大季 矢花
/
MB2019_main_11_14_600
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Diff: System/Process/Process.cpp
- Revision:
- 41:99a1158f3eca
- Parent:
- 40:ed2409e0ce6b
- Child:
- 42:980af34f6fe3
--- a/System/Process/Process.cpp Tue Nov 05 20:40:19 2019 +0000
+++ b/System/Process/Process.cpp Fri Nov 08 13:57:55 2019 +0000
@@ -14,7 +14,6 @@
using namespace SWITCH;
using namespace PID_SPACE;
-
using namespace LINEHUB;
static CONTROLLER::ControllerData *controller;
@@ -100,10 +99,16 @@
int countss=100000;//wait代替え
///*********PWM調整用*********///
+
int fast =60;
int normal = 40;
int slow = 20;
+/*
+int fast = 80;
+int normal = 60;
+int slow = 40;
+*/
#pragma endregion USER-DEFINED_VARIABLES_AND_PROTOTYPE
#ifdef USE_SUBPROCESS
@@ -223,6 +228,9 @@
while(1) {
//pc.printf("4:%d\n\r",g[4]);
+
+ //LED_DEBUG0 = !LED_DEBUG0;
+
if(EMC==0) {
fast=40;
normal=30;
@@ -1919,13 +1927,13 @@
fast=40;
normal=30;
slow=20;
- motor[TIRE_FR].pwm = normal;
+ motor[TIRE_FR].pwm = normal+10;
motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = normal;
+ motor[TIRE_FL].pwm = normal+10;
motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = normal;
+ motor[TIRE_BR].pwm = normal+10;
motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].pwm = normal;
+ motor[TIRE_BL].pwm = normal+10;
motor[TIRE_BL].dir = FOR;
if(g[2]==0&&countss>=100000) {
countss=100000;
@@ -1967,67 +1975,68 @@
cross=0;
}
break;
+ //+20した
case 0:
- motor[TIRE_FR].pwm = fast;
+ motor[TIRE_FR].pwm = fast+15;
motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = fast;
+ motor[TIRE_FL].pwm = fast+15;
motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = fast;
+ motor[TIRE_BR].pwm = fast+15;
motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].pwm = fast;
+ motor[TIRE_BL].pwm = fast+15;
motor[TIRE_BL].dir = FOR;
mtc=true;
break;
case 255:
- motor[TIRE_FR].pwm = fast;
+ motor[TIRE_FR].pwm = fast+15;
motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = slow;
+ motor[TIRE_FL].pwm = slow+15;
motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = slow;
+ motor[TIRE_BR].pwm = slow+15;
motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].pwm = fast;
+ motor[TIRE_BL].pwm = fast+15;
motor[TIRE_BL].dir = FOR;
mtc=true;
break;
case 253:
- motor[TIRE_FR].pwm = slow;
+ motor[TIRE_FR].pwm = slow+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 = slow;
+ motor[TIRE_BL].pwm = slow+15;
motor[TIRE_BL].dir = FOR;
mtc=true;
break;
case 254:
- motor[TIRE_FR].pwm = normal;
+ motor[TIRE_FR].pwm = normal+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 = normal;
+ motor[TIRE_BL].pwm = normal+15;
motor[TIRE_BL].dir = FOR;
mtc=true;
break;
case 1:
- motor[TIRE_FR].pwm = slow;
+ motor[TIRE_FR].pwm = slow+15;
motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = fast;
+ motor[TIRE_FL].pwm = fast+15;
motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = fast;
+ motor[TIRE_BR].pwm = fast+15;
motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].pwm = slow;
+ motor[TIRE_BL].pwm = slow+15;
motor[TIRE_BL].dir = FOR;
mtc=true;
break;
case 3:
motor[TIRE_FR].pwm = 0;
motor[TIRE_FR].dir = FREE;
- motor[TIRE_FL].pwm = slow;
+ motor[TIRE_FL].pwm = slow+15;
motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = slow;
+ motor[TIRE_BR].pwm = slow+15;
motor[TIRE_BR].dir = BACK;
motor[TIRE_BL].pwm = 0;
motor[TIRE_BL].dir = FREE;
@@ -2036,9 +2045,9 @@
case 2:
motor[TIRE_FR].pwm = 0;
motor[TIRE_FR].dir = FREE;
- motor[TIRE_FL].pwm = normal;
+ motor[TIRE_FL].pwm = normal+15;
motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = normal;
+ motor[TIRE_BR].pwm = normal+15;
motor[TIRE_BR].dir = BACK;
motor[TIRE_BL].pwm = 0;
motor[TIRE_BL].dir = FREE;
@@ -2096,13 +2105,13 @@
solenoid.solenoid4= SOLENOID_ON;
switch(g[2]) {
case 98:
- motor[TIRE_FR].pwm = normal;
+ motor[TIRE_FR].pwm = normal+5;
motor[TIRE_FR].dir = FOR;
- motor[TIRE_FL].pwm = normal;
+ motor[TIRE_FL].pwm = normal+5;
motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = normal;
+ motor[TIRE_BR].pwm = normal+5;
motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].pwm = normal;
+ motor[TIRE_BL].pwm = normal+5;
motor[TIRE_BL].dir = BACK;
if(countss>30000) {
cross++;
@@ -2129,33 +2138,33 @@
}
break;
case 0:
- motor[TIRE_FR].pwm = fast;
+ motor[TIRE_FR].pwm = fast+5;
motor[TIRE_FR].dir = FOR;
- motor[TIRE_FL].pwm = fast;
+ motor[TIRE_FL].pwm = fast+5;
motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = fast;
+ motor[TIRE_BR].pwm = fast+5;
motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].pwm = fast;
+ motor[TIRE_BL].pwm = fast+5;
motor[TIRE_BL].dir = BACK;
mtc2=true;
break;
case 255:
- motor[TIRE_FR].pwm = normal;
+ motor[TIRE_FR].pwm = normal+5;
motor[TIRE_FR].dir = FOR;
- motor[TIRE_FL].pwm = fast;
+ motor[TIRE_FL].pwm = fast+5;
motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = fast;
+ motor[TIRE_BR].pwm = fast+5;
motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].pwm = normal;
+ motor[TIRE_BL].pwm = normal+5;
motor[TIRE_BL].dir = BACK;
mtc2=true;
break;
case 253:
motor[TIRE_FR].pwm = 0;
motor[TIRE_FR].dir = FREE;
- motor[TIRE_FL].pwm = slow;
+ motor[TIRE_FL].pwm = slow+5;
motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = slow;
+ motor[TIRE_BR].pwm = slow+5;
motor[TIRE_BR].dir = BACK;
motor[TIRE_BL].pwm = 0;
motor[TIRE_BL].dir = FREE;
@@ -2164,44 +2173,44 @@
case 254:
motor[TIRE_FR].pwm = 0;
motor[TIRE_FR].dir = FREE;
- motor[TIRE_FL].pwm = normal;
+ motor[TIRE_FL].pwm = normal+5;
motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = normal;
+ motor[TIRE_BR].pwm = normal+5;
motor[TIRE_BR].dir = BACK;
motor[TIRE_BL].pwm = 0;
motor[TIRE_BL].dir = FREE;
mtc2=true;
break;
case 1:
- motor[TIRE_FR].pwm = fast;
+ motor[TIRE_FR].pwm = fast+5;
motor[TIRE_FR].dir = FOR;
- motor[TIRE_FL].pwm = slow;
+ motor[TIRE_FL].pwm = slow+5;
motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = slow;
+ motor[TIRE_BR].pwm = slow+5;
motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].pwm = fast;
+ motor[TIRE_BL].pwm = fast+5;
motor[TIRE_BL].dir = BACK;
mtc2=true;
break;
case 3:
- motor[TIRE_FR].pwm = slow;
+ motor[TIRE_FR].pwm = slow+5;
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 = slow;
+ motor[TIRE_BL].pwm = slow+5;
motor[TIRE_BL].dir = BACK;
mtc2=true;
break;
case 2:
- motor[TIRE_FR].pwm = normal;
+ motor[TIRE_FR].pwm = normal+5;
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 = normal;
+ motor[TIRE_BL].pwm = normal+5;
motor[TIRE_BL].dir = BACK;
mtc2=true;
break;
@@ -2372,11 +2381,11 @@
} else if(mode==23) {
switch(g[4]) {
case 98:
- motor[TIRE_FR].pwm = fast;
+ motor[TIRE_FR].pwm = fast-5;
motor[TIRE_FR].dir = FOR;
- motor[TIRE_FL].pwm = fast;
+ motor[TIRE_FL].pwm = fast-5;
motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = fast;
+ motor[TIRE_BR].pwm = fast-5;
motor[TIRE_BR].dir = FOR;
motor[TIRE_BL].pwm = fast-5;
motor[TIRE_BL].dir = BACK;
@@ -2392,11 +2401,11 @@
motor[TIRE_BL].dir = FREE;
break;
case 0:
- motor[TIRE_FR].pwm = fast;
+ motor[TIRE_FR].pwm = fast-5;
motor[TIRE_FR].dir = FOR;
- motor[TIRE_FL].pwm = fast;
+ motor[TIRE_FL].pwm = fast-5;
motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = fast;
+ motor[TIRE_BR].pwm = fast-5;
motor[TIRE_BR].dir = FOR;
motor[TIRE_BL].pwm = fast-5;
motor[TIRE_BL].dir = BACK;
@@ -2412,21 +2421,21 @@
motor[TIRE_BL].dir = FREE;
break;
case 253:
- motor[TIRE_FR].pwm = slow;
+ motor[TIRE_FR].pwm = slow-5;
motor[TIRE_FR].dir = FOR;
- motor[TIRE_FL].pwm = fast;
+ motor[TIRE_FL].pwm = fast-5;
motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = fast;
+ motor[TIRE_BR].pwm = fast-5;
motor[TIRE_BR].dir = FOR;
motor[TIRE_BL].pwm = slow-5;
motor[TIRE_BL].dir = BACK;
break;
case 254:
- motor[TIRE_FR].pwm = normal;
+ motor[TIRE_FR].pwm = normal-5;
motor[TIRE_FR].dir = FOR;
- motor[TIRE_FL].pwm = fast;
+ motor[TIRE_FL].pwm = fast-5;
motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = fast;
+ motor[TIRE_BR].pwm = fast-5;
motor[TIRE_BR].dir = FOR;
motor[TIRE_BL].pwm = normal-5;
motor[TIRE_BL].dir = BACK;
@@ -2442,21 +2451,21 @@
motor[TIRE_BL].dir = FREE;
break;
case 3:
- motor[TIRE_FR].pwm = fast;
+ motor[TIRE_FR].pwm = fast-5;
motor[TIRE_FR].dir = FOR;
- motor[TIRE_FL].pwm = slow;
+ motor[TIRE_FL].pwm = slow-5;
motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = slow;
+ motor[TIRE_BR].pwm = slow-5;
motor[TIRE_BR].dir = FOR;
motor[TIRE_BL].pwm = fast-5;
motor[TIRE_BL].dir = BACK;
break;
case 2:
- motor[TIRE_FR].pwm = fast;
+ motor[TIRE_FR].pwm = fast-5;
motor[TIRE_FR].dir = FOR;
- motor[TIRE_FL].pwm = normal;
+ motor[TIRE_FL].pwm = normal-5;
motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = normal;
+ motor[TIRE_BR].pwm = normal-5;
motor[TIRE_BR].dir = FOR;
motor[TIRE_BL].pwm = fast-5;
motor[TIRE_BL].dir = BACK;
@@ -2620,7 +2629,7 @@
motor[TIRE_FL].dir = BACK;
motor[TIRE_BR].pwm = 60;
motor[TIRE_BR].dir = FOR;
- motor[TIRE_BL].pwm = 55;
+ motor[TIRE_BL].pwm = 60;
motor[TIRE_BL].dir = BACK;
break;
case 99:
@@ -2640,7 +2649,7 @@
motor[TIRE_FL].dir = BACK;
motor[TIRE_BR].pwm = 60;
motor[TIRE_BR].dir = FOR;
- motor[TIRE_BL].pwm = 55;
+ motor[TIRE_BL].pwm = 60;
motor[TIRE_BL].dir = BACK;
break;
case 255:
@@ -2660,7 +2669,7 @@
motor[TIRE_FL].dir = BACK;
motor[TIRE_BR].pwm = 60;
motor[TIRE_BR].dir = FOR;
- motor[TIRE_BL].pwm = 15;
+ motor[TIRE_BL].pwm = 20;
motor[TIRE_BL].dir = BACK;
break;
case 254:
@@ -2670,7 +2679,7 @@
motor[TIRE_FL].dir = BACK;
motor[TIRE_BR].pwm = 60;
motor[TIRE_BR].dir = FOR;
- motor[TIRE_BL].pwm = 35;
+ motor[TIRE_BL].pwm = 40;
motor[TIRE_BL].dir = BACK;
break;
case 1:
@@ -2690,7 +2699,7 @@
motor[TIRE_FL].dir = BACK;
motor[TIRE_BR].pwm = 20;
motor[TIRE_BR].dir = FOR;
- motor[TIRE_BL].pwm = 55;
+ motor[TIRE_BL].pwm = 60;
motor[TIRE_BL].dir = BACK;
break;
case 2:
@@ -2700,7 +2709,7 @@
motor[TIRE_FL].dir = BACK;
motor[TIRE_BR].pwm = 40;
motor[TIRE_BR].dir = FOR;
- motor[TIRE_BL].pwm = 55;
+ motor[TIRE_BL].pwm = 60;
motor[TIRE_BL].dir = BACK;
break;
}
@@ -3048,7 +3057,7 @@
motor[TIRE_FL].dir = BACK;
motor[TIRE_BR].pwm = 30;
motor[TIRE_BR].dir = FOR;
- motor[TIRE_BL].pwm = 00;
+ motor[TIRE_BL].pwm = 0;
motor[TIRE_BL].dir = FREE;
if(g[3]==0) {
cross=0;
@@ -3066,7 +3075,7 @@
motor[TIRE_BR].dir = FOR;
motor[TIRE_BL].pwm = normal;
motor[TIRE_BL].dir = FOR;
- if(countss>10000) {
+ if(countss>5000) {
cross++;
countss=0;
}