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

actuator/kicker.cpp@10:9cd22f673968, 2017-05-02 (annotated)

Committer:
alt0710
Date:
Tue May 02 07:54:05 2017 +0000
Revision:
10:9cd22f673968
Parent:
6:21b3fbe57b88
Child:
15:2bf8eafacef8
???????; ?????????????????????????; ??????????

Who changed what in which revision?

UserRevisionLine numberNew contents of line
alt0710 3:6f87cbec2ae8 1
alt0710 3:6f87cbec2ae8 2 #include "mbed.h"
alt0710 3:6f87cbec2ae8 3 #include "comm.h"
alt0710 3:6f87cbec2ae8 4 #include "interface_manager.h"
alt0710 3:6f87cbec2ae8 5 #include "parameter_manager.h"
alt0710 3:6f87cbec2ae8 6 #include "kicker.h"
alt0710 3:6f87cbec2ae8 7
alt0710 3:6f87cbec2ae8 8 /* **mbedクラス** */
alt0710 3:6f87cbec2ae8 9 #ifdef LPC4088
alt0710 3:6f87cbec2ae8 10
alt0710 3:6f87cbec2ae8 11 #elif STM32
alt0710 3:6f87cbec2ae8 12 Ticker kickTimer;
alt0710 3:6f87cbec2ae8 13 #endif
alt0710 3:6f87cbec2ae8 14
alt0710 3:6f87cbec2ae8 15 /* **ローカル関数定義** */
alt0710 3:6f87cbec2ae8 16 void fireTimer(void);
alt0710 3:6f87cbec2ae8 17 void driveFireTimer(double firetime);
alt0710 3:6f87cbec2ae8 18
alt0710 3:6f87cbec2ae8 19 /* **ローカル関数** */
alt0710 3:6f87cbec2ae8 20 void fireTimer(void)
alt0710 3:6f87cbec2ae8 21 {
alt0710 3:6f87cbec2ae8 22 InterfaceManager::straight_kick = 0;
alt0710 3:6f87cbec2ae8 23 InterfaceManager::chip_kick = 0;
alt0710 3:6f87cbec2ae8 24 StatusManager::is_kicking = 0;
alt0710 3:6f87cbec2ae8 25 kickTimer.detach();
alt0710 3:6f87cbec2ae8 26 return;
alt0710 3:6f87cbec2ae8 27 }
alt0710 3:6f87cbec2ae8 28
alt0710 3:6f87cbec2ae8 29 void driveFireTimer(double firetime)
alt0710 3:6f87cbec2ae8 30 {
alt0710 3:6f87cbec2ae8 31 kickTimer.attach(&fireTimer,firetime);
alt0710 3:6f87cbec2ae8 32 }
alt0710 3:6f87cbec2ae8 33
alt0710 3:6f87cbec2ae8 34 /* **グルーバル関数** */
alt0710 3:6f87cbec2ae8 35
alt0710 3:6f87cbec2ae8 36 /* **クラス** */
alt0710 3:6f87cbec2ae8 37 //メンバ変数の初期化は、定義順（Ｗａｒｎｉｎｇになる）
alt0710 3:6f87cbec2ae8 38 Kicker::Kicker()
alt0710 3:6f87cbec2ae8 39 :ball(IS_NOT_EXIST),
alt0710 3:6f87cbec2ae8 40 kickPermit(DISABLE),
alt0710 3:6f87cbec2ae8 41 f_kick(0),
alt0710 3:6f87cbec2ae8 42 f_charge_fin(0),
alt0710 3:6f87cbec2ae8 43 kickType(STRAIGHT),
alt0710 3:6f87cbec2ae8 44 power(0),
alt0710 3:6f87cbec2ae8 45 f_charge(0),
alt0710 3:6f87cbec2ae8 46 isRelease(0),
alt0710 10:9cd22f673968 47 fireTime(0),
alt0710 10:9cd22f673968 48 count_continue_delay(0),
alt0710 10:9cd22f673968 49 count_num_of_kick(0),
alt0710 10:9cd22f673968 50 mode_discharge(0)
alt0710 3:6f87cbec2ae8 51 {
alt0710 3:6f87cbec2ae8 52 }
alt0710 3:6f87cbec2ae8 53
alt0710 3:6f87cbec2ae8 54 void Kicker::setKick(char flag_kick, char kick_Type, char kick_power)
alt0710 3:6f87cbec2ae8 55 {
alt0710 3:6f87cbec2ae8 56 f_kick = flag_kick;
alt0710 3:6f87cbec2ae8 57 kickType = kick_Type;
alt0710 3:6f87cbec2ae8 58 power = kick_power;
alt0710 3:6f87cbec2ae8 59
alt0710 6:21b3fbe57b88 60 checkBallSensor(); //ball
alt0710 3:6f87cbec2ae8 61 if(f_kick == 1)
alt0710 3:6f87cbec2ae8 62 {
alt0710 3:6f87cbec2ae8 63 checkKickEnable();
alt0710 3:6f87cbec2ae8 64 if(kickPermit == ENABLE)
alt0710 3:6f87cbec2ae8 65 {
alt0710 10:9cd22f673968 66 fireKick(kickType, power);
alt0710 3:6f87cbec2ae8 67 }
alt0710 3:6f87cbec2ae8 68 }
alt0710 3:6f87cbec2ae8 69 }
alt0710 3:6f87cbec2ae8 70
alt0710 3:6f87cbec2ae8 71 void Kicker::setCharge(char flag_charge)
alt0710 3:6f87cbec2ae8 72 {
alt0710 3:6f87cbec2ae8 73 if(flag_charge && (StatusManager::is_kicking == 0))
alt0710 3:6f87cbec2ae8 74 {
alt0710 3:6f87cbec2ae8 75 f_charge = 1;
alt0710 6:21b3fbe57b88 76 InterfaceManager::charge_request = 1;
alt0710 3:6f87cbec2ae8 77 }
alt0710 3:6f87cbec2ae8 78 else
alt0710 3:6f87cbec2ae8 79 {
alt0710 3:6f87cbec2ae8 80 f_charge = 0;
alt0710 6:21b3fbe57b88 81 InterfaceManager::charge_request = 0;
alt0710 3:6f87cbec2ae8 82 }
alt0710 3:6f87cbec2ae8 83 StatusManager::req_charge = f_charge;
alt0710 3:6f87cbec2ae8 84 }
alt0710 3:6f87cbec2ae8 85
alt0710 10:9cd22f673968 86 void Kicker::fireKick(char t_KickType,char t_power)
alt0710 3:6f87cbec2ae8 87 {
alt0710 10:9cd22f673968 88 switch(t_KickType)
alt0710 3:6f87cbec2ae8 89 {
alt0710 3:6f87cbec2ae8 90 case STRAIGHT:
alt0710 3:6f87cbec2ae8 91 InterfaceManager::charge_request = 0;
alt0710 3:6f87cbec2ae8 92 StatusManager::is_kicking = 1;
alt0710 3:6f87cbec2ae8 93 InterfaceManager::straight_kick = 1;
alt0710 10:9cd22f673968 94 driveFireTimer(ParameterManager::kickpower.getChipPowerTime(t_power));
alt0710 3:6f87cbec2ae8 95 break;
alt0710 3:6f87cbec2ae8 96
alt0710 3:6f87cbec2ae8 97 case CHIP:
alt0710 3:6f87cbec2ae8 98 InterfaceManager::charge_request = 0;
alt0710 3:6f87cbec2ae8 99 StatusManager::is_kicking = 1;
alt0710 3:6f87cbec2ae8 100 InterfaceManager::chip_kick = 1;
alt0710 10:9cd22f673968 101 driveFireTimer(ParameterManager::kickpower.getStraightPowerTime(t_power));
alt0710 3:6f87cbec2ae8 102 break;
alt0710 3:6f87cbec2ae8 103
alt0710 3:6f87cbec2ae8 104 default:
alt0710 3:6f87cbec2ae8 105 InterfaceManager::straight_kick = 0;
alt0710 3:6f87cbec2ae8 106 InterfaceManager::chip_kick = 0;
alt0710 3:6f87cbec2ae8 107 break;
alt0710 3:6f87cbec2ae8 108 }
alt0710 3:6f87cbec2ae8 109 }
alt0710 3:6f87cbec2ae8 110
alt0710 10:9cd22f673968 111 void Kicker::forceFireKick(void)
alt0710 10:9cd22f673968 112 {
alt0710 10:9cd22f673968 113
alt0710 10:9cd22f673968 114
alt0710 10:9cd22f673968 115 if( InterfaceManager::button.getButtonStatus(CROSS_DOWN) == 1 ){
alt0710 10:9cd22f673968 116 mode_discharge = 1;
alt0710 10:9cd22f673968 117 }
alt0710 10:9cd22f673968 118
alt0710 10:9cd22f673968 119 if( mode_discharge == 0 ){
alt0710 10:9cd22f673968 120 count_continue_delay = 0;
alt0710 10:9cd22f673968 121 count_num_of_kick = 0;
alt0710 10:9cd22f673968 122 return;
alt0710 10:9cd22f673968 123 }
alt0710 10:9cd22f673968 124
alt0710 10:9cd22f673968 125 if( count_num_of_kick > NUM_OF_KICK ){
alt0710 10:9cd22f673968 126 mode_discharge = 0;
alt0710 10:9cd22f673968 127 return;
alt0710 10:9cd22f673968 128 }
alt0710 10:9cd22f673968 129
alt0710 10:9cd22f673968 130 if( StatusManager::is_kicking == 1 ){
alt0710 10:9cd22f673968 131 return;
alt0710 10:9cd22f673968 132 }
alt0710 10:9cd22f673968 133
alt0710 10:9cd22f673968 134 if( count_continue_delay < CONTINUE_DELAY ){
alt0710 10:9cd22f673968 135 count_continue_delay ++;
alt0710 10:9cd22f673968 136 return;
alt0710 10:9cd22f673968 137 }
alt0710 10:9cd22f673968 138
alt0710 10:9cd22f673968 139 count_continue_delay = 0;
alt0710 10:9cd22f673968 140 fireKick(STRAIGHT, 10);
alt0710 10:9cd22f673968 141 StatusManager::is_kicking = 1;
alt0710 10:9cd22f673968 142 InterfaceManager::charge_request = 0;
alt0710 10:9cd22f673968 143
alt0710 10:9cd22f673968 144 count_num_of_kick++;
alt0710 10:9cd22f673968 145
alt0710 10:9cd22f673968 146 }
alt0710 10:9cd22f673968 147
alt0710 3:6f87cbec2ae8 148 void Kicker::checkKickEnable(void)
alt0710 3:6f87cbec2ae8 149 {
alt0710 3:6f87cbec2ae8 150 checkChargeCompleted(); //f_charge_fin
alt0710 3:6f87cbec2ae8 151
alt0710 3:6f87cbec2ae8 152 if( f_charge_fin && (ball == IS_EXIST) && !isRelease && !StatusManager::is_kicking)
alt0710 3:6f87cbec2ae8 153 {
alt0710 3:6f87cbec2ae8 154 kickPermit = ENABLE;
alt0710 3:6f87cbec2ae8 155 isRelease = 1;
alt0710 3:6f87cbec2ae8 156 f_charge_fin = 0;
alt0710 3:6f87cbec2ae8 157 }
alt0710 3:6f87cbec2ae8 158 else
alt0710 3:6f87cbec2ae8 159 {
alt0710 3:6f87cbec2ae8 160 kickPermit = DISABLE;
alt0710 3:6f87cbec2ae8 161 }
alt0710 3:6f87cbec2ae8 162
alt0710 3:6f87cbec2ae8 163 }
alt0710 3:6f87cbec2ae8 164
alt0710 3:6f87cbec2ae8 165 void Kicker::checkChargeCompleted(void)
alt0710 3:6f87cbec2ae8 166 {
alt0710 3:6f87cbec2ae8 167 //不論理
alt0710 3:6f87cbec2ae8 168 if(InterfaceManager::charge_completed == 0)
alt0710 3:6f87cbec2ae8 169 {
alt0710 3:6f87cbec2ae8 170 f_charge_fin = 1;
alt0710 3:6f87cbec2ae8 171 }
alt0710 3:6f87cbec2ae8 172 else
alt0710 3:6f87cbec2ae8 173 {
alt0710 3:6f87cbec2ae8 174 f_charge_fin = 0;
alt0710 3:6f87cbec2ae8 175 }
alt0710 3:6f87cbec2ae8 176 }
alt0710 3:6f87cbec2ae8 177
alt0710 3:6f87cbec2ae8 178 void Kicker::checkBallSensor(void)
alt0710 3:6f87cbec2ae8 179 {
alt0710 3:6f87cbec2ae8 180 if(InterfaceManager::ball_sensor == 0)
alt0710 3:6f87cbec2ae8 181 {
alt0710 3:6f87cbec2ae8 182 isRelease = 0;
alt0710 6:21b3fbe57b88 183 ball = IS_NOT_EXIST;
alt0710 6:21b3fbe57b88 184 StatusManager::ball = 0;
alt0710 3:6f87cbec2ae8 185 }
alt0710 3:6f87cbec2ae8 186 else if(InterfaceManager::ball_sensor == 1)
alt0710 3:6f87cbec2ae8 187 {
alt0710 3:6f87cbec2ae8 188 ball = IS_EXIST; //豆知識ＥＸＩＳＴは、存在する（知らんかった；；）
alt0710 6:21b3fbe57b88 189 StatusManager::ball = 1;
alt0710 6:21b3fbe57b88 190 }
alt0710 6:21b3fbe57b88 191
alt0710 3:6f87cbec2ae8 192 }
alt0710 3:6f87cbec2ae8 193
alt0710 3:6f87cbec2ae8 194