涼太郎 中村 / Mbed 2 deprecated 6th33222_copy

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Dependencies:   Locate Move Servo button mbed

Fork of 4thcomp by 涼太郎 中村

Files at this revision

API Documentation at this revision

Revision 20:4b8ce61a00b2, committed 2016-09-16

Comitter:
choutin
Date:
Fri Sep 16 08:51:16 2016 +0000
Parent:
19:e3383efa483b
Child:
21:7df0f8cd2737
Commit message:
a

Changed in this revision

Locate.lib Show annotated file Show diff for this revision Revisions of this file
Move.lib Show annotated file Show diff for this revision Revisions of this file
Servo.lib Show annotated file Show diff for this revision Revisions of this file
button.lib Show annotated file Show diff for this revision Revisions of this file
main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/Locate.lib	Sun Sep 11 12:05:39 2016 +0000
+++ b/Locate.lib	Fri Sep 16 08:51:16 2016 +0000
@@ -1,1 +1,1 @@
-https://developer.mbed.org/users/choutin/code/Locate/#ecd49a9ee2ee
+https://developer.mbed.org/users/choutin/code/Locate/#69fe7b8350c6

--- a/Move.lib	Sun Sep 11 12:05:39 2016 +0000
+++ b/Move.lib	Fri Sep 16 08:51:16 2016 +0000
@@ -1,1 +1,1 @@
-https://developer.mbed.org/users/choutin/code/Move/#4501c9202500
+https://developer.mbed.org/users/choutin/code/Move/#138af628d979

--- a/Servo.lib	Sun Sep 11 12:05:39 2016 +0000
+++ b/Servo.lib	Fri Sep 16 08:51:16 2016 +0000
@@ -1,1 +1,1 @@
-https://developer.mbed.org/users/choutin/code/Servo/#b0d581acc298
+https://developer.mbed.org/users/choutin/code/Servo/#919db47443f4

--- a/button.lib	Sun Sep 11 12:05:39 2016 +0000
+++ b/button.lib	Fri Sep 16 08:51:16 2016 +0000
@@ -1,1 +1,1 @@
-https://developer.mbed.org/users/choutin/code/button/#bd8ad2528693
+https://developer.mbed.org/users/choutin/code/button/#cdeb282335a6

--- a/main.cpp	Sun Sep 11 12:05:39 2016 +0000
+++ b/main.cpp	Fri Sep 16 08:51:16 2016 +0000
@@ -11,16 +11,18 @@
 
 
 const int dist=150;//タイヤ、アーム間の距離
-const int slidedist=102-20;
+const int slidedist=0; //102-20;
 const int space=50;//壁やばそうなときのよゆう
-const float btime=1.9;
+//btimeはservoに移動
 const float allowdegree=0.2;
 const float allowlength=0.2;
 
+const int unit=583;
+
 
 int main()
-{
-    
+{   
+
     int teams=1,phase=0;
     teams=teamLED();
     int team = 1;
@@ -29,59 +31,102 @@
     open_arm();
     wait(2);
     close_arm();
+    buzzer(1);
+    wait(1);
+    buzzer(0);
     
-    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=150,goaly=1200+(slidedist)*0;//yへのslidediatを無視
+   int goalx=220,goaly=1200-30+(slidedist)*0;//yへのslidediatを無視
     
     phase=phaseSW();
     
-    //
-
+    if(phase==0){
+    buzzer(1);
+    wait(0.4);
+    buzzer(0);
+    wait(0.2);
+    buzzer(1);
+    wait(0.4);
+    buzzer(0);
+    wait(0.2);
+    buzzer(1);
+    wait(0.4);
+    buzzer(0);}
+    
+        while(start()){}
+    if(phase==15){
+        movelength(900);
+        }
+        
+    if(phase==14){
+       while(1){ 
+        turnrad_cw(-2*PI,1);
+        turnrad_ccw(0,1);
+       }
+    } 
+    if(phase==13){
+        nxback300();
+        }
+    
+    if(phase==12){
+        while(1){
+            open_arm();
+            wait(3);
+            close_arm();
+            wait(3);
+        }
+    }
+    
+        if(phase==11){
+        while(1){
+            close_hand();
+            wait(0.3);
+            lift();
+            wait(0.2);
+            open_hand();
+            wait(2);
+        }
+    }
 //オブジェクト0,1,2回収
     if(phase==0){
-       pmove(targetx[0],0); //傾きをはじめから向くように
+       
+       pmove2(targetx[0],-60); 
        open_hand();
        pmove2(targetx[0],targety[0]);
        close_hand();
        wait(0.3);
-       beltup();
-       wait(btime);
-       beltstop();
+        lift();
        open_hand();
        //回収
        pmove2(targetx[1],targety[1]);
        close_hand();
        wait(0.3);
-       beltup();
-       wait(btime);
-       beltstop();
+        lift();
        open_hand();
        //回収
-       pmove(targetx[2],targety[2]);
+       pmove2(targetx[2],targety[2]);
        //回収
        close_hand();
-       pmove2(goalx,goaly);
+       pmove2(goalx,goaly-40);
        //リリース
        turnrad_ccw(PI,team);
        open_arm();
        open_hand();
        wait(0.5);
+       
        back300();//(300,1200)なう
         turnrad_ccw(2*PI,team);
 //--------------------------------------------------------------------
-       open_arm();
-       pmove(targetx[3],targety[3]);
+       open_hand();
+       
+       pmove(targetx[3]-50,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
+
+       pmove2(150,team*(goaly));//ゴール
 
         open_arm();
         open_hand();
@@ -94,48 +139,52 @@
         
        //また縦に回収
        close_arm();
-       pmove2(900,team*(1200+slidedist+space));
+       pmove2(900,team*(1200+30));
 
        open_hand();
        pmove2(targetx[4],targety[4]);
        close_hand();
        wait(0.3);
-       beltup();
-       wait(btime);
-       beltstop();
+        lift();
        open_hand();
        //回収
-       pmove(targetx[6],targety[6]);
+       pmove2(targetx[6],targety[6]);
        close_hand();
        wait(0.3);
-       beltup();
-       wait(btime);
-       beltstop();
+        lift();
        open_hand();
        //回収
-       pmove(targetx[8],targety[8]);
+       pmove2(targetx[8],targety[8]);
        //回収
        close_hand();
-       pmove2(150,team*(900+slidedist));//斜め移動
+       pmove2(150,team*(600+slidedist));//斜め移動
        
        turnrad_ccw(PI,team);
        open_arm();
        open_hand();
        back300();
-    
-       
-       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();
+      
+           
+    pmove2(600,600);
+     pmove2(targetx[5],targety[5]);
+     close_arm();
+     close_hand();
+     nxback300();
+     pmove2(150,600+slidedist);
+    open_arm();
+    open_hand();
+    back300();
+     pmove2(900,50);
+     pmove2(1200-50,0);
+     close_arm();
+     close_hand();
+     nxback300();
+     pmove2(150,900+slidedist);
+     turnrad_ccw(PI,team);
+     open_arm();
+     open_hand();
+     back300();
+     
         while(1){
             buzzer(1);
             wait(0.5);
@@ -145,10 +194,12 @@
     }
     
     
-    if(phase==1){
+    if(phase==2){
         open_arm();
+        
         open_hand();
-     pmove(targetx[7],targety[7]);
+     pmove2(900,0);
+     pmove2(1200-80,0);//オブジェクト
      close_arm();
      close_hand();
      nxback300();
@@ -158,8 +209,170 @@
      open_hand();
      back300();
      
-    pmove2(2100,1200);
+    pmove2(600,600);
+     pmove2(targetx[5]-80,targety[5]);
+     close_arm();
+     close_hand();
+     nxback300();
+     pmove2(150,600+slidedist);
+     back300();
+        
+    }
+    
+        if(phase==1){
+
+     pmove(900,0); 
+       open_hand();
+       pmove2(targetx[8],targety[8]);
+       close_hand();
+       wait(0.3);
+        lift();
+       open_hand();
+       //回収
+       pmove2(targetx[6],targety[6]);
+       close_hand();
+       wait(0.3);
+        lift();
+       open_hand();
+       //回収
+       pmove(targetx[4],targety[4]);
+       //回収
+       close_hand();
+       pmove2(goalx,goaly-40);
+       //リリース
+       turnrad_ccw(PI,team);
+       open_arm();
+       open_hand();
+       wait(0.5);
+       back300();//(300,1200)なう
         
     }
     
+    
+        if(phase==3){
+            
+
+       pmove2(targetx[0],-60); 
+       open_hand();
+       pmove2(targetx[0],targety[0]);
+       close_hand();
+       wait(0.3);
+        lift();
+       open_hand();
+       //回収
+       pmove2(targetx[1],targety[1]);
+       close_hand();
+       wait(0.3);
+        lift();
+       open_hand();
+       //回収
+       pmove2(targetx[2],targety[2]);
+       //回収
+       close_hand();
+       pmove2(goalx,goaly-40);
+       //リリース
+       turnrad_ccw(PI,team);
+       open_arm();
+       open_hand();
+       wait(0.5);
+       back300();//(300,1200)なう
+        turnrad_ccw(2*PI,team);
+     
+     
+        close_arm();
+       pmove2(900,team*(1200+30));
+
+       open_hand();
+       pmove2(targetx[4],targety[4]);
+       close_hand();
+       wait(0.3);
+        lift();
+       open_hand();
+       //回収
+       pmove2(targetx[6],targety[6]);
+       close_hand();
+       wait(0.3);
+        lift();
+       open_hand();
+       //回収
+       pmove2(targetx[8],targety[8]);
+       //回収
+       close_hand();
+       pmove2(150,team*(600+slidedist));//斜め移動
+       
+       turnrad_ccw((-1)*PI,team);
+       open_arm();
+       open_hand();
+       back300();
+    }
+    
+    if(phase == 10)
+    {buzzer(1);
+        turnrad(6*PI);
+        while(1) update();
+    }
+    
+    
+    
+    if(phase == 8)
+    {   open_arm();
+        open_hand();
+        
+        pmove2(0,1000);
+        pmove2(600,1200);
+        pmove2(1200-50,1200);
+        close_hand();
+        close_arm();
+        turnrad_cw((-1)*PI,1);
+        pmove2(150,1200);
+        open_hand();
+        open_arm();
+        back300();
+        
+        turnrad_ccw(0,1);
+        pmove2(1800,1200);
+        close_hand();
+        close_arm();
+        turnrad_cw((-1)*PI,1);
+        pmove2(150,1200);
+        open_hand();
+        open_arm();
+        back300();
+    }
+    
+    if(phase == 7)
+    {   open_arm();
+        open_hand();
+        
+        pmove2(0,1000);
+        pmove2(600,1200);
+        pmove2(1800,1200);
+        close_hand();
+        close_arm();
+        turnrad_cw((-1)*PI,1);
+        pmove2(150,1200);
+        open_hand();
+        open_arm();
+        back300();
+        
+        
+    }
+    
+    if(phase == 6)
+    {buzzer(1);
+        initbutton();
+        int command[3];
+        commandIn(command);
+        
+        commandMove(command[0], command[1], command[2]);
+    }
+    
+    if(phase == 5)
+    {buzzer(1);
+        initbutton();
+        int command[3];
+        commandIn(command);
+        
+        commandMoveEnemy(command[0], command[1], command[2]);
+    }
 }
\ No newline at end of file