ケンタ ミヤザキ
Dependencies: PID Serialservo TCS3200 XQ_servo encoder encoder2 mbed moter
Fork of
nhk_2018_undercarry_test09
by 
ケンタ ミヤザキ
main.cpp@8:91a72648f312, 2018-04-07 (annotated)
- Committer:
- kenken0721
- Date:
- Sat Apr 07 05:10:02 2018 +0000
- Revision:
- 8:91a72648f312
- Parent:
- 7:f1a924244b76
- Child:
- 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 | 7:f1a924244b76 | 67 | void yellow_throwing(); |
| kenken0721 | 6:ff7fd6556a81 | 68 | |
| kenken0721 | 8:91a72648f312 | 69 | bool set_pos_flag = false; |
| kenken0721 | 8:91a72648f312 | 70 | bool redthrowing = false; |
| kenken0721 | 7:f1a924244b76 | 71 | bool yellow_throw_flag = false; |
| kenken0721 | 7:f1a924244b76 | 72 | bool taiki_flag = false; |
| kenken0721 | 2:c5996dd62e9c | 73 | int crosscount = 0; |
| kenken0721 | 0:f6828b914b1c | 74 | bool mode = true;//trueでラジコン、falseでオート |
| kenken0721 | 0:f6828b914b1c | 75 | bool stopflag = true;//trueで機体停止 |
| kenken0721 | 0:f6828b914b1c | 76 | double power = POWER; |
| kenken0721 | 0:f6828b914b1c | 77 | int kbtread = 0; |
| kenken0721 | 0:f6828b914b1c | 78 | int count = 0; |
| kenken0721 | 0:f6828b914b1c | 79 | int counter = 0; |
| kenken0721 | 2:c5996dd62e9c | 80 | int linedata_1[2] = {0}; |
| kenken0721 | 2:c5996dd62e9c | 81 | int linedata_2[2] = {0}; |
| kenken0721 | 2:c5996dd62e9c | 82 | int linedata_3[2] = {0}; |
| kenken0721 | 0:f6828b914b1c | 83 | int prelinedata = 0; |
| kenken0721 | 0:f6828b914b1c | 84 | double output = 0.0; |
| kenken0721 | 1:f4dbd6b9cc27 | 85 | char buff1[2]; |
| kenken0721 | 1:f4dbd6b9cc27 | 86 | char buff2[2]; |
| kenken0721 | 1:f4dbd6b9cc27 | 87 | char buff3[2]; |
| kenken0721 | 1:f4dbd6b9cc27 | 88 | float x_dist = 0.0; |
| kenken0721 | 1:f4dbd6b9cc27 | 89 | float y_dist = 0.0; |
| kenken0721 | 2:c5996dd62e9c | 90 | float tar_x_dist = 0.0; |
| kenken0721 | 7:f1a924244b76 | 91 | float tar_x_dist_2 = 0.0; |
| kenken0721 | 2:c5996dd62e9c | 92 | float tar_y_dist = 0.0; |
| kenken0721 | 2:c5996dd62e9c | 93 | bool ontheline = false; |
| kenken0721 | 2:c5996dd62e9c | 94 | int directmode = STRAIGHT; |
| kenken0721 | 3:aaa2fde4fafd | 95 | int state = START; |
| kenken0721 | 3:aaa2fde4fafd | 96 | int times = 0; |
| kenken0721 | 4:eabb7a738ff8 | 97 | int redcount = 0; |
| kenken0721 | 4:eabb7a738ff8 | 98 | int bluecount = 0; |
| kenken0721 | 4:eabb7a738ff8 | 99 | int yellowcount = 0; |
| kenken0721 | 4:eabb7a738ff8 | 100 | bool syokika_flag=false; |
| kenken0721 | 4:eabb7a738ff8 | 101 | bool set_flag = false; |
| kenken0721 | 4:eabb7a738ff8 | 102 | int encoder_count = 1000; |
| kenken0721 | 7:f1a924244b76 | 103 | int linecountcheck = false; |
| kenken0721 | 4:eabb7a738ff8 | 104 | |
| kenken0721 | 3:aaa2fde4fafd | 105 | int main() { |
| kenken0721 | 3:aaa2fde4fafd | 106 | timer.reset(); |
| kenken0721 | 3:aaa2fde4fafd | 107 | timer.stop(); |
| kenken0721 | 6:ff7fd6556a81 | 108 | throwing_relay=0; |
| kenken0721 | 4:eabb7a738ff8 | 109 | lamp=1; |
| kenken0721 | 4:eabb7a738ff8 | 110 | air=1.0; |
| kenken0721 | 4:eabb7a738ff8 | 111 | buzzer = 0.0; |
| kenken0721 | 4:eabb7a738ff8 | 112 | micro_switch.mode(PullUp); |
| kenken0721 | 4:eabb7a738ff8 | 113 | motor_pwm=0; |
| kenken0721 | 6:ff7fd6556a81 | 114 | motor_dir1=1; |
| kenken0721 | 4:eabb7a738ff8 | 115 | motor_dir2=1; |
| kenken0721 | 6:ff7fd6556a81 | 116 | servo1.init(0);//アーム |
| kenken0721 | 6:ff7fd6556a81 | 117 | servo2.init(1);//回転軸 |
| kenken0721 | 1:f4dbd6b9cc27 | 118 | S_pid.init(); |
| kenken0721 | 3:aaa2fde4fafd | 119 | R_pid.init(); |
| kenken0721 | 3:aaa2fde4fafd | 120 | L_pid.init(); |
| kenken0721 | 1:f4dbd6b9cc27 | 121 | pwm_pins[0].period(0.00005); |
| kenken0721 | 1:f4dbd6b9cc27 | 122 | pwm_pins[1].period(0.00005); |
| kenken0721 | 1:f4dbd6b9cc27 | 123 | pwm_pins[2].period(0.00005); |
| kenken0721 | 1:f4dbd6b9cc27 | 124 | pwm_pins[3].period(0.00005); |
| kenken0721 | 4:eabb7a738ff8 | 125 | motor_pwm.period(0.00005); |
| kenken0721 | 6:ff7fd6556a81 | 126 | //------通信スピード---------------------------------------------- |
| kenken0721 | 3:aaa2fde4fafd | 127 | pc.baud(115200); |
| kenken0721 | 2:c5996dd62e9c | 128 | kbtpc.baud(9600); |
| kenken0721 | 2:c5996dd62e9c | 129 | master.frequency(100000); |
| kenken0721 | 6:ff7fd6556a81 | 130 | lamp = 1.0; |
| kenken0721 | 6:ff7fd6556a81 | 131 | //-------初期化------------------------------------------------- |
| kenken0721 | 4:eabb7a738ff8 | 132 | syokikanomai(); |
| kenken0721 | 4:eabb7a738ff8 | 133 | buzzer = 0; |
| kenken0721 | 6:ff7fd6556a81 | 134 | //-----------メインループ---------------------------------------- |
| kenken0721 | 1:f4dbd6b9cc27 | 135 | while (true) { |
| kenken0721 | 7:f1a924244b76 | 136 | if(directmode == STRAIGHT){ |
| kenken0721 | 7:f1a924244b76 | 137 | master.read(addr1,buff1,2); |
| kenken0721 | 7:f1a924244b76 | 138 | linecheck(buff1,linedata_1); |
| kenken0721 | 7:f1a924244b76 | 139 | }else if(directmode == RIGHT){ |
| kenken0721 | 7:f1a924244b76 | 140 | master.read(addr2,buff2,2); |
| kenken0721 | 7:f1a924244b76 | 141 | linecheck(buff2,linedata_2); |
| kenken0721 | 7:f1a924244b76 | 142 | }else if(directmode == LEFT){ |
| kenken0721 | 7:f1a924244b76 | 143 | master.read(addr3,buff3,2); |
| kenken0721 | 7:f1a924244b76 | 144 | linecheck(buff3,linedata_3); |
| kenken0721 | 7:f1a924244b76 | 145 | } |
| kenken0721 | 7:f1a924244b76 | 146 | |
| kenken0721 | 2:c5996dd62e9c | 147 | x_dist = Enc_Carry_X.read_rotate(); |
| kenken0721 | 2:c5996dd62e9c | 148 | y_dist = Enc_Carry_Y.read_rotate(); |
| kenken0721 | 3:aaa2fde4fafd | 149 | kbtpc.putc(state); |
| kenken0721 | 1:f4dbd6b9cc27 | 150 | if(kbtpc.readable()){ |
| kenken0721 | 1:f4dbd6b9cc27 | 151 | kbtread = kbtpc.getc(); |
| kenken0721 | 1:f4dbd6b9cc27 | 152 | } |
| kenken0721 | 1:f4dbd6b9cc27 | 153 | if(kbtread == 255){ |
| kenken0721 | 1:f4dbd6b9cc27 | 154 | mode = true; |
| kenken0721 | 1:f4dbd6b9cc27 | 155 | }else if(kbtread == 150){ |
| kenken0721 | 1:f4dbd6b9cc27 | 156 | mode = false; |
| kenken0721 | 1:f4dbd6b9cc27 | 157 | }else if(kbtread == 100){ |
| kenken0721 | 1:f4dbd6b9cc27 | 158 | stopflag = true; |
| kenken0721 | 1:f4dbd6b9cc27 | 159 | }else if(kbtread == 200){ |
| kenken0721 | 1:f4dbd6b9cc27 | 160 | stopflag = false; |
| kenken0721 | 2:c5996dd62e9c | 161 | }else if(kbtread == STRAIGHT){ |
| kenken0721 | 2:c5996dd62e9c | 162 | directmode = STRAIGHT; |
| kenken0721 | 2:c5996dd62e9c | 163 | }else if(kbtread == RIGHT){ |
| kenken0721 | 2:c5996dd62e9c | 164 | directmode = RIGHT; |
| kenken0721 | 2:c5996dd62e9c | 165 | }else if(kbtread == LEFT){ |
| kenken0721 | 2:c5996dd62e9c | 166 | directmode = LEFT; |
| kenken0721 | 3:aaa2fde4fafd | 167 | }else if(kbtread == START){ |
| kenken0721 | 3:aaa2fde4fafd | 168 | state = START; |
| kenken0721 | 8:91a72648f312 | 169 | }else if(kbtread == STAND_BY_1){ |
| kenken0721 | 8:91a72648f312 | 170 | state = STAND_BY_1; |
| kenken0721 | 8:91a72648f312 | 171 | }else if(kbtread == YELLOW_RECEIVE){ |
| kenken0721 | 8:91a72648f312 | 172 | state = YELLOW_RECEIVE; |
| kenken0721 | 8:91a72648f312 | 173 | crosscount = 5; |
| kenken0721 | 8:91a72648f312 | 174 | air = 0.0; |
| kenken0721 | 1:f4dbd6b9cc27 | 175 | } |
| kenken0721 | 8:91a72648f312 | 176 | |
| kenken0721 | 1:f4dbd6b9cc27 | 177 | //--------------手動-------------------------------------- |
| kenken0721 | 1:f4dbd6b9cc27 | 178 | if(mode == true){ |
| kenken0721 | 1:f4dbd6b9cc27 | 179 | led2 = 1.0; |
| kenken0721 | 2:c5996dd62e9c | 180 | if(kbtread == STRAIGHT){ |
| kenken0721 | 1:f4dbd6b9cc27 | 181 | Straight(power, power, pwm_pins, dir_pins_1, dir_pins_2); |
| kenken0721 | 2:c5996dd62e9c | 182 | }else if(kbtread == BACK){ |
| kenken0721 | 1:f4dbd6b9cc27 | 183 | Back(power, power, pwm_pins, dir_pins_1, dir_pins_2); |
| kenken0721 | 2:c5996dd62e9c | 184 | }else if(kbtread == RIGHT){ |
| kenken0721 | 1:f4dbd6b9cc27 | 185 | Right(power, power, pwm_pins, dir_pins_1, dir_pins_2); |
| kenken0721 | 2:c5996dd62e9c | 186 | }else if(kbtread == LEFT){ |
| kenken0721 | 1:f4dbd6b9cc27 | 187 | Left(power, power, pwm_pins, dir_pins_1, dir_pins_2); |
| kenken0721 | 1:f4dbd6b9cc27 | 188 | }else{ |
| kenken0721 | 1:f4dbd6b9cc27 | 189 | Stop(pwm_pins, dir_pins_1, dir_pins_2); |
| kenken0721 | 1:f4dbd6b9cc27 | 190 | } |
| kenken0721 | 1:f4dbd6b9cc27 | 191 | //--------------自動--------------------------------- |
| kenken0721 | 1:f4dbd6b9cc27 | 192 | }else if(mode == false){ |
| kenken0721 | 1:f4dbd6b9cc27 | 193 | led2 = 0.0; |
| kenken0721 | 1:f4dbd6b9cc27 | 194 | if(stopflag == true){ |
| kenken0721 | 1:f4dbd6b9cc27 | 195 | Stop(pwm_pins, dir_pins_1, dir_pins_2); |
| kenken0721 | 1:f4dbd6b9cc27 | 196 | }else{ |
| kenken0721 | 2:c5996dd62e9c | 197 | LineCheck(directmode); |
| kenken0721 | 3:aaa2fde4fafd | 198 | switch(state){ |
| kenken0721 | 4:eabb7a738ff8 | 199 | //------------------初期位置から待機位置1------------------------------------------ |
| kenken0721 | 3:aaa2fde4fafd | 200 | case START: |
| kenken0721 | 3:aaa2fde4fafd | 201 | if(crosscount == 0){ |
| kenken0721 | 3:aaa2fde4fafd | 202 | directmode = STRAIGHT; |
| kenken0721 | 6:ff7fd6556a81 | 203 | }else if(crosscount == 1){ |
| kenken0721 | 6:ff7fd6556a81 | 204 | if(directmode == STRAIGHT){ |
| kenken0721 | 6:ff7fd6556a81 | 205 | directmode = LEFT; |
| kenken0721 | 6:ff7fd6556a81 | 206 | prelinedata = 0; |
| kenken0721 | 6:ff7fd6556a81 | 207 | }else if(directmode == LEFT){ |
| kenken0721 | 6:ff7fd6556a81 | 208 | directmode = LEFT; |
| kenken0721 | 7:f1a924244b76 | 209 | Linecount(); |
| kenken0721 | 6:ff7fd6556a81 | 210 | } |
| kenken0721 | 3:aaa2fde4fafd | 211 | }else if(crosscount == 2){ |
| kenken0721 | 3:aaa2fde4fafd | 212 | directmode = STOP; |
| kenken0721 | 3:aaa2fde4fafd | 213 | state = STAND_BY_1; |
| kenken0721 | 3:aaa2fde4fafd | 214 | crosscount = 0; |
| kenken0721 | 3:aaa2fde4fafd | 215 | prelinedata = 0; |
| kenken0721 | 3:aaa2fde4fafd | 216 | } |
| kenken0721 | 3:aaa2fde4fafd | 217 | break; |
| kenken0721 | 4:eabb7a738ff8 | 218 | //------------------待機位置1---------------------------------------------------- |
| kenken0721 | 3:aaa2fde4fafd | 219 | case STAND_BY_1: |
| kenken0721 | 3:aaa2fde4fafd | 220 | crosscount = 0; |
| kenken0721 | 3:aaa2fde4fafd | 221 | directmode = STOP; |
| kenken0721 | 4:eabb7a738ff8 | 222 | if(distance == 1.0){ |
| kenken0721 | 8:91a72648f312 | 223 | if(redthrowing == false){ |
| kenken0721 | 8:91a72648f312 | 224 | if(redIn == 1.0){ |
| kenken0721 | 8:91a72648f312 | 225 | buzzer = 1.0; |
| kenken0721 | 8:91a72648f312 | 226 | redcount++; |
| kenken0721 | 8:91a72648f312 | 227 | }else { |
| kenken0721 | 8:91a72648f312 | 228 | buzzer = 0.0; |
| kenken0721 | 8:91a72648f312 | 229 | } |
| kenken0721 | 8:91a72648f312 | 230 | }else if(redthrowing == true){ |
| kenken0721 | 8:91a72648f312 | 231 | if(redIn == 1.0){ |
| kenken0721 | 8:91a72648f312 | 232 | buzzer = 1.0; |
| kenken0721 | 8:91a72648f312 | 233 | bluecount++; |
| kenken0721 | 8:91a72648f312 | 234 | }else { |
| kenken0721 | 8:91a72648f312 | 235 | buzzer = 0.0; |
| kenken0721 | 8:91a72648f312 | 236 | } |
| kenken0721 | 4:eabb7a738ff8 | 237 | } |
| kenken0721 | 4:eabb7a738ff8 | 238 | if(redcount >= 100 ){ |
| kenken0721 | 8:91a72648f312 | 239 | buzzer = 0; |
| kenken0721 | 4:eabb7a738ff8 | 240 | servo_hand.move(hand_tsukami_degree); |
| kenken0721 | 4:eabb7a738ff8 | 241 | servo1.move(hiji_tsukami_degree); |
| kenken0721 | 6:ff7fd6556a81 | 242 | servo1.move(hiji_tsukami_degree); |
| kenken0721 | 4:eabb7a738ff8 | 243 | }else if(bluecount >= 100){ |
| kenken0721 | 4:eabb7a738ff8 | 244 | servo_hand.move(hand_tsukami_degree); |
| kenken0721 | 4:eabb7a738ff8 | 245 | servo1.move(hiji_tsukami_degree); |
| kenken0721 | 6:ff7fd6556a81 | 246 | servo1.move(hiji_tsukami_degree); |
| kenken0721 | 4:eabb7a738ff8 | 247 | } |
| kenken0721 | 4:eabb7a738ff8 | 248 | }else if(distance == 0.0 && redcount >= 100){ |
| kenken0721 | 8:91a72648f312 | 249 | servo2.move(koshi_red_nage_degree); |
| kenken0721 | 8:91a72648f312 | 250 | servo2.move(koshi_red_nage_degree); |
| kenken0721 | 3:aaa2fde4fafd | 251 | state = RED_RECEIVE; |
| kenken0721 | 4:eabb7a738ff8 | 252 | directmode = STOP; |
| kenken0721 | 4:eabb7a738ff8 | 253 | redcount = 0; |
| kenken0721 | 4:eabb7a738ff8 | 254 | crosscount = 0; |
| kenken0721 | 4:eabb7a738ff8 | 255 | }else if(distance == 0.0 && bluecount >= 100){ |
| kenken0721 | 8:91a72648f312 | 256 | servo2.move(koshi_blue_nage_degree); |
| kenken0721 | 8:91a72648f312 | 257 | servo2.move(koshi_blue_nage_degree); |
| kenken0721 | 4:eabb7a738ff8 | 258 | state = BLUE_RECEIVE_1; |
| kenken0721 | 4:eabb7a738ff8 | 259 | directmode = STOP; |
| kenken0721 | 4:eabb7a738ff8 | 260 | bluecount = 0; |
| kenken0721 | 4:eabb7a738ff8 | 261 | crosscount = 0; |
| kenken0721 | 4:eabb7a738ff8 | 262 | } |
| kenken0721 | 3:aaa2fde4fafd | 263 | break; |
| kenken0721 | 4:eabb7a738ff8 | 264 | //------------------待機位置1から投てき位置1---------------------------------------- |
| kenken0721 | 3:aaa2fde4fafd | 265 | case RED_RECEIVE: |
| kenken0721 | 3:aaa2fde4fafd | 266 | if(crosscount == 0){ |
| kenken0721 | 3:aaa2fde4fafd | 267 | directmode = LEFT; |
| kenken0721 | 4:eabb7a738ff8 | 268 | }else if(crosscount == 1){ |
| kenken0721 | 3:aaa2fde4fafd | 269 | directmode = STOP; |
| kenken0721 | 3:aaa2fde4fafd | 270 | prelinedata = 0; |
| kenken0721 | 8:91a72648f312 | 271 | touteki(1.0,195,0); |
| kenken0721 | 7:f1a924244b76 | 272 | //syokikanomai2(); |
| kenken0721 | 4:eabb7a738ff8 | 273 | if(set_flag == false){ |
| kenken0721 | 3:aaa2fde4fafd | 274 | directmode = RIGHT; |
| kenken0721 | 8:91a72648f312 | 275 | Linecount(); |
| kenken0721 | 3:aaa2fde4fafd | 276 | } |
| kenken0721 | 3:aaa2fde4fafd | 277 | }else if(crosscount == 2){ |
| kenken0721 | 3:aaa2fde4fafd | 278 | directmode = STOP; |
| kenken0721 | 4:eabb7a738ff8 | 279 | syokikanomai2(); |
| kenken0721 | 4:eabb7a738ff8 | 280 | if(set_flag == true){ |
| kenken0721 | 4:eabb7a738ff8 | 281 | state = STAND_BY_1; |
| kenken0721 | 7:f1a924244b76 | 282 | //taiki_flag = false; |
| kenken0721 | 4:eabb7a738ff8 | 283 | crosscount = 0; |
| kenken0721 | 8:91a72648f312 | 284 | redthrowing = true; |
| kenken0721 | 4:eabb7a738ff8 | 285 | } |
| kenken0721 | 3:aaa2fde4fafd | 286 | } |
| kenken0721 | 3:aaa2fde4fafd | 287 | break; |
| kenken0721 | 4:eabb7a738ff8 | 288 | //------------------待機位置1から投てき位置2---------------------------------------- |
| kenken0721 | 3:aaa2fde4fafd | 289 | case BLUE_RECEIVE_1: |
| kenken0721 | 3:aaa2fde4fafd | 290 | if(crosscount == 0){ |
| kenken0721 | 3:aaa2fde4fafd | 291 | directmode = RIGHT; |
| kenken0721 | 3:aaa2fde4fafd | 292 | }else if(crosscount == 1){ |
| kenken0721 | 3:aaa2fde4fafd | 293 | directmode = STRAIGHT; |
| kenken0721 | 3:aaa2fde4fafd | 294 | }else if(crosscount == 2){ |
| kenken0721 | 3:aaa2fde4fafd | 295 | directmode = LEFT; |
| kenken0721 | 7:f1a924244b76 | 296 | Linecount(); |
| kenken0721 | 3:aaa2fde4fafd | 297 | }else if(crosscount == 3){ |
| kenken0721 | 3:aaa2fde4fafd | 298 | directmode = STOP; |
| kenken0721 | 3:aaa2fde4fafd | 299 | prelinedata = 0; |
| kenken0721 | 4:eabb7a738ff8 | 300 | state = BLUE_RECEIVE_2; |
| kenken0721 | 3:aaa2fde4fafd | 301 | crosscount = 0; |
| kenken0721 | 3:aaa2fde4fafd | 302 | } |
| kenken0721 | 3:aaa2fde4fafd | 303 | break; |
| kenken0721 | 4:eabb7a738ff8 | 304 | //------------------待機位置2---------------------------------------------------- |
| kenken0721 | 3:aaa2fde4fafd | 305 | case STAND_BY_2: |
| kenken0721 | 3:aaa2fde4fafd | 306 | crosscount = 0; |
| kenken0721 | 4:eabb7a738ff8 | 307 | directmode = STOP; |
| kenken0721 | 4:eabb7a738ff8 | 308 | if(distance == 1.0){ |
| kenken0721 | 8:91a72648f312 | 309 | if(redIn == 1.0){ |
| kenken0721 | 4:eabb7a738ff8 | 310 | buzzer = 1.0; |
| kenken0721 | 4:eabb7a738ff8 | 311 | bluecount++; |
| kenken0721 | 7:f1a924244b76 | 312 | }else if(micro_switch == 0.0){ |
| kenken0721 | 4:eabb7a738ff8 | 313 | buzzer = 1.0; |
| kenken0721 | 4:eabb7a738ff8 | 314 | yellowcount++; |
| kenken0721 | 4:eabb7a738ff8 | 315 | }else{ |
| kenken0721 | 4:eabb7a738ff8 | 316 | buzzer = 0.0; |
| kenken0721 | 4:eabb7a738ff8 | 317 | } |
| kenken0721 | 5:c5a2a5cf600d | 318 | if(bluecount >= 100){ |
| kenken0721 | 5:c5a2a5cf600d | 319 | servo_hand.move(hand_tsukami_degree); |
| kenken0721 | 5:c5a2a5cf600d | 320 | servo1.move(hiji_tsukami_degree); |
| kenken0721 | 6:ff7fd6556a81 | 321 | servo1.move(hiji_tsukami_degree); |
| kenken0721 | 4:eabb7a738ff8 | 322 | }else if(yellowcount >= 500){ |
| kenken0721 | 5:c5a2a5cf600d | 323 | air = 0.0; |
| kenken0721 | 4:eabb7a738ff8 | 324 | } |
| kenken0721 | 5:c5a2a5cf600d | 325 | }else if(distance == 0.0 && bluecount >= 100){ |
| kenken0721 | 8:91a72648f312 | 326 | servo2.move(koshi_blue_nage_degree); |
| kenken0721 | 8:91a72648f312 | 327 | servo2.move(koshi_blue_nage_degree); |
| kenken0721 | 4:eabb7a738ff8 | 328 | state = BLUE_RECEIVE_2; |
| kenken0721 | 4:eabb7a738ff8 | 329 | directmode = STOP; |
| kenken0721 | 4:eabb7a738ff8 | 330 | bluecount = 0; |
| kenken0721 | 4:eabb7a738ff8 | 331 | crosscount = 0; |
| kenken0721 | 7:f1a924244b76 | 332 | }else if(distance == 0.0 && yellowcount >= 500){ |
| kenken0721 | 7:f1a924244b76 | 333 | state = YELLOW_RECEIVE; |
| kenken0721 | 8:91a72648f312 | 334 | buzzer = 0.0; |
| kenken0721 | 7:f1a924244b76 | 335 | directmode = STOP; |
| kenken0721 | 7:f1a924244b76 | 336 | yellowcount = 0; |
| kenken0721 | 7:f1a924244b76 | 337 | crosscount = 0; |
| kenken0721 | 4:eabb7a738ff8 | 338 | } |
| kenken0721 | 3:aaa2fde4fafd | 339 | break; |
| kenken0721 | 4:eabb7a738ff8 | 340 | //------------------投てき位置2--------------------------------------------------- |
| kenken0721 | 3:aaa2fde4fafd | 341 | case BLUE_RECEIVE_2: |
| kenken0721 | 3:aaa2fde4fafd | 342 | if(crosscount == 0){ |
| kenken0721 | 3:aaa2fde4fafd | 343 | directmode = LEFT; |
| kenken0721 | 3:aaa2fde4fafd | 344 | }else if(crosscount == 1){ |
| kenken0721 | 5:c5a2a5cf600d | 345 | directmode = STOP; |
| kenken0721 | 5:c5a2a5cf600d | 346 | prelinedata = 0; |
| kenken0721 | 8:91a72648f312 | 347 | touteki(1.0,200,1); |
| kenken0721 | 7:f1a924244b76 | 348 | //syokikanomai2(); |
| kenken0721 | 5:c5a2a5cf600d | 349 | if(set_flag == false){ |
| kenken0721 | 5:c5a2a5cf600d | 350 | directmode = RIGHT; |
| kenken0721 | 7:f1a924244b76 | 351 | Linecount(); |
| kenken0721 | 3:aaa2fde4fafd | 352 | } |
| kenken0721 | 3:aaa2fde4fafd | 353 | }else if(crosscount == 2){ |
| kenken0721 | 3:aaa2fde4fafd | 354 | directmode = STOP; |
| kenken0721 | 5:c5a2a5cf600d | 355 | syokikanomai2(); |
| kenken0721 | 5:c5a2a5cf600d | 356 | if(set_flag == true){ |
| kenken0721 | 5:c5a2a5cf600d | 357 | state = STAND_BY_2; |
| kenken0721 | 7:f1a924244b76 | 358 | //taiki_flag = false; |
| kenken0721 | 5:c5a2a5cf600d | 359 | crosscount = 0; |
| kenken0721 | 5:c5a2a5cf600d | 360 | } |
| kenken0721 | 7:f1a924244b76 | 361 | } |
| kenken0721 | 3:aaa2fde4fafd | 362 | break; |
| kenken0721 | 4:eabb7a738ff8 | 363 | //------------------投てき位置3--------------------------------------------------- |
| kenken0721 | 3:aaa2fde4fafd | 364 | case YELLOW_RECEIVE: |
| kenken0721 | 7:f1a924244b76 | 365 | if(crosscount != 5){ |
| kenken0721 | 3:aaa2fde4fafd | 366 | directmode = LEFT; |
| kenken0721 | 3:aaa2fde4fafd | 367 | }else{ |
| kenken0721 | 3:aaa2fde4fafd | 368 | directmode = STOP; |
| kenken0721 | 7:f1a924244b76 | 369 | if(yellow_throw_flag == false){ |
| kenken0721 | 7:f1a924244b76 | 370 | yellow_throwing(); |
| kenken0721 | 7:f1a924244b76 | 371 | }else{ |
| kenken0721 | 7:f1a924244b76 | 372 | touteki(1.0,190,1.0); |
| kenken0721 | 7:f1a924244b76 | 373 | syokikanomai2(); |
| kenken0721 | 7:f1a924244b76 | 374 | } |
| kenken0721 | 3:aaa2fde4fafd | 375 | } |
| kenken0721 | 3:aaa2fde4fafd | 376 | break; |
| kenken0721 | 3:aaa2fde4fafd | 377 | default: |
| kenken0721 | 3:aaa2fde4fafd | 378 | break; |
| kenken0721 | 3:aaa2fde4fafd | 379 | } |
| kenken0721 | 4:eabb7a738ff8 | 380 | //--------------進行方向--------------------------------------------------------- |
| kenken0721 | 3:aaa2fde4fafd | 381 | switch(directmode){ |
| kenken0721 | 2:c5996dd62e9c | 382 | case STOP: |
| kenken0721 | 2:c5996dd62e9c | 383 | Stop(pwm_pins, dir_pins_1, dir_pins_2); |
| kenken0721 | 2:c5996dd62e9c | 384 | break; |
| kenken0721 | 2:c5996dd62e9c | 385 | case STRAIGHT: |
| kenken0721 | 2:c5996dd62e9c | 386 | output = S_pid.compute((double)linedata_1[0]); |
| kenken0721 | 2:c5996dd62e9c | 387 | if(output >= 0){ |
| kenken0721 | 7:f1a924244b76 | 388 | Straight(power, power + output, pwm_pins, dir_pins_1, dir_pins_2); |
| kenken0721 | 2:c5996dd62e9c | 389 | }else { |
| kenken0721 | 7:f1a924244b76 | 390 | Straight(power + (-1 * output), power, pwm_pins, dir_pins_1, dir_pins_2); |
| kenken0721 | 2:c5996dd62e9c | 391 | } |
| kenken0721 | 2:c5996dd62e9c | 392 | break; |
| kenken0721 | 2:c5996dd62e9c | 393 | case RIGHT: |
| kenken0721 | 2:c5996dd62e9c | 394 | output = R_pid.compute((double)linedata_2[0]); |
| kenken0721 | 1:f4dbd6b9cc27 | 395 | if(output >= 0){ |
| kenken0721 | 7:f1a924244b76 | 396 | Right(power, power + output, pwm_pins, dir_pins_1, dir_pins_2); |
| kenken0721 | 1:f4dbd6b9cc27 | 397 | }else { |
| kenken0721 | 7:f1a924244b76 | 398 | Right(power + (-1 * output), power, pwm_pins, dir_pins_1, dir_pins_2); |
| kenken0721 | 2:c5996dd62e9c | 399 | } |
| kenken0721 | 2:c5996dd62e9c | 400 | break; |
| kenken0721 | 2:c5996dd62e9c | 401 | case LEFT: |
| kenken0721 | 2:c5996dd62e9c | 402 | output = L_pid.compute((double)linedata_3[0]); |
| kenken0721 | 2:c5996dd62e9c | 403 | if(output >= 0){ |
| kenken0721 | 7:f1a924244b76 | 404 | Left(power, power + output, pwm_pins, dir_pins_1, dir_pins_2); |
| kenken0721 | 2:c5996dd62e9c | 405 | }else { |
| kenken0721 | 7:f1a924244b76 | 406 | Left(power + (-1 * output), power, pwm_pins, dir_pins_1, dir_pins_2); |
| kenken0721 | 2:c5996dd62e9c | 407 | } |
| kenken0721 | 2:c5996dd62e9c | 408 | break; |
| kenken0721 | 2:c5996dd62e9c | 409 | default: |
| kenken0721 | 2:c5996dd62e9c | 410 | break; |
| kenken0721 | 1:f4dbd6b9cc27 | 411 | } |
| kenken0721 | 1:f4dbd6b9cc27 | 412 | } |
| kenken0721 | 1:f4dbd6b9cc27 | 413 | } |
| kenken0721 | 4:eabb7a738ff8 | 414 | pc.printf("xdist = %f \r",x_dist); |
| kenken0721 | 4:eabb7a738ff8 | 415 | pc.printf("ydist = %f \r",y_dist); |
| kenken0721 | 1:f4dbd6b9cc27 | 416 | pc.printf("output = %lf \n" ,output); |
| kenken0721 | 1:f4dbd6b9cc27 | 417 | } |
| kenken0721 | 1:f4dbd6b9cc27 | 418 | } |
| kenken0721 | 1:f4dbd6b9cc27 | 419 | |
| kenken0721 | 7:f1a924244b76 | 420 | //---------------初期化---------------------------------------------------------- |
| kenken0721 | 7:f1a924244b76 | 421 | |
| kenken0721 | 7:f1a924244b76 | 422 | void yellow_throwing(){ |
| kenken0721 | 7:f1a924244b76 | 423 | if(yellow_throw_flag == false){ |
| kenken0721 | 7:f1a924244b76 | 424 | timer.start(); |
| kenken0721 | 7:f1a924244b76 | 425 | } |
| kenken0721 | 7:f1a924244b76 | 426 | int times = timer.read(); |
| kenken0721 | 8:91a72648f312 | 427 | if(times >= 2.0 && times < 3.0){ |
| kenken0721 | 8:91a72648f312 | 428 | servo_hand.move(hand_uke_degree); |
| kenken0721 | 8:91a72648f312 | 429 | }else if(times >= 3.0 && times < 4.0){ |
| kenken0721 | 8:91a72648f312 | 430 | servo1.move(hiji_uke_degree); |
| kenken0721 | 8:91a72648f312 | 431 | }else if(times >= 4.0 && times < 5.0){ |
| kenken0721 | 7:f1a924244b76 | 432 | servo_hand.move(hand_tsukami_degree); |
| kenken0721 | 8:91a72648f312 | 433 | }else if(times >=5.0 && times <5.5){ |
| kenken0721 | 7:f1a924244b76 | 434 | servo2.move(koshi_nage_degree); |
| kenken0721 | 8:91a72648f312 | 435 | }else if(times >= 5.5){ |
| kenken0721 | 7:f1a924244b76 | 436 | yellow_throw_flag = true; |
| kenken0721 | 7:f1a924244b76 | 437 | timer.stop(); |
| kenken0721 | 7:f1a924244b76 | 438 | timer.reset(); |
| kenken0721 | 7:f1a924244b76 | 439 | } |
| kenken0721 | 7:f1a924244b76 | 440 | } |
| kenken0721 | 7:f1a924244b76 | 441 | |
| kenken0721 | 4:eabb7a738ff8 | 442 | void syokikanomai(void){ |
| kenken0721 | 4:eabb7a738ff8 | 443 | syokika_flag = false; |
| kenken0721 | 4:eabb7a738ff8 | 444 | while (set_flag==false) { |
| kenken0721 | 4:eabb7a738ff8 | 445 | encoder_count= Enc_Arm.read_rotate(); |
| kenken0721 | 4:eabb7a738ff8 | 446 | servo_hand.move(hand_uke_degree); |
| kenken0721 | 4:eabb7a738ff8 | 447 | servo1.move(hiji_nage_degree);//退避 |
| kenken0721 | 4:eabb7a738ff8 | 448 | servo2.move(koshi_uke_degree); |
| kenken0721 | 6:ff7fd6556a81 | 449 | servo1.move(hiji_nage_degree);//退避 |
| kenken0721 | 6:ff7fd6556a81 | 450 | servo2.move(koshi_uke_degree); |
| kenken0721 | 4:eabb7a738ff8 | 451 | motor_dir1=0; |
| kenken0721 | 4:eabb7a738ff8 | 452 | motor_dir2=1; |
| kenken0721 | 8:91a72648f312 | 453 | motor_pwm=0.12; |
| kenken0721 | 7:f1a924244b76 | 454 | if(Enc_Arm.read_z() == 1){ |
| kenken0721 | 4:eabb7a738ff8 | 455 | syokika_flag=true; |
| kenken0721 | 4:eabb7a738ff8 | 456 | buzzer = 1.0; |
| kenken0721 | 4:eabb7a738ff8 | 457 | } |
| kenken0721 | 4:eabb7a738ff8 | 458 | |
| kenken0721 | 4:eabb7a738ff8 | 459 | if (syokika_flag==true) { |
| kenken0721 | 7:f1a924244b76 | 460 | if(encoder_count == 170){ |
| kenken0721 | 4:eabb7a738ff8 | 461 | motor_pwm=0; |
| kenken0721 | 4:eabb7a738ff8 | 462 | motor_dir1=1; |
| kenken0721 | 4:eabb7a738ff8 | 463 | motor_dir2=1; |
| kenken0721 | 4:eabb7a738ff8 | 464 | set_flag=true; //投てき後，falseにする. |
| kenken0721 | 4:eabb7a738ff8 | 465 | } |
| kenken0721 | 4:eabb7a738ff8 | 466 | } |
| kenken0721 | 4:eabb7a738ff8 | 467 | } |
| kenken0721 | 4:eabb7a738ff8 | 468 | servo1.move(hiji_uke_degree); |
| kenken0721 | 4:eabb7a738ff8 | 469 | servo1.move(hiji_uke_degree); |
| kenken0721 | 4:eabb7a738ff8 | 470 | } |
| kenken0721 | 4:eabb7a738ff8 | 471 | |
| kenken0721 | 4:eabb7a738ff8 | 472 | void syokikanomai2(void){ |
| kenken0721 | 4:eabb7a738ff8 | 473 | if(set_flag==false) { |
| kenken0721 | 7:f1a924244b76 | 474 | encoder_count= Enc_Arm.read_rotate(); |
| kenken0721 | 8:91a72648f312 | 475 | servo_hand.move(hand_uke_degree); |
| kenken0721 | 8:91a72648f312 | 476 | servo1.move(hiji_nage_degree);//退避 |
| kenken0721 | 8:91a72648f312 | 477 | servo1.move(hiji_nage_degree);//退避 |
| kenken0721 | 8:91a72648f312 | 478 | if(yellow_throw_flag == false){ |
| kenken0721 | 8:91a72648f312 | 479 | servo2.move(koshi_uke_degree); |
| kenken0721 | 8:91a72648f312 | 480 | servo2.move(koshi_uke_degree); |
| kenken0721 | 7:f1a924244b76 | 481 | } |
| kenken0721 | 4:eabb7a738ff8 | 482 | motor_dir1=0; |
| kenken0721 | 4:eabb7a738ff8 | 483 | motor_dir2=1; |
| kenken0721 | 8:91a72648f312 | 484 | motor_pwm=0.12; |
| kenken0721 | 4:eabb7a738ff8 | 485 | if(Enc_Arm.read_z() == 1) { |
| kenken0721 | 4:eabb7a738ff8 | 486 | syokika_flag = true; |
| kenken0721 | 4:eabb7a738ff8 | 487 | buzzer = 1.0; |
| kenken0721 | 4:eabb7a738ff8 | 488 | } |
| kenken0721 | 4:eabb7a738ff8 | 489 | if (syokika_flag==true) { |
| kenken0721 | 8:91a72648f312 | 490 | int set_pos; |
| kenken0721 | 8:91a72648f312 | 491 | if(yellow_throw_flag == true) set_pos = 164; |
| kenken0721 | 8:91a72648f312 | 492 | else set_pos = 170; |
| kenken0721 | 8:91a72648f312 | 493 | if(encoder_count == set_pos){ |
| kenken0721 | 4:eabb7a738ff8 | 494 | motor_pwm=0; |
| kenken0721 | 4:eabb7a738ff8 | 495 | motor_dir1=1; |
| kenken0721 | 4:eabb7a738ff8 | 496 | motor_dir2=1; |
| kenken0721 | 8:91a72648f312 | 497 | if(yellow_throw_flag == false){ |
| kenken0721 | 8:91a72648f312 | 498 | servo_hand.move(hand_uke_degree); |
| kenken0721 | 8:91a72648f312 | 499 | servo1.move(hiji_uke_degree); |
| kenken0721 | 8:91a72648f312 | 500 | servo1.move(hiji_uke_degree); |
| kenken0721 | 8:91a72648f312 | 501 | }else{ |
| kenken0721 | 8:91a72648f312 | 502 | servo_hand.move(hand_tsukami_degree); |
| kenken0721 | 8:91a72648f312 | 503 | servo2.move(koshi_uke_degree); |
| kenken0721 | 8:91a72648f312 | 504 | servo2.move(koshi_uke_degree); |
| kenken0721 | 8:91a72648f312 | 505 | } |
| kenken0721 | 4:eabb7a738ff8 | 506 | set_flag = true; //投てき後，falseにする. |
| kenken0721 | 7:f1a924244b76 | 507 | taiki_flag = true; |
| kenken0721 | 7:f1a924244b76 | 508 | yellow_throw_flag = false; |
| kenken0721 | 4:eabb7a738ff8 | 509 | } |
| kenken0721 | 4:eabb7a738ff8 | 510 | } |
| kenken0721 | 4:eabb7a738ff8 | 511 | } |
| kenken0721 | 4:eabb7a738ff8 | 512 | } |
| kenken0721 | 4:eabb7a738ff8 | 513 | |
| kenken0721 | 6:ff7fd6556a81 | 514 | void touteki(float armpower ,int pos, bool throwing_mode){ |
| kenken0721 | 7:f1a924244b76 | 515 | led2 = 1.0; |
| kenken0721 | 4:eabb7a738ff8 | 516 | if(set_flag == true){ |
| kenken0721 | 4:eabb7a738ff8 | 517 | timer.start(); |
| kenken0721 | 4:eabb7a738ff8 | 518 | } |
| kenken0721 | 4:eabb7a738ff8 | 519 | int times = timer.read(); |
| kenken0721 | 7:f1a924244b76 | 520 | if(times >= 2.0 && times < 3.0){ |
| kenken0721 | 4:eabb7a738ff8 | 521 | servo_hand.move(hand_uke_degree); |
| kenken0721 | 7:f1a924244b76 | 522 | led2 = 0.0; |
| kenken0721 | 6:ff7fd6556a81 | 523 | } |
| kenken0721 | 7:f1a924244b76 | 524 | if(times >= 3.0 && times < 4.0){ |
| kenken0721 | 7:f1a924244b76 | 525 | servo1.move(hiji_nage_degree); |
| kenken0721 | 4:eabb7a738ff8 | 526 | servo1.move(hiji_nage_degree); |
| kenken0721 | 4:eabb7a738ff8 | 527 | } |
| kenken0721 | 7:f1a924244b76 | 528 | if(times >= 4.0 && times < 6.0){ |
| kenken0721 | 4:eabb7a738ff8 | 529 | lamp = 0.0; |
| kenken0721 | 8:91a72648f312 | 530 | if(set_pos_flag == false){ |
| kenken0721 | 8:91a72648f312 | 531 | if(Enc_Arm.read_rotate() < pos) { |
| kenken0721 | 8:91a72648f312 | 532 | motor_dir1 = 0; |
| kenken0721 | 8:91a72648f312 | 533 | motor_dir2 = 1; |
| kenken0721 | 8:91a72648f312 | 534 | motor_pwm = 0.15; |
| kenken0721 | 8:91a72648f312 | 535 | }else{ |
| kenken0721 | 8:91a72648f312 | 536 | motor_dir1=1; |
| kenken0721 | 8:91a72648f312 | 537 | motor_dir2=1; |
| kenken0721 | 8:91a72648f312 | 538 | motor_pwm=0; |
| kenken0721 | 8:91a72648f312 | 539 | set_pos_flag = true; |
| kenken0721 | 8:91a72648f312 | 540 | } |
| kenken0721 | 4:eabb7a738ff8 | 541 | } |
| kenken0721 | 4:eabb7a738ff8 | 542 | } |
| kenken0721 | 7:f1a924244b76 | 543 | |
| kenken0721 | 4:eabb7a738ff8 | 544 | //----投てき------------------------- |
| kenken0721 | 6:ff7fd6556a81 | 545 | if(throwing_mode == 0.0){ |
| kenken0721 | 7:f1a924244b76 | 546 | if(times >= 6.0 && times < 7.0){ |
| kenken0721 | 5:c5a2a5cf600d | 547 | motor_dir1 = 0; |
| kenken0721 | 5:c5a2a5cf600d | 548 | motor_dir2 = 1; |
| kenken0721 | 5:c5a2a5cf600d | 549 | motor_pwm = armpower; |
| kenken0721 | 5:c5a2a5cf600d | 550 | } |
| kenken0721 | 6:ff7fd6556a81 | 551 | }else if(throwing_mode == 1.0){ |
| kenken0721 | 8:91a72648f312 | 552 | if(times >= 6.0 && times < 6.1){ |
| kenken0721 | 6:ff7fd6556a81 | 553 | throwing_relay = 1.0; |
| kenken0721 | 5:c5a2a5cf600d | 554 | }else{ |
| kenken0721 | 8:91a72648f312 | 555 | throwing_relay = 0.0; |
| kenken0721 | 5:c5a2a5cf600d | 556 | } |
| kenken0721 | 4:eabb7a738ff8 | 557 | } |
| kenken0721 | 7:f1a924244b76 | 558 | if(times >= 7.0 && times <8.0){ |
| kenken0721 | 4:eabb7a738ff8 | 559 | motor_pwm = 0.0; |
| kenken0721 | 8:91a72648f312 | 560 | motor_dir1 = 1; |
| kenken0721 | 8:91a72648f312 | 561 | motor_dir2 = 1; |
| kenken0721 | 4:eabb7a738ff8 | 562 | buzzer = 0; |
| kenken0721 | 4:eabb7a738ff8 | 563 | lamp = 1.0; |
| kenken0721 | 8:91a72648f312 | 564 | }else if(times >= 8.0 && yellow_throwing == false){ |
| kenken0721 | 4:eabb7a738ff8 | 565 | set_flag = false; |
| kenken0721 | 8:91a72648f312 | 566 | set_pos_flag = false; |
| kenken0721 | 8:91a72648f312 | 567 | timer.reset(); |
| kenken0721 | 8:91a72648f312 | 568 | timer.stop(); |
| kenken0721 | 8:91a72648f312 | 569 | }else if(times >= 10.0 && yellow_throw_flag == true){ |
| kenken0721 | 8:91a72648f312 | 570 | set_flag = false; |
| kenken0721 | 8:91a72648f312 | 571 | set_pos_flag = false; |
| kenken0721 | 4:eabb7a738ff8 | 572 | timer.reset(); |
| kenken0721 | 4:eabb7a738ff8 | 573 | timer.stop(); |
| kenken0721 | 4:eabb7a738ff8 | 574 | } |
| kenken0721 | 4:eabb7a738ff8 | 575 | } |
| kenken0721 | 4:eabb7a738ff8 | 576 | |
| kenken0721 | 7:f1a924244b76 | 577 | void Linecount(void){ |
| kenken0721 | 7:f1a924244b76 | 578 | if(directmode == RIGHT){ |
| kenken0721 | 7:f1a924244b76 | 579 | if(linecountcheck == false){ |
| kenken0721 | 7:f1a924244b76 | 580 | tar_x_dist_2 = x_dist; |
| kenken0721 | 7:f1a924244b76 | 581 | linecountcheck = true; |
| kenken0721 | 7:f1a924244b76 | 582 | }else{ |
| kenken0721 | 7:f1a924244b76 | 583 | if((x_dist - tar_x_dist_2) > X_STOP_DIST_3){ |
| kenken0721 | 7:f1a924244b76 | 584 | crosscount++; |
| kenken0721 | 7:f1a924244b76 | 585 | linecountcheck = false; |
| kenken0721 | 7:f1a924244b76 | 586 | } |
| kenken0721 | 7:f1a924244b76 | 587 | } |
| kenken0721 | 7:f1a924244b76 | 588 | }else if(directmode == LEFT){ |
| kenken0721 | 7:f1a924244b76 | 589 | if(linecountcheck == false){ |
| kenken0721 | 7:f1a924244b76 | 590 | tar_x_dist_2 = x_dist; |
| kenken0721 | 7:f1a924244b76 | 591 | linecountcheck = true; |
| kenken0721 | 7:f1a924244b76 | 592 | }else{ |
| kenken0721 | 7:f1a924244b76 | 593 | if((tar_x_dist_2 - x_dist) >= X_STOP_DIST_2){ |
| kenken0721 | 7:f1a924244b76 | 594 | crosscount++; |
| kenken0721 | 7:f1a924244b76 | 595 | linecountcheck = false; |
| kenken0721 | 7:f1a924244b76 | 596 | } |
| kenken0721 | 7:f1a924244b76 | 597 | } |
| kenken0721 | 7:f1a924244b76 | 598 | } |
| kenken0721 | 7:f1a924244b76 | 599 | } |
| kenken0721 | 7:f1a924244b76 | 600 | |
| kenken0721 | 2:c5996dd62e9c | 601 | void LineCheck(int dmode){ |
| kenken0721 | 2:c5996dd62e9c | 602 | if(dmode == STRAIGHT){ |
| kenken0721 | 2:c5996dd62e9c | 603 | if(linedata_1[1] == 1){ |
| kenken0721 | 2:c5996dd62e9c | 604 | ontheline = true; |
| kenken0721 | 2:c5996dd62e9c | 605 | tar_y_dist = y_dist; |
| kenken0721 | 2:c5996dd62e9c | 606 | } |
| kenken0721 | 2:c5996dd62e9c | 607 | if(ontheline == true){ |
| kenken0721 | 3:aaa2fde4fafd | 608 | if((y_dist - tar_y_dist) >= Y_STOP_DIST){ |
| kenken0721 | 2:c5996dd62e9c | 609 | ontheline = false; |
| kenken0721 | 2:c5996dd62e9c | 610 | crosscount++; |
| kenken0721 | 2:c5996dd62e9c | 611 | } |
| kenken0721 | 2:c5996dd62e9c | 612 | } |
| kenken0721 | 2:c5996dd62e9c | 613 | }else if(dmode == RIGHT){ |
| kenken0721 | 3:aaa2fde4fafd | 614 | if(linedata_2[1] == 1){ |
| kenken0721 | 3:aaa2fde4fafd | 615 | ontheline = true; |
| kenken0721 | 3:aaa2fde4fafd | 616 | tar_x_dist = x_dist; |
| kenken0721 | 3:aaa2fde4fafd | 617 | } |
| kenken0721 | 2:c5996dd62e9c | 618 | if(ontheline == true){ |
| kenken0721 | 3:aaa2fde4fafd | 619 | if((x_dist - tar_x_dist) >= X_STOP_DIST){ |
| kenken0721 | 2:c5996dd62e9c | 620 | ontheline = false; |
| kenken0721 | 2:c5996dd62e9c | 621 | crosscount++; |
| kenken0721 | 2:c5996dd62e9c | 622 | } |
| kenken0721 | 2:c5996dd62e9c | 623 | } |
| kenken0721 | 2:c5996dd62e9c | 624 | }else if(dmode == LEFT){ |
| kenken0721 | 3:aaa2fde4fafd | 625 | if(linedata_3[1] == 1){ |
| kenken0721 | 3:aaa2fde4fafd | 626 | ontheline = true; |
| kenken0721 | 3:aaa2fde4fafd | 627 | tar_x_dist = x_dist; |
| kenken0721 | 3:aaa2fde4fafd | 628 | } |
| kenken0721 | 2:c5996dd62e9c | 629 | if(ontheline == true){ |
| kenken0721 | 3:aaa2fde4fafd | 630 | if((tar_x_dist - x_dist) >= X_STOP_DIST){ |
| kenken0721 | 2:c5996dd62e9c | 631 | ontheline = false; |
| kenken0721 | 2:c5996dd62e9c | 632 | crosscount++; |
| kenken0721 | 2:c5996dd62e9c | 633 | } |
| kenken0721 | 2:c5996dd62e9c | 634 | } |
| kenken0721 | 2:c5996dd62e9c | 635 | } |
| kenken0721 | 2:c5996dd62e9c | 636 | } |
| kenken0721 | 0:f6828b914b1c | 637 | |
| kenken0721 | 2:c5996dd62e9c | 638 | void linecheck(char *buff, int data[2]){ |
| kenken0721 | 0:f6828b914b1c | 639 | if(buff[0] == 24){ |
| kenken0721 | 2:c5996dd62e9c | 640 | data[0] = 0; |
| kenken0721 | 2:c5996dd62e9c | 641 | data[1] = 0; |
| kenken0721 | 0:f6828b914b1c | 642 | }else if(buff[0] == 56){ |
| kenken0721 | 2:c5996dd62e9c | 643 | data[0] = 1; |
| kenken0721 | 2:c5996dd62e9c | 644 | data[1] = 0; |
| kenken0721 | 0:f6828b914b1c | 645 | }else if(buff[0] == 48){ |
| kenken0721 | 2:c5996dd62e9c | 646 | data[0] = 2; |
| kenken0721 | 2:c5996dd62e9c | 647 | data[1] = 0; |
| kenken0721 | 0:f6828b914b1c | 648 | }else if(buff[0] == 112){ |
| kenken0721 | 2:c5996dd62e9c | 649 | data[0] = 3; |
| kenken0721 | 2:c5996dd62e9c | 650 | data[1] = 0; |
| kenken0721 | 0:f6828b914b1c | 651 | }else if(buff[0] == 96){ |
| kenken0721 | 2:c5996dd62e9c | 652 | data[0] = 4; |
| kenken0721 | 2:c5996dd62e9c | 653 | data[1] = 0; |
| kenken0721 | 0:f6828b914b1c | 654 | }else if(buff[0] == 224){ |
| kenken0721 | 2:c5996dd62e9c | 655 | data[0] = 5; |
| kenken0721 | 2:c5996dd62e9c | 656 | data[1] = 0; |
| kenken0721 | 0:f6828b914b1c | 657 | }else if(buff[0] == 192){ |
| kenken0721 | 2:c5996dd62e9c | 658 | data[0] = 6; |
| kenken0721 | 2:c5996dd62e9c | 659 | data[1] = 0; |
| kenken0721 | 0:f6828b914b1c | 660 | }else if(buff[0] == 128){ |
| kenken0721 | 2:c5996dd62e9c | 661 | data[0] = 7; |
| kenken0721 | 2:c5996dd62e9c | 662 | data[1] = 0; |
| kenken0721 | 0:f6828b914b1c | 663 | }else if(buff[0] == 28){ |
| kenken0721 | 2:c5996dd62e9c | 664 | data[0] = -1; |
| kenken0721 | 2:c5996dd62e9c | 665 | data[1] = 0; |
| kenken0721 | 0:f6828b914b1c | 666 | }else if(buff[0] == 12){ |
| kenken0721 | 2:c5996dd62e9c | 667 | data[0] = -2; |
| kenken0721 | 2:c5996dd62e9c | 668 | data[1] = 0; |
| kenken0721 | 0:f6828b914b1c | 669 | }else if(buff[0] == 14){ |
| kenken0721 | 2:c5996dd62e9c | 670 | data[0] = -3; |
| kenken0721 | 2:c5996dd62e9c | 671 | data[1] = 0; |
| kenken0721 | 0:f6828b914b1c | 672 | }else if(buff[0] == 6){ |
| kenken0721 | 2:c5996dd62e9c | 673 | data[0] = -4; |
| kenken0721 | 2:c5996dd62e9c | 674 | data[1] = 0; |
| kenken0721 | 0:f6828b914b1c | 675 | }else if(buff[0] == 7){ |
| kenken0721 | 2:c5996dd62e9c | 676 | data[0] = -5; |
| kenken0721 | 2:c5996dd62e9c | 677 | data[1] = 0; |
| kenken0721 | 0:f6828b914b1c | 678 | }else if(buff[0] == 3){ |
| kenken0721 | 2:c5996dd62e9c | 679 | data[0] = -6; |
| kenken0721 | 2:c5996dd62e9c | 680 | data[1] = 0; |
| kenken0721 | 0:f6828b914b1c | 681 | }else if(buff[0] == 1){ |
| kenken0721 | 2:c5996dd62e9c | 682 | data[0] = -7; |
| kenken0721 | 2:c5996dd62e9c | 683 | data[1] = 0; |
| kenken0721 | 2:c5996dd62e9c | 684 | }else if(buff[0] == 255){ |
| kenken0721 | 2:c5996dd62e9c | 685 | data[0] = prelinedata; |
| kenken0721 | 2:c5996dd62e9c | 686 | data[1] = 1; |
| kenken0721 | 2:c5996dd62e9c | 687 | }else if(buff[0] == 0){ |
| kenken0721 | 2:c5996dd62e9c | 688 | data[0] = prelinedata; |
| kenken0721 | 2:c5996dd62e9c | 689 | data[1] = 0; |
| kenken0721 | 0:f6828b914b1c | 690 | }else{ |
| kenken0721 | 2:c5996dd62e9c | 691 | data[0] = prelinedata; |
| kenken0721 | 2:c5996dd62e9c | 692 | data[1] = 0; |
| kenken0721 | 0:f6828b914b1c | 693 | } |
| kenken0721 | 2:c5996dd62e9c | 694 | prelinedata = data[0]; |
| kenken0721 | 3:aaa2fde4fafd | 695 | } |