kusano kiyoshige / Mbed 2 deprecated 17robo_tokyo_kaede

sampleProgram

Dependencies:   QEI accelerator bit_test cyclic_io cyclic_var cylinder event_var limit mbed mecanum motor_drive pid pid_encoder rs422_put sbdbt servo

Fork of 17robo_fuzi by kusano kiyoshige

main.cpp@56:a7bd860b85b6, 2017-09-16 (annotated)

Committer:
echo_piyo
Date:
Sat Sep 16 07:56:19 2017 +0000
Revision:
56:a7bd860b85b6
Parent:
55:2dd2f161ebaf
Child:
57:68df771fd8a1
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Who changed what in which revision?

UserRevisionLine numberNew contents of line
echo_piyo 56:a7bd860b85b6 1 //index_include
echo_piyo 0:bf96e953cdb8 2 #include "mbed.h"
echo_piyo 4:a6cc2f03e69b 3 #include "math.h"
echo_piyo 0:bf96e953cdb8 4 #include "bit_test.h"
echo_piyo 0:bf96e953cdb8 5 #include "RS422_put.h"
echo_piyo 0:bf96e953cdb8 6 #include "sbdbt.h"
echo_piyo 0:bf96e953cdb8 7 #include "mecanum.h"
echo_piyo 0:bf96e953cdb8 8 #include "bno055_lib.h"
echo_piyo 0:bf96e953cdb8 9 #include "bno055_use.h"
echo_piyo 0:bf96e953cdb8 10 #include "pid.h"
echo_piyo 0:bf96e953cdb8 11 #include "limit.h"
echo_piyo 4:a6cc2f03e69b 12 #include "accelerator.h"
echo_piyo 10:04f2a82cfd89 13 #include "encorder.h"
echo_piyo 14:aac2f18f6779 14 #include "cyclic.h"
echo_piyo 14:aac2f18f6779 15 #include "cyclic_IO.h"
echo_piyo 15:0fdf483769bf 16 #include "cylinder.h"
echo_piyo 50:e4e1f38d1bd5 17 #include "varEvent.h"
echo_piyo 0:bf96e953cdb8 18
echo_piyo 56:a7bd860b85b6 19 //index_define
echo_piyo 0:bf96e953cdb8 20 #define pc_baud 460800
echo_piyo 0:bf96e953cdb8 21 #define sbdbt_tx p13
echo_piyo 0:bf96e953cdb8 22 #define sbdbt_rx p14
echo_piyo 0:bf96e953cdb8 23 #define sbdbt_baud 115200
echo_piyo 0:bf96e953cdb8 24 #define rs422_tx p28
echo_piyo 0:bf96e953cdb8 25 #define rs422_rx p27
echo_piyo 0:bf96e953cdb8 26 #define rs422_baud 115200
echo_piyo 3:9ef929639c4a 27 #define output_period 0.015
echo_piyo 28:72b9af7e1700 28 #define nucleo_num 6
echo_piyo 0:bf96e953cdb8 29 #define pi 3.141592
echo_piyo 0:bf96e953cdb8 30 #define n1_id 3
echo_piyo 0:bf96e953cdb8 31 #define n2_id 4
echo_piyo 10:04f2a82cfd89 32 #define n3_id 5
echo_piyo 14:aac2f18f6779 33 #define n4_id 6
echo_piyo 14:aac2f18f6779 34 #define n5_id 7
echo_piyo 28:72b9af7e1700 35 #define n6_id 8
echo_piyo 5:6efda58ff71b 36 #define yaw_Kp 0.01
echo_piyo 5:6efda58ff71b 37 #define yaw_Ki 0.01
echo_piyo 5:6efda58ff71b 38 #define yaw_Kd 0.01
echo_piyo 54:a88208d9bc1d 39 #define acceleration 15 //25
echo_piyo 10:04f2a82cfd89 40 #define pin_cylinder_on p17
echo_piyo 10:04f2a82cfd89 41 #define pin_cylinder_off p18
echo_piyo 31:285c9898da03 42 #define pin_interrupt_cylinder_min p23
echo_piyo 12:1fec80ae8a2c 43 #define encoder_A p25
echo_piyo 12:1fec80ae8a2c 44 #define encoder_B p26
echo_piyo 40:2d6888448ab2 45 #define enc_Kp 0.0400
echo_piyo 33:64fd1bd83bac 46 #define enc_Ki 0.0001
echo_piyo 33:64fd1bd83bac 47 #define enc_Kd 0.0003
echo_piyo 34:02d605c68bf3 48 #define mecanum_power 1.0
echo_piyo 52:f5ae47e683fa 49 #define sword_power 1.0
echo_piyo 52:f5ae47e683fa 50 #define sholder_power 1.0
echo_piyo 47:6ea046767494 51 #define pin_interrupt_sholderright_max p19 //p21
echo_piyo 47:6ea046767494 52 #define pin_interrupt_sholderright_min p20 //p22
echo_piyo 33:64fd1bd83bac 53 #define pin_interrupt_sholderleft_max p7
echo_piyo 33:64fd1bd83bac 54 #define pin_interrupt_sholderleft_min p8
echo_piyo 37:fa738e34c4d3 55 #define pin_servo p21
echo_piyo 35:5e1ad00f26fb 56 #define servo_reload_time 1.0
echo_piyo 43:605e5b0b9106 57 #define pin_cylinder_reload p15
echo_piyo 45:a32e8091901b 58 #define pin_sbdbt_pairing p12
echo_piyo 45:a32e8091901b 59 #define pin_sbdbt_indicator p11
echo_piyo 56:a7bd860b85b6 60 #define cylinder_pos_max 6
echo_piyo 0:bf96e953cdb8 61
echo_piyo 56:a7bd860b85b6 62 //index_setupPin
echo_piyo 45:a32e8091901b 63 DigitalOut led1(LED1);
echo_piyo 48:96b5f5ebdfb0 64 DigitalOut led2(LED2);
echo_piyo 48:96b5f5ebdfb0 65 DigitalOut led3(LED3);
echo_piyo 48:96b5f5ebdfb0 66 DigitalOut led4(LED4);
echo_piyo 31:285c9898da03 67 DigitalIn interrupt_cylinder_min(pin_interrupt_cylinder_min);
echo_piyo 0:bf96e953cdb8 68 Serial pc(USBTX,USBRX);
echo_piyo 0:bf96e953cdb8 69 RS422 rs422(rs422_tx, rs422_rx);
echo_piyo 45:a32e8091901b 70 Sbdbt sbdbt(sbdbt_tx, sbdbt_rx, pin_sbdbt_pairing);
echo_piyo 0:bf96e953cdb8 71 Ticker output_timer;
echo_piyo 0:bf96e953cdb8 72 Mecanum mecanum;
echo_piyo 0:bf96e953cdb8 73 Bno055 bno055;
echo_piyo 2:d5b8f8e62923 74 Position_pid yaw_pid;
echo_piyo 4:a6cc2f03e69b 75 Accel v1;
echo_piyo 4:a6cc2f03e69b 76 Accel v2;
echo_piyo 4:a6cc2f03e69b 77 Accel v3;
echo_piyo 4:a6cc2f03e69b 78 Accel v4;
echo_piyo 15:0fdf483769bf 79 Cylinder cylinder(pin_cylinder_on,pin_cylinder_off);
echo_piyo 26:3280d0300b04 80 Cyclic sword;
echo_piyo 31:285c9898da03 81 Cyclic cyclic_cylinder_position;
echo_piyo 31:285c9898da03 82 DigitalIn interrupt_sholderright_min(pin_interrupt_sholderright_min);
echo_piyo 31:285c9898da03 83 DigitalIn interrupt_sholderright_max(pin_interrupt_sholderright_max);
echo_piyo 31:285c9898da03 84 DigitalIn interrupt_sholderleft_min(pin_interrupt_sholderleft_min);
echo_piyo 31:285c9898da03 85 DigitalIn interrupt_sholderleft_max(pin_interrupt_sholderleft_max);
echo_piyo 35:5e1ad00f26fb 86 Encoder enc_cylinder(encoder_A,encoder_B);
echo_piyo 38:b071512af5ca 87 Cyclic cyclic_servo;
echo_piyo 42:63aedf71f4d1 88 Cyclic_IO cylinder_reload(pin_cylinder_reload);
echo_piyo 35:5e1ad00f26fb 89 PwmOut servo(pin_servo);
echo_piyo 45:a32e8091901b 90 DigitalOut sbdbt_indigator(pin_sbdbt_indicator);
echo_piyo 51:70d45b959d6b 91 varEvent cylinder_event;
echo_piyo 9:6486f4b3ac50 92
echo_piyo 56:a7bd860b85b6 93 //index_setupFunction
echo_piyo 0:bf96e953cdb8 94 void setup();
echo_piyo 0:bf96e953cdb8 95 void output();
echo_piyo 15:0fdf483769bf 96 void motor_cal();
echo_piyo 16:e49df474e4c6 97 void cylinder_cal();
echo_piyo 10:04f2a82cfd89 98 void boost();
echo_piyo 12:1fec80ae8a2c 99 void cylinder_origin();
echo_piyo 53:701dc7886fff 100 void firstmotion();
echo_piyo 26:3280d0300b04 101 void sword_cal();
echo_piyo 35:5e1ad00f26fb 102 void servo_origin();
echo_piyo 31:285c9898da03 103 float shoulder_right_cal();
echo_piyo 31:285c9898da03 104 float shoulder_left_cal();
echo_piyo 42:63aedf71f4d1 105
echo_piyo 56:a7bd860b85b6 106 //index_setupVariable
echo_piyo 39:6735743ac0f1 107 //output
echo_piyo 2:d5b8f8e62923 108 float yaw, target_yaw;
echo_piyo 39:6735743ac0f1 109 //cylinder_origin
echo_piyo 38:b071512af5ca 110 int cylinder_origin_flag = 0;
echo_piyo 39:6735743ac0f1 111 //cylinder
echo_piyo 39:6735743ac0f1 112 float cylinder_pwm;
echo_piyo 39:6735743ac0f1 113 int cylinder_pos_num = 0;
echo_piyo 56:a7bd860b85b6 114 float cylinder_pos[cylinder_pos_max] = {0.0,90.0,325.0,450.0,580.0,700.0};
echo_piyo 0:bf96e953cdb8 115
echo_piyo 0:bf96e953cdb8 116 int main()
echo_piyo 0:bf96e953cdb8 117 {
echo_piyo 0:bf96e953cdb8 118 setup();
echo_piyo 2:d5b8f8e62923 119 while(1) {
echo_piyo 48:96b5f5ebdfb0 120 led1 = interrupt_sholderleft_max;
echo_piyo 48:96b5f5ebdfb0 121 led2 = interrupt_sholderleft_min;
echo_piyo 48:96b5f5ebdfb0 122 led3 = interrupt_sholderright_max;
echo_piyo 48:96b5f5ebdfb0 123 led4 = interrupt_sholderright_min;
echo_piyo 50:e4e1f38d1bd5 124
echo_piyo 55:2dd2f161ebaf 125 pc.printf("cylinder pos : %f\r\n",enc_cylinder.deg());
echo_piyo 55:2dd2f161ebaf 126 //pc.printf("riseState %d : fallState %d\r\n",event.getRise(),event.getFall());
echo_piyo 0:bf96e953cdb8 127 }
echo_piyo 0:bf96e953cdb8 128 }
echo_piyo 0:bf96e953cdb8 129
echo_piyo 0:bf96e953cdb8 130 void setup()
echo_piyo 0:bf96e953cdb8 131 {
echo_piyo 40:2d6888448ab2 132 wait(2.0);
echo_piyo 19:76a387e4bcf6 133 bno055.begin();
echo_piyo 40:2d6888448ab2 134 wait(1.0);
echo_piyo 19:76a387e4bcf6 135 bno055.firstRead();
echo_piyo 0:bf96e953cdb8 136 pc.baud(pc_baud);
echo_piyo 0:bf96e953cdb8 137 sbdbt.begin(sbdbt_baud);
echo_piyo 0:bf96e953cdb8 138 rs422.begin(rs422_baud);
echo_piyo 53:701dc7886fff 139 firstmotion();
echo_piyo 49:b041c815c063 140 cylinder_pos_num = 2; //セットアップタイムでの初期装填のため
echo_piyo 0:bf96e953cdb8 141 output_timer.attach(&output, output_period);
echo_piyo 2:d5b8f8e62923 142 yaw_pid.setup(yaw_Kp, yaw_Ki, yaw_Kd);
echo_piyo 39:6735743ac0f1 143 mecanum.setupdeg(bno055.getYawRad()); //基盤が前後逆の場合+180
echo_piyo 4:a6cc2f03e69b 144 v1.setup(acceleration,output_period);
echo_piyo 4:a6cc2f03e69b 145 v2.setup(acceleration,output_period);
echo_piyo 4:a6cc2f03e69b 146 v3.setup(acceleration,output_period);
echo_piyo 4:a6cc2f03e69b 147 v4.setup(acceleration,output_period);
echo_piyo 31:285c9898da03 148 enc_cylinder.setup(100);
echo_piyo 13:dfae731e239f 149 enc_cylinder.set_parameter(enc_Kp,enc_Ki,enc_Kd);
echo_piyo 35:5e1ad00f26fb 150 servo.period(0.020);
echo_piyo 12:1fec80ae8a2c 151 }
echo_piyo 12:1fec80ae8a2c 152
echo_piyo 36:dca1081c19b3 153 //Sword
echo_piyo 35:5e1ad00f26fb 154 float shoulder_right_cal()
echo_piyo 15:0fdf483769bf 155 {
echo_piyo 40:2d6888448ab2 156 if(interrupt_sholderright_max==0&&sbdbt.sankaku==1) {
echo_piyo 31:285c9898da03 157 return 0.0;
echo_piyo 31:285c9898da03 158 }
echo_piyo 40:2d6888448ab2 159 if(interrupt_sholderright_min==0&&sbdbt.batu==1) {
echo_piyo 33:64fd1bd83bac 160 return 0.0;
echo_piyo 31:285c9898da03 161 }
echo_piyo 31:285c9898da03 162 return (-sbdbt.sankaku*0.8+sbdbt.batu*0.8);
echo_piyo 31:285c9898da03 163 }
echo_piyo 31:285c9898da03 164
echo_piyo 35:5e1ad00f26fb 165 float shoulder_left_cal()
echo_piyo 35:5e1ad00f26fb 166 {
echo_piyo 40:2d6888448ab2 167 if(interrupt_sholderleft_max==0&&sbdbt.sankaku==1) {
echo_piyo 31:285c9898da03 168 return 0.0;
echo_piyo 31:285c9898da03 169 }
echo_piyo 40:2d6888448ab2 170 if(interrupt_sholderleft_min==0&&sbdbt.batu==1) {
echo_piyo 35:5e1ad00f26fb 171 return 0.0;
echo_piyo 31:285c9898da03 172 }
echo_piyo 40:2d6888448ab2 173 return (-sbdbt.sankaku*0.8+sbdbt.batu*0.8);
echo_piyo 31:285c9898da03 174 }
echo_piyo 31:285c9898da03 175 void sword_cal()
echo_piyo 31:285c9898da03 176 {
echo_piyo 26:3280d0300b04 177 sword.cyclic(sbdbt.maru);
echo_piyo 17:5c4718c603dc 178 }
echo_piyo 15:0fdf483769bf 179
echo_piyo 36:dca1081c19b3 180 //cylinder
echo_piyo 53:701dc7886fff 181 void firstmotion()
echo_piyo 31:285c9898da03 182 {
echo_piyo 53:701dc7886fff 183 while(interrupt_cylinder_min == 1 || interrupt_sholderleft_max == 1 || interrupt_sholderright_max == 1){
echo_piyo 53:701dc7886fff 184 float cylinder = 0.0;
echo_piyo 53:701dc7886fff 185 float sholderL = 0.0;
echo_piyo 53:701dc7886fff 186 float sholderR = 0.0;
echo_piyo 53:701dc7886fff 187 if(interrupt_cylinder_min == 1){
echo_piyo 53:701dc7886fff 188 cylinder = 2.0;
echo_piyo 53:701dc7886fff 189 }else{
echo_piyo 53:701dc7886fff 190 cylinder = 0.0;
echo_piyo 53:701dc7886fff 191 }
echo_piyo 53:701dc7886fff 192 if(interrupt_sholderright_max == 1){
echo_piyo 53:701dc7886fff 193 sholderR = -2.0;
echo_piyo 53:701dc7886fff 194 }else{
echo_piyo 53:701dc7886fff 195 sholderR = 0.0;
echo_piyo 53:701dc7886fff 196 }
echo_piyo 53:701dc7886fff 197 if(interrupt_sholderleft_max == 1){
echo_piyo 53:701dc7886fff 198 sholderL = 2.0;
echo_piyo 53:701dc7886fff 199 }else{
echo_piyo 53:701dc7886fff 200 sholderL = 0.0;
echo_piyo 53:701dc7886fff 201 }
echo_piyo 53:701dc7886fff 202 rs422.put(5, cylinder, 0.0);
echo_piyo 53:701dc7886fff 203 rs422.put(6, sholderR, sholderL);
echo_piyo 12:1fec80ae8a2c 204 }
echo_piyo 31:285c9898da03 205 enc_cylinder.origin();
echo_piyo 0:bf96e953cdb8 206 }
echo_piyo 38:b071512af5ca 207
echo_piyo 42:63aedf71f4d1 208 //cylinder_origin_flagを1にすることで動作する
echo_piyo 38:b071512af5ca 209 void cylinder_origin()
echo_piyo 38:b071512af5ca 210 {
echo_piyo 45:a32e8091901b 211 if(interrupt_cylinder_min == 0&&cylinder_origin_flag == 1) {
echo_piyo 39:6735743ac0f1 212 cylinder_origin_flag = 0;
echo_piyo 39:6735743ac0f1 213 enc_cylinder.origin();
echo_piyo 39:6735743ac0f1 214 cylinder_pos_num = 0;
echo_piyo 45:a32e8091901b 215 } else if(cylinder_origin_flag == 1) {
echo_piyo 42:63aedf71f4d1 216 rs422.put(5, -0.8, 0.0);
echo_piyo 38:b071512af5ca 217 }
echo_piyo 38:b071512af5ca 218 }
echo_piyo 19:76a387e4bcf6 219 void cylinder_cal()
echo_piyo 31:285c9898da03 220 {
echo_piyo 31:285c9898da03 221 cylinder.cyclic(sbdbt.shikaku); //cylinder ON/OFF
echo_piyo 51:70d45b959d6b 222
echo_piyo 51:70d45b959d6b 223 cylinder_event.input(sbdbt.right);
echo_piyo 51:70d45b959d6b 224 if(cylinder_event.getRise()) { //cylinder degset
echo_piyo 31:285c9898da03 225 cylinder_pos_num++;
echo_piyo 55:2dd2f161ebaf 226 if(cylinder_pos_num >= cylinder_pos_max) {
echo_piyo 42:63aedf71f4d1 227 //cylinder_pos_num = 0;
echo_piyo 42:63aedf71f4d1 228 cylinder_origin_flag=1;
echo_piyo 31:285c9898da03 229 }
echo_piyo 31:285c9898da03 230 }
echo_piyo 50:e4e1f38d1bd5 231 enc_cylinder.cal((float)cylinder_pos[cylinder_pos_num],output_period); //set cylinder_tergetPos
echo_piyo 35:5e1ad00f26fb 232
echo_piyo 38:b071512af5ca 233 //pc.printf("terget\t%f\tnow_deg\t%f\tnow_pulse\t%d\tpwm\t%f\r\n",cylinder_pos[cylinder_pos_num],enc_cylinder.deg(),enc_cylinder.pulse(),enc_cylinder.duty());
echo_piyo 19:76a387e4bcf6 234 }
echo_piyo 38:b071512af5ca 235
echo_piyo 45:a32e8091901b 236 void servo_max()
echo_piyo 45:a32e8091901b 237 {
echo_piyo 45:a32e8091901b 238 servo.pulsewidth(0.0022);
echo_piyo 35:5e1ad00f26fb 239 }
echo_piyo 38:b071512af5ca 240 void servo_min()
echo_piyo 35:5e1ad00f26fb 241 {
echo_piyo 35:5e1ad00f26fb 242 servo.pulsewidth(0.0010);
echo_piyo 38:b071512af5ca 243 }
echo_piyo 45:a32e8091901b 244 void servo_out()
echo_piyo 45:a32e8091901b 245 {
echo_piyo 39:6735743ac0f1 246 cyclic_servo.cyclic(sbdbt.down); //setServoControl
echo_piyo 45:a32e8091901b 247 if(cyclic_servo.getState()==0) {
echo_piyo 39:6735743ac0f1 248 servo_min();
echo_piyo 45:a32e8091901b 249 } else if(cyclic_servo.getState()==1) {
echo_piyo 39:6735743ac0f1 250 servo_max();
echo_piyo 38:b071512af5ca 251 }
echo_piyo 35:5e1ad00f26fb 252 }
echo_piyo 35:5e1ad00f26fb 253
echo_piyo 36:dca1081c19b3 254
echo_piyo 36:dca1081c19b3 255 //boost
echo_piyo 31:285c9898da03 256 void boost()
echo_piyo 31:285c9898da03 257 {
echo_piyo 31:285c9898da03 258 if(sbdbt.r2) {
echo_piyo 10:04f2a82cfd89 259 mecanum.boost_forward();
echo_piyo 10:04f2a82cfd89 260 }
echo_piyo 31:285c9898da03 261 if(sbdbt.l2) {
echo_piyo 10:04f2a82cfd89 262 mecanum.boost_back();
echo_piyo 10:04f2a82cfd89 263 }
echo_piyo 26:3280d0300b04 264 /*
echo_piyo 10:04f2a82cfd89 265 if(sbdbt.shikaku) {
echo_piyo 10:04f2a82cfd89 266 mecanum.boost_left();
echo_piyo 10:04f2a82cfd89 267 }
echo_piyo 10:04f2a82cfd89 268 if(sbdbt.maru) {
echo_piyo 10:04f2a82cfd89 269 mecanum.boost_right();
echo_piyo 10:04f2a82cfd89 270 }
echo_piyo 26:3280d0300b04 271 */
echo_piyo 10:04f2a82cfd89 272 }
echo_piyo 10:04f2a82cfd89 273
echo_piyo 36:dca1081c19b3 274 //mecanum
echo_piyo 15:0fdf483769bf 275 void motor_cal()
echo_piyo 5:6efda58ff71b 276 {
echo_piyo 56:a7bd860b85b6 277 static float out_right_x;
echo_piyo 4:a6cc2f03e69b 278 yaw = bno055.getYawRad();
echo_piyo 4:a6cc2f03e69b 279 target_yaw = yaw;
echo_piyo 56:a7bd860b85b6 280 yaw_pid.cal(target_yaw, yaw, output_period);
echo_piyo 56:a7bd860b85b6 281
echo_piyo 56:a7bd860b85b6 282 //後進時に方向が逆転するため
echo_piyo 56:a7bd860b85b6 283 if(sbdbt.right_y < 0.0){
echo_piyo 56:a7bd860b85b6 284 out_right_x = -1.0*sbdbt.right_x;
echo_piyo 56:a7bd860b85b6 285 }else{
echo_piyo 56:a7bd860b85b6 286 out_right_x = sbdbt.right_x;
echo_piyo 56:a7bd860b85b6 287 }
echo_piyo 56:a7bd860b85b6 288 mecanum.sbdbt_cal(sbdbt.left_x, sbdbt.left_y, sbdbt.l1, sbdbt.r1, out_right_x, bno055.getYawRad());
echo_piyo 5:6efda58ff71b 289 // pc.printf("%f\t data %f\t %f\t %f\t %f\t\r\n", bno055.getYawRad(), sbdbt.left_x, sbdbt.left_y, mecanum.VX(), mecanum.VY());
echo_piyo 35:5e1ad00f26fb 290 }
echo_piyo 35:5e1ad00f26fb 291 void output()
echo_piyo 35:5e1ad00f26fb 292 {
echo_piyo 35:5e1ad00f26fb 293 motor_cal();
echo_piyo 35:5e1ad00f26fb 294 cylinder_cal();
echo_piyo 35:5e1ad00f26fb 295 sword_cal();
echo_piyo 38:b071512af5ca 296 servo_out();
echo_piyo 38:b071512af5ca 297 cylinder_origin();
echo_piyo 35:5e1ad00f26fb 298 //boost();
echo_piyo 56:a7bd860b85b6 299 sbdbt_indigator = sbdbt.get_pairingState();
echo_piyo 48:96b5f5ebdfb0 300 //led1 = sbdbt.get_pairingState();
echo_piyo 49:b041c815c063 301 if(sbdbt.up)cylinder_origin_flag = 1;
echo_piyo 49:b041c815c063 302 if(sbdbt.left)bno055.yaw_origin();
echo_piyo 49:b041c815c063 303 cylinder_reload.cyclic(sbdbt.down);
echo_piyo 45:a32e8091901b 304
echo_piyo 35:5e1ad00f26fb 305 static int counter;
echo_piyo 53:701dc7886fff 306 static float mecanumV1, mecanumV2, mecanumV3, mecanumV4;
echo_piyo 35:5e1ad00f26fb 307 int id[nucleo_num] = {n1_id, n2_id, n3_id, n4_id, n5_id, n6_id};
echo_piyo 45:a32e8091901b 308
echo_piyo 45:a32e8091901b 309 //sbdbtがpairingしている場合のみ動作
echo_piyo 45:a32e8091901b 310 if(sbdbt.get_pairingState()) {
echo_piyo 45:a32e8091901b 311 switch (counter) {
echo_piyo 45:a32e8091901b 312 case 0:
echo_piyo 53:701dc7886fff 313 rs422.put(id[counter], v1.duty(limitf(((mecanum.v1()*mecanum_power)+(sbdbt.right_y*0.8)),1.0,-1.0)), v3.duty(limitf(((mecanum.v3()*mecanum_power)+(sbdbt.right_y*0.8)),1.0,-1.0)));
echo_piyo 45:a32e8091901b 314 counter++;
echo_piyo 45:a32e8091901b 315 break;
echo_piyo 45:a32e8091901b 316 case 1:
echo_piyo 45:a32e8091901b 317 //.duty(<cal>*<powerControle>+(<boost>*0.5))
echo_piyo 53:701dc7886fff 318 rs422.put(id[counter], v2.duty(limitf(((mecanum.v2()*mecanum_power)-(sbdbt.right_y*0.8)),1.0,-1.0)), v4.duty(limitf(((mecanum.v4()*mecanum_power)-(sbdbt.right_y*0.8)),1.0,-1.0)));
echo_piyo 45:a32e8091901b 319 counter ++;
echo_piyo 45:a32e8091901b 320 break;
echo_piyo 45:a32e8091901b 321 case 2:
echo_piyo 55:2dd2f161ebaf 322 //rs422.put(id[counter], sbdbt.right_y, 0.0);
echo_piyo 53:701dc7886fff 323 rs422.put(id[counter], limitf((-1*enc_cylinder.duty_enableWidth(-5.0,5.0)),1.0,-1.0), 0.0);
echo_piyo 45:a32e8091901b 324 counter ++;
echo_piyo 45:a32e8091901b 325 break;
echo_piyo 45:a32e8091901b 326 case 3:
echo_piyo 53:701dc7886fff 327 rs422.put(id[counter], limitf((-1*shoulder_right_cal()*sholder_power),1.0,-1.0), limitf((shoulder_left_cal()*sholder_power),1.0,-1.0));
echo_piyo 45:a32e8091901b 328 counter ++;
echo_piyo 45:a32e8091901b 329 break;
echo_piyo 45:a32e8091901b 330 case 4:
echo_piyo 53:701dc7886fff 331 rs422.put(id[counter], limitf(((float)sword.getState()*sword_power),1.0,-1.0),0.0);
echo_piyo 45:a32e8091901b 332 counter = 0;
echo_piyo 45:a32e8091901b 333 break;
echo_piyo 45:a32e8091901b 334 default:
echo_piyo 45:a32e8091901b 335 break;
echo_piyo 48:96b5f5ebdfb0 336 }
echo_piyo 45:a32e8091901b 337 }else{
echo_piyo 48:96b5f5ebdfb0 338 switch (counter) {
echo_piyo 48:96b5f5ebdfb0 339 case 0:
echo_piyo 48:96b5f5ebdfb0 340 rs422.put(id[counter],0.0,0.0);
echo_piyo 48:96b5f5ebdfb0 341 counter++;
echo_piyo 48:96b5f5ebdfb0 342 break;
echo_piyo 48:96b5f5ebdfb0 343 case 1:
echo_piyo 48:96b5f5ebdfb0 344 rs422.put(id[counter],0.0,0.0);
echo_piyo 48:96b5f5ebdfb0 345 counter ++;
echo_piyo 48:96b5f5ebdfb0 346 break;
echo_piyo 48:96b5f5ebdfb0 347 case 2:
echo_piyo 48:96b5f5ebdfb0 348 rs422.put(id[counter],0.0,0.0);
echo_piyo 48:96b5f5ebdfb0 349 counter ++;
echo_piyo 48:96b5f5ebdfb0 350 break;
echo_piyo 48:96b5f5ebdfb0 351 case 3:
echo_piyo 48:96b5f5ebdfb0 352 rs422.put(id[counter],0.0,0.0);
echo_piyo 48:96b5f5ebdfb0 353 counter ++;
echo_piyo 48:96b5f5ebdfb0 354 break;
echo_piyo 48:96b5f5ebdfb0 355 case 4:
echo_piyo 48:96b5f5ebdfb0 356 rs422.put(id[counter],0.0,0.0);
echo_piyo 48:96b5f5ebdfb0 357 counter = 0;
echo_piyo 48:96b5f5ebdfb0 358 break;
echo_piyo 48:96b5f5ebdfb0 359 default:
echo_piyo 48:96b5f5ebdfb0 360 break;
echo_piyo 45:a32e8091901b 361 }
echo_piyo 45:a32e8091901b 362 }
echo_piyo 14:aac2f18f6779 363 }