yei
Dependencies: interface mbed enc_1multi calPID motorout KondoServoLibrary
Fork of cat18_operate by
Diff: main.cpp
- Revision:
- 1:cc056c41ae30
- Parent:
- 0:c3a72fe24137
- Child:
- 2:4515e8cc6b60
--- a/main.cpp Fri Jun 22 08:07:09 2018 +0000 +++ b/main.cpp Fri Jul 06 02:53:59 2018 +0000 @@ -1,25 +1,35 @@ -/**@file -*template -*/ #include <mbed.h> #include "debug.h"//DEBUG("",変数);でデバッグ。 -//setup関連を集めた +#include "state.h" +#include "go.h" +#include "hand.h" +#include "calplace.h" +///setup関連を集めた void Setups(); void Tests(); +WorkPosi work[23];//ワークエリア6箇所+共通エリア17 +BoxPosi box[12]; +//const int kWorkNum = 12;//ワークの数 + int main() { DEBUG("setup start\r\n"); Setups(); DEBUG("main start"); while(1) { - Tests(); + int worknum = CalPickPlace();//目標ワーク計算 + if(Go(work[worknum]) != 0) continue;//ワークのところまで行く + Grab(work[worknum]); + int boxspace = CalThrowPlace(work[worknum].color);//シュート位置計算 + if(Go(box[boxspace]) != 0) continue;//ボックスに戻る(失敗(-1)したらcontinue) + Throw(); + box[boxspace].is_placed = 1;//置いたことを保存 } } - void Setups() { + GoSetup(); } - void Tests() { static int count = 0; @@ -29,3 +39,4 @@ } } +