File content as of revision 0:f80bb69e638e:

#define USESCRP
#include "core.hpp"
#include "SDFileSystem.h"
#include "BNO055.h"
#include <cmath>
#include <vector>

#include "mbed.h"
#define POINTS 900


/*--------------FUNCTION--------------*/
void init();
void route_read();
void getPoint(Position *p,int n);
void getVelocity(double *v,int n);
bool incircle(Position pos,Position target,double error);
void gyroA(double theta);
void gyroB(double theta);
bool checkMOT12(int rx_data, int &tx_data);
bool checkMOT34(int rx_data, int &tx_data);


/*--------------VARIABLE--------------*/

std::vector<double> t_info,x_info,y_info,v_info,theta_info;
Position pos,NextP,subP;
int n=1;
double v=0.0;
double theta = 0.0;
double gyro = 0.0;
bool gyro_1 = false,gyro_2 = false;
long long g_pulse;
bool MOT12 = false,MOT34 = false;

BNO055 bno(PB_3, PB_10);

SDFileSystem sd(PB_15, PB_14, PB_13, PB_1,"sd");// mosi, miso, sclk, cs
ScrpSlave scrp(PC_12,PD_2 ,PH_1 ,SERIAL_TX,SERIAL_RX,0x0807f800);
Robot AKASHIKOSEN(50.8,25.4,322.5,259.75);
Core RBT(&AKASHIKOSEN,&scrp,OMNI4,0.02);

int main(){

/*--------------SETUP--------------*/
scrp.addCMD(6,checkMOT12);
scrp.addCMD(7,checkMOT34);
AKASHIKOSEN.setCWID(1,2,3,4);
AKASHIKOSEN.setSWID(5,6,7,8);
    
RBT.addENC(PC_4,PA_13,512,4,1);
RBT.addENC(PA_14,PA_15,512,4,2);
RBT.addENC(PC_2,PC_3,512,4,3);
RBT.addENC(PC_10,PC_11,512,4,4);
RBT.addENC(PA_7,PA_6,512,4,5);
RBT.addENC(PA_9,PA_8,512,4,6);
RBT.addENC(PC_1,PC_0,512,4,7);
RBT.addENC(PC_5,PA_12,512,4,8);

RBT.addPID(0.0048,0.001,0.00008,1)->setLimit(0.5,-0.5);
RBT.addPID(0.0048,0.001,0.00008,2)->setLimit(0.5,-0.5);
RBT.addPID(0.0048,0.001,0.00008,3)->setLimit(0.5,-0.5);
RBT.addPID(0.0048,0.001,0.00008,4)->setLimit(0.5,-0.5);
RBT.addPID(0.5,0.001,0.2,5)->setLimit(2.0*M_PI/8.0,-2.0*M_PI/8.0);

init();

route_read();

wait(1);


bool setup = false;
if(!setup){
    bno.reset();
    bno.setmode(OPERATION_MODE_IMUPLUS);
    setup = true;
}
    
RBT.START();
/*--------------LOOP--------------*/
while(true){
    pos = RBT.getStatus();
    
    bno.get_angles();
    gyro = 2.0*M_PI - bno.euler.yaw * (M_PI / 180.0);
    gyroA(gyro);
    gyroB(gyro);
    
    theta = 2.0*M_PI*(int)(g_pulse/4.0);
    if(g_pulse > 0.0) theta += gyro;
    else if(g_pulse < 0.0) theta += gyro-2.0*M_PI;
    else if(g_pulse == 0 and gyro < M_PI/2.0) theta += gyro;
    else if(g_pulse == 0 and gyro > 3.0*M_PI/2.0) theta += gyro-2.0*M_PI;
    
    RBT.setPosition(pos.x,pos.y,theta);
    
    //RBT.setVelocity(0.0,0.0,0.0);
    if(n<POINTS and 
        ( (incircle(pos,NextP,30.0) and n < POINTS and n != 1000) or 
            ( incircle(pos,NextP,10.0) and n == 1000 ) or
            ( sqrt( (NextP.x-pos.x)*(NextP.x-pos.x)+(NextP.y-pos.y)*(NextP.y-pos.y) ) > sqrt( (subP.x-pos.x)*(subP.x-pos.x)+(subP.y-pos.y)*(subP.y-pos.y) ) and n < POINTS)
        ) 
    )
    {
        n++;
        getPoint(&NextP,n);
        getVelocity(&v,n-1);
        if(n < POINTS)getPoint(&subP,n+1);
        if(v > 0.0) v *= 1.7;
        if(v >= 1400) v = 1400;
        //v = 200.0;
        if(n == POINTS) v = 50.0;
        printf("%d:pass\n",n);
    }
    if(n == POINTS and incircle(pos,NextP,1.0)) v = 0.0;
    double etheta = atan2(NextP.y-pos.y,NextP.x-pos.x);
    RBT.PIDs[5]->Update(pos.theta,NextP.theta,0.02);
    RBT.sendVelocity(v*cos(etheta),v*sin(etheta),RBT.PIDs[5]->getGain());
    //RBT.sendVelocity(200.0,200.0,0.0);
    printf("x:%lf,y:%lf,theta:%lf,n:%d\n",pos.x,pos.y,pos.theta,n);
    RBT.LOOP();
}
}

void route_read() {
    static double x, y, v, theta_;
    wait(1);
    printf("Hello World!\n");
    wait(0.1);
    FILE *fp;
    do {
        fp = fopen("/sd/route.txt", "r");
        wait(0.2);
    } while(fp==NULL);
    printf("Good!\n");
    while(fscanf(fp,"%lf %lf %lf %lf",&x, &y, &v, &theta_) != EOF) {
        printf("%lf %lf %lf %lf\n",x, y, v, theta_);
        x_info.push_back(x);
        y_info.push_back(y);
        v_info.push_back(v);
        theta_info.push_back(theta_);
    }
    printf("checking...\n");
    for(int k=0;k<x_info.size();k++){
        printf("%lf %lf %lf %lf\n",x_info[k],y_info[k],v_info[k],theta_info[k]);
    }
    fclose(fp);
}

void getPoint(Position *p,int n){
    p->x = x_info[n];
    p->y = y_info[n];
    p->theta = theta_info[n];
}

void getVelocity(double *v,int n){
    *v = v_info[n];
}

bool incircle(Position pos,Position target,double error){
    return (sqrt( (target.x-pos.x)*(target.x-pos.x)+(target.y-pos.y)*(target.y-pos.y) ) < error);
}
void gyroA(double theta){
    static bool prev = false;
    if(0 <= theta and theta < M_PI) gyro_1 = false;
    else gyro_1 = true;
    if(gyro_1 and !prev){
        if(gyro_2) g_pulse++;
        else if(g_pulse != 0) g_pulse--;
    }
    else if(!gyro_1 and prev){
        if(gyro_2) g_pulse--;
        else if(g_pulse != 0)g_pulse++;
    }
    prev = gyro_1;
}
void gyroB(double theta){
    static bool prev = false;
    if((3.0*M_PI/2 <= theta and theta <= 2*M_PI) or (theta < M_PI/2.0)) gyro_2 = false;
    else gyro_2 = true;
    if(gyro_2 and !prev){
        if(gyro_1) g_pulse--;
        else g_pulse++;
    }
    else if(!gyro_2 and prev){
        if(gyro_1) g_pulse++;
        else g_pulse--;
    }
    prev = gyro_2;
}

bool checkMOT12(int rx_data, int &tx_data){
    MOT12 = true;
    return true;
}
bool checkMOT34(int rx_data, int &tx_data){
    MOT34 = true;
    return true;
}

void init(){
    MOT12 = false,MOT34 = false;
    scrp.send1(255,5,1);
    while(!MOT12 or !MOT34);
}