nakao kanaki / Mbed 2 deprecated Eco_ziguzagu

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Dependencies:   mbed

main.cpp@4:795055e031c3, 2016-03-01 (annotated)

Committer:
namikosaito
Date:
Tue Mar 01 15:56:22 2016 +0000
Revision:
4:795055e031c3
Parent:
3:04f6fe153dbc
Child:
5:f90bd93f8558
3_1???????????????????????????????????????????

Who changed what in which revision?

UserRevisionLine numberNew contents of line
namikosaito 0:77188ca200ce 1 #include "mbed.h"
namikosaito 0:77188ca200ce 2 #include "math.h"
namikosaito 0:77188ca200ce 3 #include "LF2.h"
namikosaito 0:77188ca200ce 4 #include "color.h"
namikosaito 0:77188ca200ce 5 #include "enc_gyro.h"
namikosaito 0:77188ca200ce 6
namikosaito 0:77188ca200ce 7 /*ここで切り替え（強制）*/
namikosaito 3:04f6fe153dbc 8
namikosaito 4:795055e031c3 9 #define SLOPE
namikosaito 4:795055e031c3 10 #define TURN
namikosaito 4:795055e031c3 11 #define RIVER
namikosaito 0:77188ca200ce 12 //#define RIVER2
namikosaito 0:77188ca200ce 13 #define DOWNHILL
namikosaito 3:04f6fe153dbc 14
namikosaito 0:77188ca200ce 15
namikosaito 0:77188ca200ce 16 /*白との差*/
namikosaito 3:04f6fe153dbc 17 #define bw 450 //blueとwhite
namikosaito 4:795055e031c3 18 #define yw 400 //yellow ちょっと厳しめにすること。
namikosaito 1:f9c953ddc87a 19 #define rw 200 //red(orange)
namikosaito 0:77188ca200ce 20
namikosaito 4:795055e031c3 21 LocalFileSystem local("local");
namikosaito 4:795055e031c3 22 FILE *fp;
namikosaito 4:795055e031c3 23 int file;
namikosaito 0:77188ca200ce 24 Serial pc(USBTX, USBRX);
namikosaito 0:77188ca200ce 25 PwmOut servo(p25);
namikosaito 0:77188ca200ce 26 PwmOut blue_led(p21);
namikosaito 0:77188ca200ce 27
namikosaito 0:77188ca200ce 28 void save_servo(void){ //サーボの振れすぎを防ぐ。
namikosaito 0:77188ca200ce 29 if(out>2250)out=2250;
namikosaito 0:77188ca200ce 30 else if(out<650)out=650;
namikosaito 0:77188ca200ce 31 }
namikosaito 0:77188ca200ce 32
namikosaito 0:77188ca200ce 33
namikosaito 0:77188ca200ce 34 /*関数*/
namikosaito 0:77188ca200ce 35 void field(void); //フィールドの色を見る
namikosaito 0:77188ca200ce 36 int wr_flag,wl_flag;
namikosaito 0:77188ca200ce 37 int lf_downhill(void); //ダウンヒルのライントレース用。他のところでも使ってるけど。cdsの最大値、最小値、その差を出す。
namikosaito 0:77188ca200ce 38 int sa_dh,max_dh,min_dh; //lf_downhillで使う変数。
namikosaito 4:795055e031c3 39 void back_cds(void); //白線の左右どちらに振れたのか見る。（ｃｄｓ）、上り、リバー用
namikosaito 1:f9c953ddc87a 40 void back_cds_dh(void); //同上、ダウンヒル用
namikosaito 0:77188ca200ce 41 int river_turn(void); //リバーの最初の曲がりをcdsで線を読みとる
namikosaito 0:77188ca200ce 42
namikosaito 0:77188ca200ce 43 int back_r_flag=0;
namikosaito 0:77188ca200ce 44 int back_l_flag=0;
namikosaito 0:77188ca200ce 45
namikosaito 0:77188ca200ce 46 float yoko; //上りラインに対しての左右の振れ
namikosaito 0:77188ca200ce 47 int kakudo;
namikosaito 0:77188ca200ce 48
namikosaito 0:77188ca200ce 49 int start_flag=1; //fieldで使用
namikosaito 0:77188ca200ce 50 int rg_flag_1,rg_flag_2,rg_count=0;
namikosaito 0:77188ca200ce 51 int gr_flag_1,gr_flag_2,gr_count=0;
namikosaito 0:77188ca200ce 52
namikosaito 0:77188ca200ce 53 ///////////////////////////////////////////////////////////////////////////////////////////////
namikosaito 0:77188ca200ce 54
namikosaito 0:77188ca200ce 55
namikosaito 0:77188ca200ce 56 int main(){
namikosaito 4:795055e031c3 57 /*ファイル*/
namikosaito 4:795055e031c3 58 if(switch_3==1){
namikosaito 4:795055e031c3 59 if ( NULL == (fp = fopen( "/local/test.csv", "w" )) )error( "" );
namikosaito 4:795055e031c3 60 file=1;
namikosaito 4:795055e031c3 61 }
namikosaito 4:795055e031c3 62
namikosaito 0:77188ca200ce 63 mcp.format(7,0);
namikosaito 0:77188ca200ce 64 mcp.frequency(1000000);
namikosaito 0:77188ca200ce 65 pc.baud(115200);
namikosaito 0:77188ca200ce 66 gyro.format(16,3);
namikosaito 0:77188ca200ce 67 Enc.attach(&distance, sp_t);
namikosaito 0:77188ca200ce 68 servo.period_ms(20); //サーボ周期
namikosaito 0:77188ca200ce 69 servo.pulsewidth_us(naka);
namikosaito 3:04f6fe153dbc 70 // while(1){}
namikosaito 0:77188ca200ce 71 /*キャリブレーション*/
namikosaito 0:77188ca200ce 72 calibration();
namikosaito 3:04f6fe153dbc 73 /*
namikosaito 1:f9c953ddc87a 74 if(switch_1==1&&switch_2==0&&switch_3==0){ //最初から
namikosaito 0:77188ca200ce 75 #define SLOPE
namikosaito 0:77188ca200ce 76 #define TURN
namikosaito 0:77188ca200ce 77 #define RIVER
namikosaito 0:77188ca200ce 78 #define DOWNHILL
namikosaito 0:77188ca200ce 79 }
namikosaito 0:77188ca200ce 80
namikosaito 3:04f6fe153dbc 81 else if(switch_1==0&&switch_2==1&&switch_3==0){ //リバーから
namikosaito 0:77188ca200ce 82 #define RIVER
namikosaito 0:77188ca200ce 83 #define DOWNHILL
namikosaito 0:77188ca200ce 84 }
namikosaito 0:77188ca200ce 85
namikosaito 3:04f6fe153dbc 86 else if(switch_1==0&&switch_2==0&&switch_3==1){ //ダウンヒルから
namikosaito 3:04f6fe153dbc 87 kyori_reset();
namikosaito 0:77188ca200ce 88 #define DOWNHILL
namikosaito 2:864b823b1735 89 }
namikosaito 3:04f6fe153dbc 90 */
namikosaito 0:77188ca200ce 91 #ifdef SLOPE
namikosaito 0:77188ca200ce 92 while(1){
namikosaito 1:f9c953ddc87a 93 //pc.printf("%f\r\n",kyori_nobori);
namikosaito 0:77188ca200ce 94 //pc.printf("data=%d red=%d blue=%d yellow=%d white_l=%d ml=%d m=%d mr=%d r=%d\r\n",data_1,red,blue,yellow,white_l,white_ml,white_m,white_mr,white_r);
namikosaito 3:04f6fe153dbc 95 //pc.printf("out=%d,dir=%d,sa_dh=%d,now=%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d\r\n",out,dir,sa_dh,now,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12);
namikosaito 4:795055e031c3 96 if(file==1)fprintf(fp,"%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d\n",out,now,fixed_rot_data,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12);
namikosaito 4:795055e031c3 97 if(file==1&&switch_3==0)fclose( fp );
namikosaito 0:77188ca200ce 98 field();
namikosaito 0:77188ca200ce 99 LF();
namikosaito 0:77188ca200ce 100 //back();
namikosaito 1:f9c953ddc87a 101 back_cds();
namikosaito 0:77188ca200ce 102 save_servo();
namikosaito 0:77188ca200ce 103 servo.pulsewidth_us(out);
namikosaito 0:77188ca200ce 104
namikosaito 4:795055e031c3 105 if(rg_count==0&&gr_count==1){led1=1;blue_led=1;}
namikosaito 4:795055e031c3 106 if(rg_count==1&&gr_count==1){led2=1;blue_led=0;}
namikosaito 4:795055e031c3 107 if(rg_count==1&&gr_count==2){led3=1;blue_led=1;}
namikosaito 4:795055e031c3 108 if(rg_count==2&&gr_count==2){led4=1;blue_led=0;}
namikosaito 0:77188ca200ce 109 if(rg_count==2&&gr_count==3){
namikosaito 0:77188ca200ce 110 led1=0;
namikosaito 0:77188ca200ce 111 led2=0;
namikosaito 0:77188ca200ce 112 led3=0;
namikosaito 0:77188ca200ce 113 led4=0;
namikosaito 0:77188ca200ce 114 break;
namikosaito 0:77188ca200ce 115 }
namikosaito 0:77188ca200ce 116 }
namikosaito 0:77188ca200ce 117 #endif
namikosaito 0:77188ca200ce 118
namikosaito 0:77188ca200ce 119 /////////////////////////////////////////////////////////////////////////////////////
namikosaito 0:77188ca200ce 120
namikosaito 0:77188ca200ce 121 #ifdef TURN
namikosaito 4:795055e031c3 122 blue_led=1;
namikosaito 0:77188ca200ce 123 while(1){
namikosaito 4:795055e031c3 124 if(file==1)fprintf(fp,"%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d\n",out,now,fixed_rot_data,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12);
namikosaito 4:795055e031c3 125 if(file==1&&switch_3==0)fclose( fp );
namikosaito 1:f9c953ddc87a 126 gyro_keisan();
namikosaito 4:795055e031c3 127 out=naka+300;
namikosaito 0:77188ca200ce 128 servo.pulsewidth_us(out);
namikosaito 0:77188ca200ce 129 led4=1;
namikosaito 3:04f6fe153dbc 130 if(fixed_rot_data<-60)break;//前は６０°だった
namikosaito 0:77188ca200ce 131 }
namikosaito 0:77188ca200ce 132
namikosaito 0:77188ca200ce 133 while(1){
namikosaito 4:795055e031c3 134 if(file==1)fprintf(fp,"%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d\n",out,now,fixed_rot_data,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12);
namikosaito 4:795055e031c3 135 if(file==1&&switch_3==0)fclose( fp );
namikosaito 0:77188ca200ce 136 judge_color();
namikosaito 1:f9c953ddc87a 137 lf_downhill();
namikosaito 0:77188ca200ce 138 led3=1;
namikosaito 1:f9c953ddc87a 139 if(white_l==1||white_r==1||white_mr==1||white_ml==1||white_m==1||sa_dh<rw)break;
namikosaito 0:77188ca200ce 140 }
namikosaito 0:77188ca200ce 141
namikosaito 0:77188ca200ce 142 #endif
namikosaito 0:77188ca200ce 143
namikosaito 0:77188ca200ce 144 ////////////////////////////////////////////////////////////////////////////////////
namikosaito 0:77188ca200ce 145
namikosaito 0:77188ca200ce 146 #ifdef RIVER
namikosaito 0:77188ca200ce 147 /*0*/
namikosaito 3:04f6fe153dbc 148 blue_led=1;
namikosaito 0:77188ca200ce 149 while(1){ //ライントレース
namikosaito 0:77188ca200ce 150 LF();
namikosaito 0:77188ca200ce 151 out-=50;
namikosaito 0:77188ca200ce 152 judge_color();
namikosaito 0:77188ca200ce 153 servo.pulsewidth_us(out);
namikosaito 2:864b823b1735 154 //pc.printf("kyori_m45=%f,theta=%d linetrace\r\n",kyori_m45,fixed_rot_data);
namikosaito 0:77188ca200ce 155 //pc.printf("out=%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d\r\n",out,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12);
namikosaito 0:77188ca200ce 156
namikosaito 0:77188ca200ce 157 if(blue==1){ //青になったらリバースタート
namikosaito 0:77188ca200ce 158 river_flag=1;
namikosaito 3:04f6fe153dbc 159 blue_led=0;
namikosaito 0:77188ca200ce 160 out=naka-250;
namikosaito 0:77188ca200ce 161 servo.pulsewidth_us(out);
namikosaito 0:77188ca200ce 162 break;
namikosaito 0:77188ca200ce 163 }
namikosaito 3:04f6fe153dbc 164 }
namikosaito 0:77188ca200ce 165
namikosaito 0:77188ca200ce 166 /*1*/
namikosaito 0:77188ca200ce 167 while(1){ //初めに曲がる直前まで
namikosaito 0:77188ca200ce 168 //gyro_keisan();
namikosaito 0:77188ca200ce 169
namikosaito 0:77188ca200ce 170 LF(); //基本的にライントレース
namikosaito 0:77188ca200ce 171 if(fixed_rot_data<-60)out=gyro_pid(-45,5,0,0);//out=naka-150; //最初は角度も利用
namikosaito 0:77188ca200ce 172 //if(fixed_rot_data<-75)out=naka-250;
namikosaito 0:77188ca200ce 173
namikosaito 0:77188ca200ce 174 led1=1;
namikosaito 0:77188ca200ce 175 //pc.printf("kyori_m45=%f,theta=%d\r\n",kyori_m45,fixed_rot_data);
namikosaito 0:77188ca200ce 176 if(river_flag==1){
namikosaito 0:77188ca200ce 177 kyori_reset();
namikosaito 0:77188ca200ce 178 river_flag=0;
namikosaito 0:77188ca200ce 179 }
namikosaito 0:77188ca200ce 180 servo.pulsewidth_us(out);
namikosaito 0:77188ca200ce 181 if((river_turn()==1&&kyori_m45>Runder)||kyori>400||kyori_m45>R){ //Rｍｍ進んだらorｃｄｓで直角検知
namikosaito 0:77188ca200ce 182 river_theta=fixed_rot_data;
namikosaito 0:77188ca200ce 183 river_flag=1;
namikosaito 0:77188ca200ce 184 break;
namikosaito 0:77188ca200ce 185 }}
namikosaito 0:77188ca200ce 186
namikosaito 0:77188ca200ce 187 river_keisan(); //角度と距離の補正（いらないかも・・）
namikosaito 0:77188ca200ce 188
namikosaito 0:77188ca200ce 189 /*2*/
namikosaito 0:77188ca200ce 190 while(1){ //向きを９０度に合わせる。
namikosaito 0:77188ca200ce 191 gyro_keisan();
namikosaito 0:77188ca200ce 192 led2=1;
namikosaito 0:77188ca200ce 193 //pc.printf("2 theta=%d\r\n",fixed_rot_data);
namikosaito 1:f9c953ddc87a 194 out=gyro_pid(-90-phai,7,0,0);//705
namikosaito 0:77188ca200ce 195 save_servo();
namikosaito 0:77188ca200ce 196 servo.pulsewidth_us(out);
namikosaito 0:77188ca200ce 197 if(river_flag==1){
namikosaito 0:77188ca200ce 198 kyori_reset();
namikosaito 0:77188ca200ce 199 river_flag=0;
namikosaito 0:77188ca200ce 200 }
namikosaito 0:77188ca200ce 201 if(fixed_rot_data<-85-phai){ //ジャイロの角度が合ったら
namikosaito 0:77188ca200ce 202 out=naka;
namikosaito 0:77188ca200ce 203 break;
namikosaito 0:77188ca200ce 204 }
namikosaito 0:77188ca200ce 205 }
namikosaito 0:77188ca200ce 206
namikosaito 0:77188ca200ce 207 /*3*/
namikosaito 0:77188ca200ce 208 while(1){ //直進する
namikosaito 0:77188ca200ce 209 led3=1;
namikosaito 0:77188ca200ce 210 gyro_keisan();
namikosaito 1:f9c953ddc87a 211 //pc.printf("%f,%f,theta=%d,phai=%f,out=%d\r\n",kyori_m90,Z,fixed_rot_data,phai,out);
namikosaito 0:77188ca200ce 212 out=gyro_pid(-90-phai,6,0.1,0);
namikosaito 0:77188ca200ce 213 save_servo();
namikosaito 0:77188ca200ce 214 servo.pulsewidth_us(out);
namikosaito 0:77188ca200ce 215 if(kyori_m90>Z){ //Zmm進んだら
namikosaito 0:77188ca200ce 216 out=naka-200; //前は100
namikosaito 0:77188ca200ce 217 white_r=0;
namikosaito 0:77188ca200ce 218 white_l=0;
namikosaito 0:77188ca200ce 219 break;
namikosaito 0:77188ca200ce 220 }
namikosaito 0:77188ca200ce 221 }
namikosaito 0:77188ca200ce 222
namikosaito 0:77188ca200ce 223 /*4*/
namikosaito 0:77188ca200ce 224 while(1){ //白線を見つけるまでそのまま
namikosaito 0:77188ca200ce 225 gyro_keisan();
namikosaito 0:77188ca200ce 226 led4=1;
namikosaito 0:77188ca200ce 227 judge_color();
namikosaito 0:77188ca200ce 228 LF();
namikosaito 0:77188ca200ce 229 lf_downhill();
namikosaito 4:795055e031c3 230 //pc.printf("%f,%d,%d\r\n",kyori_m90,Ec_count,sa_dh);
namikosaito 3:04f6fe153dbc 231 if(white_r==1||white_l==1||white_mr==1||white_ml==1||white_m==1||kyori_m90>T)break;
namikosaito 0:77188ca200ce 232 }
namikosaito 0:77188ca200ce 233
namikosaito 0:77188ca200ce 234 if(kyori_m90>T){
namikosaito 4:795055e031c3 235 servo.pulsewidth_us(naka-400);
namikosaito 0:77188ca200ce 236 wait(0.5);
namikosaito 0:77188ca200ce 237 }
namikosaito 0:77188ca200ce 238
namikosaito 0:77188ca200ce 239 /*5*/
namikosaito 0:77188ca200ce 240 while(1){ //ライントレースに戻る
namikosaito 0:77188ca200ce 241 gyro_keisan();
namikosaito 0:77188ca200ce 242 LF();
namikosaito 0:77188ca200ce 243 back_cds();
namikosaito 0:77188ca200ce 244 out-=50;
namikosaito 0:77188ca200ce 245 if(fixed_rot_data<-45)out-=50;
namikosaito 0:77188ca200ce 246 if(fixed_rot_data<-75)out-=100;
namikosaito 0:77188ca200ce 247
namikosaito 0:77188ca200ce 248 servo.pulsewidth_us(out);
namikosaito 0:77188ca200ce 249 judge_color();
namikosaito 0:77188ca200ce 250 led1=0;
namikosaito 0:77188ca200ce 251 led2=0;
namikosaito 0:77188ca200ce 252 led3=0;
namikosaito 0:77188ca200ce 253 led4=0;
namikosaito 0:77188ca200ce 254 if(red==1){kyori_reset();break;}
namikosaito 0:77188ca200ce 255 }
namikosaito 0:77188ca200ce 256
namikosaito 0:77188ca200ce 257 #endif
namikosaito 0:77188ca200ce 258
namikosaito 0:77188ca200ce 259 ////////////////////////////////////////////////////////////////////////////
namikosaito 0:77188ca200ce 260
namikosaito 0:77188ca200ce 261 #ifdef DOWNHILL
namikosaito 0:77188ca200ce 262 while(1){
namikosaito 0:77188ca200ce 263 static int q;
namikosaito 0:77188ca200ce 264 q++;
namikosaito 4:795055e031c3 265 // pc.printf("a kyori_dh=%f, theta=%d, out=%d,dir=%d,sa=%f,now=%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d\r\n",kyori_dh,fixed_rot_data,out,dir,sa,now,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12);
namikosaito 0:77188ca200ce 266 judge_color();
namikosaito 0:77188ca200ce 267 LF();
namikosaito 0:77188ca200ce 268 back_cds();
namikosaito 0:77188ca200ce 269 servo.pulsewidth_us(out);
namikosaito 0:77188ca200ce 270 if(yellow==1&&q>30){ //黄色に入る
namikosaito 0:77188ca200ce 271 kyori_reset();
namikosaito 0:77188ca200ce 272 blue_led=1;
namikosaito 0:77188ca200ce 273 downhill=1;
namikosaito 0:77188ca200ce 274 break;
namikosaito 0:77188ca200ce 275 }
namikosaito 4:795055e031c3 276 }
namikosaito 0:77188ca200ce 277 while(1){
namikosaito 4:795055e031c3 278 if(file==1)fprintf(fp,"%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%f\n",out,now,fixed_rot_data,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,kyori_dh);
namikosaito 4:795055e031c3 279 if(file==1&&switch_3==0)fclose( fp );
namikosaito 0:77188ca200ce 280 LF();
namikosaito 0:77188ca200ce 281 lf_downhill();
namikosaito 0:77188ca200ce 282 judge_color();
namikosaito 2:864b823b1735 283 back_cds();
namikosaito 3:04f6fe153dbc 284 //pc.printf("kyori_dh=%f,sa_dh=%d, theta=%d, out=%d,dir=%d,sa=%f,now=%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d\r\n",kyori_dh,sa_dh,fixed_rot_data,out,dir,sa,now,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12);
namikosaito 0:77188ca200ce 285
namikosaito 0:77188ca200ce 286 //gyro_keisan();
namikosaito 0:77188ca200ce 287
namikosaito 2:864b823b1735 288 if(kyori_dh>50){
namikosaito 2:864b823b1735 289 static int f;
namikosaito 2:864b823b1735 290 if(sa_dh>yw+50){
namikosaito 2:864b823b1735 291 f=now;
namikosaito 2:864b823b1735 292 }
namikosaito 2:864b823b1735 293 else if(sa_dh<yw&&f>2){
namikosaito 3:04f6fe153dbc 294 out+=200;//naka+300;
namikosaito 2:864b823b1735 295 }
namikosaito 2:864b823b1735 296 else if(sa_dh<yw&&f<-2){
namikosaito 3:04f6fe153dbc 297 out-=200;//naka-300;
namikosaito 3:04f6fe153dbc 298
namikosaito 2:864b823b1735 299 }
namikosaito 3:04f6fe153dbc 300 }
namikosaito 2:864b823b1735 301
namikosaito 1:f9c953ddc87a 302 if(kyori_dh>600&&kyori_dh<900){out-=75;led1=1;}
namikosaito 1:f9c953ddc87a 303 else if(kyori_dh>1200&&kyori_dh<1700){out+=25;led2=1;}
namikosaito 3:04f6fe153dbc 304 else if(kyori_dh>1700&&kyori_dh<2800){out+=125;led3=1;}
namikosaito 1:f9c953ddc87a 305 else{
namikosaito 0:77188ca200ce 306 led1=0;
namikosaito 0:77188ca200ce 307 led2=0;
namikosaito 0:77188ca200ce 308 led3=0;
namikosaito 0:77188ca200ce 309 }
namikosaito 3:04f6fe153dbc 310
namikosaito 1:f9c953ddc87a 311 /*
namikosaito 0:77188ca200ce 312 if(kyori_dh<600){
namikosaito 1:f9c953ddc87a 313 out-=50;
namikosaito 0:77188ca200ce 314 }
namikosaito 0:77188ca200ce 315
namikosaito 0:77188ca200ce 316 else if(kyori_dh>600&&kyori_dh<900){
namikosaito 0:77188ca200ce 317 led3=1;
namikosaito 1:f9c953ddc87a 318 out-=100;
namikosaito 0:77188ca200ce 319 if((white_r==0&&white_mr==0&&white_l==0&&white_ml==0&&white_m==0)||sa_dh<yw){
namikosaito 0:77188ca200ce 320 out=1300;
namikosaito 0:77188ca200ce 321 out-=(yw-sa_dh)*0.15;
namikosaito 0:77188ca200ce 322 }
namikosaito 0:77188ca200ce 323 }
namikosaito 0:77188ca200ce 324
namikosaito 0:77188ca200ce 325 else if(kyori_dh>1200&&kyori_dh<1700){
namikosaito 0:77188ca200ce 326 out+=50;
namikosaito 0:77188ca200ce 327 }
namikosaito 0:77188ca200ce 328
namikosaito 0:77188ca200ce 329 else if(kyori_dh>1700&&kyori_dh<2700){
namikosaito 0:77188ca200ce 330 led3=1;
namikosaito 0:77188ca200ce 331 out+=180;
namikosaito 0:77188ca200ce 332 if((white_r==0&&white_mr==0&&white_l==0&&white_ml==0&&white_m==0)||sa_dh<yw){
namikosaito 0:77188ca200ce 333 out=1900;
namikosaito 0:77188ca200ce 334 out+=(yw-sa_dh)*0.15;
namikosaito 0:77188ca200ce 335 }
namikosaito 0:77188ca200ce 336 }
namikosaito 1:f9c953ddc87a 337 */
namikosaito 0:77188ca200ce 338 /*
namikosaito 0:77188ca200ce 339 if((kyori_dh>2000&&kyori_dh<2700&&(white_r==0&&white_mr==0&&white_m==0))||((kyori_dh>2200&&kyori_dh<2700)&&fixed_rot_data>15)){
namikosaito 0:77188ca200ce 340 while(1){
namikosaito 0:77188ca200ce 341 LF();
namikosaito 0:77188ca200ce 342 lf_downhill();
namikosaito 0:77188ca200ce 343 out=2100;
namikosaito 0:77188ca200ce 344 if(fixed_rot_data<0)out=2000;
namikosaito 0:77188ca200ce 345 if(fixed_rot_data<-15)out=1900;
namikosaito 0:77188ca200ce 346 if(fixed_rot_data<-30)out=1700;
namikosaito 0:77188ca200ce 347 servo.pulsewidth_us(out);
namikosaito 0:77188ca200ce 348 if((white_r==1||white_l==1||white_mr==1||white_ml==1||white_m==1)||sa_dh>yw)break;
namikosaito 0:77188ca200ce 349 }
namikosaito 0:77188ca200ce 350 }
namikosaito 0:77188ca200ce 351 */
namikosaito 0:77188ca200ce 352 save_servo();
namikosaito 0:77188ca200ce 353 servo.pulsewidth_us(out);
namikosaito 0:77188ca200ce 354 }
namikosaito 0:77188ca200ce 355
namikosaito 0:77188ca200ce 356 #endif
namikosaito 0:77188ca200ce 357
namikosaito 0:77188ca200ce 358 }
namikosaito 0:77188ca200ce 359
namikosaito 0:77188ca200ce 360
namikosaito 0:77188ca200ce 361
namikosaito 0:77188ca200ce 362
namikosaito 0:77188ca200ce 363 //////////////////////////////////////////////////////////
namikosaito 0:77188ca200ce 364 int river_turn(void){
namikosaito 0:77188ca200ce 365 static int ritu,ritu_flag;
namikosaito 0:77188ca200ce 366 ritu=0;
namikosaito 0:77188ca200ce 367 ritu_flag=0;
namikosaito 0:77188ca200ce 368 if(s1-s12>bw&&s1-s11>bw)ritu++;
namikosaito 0:77188ca200ce 369 if(s2-s12>bw&&s2-s11>bw)ritu++;
namikosaito 0:77188ca200ce 370 if(s3-s12>bw&&s3-s11>bw)ritu++;
namikosaito 0:77188ca200ce 371 if(s4-s12>bw&&s4-s11>bw)ritu++;
namikosaito 0:77188ca200ce 372 if(s5-s12>bw&&s5-s11>bw)ritu++;
namikosaito 0:77188ca200ce 373
namikosaito 0:77188ca200ce 374 if(ritu>3)ritu_flag=1;
namikosaito 0:77188ca200ce 375 //pc.printf("ritu=%d",ritu);
namikosaito 0:77188ca200ce 376
namikosaito 0:77188ca200ce 377 return ritu_flag;
namikosaito 0:77188ca200ce 378 }
namikosaito 0:77188ca200ce 379
namikosaito 0:77188ca200ce 380 int lf_downhill(void){
namikosaito 0:77188ca200ce 381 /*cdsの値の最大*/
namikosaito 0:77188ca200ce 382 max_dh=s1;
namikosaito 0:77188ca200ce 383 if(max_dh<s2)max_dh=s2;
namikosaito 0:77188ca200ce 384 if(max_dh<s3)max_dh=s3;
namikosaito 0:77188ca200ce 385 if(max_dh<s4)max_dh=s4;
namikosaito 0:77188ca200ce 386 if(max_dh<s5)max_dh=s5;
namikosaito 0:77188ca200ce 387 if(max_dh<s6)max_dh=s6;
namikosaito 0:77188ca200ce 388 if(max_dh<s7)max_dh=s7;
namikosaito 0:77188ca200ce 389 if(max_dh<s8)max_dh=s8;
namikosaito 0:77188ca200ce 390 if(max_dh<s9)max_dh=s9;
namikosaito 0:77188ca200ce 391 if(max_dh<s10)max_dh=s10;
namikosaito 0:77188ca200ce 392 if(max_dh<s11)max_dh=s11;
namikosaito 0:77188ca200ce 393 if(max_dh<s12)max_dh=s12;
namikosaito 0:77188ca200ce 394
namikosaito 0:77188ca200ce 395 /*cdsの値の最小*/
namikosaito 0:77188ca200ce 396 min_dh=s1;
namikosaito 0:77188ca200ce 397 if(min_dh>s2)min_dh=s2;
namikosaito 0:77188ca200ce 398 if(min_dh>s3)min_dh=s3;
namikosaito 0:77188ca200ce 399 if(min_dh>s4)min_dh=s4;
namikosaito 0:77188ca200ce 400 if(min_dh>s5)min_dh=s5;
namikosaito 0:77188ca200ce 401 if(min_dh>s6)min_dh=s6;
namikosaito 0:77188ca200ce 402 if(min_dh>s7)min_dh=s7;
namikosaito 0:77188ca200ce 403 if(min_dh>s8)min_dh=s8;
namikosaito 0:77188ca200ce 404 if(min_dh>s9)min_dh=s9;
namikosaito 0:77188ca200ce 405 if(min_dh>s10)min_dh=s10;
namikosaito 0:77188ca200ce 406 if(min_dh>s11)min_dh=s11;
namikosaito 0:77188ca200ce 407 if(min_dh>s12)min_dh=s12;
namikosaito 0:77188ca200ce 408
namikosaito 0:77188ca200ce 409 sa_dh=max_dh-min_dh;
namikosaito 0:77188ca200ce 410 return sa_dh;
namikosaito 0:77188ca200ce 411 }
namikosaito 0:77188ca200ce 412
namikosaito 0:77188ca200ce 413 void back_cds(void){ //ｃｄｓでラインのどちらにずれたのか検知する。
namikosaito 0:77188ca200ce 414 Find_White();
namikosaito 0:77188ca200ce 415
namikosaito 0:77188ca200ce 416 static int back_cds_l,back_cds_l2,back_cds_r,back_cds_r2,flag_loop;
namikosaito 0:77188ca200ce 417
namikosaito 0:77188ca200ce 418 if(now==-3||now==-4){
namikosaito 0:77188ca200ce 419 back_cds_l=0;
namikosaito 0:77188ca200ce 420 back_cds_r=1;
namikosaito 0:77188ca200ce 421 }
namikosaito 0:77188ca200ce 422 if(back_cds_r==1&&(now==-5||now==-6)){
namikosaito 0:77188ca200ce 423 back_cds_r2=1;
namikosaito 0:77188ca200ce 424 back_cds_r=0;
namikosaito 0:77188ca200ce 425 }
namikosaito 0:77188ca200ce 426
namikosaito 1:f9c953ddc87a 427 if(back_cds_r2==1&&now!=-6&&now!=-5){
namikosaito 0:77188ca200ce 428 while(1){
namikosaito 4:795055e031c3 429 if(file==1)fprintf(fp,"%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d\n",out,now,fixed_rot_data,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12);
namikosaito 4:795055e031c3 430 if(file==1&&switch_3==0)fclose( fp );
namikosaito 0:77188ca200ce 431 LF();
namikosaito 0:77188ca200ce 432 gyro_keisan();
namikosaito 0:77188ca200ce 433 lf_downhill();
namikosaito 0:77188ca200ce 434 Find_White(); //いらないはず
namikosaito 0:77188ca200ce 435 // out=1100;
namikosaito 4:795055e031c3 436 //pc.printf("hidari now %d\r\n",now);
namikosaito 4:795055e031c3 437 out=naka-300;
namikosaito 0:77188ca200ce 438 save_servo();
namikosaito 0:77188ca200ce 439 servo.pulsewidth_us(out);
namikosaito 0:77188ca200ce 440 judge_color();
namikosaito 0:77188ca200ce 441 field();
namikosaito 4:795055e031c3 442 if(now==-6||now==-5)flag_loop=1;//6
namikosaito 4:795055e031c3 443 if((flag_loop==1&&(now==-4||now==-3))||white_r==1||white_mr==1||white_m==1||white_ml==1||white_l==1){//45
namikosaito 0:77188ca200ce 444 back_cds_r2=0;
namikosaito 0:77188ca200ce 445 flag_loop=0;
namikosaito 0:77188ca200ce 446 break;
namikosaito 0:77188ca200ce 447 }
namikosaito 1:f9c953ddc87a 448 }
namikosaito 1:f9c953ddc87a 449
namikosaito 1:f9c953ddc87a 450 if(now==3||now==4){
namikosaito 1:f9c953ddc87a 451 back_cds_l=1;
namikosaito 1:f9c953ddc87a 452 back_cds_r=0;
namikosaito 1:f9c953ddc87a 453 }
namikosaito 1:f9c953ddc87a 454
namikosaito 1:f9c953ddc87a 455 if(back_cds_l==1&&(now==5||now==6)){
namikosaito 1:f9c953ddc87a 456 back_cds_l=0;
namikosaito 1:f9c953ddc87a 457 back_cds_l2=1;
namikosaito 1:f9c953ddc87a 458 }
namikosaito 1:f9c953ddc87a 459
namikosaito 1:f9c953ddc87a 460 if(back_cds_l2==1&&now!=6&&now!=5){
namikosaito 1:f9c953ddc87a 461 while(1){
namikosaito 4:795055e031c3 462 if(file==1)fprintf(fp,"%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d\n",out,now,fixed_rot_data,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12);
namikosaito 4:795055e031c3 463 if(file==1&&switch_3==0)fclose( fp );
namikosaito 1:f9c953ddc87a 464 LF();
namikosaito 1:f9c953ddc87a 465 gyro_keisan();
namikosaito 1:f9c953ddc87a 466 Find_White();
namikosaito 1:f9c953ddc87a 467 lf_downhill();
namikosaito 4:795055e031c3 468 //pc.printf("migi now=%d\r\n",now);
namikosaito 4:795055e031c3 469 out=naka+300;;
namikosaito 1:f9c953ddc87a 470 save_servo();
namikosaito 1:f9c953ddc87a 471 servo.pulsewidth_us(out);//1900
namikosaito 1:f9c953ddc87a 472 judge_color();
namikosaito 1:f9c953ddc87a 473 field();
namikosaito 4:795055e031c3 474 if(now==6||now==5)flag_loop=1;
namikosaito 4:795055e031c3 475 if((flag_loop==1&&(now==4||now==3))||white_r==1||white_mr==1||white_m==1||white_ml==1||white_l==1){ //調べて
namikosaito 1:f9c953ddc87a 476 back_cds_l2=0;
namikosaito 1:f9c953ddc87a 477 flag_loop=0;
namikosaito 1:f9c953ddc87a 478 break;
namikosaito 1:f9c953ddc87a 479 }
namikosaito 1:f9c953ddc87a 480 }
namikosaito 1:f9c953ddc87a 481 }
namikosaito 1:f9c953ddc87a 482 }
namikosaito 1:f9c953ddc87a 483 }
namikosaito 1:f9c953ddc87a 484
namikosaito 4:795055e031c3 485 ////////////////////////////////////////////////////////////////////////
namikosaito 1:f9c953ddc87a 486 void back_cds_dh(void){ //ｃｄｓでラインのどちらにずれたのか検知する。
namikosaito 1:f9c953ddc87a 487 Find_White();
namikosaito 1:f9c953ddc87a 488
namikosaito 1:f9c953ddc87a 489 static int back_cds_l,back_cds_l2,back_cds_r,back_cds_r2,flag_loop;
namikosaito 1:f9c953ddc87a 490 if(kyori_dh>50){
namikosaito 1:f9c953ddc87a 491 static int f;
namikosaito 1:f9c953ddc87a 492 if(sa_dh>yw+50){
namikosaito 1:f9c953ddc87a 493 f=now;
namikosaito 1:f9c953ddc87a 494 }
namikosaito 1:f9c953ddc87a 495 else if(sa_dh<yw&&f>2){
namikosaito 1:f9c953ddc87a 496 out=naka+300;
namikosaito 1:f9c953ddc87a 497 }
namikosaito 1:f9c953ddc87a 498 else if(sa_dh<yw&&f<-2){
namikosaito 1:f9c953ddc87a 499 out=naka-300;
namikosaito 1:f9c953ddc87a 500 }
namikosaito 1:f9c953ddc87a 501 }
namikosaito 1:f9c953ddc87a 502
namikosaito 1:f9c953ddc87a 503 if(now==-3||now==-4){
namikosaito 1:f9c953ddc87a 504 back_cds_l=0;
namikosaito 1:f9c953ddc87a 505 back_cds_r=1;
namikosaito 1:f9c953ddc87a 506 }
namikosaito 1:f9c953ddc87a 507 if(back_cds_r==1&&(now==-5||now==-6)){
namikosaito 1:f9c953ddc87a 508 back_cds_r2=1;
namikosaito 1:f9c953ddc87a 509 back_cds_r=0;
namikosaito 1:f9c953ddc87a 510 }
namikosaito 1:f9c953ddc87a 511
namikosaito 1:f9c953ddc87a 512 if(back_cds_r2==1&&now!=-6&&now!=-5){//||(downhill==1&&sa_dh<yw)){//||(white_r==0&&white_l==0&&white_mr==0&&white_ml==0&&white_m==0)||sa_dh<yw){ //変更
namikosaito 1:f9c953ddc87a 513 while(1){
namikosaito 1:f9c953ddc87a 514 LF();
namikosaito 1:f9c953ddc87a 515 gyro_keisan();
namikosaito 1:f9c953ddc87a 516 lf_downhill();
namikosaito 1:f9c953ddc87a 517 Find_White(); //いらないはず
namikosaito 1:f9c953ddc87a 518 // out=1100;
namikosaito 4:795055e031c3 519 //pc.printf("hidari now %d\r\n",now);
namikosaito 4:795055e031c3 520 out=naka-300;
namikosaito 1:f9c953ddc87a 521 save_servo();
namikosaito 1:f9c953ddc87a 522 servo.pulsewidth_us(out);
namikosaito 1:f9c953ddc87a 523 judge_color();
namikosaito 1:f9c953ddc87a 524 field();
namikosaito 1:f9c953ddc87a 525 if(now==-6)flag_loop=1;
namikosaito 4:795055e031c3 526 if((flag_loop==1&&(now==-4||now==-5))||white_r==1||white_mr==1||white_m==1||white_ml==1||white_l==1){
namikosaito 1:f9c953ddc87a 527 back_cds_r2=0;
namikosaito 1:f9c953ddc87a 528 flag_loop=0;
namikosaito 1:f9c953ddc87a 529 break;
namikosaito 1:f9c953ddc87a 530 }
namikosaito 1:f9c953ddc87a 531
namikosaito 1:f9c953ddc87a 532 if(downhill==1){
namikosaito 0:77188ca200ce 533 static int yw_flag;
namikosaito 0:77188ca200ce 534 if(sa_dh>yw)yw_flag++;
namikosaito 0:77188ca200ce 535 if(yw_flag>10){
namikosaito 0:77188ca200ce 536 yw_flag=0;
namikosaito 0:77188ca200ce 537 back_cds_r2=0;
namikosaito 0:77188ca200ce 538 flag_loop=0;
namikosaito 1:f9c953ddc87a 539 break;}
namikosaito 1:f9c953ddc87a 540 }
namikosaito 0:77188ca200ce 541 }
namikosaito 0:77188ca200ce 542 }
namikosaito 0:77188ca200ce 543
namikosaito 0:77188ca200ce 544 if(now==3||now==4){
namikosaito 0:77188ca200ce 545 back_cds_l=1;
namikosaito 0:77188ca200ce 546 back_cds_r=0;
namikosaito 0:77188ca200ce 547 }
namikosaito 0:77188ca200ce 548
namikosaito 0:77188ca200ce 549 if(back_cds_l==1&&(now==5||now==6)){
namikosaito 0:77188ca200ce 550 back_cds_l=0;
namikosaito 0:77188ca200ce 551 back_cds_l2=1;
namikosaito 0:77188ca200ce 552 }
namikosaito 0:77188ca200ce 553
namikosaito 1:f9c953ddc87a 554 if(back_cds_l2==1&&now!=6&&now!=5){//||(downhill==1&&sa_dh<yw)){//||(white_r==0&&white_l==0&&white_mr==0&&white_ml==0&&white_m==0)||sa_dh<yw){
namikosaito 0:77188ca200ce 555 while(1){
namikosaito 0:77188ca200ce 556 LF();
namikosaito 0:77188ca200ce 557 gyro_keisan();
namikosaito 0:77188ca200ce 558 Find_White();
namikosaito 0:77188ca200ce 559 lf_downhill();
namikosaito 4:795055e031c3 560 //pc.printf("migi now=%d\r\n",now);
namikosaito 4:795055e031c3 561 out=naka+300;
namikosaito 0:77188ca200ce 562 save_servo();
namikosaito 0:77188ca200ce 563 servo.pulsewidth_us(out);//1900
namikosaito 0:77188ca200ce 564 judge_color();
namikosaito 0:77188ca200ce 565 field();
namikosaito 0:77188ca200ce 566 if(now==6)flag_loop=1;
namikosaito 4:795055e031c3 567 if((flag_loop==1&&(now==4||now==5))||white_l==1||white_ml==1||white_m==1||white_mr==1||white_r==1){ //調べて
namikosaito 0:77188ca200ce 568 back_cds_l2=0;
namikosaito 0:77188ca200ce 569 flag_loop=0;
namikosaito 0:77188ca200ce 570 break;
namikosaito 0:77188ca200ce 571 }
namikosaito 1:f9c953ddc87a 572
namikosaito 1:f9c953ddc87a 573 if(downhill==1){
namikosaito 0:77188ca200ce 574 static int yw_flag;
namikosaito 0:77188ca200ce 575 if(sa_dh>yw)yw_flag++;
namikosaito 0:77188ca200ce 576 if(yw_flag>10){
namikosaito 0:77188ca200ce 577 back_cds_l2=0;
namikosaito 0:77188ca200ce 578 flag_loop=0;
namikosaito 0:77188ca200ce 579 yw_flag=0;
namikosaito 1:f9c953ddc87a 580 break;}
namikosaito 1:f9c953ddc87a 581 }
namikosaito 0:77188ca200ce 582 }
namikosaito 0:77188ca200ce 583 }
namikosaito 1:f9c953ddc87a 584 }
namikosaito 1:f9c953ddc87a 585
namikosaito 1:f9c953ddc87a 586
namikosaito 0:77188ca200ce 587 void field(void){ //上りにおいてフィールドの色を判断し、数えていく。
namikosaito 0:77188ca200ce 588 judge_color();
namikosaito 0:77188ca200ce 589
namikosaito 0:77188ca200ce 590 if((white_r==1||white_l==1||white_mr==1||white_ml==1||white_m==1)&&downhill==0)kyori_reset();
namikosaito 0:77188ca200ce 591 if((gr_flag_1==1&&red==1&&kyori_nobori>500)||(start_flag==1&&red==1)){
namikosaito 0:77188ca200ce 592 gr_flag_2=1;
namikosaito 0:77188ca200ce 593 }
namikosaito 0:77188ca200ce 594 if(gr_flag_2==1){
namikosaito 0:77188ca200ce 595 kyori_nobori_reset();
namikosaito 0:77188ca200ce 596 start_flag=0;
namikosaito 0:77188ca200ce 597 gr_flag_1=0;
namikosaito 0:77188ca200ce 598 gr_flag_2=0;
namikosaito 0:77188ca200ce 599 rg_flag_1=1;
namikosaito 0:77188ca200ce 600 gr_count++;
namikosaito 0:77188ca200ce 601 }
namikosaito 0:77188ca200ce 602 if(blue==1&&rg_flag_1==1&&kyori_nobori>500){
namikosaito 0:77188ca200ce 603 rg_flag_2=1;
namikosaito 0:77188ca200ce 604 }
namikosaito 0:77188ca200ce 605 if(rg_flag_2==1){
namikosaito 0:77188ca200ce 606 kyori_nobori_reset();
namikosaito 0:77188ca200ce 607 rg_flag_1=0;
namikosaito 0:77188ca200ce 608 rg_flag_2=0;
namikosaito 0:77188ca200ce 609 gr_flag_1=1;
namikosaito 0:77188ca200ce 610 rg_count++;
namikosaito 0:77188ca200ce 611 }
namikosaito 0:77188ca200ce 612 }