大季 矢花
daad
Dependencies: mbed TrapezoidControl QEI
Diff: System/Process/Process.cpp
- Revision:
- 12:c09b3e08a316
- Parent:
- 11:028a150943b5
- Child:
- 13:b6e02d6261d7
--- a/System/Process/Process.cpp Sat Oct 06 08:30:58 2018 +0000
+++ b/System/Process/Process.cpp Sun Oct 07 09:08:18 2018 +0000
@@ -42,22 +42,6 @@
Serial pc(USBTX, USBRX);
-#define TIRE_FR 0 //足回り前右
-#define TIRE_FL 1 //足回り前左
-#define TIRE_BR 2 //足回り後右
-#define TIRE_BL 3 //足回り後左
-
-#define Angle_R 4 //角度調節右
-#define Angle_L 5 //角度調節左
-
-#define Lim_AR 3 //角度調節右
-#define Lim_AL 4 //角度調節左
-#define Lim_R 0 //センター右
-#define Lim_L 1 //センター左
-#define EMS_0 LimitSw::IsPressed(8)
-#define EMS_1 LimitSw::IsPressed(9)
-#define LS LimitSw::IsPressed(7) //赤ゾーン用スイッチ
-#define BS LimitSw::IsPressed(6) //青ゾーン用スイッチ
//************メカナム********************
const int mecanum[15][15]=
@@ -103,24 +87,14 @@
int Color_D[3];
int intergration = 50;
-unsigned long ColorIn(int index)
-{
- int result = 0;
- bool rtn = false;
- for(int i=0; i<12; i++)
- {
- CK[index] = 1;
- rtn = DOUT[index];
- CK[index] = 0;
- if(rtn)
- {
- result|=(1 << i);
- }
- }
- return result;
-}
+int Avecolor_A[3];
+int Avecolor_B[3];
+int Avecolor_C[3];
+int Avecolor_D[3];
+
+void ColorIn();
void ColorDetection();
-
+void getcolor();
//************カラーセンサ********************
//************ライントレース変数*******************
@@ -139,7 +113,6 @@
Ticker Color_T;
//************ライントレース変数*******************
-
//************ROタコン******************
QEI RtX(RT11_PIN, RT12_PIN, NC, ROTATE_PER_REVOLUTIONS, QEI::X4_ENCODING);
QEI RtY(RT21_PIN, RT22_PIN, NC, ROTATE_PER_REVOLUTIONS, QEI::X4_ENCODING);
@@ -157,12 +130,10 @@
double goalX = 1200.000;
double goalY = 900.000;
void filip();
-//PID startup = PID(0.03, -255, 255, 0.3, 0, 0);
-
+
//************ROタコン******************
//************ジャイロ*******************
-
bool Angle_flagI = false;
int Angle;
PID gyro = PID(0.03, -150 , 150 , 8 , 0.03, 0);
@@ -170,7 +141,7 @@
//初期値 -5
int AngletargetX = 4;
int AngletargetY = -12;
-int Angle_I = -5;
+int AngletargetI = -5;
//************ジャイロ*******************
//************Buzzer******************
@@ -312,6 +283,12 @@
while(1)
{
+ getcolor();
+ pc.printf("R1:%d, G1:%d, B1:%d \r\n",Avecolor_A[0],Avecolor_A[1],Avecolor_A[2]);
+ pc.printf("R2:%d, G2:%d, B2:%d \r\n",Avecolor_B[0],Avecolor_B[1],Avecolor_B[2]);
+ pc.printf("R3:%d, G3:%d, B3:%d \r\n",Avecolor_C[0],Avecolor_C[1],Avecolor_C[2]);
+ pc.printf("R4:%d, G4:%d, B4:%d \r\n",Avecolor_D[0],Avecolor_D[1],Avecolor_D[2]);
+
#ifdef USE_MU
controller = CONTROLLER::Controller::GetData();
#endif
@@ -379,65 +356,16 @@
#pragma region PROCESS
#ifdef USE_SUBPROCESS
#if USE_PROCESS_NUM>0
-static void Process0()
+static void Process0()
{
- static bool Xnopush = false;
- static bool Angle_flagX = false;
-
- if(LimitSw::IsPressed(Lim_AR) && motor[Angle_R].dir == FOR && motor[Angle_L].dir == BACK){
- motor[Angle_R].dir = BRAKE;
- motor[Angle_L].dir = BRAKE;
- motor[Angle_R].pwm = 255;
- motor[Angle_L].pwm = 255;
- }else if(LimitSw::IsPressed(Lim_AL) && motor[Angle_L].dir == BACK && motor[Angle_L].dir == FOR){
- motor[Angle_R].dir = BRAKE;
- motor[Angle_L].dir = BRAKE;
- motor[Angle_R].pwm = 255;
- motor[Angle_L].pwm = 255;
- }
- for(int i = 0;i<20;i++){
- float y = 0;
- y = acc[1]*1000;
- float rotateY = (y - 305)/2.21 - 90;
- Angle += rotateY;
- }
- Angle = Angle /20;
- int gyropwmX = gyro.SetPV(Angle,AngletargetX);
-
- if(controller->Button.X && !Xnopush){
- Angle_flagX = true;
- Xnopush = true;
- }else if(!controller->Button.X)Xnopush = false;
-
-
- if (Angle_flagX){
- motor[Angle_R].dir = SetStatus(-gyropwmX);
- motor[Angle_L].dir = SetStatus(gyropwmX);
- motor[Angle_R].pwm = SetPWM(gyropwmX);
- motor[Angle_L].pwm = SetPWM(gyropwmX);
- if(AngletargetX - 2 < Angle && Angle < AngletargetX + 2){
- motor[Angle_R].dir = BRAKE;
- motor[Angle_L].dir = BRAKE;
- motor[Angle_R].pwm = 255;
- motor[Angle_L].pwm = 255;
- Angle_flagX = false;
- }
- }
-
- else{
- motor[Angle_R].dir = BRAKE;
- motor[Angle_L].dir = BRAKE;
- motor[Angle_R].pwm = 255;
- motor[Angle_L].pwm = 255;
- }
+ tapeLED.code = (uint32_t)Green;
}
#endif
#if USE_PROCESS_NUM>1
-static void Process1()
+static void Process1() //手動
{
-
-
+ tapeLED.code = (uint32_t)Orange;
motor[TIRE_FR].dir = SetStatus(-mecanum[controller->AnalogL.Y][14-controller->AnalogL.X] + curve[controller->AnalogR.X]);
motor[TIRE_FL].dir = SetStatus(mecanum[controller->AnalogL.Y][controller->AnalogL.X] + curve[controller->AnalogR.X]);
motor[TIRE_BR].dir = SetStatus(-mecanum[14-controller->AnalogL.X][14-controller->AnalogL.Y] + curve[controller->AnalogR.X]);
@@ -453,17 +381,408 @@
motor[TIRE_FL].pwm = motor[TIRE_FL].pwm * 1.3;
}
+ if(controller->Button.R){
+ motor[Angle_R].dir = FOR;
+ motor[Angle_L].dir = BACK;
+ motor[Angle_R].pwm = 150;
+ motor[Angle_L].pwm = 150;
+ }else if(controller->Button.L){
+ motor[Angle_R].dir = BACK;
+ motor[Angle_L].dir = FOR;
+ motor[Angle_R].pwm = 150;
+ motor[Angle_L].pwm = 150;
+ }else{
+ motor[Angle_R].dir = BRAKE;
+ motor[Angle_L].dir = BRAKE;
+ motor[Angle_R].pwm = 255;
+ motor[Angle_L].pwm = 255;
+ }
+
+ if(LimitSw::IsPressed(Lim_AR) && motor[Angle_R].dir == FOR && motor[Angle_L].dir == BACK){
+ motor[Angle_R].dir = BRAKE;
+ motor[Angle_L].dir = BRAKE;
+ motor[Angle_R].pwm = 255;
+ motor[Angle_L].pwm = 255;
+ }else if(LimitSw::IsPressed(Lim_AL) && motor[Angle_R].dir == BACK && motor[Angle_L].dir == FOR){
+ motor[Angle_R].dir = BRAKE;
+ motor[Angle_L].dir = BRAKE;
+ motor[Angle_R].pwm = 255;
+ motor[Angle_L].pwm = 255;
+ }
+ /*for(int i = 0;i<20;i++){
+ float y = 0;
+ y = acc[1]*1000;
+ float rotateY = (y - 305)/2.21 - 90;
+ Angle += rotateY;
+ }
+ Angle = Angle/20;
+ pc.printf("Y:%d \r\n",Angle);*/
- //wheel.getPulses()...どちらの方向にどれだけ回ったか
- //pc.printf("Pulses:%07d \r\n",wheel.getPulses());
- //軸が何回転したか
- //pc.printf("Rotate:%04.3f \r\n",(double)wheel.getPulses()/(ROTATE_PER_REVOLUTIONS*4));
+ //wheel.getPulses()...どちらの方向にどれだけ回ったか
+ //pc.printf("Pulses:%07d \r\n",wheel.getPulses());
+ //軸が何回転したか
+ //pc.printf("Rotate:%04.3f \r\n",(double)wheel.getPulses()/(ROTATE_PER_REVOLUTIONS*4));
}
#endif
#if USE_PROCESS_NUM>2
-static void Process2()
+static void Process2() //自動角度調節
+{
+ tapeLED.code = (uint32_t)Hotpink;
+ static bool Xnopush = false;
+ static bool Ynopush = false;
+ static bool Inopush = false;
+
+ static bool Angle_flagX = false;
+ static bool Angle_flagY = false;
+ static bool ANgle_flagI = false;
+
+ if(LimitSw::IsPressed(Lim_AR) && motor[Angle_R].dir == FOR && motor[Angle_L].dir == BACK){
+ motor[Angle_R].dir = BRAKE;
+ motor[Angle_L].dir = BRAKE;
+ motor[Angle_R].pwm = 255;
+ motor[Angle_L].pwm = 255;
+ }else if(LimitSw::IsPressed(Lim_AL) && motor[Angle_R].dir == BACK && motor[Angle_L].dir == FOR){
+ motor[Angle_R].dir = BRAKE;
+ motor[Angle_L].dir = BRAKE;
+ motor[Angle_R].pwm = 255;
+ motor[Angle_L].pwm = 255;
+ }
+ for(int i = 0;i<20;i++){
+ float y = 0;
+ y = acc[1]*1000;
+ float rotateY = (y - 305)/2.21 - 90;
+ Angle += rotateY;
+ }
+ Angle = Angle /20;
+
+ int gyropwmX = gyro.SetPV(Angle,AngletargetX);
+ int gyropwmY = gyro.SetPV(Angle,AngletargetY);
+ int gyropwmI = gyro.SetPV(Angle,AngletargetI);
+
+ if(controller->Button.X && !Xnopush){
+ Angle_flagX = true;
+ Xnopush = true;
+ }else if(!controller->Button.X)Xnopush = false;
+
+ if(controller->Button.Y && !Ynopush){
+ Angle_flagY = true;
+ Ynopush = true;
+ }else if(!controller->Button.Y)Ynopush = false;
+
+ if(controller->Button.A && !Inopush){
+ Angle_flagI = true;
+ Inopush = true;
+ }else if(!controller->Button.A)Inopush = false;
+
+ if (Angle_flagX){
+ motor[Angle_R].dir = SetStatus(gyropwmX);
+ motor[Angle_L].dir = SetStatus(-gyropwmX);
+ motor[Angle_R].pwm = SetPWM(gyropwmX);
+ motor[Angle_L].pwm = SetPWM(gyropwmX);
+ if(AngletargetX - 2 < Angle && Angle < AngletargetX + 2){
+ motor[Angle_R].dir = BRAKE;
+ motor[Angle_L].dir = BRAKE;
+ motor[Angle_R].pwm = 255;
+ motor[Angle_L].pwm = 255;
+ Angle_flagX = false;
+ }
+ }
+
+ if (Angle_flagY){
+ motor[Angle_R].dir = SetStatus(-gyropwmY);
+ motor[Angle_L].dir = SetStatus(gyropwmY);
+ motor[Angle_R].pwm = SetPWM(gyropwmY);
+ motor[Angle_L].pwm = SetPWM(gyropwmY);
+ if(AngletargetY - 2 < Angle && Angle < AngletargetY + 2){
+ motor[Angle_R].dir = BRAKE;
+ motor[Angle_L].dir = BRAKE;
+ motor[Angle_R].pwm = 255;
+ motor[Angle_L].pwm = 255;
+ Angle_flagY = false;
+ }
+ }
+
+ if (Angle_flagI){
+ if(Angle < 0)
+ {
+ motor[Angle_R].dir = SetStatus(-gyropwmI);
+ motor[Angle_L].dir = SetStatus(gyropwmI);
+ motor[Angle_R].pwm = SetPWM(gyropwmI);
+ motor[Angle_L].pwm = SetPWM(gyropwmI);
+
+ if(AngletargetI - 2 < Angle && Angle < AngletargetI + 2){
+ motor[Angle_R].dir = BRAKE;
+ motor[Angle_L].dir = BRAKE;
+ motor[Angle_R].pwm = 255;
+ motor[Angle_L].pwm = 255;
+ Angle_flagI = false;
+ }
+ }
+ else if(Angle > 0)
+ {
+ motor[Angle_R].dir = FOR;
+ motor[Angle_L].dir = BACK;
+ motor[Angle_R].pwm = 150;
+ motor[Angle_L].pwm = 150;
+
+ if(Angle < 0){
+ motor[Angle_R].dir = SetStatus(gyropwmI);
+ motor[Angle_L].dir = SetStatus(-gyropwmI);
+ motor[Angle_R].pwm = SetPWM(gyropwmI);
+ motor[Angle_L].pwm = SetPWM(gyropwmI);
+
+ if(AngletargetI - 2 < Angle && Angle < AngletargetI + 2){
+ motor[Angle_R].dir = BRAKE;
+ motor[Angle_L].dir = BRAKE;
+ motor[Angle_R].pwm = 255;
+ motor[Angle_L].pwm = 255;
+ Angle_flagI = false;
+ }
+ }
+ }
+ }
+ else{
+ motor[Angle_R].dir = BRAKE;
+ motor[Angle_L].dir = BRAKE;
+ motor[Angle_R].pwm = 255;
+ motor[Angle_L].pwm = 255;
+ }
+
+}
+#endif
+
+#if USE_PROCESS_NUM>3
+static void Process3() // ロタコンX
{
+ tapeLED.code = (uint32_t)Blue;
+ static bool nopushed = false;
+ static bool Rt_flagX = false;
+
+ if(controller->Button.A && !nopushed){
+ Rt_flagX = true;
+ nopushed = true;
+ }else if(!controller->Button.A)nopushed = false;
+
+
+ if (Rt_flagX && SetPWM(RtpwmX) > 0){
+ filip();
+
+ motor[TIRE_FR].dir = SetStatus(-RtpwmX);
+ motor[TIRE_FL].dir = SetStatus(-RtpwmX);
+ motor[TIRE_BR].dir = SetStatus(RtpwmX);
+ motor[TIRE_BL].dir = SetStatus(RtpwmX);
+ motor[TIRE_FR].pwm = SetPWM(RtpwmX)*0.72;
+ motor[TIRE_FL].pwm = SetPWM(RtpwmX);
+ motor[TIRE_BR].pwm = SetPWM(RtpwmX);
+ motor[TIRE_BL].pwm = SetPWM(RtpwmX);
+ }
+ else if(Rt_flagX && SetPWM(RtpwmX) < 0)
+ {
+ filip();
+ motor[TIRE_FR].dir = BRAKE;
+ motor[TIRE_FL].dir = BRAKE;
+ motor[TIRE_BR].dir = BRAKE;
+ motor[TIRE_BL].dir = BRAKE;
+
+ motor[TIRE_FR].pwm = 255;
+ motor[TIRE_FL].pwm = 255;
+ motor[TIRE_BR].pwm = 255;
+ motor[TIRE_BL].pwm = 255;
+
+ }
+ else
+ {
+ motor[TIRE_FR].dir = BRAKE;
+ motor[TIRE_FL].dir = BRAKE;
+ motor[TIRE_BR].dir = BRAKE;
+ motor[TIRE_BL].dir = BRAKE;
+
+ motor[TIRE_FR].pwm = 255;
+ motor[TIRE_FL].pwm = 255;
+ motor[TIRE_BR].pwm = 255;
+ motor[TIRE_BL].pwm = 255;
+ }
+ //pc.printf("X:%d \r\n",RtpwmX);
+}
+#endif
+
+#if USE_PROCESS_NUM>4
+static void Process4() //ロタコンY
+{
+ tapeLED.code = (uint32_t)Violet;
+ static bool nopushed = false;
+ static bool Rt_flagY = false;
+ /* wait(0.1);
+ //RtX.getPulses();//...どちらの方向にどれだけ回ったか
+ //RtY.getPulses();
+ pc.printf("Pulses:%07d \r\n",RtX.getPulses());
+ pc.printf("Pulses:%07d \r\n",RtY.getPulses());
+ //軸が何回転したか
+ pc.printf("Rotate:%04.3f \r\n",(double)RtX.getPulses()/(ROTATE_PER_REVOLUTIONS*4));
+ */
+
+
+ if(controller->Button.B && !nopushed){
+ Rt_flagY = true;
+ nopushed = true;
+ }else if(!controller->Button.B)nopushed = false;
+
+
+ if (Rt_flagY && SetPWM(RtpwmY) > 0){
+ filip();
+
+ motor[TIRE_FR].dir = SetStatus(-RtpwmY);
+ motor[TIRE_FL].dir = SetStatus(RtpwmY);
+ motor[TIRE_BR].dir = SetStatus(-RtpwmY);
+ motor[TIRE_BL].dir = SetStatus(RtpwmY);
+ motor[TIRE_FR].pwm = SetPWM(RtpwmY);
+ motor[TIRE_FL].pwm = SetPWM(RtpwmY);
+ motor[TIRE_BR].pwm = SetPWM(RtpwmY);
+ motor[TIRE_BL].pwm = SetPWM(RtpwmY);
+ }
+ else if(Rt_flagY && SetPWM(RtpwmY) < 0)
+ {
+ filip();
+ motor[TIRE_FR].dir = BRAKE;
+ motor[TIRE_FL].dir = BRAKE;
+ motor[TIRE_BR].dir = BRAKE;
+ motor[TIRE_BL].dir = BRAKE;
+ motor[TIRE_FR].pwm = 255;
+ motor[TIRE_FL].pwm = 255;
+ motor[TIRE_BR].pwm = 255;
+ motor[TIRE_BL].pwm = 255;
+
+ }
+ else
+ {
+ motor[TIRE_FR].dir = BRAKE;
+ motor[TIRE_FL].dir = BRAKE;
+ motor[TIRE_BR].dir = BRAKE;
+ motor[TIRE_BL].dir = BRAKE;
+ motor[TIRE_FR].pwm = 255;
+ motor[TIRE_FL].pwm = 255;
+ motor[TIRE_BR].pwm = 255;
+ motor[TIRE_BL].pwm = 255;
+ }
+
+ //pc.printf("RtpwmX:%f \r\n", RtpwmX);
+
+
+ //pc.printf("PWM:%d \r\n", RtpwmY);
+ //pc.printf("回転数:%f \r\n" ,rpmY);
+ //pc.printf("距離:%f \r\n", disY);
+}
+#endif
+
+#if USE_PROCESS_NUM>5
+static void Process5() //ロタコンXY
+{
+ tapeLED.code = (uint32_t)White;
+ static bool nopushed = false;
+ static bool Rt_flagX = false;
+ static bool Rt_flagY = false;
+
+ if(controller->Button.A && !nopushed){
+ Rt_flagX = true;
+ nopushed = true;
+ }else if(!controller->Button.A)nopushed = false;
+
+ if (Rt_flagX && SetPWM(RtpwmX) > 0){
+ filip();
+
+ motor[TIRE_FR].dir = SetStatus(-RtpwmX);
+ motor[TIRE_FL].dir = SetStatus(-RtpwmX);
+ motor[TIRE_BR].dir = SetStatus(RtpwmX);
+ motor[TIRE_BL].dir = SetStatus(RtpwmX);
+ motor[TIRE_FR].pwm = SetPWM(RtpwmX)*0.72;
+ motor[TIRE_FL].pwm = SetPWM(RtpwmX);
+ motor[TIRE_BR].pwm = SetPWM(RtpwmX);
+ motor[TIRE_BL].pwm = SetPWM(RtpwmX);
+ }
+ else if(Rt_flagX && SetPWM(RtpwmX) < 0){
+ filip();
+ motor[TIRE_FR].dir = BRAKE;
+ motor[TIRE_FL].dir = BRAKE;
+ motor[TIRE_BR].dir = BRAKE;
+ motor[TIRE_BL].dir = BRAKE;
+
+ motor[TIRE_FR].pwm = 255;
+ motor[TIRE_FL].pwm = 255;
+ motor[TIRE_BR].pwm = 255;
+ motor[TIRE_BL].pwm = 255;
+ }
+
+ if(SetPWM(RtpwmX)== 0 && Rt_flagX){
+ wait(2);
+
+ Rt_flagX = false;
+ Rt_flagY = true;
+ }
+
+ if (Rt_flagY && SetPWM(RtpwmY) > 0){
+ filip();
+
+ motor[TIRE_FR].dir = SetStatus(-RtpwmY);
+ motor[TIRE_FL].dir = SetStatus(RtpwmY);
+ motor[TIRE_BR].dir = SetStatus(-RtpwmY);
+ motor[TIRE_BL].dir = SetStatus(RtpwmY);
+ motor[TIRE_FR].pwm = SetPWM(RtpwmY);
+ motor[TIRE_FL].pwm = SetPWM(RtpwmY);
+ motor[TIRE_BR].pwm = SetPWM(RtpwmY);
+ motor[TIRE_BL].pwm = SetPWM(RtpwmY);
+ }
+ else if(Rt_flagY && SetPWM(RtpwmY) < 0)
+ {
+ filip();
+ motor[TIRE_FR].dir = BRAKE;
+ motor[TIRE_FL].dir = BRAKE;
+ motor[TIRE_BR].dir = BRAKE;
+ motor[TIRE_BL].dir = BRAKE;
+ motor[TIRE_FR].pwm = 255;
+ motor[TIRE_FL].pwm = 255;
+ motor[TIRE_BR].pwm = 255;
+ motor[TIRE_BL].pwm = 255;
+
+ }
+ else
+ {
+ motor[TIRE_FR].dir = BRAKE;
+ motor[TIRE_FL].dir = BRAKE;
+ motor[TIRE_BR].dir = BRAKE;
+ motor[TIRE_BL].dir = BRAKE;
+ motor[TIRE_FR].pwm = 255;
+ motor[TIRE_FL].pwm = 255;
+ motor[TIRE_BR].pwm = 255;
+ motor[TIRE_BL].pwm = 255;
+ }
+}
+#endif
+
+#if USE_PROCESS_NUM>6
+static void Process6()
+{
+
+}
+#endif
+
+#if USE_PROCESS_NUM>7
+static void Process7()
+{
+
+}
+#endif
+
+#if USE_PROCESS_NUM>8
+static void Process8()
+{
+
+}
+#endif
+
+#if USE_PROCESS_NUM>9
+ static void Process9()
+ {
static bool color_flag = false;
static bool traceon = false;//fase1
@@ -688,466 +1007,6 @@
}*///////
}
#endif
-
-#if USE_PROCESS_NUM>3
-static void Process3()
-{
- if(controller->Button.R){
- motor[Angle_R].dir = FOR;
- motor[Angle_L].dir = BACK;
- motor[Angle_R].pwm = 150;
- motor[Angle_L].pwm = 150;
- }else if(controller->Button.L){
- motor[Angle_R].dir = BACK;
- motor[Angle_L].dir = FOR;
- motor[Angle_R].pwm = 150;
- motor[Angle_L].pwm = 150;
- }else{
- motor[Angle_R].dir = BRAKE;
- motor[Angle_L].dir = BRAKE;
- motor[Angle_R].pwm = 255;
- motor[Angle_L].pwm = 255;
- }
-
- if(LimitSw::IsPressed(Lim_AR) && motor[Angle_R].dir == FOR && motor[Angle_L].dir == BACK){
- motor[Angle_R].dir = BRAKE;
- motor[Angle_L].dir = BRAKE;
- motor[Angle_R].pwm = 255;
- motor[Angle_L].pwm = 255;
- }else if(LimitSw::IsPressed(Lim_AL) && motor[Angle_R].dir == BACK && motor[Angle_L].dir == FOR){
- motor[Angle_R].dir = BRAKE;
- motor[Angle_L].dir = BRAKE;
- motor[Angle_R].pwm = 255;
- motor[Angle_L].pwm = 255;
- }
- for(int i = 0;i<20;i++){
- float y = 0;
- y = acc[1]*1000;
- float rotateY = (y - 305)/2.21 - 90;
- Angle += rotateY;
- }
- Angle = Angle/20;
- pc.printf("Y:%d \r\n",Angle);
-}
-#endif
-
-#if USE_PROCESS_NUM>4
-static void Process4()
-{
- static bool Xnopush = false;
- static bool Ynopush = false;
-
- static bool Angle_flagX = false;
- static bool Angle_flagY = false;
-
-
- if(LimitSw::IsPressed(Lim_AR) && motor[Angle_R].dir == FOR && motor[Angle_L].dir == BACK){
- motor[Angle_R].dir = BRAKE;
- motor[Angle_L].dir = BRAKE;
- motor[Angle_R].pwm = 255;
- motor[Angle_L].pwm = 255;
- }else if(LimitSw::IsPressed(Lim_AL) && motor[Angle_R].dir == BACK && motor[Angle_L].dir == FOR){
- motor[Angle_R].dir = BRAKE;
- motor[Angle_L].dir = BRAKE;
- motor[Angle_R].pwm = 255;
- motor[Angle_L].pwm = 255;
- }
- for(int i = 0;i<20;i++){
- float y = 0;
- y = acc[1]*1000;
- float rotateY = (y - 305)/2.21 - 90;
- Angle += rotateY;
- }
- Angle = Angle /20;
-
- int gyropwmX = gyro.SetPV(Angle,AngletargetX);
- int gyropwmY = gyro.SetPV(Angle,AngletargetY);
-
- if(controller->Button.X && !Xnopush){
- Angle_flagX = true;
- Xnopush = true;
- }else if(!controller->Button.X)Xnopush = false;
-
- if(controller->Button.Y && !Ynopush){
- Angle_flagY = true;
- Ynopush = true;
- }else if(!controller->Button.Y)Ynopush = false;
-
- if (Angle_flagX){
- motor[Angle_R].dir = SetStatus(gyropwmX);
- motor[Angle_L].dir = SetStatus(-gyropwmX);
- motor[Angle_R].pwm = SetPWM(gyropwmX);
- motor[Angle_L].pwm = SetPWM(gyropwmX);
- if(AngletargetX - 2 < Angle && Angle < AngletargetX + 2){
- motor[Angle_R].dir = BRAKE;
- motor[Angle_L].dir = BRAKE;
- motor[Angle_R].pwm = 255;
- motor[Angle_L].pwm = 255;
- Angle_flagX = false;
- }
- }
-
- if (Angle_flagY){
- motor[Angle_R].dir = SetStatus(-gyropwmY);
- motor[Angle_L].dir = SetStatus(gyropwmY);
- motor[Angle_R].pwm = SetPWM(gyropwmY);
- motor[Angle_L].pwm = SetPWM(gyropwmY);
- if(AngletargetY - 2 < Angle && Angle < AngletargetY + 2){
- motor[Angle_R].dir = BRAKE;
- motor[Angle_L].dir = BRAKE;
- motor[Angle_R].pwm = 255;
- motor[Angle_L].pwm = 255;
- Angle_flagY = false;
- }
- }
- /*float y = 0;
- y = acc[1]*1000;
- float rotateY = (y - 305)/2.21 - 90;
- int gyropwm = gyro.SetPV(rotateY , Angletarget);
-
- if(controller->Button.X){
- Angle_flag = true;
- }
- if (Angle_flag){
- motor[Angle_R].dir = SetStatus(gyropwm);
- motor[Angle_L].dir = SetStatus(-gyropwm);
- motor[Angle_R].pwm = SetPWM(gyropwm);
- motor[Angle_L].pwm = SetPWM(gyropwm);
- if(Angletarget - 2 < rotateY && rotateY < Angletarget + 2){
- motor[Angle_R].dir = BRAKE;
- motor[Angle_L].dir = BRAKE;
- Angle_flag = false;
- }
- }*/
- else{
- motor[Angle_R].dir = BRAKE;
- motor[Angle_L].dir = BRAKE;
- motor[Angle_R].pwm = 255;
- motor[Angle_L].pwm = 255;
- }
- //pc.printf("%d \r\n",gyropwmY);
-}
-#endif
-
-#if USE_PROCESS_NUM>5
-static void Process5()
-{
- static bool nopushed = false;
- static bool Rt_flagY = false;
- /* wait(0.1);
- //RtX.getPulses();//...どちらの方向にどれだけ回ったか
- //RtY.getPulses();
- pc.printf("Pulses:%07d \r\n",RtX.getPulses());
- pc.printf("Pulses:%07d \r\n",RtY.getPulses());
- //軸が何回転したか
- pc.printf("Rotate:%04.3f \r\n",(double)RtX.getPulses()/(ROTATE_PER_REVOLUTIONS*4));
- */
-
-
- if(controller->Button.B && !nopushed){
- Rt_flagY = true;
- nopushed = true;
- }else if(!controller->Button.B)nopushed = false;
-
-
- if (Rt_flagY && SetPWM(RtpwmY) > 0){
- filip();
-
- motor[TIRE_FR].dir = SetStatus(-RtpwmY);
- motor[TIRE_FL].dir = SetStatus(RtpwmY);
- motor[TIRE_BR].dir = SetStatus(-RtpwmY);
- motor[TIRE_BL].dir = SetStatus(RtpwmY);
- motor[TIRE_FR].pwm = SetPWM(RtpwmY);
- motor[TIRE_FL].pwm = SetPWM(RtpwmY);
- motor[TIRE_BR].pwm = SetPWM(RtpwmY);
- motor[TIRE_BL].pwm = SetPWM(RtpwmY);
- }
- else if(Rt_flagY && SetPWM(RtpwmY) < 0)
- {
- filip();
- motor[TIRE_FR].dir = BRAKE;
- motor[TIRE_FL].dir = BRAKE;
- motor[TIRE_BR].dir = BRAKE;
- motor[TIRE_BL].dir = BRAKE;
- motor[TIRE_FR].pwm = 255;
- motor[TIRE_FL].pwm = 255;
- motor[TIRE_BR].pwm = 255;
- motor[TIRE_BL].pwm = 255;
-
- }
- else
- {
- motor[TIRE_FR].dir = BRAKE;
- motor[TIRE_FL].dir = BRAKE;
- motor[TIRE_BR].dir = BRAKE;
- motor[TIRE_BL].dir = BRAKE;
- motor[TIRE_FR].pwm = 255;
- motor[TIRE_FL].pwm = 255;
- motor[TIRE_BR].pwm = 255;
- motor[TIRE_BL].pwm = 255;
- }
-
- //pc.printf("RtpwmX:%f \r\n", RtpwmX);
-
-
- //pc.printf("PWM:%d \r\n", RtpwmY);
- //pc.printf("回転数:%f \r\n" ,rpmY);
- //pc.printf("距離:%f \r\n", disY);
-
-
-}
-#endif
-
-#if USE_PROCESS_NUM>6
-static void Process6()
-{
- /*static bool color_flag = false;
-
- static bool traceon = false;//fase1
- static bool yokofla = false;//fase2
- static bool boxslip = false;//fase3
-
- static bool syu = false;
-
- static bool compA = false;
- static bool compB = false;
- static bool compC = false;
- static bool compD = false;
-
- static bool invationA = false;
- static bool invationB = false;
- static bool invationC = false;
- static bool invationD = false;
-
-
- ColorDetection();
-
- //
- if(Color_A[0] > Point[0] && Color_A[1] > Point[1] && Color_A[2] > Point[2] && !compA)//白
- {
- invationA ^= 1;//start false,over true
- compA = true;//on true,noon false
- }
- else if(!(Color_A[0] > Point[0] && Color_A[1] > Point[1] && Color_A[2] > Point[2]))compA = false;//茶
-
- if(Color_B[0] > Point[0] && Color_B[1] > Point[1] && Color_B[2] > Point[2] && !compB)//白
- {
- invationB ^= 1;//start false,over true
- compB = true;//on true,noon false
- }
- else if(!(Color_B[0] > Point[0] && Color_B[1] > Point[1] && Color_B[2] > Point[2]))compB = false;//茶
- /*
- if(Color_C[0] > Point[0] && Color_C[1] > Point[1] && Color_C[2] > Point[2] && !compC)//白
- {
- invationC ^= 1;//start false,over true
- compC = true;//on true,noon false
- }
- else if(!(Color_C[0] > Point[0] && Color_C[1] > Point[1] && Color_C[2] > Point[2]))compC = false;//茶
-
- if(Color_D[0] > Point[0] && Color_D[1] > Point[1] && Color_D[2] > Point[2] && !compD)//白
- {
- invationD ^= 1;//start false,over true
- compD = true;//on true,noon false
- }
- else if(!(Color_D[0] > Point[0] && Color_D[1] > Point[1] && Color_D[2] > Point[2]))compD = false;//茶
- */
-
- //
- /*
- if(controller->Button.B && !color_flag)
- {
- traceon ^= 1;
- color_flag = true;
- }
- else if(!controller->Button.B)color_flag = false;
-
- if(traceon && !yokofla && !boxslip && !syu)
- {
- if(!invationA && !compA && !invationB && !compB)
- {
- motor[TIRE_FR].dir = FOR;
- motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].dir = BACK;
-
- motor[TIRE_FR].pwm = startP;
- motor[TIRE_FL].pwm = startP;
- motor[TIRE_BR].pwm = startP;
- motor[TIRE_BL].pwm = startP;
- }
- else if(invationA && compA && !invationB && !compB)
- {
- motor[TIRE_FR].dir = BRAKE;
- motor[TIRE_FL].dir = BRAKE;
- motor[TIRE_BR].dir = BRAKE;
- motor[TIRE_BL].dir = BRAKE;
-
- wait(2);
-
- syu = true;
- yokofla = false;
- traceon = false;
- }
- else{
- motor[TIRE_FR].dir = BRAKE;
- motor[TIRE_FL].dir = BRAKE;
- motor[TIRE_BR].dir = BRAKE;
- motor[TIRE_BL].dir = BRAKE;
- }
- }
-
- pointcalculation();
-
- if(syu && !traceon && !yokofla && !boxslip)
- {
- if(Asasult < Bsasult +10 && Asasult > Bsasult -10 || Bsasult < Asasult +10 && Bsasult > Asasult -10)
- {
- motor[TIRE_FR].dir = BRAKE;
- motor[TIRE_FL].dir = BRAKE;
- motor[TIRE_BR].dir = BRAKE;
- motor[TIRE_BL].dir = BRAKE;
-
- wait(2);
-
- yokofla = true;
- traceon = false;
- syu = false;
- }
- else if(Asasult < Bsasult && !(Asasult < Bsasult +10 && Asasult > Bsasult -10 || Bsasult < Asasult +10 && Bsasult > Asasult -10))
- {
- motor[TIRE_FR].dir = FOR;
- motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].dir = FOR;
- motor[TIRE_BL].dir = FOR;
-
- motor[TIRE_FR].pwm = startP;
- motor[TIRE_FL].pwm = startP;
- motor[TIRE_BR].pwm = startP;
- motor[TIRE_BL].pwm = startP;
- }
- else if(Asasult > Bsasult && !(Asasult < Bsasult +10 && Asasult > Bsasult -10 || Bsasult < Asasult +10 && Bsasult > Asasult -10))
- {
- motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].dir = BACK;
-
- motor[TIRE_FR].pwm = startP;
- motor[TIRE_FL].pwm = startP;
- motor[TIRE_BR].pwm = startP;
- motor[TIRE_BL].pwm = startP;
- }
- else
- {
- motor[TIRE_FR].dir = BRAKE;
- motor[TIRE_FL].dir = BRAKE;
- motor[TIRE_BR].dir = BRAKE;
- motor[TIRE_BL].dir = BRAKE;
- }
- }
-
- if(!syu && !traceon && yokofla && !boxslip)
- {
- motor[TIRE_FR].dir = FOR;
- motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].dir = FOR;
- motor[TIRE_BL].dir = BACK;
-
- motor[TIRE_FR].pwm = startP;
- motor[TIRE_FL].pwm = startP;
- motor[TIRE_BR].pwm = startP;
- motor[TIRE_BL].pwm = startP;
- }
- else if(LimitSw::IsPressed(Lim_R) && LimitSw::IsPressed(Lim_L))
- {
- motor[TIRE_FR].dir = BRAKE;
- motor[TIRE_FL].dir = BRAKE;
- motor[TIRE_BR].dir = BRAKE;
- motor[TIRE_BL].dir = BRAKE;
-
- wait(2);
-
- boxslip = true;
- yokofla = false;
- }
- else
- {
- motor[TIRE_FR].dir = BRAKE;
- motor[TIRE_FL].dir = BRAKE;
- motor[TIRE_BR].dir = BRAKE;
- motor[TIRE_BL].dir = BRAKE;
- }
- */
-}
-#endif
-
-#if USE_PROCESS_NUM>7
-static void Process7()
-{
- static bool nopushed = false;
- static bool Rt_flagX = false;
-
- if(controller->Button.A && !nopushed){
- Rt_flagX = true;
- nopushed = true;
- }else if(!controller->Button.A)nopushed = false;
-
-
- if (Rt_flagX && SetPWM(RtpwmX) > 0){
- filip();
-
- motor[TIRE_FR].dir = SetStatus(-RtpwmX);
- motor[TIRE_FL].dir = SetStatus(-RtpwmX);
- motor[TIRE_BR].dir = SetStatus(RtpwmX);
- motor[TIRE_BL].dir = SetStatus(RtpwmX);
- motor[TIRE_FR].pwm = SetPWM(RtpwmX);
- motor[TIRE_FL].pwm = SetPWM(RtpwmX);
- motor[TIRE_BR].pwm = SetPWM(RtpwmX);
- motor[TIRE_BL].pwm = SetPWM(RtpwmX);
- }
- else if(Rt_flagX && SetPWM(RtpwmX) < 0)
- {
- filip();
- motor[TIRE_FR].dir = BRAKE;
- motor[TIRE_FL].dir = BRAKE;
- motor[TIRE_BR].dir = BRAKE;
- motor[TIRE_BL].dir = BRAKE;
-
- motor[TIRE_FR].pwm = 255;
- motor[TIRE_FL].pwm = 255;
- motor[TIRE_BR].pwm = 255;
- motor[TIRE_BL].pwm = 255;
-
- }
- else
- {
- motor[TIRE_FR].dir = BRAKE;
- motor[TIRE_FL].dir = BRAKE;
- motor[TIRE_BR].dir = BRAKE;
- motor[TIRE_BL].dir = BRAKE;
-
- motor[TIRE_FR].pwm = 255;
- motor[TIRE_FL].pwm = 255;
- motor[TIRE_BR].pwm = 255;
- motor[TIRE_BL].pwm = 255;
- }
- //pc.printf("X:%d \r\n",RtpwmX);
-}
-#endif
-
-#if USE_PROCESS_NUM>8
-static void Process8()
-{
-
-}
-#endif
-
-#if USE_PROCESS_NUM>9
-static void Process9()
-{
-
-}
-#endif
#endif
#pragma endregion PROCESS
@@ -1196,6 +1055,22 @@
RtpwmY = (int)Rt_Y.SetPV(disY , goalY);
}
+unsigned long ColorIn(int index)
+{
+ int result = 0;
+ bool rtn = false;
+ for(int i=0; i<12; i++)
+ {
+ CK[index] = 1;
+ rtn = DOUT[index];
+ CK[index] = 0;
+ if(rtn)
+ {
+ result|=(1 << i);
+ }
+ }
+ return result;
+}
void ColorDetection(){
GATE = 0;
@@ -1236,6 +1111,41 @@
wait_us(3);
Color_D[2] = ColorIn(3);
}
+
+void getcolor(){
+ for(int i=0;i<20;i++){
+ ColorDetection();
+
+ Avecolor_A[0] += Color_A[0];
+ Avecolor_A[1] += Color_A[1];
+ Avecolor_A[2] += Color_A[2];
+ Avecolor_B[0] += Color_B[0];
+ Avecolor_B[1] += Color_B[1];
+ Avecolor_B[2] += Color_B[2];
+ Avecolor_C[0] += Color_C[0];
+ Avecolor_C[1] += Color_C[1];
+ Avecolor_C[2] += Color_C[2];
+ Avecolor_D[0] += Color_D[0];
+ Avecolor_D[1] += Color_D[1];
+ Avecolor_D[2] += Color_D[2];
+}
+
+Avecolor_A[0] = Avecolor_A[0]/20;
+Avecolor_A[1] = Avecolor_A[1]/20;
+Avecolor_A[2] = Avecolor_A[2]/20;
+Avecolor_B[0] = Avecolor_B[0]/20;
+Avecolor_B[1] = Avecolor_B[1]/20;
+Avecolor_B[2] = Avecolor_B[2]/20;
+Avecolor_C[0] = Avecolor_C[0]/20;
+Avecolor_C[1] = Avecolor_C[1]/20;
+Avecolor_C[2] = Avecolor_C[2]/20;
+Avecolor_D[0] = Avecolor_D[0]/20;
+Avecolor_D[1] = Avecolor_D[1]/20;
+Avecolor_D[2] = Avecolor_D[2]/20;
+}
+
+
+
void BuzzerTimer_func() {
if(buzzer == 0.5){
buzzer = 0;