にいむら にいむら
unkounko
Diff: System/Process/Process.cpp
- Revision:
- 11:88f17bc0724f
- Parent:
- 10:a765515594bd
--- a/System/Process/Process.cpp Thu Feb 21 01:04:40 2019 +0000
+++ b/System/Process/Process.cpp Mon Feb 25 05:48:20 2019 +0000
@@ -2,7 +2,6 @@
//2018/02/24のやつ
#include "Process.h"
-
#include "mbed.h"
#include "../../Communication/XBee/XBee.h"
#include "../../Input/Switch/Switch.h"
@@ -26,8 +25,32 @@
#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},
@@ -42,7 +65,8 @@
{-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, -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}};
int b_array[15][15] = {
{80, 80, 80 , 77 , 75 , 72 , 71 , 70, 60, 50, 40, 30, 20, 10, 0},
@@ -58,6 +82,7 @@
{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] = {
@@ -74,6 +99,7 @@
{-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}};
@@ -81,8 +107,6 @@
-int pwm_array[15] = { 30 , 25 , 20 , 15 , 10 , 5 , 0 , 0 , 0 , -5 , -10 , -15 , -20 , -25 , -30 };
-
#define usiro 0
#define mae 0
uint8_t motorData[5];
@@ -92,10 +116,8 @@
int conly;
int conrx;
int conry;
-int conba;
-int conbb;
-int conbx;
-int conby;
+
+int mode=0;
//↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑
//_____________________
@@ -171,21 +193,12 @@
//conby = controller->Button.Y;
//conbx = controller->Button.X;
- if(((conlx >6) && (conly <8)) ||((conrx >6)&&(conry <8))){
- 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(a_array[conly][conlx]<0){
- motor[a].pwm = (-1*a_array[conly][conlx]*100)/90;
+ 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];
- motor[a].dir = FOR;//
+ 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;
@@ -200,7 +213,7 @@
motor[c].dir = FOR;
motor[a].pwm = 100.0;
motor[b].pwm = 100.0;
- motor[c].pwm = 100.0;
+ motor[c].pwm = 100.0;
}else{
motor[a].dir = BRAKE;
motor[b].dir = BRAKE;
@@ -212,27 +225,27 @@
}
if(b_array[conly][conlx] <0 ){
- motor[b].pwm = (-1*b_array[conly][conlx]*100)/90;
+ 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];
- motor[b].dir = FOR;//
+ 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 = 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;
@@ -240,14 +253,13 @@
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)/90;
- motor[c].dir = FOR;//
+ 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];
+ motor[c].pwm =(c_array[conly][conlx]*100)/80;
motor[c].dir = FOR;
}else if(a_array[conly][conlx] == 0 ){
if(conrx < 6 ) {
@@ -272,41 +284,66 @@
motor[b].pwm = 100.0;
motor[c].pwm = 100.0;
}
-
- //
-//if (a_array[conlx>6][conly<8]){
-// motor[a].dir = BRAKE;
-// motor[a].pwm = 100.0;
-// }
-//if (b_array[conlx>6][conly<8]){
-// motor[b].dir = BRAKE;
-// motor[b].pwm = 100.0;
-// }
-//if (c_array[conlx>6][conly<8]){
-// motor[c].dir = BRAKE;
-// motor[c].pwm = 100.0;
-// }
-//
+ }
+
+////////////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/////////////////////
+// if((controller->Button.ZL)&&(mode==0)) {
+// Airtime.start();
+// AirOut(Air1,0);
+// }
+// if((s>1)&&(s<3)) {
+// AirOut(Air1,1);
+// }else if(s>=3){
+// Airtime.stop();
+// Airtime.reset();
+// mode=1;
+// }
+// if((mode==2)||((controller->Button.ZR)&&(mode==1))) {
+// motor[4].dir=FOR;
+// motor[4].pwm=10;
+// }
+// if(!(Switch::checkPushed(lim))&&(mode==1)){
+// mode=2;
+// }
+// if((Switch::checkPushed(lim))&&(mode==2)){
+// motor[4].dir=BRAKE;
+// motor[4].pwm=100;
+// mode=0;
+// }
//
- //(conba)
- //{aira=0;}
- // if(conbb)
-// {airb=0;}
-
-
-
-
-
+// if (controller->Button.ZL)
+// AiOut(Air1,0);
+
+ if(controller->Button.ZL){
+ AirOut(Air1,1)
+ AirOut(Air1.0)
+ motor[4].dir = FOR;
+ motor[4].pwm = 100.0;
+ if(Switch::checkPushed(lim)){
+ motor.
+ }
-
-
-
- }
-
-
-
-
-//
//↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑
//___________________________