Diff: main_processing/setup_command_active/setup.cpp

Revision:

0:ea35c18c85fc

Child:

2:635947de1583

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main_processing/setup_command_active/setup.cpp	Sat Feb 27 09:14:37 2016 +0000
@@ -0,0 +1,104 @@
+#include "mbed.h"
+#include "extern.h"
+
+
+void SetUp(void){//電源を入れた時の処理
+    //int i=1;
+    //solenoid
+    kicker=0;
+    //sw&lcd
+    Sw[0].mode(PullUp);
+    Sw[1].mode(PullUp);
+    Sw[2].mode(PullUp);
+    Sw[3].mode(PullUp);
+    Sw_ticker.attach(Sw_sample, 0.050);
+    
+    Lcd.cls();
+    Lcd.print(lcdstr[0][0]);
+    
+    //ball
+    BallChecker.mode(PullUp);
+    
+    //value
+    sys.strategy = 0;
+    sys.s_pow=30;
+    sys.l_pow=30;
+    
+    //spi
+    spi.format(16, 3);
+    spi.frequency(1000000);
+    spi_ss[0]=spi_ss[1]=spi_ss[2]=spi_ss[3]=1;
+    
+    //motor
+    motor.baud(115200);                             //ボーレート設定
+    motor.printf("1F0002F0003F0004F000\r\n");       //モータ停止
+    //motor.attach(&tx_motor,Serial::TxIrq);          //送信空き割り込み（モータ用）
+    //compass
+    hmc_reset=0;
+    for(int i=0; i<5; i++){
+        ReadCmps();
+        cmps_set.CmpsInitialValue = cmps_set.cmps;
+        wait_ms(10);
+    }
+    cmps_set.CmpsDiff = REFERENCE - cmps_set.cmps;
+    cmps_set.FrontDeg=0;
+    
+    pid.setInputLimits(MINIMUM,MAXIMUM);            //pid sed def
+    pid.setOutputLimits(-OUT_LIMIT, OUT_LIMIT);     //pid sed def
+    pid.setBias(PID_BIAS);                          //pid sed def
+    pid.setMode(AUTO_MODE);                         //pid sed def
+    pid.setSetPoint(REFERENCE);                     //pid sed def
+    //pidupdate.attach(&PidUpdate, PID_CYCLE);
+}
+void SetUp2(void){//スタートした時の処理
+    
+     __enable_irq(); // 許可
+    
+    sys.KickOffFlag=1;
+    sys.KickFlag=0;
+    //solenoid
+    kicker=0;
+    //compass
+    hmc_reset=0;
+    for(int i=0; i<5; i++){
+        ReadCmps();
+        cmps_set.CmpsInitialValue = cmps_set.cmps;
+        wait_ms(10);
+    }
+    cmps_set.CmpsDiff = REFERENCE - cmps_set.cmps;
+    cmps_set.FrontDeg=0;
+    
+    //Line_ticker.attach(&ReadLine, 0.005);
+    Line[A_SPOT].rise(&LineCall_A);
+    Line[B_SPOT].rise(&LineCall_B);
+    Line[C_SPOT].rise(&LineCall_C);
+    Solenoid_ticker.attach(&AvailableSolenoid, 6.0);
+    Ir_ticker.attach(&ValidIr, 0.050);
+    Ping_ticker.attach(&ValidPing, 0.050);
+    //Hmc_ticker.attach(&HmcReset, 1.0);
+    //motor.attach(&tx_motor,Serial::TxIrq);          //送信空き割り込み（モータ用）
+    Motor_ticker.attach(&ValidTx_motor, 0.020);
+    pidupdate.attach(&ValidPidUpdate, PID_CYCLE);
+}
+void StopProcess(void){//コマンドに戻るときの処理
+    pidupdate.detach();
+    Motor_ticker.detach();
+    ////Line_ticker.detach();
+    Solenoid_ticker.detach();
+    Ir_ticker.detach();
+    Ping_ticker.detach();
+    ////Hmc_ticker.detach();
+    motor.printf("1F0002F0003F0004F000\r\n");       //モータ停止
+    move(0,0,0);
+    cmps_set.OutputPID=0;
+    cmps_set.InputPID=REFERENCE;
+    //solenoid
+    kicker=1;
+    wait(0.25);
+    kicker=0;
+    
+    __disable_irq(); // 禁止
+    __enable_irq(); // 許可
+    Sw_ticker.attach(Sw_sample, 0.050);
+    
+}