yuto kawamura / Mbed 2 deprecated cat18_operate_last

yei

Dependencies:   interface mbed enc_1multi calPID motorout KondoServoLibrary

Fork of cat18_operate by Catch the GIANT Caplico!

main.cpp@16:b2358fd35999, 2018-08-14 (annotated)

Committer:
shimizuta
Date:
Tue Aug 14 09:16:55 2018 +0000
Revision:
16:b2358fd35999
Parent:
13:126c3f7f9b89
Child:
18:05f5a3323bda
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 3:05b1dcb3634e 5 #include "servo.h"
shimizuta 2:4515e8cc6b60 6 #include "interrupt.h"
shimizuta 16:b2358fd35999 7 #include "workposition.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 13:126c3f7f9b89 20
shimizuta 4:187c62291654 21 //スタート指示受付
shimizuta 10:6d1d44fa9739 22 while(CanStart() == 0) {};
shimizuta 0:c3a72fe24137 23 DEBUG("main start");
shimizuta 10:6d1d44fa9739 24 InterruptSetup();
shimizuta 4:187c62291654 25 int worknum = 0;
shimizuta 4:187c62291654 26 while( (worknum = CalPickPlace()) != 23 ) {
shimizuta 4:187c62291654 27 //ワークに向かう
shimizuta 16:b2358fd35999 28 DEBUG("worknum %d, color %d, area %d, position %f, %f, %f\r\n", worknum, work[worknum].color, work[worknum].areaname, work[worknum].position[0],work[worknum].position[1],work[worknum].position[2]);
shimizuta 16:b2358fd35999 29 DEBUG("go to work\r\n");
shimizuta 2:4515e8cc6b60 30 if(Go(work[worknum]) != 0) continue;
shimizuta 16:b2358fd35999 31 DEBUG("close\r\n");
shimizuta 4:187c62291654 32 //掴む
shimizuta 2:4515e8cc6b60 33 Close();
shimizuta 16:b2358fd35999 34 DEBUG("above\r\n");
shimizuta 16:b2358fd35999 35 wait(1);
shimizuta 4:187c62291654 36 //上に持ち上げる
shimizuta 2:4515e8cc6b60 37 Above();
shimizuta 4:187c62291654 38 //取り上げたことを保存
shimizuta 2:4515e8cc6b60 39 work[worknum].is_exist = 0;
shimizuta 4:187c62291654 40 //シュート位置計算
shimizuta 16:b2358fd35999 41 DEBUG("cal put place\r\n");
shimizuta 4:187c62291654 42 int boxspace = CalPutPlace(work[worknum].color);
shimizuta 2:4515e8cc6b60 43 //ボックスに行く(失敗(-1)したらcontinue)
shimizuta 16:b2358fd35999 44 DEBUG("go to box %d\r\n",boxspace);
shimizuta 2:4515e8cc6b60 45 if(Go(shootingbox[boxspace]) != 0) continue;
shimizuta 16:b2358fd35999 46 DEBUG("open\r\n");
shimizuta 4:187c62291654 47 //放す
shimizuta 2:4515e8cc6b60 48 Open();
shimizuta 16:b2358fd35999 49 wait(0.5);
shimizuta 16:b2358fd35999 50 DEBUG("above\r\n");
shimizuta 4:187c62291654 51 //上に持ち上げる
shimizuta 2:4515e8cc6b60 52 Above();
shimizuta 16:b2358fd35999 53 wait(0.1);
shimizuta 16:b2358fd35999 54 DEBUG("finish\r\n");
shimizuta 4:187c62291654 55 //置いたことを保存
shimizuta 4:187c62291654 56 shootingbox[boxspace].is_exist = 1;
shimizuta 2:4515e8cc6b60 57 shootingbox[boxspace].color = work[worknum].color;
shimizuta 0:c3a72fe24137 58 }
shimizuta 0:c3a72fe24137 59 }
shimizuta 0:c3a72fe24137 60 void Setups()
shimizuta 0:c3a72fe24137 61 {
shimizuta 1:cc056c41ae30 62 GoSetup();
shimizuta 2:4515e8cc6b60 63 SetupPosition();
shimizuta 16:b2358fd35999 64 StartCheck();
shimizuta 0:c3a72fe24137 65 }
shimizuta 0:c3a72fe24137 66 void Tests()
shimizuta 0:c3a72fe24137 67 {
shimizuta 0:c3a72fe24137 68 static int count = 0;
shimizuta 0:c3a72fe24137 69 count ++;
shimizuta 0:c3a72fe24137 70 if (count > 100000) {
shimizuta 16:b2358fd35999 71
shimizuta 0:c3a72fe24137 72 count =0;
shimizuta 0:c3a72fe24137 73 }
shimizuta 16:b2358fd35999 74 }