大季 矢花
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Dependencies: mbed TrapezoidControl QEI
Diff: System/Process/Process.cpp
- Revision:
- 38:391a0c8e4c16
- Parent:
- 37:7cfa39c41245
- Child:
- 39:f89166d7411c
diff -r 7cfa39c41245 -r 391a0c8e4c16 System/Process/Process.cpp
--- a/System/Process/Process.cpp Wed Sep 25 11:42:58 2019 +0000
+++ b/System/Process/Process.cpp Thu Sep 26 09:56:28 2019 +0000
@@ -718,6 +718,9 @@
}
} else if(mode==20) {
+ if(Twsh==2) {
+ solenoid.solenoid2 = SOLENOID_ON;
+ }
if(counts==false&&g[0]==0) {
cros++;
counts=true;
@@ -878,19 +881,32 @@
mode=30;
cros=0;
zyouge=true;
- if(Twsh==2) {
- solenoid.solenoid2 = SOLENOID_ON;
- }
}
} else if(mode==30) {
-
- if(counts==false&&g[3]==0) {
- counts=false;
+ motor[TIRE_FR].pwm = 62;
+ motor[TIRE_FR].dir = BACK;
+ motor[TIRE_FL].pwm = 60;
+ motor[TIRE_FL].dir = FOR;
+ motor[TIRE_BR].pwm = 60;
+ motor[TIRE_BR].dir = BACK;
+ motor[TIRE_BL].pwm = 62;
+ motor[TIRE_BL].dir = FOR;
+ if(g[0]==98) {
mode=31;
+ }
+ if(g[3]==0) {
+ mode=32;
count=0;
cros=0;
}//ゆっくりモードに入れなかった時の保険
-
+ /*
+ if(g[0]==98) {
+ if(Twsh==2) {
+ solenoid.solenoid2 = SOLENOID_OFF;
+ }
+ mode=31;
+ count=0;
+ }
switch(g[0]) {
case 98:
motor[TIRE_FR].pwm = 30;
@@ -915,66 +931,66 @@
}
break;
case 0:
- motor[TIRE_FR].pwm = 60;
+ motor[TIRE_FR].pwm = 80;
motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = 60;
+ motor[TIRE_FL].pwm = 80;
motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = 60;
+ motor[TIRE_BR].pwm = 80;
motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].pwm = 60;
+ motor[TIRE_BL].pwm = 80;
motor[TIRE_BL].dir = FOR;
mtc=true;
break;
case 255:
- motor[TIRE_FR].pwm = 60;
+ motor[TIRE_FR].pwm = 80;
motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = 20;
+ motor[TIRE_FL].pwm = 40;
motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = 20;
+ motor[TIRE_BR].pwm = 40;
motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].pwm = 60;
+ motor[TIRE_BL].pwm = 80;
motor[TIRE_BL].dir = FOR;
mtc=true;
break;
case 253:
- motor[TIRE_FR].pwm = 20;
+ motor[TIRE_FR].pwm = 80;
motor[TIRE_FR].dir = BACK;
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].pwm = 40;
motor[TIRE_BL].dir = FOR;
mtc=true;
break;
case 254:
- motor[TIRE_FR].pwm = 30;
+ motor[TIRE_FR].pwm = 50;
motor[TIRE_FR].dir = BACK;
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].pwm = 50;
motor[TIRE_BL].dir = FOR;
mtc=true;
break;
case 1:
- motor[TIRE_FR].pwm = 20;
+ motor[TIRE_FR].pwm = 40;
motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = 60;
+ motor[TIRE_FL].pwm = 80;
motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = 60;
+ motor[TIRE_BR].pwm = 80;
motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].pwm = 20;
+ motor[TIRE_BL].pwm = 40;
motor[TIRE_BL].dir = FOR;
mtc=true;
break;
case 3:
motor[TIRE_FR].pwm = 0;
motor[TIRE_FR].dir = FREE;
- motor[TIRE_FL].pwm = 20;
+ motor[TIRE_FL].pwm = 40;
motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = 20;
+ motor[TIRE_BR].pwm = 40;
motor[TIRE_BR].dir = BACK;
motor[TIRE_BL].pwm = 0;
motor[TIRE_BL].dir = FREE;
@@ -983,9 +999,9 @@
case 2:
motor[TIRE_FR].pwm = 0;
motor[TIRE_FR].dir = FREE;
- motor[TIRE_FL].pwm = 30;
+ motor[TIRE_FL].pwm = 50;
motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = 30;
+ motor[TIRE_BR].pwm = 50;
motor[TIRE_BR].dir = BACK;
motor[TIRE_BL].pwm = 0;
motor[TIRE_BL].dir = FREE;
@@ -1024,22 +1040,53 @@
mtc=false;
break;
}
+
}
- } else if(mode==31) {
- motor[TIRE_FR].pwm = 30;
+ } else if(mode==31) {
+ motor[TIRE_FR].pwm = 15;
motor[TIRE_FR].dir = BACK;
- 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_FL].pwm = 10;
+ motor[TIRE_FL].dir = BACK;
+ motor[TIRE_BR].pwm = 10;
+ motor[TIRE_BR].dir = FOR;
+ motor[TIRE_BL].pwm = 15;
motor[TIRE_BL].dir = FOR;
if(g[3]==0) {
count=0;
mode=40;
}
+ */
+
+ } else if(mode==31) {
+ motor[TIRE_FR].pwm = 15;
+ motor[TIRE_FR].dir = BACK;
+ motor[TIRE_FL].pwm = 15;
+ motor[TIRE_FL].dir = FOR;
+ motor[TIRE_BR].pwm = 15;
+ motor[TIRE_BR].dir = BACK;
+ motor[TIRE_BL].pwm = 15;
+ motor[TIRE_BL].dir = FOR;
+ if(g[3]==0) {
+ count=0;
+ mode=32;
+ }
+ } else if(mode==32) {
+ motor[TIRE_FR].pwm = 30;
+ motor[TIRE_FR].dir = FOR;
+ motor[TIRE_FL].pwm = 30;
+ motor[TIRE_FL].dir = BACK;
+ motor[TIRE_BR].pwm = 30;
+ motor[TIRE_BR].dir = FOR;
+ motor[TIRE_BL].pwm = 30;
+ motor[TIRE_BL].dir = BACK;
+ if(g[3]==0) {
+ count=0;
+ mode=40;
+ }
} else if(mode==40) {
-
+ if(LIB) {
+ mode=42;
+ }
if(counts==false&&g[0]==0) {
cros++;
counts=true;
@@ -1048,7 +1095,7 @@
counts=false;
}
- if(cros==2) {
+ if(cros==1) {
// mode=41;
//count=0;
//cros=0;
@@ -1069,7 +1116,7 @@
count=0;
}
mtc2=true;
- if(cross==3) {
+ if(cross==2) {
mode=41;
count=0;
cross=0;
@@ -1199,7 +1246,19 @@
count=0;
mode=70;
}
-
+ } else if(mode==42) {
+ 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;
+ if(g[1]==0) {
+ count=0;
+ mode=70;
+ }
} else if(mode==70) {
switch(g[1]) {
case 99:
@@ -1218,13 +1277,13 @@
motor[TIRE_BL].dir = BACK;
break;
case 0:
- motor[TIRE_FR].pwm = fast;
+ motor[TIRE_FR].pwm = 80;
motor[TIRE_FR].dir = FOR;
- motor[TIRE_FL].pwm = fast;
+ motor[TIRE_FL].pwm = 80;
motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = fast;
+ motor[TIRE_BR].pwm = 80;
motor[TIRE_BR].dir = FOR;
- motor[TIRE_BL].pwm = fast;
+ motor[TIRE_BL].pwm = 80;
motor[TIRE_BL].dir = BACK;
mtc=true;
break;
@@ -1353,6 +1412,7 @@
#if USE_PROCESS_NUM>3
static void Process3()
{
+
}
#endif
@@ -1551,6 +1611,10 @@
}
} else if(mode==20) {
+ if(Twsh==2) {
+ solenoid.solenoid2 = SOLENOID_ON;
+ }
+
if(counts==false&&g[1]==0) {
cros++;
counts=true;
@@ -1560,9 +1624,9 @@
}
if(cros==2) {
- mode=21;
- count=0;
- cros=0;
+ //mode=21;
+ //count=0;
+ //cros=0;
}//ゆっくりモードに入れなかった時の保険
switch(g[2]) {
@@ -1710,19 +1774,27 @@
mode=30;
cros=0;
zyouge=true;
- if(Twsh==2) {
- solenoid.solenoid2 = SOLENOID_ON;
- }
}
} else if(mode==30) {
-
+ motor[TIRE_FR].pwm = 60;
+ motor[TIRE_FR].dir = FOR;
+ motor[TIRE_FL].pwm = 60;
+ motor[TIRE_FL].dir = BACK;
+ motor[TIRE_BR].pwm = 60;
+ motor[TIRE_BR].dir = FOR;
+ motor[TIRE_BL].pwm = 60;
+ motor[TIRE_BL].dir = BACK;
+ if(g[1]==98) {
+ mode=31;
+ count=0;
+ }
if(counts==false&&g[3]==0) {
counts=false;
mode=31;
count=0;
cros=0;
}//ゆっくりモードに入れなかった時の保険
-
+ /*
switch(g[1]) {
case 98:
motor[TIRE_FR].pwm = 30;
@@ -1857,6 +1929,7 @@
break;
}
}
+ */
} else if(mode==31) {
motor[TIRE_FR].pwm = 0;
motor[TIRE_FR].dir = FREE;
@@ -1872,6 +1945,10 @@
}
} else if(mode==40) {
+ if(LIB) {
+ mode=42;
+ }
+
if(counts==false&&g[0]==0) {
cros++;
counts=true;