final cup
Dependencies: HMC6352 PID mbed
main.cpp@0:2eebd0301c66, 2013-04-29 (annotated)
- Committer:
- akudohune
- Date:
- Mon Apr 29 06:39:53 2013 +0000
- Revision:
- 0:2eebd0301c66
final
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
akudohune | 0:2eebd0301c66 | 1 | #include <math.h> |
akudohune | 0:2eebd0301c66 | 2 | #include <sstream> |
akudohune | 0:2eebd0301c66 | 3 | #include "mbed.h" |
akudohune | 0:2eebd0301c66 | 4 | #include "HMC6352.h" |
akudohune | 0:2eebd0301c66 | 5 | #include "PID.h" |
akudohune | 0:2eebd0301c66 | 6 | #include "main.h" |
akudohune | 0:2eebd0301c66 | 7 | |
akudohune | 0:2eebd0301c66 | 8 | |
akudohune | 0:2eebd0301c66 | 9 | |
akudohune | 0:2eebd0301c66 | 10 | void PidUpdate() |
akudohune | 0:2eebd0301c66 | 11 | { |
akudohune | 0:2eebd0301c66 | 12 | static uint8_t Fflag = 0; |
akudohune | 0:2eebd0301c66 | 13 | |
akudohune | 0:2eebd0301c66 | 14 | inputPID = (((int)(compass.sample() - ((standard + standTu) * 10.0) + 5400.0) % 3600) / 10.0); |
akudohune | 0:2eebd0301c66 | 15 | |
akudohune | 0:2eebd0301c66 | 16 | //pc.printf("%f\n",timer1.read()); |
akudohune | 0:2eebd0301c66 | 17 | pid.setProcessValue(inputPID); |
akudohune | 0:2eebd0301c66 | 18 | //timer1.reset(); |
akudohune | 0:2eebd0301c66 | 19 | |
akudohune | 0:2eebd0301c66 | 20 | compassPID = -(pid.compute()); |
akudohune | 0:2eebd0301c66 | 21 | |
akudohune | 0:2eebd0301c66 | 22 | if(!Fflag){ |
akudohune | 0:2eebd0301c66 | 23 | Fflag = 1; |
akudohune | 0:2eebd0301c66 | 24 | compassPID = 0; |
akudohune | 0:2eebd0301c66 | 25 | } |
akudohune | 0:2eebd0301c66 | 26 | //pc.printf("%f\n",standard); |
akudohune | 0:2eebd0301c66 | 27 | //pc.printf("%d\n",diff); |
akudohune | 0:2eebd0301c66 | 28 | //pc.printf("compass.sample = %f\n",compass.sample() / 1.0); |
akudohune | 0:2eebd0301c66 | 29 | //pc.printf("%d\n",(int)compassPID); |
akudohune | 0:2eebd0301c66 | 30 | //pc.printf("%d\t%d\n",Distance,direction); |
akudohune | 0:2eebd0301c66 | 31 | //pc.printf("%d\t%d\t%d\t%d\n",ultrasonicVal[0],ultrasonicVal[1],ultrasonicVal[2],ultrasonicVal[3]); |
akudohune | 0:2eebd0301c66 | 32 | } |
akudohune | 0:2eebd0301c66 | 33 | |
akudohune | 0:2eebd0301c66 | 34 | void move(int vxx, int vyy, int vss) |
akudohune | 0:2eebd0301c66 | 35 | { |
akudohune | 0:2eebd0301c66 | 36 | double motVal[MOT_NUM] = {0}; |
akudohune | 0:2eebd0301c66 | 37 | |
akudohune | 0:2eebd0301c66 | 38 | motVal[0] = (double)(((0.5 * vxx) + ((sqrt(3.0) / 2.0) * vyy) + (Long * -vss)) * MOT1); |
akudohune | 0:2eebd0301c66 | 39 | motVal[1] = (double)(((-0.5 * vxx) + ((sqrt(3.0) / 2.0) * vyy) + (Long * vss)) * MOT2); |
akudohune | 0:2eebd0301c66 | 40 | motVal[2] = (double)(((-0.5 * vxx) + ((sqrt(3.0) / 2.0) * vyy) + (Long * -vss)) * MOT3); |
akudohune | 0:2eebd0301c66 | 41 | motVal[3] = (double)(((0.5 * vxx) + ((sqrt(3.0) / 2.0) * vyy) + (Long * vss)) * MOT4); |
akudohune | 0:2eebd0301c66 | 42 | |
akudohune | 0:2eebd0301c66 | 43 | for(uint8_t i = 0 ; i < MOT_NUM ; i++){ |
akudohune | 0:2eebd0301c66 | 44 | if(motVal[i] > MAX_POW)motVal[i] = MAX_POW; |
akudohune | 0:2eebd0301c66 | 45 | else if(motVal[i] < MIN_POW)motVal[i] = MIN_POW; |
akudohune | 0:2eebd0301c66 | 46 | speed[i] = (int)motVal[i]; |
akudohune | 0:2eebd0301c66 | 47 | } |
akudohune | 0:2eebd0301c66 | 48 | } |
akudohune | 0:2eebd0301c66 | 49 | |
akudohune | 0:2eebd0301c66 | 50 | /*********** Serial interrupt ***********/ |
akudohune | 0:2eebd0301c66 | 51 | |
akudohune | 0:2eebd0301c66 | 52 | void Tx_interrupt() |
akudohune | 0:2eebd0301c66 | 53 | { |
akudohune | 0:2eebd0301c66 | 54 | array(speed[0],speed[1],speed[2],speed[3]); |
akudohune | 0:2eebd0301c66 | 55 | driver.printf("%s",StringFIN.c_str()); |
akudohune | 0:2eebd0301c66 | 56 | //pc.printf("%s",StringFIN.c_str()); |
akudohune | 0:2eebd0301c66 | 57 | } |
akudohune | 0:2eebd0301c66 | 58 | /* |
akudohune | 0:2eebd0301c66 | 59 | void Rx_interrupt() |
akudohune | 0:2eebd0301c66 | 60 | { |
akudohune | 0:2eebd0301c66 | 61 | if(driver.readable()){ |
akudohune | 0:2eebd0301c66 | 62 | //pc.printf("%d\n",driver.getc()); |
akudohune | 0:2eebd0301c66 | 63 | } |
akudohune | 0:2eebd0301c66 | 64 | }*/ |
akudohune | 0:2eebd0301c66 | 65 | |
akudohune | 0:2eebd0301c66 | 66 | |
akudohune | 0:2eebd0301c66 | 67 | /*********** Serial interrupt **********/ |
akudohune | 0:2eebd0301c66 | 68 | |
akudohune | 0:2eebd0301c66 | 69 | |
akudohune | 0:2eebd0301c66 | 70 | void init() |
akudohune | 0:2eebd0301c66 | 71 | { |
akudohune | 0:2eebd0301c66 | 72 | int scanfSuccess; |
akudohune | 0:2eebd0301c66 | 73 | int printfSuccess; |
akudohune | 0:2eebd0301c66 | 74 | int closeSuccess; |
akudohune | 0:2eebd0301c66 | 75 | int close2Success; |
akudohune | 0:2eebd0301c66 | 76 | FILE *fp; |
akudohune | 0:2eebd0301c66 | 77 | |
akudohune | 0:2eebd0301c66 | 78 | compass.setOpMode(HMC6352_CONTINUOUS, 1, 20); |
akudohune | 0:2eebd0301c66 | 79 | |
akudohune | 0:2eebd0301c66 | 80 | StartButton.mode(PullUp); |
akudohune | 0:2eebd0301c66 | 81 | CalibEnterButton.mode(PullUp); |
akudohune | 0:2eebd0301c66 | 82 | CalibExitButton.mode(PullUp); |
akudohune | 0:2eebd0301c66 | 83 | EEPROMButton.mode(PullUp); |
akudohune | 0:2eebd0301c66 | 84 | |
akudohune | 0:2eebd0301c66 | 85 | driver.baud(BAUD_RATE); |
akudohune | 0:2eebd0301c66 | 86 | device2.baud(BAUD_RATE2); |
akudohune | 0:2eebd0301c66 | 87 | wait_ms(MOTDRIVER_WAIT);/////////////////////////////////////////////////////////////// |
akudohune | 0:2eebd0301c66 | 88 | driver.printf("1F0002F0003F0004F000\r\n"); |
akudohune | 0:2eebd0301c66 | 89 | device2.printf("START"); |
akudohune | 0:2eebd0301c66 | 90 | |
akudohune | 0:2eebd0301c66 | 91 | driver.attach(&Tx_interrupt, Serial::TxIrq); |
akudohune | 0:2eebd0301c66 | 92 | //driver.attach(&Rx_interrupt, Serial::RxIrq); |
akudohune | 0:2eebd0301c66 | 93 | device2.attach(&dev_rx,Serial::RxIrq); |
akudohune | 0:2eebd0301c66 | 94 | device2.attach(&dev_tx,Serial::TxIrq); |
akudohune | 0:2eebd0301c66 | 95 | |
akudohune | 0:2eebd0301c66 | 96 | mbedleds = 1; |
akudohune | 0:2eebd0301c66 | 97 | |
akudohune | 0:2eebd0301c66 | 98 | while(StartButton){ |
akudohune | 0:2eebd0301c66 | 99 | if(!CalibEnterButton){ |
akudohune | 0:2eebd0301c66 | 100 | mbedleds = 2; |
akudohune | 0:2eebd0301c66 | 101 | compass.setCalibrationMode(ENTER); |
akudohune | 0:2eebd0301c66 | 102 | while(CalibExitButton); |
akudohune | 0:2eebd0301c66 | 103 | compass.setCalibrationMode(EXIT); |
akudohune | 0:2eebd0301c66 | 104 | wait(BUT_WAIT); |
akudohune | 0:2eebd0301c66 | 105 | mbedleds = 4; |
akudohune | 0:2eebd0301c66 | 106 | } |
akudohune | 0:2eebd0301c66 | 107 | |
akudohune | 0:2eebd0301c66 | 108 | if(!EEPROMButton){ |
akudohune | 0:2eebd0301c66 | 109 | fp = fopen("/local/out.txt", "r"); |
akudohune | 0:2eebd0301c66 | 110 | if(fp == NULL){ |
akudohune | 0:2eebd0301c66 | 111 | wait(BUT_WAIT); |
akudohune | 0:2eebd0301c66 | 112 | mbedleds = 3; |
akudohune | 0:2eebd0301c66 | 113 | }else{ |
akudohune | 0:2eebd0301c66 | 114 | scanfSuccess = fscanf(fp, "%lf",&standard); |
akudohune | 0:2eebd0301c66 | 115 | if(scanfSuccess == EOF){ |
akudohune | 0:2eebd0301c66 | 116 | wait(BUT_WAIT); |
akudohune | 0:2eebd0301c66 | 117 | mbedleds = 7; |
akudohune | 0:2eebd0301c66 | 118 | }else{ |
akudohune | 0:2eebd0301c66 | 119 | closeSuccess = fclose(fp); |
akudohune | 0:2eebd0301c66 | 120 | if(closeSuccess == EOF){ |
akudohune | 0:2eebd0301c66 | 121 | wait(BUT_WAIT); |
akudohune | 0:2eebd0301c66 | 122 | mbedleds = 15; |
akudohune | 0:2eebd0301c66 | 123 | }else{ |
akudohune | 0:2eebd0301c66 | 124 | wait(BUT_WAIT); |
akudohune | 0:2eebd0301c66 | 125 | mbedleds = 8; |
akudohune | 0:2eebd0301c66 | 126 | } |
akudohune | 0:2eebd0301c66 | 127 | } |
akudohune | 0:2eebd0301c66 | 128 | } |
akudohune | 0:2eebd0301c66 | 129 | } |
akudohune | 0:2eebd0301c66 | 130 | |
akudohune | 0:2eebd0301c66 | 131 | if(!CalibExitButton){ |
akudohune | 0:2eebd0301c66 | 132 | standard = compass.sample() / 10.0; |
akudohune | 0:2eebd0301c66 | 133 | |
akudohune | 0:2eebd0301c66 | 134 | fp = fopen("/local/out.txt", "w"); |
akudohune | 0:2eebd0301c66 | 135 | if(fp == NULL){ |
akudohune | 0:2eebd0301c66 | 136 | wait(BUT_WAIT); |
akudohune | 0:2eebd0301c66 | 137 | mbedleds = 3; |
akudohune | 0:2eebd0301c66 | 138 | }else{ |
akudohune | 0:2eebd0301c66 | 139 | printfSuccess = fprintf(fp, "%f",standard); |
akudohune | 0:2eebd0301c66 | 140 | if(printfSuccess == EOF){ |
akudohune | 0:2eebd0301c66 | 141 | wait(BUT_WAIT); |
akudohune | 0:2eebd0301c66 | 142 | mbedleds = 7; |
akudohune | 0:2eebd0301c66 | 143 | }else{ |
akudohune | 0:2eebd0301c66 | 144 | close2Success = fclose(fp); |
akudohune | 0:2eebd0301c66 | 145 | if(close2Success == EOF){ |
akudohune | 0:2eebd0301c66 | 146 | wait(BUT_WAIT); |
akudohune | 0:2eebd0301c66 | 147 | mbedleds = 15; |
akudohune | 0:2eebd0301c66 | 148 | }else{ |
akudohune | 0:2eebd0301c66 | 149 | wait(BUT_WAIT); |
akudohune | 0:2eebd0301c66 | 150 | mbedleds = 4; |
akudohune | 0:2eebd0301c66 | 151 | } |
akudohune | 0:2eebd0301c66 | 152 | } |
akudohune | 0:2eebd0301c66 | 153 | } |
akudohune | 0:2eebd0301c66 | 154 | } |
akudohune | 0:2eebd0301c66 | 155 | } |
akudohune | 0:2eebd0301c66 | 156 | |
akudohune | 0:2eebd0301c66 | 157 | mbedleds = 0; |
akudohune | 0:2eebd0301c66 | 158 | |
akudohune | 0:2eebd0301c66 | 159 | pid.setInputLimits(0.0, 360.0); |
akudohune | 0:2eebd0301c66 | 160 | pid.setOutputLimits(-OUT_LIMIT, OUT_LIMIT); |
akudohune | 0:2eebd0301c66 | 161 | pid.setBias(0.0); |
akudohune | 0:2eebd0301c66 | 162 | pid.setMode(AUTO_MODE); |
akudohune | 0:2eebd0301c66 | 163 | pid.setSetPoint(180.0); |
akudohune | 0:2eebd0301c66 | 164 | |
akudohune | 0:2eebd0301c66 | 165 | pidUpdata.attach(&PidUpdate, 0.06); |
akudohune | 0:2eebd0301c66 | 166 | |
akudohune | 0:2eebd0301c66 | 167 | //timer1.start(); |
akudohune | 0:2eebd0301c66 | 168 | //Ctimer.start(); |
akudohune | 0:2eebd0301c66 | 169 | } |
akudohune | 0:2eebd0301c66 | 170 | |
akudohune | 0:2eebd0301c66 | 171 | int main() |
akudohune | 0:2eebd0301c66 | 172 | { |
akudohune | 0:2eebd0301c66 | 173 | int vx=0,vy=0,vs=0; |
akudohune | 0:2eebd0301c66 | 174 | |
akudohune | 0:2eebd0301c66 | 175 | init(); |
akudohune | 0:2eebd0301c66 | 176 | |
akudohune | 0:2eebd0301c66 | 177 | while(1){ |
akudohune | 0:2eebd0301c66 | 178 | |
akudohune | 0:2eebd0301c66 | 179 | hold_flag = 0; |
akudohune | 0:2eebd0301c66 | 180 | vx = 0; |
akudohune | 0:2eebd0301c66 | 181 | vy = 0; |
akudohune | 0:2eebd0301c66 | 182 | vs = (int)compassPID; |
akudohune | 0:2eebd0301c66 | 183 | |
akudohune | 0:2eebd0301c66 | 184 | |
akudohune | 0:2eebd0301c66 | 185 | /*************** Change state **************************/ |
akudohune | 0:2eebd0301c66 | 186 | |
akudohune | 0:2eebd0301c66 | 187 | if(state == HOLD){ |
akudohune | 0:2eebd0301c66 | 188 | if(FRONT_SONIC < 100)hold_flag = 1; |
akudohune | 0:2eebd0301c66 | 189 | |
akudohune | 0:2eebd0301c66 | 190 | if(Distance > 140){ |
akudohune | 0:2eebd0301c66 | 191 | mbedleds = 1; |
akudohune | 0:2eebd0301c66 | 192 | state = HOME_WAIT; |
akudohune | 0:2eebd0301c66 | 193 | }else if(!((direction == 0) || (direction == 15) || (direction == 1))){ |
akudohune | 0:2eebd0301c66 | 194 | mbedleds = 4; |
akudohune | 0:2eebd0301c66 | 195 | state = DIFFENCE; |
akudohune | 0:2eebd0301c66 | 196 | }else if(!(Distance <= 30)){ |
akudohune | 0:2eebd0301c66 | 197 | mbedleds = 4; |
akudohune | 0:2eebd0301c66 | 198 | state = DIFFENCE; |
akudohune | 0:2eebd0301c66 | 199 | } |
akudohune | 0:2eebd0301c66 | 200 | }else{ |
akudohune | 0:2eebd0301c66 | 201 | standTu = 0; |
akudohune | 0:2eebd0301c66 | 202 | if(state == DIFFENCE){ |
akudohune | 0:2eebd0301c66 | 203 | |
akudohune | 0:2eebd0301c66 | 204 | if((direction == 0) && (Distance <= 10) && (IR_found)){ |
akudohune | 0:2eebd0301c66 | 205 | mbedleds = 8; |
akudohune | 0:2eebd0301c66 | 206 | state = HOLD; |
akudohune | 0:2eebd0301c66 | 207 | }else if((Distance <= 140) && (IR_found)){ |
akudohune | 0:2eebd0301c66 | 208 | mbedleds = 4; |
akudohune | 0:2eebd0301c66 | 209 | state = DIFFENCE; |
akudohune | 0:2eebd0301c66 | 210 | }else{ |
akudohune | 0:2eebd0301c66 | 211 | if((direction == 4) || (direction == 6) || (direction == 8) || (direction == 10)|| (direction == 12)){ |
akudohune | 0:2eebd0301c66 | 212 | if(IR_found){ |
akudohune | 0:2eebd0301c66 | 213 | mbedleds = 4; |
akudohune | 0:2eebd0301c66 | 214 | state = DIFFENCE; |
akudohune | 0:2eebd0301c66 | 215 | } |
akudohune | 0:2eebd0301c66 | 216 | }else if(diff > 15){ |
akudohune | 0:2eebd0301c66 | 217 | mbedleds = 4; |
akudohune | 0:2eebd0301c66 | 218 | state = DIFFENCE; |
akudohune | 0:2eebd0301c66 | 219 | }else{ |
akudohune | 0:2eebd0301c66 | 220 | mbedleds = 1; |
akudohune | 0:2eebd0301c66 | 221 | state = HOME_WAIT; |
akudohune | 0:2eebd0301c66 | 222 | } |
akudohune | 0:2eebd0301c66 | 223 | } |
akudohune | 0:2eebd0301c66 | 224 | |
akudohune | 0:2eebd0301c66 | 225 | }else{ |
akudohune | 0:2eebd0301c66 | 226 | if((direction == 0) && (Distance <= 10) && (IR_found)){ |
akudohune | 0:2eebd0301c66 | 227 | mbedleds = 8; |
akudohune | 0:2eebd0301c66 | 228 | state = HOLD; |
akudohune | 0:2eebd0301c66 | 229 | }else if((Distance <= 120) && (IR_found)){ |
akudohune | 0:2eebd0301c66 | 230 | mbedleds = 4; |
akudohune | 0:2eebd0301c66 | 231 | state = DIFFENCE; |
akudohune | 0:2eebd0301c66 | 232 | }else{ |
akudohune | 0:2eebd0301c66 | 233 | if((direction == 4) || (direction == 6) || (direction == 8) || (direction == 10)|| (direction == 12)){ |
akudohune | 0:2eebd0301c66 | 234 | if(IR_found){ |
akudohune | 0:2eebd0301c66 | 235 | mbedleds = 4; |
akudohune | 0:2eebd0301c66 | 236 | state = DIFFENCE; |
akudohune | 0:2eebd0301c66 | 237 | } |
akudohune | 0:2eebd0301c66 | 238 | }else if(diff > 15){ |
akudohune | 0:2eebd0301c66 | 239 | mbedleds = 4; |
akudohune | 0:2eebd0301c66 | 240 | state = DIFFENCE; |
akudohune | 0:2eebd0301c66 | 241 | }else if((Distance <= 120) && (IR_found)){ |
akudohune | 0:2eebd0301c66 | 242 | mbedleds = 2; |
akudohune | 0:2eebd0301c66 | 243 | state = WARNING; |
akudohune | 0:2eebd0301c66 | 244 | }else{ |
akudohune | 0:2eebd0301c66 | 245 | mbedleds = 1; |
akudohune | 0:2eebd0301c66 | 246 | state = HOME_WAIT; |
akudohune | 0:2eebd0301c66 | 247 | } |
akudohune | 0:2eebd0301c66 | 248 | } |
akudohune | 0:2eebd0301c66 | 249 | } |
akudohune | 0:2eebd0301c66 | 250 | } |
akudohune | 0:2eebd0301c66 | 251 | /*************** Change state **************************/ |
akudohune | 0:2eebd0301c66 | 252 | //pc.printf("%f\t%f\t%f\t%f\n",ultrasonicVal[0],ultrasonicVal[1],ultrasonicVal[2],ultrasonicVal[3]); |
akudohune | 0:2eebd0301c66 | 253 | |
akudohune | 0:2eebd0301c66 | 254 | if(state == HOME_WAIT){ |
akudohune | 0:2eebd0301c66 | 255 | if(((RIGHT_SONIC + LEFT_SONIC) < 1050.0) && ((RIGHT_SONIC + LEFT_SONIC) > 900.0)){ |
akudohune | 0:2eebd0301c66 | 256 | if((LEFT_SONIC > 450.0) && (RIGHT_SONIC > 450.0)){ |
akudohune | 0:2eebd0301c66 | 257 | vx = 0; |
akudohune | 0:2eebd0301c66 | 258 | }else if(RIGHT_SONIC < 450.0){ |
akudohune | 0:2eebd0301c66 | 259 | vx = (int)((RIGHT_SONIC - 450.0) * 0.01 - 10.0); |
akudohune | 0:2eebd0301c66 | 260 | if(vx < -15)vx = -15; |
akudohune | 0:2eebd0301c66 | 261 | }else if(LEFT_SONIC < 450.0){ |
akudohune | 0:2eebd0301c66 | 262 | vx = (int)((450.0 - LEFT_SONIC ) * 0.01 + 10.0); |
akudohune | 0:2eebd0301c66 | 263 | if(vx > 15)vx = 15; |
akudohune | 0:2eebd0301c66 | 264 | } |
akudohune | 0:2eebd0301c66 | 265 | |
akudohune | 0:2eebd0301c66 | 266 | if((RIGHT_SONIC < 330.0) || (LEFT_SONIC < 330.0)){ |
akudohune | 0:2eebd0301c66 | 267 | if((BACK_SONIC > 15.0) && (BACK_SONIC < 45.0)){ |
akudohune | 0:2eebd0301c66 | 268 | vy = 0; |
akudohune | 0:2eebd0301c66 | 269 | }else if((BACK_SONIC <= 15.0) || (BACK_SONIC == PING_ERROR)){ |
akudohune | 0:2eebd0301c66 | 270 | vy = 4; |
akudohune | 0:2eebd0301c66 | 271 | }else{ |
akudohune | 0:2eebd0301c66 | 272 | vy = (int)(0.01 * (30.0 - BACK_SONIC) - 4); |
akudohune | 0:2eebd0301c66 | 273 | if(vy < -10)vy = -10; |
akudohune | 0:2eebd0301c66 | 274 | } |
akudohune | 0:2eebd0301c66 | 275 | }else{ |
akudohune | 0:2eebd0301c66 | 276 | if((BACK_SONIC > 115.0) && (BACK_SONIC < 145.0)){ |
akudohune | 0:2eebd0301c66 | 277 | vy = 0; |
akudohune | 0:2eebd0301c66 | 278 | }else if((BACK_SONIC <= 115.0) || (BACK_SONIC == PING_ERROR)){ |
akudohune | 0:2eebd0301c66 | 279 | vy = 4; |
akudohune | 0:2eebd0301c66 | 280 | }else{ |
akudohune | 0:2eebd0301c66 | 281 | vy = (int)(0.01 * (130.0 - BACK_SONIC) - 4); |
akudohune | 0:2eebd0301c66 | 282 | if(vy < -10)vy = -10; |
akudohune | 0:2eebd0301c66 | 283 | } |
akudohune | 0:2eebd0301c66 | 284 | } |
akudohune | 0:2eebd0301c66 | 285 | }else if((RIGHT_SONIC + LEFT_SONIC) <= 900.0){ |
akudohune | 0:2eebd0301c66 | 286 | if(BACK_SONIC < 100.0){ |
akudohune | 0:2eebd0301c66 | 287 | if(RIGHT_SONIC > LEFT_SONIC){ |
akudohune | 0:2eebd0301c66 | 288 | vx = 10; |
akudohune | 0:2eebd0301c66 | 289 | vy = 0; |
akudohune | 0:2eebd0301c66 | 290 | }else{ |
akudohune | 0:2eebd0301c66 | 291 | vx = -10; |
akudohune | 0:2eebd0301c66 | 292 | vy = 0; |
akudohune | 0:2eebd0301c66 | 293 | } |
akudohune | 0:2eebd0301c66 | 294 | }else if(BACK_SONIC < 200.0){ |
akudohune | 0:2eebd0301c66 | 295 | if(RIGHT_SONIC > LEFT_SONIC){ |
akudohune | 0:2eebd0301c66 | 296 | vx = 10; |
akudohune | 0:2eebd0301c66 | 297 | vy = -4; |
akudohune | 0:2eebd0301c66 | 298 | }else{ |
akudohune | 0:2eebd0301c66 | 299 | vx = -10; |
akudohune | 0:2eebd0301c66 | 300 | vy = -4; |
akudohune | 0:2eebd0301c66 | 301 | } |
akudohune | 0:2eebd0301c66 | 302 | }else{ |
akudohune | 0:2eebd0301c66 | 303 | vx = 0; |
akudohune | 0:2eebd0301c66 | 304 | vy = -10; |
akudohune | 0:2eebd0301c66 | 305 | } |
akudohune | 0:2eebd0301c66 | 306 | }else{ |
akudohune | 0:2eebd0301c66 | 307 | if(BACK_SONIC > 500.0){ |
akudohune | 0:2eebd0301c66 | 308 | if(RIGHT_SONIC > LEFT_SONIC){ |
akudohune | 0:2eebd0301c66 | 309 | vx = 10; |
akudohune | 0:2eebd0301c66 | 310 | vy = -5; |
akudohune | 0:2eebd0301c66 | 311 | }else{ |
akudohune | 0:2eebd0301c66 | 312 | vx = -10; |
akudohune | 0:2eebd0301c66 | 313 | vy = -5; |
akudohune | 0:2eebd0301c66 | 314 | } |
akudohune | 0:2eebd0301c66 | 315 | } |
akudohune | 0:2eebd0301c66 | 316 | } |
akudohune | 0:2eebd0301c66 | 317 | }else if(state == DIFFENCE){ |
akudohune | 0:2eebd0301c66 | 318 | if(direction == 6){ |
akudohune | 0:2eebd0301c66 | 319 | |
akudohune | 0:2eebd0301c66 | 320 | if(BACK_SONIC < 110.0){ |
akudohune | 0:2eebd0301c66 | 321 | vy = 4; |
akudohune | 0:2eebd0301c66 | 322 | }else if(BACK_SONIC > 500.0){ |
akudohune | 0:2eebd0301c66 | 323 | vy = -10; |
akudohune | 0:2eebd0301c66 | 324 | }else if(BACK_SONIC > 300.0){ |
akudohune | 0:2eebd0301c66 | 325 | vy = -7; |
akudohune | 0:2eebd0301c66 | 326 | }else if(BACK_SONIC > 140.0){ |
akudohune | 0:2eebd0301c66 | 327 | vy = -5; |
akudohune | 0:2eebd0301c66 | 328 | }else{ |
akudohune | 0:2eebd0301c66 | 329 | vy = 0; |
akudohune | 0:2eebd0301c66 | 330 | } |
akudohune | 0:2eebd0301c66 | 331 | |
akudohune | 0:2eebd0301c66 | 332 | if(LEFT_SONIC < 700.0){ |
akudohune | 0:2eebd0301c66 | 333 | vx = 15; |
akudohune | 0:2eebd0301c66 | 334 | }else{ |
akudohune | 0:2eebd0301c66 | 335 | if((RIGHT_SONIC < 150.0) || (RIGHT_SONIC == PING_ERROR)){ |
akudohune | 0:2eebd0301c66 | 336 | vx = 10; |
akudohune | 0:2eebd0301c66 | 337 | vy = -5; |
akudohune | 0:2eebd0301c66 | 338 | }else{ |
akudohune | 0:2eebd0301c66 | 339 | vx = 10; |
akudohune | 0:2eebd0301c66 | 340 | vy = -5; |
akudohune | 0:2eebd0301c66 | 341 | } |
akudohune | 0:2eebd0301c66 | 342 | } |
akudohune | 0:2eebd0301c66 | 343 | |
akudohune | 0:2eebd0301c66 | 344 | }else if(direction == 10){ |
akudohune | 0:2eebd0301c66 | 345 | /* |
akudohune | 0:2eebd0301c66 | 346 | if((RIGHT_SONIC < 330.0) || (LEFT_SONIC < 330.0)){ |
akudohune | 0:2eebd0301c66 | 347 | if((BACK_SONIC > 15.0) && (BACK_SONIC < 45.0)){ |
akudohune | 0:2eebd0301c66 | 348 | vy = 0; |
akudohune | 0:2eebd0301c66 | 349 | }else if((BACK_SONIC <= 15.0) || (BACK_SONIC == PING_ERROR)){ |
akudohune | 0:2eebd0301c66 | 350 | vy = 4; |
akudohune | 0:2eebd0301c66 | 351 | }else{ |
akudohune | 0:2eebd0301c66 | 352 | vy = (int)(0.01 * (30.0 - BACK_SONIC) - 4); |
akudohune | 0:2eebd0301c66 | 353 | if(vy < -10)vy = -10; |
akudohune | 0:2eebd0301c66 | 354 | } |
akudohune | 0:2eebd0301c66 | 355 | }else{ |
akudohune | 0:2eebd0301c66 | 356 | if((BACK_SONIC > 115.0) && (BACK_SONIC < 145.0)){ |
akudohune | 0:2eebd0301c66 | 357 | vy = 0; |
akudohune | 0:2eebd0301c66 | 358 | }else if((BACK_SONIC <= 115.0) || (BACK_SONIC == PING_ERROR)){ |
akudohune | 0:2eebd0301c66 | 359 | vy = 4; |
akudohune | 0:2eebd0301c66 | 360 | }else{ |
akudohune | 0:2eebd0301c66 | 361 | vy = (int)(0.01 * (130.0 - BACK_SONIC) - 4); |
akudohune | 0:2eebd0301c66 | 362 | if(vy < -10)vy = -10; |
akudohune | 0:2eebd0301c66 | 363 | } |
akudohune | 0:2eebd0301c66 | 364 | } |
akudohune | 0:2eebd0301c66 | 365 | |
akudohune | 0:2eebd0301c66 | 366 | if(RIGHT_SONIC < 700.0){ |
akudohune | 0:2eebd0301c66 | 367 | vx = -15; |
akudohune | 0:2eebd0301c66 | 368 | }else{ |
akudohune | 0:2eebd0301c66 | 369 | if((LEFT_SONIC < 150.0) || (LEFT_SONIC == PING_ERROR)){ |
akudohune | 0:2eebd0301c66 | 370 | vx = -10; |
akudohune | 0:2eebd0301c66 | 371 | vy = -5; |
akudohune | 0:2eebd0301c66 | 372 | }else{ |
akudohune | 0:2eebd0301c66 | 373 | vx = -10; |
akudohune | 0:2eebd0301c66 | 374 | vy = -5; |
akudohune | 0:2eebd0301c66 | 375 | } |
akudohune | 0:2eebd0301c66 | 376 | } |
akudohune | 0:2eebd0301c66 | 377 | */ |
akudohune | 0:2eebd0301c66 | 378 | if(BACK_SONIC < 110.0){ |
akudohune | 0:2eebd0301c66 | 379 | vy = 4; |
akudohune | 0:2eebd0301c66 | 380 | }else if(BACK_SONIC > 500.0){ |
akudohune | 0:2eebd0301c66 | 381 | vy = -10; |
akudohune | 0:2eebd0301c66 | 382 | }else if(BACK_SONIC > 300.0){ |
akudohune | 0:2eebd0301c66 | 383 | vy = -7; |
akudohune | 0:2eebd0301c66 | 384 | }else if(BACK_SONIC > 140.0){ |
akudohune | 0:2eebd0301c66 | 385 | vy = -5; |
akudohune | 0:2eebd0301c66 | 386 | }else{ |
akudohune | 0:2eebd0301c66 | 387 | vy = 0; |
akudohune | 0:2eebd0301c66 | 388 | } |
akudohune | 0:2eebd0301c66 | 389 | |
akudohune | 0:2eebd0301c66 | 390 | if(RIGHT_SONIC < 700.0){ |
akudohune | 0:2eebd0301c66 | 391 | vx = -15; |
akudohune | 0:2eebd0301c66 | 392 | }else{ |
akudohune | 0:2eebd0301c66 | 393 | if((LEFT_SONIC < 150.0) || (LEFT_SONIC == PING_ERROR)){ |
akudohune | 0:2eebd0301c66 | 394 | vx = -10; |
akudohune | 0:2eebd0301c66 | 395 | vy = -5; |
akudohune | 0:2eebd0301c66 | 396 | }else{ |
akudohune | 0:2eebd0301c66 | 397 | vx = -10; |
akudohune | 0:2eebd0301c66 | 398 | vy = -5; |
akudohune | 0:2eebd0301c66 | 399 | } |
akudohune | 0:2eebd0301c66 | 400 | } |
akudohune | 0:2eebd0301c66 | 401 | }else if(direction == 4){ |
akudohune | 0:2eebd0301c66 | 402 | |
akudohune | 0:2eebd0301c66 | 403 | if(BACK_SONIC < 110.0){ |
akudohune | 0:2eebd0301c66 | 404 | vy = 4; |
akudohune | 0:2eebd0301c66 | 405 | }else if(BACK_SONIC > 500.0){ |
akudohune | 0:2eebd0301c66 | 406 | vy = -10; |
akudohune | 0:2eebd0301c66 | 407 | }else if(BACK_SONIC > 300.0){ |
akudohune | 0:2eebd0301c66 | 408 | vy = -7; |
akudohune | 0:2eebd0301c66 | 409 | }else if(BACK_SONIC > 140.0){ |
akudohune | 0:2eebd0301c66 | 410 | vy = -5; |
akudohune | 0:2eebd0301c66 | 411 | }else{ |
akudohune | 0:2eebd0301c66 | 412 | vy = 0; |
akudohune | 0:2eebd0301c66 | 413 | } |
akudohune | 0:2eebd0301c66 | 414 | |
akudohune | 0:2eebd0301c66 | 415 | if(LEFT_SONIC < 700.0){ |
akudohune | 0:2eebd0301c66 | 416 | vx = 15; |
akudohune | 0:2eebd0301c66 | 417 | }else{ |
akudohune | 0:2eebd0301c66 | 418 | if((RIGHT_SONIC < 150.0) || (RIGHT_SONIC == PING_ERROR)){ |
akudohune | 0:2eebd0301c66 | 419 | vx = 10; |
akudohune | 0:2eebd0301c66 | 420 | vy = -5; |
akudohune | 0:2eebd0301c66 | 421 | }else{ |
akudohune | 0:2eebd0301c66 | 422 | vx = 10; |
akudohune | 0:2eebd0301c66 | 423 | vy = -5; |
akudohune | 0:2eebd0301c66 | 424 | } |
akudohune | 0:2eebd0301c66 | 425 | } |
akudohune | 0:2eebd0301c66 | 426 | |
akudohune | 0:2eebd0301c66 | 427 | }else if(direction == 12){ |
akudohune | 0:2eebd0301c66 | 428 | |
akudohune | 0:2eebd0301c66 | 429 | if(BACK_SONIC < 110.0){ |
akudohune | 0:2eebd0301c66 | 430 | vy = 4; |
akudohune | 0:2eebd0301c66 | 431 | }else if(BACK_SONIC > 500.0){ |
akudohune | 0:2eebd0301c66 | 432 | vy = -10; |
akudohune | 0:2eebd0301c66 | 433 | }else if(BACK_SONIC > 300.0){ |
akudohune | 0:2eebd0301c66 | 434 | vy = -7; |
akudohune | 0:2eebd0301c66 | 435 | }else if(BACK_SONIC > 140.0){ |
akudohune | 0:2eebd0301c66 | 436 | vy = -5; |
akudohune | 0:2eebd0301c66 | 437 | }else{ |
akudohune | 0:2eebd0301c66 | 438 | vy = 0; |
akudohune | 0:2eebd0301c66 | 439 | } |
akudohune | 0:2eebd0301c66 | 440 | |
akudohune | 0:2eebd0301c66 | 441 | if(RIGHT_SONIC < 700.0){ |
akudohune | 0:2eebd0301c66 | 442 | vx = -15; |
akudohune | 0:2eebd0301c66 | 443 | }else{ |
akudohune | 0:2eebd0301c66 | 444 | if((LEFT_SONIC < 150.0) || (LEFT_SONIC == PING_ERROR)){ |
akudohune | 0:2eebd0301c66 | 445 | vx = -10; |
akudohune | 0:2eebd0301c66 | 446 | vy = -5; |
akudohune | 0:2eebd0301c66 | 447 | }else{ |
akudohune | 0:2eebd0301c66 | 448 | vx = -10; |
akudohune | 0:2eebd0301c66 | 449 | vy = -5; |
akudohune | 0:2eebd0301c66 | 450 | } |
akudohune | 0:2eebd0301c66 | 451 | } |
akudohune | 0:2eebd0301c66 | 452 | |
akudohune | 0:2eebd0301c66 | 453 | }else if(direction == 8){ |
akudohune | 0:2eebd0301c66 | 454 | |
akudohune | 0:2eebd0301c66 | 455 | if(LEFT_SONIC > RIGHT_SONIC){ |
akudohune | 0:2eebd0301c66 | 456 | vx = -10; |
akudohune | 0:2eebd0301c66 | 457 | }else{ |
akudohune | 0:2eebd0301c66 | 458 | vx = 10; |
akudohune | 0:2eebd0301c66 | 459 | } |
akudohune | 0:2eebd0301c66 | 460 | vy = -5; |
akudohune | 0:2eebd0301c66 | 461 | |
akudohune | 0:2eebd0301c66 | 462 | }else if(direction == 2){ |
akudohune | 0:2eebd0301c66 | 463 | /* |
akudohune | 0:2eebd0301c66 | 464 | if((RIGHT_SONIC > 700.0) && (!(RIGHT_SONIC == PING_ERROR))){ |
akudohune | 0:2eebd0301c66 | 465 | vx = 30; |
akudohune | 0:2eebd0301c66 | 466 | }else{ |
akudohune | 0:2eebd0301c66 | 467 | vx = 20; |
akudohune | 0:2eebd0301c66 | 468 | } |
akudohune | 0:2eebd0301c66 | 469 | */ |
akudohune | 0:2eebd0301c66 | 470 | vx = 15; |
akudohune | 0:2eebd0301c66 | 471 | if(BACK_SONIC < 130.0){ |
akudohune | 0:2eebd0301c66 | 472 | //vy = 5; |
akudohune | 0:2eebd0301c66 | 473 | } |
akudohune | 0:2eebd0301c66 | 474 | /* |
akudohune | 0:2eebd0301c66 | 475 | if(BACK_SONIC > 140.0){ |
akudohune | 0:2eebd0301c66 | 476 | vy = -10; |
akudohune | 0:2eebd0301c66 | 477 | }else if(BACK_SONIC < 110.0){ |
akudohune | 0:2eebd0301c66 | 478 | vy = 5; |
akudohune | 0:2eebd0301c66 | 479 | } |
akudohune | 0:2eebd0301c66 | 480 | */ |
akudohune | 0:2eebd0301c66 | 481 | }else if(direction == 14){ |
akudohune | 0:2eebd0301c66 | 482 | /* |
akudohune | 0:2eebd0301c66 | 483 | if((LEFT_SONIC > 700.0) && (!(LEFT_SONIC == PING_ERROR))){ |
akudohune | 0:2eebd0301c66 | 484 | vx = -30; |
akudohune | 0:2eebd0301c66 | 485 | }else{ |
akudohune | 0:2eebd0301c66 | 486 | vx = -20; |
akudohune | 0:2eebd0301c66 | 487 | } |
akudohune | 0:2eebd0301c66 | 488 | */ |
akudohune | 0:2eebd0301c66 | 489 | vx = -15; |
akudohune | 0:2eebd0301c66 | 490 | |
akudohune | 0:2eebd0301c66 | 491 | if(BACK_SONIC < 130.0){ |
akudohune | 0:2eebd0301c66 | 492 | //vy = 5; |
akudohune | 0:2eebd0301c66 | 493 | } |
akudohune | 0:2eebd0301c66 | 494 | |
akudohune | 0:2eebd0301c66 | 495 | /* |
akudohune | 0:2eebd0301c66 | 496 | if(BACK_SONIC > 140.0){ |
akudohune | 0:2eebd0301c66 | 497 | vy = -10; |
akudohune | 0:2eebd0301c66 | 498 | }else if(BACK_SONIC < 110.0){ |
akudohune | 0:2eebd0301c66 | 499 | vy = 5; |
akudohune | 0:2eebd0301c66 | 500 | } |
akudohune | 0:2eebd0301c66 | 501 | */ |
akudohune | 0:2eebd0301c66 | 502 | }else if(direction == 1){ |
akudohune | 0:2eebd0301c66 | 503 | |
akudohune | 0:2eebd0301c66 | 504 | vx = 10; |
akudohune | 0:2eebd0301c66 | 505 | |
akudohune | 0:2eebd0301c66 | 506 | }else if(direction == 15){ |
akudohune | 0:2eebd0301c66 | 507 | |
akudohune | 0:2eebd0301c66 | 508 | vx = -10; |
akudohune | 0:2eebd0301c66 | 509 | |
akudohune | 0:2eebd0301c66 | 510 | }else if(direction == 0){ |
akudohune | 0:2eebd0301c66 | 511 | |
akudohune | 0:2eebd0301c66 | 512 | vx = 0; |
akudohune | 0:2eebd0301c66 | 513 | vy = 10; |
akudohune | 0:2eebd0301c66 | 514 | |
akudohune | 0:2eebd0301c66 | 515 | }else{//error |
akudohune | 0:2eebd0301c66 | 516 | |
akudohune | 0:2eebd0301c66 | 517 | vx = 0; |
akudohune | 0:2eebd0301c66 | 518 | vy = 0; |
akudohune | 0:2eebd0301c66 | 519 | |
akudohune | 0:2eebd0301c66 | 520 | } |
akudohune | 0:2eebd0301c66 | 521 | }else if(state == WARNING){ |
akudohune | 0:2eebd0301c66 | 522 | if(direction == 0){ |
akudohune | 0:2eebd0301c66 | 523 | |
akudohune | 0:2eebd0301c66 | 524 | vx = 0; |
akudohune | 0:2eebd0301c66 | 525 | |
akudohune | 0:2eebd0301c66 | 526 | }else if(direction == 1){ |
akudohune | 0:2eebd0301c66 | 527 | |
akudohune | 0:2eebd0301c66 | 528 | vx = 15; |
akudohune | 0:2eebd0301c66 | 529 | |
akudohune | 0:2eebd0301c66 | 530 | }else if(direction == 2){ |
akudohune | 0:2eebd0301c66 | 531 | |
akudohune | 0:2eebd0301c66 | 532 | vx = 20; |
akudohune | 0:2eebd0301c66 | 533 | |
akudohune | 0:2eebd0301c66 | 534 | }else if(direction == 14){ |
akudohune | 0:2eebd0301c66 | 535 | |
akudohune | 0:2eebd0301c66 | 536 | vx = -20; |
akudohune | 0:2eebd0301c66 | 537 | |
akudohune | 0:2eebd0301c66 | 538 | }else if(direction == 15){ |
akudohune | 0:2eebd0301c66 | 539 | |
akudohune | 0:2eebd0301c66 | 540 | vx = -15; |
akudohune | 0:2eebd0301c66 | 541 | |
akudohune | 0:2eebd0301c66 | 542 | } |
akudohune | 0:2eebd0301c66 | 543 | |
akudohune | 0:2eebd0301c66 | 544 | if((LEFT_SONIC > 320) && (RIGHT_SONIC > 320)){ |
akudohune | 0:2eebd0301c66 | 545 | if(BACK_SONIC > 150.0){ |
akudohune | 0:2eebd0301c66 | 546 | vy = -5; |
akudohune | 0:2eebd0301c66 | 547 | }else if(BACK_SONIC < 110.0){ |
akudohune | 0:2eebd0301c66 | 548 | vy = 5; |
akudohune | 0:2eebd0301c66 | 549 | }else{ |
akudohune | 0:2eebd0301c66 | 550 | vy = 0; |
akudohune | 0:2eebd0301c66 | 551 | } |
akudohune | 0:2eebd0301c66 | 552 | }else{ |
akudohune | 0:2eebd0301c66 | 553 | if(BACK_SONIC > 110.0){ |
akudohune | 0:2eebd0301c66 | 554 | vy = -5; |
akudohune | 0:2eebd0301c66 | 555 | }else if(BACK_SONIC < 70.0){ |
akudohune | 0:2eebd0301c66 | 556 | vy = 5; |
akudohune | 0:2eebd0301c66 | 557 | }else{ |
akudohune | 0:2eebd0301c66 | 558 | vy = 0; |
akudohune | 0:2eebd0301c66 | 559 | } |
akudohune | 0:2eebd0301c66 | 560 | } |
akudohune | 0:2eebd0301c66 | 561 | }else if(state == HOLD){ |
akudohune | 0:2eebd0301c66 | 562 | vy = 10; |
akudohune | 0:2eebd0301c66 | 563 | if(FRONT_SONIC < 100){ |
akudohune | 0:2eebd0301c66 | 564 | if(RIGHT_SONIC < LEFT_SONIC){ |
akudohune | 0:2eebd0301c66 | 565 | if(BACK_SONIC > 500){ |
akudohune | 0:2eebd0301c66 | 566 | vy = 0; |
akudohune | 0:2eebd0301c66 | 567 | vs = 3; |
akudohune | 0:2eebd0301c66 | 568 | } |
akudohune | 0:2eebd0301c66 | 569 | }else{ |
akudohune | 0:2eebd0301c66 | 570 | if(BACK_SONIC > 500){ |
akudohune | 0:2eebd0301c66 | 571 | vy = 0; |
akudohune | 0:2eebd0301c66 | 572 | vs = -3; |
akudohune | 0:2eebd0301c66 | 573 | } |
akudohune | 0:2eebd0301c66 | 574 | } |
akudohune | 0:2eebd0301c66 | 575 | }else{ |
akudohune | 0:2eebd0301c66 | 576 | if(((RIGHT_SONIC + LEFT_SONIC) < 1050.0) && ((RIGHT_SONIC + LEFT_SONIC) > 800.0)){ |
akudohune | 0:2eebd0301c66 | 577 | standTu = (RIGHT_SONIC - LEFT_SONIC) / 40.0; |
akudohune | 0:2eebd0301c66 | 578 | }else{ |
akudohune | 0:2eebd0301c66 | 579 | standTu = 0; |
akudohune | 0:2eebd0301c66 | 580 | } |
akudohune | 0:2eebd0301c66 | 581 | } |
akudohune | 0:2eebd0301c66 | 582 | } |
akudohune | 0:2eebd0301c66 | 583 | //vx = (int)(vx * 0.8); |
akudohune | 0:2eebd0301c66 | 584 | move(vx,vy,vs); |
akudohune | 0:2eebd0301c66 | 585 | } |
akudohune | 0:2eebd0301c66 | 586 | } |