にいむら にいむら
unkounko
Diff: System/Process/Process.cpp
- Revision:
- 9:ec30ae33cc9e
- Parent:
- 8:cb53beff4bb2
- Child:
- 10:a765515594bd
--- a/System/Process/Process.cpp Sat Feb 24 07:32:11 2018 +0000
+++ b/System/Process/Process.cpp Mon Feb 18 06:01:10 2019 +0000
@@ -22,9 +22,83 @@
/---------------- HOW TO WRITE ----------------*/
//↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓
+#define a 0
+#define b 1
+#define c 2
+
+//DigitalOut aira(PA_7);
+//DigitalOut airb(PA_6);
+
+int a_array[15][15] = {
+{ -30 , -20 , -10 , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 10 , 20 , 30 } ,
+{ -40 , -30 , -20 , -10 , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 10 , 20 , 30 , 40 } ,
+{ -50 , -40 , -30 , -20 , -10 , 0 , 0 , 0 , 0 , 0 , 10 , 20 , 30 , 40 , 50 } ,
+{ -60 , -50 , -40 , -30 , -20 , -10 , 0 , 0 , 0 , 10 , 20 , 30 , 40 , 50 , 60 } ,
+{ -70 , -60 , -50 , -40 , -30 , -20 , -10 , 0 , 10 , 20 , 30 , 40 , 50 , 60 , 70 } ,
+{ -80 , -70 , -60 , -50 , -40 , -30 , -20 , 0 , 20 , 30 , 40 , 50 , 60 , 70 , 80 } ,
+{ -90 , -80 , -70 , -60 , -50 , -40 , -30 , 0 , 30 , 40 , 50 , 60 , 70 , 80 , 90 } ,
+{ -100, -90 , -80 , -70 , -60 , -50 , -40 , 0 , 40 , 50 , 60 , 70 , 80 , 90 , 100 } ,
+{ -90 , -80 , -70 , -60 , -50 , -40 , -30 , 0 , 30 , 40 , 50 , 60 , 70 , 80 , 90 } ,
+{ -80 , -70 , -60 , -50 , -40 , -30 , -20 , 0 , 20 , 30 , 40 , 50 , 60 , 70 , 80 } ,
+{ -70 , -60 , -50 , -40 , -30 , -20 , -10 , 0 , 10 , 20 , 30 , 40 , 50 , 60 , 70 } ,
+{ -60 , -50 , -40 , -30 , -20 , -10 , 0 , 0 , 0 , 10 , 20 , 30 , 40 , 50 , 60 } ,
+{ -50 , -40 , -30 , -20 , -10 , 0 , 0 , 0 , 0 , 0 , 10 , 20 , 30 , 40 , 50 } ,
+{ -40 , -30 , -20 , -10 , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 10 , 20 , 30 , 40 } ,
+{ -30 , -20 , -10 , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 10 , 20 , 30 }
+};
+
+int b_array[15][15] = {
+{ 100 , 92 , 84 , 76 , 68 , 60 , 52 , 100 , 36 , 28 , 20 , 12 , 4 , 0 , 0 } ,
+{ 92 , 84 , 76 , 68 , 60 , 52 , 44 , 36 , 28 , 20 , 12 , 4 , 0 , 0 , 0 } ,
+{ 84 , 76 , 68 , 60 , 52 , 44 , 36 , 28 , 20 , 12 , 4 , 0 , 0 , 0 , -4 } ,
+{ 76 , 68 , 60 , 52 , 44 , 36 , 28 , 20 , 12 , 4 , 0 , 0 , 0 , -4 , -12 } ,
+{ 68 , 60 , 52 , 44 , 36 , 28 , 20 , 12 , 4 , 0 , 0 , 0 , -4 , -12 , -20 } ,
+{ 60 , 52 , 44 , 36 , 28 , 20 , 12 , 4 , 0 , 0 , 0 , -4 , -12 , -20 , -28 } ,
+{ 52 , 44 , 36 , 28 , 20 , 12 , 4 , 0 , 0 , 0 , -4 , -12 , -20 , -28 , -36 } ,
+{ 100 , 36 , 28 , 20 , 12 , 4 , 0 , 0 , 0 , -4 , -12 , -20 , -28 , -36 , -44 } ,
+{ 85 , 28 , 20 , 12 , 4 , 0 , 0 , 0 , -4 , -12 , -20 , -28 , -36 , -44 , -52 } ,
+{ 70 , 20 , 12 , 4 , 0 , 0 , 0 , -4 , -12 , -20 , -28 , -36 , -44 , -52 , -60 } ,
+{ 55 , 12 , 4 , 0 , 0 , 0 , -4 , -12 , -20 , -28 , -36 , -44 , -52 , -60 , -68 } ,
+{ 40 , 4 , 0 , 0 , 0 , -4 , -12 , -20 , -28 , -36 , -44 , -52 , -60 , -68 , -76 } ,
+{ 25 , 0 , 0 , 0 , -4 , -12 , -20 , -28 , -36 , -44 , -52 , -60 , -68 , -76 , -84 } ,
+{ 10 , 0 , 0 , -4 , -12 , -20 , -28 , -36 , -44 , -52 , -60 , -68 , -76 , -84 , -92 } ,
+{ 0 , 0 , -4 , -12 , -20 , -28 , -36 , -100 , -52 , -60 , -68 , -76 , -84 , -92 , -100 }
+};
+int c_array[15][15] = {
+{ 0 , 0 , 4 , 12 , 20 , 28 , 36 , 100 , 52 , 60 , 68 , 76 , 84 , 92 , 100 } ,
+{ 0 , 0 , 0 , 4 , 12 , 20 , 28 , 36 , 44 , 52 , 60 , 68 , 76 , 84 , 92 } ,
+{ -4 , 0 , 0 , 0 , 4 , 12 , 20 , 28 , 36 , 44 , 52 , 60 , 68 , 76 , 84 } ,
+{ -12 , -4 , 0 , 0 , 0 , 4 , 12 , 20 , 28 , 36 , 44 , 52 , 60 , 68 , 76 } ,
+{ -20 , -12 , -4 , 0 , 0 , 0 , 4 , 12 , 20 , 28 , 36 , 44 , 52 , 60 , 68 } ,
+{ -28 , -20 , -12 , -4 , 0 , 0 , 0 , 4 , 12 , 20 , 28 , 36 , 44 , 52 , 60 } ,
+{ -36 , -28 , -20 , -12 , -4 , 0 , 0 , 0 , 4 , 12 , 20 , 28 , 36 , 44 , 52 } ,
+{ -44 , -36 , -28 , -20 , -12 , -4 , 0 , 0 , 0 , 4 , 12 , 20 , 28 , 36 , 44 } ,
+{ -52 , -44 , -36 , -28 , -20 , -12 , 4 , 0 , 0 , 0 , 4 , 12 , 20 , 28 , 36 } ,
+{ -60 , -52 , -44 , -36 , -28 , -20 , -12 , -4 , 0 , 0 , 0 , 4 , 12 , 20 , 28 } ,
+{ -68 , -60 , -52 , -44 , -36 , -28 , -20 , -12 , -4 , 0 , 0 , 0 , 4 , 12 , 20 } ,
+{ -76 , -68 , -60 , -52 , -44 , -36 , -28 , -20 , -12 , -4 , 0 , 0 , 0 , 4 , 12 } ,
+{ -84 , -76 , -68 , -60 , -52 , -44 , -36 , -28 , -20 , -12 , -4 , 0 , 0 , 0 , 4 } ,
+{ -92 , -84 , -76 , -68 , -60 , -52 , -44 , -36 , -28 , -20 , -12 , -4 , 0 , 0 , 0 } ,
+{ -100 , -92 , -84 , -76 , -76 , -60 , -100 , -100 , -36 , -28 , -20 , -12 , -4 , 0 , 0 }
+};
+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];
+uint8_t pwmData[5];
+
+int conlx;
+int conly;
+int conrx;
+int conry;
+int conba;
+int conbb;
+int conbx;
+int conby;
//↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑
//_____________________
@@ -91,17 +165,156 @@
/------------------------ 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(((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];
+ motor[a].dir = FOR;
+ }else if(a_array[conly][conlx] > 0){
+ motor[a].pwm = a_array[conly][conlx];
+ 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;
+ }
+ }
+
+ if(b_array[conly][conlx] <0 ){
+ motor[b].pwm = -1*b_array[conly][conlx];
+ motor[b].dir = FOR;
+ }else if(b_array[conly][conlx] > 0){
+ motor[b].pwm = b_array[conly][conlx];
+ 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];
+ motor[c].dir = BACK;
+ }else if(c_array[conly][conlx] > 0){
+ motor[c].pwm = c_array[conly][conlx];
+ 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 (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;
+// }
+//
+//
+ //(conba)
+ //{aira=0;}
+ // if(conbb)
+// {airb=0;}
+
+
+
+
+
+
+
+
+
+ }
+
+
+
+
+//
+//↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑
+//___________________________
-//↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑
-//____________________________
-
+
MOTOR::Motor::Update(motor);
}
-}
-
+}
\ No newline at end of file