yuto kawamura / Mbed 2 deprecated cat18_operate_last

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Dependencies:   interface mbed enc_1multi calPID motorout KondoServoLibrary

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main.cpp@10:6d1d44fa9739, 2018-08-11 (annotated)

Committer:
shimizuta
Date:
Sat Aug 11 07:21:59 2018 +0000
Revision:
10:6d1d44fa9739
Parent:
8:cabc50cf3e1e
Child:
13:126c3f7f9b89
add exact kArmLength

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 3:05b1dcb3634e 5 #include "servo.h"
shimizuta 2:4515e8cc6b60 6 #include "interrupt.h"
shimizuta 2:4515e8cc6b60 7 #include "position.h"
shimizuta 3:05b1dcb3634e 8 #include "controller.h"
shimizuta 10:6d1d44fa9739 9 //debug用に追加
shimizuta 8:cabc50cf3e1e 10 #include "interface.h"
shimizuta 10:6d1d44fa9739 11 #include "coordinate.h"
shimizuta 1:cc056c41ae30 12 ///setup関連を集めた
shimizuta 0:c3a72fe24137 13 void Setups();
shimizuta 0:c3a72fe24137 14 void Tests();
shimizuta 8:cabc50cf3e1e 15 Interface interface(USBTX, USBRX);
shimizuta 0:c3a72fe24137 16 int main()
shimizuta 0:c3a72fe24137 17 {
shimizuta 0:c3a72fe24137 18 DEBUG("setup start\r\n");
shimizuta 0:c3a72fe24137 19 Setups();
shimizuta 4:187c62291654 20 //スタート指示受付
shimizuta 10:6d1d44fa9739 21 while(CanStart() == 0) {};
shimizuta 0:c3a72fe24137 22 DEBUG("main start");
shimizuta 10:6d1d44fa9739 23 InterruptSetup();
shimizuta 4:187c62291654 24 int worknum = 0;
shimizuta 4:187c62291654 25 while( (worknum = CalPickPlace()) != 23 ) {
shimizuta 4:187c62291654 26 //ワークに向かう
shimizuta 2:4515e8cc6b60 27 if(Go(work[worknum]) != 0) continue;
shimizuta 4:187c62291654 28 //掴む
shimizuta 2:4515e8cc6b60 29 Close();
shimizuta 4:187c62291654 30 //上に持ち上げる
shimizuta 2:4515e8cc6b60 31 Above();
shimizuta 4:187c62291654 32 //取り上げたことを保存
shimizuta 2:4515e8cc6b60 33 work[worknum].is_exist = 0;
shimizuta 4:187c62291654 34 //シュート位置計算
shimizuta 4:187c62291654 35 int boxspace = CalPutPlace(work[worknum].color);
shimizuta 2:4515e8cc6b60 36 //ボックスに行く(失敗(-1)したらcontinue)
shimizuta 2:4515e8cc6b60 37 if(Go(shootingbox[boxspace]) != 0) continue;
shimizuta 4:187c62291654 38 //放す
shimizuta 2:4515e8cc6b60 39 Open();
shimizuta 4:187c62291654 40 //上に持ち上げる
shimizuta 2:4515e8cc6b60 41 Above();
shimizuta 4:187c62291654 42 //置いたことを保存
shimizuta 4:187c62291654 43 shootingbox[boxspace].is_exist = 1;
shimizuta 2:4515e8cc6b60 44 shootingbox[boxspace].color = work[worknum].color;
shimizuta 0:c3a72fe24137 45 }
shimizuta 0:c3a72fe24137 46 }
shimizuta 0:c3a72fe24137 47 void Setups()
shimizuta 0:c3a72fe24137 48 {
shimizuta 1:cc056c41ae30 49 GoSetup();
shimizuta 2:4515e8cc6b60 50 SetupPosition();
shimizuta 10:6d1d44fa9739 51
shimizuta 0:c3a72fe24137 52 }
shimizuta 0:c3a72fe24137 53 void Tests()
shimizuta 0:c3a72fe24137 54 {
shimizuta 0:c3a72fe24137 55 static int count = 0;
shimizuta 0:c3a72fe24137 56 count ++;
shimizuta 0:c3a72fe24137 57 if (count > 100000) {
shimizuta 0:c3a72fe24137 58 count =0;
shimizuta 0:c3a72fe24137 59 }
shimizuta 0:c3a72fe24137 60 }
shimizuta 1:cc056c41ae30 61