driver
Dependencies: HMC6352 PID mbed
Fork of ver3_1_0 by
main.cpp@0:bde8ed56b164, 2013-06-19 (annotated)
- Committer:
- akudohune
- Date:
- Wed Jun 19 08:42:55 2013 +0000
- Revision:
- 0:bde8ed56b164
- Child:
- 1:3b61675573b1
final_master
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
akudohune | 0:bde8ed56b164 | 1 | #include <math.h> |
akudohune | 0:bde8ed56b164 | 2 | #include <sstream> |
akudohune | 0:bde8ed56b164 | 3 | #include "mbed.h" |
akudohune | 0:bde8ed56b164 | 4 | #include "HMC6352.h" |
akudohune | 0:bde8ed56b164 | 5 | #include "PID.h" |
akudohune | 0:bde8ed56b164 | 6 | #include "main.h" |
akudohune | 0:bde8ed56b164 | 7 | |
akudohune | 0:bde8ed56b164 | 8 | |
akudohune | 0:bde8ed56b164 | 9 | |
akudohune | 0:bde8ed56b164 | 10 | void PidUpdate() |
akudohune | 0:bde8ed56b164 | 11 | { |
akudohune | 0:bde8ed56b164 | 12 | static uint8_t Fflag = 0; |
akudohune | 0:bde8ed56b164 | 13 | |
akudohune | 0:bde8ed56b164 | 14 | pid.setSetPoint(((int)((REFERENCE + standTu) + 360) % 360) / 1.0); |
akudohune | 0:bde8ed56b164 | 15 | inputPID = (((int)(compass.sample() - (standard * 10.0) + 5400.0) % 3600) / 10.0); |
akudohune | 0:bde8ed56b164 | 16 | |
akudohune | 0:bde8ed56b164 | 17 | //pc.printf("%f\n",timer1.read()); |
akudohune | 0:bde8ed56b164 | 18 | pid.setProcessValue(inputPID); |
akudohune | 0:bde8ed56b164 | 19 | //timer1.reset(); |
akudohune | 0:bde8ed56b164 | 20 | |
akudohune | 0:bde8ed56b164 | 21 | compassPID = -(pid.compute()); |
akudohune | 0:bde8ed56b164 | 22 | |
akudohune | 0:bde8ed56b164 | 23 | if(!Fflag){ |
akudohune | 0:bde8ed56b164 | 24 | Fflag = 1; |
akudohune | 0:bde8ed56b164 | 25 | compassPID = 0; |
akudohune | 0:bde8ed56b164 | 26 | } |
akudohune | 0:bde8ed56b164 | 27 | //pc.printf("%d\t%d\t%d\n",speed[0],speed[1],speed[2]); |
akudohune | 0:bde8ed56b164 | 28 | //pc.printf("standard = \t\t%f\n",standard); |
akudohune | 0:bde8ed56b164 | 29 | //pc.printf("%d\n",diff); |
akudohune | 0:bde8ed56b164 | 30 | //pc.printf("compass.sample = \t%f\n",compass.sample() / 1.0); |
akudohune | 0:bde8ed56b164 | 31 | //pc.printf("compassPID = \t\t%d\n",(int)compassPID); |
akudohune | 0:bde8ed56b164 | 32 | //pc.printf("inputPID = \t\t%f\n\n",inputPID); |
akudohune | 0:bde8ed56b164 | 33 | |
akudohune | 0:bde8ed56b164 | 34 | //pc.printf("%d\t%d\n",Distance,direction); |
akudohune | 0:bde8ed56b164 | 35 | //pc.printf("%d\t%d\t%d\t%d\n",ultrasonicVal[0],ultrasonicVal[1],ultrasonicVal[2],ultrasonicVal[3]); |
akudohune | 0:bde8ed56b164 | 36 | } |
akudohune | 0:bde8ed56b164 | 37 | |
akudohune | 0:bde8ed56b164 | 38 | void IrDistanceUpdate() |
akudohune | 0:bde8ed56b164 | 39 | { |
akudohune | 0:bde8ed56b164 | 40 | for(uint8_t i = 0;i < 6;i++) |
akudohune | 0:bde8ed56b164 | 41 | { |
akudohune | 0:bde8ed56b164 | 42 | AnalogIn adcIn(adc_num[i]); /* 今回更新する赤外線の個体を呼び出す */ |
akudohune | 0:bde8ed56b164 | 43 | irDistance[i] = adcIn.read_u16() >> 4; |
akudohune | 0:bde8ed56b164 | 44 | //pc.printf("%d\n",irDistance[0]); |
akudohune | 0:bde8ed56b164 | 45 | } |
akudohune | 0:bde8ed56b164 | 46 | } |
akudohune | 0:bde8ed56b164 | 47 | |
akudohune | 0:bde8ed56b164 | 48 | |
akudohune | 0:bde8ed56b164 | 49 | void move(int vxx, int vyy, int vss) |
akudohune | 0:bde8ed56b164 | 50 | { |
akudohune | 0:bde8ed56b164 | 51 | double motVal[MOT_NUM] = {0}; |
akudohune | 0:bde8ed56b164 | 52 | |
akudohune | 0:bde8ed56b164 | 53 | motVal[0] = (double)(((0.5 * vxx) + ((sqrt(3.0) / 2.0) * vyy) + (Long * -vss)) * MOT1); |
akudohune | 0:bde8ed56b164 | 54 | motVal[1] = (double)(((-0.5 * vxx) + ((sqrt(3.0) / 2.0) * vyy) + (Long * vss)) * MOT2); |
akudohune | 0:bde8ed56b164 | 55 | motVal[2] = (double)(((-0.5 * vxx) + ((sqrt(3.0) / 2.0) * vyy) + (Long * -vss)) * MOT3); |
akudohune | 0:bde8ed56b164 | 56 | motVal[3] = (double)(((0.5 * vxx) + ((sqrt(3.0) / 2.0) * vyy) + (Long * vss)) * MOT4); |
akudohune | 0:bde8ed56b164 | 57 | |
akudohune | 0:bde8ed56b164 | 58 | for(uint8_t i = 0 ; i < MOT_NUM ; i++){ |
akudohune | 0:bde8ed56b164 | 59 | if(motVal[i] > MAX_POW)motVal[i] = MAX_POW; |
akudohune | 0:bde8ed56b164 | 60 | else if(motVal[i] < MIN_POW)motVal[i] = MIN_POW; |
akudohune | 0:bde8ed56b164 | 61 | speed[i] = (int)motVal[i]; |
akudohune | 0:bde8ed56b164 | 62 | } |
akudohune | 0:bde8ed56b164 | 63 | } |
akudohune | 0:bde8ed56b164 | 64 | |
akudohune | 0:bde8ed56b164 | 65 | int vector(double Amp,double degree,int xy) |
akudohune | 0:bde8ed56b164 | 66 | { |
akudohune | 0:bde8ed56b164 | 67 | double result; |
akudohune | 0:bde8ed56b164 | 68 | |
akudohune | 0:bde8ed56b164 | 69 | if(xy == X){ |
akudohune | 0:bde8ed56b164 | 70 | result = Amp * cos(degree * PI / 180.0); |
akudohune | 0:bde8ed56b164 | 71 | }else if(xy == Y){ |
akudohune | 0:bde8ed56b164 | 72 | result = Amp * sin(degree * PI / 180.0) * (2.0 / sqrt(3.0)); |
akudohune | 0:bde8ed56b164 | 73 | } |
akudohune | 0:bde8ed56b164 | 74 | |
akudohune | 0:bde8ed56b164 | 75 | return (int)result; |
akudohune | 0:bde8ed56b164 | 76 | } |
akudohune | 0:bde8ed56b164 | 77 | |
akudohune | 0:bde8ed56b164 | 78 | /*********** Serial interrupt ***********/ |
akudohune | 0:bde8ed56b164 | 79 | |
akudohune | 0:bde8ed56b164 | 80 | void Tx_interrupt() |
akudohune | 0:bde8ed56b164 | 81 | { |
akudohune | 0:bde8ed56b164 | 82 | array(speed[0],speed[1],speed[2],speed[3]); |
akudohune | 0:bde8ed56b164 | 83 | driver.printf("%s",StringFIN.c_str()); |
akudohune | 0:bde8ed56b164 | 84 | //pc.printf("%s",StringFIN.c_str()); |
akudohune | 0:bde8ed56b164 | 85 | } |
akudohune | 0:bde8ed56b164 | 86 | /* |
akudohune | 0:bde8ed56b164 | 87 | void Rx_interrupt() |
akudohune | 0:bde8ed56b164 | 88 | { |
akudohune | 0:bde8ed56b164 | 89 | if(driver.readable()){ |
akudohune | 0:bde8ed56b164 | 90 | //pc.printf("%d\n",driver.getc()); |
akudohune | 0:bde8ed56b164 | 91 | } |
akudohune | 0:bde8ed56b164 | 92 | }*/ |
akudohune | 0:bde8ed56b164 | 93 | |
akudohune | 0:bde8ed56b164 | 94 | |
akudohune | 0:bde8ed56b164 | 95 | /*********** Serial interrupt **********/ |
akudohune | 0:bde8ed56b164 | 96 | |
akudohune | 0:bde8ed56b164 | 97 | |
akudohune | 0:bde8ed56b164 | 98 | void init() |
akudohune | 0:bde8ed56b164 | 99 | { |
akudohune | 0:bde8ed56b164 | 100 | int scanfSuccess; |
akudohune | 0:bde8ed56b164 | 101 | int printfSuccess; |
akudohune | 0:bde8ed56b164 | 102 | int closeSuccess; |
akudohune | 0:bde8ed56b164 | 103 | int close2Success; |
akudohune | 0:bde8ed56b164 | 104 | uint8_t MissFlag = 0; |
akudohune | 0:bde8ed56b164 | 105 | FILE *fp; |
akudohune | 0:bde8ed56b164 | 106 | |
akudohune | 0:bde8ed56b164 | 107 | compass.setOpMode(HMC6352_CONTINUOUS, 1, 20); |
akudohune | 0:bde8ed56b164 | 108 | |
akudohune | 0:bde8ed56b164 | 109 | StartButton.mode(PullUp); |
akudohune | 0:bde8ed56b164 | 110 | CalibEnterButton.mode(PullUp); |
akudohune | 0:bde8ed56b164 | 111 | CalibExitButton.mode(PullUp); |
akudohune | 0:bde8ed56b164 | 112 | EEPROMButton.mode(PullUp); |
akudohune | 0:bde8ed56b164 | 113 | |
akudohune | 0:bde8ed56b164 | 114 | driver.baud(BAUD_RATE); |
akudohune | 0:bde8ed56b164 | 115 | device2.baud(BAUD_RATE2); |
akudohune | 0:bde8ed56b164 | 116 | wait_ms(MOTDRIVER_WAIT); |
akudohune | 0:bde8ed56b164 | 117 | driver.printf("1F0002F0003F0004F000\r\n"); |
akudohune | 0:bde8ed56b164 | 118 | device2.printf("START"); |
akudohune | 0:bde8ed56b164 | 119 | |
akudohune | 0:bde8ed56b164 | 120 | driver.attach(&Tx_interrupt, Serial::TxIrq); |
akudohune | 0:bde8ed56b164 | 121 | //driver.attach(&Rx_interrupt, Serial::RxIrq); |
akudohune | 0:bde8ed56b164 | 122 | device2.attach(&dev_rx,Serial::RxIrq); |
akudohune | 0:bde8ed56b164 | 123 | device2.attach(&dev_tx,Serial::TxIrq); |
akudohune | 0:bde8ed56b164 | 124 | |
akudohune | 0:bde8ed56b164 | 125 | pid.setInputLimits(MINIMUM,MAXIMUM); |
akudohune | 0:bde8ed56b164 | 126 | pid.setOutputLimits(-OUT_LIMIT, OUT_LIMIT); |
akudohune | 0:bde8ed56b164 | 127 | pid.setBias(PID_BIAS); |
akudohune | 0:bde8ed56b164 | 128 | pid.setMode(AUTO_MODE); |
akudohune | 0:bde8ed56b164 | 129 | pid.setSetPoint(REFERENCE); |
akudohune | 0:bde8ed56b164 | 130 | |
akudohune | 0:bde8ed56b164 | 131 | irDistanceUpdata.attach(&IrDistanceUpdate, 0.1); |
akudohune | 0:bde8ed56b164 | 132 | |
akudohune | 0:bde8ed56b164 | 133 | Survtimer.start(); |
akudohune | 0:bde8ed56b164 | 134 | |
akudohune | 0:bde8ed56b164 | 135 | mbedleds = 1; |
akudohune | 0:bde8ed56b164 | 136 | |
akudohune | 0:bde8ed56b164 | 137 | while(StartButton){ |
akudohune | 0:bde8ed56b164 | 138 | MissFlag = 0; |
akudohune | 0:bde8ed56b164 | 139 | if(!CalibEnterButton){ |
akudohune | 0:bde8ed56b164 | 140 | mbedleds = 2; |
akudohune | 0:bde8ed56b164 | 141 | compass.setCalibrationMode(ENTER); |
akudohune | 0:bde8ed56b164 | 142 | while(CalibExitButton); |
akudohune | 0:bde8ed56b164 | 143 | compass.setCalibrationMode(EXIT); |
akudohune | 0:bde8ed56b164 | 144 | wait(BUT_WAIT); |
akudohune | 0:bde8ed56b164 | 145 | mbedleds = 4; |
akudohune | 0:bde8ed56b164 | 146 | } |
akudohune | 0:bde8ed56b164 | 147 | |
akudohune | 0:bde8ed56b164 | 148 | if(!EEPROMButton){ |
akudohune | 0:bde8ed56b164 | 149 | Survtimer.reset(); |
akudohune | 0:bde8ed56b164 | 150 | fp = fopen("/local/out.txt", "r"); |
akudohune | 0:bde8ed56b164 | 151 | if(fp == NULL){ |
akudohune | 0:bde8ed56b164 | 152 | wait(BUT_WAIT); |
akudohune | 0:bde8ed56b164 | 153 | MissFlag = 1; |
akudohune | 0:bde8ed56b164 | 154 | }else{ |
akudohune | 0:bde8ed56b164 | 155 | scanfSuccess = fscanf(fp, "%lf",&standard); |
akudohune | 0:bde8ed56b164 | 156 | if(scanfSuccess == EOF){ |
akudohune | 0:bde8ed56b164 | 157 | wait(BUT_WAIT); |
akudohune | 0:bde8ed56b164 | 158 | MissFlag = 1; |
akudohune | 0:bde8ed56b164 | 159 | }else{ |
akudohune | 0:bde8ed56b164 | 160 | closeSuccess = fclose(fp); |
akudohune | 0:bde8ed56b164 | 161 | if(closeSuccess == EOF){ |
akudohune | 0:bde8ed56b164 | 162 | wait(BUT_WAIT); |
akudohune | 0:bde8ed56b164 | 163 | MissFlag = 1; |
akudohune | 0:bde8ed56b164 | 164 | }else{ |
akudohune | 0:bde8ed56b164 | 165 | wait(BUT_WAIT); |
akudohune | 0:bde8ed56b164 | 166 | } |
akudohune | 0:bde8ed56b164 | 167 | } |
akudohune | 0:bde8ed56b164 | 168 | } |
akudohune | 0:bde8ed56b164 | 169 | if((Survtimer.read() > (BUT_WAIT + 0.1)) || (MissFlag)){ |
akudohune | 0:bde8ed56b164 | 170 | for(uint8_t i = 0;i < 2;i++){ |
akudohune | 0:bde8ed56b164 | 171 | mbedleds = 15; |
akudohune | 0:bde8ed56b164 | 172 | wait(0.1); |
akudohune | 0:bde8ed56b164 | 173 | mbedleds = 0; |
akudohune | 0:bde8ed56b164 | 174 | wait(0.1); |
akudohune | 0:bde8ed56b164 | 175 | } |
akudohune | 0:bde8ed56b164 | 176 | mbedleds = 15; |
akudohune | 0:bde8ed56b164 | 177 | }else{ |
akudohune | 0:bde8ed56b164 | 178 | mbedleds = 8; |
akudohune | 0:bde8ed56b164 | 179 | } |
akudohune | 0:bde8ed56b164 | 180 | } |
akudohune | 0:bde8ed56b164 | 181 | |
akudohune | 0:bde8ed56b164 | 182 | if(!CalibExitButton){ |
akudohune | 0:bde8ed56b164 | 183 | Survtimer.reset(); |
akudohune | 0:bde8ed56b164 | 184 | |
akudohune | 0:bde8ed56b164 | 185 | standard = compass.sample() / 10.0; |
akudohune | 0:bde8ed56b164 | 186 | |
akudohune | 0:bde8ed56b164 | 187 | fp = fopen("/local/out.txt", "w"); |
akudohune | 0:bde8ed56b164 | 188 | if(fp == NULL){ |
akudohune | 0:bde8ed56b164 | 189 | wait(BUT_WAIT); |
akudohune | 0:bde8ed56b164 | 190 | MissFlag = 1; |
akudohune | 0:bde8ed56b164 | 191 | }else{ |
akudohune | 0:bde8ed56b164 | 192 | printfSuccess = fprintf(fp, "%f",standard); |
akudohune | 0:bde8ed56b164 | 193 | if(printfSuccess == EOF){ |
akudohune | 0:bde8ed56b164 | 194 | wait(BUT_WAIT); |
akudohune | 0:bde8ed56b164 | 195 | MissFlag = 1; |
akudohune | 0:bde8ed56b164 | 196 | }else{ |
akudohune | 0:bde8ed56b164 | 197 | close2Success = fclose(fp); |
akudohune | 0:bde8ed56b164 | 198 | if(close2Success == EOF){ |
akudohune | 0:bde8ed56b164 | 199 | wait(BUT_WAIT); |
akudohune | 0:bde8ed56b164 | 200 | MissFlag = 1; |
akudohune | 0:bde8ed56b164 | 201 | }else{ |
akudohune | 0:bde8ed56b164 | 202 | wait(BUT_WAIT); |
akudohune | 0:bde8ed56b164 | 203 | } |
akudohune | 0:bde8ed56b164 | 204 | } |
akudohune | 0:bde8ed56b164 | 205 | } |
akudohune | 0:bde8ed56b164 | 206 | if((Survtimer.read() > (BUT_WAIT + 0.2)) || (MissFlag)){ |
akudohune | 0:bde8ed56b164 | 207 | for(uint8_t i = 0;i < 4;i++){ |
akudohune | 0:bde8ed56b164 | 208 | mbedleds = 15; |
akudohune | 0:bde8ed56b164 | 209 | wait(0.1); |
akudohune | 0:bde8ed56b164 | 210 | mbedleds = 0; |
akudohune | 0:bde8ed56b164 | 211 | wait(0.1); |
akudohune | 0:bde8ed56b164 | 212 | } |
akudohune | 0:bde8ed56b164 | 213 | mbedleds = 15; |
akudohune | 0:bde8ed56b164 | 214 | }else{ |
akudohune | 0:bde8ed56b164 | 215 | mbedleds = 10; |
akudohune | 0:bde8ed56b164 | 216 | } |
akudohune | 0:bde8ed56b164 | 217 | } |
akudohune | 0:bde8ed56b164 | 218 | } |
akudohune | 0:bde8ed56b164 | 219 | |
akudohune | 0:bde8ed56b164 | 220 | mbedleds = 0; |
akudohune | 0:bde8ed56b164 | 221 | |
akudohune | 0:bde8ed56b164 | 222 | Survtimer.stop(); |
akudohune | 0:bde8ed56b164 | 223 | |
akudohune | 0:bde8ed56b164 | 224 | for(uint8_t i = 0;i < 6;i++) |
akudohune | 0:bde8ed56b164 | 225 | { |
akudohune | 0:bde8ed56b164 | 226 | stand[i] = irDistance[i]; |
akudohune | 0:bde8ed56b164 | 227 | } |
akudohune | 0:bde8ed56b164 | 228 | irDistanceUpdata.detach(); |
akudohune | 0:bde8ed56b164 | 229 | |
akudohune | 0:bde8ed56b164 | 230 | pidUpdata.attach(&PidUpdate, PID_CYCLE); |
akudohune | 0:bde8ed56b164 | 231 | //irDistanceUpdata.attach(&IrDistanceUpdate, 0.1); |
akudohune | 0:bde8ed56b164 | 232 | //timer1.start(); |
akudohune | 0:bde8ed56b164 | 233 | } |
akudohune | 0:bde8ed56b164 | 234 | |
akudohune | 0:bde8ed56b164 | 235 | int main() |
akudohune | 0:bde8ed56b164 | 236 | { |
akudohune | 0:bde8ed56b164 | 237 | int vx=0,vy=0,vs=0; |
akudohune | 0:bde8ed56b164 | 238 | uint8_t whiteFlag = 0; |
akudohune | 0:bde8ed56b164 | 239 | |
akudohune | 0:bde8ed56b164 | 240 | init(); |
akudohune | 0:bde8ed56b164 | 241 | |
akudohune | 0:bde8ed56b164 | 242 | while(1){ |
akudohune | 0:bde8ed56b164 | 243 | whiteFlag = 0; |
akudohune | 0:bde8ed56b164 | 244 | hold_flag = 0; |
akudohune | 0:bde8ed56b164 | 245 | vx = 0; |
akudohune | 0:bde8ed56b164 | 246 | vy = 0; |
akudohune | 0:bde8ed56b164 | 247 | vs = (int)compassPID; |
akudohune | 0:bde8ed56b164 | 248 | //vs = 0; |
akudohune | 0:bde8ed56b164 | 249 | |
akudohune | 0:bde8ed56b164 | 250 | //move(vx,vy,vs); |
akudohune | 0:bde8ed56b164 | 251 | |
akudohune | 0:bde8ed56b164 | 252 | /********************************************************************************************************* |
akudohune | 0:bde8ed56b164 | 253 | ********************************************************************************************************** |
akudohune | 0:bde8ed56b164 | 254 | ********************Change state ************************************************************************* |
akudohune | 0:bde8ed56b164 | 255 | ********************************************************************************************************** |
akudohune | 0:bde8ed56b164 | 256 | *********************************************************************************************************/ |
akudohune | 0:bde8ed56b164 | 257 | for(uint8_t i = 2;i < 6;i++) |
akudohune | 0:bde8ed56b164 | 258 | { |
akudohune | 0:bde8ed56b164 | 259 | AnalogIn adcIn(adc_num[i]); /* 今回更新する赤外線の個体を呼び出す */ |
akudohune | 0:bde8ed56b164 | 260 | irDistance[i] = ((adcIn.read_u16() >> 4) - stand[i]); |
akudohune | 0:bde8ed56b164 | 261 | if(irDistance[i] >= 100) |
akudohune | 0:bde8ed56b164 | 262 | { |
akudohune | 0:bde8ed56b164 | 263 | whiteFlag = 1; |
akudohune | 0:bde8ed56b164 | 264 | } |
akudohune | 0:bde8ed56b164 | 265 | //pc.printf("%d\n",irDistance[0]); |
akudohune | 0:bde8ed56b164 | 266 | } |
akudohune | 0:bde8ed56b164 | 267 | |
akudohune | 0:bde8ed56b164 | 268 | if(lineState == NORMAL){ |
akudohune | 0:bde8ed56b164 | 269 | if((LEFT_SONIC < 350) && (whiteFlag)){ |
akudohune | 0:bde8ed56b164 | 270 | lineState = LEFT_OUT; |
akudohune | 0:bde8ed56b164 | 271 | }else if((RIGHT_SONIC < 350) && (whiteFlag)){ |
akudohune | 0:bde8ed56b164 | 272 | lineState = RIGHT_OUT; |
akudohune | 0:bde8ed56b164 | 273 | }else if((FRONT_SONIC < 400) && (whiteFlag)){ |
akudohune | 0:bde8ed56b164 | 274 | lineState = FRONT_OUT; |
akudohune | 0:bde8ed56b164 | 275 | }else if((BACK_SONIC < 400) && (whiteFlag)){ |
akudohune | 0:bde8ed56b164 | 276 | lineState = BACK_OUT; |
akudohune | 0:bde8ed56b164 | 277 | } |
akudohune | 0:bde8ed56b164 | 278 | }else if(lineState == LEFT_OUT){ |
akudohune | 0:bde8ed56b164 | 279 | if((LEFT_SONIC > 450) && (!whiteFlag)){ |
akudohune | 0:bde8ed56b164 | 280 | lineState = NORMAL; |
akudohune | 0:bde8ed56b164 | 281 | } |
akudohune | 0:bde8ed56b164 | 282 | }else if(lineState == RIGHT_OUT){ |
akudohune | 0:bde8ed56b164 | 283 | if((RIGHT_SONIC > 450) && (!whiteFlag)){ |
akudohune | 0:bde8ed56b164 | 284 | lineState = NORMAL; |
akudohune | 0:bde8ed56b164 | 285 | } |
akudohune | 0:bde8ed56b164 | 286 | }else if(lineState == FRONT_OUT){ |
akudohune | 0:bde8ed56b164 | 287 | if((FRONT_SONIC > 500) && (!whiteFlag)){ |
akudohune | 0:bde8ed56b164 | 288 | lineState = NORMAL; |
akudohune | 0:bde8ed56b164 | 289 | } |
akudohune | 0:bde8ed56b164 | 290 | }else if(lineState == BACK_OUT){ |
akudohune | 0:bde8ed56b164 | 291 | if((BACK_SONIC > 500) && (!whiteFlag)){ |
akudohune | 0:bde8ed56b164 | 292 | lineState = NORMAL; |
akudohune | 0:bde8ed56b164 | 293 | } |
akudohune | 0:bde8ed56b164 | 294 | } |
akudohune | 0:bde8ed56b164 | 295 | |
akudohune | 0:bde8ed56b164 | 296 | |
akudohune | 0:bde8ed56b164 | 297 | if(state == HOLD){ |
akudohune | 0:bde8ed56b164 | 298 | if(FRONT_SONIC < 100)hold_flag = 1; |
akudohune | 0:bde8ed56b164 | 299 | |
akudohune | 0:bde8ed56b164 | 300 | if(Distance > 140){ //審判のボール持ち上げ判定 |
akudohune | 0:bde8ed56b164 | 301 | state = HOME_WAIT; |
akudohune | 0:bde8ed56b164 | 302 | }else if(!((direction == 0) || (direction == 15) || (direction == 1) || (direction == 14) || (direction == 2))){//ボールを見失った |
akudohune | 0:bde8ed56b164 | 303 | state = DIFFENCE; |
akudohune | 0:bde8ed56b164 | 304 | }else if(!(Distance <= 40)){//ボールを見失った |
akudohune | 0:bde8ed56b164 | 305 | state = DIFFENCE; |
akudohune | 0:bde8ed56b164 | 306 | } |
akudohune | 0:bde8ed56b164 | 307 | }else{ |
akudohune | 0:bde8ed56b164 | 308 | standTu = 0; |
akudohune | 0:bde8ed56b164 | 309 | if(state == DIFFENCE){ |
akudohune | 0:bde8ed56b164 | 310 | if((direction == 0) && (Distance <= 20) && (IR_found) && (!xbee)){ |
akudohune | 0:bde8ed56b164 | 311 | state = HOLD; |
akudohune | 0:bde8ed56b164 | 312 | }else if((Distance < 180) && (IR_found) && (!xbee)){ |
akudohune | 0:bde8ed56b164 | 313 | state = DIFFENCE; |
akudohune | 0:bde8ed56b164 | 314 | }else{ |
akudohune | 0:bde8ed56b164 | 315 | if((direction == 4) || (direction == 6) || (direction == 8) || (direction == 10)|| (direction == 12)){ |
akudohune | 0:bde8ed56b164 | 316 | if((IR_found) && (!xbee)){ |
akudohune | 0:bde8ed56b164 | 317 | state = DIFFENCE; |
akudohune | 0:bde8ed56b164 | 318 | } |
akudohune | 0:bde8ed56b164 | 319 | }else if((diff > 15) && (!xbee) && (IR_found)){ |
akudohune | 0:bde8ed56b164 | 320 | state = DIFFENCE; |
akudohune | 0:bde8ed56b164 | 321 | }else{ |
akudohune | 0:bde8ed56b164 | 322 | state = HOME_WAIT; |
akudohune | 0:bde8ed56b164 | 323 | } |
akudohune | 0:bde8ed56b164 | 324 | } |
akudohune | 0:bde8ed56b164 | 325 | |
akudohune | 0:bde8ed56b164 | 326 | }else{ |
akudohune | 0:bde8ed56b164 | 327 | if((direction == 0) && (Distance <= 30) && (IR_found) && (!xbee)){ |
akudohune | 0:bde8ed56b164 | 328 | state = HOLD; |
akudohune | 0:bde8ed56b164 | 329 | }else if((Distance <= 150) && (IR_found) && (!xbee)){ |
akudohune | 0:bde8ed56b164 | 330 | state = DIFFENCE; |
akudohune | 0:bde8ed56b164 | 331 | }else{ |
akudohune | 0:bde8ed56b164 | 332 | if((direction == 4) || (direction == 6) || (direction == 8) || (direction == 10)|| (direction == 12)){ |
akudohune | 0:bde8ed56b164 | 333 | if((IR_found) && (!xbee)){ |
akudohune | 0:bde8ed56b164 | 334 | state = DIFFENCE; |
akudohune | 0:bde8ed56b164 | 335 | } |
akudohune | 0:bde8ed56b164 | 336 | }else if((diff > 15) && (!xbee) && (IR_found)){ |
akudohune | 0:bde8ed56b164 | 337 | state = DIFFENCE; |
akudohune | 0:bde8ed56b164 | 338 | }else{ |
akudohune | 0:bde8ed56b164 | 339 | state = HOME_WAIT; |
akudohune | 0:bde8ed56b164 | 340 | } |
akudohune | 0:bde8ed56b164 | 341 | } |
akudohune | 0:bde8ed56b164 | 342 | } |
akudohune | 0:bde8ed56b164 | 343 | } |
akudohune | 0:bde8ed56b164 | 344 | /**/ |
akudohune | 0:bde8ed56b164 | 345 | /********************************************************************************************************* |
akudohune | 0:bde8ed56b164 | 346 | ********************************************************************************************************** |
akudohune | 0:bde8ed56b164 | 347 | ********************Change state ************************************************************************* |
akudohune | 0:bde8ed56b164 | 348 | ********************************************************************************************************** |
akudohune | 0:bde8ed56b164 | 349 | *********************************************************************************************************/ |
akudohune | 0:bde8ed56b164 | 350 | |
akudohune | 0:bde8ed56b164 | 351 | //state = HOME_WAIT; |
akudohune | 0:bde8ed56b164 | 352 | if(state == HOME_WAIT){ |
akudohune | 0:bde8ed56b164 | 353 | mbedleds = 1; |
akudohune | 0:bde8ed56b164 | 354 | /* |
akudohune | 0:bde8ed56b164 | 355 | if(((RIGHT_SONIC + LEFT_SONIC) < 1100.0) && ((RIGHT_SONIC + LEFT_SONIC) > 850.0)){ |
akudohune | 0:bde8ed56b164 | 356 | if((LEFT_SONIC > 425.0) && (RIGHT_SONIC > 425.0)){ |
akudohune | 0:bde8ed56b164 | 357 | vx = 0; |
akudohune | 0:bde8ed56b164 | 358 | }else if(RIGHT_SONIC < 425.0){ |
akudohune | 0:bde8ed56b164 | 359 | vx = (int)((RIGHT_SONIC - 425.0) * 0.02 - 10.0); |
akudohune | 0:bde8ed56b164 | 360 | if(vx < -15)vx = -15; |
akudohune | 0:bde8ed56b164 | 361 | }else if(LEFT_SONIC < 425.0){ |
akudohune | 0:bde8ed56b164 | 362 | vx = (int)((425.0 - LEFT_SONIC ) * 0.02 + 10.0); |
akudohune | 0:bde8ed56b164 | 363 | if(vx > 15)vx = 15; |
akudohune | 0:bde8ed56b164 | 364 | } |
akudohune | 0:bde8ed56b164 | 365 | |
akudohune | 0:bde8ed56b164 | 366 | if((RIGHT_SONIC < 330.0) || (LEFT_SONIC < 330.0)){ |
akudohune | 0:bde8ed56b164 | 367 | if((BACK_SONIC > 15.0) && (BACK_SONIC < 45.0)){ |
akudohune | 0:bde8ed56b164 | 368 | vy = 0; |
akudohune | 0:bde8ed56b164 | 369 | }else if((BACK_SONIC <= 15.0) || (BACK_SONIC == PING_ERROR)){ |
akudohune | 0:bde8ed56b164 | 370 | vy = 5; |
akudohune | 0:bde8ed56b164 | 371 | }else{ |
akudohune | 0:bde8ed56b164 | 372 | vy = (int)(0.015 * (30.0 - BACK_SONIC) - 4); |
akudohune | 0:bde8ed56b164 | 373 | if(vy < -10)vy = -10; |
akudohune | 0:bde8ed56b164 | 374 | } |
akudohune | 0:bde8ed56b164 | 375 | }else{ |
akudohune | 0:bde8ed56b164 | 376 | if((BACK_SONIC > 95.0) && (BACK_SONIC < 125.0)){ |
akudohune | 0:bde8ed56b164 | 377 | vy = 0; |
akudohune | 0:bde8ed56b164 | 378 | }else if((BACK_SONIC <= 95.0) || (BACK_SONIC == PING_ERROR)){ |
akudohune | 0:bde8ed56b164 | 379 | vy = 5; |
akudohune | 0:bde8ed56b164 | 380 | }else{ |
akudohune | 0:bde8ed56b164 | 381 | vy = (int)(0.015 * (110.0 - BACK_SONIC) - 4); |
akudohune | 0:bde8ed56b164 | 382 | if(vy < -10)vy = -10; |
akudohune | 0:bde8ed56b164 | 383 | } |
akudohune | 0:bde8ed56b164 | 384 | } |
akudohune | 0:bde8ed56b164 | 385 | }else if((RIGHT_SONIC + LEFT_SONIC) <= 850.0){ |
akudohune | 0:bde8ed56b164 | 386 | if(BACK_SONIC < 200.0){ |
akudohune | 0:bde8ed56b164 | 387 | if(RIGHT_SONIC > LEFT_SONIC){ |
akudohune | 0:bde8ed56b164 | 388 | vx = 15; |
akudohune | 0:bde8ed56b164 | 389 | vy = 5; |
akudohune | 0:bde8ed56b164 | 390 | }else{ |
akudohune | 0:bde8ed56b164 | 391 | vx = -15; |
akudohune | 0:bde8ed56b164 | 392 | vy = 5; |
akudohune | 0:bde8ed56b164 | 393 | } |
akudohune | 0:bde8ed56b164 | 394 | }else{ |
akudohune | 0:bde8ed56b164 | 395 | vx = 0; |
akudohune | 0:bde8ed56b164 | 396 | vy = -10; |
akudohune | 0:bde8ed56b164 | 397 | } |
akudohune | 0:bde8ed56b164 | 398 | }else{ |
akudohune | 0:bde8ed56b164 | 399 | if(BACK_SONIC > 500.0){ |
akudohune | 0:bde8ed56b164 | 400 | if(RIGHT_SONIC > LEFT_SONIC){ |
akudohune | 0:bde8ed56b164 | 401 | vx = 10; |
akudohune | 0:bde8ed56b164 | 402 | vy = -10; |
akudohune | 0:bde8ed56b164 | 403 | }else{ |
akudohune | 0:bde8ed56b164 | 404 | vx = -10; |
akudohune | 0:bde8ed56b164 | 405 | vy = -10; |
akudohune | 0:bde8ed56b164 | 406 | } |
akudohune | 0:bde8ed56b164 | 407 | } |
akudohune | 0:bde8ed56b164 | 408 | } |
akudohune | 0:bde8ed56b164 | 409 | */ |
akudohune | 0:bde8ed56b164 | 410 | }else if(state == DIFFENCE){ |
akudohune | 0:bde8ed56b164 | 411 | mbedleds = 4; |
akudohune | 0:bde8ed56b164 | 412 | if((direction == 6) || (direction == 4)){ |
akudohune | 0:bde8ed56b164 | 413 | vx = 20; |
akudohune | 0:bde8ed56b164 | 414 | |
akudohune | 0:bde8ed56b164 | 415 | if(LEFT_SONIC < 500){ |
akudohune | 0:bde8ed56b164 | 416 | if((BACK_SONIC > 370) && (BACK_SONIC < 400)){ |
akudohune | 0:bde8ed56b164 | 417 | vy = 0; |
akudohune | 0:bde8ed56b164 | 418 | }else if((BACK_SONIC <= 370) || (BACK_SONIC == PING_ERROR)){ |
akudohune | 0:bde8ed56b164 | 419 | vy = 5; |
akudohune | 0:bde8ed56b164 | 420 | }else{ |
akudohune | 0:bde8ed56b164 | 421 | vy = (int)(0.015 * (400.0 - BACK_SONIC) - 4); |
akudohune | 0:bde8ed56b164 | 422 | if(vy < -15)vy = -15; |
akudohune | 0:bde8ed56b164 | 423 | } |
akudohune | 0:bde8ed56b164 | 424 | }else if(RIGHT_SONIC < 500){ |
akudohune | 0:bde8ed56b164 | 425 | vx = 15; |
akudohune | 0:bde8ed56b164 | 426 | vy = -10; |
akudohune | 0:bde8ed56b164 | 427 | }else{ |
akudohune | 0:bde8ed56b164 | 428 | if((BACK_SONIC > 70) && (BACK_SONIC < 100)){ |
akudohune | 0:bde8ed56b164 | 429 | vy = 0; |
akudohune | 0:bde8ed56b164 | 430 | }else if((BACK_SONIC <= 70) || (BACK_SONIC == PING_ERROR)){ |
akudohune | 0:bde8ed56b164 | 431 | vy = 5; |
akudohune | 0:bde8ed56b164 | 432 | }else{ |
akudohune | 0:bde8ed56b164 | 433 | vy = (int)(0.015 * (100.0 - BACK_SONIC) - 4); |
akudohune | 0:bde8ed56b164 | 434 | if(vy < -15)vy = -15; |
akudohune | 0:bde8ed56b164 | 435 | } |
akudohune | 0:bde8ed56b164 | 436 | } |
akudohune | 0:bde8ed56b164 | 437 | }else if((direction == 10) || (direction == 12)){ |
akudohune | 0:bde8ed56b164 | 438 | vx = -20; |
akudohune | 0:bde8ed56b164 | 439 | |
akudohune | 0:bde8ed56b164 | 440 | if(RIGHT_SONIC < 500){ |
akudohune | 0:bde8ed56b164 | 441 | if((BACK_SONIC > 370) && (BACK_SONIC < 400)){ |
akudohune | 0:bde8ed56b164 | 442 | vy = 0; |
akudohune | 0:bde8ed56b164 | 443 | }else if((BACK_SONIC <= 370) || (BACK_SONIC == PING_ERROR)){ |
akudohune | 0:bde8ed56b164 | 444 | vy = 5; |
akudohune | 0:bde8ed56b164 | 445 | }else{ |
akudohune | 0:bde8ed56b164 | 446 | vy = (int)(0.015 * (400.0 - BACK_SONIC) - 4); |
akudohune | 0:bde8ed56b164 | 447 | if(vy < -15)vy = -15; |
akudohune | 0:bde8ed56b164 | 448 | } |
akudohune | 0:bde8ed56b164 | 449 | }else if(LEFT_SONIC < 500){ |
akudohune | 0:bde8ed56b164 | 450 | vx = -15; |
akudohune | 0:bde8ed56b164 | 451 | vy = -10; |
akudohune | 0:bde8ed56b164 | 452 | }else{ |
akudohune | 0:bde8ed56b164 | 453 | if((BACK_SONIC > 70) && (BACK_SONIC < 100)){ |
akudohune | 0:bde8ed56b164 | 454 | vy = 0; |
akudohune | 0:bde8ed56b164 | 455 | }else if((BACK_SONIC <= 70) || (BACK_SONIC == PING_ERROR)){ |
akudohune | 0:bde8ed56b164 | 456 | vy = 5; |
akudohune | 0:bde8ed56b164 | 457 | }else{ |
akudohune | 0:bde8ed56b164 | 458 | vy = (int)(0.015 * (100.0 - BACK_SONIC) - 4); |
akudohune | 0:bde8ed56b164 | 459 | if(vy < -15)vy = -15; |
akudohune | 0:bde8ed56b164 | 460 | } |
akudohune | 0:bde8ed56b164 | 461 | } |
akudohune | 0:bde8ed56b164 | 462 | |
akudohune | 0:bde8ed56b164 | 463 | }else if(direction == 8){ |
akudohune | 0:bde8ed56b164 | 464 | |
akudohune | 0:bde8ed56b164 | 465 | if(LEFT_SONIC > RIGHT_SONIC){ |
akudohune | 0:bde8ed56b164 | 466 | vx = -20; |
akudohune | 0:bde8ed56b164 | 467 | }else{ |
akudohune | 0:bde8ed56b164 | 468 | vx = 20; |
akudohune | 0:bde8ed56b164 | 469 | } |
akudohune | 0:bde8ed56b164 | 470 | if((RIGHT_SONIC < 500) || (LEFT_SONIC < 500)){ |
akudohune | 0:bde8ed56b164 | 471 | if(BACK_SONIC < 500){ |
akudohune | 0:bde8ed56b164 | 472 | vy = -4; |
akudohune | 0:bde8ed56b164 | 473 | }else{ |
akudohune | 0:bde8ed56b164 | 474 | vy = (int)(0.015 * (500.0 - BACK_SONIC) - 4); |
akudohune | 0:bde8ed56b164 | 475 | if(vy < -15)vy = -15; |
akudohune | 0:bde8ed56b164 | 476 | } |
akudohune | 0:bde8ed56b164 | 477 | }else{ |
akudohune | 0:bde8ed56b164 | 478 | if(BACK_SONIC < 200){ |
akudohune | 0:bde8ed56b164 | 479 | vy = -4; |
akudohune | 0:bde8ed56b164 | 480 | }else{ |
akudohune | 0:bde8ed56b164 | 481 | vy = (int)(0.015 * (200.0 - BACK_SONIC) - 4); |
akudohune | 0:bde8ed56b164 | 482 | if(vy < -15)vy = -15; |
akudohune | 0:bde8ed56b164 | 483 | } |
akudohune | 0:bde8ed56b164 | 484 | } |
akudohune | 0:bde8ed56b164 | 485 | |
akudohune | 0:bde8ed56b164 | 486 | }else if(direction == 2){ |
akudohune | 0:bde8ed56b164 | 487 | |
akudohune | 0:bde8ed56b164 | 488 | vx = 25; |
akudohune | 0:bde8ed56b164 | 489 | vy = 0; //0 |
akudohune | 0:bde8ed56b164 | 490 | |
akudohune | 0:bde8ed56b164 | 491 | }else if(direction == 14){ |
akudohune | 0:bde8ed56b164 | 492 | |
akudohune | 0:bde8ed56b164 | 493 | vx = -25; |
akudohune | 0:bde8ed56b164 | 494 | vy = 0; //-4 |
akudohune | 0:bde8ed56b164 | 495 | |
akudohune | 0:bde8ed56b164 | 496 | }else if(direction == 1){ |
akudohune | 0:bde8ed56b164 | 497 | |
akudohune | 0:bde8ed56b164 | 498 | |
akudohune | 0:bde8ed56b164 | 499 | vx = 20; |
akudohune | 0:bde8ed56b164 | 500 | vy = 0; //0 |
akudohune | 0:bde8ed56b164 | 501 | |
akudohune | 0:bde8ed56b164 | 502 | |
akudohune | 0:bde8ed56b164 | 503 | }else if(direction == 15){ |
akudohune | 0:bde8ed56b164 | 504 | |
akudohune | 0:bde8ed56b164 | 505 | vx = -20; |
akudohune | 0:bde8ed56b164 | 506 | vy = 0; //-3 |
akudohune | 0:bde8ed56b164 | 507 | |
akudohune | 0:bde8ed56b164 | 508 | }else if(direction == 0){ |
akudohune | 0:bde8ed56b164 | 509 | |
akudohune | 0:bde8ed56b164 | 510 | vx = 0; |
akudohune | 0:bde8ed56b164 | 511 | vy = 20; |
akudohune | 0:bde8ed56b164 | 512 | |
akudohune | 0:bde8ed56b164 | 513 | }else{//error |
akudohune | 0:bde8ed56b164 | 514 | |
akudohune | 0:bde8ed56b164 | 515 | vx = 0; |
akudohune | 0:bde8ed56b164 | 516 | vy = 0; |
akudohune | 0:bde8ed56b164 | 517 | |
akudohune | 0:bde8ed56b164 | 518 | } |
akudohune | 0:bde8ed56b164 | 519 | }else if(state == HOLD){ |
akudohune | 0:bde8ed56b164 | 520 | mbedleds = 15; |
akudohune | 0:bde8ed56b164 | 521 | |
akudohune | 0:bde8ed56b164 | 522 | vy = 20; |
akudohune | 0:bde8ed56b164 | 523 | |
akudohune | 0:bde8ed56b164 | 524 | if(((RIGHT_SONIC + LEFT_SONIC) < 1800.0) && ((RIGHT_SONIC + LEFT_SONIC) > 1400.0)){ |
akudohune | 0:bde8ed56b164 | 525 | standTu = (RIGHT_SONIC - LEFT_SONIC) / 25.0; |
akudohune | 0:bde8ed56b164 | 526 | } |
akudohune | 0:bde8ed56b164 | 527 | } |
akudohune | 0:bde8ed56b164 | 528 | |
akudohune | 0:bde8ed56b164 | 529 | if(lineState == NORMAL){ |
akudohune | 0:bde8ed56b164 | 530 | //mbedleds = 1; |
akudohune | 0:bde8ed56b164 | 531 | |
akudohune | 0:bde8ed56b164 | 532 | }else if(lineState == LEFT_OUT){ |
akudohune | 0:bde8ed56b164 | 533 | //mbedleds = 2; |
akudohune | 0:bde8ed56b164 | 534 | |
akudohune | 0:bde8ed56b164 | 535 | vx = 30; |
akudohune | 0:bde8ed56b164 | 536 | }else if(lineState == RIGHT_OUT){ |
akudohune | 0:bde8ed56b164 | 537 | //mbedleds = 4; |
akudohune | 0:bde8ed56b164 | 538 | |
akudohune | 0:bde8ed56b164 | 539 | vx = -30; |
akudohune | 0:bde8ed56b164 | 540 | }else if(lineState == FRONT_OUT){ |
akudohune | 0:bde8ed56b164 | 541 | //mbedleds = 8; |
akudohune | 0:bde8ed56b164 | 542 | |
akudohune | 0:bde8ed56b164 | 543 | vy = -40; |
akudohune | 0:bde8ed56b164 | 544 | }else if(lineState == BACK_OUT){ |
akudohune | 0:bde8ed56b164 | 545 | //mbedleds = 12; |
akudohune | 0:bde8ed56b164 | 546 | |
akudohune | 0:bde8ed56b164 | 547 | vy = 40; |
akudohune | 0:bde8ed56b164 | 548 | } |
akudohune | 0:bde8ed56b164 | 549 | //vx = vector(10,45,X); |
akudohune | 0:bde8ed56b164 | 550 | //vy = vector(10,45,Y); |
akudohune | 0:bde8ed56b164 | 551 | //vx = 40; |
akudohune | 0:bde8ed56b164 | 552 | //vy = 0; |
akudohune | 0:bde8ed56b164 | 553 | //pc.printf("%d\t%d\n",vx,vy); |
akudohune | 0:bde8ed56b164 | 554 | |
akudohune | 0:bde8ed56b164 | 555 | //vy = -3; |
akudohune | 0:bde8ed56b164 | 556 | //vs = 0; |
akudohune | 0:bde8ed56b164 | 557 | //vx = 0; |
akudohune | 0:bde8ed56b164 | 558 | //vx = 10; |
akudohune | 0:bde8ed56b164 | 559 | //vx = 25; |
akudohune | 0:bde8ed56b164 | 560 | //vy = 0; |
akudohune | 0:bde8ed56b164 | 561 | |
akudohune | 0:bde8ed56b164 | 562 | move(vx,vy,vs); |
akudohune | 0:bde8ed56b164 | 563 | } |
akudohune | 0:bde8ed56b164 | 564 | } |