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@34:722ab43f7cbd, 2018-09-05 (annotated)

Committer:
shimizuta
Date:
Wed Sep 05 02:43:39 2018 +0000
Revision:
34:722ab43f7cbd
Parent:
33:3902febe8c45
Child:
35:f01c5dc7592f
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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 20:13934809e117 7 #include "workinfo.h"
shimizuta 3:05b1dcb3634e 8 #include "controller.h"
shimizuta 20:13934809e117 9 #include "calplace.h"
shimizuta 23:f45eb02433a5 10 #include "check.h"
shimizuta 30:af136b83b202 11 #include "discoveryboard.h"
shimizuta 10:6d1d44fa9739 12 //debug用に追加
shimizuta 10:6d1d44fa9739 13 #include "coordinate.h"
shimizuta 30:af136b83b202 14 //#define DEBUG_MODE
shimizuta 30:af136b83b202 15 const int kWait_ms = 250;
shimizuta 20:13934809e117 16 int worknum = 0;
shimizuta 0:c3a72fe24137 17 int main()
shimizuta 0:c3a72fe24137 18 {
shimizuta 30:af136b83b202 19
shimizuta 24:b4a89db4ed72 20 GoSetup();
shimizuta 29:ea48140fc85e 21 GoToFirstPosition();
shimizuta 24:b4a89db4ed72 22 SetupPosition();
shimizuta 24:b4a89db4ed72 23 if(PositionSetupIsInBan() == 1) return 1;//失敗したら強制終了
shimizuta 30:af136b83b202 24
shimizuta 4:187c62291654 25 //スタート指示受付
shimizuta 20:13934809e117 26 DEBUG("stand by\r\n");
yuto17320508 32:21229c96144a 27 while(CanStart() == 0) {};
shimizuta 20:13934809e117 28 DEBUG("main start\r\n");
shimizuta 10:6d1d44fa9739 29 InterruptSetup();
shimizuta 23:f45eb02433a5 30 ControllerSetup();
shimizuta 24:b4a89db4ed72 31 while((worknum = CalPickPlace()) != 23 ) {
shimizuta 18:05f5a3323bda 32 Close();
shimizuta 4:187c62291654 33 //ワークに向かう
shimizuta 2:4515e8cc6b60 34 if(Go(work[worknum]) != 0) continue;
shimizuta 4:187c62291654 35 //掴む
yoka06 26:5e292422cc08 36 wait_ms(kWait_ms);
shimizuta 2:4515e8cc6b60 37 Close();
shimizuta 18:05f5a3323bda 38 wait_ms(kWait_ms);
shimizuta 4:187c62291654 39 //上に持ち上げる
shimizuta 18:05f5a3323bda 40 Above(work[worknum].areaname);
shimizuta 18:05f5a3323bda 41 wait_ms(kWait_ms);
shimizuta 4:187c62291654 42 //取り上げたことを保存
shimizuta 2:4515e8cc6b60 43 work[worknum].is_exist = 0;
shimizuta 4:187c62291654 44 //シュート位置計算
shimizuta 4:187c62291654 45 int boxspace = CalPutPlace(work[worknum].color);
shimizuta 2:4515e8cc6b60 46 //ボックスに行く(失敗(-1)したらcontinue)
shimizuta 31:f7eb7c9fc8db 47 //3のときだけ特別に速度下げる
shimizuta 31:f7eb7c9fc8db 48 if(worknum == 3) kServoVelocity_mm = 100;
shimizuta 2:4515e8cc6b60 49 if(Go(shootingbox[boxspace]) != 0) continue;
shimizuta 34:722ab43f7cbd 50 __disable_irq();//割込み禁止
yuto17320508 32:21229c96144a 51 ManualPutPlace(shootingbox[boxspace]);
shimizuta 31:f7eb7c9fc8db 52 kServoVelocity_mm = 300;
shimizuta 4:187c62291654 53 //放す
shimizuta 2:4515e8cc6b60 54 Open();
shimizuta 34:722ab43f7cbd 55 wait_ms(1000);
shimizuta 4:187c62291654 56 //上に持ち上げる
shimizuta 34:722ab43f7cbd 57 __enable_irq();//割込み許可
shimizuta 18:05f5a3323bda 58 Above(BOX);
shimizuta 18:05f5a3323bda 59 wait_ms(kWait_ms);
shimizuta 4:187c62291654 60 //置いたことを保存
shimizuta 4:187c62291654 61 shootingbox[boxspace].is_exist = 1;
shimizuta 2:4515e8cc6b60 62 shootingbox[boxspace].color = work[worknum].color;
shimizuta 0:c3a72fe24137 63 }
shimizuta 24:b4a89db4ed72 64 }