涼太郎 中村
a
Dependencies: Locate Move Servo button mbed
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涼太郎 中村
Revision 18:aa8c08f6f474, committed 2016-09-11
- Comitter:
- choutin
- Date:
- Sun Sep 11 11:40:17 2016 +0000
- Parent:
- 17:5b9fbb6133ad
- Commit message:
- a
Changed in this revision
--- a/Locate.lib Sat Sep 10 13:32:25 2016 +0000 +++ b/Locate.lib Sun Sep 11 11:40:17 2016 +0000 @@ -1,1 +1,1 @@ -https://developer.mbed.org/users/choutin/code/Locate/#ba3ef4656f7a +https://developer.mbed.org/users/choutin/code/Locate/#08dfba38d5d9
--- a/Move.lib Sat Sep 10 13:32:25 2016 +0000 +++ b/Move.lib Sun Sep 11 11:40:17 2016 +0000 @@ -1,1 +1,1 @@ -https://developer.mbed.org/users/choutin/code/Move/#4e9cadc225f5 +https://developer.mbed.org/users/choutin/code/Move/#4501c9202500
--- a/Servo.lib Sat Sep 10 13:32:25 2016 +0000 +++ b/Servo.lib Sun Sep 11 11:40:17 2016 +0000 @@ -1,1 +1,1 @@ -https://developer.mbed.org/users/choutin/code/Servo/#58ef29cb8785 +https://developer.mbed.org/users/choutin/code/Servo/#b0d581acc298
--- a/main.cpp Sat Sep 10 13:32:25 2016 +0000
+++ b/main.cpp Sun Sep 11 11:40:17 2016 +0000
@@ -11,61 +11,49 @@
const int dist=150;//タイヤ、アーム間の距離
-const int slidedist=75;
-const int space=0;//壁やばそうなときのよゆう
-const float btime=1.7;
+const int slidedist=102-20;
+const int space=50;//壁やばそうなときのよゆう
+const float btime=1.9;
const float allowdegree=0.2;
const float allowlength=0.2;
-int main(){
- setup();
- initmotor();
- close_arm();
- while(1){
- pmove(600,0);
- pmove2(300,600);
- pmove2(0,0);
- }
-
-}
-
-/*
-
int main()
{
- int team=1,phase=0;
- team=teamLED();
- setup();
- initmotor();
+ int teams=1,phase=0;
+ teams=teamLED();
+ int team = 1;
+ setup(teams);
+ initmotor(teams);
+ open_arm();
+ wait(2);
close_arm();
while(start()){}
int targetx[9] = { 600,600,600,1200,900,1200,900,1200,900 };
int targety[9] = { team*(300+slidedist),team*(600+slidedist),team*(900+slidedist),team*(1200+slidedist),team*(900+slidedist),team*(600+slidedist),team*(600+slidedist),team*(0+slidedist),team*(300+slidedist) };
- int goalx=0,goaly1=1200+150,goaly2=900+slidedist,goaly3=600+slidedist,goaly4=300+slidedist;
+ int goalx=150,goaly=1200+(slidedist)*0;//yへのslidediatを無視
phase=phaseSW();
-
- //phaseごとの初期位置修正
-
//
//オブジェクト0,1,2回収
if(phase==0){
- pmove(targetx[0],0);
+ pmove(targetx[0],0); //傾きをはじめから向くように
open_hand();
- pmove(targetx[0],targety[0]);
+ pmove2(targetx[0],targety[0]);
close_hand();
+ wait(0.3);
beltup();
wait(btime);
beltstop();
open_hand();
//回収
- pmove(targetx[1],targety[1]);
+ pmove2(targetx[1],targety[1]);
close_hand();
+ wait(0.3);
beltup();
wait(btime);
beltstop();
@@ -74,69 +62,108 @@
pmove(targetx[2],targety[2]);
//回収
close_hand();
- pmove(600,1200+slidedist-space*3);//次につなげるハブ
- pmove(goalx,goaly1);
+ pmove2(goalx,goaly);
//リリース
+ turnrad_ccw(PI,team);
open_arm();
open_hand();
+ wait(0.5);
back300();//(300,1200)なう
- turnrad_ccw(2*PI);
- phase=1;
-
- }
-
- if(phase==1){
- //オブジェクト3,4回収
+ turnrad_ccw(2*PI,team);
+//--------------------------------------------------------------------
open_arm();
pmove(targetx[3],targety[3]);
close_arm();
close_hand();
+ turnrad_cw(PI,team);
+ /*
+ open_hanf();
+ pmove(1800,team*(1200+slidedist));
+ closehand();
+ */
+ pmove(150,team*(1200+slidedist-space));//ゴール
+
+ open_arm();
+ open_hand();
+ wait(0.3);
+
+
+ back300();
+ turnrad_ccw(2*PI,team);
+ phase=2;
+
+ //また縦に回収
+ close_arm();
+ pmove2(900,team*(1200+slidedist+space));
+
+ open_hand();
+ pmove2(targetx[4],targety[4]);
+ close_hand();
+ wait(0.3);
+ beltup();
+ wait(btime);
+ beltstop();
+ open_hand();
+ //回収
+ pmove(targetx[6],targety[6]);
+ close_hand();
+ wait(0.3);
beltup();
wait(btime);
beltstop();
- pmove(1200,900+slidedist);//ハブ
open_hand();
- pmove(targetx[4],targety[4]);
+ //回収
+ pmove(targetx[8],targety[8]);
+ //回収
+ close_hand();
+ pmove2(150,team*(900+slidedist));//斜め移動
- pmove(goalx,goaly2);
+ turnrad_ccw(PI,team);
open_arm();
open_hand();
- //リリース
back300();
- phase=2;
+
+ pmove2(700,(600+slidedist));//ハブ
+
+ pmove(targetx[5],targety[5]);
+ close_arm();
+ close_hand();
+ nxback300();
+
+ pmove2(150,team*(900+slidedist));
+ open_arm();
+ open_hand();
+
+ back300();
+ while(1){
+ buzzer(1);
+ wait(0.5);
+ buzzer(0);
+ wait(1);
+ }
}
- if(phase==2){
- //オブジェクト5,6回収
- open_arm();
- pmove(1200,900+slidedist);//ハブ
- pmove(targetx[5],targety[5]);
- //回収
- pmove(targetx[6],targety[6]);
- //回収?
-
- pmove(goalx,goaly3);
- back300();
- phase=3;
+
+ if(phase==1){
+
+ pmove(targetx[7],targety[7]);
+ back300();
+ pmove2(goalx,goaly);
+ turnrad_ccw(PI,team);
+ open_arm();
+ open_hand();
+ back300();
+
+ pmove2(900,600+slidedist);
+
+ pmove(targetx[5],targety[5]);
+ pmove2(goalx,goaly);
+ turnrad_ccw(2*PI,team);
+ open_arm();
+ open_hand();
+ back300();
+
}
- if(phase==3){
- //オブジェクト7,8回収
- pmove(1200,600+slidedist);//ハブ
-
- pmove(targetx[7],targety[7]);
- //回収
- pmove(900,0);
- //回収
- pmove(targetx[8],targety[8]);
- //回収?
- pmove(goalx,300+slidedist+30);
- //リリース
- back300();
-
- phase=4;
- }
-
-
-}*/
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+}
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