椋 高山
/
mainboardnrp2018
Dead by Daylight
System/Process/Process.cpp@9:49e851ad441e, 2019-02-23 (annotated)
- Committer:
- takayama_ryo
- Date:
- Sat Feb 23 02:47:39 2019 +0000
- Revision:
- 9:49e851ad441e
- Parent:
- 8:cb53beff4bb2
Dead by Daylight
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
t_yamamoto | 8:cb53beff4bb2 | 1 | //2018/02/24のやつ |
t_yamamoto | 5:a802ab60df1b | 2 | |
t_yamamoto | 0:562021ed1ba9 | 3 | #include "Process.h" |
t_yamamoto | 0:562021ed1ba9 | 4 | |
t_yamamoto | 0:562021ed1ba9 | 5 | #include "mbed.h" |
t_yamamoto | 0:562021ed1ba9 | 6 | #include "../../Communication/XBee/XBee.h" |
t_yamamoto | 0:562021ed1ba9 | 7 | #include "../../Input/Switch/Switch.h" |
t_yamamoto | 0:562021ed1ba9 | 8 | #include "../../Output/Motor/Motor.h" |
t_yamamoto | 8:cb53beff4bb2 | 9 | #include "../../Output/Servo/Servo.h" |
t_yamamoto | 8:cb53beff4bb2 | 10 | |
t_yamamoto | 0:562021ed1ba9 | 11 | //_____________________ |
t_yamamoto | 0:562021ed1ba9 | 12 | /*---------------- HOW TO WRITE ----------------/ |
t_yamamoto | 0:562021ed1ba9 | 13 | |
t_yamamoto | 0:562021ed1ba9 | 14 | ・motor の割り当てを決める |
t_yamamoto | 0:562021ed1ba9 | 15 | #define TIRE_L 1 |
t_yamamoto | 0:562021ed1ba9 | 16 | |
t_yamamoto | 0:562021ed1ba9 | 17 | ・リミットスイッチの割り当てを決める |
takayama_ryo | 9:49e851ad441e | 18 | #define 0_L 1 |
t_yamamoto | 0:562021ed1ba9 | 19 | |
t_yamamoto | 0:562021ed1ba9 | 20 | ・他にも自由に定義してもいいです (pwmとか) |
t_yamamoto | 0:562021ed1ba9 | 21 | |
t_yamamoto | 0:562021ed1ba9 | 22 | /---------------- HOW TO WRITE ----------------*/ |
t_yamamoto | 0:562021ed1ba9 | 23 | //↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓ |
t_yamamoto | 0:562021ed1ba9 | 24 | |
takayama_ryo | 9:49e851ad441e | 25 | #define TIRE_LF 0 |
takayama_ryo | 9:49e851ad441e | 26 | #define TIRE_LB 1 |
takayama_ryo | 9:49e851ad441e | 27 | #define TIRE_RB 2 |
takayama_ryo | 9:49e851ad441e | 28 | #define TIRE_RF 3 |
takayama_ryo | 9:49e851ad441e | 29 | #define ARM_M 4 |
takayama_ryo | 9:49e851ad441e | 30 | |
takayama_ryo | 9:49e851ad441e | 31 | #define Air1_pin A7 |
takayama_ryo | 9:49e851ad441e | 32 | #define Air2_pin A6 |
takayama_ryo | 9:49e851ad441e | 33 | #define Air3_pin A5 |
takayama_ryo | 9:49e851ad441e | 34 | #define ARM_T 0 |
takayama_ryo | 9:49e851ad441e | 35 | |
takayama_ryo | 9:49e851ad441e | 36 | const int omni[15][15]= |
takayama_ryo | 9:49e851ad441e | 37 | { |
takayama_ryo | 9:49e851ad441e | 38 | { 0, 2, 6, 15, 26, 41, 59, 80, 80, 80, 80, 80, 80, 80, 80}, |
takayama_ryo | 9:49e851ad441e | 39 | { -2, 0, 2, 6, 15, 26, 41, 59, 61, 65, 73, 80, 80, 80, 80}, |
takayama_ryo | 9:49e851ad441e | 40 | { -6, -2, 0, 2, 6, 15, 26, 41, 43, 47, 56, 67, 80, 80, 80}, |
takayama_ryo | 9:49e851ad441e | 41 | { -15, -6, -2, 0, 2, 6, 15, 26, 28, 33, 41, 52, 67, 80, 80}, |
takayama_ryo | 9:49e851ad441e | 42 | { -26, -15, -6, -2, 0, 2, 6, 15, 17, 21, 29, 41, 56, 73, 80}, |
takayama_ryo | 9:49e851ad441e | 43 | { -41, -26, -15, -6, -2, 0, 2, 6, 8, 13, 21, 33, 48, 65, 80}, |
takayama_ryo | 9:49e851ad441e | 44 | { -59, -41, -26, -15, -6, -2, 0, 2, 4, 8, 16, 28, 42, 61, 80}, |
takayama_ryo | 9:49e851ad441e | 45 | { -80, -59, -41, -26, -15, -6, -2, 0, 2, 6, 15, 26, 41, 59, 80}, |
takayama_ryo | 9:49e851ad441e | 46 | { -80, -61, -42, -28, -16, -8, -4, -2, 0, 2, 6, 15, 26, 41, 59}, |
takayama_ryo | 9:49e851ad441e | 47 | { -80, -65, -48, -33, -21, -13, -8, -6, -2, 0, 2, 6, 15, 26, 41}, |
takayama_ryo | 9:49e851ad441e | 48 | { -80, -73, -56, -41, -29, -21, -17, -15, -6, -2, 0, 2, 6, 15, 26}, |
takayama_ryo | 9:49e851ad441e | 49 | { -80, -80, -67, -52, -41, -33, -28, -26, -15, -6, -2, 0, 2, 6, 15}, |
takayama_ryo | 9:49e851ad441e | 50 | { -80, -80, -80, -67, -56, -47, -43, -41, -26, -15, -6, -2, 0, 2, 6}, |
takayama_ryo | 9:49e851ad441e | 51 | { -80, -80, -80, -80, -73, -65, -61, -59, -41, -26, -15, -6, -2, 0, 2}, |
takayama_ryo | 9:49e851ad441e | 52 | { -80, -80, -80, -80, -80, -80, -80, -80, -59, -41, -26, -15, -6, -2, 0} |
takayama_ryo | 9:49e851ad441e | 53 | }; |
takayama_ryo | 9:49e851ad441e | 54 | |
takayama_ryo | 9:49e851ad441e | 55 | const int curve[15] = {-64, -47, -33, -21, -12, -5, -1, 0, 1, 5, 12, 21, 33, 47, 64}; |
t_yamamoto | 0:562021ed1ba9 | 56 | |
t_yamamoto | 0:562021ed1ba9 | 57 | |
t_yamamoto | 0:562021ed1ba9 | 58 | |
takayama_ryo | 9:49e851ad441e | 59 | uint8_t SetStatus(int); |
takayama_ryo | 9:49e851ad441e | 60 | uint8_t SetStatus(int pwmVal){ |
takayama_ryo | 9:49e851ad441e | 61 | if(pwmVal < 0) return BACK; |
takayama_ryo | 9:49e851ad441e | 62 | else if(pwmVal > 0) return FOR; |
takayama_ryo | 9:49e851ad441e | 63 | else if(pwmVal == 0) return BRAKE; |
takayama_ryo | 9:49e851ad441e | 64 | } |
takayama_ryo | 9:49e851ad441e | 65 | uint8_t SetPWM(int); |
takayama_ryo | 9:49e851ad441e | 66 | uint8_t SetPWM(int pwmVal){ |
takayama_ryo | 9:49e851ad441e | 67 | if(pwmVal == 0 || pwmVal > 80 || pwmVal < -80) return 80; |
takayama_ryo | 9:49e851ad441e | 68 | else return abs(pwmVal); |
takayama_ryo | 9:49e851ad441e | 69 | } |
t_yamamoto | 0:562021ed1ba9 | 70 | |
t_yamamoto | 0:562021ed1ba9 | 71 | //↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑ |
t_yamamoto | 0:562021ed1ba9 | 72 | //_____________________ |
t_yamamoto | 0:562021ed1ba9 | 73 | |
t_yamamoto | 8:cb53beff4bb2 | 74 | //#define USE_USB_SERIAL |
t_yamamoto | 0:562021ed1ba9 | 75 | #ifdef USE_USB_SERIAL |
t_yamamoto | 0:562021ed1ba9 | 76 | Serial pc(SERIAL_TX, SERIAL_RX); |
t_yamamoto | 0:562021ed1ba9 | 77 | #endif |
t_yamamoto | 0:562021ed1ba9 | 78 | XBEE::ControllerData *controller; |
t_yamamoto | 0:562021ed1ba9 | 79 | MOTOR::MotorStatus motor[MOUNTING_MOTOR_NUM]; |
t_yamamoto | 0:562021ed1ba9 | 80 | |
takayama_ryo | 9:49e851ad441e | 81 | |
takayama_ryo | 9:49e851ad441e | 82 | |
t_yamamoto | 0:562021ed1ba9 | 83 | using namespace SWITCH; |
takayama_ryo | 9:49e851ad441e | 84 | ///////////////////////////////// |
takayama_ryo | 9:49e851ad441e | 85 | DigitalOut AirPin[] = { |
takayama_ryo | 9:49e851ad441e | 86 | DigitalOut(Air1_pin), |
takayama_ryo | 9:49e851ad441e | 87 | DigitalOut(Air2_pin), |
takayama_ryo | 9:49e851ad441e | 88 | DigitalOut(Air3_pin), |
takayama_ryo | 9:49e851ad441e | 89 | }; |
t_yamamoto | 0:562021ed1ba9 | 90 | |
takayama_ryo | 9:49e851ad441e | 91 | void AirOut(int pin,int mode){ |
takayama_ryo | 9:49e851ad441e | 92 | if(mode==1){ |
takayama_ryo | 9:49e851ad441e | 93 | AirPin[pin]=1; |
takayama_ryo | 9:49e851ad441e | 94 | }else if(mode==0){ |
takayama_ryo | 9:49e851ad441e | 95 | AirPin[pin]=0; |
takayama_ryo | 9:49e851ad441e | 96 | }else{ |
takayama_ryo | 9:49e851ad441e | 97 | AirPin[pin]=0; |
takayama_ryo | 9:49e851ad441e | 98 | } |
takayama_ryo | 9:49e851ad441e | 99 | } |
takayama_ryo | 9:49e851ad441e | 100 | ////////////////////////////////// |
t_yamamoto | 8:cb53beff4bb2 | 101 | void SystemProcess(void) { |
t_yamamoto | 0:562021ed1ba9 | 102 | while(true) { |
t_yamamoto | 0:562021ed1ba9 | 103 | controller = XBEE::Controller::GetData(); |
t_yamamoto | 0:562021ed1ba9 | 104 | //____________________________ |
t_yamamoto | 0:562021ed1ba9 | 105 | /*------------------------ HOW TO WRITE ------------------------/ |
t_yamamoto | 0:562021ed1ba9 | 106 | |
t_yamamoto | 0:562021ed1ba9 | 107 | ここにメインのプログラムを書く |
t_yamamoto | 0:562021ed1ba9 | 108 | |
t_yamamoto | 0:562021ed1ba9 | 109 | ・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 |
t_yamamoto | 0:562021ed1ba9 | 110 | (コントローラのデータは controller-> で取る) |
t_yamamoto | 0:562021ed1ba9 | 111 | |
t_yamamoto | 0:562021ed1ba9 | 112 | if(controller->Button.RIGHT) { |
t_yamamoto | 0:562021ed1ba9 | 113 | motor[TIRE_L].dir = FOR; |
t_yamamoto | 0:562021ed1ba9 | 114 | motor[TIRE_R].dir = BACK; |
t_yamamoto | 7:f4252ddc480d | 115 | motor[TIRE_L].pwm = 12.3; |
t_yamamoto | 7:f4252ddc480d | 116 | motor[TIRE_R].pwm = 12.3; |
t_yamamoto | 0:562021ed1ba9 | 117 | } |
t_yamamoto | 0:562021ed1ba9 | 118 | |
t_yamamoto | 6:c294736ba99d | 119 | motor[0].dirは FOR (正転) |
t_yamamoto | 0:562021ed1ba9 | 120 | BACK (逆転) |
t_yamamoto | 0:562021ed1ba9 | 121 | BRAKE (ブレーキ) |
t_yamamoto | 0:562021ed1ba9 | 122 | FREE (フリー) |
t_yamamoto | 0:562021ed1ba9 | 123 | |
t_yamamoto | 0:562021ed1ba9 | 124 | motor[0].pwmは 0.0(%) ~ 100.0(%) |
t_yamamoto | 0:562021ed1ba9 | 125 | |
t_yamamoto | 0:562021ed1ba9 | 126 | controllerは XBee.hの構造体の中身 |
t_yamamoto | 0:562021ed1ba9 | 127 | |
t_yamamoto | 0:562021ed1ba9 | 128 | (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) |
t_yamamoto | 0:562021ed1ba9 | 129 | |
t_yamamoto | 0:562021ed1ba9 | 130 | ・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 |
t_yamamoto | 0:562021ed1ba9 | 131 | |
takayama_ryo | 9:49e851ad441e | 132 | if(Switch::CheckPushed(0_L)) |
t_yamamoto | 0:562021ed1ba9 | 133 | { |
t_yamamoto | 0:562021ed1ba9 | 134 | if(controller->Button.L) |
t_yamamoto | 0:562021ed1ba9 | 135 | { |
takayama_ryo | 9:49e851ad441e | 136 | motor[0].dir = FOR; |
takayama_ryo | 9:49e851ad441e | 137 | motor[0].pwm = 80.0; |
t_yamamoto | 0:562021ed1ba9 | 138 | } |
takayama_ryo | 9:49e851ad441e | 139 | if(motor[0].dir == BACK) |
t_yamamoto | 0:562021ed1ba9 | 140 | { |
takayama_ryo | 9:49e851ad441e | 141 | motor[0].dir = BRAKE; |
t_yamamoto | 0:562021ed1ba9 | 142 | } |
t_yamamoto | 0:562021ed1ba9 | 143 | } |
t_yamamoto | 0:562021ed1ba9 | 144 | |
t_yamamoto | 0:562021ed1ba9 | 145 | →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) |
t_yamamoto | 0:562021ed1ba9 | 146 | |
t_yamamoto | 0:562021ed1ba9 | 147 | ・他にもやりたいことがあったら自由にどうぞ |
t_yamamoto | 0:562021ed1ba9 | 148 | |
t_yamamoto | 0:562021ed1ba9 | 149 | ps.わからないことがあったら聞いてください |
t_yamamoto | 0:562021ed1ba9 | 150 | |
t_yamamoto | 0:562021ed1ba9 | 151 | /------------------------ HOW TO WRITE ------------------------*/ |
t_yamamoto | 0:562021ed1ba9 | 152 | //↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓ |
takayama_ryo | 9:49e851ad441e | 153 | |
takayama_ryo | 9:49e851ad441e | 154 | |
takayama_ryo | 9:49e851ad441e | 155 | if(controller->AnalogL.X >= 6 && controller->AnalogL.X <= 8 && controller->AnalogL.Y >= 6 && controller->AnalogL.Y <= 8){ |
takayama_ryo | 9:49e851ad441e | 156 | motor[TIRE_LF].dir = FREE; |
takayama_ryo | 9:49e851ad441e | 157 | motor[TIRE_LB].dir = FREE; |
takayama_ryo | 9:49e851ad441e | 158 | motor[TIRE_RB].dir = FREE; |
takayama_ryo | 9:49e851ad441e | 159 | motor[TIRE_RF].dir = FREE; |
takayama_ryo | 9:49e851ad441e | 160 | } |
takayama_ryo | 9:49e851ad441e | 161 | |
takayama_ryo | 9:49e851ad441e | 162 | if(controller->AnalogR.X >= 6 && controller->AnalogR.X <= 8 && controller->AnalogR.Y >= 6 && controller->AnalogR.Y <= 8){ |
takayama_ryo | 9:49e851ad441e | 163 | motor[TIRE_LF].dir = FREE; |
takayama_ryo | 9:49e851ad441e | 164 | motor[TIRE_LB].dir = FREE; |
takayama_ryo | 9:49e851ad441e | 165 | motor[TIRE_RB].dir = FREE; |
takayama_ryo | 9:49e851ad441e | 166 | motor[TIRE_RF].dir = FREE; |
takayama_ryo | 9:49e851ad441e | 167 | } |
takayama_ryo | 9:49e851ad441e | 168 | |
takayama_ryo | 9:49e851ad441e | 169 | motor[TIRE_RF].dir = SetStatus(-omni[controller->AnalogL.Y][14-controller->AnalogL.X] + curve[controller->AnalogR.X]); |
takayama_ryo | 9:49e851ad441e | 170 | motor[TIRE_LF].dir = SetStatus(omni[controller->AnalogL.Y][controller->AnalogL.X] + curve[controller->AnalogR.X]); |
takayama_ryo | 9:49e851ad441e | 171 | motor[TIRE_RB].dir = SetStatus(-omni[14-controller->AnalogL.X][14-controller->AnalogL.Y] + curve[controller->AnalogR.X]); |
takayama_ryo | 9:49e851ad441e | 172 | motor[TIRE_LB].dir = SetStatus(omni[controller->AnalogL.X][14-controller->AnalogL.Y] + curve[controller->AnalogR.X]); |
takayama_ryo | 9:49e851ad441e | 173 | |
takayama_ryo | 9:49e851ad441e | 174 | motor[TIRE_RF].pwm = SetPWM(omni[controller->AnalogL.Y][14-controller->AnalogL.X]) ; |
takayama_ryo | 9:49e851ad441e | 175 | motor[TIRE_LF].pwm = SetPWM(omni[controller->AnalogL.Y][controller->AnalogL.X]) ; |
takayama_ryo | 9:49e851ad441e | 176 | motor[TIRE_RB].pwm = SetPWM(omni[14-controller->AnalogL.X][14-controller->AnalogL.Y]) ; |
takayama_ryo | 9:49e851ad441e | 177 | motor[TIRE_LB].pwm = SetPWM(omni[controller->AnalogL.X][14-controller->AnalogL.Y]) ; |
takayama_ryo | 9:49e851ad441e | 178 | |
takayama_ryo | 9:49e851ad441e | 179 | if(controller->Button.R){ |
takayama_ryo | 9:49e851ad441e | 180 | AirOut(0,1); |
takayama_ryo | 9:49e851ad441e | 181 | } |
takayama_ryo | 9:49e851ad441e | 182 | if(controller->Button.L){ |
takayama_ryo | 9:49e851ad441e | 183 | AirOut(0,0); |
takayama_ryo | 9:49e851ad441e | 184 | } |
takayama_ryo | 9:49e851ad441e | 185 | |
takayama_ryo | 9:49e851ad441e | 186 | if(controller->Button.A){ |
takayama_ryo | 9:49e851ad441e | 187 | AirOut(1,1); |
takayama_ryo | 9:49e851ad441e | 188 | } |
takayama_ryo | 9:49e851ad441e | 189 | if(controller->Button.B){ |
takayama_ryo | 9:49e851ad441e | 190 | AirOut(1,0); |
takayama_ryo | 9:49e851ad441e | 191 | } |
takayama_ryo | 9:49e851ad441e | 192 | |
takayama_ryo | 9:49e851ad441e | 193 | if(controller->Button.X){ |
takayama_ryo | 9:49e851ad441e | 194 | AirOut(2,1); |
takayama_ryo | 9:49e851ad441e | 195 | } |
takayama_ryo | 9:49e851ad441e | 196 | if(controller->Button.Y){ |
takayama_ryo | 9:49e851ad441e | 197 | AirOut(2,0); |
takayama_ryo | 9:49e851ad441e | 198 | } |
takayama_ryo | 9:49e851ad441e | 199 | |
takayama_ryo | 9:49e851ad441e | 200 | if(controller->Button.UP) { |
takayama_ryo | 9:49e851ad441e | 201 | motor[ARM_M].dir = BACK; |
takayama_ryo | 9:49e851ad441e | 202 | motor[ARM_M].pwm = 50; |
takayama_ryo | 9:49e851ad441e | 203 | } |
takayama_ryo | 9:49e851ad441e | 204 | if(controller->Button.DOWN){ |
takayama_ryo | 9:49e851ad441e | 205 | motor[ARM_M].dir = FOR; |
takayama_ryo | 9:49e851ad441e | 206 | motor[ARM_M].pwm = 50; |
takayama_ryo | 9:49e851ad441e | 207 | } |
takayama_ryo | 9:49e851ad441e | 208 | if(Switch::checkPushed(ARM_T)){ |
takayama_ryo | 9:49e851ad441e | 209 | motor[ARM_M].dir = BRAKE; |
takayama_ryo | 9:49e851ad441e | 210 | } |
takayama_ryo | 9:49e851ad441e | 211 | else{ |
takayama_ryo | 9:49e851ad441e | 212 | motor[ARM_M].dir = BRAKE; |
takayama_ryo | 9:49e851ad441e | 213 | } |
t_yamamoto | 0:562021ed1ba9 | 214 | |
t_yamamoto | 0:562021ed1ba9 | 215 | |
t_yamamoto | 0:562021ed1ba9 | 216 | |
t_yamamoto | 0:562021ed1ba9 | 217 | |
t_yamamoto | 0:562021ed1ba9 | 218 | //↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑ |
t_yamamoto | 0:562021ed1ba9 | 219 | //____________________________ |
t_yamamoto | 0:562021ed1ba9 | 220 | |
t_yamamoto | 0:562021ed1ba9 | 221 | MOTOR::Motor::Update(motor); |
t_yamamoto | 0:562021ed1ba9 | 222 | } |
t_yamamoto | 0:562021ed1ba9 | 223 | } |
t_yamamoto | 0:562021ed1ba9 | 224 |