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@38:9bed85d32c97, 2018-09-06 (annotated)

Committer:
shimizuta
Date:
Thu Sep 06 03:37:20 2018 +0000
Revision:
38:9bed85d32c97
Parent:
37:d4b711619962
Child:
39:ac2d5ae81fc1
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 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 37:d4b711619962 15 const int kWait_ms = 500;
shimizuta 38:9bed85d32c97 16 const double kServoOffsetDegreeInBox = 5;
shimizuta 37:d4b711619962 17
shimizuta 20:13934809e117 18 int worknum = 0;
shimizuta 0:c3a72fe24137 19 int main()
shimizuta 0:c3a72fe24137 20 {
shimizuta 38:9bed85d32c97 21 GoSetup();//encoder等のsetup
shimizuta 38:9bed85d32c97 22 SetupPosition();//ワークの位置設定
shimizuta 38:9bed85d32c97 23 if(PositionSetupIsInBan() == 1) return 1;//ワーク位置が禁止領域に入っていたら強制終了
shimizuta 38:9bed85d32c97 24 GoToFirstPosition();//機体をスタート位置に持っていく
shimizuta 38:9bed85d32c97 25 DEBUG("stand by. Please put pattern button.\r\n");
shimizuta 38:9bed85d32c97 26 while(PermitStart() == 0) {};//スタート指示受付
shimizuta 20:13934809e117 27 DEBUG("main start\r\n");
shimizuta 10:6d1d44fa9739 28 InterruptSetup();
shimizuta 38:9bed85d32c97 29 while((worknum = CalPickPlace()) != 23 ) {//取るワーク計算.23は番兵
shimizuta 38:9bed85d32c97 30 //ワークに向かう.-1でスキップ
shimizuta 37:d4b711619962 31 if(Go(work[worknum]) == -1) {
shimizuta 37:d4b711619962 32 work[worknum].is_exist = 0;
shimizuta 37:d4b711619962 33 continue;
shimizuta 37:d4b711619962 34 }
shimizuta 38:9bed85d32c97 35 wait_ms(kWait_ms);
shimizuta 4:187c62291654 36 //掴む
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 37:d4b711619962 46 OriginDegree[0] = kOriginDegree[0] - kServoOffsetDegreeInBox;
shimizuta 2:4515e8cc6b60 47 //ボックスに行く(失敗(-1)したらcontinue)
shimizuta 31:f7eb7c9fc8db 48 //3のときだけ特別に速度下げる
shimizuta 38:9bed85d32c97 49 if(worknum == 0) servo_dist_mm = 200 * kCalTargetTicker_s;
shimizuta 2:4515e8cc6b60 50 if(Go(shootingbox[boxspace]) != 0) continue;
shimizuta 38:9bed85d32c97 51 servo_dist_mm = kServoVelocity_mm* kCalTargetTicker_s ;//
shimizuta 38:9bed85d32c97 52 ManualPutPlace(shootingbox[boxspace], 15);
shimizuta 4:187c62291654 53 //放す
shimizuta 2:4515e8cc6b60 54 Open();
shimizuta 37:d4b711619962 55 wait_ms(kWait_ms);
shimizuta 37:d4b711619962 56 OriginDegree[0] = kOriginDegree[0];
shimizuta 4:187c62291654 57 //上に持ち上げる
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 }