Naoya Muramatsu
ロボカップのブロック大会2014で使用したプログラムです。 ロボットには、mbedを2台使ってI2C通信しています。 これはMaster側です。 ※独自規格を使用しています。
Dependencies: ACM1602NI Ping mbed-rtos mbed
Moter.h
- Committer:
- denden
- Date:
- 2014-03-10
- Revision:
- 0:27bf77b6ec71
File content as of revision 0:27bf77b6ec71:
// モータのPWM制御（１°刻み）
void M000(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3=-0.00000;}
void M001(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3=-0.03023;}
void M002(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3=-0.06048;}
void M003(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3=-0.09077;}
void M004(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3=-0.12112;}
void M005(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3=-0.15153;}
void M006(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3=-0.18205;}
void M007(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3=-0.21267;}
void M008(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3=-0.24342;}
void M009(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3=-0.27433;}
void M010(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3=-0.30541;}
void M011(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3=-0.33668;}
void M012(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3=-0.36816;}
void M013(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3=-0.39988;}
void M014(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3=-0.43185;}
void M015(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3=-0.46410;}
void M016(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3=-0.49666;}
void M017(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3=-0.52954;}
void M018(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3=-0.56278;}
void M019(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3=-0.59639;}
void M020(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3=-0.63041;}
void M021(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3=-0.66487;}
void M022(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3=-0.69979;}
void M023(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3=-0.73521;}
void M024(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3=-0.77116;}
void M025(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3=-0.80767;}
void M026(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3=-0.84478;}
void M027(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3=-0.88252;}
void M028(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3=-0.92095;}
void M029(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3=-0.96009;}
void M030(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3=-1.00000;}
void M031(void) {PWM1=-0.96009; PWM2= 1.00000; PWM3=-1.00000;}
void M032(void) {PWM1=-0.92095; PWM2= 1.00000; PWM3=-1.00000;}
void M033(void) {PWM1=-0.88252; PWM2= 1.00000; PWM3=-1.00000;}
void M034(void) {PWM1=-0.84478; PWM2= 1.00000; PWM3=-1.00000;}
void M035(void) {PWM1=-0.80767; PWM2= 1.00000; PWM3=-1.00000;}
void M036(void) {PWM1=-0.77116; PWM2= 1.00000; PWM3=-1.00000;}
void M037(void) {PWM1=-0.73521; PWM2= 1.00000; PWM3=-1.00000;}
void M038(void) {PWM1=-0.69979; PWM2= 1.00000; PWM3=-1.00000;}
void M039(void) {PWM1=-0.66487; PWM2= 1.00000; PWM3=-1.00000;}
void M040(void) {PWM1=-0.63041; PWM2= 1.00000; PWM3=-1.00000;}
void M041(void) {PWM1=-0.59639; PWM2= 1.00000; PWM3=-1.00000;}
void M042(void) {PWM1=-0.56278; PWM2= 1.00000; PWM3=-1.00000;}
void M043(void) {PWM1=-0.52954; PWM2= 1.00000; PWM3=-1.00000;}
void M044(void) {PWM1=-0.49666; PWM2= 1.00000; PWM3=-1.00000;}
void M045(void) {PWM1=-0.46410; PWM2= 1.00000; PWM3=-1.00000;}
void M046(void) {PWM1=-0.43185; PWM2= 1.00000; PWM3=-1.00000;}
void M047(void) {PWM1=-0.39988; PWM2= 1.00000; PWM3=-1.00000;}
void M048(void) {PWM1=-0.36816; PWM2= 1.00000; PWM3=-1.00000;}
void M049(void) {PWM1=-0.33668; PWM2= 1.00000; PWM3=-1.00000;}
void M050(void) {PWM1=-0.30541; PWM2= 1.00000; PWM3=-1.00000;}
void M051(void) {PWM1=-0.27433; PWM2= 1.00000; PWM3=-1.00000;}
void M052(void) {PWM1=-0.24342; PWM2= 1.00000; PWM3=-1.00000;}
void M053(void) {PWM1=-0.21267; PWM2= 1.00000; PWM3=-1.00000;}
void M054(void) {PWM1=-0.18205; PWM2= 1.00000; PWM3=-1.00000;}
void M055(void) {PWM1=-0.15153; PWM2= 1.00000; PWM3=-1.00000;}
void M056(void) {PWM1=-0.12112; PWM2= 1.00000; PWM3=-1.00000;}
void M057(void) {PWM1=-0.09077; PWM2= 1.00000; PWM3=-1.00000;}
void M058(void) {PWM1=-0.06048; PWM2= 1.00000; PWM3=-1.00000;}
void M059(void) {PWM1=-0.03023; PWM2= 1.00000; PWM3=-1.00000;}
void M060(void) {PWM1= 0.00000; PWM2= 1.00000; PWM3=-1.00000;}
void M061(void) {PWM1= 0.03023; PWM2= 1.00000; PWM3=-1.00000;}
void M062(void) {PWM1= 0.06048; PWM2= 1.00000; PWM3=-1.00000;}
void M063(void) {PWM1= 0.09077; PWM2= 1.00000; PWM3=-1.00000;}
void M064(void) {PWM1= 0.12112; PWM2= 1.00000; PWM3=-1.00000;}
void M065(void) {PWM1= 0.15153; PWM2= 1.00000; PWM3=-1.00000;}
void M066(void) {PWM1= 0.18205; PWM2= 1.00000; PWM3=-1.00000;}
void M067(void) {PWM1= 0.21267; PWM2= 1.00000; PWM3=-1.00000;}
void M068(void) {PWM1= 0.24342; PWM2= 1.00000; PWM3=-1.00000;}
void M069(void) {PWM1= 0.27433; PWM2= 1.00000; PWM3=-1.00000;}
void M070(void) {PWM1= 0.30541; PWM2= 1.00000; PWM3=-1.00000;}
void M071(void) {PWM1= 0.33668; PWM2= 1.00000; PWM3=-1.00000;}
void M072(void) {PWM1= 0.36816; PWM2= 1.00000; PWM3=-1.00000;}
void M073(void) {PWM1= 0.39988; PWM2= 1.00000; PWM3=-1.00000;}
void M074(void) {PWM1= 0.43185; PWM2= 1.00000; PWM3=-1.00000;}
void M075(void) {PWM1= 0.46410; PWM2= 1.00000; PWM3=-1.00000;}
void M076(void) {PWM1= 0.49666; PWM2= 1.00000; PWM3=-1.00000;}
void M077(void) {PWM1= 0.52954; PWM2= 1.00000; PWM3=-1.00000;}
void M078(void) {PWM1= 0.56278; PWM2= 1.00000; PWM3=-1.00000;}
void M079(void) {PWM1= 0.59639; PWM2= 1.00000; PWM3=-1.00000;}
void M080(void) {PWM1= 0.63041; PWM2= 1.00000; PWM3=-1.00000;}
void M081(void) {PWM1= 0.66487; PWM2= 1.00000; PWM3=-1.00000;}
void M082(void) {PWM1= 0.69979; PWM2= 1.00000; PWM3=-1.00000;}
void M083(void) {PWM1= 0.73521; PWM2= 1.00000; PWM3=-1.00000;}
void M084(void) {PWM1= 0.77116; PWM2= 1.00000; PWM3=-1.00000;}
void M085(void) {PWM1= 0.80767; PWM2= 1.00000; PWM3=-1.00000;}
void M086(void) {PWM1= 0.84478; PWM2= 1.00000; PWM3=-1.00000;}
void M087(void) {PWM1= 0.88252; PWM2= 1.00000; PWM3=-1.00000;}
void M088(void) {PWM1= 0.92095; PWM2= 1.00000; PWM3=-1.00000;}
void M089(void) {PWM1= 0.96009; PWM2= 1.00000; PWM3=-1.00000;}
void M090(void) {PWM1= 1.00000; PWM2= 1.00000; PWM3=-1.00000;}
void M091(void) {PWM1= 1.00000; PWM2= 0.96009; PWM3=-1.00000;}
void M092(void) {PWM1= 1.00000; PWM2= 0.92095; PWM3=-1.00000;}
void M093(void) {PWM1= 1.00000; PWM2= 0.88252; PWM3=-1.00000;}
void M094(void) {PWM1= 1.00000; PWM2= 0.84478; PWM3=-1.00000;}
void M095(void) {PWM1= 1.00000; PWM2= 0.80767; PWM3=-1.00000;}
void M096(void) {PWM1= 1.00000; PWM2= 0.77116; PWM3=-1.00000;}
void M097(void) {PWM1= 1.00000; PWM2= 0.73521; PWM3=-1.00000;}
void M098(void) {PWM1= 1.00000; PWM2= 0.69979; PWM3=-1.00000;}
void M099(void) {PWM1= 1.00000; PWM2= 0.66487; PWM3=-1.00000;}
void M100(void) {PWM1= 1.00000; PWM2= 0.63041; PWM3=-1.00000;}
void M101(void) {PWM1= 1.00000; PWM2= 0.59639; PWM3=-1.00000;}
void M102(void) {PWM1= 1.00000; PWM2= 0.56278; PWM3=-1.00000;}
void M103(void) {PWM1= 1.00000; PWM2= 0.52954; PWM3=-1.00000;}
void M104(void) {PWM1= 1.00000; PWM2= 0.49666; PWM3=-1.00000;}
void M105(void) {PWM1= 1.00000; PWM2= 0.46410; PWM3=-1.00000;}
void M106(void) {PWM1= 1.00000; PWM2= 0.43185; PWM3=-1.00000;}
void M107(void) {PWM1= 1.00000; PWM2= 0.39988; PWM3=-1.00000;}
void M108(void) {PWM1= 1.00000; PWM2= 0.36816; PWM3=-1.00000;}
void M109(void) {PWM1= 1.00000; PWM2= 0.33668; PWM3=-1.00000;}
void M110(void) {PWM1= 1.00000; PWM2= 0.30541; PWM3=-1.00000;}
void M111(void) {PWM1= 1.00000; PWM2= 0.27433; PWM3=-1.00000;}
void M112(void) {PWM1= 1.00000; PWM2= 0.24342; PWM3=-1.00000;}
void M113(void) {PWM1= 1.00000; PWM2= 0.21267; PWM3=-1.00000;}
void M114(void) {PWM1= 1.00000; PWM2= 0.18205; PWM3=-1.00000;}
void M115(void) {PWM1= 1.00000; PWM2= 0.15153; PWM3=-1.00000;}
void M116(void) {PWM1= 1.00000; PWM2= 0.12112; PWM3=-1.00000;}
void M117(void) {PWM1= 1.00000; PWM2= 0.09077; PWM3=-1.00000;}
void M118(void) {PWM1= 1.00000; PWM2= 0.06048; PWM3=-1.00000;}
void M119(void) {PWM1= 1.00000; PWM2= 0.03023; PWM3=-1.00000;}
void M120(void) {PWM1= 1.00000; PWM2= 0.00000; PWM3=-1.00000;}
void M121(void) {PWM1= 1.00000; PWM2=-0.03023; PWM3=-1.00000;}
void M122(void) {PWM1= 1.00000; PWM2=-0.06048; PWM3=-1.00000;}
void M123(void) {PWM1= 1.00000; PWM2=-0.09077; PWM3=-1.00000;}
void M124(void) {PWM1= 1.00000; PWM2=-0.12112; PWM3=-1.00000;}
void M125(void) {PWM1= 1.00000; PWM2=-0.15153; PWM3=-1.00000;}
void M126(void) {PWM1= 1.00000; PWM2=-0.18205; PWM3=-1.00000;}
void M127(void) {PWM1= 1.00000; PWM2=-0.21267; PWM3=-1.00000;}
void M128(void) {PWM1= 1.00000; PWM2=-0.24342; PWM3=-1.00000;}
void M129(void) {PWM1= 1.00000; PWM2=-0.27433; PWM3=-1.00000;}
void M130(void) {PWM1= 1.00000; PWM2=-0.30541; PWM3=-1.00000;}
void M131(void) {PWM1= 1.00000; PWM2=-0.33668; PWM3=-1.00000;}
void M132(void) {PWM1= 1.00000; PWM2=-0.36816; PWM3=-1.00000;}
void M133(void) {PWM1= 1.00000; PWM2=-0.39988; PWM3=-1.00000;}
void M134(void) {PWM1= 1.00000; PWM2=-0.43185; PWM3=-1.00000;}
void M135(void) {PWM1= 1.00000; PWM2=-0.46410; PWM3=-1.00000;}
void M136(void) {PWM1= 1.00000; PWM2=-0.49666; PWM3=-1.00000;}
void M137(void) {PWM1= 1.00000; PWM2=-0.52954; PWM3=-1.00000;}
void M138(void) {PWM1= 1.00000; PWM2=-0.56278; PWM3=-1.00000;}
void M139(void) {PWM1= 1.00000; PWM2=-0.59639; PWM3=-1.00000;}
void M140(void) {PWM1= 1.00000; PWM2=-0.63041; PWM3=-1.00000;}
void M141(void) {PWM1= 1.00000; PWM2=-0.66487; PWM3=-1.00000;}
void M142(void) {PWM1= 1.00000; PWM2=-0.69979; PWM3=-1.00000;}
void M143(void) {PWM1= 1.00000; PWM2=-0.73521; PWM3=-1.00000;}
void M144(void) {PWM1= 1.00000; PWM2=-0.77116; PWM3=-1.00000;}
void M145(void) {PWM1= 1.00000; PWM2=-0.80767; PWM3=-1.00000;}
void M146(void) {PWM1= 1.00000; PWM2=-0.84478; PWM3=-1.00000;}
void M147(void) {PWM1= 1.00000; PWM2=-0.88252; PWM3=-1.00000;}
void M148(void) {PWM1= 1.00000; PWM2=-0.92095; PWM3=-1.00000;}
void M149(void) {PWM1= 1.00000; PWM2=-0.96009; PWM3=-1.00000;}
void M150(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3=-1.00000;}
void M151(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3=-0.96009;}
void M152(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3=-0.92095;}
void M153(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3=-0.88252;}
void M154(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3=-0.84478;}
void M155(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3=-0.80767;}
void M156(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3=-0.77116;}
void M157(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3=-0.73521;}
void M158(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3=-0.69979;}
void M159(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3=-0.66487;}
void M160(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3=-0.63041;}
void M161(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3=-0.59639;}
void M162(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3=-0.56278;}
void M163(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3=-0.52954;}
void M164(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3=-0.49666;}
void M165(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3=-0.46410;}
void M166(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3=-0.43185;}
void M167(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3=-0.39988;}
void M168(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3=-0.36816;}
void M169(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3=-0.33668;}
void M170(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3=-0.30541;}
void M171(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3=-0.27433;}
void M172(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3=-0.24342;}
void M173(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3=-0.21267;}
void M174(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3=-0.18205;}
void M175(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3=-0.15153;}
void M176(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3=-0.12112;}
void M177(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3=-0.09077;}
void M178(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3=-0.06048;}
void M179(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3=-0.03023;}
void M180(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3= 0.00000;}
void M181(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3= 0.03023;}
void M182(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3= 0.06048;}
void M183(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3= 0.09077;}
void M184(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3= 0.12112;}
void M185(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3= 0.15153;}
void M186(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3= 0.18205;}
void M187(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3= 0.21267;}
void M188(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3= 0.24342;}
void M189(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3= 0.27433;}
void M190(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3= 0.30541;}
void M191(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3= 0.33668;}
void M192(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3= 0.36816;}
void M193(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3= 0.39988;}
void M194(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3= 0.43185;}
void M195(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3= 0.46410;}
void M196(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3= 0.49666;}
void M197(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3= 0.52954;}
void M198(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3= 0.56278;}
void M199(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3= 0.59639;}
void M200(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3= 0.63041;}
void M201(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3= 0.66487;}
void M202(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3= 0.69979;}
void M203(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3= 0.73521;}
void M204(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3= 0.77116;}
void M205(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3= 0.80767;}
void M206(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3= 0.84478;}
void M207(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3= 0.88252;}
void M208(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3= 0.92095;}
void M209(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3= 0.96009;}
void M210(void) {PWM1= 1.00000; PWM2=-1.00000; PWM3= 1.00000;}
void M211(void) {PWM1= 0.96009; PWM2=-1.00000; PWM3= 1.00000;}
void M212(void) {PWM1= 0.92095; PWM2=-1.00000; PWM3= 1.00000;}
void M213(void) {PWM1= 0.88252; PWM2=-1.00000; PWM3= 1.00000;}
void M214(void) {PWM1= 0.84478; PWM2=-1.00000; PWM3= 1.00000;}
void M215(void) {PWM1= 0.80767; PWM2=-1.00000; PWM3= 1.00000;}
void M216(void) {PWM1= 0.77116; PWM2=-1.00000; PWM3= 1.00000;}
void M217(void) {PWM1= 0.73521; PWM2=-1.00000; PWM3= 1.00000;}
void M218(void) {PWM1= 0.69979; PWM2=-1.00000; PWM3= 1.00000;}
void M219(void) {PWM1= 0.66487; PWM2=-1.00000; PWM3= 1.00000;}
void M220(void) {PWM1= 0.63041; PWM2=-1.00000; PWM3= 1.00000;}
void M221(void) {PWM1= 0.59639; PWM2=-1.00000; PWM3= 1.00000;}
void M222(void) {PWM1= 0.56278; PWM2=-1.00000; PWM3= 1.00000;}
void M223(void) {PWM1= 0.52954; PWM2=-1.00000; PWM3= 1.00000;}
void M224(void) {PWM1= 0.49666; PWM2=-1.00000; PWM3= 1.00000;}
void M225(void) {PWM1= 0.46410; PWM2=-1.00000; PWM3= 1.00000;}
void M226(void) {PWM1= 0.43185; PWM2=-1.00000; PWM3= 1.00000;}
void M227(void) {PWM1= 0.39988; PWM2=-1.00000; PWM3= 1.00000;}
void M228(void) {PWM1= 0.36816; PWM2=-1.00000; PWM3= 1.00000;}
void M229(void) {PWM1= 0.33668; PWM2=-1.00000; PWM3= 1.00000;}
void M230(void) {PWM1= 0.30541; PWM2=-1.00000; PWM3= 1.00000;}
void M231(void) {PWM1= 0.27433; PWM2=-1.00000; PWM3= 1.00000;}
void M232(void) {PWM1= 0.24342; PWM2=-1.00000; PWM3= 1.00000;}
void M233(void) {PWM1= 0.21267; PWM2=-1.00000; PWM3= 1.00000;}
void M234(void) {PWM1= 0.18205; PWM2=-1.00000; PWM3= 1.00000;}
void M235(void) {PWM1= 0.15153; PWM2=-1.00000; PWM3= 1.00000;}
void M236(void) {PWM1= 0.12112; PWM2=-1.00000; PWM3= 1.00000;}
void M237(void) {PWM1= 0.09077; PWM2=-1.00000; PWM3= 1.00000;}
void M238(void) {PWM1= 0.06048; PWM2=-1.00000; PWM3= 1.00000;}
void M239(void) {PWM1= 0.03023; PWM2=-1.00000; PWM3= 1.00000;}
void M240(void) {PWM1= 0.00000; PWM2=-1.00000; PWM3= 1.00000;}
void M241(void) {PWM1=-0.03023; PWM2= 1.00000; PWM3= 1.00000;}
void M242(void) {PWM1=-0.06048; PWM2= 1.00000; PWM3= 1.00000;}
void M243(void) {PWM1=-0.09077; PWM2= 1.00000; PWM3= 1.00000;}
void M244(void) {PWM1=-0.12112; PWM2= 1.00000; PWM3= 1.00000;}
void M245(void) {PWM1=-0.15153; PWM2= 1.00000; PWM3= 1.00000;}
void M246(void) {PWM1=-0.18205; PWM2= 1.00000; PWM3= 1.00000;}
void M247(void) {PWM1=-0.21267; PWM2= 1.00000; PWM3= 1.00000;}
void M248(void) {PWM1=-0.24342; PWM2= 1.00000; PWM3= 1.00000;}
void M249(void) {PWM1=-0.27433; PWM2= 1.00000; PWM3= 1.00000;}
void M250(void) {PWM1=-0.30541; PWM2= 1.00000; PWM3= 1.00000;}
void M251(void) {PWM1=-0.33668; PWM2= 1.00000; PWM3= 1.00000;}
void M252(void) {PWM1=-0.36816; PWM2= 1.00000; PWM3= 1.00000;}
void M253(void) {PWM1=-0.39988; PWM2= 1.00000; PWM3= 1.00000;}
void M254(void) {PWM1=-0.43185; PWM2= 1.00000; PWM3= 1.00000;}
void M255(void) {PWM1=-0.46410; PWM2= 1.00000; PWM3= 1.00000;}
void M256(void) {PWM1=-0.49666; PWM2= 1.00000; PWM3= 1.00000;}
void M257(void) {PWM1=-0.52954; PWM2= 1.00000; PWM3= 1.00000;}
void M258(void) {PWM1=-0.56278; PWM2= 1.00000; PWM3= 1.00000;}
void M259(void) {PWM1=-0.59639; PWM2= 1.00000; PWM3= 1.00000;}
void M260(void) {PWM1=-0.63041; PWM2= 1.00000; PWM3= 1.00000;}
void M261(void) {PWM1=-0.66487; PWM2= 1.00000; PWM3= 1.00000;}
void M262(void) {PWM1=-0.69979; PWM2= 1.00000; PWM3= 1.00000;}
void M263(void) {PWM1=-0.73521; PWM2= 1.00000; PWM3= 1.00000;}
void M264(void) {PWM1=-0.77116; PWM2= 1.00000; PWM3= 1.00000;}
void M265(void) {PWM1=-0.80767; PWM2= 1.00000; PWM3= 1.00000;}
void M266(void) {PWM1=-0.84478; PWM2= 1.00000; PWM3= 1.00000;}
void M267(void) {PWM1=-0.88252; PWM2= 1.00000; PWM3= 1.00000;}
void M268(void) {PWM1=-0.92095; PWM2= 1.00000; PWM3= 1.00000;}
void M269(void) {PWM1=-0.96009; PWM2= 1.00000; PWM3= 1.00000;}
void M270(void) {PWM1=-1.00000; PWM2=-1.00000; PWM3= 1.00000;}
void M271(void) {PWM1=-1.00000; PWM2=-0.96009; PWM3= 1.00000;}
void M272(void) {PWM1=-1.00000; PWM2=-0.92095; PWM3= 1.00000;}
void M273(void) {PWM1=-1.00000; PWM2=-0.88252; PWM3= 1.00000;}
void M274(void) {PWM1=-1.00000; PWM2=-0.84478; PWM3= 1.00000;}
void M275(void) {PWM1=-1.00000; PWM2=-0.80767; PWM3= 1.00000;}
void M276(void) {PWM1=-1.00000; PWM2=-0.77116; PWM3= 1.00000;}
void M277(void) {PWM1=-1.00000; PWM2=-0.73521; PWM3= 1.00000;}
void M278(void) {PWM1=-1.00000; PWM2=-0.69979; PWM3= 1.00000;}
void M279(void) {PWM1=-1.00000; PWM2=-0.66487; PWM3= 1.00000;}
void M280(void) {PWM1=-1.00000; PWM2=-0.63041; PWM3= 1.00000;}
void M281(void) {PWM1=-1.00000; PWM2=-0.59639; PWM3= 1.00000;}
void M282(void) {PWM1=-1.00000; PWM2=-0.56278; PWM3= 1.00000;}
void M283(void) {PWM1=-1.00000; PWM2=-0.52954; PWM3= 1.00000;}
void M284(void) {PWM1=-1.00000; PWM2=-0.49666; PWM3= 1.00000;}
void M285(void) {PWM1=-1.00000; PWM2=-0.46410; PWM3= 1.00000;}
void M286(void) {PWM1=-1.00000; PWM2=-0.43185; PWM3= 1.00000;}
void M287(void) {PWM1=-1.00000; PWM2=-0.39988; PWM3= 1.00000;}
void M288(void) {PWM1=-1.00000; PWM2=-0.36816; PWM3= 1.00000;}
void M289(void) {PWM1=-1.00000; PWM2=-0.33668; PWM3= 1.00000;}
void M290(void) {PWM1=-1.00000; PWM2=-0.30541; PWM3= 1.00000;}
void M291(void) {PWM1=-1.00000; PWM2=-0.27433; PWM3= 1.00000;}
void M292(void) {PWM1=-1.00000; PWM2=-0.24342; PWM3= 1.00000;}
void M293(void) {PWM1=-1.00000; PWM2=-0.21267; PWM3= 1.00000;}
void M294(void) {PWM1=-1.00000; PWM2=-0.18205; PWM3= 1.00000;}
void M295(void) {PWM1=-1.00000; PWM2=-0.15153; PWM3= 1.00000;}
void M296(void) {PWM1=-1.00000; PWM2=-0.12112; PWM3= 1.00000;}
void M297(void) {PWM1=-1.00000; PWM2=-0.09077; PWM3= 1.00000;}
void M298(void) {PWM1=-1.00000; PWM2=-0.06048; PWM3= 1.00000;}
void M299(void) {PWM1=-1.00000; PWM2=-0.03023; PWM3= 1.00000;}
void M300(void) {PWM1=-1.00000; PWM2= 0.00000; PWM3= 1.00000;}
void M301(void) {PWM1=-1.00000; PWM2= 0.03023; PWM3= 1.00000;}
void M302(void) {PWM1=-1.00000; PWM2= 0.06048; PWM3= 1.00000;}
void M303(void) {PWM1=-1.00000; PWM2= 0.09077; PWM3= 1.00000;}
void M304(void) {PWM1=-1.00000; PWM2= 0.12112; PWM3= 1.00000;}
void M305(void) {PWM1=-1.00000; PWM2= 0.15153; PWM3= 1.00000;}
void M306(void) {PWM1=-1.00000; PWM2= 0.18205; PWM3= 1.00000;}
void M307(void) {PWM1=-1.00000; PWM2= 0.21267; PWM3= 1.00000;}
void M308(void) {PWM1=-1.00000; PWM2= 0.24342; PWM3= 1.00000;}
void M309(void) {PWM1=-1.00000; PWM2= 0.27433; PWM3= 1.00000;}
void M310(void) {PWM1=-1.00000; PWM2= 0.30541; PWM3= 1.00000;}
void M311(void) {PWM1=-1.00000; PWM2= 0.33668; PWM3= 1.00000;}
void M312(void) {PWM1=-1.00000; PWM2= 0.36816; PWM3= 1.00000;}
void M313(void) {PWM1=-1.00000; PWM2= 0.39988; PWM3= 1.00000;}
void M314(void) {PWM1=-1.00000; PWM2= 0.43185; PWM3= 1.00000;}
void M315(void) {PWM1=-1.00000; PWM2= 0.46410; PWM3= 1.00000;}
void M316(void) {PWM1=-1.00000; PWM2= 0.49666; PWM3= 1.00000;}
void M317(void) {PWM1=-1.00000; PWM2= 0.52954; PWM3= 1.00000;}
void M318(void) {PWM1=-1.00000; PWM2= 0.56278; PWM3= 1.00000;}
void M319(void) {PWM1=-1.00000; PWM2= 0.59639; PWM3= 1.00000;}
void M320(void) {PWM1=-1.00000; PWM2= 0.63041; PWM3= 1.00000;}
void M321(void) {PWM1=-1.00000; PWM2= 0.66487; PWM3= 1.00000;}
void M322(void) {PWM1=-1.00000; PWM2= 0.69979; PWM3= 1.00000;}
void M323(void) {PWM1=-1.00000; PWM2= 0.73521; PWM3= 1.00000;}
void M324(void) {PWM1=-1.00000; PWM2= 0.77116; PWM3= 1.00000;}
void M325(void) {PWM1=-1.00000; PWM2= 0.80767; PWM3= 1.00000;}
void M326(void) {PWM1=-1.00000; PWM2= 0.84478; PWM3= 1.00000;}
void M327(void) {PWM1=-1.00000; PWM2= 0.88252; PWM3= 1.00000;}
void M328(void) {PWM1=-1.00000; PWM2= 0.92095; PWM3= 1.00000;}
void M329(void) {PWM1=-1.00000; PWM2= 0.96009; PWM3= 1.00000;}
void M330(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3= 1.00000;}
void M331(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3= 0.96009;}
void M332(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3= 0.92095;}
void M333(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3= 0.88252;}
void M334(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3= 0.84478;}
void M335(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3= 0.80767;}
void M336(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3= 0.77116;}
void M337(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3= 0.73521;}
void M338(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3= 0.69979;}
void M339(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3= 0.66487;}
void M340(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3= 0.63041;}
void M341(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3= 0.59639;}
void M342(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3= 0.56278;}
void M343(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3= 0.52954;}
void M344(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3= 0.49666;}
void M345(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3= 0.46410;}
void M346(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3= 0.43185;}
void M347(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3= 0.39988;}
void M348(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3= 0.36816;}
void M349(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3= 0.33668;}
void M350(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3= 0.30541;}
void M351(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3= 0.27433;}
void M352(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3= 0.24342;}
void M353(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3= 0.21267;}
void M354(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3= 0.18205;}
void M355(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3= 0.15153;}
void M356(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3= 0.12112;}
void M357(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3= 0.09077;}
void M358(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3= 0.06048;}
void M359(void) {PWM1=-1.00000; PWM2= 1.00000; PWM3= 0.03023;}
// モータのPWM制御分岐
void (*PwmApi[])(void) = {M000, M001, M002, M003, M004, M005, M006, M007, M008, M009, M010, M011, M012, M013, M014, M015, M016, M017, M018, M019, M020, M021, M022, M023, M024, M025, M026, M027, M028, M029, M030, M031, M032, M033, M034, M035, M036, M037, M038, M039, M040, M041, M042, M043, M044, M045, M046, M047, M048, M049, M050, M051, M052, M053, M054, M055, M056, M057, M058, M059, M060, M061, M062, M063, M064, M065, M066, M067, M068, M069, M070, M071, M072, M073, M074, M075, M076, M077, M078, M079, M080, M081, M082, M083, M084, M085, M086, M087, M088, M089, M090, M091, M092, M093, M094, M095, M096, M097, M098, M099, M100, M101, M102, M103, M104, M105, M106, M107, M108, M109, M110, M111, M112, M113, M114, M115, M116, M117, M118, M119, M120, M121, M122, M123, M124, M125, M126, M127, M128, M129, M130, M131, M132, M133, M134, M135, M136, M137, M138, M139, M140, M141, M142, M143, M144, M145, M146, M147, M148, M149, M150, M151, M152, M153, M154, M155, M156, M157, M158, M159, M160, M161, M162, M163, M164, M165, M166, M167, M168, M169, M170, M171, M172, M173, M174, M175, M176, M177, M178, M179, M180, M181, M182, M183, M184, M185, M186, M187, M188, M189, M190, M191, M192, M193, M194, M195, M196, M197, M198, M199, M200, M201, M202, M203, M204, M205, M206, M207, M208, M209, M210, M211, M212, M213, M214, M215, M216, M217, M218, M219, M220, M221, M222, M223, M224, M225, M226, M227, M228, M229, M230, M231, M232, M233, M234, M235, M236, M237, M238, M239, M240, M241, M242, M243, M244, M245, M246, M247, M248, M249, M250, M251, M252, M253, M254, M255, M256, M257, M258, M259, M260, M261, M262, M263, M264, M265, M266, M267, M268, M269, M270, M271, M272, M273, M274, M275, M276, M277, M278, M279, M280, M281, M282, M283, M284, M285, M286, M287, M288, M289, M290, M291, M292, M293, M294, M295, M296, M297, M298, M299, M300, M301, M302, M303, M304, M305, M306, M307, M308, M309, M310, M311, M312, M313, M314, M315, M316, M317, M318, M319, M320, M321, M322, M323, M324, M325, M326, M327, M328, M329, M330, M331, M332, M333, M334, M335, M336, M337, M338, M339, M340, M341, M342, M343, M344, M345, M346, M347, M348, M349, M350, M351, M352, M353, M354, M355, M356, M357, M358, M359};
void Moter(float speed, int angle, float omega) {
if(sw_flag) {
(*PwmApi[angle])();
PWM1 += omega; PWM2 += omega; PWM3 += omega;
MoterApi(((PWM1>=0)?1:0), ((PWM2>=0)?1:0), ((PWM3>=0)?1:0));
PWM1 = abs(PWM1); PWM2 = abs(PWM2); PWM3 = abs(PWM3);
// 最大値を探す
float max = (PWM1 > PWM2) ? PWM1 : PWM2;
max = (max > PWM3) ? max : PWM3;
PWM1 = PWM1/max*speed; PWM2 = PWM2/max*speed; PWM3 = PWM3/max*speed;
if(max == 0){PWM1=0; PWM2=0; PWM3=0;}
pwm1 = PWM1; pwm2 = PWM2; pwm3 = PWM3;
led4 = 1;
}
}
// 角度自動修正関数
float Auto_Corrction(void) {
float omega = 0.00000;
if (90.0 < Compass && Compass < 180.0) {
omega = -0.1 * Compass / 180.0;
} else if (-180.0 < Compass && Compass < -90.0) {
omega = -0.1 * Compass / 180.0;
} else {
omega = 0.000000;
}
return omega;
}
// モータの回転方向を制御
void MoterApi(bool m1, bool m2, bool m3) {
M1_1 = m1; M1_2 = !m1;
M2_1 = m2; M2_2 = !m2;
M3_1 = m3; M3_2 = !m3;
}
// モータをすべて止める
void MoterReset (bool m1, bool m2, bool m3) {
if (!m1) { M1_1 = 0; M1_2 = 0; }
if (!m2) { M2_1 = 0; M2_2 = 0; }
if (!m3) { M3_1 = 0; M3_2 = 0; }
}