勇紀 有岡
ver2
Dependencies: uw_28015 mbed move4wheel2 EC CruizCore_R6093U CruizCore_R1370P
Diff: main.cpp
- Revision:
- 2:820dcd23c8e3
- Parent:
- 1:26fc1b2f1c42
--- a/main.cpp Sat Nov 16 06:26:57 2019 +0000
+++ b/main.cpp Wed Dec 11 04:59:36 2019 +0000
@@ -32,63 +32,156 @@
int main()
{
-
- //UserLoopSetting_maxon();
- UserLoopSetting_sensor();
- UserLoopSetting_can();
-/*
- #ifdef PROGRAM_INFO //プログラム使用時に使用プログラムの情報を最初に表示
+
+ //UserLoopSetting_maxon();
+ UserLoopSetting_sensor();
+ UserLoopSetting_can();
+ /*
+ #ifdef PROGRAM_INFO //プログラム使用時に使用プログラムの情報を最初に表示
+
+ printf("ソースファイル名 : %s¥n", __FILE__);
+ printf("作成日付 : %s¥n", __DATE__);
+ printf("作成時刻 : %s¥n", __TIME__);
+
+ #endif
+ */
+ int move_flag = 0;
+ while(1) {
+
+ id1_value[0] = 1;
+ switch(id1_value[0]) {
+ //-----auto mode----------------------------------------------------------------------------------------------------------------------//
+ case 1:
+
+
+ //set_condの引数詳細
+ //xy_type:（0:Y軸平行の壁を読む/1:X軸平行の壁を読む/2:X,Y軸平行の壁を共に読む）
+ //pm_typeX:（0:各軸正方向側の壁を読む/1:各軸負方向側の壁を読む）
+ //x_base:超音波センサーで読む壁の座標(y軸並行の壁のx座標)
+ //pm_typeY:（0:各軸正方向側の壁を読む/1:各軸負方向側の壁を読む）
+ //y_base:超音波センサーで読む壁の座標(x軸平行の壁のy座標)
+
+
- printf("ソースファイル名 : %s¥n", __FILE__);
- printf("作成日付 : %s¥n", __DATE__);
- printf("作成時刻 : %s¥n", __TIME__);
+// set_cond(2,0,0,1,0);
+// int f = 0;
+// while(1) {
+// if(f > 20) break;
+// f++;
+// printf("wait\n\r");
+// }
+ //gogo_straight(0,0,0,0,100000,100000,200,800,5,0.1,10,0.1,250,0, 4095, 30);
+// wait(100000);
+
+ set_cond(2,0,1950,1,0);
+ uwflag_change(1,0,0,1);
+ gogo_straight(1,1,457,457,700,463,300,300,5,0.1,10,0.1,250,0, 4095, 200);
+ gogo_straight(0,0,700,463,1300,500,300,150,5,0.1,10,0.1,250,0, 4095, 200);
+ mt_stop();
+ wait(0.2);
+ pos_correction(1450,500,0,0,0,100);
+ enc_correction(1,1);
+ wait(2);
+
+ gogo_straight(0,0,1500,500,700,500,300,300,5,0.1,10,0.1,250,0, 4095, 200);
+ gogo_straight(0,0,700,500,530,500,300,100,5,0.1,10,0.1,250,0, 4095, 200);
+ mt_stop();
+ uwflag_reset();
+ wait(1000);
+
+
+
+/* spline_move(1, 1, 0, 0, 200,1000, 0,300,200,700,200, 800,5,0.1,10,0.1,500,0, 4095, 500, 10);
+ gogo_straight(1,1,200,1000,200,2750,800,800,5,0.1,10,0.1,250,0, 4095, 200);
+ purecurve(3,1,1,200,2750,-800,3500,9,800,10,0.1,10,0.1,250,-90,4095, 700);
+ purecurve(5,1,1,-800,3500,-1800,2750,9,800,10,0.1,10,0.1,250,-90,4095, 700);
+ gogo_straight(1,1,-1800,2750,-1800,1000,800,500,5,0.1,10,0.1,250,-90, 4095, 500);
+ set_cond(1,0,-465,1,-415);
+ gogo_straight(1,0,-1800,1000,-1800,300,500,100,5,0.1,10,0.1,150,-90, 4095, 50);
+ mt_stop();
+ wait(0.2);
+ enc_correction(0,1);
+ pos_correction(-1800,0,-90,1,1,50);
+ enc_correction2(-1800, 0);
+ uwflag_reset();
- #endif
- */
- int move_flag = 0;
- while(1) {
-
- id1_value[0] = 1;
- switch(id1_value[0]) {
- //-----auto mode----------------------------------------------------------------------------------------------------------------------//
- case 1:
-
- // gogo_straight(1,1,0,0,200,0,50,500,5,0.1,10,0.1,50,0);
-// gogo_straight(1,1,200,0,800,0,500,500,5,0.1,10,0.1,50,0);
-// gogo_straight(1,1,800,0,1000,0,500,200,5,0.1,10,0.1,50,0);
-// mt_stop();
-// pos_correction(1000,0,0,1,1);
-// mt_stop();
-// wait(1.5);
-// gogo_straight(1,1,1000,0,800,0,200,500,5,0.1,10,0.1,50,0);
-// gogo_straight(1,1,800,0,200,0,500,500,5,0.1,10,0.1,50,0);
-// gogo_straight(1,1,200,0,0,0,500,200,5,0.1,10,0.1,50,0);
-// mt_stop();
-// pos_correction(0,0,0,1,1);
- pos_correction(50,0,0,1,1);
- mt_stop();
- move_flag = 1;
- break;
+ wait(2);
+ gogo_straight(1,1,-1800,0,-1800,400,200,500,5,0.1,10,0.1,100,-90, 4095, 30);
+ gogo_straight(1,1,-1800,400,-1800,2750,500,500,5,0.1,10,0.1,250,-90, 4095, 200);
+ purecurve(2,1,1,-1800,2750,-800,3500,9,500,5,0.1,10,0.1,250,0,4095, 300);
+ purecurve(3,1,1,-800,3500,200,2750,9,500,5,0.1,10,0.1,250,0,4095, 300);
+ gogo_straight(1,1,200,2750,200,1000,500,500,5,0.1,10,0.1,250,0, 4095, 200);
+ gogo_straight(1,1,200,1000,200,200,500,100,5,0.1,10,0.1,250,0, 4095, 30);
+ mt_stop();
+ wait(0.2);
+ pos_correction(0,0,0,1,1,50);*/
+
+
+
+ /* gogo_straight(1,1,0,0,0,400,200,800,5,0.1,10,0.1,250,0, 4095, 30);
+ gogo_straight(1,1,0,400,0,3000,800,800,5,0.1,10,0.1,250,0, 4095, 200);
+ purecurve(3,1,1,0,3000,-1000,3750,9,800,5,0.1,10,0.1,250,-90,4095, 500);
+ purecurve(5,1,1,-1000,3750,-2000,3000,9,800,5,0.1,10,0.1,250,-90,4095, 500);
+ gogo_straight(1,1,-2000,3000,-2000,1000,800,800,5,0.1,10,0.1,250,-90, 4095, 500);
+ //////set_cond(2,0,-600,1,-600);
+ gogo_straight(1,1,-2000,1000,-2000,200,800,100,5,0.1,10,0.1,100,-90, 4095, 50);
+ mt_stop();
+ wait(0.2);
+ pos_correction(-2000,0,-90,1,1,50);
+ enc_correction2(-2000, 0);
+
+ wait(2);
+ gogo_straight(1,1,-2000,0,-2000,400,200,500,5,0.1,10,0.1,100,-90, 4095, 30);
+ gogo_straight(1,1,-2000,400,-2000,3000,500,500,5,0.1,10,0.1,250,-90, 4095, 200);
+ purecurve(2,1,1,-2000,3000,-1000,3750,9,500,5,0.1,10,0.1,250,0,4095, 300);
+ purecurve(3,1,1,-1000,3750,0,3000,9,500,5,0.1,10,0.1,250,0,4095, 300);
+ gogo_straight(1,1,0,3000,0,1000,500,500,5,0.1,10,0.1,250,0, 4095, 200);
+ gogo_straight(1,1,0,1000,0,200,500,100,5,0.1,10,0.1,250,0, 4095, 30);
+ mt_stop();
+ wait(0.2);
+ pos_correction(0,0,0,1,1,50);*/
+
+
- //-----wait mode----------------------------------------------------------------------------------------------------------------------//
- case 0:
+ /* gogo_straight(1,1,0,0,0,400,50,200,5,0.1,10,0.1,250,0, 4095, 30);
+ gogo_straight(1,1,0,400,0,2000,500,500,5,0.1,10,0.1,250,0, 4095, 100);
+ gogo_straight(1,1,0,2000,0,2700,500,100,5,0.1,10,0.1,250,0, 4095, 50);
+ mt_stop();
+ wait(2);
+ pos_correction(0,3000,0,1,1,50);
- calc_xy(0,1,1);
- ashi_led();
- //MaxonControl(0,0,0,0);
- go_waitmode = 0;
+ gogo_straight(1,1,0,3000,0,2600,50,500,5,0.1,10,0.1,0,0, 4095,30);
+ gogo_straight(1,1,0,2600,0,1000,500,500,5,0.1,10,0.1,100,0, 4095, 100);
+ gogo_straight(1,1,0,1000,0,300,500,100,5,0.1,10,0.1,0,0, 4095, 50);
+ mt_stop();
+ wait(2);
+ pos_correction(0,0,0,1,1,50);*/
+
+ while(1) mt_stop();
+
+
+ move_flag = 1;
+ break;
- break;
- //-----manual mode--------------------------------------------------------------------------------------------------------------------//
- case 2:
+ //-----wait mode----------------------------------------------------------------------------------------------------------------------//
+ case 0:
- ManualOut(250,100,500,200);
- go_waitmode = 0;
+ calc_xy(0,1,1);
+ ashi_led();
+ //MaxonControl(0,0,0,0);
+ go_waitmode = 0;
- break;
- }
- //------------------------------------------------------------------------------------------------------------------------------------//
+ break;
+ //-----manual mode--------------------------------------------------------------------------------------------------------------------//
+ case 2:
+
+ ManualOut(250,100,500,200);
+ go_waitmode = 0;
+
+ break;
+ }
+ //------------------------------------------------------------------------------------------------------------------------------------//
if(move_flag == 1)break;
- }
-
+ }
+
}
\ No newline at end of file