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@48:96b5f5ebdfb0, 2017-09-13 (annotated)

Committer:
echo_piyo
Date:
Wed Sep 13 00:19:44 2017 +0000
Revision:
48:96b5f5ebdfb0
Parent:
47:6ea046767494
Child:
49:b041c815c063
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Who changed what in which revision?

UserRevisionLine numberNew contents of line
echo_piyo 0:bf96e953cdb8 1 #include "mbed.h"
echo_piyo 4:a6cc2f03e69b 2 #include "math.h"
echo_piyo 0:bf96e953cdb8 3 #include "bit_test.h"
echo_piyo 0:bf96e953cdb8 4 #include "RS422_put.h"
echo_piyo 0:bf96e953cdb8 5 #include "sbdbt.h"
echo_piyo 0:bf96e953cdb8 6 #include "mecanum.h"
echo_piyo 0:bf96e953cdb8 7 #include "bno055_lib.h"
echo_piyo 0:bf96e953cdb8 8 #include "bno055_use.h"
echo_piyo 0:bf96e953cdb8 9 #include "pid.h"
echo_piyo 0:bf96e953cdb8 10 #include "limit.h"
echo_piyo 4:a6cc2f03e69b 11 #include "accelerator.h"
echo_piyo 10:04f2a82cfd89 12 #include "encorder.h"
echo_piyo 14:aac2f18f6779 13 #include "cyclic.h"
echo_piyo 14:aac2f18f6779 14 #include "cyclic_IO.h"
echo_piyo 15:0fdf483769bf 15 #include "cylinder.h"
echo_piyo 0:bf96e953cdb8 16
echo_piyo 0:bf96e953cdb8 17 #define pc_baud 460800
echo_piyo 0:bf96e953cdb8 18 #define sbdbt_tx p13
echo_piyo 0:bf96e953cdb8 19 #define sbdbt_rx p14
echo_piyo 0:bf96e953cdb8 20 #define sbdbt_baud 115200
echo_piyo 0:bf96e953cdb8 21 #define rs422_tx p28
echo_piyo 0:bf96e953cdb8 22 #define rs422_rx p27
echo_piyo 0:bf96e953cdb8 23 #define rs422_baud 115200
echo_piyo 3:9ef929639c4a 24 #define output_period 0.015
echo_piyo 28:72b9af7e1700 25 #define nucleo_num 6
echo_piyo 0:bf96e953cdb8 26 #define pi 3.141592
echo_piyo 0:bf96e953cdb8 27 #define n1_id 3
echo_piyo 0:bf96e953cdb8 28 #define n2_id 4
echo_piyo 10:04f2a82cfd89 29 #define n3_id 5
echo_piyo 14:aac2f18f6779 30 #define n4_id 6
echo_piyo 14:aac2f18f6779 31 #define n5_id 7
echo_piyo 28:72b9af7e1700 32 #define n6_id 8
echo_piyo 5:6efda58ff71b 33 #define yaw_Kp 0.01
echo_piyo 5:6efda58ff71b 34 #define yaw_Ki 0.01
echo_piyo 5:6efda58ff71b 35 #define yaw_Kd 0.01
echo_piyo 40:2d6888448ab2 36 #define acceleration 20 //25
echo_piyo 10:04f2a82cfd89 37 #define pin_cylinder_on p17
echo_piyo 10:04f2a82cfd89 38 #define pin_cylinder_off p18
echo_piyo 31:285c9898da03 39 #define pin_interrupt_cylinder_min p23
echo_piyo 12:1fec80ae8a2c 40 #define encoder_A p25
echo_piyo 12:1fec80ae8a2c 41 #define encoder_B p26
echo_piyo 40:2d6888448ab2 42 #define enc_Kp 0.0400
echo_piyo 33:64fd1bd83bac 43 #define enc_Ki 0.0001
echo_piyo 33:64fd1bd83bac 44 #define enc_Kd 0.0003
echo_piyo 34:02d605c68bf3 45 #define mecanum_power 1.0
echo_piyo 33:64fd1bd83bac 46 #define sword_power 0.8
echo_piyo 33:64fd1bd83bac 47 #define sholder_power 0.8
echo_piyo 47:6ea046767494 48 #define pin_interrupt_sholderright_max p19 //p21
echo_piyo 47:6ea046767494 49 #define pin_interrupt_sholderright_min p20 //p22
echo_piyo 33:64fd1bd83bac 50 #define pin_interrupt_sholderleft_max p7
echo_piyo 33:64fd1bd83bac 51 #define pin_interrupt_sholderleft_min p8
echo_piyo 37:fa738e34c4d3 52 #define pin_servo p21
echo_piyo 35:5e1ad00f26fb 53 #define servo_reload_time 1.0
echo_piyo 43:605e5b0b9106 54 #define pin_cylinder_reload p15
echo_piyo 45:a32e8091901b 55 #define pin_sbdbt_pairing p12
echo_piyo 45:a32e8091901b 56 #define pin_sbdbt_indicator p11
echo_piyo 35:5e1ad00f26fb 57 //#define pin_servo_reload p29 //
echo_piyo 35:5e1ad00f26fb 58 //#define pin_interrupt_reload p30 //
echo_piyo 0:bf96e953cdb8 59
echo_piyo 45:a32e8091901b 60 DigitalOut led1(LED1);
echo_piyo 48:96b5f5ebdfb0 61 DigitalOut led2(LED2);
echo_piyo 48:96b5f5ebdfb0 62 DigitalOut led3(LED3);
echo_piyo 48:96b5f5ebdfb0 63 DigitalOut led4(LED4);
echo_piyo 31:285c9898da03 64 DigitalIn interrupt_cylinder_min(pin_interrupt_cylinder_min);
echo_piyo 0:bf96e953cdb8 65 Serial pc(USBTX,USBRX);
echo_piyo 0:bf96e953cdb8 66 RS422 rs422(rs422_tx, rs422_rx);
echo_piyo 45:a32e8091901b 67 Sbdbt sbdbt(sbdbt_tx, sbdbt_rx, pin_sbdbt_pairing);
echo_piyo 0:bf96e953cdb8 68 Ticker output_timer;
echo_piyo 0:bf96e953cdb8 69 Mecanum mecanum;
echo_piyo 0:bf96e953cdb8 70 Bno055 bno055;
echo_piyo 2:d5b8f8e62923 71 Position_pid yaw_pid;
echo_piyo 4:a6cc2f03e69b 72 Accel v1;
echo_piyo 4:a6cc2f03e69b 73 Accel v2;
echo_piyo 4:a6cc2f03e69b 74 Accel v3;
echo_piyo 4:a6cc2f03e69b 75 Accel v4;
echo_piyo 15:0fdf483769bf 76 Cylinder cylinder(pin_cylinder_on,pin_cylinder_off);
echo_piyo 26:3280d0300b04 77 Cyclic sword;
echo_piyo 31:285c9898da03 78 Cyclic cyclic_cylinder_position;
echo_piyo 31:285c9898da03 79 DigitalIn interrupt_sholderright_min(pin_interrupt_sholderright_min);
echo_piyo 31:285c9898da03 80 DigitalIn interrupt_sholderright_max(pin_interrupt_sholderright_max);
echo_piyo 31:285c9898da03 81 DigitalIn interrupt_sholderleft_min(pin_interrupt_sholderleft_min);
echo_piyo 31:285c9898da03 82 DigitalIn interrupt_sholderleft_max(pin_interrupt_sholderleft_max);
echo_piyo 35:5e1ad00f26fb 83 Encoder enc_cylinder(encoder_A,encoder_B);
echo_piyo 38:b071512af5ca 84 Cyclic cyclic_servo;
echo_piyo 42:63aedf71f4d1 85 Cyclic_IO cylinder_reload(pin_cylinder_reload);
echo_piyo 31:285c9898da03 86
echo_piyo 35:5e1ad00f26fb 87 //追加
echo_piyo 35:5e1ad00f26fb 88 PwmOut servo(pin_servo);
echo_piyo 35:5e1ad00f26fb 89 Timeout timer_servo;
echo_piyo 45:a32e8091901b 90 DigitalOut sbdbt_indigator(pin_sbdbt_indicator);
echo_piyo 33:64fd1bd83bac 91 //Servo servo_reload(pin_servo_reload);
echo_piyo 33:64fd1bd83bac 92 //DigitalIn interrupt_reload(pin_interrupt_reload);
echo_piyo 9:6486f4b3ac50 93
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 38:b071512af5ca 100 void cylinder_origin_first();
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 39:6735743ac0f1 106 //output
echo_piyo 2:d5b8f8e62923 107 float yaw, target_yaw;
echo_piyo 39:6735743ac0f1 108 //cylinder_origin
echo_piyo 38:b071512af5ca 109 int cylinder_origin_flag = 0;
echo_piyo 39:6735743ac0f1 110 //cylinder
echo_piyo 39:6735743ac0f1 111 float cylinder_pwm;
echo_piyo 39:6735743ac0f1 112 int cylinder_pos_num = 0;
echo_piyo 42:63aedf71f4d1 113 float cylinder_pos[3] = {0.0,90.0,325.0};
echo_piyo 0:bf96e953cdb8 114
echo_piyo 31:285c9898da03 115 //riseEventそのうちClassにしたい
echo_piyo 31:285c9898da03 116 short state;
echo_piyo 31:285c9898da03 117 int riseEvent(int input)
echo_piyo 31:285c9898da03 118 {
echo_piyo 31:285c9898da03 119 state = ((state<<1)|input)&3;
echo_piyo 31:285c9898da03 120 if(state == 1) {
echo_piyo 31:285c9898da03 121 return 1;
echo_piyo 31:285c9898da03 122 } else {
echo_piyo 31:285c9898da03 123 return 0;
echo_piyo 31:285c9898da03 124 }
echo_piyo 31:285c9898da03 125 }
echo_piyo 31:285c9898da03 126
echo_piyo 0:bf96e953cdb8 127 int main()
echo_piyo 0:bf96e953cdb8 128 {
echo_piyo 0:bf96e953cdb8 129 setup();
echo_piyo 2:d5b8f8e62923 130 while(1) {
echo_piyo 48:96b5f5ebdfb0 131 led1 = interrupt_sholderleft_max;
echo_piyo 48:96b5f5ebdfb0 132 led2 = interrupt_sholderleft_min;
echo_piyo 48:96b5f5ebdfb0 133 led3 = interrupt_sholderright_max;
echo_piyo 48:96b5f5ebdfb0 134 led4 = interrupt_sholderright_min;
echo_piyo 31:285c9898da03 135 //pc.printf("Pulses is: %lo\tdeg :%f\r\n",enc_cylinder.pulse(),enc_cylinder.deg());
echo_piyo 40:2d6888448ab2 136 //pc.printf("rise state : %d\r\n",cyclic_servo.getState());
echo_piyo 45:a32e8091901b 137 pc.printf("Sbdbtstate : %d\r\n",sbdbt.get_pairingState());
echo_piyo 0:bf96e953cdb8 138 }
echo_piyo 0:bf96e953cdb8 139 }
echo_piyo 0:bf96e953cdb8 140
echo_piyo 0:bf96e953cdb8 141 void setup()
echo_piyo 0:bf96e953cdb8 142 {
echo_piyo 40:2d6888448ab2 143 wait(2.0);
echo_piyo 19:76a387e4bcf6 144 bno055.begin();
echo_piyo 40:2d6888448ab2 145 wait(1.0);
echo_piyo 19:76a387e4bcf6 146 bno055.firstRead();
echo_piyo 0:bf96e953cdb8 147 pc.baud(pc_baud);
echo_piyo 0:bf96e953cdb8 148 sbdbt.begin(sbdbt_baud);
echo_piyo 0:bf96e953cdb8 149 rs422.begin(rs422_baud);
echo_piyo 38:b071512af5ca 150 cylinder_origin_first();
echo_piyo 42:63aedf71f4d1 151 cylinder_pos_num = 1; //セットアップタイムでの初期装填のため
echo_piyo 0:bf96e953cdb8 152 output_timer.attach(&output, output_period);
echo_piyo 2:d5b8f8e62923 153 yaw_pid.setup(yaw_Kp, yaw_Ki, yaw_Kd);
echo_piyo 39:6735743ac0f1 154 mecanum.setupdeg(bno055.getYawRad()); //基盤が前後逆の場合+180
echo_piyo 4:a6cc2f03e69b 155 v1.setup(acceleration,output_period);
echo_piyo 4:a6cc2f03e69b 156 v2.setup(acceleration,output_period);
echo_piyo 4:a6cc2f03e69b 157 v3.setup(acceleration,output_period);
echo_piyo 4:a6cc2f03e69b 158 v4.setup(acceleration,output_period);
echo_piyo 31:285c9898da03 159 enc_cylinder.setup(100);
echo_piyo 13:dfae731e239f 160 enc_cylinder.set_parameter(enc_Kp,enc_Ki,enc_Kd);
echo_piyo 35:5e1ad00f26fb 161
echo_piyo 35:5e1ad00f26fb 162 //追加
echo_piyo 35:5e1ad00f26fb 163 servo.period(0.020);
echo_piyo 12:1fec80ae8a2c 164 }
echo_piyo 12:1fec80ae8a2c 165
echo_piyo 36:dca1081c19b3 166 //Sword
echo_piyo 35:5e1ad00f26fb 167 float shoulder_right_cal()
echo_piyo 15:0fdf483769bf 168 {
echo_piyo 40:2d6888448ab2 169 if(interrupt_sholderright_max==0&&sbdbt.sankaku==1) {
echo_piyo 31:285c9898da03 170 return 0.0;
echo_piyo 31:285c9898da03 171 }
echo_piyo 40:2d6888448ab2 172 if(interrupt_sholderright_min==0&&sbdbt.batu==1) {
echo_piyo 33:64fd1bd83bac 173 return 0.0;
echo_piyo 31:285c9898da03 174 }
echo_piyo 31:285c9898da03 175 return (-sbdbt.sankaku*0.8+sbdbt.batu*0.8);
echo_piyo 31:285c9898da03 176 }
echo_piyo 31:285c9898da03 177
echo_piyo 35:5e1ad00f26fb 178 float shoulder_left_cal()
echo_piyo 35:5e1ad00f26fb 179 {
echo_piyo 40:2d6888448ab2 180 if(interrupt_sholderleft_max==0&&sbdbt.sankaku==1) {
echo_piyo 31:285c9898da03 181 return 0.0;
echo_piyo 31:285c9898da03 182 }
echo_piyo 40:2d6888448ab2 183 if(interrupt_sholderleft_min==0&&sbdbt.batu==1) {
echo_piyo 35:5e1ad00f26fb 184 return 0.0;
echo_piyo 31:285c9898da03 185 }
echo_piyo 40:2d6888448ab2 186 return (-sbdbt.sankaku*0.8+sbdbt.batu*0.8);
echo_piyo 31:285c9898da03 187 }
echo_piyo 31:285c9898da03 188 void sword_cal()
echo_piyo 31:285c9898da03 189 {
echo_piyo 26:3280d0300b04 190 sword.cyclic(sbdbt.maru);
echo_piyo 17:5c4718c603dc 191 }
echo_piyo 15:0fdf483769bf 192
echo_piyo 36:dca1081c19b3 193 //cylinder
echo_piyo 38:b071512af5ca 194 void cylinder_origin_first()
echo_piyo 31:285c9898da03 195 {
echo_piyo 48:96b5f5ebdfb0 196 while(interrupt_cylinder_min == 1){
echo_piyo 40:2d6888448ab2 197 rs422.put(5, -0.4, 0.0);
echo_piyo 12:1fec80ae8a2c 198 }
echo_piyo 48:96b5f5ebdfb0 199 rs422.put(5, 0.0, 0.0);
echo_piyo 31:285c9898da03 200 enc_cylinder.origin();
echo_piyo 0:bf96e953cdb8 201 }
echo_piyo 38:b071512af5ca 202
echo_piyo 42:63aedf71f4d1 203 //cylinder_origin_flagを1にすることで動作する
echo_piyo 38:b071512af5ca 204 void cylinder_origin()
echo_piyo 38:b071512af5ca 205 {
echo_piyo 45:a32e8091901b 206 if(interrupt_cylinder_min == 0&&cylinder_origin_flag == 1) {
echo_piyo 39:6735743ac0f1 207 cylinder_origin_flag = 0;
echo_piyo 39:6735743ac0f1 208 enc_cylinder.origin();
echo_piyo 39:6735743ac0f1 209 cylinder_pos_num = 0;
echo_piyo 45:a32e8091901b 210 } else if(cylinder_origin_flag == 1) {
echo_piyo 42:63aedf71f4d1 211 rs422.put(5, -0.8, 0.0);
echo_piyo 38:b071512af5ca 212 }
echo_piyo 38:b071512af5ca 213 }
echo_piyo 38:b071512af5ca 214
echo_piyo 28:72b9af7e1700 215 //追記(動作未確認)
echo_piyo 19:76a387e4bcf6 216 void cylinder_cal()
echo_piyo 31:285c9898da03 217 {
echo_piyo 31:285c9898da03 218 cylinder.cyclic(sbdbt.shikaku); //cylinder ON/OFF
echo_piyo 35:5e1ad00f26fb 219
echo_piyo 35:5e1ad00f26fb 220 if(riseEvent(sbdbt.right)) { //cylinder degset
echo_piyo 31:285c9898da03 221 cylinder_pos_num++;
echo_piyo 35:5e1ad00f26fb 222 if(cylinder_pos_num >= 3) {
echo_piyo 42:63aedf71f4d1 223 //cylinder_pos_num = 0;
echo_piyo 42:63aedf71f4d1 224 cylinder_origin_flag=1;
echo_piyo 31:285c9898da03 225 }
echo_piyo 31:285c9898da03 226 }
echo_piyo 31:285c9898da03 227 enc_cylinder.cal((float)cylinder_pos[cylinder_pos_num],output_period); //コントローラで数値設定
echo_piyo 35:5e1ad00f26fb 228
echo_piyo 38:b071512af5ca 229 //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 28:72b9af7e1700 230
echo_piyo 31:285c9898da03 231 //リロード機構完成後
echo_piyo 31:285c9898da03 232 /*
echo_piyo 31:285c9898da03 233 if(cylinder.getInState() == 1){
echo_piyo 31:285c9898da03 234 if(interrupt_cylinder_min)servo_reload = 1.0;
echo_piyo 31:285c9898da03 235 }else{
echo_piyo 31:285c9898da03 236 servo_reload = 0.0;
echo_piyo 31:285c9898da03 237 reload_magazine_flag = 1;
echo_piyo 31:285c9898da03 238 }
echo_piyo 31:285c9898da03 239
echo_piyo 31:285c9898da03 240 if(reload_magazine_flag == 1){
echo_piyo 31:285c9898da03 241 rs422.put(n6_id, 0.8, 0.0);
echo_piyo 31:285c9898da03 242 if(interrupt_reload == 1)reload_magazine_flag = 0;
echo_piyo 31:285c9898da03 243 }
echo_piyo 31:285c9898da03 244 */
echo_piyo 19:76a387e4bcf6 245 }
echo_piyo 38:b071512af5ca 246
echo_piyo 45:a32e8091901b 247 void servo_max()
echo_piyo 45:a32e8091901b 248 {
echo_piyo 45:a32e8091901b 249 servo.pulsewidth(0.0022);
echo_piyo 35:5e1ad00f26fb 250 }
echo_piyo 38:b071512af5ca 251 void servo_min()
echo_piyo 35:5e1ad00f26fb 252 {
echo_piyo 35:5e1ad00f26fb 253 servo.pulsewidth(0.0010);
echo_piyo 38:b071512af5ca 254 }
echo_piyo 45:a32e8091901b 255 void servo_out()
echo_piyo 45:a32e8091901b 256 {
echo_piyo 39:6735743ac0f1 257 cyclic_servo.cyclic(sbdbt.down); //setServoControl
echo_piyo 45:a32e8091901b 258 if(cyclic_servo.getState()==0) {
echo_piyo 39:6735743ac0f1 259 servo_min();
echo_piyo 45:a32e8091901b 260 } else if(cyclic_servo.getState()==1) {
echo_piyo 39:6735743ac0f1 261 servo_max();
echo_piyo 38:b071512af5ca 262 }
echo_piyo 35:5e1ad00f26fb 263 }
echo_piyo 35:5e1ad00f26fb 264
echo_piyo 36:dca1081c19b3 265
echo_piyo 36:dca1081c19b3 266 //boost
echo_piyo 31:285c9898da03 267 void boost()
echo_piyo 31:285c9898da03 268 {
echo_piyo 31:285c9898da03 269 if(sbdbt.r2) {
echo_piyo 10:04f2a82cfd89 270 mecanum.boost_forward();
echo_piyo 10:04f2a82cfd89 271 }
echo_piyo 31:285c9898da03 272 if(sbdbt.l2) {
echo_piyo 10:04f2a82cfd89 273 mecanum.boost_back();
echo_piyo 10:04f2a82cfd89 274 }
echo_piyo 26:3280d0300b04 275 /*
echo_piyo 10:04f2a82cfd89 276 if(sbdbt.shikaku) {
echo_piyo 10:04f2a82cfd89 277 mecanum.boost_left();
echo_piyo 10:04f2a82cfd89 278 }
echo_piyo 10:04f2a82cfd89 279 if(sbdbt.maru) {
echo_piyo 10:04f2a82cfd89 280 mecanum.boost_right();
echo_piyo 10:04f2a82cfd89 281 }
echo_piyo 26:3280d0300b04 282 */
echo_piyo 10:04f2a82cfd89 283 }
echo_piyo 10:04f2a82cfd89 284
echo_piyo 36:dca1081c19b3 285 //mecanum
echo_piyo 15:0fdf483769bf 286 void motor_cal()
echo_piyo 5:6efda58ff71b 287 {
echo_piyo 4:a6cc2f03e69b 288 yaw = bno055.getYawRad();
echo_piyo 4:a6cc2f03e69b 289 target_yaw = yaw;
echo_piyo 4:a6cc2f03e69b 290 yaw_pid.cal(target_yaw, yaw, output_period);
echo_piyo 4:a6cc2f03e69b 291 mecanum.sbdbt_cal(sbdbt.left_x, sbdbt.left_y, sbdbt.l1, sbdbt.r1, yaw_pid.duty(), bno055.getYawRad());
echo_piyo 5:6efda58ff71b 292 // 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 293 }
echo_piyo 35:5e1ad00f26fb 294 void output()
echo_piyo 35:5e1ad00f26fb 295 {
echo_piyo 35:5e1ad00f26fb 296 motor_cal();
echo_piyo 35:5e1ad00f26fb 297 cylinder_cal();
echo_piyo 35:5e1ad00f26fb 298 sword_cal();
echo_piyo 38:b071512af5ca 299 servo_out();
echo_piyo 38:b071512af5ca 300 cylinder_origin();
echo_piyo 35:5e1ad00f26fb 301 //boost();
echo_piyo 45:a32e8091901b 302
echo_piyo 48:96b5f5ebdfb0 303 //led1 = sbdbt.get_pairingState();
echo_piyo 45:a32e8091901b 304 sbdbt_indigator = sbdbt.get_pairingState();
echo_piyo 45:a32e8091901b 305
echo_piyo 38:b071512af5ca 306 if(sbdbt.up) {
echo_piyo 38:b071512af5ca 307 cylinder_origin_flag = 1;
echo_piyo 35:5e1ad00f26fb 308 }
echo_piyo 45:a32e8091901b 309
echo_piyo 43:605e5b0b9106 310 cylinder_reload.cyclic(sbdbt.left);
echo_piyo 45:a32e8091901b 311
echo_piyo 35:5e1ad00f26fb 312 static int counter;
echo_piyo 35:5e1ad00f26fb 313 int id[nucleo_num] = {n1_id, n2_id, n3_id, n4_id, n5_id, n6_id};
echo_piyo 45:a32e8091901b 314
echo_piyo 45:a32e8091901b 315 //sbdbtがpairingしている場合のみ動作
echo_piyo 45:a32e8091901b 316 if(sbdbt.get_pairingState()) {
echo_piyo 45:a32e8091901b 317 switch (counter) {
echo_piyo 45:a32e8091901b 318 case 0:
echo_piyo 45:a32e8091901b 319 rs422.put(id[counter], v1.duty((mecanum.v1()*mecanum_power)+(sbdbt.right_y*0.5)), v3.duty((mecanum.v3()*mecanum_power)+(sbdbt.right_y*0.5)));
echo_piyo 45:a32e8091901b 320 counter++;
echo_piyo 45:a32e8091901b 321 break;
echo_piyo 45:a32e8091901b 322 case 1:
echo_piyo 45:a32e8091901b 323 //.duty(<cal>*<powerControle>+(<boost>*0.5))
echo_piyo 45:a32e8091901b 324 rs422.put(id[counter], v2.duty((mecanum.v2()*mecanum_power)-(sbdbt.right_y*0.5)), v4.duty((mecanum.v4()*mecanum_power)-(sbdbt.right_y*0.5)));
echo_piyo 45:a32e8091901b 325 counter ++;
echo_piyo 45:a32e8091901b 326 break;
echo_piyo 45:a32e8091901b 327 case 2:
echo_piyo 45:a32e8091901b 328 rs422.put(id[counter], enc_cylinder.duty()*-1, 0.0);
echo_piyo 45:a32e8091901b 329 counter ++;
echo_piyo 45:a32e8091901b 330 break;
echo_piyo 45:a32e8091901b 331 case 3:
echo_piyo 48:96b5f5ebdfb0 332 rs422.put(id[counter], -1*shoulder_right_cal()*sholder_power,shoulder_left_cal()*sholder_power);
echo_piyo 45:a32e8091901b 333 counter ++;
echo_piyo 45:a32e8091901b 334 break;
echo_piyo 45:a32e8091901b 335 case 4:
echo_piyo 45:a32e8091901b 336 rs422.put(id[counter], ((float)sword.getState()*sword_power),0.0);
echo_piyo 45:a32e8091901b 337 counter = 0;
echo_piyo 45:a32e8091901b 338 break;
echo_piyo 45:a32e8091901b 339 default:
echo_piyo 45:a32e8091901b 340 break;
echo_piyo 48:96b5f5ebdfb0 341 }
echo_piyo 45:a32e8091901b 342 }else{
echo_piyo 48:96b5f5ebdfb0 343 switch (counter) {
echo_piyo 48:96b5f5ebdfb0 344 case 0:
echo_piyo 48:96b5f5ebdfb0 345 rs422.put(id[counter],0.0,0.0);
echo_piyo 48:96b5f5ebdfb0 346 counter++;
echo_piyo 48:96b5f5ebdfb0 347 break;
echo_piyo 48:96b5f5ebdfb0 348 case 1:
echo_piyo 48:96b5f5ebdfb0 349 rs422.put(id[counter],0.0,0.0);
echo_piyo 48:96b5f5ebdfb0 350 counter ++;
echo_piyo 48:96b5f5ebdfb0 351 break;
echo_piyo 48:96b5f5ebdfb0 352 case 2:
echo_piyo 48:96b5f5ebdfb0 353 rs422.put(id[counter],0.0,0.0);
echo_piyo 48:96b5f5ebdfb0 354 counter ++;
echo_piyo 48:96b5f5ebdfb0 355 break;
echo_piyo 48:96b5f5ebdfb0 356 case 3:
echo_piyo 48:96b5f5ebdfb0 357 rs422.put(id[counter],0.0,0.0);
echo_piyo 48:96b5f5ebdfb0 358 counter ++;
echo_piyo 48:96b5f5ebdfb0 359 break;
echo_piyo 48:96b5f5ebdfb0 360 case 4:
echo_piyo 48:96b5f5ebdfb0 361 rs422.put(id[counter],0.0,0.0);
echo_piyo 48:96b5f5ebdfb0 362 counter = 0;
echo_piyo 48:96b5f5ebdfb0 363 break;
echo_piyo 48:96b5f5ebdfb0 364 default:
echo_piyo 48:96b5f5ebdfb0 365 break;
echo_piyo 45:a32e8091901b 366 }
echo_piyo 45:a32e8091901b 367 }
echo_piyo 14:aac2f18f6779 368 }