Soma Takahashi
kourobo
Dependencies: Controller ikarashiMDC
Revision 3:e8f08f2be311, committed 2019-03-13
- Comitter:
- ec30109b
- Date:
- Wed Mar 13 05:26:53 2019 +0000
- Parent:
- 2:a583ad08d3d6
- Commit message:
- kourobo2019_nagaokaBteam
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
| mbed-os.lib | Show annotated file Show diff for this revision Revisions of this file |
diff -r a583ad08d3d6 -r e8f08f2be311 main.cpp
--- a/main.cpp Sat Mar 09 08:39:58 2019 +0000
+++ b/main.cpp Wed Mar 13 05:26:53 2019 +0000
@@ -1,6 +1,7 @@
#include "mbed.h"
#include "ikarashiMDC.h"
#include "controller.h"
+#define PI 3.141592653589
Serial serial(PC_6, PC_7);
DigitalOut serialcontrol(D2);
@@ -43,63 +44,64 @@
if(pad.receiveState()){
for(int i = 0; i < 13; i++){
button[i] = pad.getButton1(i);
- pc.printf("%d ", button[i]);
+ // pc.printf("%d ", button[i]);
}
for(int i = 0; i < 2; i++){
stickRadian[i] = pad.getRadian(i);
stickNorn[i] = pad.getNorm(i);
- pc.printf("%f %f\t", stickRadian[i], stickNorn[i]);
+ //pc.printf("%f %f\t", stickRadian[i], stickNorn[i]);
}
//足回り
if(stickNorn[0] != 0){
- SPe[0] = sin(change(stickRadian[0]) - PI * 7/4);
- SPe[1] = sin(change(stickRadian[0]) - PI * 1/4);
- SPe[2] = sin(change(stickRadian[0]) - PI * 3/4);
- SPe[3] = sin(change(stickRadian[0]) - PI * 5/4);
+ SPe[0] = sin(change(stickRadian[0]) - PI * 1/4);
+ SPe[1] = sin(change(stickRadian[0]) - PI * 7/4);
+ SPe[2] = sin(change(stickRadian[0]) - PI * 5/4);
+ SPe[3] = sin(change(stickRadian[0]) - PI * 3/4);
+
}
//微調整
- if((button[0] == button[1] == button[2] == button[3] == button[4] == button[5] == button[7] == button[8]) && stickNorn[0] == 0){
+ if((button[0] == 1 && button[1] == 1 && button[2] == 1 && button[3] == 1 && button[4] == 1 && button[5] == 1 && button[7] == 1 && button[8] == 1) && stickNorn[0] == 0){
SPe[0] = 0;
SPe[1] = 0;
SPe[2] = 0;
SPe[3] = 0;
}
- if(button[3] == 0 && button[0] == button[1] == button[2] == button[4] == button[5] == button[7] == button[8]){ //前
+ if(button[3] == 0 && button[0] == 1 && button[1] == 1 && button[2] == 1 && button[4] == 1 && button[5] == 1 && button[7] == 1 && button[8] == 1){ //前
SPe[0] = 0.4;
SPe[1] = 0.4;
SPe[2] = -0.4;
SPe[3] = -0.4;
}
- if(button[5] == 0 && button[0] == button[1] == button[2] == button[3] == button[4] == button[7] == button[8]){ //後ろ
+ if(button[5] == 0 && button[0] == 1 == button[1] == 1 && button[2] == 1 && button[3] == 1 && button[4] == 1 && button[7] == 1 && button[8] == 1){ //後ろ
SPe[0] = -0.4;
SPe[1] = -0.4;
SPe[2] = 0.4;
SPe[3] = 0.4;
}
- if(button[4] == 0 && button[0] == button[1] == button[2] == button[3] == button[5] == button[7] == button[8]){ //右
- SPe[0] = -0.4;
- SPe[1] = 0.4;
- SPe[2] = -0.4;
- SPe[3] = 0.4;
+ if(button[4] == 0 && button[0] == 1 && button[1] == 1 && button[2] == 1 && button[3] == 1 && button[5] == 1 && button[7] == 1 && button[8] == 1){ //右
+ SPe[0] = -0.5;
+ SPe[1] = 0.3;
+ SPe[2] = 0.3;
+ SPe[3] = -0.4;
}
- if(button[2] == 0 && button[0] == button[1] == button[3] == button[4] == button[5] == button[7] == button[8]){ //左
- SPe[0] = 0.4;
- SPe[1] = -0.4;
- SPe[2] = 0.4;
- SPe[3] = -0.4;
+ if(button[2] == 0 && button[0] == 1 && button[1] == 1 && button[3] == 1 && button[4] == 1 && button[5] == 1 && button[7] == 1 && button[8] == 1){ //左
+ SPe[0] = 0.5;
+ SPe[1] = -0.3;
+ SPe[2] = -0.3;
+ SPe[3] = 0.4;
}
//右回転
- if(button[7] == 0 && button[0] == button[1] == button[2] == button[3] == button[4] == button[5] == button[8]){
+ if(button[7] == 0 && button[0] == 1 && button[1] == 1 && button[2] == 1 && button[3] == 1 && button[4] == 1 && button[5] == 1 && button[8] == 1){
SPe[0] = -0.4;
SPe[1] = -0.4;
SPe[2] = -0.4;
SPe[3] = -0.4;
}
//左回転
- if(button[8] == 0 && button[0] == button[1] == button[2] == button[3] == button[4] == button[5] == button[7]){
+ if(button[8] == 0 && button[0] == 1 && button[1] == 1 && button[2] == 1 && button[3] == 1 && button[4] == 1 && button[5] == 1 && button[7] == 1){
SPe[0] = 0.4;
SPe[1] = 0.4;
SPe[2] = 0.4;
@@ -107,17 +109,21 @@
}
//機構
- if(button[0] == button[1] == button[2] == button[3] == button[4] == button[5] == button[7] == button[8] == 1){
+ if(button[0] == 1 && button[1] == 1 && button[2] == 1 && button[3] == 1 && button[4] == 1 && button[5] == 1 && button[7] == 1 && button[8] == 1){
ikarashi[4].setSpeed(0);
}
- if(button[1] == 0 && button[0] == button[2] == button[3] == button[4] == button[5] == button[7] == button[8]){ //閉じる
- ikarashi[4].setSpeed(-0.15);
+ else if(button[1] == 0 && button[0] == 1 && button[2] == 1 && button[3] == 1 && button[4] == 1 && button[5] == 1 && button[7] == 1 && button[8] == 1){ //閉じる
+ ikarashi[4].setSpeed(-0.17);
}
- if(button[0] == 0 && button[1] == button[2] == button[3] == button[4] == button[5] == button[7] == button[8]){ //開く
- ikarashi[4].setSpeed(0.15);
+ else if(button[0] == 0 && button[1] == 1 && button[2] == 1 && button[3] == 1 && button[4] == 1 && button[5] == 1 && button[7] == 1 && button[8] == 1){ //開く
+ ikarashi[4].setSpeed(0.17);
}
+ else{
+ ikarashi[4].setSpeed(0);
+ }
+
ikarashi[0].setSpeed(SPe[0]);
@@ -125,14 +131,14 @@
ikarashi[2].setSpeed(SPe[2]);
ikarashi[3].setSpeed(SPe[3]);
- pc.printf("%.2f ",SPe[0]);
- pc.printf("%.2f ",SPe[1]);
- pc.printf("%.2f ",SPe[2]);
- pc.printf("%.2f ",SPe[3]);
+ //pc.printf("%.2f ",SPe[0]);
+// pc.printf("%.2f ",SPe[1]);
+// pc.printf("%.2f ",SPe[2]);
+// pc.printf("%.2f ",SPe[3]);
- pc.printf("%.3f ",change(stickRadian[0]));
+ //pc.printf("%.3f ",change(stickRadian[0]));
- pc.printf("\r\n");
+ // pc.printf("\r\n");
}else{
pc.printf("error\n\r");
diff -r a583ad08d3d6 -r e8f08f2be311 mbed-os.lib --- a/mbed-os.lib Sat Mar 09 08:39:58 2019 +0000 +++ b/mbed-os.lib Wed Mar 13 05:26:53 2019 +0000 @@ -1,1 +1,1 @@ -https://github.com/ARMmbed/mbed-os/#c9e63f14085f5751ff5ead79a7c0382d50a813a2 +https://github.com/ARMmbed/mbed-os/#51d55508e8400b60af467005646c4e2164738d48