File content as of revision 2:820dcd23c8e3:

#include "EC.h"
#include "R1370P.h"
#include "move4wheel.h"
#include "mbed.h"
#include "math.h"
#include "PathFollowing.h"
#include "movement.h"
#include "manual.h"
#include "can.h"

#define PI 3.141592

//#define 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する際に定義

int go_waitmode = 0;

/*------------運動時の各速度の設定----------*/
double st_speed = 500; // 移動開始時の速度
double max_speed = 2500; // 直線移動時の最大速度
double mid_speed = 2000; // 直線移動時の中間速度
double turn_speed = 1000; // 旋回時の速度
double end_speed = 200; // 停止直前の速度
double fruit_speed = 200; // 果物を取る時の速度
/*--------------------------------------*/

//-----mbed led------------------//点灯条件-----------------------//参照場所------------------------------//
//DigitalOut cansend_led(LED1);  //cansend -> on                //can.cpp
//DigitalOut canread_led(LED2);  //canread -> on                //can.cpp
//DigitalOut debug_led(LED3);    //maxon debug programme -> on  //maxonsetting.cpp

//////////////////////////////////////////////////////////////以下main文/////////////////////////////////////////////////////////////////

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

           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)



//                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();

                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);*/



                /*               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);

                               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;

            //-----wait mode----------------------------------------------------------------------------------------------------------------------//
            case 0:

                calc_xy(0,1,1);
                ashi_led();
                //MaxonControl(0,0,0,0);
                go_waitmode = 0;

                break;
            //-----manual mode--------------------------------------------------------------------------------------------------------------------//
            case 2:

                ManualOut(250,100,500,200);
                go_waitmode = 0;

                break;
        }
        //------------------------------------------------------------------------------------------------------------------------------------//
        if(move_flag == 1)break;
    }

}