Soma Takahashi / Mbed OS kourobo2019

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Dependencies:   Controller ikarashiMDC

Files at this revision

API Documentation at this revision

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 
--- 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");

--- 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