ryo seki
/
ver2_0_6
hello
main.cpp@0:79ccc03117ea, 2013-05-04 (annotated)
- Committer:
- akudohune
- Date:
- Sat May 04 23:56:15 2013 +0000
- Revision:
- 0:79ccc03117ea
cuppppp
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
akudohune | 0:79ccc03117ea | 1 | #include <math.h> |
akudohune | 0:79ccc03117ea | 2 | #include <sstream> |
akudohune | 0:79ccc03117ea | 3 | #include "mbed.h" |
akudohune | 0:79ccc03117ea | 4 | #include "HMC6352.h" |
akudohune | 0:79ccc03117ea | 5 | #include "PID.h" |
akudohune | 0:79ccc03117ea | 6 | #include "main.h" |
akudohune | 0:79ccc03117ea | 7 | |
akudohune | 0:79ccc03117ea | 8 | |
akudohune | 0:79ccc03117ea | 9 | |
akudohune | 0:79ccc03117ea | 10 | void PidUpdate() |
akudohune | 0:79ccc03117ea | 11 | { |
akudohune | 0:79ccc03117ea | 12 | static uint8_t Fflag = 0; |
akudohune | 0:79ccc03117ea | 13 | |
akudohune | 0:79ccc03117ea | 14 | pid.setSetPoint(((int)((REFERENCE + standTu) + 360) % 360) / 1.0); |
akudohune | 0:79ccc03117ea | 15 | inputPID = (((int)(compass.sample() - (standard * 10.0) + 5400.0) % 3600) / 10.0); |
akudohune | 0:79ccc03117ea | 16 | |
akudohune | 0:79ccc03117ea | 17 | //pc.printf("%f\n",timer1.read()); |
akudohune | 0:79ccc03117ea | 18 | pid.setProcessValue(inputPID); |
akudohune | 0:79ccc03117ea | 19 | //timer1.reset(); |
akudohune | 0:79ccc03117ea | 20 | |
akudohune | 0:79ccc03117ea | 21 | compassPID = -(pid.compute()); |
akudohune | 0:79ccc03117ea | 22 | |
akudohune | 0:79ccc03117ea | 23 | if(!Fflag){ |
akudohune | 0:79ccc03117ea | 24 | Fflag = 1; |
akudohune | 0:79ccc03117ea | 25 | compassPID = 0; |
akudohune | 0:79ccc03117ea | 26 | } |
akudohune | 0:79ccc03117ea | 27 | |
akudohune | 0:79ccc03117ea | 28 | //pc.printf("standard = \t\t%f\n",standard); |
akudohune | 0:79ccc03117ea | 29 | //pc.printf("%d\n",diff); |
akudohune | 0:79ccc03117ea | 30 | //pc.printf("compass.sample = \t%f\n",compass.sample() / 1.0); |
akudohune | 0:79ccc03117ea | 31 | //pc.printf("compassPID = \t\t%d\n",(int)compassPID); |
akudohune | 0:79ccc03117ea | 32 | //pc.printf("inputPID = \t\t%f\n\n",inputPID); |
akudohune | 0:79ccc03117ea | 33 | |
akudohune | 0:79ccc03117ea | 34 | //pc.printf("%d\t%d\n",Distance,direction); |
akudohune | 0:79ccc03117ea | 35 | //pc.printf("%d\t%d\t%d\t%d\n",ultrasonicVal[0],ultrasonicVal[1],ultrasonicVal[2],ultrasonicVal[3]); |
akudohune | 0:79ccc03117ea | 36 | } |
akudohune | 0:79ccc03117ea | 37 | |
akudohune | 0:79ccc03117ea | 38 | void move(int vxx, int vyy, int vss) |
akudohune | 0:79ccc03117ea | 39 | { |
akudohune | 0:79ccc03117ea | 40 | double motVal[MOT_NUM] = {0}; |
akudohune | 0:79ccc03117ea | 41 | |
akudohune | 0:79ccc03117ea | 42 | motVal[0] = (double)(((0.5 * vxx) + ((sqrt(3.0) / 2.0) * vyy) + (Long * -vss)) * MOT1); |
akudohune | 0:79ccc03117ea | 43 | motVal[1] = (double)(((-0.5 * vxx) + ((sqrt(3.0) / 2.0) * vyy) + (Long * vss)) * MOT2); |
akudohune | 0:79ccc03117ea | 44 | motVal[2] = (double)(((-0.5 * vxx) + ((sqrt(3.0) / 2.0) * vyy) + (Long * -vss)) * MOT3); |
akudohune | 0:79ccc03117ea | 45 | motVal[3] = (double)(((0.5 * vxx) + ((sqrt(3.0) / 2.0) * vyy) + (Long * vss)) * MOT4); |
akudohune | 0:79ccc03117ea | 46 | |
akudohune | 0:79ccc03117ea | 47 | for(uint8_t i = 0 ; i < MOT_NUM ; i++){ |
akudohune | 0:79ccc03117ea | 48 | if(motVal[i] > MAX_POW)motVal[i] = MAX_POW; |
akudohune | 0:79ccc03117ea | 49 | else if(motVal[i] < MIN_POW)motVal[i] = MIN_POW; |
akudohune | 0:79ccc03117ea | 50 | speed[i] = (int)motVal[i]; |
akudohune | 0:79ccc03117ea | 51 | } |
akudohune | 0:79ccc03117ea | 52 | } |
akudohune | 0:79ccc03117ea | 53 | |
akudohune | 0:79ccc03117ea | 54 | /*********** Serial interrupt ***********/ |
akudohune | 0:79ccc03117ea | 55 | |
akudohune | 0:79ccc03117ea | 56 | void Tx_interrupt() |
akudohune | 0:79ccc03117ea | 57 | { |
akudohune | 0:79ccc03117ea | 58 | array(speed[0],speed[1],speed[2],speed[3]); |
akudohune | 0:79ccc03117ea | 59 | driver.printf("%s",StringFIN.c_str()); |
akudohune | 0:79ccc03117ea | 60 | //pc.printf("%s",StringFIN.c_str()); |
akudohune | 0:79ccc03117ea | 61 | } |
akudohune | 0:79ccc03117ea | 62 | /* |
akudohune | 0:79ccc03117ea | 63 | void Rx_interrupt() |
akudohune | 0:79ccc03117ea | 64 | { |
akudohune | 0:79ccc03117ea | 65 | if(driver.readable()){ |
akudohune | 0:79ccc03117ea | 66 | //pc.printf("%d\n",driver.getc()); |
akudohune | 0:79ccc03117ea | 67 | } |
akudohune | 0:79ccc03117ea | 68 | }*/ |
akudohune | 0:79ccc03117ea | 69 | |
akudohune | 0:79ccc03117ea | 70 | |
akudohune | 0:79ccc03117ea | 71 | /*********** Serial interrupt **********/ |
akudohune | 0:79ccc03117ea | 72 | |
akudohune | 0:79ccc03117ea | 73 | |
akudohune | 0:79ccc03117ea | 74 | void init() |
akudohune | 0:79ccc03117ea | 75 | { |
akudohune | 0:79ccc03117ea | 76 | int scanfSuccess; |
akudohune | 0:79ccc03117ea | 77 | int printfSuccess; |
akudohune | 0:79ccc03117ea | 78 | int closeSuccess; |
akudohune | 0:79ccc03117ea | 79 | int close2Success; |
akudohune | 0:79ccc03117ea | 80 | uint8_t MissFlag = 0; |
akudohune | 0:79ccc03117ea | 81 | FILE *fp; |
akudohune | 0:79ccc03117ea | 82 | |
akudohune | 0:79ccc03117ea | 83 | compass.setOpMode(HMC6352_CONTINUOUS, 1, 20); |
akudohune | 0:79ccc03117ea | 84 | |
akudohune | 0:79ccc03117ea | 85 | StartButton.mode(PullUp); |
akudohune | 0:79ccc03117ea | 86 | CalibEnterButton.mode(PullUp); |
akudohune | 0:79ccc03117ea | 87 | CalibExitButton.mode(PullUp); |
akudohune | 0:79ccc03117ea | 88 | EEPROMButton.mode(PullUp); |
akudohune | 0:79ccc03117ea | 89 | |
akudohune | 0:79ccc03117ea | 90 | driver.baud(BAUD_RATE); |
akudohune | 0:79ccc03117ea | 91 | device2.baud(BAUD_RATE2); |
akudohune | 0:79ccc03117ea | 92 | wait_ms(MOTDRIVER_WAIT); |
akudohune | 0:79ccc03117ea | 93 | driver.printf("1F0002F0003F0004F000\r\n"); |
akudohune | 0:79ccc03117ea | 94 | device2.printf("START"); |
akudohune | 0:79ccc03117ea | 95 | |
akudohune | 0:79ccc03117ea | 96 | driver.attach(&Tx_interrupt, Serial::TxIrq); |
akudohune | 0:79ccc03117ea | 97 | //driver.attach(&Rx_interrupt, Serial::RxIrq); |
akudohune | 0:79ccc03117ea | 98 | device2.attach(&dev_rx,Serial::RxIrq); |
akudohune | 0:79ccc03117ea | 99 | device2.attach(&dev_tx,Serial::TxIrq); |
akudohune | 0:79ccc03117ea | 100 | |
akudohune | 0:79ccc03117ea | 101 | pid.setInputLimits(MINIMUM,MAXIMUM); |
akudohune | 0:79ccc03117ea | 102 | pid.setOutputLimits(-OUT_LIMIT, OUT_LIMIT); |
akudohune | 0:79ccc03117ea | 103 | pid.setBias(PID_BIAS); |
akudohune | 0:79ccc03117ea | 104 | pid.setMode(AUTO_MODE); |
akudohune | 0:79ccc03117ea | 105 | pid.setSetPoint(REFERENCE); |
akudohune | 0:79ccc03117ea | 106 | |
akudohune | 0:79ccc03117ea | 107 | Survtimer.start(); |
akudohune | 0:79ccc03117ea | 108 | |
akudohune | 0:79ccc03117ea | 109 | mbedleds = 1; |
akudohune | 0:79ccc03117ea | 110 | |
akudohune | 0:79ccc03117ea | 111 | while(StartButton){ |
akudohune | 0:79ccc03117ea | 112 | MissFlag = 0; |
akudohune | 0:79ccc03117ea | 113 | if(!CalibEnterButton){ |
akudohune | 0:79ccc03117ea | 114 | mbedleds = 2; |
akudohune | 0:79ccc03117ea | 115 | compass.setCalibrationMode(ENTER); |
akudohune | 0:79ccc03117ea | 116 | while(CalibExitButton); |
akudohune | 0:79ccc03117ea | 117 | compass.setCalibrationMode(EXIT); |
akudohune | 0:79ccc03117ea | 118 | wait(BUT_WAIT); |
akudohune | 0:79ccc03117ea | 119 | mbedleds = 4; |
akudohune | 0:79ccc03117ea | 120 | } |
akudohune | 0:79ccc03117ea | 121 | |
akudohune | 0:79ccc03117ea | 122 | if(!EEPROMButton){ |
akudohune | 0:79ccc03117ea | 123 | Survtimer.reset(); |
akudohune | 0:79ccc03117ea | 124 | fp = fopen("/local/out.txt", "r"); |
akudohune | 0:79ccc03117ea | 125 | if(fp == NULL){ |
akudohune | 0:79ccc03117ea | 126 | wait(BUT_WAIT); |
akudohune | 0:79ccc03117ea | 127 | MissFlag = 1; |
akudohune | 0:79ccc03117ea | 128 | }else{ |
akudohune | 0:79ccc03117ea | 129 | scanfSuccess = fscanf(fp, "%lf",&standard); |
akudohune | 0:79ccc03117ea | 130 | if(scanfSuccess == EOF){ |
akudohune | 0:79ccc03117ea | 131 | wait(BUT_WAIT); |
akudohune | 0:79ccc03117ea | 132 | MissFlag = 1; |
akudohune | 0:79ccc03117ea | 133 | }else{ |
akudohune | 0:79ccc03117ea | 134 | closeSuccess = fclose(fp); |
akudohune | 0:79ccc03117ea | 135 | if(closeSuccess == EOF){ |
akudohune | 0:79ccc03117ea | 136 | wait(BUT_WAIT); |
akudohune | 0:79ccc03117ea | 137 | MissFlag = 1; |
akudohune | 0:79ccc03117ea | 138 | }else{ |
akudohune | 0:79ccc03117ea | 139 | wait(BUT_WAIT); |
akudohune | 0:79ccc03117ea | 140 | } |
akudohune | 0:79ccc03117ea | 141 | } |
akudohune | 0:79ccc03117ea | 142 | } |
akudohune | 0:79ccc03117ea | 143 | if((Survtimer.read() > (BUT_WAIT + 0.1)) || (MissFlag)){ |
akudohune | 0:79ccc03117ea | 144 | for(uint8_t i = 0;i < 2;i++){ |
akudohune | 0:79ccc03117ea | 145 | mbedleds = 15; |
akudohune | 0:79ccc03117ea | 146 | wait(0.1); |
akudohune | 0:79ccc03117ea | 147 | mbedleds = 0; |
akudohune | 0:79ccc03117ea | 148 | wait(0.1); |
akudohune | 0:79ccc03117ea | 149 | } |
akudohune | 0:79ccc03117ea | 150 | mbedleds = 15; |
akudohune | 0:79ccc03117ea | 151 | }else{ |
akudohune | 0:79ccc03117ea | 152 | mbedleds = 8; |
akudohune | 0:79ccc03117ea | 153 | } |
akudohune | 0:79ccc03117ea | 154 | } |
akudohune | 0:79ccc03117ea | 155 | |
akudohune | 0:79ccc03117ea | 156 | if(!CalibExitButton){ |
akudohune | 0:79ccc03117ea | 157 | Survtimer.reset(); |
akudohune | 0:79ccc03117ea | 158 | |
akudohune | 0:79ccc03117ea | 159 | standard = compass.sample() / 10.0; |
akudohune | 0:79ccc03117ea | 160 | |
akudohune | 0:79ccc03117ea | 161 | fp = fopen("/local/out.txt", "w"); |
akudohune | 0:79ccc03117ea | 162 | if(fp == NULL){ |
akudohune | 0:79ccc03117ea | 163 | wait(BUT_WAIT); |
akudohune | 0:79ccc03117ea | 164 | MissFlag = 1; |
akudohune | 0:79ccc03117ea | 165 | }else{ |
akudohune | 0:79ccc03117ea | 166 | printfSuccess = fprintf(fp, "%f",standard); |
akudohune | 0:79ccc03117ea | 167 | if(printfSuccess == EOF){ |
akudohune | 0:79ccc03117ea | 168 | wait(BUT_WAIT); |
akudohune | 0:79ccc03117ea | 169 | MissFlag = 1; |
akudohune | 0:79ccc03117ea | 170 | }else{ |
akudohune | 0:79ccc03117ea | 171 | close2Success = fclose(fp); |
akudohune | 0:79ccc03117ea | 172 | if(close2Success == EOF){ |
akudohune | 0:79ccc03117ea | 173 | wait(BUT_WAIT); |
akudohune | 0:79ccc03117ea | 174 | MissFlag = 1; |
akudohune | 0:79ccc03117ea | 175 | }else{ |
akudohune | 0:79ccc03117ea | 176 | wait(BUT_WAIT); |
akudohune | 0:79ccc03117ea | 177 | } |
akudohune | 0:79ccc03117ea | 178 | } |
akudohune | 0:79ccc03117ea | 179 | } |
akudohune | 0:79ccc03117ea | 180 | if((Survtimer.read() > (BUT_WAIT + 0.2)) || (MissFlag)){ |
akudohune | 0:79ccc03117ea | 181 | for(uint8_t i = 0;i < 4;i++){ |
akudohune | 0:79ccc03117ea | 182 | mbedleds = 15; |
akudohune | 0:79ccc03117ea | 183 | wait(0.1); |
akudohune | 0:79ccc03117ea | 184 | mbedleds = 0; |
akudohune | 0:79ccc03117ea | 185 | wait(0.1); |
akudohune | 0:79ccc03117ea | 186 | } |
akudohune | 0:79ccc03117ea | 187 | mbedleds = 15; |
akudohune | 0:79ccc03117ea | 188 | }else{ |
akudohune | 0:79ccc03117ea | 189 | mbedleds = 10; |
akudohune | 0:79ccc03117ea | 190 | } |
akudohune | 0:79ccc03117ea | 191 | } |
akudohune | 0:79ccc03117ea | 192 | } |
akudohune | 0:79ccc03117ea | 193 | |
akudohune | 0:79ccc03117ea | 194 | mbedleds = 0; |
akudohune | 0:79ccc03117ea | 195 | |
akudohune | 0:79ccc03117ea | 196 | Survtimer.stop(); |
akudohune | 0:79ccc03117ea | 197 | |
akudohune | 0:79ccc03117ea | 198 | pidUpdata.attach(&PidUpdate, PID_CYCLE); |
akudohune | 0:79ccc03117ea | 199 | |
akudohune | 0:79ccc03117ea | 200 | //timer1.start(); |
akudohune | 0:79ccc03117ea | 201 | } |
akudohune | 0:79ccc03117ea | 202 | |
akudohune | 0:79ccc03117ea | 203 | int main() |
akudohune | 0:79ccc03117ea | 204 | { |
akudohune | 0:79ccc03117ea | 205 | int vx=0,vy=0,vs=0; |
akudohune | 0:79ccc03117ea | 206 | |
akudohune | 0:79ccc03117ea | 207 | init(); |
akudohune | 0:79ccc03117ea | 208 | |
akudohune | 0:79ccc03117ea | 209 | while(1){ |
akudohune | 0:79ccc03117ea | 210 | |
akudohune | 0:79ccc03117ea | 211 | hold_flag = 0; |
akudohune | 0:79ccc03117ea | 212 | vx = 0; |
akudohune | 0:79ccc03117ea | 213 | vy = 0; |
akudohune | 0:79ccc03117ea | 214 | vs = (int)compassPID; |
akudohune | 0:79ccc03117ea | 215 | |
akudohune | 0:79ccc03117ea | 216 | /********************************************************************************************************* |
akudohune | 0:79ccc03117ea | 217 | ********************************************************************************************************** |
akudohune | 0:79ccc03117ea | 218 | ********************Change state ************************************************************************* |
akudohune | 0:79ccc03117ea | 219 | ********************************************************************************************************** |
akudohune | 0:79ccc03117ea | 220 | *********************************************************************************************************/ |
akudohune | 0:79ccc03117ea | 221 | |
akudohune | 0:79ccc03117ea | 222 | if(state == HOLD){ |
akudohune | 0:79ccc03117ea | 223 | if(FRONT_SONIC < 100)hold_flag = 1; |
akudohune | 0:79ccc03117ea | 224 | |
akudohune | 0:79ccc03117ea | 225 | if(Distance > 140){ //審判のボール持ち上げ判定 |
akudohune | 0:79ccc03117ea | 226 | state = HOME_WAIT; |
akudohune | 0:79ccc03117ea | 227 | }else if(!((direction == 0) || (direction == 15) || (direction == 1))){//ボールを見失った |
akudohune | 0:79ccc03117ea | 228 | state = DIFFENCE; |
akudohune | 0:79ccc03117ea | 229 | }else if(!(Distance <= 40)){//ボールを見失った |
akudohune | 0:79ccc03117ea | 230 | state = DIFFENCE; |
akudohune | 0:79ccc03117ea | 231 | } |
akudohune | 0:79ccc03117ea | 232 | }else{ |
akudohune | 0:79ccc03117ea | 233 | standTu = 0; |
akudohune | 0:79ccc03117ea | 234 | if(state == DIFFENCE){ |
akudohune | 0:79ccc03117ea | 235 | if((direction == 0) && (Distance <= 20) && (IR_found) && (!xbee)){ |
akudohune | 0:79ccc03117ea | 236 | state = HOLD; |
akudohune | 0:79ccc03117ea | 237 | }else if((Distance < 180) && (IR_found) && (!xbee)){ |
akudohune | 0:79ccc03117ea | 238 | state = DIFFENCE; |
akudohune | 0:79ccc03117ea | 239 | }else{ |
akudohune | 0:79ccc03117ea | 240 | if((direction == 4) || (direction == 6) || (direction == 8) || (direction == 10)|| (direction == 12)){ |
akudohune | 0:79ccc03117ea | 241 | if((IR_found) && (!xbee)){ |
akudohune | 0:79ccc03117ea | 242 | state = DIFFENCE; |
akudohune | 0:79ccc03117ea | 243 | } |
akudohune | 0:79ccc03117ea | 244 | }else if((diff > 15) && (!xbee) && (IR_found)){ |
akudohune | 0:79ccc03117ea | 245 | state = DIFFENCE; |
akudohune | 0:79ccc03117ea | 246 | }else{ |
akudohune | 0:79ccc03117ea | 247 | state = HOME_WAIT; |
akudohune | 0:79ccc03117ea | 248 | } |
akudohune | 0:79ccc03117ea | 249 | } |
akudohune | 0:79ccc03117ea | 250 | |
akudohune | 0:79ccc03117ea | 251 | }else{ |
akudohune | 0:79ccc03117ea | 252 | if((direction == 0) && (Distance <= 20) && (IR_found) && (!xbee)){ |
akudohune | 0:79ccc03117ea | 253 | state = HOLD; |
akudohune | 0:79ccc03117ea | 254 | }else if((Distance <= 150) && (IR_found) && (!xbee)){ |
akudohune | 0:79ccc03117ea | 255 | state = DIFFENCE; |
akudohune | 0:79ccc03117ea | 256 | }else{ |
akudohune | 0:79ccc03117ea | 257 | if((direction == 4) || (direction == 6) || (direction == 8) || (direction == 10)|| (direction == 12)){ |
akudohune | 0:79ccc03117ea | 258 | if((IR_found) && (!xbee)){ |
akudohune | 0:79ccc03117ea | 259 | state = DIFFENCE; |
akudohune | 0:79ccc03117ea | 260 | } |
akudohune | 0:79ccc03117ea | 261 | }else if((diff > 15) && (!xbee) && (IR_found)){ |
akudohune | 0:79ccc03117ea | 262 | state = DIFFENCE; |
akudohune | 0:79ccc03117ea | 263 | }else{ |
akudohune | 0:79ccc03117ea | 264 | state = HOME_WAIT; |
akudohune | 0:79ccc03117ea | 265 | } |
akudohune | 0:79ccc03117ea | 266 | } |
akudohune | 0:79ccc03117ea | 267 | } |
akudohune | 0:79ccc03117ea | 268 | } |
akudohune | 0:79ccc03117ea | 269 | |
akudohune | 0:79ccc03117ea | 270 | /********************************************************************************************************* |
akudohune | 0:79ccc03117ea | 271 | ********************************************************************************************************** |
akudohune | 0:79ccc03117ea | 272 | ********************Change state ************************************************************************* |
akudohune | 0:79ccc03117ea | 273 | ********************************************************************************************************** |
akudohune | 0:79ccc03117ea | 274 | *********************************************************************************************************/ |
akudohune | 0:79ccc03117ea | 275 | |
akudohune | 0:79ccc03117ea | 276 | //state = HOME_WAIT; |
akudohune | 0:79ccc03117ea | 277 | if(state == HOME_WAIT){ |
akudohune | 0:79ccc03117ea | 278 | mbedleds = 1; |
akudohune | 0:79ccc03117ea | 279 | if(((RIGHT_SONIC + LEFT_SONIC) < 1100.0) && ((RIGHT_SONIC + LEFT_SONIC) > 850.0)){ |
akudohune | 0:79ccc03117ea | 280 | if((LEFT_SONIC > 425.0) && (RIGHT_SONIC > 425.0)){ |
akudohune | 0:79ccc03117ea | 281 | vx = 0; |
akudohune | 0:79ccc03117ea | 282 | }else if(RIGHT_SONIC < 425.0){ |
akudohune | 0:79ccc03117ea | 283 | vx = (int)((RIGHT_SONIC - 425.0) * 0.02 - 20.0); |
akudohune | 0:79ccc03117ea | 284 | if(vx < -30)vx = -30; |
akudohune | 0:79ccc03117ea | 285 | }else if(LEFT_SONIC < 425.0){ |
akudohune | 0:79ccc03117ea | 286 | vx = (int)((425.0 - LEFT_SONIC ) * 0.02 + 20.0); |
akudohune | 0:79ccc03117ea | 287 | if(vx > 30)vx = 30; |
akudohune | 0:79ccc03117ea | 288 | } |
akudohune | 0:79ccc03117ea | 289 | |
akudohune | 0:79ccc03117ea | 290 | if((RIGHT_SONIC < 330.0) || (LEFT_SONIC < 330.0)){ |
akudohune | 0:79ccc03117ea | 291 | if((BACK_SONIC > 15.0) && (BACK_SONIC < 45.0)){ |
akudohune | 0:79ccc03117ea | 292 | vy = 0; |
akudohune | 0:79ccc03117ea | 293 | }else if((BACK_SONIC <= 15.0) || (BACK_SONIC == PING_ERROR)){ |
akudohune | 0:79ccc03117ea | 294 | vy = 5; |
akudohune | 0:79ccc03117ea | 295 | }else{ |
akudohune | 0:79ccc03117ea | 296 | vy = (int)(0.015 * (30.0 - BACK_SONIC) - 4); |
akudohune | 0:79ccc03117ea | 297 | if(vy < -20)vy = -20; |
akudohune | 0:79ccc03117ea | 298 | } |
akudohune | 0:79ccc03117ea | 299 | }else{ |
akudohune | 0:79ccc03117ea | 300 | if((BACK_SONIC > 95.0) && (BACK_SONIC < 125.0)){ |
akudohune | 0:79ccc03117ea | 301 | vy = 0; |
akudohune | 0:79ccc03117ea | 302 | }else if((BACK_SONIC <= 95.0) || (BACK_SONIC == PING_ERROR)){ |
akudohune | 0:79ccc03117ea | 303 | vy = 5; |
akudohune | 0:79ccc03117ea | 304 | }else{ |
akudohune | 0:79ccc03117ea | 305 | vy = (int)(0.015 * (110.0 - BACK_SONIC) - 4); |
akudohune | 0:79ccc03117ea | 306 | if(vy < -20)vy = -20; |
akudohune | 0:79ccc03117ea | 307 | } |
akudohune | 0:79ccc03117ea | 308 | } |
akudohune | 0:79ccc03117ea | 309 | }else if((RIGHT_SONIC + LEFT_SONIC) <= 850.0){ |
akudohune | 0:79ccc03117ea | 310 | if(BACK_SONIC < 200.0){ |
akudohune | 0:79ccc03117ea | 311 | if(RIGHT_SONIC > LEFT_SONIC){ |
akudohune | 0:79ccc03117ea | 312 | vx = 20; |
akudohune | 0:79ccc03117ea | 313 | vy = 5; |
akudohune | 0:79ccc03117ea | 314 | }else{ |
akudohune | 0:79ccc03117ea | 315 | vx = -20; |
akudohune | 0:79ccc03117ea | 316 | vy = 5; |
akudohune | 0:79ccc03117ea | 317 | } |
akudohune | 0:79ccc03117ea | 318 | }else{ |
akudohune | 0:79ccc03117ea | 319 | vx = 0; |
akudohune | 0:79ccc03117ea | 320 | vy = -15; |
akudohune | 0:79ccc03117ea | 321 | } |
akudohune | 0:79ccc03117ea | 322 | }else{ |
akudohune | 0:79ccc03117ea | 323 | if(BACK_SONIC > 500.0){ |
akudohune | 0:79ccc03117ea | 324 | if(RIGHT_SONIC > LEFT_SONIC){ |
akudohune | 0:79ccc03117ea | 325 | vx = 10; |
akudohune | 0:79ccc03117ea | 326 | vy = -10; |
akudohune | 0:79ccc03117ea | 327 | }else{ |
akudohune | 0:79ccc03117ea | 328 | vx = -10; |
akudohune | 0:79ccc03117ea | 329 | vy = -10; |
akudohune | 0:79ccc03117ea | 330 | } |
akudohune | 0:79ccc03117ea | 331 | } |
akudohune | 0:79ccc03117ea | 332 | } |
akudohune | 0:79ccc03117ea | 333 | }else if(state == DIFFENCE){ |
akudohune | 0:79ccc03117ea | 334 | mbedleds = 4; |
akudohune | 0:79ccc03117ea | 335 | if(direction == 6){ |
akudohune | 0:79ccc03117ea | 336 | vx = 25; |
akudohune | 0:79ccc03117ea | 337 | |
akudohune | 0:79ccc03117ea | 338 | if(LEFT_SONIC < 330.0){ |
akudohune | 0:79ccc03117ea | 339 | if((BACK_SONIC > 15.0) && (BACK_SONIC < 45.0)){ |
akudohune | 0:79ccc03117ea | 340 | vy = 0; |
akudohune | 0:79ccc03117ea | 341 | }else if((BACK_SONIC <= 15.0) || (BACK_SONIC == PING_ERROR)){ |
akudohune | 0:79ccc03117ea | 342 | vy = 5; |
akudohune | 0:79ccc03117ea | 343 | }else{ |
akudohune | 0:79ccc03117ea | 344 | vy = (int)(0.015 * (30.0 - BACK_SONIC) - 4); |
akudohune | 0:79ccc03117ea | 345 | if(vy < -20)vy = -20; |
akudohune | 0:79ccc03117ea | 346 | } |
akudohune | 0:79ccc03117ea | 347 | }else if(RIGHT_SONIC < 330.0){ |
akudohune | 0:79ccc03117ea | 348 | vx = 20; |
akudohune | 0:79ccc03117ea | 349 | vy = -10; |
akudohune | 0:79ccc03117ea | 350 | }else{ |
akudohune | 0:79ccc03117ea | 351 | if((BACK_SONIC > 95.0) && (BACK_SONIC < 125.0)){ |
akudohune | 0:79ccc03117ea | 352 | vy = 0; |
akudohune | 0:79ccc03117ea | 353 | }else if((BACK_SONIC <= 95.0) || (BACK_SONIC == PING_ERROR)){ |
akudohune | 0:79ccc03117ea | 354 | vy = 5; |
akudohune | 0:79ccc03117ea | 355 | }else{ |
akudohune | 0:79ccc03117ea | 356 | vy = (int)(0.015 * (110.0 - BACK_SONIC) - 4); |
akudohune | 0:79ccc03117ea | 357 | if(vy < -20)vy = -20; |
akudohune | 0:79ccc03117ea | 358 | } |
akudohune | 0:79ccc03117ea | 359 | } |
akudohune | 0:79ccc03117ea | 360 | |
akudohune | 0:79ccc03117ea | 361 | }else if(direction == 10){ |
akudohune | 0:79ccc03117ea | 362 | vx = -25; |
akudohune | 0:79ccc03117ea | 363 | |
akudohune | 0:79ccc03117ea | 364 | if(RIGHT_SONIC < 330.0){ |
akudohune | 0:79ccc03117ea | 365 | if((BACK_SONIC > 15.0) && (BACK_SONIC < 45.0)){ |
akudohune | 0:79ccc03117ea | 366 | vy = 0; |
akudohune | 0:79ccc03117ea | 367 | }else if((BACK_SONIC <= 15.0) || (BACK_SONIC == PING_ERROR)){ |
akudohune | 0:79ccc03117ea | 368 | vy = 5; |
akudohune | 0:79ccc03117ea | 369 | }else{ |
akudohune | 0:79ccc03117ea | 370 | vy = (int)(0.015 * (30.0 - BACK_SONIC) - 4); |
akudohune | 0:79ccc03117ea | 371 | if(vy < -20)vy = -20; |
akudohune | 0:79ccc03117ea | 372 | } |
akudohune | 0:79ccc03117ea | 373 | }else if(LEFT_SONIC < 330.0){ |
akudohune | 0:79ccc03117ea | 374 | vx = -20; |
akudohune | 0:79ccc03117ea | 375 | vy = -10; |
akudohune | 0:79ccc03117ea | 376 | }else{ |
akudohune | 0:79ccc03117ea | 377 | if((BACK_SONIC > 95.0) && (BACK_SONIC < 125.0)){ |
akudohune | 0:79ccc03117ea | 378 | vy = 0; |
akudohune | 0:79ccc03117ea | 379 | }else if((BACK_SONIC <= 95.0) || (BACK_SONIC == PING_ERROR)){ |
akudohune | 0:79ccc03117ea | 380 | vy = 5; |
akudohune | 0:79ccc03117ea | 381 | }else{ |
akudohune | 0:79ccc03117ea | 382 | vy = (int)(0.015 * (110.0 - BACK_SONIC) - 4); |
akudohune | 0:79ccc03117ea | 383 | if(vy < -20)vy = -20; |
akudohune | 0:79ccc03117ea | 384 | } |
akudohune | 0:79ccc03117ea | 385 | } |
akudohune | 0:79ccc03117ea | 386 | }else if(direction == 4){ |
akudohune | 0:79ccc03117ea | 387 | |
akudohune | 0:79ccc03117ea | 388 | vx = 25; |
akudohune | 0:79ccc03117ea | 389 | |
akudohune | 0:79ccc03117ea | 390 | if(LEFT_SONIC < 330.0){ |
akudohune | 0:79ccc03117ea | 391 | if((BACK_SONIC > 15.0) && (BACK_SONIC < 45.0)){ |
akudohune | 0:79ccc03117ea | 392 | vy = 0; |
akudohune | 0:79ccc03117ea | 393 | }else if((BACK_SONIC <= 15.0) || (BACK_SONIC == PING_ERROR)){ |
akudohune | 0:79ccc03117ea | 394 | vy = 5; |
akudohune | 0:79ccc03117ea | 395 | }else{ |
akudohune | 0:79ccc03117ea | 396 | vy = (int)(0.015 * (30.0 - BACK_SONIC) - 4); |
akudohune | 0:79ccc03117ea | 397 | if(vy < -20)vy = -20; |
akudohune | 0:79ccc03117ea | 398 | } |
akudohune | 0:79ccc03117ea | 399 | }else if(RIGHT_SONIC < 330.0){ |
akudohune | 0:79ccc03117ea | 400 | vx = 20; |
akudohune | 0:79ccc03117ea | 401 | vy = -10; |
akudohune | 0:79ccc03117ea | 402 | }else{ |
akudohune | 0:79ccc03117ea | 403 | if((BACK_SONIC > 95.0) && (BACK_SONIC < 125.0)){ |
akudohune | 0:79ccc03117ea | 404 | vy = 0; |
akudohune | 0:79ccc03117ea | 405 | }else if((BACK_SONIC <= 95.0) || (BACK_SONIC == PING_ERROR)){ |
akudohune | 0:79ccc03117ea | 406 | vy = 5; |
akudohune | 0:79ccc03117ea | 407 | }else{ |
akudohune | 0:79ccc03117ea | 408 | vy = (int)(0.015 * (110.0 - BACK_SONIC) - 4); |
akudohune | 0:79ccc03117ea | 409 | if(vy < -20)vy = -20; |
akudohune | 0:79ccc03117ea | 410 | } |
akudohune | 0:79ccc03117ea | 411 | } |
akudohune | 0:79ccc03117ea | 412 | |
akudohune | 0:79ccc03117ea | 413 | }else if(direction == 12){ |
akudohune | 0:79ccc03117ea | 414 | |
akudohune | 0:79ccc03117ea | 415 | vx = -25; |
akudohune | 0:79ccc03117ea | 416 | |
akudohune | 0:79ccc03117ea | 417 | if(RIGHT_SONIC < 330.0){ |
akudohune | 0:79ccc03117ea | 418 | if((BACK_SONIC > 15.0) && (BACK_SONIC < 45.0)){ |
akudohune | 0:79ccc03117ea | 419 | vy = 0; |
akudohune | 0:79ccc03117ea | 420 | }else if((BACK_SONIC <= 15.0) || (BACK_SONIC == PING_ERROR)){ |
akudohune | 0:79ccc03117ea | 421 | vy = 5; |
akudohune | 0:79ccc03117ea | 422 | }else{ |
akudohune | 0:79ccc03117ea | 423 | vy = (int)(0.015 * (30.0 - BACK_SONIC) - 4); |
akudohune | 0:79ccc03117ea | 424 | if(vy < -20)vy = -20; |
akudohune | 0:79ccc03117ea | 425 | } |
akudohune | 0:79ccc03117ea | 426 | }else if(LEFT_SONIC < 330.0){ |
akudohune | 0:79ccc03117ea | 427 | vx = -20; |
akudohune | 0:79ccc03117ea | 428 | vy = -10; |
akudohune | 0:79ccc03117ea | 429 | }else{ |
akudohune | 0:79ccc03117ea | 430 | if((BACK_SONIC > 95.0) && (BACK_SONIC < 125.0)){ |
akudohune | 0:79ccc03117ea | 431 | vy = 0; |
akudohune | 0:79ccc03117ea | 432 | }else if((BACK_SONIC <= 95.0) || (BACK_SONIC == PING_ERROR)){ |
akudohune | 0:79ccc03117ea | 433 | vy = 5; |
akudohune | 0:79ccc03117ea | 434 | }else{ |
akudohune | 0:79ccc03117ea | 435 | vy = (int)(0.015 * (110.0 - BACK_SONIC) - 4); |
akudohune | 0:79ccc03117ea | 436 | if(vy < -20)vy = -20; |
akudohune | 0:79ccc03117ea | 437 | } |
akudohune | 0:79ccc03117ea | 438 | } |
akudohune | 0:79ccc03117ea | 439 | |
akudohune | 0:79ccc03117ea | 440 | }else if(direction == 8){ |
akudohune | 0:79ccc03117ea | 441 | |
akudohune | 0:79ccc03117ea | 442 | if(LEFT_SONIC > RIGHT_SONIC){ |
akudohune | 0:79ccc03117ea | 443 | vx = -25; |
akudohune | 0:79ccc03117ea | 444 | }else{ |
akudohune | 0:79ccc03117ea | 445 | vx = 25; |
akudohune | 0:79ccc03117ea | 446 | } |
akudohune | 0:79ccc03117ea | 447 | if((RIGHT_SONIC < 330.0) || (LEFT_SONIC < 330.0)){ |
akudohune | 0:79ccc03117ea | 448 | if(BACK_SONIC < 45.0){ |
akudohune | 0:79ccc03117ea | 449 | vy = -10; |
akudohune | 0:79ccc03117ea | 450 | }else{ |
akudohune | 0:79ccc03117ea | 451 | vy = (int)(0.015 * (30.0 - BACK_SONIC) - 4); |
akudohune | 0:79ccc03117ea | 452 | if(vy < -20)vy = -20; |
akudohune | 0:79ccc03117ea | 453 | } |
akudohune | 0:79ccc03117ea | 454 | }else{ |
akudohune | 0:79ccc03117ea | 455 | if(BACK_SONIC < 125.0){ |
akudohune | 0:79ccc03117ea | 456 | vy = -10; |
akudohune | 0:79ccc03117ea | 457 | }else{ |
akudohune | 0:79ccc03117ea | 458 | vy = (int)(0.015 * (110.0 - BACK_SONIC) - 4); |
akudohune | 0:79ccc03117ea | 459 | if(vy < -20)vy = -20; |
akudohune | 0:79ccc03117ea | 460 | } |
akudohune | 0:79ccc03117ea | 461 | } |
akudohune | 0:79ccc03117ea | 462 | |
akudohune | 0:79ccc03117ea | 463 | }else if(direction == 2){ |
akudohune | 0:79ccc03117ea | 464 | |
akudohune | 0:79ccc03117ea | 465 | vx = 30; |
akudohune | 0:79ccc03117ea | 466 | vy = 0; //0 |
akudohune | 0:79ccc03117ea | 467 | |
akudohune | 0:79ccc03117ea | 468 | }else if(direction == 14){ |
akudohune | 0:79ccc03117ea | 469 | |
akudohune | 0:79ccc03117ea | 470 | vx = -30; |
akudohune | 0:79ccc03117ea | 471 | vy = -4; //-4 |
akudohune | 0:79ccc03117ea | 472 | |
akudohune | 0:79ccc03117ea | 473 | }else if(direction == 1){ |
akudohune | 0:79ccc03117ea | 474 | |
akudohune | 0:79ccc03117ea | 475 | |
akudohune | 0:79ccc03117ea | 476 | vx = 25; |
akudohune | 0:79ccc03117ea | 477 | vy = 0; //0 |
akudohune | 0:79ccc03117ea | 478 | |
akudohune | 0:79ccc03117ea | 479 | |
akudohune | 0:79ccc03117ea | 480 | }else if(direction == 15){ |
akudohune | 0:79ccc03117ea | 481 | |
akudohune | 0:79ccc03117ea | 482 | vx = -25; |
akudohune | 0:79ccc03117ea | 483 | vy = -3; //-3 |
akudohune | 0:79ccc03117ea | 484 | |
akudohune | 0:79ccc03117ea | 485 | }else if(direction == 0){ |
akudohune | 0:79ccc03117ea | 486 | |
akudohune | 0:79ccc03117ea | 487 | vx = 0; |
akudohune | 0:79ccc03117ea | 488 | vy = 20; |
akudohune | 0:79ccc03117ea | 489 | |
akudohune | 0:79ccc03117ea | 490 | }else{//error |
akudohune | 0:79ccc03117ea | 491 | |
akudohune | 0:79ccc03117ea | 492 | vx = 0; |
akudohune | 0:79ccc03117ea | 493 | vy = 0; |
akudohune | 0:79ccc03117ea | 494 | |
akudohune | 0:79ccc03117ea | 495 | } |
akudohune | 0:79ccc03117ea | 496 | }else if(state == HOLD){ |
akudohune | 0:79ccc03117ea | 497 | mbedleds = 8; |
akudohune | 0:79ccc03117ea | 498 | |
akudohune | 0:79ccc03117ea | 499 | vy = 25; |
akudohune | 0:79ccc03117ea | 500 | |
akudohune | 0:79ccc03117ea | 501 | if((FRONT_SONIC < 100) && (BACK_SONIC > 1300)){ |
akudohune | 0:79ccc03117ea | 502 | if(RIGHT_SONIC < LEFT_SONIC){ |
akudohune | 0:79ccc03117ea | 503 | vy = 0; |
akudohune | 0:79ccc03117ea | 504 | vx = 0; |
akudohune | 0:79ccc03117ea | 505 | vs = 5; |
akudohune | 0:79ccc03117ea | 506 | }else{ |
akudohune | 0:79ccc03117ea | 507 | vy = 0; |
akudohune | 0:79ccc03117ea | 508 | vx = 0; |
akudohune | 0:79ccc03117ea | 509 | vs = -5; |
akudohune | 0:79ccc03117ea | 510 | } |
akudohune | 0:79ccc03117ea | 511 | }else{ |
akudohune | 0:79ccc03117ea | 512 | if(((RIGHT_SONIC + LEFT_SONIC) < 1100.0) && ((RIGHT_SONIC + LEFT_SONIC) > 800.0)){ |
akudohune | 0:79ccc03117ea | 513 | standTu = (RIGHT_SONIC - LEFT_SONIC) / 30.0; |
akudohune | 0:79ccc03117ea | 514 | } |
akudohune | 0:79ccc03117ea | 515 | } |
akudohune | 0:79ccc03117ea | 516 | } |
akudohune | 0:79ccc03117ea | 517 | //vx = 0; |
akudohune | 0:79ccc03117ea | 518 | //vy = 0; |
akudohune | 0:79ccc03117ea | 519 | move(vx,vy,vs); |
akudohune | 0:79ccc03117ea | 520 | } |
akudohune | 0:79ccc03117ea | 521 | } |