Tom0108 | 5:fcc79e507610 | 195 | Turn_val=y_deg[0]; |
Tom0108 | 0:761a63c6d020 | 196 | mecanum_Turn(); |
Tom0108 | 0:761a63c6d020 | 197 | } else { |
Tom0108 | 0:761a63c6d020 | 198 | mecanum_Stop(); |
Tom0108 | 0:761a63c6d020 | 199 | } |
Tom0108 | 3:1063aa133b62 | 200 | |
Tom0108 | 3:1063aa133b62 | 201 | // 90°旋回 |
Tom0108 | 3:1063aa133b62 | 202 | if(left_f) { |
Tom0108 | 0:761a63c6d020 | 203 | if(abs(yaw)<60) { |
Tom0108 | 0:761a63c6d020 | 204 | for(int i=0; i<4; i++) { |
Tom0108 | 0:761a63c6d020 | 205 | MD_SET_PWM(MD_Data, i,60); |
Tom0108 | 0:761a63c6d020 | 206 | MD_SET_DRIVE(MD_Data, i,MD_REVERSE); |
Tom0108 | 0:761a63c6d020 | 207 | } |
Tom0108 | 0:761a63c6d020 | 208 | } else { |
Tom0108 | 0:761a63c6d020 | 209 | left_f=0; |
Tom0108 | 5:fcc79e507610 | 210 | Turn_val=y_deg[0]; |
Tom0108 | 0:761a63c6d020 | 211 | mecanum_Stop(); |
Tom0108 | 0:761a63c6d020 | 212 | } |
Tom0108 | 0:761a63c6d020 | 213 | } |
Tom0108 | 0:761a63c6d020 | 214 | if(right_f) { |
Tom0108 | 0:761a63c6d020 | 215 | if(yaw>-60) { |
Tom0108 | 0:761a63c6d020 | 216 | for(int i=0; i<4; i++) { |
Tom0108 | 0:761a63c6d020 | 217 | MD_SET_PWM(MD_Data, i,60); |
Tom0108 | 0:761a63c6d020 | 218 | MD_SET_DRIVE(MD_Data, i,MD_FORWARD); |
Tom0108 | 0:761a63c6d020 | 219 | } |
Tom0108 | 0:761a63c6d020 | 220 | } else { |
Tom0108 | 0:761a63c6d020 | 221 | right_f=0; |
Tom0108 | 5:fcc79e507610 | 222 | Turn_val=y_deg[0]; |
Tom0108 | 0:761a63c6d020 | 223 | mecanum_Stop(); |
Tom0108 | 0:761a63c6d020 | 224 | } |
Tom0108 | 0:761a63c6d020 | 225 | } |
Tom0108 | 0:761a63c6d020 | 226 | |
Tom0108 | 3:1063aa133b62 | 227 | /*---ハンガーかけるやつ----------------------------------------------*/ |
Tom0108 | 1:199c4a71da88 | 228 | if(sbdbt.SELECT)as=1;//selectキー |
Tom0108 | 0:761a63c6d020 | 229 | |
Tom0108 | 0:761a63c6d020 | 230 | if(as==1 && limit_up == 0) { |
Tom0108 | 0:761a63c6d020 | 231 | MD_SET_DRIVE(MD_Data, 5,MD_REVERSE); |
Tom0108 | 0:761a63c6d020 | 232 | MD_SET_PWM(MD_Data, 5,50); |
Tom0108 | 0:761a63c6d020 | 233 | } else if(UPkey && limit_up == 0) { |
Tom0108 | 0:761a63c6d020 | 234 | as=0; |
Tom0108 | 0:761a63c6d020 | 235 | MD_SET_DRIVE(MD_Data, 5,MD_REVERSE); |
Tom0108 | 0:761a63c6d020 | 236 | MD_SET_PWM(MD_Data, 5,50); |
Tom0108 | 0:761a63c6d020 | 237 | } else if(as==1 && limit_up == 1) { |
Tom0108 | 0:761a63c6d020 | 238 | as=0; |
Tom0108 | 0:761a63c6d020 | 239 | MD_SET_PWM(MD_Data,5,0); |
Tom0108 | 0:761a63c6d020 | 240 | MD_SET_DRIVE(MD_Data, 5,MD_BRAKE); |
Tom0108 | 0:761a63c6d020 | 241 | } else if(DOWNkey && limit_down == 0) { |
Tom0108 | 0:761a63c6d020 | 242 | MD_SET_DRIVE(MD_Data, 5,MD_FORWARD); |
Tom0108 | 0:761a63c6d020 | 243 | MD_SET_PWM(MD_Data, 5,50); |
Tom0108 | 0:761a63c6d020 | 244 | } else { |
Tom0108 | 0:761a63c6d020 | 245 | MD_SET_PWM(MD_Data,5,0); |
Tom0108 | 0:761a63c6d020 | 246 | MD_SET_DRIVE(MD_Data, 5,MD_BRAKE); |
Tom0108 | 0:761a63c6d020 | 247 | } |
Tom0108 | 0:761a63c6d020 | 248 | |
Tom0108 | 1:199c4a71da88 | 249 | //タオルつかむ 四角 |
Tom0108 | 4:236e5c58e8ee | 250 | if(grab_f || sgrab_f) { |
Tom0108 | 1:199c4a71da88 | 251 | switch(grab) { |
Tom0108 | 1:199c4a71da88 | 252 | //腕を前に動かす |
Tom0108 | 1:199c4a71da88 | 253 | case 0: |
Tom0108 | 1:199c4a71da88 | 254 | //爪開く |
Tom0108 | 1:199c4a71da88 | 255 | i2c.Out_Set(Out_Data,1,1); |
Tom0108 | 1:199c4a71da88 | 256 | MD_SET_DRIVE(MD_Data,4,MD_REVERSE); |
Tom0108 | 4:236e5c58e8ee | 257 | MD_SET_PWM(MD_Data,4,40); |
Tom0108 | 4:236e5c58e8ee | 258 | if((sgrab_f && short_lim) || max_lim==1) { |
Tom0108 | 1:199c4a71da88 | 259 | grab++; |
Tom0108 | 1:199c4a71da88 | 260 | tim.reset(); |
Tom0108 | 1:199c4a71da88 | 261 | } |
Tom0108 | 1:199c4a71da88 | 262 | break; |
Tom0108 | 0:761a63c6d020 | 263 | |
Tom0108 | 1:199c4a71da88 | 264 | case 1: |
Tom0108 | 2:47954f05d32d | 265 | //腕停止 |
Tom0108 | 2:47954f05d32d | 266 | MD_SET_DRIVE(MD_Data,4,MD_BRAKE); |
Tom0108 | 3:1063aa133b62 | 267 | MD_SET_PWM(MD_Data,4,0); |
Tom0108 | 2:47954f05d32d | 268 | |
Tom0108 | 1:199c4a71da88 | 269 | //腕おろす |
Tom0108 | 0:761a63c6d020 | 270 | i2c.Out_Set(Out_Data,0,1); |
Tom0108 | 3:1063aa133b62 | 271 | if(tim.read_ms()>300) { |
Tom0108 | 1:199c4a71da88 | 272 | grab++; |
Tom0108 | 1:199c4a71da88 | 273 | tim.reset(); |
Tom0108 | 1:199c4a71da88 | 274 | } |
Tom0108 | 1:199c4a71da88 | 275 | break; |
Tom0108 | 0:761a63c6d020 | 276 | |
Tom0108 | 1:199c4a71da88 | 277 | case 2: |
Tom0108 | 1:199c4a71da88 | 278 | //爪閉じる |
Tom0108 | 1:199c4a71da88 | 279 | i2c.Out_Set(Out_Data,1,0); |
Tom0108 | 3:1063aa133b62 | 280 | if(tim.read_ms()>100) { |
Tom0108 | 1:199c4a71da88 | 281 | grab++; |
Tom0108 | 0:761a63c6d020 | 282 | tim.reset(); |
Tom0108 | 0:761a63c6d020 | 283 | } |
Tom0108 | 1:199c4a71da88 | 284 | break; |
Tom0108 | 1:199c4a71da88 | 285 | |
Tom0108 | 1:199c4a71da88 | 286 | case 3: |
Tom0108 | 1:199c4a71da88 | 287 | //腕上げる |
Tom0108 | 1:199c4a71da88 | 288 | i2c.Out_Set(Out_Data,0,0); |
Tom0108 | 3:1063aa133b62 | 289 | if(tim.read_ms()>300) { |
Tom0108 | 3:1063aa133b62 | 290 | grab++; |
Tom0108 | 3:1063aa133b62 | 291 | tim.reset(); |
Tom0108 | 3:1063aa133b62 | 292 | } |
Tom0108 | 3:1063aa133b62 | 293 | break; |
Tom0108 | 3:1063aa133b62 | 294 | |
Tom0108 | 3:1063aa133b62 | 295 | case 4: |
Tom0108 | 1:199c4a71da88 | 296 | MD_SET_DRIVE(MD_Data,4,MD_FORWARD); |
Tom0108 | 3:1063aa133b62 | 297 | MD_SET_PWM (MD_Data,4,60); |
Tom0108 | 4:236e5c58e8ee | 298 | if(start_lim==1) { |
Tom0108 | 4:236e5c58e8ee | 299 | grab_f=0; |
Tom0108 | 4:236e5c58e8ee | 300 | sgrab_f=0; |
Tom0108 | 4:236e5c58e8ee | 301 | } |
Tom0108 | 1:199c4a71da88 | 302 | break; |
Tom0108 | 0:761a63c6d020 | 303 | } |
Tom0108 | 3:1063aa133b62 | 304 | } //if(grab_f) |
Tom0108 | 3:1063aa133b62 | 305 | |
Tom0108 | 2:47954f05d32d | 306 | //タオル引く 丸 |
Tom0108 | 3:1063aa133b62 | 307 | else if(pull_f) { |
Tom0108 | 1:199c4a71da88 | 308 | switch(pull) { |
Tom0108 | 1:199c4a71da88 | 309 | //腕を前に動かす |
Tom0108 | 1:199c4a71da88 | 310 | case 0: |
Tom0108 | 1:199c4a71da88 | 311 | //爪閉じる |
Tom0108 | 1:199c4a71da88 | 312 | i2c.Out_Set(Out_Data,1,0); |
Tom0108 | 0:761a63c6d020 | 313 | MD_SET_DRIVE(MD_Data,4,MD_REVERSE); |
Tom0108 | 3:1063aa133b62 | 314 | MD_SET_PWM (MD_Data,4,60); |
Tom0108 | 1:199c4a71da88 | 315 | if(max_lim==1) { |
Tom0108 | 1:199c4a71da88 | 316 | pull++; |
Tom0108 | 1:199c4a71da88 | 317 | tim.reset(); |
Tom0108 | 1:199c4a71da88 | 318 | } |
Tom0108 | 1:199c4a71da88 | 319 | break; |
Tom0108 | 0:761a63c6d020 | 320 | |
Tom0108 | 1:199c4a71da88 | 321 | case 1: |
Tom0108 | 2:47954f05d32d | 322 | //腕停止 |
Tom0108 | 2:47954f05d32d | 323 | MD_SET_DRIVE(MD_Data,4,MD_BRAKE); |
Tom0108 | 2:47954f05d32d | 324 | MD_SET_PWM (MD_Data,4,0); |
Tom0108 | 2:47954f05d32d | 325 | |
Tom0108 | 1:199c4a71da88 | 326 | //腕おろす |
Tom0108 | 0:761a63c6d020 | 327 | i2c.Out_Set(Out_Data,0,1); |
Tom0108 | 3:1063aa133b62 | 328 | if(tim.read_ms()>300) { |
Tom0108 | 1:199c4a71da88 | 329 | pull++; |
Tom0108 | 1:199c4a71da88 | 330 | tim.reset(); |
Tom0108 | 0:761a63c6d020 | 331 | } |
Tom0108 | 1:199c4a71da88 | 332 | break; |
Tom0108 | 1:199c4a71da88 | 333 | |
Tom0108 | 1:199c4a71da88 | 334 | case 2: |
Tom0108 | 3:1063aa133b62 | 335 | if(tim.read_ms()>300) { |
Tom0108 | 1:199c4a71da88 | 336 | pull++; |
Tom0108 | 0:761a63c6d020 | 337 | tim.reset(); |
Tom0108 | 0:761a63c6d020 | 338 | } |
Tom0108 | 1:199c4a71da88 | 339 | break; |
Tom0108 | 1:199c4a71da88 | 340 | |
Tom0108 | 1:199c4a71da88 | 341 | case 3: |
Tom0108 | 1:199c4a71da88 | 342 | MD_SET_DRIVE(MD_Data,4,MD_FORWARD); |
Tom0108 | 3:1063aa133b62 | 343 | MD_SET_PWM (MD_Data,4,60); |
Tom0108 | 3:1063aa133b62 | 344 | if(start_lim==1) pull_f=0; |
Tom0108 | 1:199c4a71da88 | 345 | break; |
Tom0108 | 0:761a63c6d020 | 346 | } |
Tom0108 | 3:1063aa133b62 | 347 | } //if(pull_f) |
Tom0108 | 3:1063aa133b62 | 348 | |
Tom0108 | 3:1063aa133b62 | 349 | //かごを倒す |
Tom0108 | 3:1063aa133b62 | 350 | else if(kago_f) { |
Tom0108 | 1:199c4a71da88 | 351 | //腕の先を閉じておく |
Tom0108 | 1:199c4a71da88 | 352 | i2c.Out_Set(Out_Data,1,0); |
Tom0108 | 0:761a63c6d020 | 353 | |
Tom0108 | 1:199c4a71da88 | 354 | switch(kago) { |
Tom0108 | 1:199c4a71da88 | 355 | //腕を前に動かす |
Tom0108 | 1:199c4a71da88 | 356 | case 0: |
Tom0108 | 0:761a63c6d020 | 357 | MD_SET_DRIVE(MD_Data,4,MD_REVERSE); |
Tom0108 | 3:1063aa133b62 | 358 | MD_SET_PWM (MD_Data,4,60); |
Tom0108 | 2:47954f05d32d | 359 | if(max_lim==1) { |
Tom0108 | 2:47954f05d32d | 360 | kago++; |
Tom0108 | 2:47954f05d32d | 361 | tim.reset(); |
Tom0108 | 2:47954f05d32d | 362 | } |
Tom0108 | 1:199c4a71da88 | 363 | break; |
Tom0108 | 1:199c4a71da88 | 364 | |
Tom0108 | 1:199c4a71da88 | 365 | case 1: |
Tom0108 | 1:199c4a71da88 | 366 | //腕停止 |
Tom0108 | 0:761a63c6d020 | 367 | MD_SET_DRIVE(MD_Data,4,MD_BRAKE); |
Tom0108 | 1:199c4a71da88 | 368 | MD_SET_PWM (MD_Data,4,0); |
Tom0108 | 0:761a63c6d020 | 369 | |
Tom0108 | 1:199c4a71da88 | 370 | //かご回転 |
Tom0108 | 1:199c4a71da88 | 371 | MD_SET_DRIVE(MD_Data,6,MD_FORWARD); |
Tom0108 | 3:1063aa133b62 | 372 | MD_SET_PWM (MD_Data,6,80); |
Tom0108 | 2:47954f05d32d | 373 | if(slide_stop==1 || tim.read_ms()>3000) { |
Tom0108 | 1:199c4a71da88 | 374 | kago++; |
Tom0108 | 2:47954f05d32d | 375 | tim.reset(); |
Tom0108 | 1:199c4a71da88 | 376 | MD_SET_DRIVE(MD_Data,6,MD_BRAKE); |
Tom0108 | 1:199c4a71da88 | 377 | MD_SET_PWM (MD_Data,6,0); |
Tom0108 | 1:199c4a71da88 | 378 | } |
Tom0108 | 1:199c4a71da88 | 379 | break; |
Tom0108 | 0:761a63c6d020 | 380 | |
Tom0108 | 1:199c4a71da88 | 381 | case 2: |
Tom0108 | 3:1063aa133b62 | 382 | if(tim.read_ms()>1000) { |
Tom0108 | 2:47954f05d32d | 383 | kago++; |
Tom0108 | 2:47954f05d32d | 384 | tim.reset(); |
Tom0108 | 2:47954f05d32d | 385 | } |
Tom0108 | 1:199c4a71da88 | 386 | break; |
Tom0108 | 1:199c4a71da88 | 387 | |
Tom0108 | 1:199c4a71da88 | 388 | case 3: |
Tom0108 | 1:199c4a71da88 | 389 | MD_SET_DRIVE(MD_Data,6,MD_REVERSE); |
Tom0108 | 3:1063aa133b62 | 390 | MD_SET_PWM (MD_Data,6,80); |
Tom0108 | 2:47954f05d32d | 391 | if(slide_start==1 || tim.read_ms()>3000) kago++; |
Tom0108 | 1:199c4a71da88 | 392 | break; |
Tom0108 | 1:199c4a71da88 | 393 | |
Tom0108 | 1:199c4a71da88 | 394 | case 4: |
Tom0108 | 1:199c4a71da88 | 395 | MD_SET_DRIVE(MD_Data,4,MD_FORWARD); |
Tom0108 | 3:1063aa133b62 | 396 | MD_SET_PWM (MD_Data,4,60); |
Tom0108 | 3:1063aa133b62 | 397 | if(start_lim==1) kago_f=0; |
Tom0108 | 1:199c4a71da88 | 398 | break; |
Tom0108 | 0:761a63c6d020 | 399 | } |
Tom0108 | 0:761a63c6d020 | 400 | } else { |
Tom0108 | 3:1063aa133b62 | 401 | //かごと腕を停止 |
Tom0108 | 0:761a63c6d020 | 402 | MD_SET_DRIVE(MD_Data,4,MD_BRAKE); |
Tom0108 | 1:199c4a71da88 | 403 | MD_SET_PWM (MD_Data,4,0); |
Tom0108 | 1:199c4a71da88 | 404 | MD_SET_DRIVE(MD_Data,6,MD_BRAKE); |
Tom0108 | 1:199c4a71da88 | 405 | MD_SET_PWM (MD_Data,6,0); |
Tom0108 | 3:1063aa133b62 | 406 | |
Tom0108 | 1:199c4a71da88 | 407 | //爪開く |
Tom0108 | 2:47954f05d32d | 408 | i2c.Out_Set(Out_Data,1,1); |
Tom0108 | 1:199c4a71da88 | 409 | //腕上げる |
Tom0108 | 2:47954f05d32d | 410 | i2c.Out_Set(Out_Data,0,0); |
Tom0108 | 2:47954f05d32d | 411 | |
Tom0108 | 1:199c4a71da88 | 412 | kago=0; |
Tom0108 | 1:199c4a71da88 | 413 | pull=0; |
Tom0108 | 1:199c4a71da88 | 414 | grab=0; |
Tom0108 | 3:1063aa133b62 | 415 | |
Tom0108 | 2:47954f05d32d | 416 | tim.reset(); |
Tom0108 | 0:761a63c6d020 | 417 | } |
Tom0108 | 0:761a63c6d020 | 418 | |
Tom0108 | 3:1063aa133b62 | 419 | //-------------- 出力 --------------// |
Tom0108 | 3:1063aa133b62 | 420 | //第二引数には使う最大の個数 |
Tom0108 | 3:1063aa133b62 | 421 | i2c.Out(Out_Data,5); |
Tom0108 | 3:1063aa133b62 | 422 | |
Tom0108 | 3:1063aa133b62 | 423 | //モータ出力 |
Tom0108 | 3:1063aa133b62 | 424 | for(int i=0; i<8; i++) i2c.MD_I2C(MD_Data,i); |
Tom0108 | 3:1063aa133b62 | 425 | |
Tom0108 | 3:1063aa133b62 | 426 | /* ----------- りみっと --------------- */ |
Tom0108 | 3:1063aa133b62 | 427 | limit_up = (In_Data+4)->in_data; |
Tom0108 | 3:1063aa133b62 | 428 | limit_down = (In_Data+5)->in_data; |
Tom0108 | 3:1063aa133b62 | 429 | max_lim = (In_Data+1)->in_data; |
Tom0108 | 3:1063aa133b62 | 430 | start_lim =(In_Data+2)->in_data; |
Tom0108 | 3:1063aa133b62 | 431 | short_lim = (In_Data+6)->in_data; |
Tom0108 | 3:1063aa133b62 | 432 | slide_start = (In_Data+3)->in_data; |
Tom0108 | 3:1063aa133b62 | 433 | slide_stop = (In_Data+0)->in_data; |
Tom0108 | 3:1063aa133b62 | 434 | |
Tom0108 | 3:1063aa133b62 | 435 | //半自動のデバック |
Tom0108 | 3:1063aa133b62 | 436 | // pc.printf("pull %2d%2d ",pull,pull_f); |
Tom0108 | 3:1063aa133b62 | 437 | // pc.printf("grab %2d%2d ",grab,grab_f); |
Tom0108 | 3:1063aa133b62 | 438 | // pc.printf("kago %2d%2d ",kago,kago_f); |
Tom0108 | 5:fcc79e507610 | 439 | pc.printf("0:%f 1:%f ave:%f yaw:%f",y_deg[0],y_deg[1],ave,yaw); |
Tom0108 | 4:236e5c58e8ee | 440 | // pc.printf("%2d ",dir); |
Tom0108 | 3:1063aa133b62 | 441 | pc.printf("\n\r"); |
Tom0108 | 3:1063aa133b62 | 442 | |
Tom0108 | 3:1063aa133b62 | 443 | |
Tom0108 | 3:1063aa133b62 | 444 | /* --------------電磁弁系-------------------- */ |
Tom0108 | 0:761a63c6d020 | 445 | /*タオル掛け*/ |
Tom0108 | 0:761a63c6d020 | 446 | if(sbdbt.L2)i2c.Out_Set(Out_Data,2,1); |
Tom0108 | 0:761a63c6d020 | 447 | else i2c.Out_Set(Out_Data,2,0); |
Tom0108 | 3:1063aa133b62 | 448 | |
Tom0108 | 0:761a63c6d020 | 449 | /*タオルを引っ張るやつ*/ |
Tom0108 | 1:199c4a71da88 | 450 | if(sbdbt.R2)i2c.Out_Set(Out_Data,4,1); |
Tom0108 | 1:199c4a71da88 | 451 | else i2c.Out_Set(Out_Data,4,0); |
Tom0108 | 0:761a63c6d020 | 452 | |
Tom0108 | 3:1063aa133b62 | 453 | if(unfold_f)i2c.Out_Set(Out_Data,3,1); |
Tom0108 | 3:1063aa133b62 | 454 | else i2c.Out_Set(Out_Data,3,0); |
Tom0108 | 0:761a63c6d020 | 455 | |
Tom0108 | 0:761a63c6d020 | 456 | |
Tom0108 | 3:1063aa133b62 | 457 | /* ----------------ボタン系--------------- */ |
Tom0108 | 3:1063aa133b62 | 458 | //補正角リセット |
Tom0108 | 2:47954f05d32d | 459 | if(sbdbt.L1) { |
Tom0108 | 5:fcc79e507610 | 460 | Turn_val=y_deg[0]; |
Tom0108 | 5:fcc79e507610 | 461 | offset=y_deg[0]; |
Tom0108 | 2:47954f05d32d | 462 | } |
Tom0108 | 2:47954f05d32d | 463 | //90度回転して補正の角度を固定する |
Tom0108 | 3:1063aa133b62 | 464 | if(LEFTkey) { |
Tom0108 | 3:1063aa133b62 | 465 | if(once==0) { |
Tom0108 | 4:236e5c58e8ee | 466 | dir++; |
Tom0108 | 4:236e5c58e8ee | 467 | // left_f++; |
Tom0108 | 4:236e5c58e8ee | 468 | // left_f%=2; |
Tom0108 | 3:1063aa133b62 | 469 | once++; |
Tom0108 | 3:1063aa133b62 | 470 | } |
Tom0108 | 3:1063aa133b62 | 471 | } else if(RIGHTkey) { |
Tom0108 | 3:1063aa133b62 | 472 | if(once==0) { |
Tom0108 | 4:236e5c58e8ee | 473 | dir--; |
Tom0108 | 4:236e5c58e8ee | 474 | // right_f++; |
Tom0108 | 4:236e5c58e8ee | 475 | // right_f%=2; |
Tom0108 | 3:1063aa133b62 | 476 | once++; |
Tom0108 | 3:1063aa133b62 | 477 | } |
Tom0108 | 2:47954f05d32d | 478 | } |
Tom0108 | 3:1063aa133b62 | 479 | //かごを倒す |
Tom0108 | 3:1063aa133b62 | 480 | else if(CROSS) { |
Tom0108 | 1:199c4a71da88 | 481 | if(once==0) { |
Tom0108 | 3:1063aa133b62 | 482 | kago_f++; |
Tom0108 | 3:1063aa133b62 | 483 | kago_f%=2; |
Tom0108 | 1:199c4a71da88 | 484 | once++; |
Tom0108 | 1:199c4a71da88 | 485 | } |
Tom0108 | 3:1063aa133b62 | 486 | } |
Tom0108 | 3:1063aa133b62 | 487 | //タオルを掴んで動かす |
Tom0108 | 3:1063aa133b62 | 488 | else if(SQUARE) { |
Tom0108 | 1:199c4a71da88 | 489 | if(once==0) { |
Tom0108 | 3:1063aa133b62 | 490 | grab_f++; |
Tom0108 | 3:1063aa133b62 | 491 | grab_f%=2; |
Tom0108 | 1:199c4a71da88 | 492 | once++; |
Tom0108 | 1:199c4a71da88 | 493 | } |
Tom0108 | 4:236e5c58e8ee | 494 | } else if(TRIANGLE) { |
Tom0108 | 4:236e5c58e8ee | 495 | if(once==0) { |
Tom0108 | 4:236e5c58e8ee | 496 | sgrab_f++; |
Tom0108 | 4:236e5c58e8ee | 497 | sgrab_f%=2; |
Tom0108 | 4:236e5c58e8ee | 498 | once++; |
Tom0108 | 4:236e5c58e8ee | 499 | } |
Tom0108 | 3:1063aa133b62 | 500 | } |
Tom0108 | 3:1063aa133b62 | 501 | //倒すを引いて動かす |
Tom0108 | 3:1063aa133b62 | 502 | else if(CIRCLE) { |
Tom0108 | 1:199c4a71da88 | 503 | if(once==0) { |
Tom0108 | 3:1063aa133b62 | 504 | pull_f++; |
Tom0108 | 3:1063aa133b62 | 505 | pull_f%=2; |
Tom0108 | 3:1063aa133b62 | 506 | once++; |
Tom0108 | 3:1063aa133b62 | 507 | } |
Tom0108 | 3:1063aa133b62 | 508 | } |
Tom0108 | 3:1063aa133b62 | 509 | //タオル展開用 |
Tom0108 | 3:1063aa133b62 | 510 | else if(sbdbt.START) { |
Tom0108 | 3:1063aa133b62 | 511 | if(once==0) { |
Tom0108 | 3:1063aa133b62 | 512 | unfold_f++; |
Tom0108 | 3:1063aa133b62 | 513 | unfold_f%=2; |
Tom0108 | 1:199c4a71da88 | 514 | once++; |
Tom0108 | 1:199c4a71da88 | 515 | } |
Tom0108 | 1:199c4a71da88 | 516 | } else once=0; |
Tom0108 | 1:199c4a71da88 | 517 | |
Tom0108 | 1:199c4a71da88 | 518 | |
Tom0108 | 0:761a63c6d020 | 519 | } // if(sbdbt.State_check()) |
Tom0108 | 0:761a63c6d020 | 520 | } // while(1) |
Tom0108 | 0:761a63c6d020 | 521 | } // int main() |
Tom0108 | 0:761a63c6d020 | 522 | |
Tom0108 | 0:761a63c6d020 | 523 | /* メカナムの基本移動 */ |
Tom0108 | 0:761a63c6d020 | 524 | void mecanum_Move(void) |
Tom0108 | 0:761a63c6d020 | 525 | { |
Tom0108 | 0:761a63c6d020 | 526 | int val1,val2; |
Tom0108 | 0:761a63c6d020 | 527 | |
Tom0108 | 0:761a63c6d020 | 528 | MD_SET_DRIVE(MD_Data, 0,(L > 0) ? MD_FORWARD : MD_REVERSE); |
Tom0108 | 0:761a63c6d020 | 529 | MD_SET_DRIVE(MD_Data, 1,(R > 0) ? MD_REVERSE : MD_FORWARD); |
Tom0108 | 0:761a63c6d020 | 530 | MD_SET_DRIVE(MD_Data, 2,(R > 0) ? MD_FORWARD : MD_REVERSE); |
Tom0108 | 0:761a63c6d020 | 531 | MD_SET_DRIVE(MD_Data, 3,(L > 0) ? MD_REVERSE : MD_FORWARD); |
Tom0108 | 0:761a63c6d020 | 532 | |
Tom0108 | 0:761a63c6d020 | 533 | val1 = (int)sqrt( 1.0*abs( abs(lx)*lx + abs(ly)*ly ) ); |
Tom0108 | 0:761a63c6d020 | 534 | val2 = (int)sqrt( 1.0*abs( abs(ly)*ly - abs(lx)*lx ) ); |
Tom0108 | 0:761a63c6d020 | 535 | |
Tom0108 | 0:761a63c6d020 | 536 | MD_SET_PWM(MD_Data,0,val1); |
Tom0108 | 0:761a63c6d020 | 537 | MD_SET_PWM(MD_Data,1,val2); |
Tom0108 | 0:761a63c6d020 | 538 | MD_SET_PWM(MD_Data,2,val2); |
Tom0108 | 0:761a63c6d020 | 539 | MD_SET_PWM(MD_Data,3,val1); |
Tom0108 | 0:761a63c6d020 | 540 | |
Tom0108 | 0:761a63c6d020 | 541 | |
Tom0108 | 0:761a63c6d020 | 542 | if(MD_GET_PWM(MD_Data,0)*2 < MD_GET_PWM(MD_Data,1) ) { |
Tom0108 | 0:761a63c6d020 | 543 | MD_SET_PWM(MD_Data, 0, 0); |
Tom0108 | 0:761a63c6d020 | 544 | g = 0; |
Tom0108 | 0:761a63c6d020 | 545 | } else if( MD_GET_PWM(MD_Data,1)*2 < MD_GET_PWM(MD_Data,0) ) { |
Tom0108 | 0:761a63c6d020 | 546 | MD_SET_PWM(MD_Data, 1, 0); |
Tom0108 | 0:761a63c6d020 | 547 | g = 0; |
Tom0108 | 0:761a63c6d020 | 548 | } |
Tom0108 | 0:761a63c6d020 | 549 | |
Tom0108 | 0:761a63c6d020 | 550 | // 斜めじゃないなら大きいほうにPWMをそろえて完全縦横移動 |
Tom0108 | 0:761a63c6d020 | 551 | else if( MD_GET_PWM(MD_Data,0) < MD_GET_PWM(MD_Data,1) ) { |
Tom0108 | 0:761a63c6d020 | 552 | MD_SET_PWM(MD_Data, 0, MD_GET_PWM(MD_Data,1)); |
Tom0108 | 0:761a63c6d020 | 553 | g = 1; |
Tom0108 | 0:761a63c6d020 | 554 | |
Tom0108 | 0:761a63c6d020 | 555 | } else { |
Tom0108 | 0:761a63c6d020 | 556 | MD_SET_PWM(MD_Data, 1, MD_GET_PWM(MD_Data,0)); |
Tom0108 | 0:761a63c6d020 | 557 | g = 1; |
Tom0108 | 0:761a63c6d020 | 558 | } |
Tom0108 | 0:761a63c6d020 | 559 | |
Tom0108 | 0:761a63c6d020 | 560 | MD_SET_PWM(MD_Data, 2, MD_GET_PWM(MD_Data,1)); |
Tom0108 | 0:761a63c6d020 | 561 | MD_SET_PWM(MD_Data, 3, MD_GET_PWM(MD_Data,0)); |
Tom0108 | 0:761a63c6d020 | 562 | |
Tom0108 | 0:761a63c6d020 | 563 | } |
Tom0108 | 0:761a63c6d020 | 564 | |
Tom0108 | 0:761a63c6d020 | 565 | /* メカナム旋回 */ |
Tom0108 | 0:761a63c6d020 | 566 | void mecanum_Turn(void) |
Tom0108 | 0:761a63c6d020 | 567 | { |
Tom0108 | 0:761a63c6d020 | 568 | for(int i=0; i<4; i++) { |
Tom0108 | 0:761a63c6d020 | 569 | MD_SET_PWM(MD_Data, i,sbdbt.R1?abs(sbdbt.RX - 64)*50/64:abs(sbdbt.RX - 64)*100/64); |
Tom0108 | 0:761a63c6d020 | 570 | MD_SET_DRIVE(MD_Data, i,(sbdbt.RX < 64)? MD_REVERSE: MD_FORWARD); |
Tom0108 | 0:761a63c6d020 | 571 | } |
Tom0108 | 0:761a63c6d020 | 572 | } |
Tom0108 | 0:761a63c6d020 | 573 | |
Tom0108 | 0:761a63c6d020 | 574 | /* 停止 */ |
Tom0108 | 0:761a63c6d020 | 575 | void mecanum_Stop(void) |
Tom0108 | 0:761a63c6d020 | 576 | { |
Tom0108 | 0:761a63c6d020 | 577 | for(int i=0; i<4; i++) { |
Tom0108 | 0:761a63c6d020 | 578 | MD_SET_PWM(MD_Data, i, 0); |
Tom0108 | 0:761a63c6d020 | 579 | MD_SET_DRIVE(MD_Data, i, MD_BRAKE); |
Tom0108 | 0:761a63c6d020 | 580 | } |
Tom0108 | 0:761a63c6d020 | 581 | } |
Tom0108 | 0:761a63c6d020 | 582 | |
Tom0108 | 0:761a63c6d020 | 583 | /*操作法*/ |
Tom0108 | 0:761a63c6d020 | 584 | /* |
Tom0108 | 0:761a63c6d020 | 585 | 〇 ボタン == 回収(引きずる) |
Tom0108 | 0:761a63c6d020 | 586 | ? ボタン == 籠 |
Tom0108 | 0:761a63c6d020 | 587 | △ ボタン == 回収(シーツ兼シャツ) |
Tom0108 | 0:761a63c6d020 | 588 | □ ボタン == 回収(タオル) |
Tom0108 | 0:761a63c6d020 | 589 | 上 ボタン == ハンガーかけ機構 上昇 |
Tom0108 | 0:761a63c6d020 | 590 | 下 ボタン == ハンガーかけ機構 下降 |
Tom0108 | 0:761a63c6d020 | 591 | 左 ボタン == 90回転 |
Tom0108 | 0:761a63c6d020 | 592 | 右 ボタン == 90回転 |
Tom0108 | 0:761a63c6d020 | 593 | L1 ボタン == リセット(足回り) |
Tom0108 | 0:761a63c6d020 | 594 | L2 ボタン == タオル掛け |
Tom0108 | 0:761a63c6d020 | 595 | R1 ボタン == 押しながら回転でゆっくりになる |
Tom0108 | 0:761a63c6d020 | 596 | R2 ボタン == タオルひっぱる奴 |
Tom0108 | 0:761a63c6d020 | 597 | select == ハンガー掛け 最大まで上昇 |
Tom0108 | 0:761a63c6d020 | 598 | start == ハンガー展開 |
Tom0108 | 0:761a63c6d020 | 599 | */ |
Tom0108 | 0:761a63c6d020 | 600 | /*その他注意点*/ |
Tom0108 | 0:761a63c6d020 | 601 | /* |
Tom0108 | 0:761a63c6d020 | 602 | 動かすときはジャイロの値を安定させるため15秒から20秒待つ |
Tom0108 | 0:761a63c6d020 | 603 | メカナムは振動が大きいせいかナット等が外れやすいため、定期的に確認をする(特に足回り) |
Tom0108 | 0:761a63c6d020 | 604 | あまり急発進をさせない(たまに暴走) |
Tom0108 | 0:761a63c6d020 | 605 | 暴走したときはコントローラーを動かしたら治るはず |
Tom0108 | 0:761a63c6d020 | 606 | コントローラー接続が切れたらSTMの黒い奴を押す(わからないときは近くの回路班へ) |
Tom0108 | 0:761a63c6d020 | 607 | */ |