Ryu Kaz
/
767zi
t6est
main.cpp@4:9ba47e5db1e2, 2019-10-05 (annotated)
- Committer:
- kazuryu
- Date:
- Sat Oct 05 01:41:37 2019 +0000
- Revision:
- 4:9ba47e5db1e2
- Parent:
- 3:8b22783f6bf1
B
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
kazuryu | 0:3dc012104243 | 1 | |
kazuryu | 0:3dc012104243 | 2 | #include "mbed.h" |
kazuryu | 0:3dc012104243 | 3 | #include "functions.h" |
kazuryu | 0:3dc012104243 | 4 | #include "foot.h" |
kazuryu | 0:3dc012104243 | 5 | #include "rori.h" |
kazuryu | 0:3dc012104243 | 6 | #include "peripheral.h" |
kazuryu | 0:3dc012104243 | 7 | |
kazuryu | 0:3dc012104243 | 8 | #define UP 0 |
kazuryu | 0:3dc012104243 | 9 | #define BACK 1 |
kazuryu | 0:3dc012104243 | 10 | #define RIGHT 2 |
kazuryu | 0:3dc012104243 | 11 | #define LEFT 3 |
kazuryu | 0:3dc012104243 | 12 | #define RUP 4 |
kazuryu | 0:3dc012104243 | 13 | #define LUP 5 |
kazuryu | 0:3dc012104243 | 14 | #define RBACK 6 |
kazuryu | 0:3dc012104243 | 15 | #define LBACK 7 |
kazuryu | 0:3dc012104243 | 16 | #define RROLL 8 |
kazuryu | 0:3dc012104243 | 17 | #define LROLL 9 |
kazuryu | 0:3dc012104243 | 18 | |
kazuryu | 0:3dc012104243 | 19 | //767ってちょっと765っぽいよね |
kazuryu | 0:3dc012104243 | 20 | //lets go fiver time! |
kazuryu | 0:3dc012104243 | 21 | int sewomukeru[10] = { |
kazuryu | 0:3dc012104243 | 22 | BACK,UP,LEFT,RIGHT,LBACK,RBACK,LUP,RUP,LROLL,RROLL//reverce array |
kazuryu | 0:3dc012104243 | 23 | }; |
kazuryu | 0:3dc012104243 | 24 | //もはやJava |
kazuryu | 0:3dc012104243 | 25 | Serial serial(USBTX,USBRX); |
kazuryu | 0:3dc012104243 | 26 | |
kazuryu | 0:3dc012104243 | 27 | DigitalOut outs(PF_6); |
kazuryu | 0:3dc012104243 | 28 | DigitalIn ins(PF_7); |
kazuryu | 0:3dc012104243 | 29 | DigitalOut outt(D0); |
kazuryu | 0:3dc012104243 | 30 | DigitalIn intt(D1); |
kazuryu | 0:3dc012104243 | 31 | |
kazuryu | 0:3dc012104243 | 32 | |
kazuryu | 0:3dc012104243 | 33 | //https://github.com/ARMmbed/mbed-os/blob/master/targets/TARGET_STM/TARGET_STM32F7/TARGET_STM32F767xI/TARGET_NUCLEO_F767ZI/PeripheralPins.c |
kazuryu | 0:3dc012104243 | 34 | |
kazuryu | 0:3dc012104243 | 35 | |
kazuryu | 0:3dc012104243 | 36 | double all = 0; |
kazuryu | 0:3dc012104243 | 37 | bool keter = false; |
kazuryu | 0:3dc012104243 | 38 | double gz; |
kazuryu | 0:3dc012104243 | 39 | Timer change_rm; |
kazuryu | 0:3dc012104243 | 40 | Timer move_tm; |
kazuryu | 0:3dc012104243 | 41 | Timer go_up_tm; |
kazuryu | 0:3dc012104243 | 42 | ///////////定数たち////////////// |
kazuryu | 0:3dc012104243 | 43 | const float Min_ang = 0.1f; |
kazuryu | 3:8b22783f6bf1 | 44 | const float Max_pwm = 0.15f; |
kazuryu | 0:3dc012104243 | 45 | const float Max_pwm_roll = 0.3f; |
kazuryu | 4:9ba47e5db1e2 | 46 | const float Min_pwm_roll = 0.015f; |
kazuryu | 0:3dc012104243 | 47 | const float Min_pwm = 0.02f; |
kazuryu | 4:9ba47e5db1e2 | 48 | const float Gein = 0.06f;//0.05f |
kazuryu | 0:3dc012104243 | 49 | const int R = 103;//これ直径やんけ |
kazuryu | 0:3dc012104243 | 50 | const int Resolution = 1024; |
kazuryu | 0:3dc012104243 | 51 | const float RoriGein = 0.001f; |
kazuryu | 4:9ba47e5db1e2 | 52 | const int mae_dis = 300; |
kazuryu | 0:3dc012104243 | 53 | /////////////////////// |
kazuryu | 0:3dc012104243 | 54 | int point_count = 0; |
kazuryu | 0:3dc012104243 | 55 | int array_count = 0; |
kazuryu | 0:3dc012104243 | 56 | int C_vari = 0; |
kazuryu | 0:3dc012104243 | 57 | /////////////////Move///////////////////////// |
kazuryu | 0:3dc012104243 | 58 | /* |
kazuryu | 0:3dc012104243 | 59 | int points[][3] = { |
kazuryu | 0:3dc012104243 | 60 | {RIGHT,3700,-1}, |
kazuryu | 0:3dc012104243 | 61 | {LEFT,3700,0} |
kazuryu | 0:3dc012104243 | 62 | }; |
kazuryu | 0:3dc012104243 | 63 | */ |
kazuryu | 0:3dc012104243 | 64 | int Robox = getRobox(); |
kazuryu | 0:3dc012104243 | 65 | //int C = (1750-Robox); |
kazuryu | 0:3dc012104243 | 66 | int C = 1550; |
kazuryu | 1:bbf776e6c792 | 67 | |
kazuryu | 0:3dc012104243 | 68 | /* |
kazuryu | 0:3dc012104243 | 69 | int sheets[] = { |
kazuryu | 0:3dc012104243 | 70 | C+100,C+1300,C+2500 |
kazuryu | 0:3dc012104243 | 71 | }; |
kazuryu | 0:3dc012104243 | 72 | */ |
kazuryu | 0:3dc012104243 | 73 | int sheets[] = { |
kazuryu | 2:a3eebc8cd220 | 74 | 1975,2775,3575//下から:1750,2775,3575 |
kazuryu | 0:3dc012104243 | 75 | }; |
kazuryu | 1:bbf776e6c792 | 76 | |
kazuryu | 1:bbf776e6c792 | 77 | //当たるのは1200mm |
kazuryu | 0:3dc012104243 | 78 | int nomal_towel[]{ |
kazuryu | 1:bbf776e6c792 | 79 | 1975,2775,3575//2130,2930,3730 |
kazuryu | 0:3dc012104243 | 80 | }; |
kazuryu | 0:3dc012104243 | 81 | int final_towel[]{ |
kazuryu | 0:3dc012104243 | 82 | C+410,C+1070,C+1730,C+2390 |
kazuryu | 0:3dc012104243 | 83 | }; |
kazuryu | 0:3dc012104243 | 84 | float Cir = R * 3.14159f; |
kazuryu | 0:3dc012104243 | 85 | long rorix_l,roriy_l; |
kazuryu | 0:3dc012104243 | 86 | float pointx,pointy; |
kazuryu | 0:3dc012104243 | 87 | float rorix = 0; |
kazuryu | 0:3dc012104243 | 88 | float roriy = 0; |
kazuryu | 0:3dc012104243 | 89 | float off_rorix,off_roriy; |
kazuryu | 0:3dc012104243 | 90 | int sign; |
kazuryu | 0:3dc012104243 | 91 | bool x_flag,y_flag; |
kazuryu | 0:3dc012104243 | 92 | bool last_move_vertical,last_move_side; |
kazuryu | 0:3dc012104243 | 93 | float x_dis,y_dis; |
kazuryu | 0:3dc012104243 | 94 | bool flag_finish_move = false; |
kazuryu | 0:3dc012104243 | 95 | |
kazuryu | 4:9ba47e5db1e2 | 96 | float mae_pwm = 1; |
kazuryu | 4:9ba47e5db1e2 | 97 | |
kazuryu | 0:3dc012104243 | 98 | void setMove(int p0,int p1); |
kazuryu | 0:3dc012104243 | 99 | void get_rorivol(); |
kazuryu | 0:3dc012104243 | 100 | |
kazuryu | 0:3dc012104243 | 101 | float pwm; |
kazuryu | 0:3dc012104243 | 102 | bool activeMove = false; |
kazuryu | 0:3dc012104243 | 103 | RORI RX(PF_9,PF_8); |
kazuryu | 0:3dc012104243 | 104 | RORI RY(PA_4_ALT0,PB_0_ALT0); |
kazuryu | 0:3dc012104243 | 105 | |
kazuryu | 0:3dc012104243 | 106 | int abspointx = 0; |
kazuryu | 0:3dc012104243 | 107 | int abspointy = 0; |
kazuryu | 0:3dc012104243 | 108 | bool final = false; |
kazuryu | 0:3dc012104243 | 109 | long rorik_l = 0; |
kazuryu | 0:3dc012104243 | 110 | float rorik = 0; |
kazuryu | 0:3dc012104243 | 111 | float rorik_temp = 0; |
kazuryu | 0:3dc012104243 | 112 | float off_rorik = 0; |
kazuryu | 0:3dc012104243 | 113 | |
kazuryu | 0:3dc012104243 | 114 | bool point_move = false; |
kazuryu | 0:3dc012104243 | 115 | |
kazuryu | 0:3dc012104243 | 116 | bool go_up = false; |
kazuryu | 0:3dc012104243 | 117 | float dis_go_up = 0; |
kazuryu | 0:3dc012104243 | 118 | ////////////////////////////////////////////// |
kazuryu | 1:bbf776e6c792 | 119 | bool moved_to_wall = false; |
kazuryu | 1:bbf776e6c792 | 120 | bool start_wall_time = false; |
kazuryu | 4:9ba47e5db1e2 | 121 | int from_mid = 0; |
kazuryu | 1:bbf776e6c792 | 122 | int wall_C = 0; |
kazuryu | 2:a3eebc8cd220 | 123 | DigitalIn lim_right(PG_10); |
kazuryu | 2:a3eebc8cd220 | 124 | DigitalIn lim_left(PG_15); |
kazuryu | 1:bbf776e6c792 | 125 | int l_r = 0; |
kazuryu | 1:bbf776e6c792 | 126 | int l_l = 0; |
kazuryu | 4:9ba47e5db1e2 | 127 | |
kazuryu | 4:9ba47e5db1e2 | 128 | |
kazuryu | 4:9ba47e5db1e2 | 129 | bool hensu_A = false; |
kazuryu | 1:bbf776e6c792 | 130 | ///////////////////////////////////////////// |
kazuryu | 3:8b22783f6bf1 | 131 | DigitalOut outColor(PG_4); |
kazuryu | 3:8b22783f6bf1 | 132 | DigitalOut outSorT(PG_7); |
kazuryu | 3:8b22783f6bf1 | 133 | //////////////////////////////////////////// |
kazuryu | 4:9ba47e5db1e2 | 134 | DigitalOut gav_out(PD_10); |
kazuryu | 4:9ba47e5db1e2 | 135 | DigitalIn gav_in(PG_14); |
kazuryu | 4:9ba47e5db1e2 | 136 | /////////////////////////////////////////// |
kazuryu | 4:9ba47e5db1e2 | 137 | DigitalOut TdistnaceOut(PC_6); |
kazuryu | 4:9ba47e5db1e2 | 138 | DigitalOut FdistanceOut(PB_15); |
kazuryu | 4:9ba47e5db1e2 | 139 | float subdistance = 0; |
kazuryu | 4:9ba47e5db1e2 | 140 | float only_this_time = 0; |
kazuryu | 4:9ba47e5db1e2 | 141 | float gav_high = 0; |
kazuryu | 4:9ba47e5db1e2 | 142 | bool dis_able_to_use_g = false; |
kazuryu | 4:9ba47e5db1e2 | 143 | bool gav1000 = true; |
kazuryu | 4:9ba47e5db1e2 | 144 | PwmOut sheetwo_out(PF_6); |
kazuryu | 4:9ba47e5db1e2 | 145 | bool sheetwo_flag = false; |
kazuryu | 4:9ba47e5db1e2 | 146 | float last_dis = 0; |
kazuryu | 0:3dc012104243 | 147 | int main() { |
kazuryu | 0:3dc012104243 | 148 | ins.mode(PullDown); |
kazuryu | 1:bbf776e6c792 | 149 | lim_right.mode(PullDown); |
kazuryu | 1:bbf776e6c792 | 150 | lim_left.mode(PullDown); |
kazuryu | 0:3dc012104243 | 151 | setup_peri(); |
kazuryu | 0:3dc012104243 | 152 | int whichnum = read_peri(); |
kazuryu | 0:3dc012104243 | 153 | int points[whichnum][3]; |
kazuryu | 0:3dc012104243 | 154 | changeColor(&points[0][0]); |
kazuryu | 3:8b22783f6bf1 | 155 | |
kazuryu | 3:8b22783f6bf1 | 156 | outColor = getColor(); |
kazuryu | 3:8b22783f6bf1 | 157 | outSorT = getPeriwhich(); |
kazuryu | 3:8b22783f6bf1 | 158 | |
kazuryu | 4:9ba47e5db1e2 | 159 | gav_in.mode(PullDown); |
kazuryu | 0:3dc012104243 | 160 | //if(read_keter())keter=true; |
kazuryu | 0:3dc012104243 | 161 | setMove(points[point_count][0],points[point_count][1]); |
kazuryu | 0:3dc012104243 | 162 | serial.printf("%s\n","mpu_setup"); |
kazuryu | 0:3dc012104243 | 163 | if(!keter){ |
kazuryu | 0:3dc012104243 | 164 | mpu_setup(); |
kazuryu | 0:3dc012104243 | 165 | serial.printf("%s\n","get_off"); |
kazuryu | 0:3dc012104243 | 166 | get_offset(); |
kazuryu | 0:3dc012104243 | 167 | serial.printf("%d\n",rez()); |
kazuryu | 0:3dc012104243 | 168 | serial.printf("%s\n","move2"); |
kazuryu | 0:3dc012104243 | 169 | } |
kazuryu | 0:3dc012104243 | 170 | Move2(0,0); |
kazuryu | 0:3dc012104243 | 171 | change_rm.start(); |
kazuryu | 0:3dc012104243 | 172 | move_tm.start(); |
kazuryu | 0:3dc012104243 | 173 | go_up_tm.start(); |
kazuryu | 0:3dc012104243 | 174 | |
kazuryu | 0:3dc012104243 | 175 | while(1) { |
kazuryu | 0:3dc012104243 | 176 | serial.printf("%f",all); |
kazuryu | 0:3dc012104243 | 177 | serial.printf("%s",":"); |
kazuryu | 0:3dc012104243 | 178 | if(!keter){ |
kazuryu | 0:3dc012104243 | 179 | readGyz(&gz); |
kazuryu | 0:3dc012104243 | 180 | offset_adjust(&all,&gz); |
kazuryu | 0:3dc012104243 | 181 | to_signed(&all); |
kazuryu | 0:3dc012104243 | 182 | } |
kazuryu | 0:3dc012104243 | 183 | /////////////傾き修正//////////////////////////// |
kazuryu | 0:3dc012104243 | 184 | |
kazuryu | 0:3dc012104243 | 185 | if(!keter){ |
kazuryu | 4:9ba47e5db1e2 | 186 | pwm = angle_adjust(Gein,all,Min_ang,Min_pwm_roll,Max_pwm_roll); |
kazuryu | 0:3dc012104243 | 187 | if(!activeMove){ |
kazuryu | 4:9ba47e5db1e2 | 188 | if(pwm <= Min_pwm_roll){ |
kazuryu | 0:3dc012104243 | 189 | activeMove = true; |
kazuryu | 0:3dc012104243 | 190 | } |
kazuryu | 0:3dc012104243 | 191 | |
kazuryu | 0:3dc012104243 | 192 | if(all < Min_ang)Move2(8,pwm); |
kazuryu | 0:3dc012104243 | 193 | else if(all > -Min_ang)Move2(9,pwm); |
kazuryu | 0:3dc012104243 | 194 | //else Move2(9,0); |
kazuryu | 0:3dc012104243 | 195 | ///////////////////////////////////// |
kazuryu | 0:3dc012104243 | 196 | |
kazuryu | 0:3dc012104243 | 197 | serial.printf("%f",pwm); |
kazuryu | 0:3dc012104243 | 198 | serial.printf("%s",":"); |
kazuryu | 0:3dc012104243 | 199 | serial.printf("%f",all); |
kazuryu | 0:3dc012104243 | 200 | serial.printf("%s\n",":"); |
kazuryu | 0:3dc012104243 | 201 | |
kazuryu | 0:3dc012104243 | 202 | } |
kazuryu | 0:3dc012104243 | 203 | }else{ |
kazuryu | 0:3dc012104243 | 204 | if(!activeMove)activeMove = true; |
kazuryu | 0:3dc012104243 | 205 | } |
kazuryu | 0:3dc012104243 | 206 | /////////ロリコン値取得/////// |
kazuryu | 4:9ba47e5db1e2 | 207 | if(activeMove && !dis_able_to_use_g){ |
kazuryu | 0:3dc012104243 | 208 | get_rorivol(); |
kazuryu | 0:3dc012104243 | 209 | } |
kazuryu | 0:3dc012104243 | 210 | |
kazuryu | 0:3dc012104243 | 211 | ///////符号反転処理//////// |
kazuryu | 0:3dc012104243 | 212 | x_dis = rorix-off_rorix; |
kazuryu | 0:3dc012104243 | 213 | y_dis = roriy-off_roriy; |
kazuryu | 0:3dc012104243 | 214 | |
kazuryu | 0:3dc012104243 | 215 | /////移動処理///////// |
kazuryu | 0:3dc012104243 | 216 | if(!flag_finish_move){ |
kazuryu | 0:3dc012104243 | 217 | float pwm = 0; |
kazuryu | 0:3dc012104243 | 218 | float distance; |
kazuryu | 0:3dc012104243 | 219 | if(points[point_count][0] == UP or points[point_count][0] == BACK){ |
kazuryu | 4:9ba47e5db1e2 | 220 | distance = pointy-x_dis; |
kazuryu | 0:3dc012104243 | 221 | last_move_vertical = true; |
kazuryu | 0:3dc012104243 | 222 | last_move_side = false; |
kazuryu | 0:3dc012104243 | 223 | }else if(points[point_count][0] == LEFT or points[point_count][0] == RIGHT){ |
kazuryu | 1:bbf776e6c792 | 224 | distance = pointx-y_dis + wall_C; |
kazuryu | 0:3dc012104243 | 225 | last_move_vertical = false; |
kazuryu | 0:3dc012104243 | 226 | last_move_side = true; |
kazuryu | 0:3dc012104243 | 227 | } |
kazuryu | 4:9ba47e5db1e2 | 228 | subdistance = distance; |
kazuryu | 0:3dc012104243 | 229 | //else if(points[point_count][0] >= 4 && points[point_count][0] <= 7)ななっめ移動 |
kazuryu | 0:3dc012104243 | 230 | if(x_flag or y_flag)distance *= -1; |
kazuryu | 0:3dc012104243 | 231 | pwm = distance*RoriGein; |
kazuryu | 0:3dc012104243 | 232 | pwm = (pwm < 0)?-pwm:pwm;//abs |
kazuryu | 4:9ba47e5db1e2 | 233 | if(last_dis - distance > 0){ |
kazuryu | 4:9ba47e5db1e2 | 234 | TdistnaceOut = 1; |
kazuryu | 4:9ba47e5db1e2 | 235 | FdistanceOut = 0; |
kazuryu | 4:9ba47e5db1e2 | 236 | }else if(last_dis - distance < 0){ |
kazuryu | 4:9ba47e5db1e2 | 237 | TdistnaceOut = 0; |
kazuryu | 4:9ba47e5db1e2 | 238 | FdistanceOut = 1; |
kazuryu | 4:9ba47e5db1e2 | 239 | }else{ |
kazuryu | 4:9ba47e5db1e2 | 240 | TdistnaceOut = 1; |
kazuryu | 4:9ba47e5db1e2 | 241 | FdistanceOut = 1; |
kazuryu | 4:9ba47e5db1e2 | 242 | } |
kazuryu | 0:3dc012104243 | 243 | if(pwm < Min_pwm){ |
kazuryu | 0:3dc012104243 | 244 | //次の処理へ |
kazuryu | 0:3dc012104243 | 245 | serial.printf("%d\n",move_tm.read_ms()); |
kazuryu | 0:3dc012104243 | 246 | if(move_tm.read_ms() >= 600){ |
kazuryu | 4:9ba47e5db1e2 | 247 | sheetwo_flag = false; |
kazuryu | 0:3dc012104243 | 248 | serial.printf("%s","waiting"); |
kazuryu | 0:3dc012104243 | 249 | serial.printf("%d\n",point_count); |
kazuryu | 0:3dc012104243 | 250 | ////////////////////////////// |
kazuryu | 0:3dc012104243 | 251 | pwm = 1; |
kazuryu | 0:3dc012104243 | 252 | float set0_dis; |
kazuryu | 0:3dc012104243 | 253 | float pwm_while; |
kazuryu | 0:3dc012104243 | 254 | bool whileactive = true; |
kazuryu | 4:9ba47e5db1e2 | 255 | only_this_time = rorix; |
kazuryu | 0:3dc012104243 | 256 | move_tm.reset(); |
kazuryu | 0:3dc012104243 | 257 | while(move_tm.read_ms() < 600){ |
kazuryu | 0:3dc012104243 | 258 | if(whileactive){ |
kazuryu | 0:3dc012104243 | 259 | get_rorivol(); |
kazuryu | 0:3dc012104243 | 260 | if(last_move_vertical){ |
kazuryu | 0:3dc012104243 | 261 | set0_dis = roriy-off_roriy; |
kazuryu | 0:3dc012104243 | 262 | pwm = set0_dis*RoriGein; |
kazuryu | 0:3dc012104243 | 263 | if(abs(pwm) >= Min_pwm)move_tm.reset(); |
kazuryu | 4:9ba47e5db1e2 | 264 | if(abs(pwm) > Max_pwm*0.9)pwm = Max_pwm;//ぐわんぐわんするから |
kazuryu | 0:3dc012104243 | 265 | if(pwm < 0){ |
kazuryu | 0:3dc012104243 | 266 | Move2(RIGHT,-pwm); |
kazuryu | 0:3dc012104243 | 267 | }else{ |
kazuryu | 0:3dc012104243 | 268 | Move2(LEFT,pwm); |
kazuryu | 0:3dc012104243 | 269 | } |
kazuryu | 0:3dc012104243 | 270 | }else if(last_move_side){ |
kazuryu | 4:9ba47e5db1e2 | 271 | if(points[point_count][2] == 0){ |
kazuryu | 4:9ba47e5db1e2 | 272 | serial.printf("%s\n","side"); |
kazuryu | 4:9ba47e5db1e2 | 273 | set0_dis = rorix-off_rorix; |
kazuryu | 4:9ba47e5db1e2 | 274 | serial.printf("%f\n",set0_dis); |
kazuryu | 4:9ba47e5db1e2 | 275 | pwm = set0_dis*RoriGein; |
kazuryu | 4:9ba47e5db1e2 | 276 | }else{ |
kazuryu | 4:9ba47e5db1e2 | 277 | serial.printf("%s\n","only_this_side"); |
kazuryu | 4:9ba47e5db1e2 | 278 | set0_dis = abs(rorix - only_this_time); |
kazuryu | 4:9ba47e5db1e2 | 279 | serial.printf("%f\n",mae_dis-set0_dis); |
kazuryu | 4:9ba47e5db1e2 | 280 | pwm = (mae_dis-set0_dis)*RoriGein; |
kazuryu | 4:9ba47e5db1e2 | 281 | } |
kazuryu | 0:3dc012104243 | 282 | if(abs(pwm) >= Min_pwm)move_tm.reset(); |
kazuryu | 4:9ba47e5db1e2 | 283 | if(abs(pwm) > Max_pwm*0.9)pwm = Max_pwm;//ぐわんぐわんするから |
kazuryu | 0:3dc012104243 | 284 | if(pwm < 0){ |
kazuryu | 0:3dc012104243 | 285 | Move2(UP,-pwm); |
kazuryu | 0:3dc012104243 | 286 | }else{ |
kazuryu | 4:9ba47e5db1e2 | 287 | Move2(BACK,pwm); |
kazuryu | 0:3dc012104243 | 288 | } |
kazuryu | 0:3dc012104243 | 289 | } |
kazuryu | 0:3dc012104243 | 290 | }else{ |
kazuryu | 0:3dc012104243 | 291 | pwm_while = angle_adjust(Gein,all,Min_ang,Min_pwm,Max_pwm_roll); |
kazuryu | 0:3dc012104243 | 292 | if(pwm_while <= Min_pwm){ |
kazuryu | 0:3dc012104243 | 293 | whileactive = true; |
kazuryu | 0:3dc012104243 | 294 | } |
kazuryu | 0:3dc012104243 | 295 | if(all < Min_ang)Move2(8,pwm_while); |
kazuryu | 0:3dc012104243 | 296 | else if(all > -Min_ang)Move2(9,pwm_while); |
kazuryu | 0:3dc012104243 | 297 | else Move2(9,0); |
kazuryu | 0:3dc012104243 | 298 | } |
kazuryu | 0:3dc012104243 | 299 | if(whileactive){ |
kazuryu | 0:3dc012104243 | 300 | if(change_rm.read_ms() > 500){ |
kazuryu | 0:3dc012104243 | 301 | whileactive = false; |
kazuryu | 0:3dc012104243 | 302 | change_rm.reset(); |
kazuryu | 0:3dc012104243 | 303 | serial.printf("%s\n","change_rm_while"); |
kazuryu | 0:3dc012104243 | 304 | } |
kazuryu | 0:3dc012104243 | 305 | } |
kazuryu | 0:3dc012104243 | 306 | } |
kazuryu | 0:3dc012104243 | 307 | //////////////////////// |
kazuryu | 0:3dc012104243 | 308 | point_count++; |
kazuryu | 1:bbf776e6c792 | 309 | ////////////////////////////////////////////////////////////////// |
kazuryu | 1:bbf776e6c792 | 310 | start_wall_time = false; |
kazuryu | 1:bbf776e6c792 | 311 | moved_to_wall = false; |
kazuryu | 1:bbf776e6c792 | 312 | ///////////////////////////////////////////////////////////////// |
kazuryu | 0:3dc012104243 | 313 | Move2(1,0); |
kazuryu | 0:3dc012104243 | 314 | if(point_count >= sizeof(points)/sizeof(*points)){ |
kazuryu | 0:3dc012104243 | 315 | flag_finish_move = true; |
kazuryu | 0:3dc012104243 | 316 | }else{ |
kazuryu | 0:3dc012104243 | 317 | setMove(points[point_count][0],points[point_count][1]); |
kazuryu | 0:3dc012104243 | 318 | } |
kazuryu | 0:3dc012104243 | 319 | } |
kazuryu | 0:3dc012104243 | 320 | }else{ |
kazuryu | 0:3dc012104243 | 321 | if(pwm > Max_pwm)pwm = Max_pwm; |
kazuryu | 0:3dc012104243 | 322 | if(activeMove){ |
kazuryu | 0:3dc012104243 | 323 | if(points[point_count][2] != 0){ |
kazuryu | 0:3dc012104243 | 324 | bool issheets = (points[point_count][2] == 1)?1:0; |
kazuryu | 0:3dc012104243 | 325 | if(issheets){ |
kazuryu | 3:8b22783f6bf1 | 326 | ///////////////////////////////////////////////////////////////////////////////////////// |
kazuryu | 1:bbf776e6c792 | 327 | ///////////////////////////////////////////////////////////////////////////////////////// |
kazuryu | 0:3dc012104243 | 328 | if(points[point_count][1]-distance > sheets[array_count] && array_count != 3){ |
kazuryu | 0:3dc012104243 | 329 | if(array_count == 0)go_up = true; |
kazuryu | 0:3dc012104243 | 330 | array_count++; |
kazuryu | 0:3dc012104243 | 331 | point_move = true; |
kazuryu | 0:3dc012104243 | 332 | activeMove = false; |
kazuryu | 0:3dc012104243 | 333 | Move2(0,0); |
kazuryu | 0:3dc012104243 | 334 | } |
kazuryu | 0:3dc012104243 | 335 | }else{ |
kazuryu | 3:8b22783f6bf1 | 336 | ///////////////////////////////////////////////////////////////////////////////////////// |
kazuryu | 3:8b22783f6bf1 | 337 | ///////////////////////////////////////////////////////////////////////////////////////// |
kazuryu | 0:3dc012104243 | 338 | if(points[point_count][1]-distance > nomal_towel[array_count] && array_count != 3){ |
kazuryu | 0:3dc012104243 | 339 | if(array_count == 0)go_up = true; |
kazuryu | 0:3dc012104243 | 340 | array_count++; |
kazuryu | 0:3dc012104243 | 341 | point_move = true; |
kazuryu | 0:3dc012104243 | 342 | activeMove = false; |
kazuryu | 0:3dc012104243 | 343 | Move2(0,0); |
kazuryu | 0:3dc012104243 | 344 | } |
kazuryu | 3:8b22783f6bf1 | 345 | } |
kazuryu | 4:9ba47e5db1e2 | 346 | /* |
kazuryu | 4:9ba47e5db1e2 | 347 | if(points[point_count][1]-distance < 1000){ |
kazuryu | 4:9ba47e5db1e2 | 348 | if(gav_high == 0)gav_out = 1; |
kazuryu | 4:9ba47e5db1e2 | 349 | if(gav_in.read()){ |
kazuryu | 4:9ba47e5db1e2 | 350 | gav_high = points[point_count][1]-distance;//移動距離 |
kazuryu | 4:9ba47e5db1e2 | 351 | gav_out = 0; |
kazuryu | 4:9ba47e5db1e2 | 352 | } |
kazuryu | 4:9ba47e5db1e2 | 353 | } |
kazuryu | 4:9ba47e5db1e2 | 354 | *//* |
kazuryu | 4:9ba47e5db1e2 | 355 | if(gav_high == 0){ |
kazuryu | 4:9ba47e5db1e2 | 356 | gav_out = 1; |
kazuryu | 4:9ba47e5db1e2 | 357 | if(gav_in.read()){ |
kazuryu | 4:9ba47e5db1e2 | 358 | gav_high = points[point_count][1]-distance+175; |
kazuryu | 4:9ba47e5db1e2 | 359 | gav_out = 0; |
kazuryu | 4:9ba47e5db1e2 | 360 | serial.printf("%f\n",gav_high); |
kazuryu | 4:9ba47e5db1e2 | 361 | } |
kazuryu | 4:9ba47e5db1e2 | 362 | } |
kazuryu | 4:9ba47e5db1e2 | 363 | */ |
kazuryu | 4:9ba47e5db1e2 | 364 | if(!moved_to_wall && points[point_count][1]-distance > 1030 && !start_wall_time){ |
kazuryu | 4:9ba47e5db1e2 | 365 | activeMove = false; |
kazuryu | 4:9ba47e5db1e2 | 366 | moved_to_wall = true; |
kazuryu | 4:9ba47e5db1e2 | 367 | dis_able_to_use_g = true; |
kazuryu | 4:9ba47e5db1e2 | 368 | } |
kazuryu | 4:9ba47e5db1e2 | 369 | |
kazuryu | 3:8b22783f6bf1 | 370 | if(moved_to_wall){ |
kazuryu | 3:8b22783f6bf1 | 371 | l_r = lim_right.read(); |
kazuryu | 3:8b22783f6bf1 | 372 | l_l = lim_left.read(); |
kazuryu | 3:8b22783f6bf1 | 373 | if(!start_wall_time){ |
kazuryu | 3:8b22783f6bf1 | 374 | if(l_r && l_l){ |
kazuryu | 3:8b22783f6bf1 | 375 | start_wall_time = true; |
kazuryu | 4:9ba47e5db1e2 | 376 | //Move2(10,0); |
kazuryu | 3:8b22783f6bf1 | 377 | }else if(!l_r && l_l){ |
kazuryu | 4:9ba47e5db1e2 | 378 | serial.printf("%s\n","LSRIDE"); |
kazuryu | 4:9ba47e5db1e2 | 379 | Move2(RIGHT,0.1f); |
kazuryu | 3:8b22783f6bf1 | 380 | }else if(l_r && !l_l){ |
kazuryu | 4:9ba47e5db1e2 | 381 | Move2(LEFT,0.1f); |
kazuryu | 4:9ba47e5db1e2 | 382 | serial.printf("%s\n","RSRIDE"); |
kazuryu | 3:8b22783f6bf1 | 383 | }else{ |
kazuryu | 3:8b22783f6bf1 | 384 | Move2(UP,0.1f); |
kazuryu | 3:8b22783f6bf1 | 385 | serial.printf("%s\n","UP"); |
kazuryu | 3:8b22783f6bf1 | 386 | } |
kazuryu | 3:8b22783f6bf1 | 387 | }else{ |
kazuryu | 3:8b22783f6bf1 | 388 | if(!l_r && !l_l){ |
kazuryu | 3:8b22783f6bf1 | 389 | moved_to_wall = false; |
kazuryu | 4:9ba47e5db1e2 | 390 | hensu_A = true; |
kazuryu | 4:9ba47e5db1e2 | 391 | wait(0.5f); |
kazuryu | 4:9ba47e5db1e2 | 392 | dis_able_to_use_g = false; |
kazuryu | 4:9ba47e5db1e2 | 393 | Move2(points[point_count][0],0.1f); |
kazuryu | 3:8b22783f6bf1 | 394 | }else if(l_r || l_l){ |
kazuryu | 3:8b22783f6bf1 | 395 | serial.printf("%d",l_l); |
kazuryu | 3:8b22783f6bf1 | 396 | serial.printf("%s",":"); |
kazuryu | 3:8b22783f6bf1 | 397 | serial.printf("%d\n",l_r); |
kazuryu | 3:8b22783f6bf1 | 398 | Move2(points[point_count][0],0.1f); |
kazuryu | 3:8b22783f6bf1 | 399 | } |
kazuryu | 3:8b22783f6bf1 | 400 | } |
kazuryu | 0:3dc012104243 | 401 | } |
kazuryu | 4:9ba47e5db1e2 | 402 | if(hensu_A){ |
kazuryu | 4:9ba47e5db1e2 | 403 | gav_out = 1; |
kazuryu | 4:9ba47e5db1e2 | 404 | while(!gav_in.read()){ |
kazuryu | 4:9ba47e5db1e2 | 405 | serial.printf("%d\n",gav_in.read()); |
kazuryu | 4:9ba47e5db1e2 | 406 | } |
kazuryu | 4:9ba47e5db1e2 | 407 | points[point_count][1] = 1400 + distance; |
kazuryu | 4:9ba47e5db1e2 | 408 | gav_out = 0; |
kazuryu | 4:9ba47e5db1e2 | 409 | hensu_A = false; |
kazuryu | 4:9ba47e5db1e2 | 410 | gav1000 = false; |
kazuryu | 4:9ba47e5db1e2 | 411 | } |
kazuryu | 0:3dc012104243 | 412 | if(point_move){ |
kazuryu | 4:9ba47e5db1e2 | 413 | serial.printf("%s","maemae"); |
kazuryu | 0:3dc012104243 | 414 | if(C_vari == 0){ |
kazuryu | 0:3dc012104243 | 415 | off_rorik = rorix; |
kazuryu | 0:3dc012104243 | 416 | C_vari = 1; |
kazuryu | 0:3dc012104243 | 417 | } |
kazuryu | 0:3dc012104243 | 418 | if(go_up){ |
kazuryu | 4:9ba47e5db1e2 | 419 | dis_go_up = abs(rorix-off_rorik);//進んだ距離 |
kazuryu | 4:9ba47e5db1e2 | 420 | serial.printf("%f",mae_dis-dis_go_up);//残り |
kazuryu | 4:9ba47e5db1e2 | 421 | if(mae_pwm > Min_pwm){ |
kazuryu | 4:9ba47e5db1e2 | 422 | if(dis_go_up < mae_dis){ |
kazuryu | 4:9ba47e5db1e2 | 423 | mae_pwm = (mae_dis-dis_go_up)*RoriGein; |
kazuryu | 4:9ba47e5db1e2 | 424 | if(mae_pwm > Max_pwm)mae_pwm = 0.1f; |
kazuryu | 4:9ba47e5db1e2 | 425 | Move2(0,mae_pwm);//+-20mm |
kazuryu | 0:3dc012104243 | 426 | go_up_tm.reset(); |
kazuryu | 0:3dc012104243 | 427 | }else{ |
kazuryu | 4:9ba47e5db1e2 | 428 | mae_pwm = (dis_go_up-mae_dis)*RoriGein; |
kazuryu | 4:9ba47e5db1e2 | 429 | if(mae_pwm > Max_pwm)mae_pwm = 0.1f; |
kazuryu | 4:9ba47e5db1e2 | 430 | Move2(1,mae_pwm); |
kazuryu | 0:3dc012104243 | 431 | go_up_tm.reset(); |
kazuryu | 0:3dc012104243 | 432 | } |
kazuryu | 0:3dc012104243 | 433 | } |
kazuryu | 0:3dc012104243 | 434 | |
kazuryu | 0:3dc012104243 | 435 | if(go_up_tm.read_ms() > 300){ |
kazuryu | 0:3dc012104243 | 436 | go_up = false; |
kazuryu | 4:9ba47e5db1e2 | 437 | sheetwo_flag = true; |
kazuryu | 4:9ba47e5db1e2 | 438 | Move2(10,0); |
kazuryu | 0:3dc012104243 | 439 | } |
kazuryu | 0:3dc012104243 | 440 | }else{ |
kazuryu | 0:3dc012104243 | 441 | serial.printf("%s\n","owari"); |
kazuryu | 0:3dc012104243 | 442 | outs = 1; |
kazuryu | 0:3dc012104243 | 443 | while(!ins.read())serial.printf("%d\n",ins.read()); |
kazuryu | 0:3dc012104243 | 444 | outs = 0; |
kazuryu | 0:3dc012104243 | 445 | point_move = false; |
kazuryu | 0:3dc012104243 | 446 | } |
kazuryu | 0:3dc012104243 | 447 | |
kazuryu | 0:3dc012104243 | 448 | } |
kazuryu | 0:3dc012104243 | 449 | } |
kazuryu | 4:9ba47e5db1e2 | 450 | if(sheetwo_flag){ |
kazuryu | 4:9ba47e5db1e2 | 451 | sheetwo_out = 0.3f; |
kazuryu | 4:9ba47e5db1e2 | 452 | } |
kazuryu | 2:a3eebc8cd220 | 453 | if(!point_move && !moved_to_wall && !go_up){ |
kazuryu | 4:9ba47e5db1e2 | 454 | if(points[point_count][2] != 0 && gav1000){ |
kazuryu | 4:9ba47e5db1e2 | 455 | Move2(points[point_count][0],0.1f); |
kazuryu | 4:9ba47e5db1e2 | 456 | }else{ |
kazuryu | 4:9ba47e5db1e2 | 457 | if(distance > 0)Move2(points[point_count][0],pwm); |
kazuryu | 4:9ba47e5db1e2 | 458 | else{ |
kazuryu | 4:9ba47e5db1e2 | 459 | pwm = (-distance*RoriGein > Max_pwm)?Max_pwm:-distance*RoriGein; |
kazuryu | 4:9ba47e5db1e2 | 460 | Move2(sewomukeru[points[point_count][0]],pwm); |
kazuryu | 4:9ba47e5db1e2 | 461 | } |
kazuryu | 0:3dc012104243 | 462 | } |
kazuryu | 0:3dc012104243 | 463 | } |
kazuryu | 0:3dc012104243 | 464 | serial.printf("%f",pwm); |
kazuryu | 0:3dc012104243 | 465 | serial.printf("%s",":"); |
kazuryu | 0:3dc012104243 | 466 | serial.printf("%f",distance); |
kazuryu | 0:3dc012104243 | 467 | serial.printf("%s",":"); |
kazuryu | 0:3dc012104243 | 468 | serial.printf("%d",point_count); |
kazuryu | 0:3dc012104243 | 469 | serial.printf("%s",":"); |
kazuryu | 0:3dc012104243 | 470 | serial.printf("%d",sizeof(points)/sizeof(*points)); |
kazuryu | 0:3dc012104243 | 471 | serial.printf("%s",":"); |
kazuryu | 0:3dc012104243 | 472 | serial.printf("%d",y_flag); |
kazuryu | 0:3dc012104243 | 473 | serial.printf("%s",":"); |
kazuryu | 0:3dc012104243 | 474 | if(points[1][0] == RIGHT)serial.printf("%s","orange"); |
kazuryu | 0:3dc012104243 | 475 | if(points[1][0] == LEFT)serial.printf("%s","blue"); |
kazuryu | 0:3dc012104243 | 476 | serial.printf("%s",":"); |
kazuryu | 4:9ba47e5db1e2 | 477 | if(points[0][1] > 5100)serial.printf("%s","sheets"); |
kazuryu | 4:9ba47e5db1e2 | 478 | else serial.printf("%s","towel"); |
kazuryu | 4:9ba47e5db1e2 | 479 | serial.printf("%s",":"); |
kazuryu | 4:9ba47e5db1e2 | 480 | serial.printf("%f\n",points[point_count][1]-distance); |
kazuryu | 0:3dc012104243 | 481 | } |
kazuryu | 0:3dc012104243 | 482 | move_tm.reset(); |
kazuryu | 0:3dc012104243 | 483 | } |
kazuryu | 0:3dc012104243 | 484 | |
kazuryu | 0:3dc012104243 | 485 | }else{ |
kazuryu | 0:3dc012104243 | 486 | serial.printf("%s","finish"); |
kazuryu | 0:3dc012104243 | 487 | } |
kazuryu | 0:3dc012104243 | 488 | |
kazuryu | 0:3dc012104243 | 489 | if(activeMove){ |
kazuryu | 0:3dc012104243 | 490 | if(change_rm.read_ms() > 1500){ |
kazuryu | 0:3dc012104243 | 491 | activeMove = false; |
kazuryu | 0:3dc012104243 | 492 | change_rm.reset(); |
kazuryu | 0:3dc012104243 | 493 | serial.printf("%s\n","change_rm"); |
kazuryu | 0:3dc012104243 | 494 | } |
kazuryu | 0:3dc012104243 | 495 | } |
kazuryu | 0:3dc012104243 | 496 | |
kazuryu | 4:9ba47e5db1e2 | 497 | last_dis = subdistance; |
kazuryu | 0:3dc012104243 | 498 | } |
kazuryu | 0:3dc012104243 | 499 | |
kazuryu | 0:3dc012104243 | 500 | } |
kazuryu | 0:3dc012104243 | 501 | |
kazuryu | 0:3dc012104243 | 502 | |
kazuryu | 0:3dc012104243 | 503 | void setMove(int p0,int p1){ |
kazuryu | 0:3dc012104243 | 504 | trans(p0,p1,&pointx,&pointy,&sign);//一回だけ |
kazuryu | 0:3dc012104243 | 505 | array_count = 0; |
kazuryu | 0:3dc012104243 | 506 | off_rorix = rorix; |
kazuryu | 0:3dc012104243 | 507 | off_roriy = roriy; |
kazuryu | 0:3dc012104243 | 508 | abspointx = (pointx < 0)?-pointx:pointx; |
kazuryu | 0:3dc012104243 | 509 | abspointy = (pointy < 0)?-pointy:pointy; |
kazuryu | 0:3dc012104243 | 510 | //一回 |
kazuryu | 0:3dc012104243 | 511 | if((sign & 0b01) == 1)x_flag = true;//x < 0 |
kazuryu | 0:3dc012104243 | 512 | else x_flag = false; |
kazuryu | 0:3dc012104243 | 513 | if((sign >> 1) == 1)y_flag = true;//y < 0 |
kazuryu | 0:3dc012104243 | 514 | else y_flag = false; |
kazuryu | 1:bbf776e6c792 | 515 | |
kazuryu | 0:3dc012104243 | 516 | } |
kazuryu | 0:3dc012104243 | 517 | |
kazuryu | 0:3dc012104243 | 518 | void get_rorivol(){ |
kazuryu | 0:3dc012104243 | 519 | RX.read(&rorix_l); |
kazuryu | 0:3dc012104243 | 520 | RY.read(&roriy_l); |
kazuryu | 0:3dc012104243 | 521 | rorix = rorix_l; |
kazuryu | 0:3dc012104243 | 522 | rorix = rorix/Resolution;//回転数 |
kazuryu | 0:3dc012104243 | 523 | rorix *= Cir; |
kazuryu | 0:3dc012104243 | 524 | roriy = roriy_l; |
kazuryu | 0:3dc012104243 | 525 | roriy = roriy/Resolution; |
kazuryu | 0:3dc012104243 | 526 | roriy *= Cir; |
kazuryu | 0:3dc012104243 | 527 | } |