ケンタ ミヤザキ
Dependencies: PID Serialservo TCS3200 XQ_servo encoder encoder2 mbed moter
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nhk_2018_undercarry_test09
by 
ケンタ ミヤザキ
main.cpp@10:01aa50804d85, 2018-04-15 (annotated)
- Committer:
- kenken0721
- Date:
- Sun Apr 15 00:36:15 2018 +0000
- Revision:
- 10:01aa50804d85
- Parent:
- 9:0c1fce6d8094
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 | 6:ff7fd6556a81 | 28 | DigitalOut throwing_relay(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 | 7:f1a924244b76 | 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 | 0:f6828b914b1c | 39 | PwmOut pwm_pins[] = { |
| kenken0721 | 0:f6828b914b1c | 40 | PwmOut( PC_8 ), |
| kenken0721 | 0:f6828b914b1c | 41 | PwmOut( PC_6 ), |
| kenken0721 | 0:f6828b914b1c | 42 | PwmOut( PB_14 ), |
| kenken0721 | 0:f6828b914b1c | 43 | PwmOut( PB_13 ) |
| kenken0721 | 0:f6828b914b1c | 44 | }; |
| kenken0721 | 0:f6828b914b1c | 45 | |
| kenken0721 | 0:f6828b914b1c | 46 | DigitalOut dir_pins_1[] = { |
| kenken0721 | 0:f6828b914b1c | 47 | DigitalOut( PC_5 ), |
| kenken0721 | 0:f6828b914b1c | 48 | DigitalOut( PA_7 ), |
| kenken0721 | 2:c5996dd62e9c | 49 | DigitalOut( PB_6 ), |
| kenken0721 | 2:c5996dd62e9c | 50 | DigitalOut( PB_1) |
| kenken0721 | 0:f6828b914b1c | 51 | }; |
| kenken0721 | 0:f6828b914b1c | 52 | |
| kenken0721 | 0:f6828b914b1c | 53 | DigitalOut dir_pins_2[] = { |
| kenken0721 | 0:f6828b914b1c | 54 | DigitalOut( PB_12 ), |
| kenken0721 | 0:f6828b914b1c | 55 | DigitalOut( PA_6 ), |
| kenken0721 | 2:c5996dd62e9c | 56 | DigitalOut( PC_7 ), |
| kenken0721 | 2:c5996dd62e9c | 57 | DigitalOut( PB_15) |
| kenken0721 | 0:f6828b914b1c | 58 | }; |
| kenken0721 | 0:f6828b914b1c | 59 | |
| kenken0721 | 6:ff7fd6556a81 | 60 | |
| kenken0721 | 6:ff7fd6556a81 | 61 | void linecheck(char *buff ,int data[2]); |
| kenken0721 | 6:ff7fd6556a81 | 62 | void LineCheck(int dmode); |
| kenken0721 | 7:f1a924244b76 | 63 | void Linecount(void); |
| kenken0721 | 6:ff7fd6556a81 | 64 | void syokikanomai(void); |
| kenken0721 | 6:ff7fd6556a81 | 65 | void syokikanomai2(void); |
| kenken0721 | 6:ff7fd6556a81 | 66 | void touteki(float armpower, int pos, bool thro_mode); |
| kenken0721 | 9:0c1fce6d8094 | 67 | void yellow_throwing(void); |
| kenken0721 | 9:0c1fce6d8094 | 68 | void Linecount2(void); |
| kenken0721 | 6:ff7fd6556a81 | 69 | |
| kenken0721 | 9:0c1fce6d8094 | 70 | bool set_pos_flag_2 = false; |
| kenken0721 | 8:91a72648f312 | 71 | bool set_pos_flag = false; |
| kenken0721 | 8:91a72648f312 | 72 | bool redthrowing = false; |
| kenken0721 | 7:f1a924244b76 | 73 | bool yellow_throw_flag = false; |
| kenken0721 | 7:f1a924244b76 | 74 | bool taiki_flag = false; |
| kenken0721 | 2:c5996dd62e9c | 75 | int crosscount = 0; |
| kenken0721 | 0:f6828b914b1c | 76 | bool mode = true;//trueでラジコン、falseでオート |
| kenken0721 | 0:f6828b914b1c | 77 | bool stopflag = true;//trueで機体停止 |
| kenken0721 | 0:f6828b914b1c | 78 | double power = POWER; |
| kenken0721 | 0:f6828b914b1c | 79 | int kbtread = 0; |
| kenken0721 | 0:f6828b914b1c | 80 | int count = 0; |
| kenken0721 | 0:f6828b914b1c | 81 | int counter = 0; |
| kenken0721 | 2:c5996dd62e9c | 82 | int linedata_1[2] = {0}; |
| kenken0721 | 2:c5996dd62e9c | 83 | int linedata_2[2] = {0}; |
| kenken0721 | 2:c5996dd62e9c | 84 | int linedata_3[2] = {0}; |
| kenken0721 | 0:f6828b914b1c | 85 | int prelinedata = 0; |
| kenken0721 | 0:f6828b914b1c | 86 | double output = 0.0; |
| kenken0721 | 1:f4dbd6b9cc27 | 87 | char buff1[2]; |
| kenken0721 | 1:f4dbd6b9cc27 | 88 | char buff2[2]; |
| kenken0721 | 1:f4dbd6b9cc27 | 89 | char buff3[2]; |
| kenken0721 | 1:f4dbd6b9cc27 | 90 | float x_dist = 0.0; |
| kenken0721 | 1:f4dbd6b9cc27 | 91 | float y_dist = 0.0; |
| kenken0721 | 2:c5996dd62e9c | 92 | float tar_x_dist = 0.0; |
| kenken0721 | 7:f1a924244b76 | 93 | float tar_x_dist_2 = 0.0; |
| kenken0721 | 9:0c1fce6d8094 | 94 | float tar_x_dist_3 = 0.0; |
| kenken0721 | 2:c5996dd62e9c | 95 | float tar_y_dist = 0.0; |
| kenken0721 | 2:c5996dd62e9c | 96 | bool ontheline = false; |
| kenken0721 | 2:c5996dd62e9c | 97 | int directmode = STRAIGHT; |
| kenken0721 | 3:aaa2fde4fafd | 98 | int state = START; |
| kenken0721 | 3:aaa2fde4fafd | 99 | int times = 0; |
| kenken0721 | 4:eabb7a738ff8 | 100 | int redcount = 0; |
| kenken0721 | 4:eabb7a738ff8 | 101 | int bluecount = 0; |
| kenken0721 | 4:eabb7a738ff8 | 102 | int yellowcount = 0; |
| kenken0721 | 4:eabb7a738ff8 | 103 | bool syokika_flag=false; |
| kenken0721 | 4:eabb7a738ff8 | 104 | bool set_flag = false; |
| kenken0721 | 4:eabb7a738ff8 | 105 | int encoder_count = 1000; |
| kenken0721 | 7:f1a924244b76 | 106 | int linecountcheck = false; |
| kenken0721 | 4:eabb7a738ff8 | 107 | |
| kenken0721 | 3:aaa2fde4fafd | 108 | int main() { |
| kenken0721 | 3:aaa2fde4fafd | 109 | timer.reset(); |
| kenken0721 | 3:aaa2fde4fafd | 110 | timer.stop(); |
| kenken0721 | 6:ff7fd6556a81 | 111 | throwing_relay=0; |
| kenken0721 | 4:eabb7a738ff8 | 112 | lamp=1; |
| kenken0721 | 9:0c1fce6d8094 | 113 | air=0.0; |
| kenken0721 | 4:eabb7a738ff8 | 114 | buzzer = 0.0; |
| kenken0721 | 4:eabb7a738ff8 | 115 | micro_switch.mode(PullUp); |
| kenken0721 | 4:eabb7a738ff8 | 116 | motor_pwm=0; |
| kenken0721 | 6:ff7fd6556a81 | 117 | motor_dir1=1; |
| kenken0721 | 4:eabb7a738ff8 | 118 | motor_dir2=1; |
| kenken0721 | 6:ff7fd6556a81 | 119 | servo1.init(0);//アーム |
| kenken0721 | 6:ff7fd6556a81 | 120 | servo2.init(1);//回転軸 |
| kenken0721 | 1:f4dbd6b9cc27 | 121 | S_pid.init(); |
| kenken0721 | 3:aaa2fde4fafd | 122 | R_pid.init(); |
| kenken0721 | 3:aaa2fde4fafd | 123 | L_pid.init(); |
| kenken0721 | 1:f4dbd6b9cc27 | 124 | pwm_pins[0].period(0.00005); |
| kenken0721 | 1:f4dbd6b9cc27 | 125 | pwm_pins[1].period(0.00005); |
| kenken0721 | 1:f4dbd6b9cc27 | 126 | pwm_pins[2].period(0.00005); |
| kenken0721 | 1:f4dbd6b9cc27 | 127 | pwm_pins[3].period(0.00005); |
| kenken0721 | 4:eabb7a738ff8 | 128 | motor_pwm.period(0.00005); |
| kenken0721 | 6:ff7fd6556a81 | 129 | //------通信スピード---------------------------------------------- |
| kenken0721 | 3:aaa2fde4fafd | 130 | pc.baud(115200); |
| kenken0721 | 2:c5996dd62e9c | 131 | kbtpc.baud(9600); |
| kenken0721 | 2:c5996dd62e9c | 132 | master.frequency(100000); |
| kenken0721 | 6:ff7fd6556a81 | 133 | lamp = 1.0; |
| kenken0721 | 6:ff7fd6556a81 | 134 | //-------初期化------------------------------------------------- |
| kenken0721 | 10:01aa50804d85 | 135 | syokikanomai();//初期位置 |
| kenken0721 | 4:eabb7a738ff8 | 136 | buzzer = 0; |
| kenken0721 | 6:ff7fd6556a81 | 137 | //-----------メインループ---------------------------------------- |
| kenken0721 | 1:f4dbd6b9cc27 | 138 | while (true) { |
| kenken0721 | 7:f1a924244b76 | 139 | if(directmode == STRAIGHT){ |
| kenken0721 | 7:f1a924244b76 | 140 | master.read(addr1,buff1,2); |
| kenken0721 | 7:f1a924244b76 | 141 | linecheck(buff1,linedata_1); |
| kenken0721 | 7:f1a924244b76 | 142 | }else if(directmode == RIGHT){ |
| kenken0721 | 7:f1a924244b76 | 143 | master.read(addr2,buff2,2); |
| kenken0721 | 7:f1a924244b76 | 144 | linecheck(buff2,linedata_2); |
| kenken0721 | 7:f1a924244b76 | 145 | }else if(directmode == LEFT){ |
| kenken0721 | 7:f1a924244b76 | 146 | master.read(addr3,buff3,2); |
| kenken0721 | 7:f1a924244b76 | 147 | linecheck(buff3,linedata_3); |
| kenken0721 | 7:f1a924244b76 | 148 | } |
| kenken0721 | 7:f1a924244b76 | 149 | |
| kenken0721 | 2:c5996dd62e9c | 150 | x_dist = Enc_Carry_X.read_rotate(); |
| kenken0721 | 2:c5996dd62e9c | 151 | y_dist = Enc_Carry_Y.read_rotate(); |
| kenken0721 | 10:01aa50804d85 | 152 | |
| kenken0721 | 10:01aa50804d85 | 153 | //PCからの命令 |
| kenken0721 | 3:aaa2fde4fafd | 154 | kbtpc.putc(state); |
| kenken0721 | 1:f4dbd6b9cc27 | 155 | if(kbtpc.readable()){ |
| kenken0721 | 1:f4dbd6b9cc27 | 156 | kbtread = kbtpc.getc(); |
| kenken0721 | 1:f4dbd6b9cc27 | 157 | } |
| kenken0721 | 1:f4dbd6b9cc27 | 158 | if(kbtread == 255){ |
| kenken0721 | 10:01aa50804d85 | 159 | mode = true;// |
| kenken0721 | 1:f4dbd6b9cc27 | 160 | }else if(kbtread == 150){ |
| kenken0721 | 1:f4dbd6b9cc27 | 161 | mode = false; |
| kenken0721 | 1:f4dbd6b9cc27 | 162 | }else if(kbtread == 100){ |
| kenken0721 | 1:f4dbd6b9cc27 | 163 | stopflag = true; |
| kenken0721 | 1:f4dbd6b9cc27 | 164 | }else if(kbtread == 200){ |
| kenken0721 | 1:f4dbd6b9cc27 | 165 | stopflag = false; |
| kenken0721 | 2:c5996dd62e9c | 166 | }else if(kbtread == STRAIGHT){ |
| kenken0721 | 2:c5996dd62e9c | 167 | directmode = STRAIGHT; |
| kenken0721 | 2:c5996dd62e9c | 168 | }else if(kbtread == RIGHT){ |
| kenken0721 | 2:c5996dd62e9c | 169 | directmode = RIGHT; |
| kenken0721 | 2:c5996dd62e9c | 170 | }else if(kbtread == LEFT){ |
| kenken0721 | 2:c5996dd62e9c | 171 | directmode = LEFT; |
| kenken0721 | 3:aaa2fde4fafd | 172 | }else if(kbtread == START){ |
| kenken0721 | 3:aaa2fde4fafd | 173 | state = START; |
| kenken0721 | 8:91a72648f312 | 174 | }else if(kbtread == STAND_BY_1){ |
| kenken0721 | 8:91a72648f312 | 175 | state = STAND_BY_1; |
| kenken0721 | 8:91a72648f312 | 176 | }else if(kbtread == YELLOW_RECEIVE){ |
| kenken0721 | 8:91a72648f312 | 177 | state = YELLOW_RECEIVE; |
| kenken0721 | 8:91a72648f312 | 178 | crosscount = 5; |
| kenken0721 | 9:0c1fce6d8094 | 179 | air = 1.0; |
| kenken0721 | 9:0c1fce6d8094 | 180 | }else if(kbtread == STAND_BY_2){ |
| kenken0721 | 9:0c1fce6d8094 | 181 | state = STAND_BY_2; |
| kenken0721 | 9:0c1fce6d8094 | 182 | crosscount = 0;; |
| kenken0721 | 1:f4dbd6b9cc27 | 183 | } |
| kenken0721 | 8:91a72648f312 | 184 | |
| kenken0721 | 1:f4dbd6b9cc27 | 185 | //--------------手動-------------------------------------- |
| kenken0721 | 1:f4dbd6b9cc27 | 186 | if(mode == true){ |
| kenken0721 | 1:f4dbd6b9cc27 | 187 | led2 = 1.0; |
| kenken0721 | 2:c5996dd62e9c | 188 | if(kbtread == STRAIGHT){ |
| kenken0721 | 1:f4dbd6b9cc27 | 189 | Straight(power, power, pwm_pins, dir_pins_1, dir_pins_2); |
| kenken0721 | 2:c5996dd62e9c | 190 | }else if(kbtread == BACK){ |
| kenken0721 | 1:f4dbd6b9cc27 | 191 | Back(power, power, pwm_pins, dir_pins_1, dir_pins_2); |
| kenken0721 | 2:c5996dd62e9c | 192 | }else if(kbtread == RIGHT){ |
| kenken0721 | 1:f4dbd6b9cc27 | 193 | Right(power, power, pwm_pins, dir_pins_1, dir_pins_2); |
| kenken0721 | 2:c5996dd62e9c | 194 | }else if(kbtread == LEFT){ |
| kenken0721 | 1:f4dbd6b9cc27 | 195 | Left(power, power, pwm_pins, dir_pins_1, dir_pins_2); |
| kenken0721 | 1:f4dbd6b9cc27 | 196 | }else{ |
| kenken0721 | 1:f4dbd6b9cc27 | 197 | Stop(pwm_pins, dir_pins_1, dir_pins_2); |
| kenken0721 | 1:f4dbd6b9cc27 | 198 | } |
| kenken0721 | 1:f4dbd6b9cc27 | 199 | //--------------自動--------------------------------- |
| kenken0721 | 1:f4dbd6b9cc27 | 200 | }else if(mode == false){ |
| kenken0721 | 1:f4dbd6b9cc27 | 201 | led2 = 0.0; |
| kenken0721 | 1:f4dbd6b9cc27 | 202 | if(stopflag == true){ |
| kenken0721 | 1:f4dbd6b9cc27 | 203 | Stop(pwm_pins, dir_pins_1, dir_pins_2); |
| kenken0721 | 1:f4dbd6b9cc27 | 204 | }else{ |
| kenken0721 | 2:c5996dd62e9c | 205 | LineCheck(directmode); |
| kenken0721 | 3:aaa2fde4fafd | 206 | switch(state){ |
| kenken0721 | 4:eabb7a738ff8 | 207 | //------------------初期位置から待機位置1------------------------------------------ |
| kenken0721 | 3:aaa2fde4fafd | 208 | case START: |
| kenken0721 | 3:aaa2fde4fafd | 209 | if(crosscount == 0){ |
| kenken0721 | 9:0c1fce6d8094 | 210 | directmode = LEFT; |
| kenken0721 | 9:0c1fce6d8094 | 211 | Linecount2(); |
| kenken0721 | 9:0c1fce6d8094 | 212 | }else if(crosscount == 1){ |
| kenken0721 | 3:aaa2fde4fafd | 213 | directmode = STRAIGHT; |
| kenken0721 | 9:0c1fce6d8094 | 214 | }else if(crosscount == 2){ |
| kenken0721 | 6:ff7fd6556a81 | 215 | if(directmode == STRAIGHT){ |
| kenken0721 | 6:ff7fd6556a81 | 216 | directmode = LEFT; |
| kenken0721 | 6:ff7fd6556a81 | 217 | prelinedata = 0; |
| kenken0721 | 6:ff7fd6556a81 | 218 | }else if(directmode == LEFT){ |
| kenken0721 | 6:ff7fd6556a81 | 219 | directmode = LEFT; |
| kenken0721 | 7:f1a924244b76 | 220 | Linecount(); |
| kenken0721 | 6:ff7fd6556a81 | 221 | } |
| kenken0721 | 9:0c1fce6d8094 | 222 | }else if(crosscount == 3){ |
| kenken0721 | 3:aaa2fde4fafd | 223 | directmode = STOP; |
| kenken0721 | 3:aaa2fde4fafd | 224 | state = STAND_BY_1; |
| kenken0721 | 3:aaa2fde4fafd | 225 | crosscount = 0; |
| kenken0721 | 3:aaa2fde4fafd | 226 | prelinedata = 0; |
| kenken0721 | 3:aaa2fde4fafd | 227 | } |
| kenken0721 | 3:aaa2fde4fafd | 228 | break; |
| kenken0721 | 4:eabb7a738ff8 | 229 | //------------------待機位置1---------------------------------------------------- |
| kenken0721 | 3:aaa2fde4fafd | 230 | case STAND_BY_1: |
| kenken0721 | 3:aaa2fde4fafd | 231 | crosscount = 0; |
| kenken0721 | 3:aaa2fde4fafd | 232 | directmode = STOP; |
| kenken0721 | 9:0c1fce6d8094 | 233 | |
| kenken0721 | 4:eabb7a738ff8 | 234 | if(distance == 1.0){ |
| kenken0721 | 8:91a72648f312 | 235 | if(redthrowing == false){ |
| kenken0721 | 8:91a72648f312 | 236 | if(redIn == 1.0){ |
| kenken0721 | 8:91a72648f312 | 237 | buzzer = 1.0; |
| kenken0721 | 8:91a72648f312 | 238 | redcount++; |
| kenken0721 | 8:91a72648f312 | 239 | }else { |
| kenken0721 | 8:91a72648f312 | 240 | buzzer = 0.0; |
| kenken0721 | 8:91a72648f312 | 241 | } |
| kenken0721 | 8:91a72648f312 | 242 | }else if(redthrowing == true){ |
| kenken0721 | 8:91a72648f312 | 243 | if(redIn == 1.0){ |
| kenken0721 | 8:91a72648f312 | 244 | buzzer = 1.0; |
| kenken0721 | 8:91a72648f312 | 245 | bluecount++; |
| kenken0721 | 8:91a72648f312 | 246 | }else { |
| kenken0721 | 8:91a72648f312 | 247 | buzzer = 0.0; |
| kenken0721 | 8:91a72648f312 | 248 | } |
| kenken0721 | 4:eabb7a738ff8 | 249 | } |
| kenken0721 | 9:0c1fce6d8094 | 250 | if(redcount >= 200 ){ |
| kenken0721 | 8:91a72648f312 | 251 | buzzer = 0; |
| kenken0721 | 4:eabb7a738ff8 | 252 | servo_hand.move(hand_tsukami_degree); |
| kenken0721 | 4:eabb7a738ff8 | 253 | servo1.move(hiji_tsukami_degree); |
| kenken0721 | 6:ff7fd6556a81 | 254 | servo1.move(hiji_tsukami_degree); |
| kenken0721 | 9:0c1fce6d8094 | 255 | }else if(bluecount >= 200){ |
| kenken0721 | 4:eabb7a738ff8 | 256 | servo_hand.move(hand_tsukami_degree); |
| kenken0721 | 4:eabb7a738ff8 | 257 | servo1.move(hiji_tsukami_degree); |
| kenken0721 | 6:ff7fd6556a81 | 258 | servo1.move(hiji_tsukami_degree); |
| kenken0721 | 9:0c1fce6d8094 | 259 | } |
| kenken0721 | 9:0c1fce6d8094 | 260 | } |
| kenken0721 | 9:0c1fce6d8094 | 261 | if(distance == 0.0 && redcount >= 200){ |
| kenken0721 | 9:0c1fce6d8094 | 262 | led2 = 1.0; |
| kenken0721 | 8:91a72648f312 | 263 | servo2.move(koshi_red_nage_degree); |
| kenken0721 | 8:91a72648f312 | 264 | servo2.move(koshi_red_nage_degree); |
| kenken0721 | 3:aaa2fde4fafd | 265 | state = RED_RECEIVE; |
| kenken0721 | 4:eabb7a738ff8 | 266 | directmode = STOP; |
| kenken0721 | 4:eabb7a738ff8 | 267 | redcount = 0; |
| kenken0721 | 4:eabb7a738ff8 | 268 | crosscount = 0; |
| kenken0721 | 9:0c1fce6d8094 | 269 | }else if(distance == 0.0 && bluecount >= 200){ |
| kenken0721 | 8:91a72648f312 | 270 | servo2.move(koshi_blue_nage_degree); |
| kenken0721 | 8:91a72648f312 | 271 | servo2.move(koshi_blue_nage_degree); |
| kenken0721 | 4:eabb7a738ff8 | 272 | state = BLUE_RECEIVE_1; |
| kenken0721 | 4:eabb7a738ff8 | 273 | directmode = STOP; |
| kenken0721 | 4:eabb7a738ff8 | 274 | bluecount = 0; |
| kenken0721 | 4:eabb7a738ff8 | 275 | crosscount = 0; |
| kenken0721 | 4:eabb7a738ff8 | 276 | } |
| kenken0721 | 3:aaa2fde4fafd | 277 | break; |
| kenken0721 | 4:eabb7a738ff8 | 278 | //------------------待機位置1から投てき位置1---------------------------------------- |
| kenken0721 | 3:aaa2fde4fafd | 279 | case RED_RECEIVE: |
| kenken0721 | 9:0c1fce6d8094 | 280 | led2 = 1.0; |
| kenken0721 | 3:aaa2fde4fafd | 281 | if(crosscount == 0){ |
| kenken0721 | 3:aaa2fde4fafd | 282 | directmode = LEFT; |
| kenken0721 | 4:eabb7a738ff8 | 283 | }else if(crosscount == 1){ |
| kenken0721 | 3:aaa2fde4fafd | 284 | directmode = STOP; |
| kenken0721 | 3:aaa2fde4fafd | 285 | prelinedata = 0; |
| kenken0721 | 10:01aa50804d85 | 286 | touteki(1.0,RED_TOUTEKI,0); |
| kenken0721 | 7:f1a924244b76 | 287 | //syokikanomai2(); |
| kenken0721 | 4:eabb7a738ff8 | 288 | if(set_flag == false){ |
| kenken0721 | 3:aaa2fde4fafd | 289 | directmode = RIGHT; |
| kenken0721 | 8:91a72648f312 | 290 | Linecount(); |
| kenken0721 | 3:aaa2fde4fafd | 291 | } |
| kenken0721 | 3:aaa2fde4fafd | 292 | }else if(crosscount == 2){ |
| kenken0721 | 3:aaa2fde4fafd | 293 | directmode = STOP; |
| kenken0721 | 4:eabb7a738ff8 | 294 | syokikanomai2(); |
| kenken0721 | 4:eabb7a738ff8 | 295 | if(set_flag == true){ |
| kenken0721 | 4:eabb7a738ff8 | 296 | state = STAND_BY_1; |
| kenken0721 | 7:f1a924244b76 | 297 | //taiki_flag = false; |
| kenken0721 | 4:eabb7a738ff8 | 298 | crosscount = 0; |
| kenken0721 | 8:91a72648f312 | 299 | redthrowing = true; |
| kenken0721 | 4:eabb7a738ff8 | 300 | } |
| kenken0721 | 3:aaa2fde4fafd | 301 | } |
| kenken0721 | 3:aaa2fde4fafd | 302 | break; |
| kenken0721 | 4:eabb7a738ff8 | 303 | //------------------待機位置1から投てき位置2---------------------------------------- |
| kenken0721 | 3:aaa2fde4fafd | 304 | case BLUE_RECEIVE_1: |
| kenken0721 | 3:aaa2fde4fafd | 305 | if(crosscount == 0){ |
| kenken0721 | 3:aaa2fde4fafd | 306 | directmode = RIGHT; |
| kenken0721 | 3:aaa2fde4fafd | 307 | }else if(crosscount == 1){ |
| kenken0721 | 3:aaa2fde4fafd | 308 | directmode = STRAIGHT; |
| kenken0721 | 3:aaa2fde4fafd | 309 | }else if(crosscount == 2){ |
| kenken0721 | 3:aaa2fde4fafd | 310 | directmode = LEFT; |
| kenken0721 | 7:f1a924244b76 | 311 | Linecount(); |
| kenken0721 | 3:aaa2fde4fafd | 312 | }else if(crosscount == 3){ |
| kenken0721 | 3:aaa2fde4fafd | 313 | directmode = STOP; |
| kenken0721 | 3:aaa2fde4fafd | 314 | prelinedata = 0; |
| kenken0721 | 4:eabb7a738ff8 | 315 | state = BLUE_RECEIVE_2; |
| kenken0721 | 3:aaa2fde4fafd | 316 | crosscount = 0; |
| kenken0721 | 3:aaa2fde4fafd | 317 | } |
| kenken0721 | 3:aaa2fde4fafd | 318 | break; |
| kenken0721 | 4:eabb7a738ff8 | 319 | //------------------待機位置2---------------------------------------------------- |
| kenken0721 | 3:aaa2fde4fafd | 320 | case STAND_BY_2: |
| kenken0721 | 3:aaa2fde4fafd | 321 | crosscount = 0; |
| kenken0721 | 4:eabb7a738ff8 | 322 | directmode = STOP; |
| kenken0721 | 4:eabb7a738ff8 | 323 | if(distance == 1.0){ |
| kenken0721 | 9:0c1fce6d8094 | 324 | if(redIn == 1.0 && micro_switch == 1){ |
| kenken0721 | 4:eabb7a738ff8 | 325 | buzzer = 1.0; |
| kenken0721 | 4:eabb7a738ff8 | 326 | bluecount++; |
| kenken0721 | 7:f1a924244b76 | 327 | }else if(micro_switch == 0.0){ |
| kenken0721 | 4:eabb7a738ff8 | 328 | buzzer = 1.0; |
| kenken0721 | 4:eabb7a738ff8 | 329 | yellowcount++; |
| kenken0721 | 4:eabb7a738ff8 | 330 | }else{ |
| kenken0721 | 4:eabb7a738ff8 | 331 | buzzer = 0.0; |
| kenken0721 | 4:eabb7a738ff8 | 332 | } |
| kenken0721 | 9:0c1fce6d8094 | 333 | if(bluecount >= 200){ |
| kenken0721 | 5:c5a2a5cf600d | 334 | servo_hand.move(hand_tsukami_degree); |
| kenken0721 | 5:c5a2a5cf600d | 335 | servo1.move(hiji_tsukami_degree); |
| kenken0721 | 6:ff7fd6556a81 | 336 | servo1.move(hiji_tsukami_degree); |
| kenken0721 | 4:eabb7a738ff8 | 337 | }else if(yellowcount >= 500){ |
| kenken0721 | 9:0c1fce6d8094 | 338 | air = 1.0; |
| kenken0721 | 4:eabb7a738ff8 | 339 | } |
| kenken0721 | 9:0c1fce6d8094 | 340 | }else if(distance == 0.0 && bluecount >= 200){ |
| kenken0721 | 8:91a72648f312 | 341 | servo2.move(koshi_blue_nage_degree); |
| kenken0721 | 8:91a72648f312 | 342 | servo2.move(koshi_blue_nage_degree); |
| kenken0721 | 4:eabb7a738ff8 | 343 | state = BLUE_RECEIVE_2; |
| kenken0721 | 4:eabb7a738ff8 | 344 | directmode = STOP; |
| kenken0721 | 4:eabb7a738ff8 | 345 | bluecount = 0; |
| kenken0721 | 4:eabb7a738ff8 | 346 | crosscount = 0; |
| kenken0721 | 9:0c1fce6d8094 | 347 | buzzer = 0.0; |
| kenken0721 | 9:0c1fce6d8094 | 348 | } |
| kenken0721 | 9:0c1fce6d8094 | 349 | if(yellowcount >= 1000){ |
| kenken0721 | 7:f1a924244b76 | 350 | state = YELLOW_RECEIVE; |
| kenken0721 | 8:91a72648f312 | 351 | buzzer = 0.0; |
| kenken0721 | 7:f1a924244b76 | 352 | directmode = STOP; |
| kenken0721 | 7:f1a924244b76 | 353 | yellowcount = 0; |
| kenken0721 | 7:f1a924244b76 | 354 | crosscount = 0; |
| kenken0721 | 4:eabb7a738ff8 | 355 | } |
| kenken0721 | 3:aaa2fde4fafd | 356 | break; |
| kenken0721 | 4:eabb7a738ff8 | 357 | //------------------投てき位置2--------------------------------------------------- |
| kenken0721 | 3:aaa2fde4fafd | 358 | case BLUE_RECEIVE_2: |
| kenken0721 | 3:aaa2fde4fafd | 359 | if(crosscount == 0){ |
| kenken0721 | 3:aaa2fde4fafd | 360 | directmode = LEFT; |
| kenken0721 | 3:aaa2fde4fafd | 361 | }else if(crosscount == 1){ |
| kenken0721 | 5:c5a2a5cf600d | 362 | directmode = STOP; |
| kenken0721 | 5:c5a2a5cf600d | 363 | prelinedata = 0; |
| kenken0721 | 10:01aa50804d85 | 364 | touteki(1.0,BLUE_TOUTEKI,1); |
| kenken0721 | 7:f1a924244b76 | 365 | //syokikanomai2(); |
| kenken0721 | 5:c5a2a5cf600d | 366 | if(set_flag == false){ |
| kenken0721 | 5:c5a2a5cf600d | 367 | directmode = RIGHT; |
| kenken0721 | 7:f1a924244b76 | 368 | Linecount(); |
| kenken0721 | 3:aaa2fde4fafd | 369 | } |
| kenken0721 | 3:aaa2fde4fafd | 370 | }else if(crosscount == 2){ |
| kenken0721 | 3:aaa2fde4fafd | 371 | directmode = STOP; |
| kenken0721 | 5:c5a2a5cf600d | 372 | syokikanomai2(); |
| kenken0721 | 5:c5a2a5cf600d | 373 | if(set_flag == true){ |
| kenken0721 | 5:c5a2a5cf600d | 374 | state = STAND_BY_2; |
| kenken0721 | 7:f1a924244b76 | 375 | //taiki_flag = false; |
| kenken0721 | 5:c5a2a5cf600d | 376 | crosscount = 0; |
| kenken0721 | 5:c5a2a5cf600d | 377 | } |
| kenken0721 | 7:f1a924244b76 | 378 | } |
| kenken0721 | 3:aaa2fde4fafd | 379 | break; |
| kenken0721 | 4:eabb7a738ff8 | 380 | //------------------投てき位置3--------------------------------------------------- |
| kenken0721 | 3:aaa2fde4fafd | 381 | case YELLOW_RECEIVE: |
| kenken0721 | 7:f1a924244b76 | 382 | if(crosscount != 5){ |
| kenken0721 | 3:aaa2fde4fafd | 383 | directmode = LEFT; |
| kenken0721 | 9:0c1fce6d8094 | 384 | servo2.move(koshi_uke_degree); |
| kenken0721 | 9:0c1fce6d8094 | 385 | power = POWER + 0.1; |
| kenken0721 | 3:aaa2fde4fafd | 386 | }else{ |
| kenken0721 | 3:aaa2fde4fafd | 387 | directmode = STOP; |
| kenken0721 | 7:f1a924244b76 | 388 | if(yellow_throw_flag == false){ |
| kenken0721 | 7:f1a924244b76 | 389 | yellow_throwing(); |
| kenken0721 | 7:f1a924244b76 | 390 | }else{ |
| kenken0721 | 10:01aa50804d85 | 391 | touteki(1.0,YELLOW_TOUTEKI,1.0); |
| kenken0721 | 7:f1a924244b76 | 392 | syokikanomai2(); |
| kenken0721 | 7:f1a924244b76 | 393 | } |
| kenken0721 | 3:aaa2fde4fafd | 394 | } |
| kenken0721 | 3:aaa2fde4fafd | 395 | break; |
| kenken0721 | 3:aaa2fde4fafd | 396 | default: |
| kenken0721 | 3:aaa2fde4fafd | 397 | break; |
| kenken0721 | 3:aaa2fde4fafd | 398 | } |
| kenken0721 | 4:eabb7a738ff8 | 399 | //--------------進行方向--------------------------------------------------------- |
| kenken0721 | 3:aaa2fde4fafd | 400 | switch(directmode){ |
| kenken0721 | 2:c5996dd62e9c | 401 | case STOP: |
| kenken0721 | 2:c5996dd62e9c | 402 | Stop(pwm_pins, dir_pins_1, dir_pins_2); |
| kenken0721 | 2:c5996dd62e9c | 403 | break; |
| kenken0721 | 2:c5996dd62e9c | 404 | case STRAIGHT: |
| kenken0721 | 2:c5996dd62e9c | 405 | output = S_pid.compute((double)linedata_1[0]); |
| kenken0721 | 2:c5996dd62e9c | 406 | if(output >= 0){ |
| kenken0721 | 7:f1a924244b76 | 407 | Straight(power, power + output, pwm_pins, dir_pins_1, dir_pins_2); |
| kenken0721 | 2:c5996dd62e9c | 408 | }else { |
| kenken0721 | 7:f1a924244b76 | 409 | Straight(power + (-1 * output), power, pwm_pins, dir_pins_1, dir_pins_2); |
| kenken0721 | 2:c5996dd62e9c | 410 | } |
| kenken0721 | 2:c5996dd62e9c | 411 | break; |
| kenken0721 | 2:c5996dd62e9c | 412 | case RIGHT: |
| kenken0721 | 2:c5996dd62e9c | 413 | output = R_pid.compute((double)linedata_2[0]); |
| kenken0721 | 1:f4dbd6b9cc27 | 414 | if(output >= 0){ |
| kenken0721 | 7:f1a924244b76 | 415 | Right(power, power + output, pwm_pins, dir_pins_1, dir_pins_2); |
| kenken0721 | 1:f4dbd6b9cc27 | 416 | }else { |
| kenken0721 | 7:f1a924244b76 | 417 | Right(power + (-1 * output), power, pwm_pins, dir_pins_1, dir_pins_2); |
| kenken0721 | 2:c5996dd62e9c | 418 | } |
| kenken0721 | 2:c5996dd62e9c | 419 | break; |
| kenken0721 | 2:c5996dd62e9c | 420 | case LEFT: |
| kenken0721 | 2:c5996dd62e9c | 421 | output = L_pid.compute((double)linedata_3[0]); |
| kenken0721 | 2:c5996dd62e9c | 422 | if(output >= 0){ |
| kenken0721 | 7:f1a924244b76 | 423 | Left(power, power + output, pwm_pins, dir_pins_1, dir_pins_2); |
| kenken0721 | 2:c5996dd62e9c | 424 | }else { |
| kenken0721 | 7:f1a924244b76 | 425 | Left(power + (-1 * output), power, pwm_pins, dir_pins_1, dir_pins_2); |
| kenken0721 | 2:c5996dd62e9c | 426 | } |
| kenken0721 | 2:c5996dd62e9c | 427 | break; |
| kenken0721 | 2:c5996dd62e9c | 428 | default: |
| kenken0721 | 2:c5996dd62e9c | 429 | break; |
| kenken0721 | 1:f4dbd6b9cc27 | 430 | } |
| kenken0721 | 1:f4dbd6b9cc27 | 431 | } |
| kenken0721 | 1:f4dbd6b9cc27 | 432 | } |
| kenken0721 | 4:eabb7a738ff8 | 433 | pc.printf("xdist = %f \r",x_dist); |
| kenken0721 | 4:eabb7a738ff8 | 434 | pc.printf("ydist = %f \r",y_dist); |
| kenken0721 | 1:f4dbd6b9cc27 | 435 | pc.printf("output = %lf \n" ,output); |
| kenken0721 | 1:f4dbd6b9cc27 | 436 | } |
| kenken0721 | 1:f4dbd6b9cc27 | 437 | } |
| kenken0721 | 1:f4dbd6b9cc27 | 438 | |
| kenken0721 | 7:f1a924244b76 | 439 | //---------------初期化---------------------------------------------------------- |
| kenken0721 | 7:f1a924244b76 | 440 | |
| kenken0721 | 7:f1a924244b76 | 441 | void yellow_throwing(){ |
| kenken0721 | 7:f1a924244b76 | 442 | if(yellow_throw_flag == false){ |
| kenken0721 | 7:f1a924244b76 | 443 | timer.start(); |
| kenken0721 | 7:f1a924244b76 | 444 | } |
| kenken0721 | 7:f1a924244b76 | 445 | int times = timer.read(); |
| kenken0721 | 8:91a72648f312 | 446 | if(times >= 2.0 && times < 3.0){ |
| kenken0721 | 8:91a72648f312 | 447 | servo_hand.move(hand_uke_degree); |
| kenken0721 | 8:91a72648f312 | 448 | }else if(times >= 3.0 && times < 4.0){ |
| kenken0721 | 9:0c1fce6d8094 | 449 | servo1.move(hiji_yellow_uke_degree); |
| kenken0721 | 8:91a72648f312 | 450 | }else if(times >= 4.0 && times < 5.0){ |
| kenken0721 | 7:f1a924244b76 | 451 | servo_hand.move(hand_tsukami_degree); |
| kenken0721 | 8:91a72648f312 | 452 | }else if(times >=5.0 && times <5.5){ |
| kenken0721 | 7:f1a924244b76 | 453 | servo2.move(koshi_nage_degree); |
| kenken0721 | 8:91a72648f312 | 454 | }else if(times >= 5.5){ |
| kenken0721 | 7:f1a924244b76 | 455 | yellow_throw_flag = true; |
| kenken0721 | 7:f1a924244b76 | 456 | timer.stop(); |
| kenken0721 | 7:f1a924244b76 | 457 | timer.reset(); |
| kenken0721 | 7:f1a924244b76 | 458 | } |
| kenken0721 | 7:f1a924244b76 | 459 | } |
| kenken0721 | 7:f1a924244b76 | 460 | |
| kenken0721 | 4:eabb7a738ff8 | 461 | void syokikanomai(void){ |
| kenken0721 | 4:eabb7a738ff8 | 462 | syokika_flag = false; |
| kenken0721 | 4:eabb7a738ff8 | 463 | while (set_flag==false) { |
| kenken0721 | 4:eabb7a738ff8 | 464 | encoder_count= Enc_Arm.read_rotate(); |
| kenken0721 | 4:eabb7a738ff8 | 465 | servo_hand.move(hand_uke_degree); |
| kenken0721 | 4:eabb7a738ff8 | 466 | servo1.move(hiji_nage_degree);//退避 |
| kenken0721 | 4:eabb7a738ff8 | 467 | servo2.move(koshi_uke_degree); |
| kenken0721 | 6:ff7fd6556a81 | 468 | servo1.move(hiji_nage_degree);//退避 |
| kenken0721 | 6:ff7fd6556a81 | 469 | servo2.move(koshi_uke_degree); |
| kenken0721 | 4:eabb7a738ff8 | 470 | motor_dir1=0; |
| kenken0721 | 4:eabb7a738ff8 | 471 | motor_dir2=1; |
| kenken0721 | 8:91a72648f312 | 472 | motor_pwm=0.12; |
| kenken0721 | 7:f1a924244b76 | 473 | if(Enc_Arm.read_z() == 1){ |
| kenken0721 | 4:eabb7a738ff8 | 474 | syokika_flag=true; |
| kenken0721 | 4:eabb7a738ff8 | 475 | buzzer = 1.0; |
| kenken0721 | 4:eabb7a738ff8 | 476 | } |
| kenken0721 | 4:eabb7a738ff8 | 477 | |
| kenken0721 | 4:eabb7a738ff8 | 478 | if (syokika_flag==true) { |
| kenken0721 | 10:01aa50804d85 | 479 | if(encoder_count == SYOKIITI){ |
| kenken0721 | 4:eabb7a738ff8 | 480 | motor_pwm=0; |
| kenken0721 | 4:eabb7a738ff8 | 481 | motor_dir1=1; |
| kenken0721 | 4:eabb7a738ff8 | 482 | motor_dir2=1; |
| kenken0721 | 4:eabb7a738ff8 | 483 | set_flag=true; //投てき後，falseにする. |
| kenken0721 | 4:eabb7a738ff8 | 484 | } |
| kenken0721 | 4:eabb7a738ff8 | 485 | } |
| kenken0721 | 4:eabb7a738ff8 | 486 | } |
| kenken0721 | 4:eabb7a738ff8 | 487 | servo1.move(hiji_uke_degree); |
| kenken0721 | 4:eabb7a738ff8 | 488 | servo1.move(hiji_uke_degree); |
| kenken0721 | 4:eabb7a738ff8 | 489 | } |
| kenken0721 | 4:eabb7a738ff8 | 490 | |
| kenken0721 | 4:eabb7a738ff8 | 491 | void syokikanomai2(void){ |
| kenken0721 | 4:eabb7a738ff8 | 492 | if(set_flag==false) { |
| kenken0721 | 7:f1a924244b76 | 493 | encoder_count= Enc_Arm.read_rotate(); |
| kenken0721 | 8:91a72648f312 | 494 | servo_hand.move(hand_uke_degree); |
| kenken0721 | 8:91a72648f312 | 495 | servo1.move(hiji_nage_degree);//退避 |
| kenken0721 | 8:91a72648f312 | 496 | servo1.move(hiji_nage_degree);//退避 |
| kenken0721 | 8:91a72648f312 | 497 | if(yellow_throw_flag == false){ |
| kenken0721 | 8:91a72648f312 | 498 | servo2.move(koshi_uke_degree); |
| kenken0721 | 8:91a72648f312 | 499 | servo2.move(koshi_uke_degree); |
| kenken0721 | 7:f1a924244b76 | 500 | } |
| kenken0721 | 4:eabb7a738ff8 | 501 | motor_dir1=0; |
| kenken0721 | 4:eabb7a738ff8 | 502 | motor_dir2=1; |
| kenken0721 | 8:91a72648f312 | 503 | motor_pwm=0.12; |
| kenken0721 | 4:eabb7a738ff8 | 504 | if(Enc_Arm.read_z() == 1) { |
| kenken0721 | 4:eabb7a738ff8 | 505 | syokika_flag = true; |
| kenken0721 | 4:eabb7a738ff8 | 506 | buzzer = 1.0; |
| kenken0721 | 4:eabb7a738ff8 | 507 | } |
| kenken0721 | 9:0c1fce6d8094 | 508 | if(syokika_flag==true) { |
| kenken0721 | 8:91a72648f312 | 509 | int set_pos; |
| kenken0721 | 10:01aa50804d85 | 510 | if(yellow_throw_flag == true) set_pos = YELLOW_SYOKIITI; |
| kenken0721 | 10:01aa50804d85 | 511 | else set_pos = SYOKIITI; |
| kenken0721 | 8:91a72648f312 | 512 | if(encoder_count == set_pos){ |
| kenken0721 | 9:0c1fce6d8094 | 513 | buzzer = 0.0; |
| kenken0721 | 4:eabb7a738ff8 | 514 | motor_pwm=0; |
| kenken0721 | 4:eabb7a738ff8 | 515 | motor_dir1=1; |
| kenken0721 | 4:eabb7a738ff8 | 516 | motor_dir2=1; |
| kenken0721 | 8:91a72648f312 | 517 | if(yellow_throw_flag == false){ |
| kenken0721 | 8:91a72648f312 | 518 | servo_hand.move(hand_uke_degree); |
| kenken0721 | 8:91a72648f312 | 519 | servo1.move(hiji_uke_degree); |
| kenken0721 | 8:91a72648f312 | 520 | servo1.move(hiji_uke_degree); |
| kenken0721 | 9:0c1fce6d8094 | 521 | servo1.move(hiji_uke_degree); |
| kenken0721 | 9:0c1fce6d8094 | 522 | servo1.move(hiji_uke_degree); |
| kenken0721 | 8:91a72648f312 | 523 | }else{ |
| kenken0721 | 8:91a72648f312 | 524 | servo_hand.move(hand_tsukami_degree); |
| kenken0721 | 8:91a72648f312 | 525 | servo2.move(koshi_uke_degree); |
| kenken0721 | 8:91a72648f312 | 526 | servo2.move(koshi_uke_degree); |
| kenken0721 | 8:91a72648f312 | 527 | } |
| kenken0721 | 4:eabb7a738ff8 | 528 | set_flag = true; //投てき後，falseにする. |
| kenken0721 | 7:f1a924244b76 | 529 | taiki_flag = true; |
| kenken0721 | 7:f1a924244b76 | 530 | yellow_throw_flag = false; |
| kenken0721 | 4:eabb7a738ff8 | 531 | } |
| kenken0721 | 4:eabb7a738ff8 | 532 | } |
| kenken0721 | 4:eabb7a738ff8 | 533 | } |
| kenken0721 | 4:eabb7a738ff8 | 534 | } |
| kenken0721 | 4:eabb7a738ff8 | 535 | |
| kenken0721 | 6:ff7fd6556a81 | 536 | void touteki(float armpower ,int pos, bool throwing_mode){ |
| kenken0721 | 4:eabb7a738ff8 | 537 | if(set_flag == true){ |
| kenken0721 | 4:eabb7a738ff8 | 538 | timer.start(); |
| kenken0721 | 4:eabb7a738ff8 | 539 | } |
| kenken0721 | 9:0c1fce6d8094 | 540 | int times = timer.read(); |
| kenken0721 | 9:0c1fce6d8094 | 541 | if(times >= 1.0 && times < 4.0){ |
| kenken0721 | 9:0c1fce6d8094 | 542 | if(yellow_throw_flag == true){ |
| kenken0721 | 9:0c1fce6d8094 | 543 | if(set_pos_flag_2 == false){ |
| kenken0721 | 9:0c1fce6d8094 | 544 | if(Enc_Arm.read_rotate() < 180) { |
| kenken0721 | 9:0c1fce6d8094 | 545 | motor_dir1 = 0; |
| kenken0721 | 9:0c1fce6d8094 | 546 | motor_dir2 = 1; |
| kenken0721 | 9:0c1fce6d8094 | 547 | motor_pwm = 0.15; |
| kenken0721 | 9:0c1fce6d8094 | 548 | }else{ |
| kenken0721 | 9:0c1fce6d8094 | 549 | motor_dir1=1; |
| kenken0721 | 9:0c1fce6d8094 | 550 | motor_dir2=1; |
| kenken0721 | 9:0c1fce6d8094 | 551 | motor_pwm=0; |
| kenken0721 | 9:0c1fce6d8094 | 552 | set_pos_flag_2 = true; |
| kenken0721 | 9:0c1fce6d8094 | 553 | } |
| kenken0721 | 9:0c1fce6d8094 | 554 | } |
| kenken0721 | 9:0c1fce6d8094 | 555 | } |
| kenken0721 | 9:0c1fce6d8094 | 556 | } |
| kenken0721 | 9:0c1fce6d8094 | 557 | if(times >= 4.0 && times < 5.0){ |
| kenken0721 | 4:eabb7a738ff8 | 558 | servo_hand.move(hand_uke_degree); |
| kenken0721 | 6:ff7fd6556a81 | 559 | } |
| kenken0721 | 9:0c1fce6d8094 | 560 | if(times >= 5.0 && times < 6.0){ |
| kenken0721 | 7:f1a924244b76 | 561 | servo1.move(hiji_nage_degree); |
| kenken0721 | 4:eabb7a738ff8 | 562 | servo1.move(hiji_nage_degree); |
| kenken0721 | 4:eabb7a738ff8 | 563 | } |
| kenken0721 | 9:0c1fce6d8094 | 564 | if(times >= 6.0 && times < 9.0){ |
| kenken0721 | 4:eabb7a738ff8 | 565 | lamp = 0.0; |
| kenken0721 | 8:91a72648f312 | 566 | if(set_pos_flag == false){ |
| kenken0721 | 8:91a72648f312 | 567 | if(Enc_Arm.read_rotate() < pos) { |
| kenken0721 | 8:91a72648f312 | 568 | motor_dir1 = 0; |
| kenken0721 | 8:91a72648f312 | 569 | motor_dir2 = 1; |
| kenken0721 | 8:91a72648f312 | 570 | motor_pwm = 0.15; |
| kenken0721 | 8:91a72648f312 | 571 | }else{ |
| kenken0721 | 8:91a72648f312 | 572 | motor_dir1=1; |
| kenken0721 | 8:91a72648f312 | 573 | motor_dir2=1; |
| kenken0721 | 8:91a72648f312 | 574 | motor_pwm=0; |
| kenken0721 | 8:91a72648f312 | 575 | set_pos_flag = true; |
| kenken0721 | 8:91a72648f312 | 576 | } |
| kenken0721 | 4:eabb7a738ff8 | 577 | } |
| kenken0721 | 4:eabb7a738ff8 | 578 | } |
| kenken0721 | 7:f1a924244b76 | 579 | |
| kenken0721 | 4:eabb7a738ff8 | 580 | //----投てき------------------------- |
| kenken0721 | 6:ff7fd6556a81 | 581 | if(throwing_mode == 0.0){ |
| kenken0721 | 9:0c1fce6d8094 | 582 | if(times >= 9.0 && times < 10.0){ |
| kenken0721 | 5:c5a2a5cf600d | 583 | motor_dir1 = 0; |
| kenken0721 | 5:c5a2a5cf600d | 584 | motor_dir2 = 1; |
| kenken0721 | 5:c5a2a5cf600d | 585 | motor_pwm = armpower; |
| kenken0721 | 5:c5a2a5cf600d | 586 | } |
| kenken0721 | 6:ff7fd6556a81 | 587 | }else if(throwing_mode == 1.0){ |
| kenken0721 | 9:0c1fce6d8094 | 588 | if(times >= 9.0 && times < 9.1){ |
| kenken0721 | 6:ff7fd6556a81 | 589 | throwing_relay = 1.0; |
| kenken0721 | 5:c5a2a5cf600d | 590 | }else{ |
| kenken0721 | 8:91a72648f312 | 591 | throwing_relay = 0.0; |
| kenken0721 | 5:c5a2a5cf600d | 592 | } |
| kenken0721 | 4:eabb7a738ff8 | 593 | } |
| kenken0721 | 9:0c1fce6d8094 | 594 | if(times >= 10.0 && times <11.0){ |
| kenken0721 | 4:eabb7a738ff8 | 595 | motor_pwm = 0.0; |
| kenken0721 | 8:91a72648f312 | 596 | motor_dir1 = 1; |
| kenken0721 | 8:91a72648f312 | 597 | motor_dir2 = 1; |
| kenken0721 | 4:eabb7a738ff8 | 598 | buzzer = 0; |
| kenken0721 | 4:eabb7a738ff8 | 599 | lamp = 1.0; |
| kenken0721 | 9:0c1fce6d8094 | 600 | syokika_flag = false; |
| kenken0721 | 9:0c1fce6d8094 | 601 | }else if(times >= 11.0){ |
| kenken0721 | 4:eabb7a738ff8 | 602 | set_flag = false; |
| kenken0721 | 8:91a72648f312 | 603 | set_pos_flag = false; |
| kenken0721 | 9:0c1fce6d8094 | 604 | set_pos_flag_2 = false; |
| kenken0721 | 4:eabb7a738ff8 | 605 | timer.reset(); |
| kenken0721 | 4:eabb7a738ff8 | 606 | timer.stop(); |
| kenken0721 | 4:eabb7a738ff8 | 607 | } |
| kenken0721 | 4:eabb7a738ff8 | 608 | } |
| kenken0721 | 4:eabb7a738ff8 | 609 | |
| kenken0721 | 7:f1a924244b76 | 610 | void Linecount(void){ |
| kenken0721 | 7:f1a924244b76 | 611 | if(directmode == RIGHT){ |
| kenken0721 | 7:f1a924244b76 | 612 | if(linecountcheck == false){ |
| kenken0721 | 7:f1a924244b76 | 613 | tar_x_dist_2 = x_dist; |
| kenken0721 | 7:f1a924244b76 | 614 | linecountcheck = true; |
| kenken0721 | 7:f1a924244b76 | 615 | }else{ |
| kenken0721 | 7:f1a924244b76 | 616 | if((x_dist - tar_x_dist_2) > X_STOP_DIST_3){ |
| kenken0721 | 7:f1a924244b76 | 617 | crosscount++; |
| kenken0721 | 7:f1a924244b76 | 618 | linecountcheck = false; |
| kenken0721 | 7:f1a924244b76 | 619 | } |
| kenken0721 | 7:f1a924244b76 | 620 | } |
| kenken0721 | 7:f1a924244b76 | 621 | }else if(directmode == LEFT){ |
| kenken0721 | 7:f1a924244b76 | 622 | if(linecountcheck == false){ |
| kenken0721 | 7:f1a924244b76 | 623 | tar_x_dist_2 = x_dist; |
| kenken0721 | 7:f1a924244b76 | 624 | linecountcheck = true; |
| kenken0721 | 7:f1a924244b76 | 625 | }else{ |
| kenken0721 | 7:f1a924244b76 | 626 | if((tar_x_dist_2 - x_dist) >= X_STOP_DIST_2){ |
| kenken0721 | 7:f1a924244b76 | 627 | crosscount++; |
| kenken0721 | 7:f1a924244b76 | 628 | linecountcheck = false; |
| kenken0721 | 7:f1a924244b76 | 629 | } |
| kenken0721 | 7:f1a924244b76 | 630 | } |
| kenken0721 | 7:f1a924244b76 | 631 | } |
| kenken0721 | 7:f1a924244b76 | 632 | } |
| kenken0721 | 7:f1a924244b76 | 633 | |
| kenken0721 | 9:0c1fce6d8094 | 634 | void Linecount2(void){ |
| kenken0721 | 9:0c1fce6d8094 | 635 | if(directmode == LEFT){ |
| kenken0721 | 9:0c1fce6d8094 | 636 | if(linecountcheck == false){ |
| kenken0721 | 9:0c1fce6d8094 | 637 | tar_x_dist_3 = x_dist; |
| kenken0721 | 9:0c1fce6d8094 | 638 | linecountcheck = true; |
| kenken0721 | 9:0c1fce6d8094 | 639 | }else{ |
| kenken0721 | 9:0c1fce6d8094 | 640 | if((tar_x_dist_3 - x_dist) >= X_STOP_DIST_4){ |
| kenken0721 | 9:0c1fce6d8094 | 641 | crosscount++; |
| kenken0721 | 9:0c1fce6d8094 | 642 | linecountcheck = false; |
| kenken0721 | 9:0c1fce6d8094 | 643 | } |
| kenken0721 | 9:0c1fce6d8094 | 644 | } |
| kenken0721 | 9:0c1fce6d8094 | 645 | } |
| kenken0721 | 9:0c1fce6d8094 | 646 | } |
| kenken0721 | 2:c5996dd62e9c | 647 | void LineCheck(int dmode){ |
| kenken0721 | 2:c5996dd62e9c | 648 | if(dmode == STRAIGHT){ |
| kenken0721 | 2:c5996dd62e9c | 649 | if(linedata_1[1] == 1){ |
| kenken0721 | 2:c5996dd62e9c | 650 | ontheline = true; |
| kenken0721 | 2:c5996dd62e9c | 651 | tar_y_dist = y_dist; |
| kenken0721 | 2:c5996dd62e9c | 652 | } |
| kenken0721 | 2:c5996dd62e9c | 653 | if(ontheline == true){ |
| kenken0721 | 3:aaa2fde4fafd | 654 | if((y_dist - tar_y_dist) >= Y_STOP_DIST){ |
| kenken0721 | 2:c5996dd62e9c | 655 | ontheline = false; |
| kenken0721 | 2:c5996dd62e9c | 656 | crosscount++; |
| kenken0721 | 2:c5996dd62e9c | 657 | } |
| kenken0721 | 2:c5996dd62e9c | 658 | } |
| kenken0721 | 2:c5996dd62e9c | 659 | }else if(dmode == RIGHT){ |
| kenken0721 | 3:aaa2fde4fafd | 660 | if(linedata_2[1] == 1){ |
| kenken0721 | 3:aaa2fde4fafd | 661 | ontheline = true; |
| kenken0721 | 3:aaa2fde4fafd | 662 | tar_x_dist = x_dist; |
| kenken0721 | 3:aaa2fde4fafd | 663 | } |
| kenken0721 | 2:c5996dd62e9c | 664 | if(ontheline == true){ |
| kenken0721 | 3:aaa2fde4fafd | 665 | if((x_dist - tar_x_dist) >= X_STOP_DIST){ |
| kenken0721 | 2:c5996dd62e9c | 666 | ontheline = false; |
| kenken0721 | 2:c5996dd62e9c | 667 | crosscount++; |
| kenken0721 | 2:c5996dd62e9c | 668 | } |
| kenken0721 | 2:c5996dd62e9c | 669 | } |
| kenken0721 | 2:c5996dd62e9c | 670 | }else if(dmode == LEFT){ |
| kenken0721 | 3:aaa2fde4fafd | 671 | if(linedata_3[1] == 1){ |
| kenken0721 | 3:aaa2fde4fafd | 672 | ontheline = true; |
| kenken0721 | 3:aaa2fde4fafd | 673 | tar_x_dist = x_dist; |
| kenken0721 | 3:aaa2fde4fafd | 674 | } |
| kenken0721 | 2:c5996dd62e9c | 675 | if(ontheline == true){ |
| kenken0721 | 3:aaa2fde4fafd | 676 | if((tar_x_dist - x_dist) >= X_STOP_DIST){ |
| kenken0721 | 2:c5996dd62e9c | 677 | ontheline = false; |
| kenken0721 | 2:c5996dd62e9c | 678 | crosscount++; |
| kenken0721 | 2:c5996dd62e9c | 679 | } |
| kenken0721 | 2:c5996dd62e9c | 680 | } |
| kenken0721 | 2:c5996dd62e9c | 681 | } |
| kenken0721 | 2:c5996dd62e9c | 682 | } |
| kenken0721 | 0:f6828b914b1c | 683 | |
| kenken0721 | 2:c5996dd62e9c | 684 | void linecheck(char *buff, int data[2]){ |
| kenken0721 | 0:f6828b914b1c | 685 | if(buff[0] == 24){ |
| kenken0721 | 2:c5996dd62e9c | 686 | data[0] = 0; |
| kenken0721 | 2:c5996dd62e9c | 687 | data[1] = 0; |
| kenken0721 | 0:f6828b914b1c | 688 | }else if(buff[0] == 56){ |
| kenken0721 | 2:c5996dd62e9c | 689 | data[0] = 1; |
| kenken0721 | 2:c5996dd62e9c | 690 | data[1] = 0; |
| kenken0721 | 0:f6828b914b1c | 691 | }else if(buff[0] == 48){ |
| kenken0721 | 2:c5996dd62e9c | 692 | data[0] = 2; |
| kenken0721 | 2:c5996dd62e9c | 693 | data[1] = 0; |
| kenken0721 | 0:f6828b914b1c | 694 | }else if(buff[0] == 112){ |
| kenken0721 | 2:c5996dd62e9c | 695 | data[0] = 3; |
| kenken0721 | 2:c5996dd62e9c | 696 | data[1] = 0; |
| kenken0721 | 0:f6828b914b1c | 697 | }else if(buff[0] == 96){ |
| kenken0721 | 2:c5996dd62e9c | 698 | data[0] = 4; |
| kenken0721 | 2:c5996dd62e9c | 699 | data[1] = 0; |
| kenken0721 | 0:f6828b914b1c | 700 | }else if(buff[0] == 224){ |
| kenken0721 | 2:c5996dd62e9c | 701 | data[0] = 5; |
| kenken0721 | 2:c5996dd62e9c | 702 | data[1] = 0; |
| kenken0721 | 0:f6828b914b1c | 703 | }else if(buff[0] == 192){ |
| kenken0721 | 2:c5996dd62e9c | 704 | data[0] = 6; |
| kenken0721 | 2:c5996dd62e9c | 705 | data[1] = 0; |
| kenken0721 | 0:f6828b914b1c | 706 | }else if(buff[0] == 128){ |
| kenken0721 | 2:c5996dd62e9c | 707 | data[0] = 7; |
| kenken0721 | 2:c5996dd62e9c | 708 | data[1] = 0; |
| kenken0721 | 0:f6828b914b1c | 709 | }else if(buff[0] == 28){ |
| kenken0721 | 2:c5996dd62e9c | 710 | data[0] = -1; |
| kenken0721 | 2:c5996dd62e9c | 711 | data[1] = 0; |
| kenken0721 | 0:f6828b914b1c | 712 | }else if(buff[0] == 12){ |
| kenken0721 | 2:c5996dd62e9c | 713 | data[0] = -2; |
| kenken0721 | 2:c5996dd62e9c | 714 | data[1] = 0; |
| kenken0721 | 0:f6828b914b1c | 715 | }else if(buff[0] == 14){ |
| kenken0721 | 2:c5996dd62e9c | 716 | data[0] = -3; |
| kenken0721 | 2:c5996dd62e9c | 717 | data[1] = 0; |
| kenken0721 | 0:f6828b914b1c | 718 | }else if(buff[0] == 6){ |
| kenken0721 | 2:c5996dd62e9c | 719 | data[0] = -4; |
| kenken0721 | 2:c5996dd62e9c | 720 | data[1] = 0; |
| kenken0721 | 0:f6828b914b1c | 721 | }else if(buff[0] == 7){ |
| kenken0721 | 2:c5996dd62e9c | 722 | data[0] = -5; |
| kenken0721 | 2:c5996dd62e9c | 723 | data[1] = 0; |
| kenken0721 | 0:f6828b914b1c | 724 | }else if(buff[0] == 3){ |
| kenken0721 | 2:c5996dd62e9c | 725 | data[0] = -6; |
| kenken0721 | 2:c5996dd62e9c | 726 | data[1] = 0; |
| kenken0721 | 0:f6828b914b1c | 727 | }else if(buff[0] == 1){ |
| kenken0721 | 2:c5996dd62e9c | 728 | data[0] = -7; |
| kenken0721 | 2:c5996dd62e9c | 729 | data[1] = 0; |
| kenken0721 | 2:c5996dd62e9c | 730 | }else if(buff[0] == 255){ |
| kenken0721 | 2:c5996dd62e9c | 731 | data[0] = prelinedata; |
| kenken0721 | 2:c5996dd62e9c | 732 | data[1] = 1; |
| kenken0721 | 2:c5996dd62e9c | 733 | }else if(buff[0] == 0){ |
| kenken0721 | 2:c5996dd62e9c | 734 | data[0] = prelinedata; |
| kenken0721 | 2:c5996dd62e9c | 735 | data[1] = 0; |
| kenken0721 | 0:f6828b914b1c | 736 | }else{ |
| kenken0721 | 2:c5996dd62e9c | 737 | data[0] = prelinedata; |
| kenken0721 | 2:c5996dd62e9c | 738 | data[1] = 0; |
| kenken0721 | 0:f6828b914b1c | 739 | } |
| kenken0721 | 2:c5996dd62e9c | 740 | prelinedata = data[0]; |
| kenken0721 | 3:aaa2fde4fafd | 741 | } |