ケンタ ミヤザキ
Dependencies: PID Serialservo TCS3200 XQ_servo encoder encoder2 mbed moter
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nhk_2018_undercarry_test10
by 
ケンタ ミヤザキ
main.cpp@11:2c61a18f10c3, 2018-04-15 (annotated)
- Committer:
- kenken0721
- Date:
- Sun Apr 15 01:33:59 2018 +0000
- Revision:
- 11:2c61a18f10c3
- Parent:
- 10:01aa50804d85
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 | 11:2c61a18f10c3 | 66 | //void touteki(float armpower, int pos, bool thro_mode); |
| kenken0721 | 11:2c61a18f10c3 | 67 | void touteki_1(float armpower, int pos, bool thro_mode); |
| kenken0721 | 11:2c61a18f10c3 | 68 | void touteki_2(float armpower, int pos); |
| kenken0721 | 9:0c1fce6d8094 | 69 | void yellow_throwing(void); |
| kenken0721 | 9:0c1fce6d8094 | 70 | void Linecount2(void); |
| kenken0721 | 6:ff7fd6556a81 | 71 | |
| kenken0721 | 9:0c1fce6d8094 | 72 | bool set_pos_flag_2 = false; |
| kenken0721 | 8:91a72648f312 | 73 | bool set_pos_flag = false; |
| kenken0721 | 8:91a72648f312 | 74 | bool redthrowing = false; |
| kenken0721 | 7:f1a924244b76 | 75 | bool yellow_throw_flag = false; |
| kenken0721 | 7:f1a924244b76 | 76 | bool taiki_flag = false; |
| kenken0721 | 2:c5996dd62e9c | 77 | int crosscount = 0; |
| kenken0721 | 0:f6828b914b1c | 78 | bool mode = true;//trueでラジコン、falseでオート |
| kenken0721 | 0:f6828b914b1c | 79 | bool stopflag = true;//trueで機体停止 |
| kenken0721 | 0:f6828b914b1c | 80 | double power = POWER; |
| kenken0721 | 0:f6828b914b1c | 81 | int kbtread = 0; |
| kenken0721 | 0:f6828b914b1c | 82 | int count = 0; |
| kenken0721 | 0:f6828b914b1c | 83 | int counter = 0; |
| kenken0721 | 2:c5996dd62e9c | 84 | int linedata_1[2] = {0}; |
| kenken0721 | 2:c5996dd62e9c | 85 | int linedata_2[2] = {0}; |
| kenken0721 | 2:c5996dd62e9c | 86 | int linedata_3[2] = {0}; |
| kenken0721 | 0:f6828b914b1c | 87 | int prelinedata = 0; |
| kenken0721 | 0:f6828b914b1c | 88 | double output = 0.0; |
| kenken0721 | 1:f4dbd6b9cc27 | 89 | char buff1[2]; |
| kenken0721 | 1:f4dbd6b9cc27 | 90 | char buff2[2]; |
| kenken0721 | 1:f4dbd6b9cc27 | 91 | char buff3[2]; |
| kenken0721 | 1:f4dbd6b9cc27 | 92 | float x_dist = 0.0; |
| kenken0721 | 1:f4dbd6b9cc27 | 93 | float y_dist = 0.0; |
| kenken0721 | 2:c5996dd62e9c | 94 | float tar_x_dist = 0.0; |
| kenken0721 | 7:f1a924244b76 | 95 | float tar_x_dist_2 = 0.0; |
| kenken0721 | 9:0c1fce6d8094 | 96 | float tar_x_dist_3 = 0.0; |
| kenken0721 | 2:c5996dd62e9c | 97 | float tar_y_dist = 0.0; |
| kenken0721 | 2:c5996dd62e9c | 98 | bool ontheline = false; |
| kenken0721 | 2:c5996dd62e9c | 99 | int directmode = STRAIGHT; |
| kenken0721 | 3:aaa2fde4fafd | 100 | int state = START; |
| kenken0721 | 3:aaa2fde4fafd | 101 | int times = 0; |
| kenken0721 | 4:eabb7a738ff8 | 102 | int redcount = 0; |
| kenken0721 | 4:eabb7a738ff8 | 103 | int bluecount = 0; |
| kenken0721 | 4:eabb7a738ff8 | 104 | int yellowcount = 0; |
| kenken0721 | 4:eabb7a738ff8 | 105 | bool syokika_flag=false; |
| kenken0721 | 4:eabb7a738ff8 | 106 | bool set_flag = false; |
| kenken0721 | 4:eabb7a738ff8 | 107 | int encoder_count = 1000; |
| kenken0721 | 7:f1a924244b76 | 108 | int linecountcheck = false; |
| kenken0721 | 4:eabb7a738ff8 | 109 | |
| kenken0721 | 3:aaa2fde4fafd | 110 | int main() { |
| kenken0721 | 3:aaa2fde4fafd | 111 | timer.reset(); |
| kenken0721 | 3:aaa2fde4fafd | 112 | timer.stop(); |
| kenken0721 | 6:ff7fd6556a81 | 113 | throwing_relay=0; |
| kenken0721 | 4:eabb7a738ff8 | 114 | lamp=1; |
| kenken0721 | 9:0c1fce6d8094 | 115 | air=0.0; |
| kenken0721 | 4:eabb7a738ff8 | 116 | buzzer = 0.0; |
| kenken0721 | 4:eabb7a738ff8 | 117 | micro_switch.mode(PullUp); |
| kenken0721 | 4:eabb7a738ff8 | 118 | motor_pwm=0; |
| kenken0721 | 6:ff7fd6556a81 | 119 | motor_dir1=1; |
| kenken0721 | 4:eabb7a738ff8 | 120 | motor_dir2=1; |
| kenken0721 | 6:ff7fd6556a81 | 121 | servo1.init(0);//アーム |
| kenken0721 | 6:ff7fd6556a81 | 122 | servo2.init(1);//回転軸 |
| kenken0721 | 1:f4dbd6b9cc27 | 123 | S_pid.init(); |
| kenken0721 | 3:aaa2fde4fafd | 124 | R_pid.init(); |
| kenken0721 | 3:aaa2fde4fafd | 125 | L_pid.init(); |
| kenken0721 | 1:f4dbd6b9cc27 | 126 | pwm_pins[0].period(0.00005); |
| kenken0721 | 1:f4dbd6b9cc27 | 127 | pwm_pins[1].period(0.00005); |
| kenken0721 | 1:f4dbd6b9cc27 | 128 | pwm_pins[2].period(0.00005); |
| kenken0721 | 1:f4dbd6b9cc27 | 129 | pwm_pins[3].period(0.00005); |
| kenken0721 | 4:eabb7a738ff8 | 130 | motor_pwm.period(0.00005); |
| kenken0721 | 6:ff7fd6556a81 | 131 | //------通信スピード---------------------------------------------- |
| kenken0721 | 3:aaa2fde4fafd | 132 | pc.baud(115200); |
| kenken0721 | 2:c5996dd62e9c | 133 | kbtpc.baud(9600); |
| kenken0721 | 2:c5996dd62e9c | 134 | master.frequency(100000); |
| kenken0721 | 6:ff7fd6556a81 | 135 | lamp = 1.0; |
| kenken0721 | 6:ff7fd6556a81 | 136 | //-------初期化------------------------------------------------- |
| kenken0721 | 10:01aa50804d85 | 137 | syokikanomai();//初期位置 |
| kenken0721 | 4:eabb7a738ff8 | 138 | buzzer = 0; |
| kenken0721 | 6:ff7fd6556a81 | 139 | //-----------メインループ---------------------------------------- |
| kenken0721 | 1:f4dbd6b9cc27 | 140 | while (true) { |
| kenken0721 | 7:f1a924244b76 | 141 | if(directmode == STRAIGHT){ |
| kenken0721 | 7:f1a924244b76 | 142 | master.read(addr1,buff1,2); |
| kenken0721 | 7:f1a924244b76 | 143 | linecheck(buff1,linedata_1); |
| kenken0721 | 7:f1a924244b76 | 144 | }else if(directmode == RIGHT){ |
| kenken0721 | 7:f1a924244b76 | 145 | master.read(addr2,buff2,2); |
| kenken0721 | 7:f1a924244b76 | 146 | linecheck(buff2,linedata_2); |
| kenken0721 | 7:f1a924244b76 | 147 | }else if(directmode == LEFT){ |
| kenken0721 | 7:f1a924244b76 | 148 | master.read(addr3,buff3,2); |
| kenken0721 | 7:f1a924244b76 | 149 | linecheck(buff3,linedata_3); |
| kenken0721 | 7:f1a924244b76 | 150 | } |
| kenken0721 | 7:f1a924244b76 | 151 | |
| kenken0721 | 2:c5996dd62e9c | 152 | x_dist = Enc_Carry_X.read_rotate(); |
| kenken0721 | 2:c5996dd62e9c | 153 | y_dist = Enc_Carry_Y.read_rotate(); |
| kenken0721 | 10:01aa50804d85 | 154 | |
| kenken0721 | 10:01aa50804d85 | 155 | //PCからの命令 |
| kenken0721 | 3:aaa2fde4fafd | 156 | kbtpc.putc(state); |
| kenken0721 | 1:f4dbd6b9cc27 | 157 | if(kbtpc.readable()){ |
| kenken0721 | 1:f4dbd6b9cc27 | 158 | kbtread = kbtpc.getc(); |
| kenken0721 | 1:f4dbd6b9cc27 | 159 | } |
| kenken0721 | 1:f4dbd6b9cc27 | 160 | if(kbtread == 255){ |
| kenken0721 | 10:01aa50804d85 | 161 | mode = true;// |
| kenken0721 | 1:f4dbd6b9cc27 | 162 | }else if(kbtread == 150){ |
| kenken0721 | 1:f4dbd6b9cc27 | 163 | mode = false; |
| kenken0721 | 1:f4dbd6b9cc27 | 164 | }else if(kbtread == 100){ |
| kenken0721 | 1:f4dbd6b9cc27 | 165 | stopflag = true; |
| kenken0721 | 1:f4dbd6b9cc27 | 166 | }else if(kbtread == 200){ |
| kenken0721 | 1:f4dbd6b9cc27 | 167 | stopflag = false; |
| kenken0721 | 2:c5996dd62e9c | 168 | }else if(kbtread == STRAIGHT){ |
| kenken0721 | 2:c5996dd62e9c | 169 | directmode = STRAIGHT; |
| kenken0721 | 2:c5996dd62e9c | 170 | }else if(kbtread == RIGHT){ |
| kenken0721 | 2:c5996dd62e9c | 171 | directmode = RIGHT; |
| kenken0721 | 2:c5996dd62e9c | 172 | }else if(kbtread == LEFT){ |
| kenken0721 | 2:c5996dd62e9c | 173 | directmode = LEFT; |
| kenken0721 | 3:aaa2fde4fafd | 174 | }else if(kbtread == START){ |
| kenken0721 | 3:aaa2fde4fafd | 175 | state = START; |
| kenken0721 | 8:91a72648f312 | 176 | }else if(kbtread == STAND_BY_1){ |
| kenken0721 | 8:91a72648f312 | 177 | state = STAND_BY_1; |
| kenken0721 | 8:91a72648f312 | 178 | }else if(kbtread == YELLOW_RECEIVE){ |
| kenken0721 | 8:91a72648f312 | 179 | state = YELLOW_RECEIVE; |
| kenken0721 | 8:91a72648f312 | 180 | crosscount = 5; |
| kenken0721 | 9:0c1fce6d8094 | 181 | air = 1.0; |
| kenken0721 | 9:0c1fce6d8094 | 182 | }else if(kbtread == STAND_BY_2){ |
| kenken0721 | 9:0c1fce6d8094 | 183 | state = STAND_BY_2; |
| kenken0721 | 9:0c1fce6d8094 | 184 | crosscount = 0;; |
| kenken0721 | 1:f4dbd6b9cc27 | 185 | } |
| kenken0721 | 8:91a72648f312 | 186 | |
| kenken0721 | 1:f4dbd6b9cc27 | 187 | //--------------手動-------------------------------------- |
| kenken0721 | 1:f4dbd6b9cc27 | 188 | if(mode == true){ |
| kenken0721 | 1:f4dbd6b9cc27 | 189 | led2 = 1.0; |
| kenken0721 | 2:c5996dd62e9c | 190 | if(kbtread == STRAIGHT){ |
| kenken0721 | 1:f4dbd6b9cc27 | 191 | Straight(power, power, pwm_pins, dir_pins_1, dir_pins_2); |
| kenken0721 | 2:c5996dd62e9c | 192 | }else if(kbtread == BACK){ |
| kenken0721 | 1:f4dbd6b9cc27 | 193 | Back(power, power, pwm_pins, dir_pins_1, dir_pins_2); |
| kenken0721 | 2:c5996dd62e9c | 194 | }else if(kbtread == RIGHT){ |
| kenken0721 | 1:f4dbd6b9cc27 | 195 | Right(power, power, pwm_pins, dir_pins_1, dir_pins_2); |
| kenken0721 | 2:c5996dd62e9c | 196 | }else if(kbtread == LEFT){ |
| kenken0721 | 1:f4dbd6b9cc27 | 197 | Left(power, power, pwm_pins, dir_pins_1, dir_pins_2); |
| kenken0721 | 1:f4dbd6b9cc27 | 198 | }else{ |
| kenken0721 | 1:f4dbd6b9cc27 | 199 | Stop(pwm_pins, dir_pins_1, dir_pins_2); |
| kenken0721 | 1:f4dbd6b9cc27 | 200 | } |
| kenken0721 | 1:f4dbd6b9cc27 | 201 | //--------------自動--------------------------------- |
| kenken0721 | 1:f4dbd6b9cc27 | 202 | }else if(mode == false){ |
| kenken0721 | 1:f4dbd6b9cc27 | 203 | led2 = 0.0; |
| kenken0721 | 1:f4dbd6b9cc27 | 204 | if(stopflag == true){ |
| kenken0721 | 1:f4dbd6b9cc27 | 205 | Stop(pwm_pins, dir_pins_1, dir_pins_2); |
| kenken0721 | 1:f4dbd6b9cc27 | 206 | }else{ |
| kenken0721 | 2:c5996dd62e9c | 207 | LineCheck(directmode); |
| kenken0721 | 3:aaa2fde4fafd | 208 | switch(state){ |
| kenken0721 | 4:eabb7a738ff8 | 209 | //------------------初期位置から待機位置1------------------------------------------ |
| kenken0721 | 3:aaa2fde4fafd | 210 | case START: |
| kenken0721 | 3:aaa2fde4fafd | 211 | if(crosscount == 0){ |
| kenken0721 | 9:0c1fce6d8094 | 212 | directmode = LEFT; |
| kenken0721 | 9:0c1fce6d8094 | 213 | Linecount2(); |
| kenken0721 | 9:0c1fce6d8094 | 214 | }else if(crosscount == 1){ |
| kenken0721 | 3:aaa2fde4fafd | 215 | directmode = STRAIGHT; |
| kenken0721 | 9:0c1fce6d8094 | 216 | }else if(crosscount == 2){ |
| kenken0721 | 6:ff7fd6556a81 | 217 | if(directmode == STRAIGHT){ |
| kenken0721 | 6:ff7fd6556a81 | 218 | directmode = LEFT; |
| kenken0721 | 6:ff7fd6556a81 | 219 | prelinedata = 0; |
| kenken0721 | 6:ff7fd6556a81 | 220 | }else if(directmode == LEFT){ |
| kenken0721 | 6:ff7fd6556a81 | 221 | directmode = LEFT; |
| kenken0721 | 7:f1a924244b76 | 222 | Linecount(); |
| kenken0721 | 6:ff7fd6556a81 | 223 | } |
| kenken0721 | 9:0c1fce6d8094 | 224 | }else if(crosscount == 3){ |
| kenken0721 | 3:aaa2fde4fafd | 225 | directmode = STOP; |
| kenken0721 | 3:aaa2fde4fafd | 226 | state = STAND_BY_1; |
| kenken0721 | 3:aaa2fde4fafd | 227 | crosscount = 0; |
| kenken0721 | 3:aaa2fde4fafd | 228 | prelinedata = 0; |
| kenken0721 | 3:aaa2fde4fafd | 229 | } |
| kenken0721 | 3:aaa2fde4fafd | 230 | break; |
| kenken0721 | 4:eabb7a738ff8 | 231 | //------------------待機位置1---------------------------------------------------- |
| kenken0721 | 3:aaa2fde4fafd | 232 | case STAND_BY_1: |
| kenken0721 | 3:aaa2fde4fafd | 233 | crosscount = 0; |
| kenken0721 | 3:aaa2fde4fafd | 234 | directmode = STOP; |
| kenken0721 | 9:0c1fce6d8094 | 235 | |
| kenken0721 | 4:eabb7a738ff8 | 236 | if(distance == 1.0){ |
| kenken0721 | 8:91a72648f312 | 237 | if(redthrowing == false){ |
| kenken0721 | 8:91a72648f312 | 238 | if(redIn == 1.0){ |
| kenken0721 | 8:91a72648f312 | 239 | buzzer = 1.0; |
| kenken0721 | 8:91a72648f312 | 240 | redcount++; |
| kenken0721 | 8:91a72648f312 | 241 | }else { |
| kenken0721 | 8:91a72648f312 | 242 | buzzer = 0.0; |
| kenken0721 | 8:91a72648f312 | 243 | } |
| kenken0721 | 8:91a72648f312 | 244 | }else if(redthrowing == true){ |
| kenken0721 | 8:91a72648f312 | 245 | if(redIn == 1.0){ |
| kenken0721 | 8:91a72648f312 | 246 | buzzer = 1.0; |
| kenken0721 | 8:91a72648f312 | 247 | bluecount++; |
| kenken0721 | 8:91a72648f312 | 248 | }else { |
| kenken0721 | 8:91a72648f312 | 249 | buzzer = 0.0; |
| kenken0721 | 8:91a72648f312 | 250 | } |
| kenken0721 | 4:eabb7a738ff8 | 251 | } |
| kenken0721 | 9:0c1fce6d8094 | 252 | if(redcount >= 200 ){ |
| kenken0721 | 8:91a72648f312 | 253 | buzzer = 0; |
| kenken0721 | 4:eabb7a738ff8 | 254 | servo_hand.move(hand_tsukami_degree); |
| kenken0721 | 4:eabb7a738ff8 | 255 | servo1.move(hiji_tsukami_degree); |
| kenken0721 | 6:ff7fd6556a81 | 256 | servo1.move(hiji_tsukami_degree); |
| kenken0721 | 9:0c1fce6d8094 | 257 | }else if(bluecount >= 200){ |
| kenken0721 | 4:eabb7a738ff8 | 258 | servo_hand.move(hand_tsukami_degree); |
| kenken0721 | 4:eabb7a738ff8 | 259 | servo1.move(hiji_tsukami_degree); |
| kenken0721 | 6:ff7fd6556a81 | 260 | servo1.move(hiji_tsukami_degree); |
| kenken0721 | 9:0c1fce6d8094 | 261 | } |
| kenken0721 | 9:0c1fce6d8094 | 262 | } |
| kenken0721 | 9:0c1fce6d8094 | 263 | if(distance == 0.0 && redcount >= 200){ |
| kenken0721 | 9:0c1fce6d8094 | 264 | led2 = 1.0; |
| kenken0721 | 8:91a72648f312 | 265 | servo2.move(koshi_red_nage_degree); |
| kenken0721 | 8:91a72648f312 | 266 | servo2.move(koshi_red_nage_degree); |
| kenken0721 | 3:aaa2fde4fafd | 267 | state = RED_RECEIVE; |
| kenken0721 | 4:eabb7a738ff8 | 268 | directmode = STOP; |
| kenken0721 | 4:eabb7a738ff8 | 269 | redcount = 0; |
| kenken0721 | 4:eabb7a738ff8 | 270 | crosscount = 0; |
| kenken0721 | 9:0c1fce6d8094 | 271 | }else if(distance == 0.0 && bluecount >= 200){ |
| kenken0721 | 8:91a72648f312 | 272 | servo2.move(koshi_blue_nage_degree); |
| kenken0721 | 8:91a72648f312 | 273 | servo2.move(koshi_blue_nage_degree); |
| kenken0721 | 4:eabb7a738ff8 | 274 | state = BLUE_RECEIVE_1; |
| kenken0721 | 4:eabb7a738ff8 | 275 | directmode = STOP; |
| kenken0721 | 4:eabb7a738ff8 | 276 | bluecount = 0; |
| kenken0721 | 4:eabb7a738ff8 | 277 | crosscount = 0; |
| kenken0721 | 4:eabb7a738ff8 | 278 | } |
| kenken0721 | 3:aaa2fde4fafd | 279 | break; |
| kenken0721 | 4:eabb7a738ff8 | 280 | //------------------待機位置1から投てき位置1---------------------------------------- |
| kenken0721 | 3:aaa2fde4fafd | 281 | case RED_RECEIVE: |
| kenken0721 | 9:0c1fce6d8094 | 282 | led2 = 1.0; |
| kenken0721 | 3:aaa2fde4fafd | 283 | if(crosscount == 0){ |
| kenken0721 | 3:aaa2fde4fafd | 284 | directmode = LEFT; |
| kenken0721 | 4:eabb7a738ff8 | 285 | }else if(crosscount == 1){ |
| kenken0721 | 3:aaa2fde4fafd | 286 | directmode = STOP; |
| kenken0721 | 3:aaa2fde4fafd | 287 | prelinedata = 0; |
| kenken0721 | 11:2c61a18f10c3 | 288 | touteki_1(1.0,RED_TOUTEKI,0); |
| kenken0721 | 7:f1a924244b76 | 289 | //syokikanomai2(); |
| kenken0721 | 4:eabb7a738ff8 | 290 | if(set_flag == false){ |
| kenken0721 | 3:aaa2fde4fafd | 291 | directmode = RIGHT; |
| kenken0721 | 8:91a72648f312 | 292 | Linecount(); |
| kenken0721 | 3:aaa2fde4fafd | 293 | } |
| kenken0721 | 3:aaa2fde4fafd | 294 | }else if(crosscount == 2){ |
| kenken0721 | 3:aaa2fde4fafd | 295 | directmode = STOP; |
| kenken0721 | 4:eabb7a738ff8 | 296 | syokikanomai2(); |
| kenken0721 | 4:eabb7a738ff8 | 297 | if(set_flag == true){ |
| kenken0721 | 4:eabb7a738ff8 | 298 | state = STAND_BY_1; |
| kenken0721 | 7:f1a924244b76 | 299 | //taiki_flag = false; |
| kenken0721 | 4:eabb7a738ff8 | 300 | crosscount = 0; |
| kenken0721 | 8:91a72648f312 | 301 | redthrowing = true; |
| kenken0721 | 4:eabb7a738ff8 | 302 | } |
| kenken0721 | 3:aaa2fde4fafd | 303 | } |
| kenken0721 | 3:aaa2fde4fafd | 304 | break; |
| kenken0721 | 4:eabb7a738ff8 | 305 | //------------------待機位置1から投てき位置2---------------------------------------- |
| kenken0721 | 3:aaa2fde4fafd | 306 | case BLUE_RECEIVE_1: |
| kenken0721 | 3:aaa2fde4fafd | 307 | if(crosscount == 0){ |
| kenken0721 | 3:aaa2fde4fafd | 308 | directmode = RIGHT; |
| kenken0721 | 3:aaa2fde4fafd | 309 | }else if(crosscount == 1){ |
| kenken0721 | 3:aaa2fde4fafd | 310 | directmode = STRAIGHT; |
| kenken0721 | 3:aaa2fde4fafd | 311 | }else if(crosscount == 2){ |
| kenken0721 | 3:aaa2fde4fafd | 312 | directmode = LEFT; |
| kenken0721 | 7:f1a924244b76 | 313 | Linecount(); |
| kenken0721 | 3:aaa2fde4fafd | 314 | }else if(crosscount == 3){ |
| kenken0721 | 3:aaa2fde4fafd | 315 | directmode = STOP; |
| kenken0721 | 3:aaa2fde4fafd | 316 | prelinedata = 0; |
| kenken0721 | 4:eabb7a738ff8 | 317 | state = BLUE_RECEIVE_2; |
| kenken0721 | 3:aaa2fde4fafd | 318 | crosscount = 0; |
| kenken0721 | 3:aaa2fde4fafd | 319 | } |
| kenken0721 | 3:aaa2fde4fafd | 320 | break; |
| kenken0721 | 4:eabb7a738ff8 | 321 | //------------------待機位置2---------------------------------------------------- |
| kenken0721 | 3:aaa2fde4fafd | 322 | case STAND_BY_2: |
| kenken0721 | 3:aaa2fde4fafd | 323 | crosscount = 0; |
| kenken0721 | 4:eabb7a738ff8 | 324 | directmode = STOP; |
| kenken0721 | 4:eabb7a738ff8 | 325 | if(distance == 1.0){ |
| kenken0721 | 9:0c1fce6d8094 | 326 | if(redIn == 1.0 && micro_switch == 1){ |
| kenken0721 | 4:eabb7a738ff8 | 327 | buzzer = 1.0; |
| kenken0721 | 4:eabb7a738ff8 | 328 | bluecount++; |
| kenken0721 | 7:f1a924244b76 | 329 | }else if(micro_switch == 0.0){ |
| kenken0721 | 4:eabb7a738ff8 | 330 | buzzer = 1.0; |
| kenken0721 | 4:eabb7a738ff8 | 331 | yellowcount++; |
| kenken0721 | 4:eabb7a738ff8 | 332 | }else{ |
| kenken0721 | 4:eabb7a738ff8 | 333 | buzzer = 0.0; |
| kenken0721 | 4:eabb7a738ff8 | 334 | } |
| kenken0721 | 9:0c1fce6d8094 | 335 | if(bluecount >= 200){ |
| kenken0721 | 5:c5a2a5cf600d | 336 | servo_hand.move(hand_tsukami_degree); |
| kenken0721 | 5:c5a2a5cf600d | 337 | servo1.move(hiji_tsukami_degree); |
| kenken0721 | 6:ff7fd6556a81 | 338 | servo1.move(hiji_tsukami_degree); |
| kenken0721 | 4:eabb7a738ff8 | 339 | }else if(yellowcount >= 500){ |
| kenken0721 | 9:0c1fce6d8094 | 340 | air = 1.0; |
| kenken0721 | 4:eabb7a738ff8 | 341 | } |
| kenken0721 | 9:0c1fce6d8094 | 342 | }else if(distance == 0.0 && bluecount >= 200){ |
| kenken0721 | 8:91a72648f312 | 343 | servo2.move(koshi_blue_nage_degree); |
| kenken0721 | 8:91a72648f312 | 344 | servo2.move(koshi_blue_nage_degree); |
| kenken0721 | 4:eabb7a738ff8 | 345 | state = BLUE_RECEIVE_2; |
| kenken0721 | 4:eabb7a738ff8 | 346 | directmode = STOP; |
| kenken0721 | 4:eabb7a738ff8 | 347 | bluecount = 0; |
| kenken0721 | 4:eabb7a738ff8 | 348 | crosscount = 0; |
| kenken0721 | 9:0c1fce6d8094 | 349 | buzzer = 0.0; |
| kenken0721 | 9:0c1fce6d8094 | 350 | } |
| kenken0721 | 9:0c1fce6d8094 | 351 | if(yellowcount >= 1000){ |
| kenken0721 | 7:f1a924244b76 | 352 | state = YELLOW_RECEIVE; |
| kenken0721 | 8:91a72648f312 | 353 | buzzer = 0.0; |
| kenken0721 | 7:f1a924244b76 | 354 | directmode = STOP; |
| kenken0721 | 7:f1a924244b76 | 355 | yellowcount = 0; |
| kenken0721 | 7:f1a924244b76 | 356 | crosscount = 0; |
| kenken0721 | 4:eabb7a738ff8 | 357 | } |
| kenken0721 | 3:aaa2fde4fafd | 358 | break; |
| kenken0721 | 4:eabb7a738ff8 | 359 | //------------------投てき位置2--------------------------------------------------- |
| kenken0721 | 3:aaa2fde4fafd | 360 | case BLUE_RECEIVE_2: |
| kenken0721 | 3:aaa2fde4fafd | 361 | if(crosscount == 0){ |
| kenken0721 | 3:aaa2fde4fafd | 362 | directmode = LEFT; |
| kenken0721 | 3:aaa2fde4fafd | 363 | }else if(crosscount == 1){ |
| kenken0721 | 5:c5a2a5cf600d | 364 | directmode = STOP; |
| kenken0721 | 5:c5a2a5cf600d | 365 | prelinedata = 0; |
| kenken0721 | 11:2c61a18f10c3 | 366 | touteki_1(1.0,BLUE_TOUTEKI,1); |
| kenken0721 | 7:f1a924244b76 | 367 | //syokikanomai2(); |
| kenken0721 | 5:c5a2a5cf600d | 368 | if(set_flag == false){ |
| kenken0721 | 5:c5a2a5cf600d | 369 | directmode = RIGHT; |
| kenken0721 | 7:f1a924244b76 | 370 | Linecount(); |
| kenken0721 | 3:aaa2fde4fafd | 371 | } |
| kenken0721 | 3:aaa2fde4fafd | 372 | }else if(crosscount == 2){ |
| kenken0721 | 3:aaa2fde4fafd | 373 | directmode = STOP; |
| kenken0721 | 5:c5a2a5cf600d | 374 | syokikanomai2(); |
| kenken0721 | 5:c5a2a5cf600d | 375 | if(set_flag == true){ |
| kenken0721 | 5:c5a2a5cf600d | 376 | state = STAND_BY_2; |
| kenken0721 | 7:f1a924244b76 | 377 | //taiki_flag = false; |
| kenken0721 | 5:c5a2a5cf600d | 378 | crosscount = 0; |
| kenken0721 | 5:c5a2a5cf600d | 379 | } |
| kenken0721 | 7:f1a924244b76 | 380 | } |
| kenken0721 | 3:aaa2fde4fafd | 381 | break; |
| kenken0721 | 4:eabb7a738ff8 | 382 | //------------------投てき位置3--------------------------------------------------- |
| kenken0721 | 3:aaa2fde4fafd | 383 | case YELLOW_RECEIVE: |
| kenken0721 | 7:f1a924244b76 | 384 | if(crosscount != 5){ |
| kenken0721 | 3:aaa2fde4fafd | 385 | directmode = LEFT; |
| kenken0721 | 9:0c1fce6d8094 | 386 | servo2.move(koshi_uke_degree); |
| kenken0721 | 9:0c1fce6d8094 | 387 | power = POWER + 0.1; |
| kenken0721 | 3:aaa2fde4fafd | 388 | }else{ |
| kenken0721 | 3:aaa2fde4fafd | 389 | directmode = STOP; |
| kenken0721 | 7:f1a924244b76 | 390 | if(yellow_throw_flag == false){ |
| kenken0721 | 7:f1a924244b76 | 391 | yellow_throwing(); |
| kenken0721 | 7:f1a924244b76 | 392 | }else{ |
| kenken0721 | 11:2c61a18f10c3 | 393 | touteki_2(1.0,YELLOW_TOUTEKI); |
| kenken0721 | 7:f1a924244b76 | 394 | syokikanomai2(); |
| kenken0721 | 7:f1a924244b76 | 395 | } |
| kenken0721 | 3:aaa2fde4fafd | 396 | } |
| kenken0721 | 3:aaa2fde4fafd | 397 | break; |
| kenken0721 | 3:aaa2fde4fafd | 398 | default: |
| kenken0721 | 3:aaa2fde4fafd | 399 | break; |
| kenken0721 | 3:aaa2fde4fafd | 400 | } |
| kenken0721 | 4:eabb7a738ff8 | 401 | //--------------進行方向--------------------------------------------------------- |
| kenken0721 | 3:aaa2fde4fafd | 402 | switch(directmode){ |
| kenken0721 | 2:c5996dd62e9c | 403 | case STOP: |
| kenken0721 | 2:c5996dd62e9c | 404 | Stop(pwm_pins, dir_pins_1, dir_pins_2); |
| kenken0721 | 2:c5996dd62e9c | 405 | break; |
| kenken0721 | 2:c5996dd62e9c | 406 | case STRAIGHT: |
| kenken0721 | 2:c5996dd62e9c | 407 | output = S_pid.compute((double)linedata_1[0]); |
| kenken0721 | 2:c5996dd62e9c | 408 | if(output >= 0){ |
| kenken0721 | 7:f1a924244b76 | 409 | Straight(power, power + output, pwm_pins, dir_pins_1, dir_pins_2); |
| kenken0721 | 2:c5996dd62e9c | 410 | }else { |
| kenken0721 | 7:f1a924244b76 | 411 | Straight(power + (-1 * output), power, pwm_pins, dir_pins_1, dir_pins_2); |
| kenken0721 | 2:c5996dd62e9c | 412 | } |
| kenken0721 | 2:c5996dd62e9c | 413 | break; |
| kenken0721 | 2:c5996dd62e9c | 414 | case RIGHT: |
| kenken0721 | 2:c5996dd62e9c | 415 | output = R_pid.compute((double)linedata_2[0]); |
| kenken0721 | 1:f4dbd6b9cc27 | 416 | if(output >= 0){ |
| kenken0721 | 7:f1a924244b76 | 417 | Right(power, power + output, pwm_pins, dir_pins_1, dir_pins_2); |
| kenken0721 | 1:f4dbd6b9cc27 | 418 | }else { |
| kenken0721 | 7:f1a924244b76 | 419 | Right(power + (-1 * output), power, pwm_pins, dir_pins_1, dir_pins_2); |
| kenken0721 | 2:c5996dd62e9c | 420 | } |
| kenken0721 | 2:c5996dd62e9c | 421 | break; |
| kenken0721 | 2:c5996dd62e9c | 422 | case LEFT: |
| kenken0721 | 2:c5996dd62e9c | 423 | output = L_pid.compute((double)linedata_3[0]); |
| kenken0721 | 2:c5996dd62e9c | 424 | if(output >= 0){ |
| kenken0721 | 7:f1a924244b76 | 425 | Left(power, power + output, pwm_pins, dir_pins_1, dir_pins_2); |
| kenken0721 | 2:c5996dd62e9c | 426 | }else { |
| kenken0721 | 7:f1a924244b76 | 427 | Left(power + (-1 * output), power, pwm_pins, dir_pins_1, dir_pins_2); |
| kenken0721 | 2:c5996dd62e9c | 428 | } |
| kenken0721 | 2:c5996dd62e9c | 429 | break; |
| kenken0721 | 2:c5996dd62e9c | 430 | default: |
| kenken0721 | 2:c5996dd62e9c | 431 | break; |
| kenken0721 | 1:f4dbd6b9cc27 | 432 | } |
| kenken0721 | 1:f4dbd6b9cc27 | 433 | } |
| kenken0721 | 1:f4dbd6b9cc27 | 434 | } |
| kenken0721 | 4:eabb7a738ff8 | 435 | pc.printf("xdist = %f \r",x_dist); |
| kenken0721 | 4:eabb7a738ff8 | 436 | pc.printf("ydist = %f \r",y_dist); |
| kenken0721 | 1:f4dbd6b9cc27 | 437 | pc.printf("output = %lf \n" ,output); |
| kenken0721 | 1:f4dbd6b9cc27 | 438 | } |
| kenken0721 | 1:f4dbd6b9cc27 | 439 | } |
| kenken0721 | 1:f4dbd6b9cc27 | 440 | |
| kenken0721 | 7:f1a924244b76 | 441 | //---------------初期化---------------------------------------------------------- |
| kenken0721 | 7:f1a924244b76 | 442 | |
| kenken0721 | 7:f1a924244b76 | 443 | void yellow_throwing(){ |
| kenken0721 | 7:f1a924244b76 | 444 | if(yellow_throw_flag == false){ |
| kenken0721 | 7:f1a924244b76 | 445 | timer.start(); |
| kenken0721 | 7:f1a924244b76 | 446 | } |
| kenken0721 | 7:f1a924244b76 | 447 | int times = timer.read(); |
| kenken0721 | 11:2c61a18f10c3 | 448 | if(times >= 1.0 && times < 2.0){ |
| kenken0721 | 8:91a72648f312 | 449 | servo_hand.move(hand_uke_degree); |
| kenken0721 | 11:2c61a18f10c3 | 450 | }else if(times >= 2.0 && times < 3.0){ |
| kenken0721 | 9:0c1fce6d8094 | 451 | servo1.move(hiji_yellow_uke_degree); |
| kenken0721 | 11:2c61a18f10c3 | 452 | }else if(times >= 3.0 && times < 4.0){ |
| kenken0721 | 7:f1a924244b76 | 453 | servo_hand.move(hand_tsukami_degree); |
| kenken0721 | 11:2c61a18f10c3 | 454 | }else if(times >=4.0 && times <4.5){ |
| kenken0721 | 7:f1a924244b76 | 455 | servo2.move(koshi_nage_degree); |
| kenken0721 | 11:2c61a18f10c3 | 456 | }else if(times >= 4.5){ |
| kenken0721 | 7:f1a924244b76 | 457 | yellow_throw_flag = true; |
| kenken0721 | 7:f1a924244b76 | 458 | timer.stop(); |
| kenken0721 | 7:f1a924244b76 | 459 | timer.reset(); |
| kenken0721 | 7:f1a924244b76 | 460 | } |
| kenken0721 | 7:f1a924244b76 | 461 | } |
| kenken0721 | 7:f1a924244b76 | 462 | |
| kenken0721 | 4:eabb7a738ff8 | 463 | void syokikanomai(void){ |
| kenken0721 | 4:eabb7a738ff8 | 464 | syokika_flag = false; |
| kenken0721 | 4:eabb7a738ff8 | 465 | while (set_flag==false) { |
| kenken0721 | 4:eabb7a738ff8 | 466 | encoder_count= Enc_Arm.read_rotate(); |
| kenken0721 | 4:eabb7a738ff8 | 467 | servo_hand.move(hand_uke_degree); |
| kenken0721 | 4:eabb7a738ff8 | 468 | servo1.move(hiji_nage_degree);//退避 |
| kenken0721 | 4:eabb7a738ff8 | 469 | servo2.move(koshi_uke_degree); |
| kenken0721 | 6:ff7fd6556a81 | 470 | servo1.move(hiji_nage_degree);//退避 |
| kenken0721 | 6:ff7fd6556a81 | 471 | servo2.move(koshi_uke_degree); |
| kenken0721 | 4:eabb7a738ff8 | 472 | motor_dir1=0; |
| kenken0721 | 4:eabb7a738ff8 | 473 | motor_dir2=1; |
| kenken0721 | 8:91a72648f312 | 474 | motor_pwm=0.12; |
| kenken0721 | 7:f1a924244b76 | 475 | if(Enc_Arm.read_z() == 1){ |
| kenken0721 | 4:eabb7a738ff8 | 476 | syokika_flag=true; |
| kenken0721 | 4:eabb7a738ff8 | 477 | buzzer = 1.0; |
| kenken0721 | 4:eabb7a738ff8 | 478 | } |
| kenken0721 | 4:eabb7a738ff8 | 479 | |
| kenken0721 | 4:eabb7a738ff8 | 480 | if (syokika_flag==true) { |
| kenken0721 | 10:01aa50804d85 | 481 | if(encoder_count == SYOKIITI){ |
| kenken0721 | 4:eabb7a738ff8 | 482 | motor_pwm=0; |
| kenken0721 | 4:eabb7a738ff8 | 483 | motor_dir1=1; |
| kenken0721 | 4:eabb7a738ff8 | 484 | motor_dir2=1; |
| kenken0721 | 4:eabb7a738ff8 | 485 | set_flag=true; //投てき後，falseにする. |
| kenken0721 | 4:eabb7a738ff8 | 486 | } |
| kenken0721 | 4:eabb7a738ff8 | 487 | } |
| kenken0721 | 4:eabb7a738ff8 | 488 | } |
| kenken0721 | 4:eabb7a738ff8 | 489 | servo1.move(hiji_uke_degree); |
| kenken0721 | 4:eabb7a738ff8 | 490 | servo1.move(hiji_uke_degree); |
| kenken0721 | 4:eabb7a738ff8 | 491 | } |
| kenken0721 | 4:eabb7a738ff8 | 492 | |
| kenken0721 | 4:eabb7a738ff8 | 493 | void syokikanomai2(void){ |
| kenken0721 | 4:eabb7a738ff8 | 494 | if(set_flag==false) { |
| kenken0721 | 7:f1a924244b76 | 495 | encoder_count= Enc_Arm.read_rotate(); |
| kenken0721 | 8:91a72648f312 | 496 | servo_hand.move(hand_uke_degree); |
| kenken0721 | 8:91a72648f312 | 497 | servo1.move(hiji_nage_degree);//退避 |
| kenken0721 | 8:91a72648f312 | 498 | servo1.move(hiji_nage_degree);//退避 |
| kenken0721 | 8:91a72648f312 | 499 | if(yellow_throw_flag == false){ |
| kenken0721 | 8:91a72648f312 | 500 | servo2.move(koshi_uke_degree); |
| kenken0721 | 8:91a72648f312 | 501 | servo2.move(koshi_uke_degree); |
| kenken0721 | 7:f1a924244b76 | 502 | } |
| kenken0721 | 4:eabb7a738ff8 | 503 | motor_dir1=0; |
| kenken0721 | 4:eabb7a738ff8 | 504 | motor_dir2=1; |
| kenken0721 | 8:91a72648f312 | 505 | motor_pwm=0.12; |
| kenken0721 | 4:eabb7a738ff8 | 506 | if(Enc_Arm.read_z() == 1) { |
| kenken0721 | 4:eabb7a738ff8 | 507 | syokika_flag = true; |
| kenken0721 | 4:eabb7a738ff8 | 508 | buzzer = 1.0; |
| kenken0721 | 4:eabb7a738ff8 | 509 | } |
| kenken0721 | 9:0c1fce6d8094 | 510 | if(syokika_flag==true) { |
| kenken0721 | 8:91a72648f312 | 511 | int set_pos; |
| kenken0721 | 10:01aa50804d85 | 512 | if(yellow_throw_flag == true) set_pos = YELLOW_SYOKIITI; |
| kenken0721 | 10:01aa50804d85 | 513 | else set_pos = SYOKIITI; |
| kenken0721 | 8:91a72648f312 | 514 | if(encoder_count == set_pos){ |
| kenken0721 | 9:0c1fce6d8094 | 515 | buzzer = 0.0; |
| kenken0721 | 4:eabb7a738ff8 | 516 | motor_pwm=0; |
| kenken0721 | 4:eabb7a738ff8 | 517 | motor_dir1=1; |
| kenken0721 | 4:eabb7a738ff8 | 518 | motor_dir2=1; |
| kenken0721 | 8:91a72648f312 | 519 | if(yellow_throw_flag == false){ |
| kenken0721 | 8:91a72648f312 | 520 | servo_hand.move(hand_uke_degree); |
| kenken0721 | 8:91a72648f312 | 521 | servo1.move(hiji_uke_degree); |
| kenken0721 | 8:91a72648f312 | 522 | servo1.move(hiji_uke_degree); |
| kenken0721 | 9:0c1fce6d8094 | 523 | servo1.move(hiji_uke_degree); |
| kenken0721 | 9:0c1fce6d8094 | 524 | servo1.move(hiji_uke_degree); |
| kenken0721 | 8:91a72648f312 | 525 | }else{ |
| kenken0721 | 8:91a72648f312 | 526 | servo_hand.move(hand_tsukami_degree); |
| kenken0721 | 8:91a72648f312 | 527 | servo2.move(koshi_uke_degree); |
| kenken0721 | 8:91a72648f312 | 528 | servo2.move(koshi_uke_degree); |
| kenken0721 | 8:91a72648f312 | 529 | } |
| kenken0721 | 4:eabb7a738ff8 | 530 | set_flag = true; //投てき後，falseにする. |
| kenken0721 | 7:f1a924244b76 | 531 | taiki_flag = true; |
| kenken0721 | 7:f1a924244b76 | 532 | yellow_throw_flag = false; |
| kenken0721 | 4:eabb7a738ff8 | 533 | } |
| kenken0721 | 4:eabb7a738ff8 | 534 | } |
| kenken0721 | 4:eabb7a738ff8 | 535 | } |
| kenken0721 | 4:eabb7a738ff8 | 536 | } |
| kenken0721 | 4:eabb7a738ff8 | 537 | |
| kenken0721 | 11:2c61a18f10c3 | 538 | //赤,青色投てき |
| kenken0721 | 11:2c61a18f10c3 | 539 | void touteki_1(float armpower ,int pos, bool throwing_mode){ |
| kenken0721 | 11:2c61a18f10c3 | 540 | if(set_flag == true){ |
| kenken0721 | 11:2c61a18f10c3 | 541 | timer.start(); |
| kenken0721 | 11:2c61a18f10c3 | 542 | } |
| kenken0721 | 11:2c61a18f10c3 | 543 | int times = timer.read(); |
| kenken0721 | 11:2c61a18f10c3 | 544 | if(times >= 0.5 && times < 1.5){ |
| kenken0721 | 11:2c61a18f10c3 | 545 | servo_hand.move(hand_uke_degree); |
| kenken0721 | 11:2c61a18f10c3 | 546 | } |
| kenken0721 | 11:2c61a18f10c3 | 547 | if(times >= 1.5 && times < 2.5){ |
| kenken0721 | 11:2c61a18f10c3 | 548 | servo1.move(hiji_nage_degree); |
| kenken0721 | 11:2c61a18f10c3 | 549 | servo1.move(hiji_nage_degree); |
| kenken0721 | 11:2c61a18f10c3 | 550 | } |
| kenken0721 | 11:2c61a18f10c3 | 551 | if(times >= 2.5 && times < 5.0){ |
| kenken0721 | 11:2c61a18f10c3 | 552 | lamp = 0.0; |
| kenken0721 | 11:2c61a18f10c3 | 553 | if(set_pos_flag == false){ |
| kenken0721 | 11:2c61a18f10c3 | 554 | if(Enc_Arm.read_rotate() < pos) { |
| kenken0721 | 11:2c61a18f10c3 | 555 | motor_dir1 = 0; |
| kenken0721 | 11:2c61a18f10c3 | 556 | motor_dir2 = 1; |
| kenken0721 | 11:2c61a18f10c3 | 557 | motor_pwm = 0.15; |
| kenken0721 | 11:2c61a18f10c3 | 558 | }else{ |
| kenken0721 | 11:2c61a18f10c3 | 559 | motor_dir1=1; |
| kenken0721 | 11:2c61a18f10c3 | 560 | motor_dir2=1; |
| kenken0721 | 11:2c61a18f10c3 | 561 | motor_pwm=0; |
| kenken0721 | 11:2c61a18f10c3 | 562 | set_pos_flag = true; |
| kenken0721 | 11:2c61a18f10c3 | 563 | } |
| kenken0721 | 11:2c61a18f10c3 | 564 | } |
| kenken0721 | 11:2c61a18f10c3 | 565 | } |
| kenken0721 | 11:2c61a18f10c3 | 566 | if(throwing_mode == 0.0){ |
| kenken0721 | 11:2c61a18f10c3 | 567 | if(times >= 5.0 && times < 6.0){ |
| kenken0721 | 11:2c61a18f10c3 | 568 | motor_dir1 = 0; |
| kenken0721 | 11:2c61a18f10c3 | 569 | motor_dir2 = 1; |
| kenken0721 | 11:2c61a18f10c3 | 570 | motor_pwm = armpower; |
| kenken0721 | 11:2c61a18f10c3 | 571 | } |
| kenken0721 | 11:2c61a18f10c3 | 572 | }else if(throwing_mode == 1.0){ |
| kenken0721 | 11:2c61a18f10c3 | 573 | if(times >= 5.0 && times < 5.1){ |
| kenken0721 | 11:2c61a18f10c3 | 574 | throwing_relay = 1.0; |
| kenken0721 | 11:2c61a18f10c3 | 575 | }else{ |
| kenken0721 | 11:2c61a18f10c3 | 576 | throwing_relay = 0.0; |
| kenken0721 | 11:2c61a18f10c3 | 577 | } |
| kenken0721 | 11:2c61a18f10c3 | 578 | } |
| kenken0721 | 11:2c61a18f10c3 | 579 | if(times >= 6.0 && times <6.5){ |
| kenken0721 | 11:2c61a18f10c3 | 580 | motor_pwm = 0.0; |
| kenken0721 | 11:2c61a18f10c3 | 581 | motor_dir1 = 1; |
| kenken0721 | 11:2c61a18f10c3 | 582 | motor_dir2 = 1; |
| kenken0721 | 11:2c61a18f10c3 | 583 | buzzer = 0; |
| kenken0721 | 11:2c61a18f10c3 | 584 | lamp = 1.0; |
| kenken0721 | 11:2c61a18f10c3 | 585 | syokika_flag = false; |
| kenken0721 | 11:2c61a18f10c3 | 586 | }else if(times >= 6.5){ |
| kenken0721 | 11:2c61a18f10c3 | 587 | set_flag = false; |
| kenken0721 | 11:2c61a18f10c3 | 588 | set_pos_flag = false; |
| kenken0721 | 11:2c61a18f10c3 | 589 | set_pos_flag_2 = false; |
| kenken0721 | 11:2c61a18f10c3 | 590 | timer.reset(); |
| kenken0721 | 11:2c61a18f10c3 | 591 | timer.stop(); |
| kenken0721 | 11:2c61a18f10c3 | 592 | } |
| kenken0721 | 11:2c61a18f10c3 | 593 | } |
| kenken0721 | 11:2c61a18f10c3 | 594 | |
| kenken0721 | 11:2c61a18f10c3 | 595 | //黄色投てき |
| kenken0721 | 11:2c61a18f10c3 | 596 | void touteki_2(float armpower ,int pos){ |
| kenken0721 | 11:2c61a18f10c3 | 597 | if(set_flag == true){ |
| kenken0721 | 11:2c61a18f10c3 | 598 | timer.start(); |
| kenken0721 | 11:2c61a18f10c3 | 599 | } |
| kenken0721 | 11:2c61a18f10c3 | 600 | int times = timer.read(); |
| kenken0721 | 11:2c61a18f10c3 | 601 | if(times >= 0.5 && times < 2.5){ |
| kenken0721 | 11:2c61a18f10c3 | 602 | if(set_pos_flag_2 == false){ |
| kenken0721 | 11:2c61a18f10c3 | 603 | if(Enc_Arm.read_rotate() < pos) { |
| kenken0721 | 11:2c61a18f10c3 | 604 | motor_dir1 = 0; |
| kenken0721 | 11:2c61a18f10c3 | 605 | motor_dir2 = 1; |
| kenken0721 | 11:2c61a18f10c3 | 606 | motor_pwm = 0.15; |
| kenken0721 | 11:2c61a18f10c3 | 607 | }else{ |
| kenken0721 | 11:2c61a18f10c3 | 608 | motor_dir1=1; |
| kenken0721 | 11:2c61a18f10c3 | 609 | motor_dir2=1; |
| kenken0721 | 11:2c61a18f10c3 | 610 | motor_pwm=0; |
| kenken0721 | 11:2c61a18f10c3 | 611 | set_pos_flag_2 = true; |
| kenken0721 | 11:2c61a18f10c3 | 612 | } |
| kenken0721 | 11:2c61a18f10c3 | 613 | } |
| kenken0721 | 11:2c61a18f10c3 | 614 | } |
| kenken0721 | 11:2c61a18f10c3 | 615 | if(times >= 2.5 && times < 3.5){ |
| kenken0721 | 11:2c61a18f10c3 | 616 | servo_hand.move(hand_uke_degree); |
| kenken0721 | 11:2c61a18f10c3 | 617 | } |
| kenken0721 | 11:2c61a18f10c3 | 618 | if(times >= 3.5 && times < 4.5){ |
| kenken0721 | 11:2c61a18f10c3 | 619 | servo1.move(hiji_nage_degree); |
| kenken0721 | 11:2c61a18f10c3 | 620 | servo1.move(hiji_nage_degree); |
| kenken0721 | 11:2c61a18f10c3 | 621 | } |
| kenken0721 | 11:2c61a18f10c3 | 622 | /* |
| kenken0721 | 11:2c61a18f10c3 | 623 | if(times >= 4.5 && times < 6.5){ |
| kenken0721 | 11:2c61a18f10c3 | 624 | lamp = 0.0; |
| kenken0721 | 11:2c61a18f10c3 | 625 | if(set_pos_flag == false){ |
| kenken0721 | 11:2c61a18f10c3 | 626 | if(Enc_Arm.read_rotate() < pos) { |
| kenken0721 | 11:2c61a18f10c3 | 627 | motor_dir1 = 0; |
| kenken0721 | 11:2c61a18f10c3 | 628 | motor_dir2 = 1; |
| kenken0721 | 11:2c61a18f10c3 | 629 | motor_pwm = 0.15; |
| kenken0721 | 11:2c61a18f10c3 | 630 | }else{ |
| kenken0721 | 11:2c61a18f10c3 | 631 | motor_dir1=1; |
| kenken0721 | 11:2c61a18f10c3 | 632 | motor_dir2=1; |
| kenken0721 | 11:2c61a18f10c3 | 633 | motor_pwm=0; |
| kenken0721 | 11:2c61a18f10c3 | 634 | set_pos_flag = true; |
| kenken0721 | 11:2c61a18f10c3 | 635 | } |
| kenken0721 | 11:2c61a18f10c3 | 636 | } |
| kenken0721 | 11:2c61a18f10c3 | 637 | } |
| kenken0721 | 11:2c61a18f10c3 | 638 | */ |
| kenken0721 | 11:2c61a18f10c3 | 639 | if(times >= 4.5 && times < 4.6){ |
| kenken0721 | 11:2c61a18f10c3 | 640 | throwing_relay = 1.0; |
| kenken0721 | 11:2c61a18f10c3 | 641 | }else{ |
| kenken0721 | 11:2c61a18f10c3 | 642 | throwing_relay = 0.0; |
| kenken0721 | 11:2c61a18f10c3 | 643 | } |
| kenken0721 | 11:2c61a18f10c3 | 644 | if(times >= 4.6 && times <5.6){ |
| kenken0721 | 11:2c61a18f10c3 | 645 | motor_pwm = 0.0; |
| kenken0721 | 11:2c61a18f10c3 | 646 | motor_dir1 = 1; |
| kenken0721 | 11:2c61a18f10c3 | 647 | motor_dir2 = 1; |
| kenken0721 | 11:2c61a18f10c3 | 648 | buzzer = 0; |
| kenken0721 | 11:2c61a18f10c3 | 649 | lamp = 1.0; |
| kenken0721 | 11:2c61a18f10c3 | 650 | syokika_flag = false; |
| kenken0721 | 11:2c61a18f10c3 | 651 | }else if(times >= 5.6){ |
| kenken0721 | 11:2c61a18f10c3 | 652 | set_flag = false; |
| kenken0721 | 11:2c61a18f10c3 | 653 | set_pos_flag = false; |
| kenken0721 | 11:2c61a18f10c3 | 654 | set_pos_flag_2 = false; |
| kenken0721 | 11:2c61a18f10c3 | 655 | timer.reset(); |
| kenken0721 | 11:2c61a18f10c3 | 656 | timer.stop(); |
| kenken0721 | 11:2c61a18f10c3 | 657 | } |
| kenken0721 | 11:2c61a18f10c3 | 658 | } |
| kenken0721 | 11:2c61a18f10c3 | 659 | /* |
| kenken0721 | 6:ff7fd6556a81 | 660 | void touteki(float armpower ,int pos, bool throwing_mode){ |
| kenken0721 | 4:eabb7a738ff8 | 661 | if(set_flag == true){ |
| kenken0721 | 4:eabb7a738ff8 | 662 | timer.start(); |
| kenken0721 | 4:eabb7a738ff8 | 663 | } |
| kenken0721 | 9:0c1fce6d8094 | 664 | int times = timer.read(); |
| kenken0721 | 9:0c1fce6d8094 | 665 | if(times >= 1.0 && times < 4.0){ |
| kenken0721 | 9:0c1fce6d8094 | 666 | if(yellow_throw_flag == true){ |
| kenken0721 | 9:0c1fce6d8094 | 667 | if(set_pos_flag_2 == false){ |
| kenken0721 | 9:0c1fce6d8094 | 668 | if(Enc_Arm.read_rotate() < 180) { |
| kenken0721 | 9:0c1fce6d8094 | 669 | motor_dir1 = 0; |
| kenken0721 | 9:0c1fce6d8094 | 670 | motor_dir2 = 1; |
| kenken0721 | 9:0c1fce6d8094 | 671 | motor_pwm = 0.15; |
| kenken0721 | 9:0c1fce6d8094 | 672 | }else{ |
| kenken0721 | 9:0c1fce6d8094 | 673 | motor_dir1=1; |
| kenken0721 | 9:0c1fce6d8094 | 674 | motor_dir2=1; |
| kenken0721 | 9:0c1fce6d8094 | 675 | motor_pwm=0; |
| kenken0721 | 9:0c1fce6d8094 | 676 | set_pos_flag_2 = true; |
| kenken0721 | 9:0c1fce6d8094 | 677 | } |
| kenken0721 | 9:0c1fce6d8094 | 678 | } |
| kenken0721 | 9:0c1fce6d8094 | 679 | } |
| kenken0721 | 9:0c1fce6d8094 | 680 | } |
| kenken0721 | 9:0c1fce6d8094 | 681 | if(times >= 4.0 && times < 5.0){ |
| kenken0721 | 4:eabb7a738ff8 | 682 | servo_hand.move(hand_uke_degree); |
| kenken0721 | 6:ff7fd6556a81 | 683 | } |
| kenken0721 | 9:0c1fce6d8094 | 684 | if(times >= 5.0 && times < 6.0){ |
| kenken0721 | 7:f1a924244b76 | 685 | servo1.move(hiji_nage_degree); |
| kenken0721 | 4:eabb7a738ff8 | 686 | servo1.move(hiji_nage_degree); |
| kenken0721 | 4:eabb7a738ff8 | 687 | } |
| kenken0721 | 11:2c61a18f10c3 | 688 | if(times >= 6.0 && times < 8.5){ |
| kenken0721 | 4:eabb7a738ff8 | 689 | lamp = 0.0; |
| kenken0721 | 8:91a72648f312 | 690 | if(set_pos_flag == false){ |
| kenken0721 | 8:91a72648f312 | 691 | if(Enc_Arm.read_rotate() < pos) { |
| kenken0721 | 8:91a72648f312 | 692 | motor_dir1 = 0; |
| kenken0721 | 8:91a72648f312 | 693 | motor_dir2 = 1; |
| kenken0721 | 8:91a72648f312 | 694 | motor_pwm = 0.15; |
| kenken0721 | 8:91a72648f312 | 695 | }else{ |
| kenken0721 | 8:91a72648f312 | 696 | motor_dir1=1; |
| kenken0721 | 8:91a72648f312 | 697 | motor_dir2=1; |
| kenken0721 | 8:91a72648f312 | 698 | motor_pwm=0; |
| kenken0721 | 8:91a72648f312 | 699 | set_pos_flag = true; |
| kenken0721 | 8:91a72648f312 | 700 | } |
| kenken0721 | 4:eabb7a738ff8 | 701 | } |
| kenken0721 | 4:eabb7a738ff8 | 702 | } |
| kenken0721 | 7:f1a924244b76 | 703 | |
| kenken0721 | 4:eabb7a738ff8 | 704 | //----投てき------------------------- |
| kenken0721 | 6:ff7fd6556a81 | 705 | if(throwing_mode == 0.0){ |
| kenken0721 | 9:0c1fce6d8094 | 706 | if(times >= 9.0 && times < 10.0){ |
| kenken0721 | 5:c5a2a5cf600d | 707 | motor_dir1 = 0; |
| kenken0721 | 5:c5a2a5cf600d | 708 | motor_dir2 = 1; |
| kenken0721 | 5:c5a2a5cf600d | 709 | motor_pwm = armpower; |
| kenken0721 | 5:c5a2a5cf600d | 710 | } |
| kenken0721 | 6:ff7fd6556a81 | 711 | }else if(throwing_mode == 1.0){ |
| kenken0721 | 9:0c1fce6d8094 | 712 | if(times >= 9.0 && times < 9.1){ |
| kenken0721 | 6:ff7fd6556a81 | 713 | throwing_relay = 1.0; |
| kenken0721 | 5:c5a2a5cf600d | 714 | }else{ |
| kenken0721 | 8:91a72648f312 | 715 | throwing_relay = 0.0; |
| kenken0721 | 5:c5a2a5cf600d | 716 | } |
| kenken0721 | 4:eabb7a738ff8 | 717 | } |
| kenken0721 | 9:0c1fce6d8094 | 718 | if(times >= 10.0 && times <11.0){ |
| kenken0721 | 4:eabb7a738ff8 | 719 | motor_pwm = 0.0; |
| kenken0721 | 8:91a72648f312 | 720 | motor_dir1 = 1; |
| kenken0721 | 8:91a72648f312 | 721 | motor_dir2 = 1; |
| kenken0721 | 4:eabb7a738ff8 | 722 | buzzer = 0; |
| kenken0721 | 4:eabb7a738ff8 | 723 | lamp = 1.0; |
| kenken0721 | 9:0c1fce6d8094 | 724 | syokika_flag = false; |
| kenken0721 | 9:0c1fce6d8094 | 725 | }else if(times >= 11.0){ |
| kenken0721 | 4:eabb7a738ff8 | 726 | set_flag = false; |
| kenken0721 | 8:91a72648f312 | 727 | set_pos_flag = false; |
| kenken0721 | 9:0c1fce6d8094 | 728 | set_pos_flag_2 = false; |
| kenken0721 | 4:eabb7a738ff8 | 729 | timer.reset(); |
| kenken0721 | 4:eabb7a738ff8 | 730 | timer.stop(); |
| kenken0721 | 4:eabb7a738ff8 | 731 | } |
| kenken0721 | 4:eabb7a738ff8 | 732 | } |
| kenken0721 | 11:2c61a18f10c3 | 733 | */ |
| kenken0721 | 7:f1a924244b76 | 734 | void Linecount(void){ |
| kenken0721 | 7:f1a924244b76 | 735 | if(directmode == RIGHT){ |
| kenken0721 | 7:f1a924244b76 | 736 | if(linecountcheck == false){ |
| kenken0721 | 7:f1a924244b76 | 737 | tar_x_dist_2 = x_dist; |
| kenken0721 | 7:f1a924244b76 | 738 | linecountcheck = true; |
| kenken0721 | 7:f1a924244b76 | 739 | }else{ |
| kenken0721 | 7:f1a924244b76 | 740 | if((x_dist - tar_x_dist_2) > X_STOP_DIST_3){ |
| kenken0721 | 7:f1a924244b76 | 741 | crosscount++; |
| kenken0721 | 7:f1a924244b76 | 742 | linecountcheck = false; |
| kenken0721 | 7:f1a924244b76 | 743 | } |
| kenken0721 | 7:f1a924244b76 | 744 | } |
| kenken0721 | 7:f1a924244b76 | 745 | }else if(directmode == LEFT){ |
| kenken0721 | 7:f1a924244b76 | 746 | if(linecountcheck == false){ |
| kenken0721 | 7:f1a924244b76 | 747 | tar_x_dist_2 = x_dist; |
| kenken0721 | 7:f1a924244b76 | 748 | linecountcheck = true; |
| kenken0721 | 7:f1a924244b76 | 749 | }else{ |
| kenken0721 | 7:f1a924244b76 | 750 | if((tar_x_dist_2 - x_dist) >= X_STOP_DIST_2){ |
| kenken0721 | 7:f1a924244b76 | 751 | crosscount++; |
| kenken0721 | 7:f1a924244b76 | 752 | linecountcheck = false; |
| kenken0721 | 7:f1a924244b76 | 753 | } |
| kenken0721 | 7:f1a924244b76 | 754 | } |
| kenken0721 | 7:f1a924244b76 | 755 | } |
| kenken0721 | 7:f1a924244b76 | 756 | } |
| kenken0721 | 7:f1a924244b76 | 757 | |
| kenken0721 | 9:0c1fce6d8094 | 758 | void Linecount2(void){ |
| kenken0721 | 9:0c1fce6d8094 | 759 | if(directmode == LEFT){ |
| kenken0721 | 9:0c1fce6d8094 | 760 | if(linecountcheck == false){ |
| kenken0721 | 9:0c1fce6d8094 | 761 | tar_x_dist_3 = x_dist; |
| kenken0721 | 9:0c1fce6d8094 | 762 | linecountcheck = true; |
| kenken0721 | 9:0c1fce6d8094 | 763 | }else{ |
| kenken0721 | 9:0c1fce6d8094 | 764 | if((tar_x_dist_3 - x_dist) >= X_STOP_DIST_4){ |
| kenken0721 | 9:0c1fce6d8094 | 765 | crosscount++; |
| kenken0721 | 9:0c1fce6d8094 | 766 | linecountcheck = false; |
| kenken0721 | 9:0c1fce6d8094 | 767 | } |
| kenken0721 | 9:0c1fce6d8094 | 768 | } |
| kenken0721 | 9:0c1fce6d8094 | 769 | } |
| kenken0721 | 9:0c1fce6d8094 | 770 | } |
| kenken0721 | 2:c5996dd62e9c | 771 | void LineCheck(int dmode){ |
| kenken0721 | 2:c5996dd62e9c | 772 | if(dmode == STRAIGHT){ |
| kenken0721 | 2:c5996dd62e9c | 773 | if(linedata_1[1] == 1){ |
| kenken0721 | 2:c5996dd62e9c | 774 | ontheline = true; |
| kenken0721 | 2:c5996dd62e9c | 775 | tar_y_dist = y_dist; |
| kenken0721 | 2:c5996dd62e9c | 776 | } |
| kenken0721 | 2:c5996dd62e9c | 777 | if(ontheline == true){ |
| kenken0721 | 3:aaa2fde4fafd | 778 | if((y_dist - tar_y_dist) >= Y_STOP_DIST){ |
| kenken0721 | 2:c5996dd62e9c | 779 | ontheline = false; |
| kenken0721 | 2:c5996dd62e9c | 780 | crosscount++; |
| kenken0721 | 2:c5996dd62e9c | 781 | } |
| kenken0721 | 2:c5996dd62e9c | 782 | } |
| kenken0721 | 2:c5996dd62e9c | 783 | }else if(dmode == RIGHT){ |
| kenken0721 | 3:aaa2fde4fafd | 784 | if(linedata_2[1] == 1){ |
| kenken0721 | 3:aaa2fde4fafd | 785 | ontheline = true; |
| kenken0721 | 3:aaa2fde4fafd | 786 | tar_x_dist = x_dist; |
| kenken0721 | 3:aaa2fde4fafd | 787 | } |
| kenken0721 | 2:c5996dd62e9c | 788 | if(ontheline == true){ |
| kenken0721 | 3:aaa2fde4fafd | 789 | if((x_dist - tar_x_dist) >= X_STOP_DIST){ |
| kenken0721 | 2:c5996dd62e9c | 790 | ontheline = false; |
| kenken0721 | 2:c5996dd62e9c | 791 | crosscount++; |
| kenken0721 | 2:c5996dd62e9c | 792 | } |
| kenken0721 | 2:c5996dd62e9c | 793 | } |
| kenken0721 | 2:c5996dd62e9c | 794 | }else if(dmode == LEFT){ |
| kenken0721 | 3:aaa2fde4fafd | 795 | if(linedata_3[1] == 1){ |
| kenken0721 | 3:aaa2fde4fafd | 796 | ontheline = true; |
| kenken0721 | 3:aaa2fde4fafd | 797 | tar_x_dist = x_dist; |
| kenken0721 | 3:aaa2fde4fafd | 798 | } |
| kenken0721 | 2:c5996dd62e9c | 799 | if(ontheline == true){ |
| kenken0721 | 3:aaa2fde4fafd | 800 | if((tar_x_dist - x_dist) >= X_STOP_DIST){ |
| kenken0721 | 2:c5996dd62e9c | 801 | ontheline = false; |
| kenken0721 | 2:c5996dd62e9c | 802 | crosscount++; |
| kenken0721 | 2:c5996dd62e9c | 803 | } |
| kenken0721 | 2:c5996dd62e9c | 804 | } |
| kenken0721 | 2:c5996dd62e9c | 805 | } |
| kenken0721 | 2:c5996dd62e9c | 806 | } |
| kenken0721 | 0:f6828b914b1c | 807 | |
| kenken0721 | 2:c5996dd62e9c | 808 | void linecheck(char *buff, int data[2]){ |
| kenken0721 | 0:f6828b914b1c | 809 | if(buff[0] == 24){ |
| kenken0721 | 2:c5996dd62e9c | 810 | data[0] = 0; |
| kenken0721 | 2:c5996dd62e9c | 811 | data[1] = 0; |
| kenken0721 | 0:f6828b914b1c | 812 | }else if(buff[0] == 56){ |
| kenken0721 | 2:c5996dd62e9c | 813 | data[0] = 1; |
| kenken0721 | 2:c5996dd62e9c | 814 | data[1] = 0; |
| kenken0721 | 0:f6828b914b1c | 815 | }else if(buff[0] == 48){ |
| kenken0721 | 2:c5996dd62e9c | 816 | data[0] = 2; |
| kenken0721 | 2:c5996dd62e9c | 817 | data[1] = 0; |
| kenken0721 | 0:f6828b914b1c | 818 | }else if(buff[0] == 112){ |
| kenken0721 | 2:c5996dd62e9c | 819 | data[0] = 3; |
| kenken0721 | 2:c5996dd62e9c | 820 | data[1] = 0; |
| kenken0721 | 0:f6828b914b1c | 821 | }else if(buff[0] == 96){ |
| kenken0721 | 2:c5996dd62e9c | 822 | data[0] = 4; |
| kenken0721 | 2:c5996dd62e9c | 823 | data[1] = 0; |
| kenken0721 | 0:f6828b914b1c | 824 | }else if(buff[0] == 224){ |
| kenken0721 | 2:c5996dd62e9c | 825 | data[0] = 5; |
| kenken0721 | 2:c5996dd62e9c | 826 | data[1] = 0; |
| kenken0721 | 0:f6828b914b1c | 827 | }else if(buff[0] == 192){ |
| kenken0721 | 2:c5996dd62e9c | 828 | data[0] = 6; |
| kenken0721 | 2:c5996dd62e9c | 829 | data[1] = 0; |
| kenken0721 | 0:f6828b914b1c | 830 | }else if(buff[0] == 128){ |
| kenken0721 | 2:c5996dd62e9c | 831 | data[0] = 7; |
| kenken0721 | 2:c5996dd62e9c | 832 | data[1] = 0; |
| kenken0721 | 0:f6828b914b1c | 833 | }else if(buff[0] == 28){ |
| kenken0721 | 2:c5996dd62e9c | 834 | data[0] = -1; |
| kenken0721 | 2:c5996dd62e9c | 835 | data[1] = 0; |
| kenken0721 | 0:f6828b914b1c | 836 | }else if(buff[0] == 12){ |
| kenken0721 | 2:c5996dd62e9c | 837 | data[0] = -2; |
| kenken0721 | 2:c5996dd62e9c | 838 | data[1] = 0; |
| kenken0721 | 0:f6828b914b1c | 839 | }else if(buff[0] == 14){ |
| kenken0721 | 2:c5996dd62e9c | 840 | data[0] = -3; |
| kenken0721 | 2:c5996dd62e9c | 841 | data[1] = 0; |
| kenken0721 | 0:f6828b914b1c | 842 | }else if(buff[0] == 6){ |
| kenken0721 | 2:c5996dd62e9c | 843 | data[0] = -4; |
| kenken0721 | 2:c5996dd62e9c | 844 | data[1] = 0; |
| kenken0721 | 0:f6828b914b1c | 845 | }else if(buff[0] == 7){ |
| kenken0721 | 2:c5996dd62e9c | 846 | data[0] = -5; |
| kenken0721 | 2:c5996dd62e9c | 847 | data[1] = 0; |
| kenken0721 | 0:f6828b914b1c | 848 | }else if(buff[0] == 3){ |
| kenken0721 | 2:c5996dd62e9c | 849 | data[0] = -6; |
| kenken0721 | 2:c5996dd62e9c | 850 | data[1] = 0; |
| kenken0721 | 0:f6828b914b1c | 851 | }else if(buff[0] == 1){ |
| kenken0721 | 2:c5996dd62e9c | 852 | data[0] = -7; |
| kenken0721 | 2:c5996dd62e9c | 853 | data[1] = 0; |
| kenken0721 | 2:c5996dd62e9c | 854 | }else if(buff[0] == 255){ |
| kenken0721 | 2:c5996dd62e9c | 855 | data[0] = prelinedata; |
| kenken0721 | 2:c5996dd62e9c | 856 | data[1] = 1; |
| kenken0721 | 2:c5996dd62e9c | 857 | }else if(buff[0] == 0){ |
| kenken0721 | 2:c5996dd62e9c | 858 | data[0] = prelinedata; |
| kenken0721 | 2:c5996dd62e9c | 859 | data[1] = 0; |
| kenken0721 | 0:f6828b914b1c | 860 | }else{ |
| kenken0721 | 2:c5996dd62e9c | 861 | data[0] = prelinedata; |
| kenken0721 | 2:c5996dd62e9c | 862 | data[1] = 0; |
| kenken0721 | 0:f6828b914b1c | 863 | } |
| kenken0721 | 2:c5996dd62e9c | 864 | prelinedata = data[0]; |
| kenken0721 | 3:aaa2fde4fafd | 865 | } |