CatPot 2015-2016
ジャパンオープン用のLPC824専用プログラム
Dependencies: mbed-src Ping SDFileSystem
Diff: main/format.cpp
- Revision:
- 1:ea7307724f1c
- Parent:
- 0:6c79a352010b
- Child:
- 2:83b8bf9f0ea1
--- a/main/format.cpp Sat Feb 27 06:35:13 2016 +0000
+++ b/main/format.cpp Sun Feb 28 06:38:03 2016 +0000
@@ -1,78 +1,6 @@
#include "mbed.h"
#include "extern.h"
-#ifdef SD_CARD
-void Sd_System(void){
-
- char buf[BUFSIZE];
- uint16_t FileData[FDATA_NUM]={0}, num, data;
- uint8_t spi_num, h_byte, l_byte, val, packet;
- int i;
- FILE *fp;
- char *fname="/sd/mydir/sdtest.txt";
- char *dname="/sd/mydir";
-
- mkdir(dname, 0777);
-
- pc.printf("Hello World!\n");
-
- fp = fopen(fname, "r");
- if(fp == NULL) {
- error("Could not open file for read\n");
- }
- while(fgets(buf, sizeof(buf), fp) != NULL){
- if(buf[0] == '#') continue;
-
- num = atol(strtok(buf, ","));
- data = atol(strtok(NULL, "\r\n\0"));
-
- if(num<FDATA_NUM){
- FileData[num] = data;
- pc.printf("%d, %ld\n", num, FileData[num]);
- }
- else{
- continue;
- }
- }
- fclose(fp);
-
- while(1){
-
- val = nucleo.receive();
- if(!val) continue;
-
- spi_num = nucleo.read();
- h_byte = nucleo.read();
- l_byte = nucleo.read();
-
- if((spi_num&0x80)>>7 == 1){//writing to sd
- spi_num = spi_num & 0x7F;
- if(spi_num<FDATA_NUM){
- FileData[spi_num] = (h_byte<<8) | l_byte;
- //pc.printf("%d, %ld\n", num, FileData[num]);
- fp = fopen(fname, "w");
- for(i=0; i<FDATA_NUM; i++) fprintf(fp, "%d, %ld\n", i, FileData[i]);
- fclose(fp);
- }
- }
- else{//reading from sd
- spi_num = spi_num & 0x7F;
- if(spi_num<FDATA_NUM){
- h_byte = (FileData[spi_num] & 0xFF00)>>8;
- l_byte = (FileData[spi_num] & 0x00FF);
-
- packet = h_byte;
- nucleo.reply(packet);
-
- packet = l_byte;
- nucleo.reply(packet);
- }
- }
- //pc.printf("Goodbye World!\n");
- }
-}
-#endif /*SD_CARD*/
-
#if defined(ULTRA_SONIC) || defined(ULTRA_SONIC_2)
uint16_t packet, val, order;
@@ -128,39 +56,18 @@
//emergency();
}
}
-
#endif /*(ULTRA_SONIC) || (ULTRA_SONIC_2)*/
-#ifdef COLOR_SENSOR
-void Color_System(void){
- uint8_t val, order, packet;
- uint16_t data;
-
- while(1){
- while(1){
- val = nucleo.receive();
- if(val){
- order = nucleo.read();
- order %= SENSOR_X_COLOR;
- data = ColorSensor[order].read_u16();
- packet = (data & 0xFF00)>>8;
- nucleo.reply(packet);
- }
- else{
- break;
- }
- }
- }
-}
-#endif /*COLOR_SENSOR*/
#ifdef IR_SENSOR
uint8_t ir_notice=0;//4bit
+uint8_t ir_val_phase[2];
static uint8_t const ir_key=IR_KEY;//4bit
uint8_t ir_position[2]={0};//4bit*2
void emergency(void){
+
uint16_t order,packet,val;
//ir_key=0xA;
//ir_notice=0xC;
@@ -170,8 +77,17 @@
if(val==1){
order = nucleo.read();
if(order == 0xABCD){
- //key/notice/long/short
- packet = ((ir_key<<12)|(ir_notice<<8)|(ir_position[LONG_SPOT]<<4)|(ir_position[SHORT_SPOT]<<0))&0xFFFF;nucleo.reply(packet);
+ //key/phaseL/phaseS/long/short/
+ // 2/ 3/ 3/ 4/ 4/
+ packet = (
+ ((0xC000)&(ir_key<<14)) |//1100000000000000
+ ((0x3800)&(ir_val_phase[IR_LONG]<<11)) |//0011100000000000
+ ((0x0700)&(ir_val_phase[IR_SHORT]<<8)) |//0000011100000000
+ ((0x00F0)&(ir_position[IR_LONG]<<4)) |//0000000011110000
+ ((0x000F)&(ir_position[IR_SHORT]<<0)) //0000000000001111
+ )&0xFFFF;
+
+ nucleo.reply(packet);
}
else{
packet = 0xFFFF;nucleo.reply(packet);
@@ -200,6 +116,11 @@
uint8_t ir_posi_short[12];
static uint8_t const ch_num[3]={8, 8, 4};
+ static uint16_t const ir_dis_range[2][8]={
+ {3900, 3000, 2750, 2500, 2250, 2000, 1500, 0, },//IR_SHORT 0
+ {2000, 1750, 1500, 1250, 1000, 750, 500, 0, },//IR_LONG 1
+ }
+
nucleo.format(16, 3);
nucleo.frequency(1000000);
nucleo.reply(0x0000);
@@ -246,8 +167,8 @@
//検出した最大値と最小値の差
ir_val_diff = ir_val_short[0]-ir_val_short[11];//After bubble
//最もボールがあるとされる位置を代入
- ir_position[SHORT_SPOT] = ir_posi_short[11];//After bubble
- ir_position[LONG_SPOT] = ir_posi_long[7];//After bubble
+ ir_position[IR_SHORT] = ir_posi_short[11];//After bubble
+ ir_position[IR_LONG] = ir_posi_long[7];//After bubble
/*
#define IR_NOTE_NONE 0x0
@@ -255,7 +176,67 @@
#define IR_NOTE_CLOSE 0x2
#define IR_NOTE_CLOSER 0x3
*/
- //ボールが遠くにあるか，近くか，フィールドにないかを判断
+ //ボールが遠くにあるか，近くか，フィールドにないかを判断（8段階）
+
+
+ //short
+ ir_val_phase[IR_SHORT] = DIS_7;
+
+ if(ir_val_short[11]>=ir_dis_range[IR_SHORT][DIS_7]){
+ ir_val_phase[IR_SHORT] = DIS_7;
+ }
+ else if(ir_val_short[11]>=ir_dis_range[IR_SHORT][DIS_6]){
+ ir_val_phase[IR_SHORT] = DIS_6;
+ }
+ else if(ir_val_short[11]>=ir_dis_range[IR_SHORT][DIS_5]){
+ ir_val_phase[IR_SHORT] = DIS_5;
+ }
+ else if(ir_val_short[11]>=ir_dis_range[IR_SHORT][DIS_4]){
+ ir_val_phase[IR_SHORT] = DIS_4;
+ }
+ else if(ir_val_short[11]>=ir_dis_range[IR_SHORT][DIS_3]){
+ ir_val_phase[IR_SHORT] = DIS_3;
+ }
+ else if(ir_val_short[11]>=ir_dis_range[IR_SHORT][DIS_2]){
+ ir_val_phase[IR_SHORT] = DIS_2;
+ }
+ else if(ir_val_short[11]>=ir_dis_range[IR_SHORT][DIS_1]){
+ ir_val_phase[IR_SHORT] = DIS_1;
+ }
+ else{//ir_val_short[11]>=0
+ ir_val_phase[IR_SHORT] = DIS_0;
+ }
+
+ //long
+ ir_val_phase[IR_LONG] = DIS_7;
+
+ if(ir_val_long[7]>=ir_dis_range[IR_LONG][DIS_7]){
+ ir_val_phase[IR_LONG] = DIS_7;
+ }
+ else if(ir_val_long[7]>=ir_dis_range[IR_LONG][DIS_6]){
+ ir_val_phase[IR_LONG] = DIS_6;
+ }
+ else if(ir_val_long[7]>=ir_dis_range[IR_LONG][DIS_5]){
+ ir_val_phase[IR_LONG] = DIS_5;
+ }
+ else if(ir_val_long[7]>=ir_dis_range[IR_LONG][DIS_4]){
+ ir_val_phase[IR_LONG] = DIS_4;
+ }
+ else if(ir_val_long[7]>=ir_dis_range[IR_LONG][DIS_3]){
+ ir_val_phase[IR_LONG] = DIS_3;
+ }
+ else if(ir_val_long[7]>=ir_dis_range[IR_LONG][DIS_2]){
+ ir_val_phase[IR_LONG] = DIS_2;
+ }
+ else if(ir_val_long[7]>=ir_dis_range[IR_LONG][DIS_1]){
+ ir_val_phase[IR_LONG] = DIS_1;
+ }
+ else{//ir_val_long[7]>=0
+ ir_val_phase[IR_LONG] = DIS_0;
+ }
+
+
+ //old
ir_notice = IR_NOTE_NONE;//none
if((ir_val_short[11]>=3900)&&(1)){
@@ -357,7 +338,7 @@
};
return ir_location[ic][channel];
}
-void BubbleSort(uint16_t *data, uint8_t *data2, uint8_t n)//昇順にする
+void BubbleSort(uint16_t *data, uint8_t *data2, uint8_t n)//降順にする
{
bool flag;
uint8_t i, j;//inclement