yuto kawamura / Mbed 2 deprecated cat18_operate_last

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Dependencies:   interface mbed enc_1multi calPID motorout KondoServoLibrary

Fork of cat18_operate by Catch the GIANT Caplico!

main.cpp@2:4515e8cc6b60, 2018-08-05 (annotated)

Committer:
shimizuta
Date:
Sun Aug 05 03:32:55 2018 +0000
Revision:
2:4515e8cc6b60
Parent:
1:cc056c41ae30
Child:
3:05b1dcb3634e
a

Who changed what in which revision?

UserRevisionLine numberNew contents of line
shimizuta 0:c3a72fe24137 1 #include <mbed.h>
shimizuta 0:c3a72fe24137 2 #include "debug.h"//DEBUG("",変数);でデバッグ。
shimizuta 1:cc056c41ae30 3 #include "state.h"
shimizuta 1:cc056c41ae30 4 #include "go.h"
shimizuta 1:cc056c41ae30 5 #include "hand.h"
shimizuta 1:cc056c41ae30 6 #include "calplace.h"
shimizuta 2:4515e8cc6b60 7 #include "interrupt.h"
shimizuta 2:4515e8cc6b60 8 #include "position.h"
shimizuta 1:cc056c41ae30 9 ///setup関連を集めた
shimizuta 0:c3a72fe24137 10 void Setups();
shimizuta 0:c3a72fe24137 11 void Tests();
shimizuta 1:cc056c41ae30 12 //const int kWorkNum = 12;//ワークの数
shimizuta 1:cc056c41ae30 13
shimizuta 0:c3a72fe24137 14 int main()
shimizuta 0:c3a72fe24137 15 {
shimizuta 0:c3a72fe24137 16 DEBUG("setup start\r\n");
shimizuta 0:c3a72fe24137 17 Setups();
shimizuta 0:c3a72fe24137 18 DEBUG("main start");
shimizuta 0:c3a72fe24137 19 while(1) {
shimizuta 1:cc056c41ae30 20 int worknum = CalPickPlace();//目標ワーク計算
shimizuta 2:4515e8cc6b60 21 //ワークのところまで行く。腕も準備
shimizuta 2:4515e8cc6b60 22 if(Go(work[worknum]) != 0) continue;
shimizuta 2:4515e8cc6b60 23 Close();
shimizuta 2:4515e8cc6b60 24 Above();
shimizuta 2:4515e8cc6b60 25 work[worknum].is_exist = 0;
shimizuta 2:4515e8cc6b60 26 int boxspace = CalPutPlace(work[worknum].color);//シュート位置計算
shimizuta 2:4515e8cc6b60 27 //ボックスに行く(失敗(-1)したらcontinue)
shimizuta 2:4515e8cc6b60 28 if(Go(shootingbox[boxspace]) != 0) continue;
shimizuta 2:4515e8cc6b60 29 Open();
shimizuta 2:4515e8cc6b60 30 Above();
shimizuta 2:4515e8cc6b60 31 shootingbox[boxspace].is_exist = 1;//置いたことを保存
shimizuta 2:4515e8cc6b60 32 shootingbox[boxspace].color = work[worknum].color;
shimizuta 0:c3a72fe24137 33 }
shimizuta 0:c3a72fe24137 34 }
shimizuta 0:c3a72fe24137 35 void Setups()
shimizuta 0:c3a72fe24137 36 {
shimizuta 1:cc056c41ae30 37 GoSetup();
shimizuta 2:4515e8cc6b60 38 SetupPosition();
shimizuta 2:4515e8cc6b60 39 InterruptSetup();
shimizuta 0:c3a72fe24137 40 }
shimizuta 0:c3a72fe24137 41 void Tests()
shimizuta 0:c3a72fe24137 42 {
shimizuta 0:c3a72fe24137 43 static int count = 0;
shimizuta 0:c3a72fe24137 44 count ++;
shimizuta 0:c3a72fe24137 45 if (count > 100000) {
shimizuta 0:c3a72fe24137 46 count =0;
shimizuta 0:c3a72fe24137 47 }
shimizuta 0:c3a72fe24137 48 }
shimizuta 1:cc056c41ae30 49