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

interface/button/button_roots.cpp@6:21b3fbe57b88, 2017-04-25 (annotated)

Committer:
alt0710
Date:
Tue Apr 25 16:08:47 2017 +0000
Revision:
6:21b3fbe57b88
Parent:
5:4be30999853f
Child:
12:b7d7523733cd
Kicker????????????; ????????

Who changed what in which revision?

UserRevisionLine numberNew contents of line
alt0710 0:d4b98dbcb767 1
alt0710 0:d4b98dbcb767 2 #include "mbed.h"
alt0710 0:d4b98dbcb767 3 #include "comm.h"
alt0710 0:d4b98dbcb767 4 #include "interface_manager.h"
alt0710 0:d4b98dbcb767 5 #include "button_roots.h"
alt0710 0:d4b98dbcb767 6
alt0710 0:d4b98dbcb767 7
alt0710 0:d4b98dbcb767 8 /* **mbedクラス** */
alt0710 0:d4b98dbcb767 9 #ifdef LPC4088
alt0710 0:d4b98dbcb767 10
alt0710 0:d4b98dbcb767 11 #elif STM32
alt0710 0:d4b98dbcb767 12 //ModeSelectSW
alt0710 0:d4b98dbcb767 13 DigitalIn Mode_SW1(A3);
alt0710 0:d4b98dbcb767 14 DigitalIn Mode_SW2(A2);
alt0710 0:d4b98dbcb767 15
alt0710 0:d4b98dbcb767 16 //CrossSelectSW
alt0710 0:d4b98dbcb767 17 InterruptIn CrossSW_UP(D11); //EXT2
alt0710 6:21b3fbe57b88 18 InterruptIn CrossSW_LEFT(D7); //PUSH D7
alt0710 5:4be30999853f 19 InterruptIn CrossSW_DOWN(D9); //KICK
alt0710 5:4be30999853f 20 DigitalIn DUMY(D8); //KICK
alt0710 0:d4b98dbcb767 21 InterruptIn CrossSW_RIGHT(A1); //EXT
alt0710 0:d4b98dbcb767 22 #endif
alt0710 0:d4b98dbcb767 23
alt0710 5:4be30999853f 24 DigitalOut myled(LED1);
alt0710 5:4be30999853f 25
alt0710 0:d4b98dbcb767 26 Ticker t_up;
alt0710 5:4be30999853f 27 Ticker t_left;
alt0710 0:d4b98dbcb767 28 Ticker t_down;
alt0710 0:d4b98dbcb767 29 Ticker t_right;
alt0710 0:d4b98dbcb767 30
alt0710 0:d4b98dbcb767 31 /* **ローカル割り込み関数** */
alt0710 0:d4b98dbcb767 32
alt0710 0:d4b98dbcb767 33 void check_click_up(void)
alt0710 0:d4b98dbcb767 34 {
alt0710 0:d4b98dbcb767 35 if(InterfaceManager::button.count_click[0] == 1)
alt0710 0:d4b98dbcb767 36 {
alt0710 0:d4b98dbcb767 37 InterfaceManager::button.setButtunStatus(CROSS_UP, SINGLE_CLICK);
alt0710 0:d4b98dbcb767 38 }
alt0710 0:d4b98dbcb767 39 else if(InterfaceManager::button.count_click[0] == 2)
alt0710 0:d4b98dbcb767 40 {
alt0710 0:d4b98dbcb767 41 InterfaceManager::button.setButtunStatus(CROSS_UP, DOUBLE_CLICK);
alt0710 0:d4b98dbcb767 42 }
alt0710 0:d4b98dbcb767 43 InterfaceManager::button.count_click[0] = 0;
alt0710 0:d4b98dbcb767 44 t_up.detach();
alt0710 0:d4b98dbcb767 45
alt0710 0:d4b98dbcb767 46 }
alt0710 0:d4b98dbcb767 47 void check_click_down(void)
alt0710 0:d4b98dbcb767 48 {
alt0710 0:d4b98dbcb767 49 if(InterfaceManager::button.count_click[1] == 1)
alt0710 0:d4b98dbcb767 50 {
alt0710 0:d4b98dbcb767 51 InterfaceManager::button.setButtunStatus(CROSS_DOWN, SINGLE_CLICK);
alt0710 0:d4b98dbcb767 52 }
alt0710 0:d4b98dbcb767 53 else if(InterfaceManager::button.count_click[1] == 2)
alt0710 0:d4b98dbcb767 54 {
alt0710 0:d4b98dbcb767 55 InterfaceManager::button.setButtunStatus(CROSS_DOWN, DOUBLE_CLICK);
alt0710 0:d4b98dbcb767 56 }
alt0710 0:d4b98dbcb767 57 InterfaceManager::button.count_click[1] = 0;
alt0710 0:d4b98dbcb767 58 t_down.detach();
alt0710 0:d4b98dbcb767 59 }
alt0710 0:d4b98dbcb767 60 void check_click_left(void)
alt0710 0:d4b98dbcb767 61 {
alt0710 0:d4b98dbcb767 62 if(InterfaceManager::button.count_click[2] == 1)
alt0710 0:d4b98dbcb767 63 {
alt0710 0:d4b98dbcb767 64 InterfaceManager::button.setButtunStatus(CROSS_LEFT, SINGLE_CLICK);
alt0710 0:d4b98dbcb767 65 }
alt0710 0:d4b98dbcb767 66 else if(InterfaceManager::button.count_click[2] == 2)
alt0710 0:d4b98dbcb767 67 {
alt0710 0:d4b98dbcb767 68 InterfaceManager::button.setButtunStatus(CROSS_LEFT, DOUBLE_CLICK);
alt0710 0:d4b98dbcb767 69 }
alt0710 0:d4b98dbcb767 70 InterfaceManager::button.count_click[2] = 0;
alt0710 0:d4b98dbcb767 71 t_left.detach();
alt0710 0:d4b98dbcb767 72 }
alt0710 0:d4b98dbcb767 73 void check_click_right(void)
alt0710 0:d4b98dbcb767 74 {
alt0710 0:d4b98dbcb767 75 if(InterfaceManager::button.count_click[3] == 1)
alt0710 0:d4b98dbcb767 76 {
alt0710 0:d4b98dbcb767 77 InterfaceManager::button.setButtunStatus(CROSS_RIGHT, SINGLE_CLICK);
alt0710 0:d4b98dbcb767 78 }
alt0710 0:d4b98dbcb767 79 else if(InterfaceManager::button.count_click[3] == 2)
alt0710 0:d4b98dbcb767 80 {
alt0710 0:d4b98dbcb767 81 InterfaceManager::button.setButtunStatus(CROSS_RIGHT, DOUBLE_CLICK);
alt0710 0:d4b98dbcb767 82 }
alt0710 0:d4b98dbcb767 83 InterfaceManager::button.count_click[3] = 0;
alt0710 0:d4b98dbcb767 84 t_right.detach();
alt0710 0:d4b98dbcb767 85
alt0710 0:d4b98dbcb767 86 }
alt0710 0:d4b98dbcb767 87
alt0710 0:d4b98dbcb767 88 void click_up(void)
alt0710 0:d4b98dbcb767 89 {
alt0710 5:4be30999853f 90 myled = !myled;
alt0710 0:d4b98dbcb767 91 switch(InterfaceManager::button.count_click[0]){
alt0710 0:d4b98dbcb767 92 case 0:
alt0710 0:d4b98dbcb767 93 t_up.attach(check_click_up, CHECK_TIME);
alt0710 0:d4b98dbcb767 94 InterfaceManager::button.count_click[0]++;
alt0710 0:d4b98dbcb767 95 break;
alt0710 0:d4b98dbcb767 96
alt0710 0:d4b98dbcb767 97 case 1:
alt0710 0:d4b98dbcb767 98 InterfaceManager::button.count_click[0]++;
alt0710 0:d4b98dbcb767 99 break;
alt0710 0:d4b98dbcb767 100
alt0710 0:d4b98dbcb767 101 default:
alt0710 0:d4b98dbcb767 102 InterfaceManager::button.count_click[0] = 0;
alt0710 0:d4b98dbcb767 103 break;
alt0710 0:d4b98dbcb767 104 }
alt0710 0:d4b98dbcb767 105
alt0710 0:d4b98dbcb767 106 }
alt0710 0:d4b98dbcb767 107 void click_down(void)
alt0710 0:d4b98dbcb767 108 {
alt0710 5:4be30999853f 109 myled = !myled;
alt0710 0:d4b98dbcb767 110 switch(InterfaceManager::button.count_click[1]){
alt0710 0:d4b98dbcb767 111 case 0:
alt0710 0:d4b98dbcb767 112 t_down.attach(check_click_down, CHECK_TIME);
alt0710 0:d4b98dbcb767 113 InterfaceManager::button.count_click[1]++;
alt0710 0:d4b98dbcb767 114 break;
alt0710 0:d4b98dbcb767 115
alt0710 0:d4b98dbcb767 116 case 1:
alt0710 0:d4b98dbcb767 117 InterfaceManager::button.count_click[1]++;
alt0710 0:d4b98dbcb767 118 break;
alt0710 0:d4b98dbcb767 119
alt0710 0:d4b98dbcb767 120 default:
alt0710 0:d4b98dbcb767 121 InterfaceManager::button.count_click[1] = 0;
alt0710 0:d4b98dbcb767 122 break;
alt0710 0:d4b98dbcb767 123 }
alt0710 0:d4b98dbcb767 124
alt0710 0:d4b98dbcb767 125 }
alt0710 0:d4b98dbcb767 126 void click_left(void)
alt0710 0:d4b98dbcb767 127 {
alt0710 5:4be30999853f 128 myled = !myled;
alt0710 0:d4b98dbcb767 129 switch(InterfaceManager::button.count_click[2]){
alt0710 0:d4b98dbcb767 130 case 0:
alt0710 0:d4b98dbcb767 131 t_left.attach(check_click_left, CHECK_TIME);
alt0710 0:d4b98dbcb767 132 InterfaceManager::button.count_click[2]++;
alt0710 0:d4b98dbcb767 133 break;
alt0710 0:d4b98dbcb767 134
alt0710 0:d4b98dbcb767 135 case 1:
alt0710 0:d4b98dbcb767 136 InterfaceManager::button.count_click[2]++;
alt0710 0:d4b98dbcb767 137 break;
alt0710 0:d4b98dbcb767 138
alt0710 0:d4b98dbcb767 139 default:
alt0710 0:d4b98dbcb767 140 InterfaceManager::button.count_click[2] = 0;
alt0710 0:d4b98dbcb767 141 break;
alt0710 0:d4b98dbcb767 142 }
alt0710 0:d4b98dbcb767 143
alt0710 0:d4b98dbcb767 144 }
alt0710 0:d4b98dbcb767 145 void click_right(void)
alt0710 0:d4b98dbcb767 146 {
alt0710 5:4be30999853f 147 myled = !myled;
alt0710 0:d4b98dbcb767 148 switch(InterfaceManager::button.count_click[3]){
alt0710 0:d4b98dbcb767 149 case 0:
alt0710 0:d4b98dbcb767 150 t_right.attach(check_click_right, CHECK_TIME);
alt0710 0:d4b98dbcb767 151 InterfaceManager::button.count_click[3]++;
alt0710 0:d4b98dbcb767 152 break;
alt0710 0:d4b98dbcb767 153
alt0710 0:d4b98dbcb767 154 case 1:
alt0710 0:d4b98dbcb767 155 InterfaceManager::button.count_click[3]++;
alt0710 0:d4b98dbcb767 156 break;
alt0710 0:d4b98dbcb767 157
alt0710 0:d4b98dbcb767 158 default:
alt0710 0:d4b98dbcb767 159 InterfaceManager::button.count_click[3] = 0;
alt0710 0:d4b98dbcb767 160 break;
alt0710 0:d4b98dbcb767 161 }
alt0710 0:d4b98dbcb767 162
alt0710 0:d4b98dbcb767 163 }
alt0710 0:d4b98dbcb767 164
alt0710 0:d4b98dbcb767 165
alt0710 0:d4b98dbcb767 166 /* **グルーバル関数** */
alt0710 0:d4b98dbcb767 167 void initButton(void)
alt0710 0:d4b98dbcb767 168 {
alt0710 4:8c6f6b687303 169 Mode_SW1.mode(PullDown);
alt0710 4:8c6f6b687303 170 Mode_SW2.mode(PullDown);
alt0710 0:d4b98dbcb767 171
alt0710 5:4be30999853f 172 CrossSW_UP.mode(PullNone);
alt0710 5:4be30999853f 173 CrossSW_DOWN.mode(PullNone);
alt0710 5:4be30999853f 174 DUMY.mode(PullNone);
alt0710 5:4be30999853f 175 CrossSW_LEFT.mode(PullNone);
alt0710 5:4be30999853f 176 CrossSW_RIGHT.mode(PullNone);
alt0710 0:d4b98dbcb767 177
alt0710 0:d4b98dbcb767 178 //入力割り込み設定
alt0710 5:4be30999853f 179 CrossSW_UP.fall(&click_up);
alt0710 5:4be30999853f 180 CrossSW_LEFT.fall(&click_left);
alt0710 0:d4b98dbcb767 181 CrossSW_DOWN.rise(&click_down);
alt0710 5:4be30999853f 182 CrossSW_RIGHT.fall(&click_right);
alt0710 0:d4b98dbcb767 183
alt0710 0:d4b98dbcb767 184 }
alt0710 0:d4b98dbcb767 185
alt0710 0:d4b98dbcb767 186 /* **クラス** */
alt0710 0:d4b98dbcb767 187 Button_Roots::Button_Roots()
alt0710 0:d4b98dbcb767 188 {
alt0710 0:d4b98dbcb767 189 modeSW1 = 0;
alt0710 0:d4b98dbcb767 190 modeSW2 = 0;
alt0710 0:d4b98dbcb767 191 modeSW = 0;
alt0710 0:d4b98dbcb767 192 crossUp = 0;
alt0710 0:d4b98dbcb767 193 crossDown = 0;
alt0710 0:d4b98dbcb767 194 crossLeft = 0;
alt0710 0:d4b98dbcb767 195 crossRight = 0;
alt0710 0:d4b98dbcb767 196
alt0710 0:d4b98dbcb767 197 }
alt0710 0:d4b98dbcb767 198 char Button_Roots::getButtonStatus(char ButtonNames)
alt0710 0:d4b98dbcb767 199 {
alt0710 0:d4b98dbcb767 200 switch(ButtonNames){
alt0710 0:d4b98dbcb767 201 case MODE_SW1:
alt0710 4:8c6f6b687303 202 return !Mode_SW1;
alt0710 0:d4b98dbcb767 203
alt0710 0:d4b98dbcb767 204 case MODE_SW2:
alt0710 4:8c6f6b687303 205 return !Mode_SW2;
alt0710 0:d4b98dbcb767 206
alt0710 0:d4b98dbcb767 207 case MODE_SW:
alt0710 4:8c6f6b687303 208 modeSW = !Mode_SW1 + (!Mode_SW2 << 1);
alt0710 0:d4b98dbcb767 209 return modeSW;
alt0710 0:d4b98dbcb767 210
alt0710 0:d4b98dbcb767 211 case CROSS_UP:
alt0710 5:4be30999853f 212 button_status = crossUp;
alt0710 5:4be30999853f 213 crossUp = 0;
alt0710 5:4be30999853f 214 return button_status;
alt0710 0:d4b98dbcb767 215
alt0710 0:d4b98dbcb767 216 case CROSS_DOWN:
alt0710 5:4be30999853f 217 if( (!DUMY) && (cross_down_old == 1) ){
alt0710 5:4be30999853f 218 is_button_pushed = 1;
alt0710 5:4be30999853f 219 }else{
alt0710 5:4be30999853f 220 is_button_pushed = 0;
alt0710 5:4be30999853f 221 }
alt0710 5:4be30999853f 222 cross_down_old = !DUMY;
alt0710 5:4be30999853f 223 button_status = is_button_pushed;
alt0710 5:4be30999853f 224 //crossDown = 0;
alt0710 5:4be30999853f 225 return button_status;
alt0710 0:d4b98dbcb767 226
alt0710 0:d4b98dbcb767 227 case CROSS_LEFT:
alt0710 5:4be30999853f 228 button_status = crossLeft;
alt0710 5:4be30999853f 229 crossLeft = 0;
alt0710 5:4be30999853f 230 return button_status;
alt0710 0:d4b98dbcb767 231
alt0710 0:d4b98dbcb767 232 case CROSS_RIGHT:
alt0710 5:4be30999853f 233 button_status = crossRight;
alt0710 5:4be30999853f 234 crossRight = 0;
alt0710 5:4be30999853f 235 return button_status;
alt0710 0:d4b98dbcb767 236
alt0710 0:d4b98dbcb767 237 default:
alt0710 0:d4b98dbcb767 238 return 99;
alt0710 0:d4b98dbcb767 239
alt0710 0:d4b98dbcb767 240 }
alt0710 0:d4b98dbcb767 241
alt0710 0:d4b98dbcb767 242 }
alt0710 0:d4b98dbcb767 243 char Button_Roots::setButtunStatus(char ButtonNames, char ButtonStatus)
alt0710 0:d4b98dbcb767 244 {
alt0710 0:d4b98dbcb767 245 switch(ButtonNames){
alt0710 0:d4b98dbcb767 246 case MODE_SW1:
alt0710 0:d4b98dbcb767 247 return modeSW1 = ButtonStatus;
alt0710 0:d4b98dbcb767 248
alt0710 0:d4b98dbcb767 249 case MODE_SW2:
alt0710 0:d4b98dbcb767 250 return modeSW2 = ButtonStatus;
alt0710 0:d4b98dbcb767 251
alt0710 0:d4b98dbcb767 252 case CROSS_UP:
alt0710 0:d4b98dbcb767 253 return crossUp = ButtonStatus;
alt0710 0:d4b98dbcb767 254
alt0710 0:d4b98dbcb767 255 case CROSS_DOWN:
alt0710 0:d4b98dbcb767 256 return crossDown = ButtonStatus;
alt0710 0:d4b98dbcb767 257
alt0710 0:d4b98dbcb767 258 case CROSS_LEFT:
alt0710 0:d4b98dbcb767 259 return crossLeft = ButtonStatus;
alt0710 0:d4b98dbcb767 260
alt0710 0:d4b98dbcb767 261 case CROSS_RIGHT:
alt0710 0:d4b98dbcb767 262 return crossRight = ButtonStatus;
alt0710 0:d4b98dbcb767 263
alt0710 0:d4b98dbcb767 264 default:
alt0710 0:d4b98dbcb767 265 return 99;
alt0710 0:d4b98dbcb767 266
alt0710 0:d4b98dbcb767 267 }
alt0710 0:d4b98dbcb767 268
alt0710 0:d4b98dbcb767 269 }