Dependencies: PID Serialservo TCS3200 XQ_servo encoder encoder2 mbed moter
Fork of nhk_2018_undercarry_test04 by
main.cpp@5:c5a2a5cf600d, 2018-04-01 (annotated)
- Committer:
- kenken0721
- Date:
- Sun Apr 01 04:11:13 2018 +0000
- Revision:
- 5:c5a2a5cf600d
- Parent:
- 4:eabb7a738ff8
?
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
kenken0721 | 0:f6828b914b1c | 1 | #include "mbed.h" |
kenken0721 | 0:f6828b914b1c | 2 | #include "config.h" |
kenken0721 | 0:f6828b914b1c | 3 | #include "moter.h" |
kenken0721 | 0:f6828b914b1c | 4 | #include "PID.h" |
kenken0721 | 1:f4dbd6b9cc27 | 5 | #include "encoder.h" |
kenken0721 | 4:eabb7a738ff8 | 6 | #include "encoder2.h" |
kenken0721 | 4:eabb7a738ff8 | 7 | #include "Serialservo.h" |
kenken0721 | 4:eabb7a738ff8 | 8 | #include "XQ_servo.h" |
kenken0721 | 0:f6828b914b1c | 9 | |
kenken0721 | 0:f6828b914b1c | 10 | Serial pc(USBTX, USBRX); |
kenken0721 | 0:f6828b914b1c | 11 | Serial kbtpc(PC_12 ,PD_2);//serial5 |
kenken0721 | 0:f6828b914b1c | 12 | I2C master(sda, scl); |
kenken0721 | 4:eabb7a738ff8 | 13 | DigitalOut led2(LED2);//チェック用 |
kenken0721 | 0:f6828b914b1c | 14 | PID S_pid(SP, SI, SD, 0.0); |
kenken0721 | 2:c5996dd62e9c | 15 | PID R_pid(RP, RI, RD, 0.0); |
kenken0721 | 2:c5996dd62e9c | 16 | PID L_pid(LP, LI, LD, 0.0); |
kenken0721 | 4:eabb7a738ff8 | 17 | |
kenken0721 | 2:c5996dd62e9c | 18 | Encoder Enc_Carry_Y(PA_15,PA_14,PC_1); |
kenken0721 | 2:c5996dd62e9c | 19 | Encoder Enc_Carry_X(PA_4,PB_0,PB_7); |
kenken0721 | 4:eabb7a738ff8 | 20 | Encoder2 Enc_Arm(PF_1,PA_0,PA_1); |
kenken0721 | 4:eabb7a738ff8 | 21 | |
kenken0721 | 3:aaa2fde4fafd | 22 | DigitalOut buzzer(PA_10); |
kenken0721 | 3:aaa2fde4fafd | 23 | DigitalOut lamp(PC_3); |
kenken0721 | 3:aaa2fde4fafd | 24 | Timer timer; |
kenken0721 | 4:eabb7a738ff8 | 25 | Serialservo servo1(PC_10, PC_11);//アームの肘 |
kenken0721 | 4:eabb7a738ff8 | 26 | Serialservo servo2(PC_10, PC_11);//回転軸 |
kenken0721 | 4:eabb7a738ff8 | 27 | XQ_servo servo_hand(PB_5); |
kenken0721 | 4:eabb7a738ff8 | 28 | DigitalOut dpin(PC_9); |
kenken0721 | 4:eabb7a738ff8 | 29 | DigitalIn distance(PC_2); |
kenken0721 | 4:eabb7a738ff8 | 30 | DigitalIn redIn(PC_4); |
kenken0721 | 4:eabb7a738ff8 | 31 | DigitalIn blueIn(PB_2); |
kenken0721 | 4:eabb7a738ff8 | 32 | DigitalIn micro_switch(PC_0); |
kenken0721 | 4:eabb7a738ff8 | 33 | DigitalOut air(PB_4); |
kenken0721 | 4:eabb7a738ff8 | 34 | |
kenken0721 | 5:c5a2a5cf600d | 35 | DigitalOut motor_dir1(PA_8); |
kenken0721 | 4:eabb7a738ff8 | 36 | DigitalOut motor_dir2(PA_9); |
kenken0721 | 4:eabb7a738ff8 | 37 | PwmOut motor_pwm(PB_3); |
kenken0721 | 4:eabb7a738ff8 | 38 | |
kenken0721 | 2:c5996dd62e9c | 39 | void linecheck(char *buff ,int data[2]); |
kenken0721 | 2:c5996dd62e9c | 40 | void LineCheck(int dmode); |
kenken0721 | 4:eabb7a738ff8 | 41 | void syokikanomai(void); |
kenken0721 | 4:eabb7a738ff8 | 42 | void syokikanomai2(void); |
kenken0721 | 4:eabb7a738ff8 | 43 | void pre_touteki(void); |
kenken0721 | 4:eabb7a738ff8 | 44 | void touteki(float armpower, int pos, bool thro_mode); |
kenken0721 | 0:f6828b914b1c | 45 | |
kenken0721 | 0:f6828b914b1c | 46 | PwmOut pwm_pins[] = { |
kenken0721 | 0:f6828b914b1c | 47 | PwmOut( PC_8 ), |
kenken0721 | 0:f6828b914b1c | 48 | PwmOut( PC_6 ), |
kenken0721 | 0:f6828b914b1c | 49 | PwmOut( PB_14 ), |
kenken0721 | 0:f6828b914b1c | 50 | PwmOut( PB_13 ) |
kenken0721 | 0:f6828b914b1c | 51 | }; |
kenken0721 | 0:f6828b914b1c | 52 | |
kenken0721 | 0:f6828b914b1c | 53 | DigitalOut dir_pins_1[] = { |
kenken0721 | 0:f6828b914b1c | 54 | DigitalOut( PC_5 ), |
kenken0721 | 0:f6828b914b1c | 55 | DigitalOut( PA_7 ), |
kenken0721 | 2:c5996dd62e9c | 56 | DigitalOut( PB_6 ), |
kenken0721 | 2:c5996dd62e9c | 57 | DigitalOut( PB_1) |
kenken0721 | 0:f6828b914b1c | 58 | }; |
kenken0721 | 0:f6828b914b1c | 59 | |
kenken0721 | 0:f6828b914b1c | 60 | DigitalOut dir_pins_2[] = { |
kenken0721 | 0:f6828b914b1c | 61 | DigitalOut( PB_12 ), |
kenken0721 | 0:f6828b914b1c | 62 | DigitalOut( PA_6 ), |
kenken0721 | 2:c5996dd62e9c | 63 | DigitalOut( PC_7 ), |
kenken0721 | 2:c5996dd62e9c | 64 | DigitalOut( PB_15) |
kenken0721 | 0:f6828b914b1c | 65 | }; |
kenken0721 | 0:f6828b914b1c | 66 | |
kenken0721 | 2:c5996dd62e9c | 67 | int crosscount = 0; |
kenken0721 | 0:f6828b914b1c | 68 | bool mode = true;//trueでラジコン、falseでオート |
kenken0721 | 0:f6828b914b1c | 69 | bool stopflag = true;//trueで機体停止 |
kenken0721 | 0:f6828b914b1c | 70 | double power = POWER; |
kenken0721 | 2:c5996dd62e9c | 71 | double rpower = POWER; |
kenken0721 | 2:c5996dd62e9c | 72 | double lpower = POWER; |
kenken0721 | 0:f6828b914b1c | 73 | int kbtread = 0; |
kenken0721 | 0:f6828b914b1c | 74 | int count = 0; |
kenken0721 | 0:f6828b914b1c | 75 | int counter = 0; |
kenken0721 | 2:c5996dd62e9c | 76 | int linedata_1[2] = {0}; |
kenken0721 | 2:c5996dd62e9c | 77 | int linedata_2[2] = {0}; |
kenken0721 | 2:c5996dd62e9c | 78 | int linedata_3[2] = {0}; |
kenken0721 | 0:f6828b914b1c | 79 | int prelinedata = 0; |
kenken0721 | 0:f6828b914b1c | 80 | double output = 0.0; |
kenken0721 | 1:f4dbd6b9cc27 | 81 | char buff1[2]; |
kenken0721 | 1:f4dbd6b9cc27 | 82 | char buff2[2]; |
kenken0721 | 1:f4dbd6b9cc27 | 83 | char buff3[2]; |
kenken0721 | 1:f4dbd6b9cc27 | 84 | float x_dist = 0.0; |
kenken0721 | 1:f4dbd6b9cc27 | 85 | float y_dist = 0.0; |
kenken0721 | 2:c5996dd62e9c | 86 | float tar_x_dist = 0.0; |
kenken0721 | 2:c5996dd62e9c | 87 | float tar_y_dist = 0.0; |
kenken0721 | 2:c5996dd62e9c | 88 | bool ontheline = false; |
kenken0721 | 2:c5996dd62e9c | 89 | int directmode = STRAIGHT; |
kenken0721 | 3:aaa2fde4fafd | 90 | int state = START; |
kenken0721 | 3:aaa2fde4fafd | 91 | int times = 0; |
kenken0721 | 3:aaa2fde4fafd | 92 | bool throwing = false; |
kenken0721 | 4:eabb7a738ff8 | 93 | int receive = NOT_RECEIVE; |
kenken0721 | 4:eabb7a738ff8 | 94 | int redcount = 0; |
kenken0721 | 4:eabb7a738ff8 | 95 | int bluecount = 0; |
kenken0721 | 4:eabb7a738ff8 | 96 | int yellowcount = 0; |
kenken0721 | 4:eabb7a738ff8 | 97 | bool syokika_flag=false; |
kenken0721 | 4:eabb7a738ff8 | 98 | bool set_flag = false; |
kenken0721 | 4:eabb7a738ff8 | 99 | int encoder_count = 1000; |
kenken0721 | 4:eabb7a738ff8 | 100 | |
kenken0721 | 3:aaa2fde4fafd | 101 | int main() { |
kenken0721 | 3:aaa2fde4fafd | 102 | timer.reset(); |
kenken0721 | 3:aaa2fde4fafd | 103 | timer.stop(); |
kenken0721 | 4:eabb7a738ff8 | 104 | servo1.init(0);//アーム |
kenken0721 | 4:eabb7a738ff8 | 105 | servo2.init(1);//回転軸 |
kenken0721 | 4:eabb7a738ff8 | 106 | dpin=0; |
kenken0721 | 4:eabb7a738ff8 | 107 | lamp=1; |
kenken0721 | 4:eabb7a738ff8 | 108 | air=1.0; |
kenken0721 | 4:eabb7a738ff8 | 109 | buzzer = 0.0; |
kenken0721 | 4:eabb7a738ff8 | 110 | //motor_relay = 0.0; |
kenken0721 | 4:eabb7a738ff8 | 111 | micro_switch.mode(PullUp); |
kenken0721 | 4:eabb7a738ff8 | 112 | |
kenken0721 | 4:eabb7a738ff8 | 113 | motor_pwm=0; |
kenken0721 | 4:eabb7a738ff8 | 114 | motor_dir1=1; //dir1,dir2はこの組み合わせじゃないと死ぬ |
kenken0721 | 4:eabb7a738ff8 | 115 | motor_dir2=1; |
kenken0721 | 4:eabb7a738ff8 | 116 | |
kenken0721 | 1:f4dbd6b9cc27 | 117 | S_pid.init(); |
kenken0721 | 3:aaa2fde4fafd | 118 | R_pid.init(); |
kenken0721 | 3:aaa2fde4fafd | 119 | L_pid.init(); |
kenken0721 | 1:f4dbd6b9cc27 | 120 | pwm_pins[0].period(0.00005); |
kenken0721 | 1:f4dbd6b9cc27 | 121 | pwm_pins[1].period(0.00005); |
kenken0721 | 1:f4dbd6b9cc27 | 122 | pwm_pins[2].period(0.00005); |
kenken0721 | 1:f4dbd6b9cc27 | 123 | pwm_pins[3].period(0.00005); |
kenken0721 | 4:eabb7a738ff8 | 124 | motor_pwm.period(0.00005); |
kenken0721 | 3:aaa2fde4fafd | 125 | pc.baud(115200); |
kenken0721 | 2:c5996dd62e9c | 126 | kbtpc.baud(9600); |
kenken0721 | 2:c5996dd62e9c | 127 | master.frequency(100000); |
kenken0721 | 4:eabb7a738ff8 | 128 | lamp = 1.0; |
kenken0721 | 4:eabb7a738ff8 | 129 | //-------初期化---------------------------------------- |
kenken0721 | 4:eabb7a738ff8 | 130 | syokikanomai(); |
kenken0721 | 4:eabb7a738ff8 | 131 | buzzer = 0; |
kenken0721 | 4:eabb7a738ff8 | 132 | //-----------メインループ----------------------------------------め |
kenken0721 | 1:f4dbd6b9cc27 | 133 | while (true) { |
kenken0721 | 4:eabb7a738ff8 | 134 | master.read(addr1,buff1,2); |
kenken0721 | 4:eabb7a738ff8 | 135 | linecheck(buff1,linedata_1); |
kenken0721 | 4:eabb7a738ff8 | 136 | master.read(addr2,buff2,2); |
kenken0721 | 4:eabb7a738ff8 | 137 | linecheck(buff2,linedata_2); |
kenken0721 | 4:eabb7a738ff8 | 138 | master.read(addr3,buff3,2); |
kenken0721 | 4:eabb7a738ff8 | 139 | linecheck(buff3,linedata_3); |
kenken0721 | 2:c5996dd62e9c | 140 | x_dist = Enc_Carry_X.read_rotate(); |
kenken0721 | 2:c5996dd62e9c | 141 | y_dist = Enc_Carry_Y.read_rotate(); |
kenken0721 | 3:aaa2fde4fafd | 142 | kbtpc.putc(state); |
kenken0721 | 1:f4dbd6b9cc27 | 143 | if(kbtpc.readable()){ |
kenken0721 | 1:f4dbd6b9cc27 | 144 | kbtread = kbtpc.getc(); |
kenken0721 | 1:f4dbd6b9cc27 | 145 | } |
kenken0721 | 1:f4dbd6b9cc27 | 146 | if(kbtread == 255){ |
kenken0721 | 1:f4dbd6b9cc27 | 147 | mode = true; |
kenken0721 | 1:f4dbd6b9cc27 | 148 | }else if(kbtread == 150){ |
kenken0721 | 1:f4dbd6b9cc27 | 149 | mode = false; |
kenken0721 | 1:f4dbd6b9cc27 | 150 | }else if(kbtread == 100){ |
kenken0721 | 1:f4dbd6b9cc27 | 151 | stopflag = true; |
kenken0721 | 1:f4dbd6b9cc27 | 152 | }else if(kbtread == 200){ |
kenken0721 | 1:f4dbd6b9cc27 | 153 | stopflag = false; |
kenken0721 | 2:c5996dd62e9c | 154 | }else if(kbtread == STRAIGHT){ |
kenken0721 | 2:c5996dd62e9c | 155 | directmode = STRAIGHT; |
kenken0721 | 2:c5996dd62e9c | 156 | }else if(kbtread == RIGHT){ |
kenken0721 | 2:c5996dd62e9c | 157 | directmode = RIGHT; |
kenken0721 | 2:c5996dd62e9c | 158 | }else if(kbtread == LEFT){ |
kenken0721 | 2:c5996dd62e9c | 159 | directmode = LEFT; |
kenken0721 | 3:aaa2fde4fafd | 160 | }else if(kbtread == MANUAL){ |
kenken0721 | 3:aaa2fde4fafd | 161 | state = MANUAL; |
kenken0721 | 3:aaa2fde4fafd | 162 | }else if(kbtread == START){ |
kenken0721 | 3:aaa2fde4fafd | 163 | state = START; |
kenken0721 | 4:eabb7a738ff8 | 164 | }else if(kbtread == START_TEST){ |
kenken0721 | 4:eabb7a738ff8 | 165 | state = START_TEST; |
kenken0721 | 1:f4dbd6b9cc27 | 166 | } |
kenken0721 | 1:f4dbd6b9cc27 | 167 | //--------------手動-------------------------------------- |
kenken0721 | 1:f4dbd6b9cc27 | 168 | if(mode == true){ |
kenken0721 | 1:f4dbd6b9cc27 | 169 | led2 = 1.0; |
kenken0721 | 2:c5996dd62e9c | 170 | if(kbtread == STRAIGHT){ |
kenken0721 | 1:f4dbd6b9cc27 | 171 | Straight(power, power, pwm_pins, dir_pins_1, dir_pins_2); |
kenken0721 | 2:c5996dd62e9c | 172 | }else if(kbtread == BACK){ |
kenken0721 | 1:f4dbd6b9cc27 | 173 | Back(power, power, pwm_pins, dir_pins_1, dir_pins_2); |
kenken0721 | 2:c5996dd62e9c | 174 | }else if(kbtread == RIGHT){ |
kenken0721 | 1:f4dbd6b9cc27 | 175 | Right(power, power, pwm_pins, dir_pins_1, dir_pins_2); |
kenken0721 | 2:c5996dd62e9c | 176 | }else if(kbtread == LEFT){ |
kenken0721 | 1:f4dbd6b9cc27 | 177 | Left(power, power, pwm_pins, dir_pins_1, dir_pins_2); |
kenken0721 | 1:f4dbd6b9cc27 | 178 | }else{ |
kenken0721 | 1:f4dbd6b9cc27 | 179 | Stop(pwm_pins, dir_pins_1, dir_pins_2); |
kenken0721 | 1:f4dbd6b9cc27 | 180 | } |
kenken0721 | 1:f4dbd6b9cc27 | 181 | //--------------自動--------------------------------- |
kenken0721 | 1:f4dbd6b9cc27 | 182 | }else if(mode == false){ |
kenken0721 | 1:f4dbd6b9cc27 | 183 | led2 = 0.0; |
kenken0721 | 1:f4dbd6b9cc27 | 184 | if(stopflag == true){ |
kenken0721 | 1:f4dbd6b9cc27 | 185 | Stop(pwm_pins, dir_pins_1, dir_pins_2); |
kenken0721 | 1:f4dbd6b9cc27 | 186 | }else{ |
kenken0721 | 2:c5996dd62e9c | 187 | LineCheck(directmode); |
kenken0721 | 3:aaa2fde4fafd | 188 | switch(state){ |
kenken0721 | 4:eabb7a738ff8 | 189 | //------------------任意に進行方向を決めれる---------------------------------------- |
kenken0721 | 3:aaa2fde4fafd | 190 | case MANUAL: |
kenken0721 | 3:aaa2fde4fafd | 191 | if(crosscount == 1){ |
kenken0721 | 3:aaa2fde4fafd | 192 | directmode = STOP; |
kenken0721 | 3:aaa2fde4fafd | 193 | Stop(pwm_pins, dir_pins_1, dir_pins_2); |
kenken0721 | 3:aaa2fde4fafd | 194 | crosscount = 0; |
kenken0721 | 3:aaa2fde4fafd | 195 | } |
kenken0721 | 3:aaa2fde4fafd | 196 | break; |
kenken0721 | 4:eabb7a738ff8 | 197 | //------------------テスト用-------------------------------------------------------- |
kenken0721 | 4:eabb7a738ff8 | 198 | case START_TEST: |
kenken0721 | 4:eabb7a738ff8 | 199 | if(crosscount == 0){ |
kenken0721 | 4:eabb7a738ff8 | 200 | directmode = RIGHT; |
kenken0721 | 4:eabb7a738ff8 | 201 | }else if(crosscount == 1){ |
kenken0721 | 4:eabb7a738ff8 | 202 | directmode = STOP; |
kenken0721 | 4:eabb7a738ff8 | 203 | state = STAND_BY_TEST; |
kenken0721 | 4:eabb7a738ff8 | 204 | crosscount = 0; |
kenken0721 | 4:eabb7a738ff8 | 205 | prelinedata = 0; |
kenken0721 | 4:eabb7a738ff8 | 206 | } |
kenken0721 | 4:eabb7a738ff8 | 207 | break; |
kenken0721 | 4:eabb7a738ff8 | 208 | //------------------テスト用待機位置----------------------------------------------- |
kenken0721 | 4:eabb7a738ff8 | 209 | case STAND_BY_TEST: |
kenken0721 | 4:eabb7a738ff8 | 210 | directmode = STOP; |
kenken0721 | 4:eabb7a738ff8 | 211 | if(distance == 1.0){ |
kenken0721 | 4:eabb7a738ff8 | 212 | led2 = 1.0; |
kenken0721 | 4:eabb7a738ff8 | 213 | if(redIn == 1.0){ |
kenken0721 | 4:eabb7a738ff8 | 214 | buzzer = 1.0; |
kenken0721 | 4:eabb7a738ff8 | 215 | redcount++; |
kenken0721 | 4:eabb7a738ff8 | 216 | }else if(blueIn == 1.0){ |
kenken0721 | 4:eabb7a738ff8 | 217 | buzzer = 1.0; |
kenken0721 | 4:eabb7a738ff8 | 218 | bluecount++; |
kenken0721 | 4:eabb7a738ff8 | 219 | }else{ |
kenken0721 | 4:eabb7a738ff8 | 220 | buzzer = 0.0; |
kenken0721 | 4:eabb7a738ff8 | 221 | } |
kenken0721 | 4:eabb7a738ff8 | 222 | if(redcount >= 50){ |
kenken0721 | 4:eabb7a738ff8 | 223 | servo_hand.move(hand_tsukami_degree); |
kenken0721 | 4:eabb7a738ff8 | 224 | //pre_touteki(); |
kenken0721 | 4:eabb7a738ff8 | 225 | }else if(bluecount >= 50){ |
kenken0721 | 4:eabb7a738ff8 | 226 | servo_hand.move(hand_tsukami_degree); |
kenken0721 | 4:eabb7a738ff8 | 227 | //pre_touteki(); |
kenken0721 | 4:eabb7a738ff8 | 228 | } |
kenken0721 | 4:eabb7a738ff8 | 229 | }else if(distance == 0.0 && redcount >= 50){ |
kenken0721 | 4:eabb7a738ff8 | 230 | servo2.move(koshi_nage_degree); |
kenken0721 | 4:eabb7a738ff8 | 231 | state = THROWING_TEST; |
kenken0721 | 4:eabb7a738ff8 | 232 | directmode = STOP; |
kenken0721 | 4:eabb7a738ff8 | 233 | led2 = 0.0; |
kenken0721 | 4:eabb7a738ff8 | 234 | redcount = 0; |
kenken0721 | 4:eabb7a738ff8 | 235 | crosscount = 0; |
kenken0721 | 4:eabb7a738ff8 | 236 | }else if(distance == 0.0 && bluecount >= 50){ |
kenken0721 | 4:eabb7a738ff8 | 237 | servo2.move(koshi_nage_degree); |
kenken0721 | 4:eabb7a738ff8 | 238 | state = THROWING_TEST; |
kenken0721 | 4:eabb7a738ff8 | 239 | directmode = STOP; |
kenken0721 | 4:eabb7a738ff8 | 240 | bluecount = 0; |
kenken0721 | 4:eabb7a738ff8 | 241 | led2 = 0.0; |
kenken0721 | 4:eabb7a738ff8 | 242 | crosscount = 0; |
kenken0721 | 4:eabb7a738ff8 | 243 | } |
kenken0721 | 4:eabb7a738ff8 | 244 | break; |
kenken0721 | 4:eabb7a738ff8 | 245 | //------------------------------------------------------------------------------ |
kenken0721 | 4:eabb7a738ff8 | 246 | case THROWING_TEST: |
kenken0721 | 4:eabb7a738ff8 | 247 | if(crosscount == 0){ |
kenken0721 | 4:eabb7a738ff8 | 248 | directmode = LEFT; |
kenken0721 | 4:eabb7a738ff8 | 249 | }else if(crosscount == 1){ |
kenken0721 | 4:eabb7a738ff8 | 250 | directmode = STOP; |
kenken0721 | 4:eabb7a738ff8 | 251 | touteki(0.8, 190, 0); |
kenken0721 | 4:eabb7a738ff8 | 252 | //syokikanomai(); |
kenken0721 | 4:eabb7a738ff8 | 253 | buzzer = 0.0; |
kenken0721 | 4:eabb7a738ff8 | 254 | } |
kenken0721 | 4:eabb7a738ff8 | 255 | break; |
kenken0721 | 4:eabb7a738ff8 | 256 | //------------------初期位置から待機位置1------------------------------------------ |
kenken0721 | 3:aaa2fde4fafd | 257 | case START: |
kenken0721 | 3:aaa2fde4fafd | 258 | if(crosscount == 0){ |
kenken0721 | 3:aaa2fde4fafd | 259 | directmode = STRAIGHT; |
kenken0721 | 3:aaa2fde4fafd | 260 | }else if(crosscount == 1 && directmode == STRAIGHT){ |
kenken0721 | 3:aaa2fde4fafd | 261 | directmode = LEFT; |
kenken0721 | 3:aaa2fde4fafd | 262 | prelinedata = 0; |
kenken0721 | 3:aaa2fde4fafd | 263 | }else if(crosscount == 1 && directmode == LEFT){ |
kenken0721 | 3:aaa2fde4fafd | 264 | directmode = LEFT; |
kenken0721 | 3:aaa2fde4fafd | 265 | }else if(crosscount == 2){ |
kenken0721 | 3:aaa2fde4fafd | 266 | directmode = STOP; |
kenken0721 | 3:aaa2fde4fafd | 267 | state = STAND_BY_1; |
kenken0721 | 3:aaa2fde4fafd | 268 | crosscount = 0; |
kenken0721 | 3:aaa2fde4fafd | 269 | prelinedata = 0; |
kenken0721 | 3:aaa2fde4fafd | 270 | } |
kenken0721 | 3:aaa2fde4fafd | 271 | break; |
kenken0721 | 4:eabb7a738ff8 | 272 | //------------------待機位置1---------------------------------------------------- |
kenken0721 | 3:aaa2fde4fafd | 273 | case STAND_BY_1: |
kenken0721 | 3:aaa2fde4fafd | 274 | crosscount = 0; |
kenken0721 | 3:aaa2fde4fafd | 275 | directmode = STOP; |
kenken0721 | 4:eabb7a738ff8 | 276 | if(distance == 1.0){ |
kenken0721 | 4:eabb7a738ff8 | 277 | if(redIn == 1.0){ |
kenken0721 | 4:eabb7a738ff8 | 278 | buzzer = 1.0; |
kenken0721 | 4:eabb7a738ff8 | 279 | redcount++; |
kenken0721 | 4:eabb7a738ff8 | 280 | }else if(blueIn == 1.0){ |
kenken0721 | 4:eabb7a738ff8 | 281 | buzzer = 1.0; |
kenken0721 | 4:eabb7a738ff8 | 282 | bluecount++; |
kenken0721 | 4:eabb7a738ff8 | 283 | }else{ |
kenken0721 | 4:eabb7a738ff8 | 284 | buzzer = 0.0; |
kenken0721 | 4:eabb7a738ff8 | 285 | } |
kenken0721 | 4:eabb7a738ff8 | 286 | if(redcount >= 100 ){ |
kenken0721 | 4:eabb7a738ff8 | 287 | servo_hand.move(hand_tsukami_degree); |
kenken0721 | 4:eabb7a738ff8 | 288 | servo1.move(hiji_tsukami_degree); |
kenken0721 | 4:eabb7a738ff8 | 289 | }else if(bluecount >= 100){ |
kenken0721 | 4:eabb7a738ff8 | 290 | servo_hand.move(hand_tsukami_degree); |
kenken0721 | 4:eabb7a738ff8 | 291 | servo1.move(hiji_tsukami_degree); |
kenken0721 | 4:eabb7a738ff8 | 292 | } |
kenken0721 | 4:eabb7a738ff8 | 293 | }else if(distance == 0.0 && redcount >= 100){ |
kenken0721 | 4:eabb7a738ff8 | 294 | servo2.move(koshi_nage_degree); |
kenken0721 | 3:aaa2fde4fafd | 295 | state = RED_RECEIVE; |
kenken0721 | 4:eabb7a738ff8 | 296 | directmode = STOP; |
kenken0721 | 4:eabb7a738ff8 | 297 | redcount = 0; |
kenken0721 | 4:eabb7a738ff8 | 298 | crosscount = 0; |
kenken0721 | 4:eabb7a738ff8 | 299 | }else if(distance == 0.0 && bluecount >= 100){ |
kenken0721 | 4:eabb7a738ff8 | 300 | state = BLUE_RECEIVE_1; |
kenken0721 | 4:eabb7a738ff8 | 301 | directmode = STOP; |
kenken0721 | 4:eabb7a738ff8 | 302 | bluecount = 0; |
kenken0721 | 4:eabb7a738ff8 | 303 | crosscount = 0; |
kenken0721 | 4:eabb7a738ff8 | 304 | } |
kenken0721 | 3:aaa2fde4fafd | 305 | break; |
kenken0721 | 4:eabb7a738ff8 | 306 | //------------------待機位置1から投てき位置1---------------------------------------- |
kenken0721 | 3:aaa2fde4fafd | 307 | case RED_RECEIVE: |
kenken0721 | 3:aaa2fde4fafd | 308 | if(crosscount == 0){ |
kenken0721 | 3:aaa2fde4fafd | 309 | directmode = LEFT; |
kenken0721 | 4:eabb7a738ff8 | 310 | }else if(crosscount == 1){ |
kenken0721 | 3:aaa2fde4fafd | 311 | directmode = STOP; |
kenken0721 | 3:aaa2fde4fafd | 312 | prelinedata = 0; |
kenken0721 | 4:eabb7a738ff8 | 313 | touteki(0.8,190,0); |
kenken0721 | 4:eabb7a738ff8 | 314 | if(set_flag == false){ |
kenken0721 | 3:aaa2fde4fafd | 315 | directmode = RIGHT; |
kenken0721 | 3:aaa2fde4fafd | 316 | } |
kenken0721 | 3:aaa2fde4fafd | 317 | }else if(crosscount == 2){ |
kenken0721 | 3:aaa2fde4fafd | 318 | directmode = STOP; |
kenken0721 | 4:eabb7a738ff8 | 319 | syokikanomai2(); |
kenken0721 | 4:eabb7a738ff8 | 320 | if(set_flag == true){ |
kenken0721 | 4:eabb7a738ff8 | 321 | state = STAND_BY_1; |
kenken0721 | 4:eabb7a738ff8 | 322 | //throwing = false; |
kenken0721 | 4:eabb7a738ff8 | 323 | crosscount = 0; |
kenken0721 | 4:eabb7a738ff8 | 324 | } |
kenken0721 | 3:aaa2fde4fafd | 325 | } |
kenken0721 | 3:aaa2fde4fafd | 326 | break; |
kenken0721 | 4:eabb7a738ff8 | 327 | //------------------待機位置1から投てき位置2---------------------------------------- |
kenken0721 | 3:aaa2fde4fafd | 328 | case BLUE_RECEIVE_1: |
kenken0721 | 3:aaa2fde4fafd | 329 | if(crosscount == 0){ |
kenken0721 | 3:aaa2fde4fafd | 330 | directmode = RIGHT; |
kenken0721 | 3:aaa2fde4fafd | 331 | }else if(crosscount == 1){ |
kenken0721 | 3:aaa2fde4fafd | 332 | directmode = STRAIGHT; |
kenken0721 | 3:aaa2fde4fafd | 333 | }else if(crosscount == 2){ |
kenken0721 | 3:aaa2fde4fafd | 334 | directmode = LEFT; |
kenken0721 | 3:aaa2fde4fafd | 335 | }else if(crosscount == 3){ |
kenken0721 | 3:aaa2fde4fafd | 336 | directmode = STOP; |
kenken0721 | 3:aaa2fde4fafd | 337 | prelinedata = 0; |
kenken0721 | 4:eabb7a738ff8 | 338 | state = BLUE_RECEIVE_2; |
kenken0721 | 3:aaa2fde4fafd | 339 | crosscount = 0; |
kenken0721 | 3:aaa2fde4fafd | 340 | } |
kenken0721 | 3:aaa2fde4fafd | 341 | break; |
kenken0721 | 4:eabb7a738ff8 | 342 | //------------------待機位置2---------------------------------------------------- |
kenken0721 | 3:aaa2fde4fafd | 343 | case STAND_BY_2: |
kenken0721 | 3:aaa2fde4fafd | 344 | crosscount = 0; |
kenken0721 | 4:eabb7a738ff8 | 345 | directmode = STOP; |
kenken0721 | 4:eabb7a738ff8 | 346 | if(distance == 1.0){ |
kenken0721 | 4:eabb7a738ff8 | 347 | if(blueIn == 1.0){ |
kenken0721 | 4:eabb7a738ff8 | 348 | buzzer = 1.0; |
kenken0721 | 4:eabb7a738ff8 | 349 | bluecount++; |
kenken0721 | 4:eabb7a738ff8 | 350 | }else if(micro_switch == 1.0){ |
kenken0721 | 4:eabb7a738ff8 | 351 | buzzer = 1.0; |
kenken0721 | 4:eabb7a738ff8 | 352 | yellowcount++; |
kenken0721 | 4:eabb7a738ff8 | 353 | }else{ |
kenken0721 | 4:eabb7a738ff8 | 354 | buzzer = 0.0; |
kenken0721 | 4:eabb7a738ff8 | 355 | } |
kenken0721 | 5:c5a2a5cf600d | 356 | if(bluecount >= 100){ |
kenken0721 | 5:c5a2a5cf600d | 357 | servo_hand.move(hand_tsukami_degree); |
kenken0721 | 5:c5a2a5cf600d | 358 | servo1.move(hiji_tsukami_degree); |
kenken0721 | 4:eabb7a738ff8 | 359 | }else if(yellowcount >= 500){ |
kenken0721 | 5:c5a2a5cf600d | 360 | air = 0.0; |
kenken0721 | 4:eabb7a738ff8 | 361 | } |
kenken0721 | 5:c5a2a5cf600d | 362 | }else if(distance == 0.0 && bluecount >= 100){ |
kenken0721 | 5:c5a2a5cf600d | 363 | servo2.move(koshi_nage_degree); |
kenken0721 | 4:eabb7a738ff8 | 364 | state = BLUE_RECEIVE_2; |
kenken0721 | 4:eabb7a738ff8 | 365 | directmode = STOP; |
kenken0721 | 4:eabb7a738ff8 | 366 | bluecount = 0; |
kenken0721 | 4:eabb7a738ff8 | 367 | crosscount = 0; |
kenken0721 | 4:eabb7a738ff8 | 368 | } |
kenken0721 | 3:aaa2fde4fafd | 369 | break; |
kenken0721 | 4:eabb7a738ff8 | 370 | //------------------投てき位置2--------------------------------------------------- |
kenken0721 | 3:aaa2fde4fafd | 371 | case BLUE_RECEIVE_2: |
kenken0721 | 3:aaa2fde4fafd | 372 | if(crosscount == 0){ |
kenken0721 | 3:aaa2fde4fafd | 373 | directmode = LEFT; |
kenken0721 | 3:aaa2fde4fafd | 374 | }else if(crosscount == 1){ |
kenken0721 | 5:c5a2a5cf600d | 375 | directmode = STOP; |
kenken0721 | 5:c5a2a5cf600d | 376 | prelinedata = 0; |
kenken0721 | 5:c5a2a5cf600d | 377 | touteki(1.0,190,1); |
kenken0721 | 5:c5a2a5cf600d | 378 | if(set_flag == false){ |
kenken0721 | 5:c5a2a5cf600d | 379 | directmode = RIGHT; |
kenken0721 | 3:aaa2fde4fafd | 380 | } |
kenken0721 | 3:aaa2fde4fafd | 381 | }else if(crosscount == 2){ |
kenken0721 | 3:aaa2fde4fafd | 382 | directmode = STOP; |
kenken0721 | 5:c5a2a5cf600d | 383 | syokikanomai2(); |
kenken0721 | 5:c5a2a5cf600d | 384 | if(set_flag == true){ |
kenken0721 | 5:c5a2a5cf600d | 385 | state = STAND_BY_2; |
kenken0721 | 5:c5a2a5cf600d | 386 | crosscount = 0; |
kenken0721 | 5:c5a2a5cf600d | 387 | } |
kenken0721 | 5:c5a2a5cf600d | 388 | } |
kenken0721 | 3:aaa2fde4fafd | 389 | break; |
kenken0721 | 4:eabb7a738ff8 | 390 | //------------------投てき位置3--------------------------------------------------- |
kenken0721 | 3:aaa2fde4fafd | 391 | case YELLOW_RECEIVE: |
kenken0721 | 3:aaa2fde4fafd | 392 | if(crosscount != 4){ |
kenken0721 | 3:aaa2fde4fafd | 393 | directmode = LEFT; |
kenken0721 | 3:aaa2fde4fafd | 394 | }else{ |
kenken0721 | 3:aaa2fde4fafd | 395 | directmode = STOP; |
kenken0721 | 3:aaa2fde4fafd | 396 | } |
kenken0721 | 3:aaa2fde4fafd | 397 | break; |
kenken0721 | 3:aaa2fde4fafd | 398 | default: |
kenken0721 | 3:aaa2fde4fafd | 399 | break; |
kenken0721 | 3:aaa2fde4fafd | 400 | } |
kenken0721 | 4:eabb7a738ff8 | 401 | //--------------進行方向--------------------------------------------------------- |
kenken0721 | 3:aaa2fde4fafd | 402 | switch(directmode){ |
kenken0721 | 2:c5996dd62e9c | 403 | case STOP: |
kenken0721 | 2:c5996dd62e9c | 404 | Stop(pwm_pins, dir_pins_1, dir_pins_2); |
kenken0721 | 2:c5996dd62e9c | 405 | break; |
kenken0721 | 2:c5996dd62e9c | 406 | case STRAIGHT: |
kenken0721 | 2:c5996dd62e9c | 407 | output = S_pid.compute((double)linedata_1[0]); |
kenken0721 | 2:c5996dd62e9c | 408 | if(output >= 0){ |
kenken0721 | 2:c5996dd62e9c | 409 | rpower = power; |
kenken0721 | 2:c5996dd62e9c | 410 | lpower = power + output; |
kenken0721 | 2:c5996dd62e9c | 411 | Straight(rpower, lpower, pwm_pins, dir_pins_1, dir_pins_2); |
kenken0721 | 2:c5996dd62e9c | 412 | }else { |
kenken0721 | 2:c5996dd62e9c | 413 | rpower = power + (-1 * output); |
kenken0721 | 2:c5996dd62e9c | 414 | lpower = power; |
kenken0721 | 2:c5996dd62e9c | 415 | Straight(rpower, lpower, pwm_pins, dir_pins_1, dir_pins_2); |
kenken0721 | 2:c5996dd62e9c | 416 | } |
kenken0721 | 2:c5996dd62e9c | 417 | break; |
kenken0721 | 2:c5996dd62e9c | 418 | case RIGHT: |
kenken0721 | 2:c5996dd62e9c | 419 | output = R_pid.compute((double)linedata_2[0]); |
kenken0721 | 1:f4dbd6b9cc27 | 420 | if(output >= 0){ |
kenken0721 | 2:c5996dd62e9c | 421 | rpower = power; |
kenken0721 | 2:c5996dd62e9c | 422 | lpower = power + output; |
kenken0721 | 2:c5996dd62e9c | 423 | Right(rpower, lpower, pwm_pins, dir_pins_1, dir_pins_2); |
kenken0721 | 1:f4dbd6b9cc27 | 424 | }else { |
kenken0721 | 2:c5996dd62e9c | 425 | rpower = power + (-1 * output); |
kenken0721 | 2:c5996dd62e9c | 426 | lpower = power; |
kenken0721 | 2:c5996dd62e9c | 427 | Right(rpower, lpower, pwm_pins, dir_pins_1, dir_pins_2); |
kenken0721 | 2:c5996dd62e9c | 428 | } |
kenken0721 | 2:c5996dd62e9c | 429 | break; |
kenken0721 | 2:c5996dd62e9c | 430 | case LEFT: |
kenken0721 | 2:c5996dd62e9c | 431 | output = L_pid.compute((double)linedata_3[0]); |
kenken0721 | 2:c5996dd62e9c | 432 | if(output >= 0){ |
kenken0721 | 2:c5996dd62e9c | 433 | rpower = power; |
kenken0721 | 2:c5996dd62e9c | 434 | lpower = power + output; |
kenken0721 | 3:aaa2fde4fafd | 435 | Left(rpower, lpower, pwm_pins, dir_pins_1, dir_pins_2); |
kenken0721 | 2:c5996dd62e9c | 436 | }else { |
kenken0721 | 2:c5996dd62e9c | 437 | rpower = power + (-1 * output); |
kenken0721 | 2:c5996dd62e9c | 438 | lpower = power; |
kenken0721 | 2:c5996dd62e9c | 439 | Left(rpower, lpower, pwm_pins, dir_pins_1, dir_pins_2); |
kenken0721 | 2:c5996dd62e9c | 440 | } |
kenken0721 | 2:c5996dd62e9c | 441 | break; |
kenken0721 | 2:c5996dd62e9c | 442 | default: |
kenken0721 | 2:c5996dd62e9c | 443 | break; |
kenken0721 | 1:f4dbd6b9cc27 | 444 | } |
kenken0721 | 1:f4dbd6b9cc27 | 445 | } |
kenken0721 | 1:f4dbd6b9cc27 | 446 | } |
kenken0721 | 3:aaa2fde4fafd | 447 | //pc.printf("kbtread = %d \r" ,kbtread); |
kenken0721 | 2:c5996dd62e9c | 448 | //pc.printf("buff1[0] = %d \r" ,buff1[0]); |
kenken0721 | 2:c5996dd62e9c | 449 | //pc.printf("buff2[0] = %d \r" ,buff2[0]); |
kenken0721 | 2:c5996dd62e9c | 450 | //pc.printf("line1 = %d \r" ,linedata_1[0]); |
kenken0721 | 3:aaa2fde4fafd | 451 | //pc.printf("line2 = %d \r" ,linedata_3[1]); |
kenken0721 | 4:eabb7a738ff8 | 452 | pc.printf("xdist = %f \r",x_dist); |
kenken0721 | 3:aaa2fde4fafd | 453 | //pc.printf("tar_xdist = %f \r",tar_x_dist); |
kenken0721 | 3:aaa2fde4fafd | 454 | //pc.printf("ontheline = %d \r",ontheline); |
kenken0721 | 3:aaa2fde4fafd | 455 | |
kenken0721 | 4:eabb7a738ff8 | 456 | pc.printf("ydist = %f \r",y_dist); |
kenken0721 | 2:c5996dd62e9c | 457 | //pc.printf("tary = %f \r",tar_y_dist); |
kenken0721 | 2:c5996dd62e9c | 458 | //pc.printf("stopflag = %d \r",stopflag); |
kenken0721 | 2:c5996dd62e9c | 459 | //pc.printf("cross = %d \r",crosscount); |
kenken0721 | 1:f4dbd6b9cc27 | 460 | //pc.printf("buff[1] = %d" ,buff1[1]); |
kenken0721 | 2:c5996dd62e9c | 461 | //pc.printf("line = %d" ,line); |
kenken0721 | 2:c5996dd62e9c | 462 | //pc.printf("rpower = %lf" ,rpower); |
kenken0721 | 3:aaa2fde4fafd | 463 | //pc.printf("lpower = %lf" ,lpower); |
kenken0721 | 4:eabb7a738ff8 | 464 | //pc.printf("dicmode = %d \r",directmode); |
kenken0721 | 1:f4dbd6b9cc27 | 465 | pc.printf("output = %lf \n" ,output); |
kenken0721 | 1:f4dbd6b9cc27 | 466 | } |
kenken0721 | 1:f4dbd6b9cc27 | 467 | } |
kenken0721 | 1:f4dbd6b9cc27 | 468 | |
kenken0721 | 4:eabb7a738ff8 | 469 | //---------------初期化--------------------------- |
kenken0721 | 4:eabb7a738ff8 | 470 | |
kenken0721 | 4:eabb7a738ff8 | 471 | |
kenken0721 | 4:eabb7a738ff8 | 472 | void syokikanomai(void){ |
kenken0721 | 4:eabb7a738ff8 | 473 | //timer.start(); |
kenken0721 | 4:eabb7a738ff8 | 474 | //int times = timer.read(); |
kenken0721 | 4:eabb7a738ff8 | 475 | syokika_flag = false; |
kenken0721 | 4:eabb7a738ff8 | 476 | while (set_flag==false) { |
kenken0721 | 4:eabb7a738ff8 | 477 | encoder_count= Enc_Arm.read_rotate(); |
kenken0721 | 4:eabb7a738ff8 | 478 | servo_hand.move(hand_uke_degree); |
kenken0721 | 4:eabb7a738ff8 | 479 | servo1.move(hiji_nage_degree);//退避 |
kenken0721 | 4:eabb7a738ff8 | 480 | servo2.move(koshi_uke_degree); |
kenken0721 | 4:eabb7a738ff8 | 481 | //motor_relay = 0; |
kenken0721 | 4:eabb7a738ff8 | 482 | motor_dir1=0; |
kenken0721 | 4:eabb7a738ff8 | 483 | motor_dir2=1; |
kenken0721 | 4:eabb7a738ff8 | 484 | motor_pwm=0.15; |
kenken0721 | 4:eabb7a738ff8 | 485 | |
kenken0721 | 4:eabb7a738ff8 | 486 | if(Enc_Arm.read_z() == 1) { |
kenken0721 | 4:eabb7a738ff8 | 487 | syokika_flag=true; |
kenken0721 | 4:eabb7a738ff8 | 488 | buzzer = 1.0; |
kenken0721 | 4:eabb7a738ff8 | 489 | } |
kenken0721 | 4:eabb7a738ff8 | 490 | |
kenken0721 | 4:eabb7a738ff8 | 491 | if (syokika_flag==true) { |
kenken0721 | 4:eabb7a738ff8 | 492 | if(encoder_count == 170) { |
kenken0721 | 4:eabb7a738ff8 | 493 | motor_pwm=0; |
kenken0721 | 4:eabb7a738ff8 | 494 | motor_dir1=1; |
kenken0721 | 4:eabb7a738ff8 | 495 | motor_dir2=1; |
kenken0721 | 4:eabb7a738ff8 | 496 | set_flag=true; //投てき後,falseにする. |
kenken0721 | 4:eabb7a738ff8 | 497 | } |
kenken0721 | 4:eabb7a738ff8 | 498 | } |
kenken0721 | 4:eabb7a738ff8 | 499 | } |
kenken0721 | 4:eabb7a738ff8 | 500 | //if(times >= 1.0){ |
kenken0721 | 4:eabb7a738ff8 | 501 | //wait(0.5); |
kenken0721 | 4:eabb7a738ff8 | 502 | //servo_hand.move(hand_uke_degree); |
kenken0721 | 4:eabb7a738ff8 | 503 | servo1.move(hiji_uke_degree); |
kenken0721 | 4:eabb7a738ff8 | 504 | servo1.move(hiji_uke_degree); |
kenken0721 | 4:eabb7a738ff8 | 505 | //servo2.move(koshi_uke_degree); |
kenken0721 | 4:eabb7a738ff8 | 506 | //} |
kenken0721 | 4:eabb7a738ff8 | 507 | } |
kenken0721 | 4:eabb7a738ff8 | 508 | |
kenken0721 | 4:eabb7a738ff8 | 509 | void syokikanomai2(void){ |
kenken0721 | 4:eabb7a738ff8 | 510 | //timer.start(); |
kenken0721 | 4:eabb7a738ff8 | 511 | //int times = timer.read(); |
kenken0721 | 4:eabb7a738ff8 | 512 | //syokika_flag = false; |
kenken0721 | 4:eabb7a738ff8 | 513 | if(set_flag==false) { |
kenken0721 | 4:eabb7a738ff8 | 514 | encoder_count= Enc_Arm.read_rotate(); |
kenken0721 | 4:eabb7a738ff8 | 515 | servo_hand.move(hand_uke_degree); |
kenken0721 | 4:eabb7a738ff8 | 516 | servo1.move(hiji_nage_degree);//退避 |
kenken0721 | 4:eabb7a738ff8 | 517 | servo2.move(koshi_uke_degree); |
kenken0721 | 4:eabb7a738ff8 | 518 | //motor_relay = 0; |
kenken0721 | 4:eabb7a738ff8 | 519 | motor_dir1=0; |
kenken0721 | 4:eabb7a738ff8 | 520 | motor_dir2=1; |
kenken0721 | 4:eabb7a738ff8 | 521 | motor_pwm=0.15; |
kenken0721 | 4:eabb7a738ff8 | 522 | |
kenken0721 | 4:eabb7a738ff8 | 523 | if(Enc_Arm.read_z() == 1) { |
kenken0721 | 4:eabb7a738ff8 | 524 | syokika_flag = true; |
kenken0721 | 4:eabb7a738ff8 | 525 | buzzer = 1.0; |
kenken0721 | 4:eabb7a738ff8 | 526 | } |
kenken0721 | 4:eabb7a738ff8 | 527 | |
kenken0721 | 4:eabb7a738ff8 | 528 | if (syokika_flag==true) { |
kenken0721 | 4:eabb7a738ff8 | 529 | if(encoder_count == 170) { |
kenken0721 | 4:eabb7a738ff8 | 530 | motor_pwm=0; |
kenken0721 | 4:eabb7a738ff8 | 531 | motor_dir1=1; |
kenken0721 | 4:eabb7a738ff8 | 532 | motor_dir2=1; |
kenken0721 | 4:eabb7a738ff8 | 533 | servo1.move(hiji_uke_degree); |
kenken0721 | 4:eabb7a738ff8 | 534 | servo1.move(hiji_uke_degree); |
kenken0721 | 5:c5a2a5cf600d | 535 | //syokika_flag = false; |
kenken0721 | 4:eabb7a738ff8 | 536 | set_flag = true; //投てき後,falseにする. |
kenken0721 | 4:eabb7a738ff8 | 537 | } |
kenken0721 | 4:eabb7a738ff8 | 538 | } |
kenken0721 | 4:eabb7a738ff8 | 539 | } |
kenken0721 | 4:eabb7a738ff8 | 540 | //if(times >= 1.0){ |
kenken0721 | 4:eabb7a738ff8 | 541 | //wait(0.5); |
kenken0721 | 4:eabb7a738ff8 | 542 | //servo_hand.move(hand_uke_degree); |
kenken0721 | 4:eabb7a738ff8 | 543 | //servo2.move(koshi_uke_degree); |
kenken0721 | 4:eabb7a738ff8 | 544 | //} |
kenken0721 | 4:eabb7a738ff8 | 545 | } |
kenken0721 | 4:eabb7a738ff8 | 546 | |
kenken0721 | 4:eabb7a738ff8 | 547 | void pre_touteki(void){ |
kenken0721 | 4:eabb7a738ff8 | 548 | /* |
kenken0721 | 4:eabb7a738ff8 | 549 | while(Enc_Arm.read_rotate()<pos) { |
kenken0721 | 4:eabb7a738ff8 | 550 | motor_dir1 = 0; |
kenken0721 | 4:eabb7a738ff8 | 551 | motor_dir2 = 1; |
kenken0721 | 4:eabb7a738ff8 | 552 | motor_pwm = 0.15; |
kenken0721 | 4:eabb7a738ff8 | 553 | } |
kenken0721 | 4:eabb7a738ff8 | 554 | motor_dir1=1; |
kenken0721 | 4:eabb7a738ff8 | 555 | motor_dir2=1; |
kenken0721 | 4:eabb7a738ff8 | 556 | motor_pwm=0; |
kenken0721 | 4:eabb7a738ff8 | 557 | */ |
kenken0721 | 4:eabb7a738ff8 | 558 | //wait(1.0); |
kenken0721 | 4:eabb7a738ff8 | 559 | servo_hand.move(hand_tsukami_degree); |
kenken0721 | 4:eabb7a738ff8 | 560 | |
kenken0721 | 4:eabb7a738ff8 | 561 | //wait(1.0); |
kenken0721 | 4:eabb7a738ff8 | 562 | servo2.move(koshi_nage_degree); |
kenken0721 | 4:eabb7a738ff8 | 563 | //servo1.move(hiji_tsukami_degree); |
kenken0721 | 4:eabb7a738ff8 | 564 | } |
kenken0721 | 4:eabb7a738ff8 | 565 | |
kenken0721 | 4:eabb7a738ff8 | 566 | void touteki(float armpower ,int pos, bool thro_mode){ |
kenken0721 | 4:eabb7a738ff8 | 567 | if(set_flag == true){ |
kenken0721 | 4:eabb7a738ff8 | 568 | timer.start(); |
kenken0721 | 4:eabb7a738ff8 | 569 | } |
kenken0721 | 4:eabb7a738ff8 | 570 | int times = timer.read(); |
kenken0721 | 4:eabb7a738ff8 | 571 | //wait(1.0); |
kenken0721 | 4:eabb7a738ff8 | 572 | if(times >= 1.0 && times < 2.0){ |
kenken0721 | 4:eabb7a738ff8 | 573 | servo_hand.move(hand_uke_degree); |
kenken0721 | 4:eabb7a738ff8 | 574 | } |
kenken0721 | 4:eabb7a738ff8 | 575 | //wait(1.0); |
kenken0721 | 4:eabb7a738ff8 | 576 | //lamp = 0.0; |
kenken0721 | 4:eabb7a738ff8 | 577 | |
kenken0721 | 4:eabb7a738ff8 | 578 | if(times >= 2.0 && times < 3.0){ |
kenken0721 | 4:eabb7a738ff8 | 579 | servo1.move(hiji_nage_degree); |
kenken0721 | 4:eabb7a738ff8 | 580 | } |
kenken0721 | 4:eabb7a738ff8 | 581 | |
kenken0721 | 4:eabb7a738ff8 | 582 | //wait(1.0); |
kenken0721 | 4:eabb7a738ff8 | 583 | if(times >= 3.0 && times < 5.0){ |
kenken0721 | 4:eabb7a738ff8 | 584 | lamp = 0.0; |
kenken0721 | 4:eabb7a738ff8 | 585 | while(Enc_Arm.read_rotate() < pos) { |
kenken0721 | 4:eabb7a738ff8 | 586 | motor_dir1 = 0; |
kenken0721 | 4:eabb7a738ff8 | 587 | motor_dir2 = 1; |
kenken0721 | 4:eabb7a738ff8 | 588 | motor_pwm = 0.15; |
kenken0721 | 4:eabb7a738ff8 | 589 | } |
kenken0721 | 4:eabb7a738ff8 | 590 | } |
kenken0721 | 4:eabb7a738ff8 | 591 | motor_dir1=1; |
kenken0721 | 4:eabb7a738ff8 | 592 | motor_dir2=1; |
kenken0721 | 4:eabb7a738ff8 | 593 | motor_pwm=0; |
kenken0721 | 4:eabb7a738ff8 | 594 | //wait(2.0); |
kenken0721 | 4:eabb7a738ff8 | 595 | //----投てき------------------------- |
kenken0721 | 5:c5a2a5cf600d | 596 | if(thro_mode == 0.0){ |
kenken0721 | 5:c5a2a5cf600d | 597 | if(times >= 5.0 && times < 6.0){ |
kenken0721 | 5:c5a2a5cf600d | 598 | motor_dir1 = 0; |
kenken0721 | 5:c5a2a5cf600d | 599 | motor_dir2 = 1; |
kenken0721 | 5:c5a2a5cf600d | 600 | motor_pwm = armpower; |
kenken0721 | 5:c5a2a5cf600d | 601 | } |
kenken0721 | 5:c5a2a5cf600d | 602 | }else if(thro_mode == 1.0){ |
kenken0721 | 5:c5a2a5cf600d | 603 | if(times >= 5.0 && times < 5.5){ |
kenken0721 | 5:c5a2a5cf600d | 604 | dpin = 1.0; |
kenken0721 | 5:c5a2a5cf600d | 605 | }else{ |
kenken0721 | 5:c5a2a5cf600d | 606 | dpin = 0.0; |
kenken0721 | 5:c5a2a5cf600d | 607 | } |
kenken0721 | 4:eabb7a738ff8 | 608 | } |
kenken0721 | 4:eabb7a738ff8 | 609 | //wait(1.0); |
kenken0721 | 4:eabb7a738ff8 | 610 | if(times >= 6.0 && times <7.0){ |
kenken0721 | 4:eabb7a738ff8 | 611 | motor_pwm = 0.0; |
kenken0721 | 4:eabb7a738ff8 | 612 | motor_dir1 = 0; |
kenken0721 | 4:eabb7a738ff8 | 613 | motor_dir2 = 0; |
kenken0721 | 4:eabb7a738ff8 | 614 | buzzer = 0; |
kenken0721 | 4:eabb7a738ff8 | 615 | lamp = 1.0; |
kenken0721 | 4:eabb7a738ff8 | 616 | set_flag = false; |
kenken0721 | 4:eabb7a738ff8 | 617 | timer.reset(); |
kenken0721 | 4:eabb7a738ff8 | 618 | timer.stop(); |
kenken0721 | 4:eabb7a738ff8 | 619 | } |
kenken0721 | 4:eabb7a738ff8 | 620 | } |
kenken0721 | 4:eabb7a738ff8 | 621 | |
kenken0721 | 2:c5996dd62e9c | 622 | void LineCheck(int dmode){ |
kenken0721 | 2:c5996dd62e9c | 623 | if(dmode == STRAIGHT){ |
kenken0721 | 2:c5996dd62e9c | 624 | if(linedata_1[1] == 1){ |
kenken0721 | 2:c5996dd62e9c | 625 | ontheline = true; |
kenken0721 | 2:c5996dd62e9c | 626 | tar_y_dist = y_dist; |
kenken0721 | 2:c5996dd62e9c | 627 | } |
kenken0721 | 2:c5996dd62e9c | 628 | if(ontheline == true){ |
kenken0721 | 3:aaa2fde4fafd | 629 | if((y_dist - tar_y_dist) >= Y_STOP_DIST){ |
kenken0721 | 2:c5996dd62e9c | 630 | ontheline = false; |
kenken0721 | 2:c5996dd62e9c | 631 | crosscount++; |
kenken0721 | 2:c5996dd62e9c | 632 | } |
kenken0721 | 2:c5996dd62e9c | 633 | } |
kenken0721 | 2:c5996dd62e9c | 634 | }else if(dmode == RIGHT){ |
kenken0721 | 3:aaa2fde4fafd | 635 | if(linedata_2[1] == 1){ |
kenken0721 | 3:aaa2fde4fafd | 636 | ontheline = true; |
kenken0721 | 3:aaa2fde4fafd | 637 | tar_x_dist = x_dist; |
kenken0721 | 3:aaa2fde4fafd | 638 | } |
kenken0721 | 2:c5996dd62e9c | 639 | if(ontheline == true){ |
kenken0721 | 3:aaa2fde4fafd | 640 | if((x_dist - tar_x_dist) >= X_STOP_DIST){ |
kenken0721 | 2:c5996dd62e9c | 641 | ontheline = false; |
kenken0721 | 2:c5996dd62e9c | 642 | crosscount++; |
kenken0721 | 2:c5996dd62e9c | 643 | } |
kenken0721 | 2:c5996dd62e9c | 644 | } |
kenken0721 | 2:c5996dd62e9c | 645 | }else if(dmode == LEFT){ |
kenken0721 | 3:aaa2fde4fafd | 646 | if(linedata_3[1] == 1){ |
kenken0721 | 3:aaa2fde4fafd | 647 | ontheline = true; |
kenken0721 | 3:aaa2fde4fafd | 648 | tar_x_dist = x_dist; |
kenken0721 | 3:aaa2fde4fafd | 649 | } |
kenken0721 | 2:c5996dd62e9c | 650 | if(ontheline == true){ |
kenken0721 | 3:aaa2fde4fafd | 651 | if((tar_x_dist - x_dist) >= X_STOP_DIST){ |
kenken0721 | 2:c5996dd62e9c | 652 | ontheline = false; |
kenken0721 | 2:c5996dd62e9c | 653 | crosscount++; |
kenken0721 | 2:c5996dd62e9c | 654 | } |
kenken0721 | 2:c5996dd62e9c | 655 | } |
kenken0721 | 2:c5996dd62e9c | 656 | } |
kenken0721 | 2:c5996dd62e9c | 657 | } |
kenken0721 | 0:f6828b914b1c | 658 | |
kenken0721 | 2:c5996dd62e9c | 659 | void linecheck(char *buff, int data[2]){ |
kenken0721 | 0:f6828b914b1c | 660 | if(buff[0] == 24){ |
kenken0721 | 2:c5996dd62e9c | 661 | data[0] = 0; |
kenken0721 | 2:c5996dd62e9c | 662 | data[1] = 0; |
kenken0721 | 0:f6828b914b1c | 663 | }else if(buff[0] == 56){ |
kenken0721 | 2:c5996dd62e9c | 664 | data[0] = 1; |
kenken0721 | 2:c5996dd62e9c | 665 | data[1] = 0; |
kenken0721 | 0:f6828b914b1c | 666 | }else if(buff[0] == 48){ |
kenken0721 | 2:c5996dd62e9c | 667 | data[0] = 2; |
kenken0721 | 2:c5996dd62e9c | 668 | data[1] = 0; |
kenken0721 | 0:f6828b914b1c | 669 | }else if(buff[0] == 112){ |
kenken0721 | 2:c5996dd62e9c | 670 | data[0] = 3; |
kenken0721 | 2:c5996dd62e9c | 671 | data[1] = 0; |
kenken0721 | 0:f6828b914b1c | 672 | }else if(buff[0] == 96){ |
kenken0721 | 2:c5996dd62e9c | 673 | data[0] = 4; |
kenken0721 | 2:c5996dd62e9c | 674 | data[1] = 0; |
kenken0721 | 0:f6828b914b1c | 675 | }else if(buff[0] == 224){ |
kenken0721 | 2:c5996dd62e9c | 676 | data[0] = 5; |
kenken0721 | 2:c5996dd62e9c | 677 | data[1] = 0; |
kenken0721 | 0:f6828b914b1c | 678 | }else if(buff[0] == 192){ |
kenken0721 | 2:c5996dd62e9c | 679 | data[0] = 6; |
kenken0721 | 2:c5996dd62e9c | 680 | data[1] = 0; |
kenken0721 | 0:f6828b914b1c | 681 | }else if(buff[0] == 128){ |
kenken0721 | 2:c5996dd62e9c | 682 | data[0] = 7; |
kenken0721 | 2:c5996dd62e9c | 683 | data[1] = 0; |
kenken0721 | 0:f6828b914b1c | 684 | }else if(buff[0] == 28){ |
kenken0721 | 2:c5996dd62e9c | 685 | data[0] = -1; |
kenken0721 | 2:c5996dd62e9c | 686 | data[1] = 0; |
kenken0721 | 0:f6828b914b1c | 687 | }else if(buff[0] == 12){ |
kenken0721 | 2:c5996dd62e9c | 688 | data[0] = -2; |
kenken0721 | 2:c5996dd62e9c | 689 | data[1] = 0; |
kenken0721 | 0:f6828b914b1c | 690 | }else if(buff[0] == 14){ |
kenken0721 | 2:c5996dd62e9c | 691 | data[0] = -3; |
kenken0721 | 2:c5996dd62e9c | 692 | data[1] = 0; |
kenken0721 | 0:f6828b914b1c | 693 | }else if(buff[0] == 6){ |
kenken0721 | 2:c5996dd62e9c | 694 | data[0] = -4; |
kenken0721 | 2:c5996dd62e9c | 695 | data[1] = 0; |
kenken0721 | 0:f6828b914b1c | 696 | }else if(buff[0] == 7){ |
kenken0721 | 2:c5996dd62e9c | 697 | data[0] = -5; |
kenken0721 | 2:c5996dd62e9c | 698 | data[1] = 0; |
kenken0721 | 0:f6828b914b1c | 699 | }else if(buff[0] == 3){ |
kenken0721 | 2:c5996dd62e9c | 700 | data[0] = -6; |
kenken0721 | 2:c5996dd62e9c | 701 | data[1] = 0; |
kenken0721 | 0:f6828b914b1c | 702 | }else if(buff[0] == 1){ |
kenken0721 | 2:c5996dd62e9c | 703 | data[0] = -7; |
kenken0721 | 2:c5996dd62e9c | 704 | data[1] = 0; |
kenken0721 | 2:c5996dd62e9c | 705 | }else if(buff[0] == 255){ |
kenken0721 | 2:c5996dd62e9c | 706 | data[0] = prelinedata; |
kenken0721 | 2:c5996dd62e9c | 707 | data[1] = 1; |
kenken0721 | 2:c5996dd62e9c | 708 | }else if(buff[0] == 0){ |
kenken0721 | 2:c5996dd62e9c | 709 | data[0] = prelinedata; |
kenken0721 | 2:c5996dd62e9c | 710 | data[1] = 0; |
kenken0721 | 0:f6828b914b1c | 711 | }else{ |
kenken0721 | 2:c5996dd62e9c | 712 | data[0] = prelinedata; |
kenken0721 | 2:c5996dd62e9c | 713 | data[1] = 0; |
kenken0721 | 0:f6828b914b1c | 714 | } |
kenken0721 | 2:c5996dd62e9c | 715 | prelinedata = data[0]; |
kenken0721 | 3:aaa2fde4fafd | 716 | } |