sasasa
Dependencies: HMC6352 PID eeprom mbed
Fork of ver1_2_2_1 by
main.cpp@3:b4fb2b5365a7, 2013-04-18 (annotated)
- Committer:
- yusuke_robocup
- Date:
- Thu Apr 18 08:42:17 2013 +0000
- Revision:
- 3:b4fb2b5365a7
- Parent:
- 2:09fabba6c00d
new new new
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
yusuke_robocup | 3:b4fb2b5365a7 | 1 | #include <mbed.h> |
akudohune | 0:74bf4953c0d1 | 2 | #include <math.h> |
akudohune | 0:74bf4953c0d1 | 3 | #include <sstream> |
akudohune | 0:74bf4953c0d1 | 4 | #include "mbed.h" |
akudohune | 0:74bf4953c0d1 | 5 | #include "HMC6352.h" |
akudohune | 0:74bf4953c0d1 | 6 | #include "PID.h" |
akudohune | 0:74bf4953c0d1 | 7 | #include "main.h" |
yusuke_robocup | 2:09fabba6c00d | 8 | #include "eeprom.h" |
akudohune | 0:74bf4953c0d1 | 9 | |
akudohune | 0:74bf4953c0d1 | 10 | |
yusuke_robocup | 2:09fabba6c00d | 11 | BusOut mbedleds(LED4,LED3,LED2,LED1); |
akudohune | 1:89408fff7cc9 | 12 | |
akudohune | 1:89408fff7cc9 | 13 | void PidUpdata() |
yusuke_robocup | 2:09fabba6c00d | 14 | { |
yusuke_robocup | 2:09fabba6c00d | 15 | if(turn_flag){ |
yusuke_robocup | 2:09fabba6c00d | 16 | now_compass = (((int)(compass.sample() - (past_compass) + 5400.0) % 3600) / 10.0); |
yusuke_robocup | 2:09fabba6c00d | 17 | }else{ |
yusuke_robocup | 2:09fabba6c00d | 18 | inputPID = (((int)(compass.sample() - (standard * 10.0) + 5400.0) % 3600) / 10.0); |
akudohune | 1:89408fff7cc9 | 19 | |
akudohune | 1:89408fff7cc9 | 20 | //pc.printf("%f\n",timer1.read()); |
yusuke_robocup | 2:09fabba6c00d | 21 | pid.setProcessValue(inputPID); |
akudohune | 1:89408fff7cc9 | 22 | //timer1.reset(); |
akudohune | 1:89408fff7cc9 | 23 | |
yusuke_robocup | 2:09fabba6c00d | 24 | compassPID = -(pid.compute()); |
yusuke_robocup | 2:09fabba6c00d | 25 | } |
akudohune | 1:89408fff7cc9 | 26 | //pc.printf("%f\n",compassPID); |
akudohune | 1:89408fff7cc9 | 27 | |
akudohune | 1:89408fff7cc9 | 28 | } |
akudohune | 1:89408fff7cc9 | 29 | |
akudohune | 1:89408fff7cc9 | 30 | void move(int vxx, int vyy, int vss) |
akudohune | 1:89408fff7cc9 | 31 | { |
akudohune | 1:89408fff7cc9 | 32 | double motVal[MOT_NUM] = {0}; |
akudohune | 1:89408fff7cc9 | 33 | |
yusuke_robocup | 3:b4fb2b5365a7 | 34 | int angle = static_cast<int>( atan2( (double)vyy, (double)vxx ) * 180/PI + 360 ) % 360; |
yusuke_robocup | 3:b4fb2b5365a7 | 35 | |
yusuke_robocup | 3:b4fb2b5365a7 | 36 | double hosei1 = 1,hosei2 = 1,hosei3 = 1,hosei4 = 1; |
yusuke_robocup | 3:b4fb2b5365a7 | 37 | |
yusuke_robocup | 3:b4fb2b5365a7 | 38 | if((angle > 30)&&(angle < 80)){ |
yusuke_robocup | 3:b4fb2b5365a7 | 39 | hosei2 = 0.7; |
yusuke_robocup | 3:b4fb2b5365a7 | 40 | hosei4 = 0.7; |
yusuke_robocup | 3:b4fb2b5365a7 | 41 | } |
yusuke_robocup | 3:b4fb2b5365a7 | 42 | |
yusuke_robocup | 3:b4fb2b5365a7 | 43 | motVal[0] = (double)(((0.5 * vxx) + ((sqrt(3.0) / 2.0) * vyy) + (Long * -vss)) * MOT1)*hosei1; |
yusuke_robocup | 3:b4fb2b5365a7 | 44 | motVal[1] = (double)(((-0.5 * vxx) + ((sqrt(3.0) / 2.0) * vyy) + (Long * vss)) * MOT2)*hosei2; |
yusuke_robocup | 3:b4fb2b5365a7 | 45 | motVal[2] = (double)(((-0.5 * vxx) + ((sqrt(3.0) / 2.0) * vyy) + (Long * -vss)) * MOT3)*hosei3; |
yusuke_robocup | 3:b4fb2b5365a7 | 46 | motVal[3] = (double)(((0.5 * vxx) + ((sqrt(3.0) / 2.0) * vyy) + (Long * vss)) * MOT4)*hosei4; |
akudohune | 1:89408fff7cc9 | 47 | |
akudohune | 1:89408fff7cc9 | 48 | for(uint8_t i = 0 ; i < MOT_NUM ; i++){ |
akudohune | 1:89408fff7cc9 | 49 | if(motVal[i] > MAX_POW)motVal[i] = MAX_POW; |
akudohune | 1:89408fff7cc9 | 50 | else if(motVal[i] < MIN_POW)motVal[i] = MIN_POW; |
akudohune | 1:89408fff7cc9 | 51 | speed[i] = motVal[i]; |
akudohune | 1:89408fff7cc9 | 52 | } |
akudohune | 1:89408fff7cc9 | 53 | /* |
akudohune | 1:89408fff7cc9 | 54 | pc.printf("speed1 = %d\n",speed[0]); |
akudohune | 1:89408fff7cc9 | 55 | pc.printf("speed2 = %d\n",speed[1]); |
akudohune | 1:89408fff7cc9 | 56 | pc.printf("speed3 = %d\n",speed[2]); |
akudohune | 1:89408fff7cc9 | 57 | pc.printf("speed4 = %d\n\n",speed[3]); |
akudohune | 1:89408fff7cc9 | 58 | */ |
akudohune | 1:89408fff7cc9 | 59 | ////pc.printf("%s",StringFIN.c_str()); |
akudohune | 1:89408fff7cc9 | 60 | } |
akudohune | 1:89408fff7cc9 | 61 | |
akudohune | 0:74bf4953c0d1 | 62 | /*********** Serial interrupt ***********/ |
akudohune | 0:74bf4953c0d1 | 63 | |
akudohune | 0:74bf4953c0d1 | 64 | void Tx_interrupt() |
akudohune | 0:74bf4953c0d1 | 65 | { |
akudohune | 0:74bf4953c0d1 | 66 | array(speed[0],speed[1],speed[2],speed[3]); |
akudohune | 0:74bf4953c0d1 | 67 | driver.printf("%s",StringFIN.c_str()); |
akudohune | 0:74bf4953c0d1 | 68 | //pc.printf("%s",StringFIN.c_str()); |
akudohune | 0:74bf4953c0d1 | 69 | //pc.printf("compass.sample = %f\n",compass.sample() / 1.0); |
akudohune | 0:74bf4953c0d1 | 70 | } |
akudohune | 0:74bf4953c0d1 | 71 | /* |
akudohune | 0:74bf4953c0d1 | 72 | void Rx_interrupt() |
akudohune | 0:74bf4953c0d1 | 73 | { |
akudohune | 0:74bf4953c0d1 | 74 | if(driver.readable()){ |
akudohune | 0:74bf4953c0d1 | 75 | //pc.printf("%d\n",driver.getc()); |
akudohune | 0:74bf4953c0d1 | 76 | } |
akudohune | 0:74bf4953c0d1 | 77 | }*/ |
akudohune | 0:74bf4953c0d1 | 78 | |
akudohune | 0:74bf4953c0d1 | 79 | |
akudohune | 0:74bf4953c0d1 | 80 | /*********** Serial interrupt end **********/ |
akudohune | 0:74bf4953c0d1 | 81 | |
akudohune | 0:74bf4953c0d1 | 82 | |
akudohune | 0:74bf4953c0d1 | 83 | void init() |
akudohune | 0:74bf4953c0d1 | 84 | { |
yusuke_robocup | 2:09fabba6c00d | 85 | uint8_t initFlag = 0; |
yusuke_robocup | 2:09fabba6c00d | 86 | char *hozon; |
akudohune | 0:74bf4953c0d1 | 87 | |
akudohune | 0:74bf4953c0d1 | 88 | compass.setOpMode(HMC6352_CONTINUOUS, 1, 20); |
akudohune | 0:74bf4953c0d1 | 89 | StartButton.mode(PullUp); |
akudohune | 0:74bf4953c0d1 | 90 | CalibEnterButton.mode(PullUp); |
akudohune | 0:74bf4953c0d1 | 91 | CalibExitButton.mode(PullUp); |
yusuke_robocup | 2:09fabba6c00d | 92 | EEPROMButton.mode(PullUp); |
akudohune | 0:74bf4953c0d1 | 93 | driver.baud(BAUD_RATE); |
akudohune | 0:74bf4953c0d1 | 94 | wait_ms(MOTDRIVER_WAIT); |
akudohune | 0:74bf4953c0d1 | 95 | driver.printf("1F0002F0003F0004F000\r\n"); |
akudohune | 0:74bf4953c0d1 | 96 | |
akudohune | 0:74bf4953c0d1 | 97 | led1 = ON; |
akudohune | 0:74bf4953c0d1 | 98 | |
akudohune | 0:74bf4953c0d1 | 99 | while(StartButton){ |
akudohune | 0:74bf4953c0d1 | 100 | if(!CalibEnterButton){ |
akudohune | 0:74bf4953c0d1 | 101 | led1 = OFF; |
akudohune | 0:74bf4953c0d1 | 102 | led2 = ON; |
akudohune | 0:74bf4953c0d1 | 103 | compass.setCalibrationMode(ENTER); |
akudohune | 0:74bf4953c0d1 | 104 | while(CalibExitButton); |
akudohune | 0:74bf4953c0d1 | 105 | compass.setCalibrationMode(EXIT); |
akudohune | 0:74bf4953c0d1 | 106 | led2 = OFF; |
akudohune | 0:74bf4953c0d1 | 107 | led3 = ON; |
akudohune | 0:74bf4953c0d1 | 108 | } |
yusuke_robocup | 2:09fabba6c00d | 109 | if(!EEPROMButton){ |
yusuke_robocup | 2:09fabba6c00d | 110 | initFlag = 1; |
yusuke_robocup | 2:09fabba6c00d | 111 | read_eeprom(hozon,(char *)&standard,sizeof(hozon)); |
yusuke_robocup | 2:09fabba6c00d | 112 | } |
akudohune | 0:74bf4953c0d1 | 113 | } |
yusuke_robocup | 2:09fabba6c00d | 114 | if(!initFlag){ |
yusuke_robocup | 2:09fabba6c00d | 115 | standard = compass.sample() / 10.0; |
yusuke_robocup | 2:09fabba6c00d | 116 | write_eeprom((char *)&standard,hozon,sizeof((char *)&standard)); |
yusuke_robocup | 2:09fabba6c00d | 117 | } |
akudohune | 0:74bf4953c0d1 | 118 | led1 = OFF; |
akudohune | 0:74bf4953c0d1 | 119 | led3 = OFF; |
akudohune | 0:74bf4953c0d1 | 120 | |
akudohune | 0:74bf4953c0d1 | 121 | pid.setInputLimits(0.0, 360.0); |
akudohune | 0:74bf4953c0d1 | 122 | pid.setOutputLimits(-OUT_LIMIT, OUT_LIMIT); |
akudohune | 0:74bf4953c0d1 | 123 | pid.setBias(0.0); |
akudohune | 0:74bf4953c0d1 | 124 | pid.setMode(AUTO_MODE); |
akudohune | 0:74bf4953c0d1 | 125 | pid.setSetPoint(180.0); |
akudohune | 0:74bf4953c0d1 | 126 | |
akudohune | 0:74bf4953c0d1 | 127 | pidUpdata.attach(&PidUpdata, 0.06); |
yusuke_robocup | 2:09fabba6c00d | 128 | wait(0.3); |
yusuke_robocup | 2:09fabba6c00d | 129 | IR.attach(&IR_Position,0.06); |
akudohune | 0:74bf4953c0d1 | 130 | ultrasonic.attach(&Ultrasonic, 0.05); |
akudohune | 0:74bf4953c0d1 | 131 | driver.attach(&Tx_interrupt, Serial::TxIrq); |
akudohune | 0:74bf4953c0d1 | 132 | //driver.attach(&Rx_interrupt, Serial::RxIrq); |
akudohune | 0:74bf4953c0d1 | 133 | |
akudohune | 0:74bf4953c0d1 | 134 | timer1.start(); |
akudohune | 0:74bf4953c0d1 | 135 | timer2.start(); |
akudohune | 0:74bf4953c0d1 | 136 | } |
akudohune | 0:74bf4953c0d1 | 137 | |
yusuke_robocup | 2:09fabba6c00d | 138 | uint16_t moving_ave_5point(uint16_t data) |
yusuke_robocup | 2:09fabba6c00d | 139 | { |
yusuke_robocup | 2:09fabba6c00d | 140 | static uint16_t tmp[5] = {0}; |
yusuke_robocup | 2:09fabba6c00d | 141 | static uint32_t sum = 0; |
yusuke_robocup | 2:09fabba6c00d | 142 | uint8_t i; |
yusuke_robocup | 2:09fabba6c00d | 143 | uint8_t count; |
yusuke_robocup | 2:09fabba6c00d | 144 | |
yusuke_robocup | 2:09fabba6c00d | 145 | sum -= tmp[4]; |
yusuke_robocup | 2:09fabba6c00d | 146 | sum += data; |
yusuke_robocup | 2:09fabba6c00d | 147 | tmp[4] = tmp[3]; |
yusuke_robocup | 2:09fabba6c00d | 148 | tmp[3] = tmp[2]; |
yusuke_robocup | 2:09fabba6c00d | 149 | tmp[2] = tmp[1]; |
yusuke_robocup | 2:09fabba6c00d | 150 | tmp[1] = tmp[0]; |
yusuke_robocup | 2:09fabba6c00d | 151 | tmp[0] = data; |
yusuke_robocup | 2:09fabba6c00d | 152 | |
yusuke_robocup | 2:09fabba6c00d | 153 | return sum/5; |
yusuke_robocup | 2:09fabba6c00d | 154 | } |
yusuke_robocup | 2:09fabba6c00d | 155 | |
yusuke_robocup | 2:09fabba6c00d | 156 | |
akudohune | 0:74bf4953c0d1 | 157 | int main() |
akudohune | 0:74bf4953c0d1 | 158 | { |
akudohune | 0:74bf4953c0d1 | 159 | int vx=0,vy=0,vs=0; |
yusuke_robocup | 2:09fabba6c00d | 160 | int x_dista = 0,y_dista = 0,x_turn = 0,y_turn = 0; |
yusuke_robocup | 2:09fabba6c00d | 161 | int state = NONE; |
yusuke_robocup | 2:09fabba6c00d | 162 | int direction_av = 0; |
yusuke_robocup | 2:09fabba6c00d | 163 | int direction_past = 0; |
akudohune | 0:74bf4953c0d1 | 164 | |
akudohune | 0:74bf4953c0d1 | 165 | init(); |
akudohune | 0:74bf4953c0d1 | 166 | |
akudohune | 0:74bf4953c0d1 | 167 | while(1) { |
yusuke_robocup | 2:09fabba6c00d | 168 | x_dista = 0; |
yusuke_robocup | 2:09fabba6c00d | 169 | y_dista = 0; |
yusuke_robocup | 2:09fabba6c00d | 170 | x_turn = 0; |
yusuke_robocup | 2:09fabba6c00d | 171 | y_turn = 0; |
yusuke_robocup | 2:09fabba6c00d | 172 | turn_flag = 0; |
yusuke_robocup | 2:09fabba6c00d | 173 | |
akudohune | 0:74bf4953c0d1 | 174 | vs = compassPID; |
yusuke_robocup | 2:09fabba6c00d | 175 | //vs = 0; |
yusuke_robocup | 2:09fabba6c00d | 176 | //past_compass = compass.sample() / 1.0; |
yusuke_robocup | 2:09fabba6c00d | 177 | //float now_compass = 180.0; |
yusuke_robocup | 2:09fabba6c00d | 178 | /* |
yusuke_robocup | 2:09fabba6c00d | 179 | while(1){ |
yusuke_robocup | 3:b4fb2b5365a7 | 180 | vx = 10; |
yusuke_robocup | 2:09fabba6c00d | 181 | vy = 10; |
yusuke_robocup | 2:09fabba6c00d | 182 | vs = compassPID; |
yusuke_robocup | 2:09fabba6c00d | 183 | |
yusuke_robocup | 2:09fabba6c00d | 184 | move(vx,vy,vs); |
yusuke_robocup | 2:09fabba6c00d | 185 | }*/ |
akudohune | 1:89408fff7cc9 | 186 | |
yusuke_robocup | 2:09fabba6c00d | 187 | direction_av = moving_ave_5point(direction); |
yusuke_robocup | 2:09fabba6c00d | 188 | |
yusuke_robocup | 2:09fabba6c00d | 189 | if(direction_av == 0){ |
yusuke_robocup | 2:09fabba6c00d | 190 | state = ATTACK; |
yusuke_robocup | 2:09fabba6c00d | 191 | } |
yusuke_robocup | 2:09fabba6c00d | 192 | if(((direction != 0)&&(direction != 1)&&(direction != 15)&&(direction != 2)&&(direction != 14))&&(Distance <= 30)){ |
yusuke_robocup | 2:09fabba6c00d | 193 | state = SNAKE; |
yusuke_robocup | 2:09fabba6c00d | 194 | } |
yusuke_robocup | 3:b4fb2b5365a7 | 195 | if(Distance >= 90){ |
yusuke_robocup | 2:09fabba6c00d | 196 | state = SEARCH; |
yusuke_robocup | 2:09fabba6c00d | 197 | } |
yusuke_robocup | 2:09fabba6c00d | 198 | |
akudohune | 0:74bf4953c0d1 | 199 | if(IR_found){ |
yusuke_robocup | 2:09fabba6c00d | 200 | if(state == SNAKE){ |
yusuke_robocup | 2:09fabba6c00d | 201 | if(Distance == 30){ |
yusuke_robocup | 2:09fabba6c00d | 202 | x_dista = 20*ball_sankaku[direction][0]; |
yusuke_robocup | 2:09fabba6c00d | 203 | y_dista = 20*ball_sankaku[direction][1]; |
yusuke_robocup | 2:09fabba6c00d | 204 | |
yusuke_robocup | 2:09fabba6c00d | 205 | x_turn = 10*(turn_sankaku[direction][0]); |
yusuke_robocup | 2:09fabba6c00d | 206 | y_turn = 10*(turn_sankaku[direction][1]); |
yusuke_robocup | 2:09fabba6c00d | 207 | |
yusuke_robocup | 2:09fabba6c00d | 208 | if((direction == 2)||(direction == 14)){ |
yusuke_robocup | 2:09fabba6c00d | 209 | x_turn *= 0.7; |
yusuke_robocup | 2:09fabba6c00d | 210 | y_turn *= 0.7; |
yusuke_robocup | 2:09fabba6c00d | 211 | } |
yusuke_robocup | 2:09fabba6c00d | 212 | } |
yusuke_robocup | 2:09fabba6c00d | 213 | |
yusuke_robocup | 2:09fabba6c00d | 214 | if(Distance == 10){ |
yusuke_robocup | 2:09fabba6c00d | 215 | x_dista = 8*(-ball_sankaku[direction][0]); |
yusuke_robocup | 2:09fabba6c00d | 216 | y_dista = 8*(-ball_sankaku[direction][1]); |
yusuke_robocup | 2:09fabba6c00d | 217 | |
yusuke_robocup | 2:09fabba6c00d | 218 | x_turn = 22*(turn_sankaku[direction][0]); |
yusuke_robocup | 2:09fabba6c00d | 219 | y_turn = 22*(turn_sankaku[direction][1]); |
yusuke_robocup | 2:09fabba6c00d | 220 | |
yusuke_robocup | 2:09fabba6c00d | 221 | |
yusuke_robocup | 2:09fabba6c00d | 222 | if(direction == 2){ |
yusuke_robocup | 2:09fabba6c00d | 223 | vs = -3; |
yusuke_robocup | 2:09fabba6c00d | 224 | } |
yusuke_robocup | 2:09fabba6c00d | 225 | if(direction == 14){ |
yusuke_robocup | 2:09fabba6c00d | 226 | vs = 3; |
yusuke_robocup | 2:09fabba6c00d | 227 | } |
yusuke_robocup | 2:09fabba6c00d | 228 | |
yusuke_robocup | 2:09fabba6c00d | 229 | if((direction == 2)||(direction == 14)){ |
yusuke_robocup | 2:09fabba6c00d | 230 | x_turn *= 0.7; |
yusuke_robocup | 2:09fabba6c00d | 231 | y_turn *= 0.7; |
yusuke_robocup | 2:09fabba6c00d | 232 | } |
yusuke_robocup | 2:09fabba6c00d | 233 | } |
yusuke_robocup | 2:09fabba6c00d | 234 | |
yusuke_robocup | 2:09fabba6c00d | 235 | if((direction == 2)||(direction == 14)||(direction == 1)||(direction == 15)||(direction == 0)){ |
yusuke_robocup | 2:09fabba6c00d | 236 | x_dista = 0; |
yusuke_robocup | 2:09fabba6c00d | 237 | y_dista = 0; |
yusuke_robocup | 2:09fabba6c00d | 238 | } |
yusuke_robocup | 2:09fabba6c00d | 239 | |
yusuke_robocup | 2:09fabba6c00d | 240 | vx = x_turn + x_dista; |
yusuke_robocup | 2:09fabba6c00d | 241 | vy = y_turn + y_dista; |
yusuke_robocup | 2:09fabba6c00d | 242 | |
yusuke_robocup | 2:09fabba6c00d | 243 | }else if(state == ATTACK){ |
yusuke_robocup | 2:09fabba6c00d | 244 | if(direction == 0){ |
yusuke_robocup | 2:09fabba6c00d | 245 | vx = 10*ball_sankaku[direction][0]; |
yusuke_robocup | 2:09fabba6c00d | 246 | vy = 15*ball_sankaku[direction][1]; |
yusuke_robocup | 2:09fabba6c00d | 247 | } |
yusuke_robocup | 2:09fabba6c00d | 248 | if(direction == 1){ |
yusuke_robocup | 3:b4fb2b5365a7 | 249 | vx = 20*ball_sankaku[direction][0]; |
yusuke_robocup | 3:b4fb2b5365a7 | 250 | vy = 12*ball_sankaku[direction][1]; |
yusuke_robocup | 3:b4fb2b5365a7 | 251 | vs = -2; |
yusuke_robocup | 2:09fabba6c00d | 252 | } |
yusuke_robocup | 2:09fabba6c00d | 253 | if(direction == 15){ |
yusuke_robocup | 3:b4fb2b5365a7 | 254 | vx = 20*ball_sankaku[direction][0]; |
yusuke_robocup | 3:b4fb2b5365a7 | 255 | vy = 12*ball_sankaku[direction][1]; |
yusuke_robocup | 3:b4fb2b5365a7 | 256 | vs = 2; |
yusuke_robocup | 2:09fabba6c00d | 257 | } |
yusuke_robocup | 2:09fabba6c00d | 258 | if(direction == 2){ |
yusuke_robocup | 2:09fabba6c00d | 259 | vx = 10*ball_sankaku[direction][0]; |
yusuke_robocup | 2:09fabba6c00d | 260 | vy = 10*ball_sankaku[direction][1]; |
yusuke_robocup | 2:09fabba6c00d | 261 | } |
yusuke_robocup | 2:09fabba6c00d | 262 | if(direction == 14){ |
yusuke_robocup | 2:09fabba6c00d | 263 | vx = 10*ball_sankaku[direction][0]; |
yusuke_robocup | 2:09fabba6c00d | 264 | vy = 10*ball_sankaku[direction][1]; |
yusuke_robocup | 2:09fabba6c00d | 265 | } |
yusuke_robocup | 2:09fabba6c00d | 266 | |
yusuke_robocup | 2:09fabba6c00d | 267 | }else if(state == SEARCH){ |
yusuke_robocup | 3:b4fb2b5365a7 | 268 | vx = 15*ball_sankaku[direction][0]; |
yusuke_robocup | 3:b4fb2b5365a7 | 269 | vy = 15*ball_sankaku[direction][1]; |
yusuke_robocup | 2:09fabba6c00d | 270 | |
yusuke_robocup | 2:09fabba6c00d | 271 | if(direction == 2){ |
yusuke_robocup | 2:09fabba6c00d | 272 | vx = 25*ball_sankaku[direction][0]; |
yusuke_robocup | 2:09fabba6c00d | 273 | vy = 10*ball_sankaku[direction][1]; |
yusuke_robocup | 2:09fabba6c00d | 274 | vs = -2; |
yusuke_robocup | 2:09fabba6c00d | 275 | } |
yusuke_robocup | 2:09fabba6c00d | 276 | if(direction == 14){ |
yusuke_robocup | 2:09fabba6c00d | 277 | vx = -25*ball_sankaku[direction][0]; |
yusuke_robocup | 2:09fabba6c00d | 278 | vy = 10*ball_sankaku[direction][1]; |
yusuke_robocup | 3:b4fb2b5365a7 | 279 | //vs = 2; |
yusuke_robocup | 2:09fabba6c00d | 280 | } |
yusuke_robocup | 2:09fabba6c00d | 281 | if(direction == 0){ |
yusuke_robocup | 2:09fabba6c00d | 282 | vx = 10*ball_sankaku[direction][0]; |
yusuke_robocup | 2:09fabba6c00d | 283 | vy = 15*ball_sankaku[direction][1]; |
yusuke_robocup | 2:09fabba6c00d | 284 | } |
yusuke_robocup | 2:09fabba6c00d | 285 | if(direction == 1){ |
yusuke_robocup | 2:09fabba6c00d | 286 | vx = 30*ball_sankaku[direction][0]; |
yusuke_robocup | 2:09fabba6c00d | 287 | vy = 8*ball_sankaku[direction][1]; |
yusuke_robocup | 2:09fabba6c00d | 288 | } |
yusuke_robocup | 2:09fabba6c00d | 289 | if(direction == 15){ |
yusuke_robocup | 2:09fabba6c00d | 290 | vx = 30*ball_sankaku[direction][0]; |
yusuke_robocup | 2:09fabba6c00d | 291 | vy = 8*ball_sankaku[direction][1]; |
yusuke_robocup | 2:09fabba6c00d | 292 | } |
yusuke_robocup | 2:09fabba6c00d | 293 | } |
akudohune | 0:74bf4953c0d1 | 294 | }else{ |
akudohune | 0:74bf4953c0d1 | 295 | vx = 0; |
akudohune | 0:74bf4953c0d1 | 296 | vy = 0; |
akudohune | 0:74bf4953c0d1 | 297 | } |
akudohune | 1:89408fff7cc9 | 298 | |
akudohune | 0:74bf4953c0d1 | 299 | /* |
yusuke_robocup | 2:09fabba6c00d | 300 | if((ultrasonicVal[0]<50)||(ultrasonicVal[1]<50)||(ultrasonicVal[3]<50)){ |
yusuke_robocup | 2:09fabba6c00d | 301 | vx = (int)((30-FULL)*ball_sankaku[direction][0]); |
yusuke_robocup | 2:09fabba6c00d | 302 | vy = (int)((30-FULL)*ball_sankaku[direction][1]); |
yusuke_robocup | 2:09fabba6c00d | 303 | } |
yusuke_robocup | 2:09fabba6c00d | 304 | |
yusuke_robocup | 2:09fabba6c00d | 305 | |
yusuke_robocup | 2:09fabba6c00d | 306 | |
yusuke_robocup | 2:09fabba6c00d | 307 | if(Distance == 10){ |
yusuke_robocup | 2:09fabba6c00d | 308 | mbedleds = 0xF; |
yusuke_robocup | 2:09fabba6c00d | 309 | }else{ |
yusuke_robocup | 2:09fabba6c00d | 310 | mbedleds = 0x0; |
yusuke_robocup | 2:09fabba6c00d | 311 | } |
yusuke_robocup | 2:09fabba6c00d | 312 | |
yusuke_robocup | 2:09fabba6c00d | 313 | if((ultrasonicVal[0]<100)&&(ultrasonicVal[1]<100)&&(ultrasonicVal[2]<100)&&((direction == 0)||(direction == 1)||(direction == 15))){ |
yusuke_robocup | 2:09fabba6c00d | 314 | vx = 0; |
yusuke_robocup | 2:09fabba6c00d | 315 | vy = 0; |
yusuke_robocup | 2:09fabba6c00d | 316 | vs = 0; |
yusuke_robocup | 2:09fabba6c00d | 317 | past_compass = compass.sample() / 1.0; |
yusuke_robocup | 2:09fabba6c00d | 318 | float now_compass = 180.0; |
yusuke_robocup | 2:09fabba6c00d | 319 | |
yusuke_robocup | 2:09fabba6c00d | 320 | if(inputPID > 180){ |
yusuke_robocup | 2:09fabba6c00d | 321 | turn_flag = 1; |
yusuke_robocup | 2:09fabba6c00d | 322 | while((now_compass > 180.0 - (SHINPUKU / 2.0))&&((direction == 0)||(direction == 1)||(direction == 15))){ |
yusuke_robocup | 2:09fabba6c00d | 323 | vs = 10; |
yusuke_robocup | 2:09fabba6c00d | 324 | move(vx,vy,vs); |
akudohune | 0:74bf4953c0d1 | 325 | } |
yusuke_robocup | 2:09fabba6c00d | 326 | turn_flag = 0; |
akudohune | 0:74bf4953c0d1 | 327 | } |
akudohune | 0:74bf4953c0d1 | 328 | |
yusuke_robocup | 2:09fabba6c00d | 329 | if(inputPID < 180){ |
yusuke_robocup | 2:09fabba6c00d | 330 | turn_flag = 1; |
yusuke_robocup | 2:09fabba6c00d | 331 | while((now_compass < 180.0 + (SHINPUKU / 2.0))&&((direction == 0)||(direction == 1)||(direction == 15))){ |
yusuke_robocup | 2:09fabba6c00d | 332 | vs = -10; |
yusuke_robocup | 2:09fabba6c00d | 333 | move(vx,vy,vs); |
akudohune | 1:89408fff7cc9 | 334 | } |
yusuke_robocup | 2:09fabba6c00d | 335 | turn_flag = 0; |
yusuke_robocup | 2:09fabba6c00d | 336 | } |
akudohune | 1:89408fff7cc9 | 337 | }*/ |
akudohune | 1:89408fff7cc9 | 338 | |
yusuke_robocup | 2:09fabba6c00d | 339 | if(state == SNAKE){ |
yusuke_robocup | 2:09fabba6c00d | 340 | mbedleds = 0xF; |
yusuke_robocup | 2:09fabba6c00d | 341 | }else{ |
yusuke_robocup | 2:09fabba6c00d | 342 | mbedleds = 0x0; |
yusuke_robocup | 2:09fabba6c00d | 343 | } |
yusuke_robocup | 2:09fabba6c00d | 344 | |
yusuke_robocup | 2:09fabba6c00d | 345 | |
yusuke_robocup | 2:09fabba6c00d | 346 | vx *= 1; |
yusuke_robocup | 2:09fabba6c00d | 347 | vy *= 1; |
yusuke_robocup | 2:09fabba6c00d | 348 | |
yusuke_robocup | 2:09fabba6c00d | 349 | direction_past = direction; |
yusuke_robocup | 2:09fabba6c00d | 350 | |
akudohune | 0:74bf4953c0d1 | 351 | move(vx,vy,vs); |
akudohune | 0:74bf4953c0d1 | 352 | } |
akudohune | 0:74bf4953c0d1 | 353 | } |