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@6:ff7fd6556a81, 2018-04-01 (annotated)
- Committer:
- kenken0721
- Date:
- Sun Apr 01 11:58:23 2018 +0000
- Revision:
- 6:ff7fd6556a81
- Parent:
- 5:c5a2a5cf600d
- Child:
- 7:f1a924244b76
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 | 5:c5a2a5cf600d | 35 | DigitalOut motor_dir1(PA_8); |
| kenken0721 | 4:eabb7a738ff8 | 36 | DigitalOut motor_dir2(PA_9); |
| kenken0721 | 4:eabb7a738ff8 | 37 | PwmOut motor_pwm(PB_3); |
| kenken0721 | 4:eabb7a738ff8 | 38 | |
| kenken0721 | 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 | 6:ff7fd6556a81 | 63 | void syokikanomai(void); |
| kenken0721 | 6:ff7fd6556a81 | 64 | void syokikanomai2(void); |
| kenken0721 | 6:ff7fd6556a81 | 65 | void touteki(float armpower, int pos, bool thro_mode); |
| kenken0721 | 6:ff7fd6556a81 | 66 | |
| kenken0721 | 2:c5996dd62e9c | 67 | int crosscount = 0; |
| kenken0721 | 0:f6828b914b1c | 68 | bool mode = true;//trueでラジコン、falseでオート |
| kenken0721 | 0:f6828b914b1c | 69 | bool stopflag = true;//trueで機体停止 |
| kenken0721 | 0:f6828b914b1c | 70 | double power = POWER; |
| kenken0721 | 2:c5996dd62e9c | 71 | double rpower = POWER; |
| kenken0721 | 2:c5996dd62e9c | 72 | double lpower = POWER; |
| kenken0721 | 0:f6828b914b1c | 73 | int kbtread = 0; |
| kenken0721 | 0:f6828b914b1c | 74 | int count = 0; |
| kenken0721 | 0:f6828b914b1c | 75 | int counter = 0; |
| kenken0721 | 2:c5996dd62e9c | 76 | int linedata_1[2] = {0}; |
| kenken0721 | 2:c5996dd62e9c | 77 | int linedata_2[2] = {0}; |
| kenken0721 | 2:c5996dd62e9c | 78 | int linedata_3[2] = {0}; |
| kenken0721 | 0:f6828b914b1c | 79 | int prelinedata = 0; |
| kenken0721 | 0:f6828b914b1c | 80 | double output = 0.0; |
| kenken0721 | 1:f4dbd6b9cc27 | 81 | char buff1[2]; |
| kenken0721 | 1:f4dbd6b9cc27 | 82 | char buff2[2]; |
| kenken0721 | 1:f4dbd6b9cc27 | 83 | char buff3[2]; |
| kenken0721 | 1:f4dbd6b9cc27 | 84 | float x_dist = 0.0; |
| kenken0721 | 1:f4dbd6b9cc27 | 85 | float y_dist = 0.0; |
| kenken0721 | 2:c5996dd62e9c | 86 | float tar_x_dist = 0.0; |
| kenken0721 | 2:c5996dd62e9c | 87 | float tar_y_dist = 0.0; |
| kenken0721 | 2:c5996dd62e9c | 88 | bool ontheline = false; |
| kenken0721 | 2:c5996dd62e9c | 89 | int directmode = STRAIGHT; |
| kenken0721 | 3:aaa2fde4fafd | 90 | int state = START; |
| kenken0721 | 3:aaa2fde4fafd | 91 | int times = 0; |
| kenken0721 | 4:eabb7a738ff8 | 92 | int redcount = 0; |
| kenken0721 | 4:eabb7a738ff8 | 93 | int bluecount = 0; |
| kenken0721 | 4:eabb7a738ff8 | 94 | int yellowcount = 0; |
| kenken0721 | 4:eabb7a738ff8 | 95 | bool syokika_flag=false; |
| kenken0721 | 4:eabb7a738ff8 | 96 | bool set_flag = false; |
| kenken0721 | 4:eabb7a738ff8 | 97 | int encoder_count = 1000; |
| kenken0721 | 4:eabb7a738ff8 | 98 | |
| kenken0721 | 3:aaa2fde4fafd | 99 | int main() { |
| kenken0721 | 3:aaa2fde4fafd | 100 | timer.reset(); |
| kenken0721 | 3:aaa2fde4fafd | 101 | timer.stop(); |
| kenken0721 | 6:ff7fd6556a81 | 102 | throwing_relay=0; |
| kenken0721 | 4:eabb7a738ff8 | 103 | lamp=1; |
| kenken0721 | 4:eabb7a738ff8 | 104 | air=1.0; |
| kenken0721 | 4:eabb7a738ff8 | 105 | buzzer = 0.0; |
| kenken0721 | 4:eabb7a738ff8 | 106 | micro_switch.mode(PullUp); |
| kenken0721 | 4:eabb7a738ff8 | 107 | motor_pwm=0; |
| kenken0721 | 6:ff7fd6556a81 | 108 | motor_dir1=1; |
| kenken0721 | 4:eabb7a738ff8 | 109 | motor_dir2=1; |
| kenken0721 | 6:ff7fd6556a81 | 110 | servo1.init(0);//アーム |
| kenken0721 | 6:ff7fd6556a81 | 111 | servo2.init(1);//回転軸 |
| kenken0721 | 1:f4dbd6b9cc27 | 112 | S_pid.init(); |
| kenken0721 | 3:aaa2fde4fafd | 113 | R_pid.init(); |
| kenken0721 | 3:aaa2fde4fafd | 114 | L_pid.init(); |
| kenken0721 | 1:f4dbd6b9cc27 | 115 | pwm_pins[0].period(0.00005); |
| kenken0721 | 1:f4dbd6b9cc27 | 116 | pwm_pins[1].period(0.00005); |
| kenken0721 | 1:f4dbd6b9cc27 | 117 | pwm_pins[2].period(0.00005); |
| kenken0721 | 1:f4dbd6b9cc27 | 118 | pwm_pins[3].period(0.00005); |
| kenken0721 | 4:eabb7a738ff8 | 119 | motor_pwm.period(0.00005); |
| kenken0721 | 6:ff7fd6556a81 | 120 | //------通信スピード---------------------------------------------- |
| kenken0721 | 3:aaa2fde4fafd | 121 | pc.baud(115200); |
| kenken0721 | 2:c5996dd62e9c | 122 | kbtpc.baud(9600); |
| kenken0721 | 2:c5996dd62e9c | 123 | master.frequency(100000); |
| kenken0721 | 6:ff7fd6556a81 | 124 | lamp = 1.0; |
| kenken0721 | 6:ff7fd6556a81 | 125 | //-------初期化------------------------------------------------- |
| kenken0721 | 4:eabb7a738ff8 | 126 | syokikanomai(); |
| kenken0721 | 4:eabb7a738ff8 | 127 | buzzer = 0; |
| kenken0721 | 6:ff7fd6556a81 | 128 | //-----------メインループ---------------------------------------- |
| kenken0721 | 1:f4dbd6b9cc27 | 129 | while (true) { |
| kenken0721 | 4:eabb7a738ff8 | 130 | master.read(addr1,buff1,2); |
| kenken0721 | 4:eabb7a738ff8 | 131 | linecheck(buff1,linedata_1); |
| kenken0721 | 4:eabb7a738ff8 | 132 | master.read(addr2,buff2,2); |
| kenken0721 | 4:eabb7a738ff8 | 133 | linecheck(buff2,linedata_2); |
| kenken0721 | 4:eabb7a738ff8 | 134 | master.read(addr3,buff3,2); |
| kenken0721 | 4:eabb7a738ff8 | 135 | linecheck(buff3,linedata_3); |
| kenken0721 | 2:c5996dd62e9c | 136 | x_dist = Enc_Carry_X.read_rotate(); |
| kenken0721 | 2:c5996dd62e9c | 137 | y_dist = Enc_Carry_Y.read_rotate(); |
| kenken0721 | 3:aaa2fde4fafd | 138 | kbtpc.putc(state); |
| kenken0721 | 1:f4dbd6b9cc27 | 139 | if(kbtpc.readable()){ |
| kenken0721 | 1:f4dbd6b9cc27 | 140 | kbtread = kbtpc.getc(); |
| kenken0721 | 1:f4dbd6b9cc27 | 141 | } |
| kenken0721 | 1:f4dbd6b9cc27 | 142 | if(kbtread == 255){ |
| kenken0721 | 1:f4dbd6b9cc27 | 143 | mode = true; |
| kenken0721 | 1:f4dbd6b9cc27 | 144 | }else if(kbtread == 150){ |
| kenken0721 | 1:f4dbd6b9cc27 | 145 | mode = false; |
| kenken0721 | 1:f4dbd6b9cc27 | 146 | }else if(kbtread == 100){ |
| kenken0721 | 1:f4dbd6b9cc27 | 147 | stopflag = true; |
| kenken0721 | 1:f4dbd6b9cc27 | 148 | }else if(kbtread == 200){ |
| kenken0721 | 1:f4dbd6b9cc27 | 149 | stopflag = false; |
| kenken0721 | 2:c5996dd62e9c | 150 | }else if(kbtread == STRAIGHT){ |
| kenken0721 | 2:c5996dd62e9c | 151 | directmode = STRAIGHT; |
| kenken0721 | 2:c5996dd62e9c | 152 | }else if(kbtread == RIGHT){ |
| kenken0721 | 2:c5996dd62e9c | 153 | directmode = RIGHT; |
| kenken0721 | 2:c5996dd62e9c | 154 | }else if(kbtread == LEFT){ |
| kenken0721 | 2:c5996dd62e9c | 155 | directmode = LEFT; |
| kenken0721 | 3:aaa2fde4fafd | 156 | }else if(kbtread == START){ |
| kenken0721 | 3:aaa2fde4fafd | 157 | state = START; |
| kenken0721 | 1:f4dbd6b9cc27 | 158 | } |
| kenken0721 | 1:f4dbd6b9cc27 | 159 | //--------------手動-------------------------------------- |
| kenken0721 | 1:f4dbd6b9cc27 | 160 | if(mode == true){ |
| kenken0721 | 1:f4dbd6b9cc27 | 161 | led2 = 1.0; |
| kenken0721 | 2:c5996dd62e9c | 162 | if(kbtread == STRAIGHT){ |
| kenken0721 | 1:f4dbd6b9cc27 | 163 | Straight(power, power, pwm_pins, dir_pins_1, dir_pins_2); |
| kenken0721 | 2:c5996dd62e9c | 164 | }else if(kbtread == BACK){ |
| kenken0721 | 1:f4dbd6b9cc27 | 165 | Back(power, power, pwm_pins, dir_pins_1, dir_pins_2); |
| kenken0721 | 2:c5996dd62e9c | 166 | }else if(kbtread == RIGHT){ |
| kenken0721 | 1:f4dbd6b9cc27 | 167 | Right(power, power, pwm_pins, dir_pins_1, dir_pins_2); |
| kenken0721 | 2:c5996dd62e9c | 168 | }else if(kbtread == LEFT){ |
| kenken0721 | 1:f4dbd6b9cc27 | 169 | Left(power, power, pwm_pins, dir_pins_1, dir_pins_2); |
| kenken0721 | 1:f4dbd6b9cc27 | 170 | }else{ |
| kenken0721 | 1:f4dbd6b9cc27 | 171 | Stop(pwm_pins, dir_pins_1, dir_pins_2); |
| kenken0721 | 1:f4dbd6b9cc27 | 172 | } |
| kenken0721 | 1:f4dbd6b9cc27 | 173 | //--------------自動--------------------------------- |
| kenken0721 | 1:f4dbd6b9cc27 | 174 | }else if(mode == false){ |
| kenken0721 | 1:f4dbd6b9cc27 | 175 | led2 = 0.0; |
| kenken0721 | 1:f4dbd6b9cc27 | 176 | if(stopflag == true){ |
| kenken0721 | 1:f4dbd6b9cc27 | 177 | Stop(pwm_pins, dir_pins_1, dir_pins_2); |
| kenken0721 | 1:f4dbd6b9cc27 | 178 | }else{ |
| kenken0721 | 2:c5996dd62e9c | 179 | LineCheck(directmode); |
| kenken0721 | 3:aaa2fde4fafd | 180 | switch(state){ |
| kenken0721 | 4:eabb7a738ff8 | 181 | //------------------初期位置から待機位置1------------------------------------------ |
| kenken0721 | 3:aaa2fde4fafd | 182 | case START: |
| kenken0721 | 3:aaa2fde4fafd | 183 | if(crosscount == 0){ |
| kenken0721 | 3:aaa2fde4fafd | 184 | directmode = STRAIGHT; |
| kenken0721 | 6:ff7fd6556a81 | 185 | }else if(crosscount == 1){ |
| kenken0721 | 6:ff7fd6556a81 | 186 | if(directmode == STRAIGHT){ |
| kenken0721 | 6:ff7fd6556a81 | 187 | directmode = LEFT; |
| kenken0721 | 6:ff7fd6556a81 | 188 | prelinedata = 0; |
| kenken0721 | 6:ff7fd6556a81 | 189 | }else if(directmode == LEFT){ |
| kenken0721 | 6:ff7fd6556a81 | 190 | directmode = LEFT; |
| kenken0721 | 6:ff7fd6556a81 | 191 | } |
| kenken0721 | 3:aaa2fde4fafd | 192 | }else if(crosscount == 2){ |
| kenken0721 | 3:aaa2fde4fafd | 193 | directmode = STOP; |
| kenken0721 | 3:aaa2fde4fafd | 194 | state = STAND_BY_1; |
| kenken0721 | 3:aaa2fde4fafd | 195 | crosscount = 0; |
| kenken0721 | 3:aaa2fde4fafd | 196 | prelinedata = 0; |
| kenken0721 | 3:aaa2fde4fafd | 197 | } |
| kenken0721 | 3:aaa2fde4fafd | 198 | break; |
| kenken0721 | 4:eabb7a738ff8 | 199 | //------------------待機位置1---------------------------------------------------- |
| kenken0721 | 3:aaa2fde4fafd | 200 | case STAND_BY_1: |
| kenken0721 | 3:aaa2fde4fafd | 201 | crosscount = 0; |
| kenken0721 | 3:aaa2fde4fafd | 202 | directmode = STOP; |
| kenken0721 | 4:eabb7a738ff8 | 203 | if(distance == 1.0){ |
| kenken0721 | 4:eabb7a738ff8 | 204 | if(redIn == 1.0){ |
| kenken0721 | 4:eabb7a738ff8 | 205 | buzzer = 1.0; |
| kenken0721 | 4:eabb7a738ff8 | 206 | redcount++; |
| kenken0721 | 4:eabb7a738ff8 | 207 | }else if(blueIn == 1.0){ |
| kenken0721 | 4:eabb7a738ff8 | 208 | buzzer = 1.0; |
| kenken0721 | 4:eabb7a738ff8 | 209 | bluecount++; |
| kenken0721 | 4:eabb7a738ff8 | 210 | }else{ |
| kenken0721 | 4:eabb7a738ff8 | 211 | buzzer = 0.0; |
| kenken0721 | 4:eabb7a738ff8 | 212 | } |
| kenken0721 | 4:eabb7a738ff8 | 213 | if(redcount >= 100 ){ |
| kenken0721 | 4:eabb7a738ff8 | 214 | servo_hand.move(hand_tsukami_degree); |
| kenken0721 | 4:eabb7a738ff8 | 215 | servo1.move(hiji_tsukami_degree); |
| kenken0721 | 6:ff7fd6556a81 | 216 | servo1.move(hiji_tsukami_degree); |
| kenken0721 | 4:eabb7a738ff8 | 217 | }else if(bluecount >= 100){ |
| kenken0721 | 4:eabb7a738ff8 | 218 | servo_hand.move(hand_tsukami_degree); |
| kenken0721 | 4:eabb7a738ff8 | 219 | servo1.move(hiji_tsukami_degree); |
| kenken0721 | 6:ff7fd6556a81 | 220 | servo1.move(hiji_tsukami_degree); |
| kenken0721 | 4:eabb7a738ff8 | 221 | } |
| kenken0721 | 4:eabb7a738ff8 | 222 | }else if(distance == 0.0 && redcount >= 100){ |
| kenken0721 | 4:eabb7a738ff8 | 223 | servo2.move(koshi_nage_degree); |
| kenken0721 | 6:ff7fd6556a81 | 224 | servo2.move(koshi_nage_degree); |
| kenken0721 | 3:aaa2fde4fafd | 225 | state = RED_RECEIVE; |
| kenken0721 | 4:eabb7a738ff8 | 226 | directmode = STOP; |
| kenken0721 | 4:eabb7a738ff8 | 227 | redcount = 0; |
| kenken0721 | 4:eabb7a738ff8 | 228 | crosscount = 0; |
| kenken0721 | 4:eabb7a738ff8 | 229 | }else if(distance == 0.0 && bluecount >= 100){ |
| kenken0721 | 4:eabb7a738ff8 | 230 | state = BLUE_RECEIVE_1; |
| kenken0721 | 4:eabb7a738ff8 | 231 | directmode = STOP; |
| kenken0721 | 4:eabb7a738ff8 | 232 | bluecount = 0; |
| kenken0721 | 4:eabb7a738ff8 | 233 | crosscount = 0; |
| kenken0721 | 4:eabb7a738ff8 | 234 | } |
| kenken0721 | 3:aaa2fde4fafd | 235 | break; |
| kenken0721 | 4:eabb7a738ff8 | 236 | //------------------待機位置1から投てき位置1---------------------------------------- |
| kenken0721 | 3:aaa2fde4fafd | 237 | case RED_RECEIVE: |
| kenken0721 | 3:aaa2fde4fafd | 238 | if(crosscount == 0){ |
| kenken0721 | 3:aaa2fde4fafd | 239 | directmode = LEFT; |
| kenken0721 | 4:eabb7a738ff8 | 240 | }else if(crosscount == 1){ |
| kenken0721 | 3:aaa2fde4fafd | 241 | directmode = STOP; |
| kenken0721 | 3:aaa2fde4fafd | 242 | prelinedata = 0; |
| kenken0721 | 4:eabb7a738ff8 | 243 | touteki(0.8,190,0); |
| kenken0721 | 4:eabb7a738ff8 | 244 | if(set_flag == false){ |
| kenken0721 | 3:aaa2fde4fafd | 245 | directmode = RIGHT; |
| kenken0721 | 3:aaa2fde4fafd | 246 | } |
| kenken0721 | 3:aaa2fde4fafd | 247 | }else if(crosscount == 2){ |
| kenken0721 | 3:aaa2fde4fafd | 248 | directmode = STOP; |
| kenken0721 | 4:eabb7a738ff8 | 249 | syokikanomai2(); |
| kenken0721 | 4:eabb7a738ff8 | 250 | if(set_flag == true){ |
| kenken0721 | 4:eabb7a738ff8 | 251 | state = STAND_BY_1; |
| kenken0721 | 4:eabb7a738ff8 | 252 | crosscount = 0; |
| kenken0721 | 4:eabb7a738ff8 | 253 | } |
| kenken0721 | 3:aaa2fde4fafd | 254 | } |
| kenken0721 | 3:aaa2fde4fafd | 255 | break; |
| kenken0721 | 4:eabb7a738ff8 | 256 | //------------------待機位置1から投てき位置2---------------------------------------- |
| kenken0721 | 3:aaa2fde4fafd | 257 | case BLUE_RECEIVE_1: |
| kenken0721 | 3:aaa2fde4fafd | 258 | if(crosscount == 0){ |
| kenken0721 | 3:aaa2fde4fafd | 259 | directmode = RIGHT; |
| kenken0721 | 3:aaa2fde4fafd | 260 | }else if(crosscount == 1){ |
| kenken0721 | 3:aaa2fde4fafd | 261 | directmode = STRAIGHT; |
| kenken0721 | 3:aaa2fde4fafd | 262 | }else if(crosscount == 2){ |
| kenken0721 | 3:aaa2fde4fafd | 263 | directmode = LEFT; |
| kenken0721 | 3:aaa2fde4fafd | 264 | }else if(crosscount == 3){ |
| kenken0721 | 3:aaa2fde4fafd | 265 | directmode = STOP; |
| kenken0721 | 3:aaa2fde4fafd | 266 | prelinedata = 0; |
| kenken0721 | 4:eabb7a738ff8 | 267 | state = BLUE_RECEIVE_2; |
| kenken0721 | 3:aaa2fde4fafd | 268 | crosscount = 0; |
| kenken0721 | 3:aaa2fde4fafd | 269 | } |
| kenken0721 | 3:aaa2fde4fafd | 270 | break; |
| kenken0721 | 4:eabb7a738ff8 | 271 | //------------------待機位置2---------------------------------------------------- |
| kenken0721 | 3:aaa2fde4fafd | 272 | case STAND_BY_2: |
| kenken0721 | 3:aaa2fde4fafd | 273 | crosscount = 0; |
| kenken0721 | 4:eabb7a738ff8 | 274 | directmode = STOP; |
| kenken0721 | 4:eabb7a738ff8 | 275 | if(distance == 1.0){ |
| kenken0721 | 4:eabb7a738ff8 | 276 | if(blueIn == 1.0){ |
| kenken0721 | 4:eabb7a738ff8 | 277 | buzzer = 1.0; |
| kenken0721 | 4:eabb7a738ff8 | 278 | bluecount++; |
| kenken0721 | 4:eabb7a738ff8 | 279 | }else if(micro_switch == 1.0){ |
| kenken0721 | 4:eabb7a738ff8 | 280 | buzzer = 1.0; |
| kenken0721 | 4:eabb7a738ff8 | 281 | yellowcount++; |
| kenken0721 | 4:eabb7a738ff8 | 282 | }else{ |
| kenken0721 | 4:eabb7a738ff8 | 283 | buzzer = 0.0; |
| kenken0721 | 4:eabb7a738ff8 | 284 | } |
| kenken0721 | 5:c5a2a5cf600d | 285 | if(bluecount >= 100){ |
| kenken0721 | 5:c5a2a5cf600d | 286 | servo_hand.move(hand_tsukami_degree); |
| kenken0721 | 5:c5a2a5cf600d | 287 | servo1.move(hiji_tsukami_degree); |
| kenken0721 | 6:ff7fd6556a81 | 288 | servo1.move(hiji_tsukami_degree); |
| kenken0721 | 4:eabb7a738ff8 | 289 | }else if(yellowcount >= 500){ |
| kenken0721 | 5:c5a2a5cf600d | 290 | air = 0.0; |
| kenken0721 | 4:eabb7a738ff8 | 291 | } |
| kenken0721 | 5:c5a2a5cf600d | 292 | }else if(distance == 0.0 && bluecount >= 100){ |
| kenken0721 | 5:c5a2a5cf600d | 293 | servo2.move(koshi_nage_degree); |
| kenken0721 | 6:ff7fd6556a81 | 294 | servo2.move(koshi_nage_degree); |
| kenken0721 | 4:eabb7a738ff8 | 295 | state = BLUE_RECEIVE_2; |
| kenken0721 | 4:eabb7a738ff8 | 296 | directmode = STOP; |
| kenken0721 | 4:eabb7a738ff8 | 297 | bluecount = 0; |
| kenken0721 | 4:eabb7a738ff8 | 298 | crosscount = 0; |
| kenken0721 | 4:eabb7a738ff8 | 299 | } |
| kenken0721 | 3:aaa2fde4fafd | 300 | break; |
| kenken0721 | 4:eabb7a738ff8 | 301 | //------------------投てき位置2--------------------------------------------------- |
| kenken0721 | 3:aaa2fde4fafd | 302 | case BLUE_RECEIVE_2: |
| kenken0721 | 3:aaa2fde4fafd | 303 | if(crosscount == 0){ |
| kenken0721 | 3:aaa2fde4fafd | 304 | directmode = LEFT; |
| kenken0721 | 3:aaa2fde4fafd | 305 | }else if(crosscount == 1){ |
| kenken0721 | 5:c5a2a5cf600d | 306 | directmode = STOP; |
| kenken0721 | 5:c5a2a5cf600d | 307 | prelinedata = 0; |
| kenken0721 | 5:c5a2a5cf600d | 308 | touteki(1.0,190,1); |
| kenken0721 | 5:c5a2a5cf600d | 309 | if(set_flag == false){ |
| kenken0721 | 5:c5a2a5cf600d | 310 | directmode = RIGHT; |
| kenken0721 | 3:aaa2fde4fafd | 311 | } |
| kenken0721 | 3:aaa2fde4fafd | 312 | }else if(crosscount == 2){ |
| kenken0721 | 3:aaa2fde4fafd | 313 | directmode = STOP; |
| kenken0721 | 5:c5a2a5cf600d | 314 | syokikanomai2(); |
| kenken0721 | 5:c5a2a5cf600d | 315 | if(set_flag == true){ |
| kenken0721 | 5:c5a2a5cf600d | 316 | state = STAND_BY_2; |
| kenken0721 | 5:c5a2a5cf600d | 317 | crosscount = 0; |
| kenken0721 | 5:c5a2a5cf600d | 318 | } |
| kenken0721 | 5:c5a2a5cf600d | 319 | } |
| kenken0721 | 3:aaa2fde4fafd | 320 | break; |
| kenken0721 | 4:eabb7a738ff8 | 321 | //------------------投てき位置3--------------------------------------------------- |
| kenken0721 | 3:aaa2fde4fafd | 322 | case YELLOW_RECEIVE: |
| kenken0721 | 3:aaa2fde4fafd | 323 | if(crosscount != 4){ |
| kenken0721 | 3:aaa2fde4fafd | 324 | directmode = LEFT; |
| kenken0721 | 3:aaa2fde4fafd | 325 | }else{ |
| kenken0721 | 3:aaa2fde4fafd | 326 | directmode = STOP; |
| kenken0721 | 3:aaa2fde4fafd | 327 | } |
| kenken0721 | 3:aaa2fde4fafd | 328 | break; |
| kenken0721 | 3:aaa2fde4fafd | 329 | default: |
| kenken0721 | 3:aaa2fde4fafd | 330 | break; |
| kenken0721 | 3:aaa2fde4fafd | 331 | } |
| kenken0721 | 4:eabb7a738ff8 | 332 | //--------------進行方向--------------------------------------------------------- |
| kenken0721 | 3:aaa2fde4fafd | 333 | switch(directmode){ |
| kenken0721 | 2:c5996dd62e9c | 334 | case STOP: |
| kenken0721 | 2:c5996dd62e9c | 335 | Stop(pwm_pins, dir_pins_1, dir_pins_2); |
| kenken0721 | 2:c5996dd62e9c | 336 | break; |
| kenken0721 | 2:c5996dd62e9c | 337 | case STRAIGHT: |
| kenken0721 | 2:c5996dd62e9c | 338 | output = S_pid.compute((double)linedata_1[0]); |
| kenken0721 | 2:c5996dd62e9c | 339 | if(output >= 0){ |
| kenken0721 | 2:c5996dd62e9c | 340 | rpower = power; |
| kenken0721 | 2:c5996dd62e9c | 341 | lpower = power + output; |
| kenken0721 | 2:c5996dd62e9c | 342 | Straight(rpower, lpower, pwm_pins, dir_pins_1, dir_pins_2); |
| kenken0721 | 2:c5996dd62e9c | 343 | }else { |
| kenken0721 | 2:c5996dd62e9c | 344 | rpower = power + (-1 * output); |
| kenken0721 | 2:c5996dd62e9c | 345 | lpower = power; |
| kenken0721 | 2:c5996dd62e9c | 346 | Straight(rpower, lpower, pwm_pins, dir_pins_1, dir_pins_2); |
| kenken0721 | 2:c5996dd62e9c | 347 | } |
| kenken0721 | 2:c5996dd62e9c | 348 | break; |
| kenken0721 | 2:c5996dd62e9c | 349 | case RIGHT: |
| kenken0721 | 2:c5996dd62e9c | 350 | output = R_pid.compute((double)linedata_2[0]); |
| kenken0721 | 1:f4dbd6b9cc27 | 351 | if(output >= 0){ |
| kenken0721 | 2:c5996dd62e9c | 352 | rpower = power; |
| kenken0721 | 2:c5996dd62e9c | 353 | lpower = power + output; |
| kenken0721 | 2:c5996dd62e9c | 354 | Right(rpower, lpower, pwm_pins, dir_pins_1, dir_pins_2); |
| kenken0721 | 1:f4dbd6b9cc27 | 355 | }else { |
| kenken0721 | 2:c5996dd62e9c | 356 | rpower = power + (-1 * output); |
| kenken0721 | 2:c5996dd62e9c | 357 | lpower = power; |
| kenken0721 | 2:c5996dd62e9c | 358 | Right(rpower, lpower, pwm_pins, dir_pins_1, dir_pins_2); |
| kenken0721 | 2:c5996dd62e9c | 359 | } |
| kenken0721 | 2:c5996dd62e9c | 360 | break; |
| kenken0721 | 2:c5996dd62e9c | 361 | case LEFT: |
| kenken0721 | 2:c5996dd62e9c | 362 | output = L_pid.compute((double)linedata_3[0]); |
| kenken0721 | 2:c5996dd62e9c | 363 | if(output >= 0){ |
| kenken0721 | 2:c5996dd62e9c | 364 | rpower = power; |
| kenken0721 | 2:c5996dd62e9c | 365 | lpower = power + output; |
| kenken0721 | 3:aaa2fde4fafd | 366 | Left(rpower, lpower, pwm_pins, dir_pins_1, dir_pins_2); |
| kenken0721 | 2:c5996dd62e9c | 367 | }else { |
| kenken0721 | 2:c5996dd62e9c | 368 | rpower = power + (-1 * output); |
| kenken0721 | 2:c5996dd62e9c | 369 | lpower = power; |
| kenken0721 | 2:c5996dd62e9c | 370 | Left(rpower, lpower, pwm_pins, dir_pins_1, dir_pins_2); |
| kenken0721 | 2:c5996dd62e9c | 371 | } |
| kenken0721 | 2:c5996dd62e9c | 372 | break; |
| kenken0721 | 2:c5996dd62e9c | 373 | default: |
| kenken0721 | 2:c5996dd62e9c | 374 | break; |
| kenken0721 | 1:f4dbd6b9cc27 | 375 | } |
| kenken0721 | 1:f4dbd6b9cc27 | 376 | } |
| kenken0721 | 1:f4dbd6b9cc27 | 377 | } |
| kenken0721 | 3:aaa2fde4fafd | 378 | //pc.printf("kbtread = %d \r" ,kbtread); |
| kenken0721 | 2:c5996dd62e9c | 379 | //pc.printf("buff1[0] = %d \r" ,buff1[0]); |
| kenken0721 | 2:c5996dd62e9c | 380 | //pc.printf("buff2[0] = %d \r" ,buff2[0]); |
| kenken0721 | 2:c5996dd62e9c | 381 | //pc.printf("line1 = %d \r" ,linedata_1[0]); |
| kenken0721 | 3:aaa2fde4fafd | 382 | //pc.printf("line2 = %d \r" ,linedata_3[1]); |
| kenken0721 | 4:eabb7a738ff8 | 383 | pc.printf("xdist = %f \r",x_dist); |
| kenken0721 | 3:aaa2fde4fafd | 384 | //pc.printf("tar_xdist = %f \r",tar_x_dist); |
| kenken0721 | 3:aaa2fde4fafd | 385 | //pc.printf("ontheline = %d \r",ontheline); |
| kenken0721 | 3:aaa2fde4fafd | 386 | |
| kenken0721 | 4:eabb7a738ff8 | 387 | pc.printf("ydist = %f \r",y_dist); |
| kenken0721 | 2:c5996dd62e9c | 388 | //pc.printf("tary = %f \r",tar_y_dist); |
| kenken0721 | 2:c5996dd62e9c | 389 | //pc.printf("stopflag = %d \r",stopflag); |
| kenken0721 | 2:c5996dd62e9c | 390 | //pc.printf("cross = %d \r",crosscount); |
| kenken0721 | 1:f4dbd6b9cc27 | 391 | //pc.printf("buff[1] = %d" ,buff1[1]); |
| kenken0721 | 2:c5996dd62e9c | 392 | //pc.printf("line = %d" ,line); |
| kenken0721 | 2:c5996dd62e9c | 393 | //pc.printf("rpower = %lf" ,rpower); |
| kenken0721 | 3:aaa2fde4fafd | 394 | //pc.printf("lpower = %lf" ,lpower); |
| kenken0721 | 4:eabb7a738ff8 | 395 | //pc.printf("dicmode = %d \r",directmode); |
| kenken0721 | 1:f4dbd6b9cc27 | 396 | pc.printf("output = %lf \n" ,output); |
| kenken0721 | 1:f4dbd6b9cc27 | 397 | } |
| kenken0721 | 1:f4dbd6b9cc27 | 398 | } |
| kenken0721 | 1:f4dbd6b9cc27 | 399 | |
| kenken0721 | 4:eabb7a738ff8 | 400 | //---------------初期化--------------------------- |
| kenken0721 | 4:eabb7a738ff8 | 401 | void syokikanomai(void){ |
| kenken0721 | 4:eabb7a738ff8 | 402 | syokika_flag = false; |
| kenken0721 | 4:eabb7a738ff8 | 403 | while (set_flag==false) { |
| kenken0721 | 4:eabb7a738ff8 | 404 | encoder_count= Enc_Arm.read_rotate(); |
| kenken0721 | 4:eabb7a738ff8 | 405 | servo_hand.move(hand_uke_degree); |
| kenken0721 | 4:eabb7a738ff8 | 406 | servo1.move(hiji_nage_degree);//退避 |
| kenken0721 | 4:eabb7a738ff8 | 407 | servo2.move(koshi_uke_degree); |
| kenken0721 | 6:ff7fd6556a81 | 408 | servo1.move(hiji_nage_degree);//退避 |
| kenken0721 | 6:ff7fd6556a81 | 409 | servo2.move(koshi_uke_degree); |
| kenken0721 | 4:eabb7a738ff8 | 410 | motor_dir1=0; |
| kenken0721 | 4:eabb7a738ff8 | 411 | motor_dir2=1; |
| kenken0721 | 4:eabb7a738ff8 | 412 | motor_pwm=0.15; |
| kenken0721 | 4:eabb7a738ff8 | 413 | if(Enc_Arm.read_z() == 1) { |
| kenken0721 | 4:eabb7a738ff8 | 414 | syokika_flag=true; |
| kenken0721 | 4:eabb7a738ff8 | 415 | buzzer = 1.0; |
| kenken0721 | 4:eabb7a738ff8 | 416 | } |
| kenken0721 | 4:eabb7a738ff8 | 417 | |
| kenken0721 | 4:eabb7a738ff8 | 418 | if (syokika_flag==true) { |
| kenken0721 | 4:eabb7a738ff8 | 419 | if(encoder_count == 170) { |
| kenken0721 | 4:eabb7a738ff8 | 420 | motor_pwm=0; |
| kenken0721 | 4:eabb7a738ff8 | 421 | motor_dir1=1; |
| kenken0721 | 4:eabb7a738ff8 | 422 | motor_dir2=1; |
| kenken0721 | 4:eabb7a738ff8 | 423 | set_flag=true; //投てき後，falseにする. |
| kenken0721 | 4:eabb7a738ff8 | 424 | } |
| kenken0721 | 4:eabb7a738ff8 | 425 | } |
| kenken0721 | 4:eabb7a738ff8 | 426 | } |
| kenken0721 | 4:eabb7a738ff8 | 427 | servo1.move(hiji_uke_degree); |
| kenken0721 | 4:eabb7a738ff8 | 428 | servo1.move(hiji_uke_degree); |
| kenken0721 | 4:eabb7a738ff8 | 429 | } |
| kenken0721 | 4:eabb7a738ff8 | 430 | |
| kenken0721 | 4:eabb7a738ff8 | 431 | void syokikanomai2(void){ |
| kenken0721 | 4:eabb7a738ff8 | 432 | if(set_flag==false) { |
| kenken0721 | 4:eabb7a738ff8 | 433 | encoder_count= Enc_Arm.read_rotate(); |
| kenken0721 | 4:eabb7a738ff8 | 434 | servo_hand.move(hand_uke_degree); |
| kenken0721 | 4:eabb7a738ff8 | 435 | servo1.move(hiji_nage_degree);//退避 |
| kenken0721 | 4:eabb7a738ff8 | 436 | servo2.move(koshi_uke_degree); |
| kenken0721 | 6:ff7fd6556a81 | 437 | servo1.move(hiji_nage_degree);//退避 |
| kenken0721 | 6:ff7fd6556a81 | 438 | servo2.move(koshi_uke_degree); |
| kenken0721 | 4:eabb7a738ff8 | 439 | motor_dir1=0; |
| kenken0721 | 4:eabb7a738ff8 | 440 | motor_dir2=1; |
| kenken0721 | 4:eabb7a738ff8 | 441 | motor_pwm=0.15; |
| kenken0721 | 4:eabb7a738ff8 | 442 | if(Enc_Arm.read_z() == 1) { |
| kenken0721 | 4:eabb7a738ff8 | 443 | syokika_flag = true; |
| kenken0721 | 4:eabb7a738ff8 | 444 | buzzer = 1.0; |
| kenken0721 | 4:eabb7a738ff8 | 445 | } |
| kenken0721 | 4:eabb7a738ff8 | 446 | if (syokika_flag==true) { |
| kenken0721 | 4:eabb7a738ff8 | 447 | if(encoder_count == 170) { |
| kenken0721 | 4:eabb7a738ff8 | 448 | motor_pwm=0; |
| kenken0721 | 4:eabb7a738ff8 | 449 | motor_dir1=1; |
| kenken0721 | 4:eabb7a738ff8 | 450 | motor_dir2=1; |
| kenken0721 | 4:eabb7a738ff8 | 451 | servo1.move(hiji_uke_degree); |
| kenken0721 | 4:eabb7a738ff8 | 452 | servo1.move(hiji_uke_degree); |
| kenken0721 | 4:eabb7a738ff8 | 453 | set_flag = true; //投てき後，falseにする. |
| kenken0721 | 4:eabb7a738ff8 | 454 | } |
| kenken0721 | 4:eabb7a738ff8 | 455 | } |
| kenken0721 | 4:eabb7a738ff8 | 456 | } |
| kenken0721 | 4:eabb7a738ff8 | 457 | } |
| kenken0721 | 4:eabb7a738ff8 | 458 | |
| kenken0721 | 6:ff7fd6556a81 | 459 | void touteki(float armpower ,int pos, bool throwing_mode){ |
| kenken0721 | 4:eabb7a738ff8 | 460 | if(set_flag == true){ |
| kenken0721 | 4:eabb7a738ff8 | 461 | timer.start(); |
| kenken0721 | 4:eabb7a738ff8 | 462 | } |
| kenken0721 | 4:eabb7a738ff8 | 463 | int times = timer.read(); |
| kenken0721 | 4:eabb7a738ff8 | 464 | if(times >= 1.0 && times < 2.0){ |
| kenken0721 | 4:eabb7a738ff8 | 465 | servo_hand.move(hand_uke_degree); |
| kenken0721 | 6:ff7fd6556a81 | 466 | } |
| kenken0721 | 4:eabb7a738ff8 | 467 | if(times >= 2.0 && times < 3.0){ |
| kenken0721 | 4:eabb7a738ff8 | 468 | servo1.move(hiji_nage_degree); |
| kenken0721 | 4:eabb7a738ff8 | 469 | } |
| kenken0721 | 4:eabb7a738ff8 | 470 | if(times >= 3.0 && times < 5.0){ |
| kenken0721 | 4:eabb7a738ff8 | 471 | lamp = 0.0; |
| kenken0721 | 4:eabb7a738ff8 | 472 | while(Enc_Arm.read_rotate() < pos) { |
| kenken0721 | 4:eabb7a738ff8 | 473 | motor_dir1 = 0; |
| kenken0721 | 4:eabb7a738ff8 | 474 | motor_dir2 = 1; |
| kenken0721 | 4:eabb7a738ff8 | 475 | motor_pwm = 0.15; |
| kenken0721 | 4:eabb7a738ff8 | 476 | } |
| kenken0721 | 4:eabb7a738ff8 | 477 | } |
| kenken0721 | 4:eabb7a738ff8 | 478 | motor_dir1=1; |
| kenken0721 | 4:eabb7a738ff8 | 479 | motor_dir2=1; |
| kenken0721 | 4:eabb7a738ff8 | 480 | motor_pwm=0; |
| kenken0721 | 4:eabb7a738ff8 | 481 | //----投てき------------------------- |
| kenken0721 | 6:ff7fd6556a81 | 482 | if(throwing_mode == 0.0){ |
| kenken0721 | 5:c5a2a5cf600d | 483 | if(times >= 5.0 && times < 6.0){ |
| kenken0721 | 5:c5a2a5cf600d | 484 | motor_dir1 = 0; |
| kenken0721 | 5:c5a2a5cf600d | 485 | motor_dir2 = 1; |
| kenken0721 | 5:c5a2a5cf600d | 486 | motor_pwm = armpower; |
| kenken0721 | 5:c5a2a5cf600d | 487 | } |
| kenken0721 | 6:ff7fd6556a81 | 488 | }else if(throwing_mode == 1.0){ |
| kenken0721 | 5:c5a2a5cf600d | 489 | if(times >= 5.0 && times < 5.5){ |
| kenken0721 | 6:ff7fd6556a81 | 490 | throwing_relay = 1.0; |
| kenken0721 | 5:c5a2a5cf600d | 491 | }else{ |
| kenken0721 | 6:ff7fd6556a81 | 492 | throwing_relay = 0.0; |
| kenken0721 | 5:c5a2a5cf600d | 493 | } |
| kenken0721 | 4:eabb7a738ff8 | 494 | } |
| kenken0721 | 4:eabb7a738ff8 | 495 | if(times >= 6.0 && times <7.0){ |
| kenken0721 | 4:eabb7a738ff8 | 496 | motor_pwm = 0.0; |
| kenken0721 | 4:eabb7a738ff8 | 497 | motor_dir1 = 0; |
| kenken0721 | 4:eabb7a738ff8 | 498 | motor_dir2 = 0; |
| kenken0721 | 4:eabb7a738ff8 | 499 | buzzer = 0; |
| kenken0721 | 4:eabb7a738ff8 | 500 | lamp = 1.0; |
| kenken0721 | 4:eabb7a738ff8 | 501 | set_flag = false; |
| kenken0721 | 4:eabb7a738ff8 | 502 | timer.reset(); |
| kenken0721 | 4:eabb7a738ff8 | 503 | timer.stop(); |
| kenken0721 | 4:eabb7a738ff8 | 504 | } |
| kenken0721 | 4:eabb7a738ff8 | 505 | } |
| kenken0721 | 4:eabb7a738ff8 | 506 | |
| kenken0721 | 2:c5996dd62e9c | 507 | void LineCheck(int dmode){ |
| kenken0721 | 2:c5996dd62e9c | 508 | if(dmode == STRAIGHT){ |
| kenken0721 | 2:c5996dd62e9c | 509 | if(linedata_1[1] == 1){ |
| kenken0721 | 2:c5996dd62e9c | 510 | ontheline = true; |
| kenken0721 | 2:c5996dd62e9c | 511 | tar_y_dist = y_dist; |
| kenken0721 | 2:c5996dd62e9c | 512 | } |
| kenken0721 | 2:c5996dd62e9c | 513 | if(ontheline == true){ |
| kenken0721 | 3:aaa2fde4fafd | 514 | if((y_dist - tar_y_dist) >= Y_STOP_DIST){ |
| kenken0721 | 2:c5996dd62e9c | 515 | ontheline = false; |
| kenken0721 | 2:c5996dd62e9c | 516 | crosscount++; |
| kenken0721 | 2:c5996dd62e9c | 517 | } |
| kenken0721 | 2:c5996dd62e9c | 518 | } |
| kenken0721 | 2:c5996dd62e9c | 519 | }else if(dmode == RIGHT){ |
| kenken0721 | 3:aaa2fde4fafd | 520 | if(linedata_2[1] == 1){ |
| kenken0721 | 3:aaa2fde4fafd | 521 | ontheline = true; |
| kenken0721 | 3:aaa2fde4fafd | 522 | tar_x_dist = x_dist; |
| kenken0721 | 3:aaa2fde4fafd | 523 | } |
| kenken0721 | 2:c5996dd62e9c | 524 | if(ontheline == true){ |
| kenken0721 | 3:aaa2fde4fafd | 525 | if((x_dist - tar_x_dist) >= X_STOP_DIST){ |
| kenken0721 | 2:c5996dd62e9c | 526 | ontheline = false; |
| kenken0721 | 2:c5996dd62e9c | 527 | crosscount++; |
| kenken0721 | 2:c5996dd62e9c | 528 | } |
| kenken0721 | 2:c5996dd62e9c | 529 | } |
| kenken0721 | 2:c5996dd62e9c | 530 | }else if(dmode == LEFT){ |
| kenken0721 | 3:aaa2fde4fafd | 531 | if(linedata_3[1] == 1){ |
| kenken0721 | 3:aaa2fde4fafd | 532 | ontheline = true; |
| kenken0721 | 3:aaa2fde4fafd | 533 | tar_x_dist = x_dist; |
| kenken0721 | 3:aaa2fde4fafd | 534 | } |
| kenken0721 | 2:c5996dd62e9c | 535 | if(ontheline == true){ |
| kenken0721 | 3:aaa2fde4fafd | 536 | if((tar_x_dist - x_dist) >= X_STOP_DIST){ |
| kenken0721 | 2:c5996dd62e9c | 537 | ontheline = false; |
| kenken0721 | 2:c5996dd62e9c | 538 | crosscount++; |
| kenken0721 | 2:c5996dd62e9c | 539 | } |
| kenken0721 | 2:c5996dd62e9c | 540 | } |
| kenken0721 | 2:c5996dd62e9c | 541 | } |
| kenken0721 | 2:c5996dd62e9c | 542 | } |
| kenken0721 | 0:f6828b914b1c | 543 | |
| kenken0721 | 2:c5996dd62e9c | 544 | void linecheck(char *buff, int data[2]){ |
| kenken0721 | 0:f6828b914b1c | 545 | if(buff[0] == 24){ |
| kenken0721 | 2:c5996dd62e9c | 546 | data[0] = 0; |
| kenken0721 | 2:c5996dd62e9c | 547 | data[1] = 0; |
| kenken0721 | 0:f6828b914b1c | 548 | }else if(buff[0] == 56){ |
| kenken0721 | 2:c5996dd62e9c | 549 | data[0] = 1; |
| kenken0721 | 2:c5996dd62e9c | 550 | data[1] = 0; |
| kenken0721 | 0:f6828b914b1c | 551 | }else if(buff[0] == 48){ |
| kenken0721 | 2:c5996dd62e9c | 552 | data[0] = 2; |
| kenken0721 | 2:c5996dd62e9c | 553 | data[1] = 0; |
| kenken0721 | 0:f6828b914b1c | 554 | }else if(buff[0] == 112){ |
| kenken0721 | 2:c5996dd62e9c | 555 | data[0] = 3; |
| kenken0721 | 2:c5996dd62e9c | 556 | data[1] = 0; |
| kenken0721 | 0:f6828b914b1c | 557 | }else if(buff[0] == 96){ |
| kenken0721 | 2:c5996dd62e9c | 558 | data[0] = 4; |
| kenken0721 | 2:c5996dd62e9c | 559 | data[1] = 0; |
| kenken0721 | 0:f6828b914b1c | 560 | }else if(buff[0] == 224){ |
| kenken0721 | 2:c5996dd62e9c | 561 | data[0] = 5; |
| kenken0721 | 2:c5996dd62e9c | 562 | data[1] = 0; |
| kenken0721 | 0:f6828b914b1c | 563 | }else if(buff[0] == 192){ |
| kenken0721 | 2:c5996dd62e9c | 564 | data[0] = 6; |
| kenken0721 | 2:c5996dd62e9c | 565 | data[1] = 0; |
| kenken0721 | 0:f6828b914b1c | 566 | }else if(buff[0] == 128){ |
| kenken0721 | 2:c5996dd62e9c | 567 | data[0] = 7; |
| kenken0721 | 2:c5996dd62e9c | 568 | data[1] = 0; |
| kenken0721 | 0:f6828b914b1c | 569 | }else if(buff[0] == 28){ |
| kenken0721 | 2:c5996dd62e9c | 570 | data[0] = -1; |
| kenken0721 | 2:c5996dd62e9c | 571 | data[1] = 0; |
| kenken0721 | 0:f6828b914b1c | 572 | }else if(buff[0] == 12){ |
| kenken0721 | 2:c5996dd62e9c | 573 | data[0] = -2; |
| kenken0721 | 2:c5996dd62e9c | 574 | data[1] = 0; |
| kenken0721 | 0:f6828b914b1c | 575 | }else if(buff[0] == 14){ |
| kenken0721 | 2:c5996dd62e9c | 576 | data[0] = -3; |
| kenken0721 | 2:c5996dd62e9c | 577 | data[1] = 0; |
| kenken0721 | 0:f6828b914b1c | 578 | }else if(buff[0] == 6){ |
| kenken0721 | 2:c5996dd62e9c | 579 | data[0] = -4; |
| kenken0721 | 2:c5996dd62e9c | 580 | data[1] = 0; |
| kenken0721 | 0:f6828b914b1c | 581 | }else if(buff[0] == 7){ |
| kenken0721 | 2:c5996dd62e9c | 582 | data[0] = -5; |
| kenken0721 | 2:c5996dd62e9c | 583 | data[1] = 0; |
| kenken0721 | 0:f6828b914b1c | 584 | }else if(buff[0] == 3){ |
| kenken0721 | 2:c5996dd62e9c | 585 | data[0] = -6; |
| kenken0721 | 2:c5996dd62e9c | 586 | data[1] = 0; |
| kenken0721 | 0:f6828b914b1c | 587 | }else if(buff[0] == 1){ |
| kenken0721 | 2:c5996dd62e9c | 588 | data[0] = -7; |
| kenken0721 | 2:c5996dd62e9c | 589 | data[1] = 0; |
| kenken0721 | 2:c5996dd62e9c | 590 | }else if(buff[0] == 255){ |
| kenken0721 | 2:c5996dd62e9c | 591 | data[0] = prelinedata; |
| kenken0721 | 2:c5996dd62e9c | 592 | data[1] = 1; |
| kenken0721 | 2:c5996dd62e9c | 593 | }else if(buff[0] == 0){ |
| kenken0721 | 2:c5996dd62e9c | 594 | data[0] = prelinedata; |
| kenken0721 | 2:c5996dd62e9c | 595 | data[1] = 0; |
| kenken0721 | 0:f6828b914b1c | 596 | }else{ |
| kenken0721 | 2:c5996dd62e9c | 597 | data[0] = prelinedata; |
| kenken0721 | 2:c5996dd62e9c | 598 | data[1] = 0; |
| kenken0721 | 0:f6828b914b1c | 599 | } |
| kenken0721 | 2:c5996dd62e9c | 600 | prelinedata = data[0]; |
| kenken0721 | 3:aaa2fde4fafd | 601 | } |