ジャパンオープン用のメインプログラム
Dependencies: mbed AQM1602 HMC6352 PID
main_processing/strategy/strategy.cpp@38:67bc78f3c0ab, 2016-03-27 (annotated)
- Committer:
- lilac0112_1
- Date:
- Sun Mar 27 13:04:39 2016 +0000
- Revision:
- 38:67bc78f3c0ab
- Parent:
- 35:eb1854273e55
JapanSoccerOpen2016 CatPot Program(main)
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
lilac0112_1 | 0:ea35c18c85fc | 1 | #include "mbed.h" |
lilac0112_1 | 0:ea35c18c85fc | 2 | #include "extern.h" |
lilac0112_1 | 0:ea35c18c85fc | 3 | |
lilac0112_1 | 0:ea35c18c85fc | 4 | //Atk |
lilac0112_1 | 0:ea35c18c85fc | 5 | void modeAttack4(void){ |
lilac0112_1 | 24:34ef6379b0df | 6 | //irの値に影響するモーター補正値 |
lilac0112_1 | 25:a7460e23e02e | 7 | //uint8_t ir_pow; |
lilac0112_1 | 25:a7460e23e02e | 8 | uint8_t ir_pow_x, ir_pow_y; |
lilac0112_1 | 10:6df631c39f9b | 9 | double ir_x_dir, ir_y_dir; |
lilac0112_1 | 11:3efae754e6ef | 10 | double ir_x_turn, ir_y_turn; |
lilac0112_1 | 11:3efae754e6ef | 11 | double ir_x, ir_y; |
lilac0112_1 | 24:34ef6379b0df | 12 | //lineの値に影響するモーター補正値 |
lilac0112_1 | 14:b510adcb6065 | 13 | double LineSlowPower[2]; |
lilac0112_1 | 14:b510adcb6065 | 14 | double LineReturnPower[2]; |
lilac0112_1 | 33:aa115c30892e | 15 | |
lilac0112_1 | 24:34ef6379b0df | 16 | //モーターの出力値 |
lilac0112_1 | 10:6df631c39f9b | 17 | int vx,vy,vs; |
lilac0112_1 | 11:3efae754e6ef | 18 | |
lilac0112_1 | 24:34ef6379b0df | 19 | ////初期値を決める等 |
lilac0112_1 | 10:6df631c39f9b | 20 | if(sys.KickOffFlag==1){ |
lilac0112_1 | 30:5998ba42237e | 21 | /* |
lilac0112_1 | 24:34ef6379b0df | 22 | ///Blindシリーズ.1を代入であらゆるセンサーなどの値を反映させないようにする. |
lilac0112_1 | 27:825c6835e3db | 23 | sys.IrBlind=0; |
lilac0112_1 | 10:6df631c39f9b | 24 | sys.LineBlind=0; |
lilac0112_1 | 10:6df631c39f9b | 25 | sys.PingBlind=0; |
lilac0112_1 | 10:6df631c39f9b | 26 | |
lilac0112_1 | 26:6ca88eeaa2b4 | 27 | sys.HomeBlind=1; |
lilac0112_1 | 26:6ca88eeaa2b4 | 28 | sys.DriBlind=1; |
lilac0112_1 | 30:5998ba42237e | 29 | //defence |
lilac0112_1 | 30:5998ba42237e | 30 | sys.DefenceFlag=0; |
lilac0112_1 | 30:5998ba42237e | 31 | */ |
lilac0112_1 | 30:5998ba42237e | 32 | |
lilac0112_1 | 30:5998ba42237e | 33 | |
lilac0112_1 | 24:34ef6379b0df | 34 | //Kick |
lilac0112_1 | 24:34ef6379b0df | 35 | sys.KickStopFlag=0; |
lilac0112_1 | 24:34ef6379b0df | 36 | //Ir |
lilac0112_1 | 18:3a42a931c95a | 37 | sys.ir_pow_table = 0; |
lilac0112_1 | 24:34ef6379b0df | 38 | //Line |
lilac0112_1 | 30:5998ba42237e | 39 | //data.lnCorner[L_LINE]=data.lnCorner[R_LINE]=data.lnCorner[F_LINE]=data.lnCorner[B_LINE]=LINE_EMPTY; |
lilac0112_1 | 18:3a42a931c95a | 40 | data.lnRepeat = 0; |
lilac0112_1 | 24:34ef6379b0df | 41 | data.lnStay[X_LINE]=data.lnStay[Y_LINE]=1; |
lilac0112_1 | 30:5998ba42237e | 42 | data.lnStayNow[X_LINE]=data.lnStayNow[Y_LINE]=0; |
lilac0112_1 | 18:3a42a931c95a | 43 | data.lnStop[X_LINE]=data.lnStop[Y_LINE]=1; |
lilac0112_1 | 30:5998ba42237e | 44 | |
lilac0112_1 | 30:5998ba42237e | 45 | //data.FieldSpot = LINE_INSIDE; |
lilac0112_1 | 30:5998ba42237e | 46 | //LineLiberate(); |
lilac0112_1 | 30:5998ba42237e | 47 | //LineRankClear(); |
lilac0112_1 | 27:825c6835e3db | 48 | |
lilac0112_1 | 38:67bc78f3c0ab | 49 | //JSO2 |
lilac0112_1 | 38:67bc78f3c0ab | 50 | LineLiberate(); |
lilac0112_1 | 38:67bc78f3c0ab | 51 | |
lilac0112_1 | 27:825c6835e3db | 52 | LineRawRankClear(); |
lilac0112_1 | 30:5998ba42237e | 53 | |
lilac0112_1 | 30:5998ba42237e | 54 | //data.lnRawMemory[A_SPOT]=0; |
lilac0112_1 | 30:5998ba42237e | 55 | //data.lnRawMemory[B_SPOT]=0; |
lilac0112_1 | 30:5998ba42237e | 56 | //data.lnRawMemory[C_SPOT]=0; |
lilac0112_1 | 27:825c6835e3db | 57 | |
lilac0112_1 | 27:825c6835e3db | 58 | data.lnRawReturn=0; |
lilac0112_1 | 27:825c6835e3db | 59 | |
lilac0112_1 | 27:825c6835e3db | 60 | LineRawLogReset(); |
lilac0112_1 | 25:a7460e23e02e | 61 | //backhome |
lilac0112_1 | 25:a7460e23e02e | 62 | sys.HomeStayFlag[X_PING]=0; |
lilac0112_1 | 25:a7460e23e02e | 63 | sys.HomeStayFlag[Y_PING]=0; |
lilac0112_1 | 24:34ef6379b0df | 64 | //pid |
lilac0112_1 | 24:34ef6379b0df | 65 | sys.TurnStopFlag=0; |
lilac0112_1 | 25:a7460e23e02e | 66 | cmps_set.AtkDeg=0; |
lilac0112_1 | 25:a7460e23e02e | 67 | cmps_set.HoldDeg=0; |
lilac0112_1 | 30:5998ba42237e | 68 | cmps_set.GoalDeg=0; |
lilac0112_1 | 24:34ef6379b0df | 69 | //ドリブラー |
lilac0112_1 | 25:a7460e23e02e | 70 | sys.BallHoldJudgeFlag=0; |
lilac0112_1 | 25:a7460e23e02e | 71 | sys.BallHoldFlag=0; |
lilac0112_1 | 19:967207de919d | 72 | |
lilac0112_1 | 24:34ef6379b0df | 73 | //初期値設定の終了 |
lilac0112_1 | 10:6df631c39f9b | 74 | sys.KickOffFlag=0; |
lilac0112_1 | 0:ea35c18c85fc | 75 | } |
lilac0112_1 | 24:34ef6379b0df | 76 | ////DataRetrieve |
lilac0112_1 | 19:967207de919d | 77 | if(sys.InfoFlag==1){ReadInfo();sys.InfoFlag=0;} |
lilac0112_1 | 11:3efae754e6ef | 78 | data.lnRaw = LineRaw; |
lilac0112_1 | 11:3efae754e6ef | 79 | data.lnHold = LineHold; |
lilac0112_1 | 21:378470320524 | 80 | data.ball = ReadBall(); |
lilac0112_1 | 19:967207de919d | 81 | |
lilac0112_1 | 24:34ef6379b0df | 82 | //ボールがなければ自分のゴールに戻る |
lilac0112_1 | 24:34ef6379b0df | 83 | if(data.irNotice==IR_NONE){ |
lilac0112_1 | 33:aa115c30892e | 84 | |
lilac0112_1 | 33:aa115c30892e | 85 | cmps_set.GoalDeg=0; |
lilac0112_1 | 24:34ef6379b0df | 86 | sys.BackHomeFlag=(sys.HomeBlind==0); |
lilac0112_1 | 24:34ef6379b0df | 87 | } |
lilac0112_1 | 24:34ef6379b0df | 88 | else{ |
lilac0112_1 | 24:34ef6379b0df | 89 | sys.BackHomeFlag=0; |
lilac0112_1 | 25:a7460e23e02e | 90 | sys.HomeStayFlag[X_PING]=0; |
lilac0112_1 | 25:a7460e23e02e | 91 | sys.HomeStayFlag[Y_PING]=0; |
lilac0112_1 | 24:34ef6379b0df | 92 | } |
lilac0112_1 | 24:34ef6379b0df | 93 | //回り込みの値を代入 |
lilac0112_1 | 30:5998ba42237e | 94 | if(sys.DefenceFlag==1){ |
lilac0112_1 | 30:5998ba42237e | 95 | |
lilac0112_1 | 30:5998ba42237e | 96 | if((data.irNotice==IR_NONE)||(data.irNotice==IR_FAR)){ |
lilac0112_1 | 30:5998ba42237e | 97 | |
lilac0112_1 | 30:5998ba42237e | 98 | if((data.ping[L_PING]>=50)&&(data.ping[R_PING]>=50)){ |
lilac0112_1 | 30:5998ba42237e | 99 | ir_x_dir = ir_move_val[5][data.irNotice][data.irPosition][IR_X_DIR]; |
lilac0112_1 | 30:5998ba42237e | 100 | ir_x_turn = ir_move_val[5][data.irNotice][data.irPosition][IR_X_TURN]; |
lilac0112_1 | 30:5998ba42237e | 101 | |
lilac0112_1 | 30:5998ba42237e | 102 | if(data.ping[B_PING]>=10){ |
lilac0112_1 | 30:5998ba42237e | 103 | ir_y_dir = -1; |
lilac0112_1 | 30:5998ba42237e | 104 | ir_y_turn = 0; |
lilac0112_1 | 30:5998ba42237e | 105 | } |
lilac0112_1 | 30:5998ba42237e | 106 | else{ |
lilac0112_1 | 30:5998ba42237e | 107 | ir_y_dir = 0; |
lilac0112_1 | 30:5998ba42237e | 108 | ir_y_turn = 0; |
lilac0112_1 | 30:5998ba42237e | 109 | } |
lilac0112_1 | 30:5998ba42237e | 110 | } |
lilac0112_1 | 30:5998ba42237e | 111 | else if((data.ping[L_PING]>=50)&&(data.ping[R_PING]<50)){ |
lilac0112_1 | 30:5998ba42237e | 112 | ir_x_dir = -1; |
lilac0112_1 | 30:5998ba42237e | 113 | ir_x_turn = 0; |
lilac0112_1 | 30:5998ba42237e | 114 | |
lilac0112_1 | 30:5998ba42237e | 115 | if(data.ping[B_PING]>=45){ |
lilac0112_1 | 30:5998ba42237e | 116 | ir_y_dir = -1; |
lilac0112_1 | 30:5998ba42237e | 117 | ir_y_turn = 0; |
lilac0112_1 | 30:5998ba42237e | 118 | } |
lilac0112_1 | 30:5998ba42237e | 119 | else{ |
lilac0112_1 | 30:5998ba42237e | 120 | ir_y_dir = 0; |
lilac0112_1 | 30:5998ba42237e | 121 | ir_y_turn = 0; |
lilac0112_1 | 30:5998ba42237e | 122 | } |
lilac0112_1 | 30:5998ba42237e | 123 | } |
lilac0112_1 | 30:5998ba42237e | 124 | else if((data.ping[L_PING]<50)&&(data.ping[R_PING]>=50)){ |
lilac0112_1 | 30:5998ba42237e | 125 | ir_x_dir = 1; |
lilac0112_1 | 30:5998ba42237e | 126 | ir_x_turn = 0; |
lilac0112_1 | 30:5998ba42237e | 127 | |
lilac0112_1 | 30:5998ba42237e | 128 | if(data.ping[B_PING]>=45){ |
lilac0112_1 | 30:5998ba42237e | 129 | ir_y_dir = -1; |
lilac0112_1 | 30:5998ba42237e | 130 | ir_y_turn = 0; |
lilac0112_1 | 30:5998ba42237e | 131 | } |
lilac0112_1 | 30:5998ba42237e | 132 | else{ |
lilac0112_1 | 30:5998ba42237e | 133 | ir_y_dir = 0; |
lilac0112_1 | 30:5998ba42237e | 134 | ir_y_turn = 0; |
lilac0112_1 | 30:5998ba42237e | 135 | } |
lilac0112_1 | 30:5998ba42237e | 136 | } |
lilac0112_1 | 30:5998ba42237e | 137 | else if((data.ping[L_PING]<50)&&(data.ping[R_PING]<50)){ |
lilac0112_1 | 30:5998ba42237e | 138 | ir_x_dir = 0; |
lilac0112_1 | 30:5998ba42237e | 139 | ir_x_turn = 0; |
lilac0112_1 | 30:5998ba42237e | 140 | |
lilac0112_1 | 30:5998ba42237e | 141 | if(data.ping[B_PING]>=45){ |
lilac0112_1 | 30:5998ba42237e | 142 | ir_y_dir = -1; |
lilac0112_1 | 30:5998ba42237e | 143 | ir_y_turn = 0; |
lilac0112_1 | 30:5998ba42237e | 144 | } |
lilac0112_1 | 30:5998ba42237e | 145 | else{ |
lilac0112_1 | 30:5998ba42237e | 146 | ir_y_dir = 0; |
lilac0112_1 | 30:5998ba42237e | 147 | ir_y_turn = 0; |
lilac0112_1 | 30:5998ba42237e | 148 | } |
lilac0112_1 | 30:5998ba42237e | 149 | } |
lilac0112_1 | 30:5998ba42237e | 150 | } |
lilac0112_1 | 30:5998ba42237e | 151 | else{ |
lilac0112_1 | 30:5998ba42237e | 152 | |
lilac0112_1 | 30:5998ba42237e | 153 | ir_x_dir = ir_move_val[5][data.irNotice][data.irPosition][IR_X_DIR]; |
lilac0112_1 | 30:5998ba42237e | 154 | ir_x_turn = ir_move_val[5][data.irNotice][data.irPosition][IR_X_TURN]; |
lilac0112_1 | 30:5998ba42237e | 155 | |
lilac0112_1 | 30:5998ba42237e | 156 | if((data.ping[B_PING]>=5)&&(data.ping[R_PING]>=50)&&(data.ping[L_PING]>=50)){ |
lilac0112_1 | 30:5998ba42237e | 157 | ir_y_dir = -1; |
lilac0112_1 | 30:5998ba42237e | 158 | ir_y_turn = 0; |
lilac0112_1 | 30:5998ba42237e | 159 | } |
lilac0112_1 | 30:5998ba42237e | 160 | else{ |
lilac0112_1 | 30:5998ba42237e | 161 | ir_y_dir = 0; |
lilac0112_1 | 30:5998ba42237e | 162 | ir_y_turn = 0; |
lilac0112_1 | 30:5998ba42237e | 163 | } |
lilac0112_1 | 30:5998ba42237e | 164 | } |
lilac0112_1 | 30:5998ba42237e | 165 | /* |
lilac0112_1 | 30:5998ba42237e | 166 | if((data.ping[L_PING]>=50)&&(data.ping[R_PING]>=50)&&(data.ping[B_PING]>10)){ |
lilac0112_1 | 30:5998ba42237e | 167 | ir_y_dir = -1; |
lilac0112_1 | 30:5998ba42237e | 168 | ir_y_turn = 0; |
lilac0112_1 | 30:5998ba42237e | 169 | |
lilac0112_1 | 30:5998ba42237e | 170 | if(data.ping[B_PING]>=10){ |
lilac0112_1 | 30:5998ba42237e | 171 | ir_y_dir = -1; |
lilac0112_1 | 30:5998ba42237e | 172 | ir_y_turn = 0; |
lilac0112_1 | 30:5998ba42237e | 173 | } |
lilac0112_1 | 30:5998ba42237e | 174 | else{ |
lilac0112_1 | 30:5998ba42237e | 175 | ir_y_dir = 0; |
lilac0112_1 | 30:5998ba42237e | 176 | ir_y_turn = 0; |
lilac0112_1 | 30:5998ba42237e | 177 | } |
lilac0112_1 | 30:5998ba42237e | 178 | |
lilac0112_1 | 30:5998ba42237e | 179 | ir_x_dir = ir_move_val[2][data.irNotice][data.irPosition][IR_X_DIR]; |
lilac0112_1 | 30:5998ba42237e | 180 | ir_x_turn = ir_move_val[2][data.irNotice][data.irPosition][IR_X_TURN]; |
lilac0112_1 | 30:5998ba42237e | 181 | } |
lilac0112_1 | 30:5998ba42237e | 182 | else{ |
lilac0112_1 | 30:5998ba42237e | 183 | |
lilac0112_1 | 30:5998ba42237e | 184 | } |
lilac0112_1 | 30:5998ba42237e | 185 | */ |
lilac0112_1 | 30:5998ba42237e | 186 | /* |
lilac0112_1 | 30:5998ba42237e | 187 | if((data.ping[B_PING]>=45)&&(data.irNotice!=IR_NONE)&&(15<=data.irPosition)&&(data.irPosition<=19)){ |
lilac0112_1 | 30:5998ba42237e | 188 | //sys.ir_pow_table=1; |
lilac0112_1 | 30:5998ba42237e | 189 | ir_x_dir = 0; |
lilac0112_1 | 30:5998ba42237e | 190 | ir_y_dir = -1; |
lilac0112_1 | 30:5998ba42237e | 191 | ir_x_turn = 0; |
lilac0112_1 | 30:5998ba42237e | 192 | ir_y_turn = 0; |
lilac0112_1 | 30:5998ba42237e | 193 | } |
lilac0112_1 | 30:5998ba42237e | 194 | else{ |
lilac0112_1 | 30:5998ba42237e | 195 | if(data.irValPhase[IR_SHORT]>=DIS_4){ |
lilac0112_1 | 30:5998ba42237e | 196 | sys.ir_pow_table=2;//直進 |
lilac0112_1 | 30:5998ba42237e | 197 | ir_x_dir = ir_move_val[2][data.irNotice][data.irPosition][IR_X_DIR]; |
lilac0112_1 | 30:5998ba42237e | 198 | ir_y_dir = ir_move_val[2][data.irNotice][data.irPosition][IR_Y_DIR]; |
lilac0112_1 | 30:5998ba42237e | 199 | ir_x_turn = ir_move_val[2][data.irNotice][data.irPosition][IR_X_TURN]; |
lilac0112_1 | 30:5998ba42237e | 200 | ir_y_turn = ir_move_val[2][data.irNotice][data.irPosition][IR_Y_TURN]; |
lilac0112_1 | 30:5998ba42237e | 201 | } |
lilac0112_1 | 30:5998ba42237e | 202 | else{ |
lilac0112_1 | 30:5998ba42237e | 203 | if(data.irValPhase[IR_SHORT]<=DIS_1){ |
lilac0112_1 | 30:5998ba42237e | 204 | sys.ir_pow_table=0;//3 |
lilac0112_1 | 30:5998ba42237e | 205 | ir_x_dir = ir_move_val[0][data.irNotice][data.irPosition][IR_X_DIR]; |
lilac0112_1 | 30:5998ba42237e | 206 | ir_y_dir = ir_move_val[0][data.irNotice][data.irPosition][IR_Y_DIR]; |
lilac0112_1 | 30:5998ba42237e | 207 | ir_x_turn = ir_move_val[0][data.irNotice][data.irPosition][IR_X_TURN]; |
lilac0112_1 | 30:5998ba42237e | 208 | ir_y_turn = ir_move_val[0][data.irNotice][data.irPosition][IR_Y_TURN]; |
lilac0112_1 | 30:5998ba42237e | 209 | } |
lilac0112_1 | 30:5998ba42237e | 210 | else{ |
lilac0112_1 | 30:5998ba42237e | 211 | sys.ir_pow_table=0; |
lilac0112_1 | 30:5998ba42237e | 212 | ir_x_dir = ir_move_val[0][data.irNotice][data.irPosition][IR_X_DIR]; |
lilac0112_1 | 30:5998ba42237e | 213 | ir_y_dir = ir_move_val[0][data.irNotice][data.irPosition][IR_Y_DIR]; |
lilac0112_1 | 30:5998ba42237e | 214 | ir_x_turn = ir_move_val[0][data.irNotice][data.irPosition][IR_X_TURN]; |
lilac0112_1 | 30:5998ba42237e | 215 | ir_y_turn = ir_move_val[0][data.irNotice][data.irPosition][IR_Y_TURN]; |
lilac0112_1 | 30:5998ba42237e | 216 | } |
lilac0112_1 | 30:5998ba42237e | 217 | } |
lilac0112_1 | 30:5998ba42237e | 218 | }*/ |
lilac0112_1 | 24:34ef6379b0df | 219 | } |
lilac0112_1 | 24:34ef6379b0df | 220 | else{ |
lilac0112_1 | 30:5998ba42237e | 221 | if((data.ping[B_PING]>40)&&(0)){ |
lilac0112_1 | 30:5998ba42237e | 222 | sys.ir_pow_table=0; |
lilac0112_1 | 30:5998ba42237e | 223 | ir_x_dir = ir_move_val[0][data.irNotice][data.irPosition][IR_X_DIR]; |
lilac0112_1 | 30:5998ba42237e | 224 | ir_y_dir = ir_move_val[0][data.irNotice][data.irPosition][IR_Y_DIR]; |
lilac0112_1 | 30:5998ba42237e | 225 | ir_x_turn = ir_move_val[0][data.irNotice][data.irPosition][IR_X_TURN]; |
lilac0112_1 | 30:5998ba42237e | 226 | ir_y_turn = ir_move_val[0][data.irNotice][data.irPosition][IR_Y_TURN]; |
lilac0112_1 | 29:e8bafe48aa90 | 227 | } |
lilac0112_1 | 29:e8bafe48aa90 | 228 | else{ |
lilac0112_1 | 30:5998ba42237e | 229 | if((data.ping[B_PING]>60)&&(data.irValPhase[IR_SHORT]>=DIS_4)){ |
lilac0112_1 | 30:5998ba42237e | 230 | sys.ir_pow_table=2;//直進 |
lilac0112_1 | 30:5998ba42237e | 231 | ir_x_dir = ir_move_val[2][data.irNotice][data.irPosition][IR_X_DIR]; |
lilac0112_1 | 30:5998ba42237e | 232 | ir_y_dir = ir_move_val[2][data.irNotice][data.irPosition][IR_Y_DIR]; |
lilac0112_1 | 30:5998ba42237e | 233 | ir_x_turn = ir_move_val[2][data.irNotice][data.irPosition][IR_X_TURN]; |
lilac0112_1 | 30:5998ba42237e | 234 | ir_y_turn = ir_move_val[2][data.irNotice][data.irPosition][IR_Y_TURN]; |
lilac0112_1 | 29:e8bafe48aa90 | 235 | } |
lilac0112_1 | 29:e8bafe48aa90 | 236 | else{ |
lilac0112_1 | 30:5998ba42237e | 237 | if(data.irValPhase[IR_SHORT]<=DIS_1){ |
lilac0112_1 | 30:5998ba42237e | 238 | sys.ir_pow_table=0;//3 |
lilac0112_1 | 30:5998ba42237e | 239 | ir_x_dir = ir_move_val[0][data.irNotice][data.irPosition][IR_X_DIR]; |
lilac0112_1 | 30:5998ba42237e | 240 | ir_y_dir = ir_move_val[0][data.irNotice][data.irPosition][IR_Y_DIR]; |
lilac0112_1 | 30:5998ba42237e | 241 | ir_x_turn = ir_move_val[0][data.irNotice][data.irPosition][IR_X_TURN]; |
lilac0112_1 | 30:5998ba42237e | 242 | ir_y_turn = ir_move_val[0][data.irNotice][data.irPosition][IR_Y_TURN]; |
lilac0112_1 | 30:5998ba42237e | 243 | } |
lilac0112_1 | 30:5998ba42237e | 244 | else{ |
lilac0112_1 | 30:5998ba42237e | 245 | sys.ir_pow_table=0; |
lilac0112_1 | 30:5998ba42237e | 246 | ir_x_dir = ir_move_val[0][data.irNotice][data.irPosition][IR_X_DIR]; |
lilac0112_1 | 30:5998ba42237e | 247 | ir_y_dir = ir_move_val[0][data.irNotice][data.irPosition][IR_Y_DIR]; |
lilac0112_1 | 30:5998ba42237e | 248 | ir_x_turn = ir_move_val[0][data.irNotice][data.irPosition][IR_X_TURN]; |
lilac0112_1 | 30:5998ba42237e | 249 | ir_y_turn = ir_move_val[0][data.irNotice][data.irPosition][IR_Y_TURN]; |
lilac0112_1 | 30:5998ba42237e | 250 | } |
lilac0112_1 | 29:e8bafe48aa90 | 251 | } |
lilac0112_1 | 29:e8bafe48aa90 | 252 | } |
lilac0112_1 | 32:367b16d69a32 | 253 | if((sys.HomeBlind==0)){ |
lilac0112_1 | 32:367b16d69a32 | 254 | if(((data.irNotice==IR_CLOSE)||(data.irNotice==IR_CLOSER))&&(data.ping[B_PING]<60)&& |
lilac0112_1 | 32:367b16d69a32 | 255 | ( |
lilac0112_1 | 32:367b16d69a32 | 256 | (data.irPosition==11)|| |
lilac0112_1 | 32:367b16d69a32 | 257 | (data.irPosition==(ir_posi_s[(11-8+24+1)%12]))|| |
lilac0112_1 | 32:367b16d69a32 | 258 | (data.irPosition==(ir_posi_s[(11-8+24-1)%12]))|| |
lilac0112_1 | 32:367b16d69a32 | 259 | (data.irPosition==(ir_posi_s[(11-8+24+2)%12]))|| |
lilac0112_1 | 32:367b16d69a32 | 260 | (data.irPosition==(ir_posi_s[(11-8+24-2)%12]))|| |
lilac0112_1 | 32:367b16d69a32 | 261 | (data.irPosition==(ir_posi_s[(11-8+24+3)%12]))|| |
lilac0112_1 | 32:367b16d69a32 | 262 | (data.irPosition==(ir_posi_s[(11-8+24-3)%12])) |
lilac0112_1 | 32:367b16d69a32 | 263 | ) |
lilac0112_1 | 32:367b16d69a32 | 264 | ){ |
lilac0112_1 | 32:367b16d69a32 | 265 | sys.ir_pow_table=2;//直進 |
lilac0112_1 | 32:367b16d69a32 | 266 | ir_x_dir = ir_move_val[2][data.irNotice][data.irPosition][IR_X_DIR]; |
lilac0112_1 | 32:367b16d69a32 | 267 | ir_y_dir = ir_move_val[2][data.irNotice][data.irPosition][IR_Y_DIR]; |
lilac0112_1 | 32:367b16d69a32 | 268 | ir_x_turn = ir_move_val[2][data.irNotice][data.irPosition][IR_X_TURN]; |
lilac0112_1 | 32:367b16d69a32 | 269 | ir_y_turn = ir_move_val[2][data.irNotice][data.irPosition][IR_Y_TURN]; |
lilac0112_1 | 32:367b16d69a32 | 270 | } |
lilac0112_1 | 32:367b16d69a32 | 271 | } |
lilac0112_1 | 24:34ef6379b0df | 272 | } |
lilac0112_1 | 30:5998ba42237e | 273 | |
lilac0112_1 | 24:34ef6379b0df | 274 | //Irの検出値によって出力を調整 |
lilac0112_1 | 24:34ef6379b0df | 275 | if(data.irNotice==IR_CLOSER){ |
lilac0112_1 | 25:a7460e23e02e | 276 | //ir_pow = sys.s_pow; |
lilac0112_1 | 25:a7460e23e02e | 277 | ir_pow_x = ir_pow_y = sys.s_pow; |
lilac0112_1 | 24:34ef6379b0df | 278 | } |
lilac0112_1 | 24:34ef6379b0df | 279 | else if(data.irNotice==IR_CLOSE){ |
lilac0112_1 | 25:a7460e23e02e | 280 | //ir_pow = sys.m_pow; |
lilac0112_1 | 25:a7460e23e02e | 281 | ir_pow_x = ir_pow_y = sys.m_pow; |
lilac0112_1 | 24:34ef6379b0df | 282 | } |
lilac0112_1 | 24:34ef6379b0df | 283 | else if(data.irNotice==IR_FAR){ |
lilac0112_1 | 25:a7460e23e02e | 284 | //ir_pow = sys.l_pow; |
lilac0112_1 | 25:a7460e23e02e | 285 | ir_pow_x = ir_pow_y = sys.l_pow; |
lilac0112_1 | 24:34ef6379b0df | 286 | } |
lilac0112_1 | 24:34ef6379b0df | 287 | else{//data.irNotice==IR_NONE |
lilac0112_1 | 25:a7460e23e02e | 288 | //ir_pow = 0; |
lilac0112_1 | 25:a7460e23e02e | 289 | ir_pow_x = ir_pow_y = 0; |
lilac0112_1 | 24:34ef6379b0df | 290 | } |
lilac0112_1 | 30:5998ba42237e | 291 | |
lilac0112_1 | 30:5998ba42237e | 292 | if(sys.DefenceFlag==1){ |
lilac0112_1 | 30:5998ba42237e | 293 | ir_pow_x = 30; |
lilac0112_1 | 30:5998ba42237e | 294 | ir_pow_y = 30; |
lilac0112_1 | 30:5998ba42237e | 295 | if(data.ping[L_PING]<=60){ |
lilac0112_1 | 30:5998ba42237e | 296 | ir_pow_y = 30; |
lilac0112_1 | 30:5998ba42237e | 297 | } |
lilac0112_1 | 30:5998ba42237e | 298 | if(data.ping[L_PING]<=40){ |
lilac0112_1 | 30:5998ba42237e | 299 | ir_pow_y = 25; |
lilac0112_1 | 30:5998ba42237e | 300 | } |
lilac0112_1 | 30:5998ba42237e | 301 | if(data.ping[L_PING]<=30){ |
lilac0112_1 | 30:5998ba42237e | 302 | ir_pow_y = 20; |
lilac0112_1 | 30:5998ba42237e | 303 | } |
lilac0112_1 | 30:5998ba42237e | 304 | if(data.ping[L_PING]<15){ |
lilac0112_1 | 30:5998ba42237e | 305 | ir_pow_y = 15; |
lilac0112_1 | 30:5998ba42237e | 306 | } |
lilac0112_1 | 30:5998ba42237e | 307 | if(data.ping[L_PING]<10){ |
lilac0112_1 | 30:5998ba42237e | 308 | ir_pow_y = 10; |
lilac0112_1 | 30:5998ba42237e | 309 | } |
lilac0112_1 | 30:5998ba42237e | 310 | } |
lilac0112_1 | 33:aa115c30892e | 311 | ////ドリブラーdribbler |
lilac0112_1 | 33:aa115c30892e | 312 | //ホールド判定hold |
lilac0112_1 | 25:a7460e23e02e | 313 | JudgeBallHolding(); |
lilac0112_1 | 33:aa115c30892e | 314 | //JudgeBallHold(); |
lilac0112_1 | 33:aa115c30892e | 315 | //sys.BallHoldFlag = data.ball; |
lilac0112_1 | 25:a7460e23e02e | 316 | //ドリブラー駆動 |
lilac0112_1 | 33:aa115c30892e | 317 | /*if((sys.TurnDriBlind==0)&&(data.lnRawOrderLog1[0]!=LINE_EMPTY)&&(data.lnRawOrder[0]==LINE_EMPTY)){ |
lilac0112_1 | 33:aa115c30892e | 318 | if(sys.TurnDriBlind==0){ |
lilac0112_1 | 32:367b16d69a32 | 319 | if( |
lilac0112_1 | 32:367b16d69a32 | 320 | ((data.lnRawOrderLog1[0]==A_SPOT)&&(data.lnRawOrderLog1[1]==B_SPOT))|| |
lilac0112_1 | 32:367b16d69a32 | 321 | ((data.lnRawOrderLog1[0]==B_SPOT)&&(data.lnRawOrderLog1[1]==A_SPOT)) |
lilac0112_1 | 32:367b16d69a32 | 322 | ){ |
lilac0112_1 | 32:367b16d69a32 | 323 | cmps_set.GoalDeg=0; |
lilac0112_1 | 32:367b16d69a32 | 324 | } |
lilac0112_1 | 32:367b16d69a32 | 325 | else if((data.lnRawOrderLog1[0]==A_SPOT)&&(1)){ |
lilac0112_1 | 32:367b16d69a32 | 326 | cmps_set.GoalDeg=-30; |
lilac0112_1 | 32:367b16d69a32 | 327 | } |
lilac0112_1 | 32:367b16d69a32 | 328 | else if((data.lnRawOrderLog1[0]==B_SPOT)&&(1)){ |
lilac0112_1 | 32:367b16d69a32 | 329 | cmps_set.GoalDeg=30; |
lilac0112_1 | 32:367b16d69a32 | 330 | } |
lilac0112_1 | 32:367b16d69a32 | 331 | else{ |
lilac0112_1 | 32:367b16d69a32 | 332 | cmps_set.GoalDeg=0; |
lilac0112_1 | 32:367b16d69a32 | 333 | } |
lilac0112_1 | 30:5998ba42237e | 334 | } |
lilac0112_1 | 33:aa115c30892e | 335 | }*/ |
lilac0112_1 | 33:aa115c30892e | 336 | if((sys.TurnDriBlind==0)&&(/*data.lnRaw==0*/1)&&((data.irNotice==IR_CLOSER)||(data.irNotice==IR_CLOSE))&&(/*data.ping[B_PING]>90*/1)&& |
lilac0112_1 | 33:aa115c30892e | 337 | ( |
lilac0112_1 | 33:aa115c30892e | 338 | (data.irPosition==11)|| |
lilac0112_1 | 33:aa115c30892e | 339 | (data.irPosition==(ir_posi_s[(11-8+24+1)%12]))|| |
lilac0112_1 | 33:aa115c30892e | 340 | (data.irPosition==(ir_posi_s[(11-8+24-1)%12]))|| |
lilac0112_1 | 33:aa115c30892e | 341 | (data.irPosition==(ir_posi_s[(11-8+24+2)%12]))|| |
lilac0112_1 | 33:aa115c30892e | 342 | (data.irPosition==(ir_posi_s[(11-8+24-2)%12])) |
lilac0112_1 | 33:aa115c30892e | 343 | ) |
lilac0112_1 | 33:aa115c30892e | 344 | |
lilac0112_1 | 33:aa115c30892e | 345 | ){ |
lilac0112_1 | 33:aa115c30892e | 346 | if(sys.TurnDriBlind==0){ |
lilac0112_1 | 33:aa115c30892e | 347 | if( |
lilac0112_1 | 33:aa115c30892e | 348 | ((data.ping[L_PING]<40)&&(data.ping[R_PING]>70)) |
lilac0112_1 | 33:aa115c30892e | 349 | ){ |
lilac0112_1 | 33:aa115c30892e | 350 | cmps_set.GoalDeg=60; |
lilac0112_1 | 33:aa115c30892e | 351 | } |
lilac0112_1 | 33:aa115c30892e | 352 | else if( |
lilac0112_1 | 33:aa115c30892e | 353 | ((data.ping[R_PING]<40)&&(data.ping[L_PING]>70)) |
lilac0112_1 | 33:aa115c30892e | 354 | ){ |
lilac0112_1 | 33:aa115c30892e | 355 | cmps_set.GoalDeg=-60; |
lilac0112_1 | 33:aa115c30892e | 356 | } |
lilac0112_1 | 33:aa115c30892e | 357 | else{ |
lilac0112_1 | 33:aa115c30892e | 358 | cmps_set.GoalDeg=0; |
lilac0112_1 | 33:aa115c30892e | 359 | } |
lilac0112_1 | 33:aa115c30892e | 360 | } |
lilac0112_1 | 30:5998ba42237e | 361 | } |
lilac0112_1 | 25:a7460e23e02e | 362 | if((sys.DriBlind==0)&&(data.irNotice==IR_CLOSER)&&((data.irPosition==10)||(data.irPosition==11)||(data.irPosition==12))){ |
lilac0112_1 | 25:a7460e23e02e | 363 | sys.DribbleFlag=1; |
lilac0112_1 | 30:5998ba42237e | 364 | if((sys.BallHoldFlag==1)||(data.ball==1)){ |
lilac0112_1 | 25:a7460e23e02e | 365 | //ir_pow=20; |
lilac0112_1 | 25:a7460e23e02e | 366 | ir_pow_x = ir_pow_y = 20; |
lilac0112_1 | 19:967207de919d | 367 | } |
lilac0112_1 | 19:967207de919d | 368 | } |
lilac0112_1 | 19:967207de919d | 369 | else{ |
lilac0112_1 | 19:967207de919d | 370 | sys.DribbleFlag=0; |
lilac0112_1 | 25:a7460e23e02e | 371 | cmps_set.HoldDeg=0; |
lilac0112_1 | 19:967207de919d | 372 | } |
lilac0112_1 | 19:967207de919d | 373 | |
lilac0112_1 | 24:34ef6379b0df | 374 | ////Kick |
lilac0112_1 | 25:a7460e23e02e | 375 | /*if((data.ball==1)&&(data.irNotice==IR_CLOSER)&&((data.irPosition==10)||(data.irPosition==11)||(data.irPosition==12))){ |
lilac0112_1 | 24:34ef6379b0df | 376 | DriveTurn(); |
lilac0112_1 | 25:a7460e23e02e | 377 | }*/ |
lilac0112_1 | 25:a7460e23e02e | 378 | /*if((data.ball==1)&&(data.irNotice==IR_CLOSER)&&((data.irPosition==10)||(data.irPosition==11)||(data.irPosition==12))){ |
lilac0112_1 | 25:a7460e23e02e | 379 | DriveTurn(); |
lilac0112_1 | 25:a7460e23e02e | 380 | DriveSolenoid(); |
lilac0112_1 | 25:a7460e23e02e | 381 | }*/ |
lilac0112_1 | 30:5998ba42237e | 382 | if( |
lilac0112_1 | 30:5998ba42237e | 383 | /*(sys.BallHoldFlag==1)&& |
lilac0112_1 | 30:5998ba42237e | 384 | (data.ball==1)&& |
lilac0112_1 | 30:5998ba42237e | 385 | (data.irNotice==IR_CLOSER)&& |
lilac0112_1 | 30:5998ba42237e | 386 | ((data.irPosition==10)||(data.irPosition==11)||(data.irPosition==12))&& |
lilac0112_1 | 30:5998ba42237e | 387 | (data.ping[B_PING]>100)&& |
lilac0112_1 | 30:5998ba42237e | 388 | ( |
lilac0112_1 | 30:5998ba42237e | 389 | ((data.ping[L_PING]<60)&&(data.ping[R_PING]>60))|| |
lilac0112_1 | 30:5998ba42237e | 390 | ((data.ping[L_PING]>60)&&(data.ping[R_PING]<60))|| |
lilac0112_1 | 30:5998ba42237e | 391 | (data.lnRawOrderLog1[0]==A_SPOT)|| |
lilac0112_1 | 30:5998ba42237e | 392 | (data.lnRawOrder[0]==A_SPOT)|| |
lilac0112_1 | 30:5998ba42237e | 393 | (data.lnRawOrderLog1[0]==B_SPOT)|| |
lilac0112_1 | 30:5998ba42237e | 394 | (data.lnRawOrder[0]==B_SPOT) |
lilac0112_1 | 30:5998ba42237e | 395 | )&& |
lilac0112_1 | 30:5998ba42237e | 396 | (data.lnRaw==0)*/ |
lilac0112_1 | 30:5998ba42237e | 397 | (sys.DriBlind==0)&& |
lilac0112_1 | 30:5998ba42237e | 398 | (data.ping[R_PING]<30)&& |
lilac0112_1 | 30:5998ba42237e | 399 | (data.ping[L_PING]<30) |
lilac0112_1 | 30:5998ba42237e | 400 | ){ |
lilac0112_1 | 32:367b16d69a32 | 401 | //DriveTurn(); |
lilac0112_1 | 32:367b16d69a32 | 402 | //DriveSolenoid(); |
lilac0112_1 | 30:5998ba42237e | 403 | } |
lilac0112_1 | 19:967207de919d | 404 | |
lilac0112_1 | 24:34ef6379b0df | 405 | //Irの細かい補正値の処理.基本的にLineの補正値を演算する処理が始まる前にIrのモーター出力値補正をすべて終わらせる. |
lilac0112_1 | 25:a7460e23e02e | 406 | //if(sys.IrBlind==1) ir_pow=0; |
lilac0112_1 | 25:a7460e23e02e | 407 | if(sys.IrBlind==1) ir_pow_x=ir_pow_y=0; |
lilac0112_1 | 28:f246a5fbf6a5 | 408 | if((data.ping[R_PING]<data.ping[L_PING])&&(data.irPosition==17)&&(data.irNotice==IR_CLOSER)){ |
lilac0112_1 | 18:3a42a931c95a | 409 | ir_x_turn = -ir_x_turn; |
lilac0112_1 | 18:3a42a931c95a | 410 | ir_y_turn = -ir_y_turn; |
lilac0112_1 | 18:3a42a931c95a | 411 | } |
lilac0112_1 | 25:a7460e23e02e | 412 | |
lilac0112_1 | 26:6ca88eeaa2b4 | 413 | if((sys.BackHomeFlag==1)&&(sys.HomeBlind==0)){ |
lilac0112_1 | 25:a7460e23e02e | 414 | ir_pow_x = ir_pow_y = 25; |
lilac0112_1 | 25:a7460e23e02e | 415 | //x |
lilac0112_1 | 25:a7460e23e02e | 416 | if((abs(data.ping[L_PING]-data.ping[R_PING])>20)&&(sys.HomeStayFlag[X_PING]==0)){ |
lilac0112_1 | 25:a7460e23e02e | 417 | if(data.ping[L_PING]>data.ping[R_PING]){ |
lilac0112_1 | 25:a7460e23e02e | 418 | ir_x = -1; |
lilac0112_1 | 25:a7460e23e02e | 419 | } |
lilac0112_1 | 25:a7460e23e02e | 420 | else{ |
lilac0112_1 | 25:a7460e23e02e | 421 | ir_x = 1; |
lilac0112_1 | 25:a7460e23e02e | 422 | } |
lilac0112_1 | 25:a7460e23e02e | 423 | if((data.ping[L_PING]<WhiteToWallPlus[X_PING])&&(data.ping[R_PING]<WhiteToWallPlus[X_PING])){ |
lilac0112_1 | 25:a7460e23e02e | 424 | ir_x = 0; |
lilac0112_1 | 25:a7460e23e02e | 425 | } |
lilac0112_1 | 25:a7460e23e02e | 426 | } |
lilac0112_1 | 25:a7460e23e02e | 427 | else{ |
lilac0112_1 | 25:a7460e23e02e | 428 | ir_x = 0; |
lilac0112_1 | 38:67bc78f3c0ab | 429 | // |
lilac0112_1 | 38:67bc78f3c0ab | 430 | sys.HomeStayFlag[X_PING]=1; |
lilac0112_1 | 25:a7460e23e02e | 431 | } |
lilac0112_1 | 25:a7460e23e02e | 432 | //y |
lilac0112_1 | 31:745a775cfc20 | 433 | if((data.ping[B_PING]>60)&&(1)&&(sys.HomeStayFlag[Y_PING]==0)){ |
lilac0112_1 | 25:a7460e23e02e | 434 | ir_y = -1; |
lilac0112_1 | 34:1c86c1299ea4 | 435 | /*if((abs(data.ping[L_PING]-data.ping[R_PING])>30)&&(1)){ |
lilac0112_1 | 34:1c86c1299ea4 | 436 | ir_pow_y = 15; |
lilac0112_1 | 34:1c86c1299ea4 | 437 | }*/ |
lilac0112_1 | 25:a7460e23e02e | 438 | } |
lilac0112_1 | 25:a7460e23e02e | 439 | else{ |
lilac0112_1 | 34:1c86c1299ea4 | 440 | ir_y = 0; |
lilac0112_1 | 34:1c86c1299ea4 | 441 | /* |
lilac0112_1 | 34:1c86c1299ea4 | 442 | if((1)&&(data.ping[B_PING]>60)&&(data.ping[R_PING]>55)&&(data.ping[L_PING]>55)){ |
lilac0112_1 | 32:367b16d69a32 | 443 | ir_y = -1; |
lilac0112_1 | 32:367b16d69a32 | 444 | ir_pow_y = 15; |
lilac0112_1 | 32:367b16d69a32 | 445 | } |
lilac0112_1 | 32:367b16d69a32 | 446 | else{ |
lilac0112_1 | 32:367b16d69a32 | 447 | ir_y = 0; |
lilac0112_1 | 32:367b16d69a32 | 448 | } |
lilac0112_1 | 34:1c86c1299ea4 | 449 | */ |
lilac0112_1 | 38:67bc78f3c0ab | 450 | // |
lilac0112_1 | 38:67bc78f3c0ab | 451 | sys.HomeStayFlag[Y_PING]=1; |
lilac0112_1 | 25:a7460e23e02e | 452 | } |
lilac0112_1 | 25:a7460e23e02e | 453 | } |
lilac0112_1 | 25:a7460e23e02e | 454 | else{ |
lilac0112_1 | 25:a7460e23e02e | 455 | ir_x = (ir_x_dir + ir_x_turn); |
lilac0112_1 | 25:a7460e23e02e | 456 | ir_y = (ir_y_dir + ir_y_turn); |
lilac0112_1 | 25:a7460e23e02e | 457 | } |
lilac0112_1 | 31:745a775cfc20 | 458 | if((sys.HomeBlind==0)&&(data.irNotice==IR_FAR)){ |
lilac0112_1 | 38:67bc78f3c0ab | 459 | if(ir_y>0){ |
lilac0112_1 | 38:67bc78f3c0ab | 460 | ir_y=0; |
lilac0112_1 | 38:67bc78f3c0ab | 461 | ir_pow_x = ir_pow_y = 25; |
lilac0112_1 | 38:67bc78f3c0ab | 462 | |
lilac0112_1 | 38:67bc78f3c0ab | 463 | if((data.ping[B_PING]>50)&&(1)){ |
lilac0112_1 | 38:67bc78f3c0ab | 464 | ir_y = -1; |
lilac0112_1 | 38:67bc78f3c0ab | 465 | //ir_pow_y = 15; |
lilac0112_1 | 38:67bc78f3c0ab | 466 | } |
lilac0112_1 | 38:67bc78f3c0ab | 467 | |
lilac0112_1 | 38:67bc78f3c0ab | 468 | } |
lilac0112_1 | 38:67bc78f3c0ab | 469 | //ir_pow_x = ir_pow_y = 25; |
lilac0112_1 | 38:67bc78f3c0ab | 470 | //if(ir_y>0) ir_y=0; |
lilac0112_1 | 38:67bc78f3c0ab | 471 | /*if((data.ping[B_PING]>40)&&(1)){ |
lilac0112_1 | 31:745a775cfc20 | 472 | ir_y = -1; |
lilac0112_1 | 34:1c86c1299ea4 | 473 | //ir_pow_y = 15; |
lilac0112_1 | 38:67bc78f3c0ab | 474 | }*/ |
lilac0112_1 | 31:745a775cfc20 | 475 | } |
lilac0112_1 | 30:5998ba42237e | 476 | if( |
lilac0112_1 | 30:5998ba42237e | 477 | (sys.DefenceFlag==1)&& |
lilac0112_1 | 30:5998ba42237e | 478 | (ir_y>0)&& |
lilac0112_1 | 31:745a775cfc20 | 479 | (data.ping[B_PING]>60)&& |
lilac0112_1 | 30:5998ba42237e | 480 | (data.ping[B_PING]<225)&& |
lilac0112_1 | 30:5998ba42237e | 481 | (sys.BackHomeFlag==0) |
lilac0112_1 | 30:5998ba42237e | 482 | ){ |
lilac0112_1 | 30:5998ba42237e | 483 | ir_pow_y=0; |
lilac0112_1 | 30:5998ba42237e | 484 | } |
lilac0112_1 | 33:aa115c30892e | 485 | ///dribbler |
lilac0112_1 | 33:aa115c30892e | 486 | if((sys.DriBlind==0)&&(data.irNotice==IR_CLOSER)&&(/*sys.BallHoldFlag==1*/data.ball==1)&&((data.irPosition==10)||(data.irPosition==11)||(data.irPosition==12))){ |
lilac0112_1 | 33:aa115c30892e | 487 | |
lilac0112_1 | 33:aa115c30892e | 488 | if((1/*data.ping[L_PING]<60*/)&&(data.ping[R_PING]>90)){ |
lilac0112_1 | 34:1c86c1299ea4 | 489 | //ir_x = 1; |
lilac0112_1 | 33:aa115c30892e | 490 | } |
lilac0112_1 | 33:aa115c30892e | 491 | else{ |
lilac0112_1 | 33:aa115c30892e | 492 | if(data.lnRawOrderLog1[0]==B_SPOT){ |
lilac0112_1 | 34:1c86c1299ea4 | 493 | //ir_x = 1; |
lilac0112_1 | 33:aa115c30892e | 494 | } |
lilac0112_1 | 33:aa115c30892e | 495 | } |
lilac0112_1 | 33:aa115c30892e | 496 | if((1/*data.ping[R_PING]<60*/)&&(data.ping[L_PING]>90)){ |
lilac0112_1 | 34:1c86c1299ea4 | 497 | //ir_x = -1; |
lilac0112_1 | 33:aa115c30892e | 498 | } |
lilac0112_1 | 33:aa115c30892e | 499 | else{ |
lilac0112_1 | 33:aa115c30892e | 500 | if(data.lnRawOrderLog1[0]==A_SPOT){ |
lilac0112_1 | 34:1c86c1299ea4 | 501 | //ir_x = -1; |
lilac0112_1 | 33:aa115c30892e | 502 | } |
lilac0112_1 | 33:aa115c30892e | 503 | } |
lilac0112_1 | 33:aa115c30892e | 504 | if((data.ping[F_PING]<50)&&(data.ping[B_PING]>100)){ |
lilac0112_1 | 34:1c86c1299ea4 | 505 | //ir_y = -1; |
lilac0112_1 | 33:aa115c30892e | 506 | } |
lilac0112_1 | 33:aa115c30892e | 507 | if( |
lilac0112_1 | 33:aa115c30892e | 508 | ((data.ping[L_PING]<55)&&(data.ping[R_PING]<55))|| |
lilac0112_1 | 33:aa115c30892e | 509 | ((data.ping[L_PING]>55)&&(data.ping[R_PING]>55)) |
lilac0112_1 | 33:aa115c30892e | 510 | ){ |
lilac0112_1 | 34:1c86c1299ea4 | 511 | //DriveSolenoid(); |
lilac0112_1 | 34:1c86c1299ea4 | 512 | } |
lilac0112_1 | 34:1c86c1299ea4 | 513 | //x |
lilac0112_1 | 34:1c86c1299ea4 | 514 | if((abs(data.ping[L_PING]-data.ping[R_PING])>40)&&(data.lnRawOrderLog1[0]==A_SPOT)){ |
lilac0112_1 | 34:1c86c1299ea4 | 515 | ir_x = -1; |
lilac0112_1 | 34:1c86c1299ea4 | 516 | } |
lilac0112_1 | 34:1c86c1299ea4 | 517 | else if((abs(data.ping[L_PING]-data.ping[R_PING])>40)&&(data.lnRawOrderLog1[0]==B_SPOT)){ |
lilac0112_1 | 34:1c86c1299ea4 | 518 | ir_x = 1; |
lilac0112_1 | 34:1c86c1299ea4 | 519 | } |
lilac0112_1 | 34:1c86c1299ea4 | 520 | else if((abs(data.ping[L_PING]-data.ping[R_PING])>10)&&((data.ping[L_PING]+data.ping[R_PING])>80)){ |
lilac0112_1 | 34:1c86c1299ea4 | 521 | if(data.ping[L_PING]>data.ping[R_PING]){ |
lilac0112_1 | 34:1c86c1299ea4 | 522 | ir_x = -1; |
lilac0112_1 | 34:1c86c1299ea4 | 523 | } |
lilac0112_1 | 34:1c86c1299ea4 | 524 | else{ |
lilac0112_1 | 34:1c86c1299ea4 | 525 | ir_x = 1; |
lilac0112_1 | 34:1c86c1299ea4 | 526 | } |
lilac0112_1 | 34:1c86c1299ea4 | 527 | } |
lilac0112_1 | 34:1c86c1299ea4 | 528 | else{ |
lilac0112_1 | 38:67bc78f3c0ab | 529 | if((abs(data.ping[L_PING]-data.ping[R_PING])>10)&&(1)){ |
lilac0112_1 | 38:67bc78f3c0ab | 530 | if(data.ping[L_PING]>data.ping[R_PING]){ |
lilac0112_1 | 38:67bc78f3c0ab | 531 | ir_x = -1; |
lilac0112_1 | 38:67bc78f3c0ab | 532 | } |
lilac0112_1 | 38:67bc78f3c0ab | 533 | else{ |
lilac0112_1 | 38:67bc78f3c0ab | 534 | ir_x = 1; |
lilac0112_1 | 38:67bc78f3c0ab | 535 | } |
lilac0112_1 | 38:67bc78f3c0ab | 536 | } |
lilac0112_1 | 38:67bc78f3c0ab | 537 | else{ |
lilac0112_1 | 38:67bc78f3c0ab | 538 | ir_x = 0; |
lilac0112_1 | 38:67bc78f3c0ab | 539 | } |
lilac0112_1 | 38:67bc78f3c0ab | 540 | |
lilac0112_1 | 38:67bc78f3c0ab | 541 | //ir_x = 0; |
lilac0112_1 | 33:aa115c30892e | 542 | DriveSolenoid(); |
lilac0112_1 | 33:aa115c30892e | 543 | } |
lilac0112_1 | 34:1c86c1299ea4 | 544 | //y |
lilac0112_1 | 34:1c86c1299ea4 | 545 | if((data.ping[F_PING]<45)&&(abs(data.ping[L_PING]-data.ping[R_PING])>50)){ |
lilac0112_1 | 38:67bc78f3c0ab | 546 | //ir_y = 0.75; |
lilac0112_1 | 34:1c86c1299ea4 | 547 | } |
lilac0112_1 | 34:1c86c1299ea4 | 548 | //kick |
lilac0112_1 | 34:1c86c1299ea4 | 549 | if((abs(data.ping[L_PING]-data.ping[R_PING])<30)&&(1)){ |
lilac0112_1 | 34:1c86c1299ea4 | 550 | DriveSolenoid(); |
lilac0112_1 | 34:1c86c1299ea4 | 551 | } |
lilac0112_1 | 33:aa115c30892e | 552 | } |
lilac0112_1 | 24:34ef6379b0df | 553 | ////Lineセンサーの値を評価しモーターの出力補正値を演算 |
lilac0112_1 | 14:b510adcb6065 | 554 | if(sys.LineBlind==1){ |
lilac0112_1 | 14:b510adcb6065 | 555 | |
lilac0112_1 | 14:b510adcb6065 | 556 | LineSlowPower[X_LINE] = 1.0; |
lilac0112_1 | 14:b510adcb6065 | 557 | LineSlowPower[Y_LINE] = 1.0; |
lilac0112_1 | 14:b510adcb6065 | 558 | |
lilac0112_1 | 14:b510adcb6065 | 559 | LineReturnPower[X_LINE] = 0.0; |
lilac0112_1 | 14:b510adcb6065 | 560 | LineReturnPower[Y_LINE] = 0.0; |
lilac0112_1 | 14:b510adcb6065 | 561 | |
lilac0112_1 | 14:b510adcb6065 | 562 | data.lnStop[X_LINE] = 1; |
lilac0112_1 | 14:b510adcb6065 | 563 | data.lnStop[Y_LINE] = 1; |
lilac0112_1 | 14:b510adcb6065 | 564 | |
lilac0112_1 | 15:17502a27a60b | 565 | data.FieldSpot = LINE_INSIDE; |
lilac0112_1 | 14:b510adcb6065 | 566 | } |
lilac0112_1 | 14:b510adcb6065 | 567 | else{ |
lilac0112_1 | 28:f246a5fbf6a5 | 568 | /* |
lilac0112_1 | 18:3a42a931c95a | 569 | LineJudgeReset(ir_x, ir_y, &LineSlowPower[X_LINE], &LineSlowPower[Y_LINE]); |
lilac0112_1 | 18:3a42a931c95a | 570 | LineJudgeSlow(ir_x, ir_y, &LineSlowPower[X_LINE], &LineSlowPower[Y_LINE]); |
lilac0112_1 | 28:f246a5fbf6a5 | 571 | LineJudgeReturn(ir_x*LineSlowPower[X_LINE], ir_y*LineSlowPower[Y_LINE], &LineReturnPower[X_LINE], &LineReturnPower[Y_LINE]); |
lilac0112_1 | 28:f246a5fbf6a5 | 572 | */ |
lilac0112_1 | 34:1c86c1299ea4 | 573 | LineJudgeReset3(ir_x, ir_y, &LineSlowPower[X_LINE], &LineSlowPower[Y_LINE]); |
lilac0112_1 | 28:f246a5fbf6a5 | 574 | LineJudgeSlow2(ir_x, ir_y, &LineSlowPower[X_LINE], &LineSlowPower[Y_LINE], &ir_pow_x, &ir_pow_y); |
lilac0112_1 | 27:825c6835e3db | 575 | LineJudgeReturn2(ir_x*LineSlowPower[X_LINE], ir_y*LineSlowPower[Y_LINE], &LineReturnPower[X_LINE], &LineReturnPower[Y_LINE]); |
lilac0112_1 | 14:b510adcb6065 | 576 | } |
lilac0112_1 | 24:34ef6379b0df | 577 | ////LEDデバッグ |
lilac0112_1 | 19:967207de919d | 578 | //if(data.FieldSpot==LINE_OUTSIDE) LED = 0x9; |
lilac0112_1 | 19:967207de919d | 579 | //if(data.FieldSpot==LINE_INSIDE) LED = 0x6; |
lilac0112_1 | 27:825c6835e3db | 580 | //LED = ((data.lnRawMemory[0]!=0)<<2) | ((data.lnRawMemory[1]!=0)<<1) | ((data.lnRawMemory[2]!=0)<<0); |
lilac0112_1 | 30:5998ba42237e | 581 | //LED = ((data.lnRawOrder[0]!=LINE_EMPTY)<<2) | ((data.lnRawOrder[1]!=LINE_EMPTY)<<1) | ((data.lnRawOrder[2]!=LINE_EMPTY)<<0); |
lilac0112_1 | 27:825c6835e3db | 582 | //LED = ((data.lnOrder[0]!=LINE_EMPTY)<<2) | ((data.lnOrder[1]!=LINE_EMPTY)<<1) | ((data.lnOrder[2]!=LINE_EMPTY)<<0); |
lilac0112_1 | 19:967207de919d | 583 | |
lilac0112_1 | 25:a7460e23e02e | 584 | //LED = sys.BallHoldFlag*15; |
lilac0112_1 | 33:aa115c30892e | 585 | if(sys.BallHoldFlag==0) LED=15; |
lilac0112_1 | 32:367b16d69a32 | 586 | else LED=10; |
lilac0112_1 | 34:1c86c1299ea4 | 587 | /* |
lilac0112_1 | 34:1c86c1299ea4 | 588 | if((abs(data.ping[L_PING]-data.ping[R_PING])>10)&&((data.ping[L_PING]+data.ping[R_PING])>80)){ |
lilac0112_1 | 34:1c86c1299ea4 | 589 | if(data.ping[L_PING]>data.ping[R_PING]){ |
lilac0112_1 | 34:1c86c1299ea4 | 590 | LED=9; |
lilac0112_1 | 34:1c86c1299ea4 | 591 | } |
lilac0112_1 | 34:1c86c1299ea4 | 592 | else{ |
lilac0112_1 | 34:1c86c1299ea4 | 593 | LED=6; |
lilac0112_1 | 34:1c86c1299ea4 | 594 | } |
lilac0112_1 | 34:1c86c1299ea4 | 595 | } |
lilac0112_1 | 34:1c86c1299ea4 | 596 | else{ |
lilac0112_1 | 34:1c86c1299ea4 | 597 | LED=15; |
lilac0112_1 | 34:1c86c1299ea4 | 598 | }*/ |
lilac0112_1 | 19:967207de919d | 599 | |
lilac0112_1 | 33:aa115c30892e | 600 | //if(data.ball==1) LED=15; |
lilac0112_1 | 33:aa115c30892e | 601 | //else LED=10; |
lilac0112_1 | 33:aa115c30892e | 602 | |
lilac0112_1 | 32:367b16d69a32 | 603 | //if(data.lnRepeat>=1) LED=15; |
lilac0112_1 | 32:367b16d69a32 | 604 | //else LED=10; |
lilac0112_1 | 30:5998ba42237e | 605 | |
lilac0112_1 | 21:378470320524 | 606 | //LED = 0xFF*(data.ping[B_PING]<30); |
lilac0112_1 | 14:b510adcb6065 | 607 | |
lilac0112_1 | 16:4fadb7a87497 | 608 | //LED = ((data.lnOrder[0]!=LINE_EMPTY)<<2) | ((data.lnOrder[1]!=LINE_EMPTY)<<1) | ((data.lnOrder[2]!=LINE_EMPTY)<<0); |
lilac0112_1 | 14:b510adcb6065 | 609 | |
lilac0112_1 | 14:b510adcb6065 | 610 | //else LED = 0xA; |
lilac0112_1 | 14:b510adcb6065 | 611 | //LED = LineHold; |
lilac0112_1 | 14:b510adcb6065 | 612 | |
lilac0112_1 | 24:34ef6379b0df | 613 | |
lilac0112_1 | 24:34ef6379b0df | 614 | ////最終的なモーターの出力を演算 |
lilac0112_1 | 32:367b16d69a32 | 615 | vx = (ir_pow_x*ir_x)*data.lnStop[X_LINE]*(data.lnStay[X_LINE])*LineSlowPower[X_LINE]*(sys.TurnStopFlag==0) + LineReturnPower[X_LINE]; |
lilac0112_1 | 32:367b16d69a32 | 616 | vy = (ir_pow_y*ir_y)*data.lnStop[Y_LINE]*(data.lnStay[Y_LINE])*LineSlowPower[Y_LINE]*(sys.TurnStopFlag==0) + LineReturnPower[Y_LINE]; |
lilac0112_1 | 10:6df631c39f9b | 617 | vs = cmps_set.OutputPID; |
lilac0112_1 | 10:6df631c39f9b | 618 | move( |
lilac0112_1 | 10:6df631c39f9b | 619 | vx, |
lilac0112_1 | 10:6df631c39f9b | 620 | vy, |
lilac0112_1 | 10:6df631c39f9b | 621 | vs |
lilac0112_1 | 10:6df631c39f9b | 622 | ); |
lilac0112_1 | 24:34ef6379b0df | 623 | //モーターに信号を出力 |
lilac0112_1 | 10:6df631c39f9b | 624 | if(sys.MotorFlag==1){tx_motor();sys.MotorFlag=0;} |
lilac0112_1 | 24:34ef6379b0df | 625 | |
lilac0112_1 | 0:ea35c18c85fc | 626 | if(sys.stopflag==1){ |
lilac0112_1 | 24:34ef6379b0df | 627 | //コマンドモードに戻る際の処理 |
lilac0112_1 | 0:ea35c18c85fc | 628 | } |
lilac0112_1 | 0:ea35c18c85fc | 629 | return; |
lilac0112_1 | 0:ea35c18c85fc | 630 | } |
lilac0112_1 | 30:5998ba42237e | 631 | |
lilac0112_1 | 0:ea35c18c85fc | 632 | void modeAttack5(void){ |
lilac0112_1 | 30:5998ba42237e | 633 | ////初期値を決める等 |
lilac0112_1 | 30:5998ba42237e | 634 | if(sys.KickOffFlag==1){ |
lilac0112_1 | 30:5998ba42237e | 635 | ///Blindシリーズ.1を代入であらゆるセンサーなどの値を反映させないようにする. |
lilac0112_1 | 30:5998ba42237e | 636 | sys.IrBlind=0; |
lilac0112_1 | 30:5998ba42237e | 637 | sys.LineBlind=0; |
lilac0112_1 | 30:5998ba42237e | 638 | sys.PingBlind=0; |
lilac0112_1 | 30:5998ba42237e | 639 | |
lilac0112_1 | 30:5998ba42237e | 640 | sys.HomeBlind=1; |
lilac0112_1 | 35:eb1854273e55 | 641 | sys.DriBlind=0; |
lilac0112_1 | 35:eb1854273e55 | 642 | sys.DriMotorBlind=0; |
lilac0112_1 | 35:eb1854273e55 | 643 | sys.TurnAtkBlind=1; |
lilac0112_1 | 35:eb1854273e55 | 644 | sys.TurnDriBlind=1; |
lilac0112_1 | 35:eb1854273e55 | 645 | sys.TurnHoldBlind=1; |
lilac0112_1 | 35:eb1854273e55 | 646 | sys.KickBlind=0; |
lilac0112_1 | 30:5998ba42237e | 647 | //defence |
lilac0112_1 | 35:eb1854273e55 | 648 | sys.DefenceFlag=0; |
lilac0112_1 | 30:5998ba42237e | 649 | //初期値設定の終了 |
lilac0112_1 | 30:5998ba42237e | 650 | //sys.KickOffFlag=0; |
lilac0112_1 | 0:ea35c18c85fc | 651 | } |
lilac0112_1 | 30:5998ba42237e | 652 | modeAttack4(); |
lilac0112_1 | 0:ea35c18c85fc | 653 | } |