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@4:eabb7a738ff8, 2018-03-28 (annotated)
- Committer:
- kenken0721
- Date:
- Wed Mar 28 06:49:41 2018 +0000
- Revision:
- 4:eabb7a738ff8
- Parent:
- 3:aaa2fde4fafd
- Child:
- 5:c5a2a5cf600d
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 | 4:eabb7a738ff8 | 5 | #include "TCS3200.h" |
| kenken0721 | 1:f4dbd6b9cc27 | 6 | #include "encoder.h" |
| kenken0721 | 4:eabb7a738ff8 | 7 | #include "encoder2.h" |
| kenken0721 | 4:eabb7a738ff8 | 8 | #include "Serialservo.h" |
| kenken0721 | 4:eabb7a738ff8 | 9 | #include "XQ_servo.h" |
| kenken0721 | 0:f6828b914b1c | 10 | |
| kenken0721 | 0:f6828b914b1c | 11 | Serial pc(USBTX, USBRX); |
| kenken0721 | 0:f6828b914b1c | 12 | Serial kbtpc(PC_12 ,PD_2);//serial5 |
| kenken0721 | 0:f6828b914b1c | 13 | I2C master(sda, scl); |
| kenken0721 | 4:eabb7a738ff8 | 14 | DigitalOut led2(LED2);//チェック用 |
| kenken0721 | 0:f6828b914b1c | 15 | PID S_pid(SP, SI, SD, 0.0); |
| kenken0721 | 2:c5996dd62e9c | 16 | PID R_pid(RP, RI, RD, 0.0); |
| kenken0721 | 2:c5996dd62e9c | 17 | PID L_pid(LP, LI, LD, 0.0); |
| kenken0721 | 4:eabb7a738ff8 | 18 | |
| kenken0721 | 4:eabb7a738ff8 | 19 | //DigitalIn zpin(PA_1); |
| kenken0721 | 4:eabb7a738ff8 | 20 | |
| kenken0721 | 2:c5996dd62e9c | 21 | Encoder Enc_Carry_Y(PA_15,PA_14,PC_1); |
| kenken0721 | 2:c5996dd62e9c | 22 | Encoder Enc_Carry_X(PA_4,PB_0,PB_7); |
| kenken0721 | 4:eabb7a738ff8 | 23 | Encoder2 Enc_Arm(PF_1,PA_0,PA_1); |
| kenken0721 | 4:eabb7a738ff8 | 24 | |
| kenken0721 | 3:aaa2fde4fafd | 25 | DigitalOut buzzer(PA_10); |
| kenken0721 | 3:aaa2fde4fafd | 26 | DigitalOut lamp(PC_3); |
| kenken0721 | 3:aaa2fde4fafd | 27 | Timer timer; |
| kenken0721 | 4:eabb7a738ff8 | 28 | Serialservo servo1(PC_10, PC_11);//アームの肘 |
| kenken0721 | 4:eabb7a738ff8 | 29 | Serialservo servo2(PC_10, PC_11);//回転軸 |
| kenken0721 | 4:eabb7a738ff8 | 30 | XQ_servo servo_hand(PB_5); |
| kenken0721 | 4:eabb7a738ff8 | 31 | //TCS3200 color(PB_5, PB_2, PC_4); |
| kenken0721 | 4:eabb7a738ff8 | 32 | DigitalOut dpin(PC_9); |
| kenken0721 | 4:eabb7a738ff8 | 33 | DigitalIn distance(PC_2); |
| kenken0721 | 4:eabb7a738ff8 | 34 | DigitalIn redIn(PC_4); |
| kenken0721 | 4:eabb7a738ff8 | 35 | DigitalIn blueIn(PB_2); |
| kenken0721 | 4:eabb7a738ff8 | 36 | DigitalIn micro_switch(PC_0); |
| kenken0721 | 4:eabb7a738ff8 | 37 | DigitalOut air(PB_4); |
| kenken0721 | 4:eabb7a738ff8 | 38 | |
| kenken0721 | 4:eabb7a738ff8 | 39 | DigitalOut motor_dir1(PA_8); //旧ピン番号 |
| kenken0721 | 4:eabb7a738ff8 | 40 | DigitalOut motor_dir2(PA_9); |
| kenken0721 | 4:eabb7a738ff8 | 41 | PwmOut motor_pwm(PB_3); |
| kenken0721 | 4:eabb7a738ff8 | 42 | |
| kenken0721 | 4:eabb7a738ff8 | 43 | /* |
| kenken0721 | 4:eabb7a738ff8 | 44 | PwmOut motor_pwm(PA_9); |
| kenken0721 | 4:eabb7a738ff8 | 45 | DigitalOut motor_dir1(PB_3); |
| kenken0721 | 4:eabb7a738ff8 | 46 | DigitalOut motor_dir2(PA_8); |
| kenken0721 | 4:eabb7a738ff8 | 47 | */ |
| kenken0721 | 4:eabb7a738ff8 | 48 | //DigitalOut motor_relay(PB_10); |
| kenken0721 | 4:eabb7a738ff8 | 49 | |
| kenken0721 | 2:c5996dd62e9c | 50 | void linecheck(char *buff ,int data[2]); |
| kenken0721 | 2:c5996dd62e9c | 51 | void LineCheck(int dmode); |
| kenken0721 | 4:eabb7a738ff8 | 52 | void syokikanomai(void); |
| kenken0721 | 4:eabb7a738ff8 | 53 | void syokikanomai2(void); |
| kenken0721 | 4:eabb7a738ff8 | 54 | void pre_touteki(void); |
| kenken0721 | 4:eabb7a738ff8 | 55 | void touteki(float armpower, int pos, bool thro_mode); |
| kenken0721 | 0:f6828b914b1c | 56 | |
| kenken0721 | 0:f6828b914b1c | 57 | PwmOut pwm_pins[] = { |
| kenken0721 | 0:f6828b914b1c | 58 | PwmOut( PC_8 ), |
| kenken0721 | 0:f6828b914b1c | 59 | PwmOut( PC_6 ), |
| kenken0721 | 0:f6828b914b1c | 60 | PwmOut( PB_14 ), |
| kenken0721 | 0:f6828b914b1c | 61 | PwmOut( PB_13 ) |
| kenken0721 | 0:f6828b914b1c | 62 | }; |
| kenken0721 | 0:f6828b914b1c | 63 | |
| kenken0721 | 0:f6828b914b1c | 64 | DigitalOut dir_pins_1[] = { |
| kenken0721 | 0:f6828b914b1c | 65 | DigitalOut( PC_5 ), |
| kenken0721 | 0:f6828b914b1c | 66 | DigitalOut( PA_7 ), |
| kenken0721 | 2:c5996dd62e9c | 67 | DigitalOut( PB_6 ), |
| kenken0721 | 2:c5996dd62e9c | 68 | DigitalOut( PB_1) |
| kenken0721 | 0:f6828b914b1c | 69 | }; |
| kenken0721 | 0:f6828b914b1c | 70 | |
| kenken0721 | 0:f6828b914b1c | 71 | DigitalOut dir_pins_2[] = { |
| kenken0721 | 0:f6828b914b1c | 72 | DigitalOut( PB_12 ), |
| kenken0721 | 0:f6828b914b1c | 73 | DigitalOut( PA_6 ), |
| kenken0721 | 2:c5996dd62e9c | 74 | DigitalOut( PC_7 ), |
| kenken0721 | 2:c5996dd62e9c | 75 | DigitalOut( PB_15) |
| kenken0721 | 0:f6828b914b1c | 76 | }; |
| kenken0721 | 0:f6828b914b1c | 77 | |
| kenken0721 | 2:c5996dd62e9c | 78 | int crosscount = 0; |
| kenken0721 | 0:f6828b914b1c | 79 | bool mode = true;//trueでラジコン、falseでオート |
| kenken0721 | 0:f6828b914b1c | 80 | bool stopflag = true;//trueで機体停止 |
| kenken0721 | 0:f6828b914b1c | 81 | double power = POWER; |
| kenken0721 | 2:c5996dd62e9c | 82 | double rpower = POWER; |
| kenken0721 | 2:c5996dd62e9c | 83 | double lpower = POWER; |
| kenken0721 | 0:f6828b914b1c | 84 | int kbtread = 0; |
| kenken0721 | 0:f6828b914b1c | 85 | int count = 0; |
| kenken0721 | 0:f6828b914b1c | 86 | int counter = 0; |
| kenken0721 | 2:c5996dd62e9c | 87 | int linedata_1[2] = {0}; |
| kenken0721 | 2:c5996dd62e9c | 88 | int linedata_2[2] = {0}; |
| kenken0721 | 2:c5996dd62e9c | 89 | int linedata_3[2] = {0}; |
| kenken0721 | 0:f6828b914b1c | 90 | int prelinedata = 0; |
| kenken0721 | 0:f6828b914b1c | 91 | double output = 0.0; |
| kenken0721 | 1:f4dbd6b9cc27 | 92 | char buff1[2]; |
| kenken0721 | 1:f4dbd6b9cc27 | 93 | char buff2[2]; |
| kenken0721 | 1:f4dbd6b9cc27 | 94 | char buff3[2]; |
| kenken0721 | 1:f4dbd6b9cc27 | 95 | float x_dist = 0.0; |
| kenken0721 | 1:f4dbd6b9cc27 | 96 | float y_dist = 0.0; |
| kenken0721 | 2:c5996dd62e9c | 97 | float tar_x_dist = 0.0; |
| kenken0721 | 2:c5996dd62e9c | 98 | float tar_y_dist = 0.0; |
| kenken0721 | 2:c5996dd62e9c | 99 | bool ontheline = false; |
| kenken0721 | 2:c5996dd62e9c | 100 | int directmode = STRAIGHT; |
| kenken0721 | 3:aaa2fde4fafd | 101 | int state = START; |
| kenken0721 | 3:aaa2fde4fafd | 102 | int times = 0; |
| kenken0721 | 3:aaa2fde4fafd | 103 | bool throwing = false; |
| kenken0721 | 4:eabb7a738ff8 | 104 | int receive = NOT_RECEIVE; |
| kenken0721 | 4:eabb7a738ff8 | 105 | int redcount = 0; |
| kenken0721 | 4:eabb7a738ff8 | 106 | int bluecount = 0; |
| kenken0721 | 4:eabb7a738ff8 | 107 | int yellowcount = 0; |
| kenken0721 | 4:eabb7a738ff8 | 108 | bool syokika_flag=false; |
| kenken0721 | 4:eabb7a738ff8 | 109 | bool set_flag = false; |
| kenken0721 | 4:eabb7a738ff8 | 110 | int encoder_count = 1000; |
| kenken0721 | 4:eabb7a738ff8 | 111 | |
| kenken0721 | 3:aaa2fde4fafd | 112 | int main() { |
| kenken0721 | 3:aaa2fde4fafd | 113 | timer.reset(); |
| kenken0721 | 3:aaa2fde4fafd | 114 | timer.stop(); |
| kenken0721 | 4:eabb7a738ff8 | 115 | servo1.init(0);//アーム |
| kenken0721 | 4:eabb7a738ff8 | 116 | servo2.init(1);//回転軸 |
| kenken0721 | 4:eabb7a738ff8 | 117 | //servo2.move(50); |
| kenken0721 | 4:eabb7a738ff8 | 118 | //servo1.move(152); |
| kenken0721 | 4:eabb7a738ff8 | 119 | dpin=0; |
| kenken0721 | 4:eabb7a738ff8 | 120 | lamp=1; |
| kenken0721 | 4:eabb7a738ff8 | 121 | air=1.0; |
| kenken0721 | 4:eabb7a738ff8 | 122 | buzzer = 0.0; |
| kenken0721 | 4:eabb7a738ff8 | 123 | //motor_relay = 0.0; |
| kenken0721 | 4:eabb7a738ff8 | 124 | micro_switch.mode(PullUp); |
| kenken0721 | 4:eabb7a738ff8 | 125 | |
| kenken0721 | 4:eabb7a738ff8 | 126 | motor_pwm=0; |
| kenken0721 | 4:eabb7a738ff8 | 127 | motor_dir1=1; //dir1,dir2はこの組み合わせじゃないと死ぬ |
| kenken0721 | 4:eabb7a738ff8 | 128 | motor_dir2=1; |
| kenken0721 | 4:eabb7a738ff8 | 129 | |
| kenken0721 | 1:f4dbd6b9cc27 | 130 | S_pid.init(); |
| kenken0721 | 3:aaa2fde4fafd | 131 | R_pid.init(); |
| kenken0721 | 3:aaa2fde4fafd | 132 | L_pid.init(); |
| kenken0721 | 1:f4dbd6b9cc27 | 133 | pwm_pins[0].period(0.00005); |
| kenken0721 | 1:f4dbd6b9cc27 | 134 | pwm_pins[1].period(0.00005); |
| kenken0721 | 1:f4dbd6b9cc27 | 135 | pwm_pins[2].period(0.00005); |
| kenken0721 | 1:f4dbd6b9cc27 | 136 | pwm_pins[3].period(0.00005); |
| kenken0721 | 4:eabb7a738ff8 | 137 | motor_pwm.period(0.00005); |
| kenken0721 | 3:aaa2fde4fafd | 138 | pc.baud(115200); |
| kenken0721 | 2:c5996dd62e9c | 139 | kbtpc.baud(9600); |
| kenken0721 | 2:c5996dd62e9c | 140 | master.frequency(100000); |
| kenken0721 | 4:eabb7a738ff8 | 141 | lamp = 1.0; |
| kenken0721 | 4:eabb7a738ff8 | 142 | //-------初期化---------------------------------------- |
| kenken0721 | 4:eabb7a738ff8 | 143 | syokikanomai(); |
| kenken0721 | 4:eabb7a738ff8 | 144 | buzzer = 0; |
| kenken0721 | 4:eabb7a738ff8 | 145 | //-----------メインループ----------------------------------------め |
| kenken0721 | 1:f4dbd6b9cc27 | 146 | while (true) { |
| kenken0721 | 4:eabb7a738ff8 | 147 | master.read(addr1,buff1,2); |
| kenken0721 | 4:eabb7a738ff8 | 148 | linecheck(buff1,linedata_1); |
| kenken0721 | 4:eabb7a738ff8 | 149 | master.read(addr2,buff2,2); |
| kenken0721 | 4:eabb7a738ff8 | 150 | linecheck(buff2,linedata_2); |
| kenken0721 | 4:eabb7a738ff8 | 151 | master.read(addr3,buff3,2); |
| kenken0721 | 4:eabb7a738ff8 | 152 | linecheck(buff3,linedata_3); |
| kenken0721 | 2:c5996dd62e9c | 153 | x_dist = Enc_Carry_X.read_rotate(); |
| kenken0721 | 2:c5996dd62e9c | 154 | y_dist = Enc_Carry_Y.read_rotate(); |
| kenken0721 | 3:aaa2fde4fafd | 155 | kbtpc.putc(state); |
| kenken0721 | 1:f4dbd6b9cc27 | 156 | if(kbtpc.readable()){ |
| kenken0721 | 1:f4dbd6b9cc27 | 157 | kbtread = kbtpc.getc(); |
| kenken0721 | 1:f4dbd6b9cc27 | 158 | } |
| kenken0721 | 1:f4dbd6b9cc27 | 159 | if(kbtread == 255){ |
| kenken0721 | 1:f4dbd6b9cc27 | 160 | mode = true; |
| kenken0721 | 1:f4dbd6b9cc27 | 161 | }else if(kbtread == 150){ |
| kenken0721 | 1:f4dbd6b9cc27 | 162 | mode = false; |
| kenken0721 | 1:f4dbd6b9cc27 | 163 | }else if(kbtread == 100){ |
| kenken0721 | 1:f4dbd6b9cc27 | 164 | stopflag = true; |
| kenken0721 | 1:f4dbd6b9cc27 | 165 | }else if(kbtread == 200){ |
| kenken0721 | 1:f4dbd6b9cc27 | 166 | stopflag = false; |
| kenken0721 | 2:c5996dd62e9c | 167 | }else if(kbtread == STRAIGHT){ |
| kenken0721 | 2:c5996dd62e9c | 168 | directmode = STRAIGHT; |
| kenken0721 | 2:c5996dd62e9c | 169 | }else if(kbtread == RIGHT){ |
| kenken0721 | 2:c5996dd62e9c | 170 | directmode = RIGHT; |
| kenken0721 | 2:c5996dd62e9c | 171 | }else if(kbtread == LEFT){ |
| kenken0721 | 2:c5996dd62e9c | 172 | directmode = LEFT; |
| kenken0721 | 3:aaa2fde4fafd | 173 | }else if(kbtread == MANUAL){ |
| kenken0721 | 3:aaa2fde4fafd | 174 | state = MANUAL; |
| kenken0721 | 3:aaa2fde4fafd | 175 | }else if(kbtread == START){ |
| kenken0721 | 3:aaa2fde4fafd | 176 | state = START; |
| kenken0721 | 4:eabb7a738ff8 | 177 | }else if(kbtread == START_TEST){ |
| kenken0721 | 4:eabb7a738ff8 | 178 | state = START_TEST; |
| kenken0721 | 1:f4dbd6b9cc27 | 179 | } |
| kenken0721 | 1:f4dbd6b9cc27 | 180 | //--------------手動-------------------------------------- |
| kenken0721 | 1:f4dbd6b9cc27 | 181 | if(mode == true){ |
| kenken0721 | 1:f4dbd6b9cc27 | 182 | led2 = 1.0; |
| kenken0721 | 2:c5996dd62e9c | 183 | if(kbtread == STRAIGHT){ |
| kenken0721 | 1:f4dbd6b9cc27 | 184 | Straight(power, power, pwm_pins, dir_pins_1, dir_pins_2); |
| kenken0721 | 2:c5996dd62e9c | 185 | }else if(kbtread == BACK){ |
| kenken0721 | 1:f4dbd6b9cc27 | 186 | Back(power, power, pwm_pins, dir_pins_1, dir_pins_2); |
| kenken0721 | 2:c5996dd62e9c | 187 | }else if(kbtread == RIGHT){ |
| kenken0721 | 1:f4dbd6b9cc27 | 188 | Right(power, power, pwm_pins, dir_pins_1, dir_pins_2); |
| kenken0721 | 2:c5996dd62e9c | 189 | }else if(kbtread == LEFT){ |
| kenken0721 | 1:f4dbd6b9cc27 | 190 | Left(power, power, pwm_pins, dir_pins_1, dir_pins_2); |
| kenken0721 | 1:f4dbd6b9cc27 | 191 | }else{ |
| kenken0721 | 1:f4dbd6b9cc27 | 192 | Stop(pwm_pins, dir_pins_1, dir_pins_2); |
| kenken0721 | 1:f4dbd6b9cc27 | 193 | } |
| kenken0721 | 1:f4dbd6b9cc27 | 194 | //--------------自動--------------------------------- |
| kenken0721 | 1:f4dbd6b9cc27 | 195 | }else if(mode == false){ |
| kenken0721 | 1:f4dbd6b9cc27 | 196 | led2 = 0.0; |
| kenken0721 | 1:f4dbd6b9cc27 | 197 | if(stopflag == true){ |
| kenken0721 | 1:f4dbd6b9cc27 | 198 | Stop(pwm_pins, dir_pins_1, dir_pins_2); |
| kenken0721 | 1:f4dbd6b9cc27 | 199 | }else{ |
| kenken0721 | 2:c5996dd62e9c | 200 | LineCheck(directmode); |
| kenken0721 | 3:aaa2fde4fafd | 201 | switch(state){ |
| kenken0721 | 4:eabb7a738ff8 | 202 | //------------------任意に進行方向を決めれる---------------------------------------- |
| kenken0721 | 3:aaa2fde4fafd | 203 | case MANUAL: |
| kenken0721 | 3:aaa2fde4fafd | 204 | if(crosscount == 1){ |
| kenken0721 | 3:aaa2fde4fafd | 205 | directmode = STOP; |
| kenken0721 | 3:aaa2fde4fafd | 206 | Stop(pwm_pins, dir_pins_1, dir_pins_2); |
| kenken0721 | 3:aaa2fde4fafd | 207 | crosscount = 0; |
| kenken0721 | 3:aaa2fde4fafd | 208 | } |
| kenken0721 | 3:aaa2fde4fafd | 209 | break; |
| kenken0721 | 4:eabb7a738ff8 | 210 | //------------------テスト用-------------------------------------------------------- |
| kenken0721 | 4:eabb7a738ff8 | 211 | case START_TEST: |
| kenken0721 | 4:eabb7a738ff8 | 212 | if(crosscount == 0){ |
| kenken0721 | 4:eabb7a738ff8 | 213 | directmode = RIGHT; |
| kenken0721 | 4:eabb7a738ff8 | 214 | }else if(crosscount == 1){ |
| kenken0721 | 4:eabb7a738ff8 | 215 | directmode = STOP; |
| kenken0721 | 4:eabb7a738ff8 | 216 | state = STAND_BY_TEST; |
| kenken0721 | 4:eabb7a738ff8 | 217 | crosscount = 0; |
| kenken0721 | 4:eabb7a738ff8 | 218 | prelinedata = 0; |
| kenken0721 | 4:eabb7a738ff8 | 219 | } |
| kenken0721 | 4:eabb7a738ff8 | 220 | break; |
| kenken0721 | 4:eabb7a738ff8 | 221 | //------------------テスト用待機位置----------------------------------------------- |
| kenken0721 | 4:eabb7a738ff8 | 222 | case STAND_BY_TEST: |
| kenken0721 | 4:eabb7a738ff8 | 223 | directmode = STOP; |
| kenken0721 | 4:eabb7a738ff8 | 224 | if(distance == 1.0){ |
| kenken0721 | 4:eabb7a738ff8 | 225 | led2 = 1.0; |
| kenken0721 | 4:eabb7a738ff8 | 226 | if(redIn == 1.0){ |
| kenken0721 | 4:eabb7a738ff8 | 227 | buzzer = 1.0; |
| kenken0721 | 4:eabb7a738ff8 | 228 | redcount++; |
| kenken0721 | 4:eabb7a738ff8 | 229 | }else if(blueIn == 1.0){ |
| kenken0721 | 4:eabb7a738ff8 | 230 | buzzer = 1.0; |
| kenken0721 | 4:eabb7a738ff8 | 231 | bluecount++; |
| kenken0721 | 4:eabb7a738ff8 | 232 | }else{ |
| kenken0721 | 4:eabb7a738ff8 | 233 | buzzer = 0.0; |
| kenken0721 | 4:eabb7a738ff8 | 234 | } |
| kenken0721 | 4:eabb7a738ff8 | 235 | if(redcount >= 50){ |
| kenken0721 | 4:eabb7a738ff8 | 236 | servo_hand.move(hand_tsukami_degree); |
| kenken0721 | 4:eabb7a738ff8 | 237 | //pre_touteki(); |
| kenken0721 | 4:eabb7a738ff8 | 238 | }else if(bluecount >= 50){ |
| kenken0721 | 4:eabb7a738ff8 | 239 | servo_hand.move(hand_tsukami_degree); |
| kenken0721 | 4:eabb7a738ff8 | 240 | //pre_touteki(); |
| kenken0721 | 4:eabb7a738ff8 | 241 | } |
| kenken0721 | 4:eabb7a738ff8 | 242 | }else if(distance == 0.0 && redcount >= 50){ |
| kenken0721 | 4:eabb7a738ff8 | 243 | servo2.move(koshi_nage_degree); |
| kenken0721 | 4:eabb7a738ff8 | 244 | state = THROWING_TEST; |
| kenken0721 | 4:eabb7a738ff8 | 245 | directmode = STOP; |
| kenken0721 | 4:eabb7a738ff8 | 246 | led2 = 0.0; |
| kenken0721 | 4:eabb7a738ff8 | 247 | redcount = 0; |
| kenken0721 | 4:eabb7a738ff8 | 248 | crosscount = 0; |
| kenken0721 | 4:eabb7a738ff8 | 249 | }else if(distance == 0.0 && bluecount >= 50){ |
| kenken0721 | 4:eabb7a738ff8 | 250 | servo2.move(koshi_nage_degree); |
| kenken0721 | 4:eabb7a738ff8 | 251 | state = THROWING_TEST; |
| kenken0721 | 4:eabb7a738ff8 | 252 | directmode = STOP; |
| kenken0721 | 4:eabb7a738ff8 | 253 | bluecount = 0; |
| kenken0721 | 4:eabb7a738ff8 | 254 | led2 = 0.0; |
| kenken0721 | 4:eabb7a738ff8 | 255 | crosscount = 0; |
| kenken0721 | 4:eabb7a738ff8 | 256 | } |
| kenken0721 | 4:eabb7a738ff8 | 257 | break; |
| kenken0721 | 4:eabb7a738ff8 | 258 | //------------------------------------------------------------------------------ |
| kenken0721 | 4:eabb7a738ff8 | 259 | case THROWING_TEST: |
| kenken0721 | 4:eabb7a738ff8 | 260 | if(crosscount == 0){ |
| kenken0721 | 4:eabb7a738ff8 | 261 | directmode = LEFT; |
| kenken0721 | 4:eabb7a738ff8 | 262 | }else if(crosscount == 1){ |
| kenken0721 | 4:eabb7a738ff8 | 263 | directmode = STOP; |
| kenken0721 | 4:eabb7a738ff8 | 264 | touteki(0.8, 190, 0); |
| kenken0721 | 4:eabb7a738ff8 | 265 | //syokikanomai(); |
| kenken0721 | 4:eabb7a738ff8 | 266 | buzzer = 0.0; |
| kenken0721 | 4:eabb7a738ff8 | 267 | } |
| kenken0721 | 4:eabb7a738ff8 | 268 | break; |
| kenken0721 | 4:eabb7a738ff8 | 269 | //------------------初期位置から待機位置1------------------------------------------ |
| kenken0721 | 3:aaa2fde4fafd | 270 | case START: |
| kenken0721 | 3:aaa2fde4fafd | 271 | if(crosscount == 0){ |
| kenken0721 | 3:aaa2fde4fafd | 272 | directmode = STRAIGHT; |
| kenken0721 | 3:aaa2fde4fafd | 273 | }else if(crosscount == 1 && directmode == STRAIGHT){ |
| kenken0721 | 3:aaa2fde4fafd | 274 | directmode = LEFT; |
| kenken0721 | 3:aaa2fde4fafd | 275 | prelinedata = 0; |
| kenken0721 | 3:aaa2fde4fafd | 276 | }else if(crosscount == 1 && directmode == LEFT){ |
| kenken0721 | 3:aaa2fde4fafd | 277 | directmode = LEFT; |
| kenken0721 | 3:aaa2fde4fafd | 278 | }else if(crosscount == 2){ |
| kenken0721 | 3:aaa2fde4fafd | 279 | directmode = STOP; |
| kenken0721 | 3:aaa2fde4fafd | 280 | state = STAND_BY_1; |
| kenken0721 | 3:aaa2fde4fafd | 281 | crosscount = 0; |
| kenken0721 | 3:aaa2fde4fafd | 282 | prelinedata = 0; |
| kenken0721 | 3:aaa2fde4fafd | 283 | } |
| kenken0721 | 3:aaa2fde4fafd | 284 | break; |
| kenken0721 | 4:eabb7a738ff8 | 285 | //------------------待機位置1---------------------------------------------------- |
| kenken0721 | 3:aaa2fde4fafd | 286 | case STAND_BY_1: |
| kenken0721 | 3:aaa2fde4fafd | 287 | crosscount = 0; |
| kenken0721 | 3:aaa2fde4fafd | 288 | directmode = STOP; |
| kenken0721 | 4:eabb7a738ff8 | 289 | if(distance == 1.0){ |
| kenken0721 | 4:eabb7a738ff8 | 290 | if(redIn == 1.0){ |
| kenken0721 | 4:eabb7a738ff8 | 291 | buzzer = 1.0; |
| kenken0721 | 4:eabb7a738ff8 | 292 | redcount++; |
| kenken0721 | 4:eabb7a738ff8 | 293 | }else if(blueIn == 1.0){ |
| kenken0721 | 4:eabb7a738ff8 | 294 | buzzer = 1.0; |
| kenken0721 | 4:eabb7a738ff8 | 295 | bluecount++; |
| kenken0721 | 4:eabb7a738ff8 | 296 | }else{ |
| kenken0721 | 4:eabb7a738ff8 | 297 | buzzer = 0.0; |
| kenken0721 | 4:eabb7a738ff8 | 298 | } |
| kenken0721 | 4:eabb7a738ff8 | 299 | if(redcount >= 100 ){ |
| kenken0721 | 4:eabb7a738ff8 | 300 | servo_hand.move(hand_tsukami_degree); |
| kenken0721 | 4:eabb7a738ff8 | 301 | servo1.move(hiji_tsukami_degree); |
| kenken0721 | 4:eabb7a738ff8 | 302 | //pre_touteki(); |
| kenken0721 | 4:eabb7a738ff8 | 303 | }else if(bluecount >= 100){ |
| kenken0721 | 4:eabb7a738ff8 | 304 | servo_hand.move(hand_tsukami_degree); |
| kenken0721 | 4:eabb7a738ff8 | 305 | servo1.move(hiji_tsukami_degree); |
| kenken0721 | 4:eabb7a738ff8 | 306 | //pre_touteki(); |
| kenken0721 | 4:eabb7a738ff8 | 307 | } |
| kenken0721 | 4:eabb7a738ff8 | 308 | }else if(distance == 0.0 && redcount >= 100){ |
| kenken0721 | 4:eabb7a738ff8 | 309 | servo2.move(koshi_nage_degree); |
| kenken0721 | 3:aaa2fde4fafd | 310 | state = RED_RECEIVE; |
| kenken0721 | 4:eabb7a738ff8 | 311 | directmode = STOP; |
| kenken0721 | 4:eabb7a738ff8 | 312 | redcount = 0; |
| kenken0721 | 4:eabb7a738ff8 | 313 | crosscount = 0; |
| kenken0721 | 4:eabb7a738ff8 | 314 | }else if(distance == 0.0 && bluecount >= 100){ |
| kenken0721 | 4:eabb7a738ff8 | 315 | state = BLUE_RECEIVE_1; |
| kenken0721 | 4:eabb7a738ff8 | 316 | directmode = STOP; |
| kenken0721 | 4:eabb7a738ff8 | 317 | bluecount = 0; |
| kenken0721 | 4:eabb7a738ff8 | 318 | crosscount = 0; |
| kenken0721 | 4:eabb7a738ff8 | 319 | } |
| kenken0721 | 4:eabb7a738ff8 | 320 | /* |
| kenken0721 | 4:eabb7a738ff8 | 321 | if(receive == RED_RECEIVE){ |
| kenken0721 | 4:eabb7a738ff8 | 322 | state = RED_RECEIVE; |
| kenken0721 | 4:eabb7a738ff8 | 323 | }else if(receive == BLUE_RECEIVE){ |
| kenken0721 | 3:aaa2fde4fafd | 324 | state = BLUE_RECEIVE_1; |
| kenken0721 | 3:aaa2fde4fafd | 325 | } |
| kenken0721 | 4:eabb7a738ff8 | 326 | */ |
| kenken0721 | 3:aaa2fde4fafd | 327 | break; |
| kenken0721 | 4:eabb7a738ff8 | 328 | //------------------待機位置1から投てき位置1---------------------------------------- |
| kenken0721 | 3:aaa2fde4fafd | 329 | case RED_RECEIVE: |
| kenken0721 | 3:aaa2fde4fafd | 330 | if(crosscount == 0){ |
| kenken0721 | 3:aaa2fde4fafd | 331 | directmode = LEFT; |
| kenken0721 | 4:eabb7a738ff8 | 332 | }else if(crosscount == 1){ |
| kenken0721 | 3:aaa2fde4fafd | 333 | directmode = STOP; |
| kenken0721 | 3:aaa2fde4fafd | 334 | prelinedata = 0; |
| kenken0721 | 4:eabb7a738ff8 | 335 | touteki(0.8,190,0); |
| kenken0721 | 4:eabb7a738ff8 | 336 | if(set_flag == false){ |
| kenken0721 | 3:aaa2fde4fafd | 337 | directmode = RIGHT; |
| kenken0721 | 3:aaa2fde4fafd | 338 | } |
| kenken0721 | 3:aaa2fde4fafd | 339 | }else if(crosscount == 2){ |
| kenken0721 | 3:aaa2fde4fafd | 340 | directmode = STOP; |
| kenken0721 | 4:eabb7a738ff8 | 341 | syokikanomai2(); |
| kenken0721 | 4:eabb7a738ff8 | 342 | if(set_flag == true){ |
| kenken0721 | 4:eabb7a738ff8 | 343 | state = STAND_BY_1; |
| kenken0721 | 4:eabb7a738ff8 | 344 | //throwing = false; |
| kenken0721 | 4:eabb7a738ff8 | 345 | crosscount = 0; |
| kenken0721 | 4:eabb7a738ff8 | 346 | } |
| kenken0721 | 3:aaa2fde4fafd | 347 | } |
| kenken0721 | 3:aaa2fde4fafd | 348 | break; |
| kenken0721 | 4:eabb7a738ff8 | 349 | //------------------待機位置1から投てき位置2---------------------------------------- |
| kenken0721 | 3:aaa2fde4fafd | 350 | case BLUE_RECEIVE_1: |
| kenken0721 | 3:aaa2fde4fafd | 351 | if(crosscount == 0){ |
| kenken0721 | 3:aaa2fde4fafd | 352 | directmode = RIGHT; |
| kenken0721 | 3:aaa2fde4fafd | 353 | }else if(crosscount == 1){ |
| kenken0721 | 3:aaa2fde4fafd | 354 | directmode = STRAIGHT; |
| kenken0721 | 3:aaa2fde4fafd | 355 | }else if(crosscount == 2){ |
| kenken0721 | 3:aaa2fde4fafd | 356 | directmode = LEFT; |
| kenken0721 | 3:aaa2fde4fafd | 357 | }else if(crosscount == 3){ |
| kenken0721 | 3:aaa2fde4fafd | 358 | directmode = STOP; |
| kenken0721 | 3:aaa2fde4fafd | 359 | prelinedata = 0; |
| kenken0721 | 4:eabb7a738ff8 | 360 | state = BLUE_RECEIVE_2; |
| kenken0721 | 3:aaa2fde4fafd | 361 | crosscount = 0; |
| kenken0721 | 3:aaa2fde4fafd | 362 | } |
| kenken0721 | 3:aaa2fde4fafd | 363 | break; |
| kenken0721 | 4:eabb7a738ff8 | 364 | //------------------待機位置2---------------------------------------------------- |
| kenken0721 | 3:aaa2fde4fafd | 365 | case STAND_BY_2: |
| kenken0721 | 3:aaa2fde4fafd | 366 | crosscount = 0; |
| kenken0721 | 4:eabb7a738ff8 | 367 | directmode = STOP; |
| kenken0721 | 4:eabb7a738ff8 | 368 | if(distance == 1.0){ |
| kenken0721 | 4:eabb7a738ff8 | 369 | if(blueIn == 1.0){ |
| kenken0721 | 4:eabb7a738ff8 | 370 | buzzer = 1.0; |
| kenken0721 | 4:eabb7a738ff8 | 371 | bluecount++; |
| kenken0721 | 4:eabb7a738ff8 | 372 | }else if(micro_switch == 1.0){ |
| kenken0721 | 4:eabb7a738ff8 | 373 | buzzer = 1.0; |
| kenken0721 | 4:eabb7a738ff8 | 374 | yellowcount++; |
| kenken0721 | 4:eabb7a738ff8 | 375 | }else{ |
| kenken0721 | 4:eabb7a738ff8 | 376 | buzzer = 0.0; |
| kenken0721 | 4:eabb7a738ff8 | 377 | } |
| kenken0721 | 4:eabb7a738ff8 | 378 | if(bluecount >= 50){ |
| kenken0721 | 4:eabb7a738ff8 | 379 | pre_touteki(); |
| kenken0721 | 4:eabb7a738ff8 | 380 | }else if(yellowcount >= 500){ |
| kenken0721 | 4:eabb7a738ff8 | 381 | air = 1.0; |
| kenken0721 | 4:eabb7a738ff8 | 382 | } |
| kenken0721 | 4:eabb7a738ff8 | 383 | }else if(distance == 0.0 && bluecount >= 50){ |
| kenken0721 | 4:eabb7a738ff8 | 384 | state = BLUE_RECEIVE_2; |
| kenken0721 | 4:eabb7a738ff8 | 385 | directmode = STOP; |
| kenken0721 | 4:eabb7a738ff8 | 386 | bluecount = 0; |
| kenken0721 | 4:eabb7a738ff8 | 387 | crosscount = 0; |
| kenken0721 | 4:eabb7a738ff8 | 388 | } |
| kenken0721 | 4:eabb7a738ff8 | 389 | /* |
| kenken0721 | 3:aaa2fde4fafd | 390 | if(kbtread == BLUE_RECEIVE){ |
| kenken0721 | 3:aaa2fde4fafd | 391 | state = BLUE_RECEIVE_2; |
| kenken0721 | 3:aaa2fde4fafd | 392 | }else if(kbtread == YELLOW_RECEIVE){ |
| kenken0721 | 3:aaa2fde4fafd | 393 | state = YELLOW_RECEIVE; |
| kenken0721 | 3:aaa2fde4fafd | 394 | } |
| kenken0721 | 4:eabb7a738ff8 | 395 | */ |
| kenken0721 | 3:aaa2fde4fafd | 396 | break; |
| kenken0721 | 4:eabb7a738ff8 | 397 | //------------------投てき位置2--------------------------------------------------- |
| kenken0721 | 3:aaa2fde4fafd | 398 | case BLUE_RECEIVE_2: |
| kenken0721 | 3:aaa2fde4fafd | 399 | if(crosscount == 0){ |
| kenken0721 | 3:aaa2fde4fafd | 400 | directmode = LEFT; |
| kenken0721 | 3:aaa2fde4fafd | 401 | }else if(crosscount == 1){ |
| kenken0721 | 3:aaa2fde4fafd | 402 | if(throwing == false){ |
| kenken0721 | 3:aaa2fde4fafd | 403 | directmode = STOP; |
| kenken0721 | 3:aaa2fde4fafd | 404 | prelinedata = 0; |
| kenken0721 | 3:aaa2fde4fafd | 405 | if(kbtread == THROWING){ |
| kenken0721 | 3:aaa2fde4fafd | 406 | throwing = true; |
| kenken0721 | 3:aaa2fde4fafd | 407 | buzzer = 1.0; |
| kenken0721 | 4:eabb7a738ff8 | 408 | //timer.start(); |
| kenken0721 | 3:aaa2fde4fafd | 409 | prelinedata = 0; |
| kenken0721 | 3:aaa2fde4fafd | 410 | } |
| kenken0721 | 3:aaa2fde4fafd | 411 | }else{ |
| kenken0721 | 4:eabb7a738ff8 | 412 | /* |
| kenken0721 | 3:aaa2fde4fafd | 413 | times = timer.read(); |
| kenken0721 | 3:aaa2fde4fafd | 414 | if(times > 2){ |
| kenken0721 | 3:aaa2fde4fafd | 415 | buzzer = 0.0; |
| kenken0721 | 3:aaa2fde4fafd | 416 | directmode = RIGHT; |
| kenken0721 | 3:aaa2fde4fafd | 417 | timer.reset(); |
| kenken0721 | 3:aaa2fde4fafd | 418 | timer.stop(); |
| kenken0721 | 3:aaa2fde4fafd | 419 | } |
| kenken0721 | 4:eabb7a738ff8 | 420 | */ |
| kenken0721 | 3:aaa2fde4fafd | 421 | } |
| kenken0721 | 3:aaa2fde4fafd | 422 | }else if(crosscount == 2){ |
| kenken0721 | 3:aaa2fde4fafd | 423 | directmode = STOP; |
| kenken0721 | 3:aaa2fde4fafd | 424 | state = STAND_BY_2; |
| kenken0721 | 3:aaa2fde4fafd | 425 | throwing = false; |
| kenken0721 | 3:aaa2fde4fafd | 426 | crosscount = 0; |
| kenken0721 | 3:aaa2fde4fafd | 427 | } |
| kenken0721 | 3:aaa2fde4fafd | 428 | break; |
| kenken0721 | 4:eabb7a738ff8 | 429 | //------------------投てき位置3--------------------------------------------------- |
| kenken0721 | 3:aaa2fde4fafd | 430 | case YELLOW_RECEIVE: |
| kenken0721 | 3:aaa2fde4fafd | 431 | if(crosscount != 4){ |
| kenken0721 | 3:aaa2fde4fafd | 432 | directmode = LEFT; |
| kenken0721 | 3:aaa2fde4fafd | 433 | }else{ |
| kenken0721 | 3:aaa2fde4fafd | 434 | directmode = STOP; |
| kenken0721 | 3:aaa2fde4fafd | 435 | } |
| kenken0721 | 3:aaa2fde4fafd | 436 | break; |
| kenken0721 | 3:aaa2fde4fafd | 437 | default: |
| kenken0721 | 3:aaa2fde4fafd | 438 | break; |
| kenken0721 | 3:aaa2fde4fafd | 439 | } |
| kenken0721 | 4:eabb7a738ff8 | 440 | //--------------進行方向--------------------------------------------------------- |
| kenken0721 | 3:aaa2fde4fafd | 441 | switch(directmode){ |
| kenken0721 | 2:c5996dd62e9c | 442 | case STOP: |
| kenken0721 | 2:c5996dd62e9c | 443 | Stop(pwm_pins, dir_pins_1, dir_pins_2); |
| kenken0721 | 2:c5996dd62e9c | 444 | break; |
| kenken0721 | 2:c5996dd62e9c | 445 | case STRAIGHT: |
| kenken0721 | 2:c5996dd62e9c | 446 | output = S_pid.compute((double)linedata_1[0]); |
| kenken0721 | 2:c5996dd62e9c | 447 | if(output >= 0){ |
| kenken0721 | 2:c5996dd62e9c | 448 | rpower = power; |
| kenken0721 | 2:c5996dd62e9c | 449 | lpower = power + output; |
| kenken0721 | 2:c5996dd62e9c | 450 | Straight(rpower, lpower, pwm_pins, dir_pins_1, dir_pins_2); |
| kenken0721 | 2:c5996dd62e9c | 451 | }else { |
| kenken0721 | 2:c5996dd62e9c | 452 | rpower = power + (-1 * output); |
| kenken0721 | 2:c5996dd62e9c | 453 | lpower = power; |
| kenken0721 | 2:c5996dd62e9c | 454 | Straight(rpower, lpower, pwm_pins, dir_pins_1, dir_pins_2); |
| kenken0721 | 2:c5996dd62e9c | 455 | } |
| kenken0721 | 2:c5996dd62e9c | 456 | break; |
| kenken0721 | 2:c5996dd62e9c | 457 | case RIGHT: |
| kenken0721 | 2:c5996dd62e9c | 458 | output = R_pid.compute((double)linedata_2[0]); |
| kenken0721 | 1:f4dbd6b9cc27 | 459 | if(output >= 0){ |
| kenken0721 | 2:c5996dd62e9c | 460 | rpower = power; |
| kenken0721 | 2:c5996dd62e9c | 461 | lpower = power + output; |
| kenken0721 | 2:c5996dd62e9c | 462 | Right(rpower, lpower, pwm_pins, dir_pins_1, dir_pins_2); |
| kenken0721 | 1:f4dbd6b9cc27 | 463 | }else { |
| kenken0721 | 2:c5996dd62e9c | 464 | rpower = power + (-1 * output); |
| kenken0721 | 2:c5996dd62e9c | 465 | lpower = power; |
| kenken0721 | 2:c5996dd62e9c | 466 | Right(rpower, lpower, pwm_pins, dir_pins_1, dir_pins_2); |
| kenken0721 | 2:c5996dd62e9c | 467 | } |
| kenken0721 | 2:c5996dd62e9c | 468 | break; |
| kenken0721 | 2:c5996dd62e9c | 469 | case LEFT: |
| kenken0721 | 2:c5996dd62e9c | 470 | output = L_pid.compute((double)linedata_3[0]); |
| kenken0721 | 2:c5996dd62e9c | 471 | if(output >= 0){ |
| kenken0721 | 2:c5996dd62e9c | 472 | rpower = power; |
| kenken0721 | 2:c5996dd62e9c | 473 | lpower = power + output; |
| kenken0721 | 3:aaa2fde4fafd | 474 | Left(rpower, lpower, pwm_pins, dir_pins_1, dir_pins_2); |
| kenken0721 | 2:c5996dd62e9c | 475 | }else { |
| kenken0721 | 2:c5996dd62e9c | 476 | rpower = power + (-1 * output); |
| kenken0721 | 2:c5996dd62e9c | 477 | lpower = power; |
| kenken0721 | 2:c5996dd62e9c | 478 | Left(rpower, lpower, pwm_pins, dir_pins_1, dir_pins_2); |
| kenken0721 | 2:c5996dd62e9c | 479 | } |
| kenken0721 | 2:c5996dd62e9c | 480 | break; |
| kenken0721 | 2:c5996dd62e9c | 481 | default: |
| kenken0721 | 2:c5996dd62e9c | 482 | break; |
| kenken0721 | 1:f4dbd6b9cc27 | 483 | } |
| kenken0721 | 1:f4dbd6b9cc27 | 484 | } |
| kenken0721 | 1:f4dbd6b9cc27 | 485 | } |
| kenken0721 | 3:aaa2fde4fafd | 486 | //pc.printf("kbtread = %d \r" ,kbtread); |
| kenken0721 | 2:c5996dd62e9c | 487 | //pc.printf("buff1[0] = %d \r" ,buff1[0]); |
| kenken0721 | 2:c5996dd62e9c | 488 | //pc.printf("buff2[0] = %d \r" ,buff2[0]); |
| kenken0721 | 2:c5996dd62e9c | 489 | //pc.printf("line1 = %d \r" ,linedata_1[0]); |
| kenken0721 | 3:aaa2fde4fafd | 490 | //pc.printf("line2 = %d \r" ,linedata_3[1]); |
| kenken0721 | 4:eabb7a738ff8 | 491 | pc.printf("xdist = %f \r",x_dist); |
| kenken0721 | 3:aaa2fde4fafd | 492 | //pc.printf("tar_xdist = %f \r",tar_x_dist); |
| kenken0721 | 3:aaa2fde4fafd | 493 | //pc.printf("ontheline = %d \r",ontheline); |
| kenken0721 | 3:aaa2fde4fafd | 494 | |
| kenken0721 | 4:eabb7a738ff8 | 495 | pc.printf("ydist = %f \r",y_dist); |
| kenken0721 | 2:c5996dd62e9c | 496 | //pc.printf("tary = %f \r",tar_y_dist); |
| kenken0721 | 2:c5996dd62e9c | 497 | //pc.printf("stopflag = %d \r",stopflag); |
| kenken0721 | 2:c5996dd62e9c | 498 | //pc.printf("cross = %d \r",crosscount); |
| kenken0721 | 1:f4dbd6b9cc27 | 499 | //pc.printf("buff[1] = %d" ,buff1[1]); |
| kenken0721 | 2:c5996dd62e9c | 500 | //pc.printf("line = %d" ,line); |
| kenken0721 | 2:c5996dd62e9c | 501 | //pc.printf("rpower = %lf" ,rpower); |
| kenken0721 | 3:aaa2fde4fafd | 502 | //pc.printf("lpower = %lf" ,lpower); |
| kenken0721 | 4:eabb7a738ff8 | 503 | //pc.printf("dicmode = %d \r",directmode); |
| kenken0721 | 1:f4dbd6b9cc27 | 504 | pc.printf("output = %lf \n" ,output); |
| kenken0721 | 1:f4dbd6b9cc27 | 505 | } |
| kenken0721 | 1:f4dbd6b9cc27 | 506 | } |
| kenken0721 | 1:f4dbd6b9cc27 | 507 | |
| kenken0721 | 4:eabb7a738ff8 | 508 | //---------------初期化--------------------------- |
| kenken0721 | 4:eabb7a738ff8 | 509 | |
| kenken0721 | 4:eabb7a738ff8 | 510 | |
| kenken0721 | 4:eabb7a738ff8 | 511 | void syokikanomai(void){ |
| kenken0721 | 4:eabb7a738ff8 | 512 | //timer.start(); |
| kenken0721 | 4:eabb7a738ff8 | 513 | //int times = timer.read(); |
| kenken0721 | 4:eabb7a738ff8 | 514 | syokika_flag = false; |
| kenken0721 | 4:eabb7a738ff8 | 515 | while (set_flag==false) { |
| kenken0721 | 4:eabb7a738ff8 | 516 | encoder_count= Enc_Arm.read_rotate(); |
| kenken0721 | 4:eabb7a738ff8 | 517 | servo_hand.move(hand_uke_degree); |
| kenken0721 | 4:eabb7a738ff8 | 518 | servo1.move(hiji_nage_degree);//退避 |
| kenken0721 | 4:eabb7a738ff8 | 519 | servo2.move(koshi_uke_degree); |
| kenken0721 | 4:eabb7a738ff8 | 520 | //motor_relay = 0; |
| kenken0721 | 4:eabb7a738ff8 | 521 | motor_dir1=0; |
| kenken0721 | 4:eabb7a738ff8 | 522 | motor_dir2=1; |
| kenken0721 | 4:eabb7a738ff8 | 523 | motor_pwm=0.15; |
| kenken0721 | 4:eabb7a738ff8 | 524 | |
| kenken0721 | 4:eabb7a738ff8 | 525 | if(Enc_Arm.read_z() == 1) { |
| kenken0721 | 4:eabb7a738ff8 | 526 | syokika_flag=true; |
| kenken0721 | 4:eabb7a738ff8 | 527 | buzzer = 1.0; |
| kenken0721 | 4:eabb7a738ff8 | 528 | } |
| kenken0721 | 4:eabb7a738ff8 | 529 | |
| kenken0721 | 4:eabb7a738ff8 | 530 | if (syokika_flag==true) { |
| kenken0721 | 4:eabb7a738ff8 | 531 | if(encoder_count == 170) { |
| kenken0721 | 4:eabb7a738ff8 | 532 | motor_pwm=0; |
| kenken0721 | 4:eabb7a738ff8 | 533 | motor_dir1=1; |
| kenken0721 | 4:eabb7a738ff8 | 534 | motor_dir2=1; |
| kenken0721 | 4:eabb7a738ff8 | 535 | set_flag=true; //投てき後，falseにする. |
| kenken0721 | 4:eabb7a738ff8 | 536 | } |
| kenken0721 | 4:eabb7a738ff8 | 537 | } |
| kenken0721 | 4:eabb7a738ff8 | 538 | } |
| kenken0721 | 4:eabb7a738ff8 | 539 | //if(times >= 1.0){ |
| kenken0721 | 4:eabb7a738ff8 | 540 | //wait(0.5); |
| kenken0721 | 4:eabb7a738ff8 | 541 | //servo_hand.move(hand_uke_degree); |
| kenken0721 | 4:eabb7a738ff8 | 542 | servo1.move(hiji_uke_degree); |
| kenken0721 | 4:eabb7a738ff8 | 543 | servo1.move(hiji_uke_degree); |
| kenken0721 | 4:eabb7a738ff8 | 544 | //servo2.move(koshi_uke_degree); |
| kenken0721 | 4:eabb7a738ff8 | 545 | //} |
| kenken0721 | 4:eabb7a738ff8 | 546 | } |
| kenken0721 | 4:eabb7a738ff8 | 547 | |
| kenken0721 | 4:eabb7a738ff8 | 548 | void syokikanomai2(void){ |
| kenken0721 | 4:eabb7a738ff8 | 549 | //timer.start(); |
| kenken0721 | 4:eabb7a738ff8 | 550 | //int times = timer.read(); |
| kenken0721 | 4:eabb7a738ff8 | 551 | //syokika_flag = false; |
| kenken0721 | 4:eabb7a738ff8 | 552 | if(set_flag==false) { |
| kenken0721 | 4:eabb7a738ff8 | 553 | encoder_count= Enc_Arm.read_rotate(); |
| kenken0721 | 4:eabb7a738ff8 | 554 | servo_hand.move(hand_uke_degree); |
| kenken0721 | 4:eabb7a738ff8 | 555 | servo1.move(hiji_nage_degree);//退避 |
| kenken0721 | 4:eabb7a738ff8 | 556 | servo2.move(koshi_uke_degree); |
| kenken0721 | 4:eabb7a738ff8 | 557 | //motor_relay = 0; |
| kenken0721 | 4:eabb7a738ff8 | 558 | motor_dir1=0; |
| kenken0721 | 4:eabb7a738ff8 | 559 | motor_dir2=1; |
| kenken0721 | 4:eabb7a738ff8 | 560 | motor_pwm=0.15; |
| kenken0721 | 4:eabb7a738ff8 | 561 | |
| kenken0721 | 4:eabb7a738ff8 | 562 | if(Enc_Arm.read_z() == 1) { |
| kenken0721 | 4:eabb7a738ff8 | 563 | syokika_flag = true; |
| kenken0721 | 4:eabb7a738ff8 | 564 | buzzer = 1.0; |
| kenken0721 | 4:eabb7a738ff8 | 565 | } |
| kenken0721 | 4:eabb7a738ff8 | 566 | |
| kenken0721 | 4:eabb7a738ff8 | 567 | if (syokika_flag==true) { |
| kenken0721 | 4:eabb7a738ff8 | 568 | if(encoder_count == 170) { |
| kenken0721 | 4:eabb7a738ff8 | 569 | motor_pwm=0; |
| kenken0721 | 4:eabb7a738ff8 | 570 | motor_dir1=1; |
| kenken0721 | 4:eabb7a738ff8 | 571 | motor_dir2=1; |
| kenken0721 | 4:eabb7a738ff8 | 572 | servo1.move(hiji_uke_degree); |
| kenken0721 | 4:eabb7a738ff8 | 573 | servo1.move(hiji_uke_degree); |
| kenken0721 | 4:eabb7a738ff8 | 574 | syokika_flag = false; |
| kenken0721 | 4:eabb7a738ff8 | 575 | set_flag = true; //投てき後，falseにする. |
| kenken0721 | 4:eabb7a738ff8 | 576 | } |
| kenken0721 | 4:eabb7a738ff8 | 577 | } |
| kenken0721 | 4:eabb7a738ff8 | 578 | } |
| kenken0721 | 4:eabb7a738ff8 | 579 | //if(times >= 1.0){ |
| kenken0721 | 4:eabb7a738ff8 | 580 | //wait(0.5); |
| kenken0721 | 4:eabb7a738ff8 | 581 | //servo_hand.move(hand_uke_degree); |
| kenken0721 | 4:eabb7a738ff8 | 582 | //servo2.move(koshi_uke_degree); |
| kenken0721 | 4:eabb7a738ff8 | 583 | //} |
| kenken0721 | 4:eabb7a738ff8 | 584 | } |
| kenken0721 | 4:eabb7a738ff8 | 585 | |
| kenken0721 | 4:eabb7a738ff8 | 586 | void pre_touteki(void){ |
| kenken0721 | 4:eabb7a738ff8 | 587 | /* |
| kenken0721 | 4:eabb7a738ff8 | 588 | while(Enc_Arm.read_rotate()<pos) { |
| kenken0721 | 4:eabb7a738ff8 | 589 | motor_dir1 = 0; |
| kenken0721 | 4:eabb7a738ff8 | 590 | motor_dir2 = 1; |
| kenken0721 | 4:eabb7a738ff8 | 591 | motor_pwm = 0.15; |
| kenken0721 | 4:eabb7a738ff8 | 592 | } |
| kenken0721 | 4:eabb7a738ff8 | 593 | motor_dir1=1; |
| kenken0721 | 4:eabb7a738ff8 | 594 | motor_dir2=1; |
| kenken0721 | 4:eabb7a738ff8 | 595 | motor_pwm=0; |
| kenken0721 | 4:eabb7a738ff8 | 596 | */ |
| kenken0721 | 4:eabb7a738ff8 | 597 | //wait(1.0); |
| kenken0721 | 4:eabb7a738ff8 | 598 | servo_hand.move(hand_tsukami_degree); |
| kenken0721 | 4:eabb7a738ff8 | 599 | |
| kenken0721 | 4:eabb7a738ff8 | 600 | //wait(1.0); |
| kenken0721 | 4:eabb7a738ff8 | 601 | servo2.move(koshi_nage_degree); |
| kenken0721 | 4:eabb7a738ff8 | 602 | //servo1.move(hiji_tsukami_degree); |
| kenken0721 | 4:eabb7a738ff8 | 603 | } |
| kenken0721 | 4:eabb7a738ff8 | 604 | |
| kenken0721 | 4:eabb7a738ff8 | 605 | void touteki(float armpower ,int pos, bool thro_mode){ |
| kenken0721 | 4:eabb7a738ff8 | 606 | if(set_flag == true){ |
| kenken0721 | 4:eabb7a738ff8 | 607 | timer.start(); |
| kenken0721 | 4:eabb7a738ff8 | 608 | } |
| kenken0721 | 4:eabb7a738ff8 | 609 | int times = timer.read(); |
| kenken0721 | 4:eabb7a738ff8 | 610 | //wait(1.0); |
| kenken0721 | 4:eabb7a738ff8 | 611 | if(times >= 1.0 && times < 2.0){ |
| kenken0721 | 4:eabb7a738ff8 | 612 | servo_hand.move(hand_uke_degree); |
| kenken0721 | 4:eabb7a738ff8 | 613 | } |
| kenken0721 | 4:eabb7a738ff8 | 614 | //wait(1.0); |
| kenken0721 | 4:eabb7a738ff8 | 615 | //lamp = 0.0; |
| kenken0721 | 4:eabb7a738ff8 | 616 | |
| kenken0721 | 4:eabb7a738ff8 | 617 | if(times >= 2.0 && times < 3.0){ |
| kenken0721 | 4:eabb7a738ff8 | 618 | servo1.move(hiji_nage_degree); |
| kenken0721 | 4:eabb7a738ff8 | 619 | } |
| kenken0721 | 4:eabb7a738ff8 | 620 | |
| kenken0721 | 4:eabb7a738ff8 | 621 | //wait(1.0); |
| kenken0721 | 4:eabb7a738ff8 | 622 | if(times >= 3.0 && times < 5.0){ |
| kenken0721 | 4:eabb7a738ff8 | 623 | lamp = 0.0; |
| kenken0721 | 4:eabb7a738ff8 | 624 | while(Enc_Arm.read_rotate() < pos) { |
| kenken0721 | 4:eabb7a738ff8 | 625 | motor_dir1 = 0; |
| kenken0721 | 4:eabb7a738ff8 | 626 | motor_dir2 = 1; |
| kenken0721 | 4:eabb7a738ff8 | 627 | motor_pwm = 0.15; |
| kenken0721 | 4:eabb7a738ff8 | 628 | } |
| kenken0721 | 4:eabb7a738ff8 | 629 | } |
| kenken0721 | 4:eabb7a738ff8 | 630 | motor_dir1=1; |
| kenken0721 | 4:eabb7a738ff8 | 631 | motor_dir2=1; |
| kenken0721 | 4:eabb7a738ff8 | 632 | motor_pwm=0; |
| kenken0721 | 4:eabb7a738ff8 | 633 | //wait(2.0); |
| kenken0721 | 4:eabb7a738ff8 | 634 | //----投てき------------------------- |
| kenken0721 | 4:eabb7a738ff8 | 635 | if(times >= 5.0 && times < 6.0){ |
| kenken0721 | 4:eabb7a738ff8 | 636 | motor_dir1 = 0; |
| kenken0721 | 4:eabb7a738ff8 | 637 | motor_dir2 = 1; |
| kenken0721 | 4:eabb7a738ff8 | 638 | motor_pwm = armpower; |
| kenken0721 | 4:eabb7a738ff8 | 639 | } |
| kenken0721 | 4:eabb7a738ff8 | 640 | //wait(1.0); |
| kenken0721 | 4:eabb7a738ff8 | 641 | if(times >= 6.0 && times <7.0){ |
| kenken0721 | 4:eabb7a738ff8 | 642 | motor_pwm = 0.0; |
| kenken0721 | 4:eabb7a738ff8 | 643 | motor_dir1 = 0; |
| kenken0721 | 4:eabb7a738ff8 | 644 | motor_dir2 = 0; |
| kenken0721 | 4:eabb7a738ff8 | 645 | buzzer = 0; |
| kenken0721 | 4:eabb7a738ff8 | 646 | lamp = 1.0; |
| kenken0721 | 4:eabb7a738ff8 | 647 | set_flag = false; |
| kenken0721 | 4:eabb7a738ff8 | 648 | timer.reset(); |
| kenken0721 | 4:eabb7a738ff8 | 649 | timer.stop(); |
| kenken0721 | 4:eabb7a738ff8 | 650 | } |
| kenken0721 | 4:eabb7a738ff8 | 651 | } |
| kenken0721 | 4:eabb7a738ff8 | 652 | |
| kenken0721 | 2:c5996dd62e9c | 653 | void LineCheck(int dmode){ |
| kenken0721 | 2:c5996dd62e9c | 654 | if(dmode == STRAIGHT){ |
| kenken0721 | 2:c5996dd62e9c | 655 | if(linedata_1[1] == 1){ |
| kenken0721 | 2:c5996dd62e9c | 656 | ontheline = true; |
| kenken0721 | 2:c5996dd62e9c | 657 | tar_y_dist = y_dist; |
| kenken0721 | 2:c5996dd62e9c | 658 | } |
| kenken0721 | 2:c5996dd62e9c | 659 | if(ontheline == true){ |
| kenken0721 | 3:aaa2fde4fafd | 660 | if((y_dist - tar_y_dist) >= Y_STOP_DIST){ |
| kenken0721 | 2:c5996dd62e9c | 661 | ontheline = false; |
| kenken0721 | 2:c5996dd62e9c | 662 | crosscount++; |
| kenken0721 | 2:c5996dd62e9c | 663 | } |
| kenken0721 | 2:c5996dd62e9c | 664 | } |
| kenken0721 | 2:c5996dd62e9c | 665 | }else if(dmode == RIGHT){ |
| kenken0721 | 3:aaa2fde4fafd | 666 | if(linedata_2[1] == 1){ |
| kenken0721 | 3:aaa2fde4fafd | 667 | ontheline = true; |
| kenken0721 | 3:aaa2fde4fafd | 668 | tar_x_dist = x_dist; |
| kenken0721 | 3:aaa2fde4fafd | 669 | } |
| kenken0721 | 2:c5996dd62e9c | 670 | if(ontheline == true){ |
| kenken0721 | 3:aaa2fde4fafd | 671 | if((x_dist - tar_x_dist) >= X_STOP_DIST){ |
| kenken0721 | 2:c5996dd62e9c | 672 | ontheline = false; |
| kenken0721 | 2:c5996dd62e9c | 673 | crosscount++; |
| kenken0721 | 2:c5996dd62e9c | 674 | } |
| kenken0721 | 2:c5996dd62e9c | 675 | } |
| kenken0721 | 2:c5996dd62e9c | 676 | }else if(dmode == LEFT){ |
| kenken0721 | 3:aaa2fde4fafd | 677 | if(linedata_3[1] == 1){ |
| kenken0721 | 3:aaa2fde4fafd | 678 | ontheline = true; |
| kenken0721 | 3:aaa2fde4fafd | 679 | tar_x_dist = x_dist; |
| kenken0721 | 3:aaa2fde4fafd | 680 | } |
| kenken0721 | 2:c5996dd62e9c | 681 | if(ontheline == true){ |
| kenken0721 | 3:aaa2fde4fafd | 682 | if((tar_x_dist - x_dist) >= X_STOP_DIST){ |
| kenken0721 | 2:c5996dd62e9c | 683 | ontheline = false; |
| kenken0721 | 2:c5996dd62e9c | 684 | crosscount++; |
| kenken0721 | 2:c5996dd62e9c | 685 | } |
| kenken0721 | 2:c5996dd62e9c | 686 | } |
| kenken0721 | 2:c5996dd62e9c | 687 | } |
| kenken0721 | 2:c5996dd62e9c | 688 | } |
| kenken0721 | 0:f6828b914b1c | 689 | |
| kenken0721 | 2:c5996dd62e9c | 690 | void linecheck(char *buff, int data[2]){ |
| kenken0721 | 0:f6828b914b1c | 691 | if(buff[0] == 24){ |
| kenken0721 | 2:c5996dd62e9c | 692 | data[0] = 0; |
| kenken0721 | 2:c5996dd62e9c | 693 | data[1] = 0; |
| kenken0721 | 0:f6828b914b1c | 694 | }else if(buff[0] == 56){ |
| kenken0721 | 2:c5996dd62e9c | 695 | data[0] = 1; |
| kenken0721 | 2:c5996dd62e9c | 696 | data[1] = 0; |
| kenken0721 | 0:f6828b914b1c | 697 | }else if(buff[0] == 48){ |
| kenken0721 | 2:c5996dd62e9c | 698 | data[0] = 2; |
| kenken0721 | 2:c5996dd62e9c | 699 | data[1] = 0; |
| kenken0721 | 0:f6828b914b1c | 700 | }else if(buff[0] == 112){ |
| kenken0721 | 2:c5996dd62e9c | 701 | data[0] = 3; |
| kenken0721 | 2:c5996dd62e9c | 702 | data[1] = 0; |
| kenken0721 | 0:f6828b914b1c | 703 | }else if(buff[0] == 96){ |
| kenken0721 | 2:c5996dd62e9c | 704 | data[0] = 4; |
| kenken0721 | 2:c5996dd62e9c | 705 | data[1] = 0; |
| kenken0721 | 0:f6828b914b1c | 706 | }else if(buff[0] == 224){ |
| kenken0721 | 2:c5996dd62e9c | 707 | data[0] = 5; |
| kenken0721 | 2:c5996dd62e9c | 708 | data[1] = 0; |
| kenken0721 | 0:f6828b914b1c | 709 | }else if(buff[0] == 192){ |
| kenken0721 | 2:c5996dd62e9c | 710 | data[0] = 6; |
| kenken0721 | 2:c5996dd62e9c | 711 | data[1] = 0; |
| kenken0721 | 0:f6828b914b1c | 712 | }else if(buff[0] == 128){ |
| kenken0721 | 2:c5996dd62e9c | 713 | data[0] = 7; |
| kenken0721 | 2:c5996dd62e9c | 714 | data[1] = 0; |
| kenken0721 | 0:f6828b914b1c | 715 | }else if(buff[0] == 28){ |
| kenken0721 | 2:c5996dd62e9c | 716 | data[0] = -1; |
| kenken0721 | 2:c5996dd62e9c | 717 | data[1] = 0; |
| kenken0721 | 0:f6828b914b1c | 718 | }else if(buff[0] == 12){ |
| kenken0721 | 2:c5996dd62e9c | 719 | data[0] = -2; |
| kenken0721 | 2:c5996dd62e9c | 720 | data[1] = 0; |
| kenken0721 | 0:f6828b914b1c | 721 | }else if(buff[0] == 14){ |
| kenken0721 | 2:c5996dd62e9c | 722 | data[0] = -3; |
| kenken0721 | 2:c5996dd62e9c | 723 | data[1] = 0; |
| kenken0721 | 0:f6828b914b1c | 724 | }else if(buff[0] == 6){ |
| kenken0721 | 2:c5996dd62e9c | 725 | data[0] = -4; |
| kenken0721 | 2:c5996dd62e9c | 726 | data[1] = 0; |
| kenken0721 | 0:f6828b914b1c | 727 | }else if(buff[0] == 7){ |
| kenken0721 | 2:c5996dd62e9c | 728 | data[0] = -5; |
| kenken0721 | 2:c5996dd62e9c | 729 | data[1] = 0; |
| kenken0721 | 0:f6828b914b1c | 730 | }else if(buff[0] == 3){ |
| kenken0721 | 2:c5996dd62e9c | 731 | data[0] = -6; |
| kenken0721 | 2:c5996dd62e9c | 732 | data[1] = 0; |
| kenken0721 | 0:f6828b914b1c | 733 | }else if(buff[0] == 1){ |
| kenken0721 | 2:c5996dd62e9c | 734 | data[0] = -7; |
| kenken0721 | 2:c5996dd62e9c | 735 | data[1] = 0; |
| kenken0721 | 2:c5996dd62e9c | 736 | }else if(buff[0] == 255){ |
| kenken0721 | 2:c5996dd62e9c | 737 | data[0] = prelinedata; |
| kenken0721 | 2:c5996dd62e9c | 738 | data[1] = 1; |
| kenken0721 | 2:c5996dd62e9c | 739 | }else if(buff[0] == 0){ |
| kenken0721 | 2:c5996dd62e9c | 740 | data[0] = prelinedata; |
| kenken0721 | 2:c5996dd62e9c | 741 | data[1] = 0; |
| kenken0721 | 0:f6828b914b1c | 742 | }else{ |
| kenken0721 | 2:c5996dd62e9c | 743 | data[0] = prelinedata; |
| kenken0721 | 2:c5996dd62e9c | 744 | data[1] = 0; |
| kenken0721 | 0:f6828b914b1c | 745 | } |
| kenken0721 | 2:c5996dd62e9c | 746 | prelinedata = data[0]; |
| kenken0721 | 3:aaa2fde4fafd | 747 | } |