Revision 1:e1e9671724e7, committed 2020-01-25

Comitter:

niimurasyou

Date:

Sat Jan 25 02:55:50 2020 +0000

Parent:

0:2e7a61458dc3

Commit message:

aa

Changed in this revision

--- a/Input/Switch/Switch.cpp	Mon Jan 28 08:34:36 2019 +0000
+++ b/Input/Switch/Switch.cpp	Sat Jan 25 02:55:50 2020 +0000
@@ -1,22 +1,22 @@
 #include "Switch.h"
 #include <stdint.h>
 
-DigitalIn limitSw[] = {
-    DigitalIn(LIMITSW0_PIN),
-    DigitalIn(LIMITSW1_PIN),
-    DigitalIn(LIMITSW2_PIN),
-    DigitalIn(LIMITSW3_PIN),
-};
-
-namespace SWITCH 
-{
-    void Switch::Initialize(void){
-        for(int i = 0 ; i < MOUNTING_LIMITSW_NUM; i++){
-            limitSw[i].mode(PullUp);
-        }
-    }
-    
-    bool Switch::CheckPushed(int SwitchNumber){
-        return SwitchNumber ? false : true ;
-    }
-}
\ No newline at end of file
+//DigitalIn limitSw[] = {
+//    DigitalIn(LIMITSW0_PIN),
+//    DigitalIn(LIMITSW1_PIN),
+//    DigitalIn(LIMITSW2_PIN),
+//    DigitalIn(LIMITSW3_PIN),
+//};
+//
+//namespace SWITCH 
+//{
+//    void Switch::Initialize(void){
+//        for(int i = 0 ; i < MOUNTING_LIMITSW_NUM; i++){
+//            limitSw[i].mode(PullUp);
+//        }
+//    }
+//    
+//    bool Switch::CheckPushed(int SwitchNumber){
+//        return SwitchNumber ? false : true ;
+//    }
+//}
\ No newline at end of file

--- 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