petbottleLoading.cpp

00001 #include "petbottleLoading.h"
00002 
00003 petbottleLoading::petbottleLoading():
00004     loadingPid(loadingKP, loadingKI, loadingKD, RATE),
00005     loadingencoder(loadingencoder1_1, loadingencoder1_2 ,NC, 2048, QEI::X4_ENCODING),
00006     RS485control(PA_4),
00007     RS485(MDC_TX,MDC_RX,115200),
00008 //    debug(USBTX, USBRX),
00009     limitSW1_(limitswich1_1),
00010     limitSW2_(limitswich1_2),
00011     limitSW3_(limitswich1_3)
00012 {
00013     petbottledrop  = new ikarashiMDC(&RS485control,1,0,SM,&RS485);
00014     petbotleslider = new ikarashiMDC(&RS485control,1,1,SM,&RS485);
00015     petbottleIn    = new ikarashiMDC(&RS485control,1,2,SM,&RS485);
00016     petbottledrop->braking = true;/*変更*/
00017     petbotleslider->braking = true;/*変更*/
00018     petbottleIn->braking = true;/*変更*/
00019     limitSW1_.mode(PullUp);
00020     limitSW2_.mode(PullUp);
00021     limitSW3_.mode(PullUp);
00022 
00023     loadingPid.setMode(AUTO_MODE);
00024     loadingPid.setInputLimits(-10, 2200);
00025     loadingPid.setOutputLimits(-0.9, 0.9);
00026     loadingPid.setBias(0.0);   // outputの変わり目
00027     limitSwFlag[2] = 0;
00028     limitSwFlag2[2] = 0;
00029     limitSwFlag[0] = 0;
00030     limitSwFlag2[0] = 0;
00031     sw5flag = 0;
00032     pt.start();
00033 
00034 }
00035 
00036 
00037 void petbottleLoading::petbottlemode(int loadingmode)
00038 {
00039     nowPals = loadingencoder.getPulses();
00040     loadingPid.setSetPoint(loadingDistance);// 目標値
00041     loadingPid.setProcessValue(nowPals);
00042     Output_PID = -1.0*loadingPid.compute();
00043     pdt = pt.read();
00044     limitSW1 = limitSW1_.read();
00045     limitSW2 = limitSW2_.read();
00046     limitSW3 = limitSW3_.read();
00047 //    debug.printf("L1:<%d>, L2:<%d>, L3:<%d>\r\n", limitSW1, limitSW2, limitSW3);
00048 //    debug.printf("nowPals<%d>\r\n", nowPals);
00049 
00050     if(loadingmode == 0) {
00051         loadingDistance = 0;
00052         petbottledropPwm = 0.0;
00053         petbottleInPwm = 0.0;
00054     } else if(loadingmode == 1) {
00055         limitSwFlag[2] = 0;
00056         limitSwFlag2[2] = 0;
00057         loadingDistance = 875;
00058         if((nowPals - pullDistanceOfset) > 700) {
00059             if(limitSW1 == 1 && limitSwFlag[0] == 0) {
00060                 limitSwFlag[0] = 1;
00061                 petbottledropPwm = 0.5;
00062             }
00063             if(limitSW1 == 0 && limitSwFlag[0] == 0 &&limitSwFlag2[0] == 0) {
00064                 limitSwFlag[0] = 1;
00065                 limitSwFlag2[0] = 1;
00066                 petbottledropPwm = 0.5
00067                 ;
00068             }
00069             if(limitSW1 ==0 && limitSwFlag[0] == 1) limitSwFlag2[0] = 1;
00070             if((limitSwFlag[0] == 1) && (limitSwFlag2[0] == 1) && (limitSW1 == 1))petbottledropPwm = 0.0;
00071         }
00072     } else if(loadingmode == 2) {
00073         limitSwFlag[2] = 0;
00074         limitSwFlag2[2] = 0;
00075         loadingDistance = 1854;
00076         if((nowPals - pullDistanceOfset) > 700) {
00077             if(limitSW1 == 1 && limitSwFlag[0] == 0) {
00078                 limitSwFlag[0] = 1;
00079 
00080                 petbottledropPwm = 0.5;
00081             }
00082             if(limitSW1 == 0 && limitSwFlag[0] == 0 &&limitSwFlag2[0] == 0) {
00083                 limitSwFlag[0] = 1;
00084                 limitSwFlag2[0] = 1;
00085                 petbottledropPwm = 0.5;
00086             }
00087             if(limitSW1 ==0 && limitSwFlag[0] == 1) limitSwFlag2[0] = 1;
00088             if((limitSwFlag[0] == 1) && (limitSwFlag2[0] == 1) && (limitSW1 == 1))petbottledropPwm = 0.0;
00089         }
00090     } else if(loadingmode == 3) {
00091         if(limitSW3 ==1 && limitSwFlag[2] == 0) limitSwFlag[2] = 1,limitSwFlag2[2] = 0 ;
00092         if(limitSW3 ==0 && limitSwFlag[2] == 1) limitSwFlag2[2] = 1;
00093         if(limitSwFlag[2] == 1 && limitSwFlag2[2] == 1) {
00094             if(limitSW3 ==1) {
00095                 petbottleInPwm = 0.0;
00096                 loadingDistance = 0;
00097                 petbottleInPwm = 0.0;
00098                 if((nowPals - pullDistanceOfset) < 15) {
00099                     if(limitSW1 == 1 && limitSwFlag[0] == 1) {
00100                         limitSwFlag[0] = 0;
00101                         petbottledropPwm = 0.5;
00102                     }
00103                     if(limitSW1 == 0 && limitSwFlag[0] == 1 &&limitSwFlag2[0] == 1) {
00104                         limitSwFlag[0] = 0;
00105                         limitSwFlag2[0] = 0;
00106                         petbottledropPwm = 0.45;
00107                     }
00108                     if(limitSW1 ==0 && limitSwFlag[0] == 0) limitSwFlag2[0] = 0;
00109                     if((limitSwFlag[0] == 0) && (limitSwFlag2[0] == 0) && (limitSW1 == 1))petbottledropPwm = 0.0;
00110                 }
00111             }
00112         } else {
00113             if((nowPals - pullDistanceOfset) > 700)petbottleInPwm = -0.5;
00114         }
00115     } else {
00116         petbottledropPwm = 0.0;
00117         petbottleInPwm = 0.0;
00118     }
00119     petbottledrop->setSpeed(petbottledropPwm);
00120     petbotleslider->setSpeed(Output_PID);
00121     petbottleIn->setSpeed(petbottleInPwm);
00122 }
00123 
00124 int petbottleLoading::LoadingEncoder()
00125 {
00126     return nowPals - pullDistanceOfset;
00127 }
00128 
00129 int petbottleLoading::state()
00130 {
00131 
00132 }