File content as of revision 0:3ad208cbea5f:

#include"mbed.h"
#include"measuring_wheel.h"
#include"ikarashiMDC.h"
#include"position_controller.h"
#include"omni_wheel.h"
#include"pin_config.h"
#include"SerialMultiByte.h"
#include"PID.h"
#include"IRsensor.h"

#define YPOINT 4000
#define GAP 0

Serial serial(MDCTX,MDCRX,115200);
ikarashiMDC motor[]={
    ikarashiMDC(1,0,SM,&serial),
    ikarashiMDC(1,1,SM,&serial),
    ikarashiMDC(1,2,SM,&serial),
    ikarashiMDC(1,3,SM,&serial)
};
PositionController position_control_1(500,500,0.1,0.01,0.8);

OmniWheel omni(4);
SerialMultiByte s(SERIALTX,SERIALRX);
MeasuringWheel m(QEI1_1,QEI1_2,QEI4_1,QEI4_2,QEI3_1,QEI3_2,R1370TX,R1370RX);
PID pid_spin(0,0,0,0.001);
PID pid_x(0,0,0,0.001);
PID pid_y(0,0,0,0.001);
Serial pc(USBTX,USBRX,115200);

DigitalIn debug_button(USER_BUTTON);
DigitalOut debug_led_0(LED_0);
DigitalOut debug_led_1(LED_2);
DigitalOut debug_led_2(LED_1);

IRsensor IR0(IR_0);

int mode;
int instruction_mode;
double omni_power[4];
double X_power,Y_power;
double spin_power;
float y_point = YPOINT;
int X_,Y_;
double dai_x,dai_low_y;
int gap = GAP;

void set_up()
{
  float theta = PIII / 4;
  omni.wheel[0].setRadian(PIII - theta);
  omni.wheel[1].setRadian(theta);
  omni.wheel[2].setRadian(-theta);
  omni.wheel[3].setRadian(PIII + theta);

  s.setHeaders('A','Z');
  s.startReceive(5);

  IR0.startAveraging(5);

}

void mode1()
{
  pid_x.setProcessValue(m.getOutX());
  X_power += pid_x.compute();

  position_control_1.compute(0.0,m.getOutY());
  Y_power += position_control_1.getVelocityY();

  pid_y.setProcessValue(m.getOutY() - Y_);
  Y_power += pid_y.compute();

  pid_spin.setProcessValue(m.getjyroAngle());
  spin_power = pid_spin.compute();

}

void mode2()
{
  X_power -= 0.3;

  pid_x.setProcessValue(m.getOutX() - X_);
  X_power += pid_x.compute();

  pid_y.setProcessValue(m.getOutY());
  Y_power += pid_y.compute();

  pid_spin.setProcessValue(m.getjyroAngle());
  spin_power = pid_spin.compute();

}

void mode3()
{
  pid_x.setProcessValue(m.getOutX());
  X_power += pid_x.compute();

  Y_power -= 0.3;

  pid_spin.setProcessValue(m.getjyroAngle());
  spin_power = pid_spin.compute();

}

void mode4()
{
  pid_x.setProcessValue(m.getOutX());
  X_power += pid_x.compute();

  pid_y.setProcessValue(m.getOutY());
  Y_power += pid_y.compute();

  pid_spin.setProcessValue(m.getjyroAngle());
  spin_power = pid_spin.compute();

}

void to_main()
{
  unsigned char data[1];
  unsigned char getdata[5];
  data[0] = mode;
  s.sendData(data,1);
  s.getData(getdata);
  instruction_mode=getdata[0];

  if(getdata[2]>=(1<<7)){
    getdata[2]-=(1<<7);
    X_=-1*(getdata[1]+(getdata[2]<<8));
  }
  else X_= getdata[1]+(getdata[2]<<8);

  if(getdata[4]>=(1<<7)){
    getdata[4]-=(1<<7);
    Y_=-1*(getdata[3]+(getdata[4]<<8));
  }
  else Y_= getdata[3]+(getdata[4]<<8);
  if(instruction_mode!=0)debug_led_1 = !debug_led_1;
}
int main()
{
  set_up();
  while(true){
    debug_led_0 = !debug_led_0;
    X_power = 0.0;
    Y_power = 0.0;
    spin_power = 0.0;

    to_main();

    if(instruction_mode == 1&&mode == 0){

      pid_x.reset();
      pid_x.setTunings(3.0,1.0,0.000001);
      pid_x.setInputLimits(-1000.0,1000.0);
      pid_x.setOutputLimits(-1.0,1.0);
      pid_x.setBias(0);
      pid_x.setMode(1);
      pid_x.setSetPoint(0.0);

      position_control_1.targetXY(1,int(y_point));

      pid_y.reset();
      pid_y.setTunings(1.0,1.0,0.000001);
      pid_y.setInputLimits(-1000.0,1000.0);
      pid_y.setOutputLimits(-1.0,1.0);
      pid_y.setBias(0);
      pid_y.setMode(1);
      pid_y.setSetPoint(0.0);

      pid_spin.reset();
      pid_spin.setTunings(5.0,1.0,0.000001);
      pid_spin.setInputLimits(-180.0,180.0);
      pid_spin.setOutputLimits(-0.5,0.5);
      pid_spin.setBias(0);
      pid_spin.setMode(1);
      pid_spin.setSetPoint(0.0);

      mode = 1;
    }

    if((m.getOutY() >= (y_point - 50)) && mode == 1){

      pid_x.reset();
      pid_x.setTunings(1.0,1.0,0.000001);
      pid_x.setInputLimits(-1000.0,1000.0);
      pid_x.setOutputLimits(-1.0,1.0);
      pid_x.setBias(0);
      pid_x.setMode(1);
      pid_x.setSetPoint(0.0);

      pid_y.reset();
      pid_y.setTunings(1.0,1.0,0.000001);
      pid_y.setInputLimits(y_point - 1000.0 , y_point + 1000.0);
      pid_y.setOutputLimits(-1.0,1.0);
      pid_y.setBias(0);
      pid_y.setMode(1);
      pid_y.setSetPoint(y_point);

      pid_spin.reset();
      pid_spin.setTunings(5.0,1.0,0.000001);
      pid_spin.setInputLimits(-180.0,180.0);
      pid_spin.setOutputLimits(-0.5,0.5);
      pid_spin.setBias(0);
      pid_spin.setMode(1);
      pid_spin.setSetPoint(0.0);

      mode = 2;
    }

    if(IR0.get_Averagingdistance()<=20&&mode == 2){
      dai_x = m.getOutX();
      mode = 0xff;
    }

    if(instruction_mode == 3&&mode == 0xff){
      pid_x.reset();
      pid_x.setTunings(3.0,1.0,0.000001);
      pid_x.setInputLimits(dai_x - 1000.0,dai_x + 1000.0);
      pid_x.setOutputLimits(-1.0,1.0);
      pid_x.setBias(0);
      pid_x.setMode(1);
      pid_x.setSetPoint(dai_x);

      pid_spin.reset();
      pid_spin.setTunings(5.0,1.0,0.000001);
      pid_spin.setInputLimits(-180.0,180.0);
      pid_spin.setOutputLimits(-0.5,0.5);
      pid_spin.setBias(0);
      pid_spin.setMode(1);
      pid_spin.setSetPoint(0.0);

      mode = 3;
    }

    if(IR0.get_Averagingdistance()>=50&&mode == 3){
      dai_low_y = m.getOutY();

      pid_x.reset();
      pid_x.setTunings(3.0,1.0,0.000001);
      pid_x.setInputLimits(dai_x - 1000.0,dai_x + 1000.0);
      pid_x.setOutputLimits(-1.0,1.0);
      pid_x.setBias(0);
      pid_x.setMode(1);
      pid_x.setSetPoint(dai_x);

      pid_y.reset();
      pid_y.setTunings(1.0,1.0,0.000001);
      pid_y.setInputLimits(dai_low_y + gap - 1000.0 ,dai_low_y + gap + 1000.0);
      pid_y.setOutputLimits(-1.0,1.0);
      pid_y.setBias(0);
      pid_y.setMode(1);
      pid_y.setSetPoint(dai_low_y + gap);

      pid_spin.reset();
      pid_spin.setTunings(5.0,1.0,0.000001);
      pid_spin.setInputLimits(-180.0,180.0);
      pid_spin.setOutputLimits(-0.5,0.5);
      pid_spin.setBias(0);
      pid_spin.setMode(1);
      pid_spin.setSetPoint(0.0);

      mode = 4;
    }

    if(Y_power < 0.05 && Y_power > -0.05 && mode == 4){
      mode = 0xff;
    }

    if(mode == 1)mode1();
    if(mode == 2)mode2();
    if(mode == 3)mode3();
    if(mode == 4)mode4();

    omni.computeXY(Y_power,-X_power,-spin_power);

    for(int i = 0; i < 4; i++){
      omni_power[i] = 0.0;
      omni_power[i] = omni.wheel[i];
      motor[i].setSpeed(omni_power[i]);
    }

  }
}