Taiki Maruyama
kaahddhgfhgfghgf
Diff: System/Process/Process.cpp
- Revision:
- 10:a81546661fb5
- Parent:
- 9:49e851ad441e
- Child:
- 11:de0dc9fba6c9
--- a/System/Process/Process.cpp Sat Feb 23 02:47:39 2019 +0000
+++ b/System/Process/Process.cpp Sat Feb 23 05:34:18 2019 +0000
@@ -22,7 +22,7 @@
/---------------- HOW TO WRITE ----------------*/
//↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓
-#define TIRE_LF 0
+#define TIRE_LF
#define TIRE_LB 1
#define TIRE_RB 2
#define TIRE_RF 3
@@ -31,10 +31,9 @@
#define Air1_pin A7
#define Air2_pin A6
#define Air3_pin A5
-#define ARM_T 0
+#define ARM_T 3
-const int omni[15][15]=
-{
+const int omni[15][15]= {
{ 0, 2, 6, 15, 26, 41, 59, 80, 80, 80, 80, 80, 80, 80, 80},
{ -2, 0, 2, 6, 15, 26, 41, 59, 61, 65, 73, 80, 80, 80, 80},
{ -6, -2, 0, 2, 6, 15, 26, 41, 43, 47, 56, 67, 80, 80, 80},
@@ -57,13 +56,15 @@
uint8_t SetStatus(int);
-uint8_t SetStatus(int pwmVal){
+uint8_t SetStatus(int pwmVal)
+{
if(pwmVal < 0) return BACK;
else if(pwmVal > 0) return FOR;
else if(pwmVal == 0) return BRAKE;
}
uint8_t SetPWM(int);
-uint8_t SetPWM(int pwmVal){
+uint8_t SetPWM(int pwmVal)
+{
if(pwmVal == 0 || pwmVal > 80 || pwmVal < -80) return 80;
else return abs(pwmVal);
}
@@ -88,129 +89,133 @@
DigitalOut(Air3_pin),
};
-void AirOut(int pin,int mode){
- if(mode==1){
+void AirOut(int pin,int mode)
+{
+ if(mode==1) {
AirPin[pin]=1;
- }else if(mode==0){
+ } else if(mode==0) {
AirPin[pin]=0;
- }else{
- AirPin[pin]=0;
+ } else {
+ AirPin[pin]=0;
}
}
//////////////////////////////////
-void SystemProcess(void) {
+void SystemProcess(void)
+{
while(true) {
controller = XBEE::Controller::GetData();
//____________________________
-/*------------------------ HOW TO WRITE ------------------------/
+ /*------------------------ HOW TO WRITE ------------------------/
- ここにメインのプログラムを書く
+ ここにメインのプログラムを書く
- ・コントローラから受け取ったデータをもとに動作のプログラムを書く
- (コントローラのデータは controller-> で取る)
+ ・コントローラから受け取ったデータをもとに動作のプログラムを書く
+ (コントローラのデータは controller-> で取る)
- if(controller->Button.RIGHT) {
- motor[TIRE_L].dir = FOR;
- motor[TIRE_R].dir = BACK;
- motor[TIRE_L].pwm = 12.3;
- motor[TIRE_R].pwm = 12.3;
- }
+ if(controller->Button.RIGHT) {
+ motor[TIRE_L].dir = FOR;
+ motor[TIRE_R].dir = BACK;
+ motor[TIRE_L].pwm = 12.3;
+ motor[TIRE_R].pwm = 12.3;
+ }
- motor[0].dirは FOR (正転)
- BACK (逆転)
- BRAKE (ブレーキ)
- FREE (フリー)
+ motor[0].dirは FOR (正転)
+ BACK (逆転)
+ BRAKE (ブレーキ)
+ FREE (フリー)
+
+ motor[0].pwmは 0.0(%) ~ 100.0(%)
+
+ controllerは XBee.hの構造体の中身
+
+ (AnalogL・Rを使いたかったら、頑張って考える or 聞いてください)
+
+ ・リミットスイッチの値をもとに動作のプログラムを書く
- motor[0].pwmは 0.0(%) ~ 100.0(%)
-
- controllerは XBee.hの構造体の中身
-
- (AnalogL・Rを使いたかったら、頑張って考える or 聞いてください)
-
- ・リミットスイッチの値をもとに動作のプログラムを書く
+ if(Switch::CheckPushed(0_L))
+ {
+ if(controller->Button.L)
+ {
+ motor[0].dir = FOR;
+ motor[0].pwm = 80.0;
+ }
+ if(motor[0].dir == BACK)
+ {
+ motor[0].dir = BRAKE;
+ }
+ }
- if(Switch::CheckPushed(0_L))
- {
- if(controller->Button.L)
- {
- motor[0].dir = FOR;
- motor[0].pwm = 80.0;
- }
- if(motor[0].dir == BACK)
- {
- motor[0].dir = BRAKE;
- }
+ →関数 Switch::CheckPushed の引数はリミットスイッチの名前 (limitSw[0]みたいな), 返り値はbool型 (true or false)
+
+ ・他にもやりたいことがあったら自由にどうぞ
+
+ ps.わからないことがあったら聞いてください
+
+ /------------------------ HOW TO WRITE ------------------------*/
+//↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓
+
+
+ if(controller->AnalogL.X >= 6 && controller->AnalogL.X <= 8 && controller->AnalogL.Y >= 6 && controller->AnalogL.Y <= 8) {
+ motor[TIRE_LF].dir = FREE;
+ motor[TIRE_LB].dir = FREE;
+ motor[TIRE_RB].dir = FREE;
+ motor[TIRE_RF].dir = FREE;
}
- →関数 Switch::CheckPushed の引数はリミットスイッチの名前 (limitSw[0]みたいな), 返り値はbool型 (true or false)
+ if(controller->AnalogR.X >= 6 && controller->AnalogR.X <= 8 && controller->AnalogR.Y >= 6 && controller->AnalogR.Y <= 8) {
+ motor[TIRE_LF].dir = FREE;
+ motor[TIRE_LB].dir = FREE;
+ motor[TIRE_RB].dir = FREE;
+ motor[TIRE_RF].dir = FREE;
+ }
+
+ motor[TIRE_RF].dir = SetStatus(-omni[controller->AnalogL.Y][14-controller->AnalogL.X] + curve[controller->AnalogR.X]);
+ motor[TIRE_LF].dir = SetStatus(omni[controller->AnalogL.Y][controller->AnalogL.X] + curve[controller->AnalogR.X]);
+ motor[TIRE_RB].dir = SetStatus(-omni[14-controller->AnalogL.X][14-controller->AnalogL.Y] + curve[controller->AnalogR.X]);
+ motor[TIRE_LB].dir = SetStatus(omni[controller->AnalogL.X][14-controller->AnalogL.Y] + curve[controller->AnalogR.X]);
- ・他にもやりたいことがあったら自由にどうぞ
+ motor[TIRE_RF].pwm = SetPWM(omni[controller->AnalogL.Y][14-controller->AnalogL.X]) ;
+ motor[TIRE_LF].pwm = SetPWM(omni[controller->AnalogL.Y][controller->AnalogL.X]) ;
+ motor[TIRE_RB].pwm = SetPWM(omni[14-controller->AnalogL.X][14-controller->AnalogL.Y]) ;
+ motor[TIRE_LB].pwm = SetPWM(omni[controller->AnalogL.X][14-controller->AnalogL.Y]) ;
- ps.わからないことがあったら聞いてください
+ if(controller->Button.R) {
+ AirOut(0,1);
+ }
+ if(controller->Button.L) {
+ AirOut(0,0);
+ }
-/------------------------ HOW TO WRITE ------------------------*/
-//↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓
-
-
- if(controller->AnalogL.X >= 6 && controller->AnalogL.X <= 8 && controller->AnalogL.Y >= 6 && controller->AnalogL.Y <= 8){
- motor[TIRE_LF].dir = FREE;
- motor[TIRE_LB].dir = FREE;
- motor[TIRE_RB].dir = FREE;
- motor[TIRE_RF].dir = FREE;
- }
-
- if(controller->AnalogR.X >= 6 && controller->AnalogR.X <= 8 && controller->AnalogR.Y >= 6 && controller->AnalogR.Y <= 8){
- motor[TIRE_LF].dir = FREE;
- motor[TIRE_LB].dir = FREE;
- motor[TIRE_RB].dir = FREE;
- motor[TIRE_RF].dir = FREE;
- }
-
- motor[TIRE_RF].dir = SetStatus(-omni[controller->AnalogL.Y][14-controller->AnalogL.X] + curve[controller->AnalogR.X]);
- motor[TIRE_LF].dir = SetStatus(omni[controller->AnalogL.Y][controller->AnalogL.X] + curve[controller->AnalogR.X]);
- motor[TIRE_RB].dir = SetStatus(-omni[14-controller->AnalogL.X][14-controller->AnalogL.Y] + curve[controller->AnalogR.X]);
- motor[TIRE_LB].dir = SetStatus(omni[controller->AnalogL.X][14-controller->AnalogL.Y] + curve[controller->AnalogR.X]);
-
- motor[TIRE_RF].pwm = SetPWM(omni[controller->AnalogL.Y][14-controller->AnalogL.X]) ;
- motor[TIRE_LF].pwm = SetPWM(omni[controller->AnalogL.Y][controller->AnalogL.X]) ;
- motor[TIRE_RB].pwm = SetPWM(omni[14-controller->AnalogL.X][14-controller->AnalogL.Y]) ;
- motor[TIRE_LB].pwm = SetPWM(omni[controller->AnalogL.X][14-controller->AnalogL.Y]) ;
-
- if(controller->Button.R){
- AirOut(0,1);
- }
- if(controller->Button.L){
- AirOut(0,0);
- }
-
- if(controller->Button.A){
- AirOut(1,1);
- }
- if(controller->Button.B){
- AirOut(1,0);
- }
-
- if(controller->Button.X){
- AirOut(2,1);
- }
- if(controller->Button.Y){
- AirOut(2,0);
- }
-
- if(controller->Button.UP) {
- motor[ARM_M].dir = BACK;
- motor[ARM_M].pwm = 50;
- }
- if(controller->Button.DOWN){
- motor[ARM_M].dir = FOR;
- motor[ARM_M].pwm = 50;
- }
- if(Switch::checkPushed(ARM_T)){
- motor[ARM_M].dir = BRAKE;
- }
- else{
- motor[ARM_M].dir = BRAKE;
- }
+ if(controller->Button.A) {
+ AirOut(1,1);
+ }
+ if(controller->Button.B) {
+ AirOut(1,0);
+ }
+
+ if(controller->Button.X) {
+ AirOut(2,1);
+ }
+ if(controller->Button.Y) {
+ AirOut(2,0);
+ }
+
+ if(controller->Button.UP) {
+ if(Switch::checkPushed(ARM_T)){
+ motor[ARM_M].dir = BRAKE;
+ motor[ARM_M].pwm = 50;
+ }else{
+ motor[ARM_M].dir = BACK;
+ motor[ARM_M].pwm = 50;
+ }
+ }else if(controller->Button.DOWN) {
+ motor[ARM_M].dir = FOR;
+ motor[ARM_M].pwm = 50;
+ }else {
+ motor[ARM_M].dir = FREE;
+ }
+
+