大季 矢花
/
2019_Master_10_3_last_ugokuyo
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Dependencies: mbed TrapezoidControl QEI
Revision 22:c47f29caded6, committed 2019-09-14
- Comitter:
- kishibekairohan
- Date:
- Sat Sep 14 00:10:57 2019 +0000
- Parent:
- 21:1f1e9c585da8
- Child:
- 23:694ecfa97839
- Commit message:
- aaaaa
Changed in this revision
| System/Process/Process.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/System/Process/Process.cpp Fri Sep 13 01:36:42 2019 +0000
+++ b/System/Process/Process.cpp Sat Sep 14 00:10:57 2019 +0000
@@ -292,6 +292,7 @@
int mode1=0;
int mode1g0=100000;
+
static void Process1()
{
mode1g0=100000;
@@ -401,6 +402,8 @@
#if USE_PROCESS_NUM>2
bool mtc=false;
+//追加
+bool mtc2 = false;
static void Process2()
{
@@ -563,15 +566,144 @@
mode=3;
}
} else if(mode==3) {
- motor[TIRE_FR].pwm = 0;
- motor[TIRE_FR].dir = BRAKE;
- motor[TIRE_FL].pwm = 0;
- motor[TIRE_FL].dir = BRAKE;
- motor[TIRE_BR].pwm = 0;
- motor[TIRE_BR].dir = BRAKE;
- motor[TIRE_BL].pwm = 0;
- motor[TIRE_BL].dir = BRAKE;
- } else {
+ switch(g[2]) {
+ case 98:
+ motor[TIRE_FR].pwm = 30;
+ motor[TIRE_FR].dir = FOR;
+ motor[TIRE_FL].pwm = 30;
+ motor[TIRE_FL].dir = FOR;
+ motor[TIRE_BR].pwm = 30;
+ motor[TIRE_BR].dir = BACK;
+ motor[TIRE_BL].pwm = 30;
+ motor[TIRE_BL].dir = BACK;
+
+ mtc2=true;
+
+ if(mode1g0>100000) {
+ mode1++;
+ mode1g0=0;
+ }
+
+ mtc2=true;
+
+ if(mode1==2) {
+ mode=3;
+ }
+ break;
+ case 0:
+ motor[TIRE_FR].pwm = 60;
+ motor[TIRE_FR].dir = FOR;
+ motor[TIRE_FL].pwm = 60;
+ motor[TIRE_FL].dir = FOR;
+ motor[TIRE_BR].pwm = 60;
+ motor[TIRE_BR].dir = BACK;
+ motor[TIRE_BL].pwm = 60;
+ motor[TIRE_BL].dir = BACK;
+ mtc2=true;
+ break;
+ case 255:
+ motor[TIRE_FR].pwm = 40;
+ motor[TIRE_FR].dir = FOR;
+ motor[TIRE_FL].pwm = 60;
+ motor[TIRE_FL].dir = FOR;
+ motor[TIRE_BR].pwm = 60;
+ motor[TIRE_BR].dir = BACK;
+ motor[TIRE_BL].pwm = 40;
+ motor[TIRE_BL].dir = BACK;
+ mtc2=true;
+ break;
+ case 253:
+ motor[TIRE_FR].pwm = 0;
+ motor[TIRE_FR].dir = FREE;
+ motor[TIRE_FL].pwm = 20;
+ motor[TIRE_FL].dir = FOR;
+ motor[TIRE_BR].pwm = 20;
+ motor[TIRE_BR].dir = BACK;
+ motor[TIRE_BL].pwm = 0;
+ motor[TIRE_BL].dir = FREE;
+ mtc2=true;
+ break;
+ case 254:
+ motor[TIRE_FR].pwm = 0;
+ motor[TIRE_FR].dir = FREE;
+ motor[TIRE_FL].pwm = 30;
+ motor[TIRE_FL].dir = FOR;
+ motor[TIRE_BR].pwm = 30;
+ motor[TIRE_BR].dir = BACK;
+ motor[TIRE_BL].pwm = 0;
+ motor[TIRE_BL].dir = FREE;
+ mtc2=true;
+ break;
+ case 1:
+ motor[TIRE_FR].pwm = 60;
+ motor[TIRE_FR].dir = FOR;
+ motor[TIRE_FL].pwm = 40;
+ motor[TIRE_FL].dir = FOR;
+ motor[TIRE_BR].pwm = 40;
+ motor[TIRE_BR].dir = BACK;
+ motor[TIRE_BL].pwm = 60;
+ motor[TIRE_BL].dir = BACK;
+ mtc2=true;
+ break;
+ case 3:
+ motor[TIRE_FR].pwm = 20;
+ motor[TIRE_FR].dir = FOR;
+ motor[TIRE_FL].pwm = 0;
+ motor[TIRE_FL].dir = FREE;
+ motor[TIRE_BR].pwm = 0;
+ motor[TIRE_BR].dir = FREE;
+ motor[TIRE_BL].pwm = 20;
+ motor[TIRE_BL].dir = BACK;
+ mtc2=true;
+ break;
+ case 2:
+ motor[TIRE_FR].pwm = 30;
+ motor[TIRE_FR].dir = FOR;
+ motor[TIRE_FL].pwm = 0;
+ motor[TIRE_FL].dir = FREE;
+ motor[TIRE_BR].pwm = 0;
+ motor[TIRE_BR].dir = FREE;
+ motor[TIRE_BL].pwm = 30;
+ motor[TIRE_BL].dir = BACK;
+ mtc2=true;
+ break;
+ }
+ if(g[2]!=98&&mtc2==true) {
+ switch(g[3]) {
+ case 0:
+ mtc2=false;
+ break;
+ case 255:
+ motor[TIRE_BL].pwm += 5;
+ mtc2=false;
+ break;
+ case 253:
+ motor[TIRE_BL].pwm += 10;
+ mtc2=false;
+ break;
+ case 254:
+ motor[TIRE_BL].pwm += 20;
+ motor[TIRE_FL].pwm = 0;
+ mtc2=false;
+ break;
+ case 1:
+ motor[TIRE_FL].pwm += 5;
+ mtc2=false;
+ break;
+ case 3:
+ motor[TIRE_FL].pwm += 10;
+ mtc2=false;
+ break;
+ case 2:
+ motor[TIRE_FL].pwm += 20;
+ motor[TIRE_BL].pwm = 0;
+ mtc2=false;
+ break;
+ }
+ }
+ }
+
+ else {
motor[TIRE_FR].pwm = 0;
motor[TIRE_FR].dir = BRAKE;
motor[TIRE_FL].pwm = 0;