Naoya Muramatsu
ロボカップのブロック大会2014で使用したプログラムです。 ロボットには、mbedを2台使ってI2C通信しています。 これはMaster側です。 ※独自規格を使用しています。
Dependencies: ACM1602NI Ping mbed-rtos mbed
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Moter.h
00001 00002 00003 00004 00005 00006 // モータのPWM制御（１°刻み） 00007 void M000(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3=-0.00000;} 00008 void M001(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3=-0.03023;} 00009 void M002(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3=-0.06048;} 00010 void M003(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3=-0.09077;} 00011 void M004(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3=-0.12112;} 00012 void M005(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3=-0.15153;} 00013 void M006(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3=-0.18205;} 00014 void M007(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3=-0.21267;} 00015 void M008(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3=-0.24342;} 00016 void M009(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3=-0.27433;} 00017 void M010(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3=-0.30541;} 00018 void M011(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3=-0.33668;} 00019 void M012(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3=-0.36816;} 00020 void M013(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3=-0.39988;} 00021 void M014(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3=-0.43185;} 00022 void M015(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3=-0.46410;} 00023 void M016(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3=-0.49666;} 00024 void M017(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3=-0.52954;} 00025 void M018(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3=-0.56278;} 00026 void M019(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3=-0.59639;} 00027 void M020(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3=-0.63041;} 00028 void M021(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3=-0.66487;} 00029 void M022(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3=-0.69979;} 00030 void M023(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3=-0.73521;} 00031 void M024(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3=-0.77116;} 00032 void M025(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3=-0.80767;} 00033 void M026(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3=-0.84478;} 00034 void M027(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3=-0.88252;} 00035 void M028(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3=-0.92095;} 00036 void M029(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3=-0.96009;} 00037 void M030(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3=-1.00000;} 00038 void M031(void) {PWM1=-0.96009; PWM2= 1.00000; PWM3=-1.00000;} 00039 void M032(void) {PWM1=-0.92095; PWM2= 1.00000; PWM3=-1.00000;} 00040 void M033(void) {PWM1=-0.88252; PWM2= 1.00000; PWM3=-1.00000;} 00041 void M034(void) {PWM1=-0.84478; PWM2= 1.00000; PWM3=-1.00000;} 00042 void M035(void) {PWM1=-0.80767; PWM2= 1.00000; PWM3=-1.00000;} 00043 void M036(void) {PWM1=-0.77116; PWM2= 1.00000; PWM3=-1.00000;} 00044 void M037(void) {PWM1=-0.73521; PWM2= 1.00000; PWM3=-1.00000;} 00045 void M038(void) {PWM1=-0.69979; PWM2= 1.00000; PWM3=-1.00000;} 00046 void M039(void) {PWM1=-0.66487; PWM2= 1.00000; PWM3=-1.00000;} 00047 void M040(void) {PWM1=-0.63041; PWM2= 1.00000; PWM3=-1.00000;} 00048 void M041(void) {PWM1=-0.59639; PWM2= 1.00000; PWM3=-1.00000;} 00049 void M042(void) {PWM1=-0.56278; PWM2= 1.00000; PWM3=-1.00000;} 00050 void M043(void) {PWM1=-0.52954; PWM2= 1.00000; PWM3=-1.00000;} 00051 void M044(void) {PWM1=-0.49666; PWM2= 1.00000; PWM3=-1.00000;} 00052 void M045(void) {PWM1=-0.46410; PWM2= 1.00000; PWM3=-1.00000;} 00053 void M046(void) {PWM1=-0.43185; PWM2= 1.00000; PWM3=-1.00000;} 00054 void M047(void) {PWM1=-0.39988; PWM2= 1.00000; PWM3=-1.00000;} 00055 void M048(void) {PWM1=-0.36816; PWM2= 1.00000; PWM3=-1.00000;} 00056 void M049(void) {PWM1=-0.33668; PWM2= 1.00000; PWM3=-1.00000;} 00057 void M050(void) {PWM1=-0.30541; PWM2= 1.00000; PWM3=-1.00000;} 00058 void M051(void) {PWM1=-0.27433; PWM2= 1.00000; PWM3=-1.00000;} 00059 void M052(void) {PWM1=-0.24342; PWM2= 1.00000; PWM3=-1.00000;} 00060 void M053(void) {PWM1=-0.21267; PWM2= 1.00000; PWM3=-1.00000;} 00061 void M054(void) {PWM1=-0.18205; PWM2= 1.00000; PWM3=-1.00000;} 00062 void M055(void) {PWM1=-0.15153; PWM2= 1.00000; PWM3=-1.00000;} 00063 void M056(void) {PWM1=-0.12112; PWM2= 1.00000; PWM3=-1.00000;} 00064 void M057(void) {PWM1=-0.09077; PWM2= 1.00000; PWM3=-1.00000;} 00065 void M058(void) {PWM1=-0.06048; PWM2= 1.00000; PWM3=-1.00000;} 00066 void M059(void) {PWM1=-0.03023; PWM2= 1.00000; PWM3=-1.00000;} 00067 void M060(void) {PWM1= 0.00000; PWM2= 1.00000; PWM3=-1.00000;} 00068 void M061(void) {PWM1= 0.03023; PWM2= 1.00000; PWM3=-1.00000;} 00069 void M062(void) {PWM1= 0.06048; PWM2= 1.00000; PWM3=-1.00000;} 00070 void M063(void) {PWM1= 0.09077; PWM2= 1.00000; PWM3=-1.00000;} 00071 void M064(void) {PWM1= 0.12112; PWM2= 1.00000; PWM3=-1.00000;} 00072 void M065(void) {PWM1= 0.15153; PWM2= 1.00000; PWM3=-1.00000;} 00073 void M066(void) {PWM1= 0.18205; PWM2= 1.00000; PWM3=-1.00000;} 00074 void M067(void) {PWM1= 0.21267; PWM2= 1.00000; PWM3=-1.00000;} 00075 void M068(void) {PWM1= 0.24342; PWM2= 1.00000; PWM3=-1.00000;} 00076 void M069(void) {PWM1= 0.27433; PWM2= 1.00000; PWM3=-1.00000;} 00077 void M070(void) {PWM1= 0.30541; PWM2= 1.00000; PWM3=-1.00000;} 00078 void M071(void) {PWM1= 0.33668; PWM2= 1.00000; PWM3=-1.00000;} 00079 void M072(void) {PWM1= 0.36816; PWM2= 1.00000; PWM3=-1.00000;} 00080 void M073(void) {PWM1= 0.39988; PWM2= 1.00000; PWM3=-1.00000;} 00081 void M074(void) {PWM1= 0.43185; PWM2= 1.00000; PWM3=-1.00000;} 00082 void M075(void) {PWM1= 0.46410; PWM2= 1.00000; PWM3=-1.00000;} 00083 void M076(void) {PWM1= 0.49666; PWM2= 1.00000; PWM3=-1.00000;} 00084 void M077(void) {PWM1= 0.52954; PWM2= 1.00000; PWM3=-1.00000;} 00085 void M078(void) {PWM1= 0.56278; PWM2= 1.00000; PWM3=-1.00000;} 00086 void M079(void) {PWM1= 0.59639; PWM2= 1.00000; PWM3=-1.00000;} 00087 void M080(void) {PWM1= 0.63041; PWM2= 1.00000; PWM3=-1.00000;} 00088 void M081(void) {PWM1= 0.66487; PWM2= 1.00000; PWM3=-1.00000;} 00089 void M082(void) {PWM1= 0.69979; PWM2= 1.00000; PWM3=-1.00000;} 00090 void M083(void) {PWM1= 0.73521; PWM2= 1.00000; PWM3=-1.00000;} 00091 void M084(void) {PWM1= 0.77116; PWM2= 1.00000; PWM3=-1.00000;} 00092 void M085(void) {PWM1= 0.80767; PWM2= 1.00000; PWM3=-1.00000;} 00093 void M086(void) {PWM1= 0.84478; PWM2= 1.00000; PWM3=-1.00000;} 00094 void M087(void) {PWM1= 0.88252; PWM2= 1.00000; PWM3=-1.00000;} 00095 void M088(void) {PWM1= 0.92095; PWM2= 1.00000; PWM3=-1.00000;} 00096 void M089(void) {PWM1= 0.96009; PWM2= 1.00000; PWM3=-1.00000;} 00097 void M090(void) {PWM1= 1.00000; PWM2= 1.00000; PWM3=-1.00000;} 00098 void M091(void) {PWM1= 1.00000; PWM2= 0.96009; PWM3=-1.00000;} 00099 void M092(void) {PWM1= 1.00000; PWM2= 0.92095; PWM3=-1.00000;} 00100 void M093(void) {PWM1= 1.00000; PWM2= 0.88252; PWM3=-1.00000;} 00101 void M094(void) {PWM1= 1.00000; PWM2= 0.84478; PWM3=-1.00000;} 00102 void M095(void) {PWM1= 1.00000; PWM2= 0.80767; PWM3=-1.00000;} 00103 void M096(void) {PWM1= 1.00000; PWM2= 0.77116; PWM3=-1.00000;} 00104 void M097(void) {PWM1= 1.00000; PWM2= 0.73521; PWM3=-1.00000;} 00105 void M098(void) {PWM1= 1.00000; PWM2= 0.69979; PWM3=-1.00000;} 00106 void M099(void) {PWM1= 1.00000; PWM2= 0.66487; PWM3=-1.00000;} 00107 void M100(void) {PWM1= 1.00000; PWM2= 0.63041; PWM3=-1.00000;} 00108 void M101(void) {PWM1= 1.00000; PWM2= 0.59639; PWM3=-1.00000;} 00109 void M102(void) {PWM1= 1.00000; PWM2= 0.56278; PWM3=-1.00000;} 00110 void M103(void) {PWM1= 1.00000; PWM2= 0.52954; PWM3=-1.00000;} 00111 void M104(void) {PWM1= 1.00000; PWM2= 0.49666; PWM3=-1.00000;} 00112 void M105(void) {PWM1= 1.00000; PWM2= 0.46410; PWM3=-1.00000;} 00113 void M106(void) {PWM1= 1.00000; PWM2= 0.43185; PWM3=-1.00000;} 00114 void M107(void) {PWM1= 1.00000; PWM2= 0.39988; PWM3=-1.00000;} 00115 void M108(void) {PWM1= 1.00000; PWM2= 0.36816; PWM3=-1.00000;} 00116 void M109(void) {PWM1= 1.00000; PWM2= 0.33668; PWM3=-1.00000;} 00117 void M110(void) {PWM1= 1.00000; PWM2= 0.30541; PWM3=-1.00000;} 00118 void M111(void) {PWM1= 1.00000; PWM2= 0.27433; PWM3=-1.00000;} 00119 void M112(void) {PWM1= 1.00000; PWM2= 0.24342; PWM3=-1.00000;} 00120 void M113(void) {PWM1= 1.00000; PWM2= 0.21267; PWM3=-1.00000;} 00121 void M114(void) {PWM1= 1.00000; PWM2= 0.18205; PWM3=-1.00000;} 00122 void M115(void) {PWM1= 1.00000; PWM2= 0.15153; PWM3=-1.00000;} 00123 void M116(void) {PWM1= 1.00000; PWM2= 0.12112; PWM3=-1.00000;} 00124 void M117(void) {PWM1= 1.00000; PWM2= 0.09077; PWM3=-1.00000;} 00125 void M118(void) {PWM1= 1.00000; PWM2= 0.06048; PWM3=-1.00000;} 00126 void M119(void) {PWM1= 1.00000; PWM2= 0.03023; PWM3=-1.00000;} 00127 void M120(void) {PWM1= 1.00000; PWM2= 0.00000; PWM3=-1.00000;} 00128 void M121(void) {PWM1= 1.00000; PWM2=-0.03023; PWM3=-1.00000;} 00129 void M122(void) {PWM1= 1.00000; PWM2=-0.06048; PWM3=-1.00000;} 00130 void M123(void) {PWM1= 1.00000; PWM2=-0.09077; PWM3=-1.00000;} 00131 void M124(void) {PWM1= 1.00000; PWM2=-0.12112; PWM3=-1.00000;} 00132 void M125(void) {PWM1= 1.00000; PWM2=-0.15153; PWM3=-1.00000;} 00133 void M126(void) {PWM1= 1.00000; PWM2=-0.18205; PWM3=-1.00000;} 00134 void M127(void) {PWM1= 1.00000; PWM2=-0.21267; PWM3=-1.00000;} 00135 void M128(void) {PWM1= 1.00000; PWM2=-0.24342; PWM3=-1.00000;} 00136 void M129(void) {PWM1= 1.00000; PWM2=-0.27433; PWM3=-1.00000;} 00137 void M130(void) {PWM1= 1.00000; PWM2=-0.30541; PWM3=-1.00000;} 00138 void M131(void) {PWM1= 1.00000; PWM2=-0.33668; PWM3=-1.00000;} 00139 void M132(void) {PWM1= 1.00000; PWM2=-0.36816; PWM3=-1.00000;} 00140 void M133(void) {PWM1= 1.00000; PWM2=-0.39988; PWM3=-1.00000;} 00141 void M134(void) {PWM1= 1.00000; PWM2=-0.43185; PWM3=-1.00000;} 00142 void M135(void) {PWM1= 1.00000; PWM2=-0.46410; PWM3=-1.00000;} 00143 void M136(void) {PWM1= 1.00000; PWM2=-0.49666; PWM3=-1.00000;} 00144 void M137(void) {PWM1= 1.00000; PWM2=-0.52954; PWM3=-1.00000;} 00145 void M138(void) {PWM1= 1.00000; PWM2=-0.56278; PWM3=-1.00000;} 00146 void M139(void) {PWM1= 1.00000; PWM2=-0.59639; PWM3=-1.00000;} 00147 void M140(void) {PWM1= 1.00000; PWM2=-0.63041; PWM3=-1.00000;} 00148 void M141(void) {PWM1= 1.00000; PWM2=-0.66487; PWM3=-1.00000;} 00149 void M142(void) {PWM1= 1.00000; PWM2=-0.69979; PWM3=-1.00000;} 00150 void M143(void) {PWM1= 1.00000; PWM2=-0.73521; PWM3=-1.00000;} 00151 void M144(void) {PWM1= 1.00000; PWM2=-0.77116; PWM3=-1.00000;} 00152 void M145(void) {PWM1= 1.00000; PWM2=-0.80767; PWM3=-1.00000;} 00153 void M146(void) {PWM1= 1.00000; PWM2=-0.84478; PWM3=-1.00000;} 00154 void M147(void) {PWM1= 1.00000; PWM2=-0.88252; PWM3=-1.00000;} 00155 void M148(void) {PWM1= 1.00000; PWM2=-0.92095; PWM3=-1.00000;} 00156 void M149(void) {PWM1= 1.00000; PWM2=-0.96009; PWM3=-1.00000;} 00157 void M150(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3=-1.00000;} 00158 void M151(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3=-0.96009;} 00159 void M152(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3=-0.92095;} 00160 void M153(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3=-0.88252;} 00161 void M154(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3=-0.84478;} 00162 void M155(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3=-0.80767;} 00163 void M156(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3=-0.77116;} 00164 void M157(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3=-0.73521;} 00165 void M158(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3=-0.69979;} 00166 void M159(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3=-0.66487;} 00167 void M160(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3=-0.63041;} 00168 void M161(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3=-0.59639;} 00169 void M162(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3=-0.56278;} 00170 void M163(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3=-0.52954;} 00171 void M164(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3=-0.49666;} 00172 void M165(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3=-0.46410;} 00173 void M166(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3=-0.43185;} 00174 void M167(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3=-0.39988;} 00175 void M168(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3=-0.36816;} 00176 void M169(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3=-0.33668;} 00177 void M170(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3=-0.30541;} 00178 void M171(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3=-0.27433;} 00179 void M172(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3=-0.24342;} 00180 void M173(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3=-0.21267;} 00181 void M174(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3=-0.18205;} 00182 void M175(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3=-0.15153;} 00183 void M176(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3=-0.12112;} 00184 void M177(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3=-0.09077;} 00185 void M178(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3=-0.06048;} 00186 void M179(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3=-0.03023;} 00187 void M180(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3= 0.00000;} 00188 void M181(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3= 0.03023;} 00189 void M182(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3= 0.06048;} 00190 void M183(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3= 0.09077;} 00191 void M184(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3= 0.12112;} 00192 void M185(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3= 0.15153;} 00193 void M186(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3= 0.18205;} 00194 void M187(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3= 0.21267;} 00195 void M188(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3= 0.24342;} 00196 void M189(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3= 0.27433;} 00197 void M190(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3= 0.30541;} 00198 void M191(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3= 0.33668;} 00199 void M192(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3= 0.36816;} 00200 void M193(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3= 0.39988;} 00201 void M194(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3= 0.43185;} 00202 void M195(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3= 0.46410;} 00203 void M196(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3= 0.49666;} 00204 void M197(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3= 0.52954;} 00205 void M198(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3= 0.56278;} 00206 void M199(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3= 0.59639;} 00207 void M200(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3= 0.63041;} 00208 void M201(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3= 0.66487;} 00209 void M202(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3= 0.69979;} 00210 void M203(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3= 0.73521;} 00211 void M204(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3= 0.77116;} 00212 void M205(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3= 0.80767;} 00213 void M206(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3= 0.84478;} 00214 void M207(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3= 0.88252;} 00215 void M208(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3= 0.92095;} 00216 void M209(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3= 0.96009;} 00217 void M210(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3= 1.00000;} 00218 void M211(void) {PWM1= 0.96009; PWM2=-1.00000; PWM3= 1.00000;} 00219 void M212(void) {PWM1= 0.92095; PWM2=-1.00000; PWM3= 1.00000;} 00220 void M213(void) {PWM1= 0.88252; PWM2=-1.00000; PWM3= 1.00000;} 00221 void M214(void) {PWM1= 0.84478; PWM2=-1.00000; PWM3= 1.00000;} 00222 void M215(void) {PWM1= 0.80767; PWM2=-1.00000; PWM3= 1.00000;} 00223 void M216(void) {PWM1= 0.77116; PWM2=-1.00000; PWM3= 1.00000;} 00224 void M217(void) {PWM1= 0.73521; PWM2=-1.00000; PWM3= 1.00000;} 00225 void M218(void) {PWM1= 0.69979; PWM2=-1.00000; PWM3= 1.00000;} 00226 void M219(void) {PWM1= 0.66487; PWM2=-1.00000; PWM3= 1.00000;} 00227 void M220(void) {PWM1= 0.63041; PWM2=-1.00000; PWM3= 1.00000;} 00228 void M221(void) {PWM1= 0.59639; PWM2=-1.00000; PWM3= 1.00000;} 00229 void M222(void) {PWM1= 0.56278; PWM2=-1.00000; PWM3= 1.00000;} 00230 void M223(void) {PWM1= 0.52954; PWM2=-1.00000; PWM3= 1.00000;} 00231 void M224(void) {PWM1= 0.49666; PWM2=-1.00000; PWM3= 1.00000;} 00232 void M225(void) {PWM1= 0.46410; PWM2=-1.00000; PWM3= 1.00000;} 00233 void M226(void) {PWM1= 0.43185; PWM2=-1.00000; PWM3= 1.00000;} 00234 void M227(void) {PWM1= 0.39988; PWM2=-1.00000; PWM3= 1.00000;} 00235 void M228(void) {PWM1= 0.36816; PWM2=-1.00000; PWM3= 1.00000;} 00236 void M229(void) {PWM1= 0.33668; PWM2=-1.00000; PWM3= 1.00000;} 00237 void M230(void) {PWM1= 0.30541; PWM2=-1.00000; PWM3= 1.00000;} 00238 void M231(void) {PWM1= 0.27433; PWM2=-1.00000; PWM3= 1.00000;} 00239 void M232(void) {PWM1= 0.24342; PWM2=-1.00000; PWM3= 1.00000;} 00240 void M233(void) {PWM1= 0.21267; PWM2=-1.00000; PWM3= 1.00000;} 00241 void M234(void) {PWM1= 0.18205; PWM2=-1.00000; PWM3= 1.00000;} 00242 void M235(void) {PWM1= 0.15153; PWM2=-1.00000; PWM3= 1.00000;} 00243 void M236(void) {PWM1= 0.12112; PWM2=-1.00000; PWM3= 1.00000;} 00244 void M237(void) {PWM1= 0.09077; PWM2=-1.00000; PWM3= 1.00000;} 00245 void M238(void) {PWM1= 0.06048; PWM2=-1.00000; PWM3= 1.00000;} 00246 void M239(void) {PWM1= 0.03023; PWM2=-1.00000; PWM3= 1.00000;} 00247 void M240(void) {PWM1= 0.00000; PWM2=-1.00000; PWM3= 1.00000;} 00248 void M241(void) {PWM1=-0.03023; PWM2= 1.00000; PWM3= 1.00000;} 00249 void M242(void) {PWM1=-0.06048; PWM2= 1.00000; PWM3= 1.00000;} 00250 void M243(void) {PWM1=-0.09077; PWM2= 1.00000; PWM3= 1.00000;} 00251 void M244(void) {PWM1=-0.12112; PWM2= 1.00000; PWM3= 1.00000;} 00252 void M245(void) {PWM1=-0.15153; PWM2= 1.00000; PWM3= 1.00000;} 00253 void M246(void) {PWM1=-0.18205; PWM2= 1.00000; PWM3= 1.00000;} 00254 void M247(void) {PWM1=-0.21267; PWM2= 1.00000; PWM3= 1.00000;} 00255 void M248(void) {PWM1=-0.24342; PWM2= 1.00000; PWM3= 1.00000;} 00256 void M249(void) {PWM1=-0.27433; PWM2= 1.00000; PWM3= 1.00000;} 00257 void M250(void) {PWM1=-0.30541; PWM2= 1.00000; PWM3= 1.00000;} 00258 void M251(void) {PWM1=-0.33668; PWM2= 1.00000; PWM3= 1.00000;} 00259 void M252(void) {PWM1=-0.36816; PWM2= 1.00000; PWM3= 1.00000;} 00260 void M253(void) {PWM1=-0.39988; PWM2= 1.00000; PWM3= 1.00000;} 00261 void M254(void) {PWM1=-0.43185; PWM2= 1.00000; PWM3= 1.00000;} 00262 void M255(void) {PWM1=-0.46410; PWM2= 1.00000; PWM3= 1.00000;} 00263 void M256(void) {PWM1=-0.49666; PWM2= 1.00000; PWM3= 1.00000;} 00264 void M257(void) {PWM1=-0.52954; PWM2= 1.00000; PWM3= 1.00000;} 00265 void M258(void) {PWM1=-0.56278; PWM2= 1.00000; PWM3= 1.00000;} 00266 void M259(void) {PWM1=-0.59639; PWM2= 1.00000; PWM3= 1.00000;} 00267 void M260(void) {PWM1=-0.63041; PWM2= 1.00000; PWM3= 1.00000;} 00268 void M261(void) {PWM1=-0.66487; PWM2= 1.00000; PWM3= 1.00000;} 00269 void M262(void) {PWM1=-0.69979; PWM2= 1.00000; PWM3= 1.00000;} 00270 void M263(void) {PWM1=-0.73521; PWM2= 1.00000; PWM3= 1.00000;} 00271 void M264(void) {PWM1=-0.77116; PWM2= 1.00000; PWM3= 1.00000;} 00272 void M265(void) {PWM1=-0.80767; PWM2= 1.00000; PWM3= 1.00000;} 00273 void M266(void) {PWM1=-0.84478; PWM2= 1.00000; PWM3= 1.00000;} 00274 void M267(void) {PWM1=-0.88252; PWM2= 1.00000; PWM3= 1.00000;} 00275 void M268(void) {PWM1=-0.92095; PWM2= 1.00000; PWM3= 1.00000;} 00276 void M269(void) {PWM1=-0.96009; PWM2= 1.00000; PWM3= 1.00000;} 00277 void M270(void) {PWM1=-1.00000; PWM2=-1.00000; PWM3= 1.00000;} 00278 void M271(void) {PWM1=-1.00000; PWM2=-0.96009; PWM3= 1.00000;} 00279 void M272(void) {PWM1=-1.00000; PWM2=-0.92095; PWM3= 1.00000;} 00280 void M273(void) {PWM1=-1.00000; PWM2=-0.88252; PWM3= 1.00000;} 00281 void M274(void) {PWM1=-1.00000; PWM2=-0.84478; PWM3= 1.00000;} 00282 void M275(void) {PWM1=-1.00000; PWM2=-0.80767; PWM3= 1.00000;} 00283 void M276(void) {PWM1=-1.00000; PWM2=-0.77116; PWM3= 1.00000;} 00284 void M277(void) {PWM1=-1.00000; PWM2=-0.73521; PWM3= 1.00000;} 00285 void M278(void) {PWM1=-1.00000; PWM2=-0.69979; PWM3= 1.00000;} 00286 void M279(void) {PWM1=-1.00000; PWM2=-0.66487; PWM3= 1.00000;} 00287 void M280(void) {PWM1=-1.00000; PWM2=-0.63041; PWM3= 1.00000;} 00288 void M281(void) {PWM1=-1.00000; PWM2=-0.59639; PWM3= 1.00000;} 00289 void M282(void) {PWM1=-1.00000; PWM2=-0.56278; PWM3= 1.00000;} 00290 void M283(void) {PWM1=-1.00000; PWM2=-0.52954; PWM3= 1.00000;} 00291 void M284(void) {PWM1=-1.00000; PWM2=-0.49666; PWM3= 1.00000;} 00292 void M285(void) {PWM1=-1.00000; PWM2=-0.46410; PWM3= 1.00000;} 00293 void M286(void) {PWM1=-1.00000; PWM2=-0.43185; PWM3= 1.00000;} 00294 void M287(void) {PWM1=-1.00000; PWM2=-0.39988; PWM3= 1.00000;} 00295 void M288(void) {PWM1=-1.00000; PWM2=-0.36816; PWM3= 1.00000;} 00296 void M289(void) {PWM1=-1.00000; PWM2=-0.33668; PWM3= 1.00000;} 00297 void M290(void) {PWM1=-1.00000; PWM2=-0.30541; PWM3= 1.00000;} 00298 void M291(void) {PWM1=-1.00000; PWM2=-0.27433; PWM3= 1.00000;} 00299 void M292(void) {PWM1=-1.00000; PWM2=-0.24342; PWM3= 1.00000;} 00300 void M293(void) {PWM1=-1.00000; PWM2=-0.21267; PWM3= 1.00000;} 00301 void M294(void) {PWM1=-1.00000; PWM2=-0.18205; PWM3= 1.00000;} 00302 void M295(void) {PWM1=-1.00000; PWM2=-0.15153; PWM3= 1.00000;} 00303 void M296(void) {PWM1=-1.00000; PWM2=-0.12112; PWM3= 1.00000;} 00304 void M297(void) {PWM1=-1.00000; PWM2=-0.09077; PWM3= 1.00000;} 00305 void M298(void) {PWM1=-1.00000; PWM2=-0.06048; PWM3= 1.00000;} 00306 void M299(void) {PWM1=-1.00000; PWM2=-0.03023; PWM3= 1.00000;} 00307 void M300(void) {PWM1=-1.00000; PWM2= 0.00000; PWM3= 1.00000;} 00308 void M301(void) {PWM1=-1.00000; PWM2= 0.03023; PWM3= 1.00000;} 00309 void M302(void) {PWM1=-1.00000; PWM2= 0.06048; PWM3= 1.00000;} 00310 void M303(void) {PWM1=-1.00000; PWM2= 0.09077; PWM3= 1.00000;} 00311 void M304(void) {PWM1=-1.00000; PWM2= 0.12112; PWM3= 1.00000;} 00312 void M305(void) {PWM1=-1.00000; PWM2= 0.15153; PWM3= 1.00000;} 00313 void M306(void) {PWM1=-1.00000; PWM2= 0.18205; PWM3= 1.00000;} 00314 void M307(void) {PWM1=-1.00000; PWM2= 0.21267; PWM3= 1.00000;} 00315 void M308(void) {PWM1=-1.00000; PWM2= 0.24342; PWM3= 1.00000;} 00316 void M309(void) {PWM1=-1.00000; PWM2= 0.27433; PWM3= 1.00000;} 00317 void M310(void) {PWM1=-1.00000; PWM2= 0.30541; PWM3= 1.00000;} 00318 void M311(void) {PWM1=-1.00000; PWM2= 0.33668; PWM3= 1.00000;} 00319 void M312(void) {PWM1=-1.00000; PWM2= 0.36816; PWM3= 1.00000;} 00320 void M313(void) {PWM1=-1.00000; PWM2= 0.39988; PWM3= 1.00000;} 00321 void M314(void) {PWM1=-1.00000; PWM2= 0.43185; PWM3= 1.00000;} 00322 void M315(void) {PWM1=-1.00000; PWM2= 0.46410; PWM3= 1.00000;} 00323 void M316(void) {PWM1=-1.00000; PWM2= 0.49666; PWM3= 1.00000;} 00324 void M317(void) {PWM1=-1.00000; PWM2= 0.52954; PWM3= 1.00000;} 00325 void M318(void) {PWM1=-1.00000; PWM2= 0.56278; PWM3= 1.00000;} 00326 void M319(void) {PWM1=-1.00000; PWM2= 0.59639; PWM3= 1.00000;} 00327 void M320(void) {PWM1=-1.00000; PWM2= 0.63041; PWM3= 1.00000;} 00328 void M321(void) {PWM1=-1.00000; PWM2= 0.66487; PWM3= 1.00000;} 00329 void M322(void) {PWM1=-1.00000; PWM2= 0.69979; PWM3= 1.00000;} 00330 void M323(void) {PWM1=-1.00000; PWM2= 0.73521; PWM3= 1.00000;} 00331 void M324(void) {PWM1=-1.00000; PWM2= 0.77116; PWM3= 1.00000;} 00332 void M325(void) {PWM1=-1.00000; PWM2= 0.80767; PWM3= 1.00000;} 00333 void M326(void) {PWM1=-1.00000; PWM2= 0.84478; PWM3= 1.00000;} 00334 void M327(void) {PWM1=-1.00000; PWM2= 0.88252; PWM3= 1.00000;} 00335 void M328(void) {PWM1=-1.00000; PWM2= 0.92095; PWM3= 1.00000;} 00336 void M329(void) {PWM1=-1.00000; PWM2= 0.96009; PWM3= 1.00000;} 00337 void M330(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3= 1.00000;} 00338 void M331(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3= 0.96009;} 00339 void M332(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3= 0.92095;} 00340 void M333(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3= 0.88252;} 00341 void M334(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3= 0.84478;} 00342 void M335(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3= 0.80767;} 00343 void M336(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3= 0.77116;} 00344 void M337(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3= 0.73521;} 00345 void M338(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3= 0.69979;} 00346 void M339(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3= 0.66487;} 00347 void M340(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3= 0.63041;} 00348 void M341(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3= 0.59639;} 00349 void M342(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3= 0.56278;} 00350 void M343(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3= 0.52954;} 00351 void M344(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3= 0.49666;} 00352 void M345(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3= 0.46410;} 00353 void M346(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3= 0.43185;} 00354 void M347(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3= 0.39988;} 00355 void M348(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3= 0.36816;} 00356 void M349(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3= 0.33668;} 00357 void M350(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3= 0.30541;} 00358 void M351(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3= 0.27433;} 00359 void M352(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3= 0.24342;} 00360 void M353(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3= 0.21267;} 00361 void M354(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3= 0.18205;} 00362 void M355(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3= 0.15153;} 00363 void M356(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3= 0.12112;} 00364 void M357(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3= 0.09077;} 00365 void M358(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3= 0.06048;} 00366 void M359(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3= 0.03023;} 00367 // モータのPWM制御分岐 00368 void (*PwmApi[])(void) = {M000, M001, M002, M003, M004, M005, M006, M007, M008, M009, M010, M011, M012, M013, M014, M015, M016, M017, M018, M019, M020, M021, M022, M023, M024, M025, M026, M027, M028, M029, M030, M031, M032, M033, M034, M035, M036, M037, M038, M039, M040, M041, M042, M043, M044, M045, M046, M047, M048, M049, M050, M051, M052, M053, M054, M055, M056, M057, M058, M059, M060, M061, M062, M063, M064, M065, M066, M067, M068, M069, M070, M071, M072, M073, M074, M075, M076, M077, M078, M079, M080, M081, M082, M083, M084, M085, M086, M087, M088, M089, M090, M091, M092, M093, M094, M095, M096, M097, M098, M099, M100, M101, M102, M103, M104, M105, M106, M107, M108, M109, M110, M111, M112, M113, M114, M115, M116, M117, M118, M119, M120, M121, M122, M123, M124, M125, M126, M127, M128, M129, M130, M131, M132, M133, M134, M135, M136, M137, M138, M139, M140, M141, M142, M143, M144, M145, M146, M147, M148, M149, M150, M151, M152, M153, M154, M155, M156, M157, M158, M159, M160, M161, M162, M163, M164, M165, M166, M167, M168, M169, M170, M171, M172, M173, M174, M175, M176, M177, M178, M179, M180, M181, M182, M183, M184, M185, M186, M187, M188, M189, M190, M191, M192, M193, M194, M195, M196, M197, M198, M199, M200, M201, M202, M203, M204, M205, M206, M207, M208, M209, M210, M211, M212, M213, M214, M215, M216, M217, M218, M219, M220, M221, M222, M223, M224, M225, M226, M227, M228, M229, M230, M231, M232, M233, M234, M235, M236, M237, M238, M239, M240, M241, M242, M243, M244, M245, M246, M247, M248, M249, M250, M251, M252, M253, M254, M255, M256, M257, M258, M259, M260, M261, M262, M263, M264, M265, M266, M267, M268, M269, M270, M271, M272, M273, M274, M275, M276, M277, M278, M279, M280, M281, M282, M283, M284, M285, M286, M287, M288, M289, M290, M291, M292, M293, M294, M295, M296, M297, M298, M299, M300, M301, M302, M303, M304, M305, M306, M307, M308, M309, M310, M311, M312, M313, M314, M315, M316, M317, M318, M319, M320, M321, M322, M323, M324, M325, M326, M327, M328, M329, M330, M331, M332, M333, M334, M335, M336, M337, M338, M339, M340, M341, M342, M343, M344, M345, M346, M347, M348, M349, M350, M351, M352, M353, M354, M355, M356, M357, M358, M359}; 00369 00370 00371 00372 00373 00374 void Moter(float speed, int angle, float omega) { 00375 if(sw_flag) { 00376 (*PwmApi[angle])(); 00377 PWM1 += omega; PWM2 += omega; PWM3 += omega; 00378 MoterApi(((PWM1>=0)?1:0), ((PWM2>=0)?1:0), ((PWM3>=0)?1:0)); 00379 00380 PWM1 = abs(PWM1); PWM2 = abs(PWM2); PWM3 = abs(PWM3); 00381 // 最大値を探す 00382 float max = (PWM1 > PWM2) ? PWM1 : PWM2; 00383 max = (max > PWM3) ? max : PWM3; 00384 00385 PWM1 = PWM1/max*speed; PWM2 = PWM2/max*speed; PWM3 = PWM3/max*speed; 00386 if(max == 0){PWM1=0; PWM2=0; PWM3=0;} 00387 pwm1 = PWM1; pwm2 = PWM2; pwm3 = PWM3; 00388 led4 = 1; 00389 } 00390 } 00391 00392 00393 // 角度自動修正関数 00394 float Auto_Corrction(void) { 00395 float omega = 0.00000; 00396 if (90.0 < Compass && Compass < 180.0) { 00397 omega = -0.1 * Compass / 180.0; 00398 } else if (-180.0 < Compass && Compass < -90.0) { 00399 omega = -0.1 * Compass / 180.0; 00400 } else { 00401 omega = 0.000000; 00402 } 00403 return omega; 00404 } 00405 00406 00407 // モータの回転方向を制御 00408 void MoterApi(bool m1, bool m2, bool m3) { 00409 M1_1 = m1; M1_2 = !m1; 00410 M2_1 = m2; M2_2 = !m2; 00411 M3_1 = m3; M3_2 = !m3; 00412 } 00413 00414 // モータをすべて止める 00415 void MoterReset (bool m1, bool m2, bool m3) { 00416 if (!m1) { M1_1 = 0; M1_2 = 0; } 00417 if (!m2) { M2_1 = 0; M2_2 = 0; } 00418 if (!m3) { M3_1 = 0; M3_2 = 0; } 00419 } 00420 00421 00422 00423 00424 00425 00426 00427 00428 00429 00430 00431 00432 00433 00434
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