大季 矢花
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Diff: System/Process/Process.cpp
- Revision:
- 29:44d5454ce8fa
- Parent:
- 28:479631c2de29
- Child:
- 30:8f092276b2ba
diff -r 479631c2de29 -r 44d5454ce8fa System/Process/Process.cpp
--- a/System/Process/Process.cpp Thu Oct 03 05:33:48 2019 +0000
+++ b/System/Process/Process.cpp Fri Oct 18 22:33:25 2019 +0000
@@ -6,9 +6,7 @@
#include "../../Communication/RS485/ActuatorHub/ActuatorHub.h"
#include "../../Communication/RS485/LineHub/LineHub.h"
#include "../../Communication/Controller/Controller.h"
-#include "../../Input/ExternalInt/ExternalInt.h"
#include "../../Input/Switch/Switch.h"
-#include "../../Input/Encoder/Encoder.h"
#include "../../LED/LED.h"
#include "../../Safty/Safty.h"
@@ -16,7 +14,6 @@
using namespace SWITCH;
using namespace PID_SPACE;
-using namespace ENCODER;
using namespace LINEHUB;
@@ -58,173 +55,6 @@
Ticker tapeLedTimer;
//************TapaLed*****************
-//*************** lift ***************
-#define LOWER 1
-#define MIDDLRE 2
-#define UPPER 3
-uint8_t liftState = LOWER;
-bool moving = false;
-bool switchFlag_LB = false;
-bool switchFlag_RB = false;
-
-//*************** lift ***************
-
-//*****************Air********************
-DigitalOut air[]= {
- DigitalOut(ECD_A_0),
- DigitalOut(ECD_B_0),
- DigitalOut(ECD_A_1),
- DigitalOut(ECD_B_1),
-};
-
-bool Air[4];
-void AirUpdate()
-{
- for(int i=0; i<=3; i++) {
- air[i]=Air[i];
- }
-}
-//*****************Air********************
-
-//*************tire*************
-PID rotaconPID[] = {
- PID(0.0001,-1,1,0.05,0,0), //LF
- PID(0.0001,-1,1,0.05,0,0), //LB
- PID(0.0001,-1,1,0.05,0,0), //RB
- PID(0.0001,-1,1,0.05,0,0), //RF
-};
-
-#define FL 0
-#define BL 1
-#define BR 2
-#define FR 3
-
-#define PI 3.141592
-
-const float tireR = 101.6; //タイヤの半径
-const float ucR = 420.0; //中心からのタイヤの距離
-
-typedef struct {
- float Vx; //X方向の速度
- float Vy; //Y方向の速度
- float Va; //角速度
-} Vvector;
-
-Vvector move; //進む速度
-Vvector correction_LT; //ライントレースの補正速度
-Vvector synthetic; //合成速度
-
-float sita = 0;
-
-bool PIDflag = false;
-
-int linePara[8];
-int linePara_U;
-int linePara_B;
-int linePara_L;
-int linePara_R;
-
-#define FL 0
-#define BL 1
-#define BR 2
-#define FR 3
-
-float tireProcessRPM[4];
-float tireTargetMaxRPM[4];
-float tireTargetRPM[4];
-
-float tirePWM[4];
-
-float timePV[4];
-float timeCV[4];
-float pulsePV[4];
-float pulseCV[4];
-
-void tirePID();
-int lineCast(char k);
-
-Timer rotaconSampling;
-Ticker rotaconPIDtimer;
-
-bool countFlag;
-//*************tire**************//
-
-// ************* Ultra ************** //
-//double temp=( Temp.read()* 3.3 - 0.6) / 0.01;
-PulseInOut Echo0(ECHO_0);
-PulseInOut Echo1(ECHO_1);
-PulseInOut Trig0(TRIG_0);
-PulseInOut Trig1(TRIG_1);
-double UltraRead(int num)
-{
- double Distance=0;
- double Duration=0;
- double temp=28;////////////////////////////////////////////////温度
- if(num==0) {
- Trig0.write_us(1,10);
- Duration=Echo0.read_high_us(5000);
- } else if(num==1) {
- Trig1.write_us(1,10);
- Duration=Echo1.read_high_us(5000);
- }
- if(Duration>0) {
- Duration=Duration/2;
- double sspead=331.5+0.6*temp;
- Distance=Duration*sspead*100/1000000;
- } else {
- return 0;
- }
- return Distance;
-}
-//*********Ultra***************
-
-//*********Tape LED**************************
-DigitalOut select1(SELECT_1);
-DigitalOut select2(SELECT_2);
-DigitalOut select3(SELECT_3);
-void LedOut(int num)
-{
- int selectnum[8][3]= {
- {0,0,0},
- {0,0,1},
- {0,1,0},
- {0,1,1},
- {1,0,0},
- {1,0,1},
- {1,1,0},
- {1,1,1}
- };
- select1=selectnum[num][0];
- select2=selectnum[num][1];
- select3=selectnum[num][2];
-}
-//*********Tape LED**************************
-
-// ************* Line ************** //
-
-Timer tow_stop;
-
-float pw = 0;
-int lineFase = 0;
-bool lineCheck = false;
-bool lineFlag = false;
-bool adjAnable = false;
-int adj = 0;
-
-int countW = 0;
-int lineCount = 0;
-int targetCount = 0;
-
-bool startFlag = true;
-
-int linePWM;
-int adj_F;
-int adj_B;
-
-int mode = 0;
-
-// ************* Line ************** //
-
const int omni[15][15] = {
{ 0, 5, 21, 47, 83, 130, 187, 255, 255, 255, 255, 255, 255, 255, 255 },
{ -5, 0, 5, 21, 47, 83, 130, 187, 193, 208, 234, 255, 255, 255, 255 },
@@ -245,20 +75,9 @@
const int curve[15] = { -204, -150, -104, -66, -38, -17, -4, 0, 4, 17, 38, 66, 104, 150, 204 };
+
uint8_t SetStatus(int);
-uint8_t SetStatus(int pwmVal)
-{
- if (pwmVal < 0) return BACK;
- else if (pwmVal > 0) return FOR;
- else if (pwmVal == 0) return BRAKE;
- else return BRAKE;
-}
uint8_t SetPWM(int);
-uint8_t SetPWM(int pwmVal)
-{
- if (pwmVal == 0 || pwmVal > 255 || pwmVal < -255) return 255;
- else return abs(pwmVal);
-}
#pragma endregion USER-DEFINED_VARIABLES_AND_PROTOTYPE
@@ -299,12 +118,6 @@
{
#pragma region USER-DEFINED_VARIABLE_INIT
/*Replace here with the initialization code of your variables.*/
- //rotaconPIDtimer.attach(tirePID,0.1);
-
- //DigitalOut Air_16(LS_16);
- //DigitalOut Air_17(LS_17);
- //DigitalOut Air_18(LS_18);
- //DigitalOut Air_19(LS_19);
#pragma endregion USER-DEFINED_VARIABLE_INIT
@@ -378,54 +191,11 @@
}
-double Ult_left=UltraRead(0);///////////////////////////////////////////left sensor
-double Ult_right=UltraRead(1);//////////////////////////////////////////right sensor
-static int Limitphase=0;
void SystemProcess()
{
SystemProcessInitialize();
while(1) {
- AirUpdate();
- int g[8];
- for(int i = 0; i < 8; i++) {
- g[i] = lineCast(LineHub::GetPara(i));
- }
- Ult_left=UltraRead(0);//////////////////////////////////////////left sensor
- Ult_right=UltraRead(1);//////////////////////////////////////////right sensor
- pc.printf("%lf,%lf",UltraRead(0),UltraRead(1));
-// pc.printf("1:%d 2:%d 3:%d 4:%d 5:%d 6:%d 7:%d 8:%d\n\r",g[0],g[1],g[2],g[3],g[4],g[5],g[6],g[7]);
-
- pc.printf("%d\n\r",current);
- /*上
- motor[LIFT_LB].dir = FOR;
- motor[LIFT_LB].pwm = 180;
- motor[LIFT_RB].dir = BACK;
- motor[LIFT_RB].pwm = 200;
- */
- if(!(LimitSw::IsPressed(UNFOLD_ZYOUGE_SW))&&startFlag==true) {
- startFlag=false;
- lock=false;
- current=7;
- } else {
- motor[LIFT_LB].dir = BRAKE;
- motor[LIFT_LB].pwm = 180;
- motor[LIFT_RB].dir = BRAKE;
- motor[LIFT_RB].pwm = 200;
- }
- if(LimitSw::IsPressed(START_SW) && startFlag == true) {
- LedOut(6);
- startFlag = false;
- lock = false;
- lineFase = 0;
- lineCount = 0;
- lineCheck = false;
- countW = 0;
- if(LimitSw::IsPressed(REDBLUE_SW)) {
- current = 4;
- } else {
- current = 5;
- }
- }
+
buzzer.period(1.0/800);
#ifdef USE_MU
@@ -433,7 +203,7 @@
#endif
#ifdef USE_ERRORCHECK
- if(SAFTY::ErrorCheck::Check() & SAFTY::Error::ControllerLost & startFlag) {
+ if(SAFTY::ErrorCheck::Check() & SAFTY::Error::ControllerLost) {
CONTROLLER::Controller::DataReset();
AllActuatorReset();
lock = true;
@@ -486,71 +256,6 @@
static void Process1()
{
- PIDflag = false;
- LedOut(0);
- if(controller->Button.UP) {
- motor[LIFT_LB].dir = FOR;
- motor[LIFT_LB].pwm = 180;
- motor[LIFT_RB].dir = BACK;
- motor[LIFT_RB].pwm = 200;
- } else if(controller->Button.DOWN) {
- motor[LIFT_LB].dir = BACK;
- motor[LIFT_LB].pwm = 180;
- motor[LIFT_RB].dir = FOR;
- motor[LIFT_RB].pwm = 200;
- } else if(controller->Button.LEFT) {
- motor[LIFT_LB].dir = FOR;
- motor[LIFT_LB].pwm = 180;
- } else if(controller->Button.RIGHT) {
- motor[LIFT_RB].dir = BACK;
- motor[LIFT_RB].pwm = 180;
- } else {
- motor[LIFT_LB].dir = BRAKE;
- motor[LIFT_LB].pwm = 255;
- motor[LIFT_RB].dir = BRAKE;
- motor[LIFT_RB].pwm = 255;
- }
-
-
- if(controller->Button.X) {
- motor[LIFT_U].dir = FOR;
- motor[LIFT_U].pwm = 180;
- } else if(controller->Button.Y) {
- motor[LIFT_U].dir = BACK;
- motor[LIFT_U].pwm = 230;
- } else {
- motor[LIFT_U].dir = BRAKE;
- motor[LIFT_U].pwm = 255;
- }
-
- if(!(controller->AnalogL.Y == 7) || !(controller->AnalogL.X == 7)) {
- motor[TIRE_FR].dir = SetStatus(-omni[controller->AnalogL.Y][14-controller->AnalogL.X] );
- motor[TIRE_FL].dir = SetStatus(omni[controller->AnalogL.Y][controller->AnalogL.X] );
- motor[TIRE_BR].dir = SetStatus(-omni[14-controller->AnalogL.X][14-controller->AnalogL.Y] );
- motor[TIRE_BL].dir = SetStatus(omni[controller->AnalogL.X][14-controller->AnalogL.Y] );
-
- motor[TIRE_FR].pwm = SetPWM(-omni[controller->AnalogL.Y][14-controller->AnalogL.X] * 0.2) ;
- motor[TIRE_FL].pwm = SetPWM(omni[controller->AnalogL.Y][controller->AnalogL.X] * 0.2) ;
- motor[TIRE_BR].pwm = SetPWM(omni[14-controller->AnalogL.X][14-controller->AnalogL.Y] * 0.2) ;
- motor[TIRE_BL].pwm = SetPWM(-omni[controller->AnalogL.X][14-controller->AnalogL.Y] * 0.2) ;
- } else {
- motor[TIRE_FR].dir = SetStatus(curve[controller->AnalogR.X]);
- motor[TIRE_FL].dir = SetStatus(curve[controller->AnalogR.X]);
- motor[TIRE_BR].dir = SetStatus(curve[controller->AnalogR.X]);
- motor[TIRE_BL].dir = SetStatus(curve[controller->AnalogR.X]);
-
- motor[TIRE_FR].pwm = SetPWM(curve[controller->AnalogR.X]);
- motor[TIRE_FL].pwm = SetPWM(curve[controller->AnalogR.X]);
- motor[TIRE_BR].pwm = SetPWM(curve[controller->AnalogR.X]);
- motor[TIRE_BL].pwm = SetPWM(curve[controller->AnalogR.X]);
- }
-
- if(controller->Button.ZR) {
- Air[CLOTHESPIN] = SOLENOID_ON;
- }
- if(controller->Button.ZL) {
- Air[CLOTHESPIN] = SOLENOID_OFF;
- }
}
#endif
@@ -564,1953 +269,14 @@
#if USE_PROCESS_NUM>3
static void Process3()
{
- startFlag = true;
- AllActuatorReset();
- lineFase = 0;
- lineCheck = false;
- lineCount = 0;
- countW = 0;
+
}
#endif
#if USE_PROCESS_NUM>4
static void Process4()
{
- LED_DEBUG0 = LED_ON;
-
- /* ************************************** //
-
- 赤ゾーン 赤ゾーン 赤ゾーン
-
- // ************************************** */
-
-
- for(int i = 0; i < 8; i++) {
- linePara[i] = lineCast(LineHub::GetPara(i));
- }
-
- if(lineFase == 0) {
- LedOut(2);
- motor[TIRE_FL].dir = FOR;
- motor[TIRE_BL].dir = FOR;
- motor[TIRE_BR].dir = BACK;
- motor[TIRE_FR].dir = BACK;
- if(linePara[0] != 'N' && linePara[0] != 'A') {
- lineFase = 1;
- }
- motor[TIRE_FL].pwm = 30;
- motor[TIRE_BL].pwm = 30;
- motor[TIRE_BR].pwm = 30;
- motor[TIRE_FR].pwm = 30;
-
- } else if(lineFase == 1) { // 前 ライントレース
- switch(linePara[0]) {
- case -2:
- tirePWM[TIRE_FL] = 0;
- tirePWM[TIRE_BL] = 30;
- tirePWM[TIRE_BR] = 0;
- tirePWM[TIRE_FR] = -30;
- adjAnable = true;
- break;
- case -3:
- tirePWM[TIRE_FL] = 10;
- tirePWM[TIRE_BL] = 30;
- tirePWM[TIRE_BR] = -10;
- tirePWM[TIRE_FR] = -30;
- adjAnable = true;
- break;
- case -1:
- tirePWM[TIRE_FL] = 20;
- tirePWM[TIRE_BL] = 30;
- tirePWM[TIRE_BR] = -20;
- tirePWM[TIRE_FR] = -30;
- adjAnable = true;
- break;
- case 0:
- tirePWM[TIRE_FL] = 30;
- tirePWM[TIRE_BL] = 30;
- tirePWM[TIRE_BR] = -30;
- tirePWM[TIRE_FR] = -30;
- adjAnable = true;
- break;
- case 1:
- tirePWM[TIRE_FL] = 30;
- tirePWM[TIRE_BL] = 20;
- tirePWM[TIRE_BR] = -30;
- tirePWM[TIRE_FR] = -20;
- adjAnable = true;
- break;
- case 3:
- tirePWM[TIRE_FL] = 30;
- tirePWM[TIRE_BL] = 10;
- tirePWM[TIRE_BR] = -30;
- tirePWM[TIRE_FR] = -10;
- adjAnable = true;
- break;
- case 2:
- tirePWM[TIRE_FL] = 30;
- tirePWM[TIRE_BL] = 0;
- tirePWM[TIRE_BR] = -30;
- tirePWM[TIRE_FR] = 0;
- adjAnable = true;
- break;
- case 'A':
- if(lineCheck == false) {
- lineCheck = true;
- lineCount = 0;
- countW++;
- }
- tirePWM[TIRE_FL] = 30;
- tirePWM[TIRE_BL] = 30;
- tirePWM[TIRE_BR] = -30;
- tirePWM[TIRE_FR] = -30;
- adjAnable = true;
- break;
- case 'N':
- tirePWM[TIRE_FL] = tirePWM[TIRE_FL];
- tirePWM[TIRE_BL] = tirePWM[TIRE_BL];
- tirePWM[TIRE_BR] = tirePWM[TIRE_BR];
- tirePWM[TIRE_FR] = tirePWM[TIRE_FR];
- adjAnable = false;
- break;
- default:
- tirePWM[TIRE_FL] = 0;
- tirePWM[TIRE_BL] = 0;
- tirePWM[TIRE_BR] = 0;
- tirePWM[TIRE_FR] = 0;
- adjAnable = false;
- }
-
- if(adjAnable) {
- if(linePara[2] != 'A' && linePara[2] != 'N') adj = linePara[2];
- } else {
- adj = 0;
- }
-
- motor[TIRE_FL].dir = SetStatus(tirePWM[TIRE_FL]);
- motor[TIRE_BL].dir = SetStatus(tirePWM[TIRE_BL] + adj);
- motor[TIRE_BR].dir = SetStatus(tirePWM[TIRE_BR] + adj);
- motor[TIRE_FR].dir = SetStatus(tirePWM[TIRE_FR]);
- motor[TIRE_FL].pwm = SetPWM(tirePWM[TIRE_FL]);
- motor[TIRE_BL].pwm = SetPWM(tirePWM[TIRE_BL] + adj);
- motor[TIRE_BR].pwm = SetPWM(tirePWM[TIRE_BR] + adj);
- motor[TIRE_FR].pwm = SetPWM(tirePWM[TIRE_FR]);
-
- if(lineCheck == true) {
- lineCount++;
- if(lineCount > 20) lineCheck = false;
- }
- if(countW == 3) {
- countW = 0;
- lineFase = 2;
- lineCount = 0;
- lineCheck = false;
- }
- } else if(lineFase == 2) { // 前 低速
- motor[TIRE_FL].dir = FOR;
- motor[TIRE_BL].dir = FOR;
- motor[TIRE_BR].dir = BACK;
- motor[TIRE_FR].dir = BACK;
- if(linePara[4] >= -1 && linePara[4] <= 1) {
- lineFase = 3;
- motor[TIRE_FL].dir = BRAKE;
- motor[TIRE_BL].dir = BRAKE;
- motor[TIRE_BR].dir = BRAKE;
- motor[TIRE_FR].dir = BRAKE;
- }
- motor[TIRE_FL].pwm = 20;
- motor[TIRE_BL].pwm = 20;
- motor[TIRE_BR].pwm = 20;
- motor[TIRE_FR].pwm = 20;
- } else if(lineFase == 3) { // 右 ライントレース
- switch(linePara[4]) {
- case -2:
- LedOut(2);
- tirePWM[TIRE_FL] = 30;
- tirePWM[TIRE_BL] = 0;
- tirePWM[TIRE_BR] = -30;
- tirePWM[TIRE_FR] = 0;
- adjAnable = true;
- break;
- case -3:
- tirePWM[TIRE_FL] = 30;
- tirePWM[TIRE_BL] = -10;
- tirePWM[TIRE_BR] = -30;
- tirePWM[TIRE_FR] = 10;
- adjAnable = true;
- break;
- case -1:
- tirePWM[TIRE_FL] = 30;
- tirePWM[TIRE_BL] = -20;
- tirePWM[TIRE_BR] = -30;
- tirePWM[TIRE_FR] = 20;
- adjAnable = true;
- break;
- case 0:
- tirePWM[TIRE_FL] = 30;
- tirePWM[TIRE_BL] = -30;
- tirePWM[TIRE_BR] = -30;
- tirePWM[TIRE_FR] = 30;
- adjAnable = true;
- break;
- case 1:
- tirePWM[TIRE_FL] = 20;
- tirePWM[TIRE_BL] = -30;
- tirePWM[TIRE_BR] = -20;
- tirePWM[TIRE_FR] = 30;
- adjAnable = true;
- break;
- case 3:
- tirePWM[TIRE_FL] = 10;
- tirePWM[TIRE_BL] = -30;
- tirePWM[TIRE_BR] = -10;
- tirePWM[TIRE_FR] = 30;
- adjAnable = true;
- break;
- case 2:
- tirePWM[TIRE_FL] = 0;
- tirePWM[TIRE_BL] = -30;
- tirePWM[TIRE_BR] = 0;
- tirePWM[TIRE_FR] = 30;
- adjAnable = true;
- break;
- case 'A':
- if(lineCheck == false) {
- lineCheck = true;
- lineCount = 0;
- countW++;
- }
- tirePWM[TIRE_FL] = 30;
- tirePWM[TIRE_BL] = -30;
- tirePWM[TIRE_BR] = -30;
- tirePWM[TIRE_FR] = 30;
- adjAnable = true;
- break;
- case 'N':
- tirePWM[TIRE_FL] = 0;
- tirePWM[TIRE_BL] = 0;
- tirePWM[TIRE_BR] = 0;
- tirePWM[TIRE_FR] = 0;
- adjAnable = false;
- break;
- default:
- tirePWM[TIRE_FL] = 0;
- tirePWM[TIRE_BL] = 0;
- tirePWM[TIRE_BR] = 0;
- tirePWM[TIRE_FR] = 0;
- adjAnable = false;
- }
-
- if(adjAnable) {
- if(linePara[3] != 'A' && linePara[3] != 'N') adj = linePara[3];
- } else {
- adj = 0;
- }
-
- motor[TIRE_FL].dir = SetStatus(tirePWM[TIRE_FL] + adj);
- motor[TIRE_BL].dir = SetStatus(tirePWM[TIRE_BL] + adj);
- motor[TIRE_BR].dir = SetStatus(tirePWM[TIRE_BR]);
- motor[TIRE_FR].dir = SetStatus(tirePWM[TIRE_FR]);
- motor[TIRE_FL].pwm = SetPWM(tirePWM[TIRE_FL] + adj);
- motor[TIRE_BL].pwm = SetPWM(tirePWM[TIRE_BL] + adj);
- motor[TIRE_BR].pwm = SetPWM(tirePWM[TIRE_BR]);
- motor[TIRE_FR].pwm = SetPWM(tirePWM[TIRE_FR]);
-
- if(lineCheck == true) {
- lineCount++;
- if(lineCount > 20) lineCheck = false;
- }
-
- targetCount = 1;
-
- if(countW == targetCount) {
- countW = 0;
- lineFase = 4;
- lineCount = 0;
- lineCheck = false;
- }
- } else if(lineFase == 4) { // 右 低速
- motor[TIRE_FL].dir = FOR;
- motor[TIRE_BL].dir = BACK;
- motor[TIRE_BR].dir = BACK;
- motor[TIRE_FR].dir = FOR;
- if (linePara[LINE_TOW_2] == 0) { // １と２逆になります。
- lineFase = 6;
- motor[TIRE_FL].dir = BRAKE;
- motor[TIRE_BL].dir = BRAKE;
- motor[TIRE_BR].dir = BRAKE;
- motor[TIRE_FR].dir = BRAKE;
- }
- if(linePara[LINE_TOW_1] == 0) {
- if(!LimitSw::IsPressed(SHEETS_SW)) {
- lineFase=100;
- } else {
- lineFase = 6;
- }
- motor[TIRE_FL].dir = BRAKE;
- motor[TIRE_BL].dir = BRAKE;
- motor[TIRE_BR].dir = BRAKE;
- motor[TIRE_FR].dir = BRAKE;
- }
- motor[TIRE_FL].pwm = 16;
- motor[TIRE_BL].pwm = 16;
- motor[TIRE_BR].pwm = 16;
- motor[TIRE_FR].pwm = 16;
- } else if (lineFase == 5) {
- lineFase = 6;
- motor[TIRE_FL].dir = BRAKE;
- motor[TIRE_BL].dir = BRAKE;
- motor[TIRE_BR].dir = BRAKE;
- motor[TIRE_FR].dir = BRAKE;
- } else if(lineFase == 6) { // タオル1 検知
- LedOut(4);
- if(LimitSw::IsPressed(TOW_1L) && LimitSw::IsPressed(TOW_1R)) {
- lineFase = 7;
- motor[TIRE_FL].dir = BRAKE;
- motor[TIRE_FL].pwm = 50;
- motor[TIRE_BL].dir = BRAKE;
- motor[TIRE_BL].pwm = 50;
- motor[TIRE_BR].dir = BRAKE;
- motor[TIRE_BR].pwm = 50;
- motor[TIRE_FR].dir = BRAKE;
- motor[TIRE_FR].pwm = 50;
- } else if(LimitSw::IsPressed(TOW_1L)) {
- motor[TIRE_FL].dir = FOR;
- motor[TIRE_FL].pwm = 16;
- motor[TIRE_BL].dir = BRAKE;
- motor[TIRE_BL].pwm = 50;
- motor[TIRE_BR].dir = BRAKE;
- motor[TIRE_BR].pwm = 50;
- motor[TIRE_FR].dir = FOR;
- motor[TIRE_FR].pwm = 16;
- } else if(LimitSw::IsPressed(TOW_1R)) {
- motor[TIRE_FL].dir = BACK;
- motor[TIRE_FL].pwm = 16;
- motor[TIRE_BL].dir = BRAKE;
- motor[TIRE_BL].pwm = 50;
- motor[TIRE_BR].dir = BRAKE;
- motor[TIRE_BR].pwm = 50;
- motor[TIRE_FR].dir = BACK;
- motor[TIRE_FR].pwm = 16;
- } else {
- if(LimitSw::IsPressed(QF_SW)) {
- switch(linePara[LINE_TOW_2]) {
- case -2:
- tirePWM[TIRE_FL] = -10;
- tirePWM[TIRE_BL] = -20;
- tirePWM[TIRE_BR] = 10;
- tirePWM[TIRE_FR] = 20;
- adjAnable = true;
- break;
- case -3:
- tirePWM[TIRE_FL] = -14;
- tirePWM[TIRE_BL] = -20;
- tirePWM[TIRE_BR] = 14;
- tirePWM[TIRE_FR] = 20;
- adjAnable = true;
- break;
- case -1:
- tirePWM[TIRE_FL] = -17;
- tirePWM[TIRE_BL] = -20;
- tirePWM[TIRE_BR] = 17;
- tirePWM[TIRE_FR] = 20;
- adjAnable = true;
- break;
- case 0:
- tirePWM[TIRE_FL] = -20;
- tirePWM[TIRE_BL] = -20;
- tirePWM[TIRE_BR] = 20;
- tirePWM[TIRE_FR] = 20;
- adjAnable = true;
- break;
- case 1:
- tirePWM[TIRE_FL] = -20;
- tirePWM[TIRE_BL] = -17;
- tirePWM[TIRE_BR] = 20;
- tirePWM[TIRE_FR] = 17;
- adjAnable = true;
- break;
- case 3:
- tirePWM[TIRE_FL] = -20;
- tirePWM[TIRE_BL] = -14;
- tirePWM[TIRE_BR] = 20;
- tirePWM[TIRE_FR] = 14;
- adjAnable = true;
- break;
- case 2:
- tirePWM[TIRE_FL] = -20;
- tirePWM[TIRE_BL] = -10;
- tirePWM[TIRE_BR] = 20;
- tirePWM[TIRE_FR] = 10;
- adjAnable = true;
- break;
- case 'A':
- tirePWM[TIRE_FL] = -20;
- tirePWM[TIRE_BL] = -20;
- tirePWM[TIRE_BR] = 20;
- tirePWM[TIRE_FR] = 20;
- adjAnable = true;
- break;
- case 'N':
- tirePWM[TIRE_FL] = tirePWM[TIRE_FL];
- tirePWM[TIRE_BL] = tirePWM[TIRE_BL];
- tirePWM[TIRE_BR] = tirePWM[TIRE_BR];
- tirePWM[TIRE_FR] = tirePWM[TIRE_FR];
- adjAnable = false;
- break;
- default:
- tirePWM[TIRE_FL] = 0;
- tirePWM[TIRE_BL] = 0;
- tirePWM[TIRE_BR] = 0;
- tirePWM[TIRE_FR] = 0;
- adjAnable = false;
- }
- } else {
- switch(linePara[LINE_TOW_2]) {
- case 2:
- tirePWM[TIRE_FL] = -10;
- tirePWM[TIRE_BL] = -20;
- tirePWM[TIRE_BR] = 10;
- tirePWM[TIRE_FR] = 20;
- adjAnable = true;
- break;
- case 3:
- tirePWM[TIRE_FL] = -14;
- tirePWM[TIRE_BL] = -20;
- tirePWM[TIRE_BR] = 14;
- tirePWM[TIRE_FR] = 20;
- adjAnable = true;
- break;
- case 1:
- tirePWM[TIRE_FL] = -17;
- tirePWM[TIRE_BL] = -20;
- tirePWM[TIRE_BR] = 17;
- tirePWM[TIRE_FR] = 20;
- adjAnable = true;
- break;
- case 0:
- tirePWM[TIRE_FL] = -20;
- tirePWM[TIRE_BL] = -20;
- tirePWM[TIRE_BR] = 20;
- tirePWM[TIRE_FR] = 20;
- adjAnable = true;
- break;
- case -1:
- tirePWM[TIRE_FL] = -20;
- tirePWM[TIRE_BL] = -17;
- tirePWM[TIRE_BR] = 20;
- tirePWM[TIRE_FR] = 17;
- adjAnable = true;
- break;
- case -3:
- tirePWM[TIRE_FL] = -20;
- tirePWM[TIRE_BL] = -14;
- tirePWM[TIRE_BR] = 20;
- tirePWM[TIRE_FR] = 14;
- adjAnable = true;
- break;
- case -2:
- tirePWM[TIRE_FL] = -20;
- tirePWM[TIRE_BL] = -10;
- tirePWM[TIRE_BR] = 20;
- tirePWM[TIRE_FR] = 10;
- adjAnable = true;
- break;
- case 'A':
- tirePWM[TIRE_FL] = -20;
- tirePWM[TIRE_BL] = -20;
- tirePWM[TIRE_BR] = 20;
- tirePWM[TIRE_FR] = 20;
- adjAnable = true;
- break;
- case 'N':
- tirePWM[TIRE_FL] = tirePWM[TIRE_FL];
- tirePWM[TIRE_BL] = tirePWM[TIRE_BL];
- tirePWM[TIRE_BR] = tirePWM[TIRE_BR];
- tirePWM[TIRE_FR] = tirePWM[TIRE_FR];
- adjAnable = false;
- break;
- default:
- tirePWM[TIRE_FL] = 0;
- tirePWM[TIRE_BL] = 0;
- tirePWM[TIRE_BR] = 0;
- tirePWM[TIRE_FR] = 0;
- adjAnable = false;
- }
- }
-
- motor[TIRE_FL].dir = SetStatus(tirePWM[TIRE_FL]);
- motor[TIRE_BL].dir = SetStatus(tirePWM[TIRE_BL]);
- motor[TIRE_BR].dir = SetStatus(tirePWM[TIRE_BR]);
- motor[TIRE_FR].dir = SetStatus(tirePWM[TIRE_FR]);
- motor[TIRE_FL].pwm = SetPWM(tirePWM[TIRE_FL]);
- motor[TIRE_BL].pwm = SetPWM(tirePWM[TIRE_BL]);
- motor[TIRE_BR].pwm = SetPWM(tirePWM[TIRE_BR]);
- motor[TIRE_FR].pwm = SetPWM(tirePWM[TIRE_FR]);
- }
- } else if(lineFase == 7) { // ライン 修正
- if(linePara[LINE_TOW_2] == 'A' || linePara[LINE_TOW_2] == 'N') {
- motor[TIRE_FL].dir = BRAKE;
- motor[TIRE_FL].pwm = 50;
- motor[TIRE_BL].dir = BRAKE;
- motor[TIRE_BL].pwm = 50;
- motor[TIRE_BR].dir = BRAKE;
- motor[TIRE_BR].pwm = 50;
- motor[TIRE_FR].dir = BRAKE;
- motor[TIRE_FR].pwm = 50;
- } else if(linePara[LINE_TOW_2] > 0) {
- motor[TIRE_FL].dir = BACK;
- motor[TIRE_FL].pwm = 16;
- motor[TIRE_BL].dir = FOR;
- motor[TIRE_BL].pwm = 16;
- motor[TIRE_BR].dir = FOR;
- motor[TIRE_BR].pwm = 16;
- motor[TIRE_FR].dir = BACK;
- motor[TIRE_FR].pwm = 16;
- } else if(linePara[LINE_TOW_2] < 0) {
- motor[TIRE_FL].dir = FOR;
- motor[TIRE_FL].pwm = 16;
- motor[TIRE_BL].dir = BACK;
- motor[TIRE_BL].pwm = 16;
- motor[TIRE_BR].dir = BACK;
- motor[TIRE_BR].pwm = 16;
- motor[TIRE_FR].dir = FOR;
- motor[TIRE_FR].pwm = 16;
- } else if(linePara[LINE_TOW_2] == 0) {
- lineFase = 8;
- motor[TIRE_FL].dir = BRAKE;
- motor[TIRE_FL].pwm = 50;
- motor[TIRE_BL].dir = BRAKE;
- motor[TIRE_BL].pwm = 50;
- motor[TIRE_BR].dir = BRAKE;
- motor[TIRE_BR].pwm = 50;
- motor[TIRE_FR].dir = BRAKE;
- motor[TIRE_FR].pwm = 50;
- } else {
- motor[TIRE_FL].dir = BRAKE;
- motor[TIRE_FL].pwm = 50;
- motor[TIRE_BL].dir = BRAKE;
- motor[TIRE_BL].pwm = 50;
- motor[TIRE_BR].dir = BRAKE;
- motor[TIRE_BR].pwm = 50;
- motor[TIRE_FR].dir = BRAKE;
- motor[TIRE_FR].pwm = 50;
- }
- } else if(lineFase == 8) { // タオル1 解放
- Air[0] = SOLENOID_ON;
- motor[TIRE_FL].dir = BRAKE;
- motor[TIRE_BL].dir = BRAKE;
- motor[TIRE_BR].dir = BRAKE;
- motor[TIRE_FR].dir = BRAKE;
- lineFase = 9;
- } else if(lineFase == 9) { // 前 ライントレース
- LedOut(2);
- if(LimitSw::IsPressed(QF_SW)) {
- switch(linePara[LINE_TOW_2]) {
- case -2:
- tirePWM[TIRE_FL] = 10;
- tirePWM[TIRE_BL] = 20;
- tirePWM[TIRE_BR] = -10;
- tirePWM[TIRE_FR] = -20;
- adjAnable = true;
- break;
- case -3:
- tirePWM[TIRE_FL] = 14;
- tirePWM[TIRE_BL] = 20;
- tirePWM[TIRE_BR] = -14;
- tirePWM[TIRE_FR] = -20;
- adjAnable = true;
- break;
- case -1:
- tirePWM[TIRE_FL] = 17;
- tirePWM[TIRE_BL] = 20;
- tirePWM[TIRE_BR] = -17;
- tirePWM[TIRE_FR] = -20;
- adjAnable = true;
- break;
- case 0:
- tirePWM[TIRE_FL] = 20;
- tirePWM[TIRE_BL] = 20;
- tirePWM[TIRE_BR] = -20;
- tirePWM[TIRE_FR] = -20;
- adjAnable = true;
- break;
- case 1:
- tirePWM[TIRE_FL] = 20;
- tirePWM[TIRE_BL] = 17;
- tirePWM[TIRE_BR] = -20;
- tirePWM[TIRE_FR] = -17;
- adjAnable = true;
- break;
- case 3:
- tirePWM[TIRE_FL] = 20;
- tirePWM[TIRE_BL] = 14;
- tirePWM[TIRE_BR] = -20;
- tirePWM[TIRE_FR] = -14;
- adjAnable = true;
- break;
- case 2:
- tirePWM[TIRE_FL] = 20;
- tirePWM[TIRE_BL] = 10;
- tirePWM[TIRE_BR] = -20;
- tirePWM[TIRE_FR] = -10;
- adjAnable = true;
- break;
- case 'A':
- if(lineCheck == false) {
- lineCheck = true;
- lineCount = 0;
- countW++;
- }
- tirePWM[TIRE_FL] = 20;
- tirePWM[TIRE_BL] = 20;
- tirePWM[TIRE_BR] = -20;
- tirePWM[TIRE_FR] = -20;
- adjAnable = true;
- break;
- case 'N':
- tirePWM[TIRE_FL] = 0;
- tirePWM[TIRE_BL] = 0;
- tirePWM[TIRE_BR] = 0;
- tirePWM[TIRE_FR] = 0;
- adjAnable = false;
- break;
- default:
- tirePWM[TIRE_FL] = 0;
- tirePWM[TIRE_BL] = 0;
- tirePWM[TIRE_BR] = 0;
- tirePWM[TIRE_FR] = 0;
- adjAnable = false;
- }
- } else {
- switch(linePara[LINE_TOW_2]) {
- case 2:
- tirePWM[TIRE_FL] = 10;
- tirePWM[TIRE_BL] = 20;
- tirePWM[TIRE_BR] = -10;
- tirePWM[TIRE_FR] = -20;
- adjAnable = true;
- break;
- case 3:
- tirePWM[TIRE_FL] = 14;
- tirePWM[TIRE_BL] = 20;
- tirePWM[TIRE_BR] = -14;
- tirePWM[TIRE_FR] = -20;
- adjAnable = true;
- break;
- case 1:
- tirePWM[TIRE_FL] = 17;
- tirePWM[TIRE_BL] = 20;
- tirePWM[TIRE_BR] = -17;
- tirePWM[TIRE_FR] = -20;
- adjAnable = true;
- break;
- case 0:
- tirePWM[TIRE_FL] = 20;
- tirePWM[TIRE_BL] = 20;
- tirePWM[TIRE_BR] = -20;
- tirePWM[TIRE_FR] = -20;
- adjAnable = true;
- break;
- case -1:
- tirePWM[TIRE_FL] = 20;
- tirePWM[TIRE_BL] = 17;
- tirePWM[TIRE_BR] = -20;
- tirePWM[TIRE_FR] = -17;
- adjAnable = true;
- break;
- case -3:
- tirePWM[TIRE_FL] = 20;
- tirePWM[TIRE_BL] = 14;
- tirePWM[TIRE_BR] = -20;
- tirePWM[TIRE_FR] = -14;
- adjAnable = true;
- break;
- case -2:
- tirePWM[TIRE_FL] = 20;
- tirePWM[TIRE_BL] = 10;
- tirePWM[TIRE_BR] = -20;
- tirePWM[TIRE_FR] = -10;
- adjAnable = true;
- break;
- case 'A':
- if(lineCheck == false) {
- lineCheck = true;
- lineCount = 0;
- countW++;
- }
- tirePWM[TIRE_FL] = 20;
- tirePWM[TIRE_BL] = 20;
- tirePWM[TIRE_BR] = -20;
- tirePWM[TIRE_FR] = -20;
- adjAnable = true;
- break;
- case 'N':
- tirePWM[TIRE_FL] = 0;
- tirePWM[TIRE_BL] = 0;
- tirePWM[TIRE_BR] = 0;
- tirePWM[TIRE_FR] = 0;
- adjAnable = false;
- break;
- default:
- tirePWM[TIRE_FL] = 0;
- tirePWM[TIRE_BL] = 0;
- tirePWM[TIRE_BR] = 0;
- tirePWM[TIRE_FR] = 0;
- adjAnable = false;
- }
- }
-
- motor[TIRE_FL].dir = SetStatus(tirePWM[TIRE_FL]);
- motor[TIRE_BL].dir = SetStatus(tirePWM[TIRE_BL]);
- motor[TIRE_BR].dir = SetStatus(tirePWM[TIRE_BR]);
- motor[TIRE_FR].dir = SetStatus(tirePWM[TIRE_FR]);
- motor[TIRE_FL].pwm = SetPWM(tirePWM[TIRE_FL]);
- motor[TIRE_BL].pwm = SetPWM(tirePWM[TIRE_BL]);
- motor[TIRE_BR].pwm = SetPWM(tirePWM[TIRE_BR]);
- motor[TIRE_FR].pwm = SetPWM(tirePWM[TIRE_FR]);
-
- if(lineCheck == true) {
- lineCount++;
- if(lineCount > 20) lineCheck = false;
- }
- if(countW == 1) {
- countW = 0;
- lineFase = 10;
- lineCount = 0;
- lineCheck = false;
- }
- } else if(lineFase == 10) { // 前 低速
- motor[TIRE_FL].dir = FOR;
- motor[TIRE_BL].dir = FOR;
- motor[TIRE_BR].dir = BACK;
- motor[TIRE_FR].dir = BACK;
- if(linePara[4] == 0) {
- lineFase = 11;
- motor[TIRE_FL].dir = BRAKE;
- motor[TIRE_BL].dir = BRAKE;
- motor[TIRE_BR].dir = BRAKE;
- motor[TIRE_FR].dir = BRAKE;
- }
- motor[TIRE_FL].pwm = 16;
- motor[TIRE_BL].pwm = 16;
- motor[TIRE_BR].pwm = 16;
- motor[TIRE_FR].pwm = 16;
- } else if(lineFase == 11) {
- switch(linePara[4]) { // 右 ライントレース
- case -2:
- tirePWM[TIRE_FL] = 30;
- tirePWM[TIRE_BL] = 0;
- tirePWM[TIRE_BR] = -30;
- tirePWM[TIRE_FR] = 0;
- adjAnable = true;
- break;
- case -3:
- tirePWM[TIRE_FL] = 30;
- tirePWM[TIRE_BL] = -10;
- tirePWM[TIRE_BR] = -30;
- tirePWM[TIRE_FR] = 10;
- adjAnable = true;
- break;
- case -1:
- tirePWM[TIRE_FL] = 30;
- tirePWM[TIRE_BL] = -20;
- tirePWM[TIRE_BR] = -30;
- tirePWM[TIRE_FR] = 20;
- adjAnable = true;
- break;
- case 0:
- tirePWM[TIRE_FL] = 30;
- tirePWM[TIRE_BL] = -30;
- tirePWM[TIRE_BR] = -30;
- tirePWM[TIRE_FR] = 30;
- adjAnable = true;
- break;
- case 1:
- tirePWM[TIRE_FL] = 20;
- tirePWM[TIRE_BL] = -30;
- tirePWM[TIRE_BR] = -20;
- tirePWM[TIRE_FR] = 30;
- adjAnable = true;
- break;
- case 3:
- tirePWM[TIRE_FL] = 10;
- tirePWM[TIRE_BL] = -30;
- tirePWM[TIRE_BR] = -10;
- tirePWM[TIRE_FR] = 30;
- adjAnable = true;
- break;
- case 2:
- tirePWM[TIRE_FL] = 0;
- tirePWM[TIRE_BL] = -30;
- tirePWM[TIRE_BR] = 0;
- tirePWM[TIRE_FR] = 30;
- adjAnable = true;
- break;
- case 'A':
- if(lineCheck == false) {
- lineCheck = true;
- lineCount = 0;
- countW++;
- }
- tirePWM[TIRE_FL] = 30;
- tirePWM[TIRE_BL] = -30;
- tirePWM[TIRE_BR] = -30;
- tirePWM[TIRE_FR] = 30;
- adjAnable = true;
- break;
- case 'N':
- tirePWM[TIRE_FL] = 0;
- tirePWM[TIRE_BL] = 0;
- tirePWM[TIRE_BR] = 0;
- tirePWM[TIRE_FR] = 0;
- adjAnable = false;
- break;
- default:
- tirePWM[TIRE_FL] = 0;
- tirePWM[TIRE_BL] = 0;
- tirePWM[TIRE_BR] = 0;
- tirePWM[TIRE_FR] = 0;
- adjAnable = false;
- }
-
- if(adjAnable){
- if(linePara[3] != 'A' && linePara[3] != 'N') adj = linePara[3];
- } else {
- adj = 0;
- }
-
- motor[TIRE_FL].dir = SetStatus(tirePWM[TIRE_FL] + adj);
- motor[TIRE_BL].dir = SetStatus(tirePWM[TIRE_BL] + adj);
- motor[TIRE_BR].dir = SetStatus(tirePWM[TIRE_BR]);
- motor[TIRE_FR].dir = SetStatus(tirePWM[TIRE_FR]);
- motor[TIRE_FL].pwm = SetPWM(tirePWM[TIRE_FL] + adj);
- motor[TIRE_BL].pwm = SetPWM(tirePWM[TIRE_BL] + adj);
- motor[TIRE_BR].pwm = SetPWM(tirePWM[TIRE_BR]);
- motor[TIRE_FR].pwm = SetPWM(tirePWM[TIRE_FR]);
-
- if(lineCheck == true) {
- lineCount++;
- if(lineCount > 20) lineCheck = false;
- }
- if(countW == 2) {
- countW = 0;
- lineFase = 12;
- lineCount = 0;
- lineCheck = false;
- }
- } else if(lineFase == 12) { // 右 低速
- motor[TIRE_FL].dir = FOR;
- motor[TIRE_BL].dir = BACK;
- motor[TIRE_BR].dir = BACK;
- motor[TIRE_FR].dir = FOR;
- if(linePara[LINE_TOW_1] == 0) {
- lineFase = 13;
- motor[TIRE_FL].dir = BRAKE;
- motor[TIRE_BL].dir = BRAKE;
- motor[TIRE_BR].dir = BRAKE;
- motor[TIRE_FR].dir = BRAKE;
- }
- motor[TIRE_FL].pwm = 16;
- motor[TIRE_BL].pwm = 16;
- motor[TIRE_BR].pwm = 16;
- motor[TIRE_FR].pwm = 16;
- } else if (lineFase == 13) {
- lineFase = 14;
- motor[TIRE_FL].dir = BRAKE;
- motor[TIRE_BL].dir = BRAKE;
- motor[TIRE_BR].dir = BRAKE;
- motor[TIRE_FR].dir = BRAKE;
- } else if(lineFase == 14) { // タオル2 竿検知
- LedOut(4);
- if(LimitSw::IsPressed(TOW_2L) && LimitSw::IsPressed(TOW_2R)) {
- lineFase = 15;
- motor[TIRE_FL].dir = BRAKE;
- motor[TIRE_FL].pwm = 50;
- motor[TIRE_BL].dir = BRAKE;
- motor[TIRE_BL].pwm = 50;
- motor[TIRE_BR].dir = BRAKE;
- motor[TIRE_BR].pwm = 50;
- motor[TIRE_FR].dir = BRAKE;
- motor[TIRE_FR].pwm = 50;
- } else if(LimitSw::IsPressed(TOW_2L)) {
- motor[TIRE_FL].dir = FOR;
- motor[TIRE_FL].pwm = 20;
- motor[TIRE_BL].dir = FOR;
- motor[TIRE_BL].pwm = 20;
- motor[TIRE_BR].dir = FOR;
- motor[TIRE_BR].pwm = 20;
- motor[TIRE_FR].dir = FOR;
- motor[TIRE_FR].pwm = 20;
- } else if(LimitSw::IsPressed(TOW_2R)) {
- motor[TIRE_FL].dir = BACK;
- motor[TIRE_FL].pwm = 20;
- motor[TIRE_BL].dir = BACK;
- motor[TIRE_BL].pwm = 20;
- motor[TIRE_BR].dir = BACK;
- motor[TIRE_BR].pwm = 20;
- motor[TIRE_FR].dir = BACK;
- motor[TIRE_FR].pwm = 20;
- } else {
- if(LimitSw::IsPressed(QF_SW)) {
- switch(linePara[LINE_TOW_1]) {
- case -2:
- tirePWM[TIRE_FL] = -10;
- tirePWM[TIRE_BL] = -20;
- tirePWM[TIRE_BR] = 10;
- tirePWM[TIRE_FR] = 20;
- adjAnable = true;
- break;
- case -3:
- tirePWM[TIRE_FL] = -14;
- tirePWM[TIRE_BL] = -20;
- tirePWM[TIRE_BR] = 14;
- tirePWM[TIRE_FR] = 20;
- adjAnable = true;
- break;
- case -1:
- tirePWM[TIRE_FL] = -17;
- tirePWM[TIRE_BL] = -20;
- tirePWM[TIRE_BR] = 17;
- tirePWM[TIRE_FR] = 20;
- adjAnable = true;
- break;
- case 0:
- tirePWM[TIRE_FL] = -20;
- tirePWM[TIRE_BL] = -20;
- tirePWM[TIRE_BR] = 20;
- tirePWM[TIRE_FR] = 20;
- adjAnable = true;
- break;
- case 1:
- tirePWM[TIRE_FL] = -20;
- tirePWM[TIRE_BL] = -17;
- tirePWM[TIRE_BR] = 20;
- tirePWM[TIRE_FR] = 17;
- adjAnable = true;
- break;
- case 3:
- tirePWM[TIRE_FL] = -20;
- tirePWM[TIRE_BL] = -14;
- tirePWM[TIRE_BR] = 20;
- tirePWM[TIRE_FR] = 14;
- adjAnable = true;
- break;
- case 2:
- tirePWM[TIRE_FL] = -20;
- tirePWM[TIRE_BL] = -10;
- tirePWM[TIRE_BR] = 20;
- tirePWM[TIRE_FR] = 10;
- adjAnable = true;
- break;
- case 'A':
- tirePWM[TIRE_FL] = -20;
- tirePWM[TIRE_BL] = -20;
- tirePWM[TIRE_BR] = 20;
- tirePWM[TIRE_FR] = 20;
- adjAnable = true;
- break;
- case 'N':
- tirePWM[TIRE_FL] = tirePWM[TIRE_FL];
- tirePWM[TIRE_BL] = tirePWM[TIRE_BL];
- tirePWM[TIRE_BR] = tirePWM[TIRE_BR];
- tirePWM[TIRE_FR] = tirePWM[TIRE_FR];
- adjAnable = false;
- break;
- default:
- tirePWM[TIRE_FL] = 0;
- tirePWM[TIRE_BL] = 0;
- tirePWM[TIRE_BR] = 0;
- tirePWM[TIRE_FR] = 0;
- adjAnable = false;
- }
- } else {
- switch(linePara[LINE_TOW_1]) {
- case 2:
- tirePWM[TIRE_FL] = -10;
- tirePWM[TIRE_BL] = -20;
- tirePWM[TIRE_BR] = 10;
- tirePWM[TIRE_FR] = 20;
- adjAnable = true;
- break;
- case 3:
- tirePWM[TIRE_FL] = -14;
- tirePWM[TIRE_BL] = -20;
- tirePWM[TIRE_BR] = 14;
- tirePWM[TIRE_FR] = 20;
- adjAnable = true;
- break;
- case 1:
- tirePWM[TIRE_FL] = -17;
- tirePWM[TIRE_BL] = -20;
- tirePWM[TIRE_BR] = 17;
- tirePWM[TIRE_FR] = 20;
- adjAnable = true;
- break;
- case 0:
- tirePWM[TIRE_FL] = -20;
- tirePWM[TIRE_BL] = -20;
- tirePWM[TIRE_BR] = 20;
- tirePWM[TIRE_FR] = 20;
- adjAnable = true;
- break;
- case -1:
- tirePWM[TIRE_FL] = -20;
- tirePWM[TIRE_BL] = -17;
- tirePWM[TIRE_BR] = 20;
- tirePWM[TIRE_FR] = 17;
- adjAnable = true;
- break;
- case -3:
- tirePWM[TIRE_FL] = -20;
- tirePWM[TIRE_BL] = -14;
- tirePWM[TIRE_BR] = 20;
- tirePWM[TIRE_FR] = 14;
- adjAnable = true;
- break;
- case -2:
- tirePWM[TIRE_FL] = -20;
- tirePWM[TIRE_BL] = -10;
- tirePWM[TIRE_BR] = 20;
- tirePWM[TIRE_FR] = 10;
- adjAnable = true;
- break;
- case 'A':
- tirePWM[TIRE_FL] = -20;
- tirePWM[TIRE_BL] = -20;
- tirePWM[TIRE_BR] = 20;
- tirePWM[TIRE_FR] = 20;
- adjAnable = true;
- break;
- case 'N':
- tirePWM[TIRE_FL] = tirePWM[TIRE_FL];
- tirePWM[TIRE_BL] = tirePWM[TIRE_BL];
- tirePWM[TIRE_BR] = tirePWM[TIRE_BR];
- tirePWM[TIRE_FR] = tirePWM[TIRE_FR];
- adjAnable = false;
- break;
- default:
- tirePWM[TIRE_FL] = 0;
- tirePWM[TIRE_BL] = 0;
- tirePWM[TIRE_BR] = 0;
- tirePWM[TIRE_FR] = 0;
- adjAnable = false;
- }
- }
-
- motor[TIRE_FL].dir = SetStatus(tirePWM[TIRE_FL]);
- motor[TIRE_BL].dir = SetStatus(tirePWM[TIRE_BL]);
- motor[TIRE_BR].dir = SetStatus(tirePWM[TIRE_BR]);
- motor[TIRE_FR].dir = SetStatus(tirePWM[TIRE_FR]);
- motor[TIRE_FL].pwm = SetPWM(tirePWM[TIRE_FL]);
- motor[TIRE_BL].pwm = SetPWM(tirePWM[TIRE_BL]);
- motor[TIRE_BR].pwm = SetPWM(tirePWM[TIRE_BR]);
- motor[TIRE_FR].pwm = SetPWM(tirePWM[TIRE_FR]);
- }
- } else if(lineFase == 15 ){ // ライン 修正
- if(linePara[LINE_TOW_1] == 'A' || linePara[LINE_TOW_1] == 'N') {
- motor[TIRE_FL].dir = BRAKE;
- motor[TIRE_FL].pwm = 50;
- motor[TIRE_BL].dir = BRAKE;
- motor[TIRE_BL].pwm = 50;
- motor[TIRE_BR].dir = BRAKE;
- motor[TIRE_BR].pwm = 50;
- motor[TIRE_FR].dir = BRAKE;
- motor[TIRE_FR].pwm = 50;
- } else if(linePara[LINE_TOW_1] > 0) {
- motor[TIRE_FL].dir = BACK;
- motor[TIRE_FL].pwm = 16;
- motor[TIRE_BL].dir = FOR;
- motor[TIRE_BL].pwm = 16;
- motor[TIRE_BR].dir = FOR;
- motor[TIRE_BR].pwm = 16;
- motor[TIRE_FR].dir = BACK;
- motor[TIRE_FR].pwm = 16;
- } else if(linePara[LINE_TOW_1] < 0) {
- motor[TIRE_FL].dir = FOR;
- motor[TIRE_FL].pwm = 16;
- motor[TIRE_BL].dir = BACK;
- motor[TIRE_BL].pwm = 16;
- motor[TIRE_BR].dir = BACK;
- motor[TIRE_BR].pwm = 16;
- motor[TIRE_FR].dir = FOR;
- motor[TIRE_FR].pwm = 16;
- } else if(linePara[LINE_TOW_1] == 0) {
- lineFase = 16;
- motor[TIRE_FL].dir = BRAKE;
- motor[TIRE_FL].pwm = 50;
- motor[TIRE_BL].dir = BRAKE;
- motor[TIRE_BL].pwm = 50;
- motor[TIRE_BR].dir = BRAKE;
- motor[TIRE_BR].pwm = 50;
- motor[TIRE_FR].dir = BRAKE;
- motor[TIRE_FR].pwm = 50;
- } else {
- motor[TIRE_FL].dir = BRAKE;
- motor[TIRE_FL].pwm = 50;
- motor[TIRE_BL].dir = BRAKE;
- motor[TIRE_BL].pwm = 50;
- motor[TIRE_BR].dir = BRAKE;
- motor[TIRE_BR].pwm = 50;
- motor[TIRE_FR].dir = BRAKE;
- motor[TIRE_FR].pwm = 50;
- }
- } else if(lineFase == 16) { // タオル2 解放
- Air[1] = SOLENOID_ON;
- motor[TIRE_FL].dir = BRAKE;
- motor[TIRE_BL].dir = BRAKE;
- motor[TIRE_BR].dir = BRAKE;
- motor[TIRE_FR].dir = BRAKE;
- lineFase = 17;
- } else if(lineFase == 17) { // 前
- if(LimitSw::IsPressed(LSW_UU)) {
- motor[LIFT_U].dir=BRAKE;
- motor[LIFT_U].pwm=100;
- } else {
- motor[LIFT_U].dir=BACK;
- motor[LIFT_U].pwm=180;
- }
- switch(linePara[LINE_TOW_2]) {
- case 2:
- tirePWM[TIRE_FL] = 0;
- tirePWM[TIRE_BL] = 30;
- tirePWM[TIRE_BR] = 0;
- tirePWM[TIRE_FR] = -30;
- adjAnable = true;
- break;
- case 3:
- tirePWM[TIRE_FL] = 10;
- tirePWM[TIRE_BL] = 30;
- tirePWM[TIRE_BR] = -10;
- tirePWM[TIRE_FR] = -30;
- adjAnable = true;
- break;
- case 1:
- tirePWM[TIRE_FL] = 20;
- tirePWM[TIRE_BL] = 30;
- tirePWM[TIRE_BR] = -20;
- tirePWM[TIRE_FR] = -30;
- adjAnable = true;
- break;
- case 0:
- tirePWM[TIRE_FL] = 30;
- tirePWM[TIRE_BL] = 30;
- tirePWM[TIRE_BR] = -30;
- tirePWM[TIRE_FR] = -30;
- adjAnable = true;
- break;
- case -1:
- tirePWM[TIRE_FL] = 30;
- tirePWM[TIRE_BL] = 20;
- tirePWM[TIRE_BR] = -30;
- tirePWM[TIRE_FR] = -20;
- adjAnable = true;
- break;
- case -3:
- tirePWM[TIRE_FL] = 30;
- tirePWM[TIRE_BL] = 10;
- tirePWM[TIRE_BR] = -30;
- tirePWM[TIRE_FR] = -10;
- adjAnable = true;
- break;
- case -2:
- tirePWM[TIRE_FL] = 30;
- tirePWM[TIRE_BL] = 0;
- tirePWM[TIRE_BR] = -30;
- tirePWM[TIRE_FR] = 0;
- adjAnable = true;
- break;
- case 'A':
- if(lineCheck == false) {
- lineCheck = true;
- lineCount = 0;
- countW++;
- }
- tirePWM[TIRE_FL] = 30;
- tirePWM[TIRE_BL] = 30;
- tirePWM[TIRE_BR] = -30;
- tirePWM[TIRE_FR] = -30;
- adjAnable = true;
- break;
- case 'N':
- tirePWM[TIRE_FL] = 0;
- tirePWM[TIRE_BL] = 0;
- tirePWM[TIRE_BR] = 0;
- tirePWM[TIRE_FR] = 0;
- adjAnable = false;
- break;
- default:
- tirePWM[TIRE_FL] = 0;
- tirePWM[TIRE_BL] = 0;
- tirePWM[TIRE_BR] = 0;
- tirePWM[TIRE_FR] = 0;
- adjAnable = false;
- }
-
- if(adjAnable) {
- adj = 0;
- } else {
- adj = 0;
- }
-
- motor[TIRE_FL].dir = SetStatus(tirePWM[TIRE_FL]);
- motor[TIRE_BL].dir = SetStatus(tirePWM[TIRE_BL] + adj);
- motor[TIRE_BR].dir = SetStatus(tirePWM[TIRE_BR] + adj);
- motor[TIRE_FR].dir = SetStatus(tirePWM[TIRE_FR]);
- motor[TIRE_FL].pwm = SetPWM(tirePWM[TIRE_FL]);
- motor[TIRE_BL].pwm = SetPWM(tirePWM[TIRE_BL] + adj);
- motor[TIRE_BR].pwm = SetPWM(tirePWM[TIRE_BR] + adj);
- motor[TIRE_FR].pwm = SetPWM(tirePWM[TIRE_FR]);
-
- if(lineCheck == true) {
- lineCount++;
- if(lineCount > 20) lineCheck = false;
- }
- if(countW == 1) {
- countW = 0;
- lineFase = 100;
- lineCount = 0;
- lineCheck = false;
- }
- } else if(lineFase==100) {
- LedOut(6);
- motor[TIRE_FL].dir = FOR;
- motor[TIRE_BL].dir = FOR;
- motor[TIRE_BR].dir = BACK;
- motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm=15;
- motor[TIRE_FR].pwm=15;
- motor[TIRE_BL].pwm=15;
- motor[TIRE_BR].pwm=15;
- if(LimitSw::IsPressed(LSW_UU)) {
- motor[LIFT_U].dir=BRAKE;
- motor[LIFT_U].pwm=100;
- } else {
- motor[LIFT_U].dir=BACK;
- motor[LIFT_U].pwm=150;
- }
- if((Ult_left>0)&&(Ult_right>0)&&(Ult_left<30)&&(Ult_right<30)) {
- lineFase=101;
- }
- } else if(lineFase==101) {
- //位置調整
- //(P制御)
- if((Ult_left>0)&&(Ult_right>0)) {//データを受け取っているとき
- if((Ult_left<16)&&(Ult_left>14)&&(Ult_right<16)&&(Ult_right>14)) { //合った場合
- motor[TIRE_FL].dir=BRAKE;
- motor[TIRE_FR].dir=BRAKE;
- motor[TIRE_BL].dir=BRAKE;
- motor[TIRE_BR].dir=BRAKE;
- motor[TIRE_FL].pwm=100;
- motor[TIRE_FR].pwm=100;
- motor[TIRE_BL].pwm=100;
- motor[TIRE_BR].pwm=100;
- lineFase=102;//system lineFase increasing
- } else if((Ult_left<16)&&(Ult_left>14)) { //Ult_leftのみあった場合
- if(Ult_right>16) { //Ult_rightが遠い場合
- motor[TIRE_FL].dir=FOR;
- motor[TIRE_FR].dir=BACK;
- motor[TIRE_BL].dir=FOR;
- motor[TIRE_BR].dir=BACK;
- motor[TIRE_FL].pwm=0;
- motor[TIRE_FR].pwm=15;
- motor[TIRE_BL].pwm=0;
- motor[TIRE_BR].pwm=15;
- } else if(Ult_right<14) { //Ult_rightが近い場合
- motor[TIRE_FL].dir=BACK;
- motor[TIRE_FR].dir=FOR;
- motor[TIRE_BL].dir=BACK;
- motor[TIRE_BR].dir=FOR;
- motor[TIRE_FL].pwm=0;
- motor[TIRE_FR].pwm=15;
- motor[TIRE_BL].pwm=0;
- motor[TIRE_BR].pwm=15;
- }
- } else if((Ult_right<16)&&(Ult_right>14)) { //Ult_rightのみあった場合
- if(Ult_left>16) { //Ult_leftが遠い場合
- motor[TIRE_FL].dir=FOR;
- motor[TIRE_FR].dir=BACK;
- motor[TIRE_BL].dir=FOR;
- motor[TIRE_BR].dir=BACK;
- motor[TIRE_FL].pwm=15;
- motor[TIRE_FR].pwm=0;
- motor[TIRE_BL].pwm=15;
- motor[TIRE_BR].pwm=0;
- } else if(Ult_left<14) { //Ult_leftが近い場合
- motor[TIRE_FL].dir=BACK;
- motor[TIRE_FR].dir=FOR;
- motor[TIRE_BL].dir=BACK;
- motor[TIRE_BR].dir=FOR;
- motor[TIRE_FL].pwm=15;
- motor[TIRE_FR].pwm=0;
- motor[TIRE_BL].pwm=15;
- motor[TIRE_BR].pwm=0;
- }
- } else { //どっちもあってない場合
- if( (Ult_left+Ult_right)<=25||(Ult_left+Ult_right)>=35) {//離れすぎているor近すぎるとき
- if((Ult_left-Ult_right)>10||((Ult_left-Ult_right)<-10) ) { //傾きが大きいとき
- if((Ult_left-Ult_right)>0) { //Ult_leftの方が後ろに来ているとき
- motor[TIRE_FL].dir=FOR;
- motor[TIRE_FR].dir=FOR;
- motor[TIRE_BL].dir=FOR;
- motor[TIRE_BR].dir=FOR;
- motor[TIRE_FL].pwm=15;
- motor[TIRE_FR].pwm=15;
- motor[TIRE_BL].pwm=15;
- motor[TIRE_BR].pwm=15;
- } else if((Ult_left-Ult_right)<=0) { //Ult_rightの方が後ろに来ているとき
- motor[TIRE_FL].dir=BACK;
- motor[TIRE_FR].dir=BACK;
- motor[TIRE_BL].dir=BACK;
- motor[TIRE_BR].dir=BACK;
- motor[TIRE_FL].pwm=15;
- motor[TIRE_FR].pwm=15;
- motor[TIRE_BL].pwm=15;
- motor[TIRE_BR].pwm=15;
- }
- } else { //傾きが大きくなくて離れているとき
- if((Ult_right+Ult_left)<=25) { //近すぎるとき
- motor[TIRE_FL].dir=BACK;
- motor[TIRE_FR].dir=FOR;
- motor[TIRE_BL].dir=BACK;
- motor[TIRE_BR].dir=FOR;
- motor[TIRE_FL].pwm=20;
- motor[TIRE_FR].pwm=20;
- motor[TIRE_BL].pwm=20;
- motor[TIRE_BR].pwm=20;
- } else if((Ult_right+Ult_left)>=35) { //離れているとき
- motor[TIRE_FL].dir=FOR;
- motor[TIRE_FR].dir=BACK;
- motor[TIRE_BL].dir=FOR;
- motor[TIRE_BR].dir=BACK;
- motor[TIRE_FL].pwm=20;
- motor[TIRE_FR].pwm=20;
- motor[TIRE_BL].pwm=20;
- motor[TIRE_BR].pwm=20;
- }
- }
-
- } else { //さほど離れてはいないが傾きが大きいとき
- if((Ult_left-Ult_right)>0) { //Ult_leftの方が後ろに来ているとき
- motor[TIRE_FL].dir=FOR;
- motor[TIRE_FR].dir=FOR;
- motor[TIRE_BL].dir=FOR;
- motor[TIRE_BR].dir=FOR;
- motor[TIRE_FL].pwm=15;
- motor[TIRE_FR].pwm=15;
- motor[TIRE_BL].pwm=15;
- motor[TIRE_BR].pwm=15;
- } else if((Ult_left-Ult_right)<=0) { //Ult_rightの方が後ろに来ているとき
- motor[TIRE_FL].dir=BACK;
- motor[TIRE_FR].dir=BACK;
- motor[TIRE_BL].dir=BACK;
- motor[TIRE_BR].dir=BACK;
- motor[TIRE_FL].pwm=15;
- motor[TIRE_FR].pwm=15;
- motor[TIRE_BL].pwm=15;
- motor[TIRE_BR].pwm=15;
- }
- }
- }
-
- } else {//データを受け取ってないとき
- motor[TIRE_FL].dir=BRAKE;
- motor[TIRE_FR].dir=BRAKE;
- motor[TIRE_BL].dir=BRAKE;
- motor[TIRE_BR].dir=BRAKE;
- motor[TIRE_FL].pwm=100;
- motor[TIRE_FR].pwm=100;
- motor[TIRE_BL].pwm=100;
- motor[TIRE_BR].pwm=100;
- }
-
- } else if(lineFase==102) {
- Air[CLOTHESPIN]=SOLENOID_OFF;
- LedOut(1);
- //リミットスイッチに当てる
- static int count2=0;
- if(count2==0) {
- if(LimitSw::IsPressed(RIGHTlim)) {
- count2=1;
- } else if((Ult_left>0)&&(Ult_right>0)) {//データを受け取っているとき
- if( ((Ult_left+Ult_right)<=25)||((Ult_left+Ult_right)>=35) ) {
- if(((Ult_left-Ult_right)>=5)||((Ult_left-Ult_right)<=-5)) {
- if(Ult_left-Ult_right<=0) {
- //右
- motor[TIRE_FL].dir=FOR;
- motor[TIRE_FR].dir=FOR;
- motor[TIRE_BL].dir=BACK;
- motor[TIRE_BR].dir=BACK;
-
- motor[TIRE_FL].pwm=25;
- motor[TIRE_FR].pwm=25;
-
- motor[TIRE_BL].pwm=25+(-1*(Ult_left-Ult_right));
- motor[TIRE_BR].pwm=25+(-1*(Ult_left-Ult_right));
- } else if(Ult_left-Ult_right>0) {
- motor[TIRE_FL].dir=FOR;
- motor[TIRE_FR].dir=FOR;
- motor[TIRE_BL].dir=BACK;
- motor[TIRE_BR].dir=BACK;
-
- motor[TIRE_BL].pwm=25;
- motor[TIRE_BR].pwm=25;
- motor[TIRE_FL].pwm=25+(1*(Ult_left-Ult_right));
- motor[TIRE_FR].pwm=25+(1*(Ult_left-Ult_right));
- }
- } else if((Ult_left+Ult_right)<=25) {
- motor[TIRE_FL].dir=FOR;
- motor[TIRE_FR].dir=FOR;
- motor[TIRE_BL].dir=BACK;
- motor[TIRE_BR].dir=BACK;
-
- motor[TIRE_FL].pwm=0;
- motor[TIRE_FR].pwm=25;
- motor[TIRE_BL].pwm=25;
- motor[TIRE_BR].pwm=0;
- } else if((Ult_left+Ult_right)>=35) {
- motor[TIRE_FL].dir=FOR;
- motor[TIRE_FR].dir=FOR;
- motor[TIRE_BL].dir=BACK;
- motor[TIRE_BR].dir=BACK;
-
- motor[TIRE_FL].pwm=25;
- motor[TIRE_FR].pwm=0;
- motor[TIRE_BL].pwm=0;
- motor[TIRE_BR].pwm=25;
- }
- } else {
- if(Ult_left-Ult_right<=0) {
- motor[TIRE_FL].dir=FOR;
- motor[TIRE_FR].dir=FOR;
- motor[TIRE_BL].dir=BACK;
- motor[TIRE_BR].dir=BACK;
-
- motor[TIRE_FL].pwm=25;
- motor[TIRE_FR].pwm=25;
-
- motor[TIRE_BL].pwm=25+(-1*(Ult_left-Ult_right));
- motor[TIRE_BR].pwm=25+(-1*(Ult_left-Ult_right));
- } else if(Ult_left-Ult_right>0) {
- motor[TIRE_FL].dir=FOR;
- motor[TIRE_FR].dir=FOR;
- motor[TIRE_BL].dir=BACK;
- motor[TIRE_BR].dir=BACK;
-
- motor[TIRE_BL].pwm=25;
- motor[TIRE_BR].pwm=25;
- motor[TIRE_FL].pwm=25+(1*(Ult_left-Ult_right));
- motor[TIRE_FR].pwm=25+(1*(Ult_left-Ult_right));
- }
- }
-
- } else {
- motor[TIRE_FL].dir=BRAKE;
- motor[TIRE_FR].dir=BRAKE;
- motor[TIRE_BL].dir=BRAKE;
- motor[TIRE_BR].dir=BRAKE;
- motor[TIRE_FL].pwm=100;
- motor[TIRE_FR].pwm=100;
- motor[TIRE_BL].pwm=100;
- motor[TIRE_BR].pwm=100;
-
- }
- } else if(count2==1) {
- motor[TIRE_FL].dir=BRAKE;
- motor[TIRE_FR].dir=BRAKE;
- motor[TIRE_BL].dir=BRAKE;
- motor[TIRE_BR].dir=BRAKE;
- motor[TIRE_FL].pwm=255;
- motor[TIRE_FR].pwm=255;
- motor[TIRE_BL].pwm=255;
- motor[TIRE_BR].pwm=255;
- lineFase=103;
- }
- } else if(lineFase==103) {
- if((Ult_left>0)&&(Ult_right>0)) {//データを受け取っているとき
- if((Ult_left<16)&&(Ult_left>14)&&(Ult_right<16)&&(Ult_right>14)) { //合った場合
- motor[TIRE_FL].dir=BRAKE;
- motor[TIRE_FR].dir=BRAKE;
- motor[TIRE_BL].dir=BRAKE;
- motor[TIRE_BR].dir=BRAKE;
- motor[TIRE_FL].pwm=255;
- motor[TIRE_FR].pwm=255;
- motor[TIRE_BL].pwm=255;
- motor[TIRE_BR].pwm=255;
- lineFase=104;//system lineFase increasing
- } else if((Ult_left<16)&&(Ult_left>14)) { //Ult_leftのみあった場合
- if(Ult_right>16) { //Ult_rightが遠い場合
- motor[TIRE_FL].dir=FOR;
- motor[TIRE_FR].dir=BACK;
- motor[TIRE_BL].dir=FOR;
- motor[TIRE_BR].dir=BACK;
- motor[TIRE_FL].pwm=0;
- motor[TIRE_FR].pwm=13;
- motor[TIRE_BL].pwm=0;
- motor[TIRE_BR].pwm=13;
- } else if(Ult_right<14) { //Ult_rightが近い場合
- motor[TIRE_FL].dir=BACK;
- motor[TIRE_FR].dir=FOR;
- motor[TIRE_BL].dir=BACK;
- motor[TIRE_BR].dir=FOR;
- motor[TIRE_FL].pwm=0;
- motor[TIRE_FR].pwm=13;
- motor[TIRE_BL].pwm=0;
- motor[TIRE_BR].pwm=13;
- }
- } else if((Ult_right<16)&&(Ult_right>14)) { //Ult_rightのみあった場合
- if(Ult_left>16) { //Ult_leftが遠い場合
- motor[TIRE_FL].dir=FOR;
- motor[TIRE_FR].dir=BACK;
- motor[TIRE_BL].dir=FOR;
- motor[TIRE_BR].dir=BACK;
- motor[TIRE_FL].pwm=13;
- motor[TIRE_FR].pwm=0;
- motor[TIRE_BL].pwm=13;
- motor[TIRE_BR].pwm=0;
- } else if(Ult_left<14) { //Ult_leftが近い場合
- motor[TIRE_FL].dir=BACK;
- motor[TIRE_FR].dir=FOR;
- motor[TIRE_BL].dir=BACK;
- motor[TIRE_BR].dir=FOR;
- motor[TIRE_FL].pwm=13;
- motor[TIRE_FR].pwm=0;
- motor[TIRE_BL].pwm=13;
- motor[TIRE_BR].pwm=0;
- }
- } else { //どっちもあってない場合
- if( (Ult_left+Ult_right)<=25||(Ult_left+Ult_right)>=35) {//離れすぎているor近すぎるとき
- if((Ult_left-Ult_right)>0||((Ult_left-Ult_right)<0) ) { //傾きが大きいとき
- if((Ult_left-Ult_right)>0) { //Ult_leftの方が後ろに来ているとき
- motor[TIRE_FL].dir=FOR;
- motor[TIRE_FR].dir=FOR;
- motor[TIRE_BL].dir=FOR;
- motor[TIRE_BR].dir=FOR;
- motor[TIRE_FL].pwm=15;
- motor[TIRE_FR].pwm=15;
- motor[TIRE_BL].pwm=15;
- motor[TIRE_BR].pwm=15;
- } else if((Ult_left-Ult_right)<=0) { //Ult_rightの方が後ろに来ているとき
- motor[TIRE_FL].dir=BACK;
- motor[TIRE_FR].dir=BACK;
- motor[TIRE_BL].dir=BACK;
- motor[TIRE_BR].dir=BACK;
- motor[TIRE_FL].pwm=15;
- motor[TIRE_FR].pwm=15;
- motor[TIRE_BL].pwm=15;
- motor[TIRE_BR].pwm=15;
- }
- }
- } else { //さほど離れてはいないが傾きが大きいとき
- if((Ult_left-Ult_right)>0) { //Ult_leftの方が後ろに来ているとき
- motor[TIRE_FL].dir=FOR;
- motor[TIRE_FR].dir=FOR;
- motor[TIRE_BL].dir=FOR;
- motor[TIRE_BR].dir=FOR;
- motor[TIRE_FL].pwm=15;
- motor[TIRE_FR].pwm=15;
- motor[TIRE_BL].pwm=15;
- motor[TIRE_BR].pwm=15;
- } else if((Ult_left-Ult_right)<=0) { //Ult_rightの方が後ろに来ているとき
- motor[TIRE_FL].dir=BACK;
- motor[TIRE_FR].dir=BACK;
- motor[TIRE_BL].dir=BACK;
- motor[TIRE_BR].dir=BACK;
- motor[TIRE_FL].pwm=15;
- motor[TIRE_FR].pwm=15;
- motor[TIRE_BL].pwm=15;
- motor[TIRE_BR].pwm=15;
- }
- }
- }
-
- } else {//データを受け取ってないとき
- motor[TIRE_FL].dir=BRAKE;
- motor[TIRE_FR].dir=BRAKE;
- motor[TIRE_BL].dir=BRAKE;
- motor[TIRE_BR].dir=BRAKE;
- motor[TIRE_FL].pwm=100;
- motor[TIRE_FR].pwm=100;
- motor[TIRE_BL].pwm=100;
- motor[TIRE_BR].pwm=100;
- }
- } else if(lineFase==104) {
- static int count3=0;
- static int loop=0;
- pc.printf("%d\r\n",loop);
- Air[CLOTHESPIN]=1;
- if(count3==0) {
- loop++;
- if(loop==60) {
- count3=1;
- }
- } else if(count3==1) {
- Air[CLOTHESPIN]=0;
- lineFase=105;
-
- }
- } else if(lineFase==105) {
- LedOut(6);
- Air[CLOTHESPIN]=0;
- if(!(LimitSw::IsPressed(LEFTlim))) {
-
- //超音波
- if(Ult_right>0) {
- if(Ult_right<15) {
- motor[TIRE_FL].dir=BACK;
- motor[TIRE_FR].dir=BACK;
- motor[TIRE_BL].dir=FOR;
- motor[TIRE_BR].dir=FOR;
- motor[TIRE_FL].pwm=25+(15-Ult_left);
- motor[TIRE_FR].pwm=25;
- motor[TIRE_BL].pwm=25;
- motor[TIRE_BR].pwm=25+(15-Ult_left);
- } else if(Ult_right>=15) {
- motor[TIRE_FL].dir=BACK;
- motor[TIRE_FR].dir=BACK;
- motor[TIRE_BL].dir=FOR;
- motor[TIRE_BR].dir=FOR;
- motor[TIRE_FL].pwm=25;
- motor[TIRE_FR].pwm=25+(15-Ult_left);
- motor[TIRE_BL].pwm=25+(15-Ult_left);
- motor[TIRE_BR].pwm=25;
- }
- } else {
- motor[TIRE_FL].dir=BACK;
- motor[TIRE_FR].dir=BACK;
- motor[TIRE_BL].dir=FOR;
- motor[TIRE_BR].dir=FOR;
- motor[TIRE_FL].pwm=25;
- motor[TIRE_FR].pwm=25;
- motor[TIRE_BL].pwm=25;
- motor[TIRE_BR].pwm=25;
- }
-
-
- } else {
- motor[TIRE_FL].dir=BRAKE;
- motor[TIRE_FR].dir=BRAKE;
- motor[TIRE_BL].dir=BRAKE;
- motor[TIRE_BR].dir=BRAKE;
- motor[TIRE_FL].pwm=100;
- motor[TIRE_FR].pwm=100;
- motor[TIRE_BL].pwm=100;
- motor[TIRE_BR].pwm=100;
- lineFase=106;
- }
-
- } else if(lineFase==106) {
- motor[TIRE_FL].dir=BACK;
- motor[TIRE_FR].dir=FOR;
- motor[TIRE_BL].dir=BACK;
- motor[TIRE_BR].dir=FOR;
- motor[TIRE_FL].pwm=15;
- motor[TIRE_FR].pwm=15;
- motor[TIRE_BL].pwm=15;
- motor[TIRE_BR].pwm=15;
- if(linePara[4]!='N') {
- lineFase=19;
- }
- } else if(lineFase == 18) { // 前 低速
- motor[TIRE_FL].dir = FOR;
- motor[TIRE_BL].dir = FOR;
- motor[TIRE_BR].dir = BACK;
- motor[TIRE_FR].dir = BACK;
- if(linePara[4] != 'N') {
- lineFase = 19;
- motor[TIRE_FL].dir = BRAKE;
- motor[TIRE_BL].dir = BRAKE;
- motor[TIRE_BR].dir = BRAKE;
- motor[TIRE_FR].dir = BRAKE;
- }
- motor[TIRE_FL].pwm = 16;
- motor[TIRE_BL].pwm = 16;
- motor[TIRE_BR].pwm = 16;
- motor[TIRE_FR].pwm = 16;
- } else if(lineFase == 19) { // 左
- if(!(LimitSw::IsPressed(LSW_UB))) {
- motor[LIFT_U].dir=FOR;
- motor[LIFT_U].pwm=150;
- } else {
- motor[LIFT_U].dir=FOR;
- motor[LIFT_U].pwm=150;
- }
- switch(linePara[3]) {
- case -2:
- tirePWM[TIRE_FL] = -30;
- tirePWM[TIRE_BL] = 0;
- tirePWM[TIRE_BR] = 30;
- tirePWM[TIRE_FR] = 0;
- adjAnable = true;
- break;
- case -3:
- tirePWM[TIRE_FL] = -30;
- tirePWM[TIRE_BL] = 10;
- tirePWM[TIRE_BR] = 30;
- tirePWM[TIRE_FR] = -10;
- adjAnable = true;
- break;
- case -1:
- tirePWM[TIRE_FL] = -30;
- tirePWM[TIRE_BL] = 20;
- tirePWM[TIRE_BR] = 30;
- tirePWM[TIRE_FR] = -20;
- adjAnable = true;
- break;
- case 0:
- tirePWM[TIRE_FL] = -30;
- tirePWM[TIRE_BL] = 30;
- tirePWM[TIRE_BR] = 30;
- tirePWM[TIRE_FR] = -30;
- adjAnable = true;
- break;
- case 1:
- tirePWM[TIRE_FL] = -20;
- tirePWM[TIRE_BL] = 40;
- tirePWM[TIRE_BR] = 20;
- tirePWM[TIRE_FR] = -30;
- adjAnable = true;
- break;
- case 3:
- tirePWM[TIRE_FL] = -10;
- tirePWM[TIRE_BL] = 30;
- tirePWM[TIRE_BR] = 10;
- tirePWM[TIRE_FR] = -30;
- adjAnable = true;
- break;
- case 2:
- tirePWM[TIRE_FL] = 0;
- tirePWM[TIRE_BL] = 30;
- tirePWM[TIRE_BR] = 0;
- tirePWM[TIRE_FR] = -30;
- adjAnable = true;
- break;
- case 'A':
- if(lineCheck == false) {
- lineCheck = true;
- lineCount = 0;
- countW++;
- }
- tirePWM[TIRE_FL] = -30;
- tirePWM[TIRE_BL] = 30;
- tirePWM[TIRE_BR] = 30;
- tirePWM[TIRE_FR] = -30;
- adjAnable = true;
- break;
- case 'N':
- tirePWM[TIRE_FL] = 0;
- tirePWM[TIRE_BL] = 0;
- tirePWM[TIRE_BR] = 0;
- tirePWM[TIRE_FR] = 0;
- adjAnable = false;
- break;
- default:
- tirePWM[TIRE_FL] = 0;
- tirePWM[TIRE_BL] = 0;
- tirePWM[TIRE_BR] = 0;
- tirePWM[TIRE_FR] = 0;
- adjAnable = false;
- }
-
- if(adjAnable) {
- if(linePara[4] != 'A' && linePara[4] != 'N') adj = linePara[4];
- } else {
- adj = 0;
- }
-
- motor[TIRE_FL].dir = SetStatus(tirePWM[TIRE_FL]);
- motor[TIRE_BL].dir = SetStatus(tirePWM[TIRE_BL]);
- motor[TIRE_BR].dir = SetStatus(tirePWM[TIRE_BR] + adj);
- motor[TIRE_FR].dir = SetStatus(tirePWM[TIRE_FR] + adj);
- motor[TIRE_FL].pwm = SetPWM(tirePWM[TIRE_FL]);
- motor[TIRE_BL].pwm = SetPWM(tirePWM[TIRE_BL]);
- motor[TIRE_BR].pwm = SetPWM(tirePWM[TIRE_BR] + adj);
- motor[TIRE_FR].pwm = SetPWM(tirePWM[TIRE_FR] + adj);
-
- if(lineCheck == true) {
- lineCount++;
- if(lineCount > 20) lineCheck = false;
- }
-
- /*
- if(LimitSw::IsPressed(TOWEL1_SW) && LimitSw::IsPressed(TOWEL2_SW)) {
- targetCount = 3;
- } else if(LimitSw::IsPressed(TOWEL1_SW)) {
- targetCount = 3;
- } else {
- targetCount = 2;
- }
- */
-
- targetCount = 3;
-
- if(countW == targetCount) {
- countW = 0;
- lineFase = 20;
- lineCount = 0;
- lineCheck = false;
- }
- } else if(lineFase == 20) { // 左 低速
- if(!(LimitSw::IsPressed(LSW_UB))) {
- motor[LIFT_U].dir=FOR;
- motor[LIFT_U].pwm=150;
- } else {
- motor[LIFT_U].dir=FOR;
- motor[LIFT_U].pwm=150;
- }
- motor[TIRE_FL].dir = BACK;
- motor[TIRE_BL].dir = FOR;
- motor[TIRE_BR].dir = FOR;
- motor[TIRE_FR].dir = BACK;
- if (linePara[2] == 'N') {
- //(!!LimitSw::Ispressed(SHEETS_SW)) {
- //ineFase = 20;
- //else if(LimitSw::IsPressed(TOWEL2_SW) {
- //ineFase = 14;
- //else {
- lineFase = 21;
- //
- motor[TIRE_FL].dir = BRAKE;
- motor[TIRE_BL].dir = BRAKE;
- motor[TIRE_BR].dir = BRAKE;
- motor[TIRE_FR].dir = BRAKE;
- }
- motor[TIRE_FL].pwm = 16;
- motor[TIRE_BL].pwm = 16;
- motor[TIRE_BR].pwm = 16;
- motor[TIRE_FR].pwm = 16;
- } else if(lineFase == 21) {
- if(!(LimitSw::IsPressed(LSW_UB))) {
- motor[LIFT_U].dir=FOR;
- motor[LIFT_U].pwm=150;
- } else {
- motor[LIFT_U].dir=FOR;
- motor[LIFT_U].pwm=150;
- }
- switch(linePara[2]) {
- case -2:
- tirePWM[TIRE_FL] = 0;
- tirePWM[TIRE_BL] = -30;
- tirePWM[TIRE_BR] = 0;
- tirePWM[TIRE_FR] = 30;
- adjAnable = true;
- break;
- case -3:
- tirePWM[TIRE_FL] = -10;
- tirePWM[TIRE_BL] = -30;
- tirePWM[TIRE_BR] = 10;
- tirePWM[TIRE_FR] = 30;
- adjAnable = true;
- break;
- case -1:
- tirePWM[TIRE_FL] = -20;
- tirePWM[TIRE_BL] = -30;
- tirePWM[TIRE_BR] = 20;
- tirePWM[TIRE_FR] = 30;
- adjAnable = true;
- break;
- case 0:
- tirePWM[TIRE_FL] = -30;
- tirePWM[TIRE_BL] = -30;
- tirePWM[TIRE_BR] = 30;
- tirePWM[TIRE_FR] = 30;
- adjAnable = true;
- break;
- case 1:
- tirePWM[TIRE_FL] = -30;
- tirePWM[TIRE_BL] = -20;
- tirePWM[TIRE_BR] = 30;
- tirePWM[TIRE_FR] = 20;
- adjAnable = true;
- break;
- case 3:
- tirePWM[TIRE_FL] = -30;
- tirePWM[TIRE_BL] = -10;
- tirePWM[TIRE_BR] = 30;
- tirePWM[TIRE_FR] = 10;
- adjAnable = true;
- break;
- case 2:
- tirePWM[TIRE_FL] = -30;
- tirePWM[TIRE_BL] = 0;
- tirePWM[TIRE_BR] = 30;
- tirePWM[TIRE_FR] = 0;
- adjAnable = true;
- break;
- case 'A':
- if(lineCheck == false) {
- lineCheck = true;
- lineCount = 0;
- countW++;
- }
- tirePWM[TIRE_FL] = -30;
- tirePWM[TIRE_BL] = -30;
- tirePWM[TIRE_BR] = 30;
- tirePWM[TIRE_FR] = 30;
- adjAnable = true;
- break;
- case 'N':
- tirePWM[TIRE_FL] = 0;
- tirePWM[TIRE_BL] = 0;
- tirePWM[TIRE_BR] = 0;
- tirePWM[TIRE_FR] = 0;
- adjAnable = false;
- break;
- default:
- tirePWM[TIRE_FL] = 0;
- tirePWM[TIRE_BL] = 0;
- tirePWM[TIRE_BR] = 0;
- tirePWM[TIRE_FR] = 0;
- adjAnable = false;
- }
-
- if(adjAnable) {
- if(linePara[0] != 'A' && linePara[0] != 'N') adj = linePara[0];
- } else {
- adj = 0;
- }
-
- motor[TIRE_FL].dir = SetStatus(tirePWM[TIRE_FL] + adj);
- motor[TIRE_BL].dir = SetStatus(tirePWM[TIRE_BL]);
- motor[TIRE_BR].dir = SetStatus(tirePWM[TIRE_BR]);
- motor[TIRE_FR].dir = SetStatus(tirePWM[TIRE_FR] + adj);
- motor[TIRE_FL].pwm = SetPWM(tirePWM[TIRE_FL] + adj);
- motor[TIRE_BL].pwm = SetPWM(tirePWM[TIRE_BL]);
- motor[TIRE_BR].pwm = SetPWM(tirePWM[TIRE_BR]);
- motor[TIRE_FR].pwm = SetPWM(tirePWM[TIRE_FR] + adj);
-
- if(lineCheck == true) {
- lineCount++;
- if(lineCount > 20) lineCheck = false;
- }
- if(countW == 3) {
- countW = 0;
- lineFase = 22;
- lineCount = 0;
- lineCheck = false;
- }
- } else if(lineFase == 22) {
- motor[TIRE_FL].dir = BACK;
- motor[TIRE_BL].dir = FOR;
- motor[TIRE_BR].dir = FOR;
- motor[TIRE_FR].dir = BACK;
- if (linePara[2] == 'N') {
- motor[TIRE_FL].dir = BRAKE;
- motor[TIRE_BL].dir = BRAKE;
- motor[TIRE_BR].dir = BRAKE;
- motor[TIRE_FR].dir = BRAKE;
- }
- motor[TIRE_FL].pwm = 30;
- motor[TIRE_BL].pwm = 30;
- motor[TIRE_BR].pwm = 30;
- motor[TIRE_FR].pwm = 30;
- } else {
- motor[TIRE_FL].dir = BRAKE;
- motor[TIRE_BL].dir = BRAKE;
- motor[TIRE_BR].dir = BRAKE;
- motor[TIRE_FR].dir = BRAKE;
- }
-
+
}
#endif
@@ -2518,1662 +284,6 @@
static void Process5()
{
- /* ************************************** //
-
- 青ゾーン 青ゾーン 青ゾーン
-
- // ************************************** */
-
- for(int i = 0; i < 8; i++) {
- linePara[i] = lineCast(LineHub::GetPara(i));
- }
-
- if(lineFase == 0) {
- LedOut(1);
- motor[TIRE_FL].dir = FOR;
- motor[TIRE_BL].dir = FOR;
- motor[TIRE_BR].dir = BACK;
- motor[TIRE_FR].dir = BACK;
- if(linePara[0] != 'N' && linePara[0] != 'A') {
- lineFase = 1;
- }
- motor[TIRE_FL].pwm = 30;
- motor[TIRE_BL].pwm = 30;
- motor[TIRE_BR].pwm = 30;
- motor[TIRE_FR].pwm = 30;
- } else if(lineFase == 1) { // 前 ライントレース
- switch(linePara[0]) {
- case -2:
- tirePWM[TIRE_FL] = 0;
- tirePWM[TIRE_BL] = 30;
- tirePWM[TIRE_BR] = 0;
- tirePWM[TIRE_FR] = -30;
- adjAnable = true;
- break;
- case -3:
- tirePWM[TIRE_FL] = 10;
- tirePWM[TIRE_BL] = 30;
- tirePWM[TIRE_BR] = -10;
- tirePWM[TIRE_FR] = -30;
- adjAnable = true;
- break;
- case -1:
- tirePWM[TIRE_FL] = 20;
- tirePWM[TIRE_BL] = 30;
- tirePWM[TIRE_BR] = -20;
- tirePWM[TIRE_FR] = -30;
- adjAnable = true;
- break;
- case 0:
- tirePWM[TIRE_FL] = 30;
- tirePWM[TIRE_BL] = 30;
- tirePWM[TIRE_BR] = -30;
- tirePWM[TIRE_FR] = -30;
- adjAnable = true;
- break;
- case 1:
- tirePWM[TIRE_FL] = 30;
- tirePWM[TIRE_BL] = 20;
- tirePWM[TIRE_BR] = -30;
- tirePWM[TIRE_FR] = -20;
- adjAnable = true;
- break;
- case 3:
- tirePWM[TIRE_FL] = 30;
- tirePWM[TIRE_BL] = 10;
- tirePWM[TIRE_BR] = -30;
- tirePWM[TIRE_FR] = -10;
- adjAnable = true;
- break;
- case 2:
- tirePWM[TIRE_FL] = 30;
- tirePWM[TIRE_BL] = 0;
- tirePWM[TIRE_BR] = -30;
- tirePWM[TIRE_FR] = 0;
- adjAnable = true;
- break;
- case 'A':
- if(lineCheck == false) {
- lineCheck = true;
- lineCount = 0;
- countW++;
- }
- tirePWM[TIRE_FL] = 30;
- tirePWM[TIRE_BL] = 30;
- tirePWM[TIRE_BR] = -30;
- tirePWM[TIRE_FR] = -30;
- adjAnable = true;
- break;
- case 'N':
- tirePWM[TIRE_FL] = 0;
- tirePWM[TIRE_BL] = 0;
- tirePWM[TIRE_BR] = 0;
- tirePWM[TIRE_FR] = 0;
- adjAnable = false;
- break;
- default:
- tirePWM[TIRE_FL] = 0;
- tirePWM[TIRE_BL] = 0;
- tirePWM[TIRE_BR] = 0;
- tirePWM[TIRE_FR] = 0;
- adjAnable = false;
- }
-
- if(adjAnable) {
- if(linePara[2] != 'A' && linePara[2] != 'N') adj = linePara[2];
- } else {
- adj = 0;
- }
-
- motor[TIRE_FL].dir = SetStatus(tirePWM[TIRE_FL]);
- motor[TIRE_BL].dir = SetStatus(tirePWM[TIRE_BL] + adj);
- motor[TIRE_BR].dir = SetStatus(tirePWM[TIRE_BR] + adj);
- motor[TIRE_FR].dir = SetStatus(tirePWM[TIRE_FR]);
- motor[TIRE_FL].pwm = SetPWM(tirePWM[TIRE_FL]);
- motor[TIRE_BL].pwm = SetPWM(tirePWM[TIRE_BL] + adj);
- motor[TIRE_BR].pwm = SetPWM(tirePWM[TIRE_BR] + adj);
- motor[TIRE_FR].pwm = SetPWM(tirePWM[TIRE_FR]);
-
- if(lineCheck == true) {
- lineCount++;
- if(lineCount > 20) lineCheck = false;
- }
- if(countW == 3) {
- countW = 0;
- lineFase = 2;
- lineCount = 0;
- lineCheck = false;
- }
- } else if(lineFase == 2) { // 前 低速
- motor[TIRE_FL].dir = FOR;
- motor[TIRE_BL].dir = FOR;
- motor[TIRE_BR].dir = BACK;
- motor[TIRE_FR].dir = BACK;
- if(linePara[3] == 0) {
- lineFase = 3;
- motor[TIRE_FL].dir = BRAKE;
- motor[TIRE_BL].dir = BRAKE;
- motor[TIRE_BR].dir = BRAKE;
- motor[TIRE_FR].dir = BRAKE;
- }
- motor[TIRE_FL].pwm = 16;
- motor[TIRE_BL].pwm = 16;
- motor[TIRE_BR].pwm = 16;
- motor[TIRE_FR].pwm = 16;
- } else if(lineFase == 3) { // 左 ライントレース
- switch(linePara[3]) {
- case -2:
- tirePWM[TIRE_FL] = -30;
- tirePWM[TIRE_BL] = 0;
- tirePWM[TIRE_BR] = 30;
- tirePWM[TIRE_FR] = 0;
- adjAnable = true;
- break;
- case -3:
- tirePWM[TIRE_FL] = -30;
- tirePWM[TIRE_BL] = 10;
- tirePWM[TIRE_BR] = 30;
- tirePWM[TIRE_FR] = -10;
- adjAnable = true;
- break;
- case -1:
- tirePWM[TIRE_FL] = -30;
- tirePWM[TIRE_BL] = 20;
- tirePWM[TIRE_BR] = 30;
- tirePWM[TIRE_FR] = -20;
- adjAnable = true;
- break;
- case 0:
- tirePWM[TIRE_FL] = -30;
- tirePWM[TIRE_BL] = 30;
- tirePWM[TIRE_BR] = 30;
- tirePWM[TIRE_FR] = -30;
- adjAnable = true;
- break;
- case 1:
- tirePWM[TIRE_FL] = -20;
- tirePWM[TIRE_BL] = 30;
- tirePWM[TIRE_BR] = 20;
- tirePWM[TIRE_FR] = -30;
- adjAnable = true;
- break;
- case 3:
- tirePWM[TIRE_FL] = -10;
- tirePWM[TIRE_BL] = 30;
- tirePWM[TIRE_BR] = 10;
- tirePWM[TIRE_FR] = -30;
- adjAnable = true;
- break;
- case 2:
- tirePWM[TIRE_FL] = 0;
- tirePWM[TIRE_BL] = 30;
- tirePWM[TIRE_BR] = 0;
- tirePWM[TIRE_FR] = -30;
- adjAnable = true;
- break;
- case 'A':
- if(lineCheck == false) {
- lineCheck = true;
- lineCount = 0;
- countW++;
- }
- tirePWM[TIRE_FL] = -30;
- tirePWM[TIRE_BL] = 30;
- tirePWM[TIRE_BR] = 30;
- tirePWM[TIRE_FR] = -30;
- adjAnable = true;
- break;
- case 'N':
- tirePWM[TIRE_FL] = 0;
- tirePWM[TIRE_BL] = 0;
- tirePWM[TIRE_BR] = 0;
- tirePWM[TIRE_FR] = 0;
- adjAnable = false;
- break;
- default:
- tirePWM[TIRE_FL] = 0;
- tirePWM[TIRE_BL] = 0;
- tirePWM[TIRE_BR] = 0;
- tirePWM[TIRE_FR] = 0;
- adjAnable = false;
- }
-
- if(adjAnable) {
- if(linePara[4] != 'A' && linePara[4] != 'N') adj = linePara[4];
- } else {
- adj = 0;
- }
-
- motor[TIRE_FL].dir = SetStatus(tirePWM[TIRE_FL]);
- motor[TIRE_BL].dir = SetStatus(tirePWM[TIRE_BL]);
- motor[TIRE_BR].dir = SetStatus(tirePWM[TIRE_BR] + adj);
- motor[TIRE_FR].dir = SetStatus(tirePWM[TIRE_FR] + adj);
- motor[TIRE_FL].pwm = SetPWM(tirePWM[TIRE_FL]);
- motor[TIRE_BL].pwm = SetPWM(tirePWM[TIRE_BL]);
- motor[TIRE_BR].pwm = SetPWM(tirePWM[TIRE_BR] + adj);
- motor[TIRE_FR].pwm = SetPWM(tirePWM[TIRE_FR] + adj);
-
- if(lineCheck == true) {
- lineCount++;
- if(lineCount > 20) lineCheck = false;
- }
- if(countW == 1) {
- countW = 0;
- lineFase = 4;
- lineCount = 0;
- lineCheck = false;
- }
- } else if(lineFase == 4) { // 右 低速
- motor[TIRE_FL].dir = BACK;
- motor[TIRE_BL].dir = FOR;
- motor[TIRE_BR].dir = FOR;
- motor[TIRE_FR].dir = BACK;
- if(linePara[LINE_TOW_1] == 0) {
- if(!LimitSw::IsPressed(SHEETS_SW)) {
- lineFase=100;
- } else {
- lineFase = 6;
- }
- motor[TIRE_FL].dir = BRAKE;
- motor[TIRE_BL].dir = BRAKE;
- motor[TIRE_BR].dir = BRAKE;
- motor[TIRE_FR].dir = BRAKE;
- }
- motor[TIRE_FL].pwm = 16;
- motor[TIRE_BL].pwm = 16;
- motor[TIRE_BR].pwm = 16;
- motor[TIRE_FR].pwm = 16;
- } else if (lineFase == 5) {
- lineFase = 6;
- motor[TIRE_FL].dir = BRAKE;
- motor[TIRE_BL].dir = BRAKE;
- motor[TIRE_BR].dir = BRAKE;
- motor[TIRE_FR].dir = BRAKE;
- } else if(lineFase == 6) { // タオル1 竿検知
- LedOut(4);
- if(LimitSw::IsPressed(TOW_1L) && LimitSw::IsPressed(TOW_1R)) {
- lineFase = 7;
- motor[TIRE_FL].dir = BRAKE;
- motor[TIRE_FL].pwm = 50;
- motor[TIRE_BL].dir = BRAKE;
- motor[TIRE_BL].pwm = 50;
- motor[TIRE_BR].dir = BRAKE;
- motor[TIRE_BR].pwm = 50;
- motor[TIRE_FR].dir = BRAKE;
- motor[TIRE_FR].pwm = 50;
- } else if(LimitSw::IsPressed(TOW_1L)) {
- motor[TIRE_FL].dir = FOR;
- motor[TIRE_FL].pwm = 20;
- motor[TIRE_BL].dir = BRAKE;
- motor[TIRE_BL].pwm = 50;
- motor[TIRE_BR].dir = BRAKE;
- motor[TIRE_BR].pwm = 50;
- motor[TIRE_FR].dir = FOR;
- motor[TIRE_FR].pwm = 20;
- } else if(LimitSw::IsPressed(TOW_1R)) {
- motor[TIRE_FL].dir = BACK;
- motor[TIRE_FL].pwm = 20;
- motor[TIRE_BL].dir = BRAKE;
- motor[TIRE_BL].pwm = 50;
- motor[TIRE_BR].dir = BRAKE;
- motor[TIRE_BR].pwm = 50;
- motor[TIRE_FR].dir = BACK;
- motor[TIRE_FR].pwm = 20;
- } else {
- switch(linePara[LINE_TOW_1]) {
- case -2:
- tirePWM[TIRE_FL] = -10;
- tirePWM[TIRE_BL] = -20;
- tirePWM[TIRE_BR] = 10;
- tirePWM[TIRE_FR] = 20;
- adjAnable = true;
- break;
- case -3:
- tirePWM[TIRE_FL] = -14;
- tirePWM[TIRE_BL] = -20;
- tirePWM[TIRE_BR] = 14;
- tirePWM[TIRE_FR] = 20;
- adjAnable = true;
- break;
- case -1:
- tirePWM[TIRE_FL] = -17;
- tirePWM[TIRE_BL] = -20;
- tirePWM[TIRE_BR] = 17;
- tirePWM[TIRE_FR] = 20;
- adjAnable = true;
- break;
- case 0:
- tirePWM[TIRE_FL] = -20;
- tirePWM[TIRE_BL] = -20;
- tirePWM[TIRE_BR] = 20;
- tirePWM[TIRE_FR] = 20;
- adjAnable = true;
- break;
- case 1:
- tirePWM[TIRE_FL] = -20;
- tirePWM[TIRE_BL] = -17;
- tirePWM[TIRE_BR] = 20;
- tirePWM[TIRE_FR] = 17;
- adjAnable = true;
- break;
- case 3:
- tirePWM[TIRE_FL] = -20;
- tirePWM[TIRE_BL] = -14;
- tirePWM[TIRE_BR] = 20;
- tirePWM[TIRE_FR] = 14;
- adjAnable = true;
- break;
- case 2:
- tirePWM[TIRE_FL] = -20;
- tirePWM[TIRE_BL] = -10;
- tirePWM[TIRE_BR] = 20;
- tirePWM[TIRE_FR] = 10;
- adjAnable = true;
- break;
- case 'A':
- tirePWM[TIRE_FL] = -20;
- tirePWM[TIRE_BL] = -20;
- tirePWM[TIRE_BR] = 20;
- tirePWM[TIRE_FR] = 20;
- adjAnable = true;
- break;
- case 'N':
- tirePWM[TIRE_FL] = 0;
- tirePWM[TIRE_BL] = 0;
- tirePWM[TIRE_BR] = 0;
- tirePWM[TIRE_FR] = 0;
- adjAnable = false;
- break;
- default:
- tirePWM[TIRE_FL] = 0;
- tirePWM[TIRE_BL] = 0;
- tirePWM[TIRE_BR] = 0;
- tirePWM[TIRE_FR] = 0;
- adjAnable = false;
- }
-
- motor[TIRE_FL].dir = SetStatus(tirePWM[TIRE_FL]);
- motor[TIRE_BL].dir = SetStatus(tirePWM[TIRE_BL]);
- motor[TIRE_BR].dir = SetStatus(tirePWM[TIRE_BR]);
- motor[TIRE_FR].dir = SetStatus(tirePWM[TIRE_FR]);
- motor[TIRE_FL].pwm = SetPWM(tirePWM[TIRE_FL]);
- motor[TIRE_BL].pwm = SetPWM(tirePWM[TIRE_BL]);
- motor[TIRE_BR].pwm = SetPWM(tirePWM[TIRE_BR]);
- motor[TIRE_FR].pwm = SetPWM(tirePWM[TIRE_FR]);
- }
- } else if(lineFase == 7) { // ライン 修正
- if(linePara[LINE_TOW_1] == 'A' || linePara[LINE_TOW_1] == 'N') {
- motor[TIRE_FL].dir = BRAKE;
- motor[TIRE_FL].pwm = 50;
- motor[TIRE_BL].dir = BRAKE;
- motor[TIRE_BL].pwm = 50;
- motor[TIRE_BR].dir = BRAKE;
- motor[TIRE_BR].pwm = 50;
- motor[TIRE_FR].dir = BRAKE;
- motor[TIRE_FR].pwm = 50;
- } else if(linePara[LINE_TOW_1] > 0) {
- motor[TIRE_FL].dir = BACK;
- motor[TIRE_FL].pwm = 16;
- motor[TIRE_BL].dir = FOR;
- motor[TIRE_BL].pwm = 16;
- motor[TIRE_BR].dir = FOR;
- motor[TIRE_BR].pwm = 16;
- motor[TIRE_FR].dir = BACK;
- motor[TIRE_FR].pwm = 16;
- } else if(linePara[LINE_TOW_1] < 0) {
- motor[TIRE_FL].dir = FOR;
- motor[TIRE_FL].pwm = 16;
- motor[TIRE_BL].dir = BACK;
- motor[TIRE_BL].pwm = 16;
- motor[TIRE_BR].dir = BACK;
- motor[TIRE_BR].pwm = 16;
- motor[TIRE_FR].dir = FOR;
- motor[TIRE_FR].pwm = 16;
- } else if(linePara[LINE_TOW_1] == 0) {
- //tow_stop.reset();
- //tow_stop.start();
- lineFase = 8;
- motor[TIRE_FL].dir = BRAKE;
- motor[TIRE_FL].pwm = 50;
- motor[TIRE_BL].dir = BRAKE;
- motor[TIRE_BL].pwm = 50;
- motor[TIRE_BR].dir = BRAKE;
- motor[TIRE_BR].pwm = 50;
- motor[TIRE_FR].dir = BRAKE;
- motor[TIRE_FR].pwm = 50;
- } else {
- motor[TIRE_FL].dir = BRAKE;
- motor[TIRE_FL].pwm = 50;
- motor[TIRE_BL].dir = BRAKE;
- motor[TIRE_BL].pwm = 50;
- motor[TIRE_BR].dir = BRAKE;
- motor[TIRE_BR].pwm = 50;
- motor[TIRE_FR].dir = BRAKE;
- motor[TIRE_FR].pwm = 50;
- }
- } else if(lineFase == 8) { // タオル1 解放
- Air[TOWEL1] = SOLENOID_ON;
- motor[TIRE_FL].dir = BRAKE;
- motor[TIRE_BL].dir = BRAKE;
- motor[TIRE_BR].dir = BRAKE;
- motor[TIRE_FR].dir = BRAKE;
- lineFase = 9;
- } else if(lineFase == 9) { // 前
- LedOut(2);
- switch(linePara[LINE_TOW_1]) {
- case 2:
- tirePWM[TIRE_FL] = 10;
- tirePWM[TIRE_BL] = 20;
- tirePWM[TIRE_BR] = -10;
- tirePWM[TIRE_FR] = -20;
- adjAnable = true;
- break;
- case 3:
- tirePWM[TIRE_FL] = 14;
- tirePWM[TIRE_BL] = 20;
- tirePWM[TIRE_BR] = -14;
- tirePWM[TIRE_FR] = -20;
- adjAnable = true;
- break;
- case 1:
- tirePWM[TIRE_FL] = 17;
- tirePWM[TIRE_BL] = 20;
- tirePWM[TIRE_BR] = -17;
- tirePWM[TIRE_FR] = -20;
- adjAnable = true;
- break;
- case 0:
- tirePWM[TIRE_FL] = 20;
- tirePWM[TIRE_BL] = 20;
- tirePWM[TIRE_BR] = -20;
- tirePWM[TIRE_FR] = -20;
- adjAnable = true;
- break;
- case -1:
- tirePWM[TIRE_FL] = 20;
- tirePWM[TIRE_BL] = 17;
- tirePWM[TIRE_BR] = -20;
- tirePWM[TIRE_FR] = -17;
- adjAnable = true;
- break;
- case -3:
- tirePWM[TIRE_FL] = 20;
- tirePWM[TIRE_BL] = 14;
- tirePWM[TIRE_BR] = -20;
- tirePWM[TIRE_FR] = -14;
- adjAnable = true;
- break;
- case -2:
- tirePWM[TIRE_FL] = 20;
- tirePWM[TIRE_BL] = 10;
- tirePWM[TIRE_BR] = -20;
- tirePWM[TIRE_FR] = -10;
- adjAnable = true;
- break;
- case 'A':
- if(lineCheck == false) {
- lineCheck = true;
- lineCount = 0;
- countW++;
- }
- tirePWM[TIRE_FL] = 20;
- tirePWM[TIRE_BL] = 20;
- tirePWM[TIRE_BR] = -20;
- tirePWM[TIRE_FR] = -20;
- adjAnable = true;
- break;
- case 'N':
- tirePWM[TIRE_FL] = 0;
- tirePWM[TIRE_BL] = 0;
- tirePWM[TIRE_BR] = 0;
- tirePWM[TIRE_FR] = 0;
- adjAnable = false;
- break;
- default:
- tirePWM[TIRE_FL] = 0;
- tirePWM[TIRE_BL] = 0;
- tirePWM[TIRE_BR] = 0;
- tirePWM[TIRE_FR] = 0;
- adjAnable = false;
- }
-
- if(adjAnable) {
- adj = 0;
- } else {
- adj = 0;
- }
-
- motor[TIRE_FL].dir = SetStatus(tirePWM[TIRE_FL]);
- motor[TIRE_BL].dir = SetStatus(tirePWM[TIRE_BL] + adj);
- motor[TIRE_BR].dir = SetStatus(tirePWM[TIRE_BR] + adj);
- motor[TIRE_FR].dir = SetStatus(tirePWM[TIRE_FR]);
- motor[TIRE_FL].pwm = SetPWM(tirePWM[TIRE_FL]);
- motor[TIRE_BL].pwm = SetPWM(tirePWM[TIRE_BL] + adj);
- motor[TIRE_BR].pwm = SetPWM(tirePWM[TIRE_BR] + adj);
- motor[TIRE_FR].pwm = SetPWM(tirePWM[TIRE_FR]);
-
- if(lineCheck == true) {
- lineCount++;
- if(lineCount > 20) lineCheck = false;
- }
- if(countW == 1) {
- countW = 0;
- lineFase = 10;
- lineCount = 0;
- lineCheck = false;
- }
- } else if(lineFase == 10) { // 前 低速
- motor[TIRE_FL].dir = FOR;
- motor[TIRE_BL].dir = FOR;
- motor[TIRE_BR].dir = BACK;
- motor[TIRE_FR].dir = BACK;
- if(linePara[3] == 0) {
- lineFase = 11;
- motor[TIRE_FL].dir = BRAKE;
- motor[TIRE_BL].dir = BRAKE;
- motor[TIRE_BR].dir = BRAKE;
- motor[TIRE_FR].dir = BRAKE;
- }
- motor[TIRE_FL].pwm = 16;
- motor[TIRE_BL].pwm = 16;
- motor[TIRE_BR].pwm = 16;
- motor[TIRE_FR].pwm = 16;
- } else if(lineFase == 11) { // 左
- switch(linePara[3]) {
- case -2:
- tirePWM[TIRE_FL] = -30;
- tirePWM[TIRE_BL] = 0;
- tirePWM[TIRE_BR] = 30;
- tirePWM[TIRE_FR] = 0;
- adjAnable = true;
- break;
- case -3:
- tirePWM[TIRE_FL] = -30;
- tirePWM[TIRE_BL] = 10;
- tirePWM[TIRE_BR] = 30;
- tirePWM[TIRE_FR] = -10;
- adjAnable = true;
- break;
- case -1:
- tirePWM[TIRE_FL] = -30;
- tirePWM[TIRE_BL] = 20;
- tirePWM[TIRE_BR] = 30;
- tirePWM[TIRE_FR] = -20;
- adjAnable = true;
- break;
- case 0:
- tirePWM[TIRE_FL] = -30;
- tirePWM[TIRE_BL] = 30;
- tirePWM[TIRE_BR] = 30;
- tirePWM[TIRE_FR] = -30;
- adjAnable = true;
- break;
- case 1:
- tirePWM[TIRE_FL] = -20;
- tirePWM[TIRE_BL] = 30;
- tirePWM[TIRE_BR] = 20;
- tirePWM[TIRE_FR] = -30;
- adjAnable = true;
- break;
- case 3:
- tirePWM[TIRE_FL] = -10;
- tirePWM[TIRE_BL] = 30;
- tirePWM[TIRE_BR] = 10;
- tirePWM[TIRE_FR] = -30;
- adjAnable = true;
- break;
- case 2:
- tirePWM[TIRE_FL] = 0;
- tirePWM[TIRE_BL] = 30;
- tirePWM[TIRE_BR] = 0;
- tirePWM[TIRE_FR] = -30;
- adjAnable = true;
- break;
- case 'A':
- if(lineCheck == false) {
- lineCheck = true;
- lineCount = 0;
- countW++;
- }
- tirePWM[TIRE_FL] = -30;
- tirePWM[TIRE_BL] = 30;
- tirePWM[TIRE_BR] = 30;
- tirePWM[TIRE_FR] = -30;
- adjAnable = true;
- break;
- case 'N':
- tirePWM[TIRE_FL] = 0;
- tirePWM[TIRE_BL] = 0;
- tirePWM[TIRE_BR] = 0;
- tirePWM[TIRE_FR] = 0;
- adjAnable = false;
- break;
- default:
- tirePWM[TIRE_FL] = 0;
- tirePWM[TIRE_BL] = 0;
- tirePWM[TIRE_BR] = 0;
- tirePWM[TIRE_FR] = 0;
- adjAnable = false;
- }
-
- if(adjAnable) {
- if(linePara[4] != 'A' && linePara[4] != 'N') adj = linePara[4];
- } else {
- adj = 0;
- }
-
- motor[TIRE_FL].dir = SetStatus(tirePWM[TIRE_FL]);
- motor[TIRE_BL].dir = SetStatus(tirePWM[TIRE_BL]);
- motor[TIRE_BR].dir = SetStatus(tirePWM[TIRE_BR] + adj);
- motor[TIRE_FR].dir = SetStatus(tirePWM[TIRE_FR] + adj);
- motor[TIRE_FL].pwm = SetPWM(tirePWM[TIRE_FL]);
- motor[TIRE_BL].pwm = SetPWM(tirePWM[TIRE_BL]);
- motor[TIRE_BR].pwm = SetPWM(tirePWM[TIRE_BR] + adj);
- motor[TIRE_FR].pwm = SetPWM(tirePWM[TIRE_FR] + adj);
- if(lineCheck == true) {
- lineCount++;
- if(lineCount > 20) lineCheck = false;
- }
- if(countW == 2) {
- countW = 0;
- lineFase = 12;
- lineCount = 0;
- lineCheck = false;
- }
- } else if(lineFase == 12) { // 左 低速
- motor[TIRE_FL].dir = BACK;
- motor[TIRE_BL].dir = FOR;
- motor[TIRE_BR].dir = FOR;
- motor[TIRE_FR].dir = BACK;
- if(linePara[LINE_TOW_2] == 0) {
- lineFase = 13;
- motor[TIRE_FL].dir = BRAKE;
- motor[TIRE_BL].dir = BRAKE;
- motor[TIRE_BR].dir = BRAKE;
- motor[TIRE_FR].dir = BRAKE;
- }
- motor[TIRE_FL].pwm = 16;
- motor[TIRE_BL].pwm = 16;
- motor[TIRE_BR].pwm = 16;
- motor[TIRE_FR].pwm = 16;
- } else if (lineFase == 13) {
- lineFase = 14;
- motor[TIRE_FL].dir = BRAKE;
- motor[TIRE_BL].dir = BRAKE;
- motor[TIRE_BR].dir = BRAKE;
- motor[TIRE_FR].dir = BRAKE;
- } else if(lineFase == 14) { // タオル2 竿検知
- LedOut(4);
- if(LimitSw::IsPressed(TOW_2L) && LimitSw::IsPressed(TOW_2R)) {
- lineFase = 15;
- motor[TIRE_FL].dir = BRAKE;
- motor[TIRE_FL].pwm = 50;
- motor[TIRE_BL].dir = BRAKE;
- motor[TIRE_BL].pwm = 50;
- motor[TIRE_BR].dir = BRAKE;
- motor[TIRE_BR].pwm = 50;
- motor[TIRE_FR].dir = BRAKE;
- motor[TIRE_FR].pwm = 50;
- } else if(LimitSw::IsPressed(TOW_2L)) {
- motor[TIRE_FL].dir = FOR;
- motor[TIRE_FL].pwm = 20;
- motor[TIRE_BL].dir = BRAKE;
- motor[TIRE_BL].pwm = 50;
- motor[TIRE_BR].dir = BRAKE;
- motor[TIRE_BR].pwm = 50;
- motor[TIRE_FR].dir = FOR;
- motor[TIRE_FR].pwm = 20;
- } else if(LimitSw::IsPressed(TOW_2R)) {
- motor[TIRE_FL].dir = BACK;
- motor[TIRE_FL].pwm = 20;
- motor[TIRE_BL].dir = BRAKE;
- motor[TIRE_BL].pwm = 50;
- motor[TIRE_BR].dir = BRAKE;
- motor[TIRE_BR].pwm = 50;
- motor[TIRE_FR].dir = BACK;
- motor[TIRE_FR].pwm = 20;
- } else {
- switch(linePara[LINE_TOW_2]) {
- case -2:
- tirePWM[TIRE_FL] = -10;
- tirePWM[TIRE_BL] = -20;
- tirePWM[TIRE_BR] = 10;
- tirePWM[TIRE_FR] = 20;
- break;
- case -3:
- tirePWM[TIRE_FL] = -14;
- tirePWM[TIRE_BL] = -20;
- tirePWM[TIRE_BR] = 14;
- tirePWM[TIRE_FR] = 20;
- break;
- case -1:
- tirePWM[TIRE_FL] = -17;
- tirePWM[TIRE_BL] = -20;
- tirePWM[TIRE_BR] = 17;
- tirePWM[TIRE_FR] = 20;
- break;
- case 0:
- tirePWM[TIRE_FL] = -20;
- tirePWM[TIRE_BL] = -20;
- tirePWM[TIRE_BR] = 20;
- tirePWM[TIRE_FR] = 20;
- break;
- case 1:
- tirePWM[TIRE_FL] = -20;
- tirePWM[TIRE_BL] = -17;
- tirePWM[TIRE_BR] = 20;
- tirePWM[TIRE_FR] = 17;
- break;
- case 3:
- tirePWM[TIRE_FL] = -20;
- tirePWM[TIRE_BL] = -14;
- tirePWM[TIRE_BR] = 20;
- tirePWM[TIRE_FR] = 14;
- break;
- case 2:
- tirePWM[TIRE_FL] = -20;
- tirePWM[TIRE_BL] = -10;
- tirePWM[TIRE_BR] = 20;
- tirePWM[TIRE_FR] = 10;
- break;
- case 'A':
-
- tirePWM[TIRE_FL] = -20;
- tirePWM[TIRE_BL] = -20;
- tirePWM[TIRE_BR] = 20;
- tirePWM[TIRE_FR] = 20;
- break;
- case 'N':
- tirePWM[TIRE_FL] = 0;
- tirePWM[TIRE_BL] = 0;
- tirePWM[TIRE_BR] = 0;
- tirePWM[TIRE_FR] = 0;
- break;
- default:
- tirePWM[TIRE_FL] = 0;
- tirePWM[TIRE_BL] = 0;
- tirePWM[TIRE_BR] = 0;
- tirePWM[TIRE_FR] = 0;
- }
-
- motor[TIRE_FL].dir = SetStatus(tirePWM[TIRE_FL]);
- motor[TIRE_BL].dir = SetStatus(tirePWM[TIRE_BL]);
- motor[TIRE_BR].dir = SetStatus(tirePWM[TIRE_BR]);
- motor[TIRE_FR].dir = SetStatus(tirePWM[TIRE_FR]);
- motor[TIRE_FL].pwm = SetPWM(tirePWM[TIRE_FL]);
- motor[TIRE_BL].pwm = SetPWM(tirePWM[TIRE_BL]);
- motor[TIRE_BR].pwm = SetPWM(tirePWM[TIRE_BR]);
- motor[TIRE_FR].pwm = SetPWM(tirePWM[TIRE_FR]);
- }
- } else if(lineFase == 15 ) { // ライン 修正
- if(linePara[LINE_TOW_2] == 'A' || linePara[LINE_TOW_2] == 'N') {
- motor[TIRE_FL].dir = BRAKE;
- motor[TIRE_FL].pwm = 50;
- motor[TIRE_BL].dir = BRAKE;
- motor[TIRE_BL].pwm = 50;
- motor[TIRE_BR].dir = BRAKE;
- motor[TIRE_BR].pwm = 50;
- motor[TIRE_FR].dir = BRAKE;
- motor[TIRE_FR].pwm = 50;
- } else if(linePara[LINE_TOW_2] > 0) {
- motor[TIRE_FL].dir = BACK;
- motor[TIRE_FL].pwm = 16;
- motor[TIRE_BL].dir = FOR;
- motor[TIRE_BL].pwm = 16;
- motor[TIRE_BR].dir = FOR;
- motor[TIRE_BR].pwm = 16;
- motor[TIRE_FR].dir = BACK;
- motor[TIRE_FR].pwm = 16;
- } else if(linePara[LINE_TOW_2] < 0) {
- motor[TIRE_FL].dir = FOR;
- motor[TIRE_FL].pwm = 16;
- motor[TIRE_BL].dir = BACK;
- motor[TIRE_BL].pwm = 16;
- motor[TIRE_BR].dir = BACK;
- motor[TIRE_BR].pwm = 16;
- motor[TIRE_FR].dir = FOR;
- motor[TIRE_FR].pwm = 16;
- } else if(linePara[LINE_TOW_2] == 0) {
- lineFase = 16;
- motor[TIRE_FL].dir = BRAKE;
- motor[TIRE_FL].pwm = 50;
- motor[TIRE_BL].dir = BRAKE;
- motor[TIRE_BL].pwm = 50;
- motor[TIRE_BR].dir = BRAKE;
- motor[TIRE_BR].pwm = 50;
- motor[TIRE_FR].dir = BRAKE;
- motor[TIRE_FR].pwm = 50;
- } else {
- motor[TIRE_FL].dir = BRAKE;
- motor[TIRE_FL].pwm = 50;
- motor[TIRE_BL].dir = BRAKE;
- motor[TIRE_BL].pwm = 50;
- motor[TIRE_BR].dir = BRAKE;
- motor[TIRE_BR].pwm = 50;
- motor[TIRE_FR].dir = BRAKE;
- motor[TIRE_FR].pwm = 50;
- }
- } else if(lineFase == 16) { // タオル2 解放
- Air[TOWEL2] = SOLENOID_ON;
- motor[TIRE_FL].dir = BRAKE;
- motor[TIRE_BL].dir = BRAKE;
- motor[TIRE_BR].dir = BRAKE;
- motor[TIRE_FR].dir = BRAKE;
- lineFase = 17;
- } else if(lineFase == 17) { // 前
- switch(linePara[LINE_TOW_2]) {
- case 2:
- tirePWM[TIRE_FL] = 10;
- tirePWM[TIRE_BL] = 20;
- tirePWM[TIRE_BR] = -10;
- tirePWM[TIRE_FR] = -20;
- adjAnable = true;
- break;
- case 3:
- tirePWM[TIRE_FL] = 14;
- tirePWM[TIRE_BL] = 20;
- tirePWM[TIRE_BR] = -14;
- tirePWM[TIRE_FR] = -20;
- adjAnable = true;
- break;
- case 1:
- tirePWM[TIRE_FL] = 17;
- tirePWM[TIRE_BL] = 20;
- tirePWM[TIRE_BR] = -17;
- tirePWM[TIRE_FR] = -20;
- adjAnable = true;
- break;
- case 0:
- tirePWM[TIRE_FL] = 20;
- tirePWM[TIRE_BL] = 20;
- tirePWM[TIRE_BR] = -20;
- tirePWM[TIRE_FR] = -20;
- adjAnable = true;
- break;
- case -1:
- tirePWM[TIRE_FL] = 20;
- tirePWM[TIRE_BL] = 17;
- tirePWM[TIRE_BR] = -20;
- tirePWM[TIRE_FR] = -17;
- adjAnable = true;
- break;
- case -3:
- tirePWM[TIRE_FL] = 20;
- tirePWM[TIRE_BL] = 14;
- tirePWM[TIRE_BR] = -20;
- tirePWM[TIRE_FR] = -14;
- adjAnable = true;
- break;
- case -2:
- tirePWM[TIRE_FL] = 20;
- tirePWM[TIRE_BL] = 10;
- tirePWM[TIRE_BR] = -20;
- tirePWM[TIRE_FR] = 10;
- adjAnable = true;
- break;
- case 'A':
- if(lineCheck == false) {
- lineCheck = true;
- lineCount = 0;
- countW++;
- }
- tirePWM[TIRE_FL] = 20;
- tirePWM[TIRE_BL] = 20;
- tirePWM[TIRE_BR] = -20;
- tirePWM[TIRE_FR] = -20;
- adjAnable = true;
- break;
- case 'N':
- tirePWM[TIRE_FL] = 0;
- tirePWM[TIRE_BL] = 0;
- tirePWM[TIRE_BR] = 0;
- tirePWM[TIRE_FR] = 0;
- adjAnable = false;
- break;
- default:
- tirePWM[TIRE_FL] = 0;
- tirePWM[TIRE_BL] = 0;
- tirePWM[TIRE_BR] = 0;
- tirePWM[TIRE_FR] = 0;
- adjAnable = false;
- }
-
- if(adjAnable) {
- adj = 0;
- } else {
- adj = 0;
- }
-
- motor[TIRE_FL].dir = SetStatus(tirePWM[TIRE_FL]);
- motor[TIRE_BL].dir = SetStatus(tirePWM[TIRE_BL] + adj);
- motor[TIRE_BR].dir = SetStatus(tirePWM[TIRE_BR] + adj);
- motor[TIRE_FR].dir = SetStatus(tirePWM[TIRE_FR]);
- motor[TIRE_FL].pwm = SetPWM(tirePWM[TIRE_FL]);
- motor[TIRE_BL].pwm = SetPWM(tirePWM[TIRE_BL] + adj);
- motor[TIRE_BR].pwm = SetPWM(tirePWM[TIRE_BR] + adj);
- motor[TIRE_FR].pwm = SetPWM(tirePWM[TIRE_FR]);
-
- if(lineCheck == true) {
- lineCount++;
- if(lineCount > 20) lineCheck = false;
- }
- if(countW == 1) {
- countW = 0;
- lineFase = 100;
- lineCount = 0;
- lineCheck = false;
- }
- } else if(lineFase==100) {
- LedOut(6);
- motor[TIRE_FL].dir = FOR;
- motor[TIRE_BL].dir = FOR;
- motor[TIRE_BR].dir = BACK;
- motor[TIRE_FR].dir = BACK;
- if(LimitSw::IsPressed(LSW_UU)) {
- motor[LIFT_U].dir=BRAKE;
- motor[LIFT_U].pwm=100;
- } else {
- motor[LIFT_U].dir=BACK;
- motor[LIFT_U].pwm=150;
- }
- if((Ult_left>0)&&(Ult_right>0)&&(Ult_left<30)&&(Ult_right<30)) {
- lineFase=101;
- }
- } else if(lineFase==101) {
- //位置調整
- //(P制御)
- if((Ult_left>0)&&(Ult_right>0)) {//データを受け取っているとき
- if((Ult_left<16)&&(Ult_left>14)&&(Ult_right<16)&&(Ult_right>14)) { //合った場合
- motor[TIRE_FL].dir=BRAKE;
- motor[TIRE_FR].dir=BRAKE;
- motor[TIRE_BL].dir=BRAKE;
- motor[TIRE_BR].dir=BRAKE;
- motor[TIRE_FL].pwm=100;
- motor[TIRE_FR].pwm=100;
- motor[TIRE_BL].pwm=100;
- motor[TIRE_BR].pwm=100;
- lineFase=102;//system lineFase increasing
- } else if((Ult_left<16)&&(Ult_left>14)) { //Ult_leftのみあった場合
- if(Ult_right>16) { //Ult_rightが遠い場合
- motor[TIRE_FL].dir=FOR;
- motor[TIRE_FR].dir=BACK;
- motor[TIRE_BL].dir=FOR;
- motor[TIRE_BR].dir=BACK;
- motor[TIRE_FL].pwm=0;
- motor[TIRE_FR].pwm=15;
- motor[TIRE_BL].pwm=0;
- motor[TIRE_BR].pwm=15;
- } else if(Ult_right<14) { //Ult_rightが近い場合
- motor[TIRE_FL].dir=BACK;
- motor[TIRE_FR].dir=FOR;
- motor[TIRE_BL].dir=BACK;
- motor[TIRE_BR].dir=FOR;
- motor[TIRE_FL].pwm=0;
- motor[TIRE_FR].pwm=15;
- motor[TIRE_BL].pwm=0;
- motor[TIRE_BR].pwm=15;
- }
- } else if((Ult_right<16)&&(Ult_right>14)) { //Ult_rightのみあった場合
- if(Ult_left>16) { //Ult_leftが遠い場合
- motor[TIRE_FL].dir=FOR;
- motor[TIRE_FR].dir=BACK;
- motor[TIRE_BL].dir=FOR;
- motor[TIRE_BR].dir=BACK;
- motor[TIRE_FL].pwm=15;
- motor[TIRE_FR].pwm=0;
- motor[TIRE_BL].pwm=15;
- motor[TIRE_BR].pwm=0;
- } else if(Ult_left<14) { //Ult_leftが近い場合
- motor[TIRE_FL].dir=BACK;
- motor[TIRE_FR].dir=FOR;
- motor[TIRE_BL].dir=BACK;
- motor[TIRE_BR].dir=FOR;
- motor[TIRE_FL].pwm=15;
- motor[TIRE_FR].pwm=0;
- motor[TIRE_BL].pwm=15;
- motor[TIRE_BR].pwm=0;
- }
- } else { //どっちもあってない場合
- if( (Ult_left+Ult_right)<=25||(Ult_left+Ult_right)>=35) {//離れすぎているor近すぎるとき
- if((Ult_left-Ult_right)>10||((Ult_left-Ult_right)<-10) ) { //傾きが大きいとき
- if((Ult_left-Ult_right)>0) { //Ult_leftの方が後ろに来ているとき
- motor[TIRE_FL].dir=FOR;
- motor[TIRE_FR].dir=FOR;
- motor[TIRE_BL].dir=FOR;
- motor[TIRE_BR].dir=FOR;
- motor[TIRE_FL].pwm=15;
- motor[TIRE_FR].pwm=15;
- motor[TIRE_BL].pwm=15;
- motor[TIRE_BR].pwm=15;
- } else if((Ult_left-Ult_right)<=0) { //Ult_rightの方が後ろに来ているとき
- motor[TIRE_FL].dir=BACK;
- motor[TIRE_FR].dir=BACK;
- motor[TIRE_BL].dir=BACK;
- motor[TIRE_BR].dir=BACK;
- motor[TIRE_FL].pwm=15;
- motor[TIRE_FR].pwm=15;
- motor[TIRE_BL].pwm=15;
- motor[TIRE_BR].pwm=15;
- }
- } else { //傾きが大きくなくて離れているとき
- if((Ult_right+Ult_left)<=25) { //近すぎるとき
- motor[TIRE_FL].dir=BACK;
- motor[TIRE_FR].dir=FOR;
- motor[TIRE_BL].dir=BACK;
- motor[TIRE_BR].dir=FOR;
- motor[TIRE_FL].pwm=20;
- motor[TIRE_FR].pwm=20;
- motor[TIRE_BL].pwm=20;
- motor[TIRE_BR].pwm=20;
- } else if((Ult_right+Ult_left)>=35) { //離れているとき
- motor[TIRE_FL].dir=FOR;
- motor[TIRE_FR].dir=BACK;
- motor[TIRE_BL].dir=FOR;
- motor[TIRE_BR].dir=BACK;
- motor[TIRE_FL].pwm=20;
- motor[TIRE_FR].pwm=20;
- motor[TIRE_BL].pwm=20;
- motor[TIRE_BR].pwm=20;
- }
- }
-
- } else { //さほど離れてはいないが傾きが大きいとき
- if((Ult_left-Ult_right)>0) { //Ult_leftの方が後ろに来ているとき
- motor[TIRE_FL].dir=FOR;
- motor[TIRE_FR].dir=FOR;
- motor[TIRE_BL].dir=FOR;
- motor[TIRE_BR].dir=FOR;
- motor[TIRE_FL].pwm=15;
- motor[TIRE_FR].pwm=15;
- motor[TIRE_BL].pwm=15;
- motor[TIRE_BR].pwm=15;
- } else if((Ult_left-Ult_right)<=0) { //Ult_rightの方が後ろに来ているとき
- motor[TIRE_FL].dir=BACK;
- motor[TIRE_FR].dir=BACK;
- motor[TIRE_BL].dir=BACK;
- motor[TIRE_BR].dir=BACK;
- motor[TIRE_FL].pwm=15;
- motor[TIRE_FR].pwm=15;
- motor[TIRE_BL].pwm=15;
- motor[TIRE_BR].pwm=15;
- }
- }
- }
-
- } else {//データを受け取ってないとき
- motor[TIRE_FL].dir=BRAKE;
- motor[TIRE_FR].dir=BRAKE;
- motor[TIRE_BL].dir=BRAKE;
- motor[TIRE_BR].dir=BRAKE;
- motor[TIRE_FL].pwm=100;
- motor[TIRE_FR].pwm=100;
- motor[TIRE_BL].pwm=100;
- motor[TIRE_BR].pwm=100;
- }
-
- } else if(lineFase==102) {
- Air[CLOTHESPIN]=SOLENOID_OFF;
- LedOut(1);
- //リミットスイッチに当てる
- static int count2=0;
- if(count2==0) {
- if((Ult_left>0)&&(Ult_right>0)) {//データを受け取っているとき
- if( (Ult_left+Ult_right)<=25||(Ult_left+Ult_right)>=35) {
- if(((Ult_left-Ult_right)>=5)||((Ult_left-Ult_right)<=-5)) {
- if(Ult_left-Ult_right<=0) {
- motor[TIRE_FL].dir=BACK;
- motor[TIRE_FR].dir=BACK;
- motor[TIRE_BL].dir=FOR;
- motor[TIRE_BR].dir=FOR;
-
- motor[TIRE_FL].pwm=25+(-1*(Ult_left-Ult_right));
- motor[TIRE_FR].pwm=25+(-1*(Ult_left-Ult_right));
-
- motor[TIRE_BL].pwm=25;
- motor[TIRE_BR].pwm=25;
- } else if(Ult_left-Ult_right>0) {
- motor[TIRE_FL].dir=BACK;
- motor[TIRE_FR].dir=BACK;
- motor[TIRE_BL].dir=FOR;
- motor[TIRE_BR].dir=FOR;
- motor[TIRE_BL].pwm=25+(1*(Ult_left-Ult_right));
- motor[TIRE_BR].pwm=25+(1*(Ult_left-Ult_right));
- motor[TIRE_FL].pwm=25;
- motor[TIRE_FR].pwm=25;
- }
- } else if((Ult_left+Ult_right)<=25) {
- motor[TIRE_FL].dir=BACK;
- motor[TIRE_FR].dir=BACK;
- motor[TIRE_BL].dir=FOR;
- motor[TIRE_BR].dir=FOR;
- motor[TIRE_FL].pwm=25;
- motor[TIRE_FR].pwm=0;
- motor[TIRE_BL].pwm=0;
- motor[TIRE_BR].pwm=25;
- } else if((Ult_left+Ult_right)>=35) {
- motor[TIRE_FL].dir=BACK;
- motor[TIRE_FR].dir=BACK;
- motor[TIRE_BL].dir=FOR;
- motor[TIRE_BR].dir=FOR;
- motor[TIRE_FL].pwm=0;
- motor[TIRE_FR].pwm=25;
- motor[TIRE_BL].pwm=25;
- motor[TIRE_BR].pwm=0;
- }
- } else {
- if(Ult_left-Ult_right<=0) {
- motor[TIRE_FL].dir=BACK;
- motor[TIRE_FR].dir=BACK;
- motor[TIRE_BL].dir=FOR;
- motor[TIRE_BR].dir=FOR;
-
- motor[TIRE_FL].pwm=25+(-1*(Ult_left-Ult_right));
- motor[TIRE_FR].pwm=25+(-1*(Ult_left-Ult_right));
-
- motor[TIRE_BL].pwm=25;
- motor[TIRE_BR].pwm=25;
- } else if(Ult_left-Ult_right>0) {
- motor[TIRE_FL].dir=BACK;
- motor[TIRE_FR].dir=BACK;
- motor[TIRE_BL].dir=FOR;
- motor[TIRE_BR].dir=FOR;
- motor[TIRE_BL].pwm=25+(1*(Ult_left-Ult_right));
- motor[TIRE_BR].pwm=25+(1*(Ult_left-Ult_right));
- motor[TIRE_FL].pwm=25;
- motor[TIRE_FR].pwm=25;
- }
- }
-
- } else {
- motor[TIRE_FL].dir=BRAKE;
- motor[TIRE_FR].dir=BRAKE;
- motor[TIRE_BL].dir=BRAKE;
- motor[TIRE_BR].dir=BRAKE;
- motor[TIRE_FL].pwm=100;
- motor[TIRE_FR].pwm=100;
- motor[TIRE_BL].pwm=100;
- motor[TIRE_BR].pwm=100;
-
- }
- if(LimitSw::IsPressed(LEFTlim)) {
- count2=1;
- }
-
- } else if(count2==1) {
- motor[TIRE_FL].dir=BRAKE;
- motor[TIRE_FR].dir=BRAKE;
- motor[TIRE_BL].dir=BRAKE;
- motor[TIRE_BR].dir=BRAKE;
- motor[TIRE_FL].pwm=255;
- motor[TIRE_FR].pwm=255;
- motor[TIRE_BL].pwm=255;
- motor[TIRE_BR].pwm=255;
- lineFase=103;
- }
- } else if(lineFase==103) {
- if((Ult_left>0)&&(Ult_right>0)) {//データを受け取っているとき
- if((Ult_left<16)&&(Ult_left>14)&&(Ult_right<16)&&(Ult_right>14)) { //合った場合
- motor[TIRE_FL].dir=BRAKE;
- motor[TIRE_FR].dir=BRAKE;
- motor[TIRE_BL].dir=BRAKE;
- motor[TIRE_BR].dir=BRAKE;
- motor[TIRE_FL].pwm=255;
- motor[TIRE_FR].pwm=255;
- motor[TIRE_BL].pwm=255;
- motor[TIRE_BR].pwm=255;
- lineFase=104;//system lineFase increasing
- } else if((Ult_left<16)&&(Ult_left>14)) { //Ult_leftのみあった場合
- if(Ult_right>16) { //Ult_rightが遠い場合
- motor[TIRE_FL].dir=FOR;
- motor[TIRE_FR].dir=BACK;
- motor[TIRE_BL].dir=FOR;
- motor[TIRE_BR].dir=BACK;
- motor[TIRE_FL].pwm=0;
- motor[TIRE_FR].pwm=13;
- motor[TIRE_BL].pwm=0;
- motor[TIRE_BR].pwm=13;
- } else if(Ult_right<14) { //Ult_rightが近い場合
- motor[TIRE_FL].dir=BACK;
- motor[TIRE_FR].dir=FOR;
- motor[TIRE_BL].dir=BACK;
- motor[TIRE_BR].dir=FOR;
- motor[TIRE_FL].pwm=0;
- motor[TIRE_FR].pwm=13;
- motor[TIRE_BL].pwm=0;
- motor[TIRE_BR].pwm=13;
- }
- } else if((Ult_right<16)&&(Ult_right>14)) { //Ult_rightのみあった場合
- if(Ult_left>16) { //Ult_leftが遠い場合
- motor[TIRE_FL].dir=FOR;
- motor[TIRE_FR].dir=BACK;
- motor[TIRE_BL].dir=FOR;
- motor[TIRE_BR].dir=BACK;
- motor[TIRE_FL].pwm=13;
- motor[TIRE_FR].pwm=0;
- motor[TIRE_BL].pwm=13;
- motor[TIRE_BR].pwm=0;
- } else if(Ult_left<14) { //Ult_leftが近い場合
- motor[TIRE_FL].dir=BACK;
- motor[TIRE_FR].dir=FOR;
- motor[TIRE_BL].dir=BACK;
- motor[TIRE_BR].dir=FOR;
- motor[TIRE_FL].pwm=13;
- motor[TIRE_FR].pwm=0;
- motor[TIRE_BL].pwm=13;
- motor[TIRE_BR].pwm=0;
- }
- } else { //どっちもあってない場合
- if( (Ult_left+Ult_right)<=25||(Ult_left+Ult_right)>=35) {//離れすぎているor近すぎるとき
- if((Ult_left-Ult_right)>0||((Ult_left-Ult_right)<0) ) { //傾きが大きいとき
- if((Ult_left-Ult_right)>0) { //Ult_leftの方が後ろに来ているとき
- motor[TIRE_FL].dir=FOR;
- motor[TIRE_FR].dir=FOR;
- motor[TIRE_BL].dir=FOR;
- motor[TIRE_BR].dir=FOR;
- motor[TIRE_FL].pwm=abs(10*(Ult_left-Ult_right));
- motor[TIRE_FR].pwm=abs(10*(Ult_left-Ult_right));
- motor[TIRE_BL].pwm=abs(10*(Ult_left-Ult_right));
- motor[TIRE_BR].pwm=abs(10*(Ult_left-Ult_right));
- } else if((Ult_left-Ult_right)<=0) { //Ult_rightの方が後ろに来ているとき
- motor[TIRE_FL].dir=BACK;
- motor[TIRE_FR].dir=BACK;
- motor[TIRE_BL].dir=BACK;
- motor[TIRE_BR].dir=BACK;
- motor[TIRE_FL].pwm=abs(10*(Ult_left-Ult_right));
- motor[TIRE_FR].pwm=abs(10*(Ult_left-Ult_right));
- motor[TIRE_BL].pwm=abs(10*(Ult_left-Ult_right));
- motor[TIRE_BR].pwm=abs(10*(Ult_left-Ult_right));
- }
- }
- } else { //さほど離れてはいないが傾きが大きいとき
- if((Ult_left-Ult_right)>0) { //Ult_leftの方が後ろに来ているとき
- motor[TIRE_FL].dir=FOR;
- motor[TIRE_FR].dir=FOR;
- motor[TIRE_BL].dir=FOR;
- motor[TIRE_BR].dir=FOR;
- motor[TIRE_FL].pwm=abs(10*(Ult_left-Ult_right));
- motor[TIRE_FR].pwm=abs(10*(Ult_left-Ult_right));
- motor[TIRE_BL].pwm=abs(10*(Ult_left-Ult_right));
- motor[TIRE_BR].pwm=abs(10*(Ult_left-Ult_right));
- } else if((Ult_left-Ult_right)<=0) { //Ult_rightの方が後ろに来ているとき
- motor[TIRE_FL].dir=BACK;
- motor[TIRE_FR].dir=BACK;
- motor[TIRE_BL].dir=BACK;
- motor[TIRE_BR].dir=BACK;
- motor[TIRE_FL].pwm=abs(10*(Ult_left-Ult_right));
- motor[TIRE_FR].pwm=abs(10*(Ult_left-Ult_right));
- motor[TIRE_BL].pwm=abs(10*(Ult_left-Ult_right));
- motor[TIRE_BR].pwm=abs(10*(Ult_left-Ult_right));
- }
- }
- }
-
- } else {//データを受け取ってないとき
- motor[TIRE_FL].dir=BRAKE;
- motor[TIRE_FR].dir=BRAKE;
- motor[TIRE_BL].dir=BRAKE;
- motor[TIRE_BR].dir=BRAKE;
- motor[TIRE_FL].pwm=100;
- motor[TIRE_FR].pwm=100;
- motor[TIRE_BL].pwm=100;
- motor[TIRE_BR].pwm=100;
- }
- } else if(lineFase==104) {
- static int count3=0;
- static int loop=0;
- pc.printf("%d\r\n",loop);
- Air[CLOTHESPIN]=1;
- if(count3==0) {
- loop++;
- if(loop==60) {
- count3=1;
- }
- } else if(count3==1) {
- Air[CLOTHESPIN]=0;
- lineFase=105;
-
- }
- } else if(lineFase==105) {
- LedOut(6);
- Air[CLOTHESPIN]=0;
- if(!(LimitSw::IsPressed(RIGHTlim))) {
-
- //超音波
- if(Ult_right>0) {
- if(Ult_right<15) {
- motor[TIRE_FL].dir=FOR;
- motor[TIRE_FR].dir=FOR;
- motor[TIRE_BL].dir=BACK;
- motor[TIRE_BR].dir=BACK;
- motor[TIRE_FL].pwm=25;
- motor[TIRE_FR].pwm=25+(15-Ult_right);
- motor[TIRE_BL].pwm=25+(15-Ult_right);
- motor[TIRE_BR].pwm=25;
- } else if(Ult_right>=15) {
- motor[TIRE_FL].dir=FOR;
- motor[TIRE_FR].dir=FOR;
- motor[TIRE_BL].dir=BACK;
- motor[TIRE_BR].dir=BACK;
- motor[TIRE_FL].pwm=25+(Ult_right-15);
- motor[TIRE_FR].pwm=25;
- motor[TIRE_BL].pwm=25;
- motor[TIRE_BR].pwm=25+(Ult_right-15);
- }
- } else {
- motor[TIRE_FL].dir=FOR;
- motor[TIRE_FR].dir=FOR;
- motor[TIRE_BL].dir=BACK;
- motor[TIRE_BR].dir=BACK;
- motor[TIRE_FL].pwm=25;
- motor[TIRE_FR].pwm=25;
- motor[TIRE_BL].pwm=25;
- motor[TIRE_BR].pwm=25;
- }
-
-
- } else {
- motor[TIRE_FL].dir=BRAKE;
- motor[TIRE_FR].dir=BRAKE;
- motor[TIRE_BL].dir=BRAKE;
- motor[TIRE_BR].dir=BRAKE;
- motor[TIRE_FL].pwm=100;
- motor[TIRE_FR].pwm=100;
- motor[TIRE_BL].pwm=100;
- motor[TIRE_BR].pwm=100;
- lineFase=106;
- }
-
- } else if(lineFase==106) {
- motor[TIRE_FL].dir=BACK;
- motor[TIRE_FR].dir=FOR;
- motor[TIRE_BL].dir=BACK;
- motor[TIRE_BR].dir=FOR;
- motor[TIRE_FL].pwm=15;
- motor[TIRE_FR].pwm=15;
- motor[TIRE_BL].pwm=15;
- motor[TIRE_BR].pwm=15;
- if(linePara[4]!='N') {
- lineFase=19;
- }
- } else if(lineFase == 18) { // 前 低速
- motor[TIRE_FL].dir = FOR;
- motor[TIRE_BL].dir = FOR;
- motor[TIRE_BR].dir = BACK;
- motor[TIRE_FR].dir = BACK;
- if(linePara[4] == 0) {
- lineFase = 19;
- motor[TIRE_FL].dir = BRAKE;
- motor[TIRE_BL].dir = BRAKE;
- motor[TIRE_BR].dir = BRAKE;
- motor[TIRE_FR].dir = BRAKE;
- }
- motor[TIRE_FL].pwm = 16;
- motor[TIRE_BL].pwm = 16;
- motor[TIRE_BR].pwm = 16;
- motor[TIRE_FR].pwm = 16;
- } else if(lineFase == 19) { // 右
- switch(linePara[4]) {
- case -2:
- tirePWM[TIRE_FL] = 30;
- tirePWM[TIRE_BL] = 0;
- tirePWM[TIRE_BR] = -30;
- tirePWM[TIRE_FR] = 0;
- adjAnable = true;
- break;
- case -3:
- tirePWM[TIRE_FL] = 30;
- tirePWM[TIRE_BL] = -10;
- tirePWM[TIRE_BR] = -30;
- tirePWM[TIRE_FR] = 10;
- adjAnable = true;
- break;
- case -1:
- tirePWM[TIRE_FL] = 30;
- tirePWM[TIRE_BL] = -20;
- tirePWM[TIRE_BR] = -30;
- tirePWM[TIRE_FR] = 20;
- adjAnable = true;
- break;
- case 0:
- tirePWM[TIRE_FL] = 30;
- tirePWM[TIRE_BL] = -30;
- tirePWM[TIRE_BR] = -30;
- tirePWM[TIRE_FR] = 30;
- adjAnable = true;
- break;
- case 1:
- tirePWM[TIRE_FL] = 20;
- tirePWM[TIRE_BL] = -30;
- tirePWM[TIRE_BR] = -20;
- tirePWM[TIRE_FR] = 30;
- adjAnable = true;
- break;
- case 3:
- tirePWM[TIRE_FL] = 10;
- tirePWM[TIRE_BL] = -30;
- tirePWM[TIRE_BR] = -10;
- tirePWM[TIRE_FR] = 30;
- adjAnable = true;
- break;
- case 2:
- tirePWM[TIRE_FL] = 0;
- tirePWM[TIRE_BL] = -30;
- tirePWM[TIRE_BR] = 0;
- tirePWM[TIRE_FR] = 30;
- adjAnable = true;
- break;
- case 'A':
- if(lineCheck == false) {
- lineCheck = true;
- lineCount = 0;
- countW++;
- }
- tirePWM[TIRE_FL] = 30;
- tirePWM[TIRE_BL] = -30;
- tirePWM[TIRE_BR] = -30;
- tirePWM[TIRE_FR] = 30;
- adjAnable = true;
- break;
- case 'N':
- tirePWM[TIRE_FL] = 0;
- tirePWM[TIRE_BL] = 0;
- tirePWM[TIRE_BR] = 0;
- tirePWM[TIRE_FR] = 0;
- adjAnable = false;
- break;
- default:
- tirePWM[TIRE_FL] = 0;
- tirePWM[TIRE_BL] = 0;
- tirePWM[TIRE_BR] = 0;
- tirePWM[TIRE_FR] = 0;
- adjAnable = false;
- }
-
- if(adjAnable) {
- if(linePara[3] != 'A' && linePara[3] != 'N') adj = linePara[3];
- } else {
- adj = 0;
- }
-
- motor[TIRE_FL].dir = SetStatus(tirePWM[TIRE_FL] + adj);
- motor[TIRE_BL].dir = SetStatus(tirePWM[TIRE_BL] + adj);
- motor[TIRE_BR].dir = SetStatus(tirePWM[TIRE_BR]);
- motor[TIRE_FR].dir = SetStatus(tirePWM[TIRE_FR]);
- motor[TIRE_FL].pwm = SetPWM(tirePWM[TIRE_FL] + adj);
- motor[TIRE_BL].pwm = SetPWM(tirePWM[TIRE_BL] + adj);
- motor[TIRE_BR].pwm = SetPWM(tirePWM[TIRE_BR]);
- motor[TIRE_FR].pwm = SetPWM(tirePWM[TIRE_FR]);
-
- if(lineCheck == true) {
- lineCount++;
- if(lineCount > 20) lineCheck = false;
- }
-
- /*
- if(LimitSw::IsPressed(TOWEL1_SW) && LimitSw::IsPressed(TOWEL2_SW)) {
- targetCount = 3;
- } else if(LimitSw::IsPressed(TOWEL1_SW)) {
- targetCount = 3;
- } else {
- targetCount = 2;
- }
- */
-
- targetCount = 3;
-
- if(countW == targetCount) {
- countW = 0;
- lineFase = 20;
- lineCount = 0;
- lineCheck = false;
- }
- } else if(lineFase == 20) { // 右 低速
- motor[TIRE_FL].dir = FOR;
- motor[TIRE_BL].dir = BACK;
- motor[TIRE_BR].dir = BACK;
- motor[TIRE_FR].dir = FOR;
- if (linePara[2] == 0) {
- //(!!LimitSw::Ispressed(SHEETS_SW)) {
- //ineFase = 20;
- //else if(LimitSw::IsPressed(TOWEL2_SW) {
- //ineFase = 14;
- //else {
- lineFase = 21;
- //
- motor[TIRE_FL].dir = BRAKE;
- motor[TIRE_BL].dir = BRAKE;
- motor[TIRE_BR].dir = BRAKE;
- motor[TIRE_FR].dir = BRAKE;
- }
- motor[TIRE_FL].pwm = 16;
- motor[TIRE_BL].pwm = 16;
- motor[TIRE_BR].pwm = 16;
- motor[TIRE_FR].pwm = 16;
- } else if(lineFase == 21) {
- switch(linePara[2]) {
- case -2:
- tirePWM[TIRE_FL] = 0;
- tirePWM[TIRE_BL] = -30;
- tirePWM[TIRE_BR] = 0;
- tirePWM[TIRE_FR] = 30;
- adjAnable = true;
- break;
- case -3:
- tirePWM[TIRE_FL] = -10;
- tirePWM[TIRE_BL] = -30;
- tirePWM[TIRE_BR] = 10;
- tirePWM[TIRE_FR] = 30;
- adjAnable = true;
- break;
- case -1:
- tirePWM[TIRE_FL] = -20;
- tirePWM[TIRE_BL] = -30;
- tirePWM[TIRE_BR] = 20;
- tirePWM[TIRE_FR] = 30;
- adjAnable = true;
- break;
- case 0:
- tirePWM[TIRE_FL] = -30;
- tirePWM[TIRE_BL] = -30;
- tirePWM[TIRE_BR] = 30;
- tirePWM[TIRE_FR] = 30;
- adjAnable = true;
- break;
- case 1:
- tirePWM[TIRE_FL] = -30;
- tirePWM[TIRE_BL] = -20;
- tirePWM[TIRE_BR] = 30;
- tirePWM[TIRE_FR] = 20;
- adjAnable = true;
- break;
- case 3:
- tirePWM[TIRE_FL] = -30;
- tirePWM[TIRE_BL] = -10;
- tirePWM[TIRE_BR] = 30;
- tirePWM[TIRE_FR] = 10;
- adjAnable = true;
- break;
- case 2:
- tirePWM[TIRE_FL] = -30;
- tirePWM[TIRE_BL] = 0;
- tirePWM[TIRE_BR] = 30;
- tirePWM[TIRE_FR] = 0;
- adjAnable = true;
- break;
- case 'A':
- if(lineCheck == false) {
- lineCheck = true;
- lineCount = 0;
- countW++;
- }
- tirePWM[TIRE_FL] = -30;
- tirePWM[TIRE_BL] = -30;
- tirePWM[TIRE_BR] = 30;
- tirePWM[TIRE_FR] = 30;
- adjAnable = true;
- break;
- case 'N':
- tirePWM[TIRE_FL] = 0;
- tirePWM[TIRE_BL] = 0;
- tirePWM[TIRE_BR] = 0;
- tirePWM[TIRE_FR] = 0;
- adjAnable = false;
- break;
- default:
- tirePWM[TIRE_FL] = 0;
- tirePWM[TIRE_BL] = 0;
- tirePWM[TIRE_BR] = 0;
- tirePWM[TIRE_FR] = 0;
- adjAnable = false;
- }
-
- if(adjAnable) {
- if(linePara[0] != 'A' && linePara[0] != 'N') adj = linePara[0];
- } else {
- adj = 0;
- }
-
- motor[TIRE_FL].dir = SetStatus(tirePWM[TIRE_FL] + adj);
- motor[TIRE_BL].dir = SetStatus(tirePWM[TIRE_BL]);
- motor[TIRE_BR].dir = SetStatus(tirePWM[TIRE_BR]);
- motor[TIRE_FR].dir = SetStatus(tirePWM[TIRE_FR] + adj);
- motor[TIRE_FL].pwm = SetPWM(tirePWM[TIRE_FL] + adj);
- motor[TIRE_BL].pwm = SetPWM(tirePWM[TIRE_BL]);
- motor[TIRE_BR].pwm = SetPWM(tirePWM[TIRE_BR]);
- motor[TIRE_FR].pwm = SetPWM(tirePWM[TIRE_FR] + adj);
-
- if(lineCheck == true) {
- lineCount++;
- if(lineCount > 20) lineCheck = false;
- }
- if(countW == 2) {
- countW = 0;
- lineFase = 22;
- lineCount = 0;
- lineCheck = false;
- }
- } else if(lineFase == 22) {
- motor[TIRE_FL].dir = BACK;
- motor[TIRE_BL].dir = BACK;
- motor[TIRE_BR].dir = FOR;
- motor[TIRE_FR].dir = FOR;
- if (linePara[0] == 'N') {
- motor[TIRE_FL].dir = BRAKE;
- motor[TIRE_BL].dir = BRAKE;
- motor[TIRE_BR].dir = BRAKE;
- motor[TIRE_FR].dir = BRAKE;
- }
- motor[TIRE_FL].pwm = 30;
- motor[TIRE_BL].pwm = 30;
- motor[TIRE_BR].pwm = 30;
- motor[TIRE_FR].pwm = 30;
- } else {
- motor[TIRE_FL].dir = BRAKE;
- motor[TIRE_BL].dir = BRAKE;
- motor[TIRE_BR].dir = BRAKE;
- motor[TIRE_FR].dir = BRAKE;
- }
-
}
#endif
@@ -4187,200 +297,14 @@
#if USE_PROCESS_NUM>7
static void Process7()
{
- static int SW_flag=0;
- static int Processflag=0;
- if(Processflag==0) {
- if(Limitphase==0) {
- //下待機
- Limitphase=2;
- } else if(Limitphase==1) {
- } else if(Limitphase==2) {
- //下→上とタオル展開
- pc.printf("%d\r\n",SW_flag);
-
- motor[LIFT_LB].dir = FOR;
- motor[LIFT_LB].pwm = 200;
- motor[LIFT_RB].dir = BACK;
- motor[LIFT_RB].pwm = 180;
-
- if(SW_flag==0) {
- motor[LIFT_LB].dir = FOR;
- motor[LIFT_LB].pwm = 200;
- motor[LIFT_RB].dir = BACK;
- motor[LIFT_RB].pwm = 180;
- if(!LimitSw::IsPressed(LSW_LB)&&!LimitSw::IsPressed(LSW_RB)) {
- SW_flag=1;
- }
- } else if(SW_flag==1) {
- motor[LIFT_LB].dir = FOR;
- motor[LIFT_LB].pwm = 200;
- motor[LIFT_RB].dir = BACK;
- motor[LIFT_RB].pwm = 180;
- if(LimitSw::IsPressed(LSW_LB)&&LimitSw::IsPressed(LSW_RB)) {
- SW_flag=2;
- }
- } else if(SW_flag==2) {
- motor[LIFT_LB].dir = FOR;
- motor[LIFT_LB].pwm = 200;
- motor[LIFT_RB].dir = BACK;
- motor[LIFT_RB].pwm = 180;
- if(!LimitSw::IsPressed(LSW_LB)&&!LimitSw::IsPressed(LSW_RB)) {
- SW_flag=3;
- }
- } else if(SW_flag==3) {
- motor[LIFT_LB].dir = FOR;
- motor[LIFT_LB].pwm = 200;
- motor[LIFT_RB].dir = BACK;
- motor[LIFT_RB].pwm = 180;
- if(LimitSw::IsPressed(LSW_LB)&&LimitSw::IsPressed(LSW_RB)) {
- motor[LIFT_LB].dir = BRAKE;
- motor[LIFT_LB].pwm = 200;
- motor[LIFT_RB].dir = BRAKE;
- motor[LIFT_RB].pwm = 180;
- Limitphase=4;
- }
- }
- } else if(Limitphase==3) {
- } else if(Limitphase==4) {
- //上段待機
- motor[LIFT_LB].dir = BRAKE;
- motor[LIFT_LB].pwm = 200;
- motor[LIFT_RB].dir = BRAKE;
- motor[LIFT_RB].pwm = 200;
- current=0;
- startFlag=true;
- } else {
- motor[LIFT_LB].dir = BRAKE;
- motor[LIFT_LB].pwm = 200;
- motor[LIFT_RB].dir = BRAKE;
- motor[LIFT_RB].pwm = 200;
- startFlag=true;
- current=0;
- }
- if(LimitSw::IsPressed(UNFOLD_ZYOUGE_SW)) {
- motor[LIFT_LB].dir = BRAKE;
- motor[LIFT_LB].pwm = 200;
- motor[LIFT_RB].dir = BRAKE;
- motor[LIFT_RB].pwm = 200;
- Air[TOWEL0]=1;
- SW_flag=0;
- Limitphase=0;
- current=0;
- startFlag=true;
- Processflag=1;
- }
- } else if(Processflag==1) {
- motor[LIFT_LB].dir = FOR;
- motor[LIFT_LB].pwm = 200;
- motor[LIFT_RB].dir = BACK;
- motor[LIFT_RB].pwm = 180;
- if(LimitSw::IsPressed(LSW_LB)&&LimitSw::IsPressed(LSW_RB)) {
- motor[LIFT_LB].dir = BRAKE;
- motor[LIFT_LB].pwm = 200;
- motor[LIFT_RB].dir = BRAKE;
- motor[LIFT_RB].pwm = 180;
- current=0;
- startFlag=true;
- Processflag=1;
- }
- if(LimitSw::IsPressed(UNFOLD_ZYOUGE_SW)){
- motor[LIFT_LB].dir = BRAKE;
- motor[LIFT_LB].pwm = 200;
- motor[LIFT_RB].dir = BRAKE;
- motor[LIFT_RB].pwm = 200;
- Air[TOWEL0]=1;
- SW_flag=0;
- Limitphase=0;
- current=0;
- startFlag=true;
- Processflag=1;
- }
- }
+
}
-
-
-
#endif
#if USE_PROCESS_NUM>8
static void Process8()
{
- if(controller->Button.A) {
- rotaconSampling.start();
- PIDflag = true;
-
- //linePara_U = LineHub::GetPara(0);
- //linePara_B = LineHub::GetPara(3);
-
-
- pulsePV[FL] = encoder[FL].getPulses();
- pulsePV[BL] = encoder[BL].getPulses();
- pulsePV[BR] = encoder[BR].getPulses();
- pulsePV[FR] = encoder[FR].getPulses();
-
-
- for (int i = 0; i < 4; i++) {
- timeCV[i] = timePV[i];
- timePV[i] = rotaconSampling.read();
- tireProcessRPM[i] = (pulsePV[i] - pulseCV[i])/ (float)(256 * 2) / (timePV[i] - timeCV[i]) * 60;
- pulseCV[i] = pulsePV[i];
- }
-
- move.Vx = 0.5;
- move.Vy = 0.5;
- move.Va = 0;
-
- correction_LT.Vx = 0; //0.1 * linePara_U;
- correction_LT.Vy = 0;
- correction_LT.Va = 0;
-
- synthetic.Vx = move.Vx + correction_LT.Vx;
- synthetic.Vy = move.Vy + correction_LT.Vy;
- synthetic.Va = move.Va + correction_LT.Va;
-
- sita = 0;
-
- //タイヤの目標速度算出
- float sinR = 0.7071 * (float)sin(sita);
- float cosR = 0.7071 * (float)cos(sita);
- float nv = (60 * 1000) / ( 2.00 * PI * tireR);
- tireTargetRPM[FL] = ((+ synthetic.Vx * (sinR - cosR)) - (synthetic.Vy * (sinR + cosR)) + (ucR * synthetic.Va)) * nv;
- tireTargetRPM[BL] = ((+ synthetic.Vx * (sinR + cosR)) + (synthetic.Vy * (sinR - cosR)) + (ucR * synthetic.Va)) * nv;
- tireTargetRPM[BR] = ((- synthetic.Vx * (sinR - cosR)) + (synthetic.Vy * (sinR + cosR)) + (ucR * synthetic.Va)) * nv;
- tireTargetRPM[FR] = ((- synthetic.Vx * (sinR + cosR)) - (synthetic.Vy * (sinR - cosR)) + (ucR * synthetic.Va)) * nv;
-
- //pc.printf("process : %f target : %f\n\r",tireProcessRPM[0],tireTargetRPM[0]);
-
- //PIDによるPWM算出
-
- //モータの駆動
- for (int i = 0; i < 4; i++) {
- if (tirePWM[i] > 255) {
- tirePWM[i] = 255;
- } else if (tirePWM[i] < -255) {
- tirePWM[i] = -255;
- }
- }
-
- for(int i = 0; i < 4; i++) {
- motor[i].dir = SetStatus(tirePWM[i]);
- motor[i].pwm = SetPWM(tirePWM[i]);
- }
- } else {
- PIDflag = false;
- rotaconSampling.stop();
- rotaconSampling.reset();
- for(int i = 0; i < 4; i++) {
- encoder[i].reset();
- pulsePV[i] = 0;
- pulseCV[i] = 0;
- timePV[i] = 0;
- timeCV[i] = 0;
- tirePWM[i] = 0;
- motor[i].dir = SetStatus(tirePWM[i]);
- motor[i].pwm = SetPWM(tirePWM[i]);
- }
- }
+
}
#endif
@@ -4395,17 +319,16 @@
static void AllActuatorReset()
{
-
-#ifdef USE_SOLENOID
- solenoid.all = ALL_SOLENOID_OFF;
-#endif
-
-#ifdef USE_MOTOR
- for (uint8_t i = 0; i < MOUNTING_MOTOR_NUM; i++) {
- motor[i].dir = FREE;
- motor[i].pwm = 0;
- }
-#endif
+ #ifdef USE_SOLENOID
+ solenoid.all = ALL_SOLENOID_OFF;
+ #endif
+
+ #ifdef USE_MOTOR
+ for (uint8_t i = 0; i < MOUNTING_MOTOR_NUM; i++) {
+ motor[i].dir = FREE;
+ motor[i].pwm = 0;
+ }
+ #endif
}
void BuzzerTimer_func()
@@ -4420,39 +343,19 @@
}
#pragma region USER-DEFINED-FUNCTIONS
-void tirePID()
+
+uint8_t SetStatus(int pwmVal)
{
- if(PIDflag == true) {
- //加算するPID値の算出
- rotaconPID[0].SetPV(tireProcessRPM[FL],tireTargetRPM[FL]);
- rotaconPID[1].SetPV(tireProcessRPM[BL],tireTargetRPM[BL]);
- rotaconPID[2].SetPV(tireProcessRPM[FR],tireTargetRPM[FR]);
- rotaconPID[3].SetPV(tireProcessRPM[BR],tireTargetRPM[BR]);
- //PID値の加算
- tirePWM[FL] += rotaconPID[0].GetMV();
- tirePWM[BL] += rotaconPID[1].GetMV();
- tirePWM[FR] += rotaconPID[2].GetMV();
- tirePWM[BR] += rotaconPID[3].GetMV();
- }
+ if (pwmVal < 0) return BACK;
+ else if (pwmVal > 0) return FOR;
+ else if (pwmVal == 0) return BRAKE;
+ else return BRAKE;
}
-int lineCast(char k)
+uint8_t SetPWM(int pwmVal)
{
- int l;
- switch(k) {
- case 255:
- l = -1;
- break;
- case 254:
- l = -2;
- break;
- case 253:
- l = -3;
- break;
- default:
- l = k;
- }
- return l;
+ if (pwmVal == 0 || pwmVal > 255 || pwmVal < -255) return 255;
+ else return abs(pwmVal);
}
#pragma endregion