yuya horie / Mbed 2 deprecated Roots

RobocupSSLのメイン基板白mbedのプログラム

Dependencies:   mbed

Rootsロボット mainプログラム

~ Robocup SSL（小型車輪リーグ）ロボット ~

Robocup SSLとは

●試合構成
Robocup小型ロボットリーグ（Small Size League)は，直径180[mm]，高さ150[mm]以内のサイズのロボット6台が1チームとなり，オレンジ色のゴルフボールを使ってサッカー競技を行う自立型ロボットコンテストである. フィールドの上には2台のWebカメラが設置され，フィールド上のロボットとボールを撮影する．Visionサーバは，フィールドの画像データよりロボットとボールの座標データを算出し，LANを用い各チームのAI用PCに送信する．Webカメラの撮影速度は，60[fps]である．レフリーボックスは，ファウルやフリーキック，スローインなどの審判の判定を入力し，LANを通じて各チームのAI用PCに送信する.それぞれのチームのAI用PCは，ロボットとボールの座標，審判の判定を元にロボットの移動，キックなどの作戦を決定し，無線によってロボットに指令を送信する． 700

ロボット機能紹介

●オムニホイールによる方向転換不要の全方位移動

オムニホイールは，自由に回転可能なローラをホイールの外周上に配置した車輪である．ローラの回転により，車輪の回転と垂直の方向に駆動力を発することはできないが移動は可能となる．各車輪の角速度を調整することによって全方向への移動を可能にする．
400

●ドリブルバーのバックスピンによるボール保持

●電磁力を利用したキッカー

●キッカーの電磁力エネルギーを充電する充電回路

●ロボット情報が一目でわかるLCD

mode/normal_routine/normal_routine.cpp@23:0bb032ef1880, 2018-04-28 (annotated)

Committer:
alt0710
Date:
Sat Apr 28 07:18:22 2018 +0000
Revision:
23:0bb032ef1880
Parent:
18:8db19ccf7e02
Child:
24:37a074e767c8
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Who changed what in which revision?

UserRevisionLine numberNew contents of line
alt0710 6:21b3fbe57b88 1
alt0710 6:21b3fbe57b88 2 #include "mbed.h"
alt0710 6:21b3fbe57b88 3 #include "comm.h"
alt0710 6:21b3fbe57b88 4 #include "mode.h"
alt0710 6:21b3fbe57b88 5 #include "interface_manager.h"
alt0710 6:21b3fbe57b88 6 #include "status_manager.h"
alt0710 6:21b3fbe57b88 7 #include "parameter_manager.h"
alt0710 6:21b3fbe57b88 8 #include "normal_routine.h"
alt0710 6:21b3fbe57b88 9
alt0710 6:21b3fbe57b88 10 /* **mbedクラス** */
alt0710 6:21b3fbe57b88 11 #ifdef LPC4088
alt0710 6:21b3fbe57b88 12
alt0710 6:21b3fbe57b88 13 #elif STM32
alt0710 6:21b3fbe57b88 14
alt0710 6:21b3fbe57b88 15 #endif
alt0710 6:21b3fbe57b88 16
alt0710 6:21b3fbe57b88 17 /* **ローカル関数定義** */
alt0710 6:21b3fbe57b88 18
alt0710 6:21b3fbe57b88 19 /* **ローカル関数** */
alt0710 6:21b3fbe57b88 20
alt0710 6:21b3fbe57b88 21 /* **グルーバル関数** */
alt0710 6:21b3fbe57b88 22
alt0710 6:21b3fbe57b88 23 /* **クラス** */
alt0710 6:21b3fbe57b88 24 class InterfaceManager;
alt0710 7:1f1bdb4e4f33 25 class StatusManager;
alt0710 7:1f1bdb4e4f33 26 class ParameterManager;
alt0710 7:1f1bdb4e4f33 27
alt0710 23:0bb032ef1880 28
alt0710 23:0bb032ef1880 29
alt0710 6:21b3fbe57b88 30 //メンバ変数の初期化は、定義順（Ｗａｒｎｉｎｇになる）
alt0710 6:21b3fbe57b88 31 NormalRoutine::NormalRoutine()
alt0710 23:0bb032ef1880 32 {
alt0710 23:0bb032ef1880 33 failsafe.init();
alt0710 6:21b3fbe57b88 34 }
alt0710 6:21b3fbe57b88 35
alt0710 6:21b3fbe57b88 36 void NormalRoutine::run(void)
alt0710 6:21b3fbe57b88 37 {
alt0710 7:1f1bdb4e4f33 38 packet.splitPacket();
alt0710 7:1f1bdb4e4f33 39
alt0710 7:1f1bdb4e4f33 40 //Kick
alt0710 7:1f1bdb4e4f33 41 kicker.setCharge(ParameterManager::machine_data.charge_flag);
alt0710 7:1f1bdb4e4f33 42 kicker.setKick(ParameterManager::machine_data.kick_flag,ParameterManager::machine_data.kick_type,ParameterManager::machine_data.kickers_power);
alt0710 10:9cd22f673968 43 kicker.forceFireKick();
alt0710 7:1f1bdb4e4f33 44
alt0710 7:1f1bdb4e4f33 45 //Wheel
alt0710 15:2bf8eafacef8 46 wheel.setVelocity(ParameterManager::machine_data.v_mm_per_sec,ParameterManager::machine_data.angle_degree,ParameterManager::machine_data.vw_mrad_per_sec);
alt0710 15:2bf8eafacef8 47 //wheel.setVelocity(5000,0,0);
alt0710 14:f6cc949a8046 48
alt0710 11:7f5259ad738c 49 //Drible
alt0710 14:f6cc949a8046 50 dribble.setdribble(ParameterManager::machine_data.dribble_flag, ParameterManager::machine_data.dribbler_power);
alt0710 18:8db19ccf7e02 51 //dribble.setdribble(1, 3);
alt0710 7:1f1bdb4e4f33 52
alt0710 23:0bb032ef1880 53 StatusManager::supply_voltage = InterfaceManager::batVoltage.read();
alt0710 23:0bb032ef1880 54 StatusManager::supply_voltage *= 3.3 * 5.977;
alt0710 23:0bb032ef1880 55
alt0710 23:0bb032ef1880 56
alt0710 23:0bb032ef1880 57
alt0710 23:0bb032ef1880 58 //sprintf(str,"DC:%f",StatusManager::dribbleMotor_current);
alt0710 7:1f1bdb4e4f33 59 createLcdData();
alt0710 6:21b3fbe57b88 60 InterfaceManager::i2c.setLCDMsg(str,sizeof(str));
alt0710 6:21b3fbe57b88 61
alt0710 6:21b3fbe57b88 62 }
alt0710 6:21b3fbe57b88 63
alt0710 7:1f1bdb4e4f33 64 void NormalRoutine::createLcdData(void)
alt0710 7:1f1bdb4e4f33 65 {
alt0710 7:1f1bdb4e4f33 66
alt0710 7:1f1bdb4e4f33 67 /*
alt0710 7:1f1bdb4e4f33 68
alt0710 7:1f1bdb4e4f33 69 * 0 : 正常終了
alt0710 7:1f1bdb4e4f33 70
alt0710 7:1f1bdb4e4f33 71 * -1 : タイムアウト
alt0710 7:1f1bdb4e4f33 72
alt0710 7:1f1bdb4e4f33 73 * -2 : オーバーランエラー
alt0710 7:1f1bdb4e4f33 74
alt0710 7:1f1bdb4e4f33 75 * -3 : フレーミングエラー
alt0710 7:1f1bdb4e4f33 76
alt0710 7:1f1bdb4e4f33 77 * 1 : 受信中
alt0710 7:1f1bdb4e4f33 78
alt0710 7:1f1bdb4e4f33 79 * 2 : フレームリーダー1まで受信
alt0710 7:1f1bdb4e4f33 80
alt0710 7:1f1bdb4e4f33 81 * 3 : フレームリーダー2まで受信
alt0710 7:1f1bdb4e4f33 82
alt0710 7:1f1bdb4e4f33 83 * 4 : マシンIDまで受信
alt0710 7:1f1bdb4e4f33 84
alt0710 7:1f1bdb4e4f33 85 */
alt0710 7:1f1bdb4e4f33 86 switch(StatusManager::uart){
alt0710 7:1f1bdb4e4f33 87 case 0:
alt0710 23:0bb032ef1880 88 sprintf(str,"ID%dB%3.1f\nComplete",ParameterManager::machine_id,StatusManager::supply_voltage);
alt0710 7:1f1bdb4e4f33 89 sprintf(str_uart,"Complete");
alt0710 7:1f1bdb4e4f33 90 break;
alt0710 7:1f1bdb4e4f33 91
alt0710 7:1f1bdb4e4f33 92 case 1:
alt0710 7:1f1bdb4e4f33 93 break;
alt0710 7:1f1bdb4e4f33 94
alt0710 7:1f1bdb4e4f33 95 case 2:
alt0710 23:0bb032ef1880 96 sprintf(str,"ID%dB%3.1f\nHeader1",ParameterManager::machine_id,StatusManager::supply_voltage);
alt0710 7:1f1bdb4e4f33 97 sprintf(str_uart,"Header1");
alt0710 7:1f1bdb4e4f33 98 break;
alt0710 6:21b3fbe57b88 99
alt0710 7:1f1bdb4e4f33 100 case 3:
alt0710 23:0bb032ef1880 101 sprintf(str,"ID%dB%3.1f\nHeader2",ParameterManager::machine_id,StatusManager::supply_voltage);
alt0710 7:1f1bdb4e4f33 102 sprintf(str_uart,"Header2");
alt0710 7:1f1bdb4e4f33 103 break;
alt0710 7:1f1bdb4e4f33 104
alt0710 7:1f1bdb4e4f33 105 case 4:
alt0710 23:0bb032ef1880 106 sprintf(str,"ID%dB%3.1f\nCheckER1",ParameterManager::machine_id,StatusManager::supply_voltage);
alt0710 7:1f1bdb4e4f33 107 sprintf(str_uart,"CheckERR");
alt0710 7:1f1bdb4e4f33 108 break;
alt0710 7:1f1bdb4e4f33 109
alt0710 7:1f1bdb4e4f33 110 case 5:
alt0710 23:0bb032ef1880 111 sprintf(str,"ID%dB%3.1f\nCheckER2",ParameterManager::machine_id,StatusManager::supply_voltage);
alt0710 7:1f1bdb4e4f33 112 sprintf(str_uart,"CheckERR");
alt0710 7:1f1bdb4e4f33 113 break;
alt0710 7:1f1bdb4e4f33 114
alt0710 7:1f1bdb4e4f33 115 case -1:
alt0710 23:0bb032ef1880 116 sprintf(str,"ID%dB%3.1f\nTimeOut",ParameterManager::machine_id,StatusManager::supply_voltage);
alt0710 7:1f1bdb4e4f33 117 sprintf(str_uart,"TimeOut");
alt0710 7:1f1bdb4e4f33 118 break;
alt0710 7:1f1bdb4e4f33 119
alt0710 7:1f1bdb4e4f33 120 case -2:
alt0710 23:0bb032ef1880 121 sprintf(str,"ID%dB%3.1f\nOERR",ParameterManager::machine_id,StatusManager::supply_voltage);
alt0710 7:1f1bdb4e4f33 122 sprintf(str_uart,"OERR");
alt0710 7:1f1bdb4e4f33 123 break;
alt0710 7:1f1bdb4e4f33 124
alt0710 7:1f1bdb4e4f33 125 case -3:
alt0710 23:0bb032ef1880 126 sprintf(str,"ID%dB%3.1f\nFERR",ParameterManager::machine_id,StatusManager::supply_voltage);
alt0710 7:1f1bdb4e4f33 127 sprintf(str_uart,"FERR");
alt0710 7:1f1bdb4e4f33 128 break;
alt0710 7:1f1bdb4e4f33 129
alt0710 7:1f1bdb4e4f33 130 default:
alt0710 23:0bb032ef1880 131 sprintf(str,"ID%dB%3.1f\n %d",ParameterManager::machine_id,StatusManager::supply_voltage, StatusManager::uart);
alt0710 7:1f1bdb4e4f33 132 break;
alt0710 7:1f1bdb4e4f33 133 }
alt0710 7:1f1bdb4e4f33 134
alt0710 7:1f1bdb4e4f33 135
alt0710 7:1f1bdb4e4f33 136 //sprintf(str,"ID%d EN: \n %s",ParameterManager::machine_id ,str_uart);
alt0710 7:1f1bdb4e4f33 137 }