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

comm/parameter/kick_power/kick_power.cpp@3:6f87cbec2ae8, 2017-04-24 (annotated)

Committer:
alt0710
Date:
Mon Apr 24 20:54:16 2017 +0000
Revision:
3:6f87cbec2ae8
Child:
6:21b3fbe57b88
Kicker??????????????; ????????ver.

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 "kick_power.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
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
alt0710 3:6f87cbec2ae8 17 /* **ローカル関数** */
alt0710 3:6f87cbec2ae8 18
alt0710 3:6f87cbec2ae8 19 /* **グルーバル関数** */
alt0710 3:6f87cbec2ae8 20
alt0710 3:6f87cbec2ae8 21 /* **クラス** */
alt0710 3:6f87cbec2ae8 22 //メンバ変数の初期化は、定義順（Ｗａｒｎｉｎｇになる）
alt0710 3:6f87cbec2ae8 23 Kick_Power::Kick_Power()
alt0710 3:6f87cbec2ae8 24 :ZERO_POINT_FIVE_METER_PAR_SEC_(0.025),
alt0710 3:6f87cbec2ae8 25 ONE_METER_PAR_SEC_(0.050),
alt0710 3:6f87cbec2ae8 26 ONE_POINT_FIVE_METER_PAR_SEC_(0.075),
alt0710 3:6f87cbec2ae8 27 TWO_METER_PAR_SEC_(0.100),
alt0710 3:6f87cbec2ae8 28 TWO_POINT_FIVE_METER_PAR_SEC_(0.125),
alt0710 3:6f87cbec2ae8 29 THREE_METER_PAR_SEC_(0.150),
alt0710 3:6f87cbec2ae8 30 THREE_POINT_FIVE_METER_PAR_SEC_(0.175),
alt0710 3:6f87cbec2ae8 31 FOUR_METER_PAR_SEC_(0.200),
alt0710 3:6f87cbec2ae8 32 FOUR_POINT_FIVE_METER_PAR_SEC_(0.225),
alt0710 3:6f87cbec2ae8 33 FIVE_METER_PAR_SEC_(0.250),
alt0710 3:6f87cbec2ae8 34 FIVE_POINT_FIVE_METER_PAR_SEC_(0.275),
alt0710 3:6f87cbec2ae8 35 SIX_METER_PAR_SEC_(0.300),
alt0710 3:6f87cbec2ae8 36 SIX_POINT_FIVE_METER_PAR_SEC_(0.325),
alt0710 3:6f87cbec2ae8 37 SEVEN_METER_PAR_SEC_(0.350),
alt0710 3:6f87cbec2ae8 38 SEVEN_POINT_FIVE_METER_PAR_SEC_(0.375),
alt0710 3:6f87cbec2ae8 39 EIGHT_METER_PAR_SEC_(0.400),
alt0710 3:6f87cbec2ae8 40 ZERO_POINT_FIVE_METER_(0.025),
alt0710 3:6f87cbec2ae8 41 ONE_METER_(0.050),
alt0710 3:6f87cbec2ae8 42 ONE_POINT_FIVE_METER_(0.075),
alt0710 3:6f87cbec2ae8 43 TWO_METER_(0.100),
alt0710 3:6f87cbec2ae8 44 TWO_POINT_FIVE_METER_(0.125),
alt0710 3:6f87cbec2ae8 45 THREE_METER_(0.150),
alt0710 3:6f87cbec2ae8 46 THREE_POINT_FIVE_METER_(0.175),
alt0710 3:6f87cbec2ae8 47 FOUR_METER_(0.200),
alt0710 3:6f87cbec2ae8 48 FOUR_POINT_FIVE_METER_(0.225),
alt0710 3:6f87cbec2ae8 49 FIVE_METER_(0.0250),
alt0710 3:6f87cbec2ae8 50 FIVE_POINT_FIVE_METER_(0.275),
alt0710 3:6f87cbec2ae8 51 SIX_METER_(0.300),
alt0710 3:6f87cbec2ae8 52 SIX_POINT_FIVE_METER_(0.325),
alt0710 3:6f87cbec2ae8 53 SEVEN_METER_(0.350),
alt0710 3:6f87cbec2ae8 54 SEVEN_POINT_FIVE_METER_(0.375),
alt0710 3:6f87cbec2ae8 55 EIGHT_METER_(0.400),
alt0710 3:6f87cbec2ae8 56 PERIOD_OF_FORCE_FIRE_(0.1)
alt0710 3:6f87cbec2ae8 57 {
alt0710 3:6f87cbec2ae8 58 }
alt0710 3:6f87cbec2ae8 59
alt0710 3:6f87cbec2ae8 60
alt0710 3:6f87cbec2ae8 61 double Kick_Power::getStraightPowerTime(char power)
alt0710 3:6f87cbec2ae8 62 {
alt0710 3:6f87cbec2ae8 63 switch(power){
alt0710 3:6f87cbec2ae8 64 case 0:
alt0710 3:6f87cbec2ae8 65 return ZERO_POINT_FIVE_METER_PAR_SEC_;
alt0710 3:6f87cbec2ae8 66
alt0710 3:6f87cbec2ae8 67
alt0710 3:6f87cbec2ae8 68 case 1:
alt0710 3:6f87cbec2ae8 69 return ONE_METER_PAR_SEC_;
alt0710 3:6f87cbec2ae8 70
alt0710 3:6f87cbec2ae8 71
alt0710 3:6f87cbec2ae8 72 case 2:
alt0710 3:6f87cbec2ae8 73 return ONE_POINT_FIVE_METER_PAR_SEC_;
alt0710 3:6f87cbec2ae8 74
alt0710 3:6f87cbec2ae8 75
alt0710 3:6f87cbec2ae8 76 case 3:
alt0710 3:6f87cbec2ae8 77 return TWO_METER_PAR_SEC_;
alt0710 3:6f87cbec2ae8 78
alt0710 3:6f87cbec2ae8 79
alt0710 3:6f87cbec2ae8 80 case 4:
alt0710 3:6f87cbec2ae8 81 return TWO_POINT_FIVE_METER_PAR_SEC_;
alt0710 3:6f87cbec2ae8 82
alt0710 3:6f87cbec2ae8 83
alt0710 3:6f87cbec2ae8 84 case 5:
alt0710 3:6f87cbec2ae8 85 return THREE_METER_PAR_SEC_;
alt0710 3:6f87cbec2ae8 86
alt0710 3:6f87cbec2ae8 87
alt0710 3:6f87cbec2ae8 88 case 6:
alt0710 3:6f87cbec2ae8 89 return THREE_POINT_FIVE_METER_PAR_SEC_;
alt0710 3:6f87cbec2ae8 90
alt0710 3:6f87cbec2ae8 91
alt0710 3:6f87cbec2ae8 92 case 7:
alt0710 3:6f87cbec2ae8 93 return FOUR_METER_PAR_SEC_;
alt0710 3:6f87cbec2ae8 94
alt0710 3:6f87cbec2ae8 95
alt0710 3:6f87cbec2ae8 96 case 8:
alt0710 3:6f87cbec2ae8 97 return FOUR_POINT_FIVE_METER_PAR_SEC_;
alt0710 3:6f87cbec2ae8 98
alt0710 3:6f87cbec2ae8 99
alt0710 3:6f87cbec2ae8 100 case 9:
alt0710 3:6f87cbec2ae8 101 return FIVE_METER_PAR_SEC_;
alt0710 3:6f87cbec2ae8 102
alt0710 3:6f87cbec2ae8 103
alt0710 3:6f87cbec2ae8 104 case 10:
alt0710 3:6f87cbec2ae8 105 return FIVE_POINT_FIVE_METER_PAR_SEC_;
alt0710 3:6f87cbec2ae8 106
alt0710 3:6f87cbec2ae8 107
alt0710 3:6f87cbec2ae8 108 case 11:
alt0710 3:6f87cbec2ae8 109 return SIX_METER_PAR_SEC_;
alt0710 3:6f87cbec2ae8 110
alt0710 3:6f87cbec2ae8 111
alt0710 3:6f87cbec2ae8 112 case 12:
alt0710 3:6f87cbec2ae8 113 return SIX_POINT_FIVE_METER_PAR_SEC_;
alt0710 3:6f87cbec2ae8 114
alt0710 3:6f87cbec2ae8 115
alt0710 3:6f87cbec2ae8 116 case 13:
alt0710 3:6f87cbec2ae8 117 return SEVEN_METER_PAR_SEC_;
alt0710 3:6f87cbec2ae8 118
alt0710 3:6f87cbec2ae8 119
alt0710 3:6f87cbec2ae8 120 case 14:
alt0710 3:6f87cbec2ae8 121 return SEVEN_POINT_FIVE_METER_PAR_SEC_;
alt0710 3:6f87cbec2ae8 122
alt0710 3:6f87cbec2ae8 123
alt0710 3:6f87cbec2ae8 124 case 15:
alt0710 3:6f87cbec2ae8 125 return EIGHT_METER_PAR_SEC_;
alt0710 3:6f87cbec2ae8 126
alt0710 3:6f87cbec2ae8 127
alt0710 3:6f87cbec2ae8 128 default:
alt0710 3:6f87cbec2ae8 129 return PERIOD_OF_FORCE_FIRE_;
alt0710 3:6f87cbec2ae8 130
alt0710 3:6f87cbec2ae8 131 }
alt0710 3:6f87cbec2ae8 132
alt0710 3:6f87cbec2ae8 133 }
alt0710 3:6f87cbec2ae8 134 double Kick_Power::getChipPowerTime(char power)
alt0710 3:6f87cbec2ae8 135 {
alt0710 3:6f87cbec2ae8 136 switch(power){
alt0710 3:6f87cbec2ae8 137 case 0:
alt0710 3:6f87cbec2ae8 138 return ZERO_POINT_FIVE_METER_PAR_SEC_;
alt0710 3:6f87cbec2ae8 139
alt0710 3:6f87cbec2ae8 140
alt0710 3:6f87cbec2ae8 141 case 1:
alt0710 3:6f87cbec2ae8 142 return ONE_METER_PAR_SEC_;
alt0710 3:6f87cbec2ae8 143
alt0710 3:6f87cbec2ae8 144
alt0710 3:6f87cbec2ae8 145 case 2:
alt0710 3:6f87cbec2ae8 146 return ONE_POINT_FIVE_METER_PAR_SEC_;
alt0710 3:6f87cbec2ae8 147
alt0710 3:6f87cbec2ae8 148
alt0710 3:6f87cbec2ae8 149 case 3:
alt0710 3:6f87cbec2ae8 150 return TWO_METER_PAR_SEC_;
alt0710 3:6f87cbec2ae8 151
alt0710 3:6f87cbec2ae8 152
alt0710 3:6f87cbec2ae8 153 case 4:
alt0710 3:6f87cbec2ae8 154 return TWO_POINT_FIVE_METER_PAR_SEC_;
alt0710 3:6f87cbec2ae8 155
alt0710 3:6f87cbec2ae8 156
alt0710 3:6f87cbec2ae8 157 case 5:
alt0710 3:6f87cbec2ae8 158 return THREE_METER_PAR_SEC_;
alt0710 3:6f87cbec2ae8 159
alt0710 3:6f87cbec2ae8 160
alt0710 3:6f87cbec2ae8 161 case 6:
alt0710 3:6f87cbec2ae8 162 return THREE_POINT_FIVE_METER_PAR_SEC_;
alt0710 3:6f87cbec2ae8 163
alt0710 3:6f87cbec2ae8 164
alt0710 3:6f87cbec2ae8 165 case 7:
alt0710 3:6f87cbec2ae8 166 return FOUR_METER_PAR_SEC_;
alt0710 3:6f87cbec2ae8 167
alt0710 3:6f87cbec2ae8 168
alt0710 3:6f87cbec2ae8 169 case 8:
alt0710 3:6f87cbec2ae8 170 return FOUR_POINT_FIVE_METER_PAR_SEC_;
alt0710 3:6f87cbec2ae8 171
alt0710 3:6f87cbec2ae8 172
alt0710 3:6f87cbec2ae8 173 case 9:
alt0710 3:6f87cbec2ae8 174 return FIVE_METER_PAR_SEC_;
alt0710 3:6f87cbec2ae8 175
alt0710 3:6f87cbec2ae8 176
alt0710 3:6f87cbec2ae8 177 case 10:
alt0710 3:6f87cbec2ae8 178 return FIVE_POINT_FIVE_METER_PAR_SEC_;
alt0710 3:6f87cbec2ae8 179
alt0710 3:6f87cbec2ae8 180
alt0710 3:6f87cbec2ae8 181 case 11:
alt0710 3:6f87cbec2ae8 182 return SIX_METER_PAR_SEC_;
alt0710 3:6f87cbec2ae8 183
alt0710 3:6f87cbec2ae8 184
alt0710 3:6f87cbec2ae8 185 case 12:
alt0710 3:6f87cbec2ae8 186 return SIX_POINT_FIVE_METER_PAR_SEC_;
alt0710 3:6f87cbec2ae8 187
alt0710 3:6f87cbec2ae8 188
alt0710 3:6f87cbec2ae8 189 case 13:
alt0710 3:6f87cbec2ae8 190 return SEVEN_METER_PAR_SEC_;
alt0710 3:6f87cbec2ae8 191
alt0710 3:6f87cbec2ae8 192
alt0710 3:6f87cbec2ae8 193 case 14:
alt0710 3:6f87cbec2ae8 194 return SEVEN_POINT_FIVE_METER_PAR_SEC_;
alt0710 3:6f87cbec2ae8 195
alt0710 3:6f87cbec2ae8 196
alt0710 3:6f87cbec2ae8 197 case 15:
alt0710 3:6f87cbec2ae8 198 return EIGHT_METER_PAR_SEC_;
alt0710 3:6f87cbec2ae8 199
alt0710 3:6f87cbec2ae8 200
alt0710 3:6f87cbec2ae8 201 default:
alt0710 3:6f87cbec2ae8 202 return PERIOD_OF_FORCE_FIRE_;
alt0710 3:6f87cbec2ae8 203
alt0710 3:6f87cbec2ae8 204 }
alt0710 3:6f87cbec2ae8 205
alt0710 3:6f87cbec2ae8 206 }