nakao kanaki / Mbed 2 deprecated Eco_ziguzagu

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Dependencies:   mbed

main.cpp@9:dbfcdf1b20c1, 2016-03-08 (annotated)

Committer:
namikosaito
Date:
Tue Mar 08 15:04:10 2016 +0000
Revision:
9:dbfcdf1b20c1
Parent:
8:340da692d865
Child:
10:82f5a6e95dc2
3_9????10/20; ????????

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 9:dbfcdf1b20c1 9 //#define SLOPE
namikosaito 9:dbfcdf1b20c1 10 #define TURN
namikosaito 9:dbfcdf1b20c1 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 7:3c273b3b19b1 39 void back_cds(void); //白線の左右どちらに振れたのか見る。（ｃｄｓ)
namikosaito 0:77188ca200ce 40 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 41
namikosaito 0:77188ca200ce 42 int back_r_flag=0;
namikosaito 0:77188ca200ce 43 int back_l_flag=0;
namikosaito 0:77188ca200ce 44
namikosaito 0:77188ca200ce 45 float yoko; //上りラインに対しての左右の振れ
namikosaito 0:77188ca200ce 46 int kakudo;
namikosaito 0:77188ca200ce 47
namikosaito 0:77188ca200ce 48 int start_flag=1; //fieldで使用
namikosaito 0:77188ca200ce 49 int rg_flag_1,rg_flag_2,rg_count=0;
namikosaito 0:77188ca200ce 50 int gr_flag_1,gr_flag_2,gr_count=0;
namikosaito 0:77188ca200ce 51
namikosaito 0:77188ca200ce 52 ///////////////////////////////////////////////////////////////////////////////////////////////
namikosaito 0:77188ca200ce 53
namikosaito 0:77188ca200ce 54
namikosaito 0:77188ca200ce 55 int main(){
namikosaito 0:77188ca200ce 56 mcp.format(7,0);
namikosaito 0:77188ca200ce 57 mcp.frequency(1000000);
namikosaito 0:77188ca200ce 58 pc.baud(115200);
namikosaito 0:77188ca200ce 59 gyro.format(16,3);
namikosaito 0:77188ca200ce 60 Enc.attach(&distance, sp_t);
namikosaito 0:77188ca200ce 61 servo.period_ms(20); //サーボ周期
namikosaito 0:77188ca200ce 62 servo.pulsewidth_us(naka);
namikosaito 8:340da692d865 63
namikosaito 0:77188ca200ce 64 /*キャリブレーション*/
namikosaito 0:77188ca200ce 65 calibration();
namikosaito 8:340da692d865 66 while(1){if(push_switch==1)break;}
namikosaito 8:340da692d865 67
namikosaito 6:c28aa7d26eba 68 /*ファイル*/
namikosaito 9:dbfcdf1b20c1 69 if(switch_1==0){
namikosaito 9:dbfcdf1b20c1 70 if ( NULL == (fp = fopen( "/local/test.csv", "w" )) )error( "" );
namikosaito 9:dbfcdf1b20c1 71 file=1;
namikosaito 5:f90bd93f8558 72 }
namikosaito 3:04f6fe153dbc 73 /*
namikosaito 9:dbfcdf1b20c1 74 if(switch_1==0&&switch_2==1&&switch_3==1){ //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 9:dbfcdf1b20c1 81 else if(switch_1==1&&switch_2==0&&switch_3==1){ //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 9:dbfcdf1b20c1 86 else if(switch_1==1&&switch_2==1&&switch_3==0){ //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 9:dbfcdf1b20c1 92 yellow_pin=0;
namikosaito 0:77188ca200ce 93 while(1){
namikosaito 9:dbfcdf1b20c1 94 //pc.printf("%f,%d\r\n",kyori_nobori,fixed_rot_data);
namikosaito 8:340da692d865 95 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 96 //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 97 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 7:3c273b3b19b1 98 if(file==1&&switch_1==0)fclose( fp );
namikosaito 0:77188ca200ce 99 field();
namikosaito 0:77188ca200ce 100 LF();
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 6:c28aa7d26eba 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 6:c28aa7d26eba 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 6:c28aa7d26eba 122 blue_led=1;
namikosaito 0:77188ca200ce 123 while(1){
namikosaito 5:f90bd93f8558 124 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 7:3c273b3b19b1 125 if(file==1&&switch_1==0)fclose( fp );
namikosaito 1:f9c953ddc87a 126 gyro_keisan();
namikosaito 6:c28aa7d26eba 127 out=naka+325;//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 5:f90bd93f8558 134 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 7:3c273b3b19b1 135 if(file==1&&switch_1==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 6:c28aa7d26eba 148 blue_led=1;
namikosaito 9:dbfcdf1b20c1 149 yellow_pin=0;
namikosaito 0:77188ca200ce 150 while(1){ //ライントレース
namikosaito 0:77188ca200ce 151 LF();
namikosaito 9:dbfcdf1b20c1 152 //out-=50;
namikosaito 0:77188ca200ce 153 judge_color();
namikosaito 0:77188ca200ce 154 servo.pulsewidth_us(out);
namikosaito 9:dbfcdf1b20c1 155 pc.printf("river kyori_m45=%f,theta=%d linetrace\r\n",kyori_m45,fixed_rot_data);
namikosaito 0:77188ca200ce 156 //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 157
namikosaito 0:77188ca200ce 158 if(blue==1){ //青になったらリバースタート
namikosaito 0:77188ca200ce 159 river_flag=1;
namikosaito 3:04f6fe153dbc 160 blue_led=0;
namikosaito 0:77188ca200ce 161 out=naka-250;
namikosaito 0:77188ca200ce 162 servo.pulsewidth_us(out);
namikosaito 0:77188ca200ce 163 break;
namikosaito 0:77188ca200ce 164 }
namikosaito 3:04f6fe153dbc 165 }
namikosaito 0:77188ca200ce 166
namikosaito 0:77188ca200ce 167 /*1*/
namikosaito 0:77188ca200ce 168 while(1){ //初めに曲がる直前まで
namikosaito 0:77188ca200ce 169 //gyro_keisan();
namikosaito 0:77188ca200ce 170
namikosaito 0:77188ca200ce 171 LF(); //基本的にライントレース
namikosaito 9:dbfcdf1b20c1 172 if(fixed_rot_data<-60)out=gyro_pid(-45,6,0,0);//500 //最初は角度も利用
namikosaito 0:77188ca200ce 173 //if(fixed_rot_data<-75)out=naka-250;
namikosaito 0:77188ca200ce 174
namikosaito 0:77188ca200ce 175 led1=1;
namikosaito 9:dbfcdf1b20c1 176 pc.printf("kyori_m45=%f,theta=%d\r\n",kyori_m45,fixed_rot_data);
namikosaito 0:77188ca200ce 177 if(river_flag==1){
namikosaito 0:77188ca200ce 178 kyori_reset();
namikosaito 0:77188ca200ce 179 river_flag=0;
namikosaito 0:77188ca200ce 180 }
namikosaito 0:77188ca200ce 181 servo.pulsewidth_us(out);
namikosaito 0:77188ca200ce 182 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 183 river_theta=fixed_rot_data;
namikosaito 0:77188ca200ce 184 river_flag=1;
namikosaito 0:77188ca200ce 185 break;
namikosaito 0:77188ca200ce 186 }}
namikosaito 0:77188ca200ce 187
namikosaito 0:77188ca200ce 188 river_keisan(); //角度と距離の補正（いらないかも・・）
namikosaito 0:77188ca200ce 189
namikosaito 0:77188ca200ce 190 /*2*/
namikosaito 0:77188ca200ce 191 while(1){ //向きを９０度に合わせる。
namikosaito 0:77188ca200ce 192 gyro_keisan();
namikosaito 0:77188ca200ce 193 led2=1;
namikosaito 9:dbfcdf1b20c1 194 pc.printf("2 theta=%d\r\n",fixed_rot_data);
namikosaito 9:dbfcdf1b20c1 195 out=gyro_pid(-90-phai,6,0,2);//705
namikosaito 0:77188ca200ce 196 save_servo();
namikosaito 0:77188ca200ce 197 servo.pulsewidth_us(out);
namikosaito 0:77188ca200ce 198 if(river_flag==1){
namikosaito 0:77188ca200ce 199 kyori_reset();
namikosaito 0:77188ca200ce 200 river_flag=0;
namikosaito 0:77188ca200ce 201 }
namikosaito 0:77188ca200ce 202 if(fixed_rot_data<-85-phai){ //ジャイロの角度が合ったら
namikosaito 0:77188ca200ce 203 out=naka;
namikosaito 0:77188ca200ce 204 break;
namikosaito 0:77188ca200ce 205 }
namikosaito 0:77188ca200ce 206 }
namikosaito 0:77188ca200ce 207
namikosaito 0:77188ca200ce 208 /*3*/
namikosaito 0:77188ca200ce 209 while(1){ //直進する
namikosaito 0:77188ca200ce 210 led3=1;
namikosaito 0:77188ca200ce 211 gyro_keisan();
namikosaito 9:dbfcdf1b20c1 212 pc.printf("%f,%f,theta=%d,phai=%f,out=%d\r\n",kyori_m90,Z,fixed_rot_data,phai,out);
namikosaito 9:dbfcdf1b20c1 213 out=gyro_pid(-90-phai,5,0,0);//6 0.1 0
namikosaito 0:77188ca200ce 214 save_servo();
namikosaito 0:77188ca200ce 215 servo.pulsewidth_us(out);
namikosaito 0:77188ca200ce 216 if(kyori_m90>Z){ //Zmm進んだら
namikosaito 0:77188ca200ce 217 out=naka-200; //前は100
namikosaito 0:77188ca200ce 218 white_r=0;
namikosaito 0:77188ca200ce 219 white_l=0;
namikosaito 0:77188ca200ce 220 break;
namikosaito 0:77188ca200ce 221 }
namikosaito 0:77188ca200ce 222 }
namikosaito 0:77188ca200ce 223
namikosaito 0:77188ca200ce 224 /*4*/
namikosaito 0:77188ca200ce 225 while(1){ //白線を見つけるまでそのまま
namikosaito 0:77188ca200ce 226 gyro_keisan();
namikosaito 0:77188ca200ce 227 led4=1;
namikosaito 0:77188ca200ce 228 judge_color();
namikosaito 0:77188ca200ce 229 LF();
namikosaito 0:77188ca200ce 230 lf_downhill();
namikosaito 4:795055e031c3 231 //pc.printf("%f,%d,%d\r\n",kyori_m90,Ec_count,sa_dh);
namikosaito 9:dbfcdf1b20c1 232 static int haku;
namikosaito 9:dbfcdf1b20c1 233 if(white_r==1||white_l==1||white_mr==1||white_ml==1||white_m==1||kyori_m90>T)haku++;
namikosaito 9:dbfcdf1b20c1 234 if(haku>5)break;
namikosaito 0:77188ca200ce 235 }
namikosaito 0:77188ca200ce 236
namikosaito 0:77188ca200ce 237 if(kyori_m90>T){
namikosaito 4:795055e031c3 238 servo.pulsewidth_us(naka-400);
namikosaito 0:77188ca200ce 239 wait(0.5);
namikosaito 0:77188ca200ce 240 }
namikosaito 0:77188ca200ce 241
namikosaito 0:77188ca200ce 242 /*5*/
namikosaito 0:77188ca200ce 243 while(1){ //ライントレースに戻る
namikosaito 0:77188ca200ce 244 gyro_keisan();
namikosaito 0:77188ca200ce 245 LF();
namikosaito 0:77188ca200ce 246 back_cds();
namikosaito 0:77188ca200ce 247 out-=50;
namikosaito 0:77188ca200ce 248 if(fixed_rot_data<-45)out-=50;
namikosaito 0:77188ca200ce 249 if(fixed_rot_data<-75)out-=100;
namikosaito 0:77188ca200ce 250
namikosaito 0:77188ca200ce 251 servo.pulsewidth_us(out);
namikosaito 0:77188ca200ce 252 judge_color();
namikosaito 0:77188ca200ce 253 led1=0;
namikosaito 0:77188ca200ce 254 led2=0;
namikosaito 0:77188ca200ce 255 led3=0;
namikosaito 0:77188ca200ce 256 led4=0;
namikosaito 0:77188ca200ce 257 if(red==1){kyori_reset();break;}
namikosaito 0:77188ca200ce 258 }
namikosaito 0:77188ca200ce 259
namikosaito 0:77188ca200ce 260 #endif
namikosaito 0:77188ca200ce 261
namikosaito 0:77188ca200ce 262 ////////////////////////////////////////////////////////////////////////////
namikosaito 0:77188ca200ce 263
namikosaito 0:77188ca200ce 264 #ifdef DOWNHILL
namikosaito 9:dbfcdf1b20c1 265 yellow_pin=0;
namikosaito 0:77188ca200ce 266 while(1){
namikosaito 0:77188ca200ce 267 static int q;
namikosaito 0:77188ca200ce 268 q++;
namikosaito 7:3c273b3b19b1 269 blue_led=1;
namikosaito 9:dbfcdf1b20c1 270 //pc.printf("downhill 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 271 judge_color();
namikosaito 0:77188ca200ce 272 LF();
namikosaito 0:77188ca200ce 273 back_cds();
namikosaito 8:340da692d865 274 if(file==1)fprintf(fp,"%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%f,%f,%f\n",out,now,fixed_rot_data,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,kyori_dh,kyori,kyori_f);
namikosaito 0:77188ca200ce 275 servo.pulsewidth_us(out);
namikosaito 0:77188ca200ce 276 if(yellow==1&&q>30){ //黄色に入る
namikosaito 0:77188ca200ce 277 kyori_reset();
namikosaito 6:c28aa7d26eba 278 yellow_pin=1;
namikosaito 0:77188ca200ce 279 downhill=1;
namikosaito 0:77188ca200ce 280 break;
namikosaito 0:77188ca200ce 281 }
namikosaito 4:795055e031c3 282 }
namikosaito 7:3c273b3b19b1 283
namikosaito 7:3c273b3b19b1 284 if(file==1)fprintf(fp,"downhill\n");
namikosaito 7:3c273b3b19b1 285
namikosaito 0:77188ca200ce 286 while(1){
namikosaito 7:3c273b3b19b1 287 /*PID調整*/
namikosaito 8:340da692d865 288 if(kyori_f<10){
namikosaito 7:3c273b3b19b1 289 zure1=35;//25;
namikosaito 7:3c273b3b19b1 290 zure2=65;//50;
namikosaito 7:3c273b3b19b1 291 zure3=125;//100;
namikosaito 7:3c273b3b19b1 292 zure4=200;//175;
namikosaito 7:3c273b3b19b1 293 zure5=300;
namikosaito 7:3c273b3b19b1 294 }
namikosaito 8:340da692d865 295 else/* if(kyori_f<10)*/{
namikosaito 7:3c273b3b19b1 296 zure3=150;
namikosaito 7:3c273b3b19b1 297 zure4=250;
namikosaito 7:3c273b3b19b1 298 zure5=350;
namikosaito 8:340da692d865 299 }
namikosaito 8:340da692d865 300 /*
namikosaito 8:340da692d865 301 else if(kyori_f<15){
namikosaito 8:340da692d865 302 zure4=275;
namikosaito 8:340da692d865 303 zure5=375;
namikosaito 8:340da692d865 304 }
namikosaito 8:340da692d865 305 else{
namikosaito 8:340da692d865 306 zure5=400;
namikosaito 8:340da692d865 307 }
namikosaito 8:340da692d865 308 */
namikosaito 7:3c273b3b19b1 309
namikosaito 7:3c273b3b19b1 310
namikosaito 6:c28aa7d26eba 311 yellow_pin=1;
namikosaito 8:340da692d865 312 if(file==1)fprintf(fp,"%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%f,%f,%f\n",out,now,fixed_rot_data,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,kyori_dh,kyori,kyori_f);
namikosaito 9:dbfcdf1b20c1 313 if(file==1&&switch_1==1)fclose( fp );
namikosaito 0:77188ca200ce 314 LF();
namikosaito 8:340da692d865 315 gyro_keisan();
namikosaito 0:77188ca200ce 316 lf_downhill();
namikosaito 0:77188ca200ce 317 judge_color();
namikosaito 2:864b823b1735 318 back_cds();
namikosaito 9:dbfcdf1b20c1 319 // pc.printf("kyori_f=%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_f,sa_dh,fixed_rot_data,out,dir,sa,now,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12);
namikosaito 0:77188ca200ce 320
namikosaito 2:864b823b1735 321 if(kyori_dh>50){
namikosaito 2:864b823b1735 322 static int f;
namikosaito 2:864b823b1735 323 if(sa_dh>yw+50){
namikosaito 2:864b823b1735 324 f=now;
namikosaito 2:864b823b1735 325 }
namikosaito 2:864b823b1735 326 else if(sa_dh<yw&&f>2){
namikosaito 3:04f6fe153dbc 327 out+=200;//naka+300;
namikosaito 2:864b823b1735 328 }
namikosaito 2:864b823b1735 329 else if(sa_dh<yw&&f<-2){
namikosaito 3:04f6fe153dbc 330 out-=200;//naka-300;
namikosaito 3:04f6fe153dbc 331
namikosaito 2:864b823b1735 332 }
namikosaito 3:04f6fe153dbc 333 }
namikosaito 2:864b823b1735 334
namikosaito 9:dbfcdf1b20c1 335 if(kyori_dh>600&&kyori_dh<900){out-=75;led1=1;
namikosaito 9:dbfcdf1b20c1 336 if(kyori_f>23)out-=25;
namikosaito 9:dbfcdf1b20c1 337 }
namikosaito 1:f9c953ddc87a 338 else if(kyori_dh>1200&&kyori_dh<1700){out+=25;led2=1;}
namikosaito 9:dbfcdf1b20c1 339 else if(kyori_dh>1700&&kyori_dh<2700){out+=250;led3=1;
namikosaito 9:dbfcdf1b20c1 340 if(kyori_f>23)out+=25;
namikosaito 9:dbfcdf1b20c1 341 }
namikosaito 9:dbfcdf1b20c1 342 else if(kyori_dh>2800&&kyori_dh<3300){out-=50;led4=1;
namikosaito 9:dbfcdf1b20c1 343 if(kyori_f>23)out-=25;
namikosaito 9:dbfcdf1b20c1 344 }
namikosaito 1:f9c953ddc87a 345 else{
namikosaito 0:77188ca200ce 346 led1=0;
namikosaito 0:77188ca200ce 347 led2=0;
namikosaito 0:77188ca200ce 348 led3=0;
namikosaito 0:77188ca200ce 349 }
namikosaito 3:04f6fe153dbc 350
namikosaito 7:3c273b3b19b1 351 if(blue_pin==1&&kyori_dh>2800){ //最後の青に入ったら。
namikosaito 7:3c273b3b19b1 352 static int end;
namikosaito 8:340da692d865 353 led1=1;
namikosaito 8:340da692d865 354 led2=1;
namikosaito 8:340da692d865 355 led3=1;
namikosaito 8:340da692d865 356 led4=1;
namikosaito 7:3c273b3b19b1 357 blue_led=0;
namikosaito 7:3c273b3b19b1 358 if(file==1)fclose( fp );
namikosaito 9:dbfcdf1b20c1 359
namikosaito 9:dbfcdf1b20c1 360 if(out<naka-200)out=naka-200; //曲がりすぎを防ぐ
namikosaito 9:dbfcdf1b20c1 361 else if(out>naka+200)out=naka+200;
namikosaito 9:dbfcdf1b20c1 362
namikosaito 9:dbfcdf1b20c1 363 if(abs(kyori_f)<1)end++;
namikosaito 7:3c273b3b19b1 364 if(end>30)while(1){}
namikosaito 6:c28aa7d26eba 365 }
namikosaito 0:77188ca200ce 366 save_servo();
namikosaito 0:77188ca200ce 367 servo.pulsewidth_us(out);
namikosaito 0:77188ca200ce 368 }
namikosaito 0:77188ca200ce 369 #endif
namikosaito 0:77188ca200ce 370
namikosaito 0:77188ca200ce 371 }
namikosaito 0:77188ca200ce 372
namikosaito 0:77188ca200ce 373
namikosaito 0:77188ca200ce 374
namikosaito 0:77188ca200ce 375
namikosaito 0:77188ca200ce 376 //////////////////////////////////////////////////////////
namikosaito 0:77188ca200ce 377 int river_turn(void){
namikosaito 0:77188ca200ce 378 static int ritu,ritu_flag;
namikosaito 0:77188ca200ce 379 ritu=0;
namikosaito 0:77188ca200ce 380 ritu_flag=0;
namikosaito 0:77188ca200ce 381 if(s1-s12>bw&&s1-s11>bw)ritu++;
namikosaito 0:77188ca200ce 382 if(s2-s12>bw&&s2-s11>bw)ritu++;
namikosaito 0:77188ca200ce 383 if(s3-s12>bw&&s3-s11>bw)ritu++;
namikosaito 0:77188ca200ce 384 if(s4-s12>bw&&s4-s11>bw)ritu++;
namikosaito 0:77188ca200ce 385 if(s5-s12>bw&&s5-s11>bw)ritu++;
namikosaito 0:77188ca200ce 386
namikosaito 0:77188ca200ce 387 if(ritu>3)ritu_flag=1;
namikosaito 0:77188ca200ce 388 //pc.printf("ritu=%d",ritu);
namikosaito 0:77188ca200ce 389
namikosaito 0:77188ca200ce 390 return ritu_flag;
namikosaito 0:77188ca200ce 391 }
namikosaito 0:77188ca200ce 392
namikosaito 0:77188ca200ce 393 int lf_downhill(void){
namikosaito 0:77188ca200ce 394 /*cdsの値の最大*/
namikosaito 0:77188ca200ce 395 max_dh=s1;
namikosaito 0:77188ca200ce 396 if(max_dh<s2)max_dh=s2;
namikosaito 0:77188ca200ce 397 if(max_dh<s3)max_dh=s3;
namikosaito 0:77188ca200ce 398 if(max_dh<s4)max_dh=s4;
namikosaito 0:77188ca200ce 399 if(max_dh<s5)max_dh=s5;
namikosaito 0:77188ca200ce 400 if(max_dh<s6)max_dh=s6;
namikosaito 0:77188ca200ce 401 if(max_dh<s7)max_dh=s7;
namikosaito 0:77188ca200ce 402 if(max_dh<s8)max_dh=s8;
namikosaito 0:77188ca200ce 403 if(max_dh<s9)max_dh=s9;
namikosaito 0:77188ca200ce 404 if(max_dh<s10)max_dh=s10;
namikosaito 0:77188ca200ce 405 if(max_dh<s11)max_dh=s11;
namikosaito 0:77188ca200ce 406 if(max_dh<s12)max_dh=s12;
namikosaito 0:77188ca200ce 407
namikosaito 0:77188ca200ce 408 /*cdsの値の最小*/
namikosaito 0:77188ca200ce 409 min_dh=s1;
namikosaito 0:77188ca200ce 410 if(min_dh>s2)min_dh=s2;
namikosaito 0:77188ca200ce 411 if(min_dh>s3)min_dh=s3;
namikosaito 0:77188ca200ce 412 if(min_dh>s4)min_dh=s4;
namikosaito 0:77188ca200ce 413 if(min_dh>s5)min_dh=s5;
namikosaito 0:77188ca200ce 414 if(min_dh>s6)min_dh=s6;
namikosaito 0:77188ca200ce 415 if(min_dh>s7)min_dh=s7;
namikosaito 0:77188ca200ce 416 if(min_dh>s8)min_dh=s8;
namikosaito 0:77188ca200ce 417 if(min_dh>s9)min_dh=s9;
namikosaito 0:77188ca200ce 418 if(min_dh>s10)min_dh=s10;
namikosaito 0:77188ca200ce 419 if(min_dh>s11)min_dh=s11;
namikosaito 0:77188ca200ce 420 if(min_dh>s12)min_dh=s12;
namikosaito 0:77188ca200ce 421
namikosaito 0:77188ca200ce 422 sa_dh=max_dh-min_dh;
namikosaito 0:77188ca200ce 423 return sa_dh;
namikosaito 0:77188ca200ce 424 }
namikosaito 0:77188ca200ce 425
namikosaito 0:77188ca200ce 426 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 427 Find_White();
namikosaito 0:77188ca200ce 428
namikosaito 0:77188ca200ce 429 static int back_cds_l,back_cds_l2,back_cds_r,back_cds_r2,flag_loop;
namikosaito 0:77188ca200ce 430
namikosaito 0:77188ca200ce 431 if(now==-3||now==-4){
namikosaito 0:77188ca200ce 432 back_cds_l=0;
namikosaito 0:77188ca200ce 433 back_cds_r=1;
namikosaito 0:77188ca200ce 434 }
namikosaito 0:77188ca200ce 435 if(back_cds_r==1&&(now==-5||now==-6)){
namikosaito 0:77188ca200ce 436 back_cds_r2=1;
namikosaito 0:77188ca200ce 437 back_cds_r=0;
namikosaito 0:77188ca200ce 438 }
namikosaito 0:77188ca200ce 439
namikosaito 1:f9c953ddc87a 440 if(back_cds_r2==1&&now!=-6&&now!=-5){
namikosaito 0:77188ca200ce 441 while(1){
namikosaito 8:340da692d865 442 if(file==1)fprintf(fp,"%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%f,%f,%f\n",out,now,fixed_rot_data,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,kyori_dh,kyori,kyori_f);
namikosaito 7:3c273b3b19b1 443 if(file==1&&switch_1==0)fclose( fp );
namikosaito 0:77188ca200ce 444 LF();
namikosaito 0:77188ca200ce 445 gyro_keisan();
namikosaito 0:77188ca200ce 446 lf_downhill();
namikosaito 0:77188ca200ce 447 Find_White(); //いらないはず
namikosaito 7:3c273b3b19b1 448 out=naka-zure5-50;
namikosaito 0:77188ca200ce 449 save_servo();
namikosaito 0:77188ca200ce 450 servo.pulsewidth_us(out);
namikosaito 0:77188ca200ce 451 judge_color();
namikosaito 0:77188ca200ce 452 field();
namikosaito 4:795055e031c3 453 if(now==-6||now==-5)flag_loop=1;//6
namikosaito 4:795055e031c3 454 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 455 back_cds_r2=0;
namikosaito 0:77188ca200ce 456 flag_loop=0;
namikosaito 0:77188ca200ce 457 break;
namikosaito 0:77188ca200ce 458 }
namikosaito 1:f9c953ddc87a 459 }
namikosaito 1:f9c953ddc87a 460
namikosaito 1:f9c953ddc87a 461 if(now==3||now==4){
namikosaito 1:f9c953ddc87a 462 back_cds_l=1;
namikosaito 1:f9c953ddc87a 463 back_cds_r=0;
namikosaito 1:f9c953ddc87a 464 }
namikosaito 1:f9c953ddc87a 465
namikosaito 1:f9c953ddc87a 466 if(back_cds_l==1&&(now==5||now==6)){
namikosaito 1:f9c953ddc87a 467 back_cds_l=0;
namikosaito 1:f9c953ddc87a 468 back_cds_l2=1;
namikosaito 1:f9c953ddc87a 469 }
namikosaito 1:f9c953ddc87a 470
namikosaito 1:f9c953ddc87a 471 if(back_cds_l2==1&&now!=6&&now!=5){
namikosaito 1:f9c953ddc87a 472 while(1){
namikosaito 8:340da692d865 473 if(file==1)fprintf(fp,"%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%f,%f,%f\n",out,now,fixed_rot_data,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,kyori_dh,kyori,kyori_f);
namikosaito 7:3c273b3b19b1 474 if(file==1&&switch_1==0)fclose( fp );
namikosaito 1:f9c953ddc87a 475 LF();
namikosaito 1:f9c953ddc87a 476 gyro_keisan();
namikosaito 1:f9c953ddc87a 477 Find_White();
namikosaito 1:f9c953ddc87a 478 lf_downhill();
namikosaito 7:3c273b3b19b1 479 out=naka+zure5+50;
namikosaito 1:f9c953ddc87a 480 save_servo();
namikosaito 1:f9c953ddc87a 481 servo.pulsewidth_us(out);//1900
namikosaito 1:f9c953ddc87a 482 judge_color();
namikosaito 1:f9c953ddc87a 483 field();
namikosaito 4:795055e031c3 484 if(now==6||now==5)flag_loop=1;
namikosaito 4:795055e031c3 485 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 486 back_cds_l2=0;
namikosaito 1:f9c953ddc87a 487 flag_loop=0;
namikosaito 1:f9c953ddc87a 488 break;
namikosaito 1:f9c953ddc87a 489 }
namikosaito 1:f9c953ddc87a 490 }
namikosaito 1:f9c953ddc87a 491 }
namikosaito 1:f9c953ddc87a 492 }
namikosaito 1:f9c953ddc87a 493 }
namikosaito 1:f9c953ddc87a 494
namikosaito 1:f9c953ddc87a 495
namikosaito 0:77188ca200ce 496 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 497 judge_color();
namikosaito 0:77188ca200ce 498
namikosaito 0:77188ca200ce 499 if((white_r==1||white_l==1||white_mr==1||white_ml==1||white_m==1)&&downhill==0)kyori_reset();
namikosaito 0:77188ca200ce 500 if((gr_flag_1==1&&red==1&&kyori_nobori>500)||(start_flag==1&&red==1)){
namikosaito 0:77188ca200ce 501 gr_flag_2=1;
namikosaito 0:77188ca200ce 502 }
namikosaito 0:77188ca200ce 503 if(gr_flag_2==1){
namikosaito 0:77188ca200ce 504 kyori_nobori_reset();
namikosaito 0:77188ca200ce 505 start_flag=0;
namikosaito 0:77188ca200ce 506 gr_flag_1=0;
namikosaito 0:77188ca200ce 507 gr_flag_2=0;
namikosaito 0:77188ca200ce 508 rg_flag_1=1;
namikosaito 0:77188ca200ce 509 gr_count++;
namikosaito 0:77188ca200ce 510 }
namikosaito 0:77188ca200ce 511 if(blue==1&&rg_flag_1==1&&kyori_nobori>500){
namikosaito 0:77188ca200ce 512 rg_flag_2=1;
namikosaito 0:77188ca200ce 513 }
namikosaito 0:77188ca200ce 514 if(rg_flag_2==1){
namikosaito 0:77188ca200ce 515 kyori_nobori_reset();
namikosaito 0:77188ca200ce 516 rg_flag_1=0;
namikosaito 0:77188ca200ce 517 rg_flag_2=0;
namikosaito 0:77188ca200ce 518 gr_flag_1=1;
namikosaito 0:77188ca200ce 519 rg_count++;
namikosaito 0:77188ca200ce 520 }
namikosaito 0:77188ca200ce 521 }