ryo seki
/
ver2_0_5
final
main.cpp@0:fb6510639aa4, 2013-05-01 (annotated)
- Committer:
- akudohune
- Date:
- Wed May 01 08:47:59 2013 +0000
- Revision:
- 0:fb6510639aa4
aa
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
akudohune | 0:fb6510639aa4 | 1 | #include <math.h> |
akudohune | 0:fb6510639aa4 | 2 | #include <sstream> |
akudohune | 0:fb6510639aa4 | 3 | #include "mbed.h" |
akudohune | 0:fb6510639aa4 | 4 | #include "HMC6352.h" |
akudohune | 0:fb6510639aa4 | 5 | #include "PID.h" |
akudohune | 0:fb6510639aa4 | 6 | #include "main.h" |
akudohune | 0:fb6510639aa4 | 7 | |
akudohune | 0:fb6510639aa4 | 8 | |
akudohune | 0:fb6510639aa4 | 9 | |
akudohune | 0:fb6510639aa4 | 10 | void PidUpdate() |
akudohune | 0:fb6510639aa4 | 11 | { |
akudohune | 0:fb6510639aa4 | 12 | static uint8_t Fflag = 0; |
akudohune | 0:fb6510639aa4 | 13 | |
akudohune | 0:fb6510639aa4 | 14 | inputPID = (((int)(compass.sample() - ((standard + standTu) * 10.0) + 9000.0) % 3600) / 10.0); |
akudohune | 0:fb6510639aa4 | 15 | |
akudohune | 0:fb6510639aa4 | 16 | //pc.printf("%f\n",timer1.read()); |
akudohune | 0:fb6510639aa4 | 17 | pid.setProcessValue(inputPID); |
akudohune | 0:fb6510639aa4 | 18 | //timer1.reset(); |
akudohune | 0:fb6510639aa4 | 19 | |
akudohune | 0:fb6510639aa4 | 20 | compassPID = -(pid.compute()); |
akudohune | 0:fb6510639aa4 | 21 | |
akudohune | 0:fb6510639aa4 | 22 | if(!Fflag){ |
akudohune | 0:fb6510639aa4 | 23 | Fflag = 1; |
akudohune | 0:fb6510639aa4 | 24 | compassPID = 0; |
akudohune | 0:fb6510639aa4 | 25 | } |
akudohune | 0:fb6510639aa4 | 26 | //pc.printf("%f\n",standard); |
akudohune | 0:fb6510639aa4 | 27 | //pc.printf("%d\n",diff); |
akudohune | 0:fb6510639aa4 | 28 | //pc.printf("compass.sample = %f\n",compass.sample() / 1.0); |
akudohune | 0:fb6510639aa4 | 29 | //pc.printf("%d\n",(int)compassPID); |
akudohune | 0:fb6510639aa4 | 30 | //pc.printf("%d\t%d\n",Distance,direction); |
akudohune | 0:fb6510639aa4 | 31 | //pc.printf("%d\t%d\t%d\t%d\n",ultrasonicVal[0],ultrasonicVal[1],ultrasonicVal[2],ultrasonicVal[3]); |
akudohune | 0:fb6510639aa4 | 32 | } |
akudohune | 0:fb6510639aa4 | 33 | |
akudohune | 0:fb6510639aa4 | 34 | void move(int vxx, int vyy, int vss) |
akudohune | 0:fb6510639aa4 | 35 | { |
akudohune | 0:fb6510639aa4 | 36 | double motVal[MOT_NUM] = {0}; |
akudohune | 0:fb6510639aa4 | 37 | |
akudohune | 0:fb6510639aa4 | 38 | motVal[0] = (double)(((0.5 * vxx) + ((sqrt(3.0) / 2.0) * vyy) + (Long * -vss)) * MOT1); |
akudohune | 0:fb6510639aa4 | 39 | motVal[1] = (double)(((-0.5 * vxx) + ((sqrt(3.0) / 2.0) * vyy) + (Long * vss)) * MOT2); |
akudohune | 0:fb6510639aa4 | 40 | motVal[2] = (double)(((-0.5 * vxx) + ((sqrt(3.0) / 2.0) * vyy) + (Long * -vss)) * MOT3); |
akudohune | 0:fb6510639aa4 | 41 | motVal[3] = (double)(((0.5 * vxx) + ((sqrt(3.0) / 2.0) * vyy) + (Long * vss)) * MOT4); |
akudohune | 0:fb6510639aa4 | 42 | |
akudohune | 0:fb6510639aa4 | 43 | for(uint8_t i = 0 ; i < MOT_NUM ; i++){ |
akudohune | 0:fb6510639aa4 | 44 | if(motVal[i] > MAX_POW)motVal[i] = MAX_POW; |
akudohune | 0:fb6510639aa4 | 45 | else if(motVal[i] < MIN_POW)motVal[i] = MIN_POW; |
akudohune | 0:fb6510639aa4 | 46 | speed[i] = (int)motVal[i]; |
akudohune | 0:fb6510639aa4 | 47 | } |
akudohune | 0:fb6510639aa4 | 48 | } |
akudohune | 0:fb6510639aa4 | 49 | |
akudohune | 0:fb6510639aa4 | 50 | /*********** Serial interrupt ***********/ |
akudohune | 0:fb6510639aa4 | 51 | |
akudohune | 0:fb6510639aa4 | 52 | void Tx_interrupt() |
akudohune | 0:fb6510639aa4 | 53 | { |
akudohune | 0:fb6510639aa4 | 54 | array(speed[0],speed[1],speed[2],speed[3]); |
akudohune | 0:fb6510639aa4 | 55 | driver.printf("%s",StringFIN.c_str()); |
akudohune | 0:fb6510639aa4 | 56 | //pc.printf("%s",StringFIN.c_str()); |
akudohune | 0:fb6510639aa4 | 57 | } |
akudohune | 0:fb6510639aa4 | 58 | /* |
akudohune | 0:fb6510639aa4 | 59 | void Rx_interrupt() |
akudohune | 0:fb6510639aa4 | 60 | { |
akudohune | 0:fb6510639aa4 | 61 | if(driver.readable()){ |
akudohune | 0:fb6510639aa4 | 62 | //pc.printf("%d\n",driver.getc()); |
akudohune | 0:fb6510639aa4 | 63 | } |
akudohune | 0:fb6510639aa4 | 64 | }*/ |
akudohune | 0:fb6510639aa4 | 65 | |
akudohune | 0:fb6510639aa4 | 66 | |
akudohune | 0:fb6510639aa4 | 67 | /*********** Serial interrupt **********/ |
akudohune | 0:fb6510639aa4 | 68 | |
akudohune | 0:fb6510639aa4 | 69 | |
akudohune | 0:fb6510639aa4 | 70 | void init() |
akudohune | 0:fb6510639aa4 | 71 | { |
akudohune | 0:fb6510639aa4 | 72 | int scanfSuccess; |
akudohune | 0:fb6510639aa4 | 73 | int printfSuccess; |
akudohune | 0:fb6510639aa4 | 74 | int closeSuccess; |
akudohune | 0:fb6510639aa4 | 75 | int close2Success; |
akudohune | 0:fb6510639aa4 | 76 | uint8_t MissFlag = 0; |
akudohune | 0:fb6510639aa4 | 77 | FILE *fp; |
akudohune | 0:fb6510639aa4 | 78 | |
akudohune | 0:fb6510639aa4 | 79 | compass.setOpMode(HMC6352_CONTINUOUS, 1, 20); |
akudohune | 0:fb6510639aa4 | 80 | |
akudohune | 0:fb6510639aa4 | 81 | StartButton.mode(PullUp); |
akudohune | 0:fb6510639aa4 | 82 | CalibEnterButton.mode(PullUp); |
akudohune | 0:fb6510639aa4 | 83 | CalibExitButton.mode(PullUp); |
akudohune | 0:fb6510639aa4 | 84 | EEPROMButton.mode(PullUp); |
akudohune | 0:fb6510639aa4 | 85 | |
akudohune | 0:fb6510639aa4 | 86 | driver.baud(BAUD_RATE); |
akudohune | 0:fb6510639aa4 | 87 | device2.baud(BAUD_RATE2); |
akudohune | 0:fb6510639aa4 | 88 | wait_ms(MOTDRIVER_WAIT); |
akudohune | 0:fb6510639aa4 | 89 | driver.printf("1F0002F0003F0004F000\r\n"); |
akudohune | 0:fb6510639aa4 | 90 | device2.printf("START"); |
akudohune | 0:fb6510639aa4 | 91 | |
akudohune | 0:fb6510639aa4 | 92 | driver.attach(&Tx_interrupt, Serial::TxIrq); |
akudohune | 0:fb6510639aa4 | 93 | //driver.attach(&Rx_interrupt, Serial::RxIrq); |
akudohune | 0:fb6510639aa4 | 94 | device2.attach(&dev_rx,Serial::RxIrq); |
akudohune | 0:fb6510639aa4 | 95 | device2.attach(&dev_tx,Serial::TxIrq); |
akudohune | 0:fb6510639aa4 | 96 | |
akudohune | 0:fb6510639aa4 | 97 | pid.setInputLimits(MINIMUM,MAXIMUM); |
akudohune | 0:fb6510639aa4 | 98 | pid.setOutputLimits(-OUT_LIMIT, OUT_LIMIT); |
akudohune | 0:fb6510639aa4 | 99 | pid.setBias(PID_BIAS); |
akudohune | 0:fb6510639aa4 | 100 | pid.setMode(AUTO_MODE); |
akudohune | 0:fb6510639aa4 | 101 | pid.setSetPoint(REFERENCE); |
akudohune | 0:fb6510639aa4 | 102 | |
akudohune | 0:fb6510639aa4 | 103 | Survtimer.start(); |
akudohune | 0:fb6510639aa4 | 104 | |
akudohune | 0:fb6510639aa4 | 105 | mbedleds = 1; |
akudohune | 0:fb6510639aa4 | 106 | |
akudohune | 0:fb6510639aa4 | 107 | while(StartButton){ |
akudohune | 0:fb6510639aa4 | 108 | MissFlag = 0; |
akudohune | 0:fb6510639aa4 | 109 | if(!CalibEnterButton){ |
akudohune | 0:fb6510639aa4 | 110 | mbedleds = 2; |
akudohune | 0:fb6510639aa4 | 111 | compass.setCalibrationMode(ENTER); |
akudohune | 0:fb6510639aa4 | 112 | while(CalibExitButton); |
akudohune | 0:fb6510639aa4 | 113 | compass.setCalibrationMode(EXIT); |
akudohune | 0:fb6510639aa4 | 114 | wait(BUT_WAIT); |
akudohune | 0:fb6510639aa4 | 115 | mbedleds = 4; |
akudohune | 0:fb6510639aa4 | 116 | } |
akudohune | 0:fb6510639aa4 | 117 | |
akudohune | 0:fb6510639aa4 | 118 | if(!EEPROMButton){ |
akudohune | 0:fb6510639aa4 | 119 | Survtimer.reset(); |
akudohune | 0:fb6510639aa4 | 120 | fp = fopen("/local/out.txt", "r"); |
akudohune | 0:fb6510639aa4 | 121 | if(fp == NULL){ |
akudohune | 0:fb6510639aa4 | 122 | wait(BUT_WAIT); |
akudohune | 0:fb6510639aa4 | 123 | MissFlag = 1; |
akudohune | 0:fb6510639aa4 | 124 | }else{ |
akudohune | 0:fb6510639aa4 | 125 | scanfSuccess = fscanf(fp, "%lf",&standard); |
akudohune | 0:fb6510639aa4 | 126 | if(scanfSuccess == EOF){ |
akudohune | 0:fb6510639aa4 | 127 | wait(BUT_WAIT); |
akudohune | 0:fb6510639aa4 | 128 | MissFlag = 1; |
akudohune | 0:fb6510639aa4 | 129 | }else{ |
akudohune | 0:fb6510639aa4 | 130 | closeSuccess = fclose(fp); |
akudohune | 0:fb6510639aa4 | 131 | if(closeSuccess == EOF){ |
akudohune | 0:fb6510639aa4 | 132 | wait(BUT_WAIT); |
akudohune | 0:fb6510639aa4 | 133 | MissFlag = 1; |
akudohune | 0:fb6510639aa4 | 134 | }else{ |
akudohune | 0:fb6510639aa4 | 135 | wait(BUT_WAIT); |
akudohune | 0:fb6510639aa4 | 136 | } |
akudohune | 0:fb6510639aa4 | 137 | } |
akudohune | 0:fb6510639aa4 | 138 | } |
akudohune | 0:fb6510639aa4 | 139 | if((Survtimer.read() > (BUT_WAIT + 0.1)) || (MissFlag)){ |
akudohune | 0:fb6510639aa4 | 140 | for(uint8_t i = 0;i < 2;i++){ |
akudohune | 0:fb6510639aa4 | 141 | mbedleds = 15; |
akudohune | 0:fb6510639aa4 | 142 | wait(0.1); |
akudohune | 0:fb6510639aa4 | 143 | mbedleds = 0; |
akudohune | 0:fb6510639aa4 | 144 | wait(0.1); |
akudohune | 0:fb6510639aa4 | 145 | } |
akudohune | 0:fb6510639aa4 | 146 | mbedleds = 15; |
akudohune | 0:fb6510639aa4 | 147 | }else{ |
akudohune | 0:fb6510639aa4 | 148 | mbedleds = 8; |
akudohune | 0:fb6510639aa4 | 149 | } |
akudohune | 0:fb6510639aa4 | 150 | } |
akudohune | 0:fb6510639aa4 | 151 | |
akudohune | 0:fb6510639aa4 | 152 | if(!CalibExitButton){ |
akudohune | 0:fb6510639aa4 | 153 | Survtimer.reset(); |
akudohune | 0:fb6510639aa4 | 154 | |
akudohune | 0:fb6510639aa4 | 155 | standard = compass.sample() / 10.0; |
akudohune | 0:fb6510639aa4 | 156 | |
akudohune | 0:fb6510639aa4 | 157 | fp = fopen("/local/out.txt", "w"); |
akudohune | 0:fb6510639aa4 | 158 | if(fp == NULL){ |
akudohune | 0:fb6510639aa4 | 159 | wait(BUT_WAIT); |
akudohune | 0:fb6510639aa4 | 160 | MissFlag = 1; |
akudohune | 0:fb6510639aa4 | 161 | }else{ |
akudohune | 0:fb6510639aa4 | 162 | printfSuccess = fprintf(fp, "%f",standard); |
akudohune | 0:fb6510639aa4 | 163 | if(printfSuccess == EOF){ |
akudohune | 0:fb6510639aa4 | 164 | wait(BUT_WAIT); |
akudohune | 0:fb6510639aa4 | 165 | MissFlag = 1; |
akudohune | 0:fb6510639aa4 | 166 | }else{ |
akudohune | 0:fb6510639aa4 | 167 | close2Success = fclose(fp); |
akudohune | 0:fb6510639aa4 | 168 | if(close2Success == EOF){ |
akudohune | 0:fb6510639aa4 | 169 | wait(BUT_WAIT); |
akudohune | 0:fb6510639aa4 | 170 | MissFlag = 1; |
akudohune | 0:fb6510639aa4 | 171 | }else{ |
akudohune | 0:fb6510639aa4 | 172 | wait(BUT_WAIT); |
akudohune | 0:fb6510639aa4 | 173 | } |
akudohune | 0:fb6510639aa4 | 174 | } |
akudohune | 0:fb6510639aa4 | 175 | } |
akudohune | 0:fb6510639aa4 | 176 | if((Survtimer.read() > (BUT_WAIT + 0.2)) || (MissFlag)){ |
akudohune | 0:fb6510639aa4 | 177 | for(uint8_t i = 0;i < 4;i++){ |
akudohune | 0:fb6510639aa4 | 178 | mbedleds = 15; |
akudohune | 0:fb6510639aa4 | 179 | wait(0.1); |
akudohune | 0:fb6510639aa4 | 180 | mbedleds = 0; |
akudohune | 0:fb6510639aa4 | 181 | wait(0.1); |
akudohune | 0:fb6510639aa4 | 182 | } |
akudohune | 0:fb6510639aa4 | 183 | mbedleds = 15; |
akudohune | 0:fb6510639aa4 | 184 | }else{ |
akudohune | 0:fb6510639aa4 | 185 | mbedleds = 10; |
akudohune | 0:fb6510639aa4 | 186 | } |
akudohune | 0:fb6510639aa4 | 187 | } |
akudohune | 0:fb6510639aa4 | 188 | } |
akudohune | 0:fb6510639aa4 | 189 | |
akudohune | 0:fb6510639aa4 | 190 | mbedleds = 0; |
akudohune | 0:fb6510639aa4 | 191 | |
akudohune | 0:fb6510639aa4 | 192 | Survtimer.stop(); |
akudohune | 0:fb6510639aa4 | 193 | |
akudohune | 0:fb6510639aa4 | 194 | pidUpdata.attach(&PidUpdate, PID_CYCLE); |
akudohune | 0:fb6510639aa4 | 195 | |
akudohune | 0:fb6510639aa4 | 196 | //timer1.start(); |
akudohune | 0:fb6510639aa4 | 197 | } |
akudohune | 0:fb6510639aa4 | 198 | |
akudohune | 0:fb6510639aa4 | 199 | int main() |
akudohune | 0:fb6510639aa4 | 200 | { |
akudohune | 0:fb6510639aa4 | 201 | int vx=0,vy=0,vs=0; |
akudohune | 0:fb6510639aa4 | 202 | |
akudohune | 0:fb6510639aa4 | 203 | init(); |
akudohune | 0:fb6510639aa4 | 204 | |
akudohune | 0:fb6510639aa4 | 205 | while(1){ |
akudohune | 0:fb6510639aa4 | 206 | |
akudohune | 0:fb6510639aa4 | 207 | hold_flag = 0; |
akudohune | 0:fb6510639aa4 | 208 | vx = 0; |
akudohune | 0:fb6510639aa4 | 209 | vy = 0; |
akudohune | 0:fb6510639aa4 | 210 | vs = (int)compassPID; |
akudohune | 0:fb6510639aa4 | 211 | |
akudohune | 0:fb6510639aa4 | 212 | //move(vx,vy,vs); |
akudohune | 0:fb6510639aa4 | 213 | |
akudohune | 0:fb6510639aa4 | 214 | /****************************************************** |
akudohune | 0:fb6510639aa4 | 215 | ******************************************************* |
akudohune | 0:fb6510639aa4 | 216 | ********************Change state ********************** |
akudohune | 0:fb6510639aa4 | 217 | ******************************************************* |
akudohune | 0:fb6510639aa4 | 218 | ******************************************************/ |
akudohune | 0:fb6510639aa4 | 219 | |
akudohune | 0:fb6510639aa4 | 220 | if(state == HOLD){ |
akudohune | 0:fb6510639aa4 | 221 | if(FRONT_SONIC < 100)hold_flag = 1; |
akudohune | 0:fb6510639aa4 | 222 | |
akudohune | 0:fb6510639aa4 | 223 | if(Distance > 140){ //審判のボール持ち上げ判定 |
akudohune | 0:fb6510639aa4 | 224 | state = HOME_WAIT; |
akudohune | 0:fb6510639aa4 | 225 | }else if(!((direction == 0) || (direction == 15) || (direction == 1))){//ボールを見失った |
akudohune | 0:fb6510639aa4 | 226 | state = DIFFENCE; |
akudohune | 0:fb6510639aa4 | 227 | }else if(!(Distance <= 30)){//ボールを見失った |
akudohune | 0:fb6510639aa4 | 228 | state = DIFFENCE; |
akudohune | 0:fb6510639aa4 | 229 | } |
akudohune | 0:fb6510639aa4 | 230 | }else{ |
akudohune | 0:fb6510639aa4 | 231 | standTu = 0; |
akudohune | 0:fb6510639aa4 | 232 | if(state == DIFFENCE){ |
akudohune | 0:fb6510639aa4 | 233 | if((direction == 0) && (Distance <= 10) && (IR_found) && (!xbee)){ |
akudohune | 0:fb6510639aa4 | 234 | state = HOLD; |
akudohune | 0:fb6510639aa4 | 235 | }else if((Distance < 180) && (IR_found) && (!xbee)){ |
akudohune | 0:fb6510639aa4 | 236 | state = DIFFENCE; |
akudohune | 0:fb6510639aa4 | 237 | }else{ |
akudohune | 0:fb6510639aa4 | 238 | if((direction == 4) || (direction == 6) || (direction == 8) || (direction == 10)|| (direction == 12)){ |
akudohune | 0:fb6510639aa4 | 239 | if((IR_found) && (!xbee)){ |
akudohune | 0:fb6510639aa4 | 240 | state = DIFFENCE; |
akudohune | 0:fb6510639aa4 | 241 | } |
akudohune | 0:fb6510639aa4 | 242 | }else if((diff > 15) && (!xbee) && (IR_found)){ |
akudohune | 0:fb6510639aa4 | 243 | state = DIFFENCE; |
akudohune | 0:fb6510639aa4 | 244 | }else{ |
akudohune | 0:fb6510639aa4 | 245 | state = HOME_WAIT; |
akudohune | 0:fb6510639aa4 | 246 | } |
akudohune | 0:fb6510639aa4 | 247 | } |
akudohune | 0:fb6510639aa4 | 248 | |
akudohune | 0:fb6510639aa4 | 249 | }else{ |
akudohune | 0:fb6510639aa4 | 250 | if((direction == 0) && (Distance <= 10) && (IR_found) && (!xbee)){ |
akudohune | 0:fb6510639aa4 | 251 | state = HOLD; |
akudohune | 0:fb6510639aa4 | 252 | }else if((Distance <= 140) && (IR_found) && (!xbee)){ |
akudohune | 0:fb6510639aa4 | 253 | state = DIFFENCE; |
akudohune | 0:fb6510639aa4 | 254 | }else{ |
akudohune | 0:fb6510639aa4 | 255 | if((direction == 4) || (direction == 6) || (direction == 8) || (direction == 10)|| (direction == 12)){ |
akudohune | 0:fb6510639aa4 | 256 | if((IR_found) && (!xbee)){ |
akudohune | 0:fb6510639aa4 | 257 | state = DIFFENCE; |
akudohune | 0:fb6510639aa4 | 258 | } |
akudohune | 0:fb6510639aa4 | 259 | }else if((diff > 15) && (!xbee) && (IR_found)){ |
akudohune | 0:fb6510639aa4 | 260 | state = DIFFENCE; |
akudohune | 0:fb6510639aa4 | 261 | }else{ |
akudohune | 0:fb6510639aa4 | 262 | state = HOME_WAIT; |
akudohune | 0:fb6510639aa4 | 263 | } |
akudohune | 0:fb6510639aa4 | 264 | } |
akudohune | 0:fb6510639aa4 | 265 | } |
akudohune | 0:fb6510639aa4 | 266 | } |
akudohune | 0:fb6510639aa4 | 267 | |
akudohune | 0:fb6510639aa4 | 268 | /****************************************************** |
akudohune | 0:fb6510639aa4 | 269 | ******************************************************* |
akudohune | 0:fb6510639aa4 | 270 | ********************Change state ********************** |
akudohune | 0:fb6510639aa4 | 271 | ******************************************************* |
akudohune | 0:fb6510639aa4 | 272 | ******************************************************/ |
akudohune | 0:fb6510639aa4 | 273 | |
akudohune | 0:fb6510639aa4 | 274 | if(state == HOME_WAIT){ |
akudohune | 0:fb6510639aa4 | 275 | mbedleds = 1; |
akudohune | 0:fb6510639aa4 | 276 | if(((RIGHT_SONIC + LEFT_SONIC) < 1050.0) && ((RIGHT_SONIC + LEFT_SONIC) > 850.0)){ |
akudohune | 0:fb6510639aa4 | 277 | if((LEFT_SONIC > 425.0) && (RIGHT_SONIC > 425.0)){ |
akudohune | 0:fb6510639aa4 | 278 | vx = 0; |
akudohune | 0:fb6510639aa4 | 279 | }else if(RIGHT_SONIC < 425.0){ |
akudohune | 0:fb6510639aa4 | 280 | vx = (int)((RIGHT_SONIC - 450.0) * 0.02 - 10.0); |
akudohune | 0:fb6510639aa4 | 281 | if(vx < -20)vx = -20; |
akudohune | 0:fb6510639aa4 | 282 | }else if(LEFT_SONIC < 425.0){ |
akudohune | 0:fb6510639aa4 | 283 | vx = (int)((450.0 - LEFT_SONIC ) * 0.02 + 10.0); |
akudohune | 0:fb6510639aa4 | 284 | if(vx > 20)vx = 20; |
akudohune | 0:fb6510639aa4 | 285 | } |
akudohune | 0:fb6510639aa4 | 286 | |
akudohune | 0:fb6510639aa4 | 287 | if((RIGHT_SONIC < 330.0) || (LEFT_SONIC < 330.0)){ |
akudohune | 0:fb6510639aa4 | 288 | if((BACK_SONIC > 15.0) && (BACK_SONIC < 45.0)){ |
akudohune | 0:fb6510639aa4 | 289 | vy = 0; |
akudohune | 0:fb6510639aa4 | 290 | }else if((BACK_SONIC <= 15.0) || (BACK_SONIC == PING_ERROR)){ |
akudohune | 0:fb6510639aa4 | 291 | vy = 4; |
akudohune | 0:fb6510639aa4 | 292 | }else{ |
akudohune | 0:fb6510639aa4 | 293 | vy = (int)(0.01 * (30.0 - BACK_SONIC) - 4); |
akudohune | 0:fb6510639aa4 | 294 | if(vy < -10)vy = -10; |
akudohune | 0:fb6510639aa4 | 295 | } |
akudohune | 0:fb6510639aa4 | 296 | }else{ |
akudohune | 0:fb6510639aa4 | 297 | if((BACK_SONIC > 115.0) && (BACK_SONIC < 145.0)){ |
akudohune | 0:fb6510639aa4 | 298 | vy = 0; |
akudohune | 0:fb6510639aa4 | 299 | }else if((BACK_SONIC <= 115.0) || (BACK_SONIC == PING_ERROR)){ |
akudohune | 0:fb6510639aa4 | 300 | vy = 4; |
akudohune | 0:fb6510639aa4 | 301 | }else{ |
akudohune | 0:fb6510639aa4 | 302 | vy = (int)(0.01 * (130.0 - BACK_SONIC) - 4); |
akudohune | 0:fb6510639aa4 | 303 | if(vy < -10)vy = -10; |
akudohune | 0:fb6510639aa4 | 304 | } |
akudohune | 0:fb6510639aa4 | 305 | } |
akudohune | 0:fb6510639aa4 | 306 | }else if((RIGHT_SONIC + LEFT_SONIC) <= 850.0){ |
akudohune | 0:fb6510639aa4 | 307 | if(BACK_SONIC < 200.0){ |
akudohune | 0:fb6510639aa4 | 308 | if(RIGHT_SONIC > LEFT_SONIC){ |
akudohune | 0:fb6510639aa4 | 309 | vx = 10; |
akudohune | 0:fb6510639aa4 | 310 | vy = 3; |
akudohune | 0:fb6510639aa4 | 311 | }else{ |
akudohune | 0:fb6510639aa4 | 312 | vx = -10; |
akudohune | 0:fb6510639aa4 | 313 | vy = 3; |
akudohune | 0:fb6510639aa4 | 314 | } |
akudohune | 0:fb6510639aa4 | 315 | }else{ |
akudohune | 0:fb6510639aa4 | 316 | vx = 0; |
akudohune | 0:fb6510639aa4 | 317 | vy = -10; |
akudohune | 0:fb6510639aa4 | 318 | } |
akudohune | 0:fb6510639aa4 | 319 | }else{ |
akudohune | 0:fb6510639aa4 | 320 | if(BACK_SONIC > 500.0){ |
akudohune | 0:fb6510639aa4 | 321 | if(RIGHT_SONIC > LEFT_SONIC){ |
akudohune | 0:fb6510639aa4 | 322 | vx = 10; |
akudohune | 0:fb6510639aa4 | 323 | vy = -5; |
akudohune | 0:fb6510639aa4 | 324 | }else{ |
akudohune | 0:fb6510639aa4 | 325 | vx = -10; |
akudohune | 0:fb6510639aa4 | 326 | vy = -5; |
akudohune | 0:fb6510639aa4 | 327 | } |
akudohune | 0:fb6510639aa4 | 328 | } |
akudohune | 0:fb6510639aa4 | 329 | } |
akudohune | 0:fb6510639aa4 | 330 | }else if(state == DIFFENCE){ |
akudohune | 0:fb6510639aa4 | 331 | mbedleds = 4; |
akudohune | 0:fb6510639aa4 | 332 | if(direction == 6){ |
akudohune | 0:fb6510639aa4 | 333 | vx = 15; |
akudohune | 0:fb6510639aa4 | 334 | |
akudohune | 0:fb6510639aa4 | 335 | if(LEFT_SONIC < 330.0){ |
akudohune | 0:fb6510639aa4 | 336 | if((BACK_SONIC > 15.0) && (BACK_SONIC < 45.0)){ |
akudohune | 0:fb6510639aa4 | 337 | vy = 0; |
akudohune | 0:fb6510639aa4 | 338 | }else if((BACK_SONIC <= 15.0) || (BACK_SONIC == PING_ERROR)){ |
akudohune | 0:fb6510639aa4 | 339 | vy = 4; |
akudohune | 0:fb6510639aa4 | 340 | }else{ |
akudohune | 0:fb6510639aa4 | 341 | vy = (int)(0.015 * (30.0 - BACK_SONIC) - 4); |
akudohune | 0:fb6510639aa4 | 342 | if(vy < -15)vy = -15; |
akudohune | 0:fb6510639aa4 | 343 | } |
akudohune | 0:fb6510639aa4 | 344 | }else if(RIGHT_SONIC < 330.0){ |
akudohune | 0:fb6510639aa4 | 345 | vx = 10; |
akudohune | 0:fb6510639aa4 | 346 | vy = -5; |
akudohune | 0:fb6510639aa4 | 347 | }else{ |
akudohune | 0:fb6510639aa4 | 348 | if((BACK_SONIC > 115.0) && (BACK_SONIC < 145.0)){ |
akudohune | 0:fb6510639aa4 | 349 | vy = 0; |
akudohune | 0:fb6510639aa4 | 350 | }else if((BACK_SONIC <= 115.0) || (BACK_SONIC == PING_ERROR)){ |
akudohune | 0:fb6510639aa4 | 351 | vy = 4; |
akudohune | 0:fb6510639aa4 | 352 | }else{ |
akudohune | 0:fb6510639aa4 | 353 | vy = (int)(0.015 * (130.0 - BACK_SONIC) - 4); |
akudohune | 0:fb6510639aa4 | 354 | if(vy < -15)vy = -15; |
akudohune | 0:fb6510639aa4 | 355 | } |
akudohune | 0:fb6510639aa4 | 356 | } |
akudohune | 0:fb6510639aa4 | 357 | |
akudohune | 0:fb6510639aa4 | 358 | }else if(direction == 10){ |
akudohune | 0:fb6510639aa4 | 359 | vx = -15; |
akudohune | 0:fb6510639aa4 | 360 | |
akudohune | 0:fb6510639aa4 | 361 | if(RIGHT_SONIC < 330.0){ |
akudohune | 0:fb6510639aa4 | 362 | if((BACK_SONIC > 15.0) && (BACK_SONIC < 45.0)){ |
akudohune | 0:fb6510639aa4 | 363 | vy = 0; |
akudohune | 0:fb6510639aa4 | 364 | }else if((BACK_SONIC <= 15.0) || (BACK_SONIC == PING_ERROR)){ |
akudohune | 0:fb6510639aa4 | 365 | vy = 4; |
akudohune | 0:fb6510639aa4 | 366 | }else{ |
akudohune | 0:fb6510639aa4 | 367 | vy = (int)(0.015 * (30.0 - BACK_SONIC) - 4); |
akudohune | 0:fb6510639aa4 | 368 | if(vy < -15)vy = -15; |
akudohune | 0:fb6510639aa4 | 369 | } |
akudohune | 0:fb6510639aa4 | 370 | }else if(LEFT_SONIC < 330.0){ |
akudohune | 0:fb6510639aa4 | 371 | vx = -10; |
akudohune | 0:fb6510639aa4 | 372 | vy = -10; |
akudohune | 0:fb6510639aa4 | 373 | }else{ |
akudohune | 0:fb6510639aa4 | 374 | if((BACK_SONIC > 115.0) && (BACK_SONIC < 145.0)){ |
akudohune | 0:fb6510639aa4 | 375 | vy = 0; |
akudohune | 0:fb6510639aa4 | 376 | }else if((BACK_SONIC <= 115.0) || (BACK_SONIC == PING_ERROR)){ |
akudohune | 0:fb6510639aa4 | 377 | vy = 4; |
akudohune | 0:fb6510639aa4 | 378 | }else{ |
akudohune | 0:fb6510639aa4 | 379 | vy = (int)(0.015 * (130.0 - BACK_SONIC) - 4); |
akudohune | 0:fb6510639aa4 | 380 | if(vy < -15)vy = -15; |
akudohune | 0:fb6510639aa4 | 381 | } |
akudohune | 0:fb6510639aa4 | 382 | } |
akudohune | 0:fb6510639aa4 | 383 | }else if(direction == 4){ |
akudohune | 0:fb6510639aa4 | 384 | |
akudohune | 0:fb6510639aa4 | 385 | vx = 15; |
akudohune | 0:fb6510639aa4 | 386 | |
akudohune | 0:fb6510639aa4 | 387 | if(LEFT_SONIC < 330.0){ |
akudohune | 0:fb6510639aa4 | 388 | if((BACK_SONIC > 15.0) && (BACK_SONIC < 45.0)){ |
akudohune | 0:fb6510639aa4 | 389 | vy = 0; |
akudohune | 0:fb6510639aa4 | 390 | }else if((BACK_SONIC <= 15.0) || (BACK_SONIC == PING_ERROR)){ |
akudohune | 0:fb6510639aa4 | 391 | vy = 4; |
akudohune | 0:fb6510639aa4 | 392 | }else{ |
akudohune | 0:fb6510639aa4 | 393 | vy = (int)(0.015 * (30.0 - BACK_SONIC) - 4); |
akudohune | 0:fb6510639aa4 | 394 | if(vy < -15)vy = -15; |
akudohune | 0:fb6510639aa4 | 395 | } |
akudohune | 0:fb6510639aa4 | 396 | }else if(RIGHT_SONIC < 330.0){ |
akudohune | 0:fb6510639aa4 | 397 | vx = 10; |
akudohune | 0:fb6510639aa4 | 398 | vy = -10; |
akudohune | 0:fb6510639aa4 | 399 | }else{ |
akudohune | 0:fb6510639aa4 | 400 | if((BACK_SONIC > 115.0) && (BACK_SONIC < 145.0)){ |
akudohune | 0:fb6510639aa4 | 401 | vy = 0; |
akudohune | 0:fb6510639aa4 | 402 | }else if((BACK_SONIC <= 115.0) || (BACK_SONIC == PING_ERROR)){ |
akudohune | 0:fb6510639aa4 | 403 | vy = 4; |
akudohune | 0:fb6510639aa4 | 404 | }else{ |
akudohune | 0:fb6510639aa4 | 405 | vy = (int)(0.015 * (130.0 - BACK_SONIC) - 4); |
akudohune | 0:fb6510639aa4 | 406 | if(vy < -15)vy = -15; |
akudohune | 0:fb6510639aa4 | 407 | } |
akudohune | 0:fb6510639aa4 | 408 | } |
akudohune | 0:fb6510639aa4 | 409 | |
akudohune | 0:fb6510639aa4 | 410 | |
akudohune | 0:fb6510639aa4 | 411 | }else if(direction == 12){ |
akudohune | 0:fb6510639aa4 | 412 | |
akudohune | 0:fb6510639aa4 | 413 | vx = -15; |
akudohune | 0:fb6510639aa4 | 414 | |
akudohune | 0:fb6510639aa4 | 415 | if(RIGHT_SONIC < 330.0){ |
akudohune | 0:fb6510639aa4 | 416 | if((BACK_SONIC > 15.0) && (BACK_SONIC < 45.0)){ |
akudohune | 0:fb6510639aa4 | 417 | vy = 0; |
akudohune | 0:fb6510639aa4 | 418 | }else if((BACK_SONIC <= 15.0) || (BACK_SONIC == PING_ERROR)){ |
akudohune | 0:fb6510639aa4 | 419 | vy = 4; |
akudohune | 0:fb6510639aa4 | 420 | }else{ |
akudohune | 0:fb6510639aa4 | 421 | vy = (int)(0.015 * (30.0 - BACK_SONIC) - 4); |
akudohune | 0:fb6510639aa4 | 422 | if(vy < -15)vy = -15; |
akudohune | 0:fb6510639aa4 | 423 | } |
akudohune | 0:fb6510639aa4 | 424 | }else if(LEFT_SONIC < 330.0){ |
akudohune | 0:fb6510639aa4 | 425 | vx = -10; |
akudohune | 0:fb6510639aa4 | 426 | vy = -10; |
akudohune | 0:fb6510639aa4 | 427 | }else{ |
akudohune | 0:fb6510639aa4 | 428 | if((BACK_SONIC > 115.0) && (BACK_SONIC < 145.0)){ |
akudohune | 0:fb6510639aa4 | 429 | vy = 0; |
akudohune | 0:fb6510639aa4 | 430 | }else if((BACK_SONIC <= 115.0) || (BACK_SONIC == PING_ERROR)){ |
akudohune | 0:fb6510639aa4 | 431 | vy = 4; |
akudohune | 0:fb6510639aa4 | 432 | }else{ |
akudohune | 0:fb6510639aa4 | 433 | vy = (int)(0.015 * (130.0 - BACK_SONIC) - 4); |
akudohune | 0:fb6510639aa4 | 434 | if(vy < -15)vy = -15; |
akudohune | 0:fb6510639aa4 | 435 | } |
akudohune | 0:fb6510639aa4 | 436 | } |
akudohune | 0:fb6510639aa4 | 437 | |
akudohune | 0:fb6510639aa4 | 438 | }else if(direction == 8){ |
akudohune | 0:fb6510639aa4 | 439 | |
akudohune | 0:fb6510639aa4 | 440 | if(LEFT_SONIC > RIGHT_SONIC){ |
akudohune | 0:fb6510639aa4 | 441 | vx = -15; |
akudohune | 0:fb6510639aa4 | 442 | }else{ |
akudohune | 0:fb6510639aa4 | 443 | vx = 15; |
akudohune | 0:fb6510639aa4 | 444 | } |
akudohune | 0:fb6510639aa4 | 445 | if((RIGHT_SONIC < 330.0) || (LEFT_SONIC < 330.0)){ |
akudohune | 0:fb6510639aa4 | 446 | if(BACK_SONIC < 45.0){ |
akudohune | 0:fb6510639aa4 | 447 | vy = -5; |
akudohune | 0:fb6510639aa4 | 448 | }else{ |
akudohune | 0:fb6510639aa4 | 449 | vy = (int)(0.015 * (30.0 - BACK_SONIC) - 4); |
akudohune | 0:fb6510639aa4 | 450 | if(vy < -15)vy = -15; |
akudohune | 0:fb6510639aa4 | 451 | } |
akudohune | 0:fb6510639aa4 | 452 | }else{ |
akudohune | 0:fb6510639aa4 | 453 | if(BACK_SONIC < 145.0){ |
akudohune | 0:fb6510639aa4 | 454 | vy = -5; |
akudohune | 0:fb6510639aa4 | 455 | }else{ |
akudohune | 0:fb6510639aa4 | 456 | vy = (int)(0.015 * (130.0 - BACK_SONIC) - 4); |
akudohune | 0:fb6510639aa4 | 457 | if(vy < -15)vy = -15; |
akudohune | 0:fb6510639aa4 | 458 | } |
akudohune | 0:fb6510639aa4 | 459 | } |
akudohune | 0:fb6510639aa4 | 460 | |
akudohune | 0:fb6510639aa4 | 461 | }else if(direction == 2){ |
akudohune | 0:fb6510639aa4 | 462 | |
akudohune | 0:fb6510639aa4 | 463 | if(BACK_SONIC < 150.0){ |
akudohune | 0:fb6510639aa4 | 464 | vx = 20; |
akudohune | 0:fb6510639aa4 | 465 | vy = 0; |
akudohune | 0:fb6510639aa4 | 466 | }else{ |
akudohune | 0:fb6510639aa4 | 467 | vx = 12; |
akudohune | 0:fb6510639aa4 | 468 | vy = 0; |
akudohune | 0:fb6510639aa4 | 469 | } |
akudohune | 0:fb6510639aa4 | 470 | }else if(direction == 14){ |
akudohune | 0:fb6510639aa4 | 471 | |
akudohune | 0:fb6510639aa4 | 472 | if(BACK_SONIC < 150.0){ |
akudohune | 0:fb6510639aa4 | 473 | vx = -20; |
akudohune | 0:fb6510639aa4 | 474 | vy = -4; |
akudohune | 0:fb6510639aa4 | 475 | }else{ |
akudohune | 0:fb6510639aa4 | 476 | vx = -12; |
akudohune | 0:fb6510639aa4 | 477 | vy = -2; |
akudohune | 0:fb6510639aa4 | 478 | } |
akudohune | 0:fb6510639aa4 | 479 | |
akudohune | 0:fb6510639aa4 | 480 | }else if(direction == 1){ |
akudohune | 0:fb6510639aa4 | 481 | |
akudohune | 0:fb6510639aa4 | 482 | if(BACK_SONIC < 150.0){ |
akudohune | 0:fb6510639aa4 | 483 | vx = 15; |
akudohune | 0:fb6510639aa4 | 484 | vy = 0; |
akudohune | 0:fb6510639aa4 | 485 | }else{ |
akudohune | 0:fb6510639aa4 | 486 | vx = 10; |
akudohune | 0:fb6510639aa4 | 487 | vy = 0; |
akudohune | 0:fb6510639aa4 | 488 | } |
akudohune | 0:fb6510639aa4 | 489 | |
akudohune | 0:fb6510639aa4 | 490 | }else if(direction == 15){ |
akudohune | 0:fb6510639aa4 | 491 | |
akudohune | 0:fb6510639aa4 | 492 | if(BACK_SONIC < 150.0){ |
akudohune | 0:fb6510639aa4 | 493 | vx = -15; |
akudohune | 0:fb6510639aa4 | 494 | vy = -3; |
akudohune | 0:fb6510639aa4 | 495 | }else{ |
akudohune | 0:fb6510639aa4 | 496 | vx = -10; |
akudohune | 0:fb6510639aa4 | 497 | vy = -1; |
akudohune | 0:fb6510639aa4 | 498 | } |
akudohune | 0:fb6510639aa4 | 499 | }else if(direction == 0){ |
akudohune | 0:fb6510639aa4 | 500 | |
akudohune | 0:fb6510639aa4 | 501 | vx = 0; |
akudohune | 0:fb6510639aa4 | 502 | vy = 10; |
akudohune | 0:fb6510639aa4 | 503 | |
akudohune | 0:fb6510639aa4 | 504 | }else{//error |
akudohune | 0:fb6510639aa4 | 505 | |
akudohune | 0:fb6510639aa4 | 506 | vx = 0; |
akudohune | 0:fb6510639aa4 | 507 | vy = 0; |
akudohune | 0:fb6510639aa4 | 508 | |
akudohune | 0:fb6510639aa4 | 509 | } |
akudohune | 0:fb6510639aa4 | 510 | }else if(state == WARNING){ |
akudohune | 0:fb6510639aa4 | 511 | mbedleds = 2; |
akudohune | 0:fb6510639aa4 | 512 | if(direction == 0){ |
akudohune | 0:fb6510639aa4 | 513 | |
akudohune | 0:fb6510639aa4 | 514 | vx = 0; |
akudohune | 0:fb6510639aa4 | 515 | |
akudohune | 0:fb6510639aa4 | 516 | }else if(direction == 1){ |
akudohune | 0:fb6510639aa4 | 517 | |
akudohune | 0:fb6510639aa4 | 518 | vx = 10; |
akudohune | 0:fb6510639aa4 | 519 | |
akudohune | 0:fb6510639aa4 | 520 | }else if(direction == 2){ |
akudohune | 0:fb6510639aa4 | 521 | |
akudohune | 0:fb6510639aa4 | 522 | vx = 15; |
akudohune | 0:fb6510639aa4 | 523 | |
akudohune | 0:fb6510639aa4 | 524 | }else if(direction == 14){ |
akudohune | 0:fb6510639aa4 | 525 | |
akudohune | 0:fb6510639aa4 | 526 | vx = -15; |
akudohune | 0:fb6510639aa4 | 527 | |
akudohune | 0:fb6510639aa4 | 528 | }else if(direction == 15){ |
akudohune | 0:fb6510639aa4 | 529 | |
akudohune | 0:fb6510639aa4 | 530 | vx = -10; |
akudohune | 0:fb6510639aa4 | 531 | |
akudohune | 0:fb6510639aa4 | 532 | } |
akudohune | 0:fb6510639aa4 | 533 | |
akudohune | 0:fb6510639aa4 | 534 | if((RIGHT_SONIC < 330.0) || (LEFT_SONIC < 330.0)){ |
akudohune | 0:fb6510639aa4 | 535 | if((BACK_SONIC > 15.0) && (BACK_SONIC < 45.0)){ |
akudohune | 0:fb6510639aa4 | 536 | vy = 0; |
akudohune | 0:fb6510639aa4 | 537 | }else if((BACK_SONIC <= 15.0) || (BACK_SONIC == PING_ERROR)){ |
akudohune | 0:fb6510639aa4 | 538 | vy = 4; |
akudohune | 0:fb6510639aa4 | 539 | }else{ |
akudohune | 0:fb6510639aa4 | 540 | vy = (int)(0.01 * (30.0 - BACK_SONIC) - 4); |
akudohune | 0:fb6510639aa4 | 541 | if(vy < -10)vy = -10; |
akudohune | 0:fb6510639aa4 | 542 | } |
akudohune | 0:fb6510639aa4 | 543 | }else{ |
akudohune | 0:fb6510639aa4 | 544 | if((BACK_SONIC > 115.0) && (BACK_SONIC < 145.0)){ |
akudohune | 0:fb6510639aa4 | 545 | vy = 0; |
akudohune | 0:fb6510639aa4 | 546 | }else if((BACK_SONIC <= 115.0) || (BACK_SONIC == PING_ERROR)){ |
akudohune | 0:fb6510639aa4 | 547 | vy = 4; |
akudohune | 0:fb6510639aa4 | 548 | }else{ |
akudohune | 0:fb6510639aa4 | 549 | vy = (int)(0.01 * (130.0 - BACK_SONIC) - 4); |
akudohune | 0:fb6510639aa4 | 550 | if(vy < -10)vy = -10; |
akudohune | 0:fb6510639aa4 | 551 | } |
akudohune | 0:fb6510639aa4 | 552 | } |
akudohune | 0:fb6510639aa4 | 553 | }else if(state == HOLD){ |
akudohune | 0:fb6510639aa4 | 554 | mbedleds = 8; |
akudohune | 0:fb6510639aa4 | 555 | vy = 15; |
akudohune | 0:fb6510639aa4 | 556 | if(FRONT_SONIC < 100){ |
akudohune | 0:fb6510639aa4 | 557 | if(RIGHT_SONIC < LEFT_SONIC){ |
akudohune | 0:fb6510639aa4 | 558 | if(BACK_SONIC > 500){ |
akudohune | 0:fb6510639aa4 | 559 | vy = 0; |
akudohune | 0:fb6510639aa4 | 560 | vs = 3; |
akudohune | 0:fb6510639aa4 | 561 | } |
akudohune | 0:fb6510639aa4 | 562 | }else{ |
akudohune | 0:fb6510639aa4 | 563 | if(BACK_SONIC > 500){ |
akudohune | 0:fb6510639aa4 | 564 | vy = 0; |
akudohune | 0:fb6510639aa4 | 565 | vs = -3; |
akudohune | 0:fb6510639aa4 | 566 | } |
akudohune | 0:fb6510639aa4 | 567 | } |
akudohune | 0:fb6510639aa4 | 568 | }else{ |
akudohune | 0:fb6510639aa4 | 569 | if(((RIGHT_SONIC + LEFT_SONIC) < 1050.0) && ((RIGHT_SONIC + LEFT_SONIC) > 800.0)){ |
akudohune | 0:fb6510639aa4 | 570 | standTu = (RIGHT_SONIC - LEFT_SONIC) / 30.0; |
akudohune | 0:fb6510639aa4 | 571 | } |
akudohune | 0:fb6510639aa4 | 572 | } |
akudohune | 0:fb6510639aa4 | 573 | } |
akudohune | 0:fb6510639aa4 | 574 | //move(vx,vy,vs); |
akudohune | 0:fb6510639aa4 | 575 | } |
akudohune | 0:fb6510639aa4 | 576 | } |