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Dependencies: HMC6352 PID mbed
main.cpp@0:e9b97faa3e37, 2013-06-17 (annotated)
- Committer:
- akudohune
- Date:
- Mon Jun 17 00:12:40 2013 +0000
- Revision:
- 0:e9b97faa3e37
zaaa
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
akudohune | 0:e9b97faa3e37 | 1 | #include <math.h> |
akudohune | 0:e9b97faa3e37 | 2 | #include <sstream> |
akudohune | 0:e9b97faa3e37 | 3 | #include "mbed.h" |
akudohune | 0:e9b97faa3e37 | 4 | #include "HMC6352.h" |
akudohune | 0:e9b97faa3e37 | 5 | #include "PID.h" |
akudohune | 0:e9b97faa3e37 | 6 | #include "main.h" |
akudohune | 0:e9b97faa3e37 | 7 | |
akudohune | 0:e9b97faa3e37 | 8 | |
akudohune | 0:e9b97faa3e37 | 9 | |
akudohune | 0:e9b97faa3e37 | 10 | void PidUpdate() |
akudohune | 0:e9b97faa3e37 | 11 | { |
akudohune | 0:e9b97faa3e37 | 12 | static uint8_t Fflag = 0; |
akudohune | 0:e9b97faa3e37 | 13 | |
akudohune | 0:e9b97faa3e37 | 14 | pid.setSetPoint(((int)((REFERENCE + standTu) + 360) % 360) / 1.0); |
akudohune | 0:e9b97faa3e37 | 15 | inputPID = (((int)(compass.sample() - (standard * 10.0) + 5400.0) % 3600) / 10.0); |
akudohune | 0:e9b97faa3e37 | 16 | |
akudohune | 0:e9b97faa3e37 | 17 | //pc.printf("%f\n",timer1.read()); |
akudohune | 0:e9b97faa3e37 | 18 | pid.setProcessValue(inputPID); |
akudohune | 0:e9b97faa3e37 | 19 | //timer1.reset(); |
akudohune | 0:e9b97faa3e37 | 20 | |
akudohune | 0:e9b97faa3e37 | 21 | compassPID = -(pid.compute()); |
akudohune | 0:e9b97faa3e37 | 22 | |
akudohune | 0:e9b97faa3e37 | 23 | if(!Fflag){ |
akudohune | 0:e9b97faa3e37 | 24 | Fflag = 1; |
akudohune | 0:e9b97faa3e37 | 25 | compassPID = 0; |
akudohune | 0:e9b97faa3e37 | 26 | } |
akudohune | 0:e9b97faa3e37 | 27 | //pc.printf("%d\t%d\t%d\n",speed[0],speed[1],speed[2]); |
akudohune | 0:e9b97faa3e37 | 28 | //pc.printf("standard = \t\t%f\n",standard); |
akudohune | 0:e9b97faa3e37 | 29 | //pc.printf("%d\n",diff); |
akudohune | 0:e9b97faa3e37 | 30 | //pc.printf("compass.sample = \t%f\n",compass.sample() / 1.0); |
akudohune | 0:e9b97faa3e37 | 31 | //pc.printf("compassPID = \t\t%d\n",(int)compassPID); |
akudohune | 0:e9b97faa3e37 | 32 | //pc.printf("inputPID = \t\t%f\n\n",inputPID); |
akudohune | 0:e9b97faa3e37 | 33 | |
akudohune | 0:e9b97faa3e37 | 34 | //pc.printf("%d\t%d\n",Distance,direction); |
akudohune | 0:e9b97faa3e37 | 35 | //pc.printf("%d\t%d\t%d\t%d\n",ultrasonicVal[0],ultrasonicVal[1],ultrasonicVal[2],ultrasonicVal[3]); |
akudohune | 0:e9b97faa3e37 | 36 | } |
akudohune | 0:e9b97faa3e37 | 37 | |
akudohune | 0:e9b97faa3e37 | 38 | void IrDistanceUpdate() |
akudohune | 0:e9b97faa3e37 | 39 | { |
akudohune | 0:e9b97faa3e37 | 40 | for(uint8_t i = 0;i < 6;i++) |
akudohune | 0:e9b97faa3e37 | 41 | { |
akudohune | 0:e9b97faa3e37 | 42 | AnalogIn adcIn(adc_num[i]); /* 今回更新する赤外線の個体を呼び出す */ |
akudohune | 0:e9b97faa3e37 | 43 | irDistance[i] = adcIn.read_u16() >> 4; |
akudohune | 0:e9b97faa3e37 | 44 | //pc.printf("%d\n",irDistance[0]); |
akudohune | 0:e9b97faa3e37 | 45 | } |
akudohune | 0:e9b97faa3e37 | 46 | } |
akudohune | 0:e9b97faa3e37 | 47 | |
akudohune | 0:e9b97faa3e37 | 48 | |
akudohune | 0:e9b97faa3e37 | 49 | void move(int vxx, int vyy, int vss) |
akudohune | 0:e9b97faa3e37 | 50 | { |
akudohune | 0:e9b97faa3e37 | 51 | double motVal[MOT_NUM] = {0}; |
akudohune | 0:e9b97faa3e37 | 52 | |
akudohune | 0:e9b97faa3e37 | 53 | motVal[0] = (double)(((-0.5 * vxx) - ((sqrt(3.0) / 2.0) * vyy) + (Long * vss)) * MOT1); |
akudohune | 0:e9b97faa3e37 | 54 | motVal[1] = (double)(((-0.5 * vxx) + ((sqrt(3.0) / 2.0) * vyy) + (Long * vss)) * MOT2); |
akudohune | 0:e9b97faa3e37 | 55 | motVal[2] = (double)(((1.0 * vxx) + (0.0 * vyy) + (Long * vss)) * MOT3); |
akudohune | 0:e9b97faa3e37 | 56 | |
akudohune | 0:e9b97faa3e37 | 57 | for(uint8_t i = 0 ; i < MOT_NUM ; i++){ |
akudohune | 0:e9b97faa3e37 | 58 | if(motVal[i] > MAX_POW)motVal[i] = MAX_POW; |
akudohune | 0:e9b97faa3e37 | 59 | else if(motVal[i] < MIN_POW)motVal[i] = MIN_POW; |
akudohune | 0:e9b97faa3e37 | 60 | speed[i] = (int)motVal[i]; |
akudohune | 0:e9b97faa3e37 | 61 | } |
akudohune | 0:e9b97faa3e37 | 62 | } |
akudohune | 0:e9b97faa3e37 | 63 | |
akudohune | 0:e9b97faa3e37 | 64 | int vector(double Amp,double degree,int xy) |
akudohune | 0:e9b97faa3e37 | 65 | { |
akudohune | 0:e9b97faa3e37 | 66 | double result; |
akudohune | 0:e9b97faa3e37 | 67 | |
akudohune | 0:e9b97faa3e37 | 68 | if(xy == X){ |
akudohune | 0:e9b97faa3e37 | 69 | result = Amp * cos(degree * PI / 180.0); |
akudohune | 0:e9b97faa3e37 | 70 | }else if(xy == Y){ |
akudohune | 0:e9b97faa3e37 | 71 | result = Amp * sin(degree * PI / 180.0) * (2.0 / sqrt(3.0)); |
akudohune | 0:e9b97faa3e37 | 72 | } |
akudohune | 0:e9b97faa3e37 | 73 | |
akudohune | 0:e9b97faa3e37 | 74 | return (int)result; |
akudohune | 0:e9b97faa3e37 | 75 | } |
akudohune | 0:e9b97faa3e37 | 76 | |
akudohune | 0:e9b97faa3e37 | 77 | /*********** Serial interrupt ***********/ |
akudohune | 0:e9b97faa3e37 | 78 | |
akudohune | 0:e9b97faa3e37 | 79 | void Tx_interrupt() |
akudohune | 0:e9b97faa3e37 | 80 | { |
akudohune | 0:e9b97faa3e37 | 81 | array(speed[0],speed[1],speed[2],speed[3]); |
akudohune | 0:e9b97faa3e37 | 82 | driver.printf("%s",StringFIN.c_str()); |
akudohune | 0:e9b97faa3e37 | 83 | //pc.printf("%s",StringFIN.c_str()); |
akudohune | 0:e9b97faa3e37 | 84 | } |
akudohune | 0:e9b97faa3e37 | 85 | /* |
akudohune | 0:e9b97faa3e37 | 86 | void Rx_interrupt() |
akudohune | 0:e9b97faa3e37 | 87 | { |
akudohune | 0:e9b97faa3e37 | 88 | if(driver.readable()){ |
akudohune | 0:e9b97faa3e37 | 89 | //pc.printf("%d\n",driver.getc()); |
akudohune | 0:e9b97faa3e37 | 90 | } |
akudohune | 0:e9b97faa3e37 | 91 | }*/ |
akudohune | 0:e9b97faa3e37 | 92 | |
akudohune | 0:e9b97faa3e37 | 93 | |
akudohune | 0:e9b97faa3e37 | 94 | /*********** Serial interrupt **********/ |
akudohune | 0:e9b97faa3e37 | 95 | |
akudohune | 0:e9b97faa3e37 | 96 | |
akudohune | 0:e9b97faa3e37 | 97 | void init() |
akudohune | 0:e9b97faa3e37 | 98 | { |
akudohune | 0:e9b97faa3e37 | 99 | int scanfSuccess; |
akudohune | 0:e9b97faa3e37 | 100 | int printfSuccess; |
akudohune | 0:e9b97faa3e37 | 101 | int closeSuccess; |
akudohune | 0:e9b97faa3e37 | 102 | int close2Success; |
akudohune | 0:e9b97faa3e37 | 103 | uint8_t MissFlag = 0; |
akudohune | 0:e9b97faa3e37 | 104 | FILE *fp; |
akudohune | 0:e9b97faa3e37 | 105 | |
akudohune | 0:e9b97faa3e37 | 106 | compass.setOpMode(HMC6352_CONTINUOUS, 1, 20); |
akudohune | 0:e9b97faa3e37 | 107 | |
akudohune | 0:e9b97faa3e37 | 108 | StartButton.mode(PullUp); |
akudohune | 0:e9b97faa3e37 | 109 | CalibEnterButton.mode(PullUp); |
akudohune | 0:e9b97faa3e37 | 110 | CalibExitButton.mode(PullUp); |
akudohune | 0:e9b97faa3e37 | 111 | EEPROMButton.mode(PullUp); |
akudohune | 0:e9b97faa3e37 | 112 | |
akudohune | 0:e9b97faa3e37 | 113 | driver.baud(BAUD_RATE); |
akudohune | 0:e9b97faa3e37 | 114 | device2.baud(BAUD_RATE2); |
akudohune | 0:e9b97faa3e37 | 115 | wait_ms(MOTDRIVER_WAIT); |
akudohune | 0:e9b97faa3e37 | 116 | driver.printf("1F0002F0003F0004F000\r\n"); |
akudohune | 0:e9b97faa3e37 | 117 | device2.printf("START"); |
akudohune | 0:e9b97faa3e37 | 118 | |
akudohune | 0:e9b97faa3e37 | 119 | driver.attach(&Tx_interrupt, Serial::TxIrq); |
akudohune | 0:e9b97faa3e37 | 120 | //driver.attach(&Rx_interrupt, Serial::RxIrq); |
akudohune | 0:e9b97faa3e37 | 121 | device2.attach(&dev_rx,Serial::RxIrq); |
akudohune | 0:e9b97faa3e37 | 122 | device2.attach(&dev_tx,Serial::TxIrq); |
akudohune | 0:e9b97faa3e37 | 123 | |
akudohune | 0:e9b97faa3e37 | 124 | pid.setInputLimits(MINIMUM,MAXIMUM); |
akudohune | 0:e9b97faa3e37 | 125 | pid.setOutputLimits(-OUT_LIMIT, OUT_LIMIT); |
akudohune | 0:e9b97faa3e37 | 126 | pid.setBias(PID_BIAS); |
akudohune | 0:e9b97faa3e37 | 127 | pid.setMode(AUTO_MODE); |
akudohune | 0:e9b97faa3e37 | 128 | pid.setSetPoint(REFERENCE); |
akudohune | 0:e9b97faa3e37 | 129 | |
akudohune | 0:e9b97faa3e37 | 130 | irDistanceUpdata.attach(&IrDistanceUpdate, 0.1); |
akudohune | 0:e9b97faa3e37 | 131 | |
akudohune | 0:e9b97faa3e37 | 132 | Survtimer.start(); |
akudohune | 0:e9b97faa3e37 | 133 | |
akudohune | 0:e9b97faa3e37 | 134 | mbedleds = 1; |
akudohune | 0:e9b97faa3e37 | 135 | |
akudohune | 0:e9b97faa3e37 | 136 | while(StartButton){ |
akudohune | 0:e9b97faa3e37 | 137 | MissFlag = 0; |
akudohune | 0:e9b97faa3e37 | 138 | if(!CalibEnterButton){ |
akudohune | 0:e9b97faa3e37 | 139 | mbedleds = 2; |
akudohune | 0:e9b97faa3e37 | 140 | compass.setCalibrationMode(ENTER); |
akudohune | 0:e9b97faa3e37 | 141 | while(CalibExitButton); |
akudohune | 0:e9b97faa3e37 | 142 | compass.setCalibrationMode(EXIT); |
akudohune | 0:e9b97faa3e37 | 143 | wait(BUT_WAIT); |
akudohune | 0:e9b97faa3e37 | 144 | mbedleds = 4; |
akudohune | 0:e9b97faa3e37 | 145 | } |
akudohune | 0:e9b97faa3e37 | 146 | |
akudohune | 0:e9b97faa3e37 | 147 | if(!EEPROMButton){ |
akudohune | 0:e9b97faa3e37 | 148 | Survtimer.reset(); |
akudohune | 0:e9b97faa3e37 | 149 | fp = fopen("/local/out.txt", "r"); |
akudohune | 0:e9b97faa3e37 | 150 | if(fp == NULL){ |
akudohune | 0:e9b97faa3e37 | 151 | wait(BUT_WAIT); |
akudohune | 0:e9b97faa3e37 | 152 | MissFlag = 1; |
akudohune | 0:e9b97faa3e37 | 153 | }else{ |
akudohune | 0:e9b97faa3e37 | 154 | scanfSuccess = fscanf(fp, "%lf",&standard); |
akudohune | 0:e9b97faa3e37 | 155 | if(scanfSuccess == EOF){ |
akudohune | 0:e9b97faa3e37 | 156 | wait(BUT_WAIT); |
akudohune | 0:e9b97faa3e37 | 157 | MissFlag = 1; |
akudohune | 0:e9b97faa3e37 | 158 | }else{ |
akudohune | 0:e9b97faa3e37 | 159 | closeSuccess = fclose(fp); |
akudohune | 0:e9b97faa3e37 | 160 | if(closeSuccess == EOF){ |
akudohune | 0:e9b97faa3e37 | 161 | wait(BUT_WAIT); |
akudohune | 0:e9b97faa3e37 | 162 | MissFlag = 1; |
akudohune | 0:e9b97faa3e37 | 163 | }else{ |
akudohune | 0:e9b97faa3e37 | 164 | wait(BUT_WAIT); |
akudohune | 0:e9b97faa3e37 | 165 | } |
akudohune | 0:e9b97faa3e37 | 166 | } |
akudohune | 0:e9b97faa3e37 | 167 | } |
akudohune | 0:e9b97faa3e37 | 168 | if((Survtimer.read() > (BUT_WAIT + 0.1)) || (MissFlag)){ |
akudohune | 0:e9b97faa3e37 | 169 | for(uint8_t i = 0;i < 2;i++){ |
akudohune | 0:e9b97faa3e37 | 170 | mbedleds = 15; |
akudohune | 0:e9b97faa3e37 | 171 | wait(0.1); |
akudohune | 0:e9b97faa3e37 | 172 | mbedleds = 0; |
akudohune | 0:e9b97faa3e37 | 173 | wait(0.1); |
akudohune | 0:e9b97faa3e37 | 174 | } |
akudohune | 0:e9b97faa3e37 | 175 | mbedleds = 15; |
akudohune | 0:e9b97faa3e37 | 176 | }else{ |
akudohune | 0:e9b97faa3e37 | 177 | mbedleds = 8; |
akudohune | 0:e9b97faa3e37 | 178 | } |
akudohune | 0:e9b97faa3e37 | 179 | } |
akudohune | 0:e9b97faa3e37 | 180 | |
akudohune | 0:e9b97faa3e37 | 181 | if(!CalibExitButton){ |
akudohune | 0:e9b97faa3e37 | 182 | Survtimer.reset(); |
akudohune | 0:e9b97faa3e37 | 183 | |
akudohune | 0:e9b97faa3e37 | 184 | standard = compass.sample() / 10.0; |
akudohune | 0:e9b97faa3e37 | 185 | |
akudohune | 0:e9b97faa3e37 | 186 | fp = fopen("/local/out.txt", "w"); |
akudohune | 0:e9b97faa3e37 | 187 | if(fp == NULL){ |
akudohune | 0:e9b97faa3e37 | 188 | wait(BUT_WAIT); |
akudohune | 0:e9b97faa3e37 | 189 | MissFlag = 1; |
akudohune | 0:e9b97faa3e37 | 190 | }else{ |
akudohune | 0:e9b97faa3e37 | 191 | printfSuccess = fprintf(fp, "%f",standard); |
akudohune | 0:e9b97faa3e37 | 192 | if(printfSuccess == EOF){ |
akudohune | 0:e9b97faa3e37 | 193 | wait(BUT_WAIT); |
akudohune | 0:e9b97faa3e37 | 194 | MissFlag = 1; |
akudohune | 0:e9b97faa3e37 | 195 | }else{ |
akudohune | 0:e9b97faa3e37 | 196 | close2Success = fclose(fp); |
akudohune | 0:e9b97faa3e37 | 197 | if(close2Success == EOF){ |
akudohune | 0:e9b97faa3e37 | 198 | wait(BUT_WAIT); |
akudohune | 0:e9b97faa3e37 | 199 | MissFlag = 1; |
akudohune | 0:e9b97faa3e37 | 200 | }else{ |
akudohune | 0:e9b97faa3e37 | 201 | wait(BUT_WAIT); |
akudohune | 0:e9b97faa3e37 | 202 | } |
akudohune | 0:e9b97faa3e37 | 203 | } |
akudohune | 0:e9b97faa3e37 | 204 | } |
akudohune | 0:e9b97faa3e37 | 205 | if((Survtimer.read() > (BUT_WAIT + 0.2)) || (MissFlag)){ |
akudohune | 0:e9b97faa3e37 | 206 | for(uint8_t i = 0;i < 4;i++){ |
akudohune | 0:e9b97faa3e37 | 207 | mbedleds = 15; |
akudohune | 0:e9b97faa3e37 | 208 | wait(0.1); |
akudohune | 0:e9b97faa3e37 | 209 | mbedleds = 0; |
akudohune | 0:e9b97faa3e37 | 210 | wait(0.1); |
akudohune | 0:e9b97faa3e37 | 211 | } |
akudohune | 0:e9b97faa3e37 | 212 | mbedleds = 15; |
akudohune | 0:e9b97faa3e37 | 213 | }else{ |
akudohune | 0:e9b97faa3e37 | 214 | mbedleds = 10; |
akudohune | 0:e9b97faa3e37 | 215 | } |
akudohune | 0:e9b97faa3e37 | 216 | } |
akudohune | 0:e9b97faa3e37 | 217 | } |
akudohune | 0:e9b97faa3e37 | 218 | |
akudohune | 0:e9b97faa3e37 | 219 | mbedleds = 0; |
akudohune | 0:e9b97faa3e37 | 220 | |
akudohune | 0:e9b97faa3e37 | 221 | Survtimer.stop(); |
akudohune | 0:e9b97faa3e37 | 222 | |
akudohune | 0:e9b97faa3e37 | 223 | for(uint8_t i = 0;i < 6;i++) |
akudohune | 0:e9b97faa3e37 | 224 | { |
akudohune | 0:e9b97faa3e37 | 225 | stand[i] = irDistance[i]; |
akudohune | 0:e9b97faa3e37 | 226 | } |
akudohune | 0:e9b97faa3e37 | 227 | irDistanceUpdata.detach(); |
akudohune | 0:e9b97faa3e37 | 228 | |
akudohune | 0:e9b97faa3e37 | 229 | pidUpdata.attach(&PidUpdate, PID_CYCLE); |
akudohune | 0:e9b97faa3e37 | 230 | //irDistanceUpdata.attach(&IrDistanceUpdate, 0.1); |
akudohune | 0:e9b97faa3e37 | 231 | //timer1.start(); |
akudohune | 0:e9b97faa3e37 | 232 | } |
akudohune | 0:e9b97faa3e37 | 233 | |
akudohune | 0:e9b97faa3e37 | 234 | int main() |
akudohune | 0:e9b97faa3e37 | 235 | { |
akudohune | 0:e9b97faa3e37 | 236 | int vx=0,vy=0,vs=0; |
akudohune | 0:e9b97faa3e37 | 237 | uint8_t whiteFlag = 0; |
akudohune | 0:e9b97faa3e37 | 238 | |
akudohune | 0:e9b97faa3e37 | 239 | init(); |
akudohune | 0:e9b97faa3e37 | 240 | |
akudohune | 0:e9b97faa3e37 | 241 | while(1){ |
akudohune | 0:e9b97faa3e37 | 242 | whiteFlag = 0; |
akudohune | 0:e9b97faa3e37 | 243 | hold_flag = 0; |
akudohune | 0:e9b97faa3e37 | 244 | vx = 0; |
akudohune | 0:e9b97faa3e37 | 245 | vy = 0; |
akudohune | 0:e9b97faa3e37 | 246 | vs = (int)compassPID; |
akudohune | 0:e9b97faa3e37 | 247 | //vs = 0; |
akudohune | 0:e9b97faa3e37 | 248 | |
akudohune | 0:e9b97faa3e37 | 249 | //move(vx,vy,vs); |
akudohune | 0:e9b97faa3e37 | 250 | |
akudohune | 0:e9b97faa3e37 | 251 | /********************************************************************************************************* |
akudohune | 0:e9b97faa3e37 | 252 | ********************************************************************************************************** |
akudohune | 0:e9b97faa3e37 | 253 | ********************Change state ************************************************************************* |
akudohune | 0:e9b97faa3e37 | 254 | ********************************************************************************************************** |
akudohune | 0:e9b97faa3e37 | 255 | *********************************************************************************************************/ |
akudohune | 0:e9b97faa3e37 | 256 | for(uint8_t i = 0;i < 6;i++) |
akudohune | 0:e9b97faa3e37 | 257 | { |
akudohune | 0:e9b97faa3e37 | 258 | AnalogIn adcIn(adc_num[i]); /* 今回更新する赤外線の個体を呼び出す */ |
akudohune | 0:e9b97faa3e37 | 259 | irDistance[i] = ((adcIn.read_u16() >> 4) - stand[i]); |
akudohune | 0:e9b97faa3e37 | 260 | if(irDistance[i] >= 100) |
akudohune | 0:e9b97faa3e37 | 261 | { |
akudohune | 0:e9b97faa3e37 | 262 | whiteFlag = 1; |
akudohune | 0:e9b97faa3e37 | 263 | } |
akudohune | 0:e9b97faa3e37 | 264 | //pc.printf("%d\n",irDistance[0]); |
akudohune | 0:e9b97faa3e37 | 265 | } |
akudohune | 0:e9b97faa3e37 | 266 | |
akudohune | 0:e9b97faa3e37 | 267 | if(lineState == NORMAL){ |
akudohune | 0:e9b97faa3e37 | 268 | if((LEFT_SONIC < 350) && (whiteFlag)){ |
akudohune | 0:e9b97faa3e37 | 269 | lineState = LEFT_OUT; |
akudohune | 0:e9b97faa3e37 | 270 | }else if((RIGHT_SONIC < 350) && (whiteFlag)){ |
akudohune | 0:e9b97faa3e37 | 271 | lineState = RIGHT_OUT; |
akudohune | 0:e9b97faa3e37 | 272 | }else if((FRONT_SONIC < 400) && (whiteFlag)){ |
akudohune | 0:e9b97faa3e37 | 273 | lineState = FRONT_OUT; |
akudohune | 0:e9b97faa3e37 | 274 | }else if((BACK_SONIC < 400) && (whiteFlag)){ |
akudohune | 0:e9b97faa3e37 | 275 | lineState = BACK_OUT; |
akudohune | 0:e9b97faa3e37 | 276 | } |
akudohune | 0:e9b97faa3e37 | 277 | }else if(lineState == LEFT_OUT){ |
akudohune | 0:e9b97faa3e37 | 278 | if((LEFT_SONIC > 450) && (!whiteFlag)){ |
akudohune | 0:e9b97faa3e37 | 279 | lineState = NORMAL; |
akudohune | 0:e9b97faa3e37 | 280 | } |
akudohune | 0:e9b97faa3e37 | 281 | }else if(lineState == RIGHT_OUT){ |
akudohune | 0:e9b97faa3e37 | 282 | if((RIGHT_SONIC > 450) && (!whiteFlag)){ |
akudohune | 0:e9b97faa3e37 | 283 | lineState = NORMAL; |
akudohune | 0:e9b97faa3e37 | 284 | } |
akudohune | 0:e9b97faa3e37 | 285 | }else if(lineState == FRONT_OUT){ |
akudohune | 0:e9b97faa3e37 | 286 | if((FRONT_SONIC > 500) && (!whiteFlag)){ |
akudohune | 0:e9b97faa3e37 | 287 | lineState = NORMAL; |
akudohune | 0:e9b97faa3e37 | 288 | } |
akudohune | 0:e9b97faa3e37 | 289 | }else if(lineState == BACK_OUT){ |
akudohune | 0:e9b97faa3e37 | 290 | if((BACK_SONIC > 500) && (!whiteFlag)){ |
akudohune | 0:e9b97faa3e37 | 291 | lineState = NORMAL; |
akudohune | 0:e9b97faa3e37 | 292 | } |
akudohune | 0:e9b97faa3e37 | 293 | } |
akudohune | 0:e9b97faa3e37 | 294 | |
akudohune | 0:e9b97faa3e37 | 295 | |
akudohune | 0:e9b97faa3e37 | 296 | if(state == HOLD){ |
akudohune | 0:e9b97faa3e37 | 297 | if(FRONT_SONIC < 100)hold_flag = 1; |
akudohune | 0:e9b97faa3e37 | 298 | |
akudohune | 0:e9b97faa3e37 | 299 | if(Distance > 140){ //審判のボール持ち上げ判定 |
akudohune | 0:e9b97faa3e37 | 300 | state = HOME_WAIT; |
akudohune | 0:e9b97faa3e37 | 301 | }else if(!((direction == 0) || (direction == 15) || (direction == 1) || (direction == 14) || (direction == 2))){//ボールを見失った |
akudohune | 0:e9b97faa3e37 | 302 | state = DIFFENCE; |
akudohune | 0:e9b97faa3e37 | 303 | }else if(!(Distance <= 40)){//ボールを見失った |
akudohune | 0:e9b97faa3e37 | 304 | state = DIFFENCE; |
akudohune | 0:e9b97faa3e37 | 305 | } |
akudohune | 0:e9b97faa3e37 | 306 | }else{ |
akudohune | 0:e9b97faa3e37 | 307 | standTu = 0; |
akudohune | 0:e9b97faa3e37 | 308 | if(state == DIFFENCE){ |
akudohune | 0:e9b97faa3e37 | 309 | if((direction == 0) && (Distance <= 30) && (IR_found) && (!xbee)){ |
akudohune | 0:e9b97faa3e37 | 310 | state = HOLD; |
akudohune | 0:e9b97faa3e37 | 311 | }else if((Distance < 180) && (IR_found) && (!xbee)){ |
akudohune | 0:e9b97faa3e37 | 312 | state = DIFFENCE; |
akudohune | 0:e9b97faa3e37 | 313 | }else{ |
akudohune | 0:e9b97faa3e37 | 314 | if((direction == 4) || (direction == 6) || (direction == 8) || (direction == 10)|| (direction == 12)){ |
akudohune | 0:e9b97faa3e37 | 315 | if((IR_found) && (!xbee)){ |
akudohune | 0:e9b97faa3e37 | 316 | state = DIFFENCE; |
akudohune | 0:e9b97faa3e37 | 317 | } |
akudohune | 0:e9b97faa3e37 | 318 | }else if((diff > 15) && (!xbee) && (IR_found)){ |
akudohune | 0:e9b97faa3e37 | 319 | state = DIFFENCE; |
akudohune | 0:e9b97faa3e37 | 320 | }else{ |
akudohune | 0:e9b97faa3e37 | 321 | state = HOME_WAIT; |
akudohune | 0:e9b97faa3e37 | 322 | } |
akudohune | 0:e9b97faa3e37 | 323 | } |
akudohune | 0:e9b97faa3e37 | 324 | |
akudohune | 0:e9b97faa3e37 | 325 | }else{ |
akudohune | 0:e9b97faa3e37 | 326 | if((direction == 0) && (Distance <= 30) && (IR_found) && (!xbee)){ |
akudohune | 0:e9b97faa3e37 | 327 | state = HOLD; |
akudohune | 0:e9b97faa3e37 | 328 | }else if((Distance <= 150) && (IR_found) && (!xbee)){ |
akudohune | 0:e9b97faa3e37 | 329 | state = DIFFENCE; |
akudohune | 0:e9b97faa3e37 | 330 | }else{ |
akudohune | 0:e9b97faa3e37 | 331 | if((direction == 4) || (direction == 6) || (direction == 8) || (direction == 10)|| (direction == 12)){ |
akudohune | 0:e9b97faa3e37 | 332 | if((IR_found) && (!xbee)){ |
akudohune | 0:e9b97faa3e37 | 333 | state = DIFFENCE; |
akudohune | 0:e9b97faa3e37 | 334 | } |
akudohune | 0:e9b97faa3e37 | 335 | }else if((diff > 15) && (!xbee) && (IR_found)){ |
akudohune | 0:e9b97faa3e37 | 336 | state = DIFFENCE; |
akudohune | 0:e9b97faa3e37 | 337 | }else{ |
akudohune | 0:e9b97faa3e37 | 338 | state = HOME_WAIT; |
akudohune | 0:e9b97faa3e37 | 339 | } |
akudohune | 0:e9b97faa3e37 | 340 | } |
akudohune | 0:e9b97faa3e37 | 341 | } |
akudohune | 0:e9b97faa3e37 | 342 | } |
akudohune | 0:e9b97faa3e37 | 343 | /**/ |
akudohune | 0:e9b97faa3e37 | 344 | /********************************************************************************************************* |
akudohune | 0:e9b97faa3e37 | 345 | ********************************************************************************************************** |
akudohune | 0:e9b97faa3e37 | 346 | ********************Change state ************************************************************************* |
akudohune | 0:e9b97faa3e37 | 347 | ********************************************************************************************************** |
akudohune | 0:e9b97faa3e37 | 348 | *********************************************************************************************************/ |
akudohune | 0:e9b97faa3e37 | 349 | |
akudohune | 0:e9b97faa3e37 | 350 | //state = HOME_WAIT; |
akudohune | 0:e9b97faa3e37 | 351 | if(state == HOME_WAIT){ |
akudohune | 0:e9b97faa3e37 | 352 | mbedleds = 0; |
akudohune | 0:e9b97faa3e37 | 353 | /* |
akudohune | 0:e9b97faa3e37 | 354 | if(((RIGHT_SONIC + LEFT_SONIC) < 1650.0) && ((RIGHT_SONIC + LEFT_SONIC) > 1200.0)){ |
akudohune | 0:e9b97faa3e37 | 355 | if((LEFT_SONIC > 600.0) && (RIGHT_SONIC > 600.0)){ |
akudohune | 0:e9b97faa3e37 | 356 | vx = 0; |
akudohune | 0:e9b97faa3e37 | 357 | }else if(RIGHT_SONIC < 600.0){ |
akudohune | 0:e9b97faa3e37 | 358 | vx = (int)((RIGHT_SONIC - 600.0) * 0.05 - 5.0); |
akudohune | 0:e9b97faa3e37 | 359 | if(vx < -30)vx = -30; |
akudohune | 0:e9b97faa3e37 | 360 | }else if(LEFT_SONIC < 600.0){ |
akudohune | 0:e9b97faa3e37 | 361 | vx = (int)((600.0 - LEFT_SONIC ) * 0.05 + 5.0); |
akudohune | 0:e9b97faa3e37 | 362 | if(vx > 30)vx = 30; |
akudohune | 0:e9b97faa3e37 | 363 | } |
akudohune | 0:e9b97faa3e37 | 364 | if((BACK_SONIC > 95.0) && (BACK_SONIC < 125.0)){ |
akudohune | 0:e9b97faa3e37 | 365 | vy = 0; |
akudohune | 0:e9b97faa3e37 | 366 | }else if((BACK_SONIC <= 95.0) || (BACK_SONIC == PING_ERROR)){ |
akudohune | 0:e9b97faa3e37 | 367 | vy = 5; |
akudohune | 0:e9b97faa3e37 | 368 | }else{ |
akudohune | 0:e9b97faa3e37 | 369 | vy = (int)(0.04 * (110.0 - BACK_SONIC) - 5.0); |
akudohune | 0:e9b97faa3e37 | 370 | if(vy < -40)vy = -40; |
akudohune | 0:e9b97faa3e37 | 371 | } |
akudohune | 0:e9b97faa3e37 | 372 | }else if((RIGHT_SONIC + LEFT_SONIC) <= 1200.0){ |
akudohune | 0:e9b97faa3e37 | 373 | if(BACK_SONIC < 200.0){ |
akudohune | 0:e9b97faa3e37 | 374 | if(RIGHT_SONIC > LEFT_SONIC){ |
akudohune | 0:e9b97faa3e37 | 375 | vx = 15; |
akudohune | 0:e9b97faa3e37 | 376 | vy = 15; |
akudohune | 0:e9b97faa3e37 | 377 | }else{ |
akudohune | 0:e9b97faa3e37 | 378 | vx = -15; |
akudohune | 0:e9b97faa3e37 | 379 | vy = 15; |
akudohune | 0:e9b97faa3e37 | 380 | } |
akudohune | 0:e9b97faa3e37 | 381 | }else{ |
akudohune | 0:e9b97faa3e37 | 382 | vx = 0; |
akudohune | 0:e9b97faa3e37 | 383 | vy = -30; |
akudohune | 0:e9b97faa3e37 | 384 | } |
akudohune | 0:e9b97faa3e37 | 385 | }else{ |
akudohune | 0:e9b97faa3e37 | 386 | if(BACK_SONIC > 500.0){ |
akudohune | 0:e9b97faa3e37 | 387 | if(RIGHT_SONIC > LEFT_SONIC){ |
akudohune | 0:e9b97faa3e37 | 388 | vx = 10; |
akudohune | 0:e9b97faa3e37 | 389 | vy = -20; |
akudohune | 0:e9b97faa3e37 | 390 | }else{ |
akudohune | 0:e9b97faa3e37 | 391 | vx = -10; |
akudohune | 0:e9b97faa3e37 | 392 | vy = -20; |
akudohune | 0:e9b97faa3e37 | 393 | } |
akudohune | 0:e9b97faa3e37 | 394 | } |
akudohune | 0:e9b97faa3e37 | 395 | } |
akudohune | 0:e9b97faa3e37 | 396 | */ |
akudohune | 0:e9b97faa3e37 | 397 | }else if(state == DIFFENCE){ |
akudohune | 0:e9b97faa3e37 | 398 | mbedleds = 1; |
akudohune | 0:e9b97faa3e37 | 399 | if((direction == 6) || (direction == 4)){ |
akudohune | 0:e9b97faa3e37 | 400 | vx = 10; |
akudohune | 0:e9b97faa3e37 | 401 | vy = -30; |
akudohune | 0:e9b97faa3e37 | 402 | /* |
akudohune | 0:e9b97faa3e37 | 403 | if(LEFT_SONIC < 330.0){ |
akudohune | 0:e9b97faa3e37 | 404 | if((BACK_SONIC > 15.0) && (BACK_SONIC < 45.0)){ |
akudohune | 0:e9b97faa3e37 | 405 | vy = 0; |
akudohune | 0:e9b97faa3e37 | 406 | }else if((BACK_SONIC <= 15.0) || (BACK_SONIC == PING_ERROR)){ |
akudohune | 0:e9b97faa3e37 | 407 | vy = 5; |
akudohune | 0:e9b97faa3e37 | 408 | }else{ |
akudohune | 0:e9b97faa3e37 | 409 | vy = (int)(0.015 * (30.0 - BACK_SONIC) - 4); |
akudohune | 0:e9b97faa3e37 | 410 | if(vy < -10)vy = -10; |
akudohune | 0:e9b97faa3e37 | 411 | } |
akudohune | 0:e9b97faa3e37 | 412 | }else if(RIGHT_SONIC < 330.0){ |
akudohune | 0:e9b97faa3e37 | 413 | vx = 10; |
akudohune | 0:e9b97faa3e37 | 414 | vy = -10; |
akudohune | 0:e9b97faa3e37 | 415 | }else{ |
akudohune | 0:e9b97faa3e37 | 416 | if((BACK_SONIC > 95.0) && (BACK_SONIC < 125.0)){ |
akudohune | 0:e9b97faa3e37 | 417 | vy = 0; |
akudohune | 0:e9b97faa3e37 | 418 | }else if((BACK_SONIC <= 95.0) || (BACK_SONIC == PING_ERROR)){ |
akudohune | 0:e9b97faa3e37 | 419 | vy = 5; |
akudohune | 0:e9b97faa3e37 | 420 | }else{ |
akudohune | 0:e9b97faa3e37 | 421 | vy = (int)(0.015 * (110.0 - BACK_SONIC) - 4); |
akudohune | 0:e9b97faa3e37 | 422 | if(vy < -10)vy = -10; |
akudohune | 0:e9b97faa3e37 | 423 | } |
akudohune | 0:e9b97faa3e37 | 424 | } |
akudohune | 0:e9b97faa3e37 | 425 | */ |
akudohune | 0:e9b97faa3e37 | 426 | }else if((direction == 10) || (direction == 12)){ |
akudohune | 0:e9b97faa3e37 | 427 | vx = -10; |
akudohune | 0:e9b97faa3e37 | 428 | vy = -30; |
akudohune | 0:e9b97faa3e37 | 429 | /* |
akudohune | 0:e9b97faa3e37 | 430 | if(RIGHT_SONIC < 330.0){ |
akudohune | 0:e9b97faa3e37 | 431 | if((BACK_SONIC > 15.0) && (BACK_SONIC < 45.0)){ |
akudohune | 0:e9b97faa3e37 | 432 | vy = 0; |
akudohune | 0:e9b97faa3e37 | 433 | }else if((BACK_SONIC <= 15.0) || (BACK_SONIC == PING_ERROR)){ |
akudohune | 0:e9b97faa3e37 | 434 | vy = 5; |
akudohune | 0:e9b97faa3e37 | 435 | }else{ |
akudohune | 0:e9b97faa3e37 | 436 | vy = (int)(0.015 * (30.0 - BACK_SONIC) - 4); |
akudohune | 0:e9b97faa3e37 | 437 | if(vy < -10)vy = -10; |
akudohune | 0:e9b97faa3e37 | 438 | } |
akudohune | 0:e9b97faa3e37 | 439 | }else if(LEFT_SONIC < 330.0){ |
akudohune | 0:e9b97faa3e37 | 440 | vx = -10; |
akudohune | 0:e9b97faa3e37 | 441 | vy = -10; |
akudohune | 0:e9b97faa3e37 | 442 | }else{ |
akudohune | 0:e9b97faa3e37 | 443 | if((BACK_SONIC > 95.0) && (BACK_SONIC < 125.0)){ |
akudohune | 0:e9b97faa3e37 | 444 | vy = 0; |
akudohune | 0:e9b97faa3e37 | 445 | }else if((BACK_SONIC <= 95.0) || (BACK_SONIC == PING_ERROR)){ |
akudohune | 0:e9b97faa3e37 | 446 | vy = 5; |
akudohune | 0:e9b97faa3e37 | 447 | }else{ |
akudohune | 0:e9b97faa3e37 | 448 | vy = (int)(0.015 * (110.0 - BACK_SONIC) - 4); |
akudohune | 0:e9b97faa3e37 | 449 | if(vy < -10)vy = -10; |
akudohune | 0:e9b97faa3e37 | 450 | } |
akudohune | 0:e9b97faa3e37 | 451 | } |
akudohune | 0:e9b97faa3e37 | 452 | */ |
akudohune | 0:e9b97faa3e37 | 453 | }else if(direction == 8){ |
akudohune | 0:e9b97faa3e37 | 454 | |
akudohune | 0:e9b97faa3e37 | 455 | if(LEFT_SONIC > RIGHT_SONIC){ |
akudohune | 0:e9b97faa3e37 | 456 | vx = -10; |
akudohune | 0:e9b97faa3e37 | 457 | }else{ |
akudohune | 0:e9b97faa3e37 | 458 | vx = 10; |
akudohune | 0:e9b97faa3e37 | 459 | } |
akudohune | 0:e9b97faa3e37 | 460 | vy = -40; |
akudohune | 0:e9b97faa3e37 | 461 | /* |
akudohune | 0:e9b97faa3e37 | 462 | if((RIGHT_SONIC < 330.0) || (LEFT_SONIC < 330.0)){ |
akudohune | 0:e9b97faa3e37 | 463 | if(BACK_SONIC < 45.0){ |
akudohune | 0:e9b97faa3e37 | 464 | vy = -5; |
akudohune | 0:e9b97faa3e37 | 465 | }else{ |
akudohune | 0:e9b97faa3e37 | 466 | vy = (int)(0.015 * (30.0 - BACK_SONIC) - 4); |
akudohune | 0:e9b97faa3e37 | 467 | if(vy < -10)vy = -10; |
akudohune | 0:e9b97faa3e37 | 468 | } |
akudohune | 0:e9b97faa3e37 | 469 | }else{ |
akudohune | 0:e9b97faa3e37 | 470 | if(BACK_SONIC < 125.0){ |
akudohune | 0:e9b97faa3e37 | 471 | vy = -5; |
akudohune | 0:e9b97faa3e37 | 472 | }else{ |
akudohune | 0:e9b97faa3e37 | 473 | vy = (int)(0.015 * (110.0 - BACK_SONIC) - 4); |
akudohune | 0:e9b97faa3e37 | 474 | if(vy < -10)vy = -10; |
akudohune | 0:e9b97faa3e37 | 475 | } |
akudohune | 0:e9b97faa3e37 | 476 | } |
akudohune | 0:e9b97faa3e37 | 477 | */ |
akudohune | 0:e9b97faa3e37 | 478 | }else if(direction == 2){ |
akudohune | 0:e9b97faa3e37 | 479 | |
akudohune | 0:e9b97faa3e37 | 480 | vx = 10; |
akudohune | 0:e9b97faa3e37 | 481 | vy = 5; //0 |
akudohune | 0:e9b97faa3e37 | 482 | |
akudohune | 0:e9b97faa3e37 | 483 | }else if(direction == 14){ |
akudohune | 0:e9b97faa3e37 | 484 | |
akudohune | 0:e9b97faa3e37 | 485 | vx = -10; |
akudohune | 0:e9b97faa3e37 | 486 | vy = 5; //-4 |
akudohune | 0:e9b97faa3e37 | 487 | |
akudohune | 0:e9b97faa3e37 | 488 | }else if(direction == 1){ |
akudohune | 0:e9b97faa3e37 | 489 | |
akudohune | 0:e9b97faa3e37 | 490 | |
akudohune | 0:e9b97faa3e37 | 491 | vx = 5; |
akudohune | 0:e9b97faa3e37 | 492 | vy = 5; //0 |
akudohune | 0:e9b97faa3e37 | 493 | |
akudohune | 0:e9b97faa3e37 | 494 | |
akudohune | 0:e9b97faa3e37 | 495 | }else if(direction == 15){ |
akudohune | 0:e9b97faa3e37 | 496 | |
akudohune | 0:e9b97faa3e37 | 497 | vx = -5; |
akudohune | 0:e9b97faa3e37 | 498 | vy = 5; //-3 |
akudohune | 0:e9b97faa3e37 | 499 | |
akudohune | 0:e9b97faa3e37 | 500 | }else if(direction == 0){ |
akudohune | 0:e9b97faa3e37 | 501 | |
akudohune | 0:e9b97faa3e37 | 502 | vx = 0; |
akudohune | 0:e9b97faa3e37 | 503 | vy = 30; |
akudohune | 0:e9b97faa3e37 | 504 | |
akudohune | 0:e9b97faa3e37 | 505 | }else{//error |
akudohune | 0:e9b97faa3e37 | 506 | |
akudohune | 0:e9b97faa3e37 | 507 | vx = 0; |
akudohune | 0:e9b97faa3e37 | 508 | vy = 0; |
akudohune | 0:e9b97faa3e37 | 509 | |
akudohune | 0:e9b97faa3e37 | 510 | } |
akudohune | 0:e9b97faa3e37 | 511 | }else if(state == HOLD){ |
akudohune | 0:e9b97faa3e37 | 512 | mbedleds = 15; |
akudohune | 0:e9b97faa3e37 | 513 | vx = 0; |
akudohune | 0:e9b97faa3e37 | 514 | vy = 40; |
akudohune | 0:e9b97faa3e37 | 515 | /* |
akudohune | 0:e9b97faa3e37 | 516 | if((FRONT_SONIC < 100) && (BACK_SONIC > 1300)){ |
akudohune | 0:e9b97faa3e37 | 517 | if(RIGHT_SONIC < LEFT_SONIC){ |
akudohune | 0:e9b97faa3e37 | 518 | vy = 0; |
akudohune | 0:e9b97faa3e37 | 519 | vx = 0; |
akudohune | 0:e9b97faa3e37 | 520 | vs = 3; |
akudohune | 0:e9b97faa3e37 | 521 | }else{ |
akudohune | 0:e9b97faa3e37 | 522 | vy = 0; |
akudohune | 0:e9b97faa3e37 | 523 | vx = 0; |
akudohune | 0:e9b97faa3e37 | 524 | vs = -3; |
akudohune | 0:e9b97faa3e37 | 525 | } |
akudohune | 0:e9b97faa3e37 | 526 | }else{ |
akudohune | 0:e9b97faa3e37 | 527 | if(((RIGHT_SONIC + LEFT_SONIC) < 1100.0) && ((RIGHT_SONIC + LEFT_SONIC) > 800.0)){ |
akudohune | 0:e9b97faa3e37 | 528 | standTu = (RIGHT_SONIC - LEFT_SONIC) / 25.0; |
akudohune | 0:e9b97faa3e37 | 529 | } |
akudohune | 0:e9b97faa3e37 | 530 | } |
akudohune | 0:e9b97faa3e37 | 531 | */ |
akudohune | 0:e9b97faa3e37 | 532 | } |
akudohune | 0:e9b97faa3e37 | 533 | |
akudohune | 0:e9b97faa3e37 | 534 | if(lineState == NORMAL){ |
akudohune | 0:e9b97faa3e37 | 535 | //mbedleds = 1; |
akudohune | 0:e9b97faa3e37 | 536 | |
akudohune | 0:e9b97faa3e37 | 537 | }else if(lineState == LEFT_OUT){ |
akudohune | 0:e9b97faa3e37 | 538 | //mbedleds = 2; |
akudohune | 0:e9b97faa3e37 | 539 | |
akudohune | 0:e9b97faa3e37 | 540 | vx = 40; |
akudohune | 0:e9b97faa3e37 | 541 | }else if(lineState == RIGHT_OUT){ |
akudohune | 0:e9b97faa3e37 | 542 | //mbedleds = 4; |
akudohune | 0:e9b97faa3e37 | 543 | |
akudohune | 0:e9b97faa3e37 | 544 | vx = -40; |
akudohune | 0:e9b97faa3e37 | 545 | }else if(lineState == FRONT_OUT){ |
akudohune | 0:e9b97faa3e37 | 546 | //mbedleds = 8; |
akudohune | 0:e9b97faa3e37 | 547 | |
akudohune | 0:e9b97faa3e37 | 548 | vy = -40; |
akudohune | 0:e9b97faa3e37 | 549 | }else if(lineState == BACK_OUT){ |
akudohune | 0:e9b97faa3e37 | 550 | //mbedleds = 12; |
akudohune | 0:e9b97faa3e37 | 551 | |
akudohune | 0:e9b97faa3e37 | 552 | vy = 40; |
akudohune | 0:e9b97faa3e37 | 553 | } |
akudohune | 0:e9b97faa3e37 | 554 | //vx = vector(10,45,X); |
akudohune | 0:e9b97faa3e37 | 555 | //vy = vector(10,45,Y); |
akudohune | 0:e9b97faa3e37 | 556 | //vx = 40; |
akudohune | 0:e9b97faa3e37 | 557 | //vy = 0; |
akudohune | 0:e9b97faa3e37 | 558 | //pc.printf("%d\t%d\n",vx,vy); |
akudohune | 0:e9b97faa3e37 | 559 | |
akudohune | 0:e9b97faa3e37 | 560 | //vy = -50; |
akudohune | 0:e9b97faa3e37 | 561 | //vx = 10; |
akudohune | 0:e9b97faa3e37 | 562 | |
akudohune | 0:e9b97faa3e37 | 563 | move(vx,vy,vs); |
akudohune | 0:e9b97faa3e37 | 564 | } |
akudohune | 0:e9b97faa3e37 | 565 | } |