CatPot 2015-2016 / Mbed 2 deprecated CatPot_2v10_T_Main

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_parts/input.cpp@19:967207de919d, 2016-03-16 (annotated)

Committer:
lilac0112_1
Date:
Wed Mar 16 02:58:31 2016 +0000
Revision:
19:967207de919d
Parent:
16:4fadb7a87497
Child:
20:d69ce8f47f1d
TICK DecLine

Who changed what in which revision?

UserRevisionLine numberNew 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 //line
lilac0112_1 0:ea35c18c85fc 5 void ReadLine(void){
lilac0112_1 0:ea35c18c85fc 6 static uint8_t line_buf[3]={0,0,0};
lilac0112_1 0:ea35c18c85fc 7 wait_us(100);
lilac0112_1 0:ea35c18c85fc 8 if(Line[0].read()==1) line_buf[0] = 100;
lilac0112_1 2:635947de1583 9 if(line_buf[0]==0) data.lnFlag[0]=0;
lilac0112_1 2:635947de1583 10 else data.lnFlag[0]=1;
lilac0112_1 0:ea35c18c85fc 11 if(line_buf[0]>0) line_buf[0]--;
lilac0112_1 0:ea35c18c85fc 12
lilac0112_1 0:ea35c18c85fc 13 if(Line[1].read()==1) line_buf[1] = 100;
lilac0112_1 2:635947de1583 14 if(line_buf[1]==0) data.lnFlag[1]=0;
lilac0112_1 2:635947de1583 15 else data.lnFlag[1]=1;
lilac0112_1 0:ea35c18c85fc 16 if(line_buf[1]>0) line_buf[1]--;
lilac0112_1 0:ea35c18c85fc 17
lilac0112_1 0:ea35c18c85fc 18 if(Line[2].read()==1) line_buf[2] = 100;
lilac0112_1 2:635947de1583 19 if(line_buf[2]==0) data.lnFlag[2]=0;
lilac0112_1 2:635947de1583 20 else data.lnFlag[2]=1;
lilac0112_1 0:ea35c18c85fc 21 if(line_buf[2]>0) line_buf[2]--;
lilac0112_1 0:ea35c18c85fc 22 }
lilac0112_1 16:4fadb7a87497 23 //line_hold
lilac0112_1 16:4fadb7a87497 24 void LineRanking_A(void){
lilac0112_1 16:4fadb7a87497 25 if(data.lnOrder[0]==LINE_EMPTY){
lilac0112_1 16:4fadb7a87497 26 data.lnOrder[0]=A_SPOT;
lilac0112_1 16:4fadb7a87497 27 }
lilac0112_1 16:4fadb7a87497 28 else if(data.lnOrder[1]==LINE_EMPTY){
lilac0112_1 16:4fadb7a87497 29 data.lnOrder[1]=A_SPOT;
lilac0112_1 16:4fadb7a87497 30 }
lilac0112_1 16:4fadb7a87497 31 else if(data.lnOrder[2]==LINE_EMPTY){
lilac0112_1 16:4fadb7a87497 32 data.lnOrder[2]=A_SPOT;
lilac0112_1 16:4fadb7a87497 33 }
lilac0112_1 16:4fadb7a87497 34 }
lilac0112_1 16:4fadb7a87497 35 void LineRanking_B(void){
lilac0112_1 16:4fadb7a87497 36 if(data.lnOrder[0]==LINE_EMPTY){
lilac0112_1 16:4fadb7a87497 37 data.lnOrder[0]=B_SPOT;
lilac0112_1 16:4fadb7a87497 38 }
lilac0112_1 16:4fadb7a87497 39 else if(data.lnOrder[1]==LINE_EMPTY){
lilac0112_1 16:4fadb7a87497 40 data.lnOrder[1]=B_SPOT;
lilac0112_1 16:4fadb7a87497 41 }
lilac0112_1 16:4fadb7a87497 42 else if(data.lnOrder[2]==LINE_EMPTY){
lilac0112_1 16:4fadb7a87497 43 data.lnOrder[2]=B_SPOT;
lilac0112_1 16:4fadb7a87497 44 }
lilac0112_1 16:4fadb7a87497 45 }
lilac0112_1 16:4fadb7a87497 46 void LineRanking_C(void){
lilac0112_1 16:4fadb7a87497 47 if(data.lnOrder[0]==LINE_EMPTY){
lilac0112_1 16:4fadb7a87497 48 data.lnOrder[0]=C_SPOT;
lilac0112_1 16:4fadb7a87497 49 }
lilac0112_1 16:4fadb7a87497 50 else if(data.lnOrder[1]==LINE_EMPTY){
lilac0112_1 16:4fadb7a87497 51 data.lnOrder[1]=C_SPOT;
lilac0112_1 16:4fadb7a87497 52 }
lilac0112_1 16:4fadb7a87497 53 else if(data.lnOrder[2]==LINE_EMPTY){
lilac0112_1 16:4fadb7a87497 54 data.lnOrder[2]=C_SPOT;
lilac0112_1 16:4fadb7a87497 55 }
lilac0112_1 16:4fadb7a87497 56 }
lilac0112_1 16:4fadb7a87497 57 void LineRankClear(void){
lilac0112_1 16:4fadb7a87497 58 data.lnOrder[0]=LINE_EMPTY;
lilac0112_1 16:4fadb7a87497 59 data.lnOrder[1]=LINE_EMPTY;
lilac0112_1 16:4fadb7a87497 60 data.lnOrder[2]=LINE_EMPTY;
lilac0112_1 16:4fadb7a87497 61
lilac0112_1 16:4fadb7a87497 62 if((LineHold==1)||(LineHold==2)||(LineHold==4)){
lilac0112_1 16:4fadb7a87497 63 if(LineHolding[A_SPOT].read()==1){
lilac0112_1 16:4fadb7a87497 64 data.lnOrder[0] = A_SPOT;
lilac0112_1 16:4fadb7a87497 65 }
lilac0112_1 16:4fadb7a87497 66 else if(LineHolding[B_SPOT].read()==1){
lilac0112_1 16:4fadb7a87497 67 data.lnOrder[0] = B_SPOT;
lilac0112_1 16:4fadb7a87497 68 }
lilac0112_1 16:4fadb7a87497 69 else if(LineHolding[C_SPOT].read()==1){
lilac0112_1 16:4fadb7a87497 70 data.lnOrder[0] = C_SPOT;
lilac0112_1 16:4fadb7a87497 71 }
lilac0112_1 16:4fadb7a87497 72 }
lilac0112_1 16:4fadb7a87497 73 }
lilac0112_1 0:ea35c18c85fc 74 //ball
lilac0112_1 0:ea35c18c85fc 75 uint8_t ReadBall(void){//1or0
lilac0112_1 2:635947de1583 76 data.ball = !BallChecker;
lilac0112_1 2:635947de1583 77 return (data.ball>0);
lilac0112_1 0:ea35c18c85fc 78 }
lilac0112_1 0:ea35c18c85fc 79 void ReadGyro(void){
lilac0112_1 0:ea35c18c85fc 80 //Data can be got by interrupt.
lilac0112_1 0:ea35c18c85fc 81 }
lilac0112_1 0:ea35c18c85fc 82 void ReadCmps(void){
lilac0112_1 0:ea35c18c85fc 83 cmps_set.cmps = hmc.sample()/10.0;
lilac0112_1 0:ea35c18c85fc 84 }
lilac0112_1 10:6df631c39f9b 85 void ValidPing(void){
lilac0112_1 10:6df631c39f9b 86 if(sys.UswFlag==0){
lilac0112_1 10:6df631c39f9b 87 sys.UswFlag=1;
lilac0112_1 10:6df631c39f9b 88 }
lilac0112_1 10:6df631c39f9b 89 }
lilac0112_1 10:6df631c39f9b 90 void ValidPing2(void){
lilac0112_1 10:6df631c39f9b 91 if(sys.UswFlag2==0){
lilac0112_1 10:6df631c39f9b 92 sys.UswFlag2=1;
lilac0112_1 10:6df631c39f9b 93 }
lilac0112_1 10:6df631c39f9b 94 }
lilac0112_1 0:ea35c18c85fc 95 void ReadPing(void){
lilac0112_1 0:ea35c18c85fc 96 uint16_t spi_data;
lilac0112_1 0:ea35c18c85fc 97 //Ultra Sonic Wave
lilac0112_1 0:ea35c18c85fc 98 spi_ss[1]=0;
lilac0112_1 0:ea35c18c85fc 99 wait_us(200);
lilac0112_1 0:ea35c18c85fc 100
lilac0112_1 0:ea35c18c85fc 101 spi_data = spi.write(0xABCD);
lilac0112_1 0:ea35c18c85fc 102
lilac0112_1 0:ea35c18c85fc 103 wait_us(200);
lilac0112_1 0:ea35c18c85fc 104 spi_ss[1]=1;
lilac0112_1 0:ea35c18c85fc 105
lilac0112_1 2:635947de1583 106 data.ping[0] = (spi_data&0x00FF)>>0;
lilac0112_1 2:635947de1583 107 data.ping[1] = (spi_data&0xFF00)>>8;
lilac0112_1 0:ea35c18c85fc 108 }
lilac0112_1 10:6df631c39f9b 109 void ReadPing2(void){
lilac0112_1 0:ea35c18c85fc 110 uint16_t spi_data;
lilac0112_1 0:ea35c18c85fc 111 //Ultra Sonic Wave
lilac0112_1 0:ea35c18c85fc 112 spi_ss[0]=0;
lilac0112_1 0:ea35c18c85fc 113 wait_us(200);
lilac0112_1 0:ea35c18c85fc 114
lilac0112_1 0:ea35c18c85fc 115 spi_data = spi.write(0xABCD);
lilac0112_1 0:ea35c18c85fc 116
lilac0112_1 0:ea35c18c85fc 117 wait_us(200);
lilac0112_1 0:ea35c18c85fc 118 spi_ss[0]=1;
lilac0112_1 0:ea35c18c85fc 119
lilac0112_1 2:635947de1583 120 data.ping[2] = (spi_data&0x00FF)>>0;
lilac0112_1 2:635947de1583 121 data.ping[3] = (spi_data&0xFF00)>>8;
lilac0112_1 0:ea35c18c85fc 122 }
lilac0112_1 0:ea35c18c85fc 123 void ValidIr(void){
lilac0112_1 0:ea35c18c85fc 124 if(sys.IrFlag==0){
lilac0112_1 0:ea35c18c85fc 125 sys.IrFlag=1;
lilac0112_1 0:ea35c18c85fc 126 }
lilac0112_1 0:ea35c18c85fc 127 }
lilac0112_1 0:ea35c18c85fc 128 void ReadIr(void){
lilac0112_1 0:ea35c18c85fc 129 uint16_t spi_data;
lilac0112_1 0:ea35c18c85fc 130
lilac0112_1 0:ea35c18c85fc 131 //Ir
lilac0112_1 0:ea35c18c85fc 132 spi_ss[3]=0;
lilac0112_1 0:ea35c18c85fc 133 wait_us(200);
lilac0112_1 0:ea35c18c85fc 134
lilac0112_1 0:ea35c18c85fc 135 spi_data = spi.write(0xABCD);
lilac0112_1 0:ea35c18c85fc 136
lilac0112_1 0:ea35c18c85fc 137 wait_us(200);
lilac0112_1 0:ea35c18c85fc 138 spi_ss[3]=1;
lilac0112_1 2:635947de1583 139 /*
lilac0112_1 1:3e013ae7900d 140 //key/phaseL/phaseS/long/short/
lilac0112_1 1:3e013ae7900d 141 // 2/ 3/ 3/ 4/ 4/
lilac0112_1 2:635947de1583 142 data.irKey = (spi_data&0xC000)>>14;//1100000000000000
lilac0112_1 2:635947de1583 143 data.irValPhase[IR_LONG] = (spi_data&0x3800)>>11;//0011100000000000
lilac0112_1 2:635947de1583 144 data.irValPhase[IR_SHORT] = (spi_data&0x0700)>>8;///0000011100000000
lilac0112_1 2:635947de1583 145 data.irSpot[IR_LONG] = (spi_data&0x00F0)>>4;///0000000011110000
lilac0112_1 2:635947de1583 146 data.irSpot[IR_SHORT] = (spi_data&0x000F)>>0;///0000000000001111
lilac0112_1 2:635947de1583 147 */
lilac0112_1 0:ea35c18c85fc 148
lilac0112_1 2:635947de1583 149 //key/phaseL/phaseS/diffL/position/
lilac0112_1 2:635947de1583 150 // 2/ 3/ 3/ 3/ 5/
lilac0112_1 2:635947de1583 151 data.irKey = (spi_data&0xC000)>>14;//1100000000000000
lilac0112_1 2:635947de1583 152 data.irValPhase[IR_LONG] = (spi_data&0x3800)>>11;//0011100000000000
lilac0112_1 2:635947de1583 153 data.irValPhase[IR_SHORT] = (spi_data&0x0700)>>8;///0000011100000000
lilac0112_1 2:635947de1583 154 data.irDif[IR_LONG] = (spi_data&0x00E0)>>5;///0000000011100000
lilac0112_1 2:635947de1583 155 data.irPosition = (spi_data&0x001F)>>0;///0000000000011111
lilac0112_1 1:3e013ae7900d 156
lilac0112_1 2:635947de1583 157 if(data.irKey!=0x2) data.irNotice=IR_NONE;
lilac0112_1 2:635947de1583 158
lilac0112_1 2:635947de1583 159
lilac0112_1 2:635947de1583 160 if(data.irValPhase[IR_SHORT]>=DIS_7){
lilac0112_1 10:6df631c39f9b 161 if(data.irValPhase[IR_LONG]>=DIS_5){
lilac0112_1 2:635947de1583 162 data.irNotice=IR_NONE;
lilac0112_1 1:3e013ae7900d 163 }
lilac0112_1 1:3e013ae7900d 164 else{
lilac0112_1 2:635947de1583 165 if(data.irDif[IR_LONG]<=DIS_6){
lilac0112_1 2:635947de1583 166 data.irNotice=IR_NONE;
lilac0112_1 1:3e013ae7900d 167 }
lilac0112_1 1:3e013ae7900d 168 else{
lilac0112_1 2:635947de1583 169 data.irNotice=IR_FAR;
lilac0112_1 1:3e013ae7900d 170 }
lilac0112_1 1:3e013ae7900d 171 }
lilac0112_1 1:3e013ae7900d 172 }
lilac0112_1 2:635947de1583 173 else{
lilac0112_1 2:635947de1583 174 if(data.irValPhase[IR_SHORT]>=DIS_3){
lilac0112_1 2:635947de1583 175 data.irNotice = IR_CLOSE;
lilac0112_1 2:635947de1583 176 }
lilac0112_1 2:635947de1583 177 else{
lilac0112_1 2:635947de1583 178 data.irNotice = IR_CLOSER;
lilac0112_1 2:635947de1583 179 }
lilac0112_1 2:635947de1583 180 }
lilac0112_1 1:3e013ae7900d 181
lilac0112_1 2:635947de1583 182 /*if(data.irValPhase[IR_LONG]>=DIS_7){
lilac0112_1 2:635947de1583 183 data.irNotice=IR_NONE;
lilac0112_1 2:635947de1583 184 }
lilac0112_1 2:635947de1583 185 else{
lilac0112_1 2:635947de1583 186 if(data.irValPhase[IR_SHORT]>=DIS_7){
lilac0112_1 2:635947de1583 187 data.irNotice=IR_FAR;
lilac0112_1 2:635947de1583 188 }
lilac0112_1 2:635947de1583 189 else{
lilac0112_1 2:635947de1583 190 if(data.irValPhase[IR_LONG]>=DIS_4){
lilac0112_1 2:635947de1583 191 data.irNotice = IR_CLOSE;
lilac0112_1 2:635947de1583 192 }
lilac0112_1 2:635947de1583 193 else{
lilac0112_1 2:635947de1583 194 data.irNotice = IR_CLOSER;
lilac0112_1 2:635947de1583 195 }
lilac0112_1 2:635947de1583 196 }
lilac0112_1 2:635947de1583 197 }*/
lilac0112_1 2:635947de1583 198 /*
lilac0112_1 2:635947de1583 199 if(data.irNotice == IR_NONE) data.irPosition=11;
lilac0112_1 2:635947de1583 200 if(data.irNotice == IR_FAR) data.irPosition=data.irSpot[IR_LONG]-1;
lilac0112_1 2:635947de1583 201 if(data.irNotice == IR_CLOSE) data.irPosition=data.irSpot[IR_SHORT]+7;
lilac0112_1 2:635947de1583 202 if(data.irNotice == IR_CLOSER) data.irPosition=data.irSpot[IR_SHORT]+7;
lilac0112_1 2:635947de1583 203 */
lilac0112_1 5:5ff3a7d5d8c2 204 //LED[1] = LED[0];
lilac0112_1 5:5ff3a7d5d8c2 205 //LED[0] = !LED[0];
lilac0112_1 0:ea35c18c85fc 206 }
lilac0112_1 19:967207de919d 207 //info
lilac0112_1 19:967207de919d 208 void ValidInfo(void){
lilac0112_1 19:967207de919d 209 if(sys.InfoFlag==0){
lilac0112_1 19:967207de919d 210 sys.InfoFlag=1;
lilac0112_1 19:967207de919d 211 }
lilac0112_1 19:967207de919d 212 }
lilac0112_1 0:ea35c18c85fc 213 void ReadInfo(void){
lilac0112_1 19:967207de919d 214 ReadIr();
lilac0112_1 19:967207de919d 215 PidUpdate();
lilac0112_1 19:967207de919d 216 ReadPing();
lilac0112_1 19:967207de919d 217 ReadPing2();
lilac0112_1 0:ea35c18c85fc 218 }