にいむら にいむら
aa
Diff: System/Process/Process.cpp
- Revision:
- 1:e1e9671724e7
- Parent:
- 0:2e7a61458dc3
diff -r 2e7a61458dc3 -r e1e9671724e7 System/Process/Process.cpp
--- a/System/Process/Process.cpp Mon Jan 28 08:34:36 2019 +0000
+++ b/System/Process/Process.cpp Sat Jan 25 02:55:50 2020 +0000
@@ -1,65 +1,360 @@
#include "Process.h"
-
#include "mbed.h"
#include "../../Communication/XBee/XBee.h"
#include "../../Input/Switch/Switch.h"
#include "../../Output/Motor/Motor.h"
-/*---------- DEFINE ----------*/
+//_____________________
+/*---------------- HOW TO WRITE ----------------/
+
+ ・motor の割り当てを決める
+ #define TIRE_L 1
+
+ ・リミットスイッチの割り当てを決める
+ #define ARM_L 1
+
+ ・他にも自由に定義してもいいです (pwmとか)
+
+/---------------- HOW TO WRITE ----------------*/
+//↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓
+
+#define a 0
+#define b 1
+#define c 2
+#define d 3
+#define e 4
+#define ARMlim 0
+#define lim 1
+
+
+int Air0=0;
+int Air1=1;
+int homes=0;
+
+
-/*----------------------------*/
+//////////////////関数、タイマーの宣言///////////////
+DigitalOut Air[]= {
+ DigitalOut(A5),
+ DigitalOut(A4),
+};
+Timer Airtime;
+Timer home;
+void AirOut(int pin,int mode)
+{
+ Air[pin]=mode;
+}
+////////////
+float s=Airtime.read();//エアータイム
+
+int a_array[15][15] = {
+ {-80, -70, -60, -50, -40, -20, -10, 0, 10, 20, 40, 50, 60, 70, 80},
+ {-79, -69, -55, -47, -35, -20, -10, 0, 10, 20, 35, 47, 55, 69, 79},
+ {-77, -68, -50, -45, -30, -20, -10, 0, 10, 20, 30, 45, 50, 68, 77},
+ {-75, -67, -49, -40, -25, -20, -10, 0, 10, 20, 25, 40, 49, 67, 75},
+ {-73, -66, -48, -37, -20, -20, -10, 0, 10, 20, 20, 37, 48, 66, 73},
+ {-71, -62, -46, -32, -20, -10, 0, 0, 0, 10, 20, 32, 46, 62, 71},
+ {-70, -60, -45, -30, -20, -10, 0, 0, 0, 10, 20, 30, 45, 60, 70},
+ {-71, -62, -46, -32, 10, -10, 0, 0, 0, 10, 20, 32, 46, 62, 71},
+ {-72, -64, -47, -35, 20, -10, -10, 0, 10, 10, 20, 35, 47, 64, 72},
+ {-73, -66, -48, -37, -20, -20, -10, 0, 10, 20, 20, 37, 48, 66, 73},
+ {-75, -67, -49, -40, 40, -20, -10, 0, 10, 20, 25, 40, 49, 67, 75},
+ {-77, -68, -50, -45, 60, -20, -10, 0, 10, 20, 30, 45, 50, 68, 77},
+ {-79, -69, -55, -47, 70, -20, -10, 0, 10, 20, 35, 47, 55, 69, 79},
+ {-80, -70, -60, -50, -40, -20, -10, 0, 10, 20, 40, 50, 60, 70, 80},
+ {-80, -70, -60, -50, -40, -20,s-10, 0, 10, 20, 40, 50, 60, 70, 80}
+};
-// #define USE_USB_SERIAL
+int b_array[15][15] = {
+ {80, 80, 80, 77, 75, 72, 71, 70, 60, 50, 40, 30, 20, 10, 0},
+ {80, 80, 75, 70, 65, 60, 55, 50, 45, 40, 30, 20, 10, 0, -10},
+ {80, 71, 70, 60, 55, 50, 45, 40, 35, 30, 20, 10, 0, -10, -13},
+ {60, 60, 57, 50, 45, 40, 35, 30, 25, 20, 10, 0, -10, -13, -17},
+ {50, 50, 50, 40, 35, 30, 23, 20, 15, 10, 0, -10, -15, -17, -20},
+ {45, 45, 43, 35, 30, 25, 10, 10, 10, 0, -10, -15, -20, -20, -25},
+ {40, 37, 35, 30, 25, 20, 0, 0, 0, -10, -15, -20, -25, -25, -30},
+ {35, 30, 30, 25, 20, 15, 0, 0, 0, -15, -20, -25, -30, -30, -35},
+ {30, 25, 25, 20, 15, 10, 0, 0, 0, -20, -25, -30, -35, -37, -40},
+ {20, 17, 15, 10, 0, -10, -15,-20, -23, -30,-35,-40,-50,-50, -50},
+ {17, 13, 10, 0, -10, -20, -25,-30, -35, -40,-45,-50,-57,-60, -60},
+ {13, 10, 0, -10, -20, -30, -35,-40, -45, -50,-55,-60, -70, -71, -80},
+ {10, 0, -10, -20, -30, -40, -45,-50, -55, -60,-65,-70,-75,-80, -80},
+ {0, -10, -20, -30, -40, -50, -60,-70, -71, -72,-75,-77,-80,-80, -80},
+ {0, -10, -20, -30, -40, -50, -60,-70, -71, -72,-75,-77,-80,-80, -80}
+};
+
+int c_array[15][15] = {
+ {0, 10, 20, 30, 40, 50, 60,70, 71, 72, 75, 77, 80, 80, 80},
+ {-10, 0, 10, 20, 30, 40, 45,50, 55, 60,65,70,75,80,80},
+ {-13, -10, 0, 10, 20, 30, 35,40, 45, 50,55,60,70,71,80},
+ {-17, -13, -10, 0, 10, 20, 25,30, 35, 40,45,50,57,60,60},
+ {-20, -17, -15, -10, 0, 10, 15,20, 23, 30,35,40,50,50,50},
+ {-25, -20, -20, -15, -10, 0, 10,10, 10, 25,30,35,43,45,45},
+ {-30, -25, -25, -20, -15, -10, 0,0, 0, 20,25,30,35,37,40},
+ {-35, -30, -30, -25, -20, -15, 0,0, 0, 15,20,25,30,30,35},
+ {-40, -37, -35, -30, -25, -20, 0,0, 0, 10,15,20,25,25,30},
+ {-50, -50, -50, -40, -35, -30, -23,-20, -15, -10,0,10,15,17,20},
+ {-60, -60, -57, -50, -45, -40, -35,-30, -25, -20,-10,0,10,13,17},
+ {-80, -71, -70, -60, -55, -50, -45,-40, -35, -30,-20,-10,0,10,13},
+ {-80, -80, -75, -70, -65, -60, -55,-50, -45, -40,-30,-20,-10,0,10},
+ {-80, -80, -80, -77, -75, -72, -71,-70, -60, -50,-40,-30,-20,-10,0},
+ {-80, -80, -80, -77, -75, -72, -71,-70, -60, -50,-40,-30,-20,-10,0}
+};
+
+
+
+
+
+
+#define usiro 0
+#define mae 0
+uint8_t motorData[5];
+uint8_t pwmData[5];
+
+int conlx;
+int conly;
+int conrx;
+int conry;
+
+int mode=1;
+
+//↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑
+//_____________________
+
+//#define USE_USB_SERIAL
#ifdef USE_USB_SERIAL
-Serial pc(SERIAL_TX,SERIAL_RX);
+Serial pc(SERIAL_TX, SERIAL_RX);
#endif
-
XBEE::ControllerData *controller;
MOTOR::MotorStatus motor[MOUNTING_MOTOR_NUM];
using namespace SWITCH;
-void SystemProcess(void){
- while(true){
+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
+
+ ・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;
+ }
+
+ 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
+
+ if(Switch::CheckPushed(ARM_L))
+ {
+ if(controller->Button.L)
+ {
+ motor[ARM].dir = FOR;
+ motor[ARM].pwm = 80.0;
+ }
+ if(motor[ARM].dir == BACK)
+ {
+ motor[ARM].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
-ここにメインプログラムを書く
+ ps.わからないことがあったら聞いてください
+
+ /------------------------ HOW TO WRITE ------------------------*/
+//↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓
+
+ conlx = controller->AnalogL.X;
+ conly = controller->AnalogL.Y;
+ conrx = controller->AnalogR.X;
+ conry = controller->AnalogR.Y;
+//conba = controller->Button.A;
+//conbb = controller->Button.B;
+//conby = controller->Button.Y;
+//conbx = controller->Button.X;
+
+ if(a_array[conly][conlx]<0) {
+ motor[a].pwm = (-1*a_array[conly][conlx]*100)/80;
+ motor[a].dir = FOR;
+ } else if(a_array[conly][conlx] > 0) {
+ motor[a].pwm = (a_array[conly][conlx]*100)/80;
+ motor[a].dir = BACK;
+ } else if(a_array[conly][conlx] == 0) {
+ if(conry < 6) {
+ motor[a].dir = BACK;
+ motor[b].dir = BACK;
+ motor[c].dir = BACK;
+ motor[a].pwm = 100.0;
+ motor[b].pwm = 100.0;
+ motor[c].pwm = 100.0;
+ } else if(conry > 8) {
+ motor[a].dir = FOR;
+ motor[b].dir = FOR;
+ motor[c].dir = FOR;
+ motor[a].pwm = 100.0;
+ motor[b].pwm = 100.0;
+ motor[c].pwm = 100.0;
+ } else {
+ motor[a].dir = BRAKE;
+ motor[b].dir = BRAKE;
+ motor[c].dir = BRAKE;
+ motor[a].pwm = 100.0;
+ motor[b].pwm = 100.0;
+ motor[c].pwm = 100.0;
+ }
+ }
-・コントローラーから受けっ取ったデータをもとに動作のプログラムを書く
- (コントローラーのデータは 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;
- }
-
- motor[0].dirは FOR (正転)
- BACK (逆転)
- FREE (ブレーキ)
- BRAKE (フリー)
-
- motor[0].pwmは 0.0(%) ~ 100.0(%)
-
- controllerは XBee.hの構造体の中身
-
-・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(b_array[conly][conlx] <0 ) {
+ motor[b].pwm = (-1*b_array[conly][conlx]*100)/80;
+ motor[b].dir = FOR;
+ } else if(b_array[conly][conlx] > 0) {
+ motor[b].pwm = (b_array[conly][conlx]*100)/80;
+ motor[b].dir = BACK;
+ } else if(a_array[conly][conlx] == 0 ) {
+ if(conrx < 6 ) {
+ motor[a].dir = BACK;
+ motor[b].dir = BACK;
+ motor[c].dir = BACK;
+ motor[a].pwm = 100.0;
+ motor[b].pwm = 100.0;
+ motor[c].pwm = 100.0;
+ } else if(conrx > 8) {
+ motor[a].dir = FOR;
+ motor[b].dir = FOR;
+ motor[c].dir = FOR;
+ motor[a].pwm = 100.0;
+ motor[b].pwm = 100.0;
+ motor[c].pwm = 100.0;
+ } else {
+ motor[a].dir = BRAKE;
+ motor[b].dir = BRAKE;
+ motor[c].dir = BRAKE;
+ motor[a].pwm = 100.0;
+ motor[b].pwm = 100.0;
+ motor[c].pwm = 100.0;
+ }
+ }
+
+ if(c_array[conly][conlx] <0 ) {
+ motor[c].pwm =(-1*c_array[conly][conlx]*100)/80;
+ motor[c].dir = BACK;
+ } else if(c_array[conly][conlx] > 0) {
+ motor[c].pwm =(c_array[conly][conlx]*100)/80;
+ motor[c].dir = FOR;
+ } else if(a_array[conly][conlx] == 0 ) {
+ if(conrx < 6 ) {
+ motor[a].dir = BACK;
+ motor[b].dir = BACK;
+ motor[c].dir = BACK;
+ motor[a].pwm = 100.0;
+ motor[b].pwm = 100.0;
+ motor[c].pwm = 100.0;
+ } else if(conrx > 8) {
+ motor[a].dir = FOR;
+ motor[b].dir = FOR;
+ motor[c].dir = FOR;
+ motor[a].pwm = 100.0;
+ motor[b].pwm = 100.0;
+ motor[c].pwm = 100.0;
+ } else {
+ motor[a].dir = BRAKE;
+ motor[b].dir = BRAKE;
+ motor[c].dir = BRAKE;
+ motor[a].pwm = 100.0;
+ motor[b].pwm = 100.0;
+ motor[c].pwm = 100.0;
+ }
+ }
- if(Switch::CheckPushed(ARM_L)){
-
- }
-
- 関数 Switch::CheckPushed の引数はリミットスイッチの名前 , 返り値はbool型（true or false)
-
-ここより下に書いて
--------------------*/
+////////////課題１////////////
+ if(controller->Button.X) {
+ if(Switch::CheckPushed(ARMlim)) {
+ motor[d].dir = BRAKE;
+ motor[d].pwm = 100;
+ } else {
+ motor[d].dir = FOR;
+ motor[d].pwm = 100;
+ }
+ } else if(controller->Button.Y) {
+ motor[d].dir = BACK;
+ motor[d].pwm = 100;
+ } else {
+ motor[d].dir = BRAKE;
+ motor[d].pwm = 100;
+ }
+ if(controller->Button.A) {
+ AirOut(Air0,1);
+ } else if(controller->Button.B) {
+ AirOut(Air0,0);
+ }
+//////////////課題2/////////////////////
+ s=Airtime.read();
+ if((controller->Button.ZL)&&(mode==1)) {
+ mode=2;
+ Airtime.start();
+ }
+ if((mode==2)&&(s>=1)) {
+ mode=3;
+ }
+ if((mode==3)&&(s>=3)) {
+ mode=4;
+ }
+ if((mode==4)&&(!(Switch::CheckPushed(lim)))) {
+ mode=5;
+ Airtime.stop();
+ Airtime.reset();
+ }
+ if((mode==5)&&(Switch::CheckPushed(lim))) {
+ mode=1;
+ }
+
+ if(mode==1) {
+ AirOut(1,1);
+ motor[4].dir=BRAKE;
+ motor[4].pwm=100;
+ } else if(mode==2) {
+ AirOut(1,0);
+ } else if(mode==3) {
+ AirOut(1,1);
+ } else if(mode==4) {
+ motor[4].dir=FOR;
+ motor[4].pwm=50;
+ } else if(mode==5) {
+ motor[4].dir=FOR;
+ motor[4].pwm=50;
+ } else {
+ mode=1;
+ AirOut(1,1);
+ }
+ if(controller->Button.L) {
+ motor[4].dir=FOR;
+ motor[4].pwm=10;
+ }
+//↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑
+//___________________________
-
+
MOTOR::Motor::Update(motor);
}
-}
-
\ No newline at end of file
+}
\ No newline at end of file