update
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2a11d55613
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784b38eeb2
1 changed files with 76 additions and 54 deletions
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@ -19,11 +19,11 @@
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#include <Servo.h>
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#include "Motor.h"
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/**************************************/
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//#define LINE_BLACK //白地・黒ライン有効
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#define PIN_SENSOR ( ((PINC<<2) & ~0x03) | ((PINB>>4) & 0x03) )
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const unsigned int TARGET_NONE_COUNT = 85;
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const unsigned long LAP_COUNT = 854;
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const int LANCE_ANGLE0 = 0; //度
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const int LANCE_ANGLE1 = 43;
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@ -34,11 +34,11 @@ const unsigned int LANCE_INTERVAL = 70; //ms
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const byte SPEED_DEFAULT = 0xff;
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const int HANDLE_DEFAULT = 90; //度
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const int HANDLE_DEGREE_DEFAULT = 90; //度
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const unsigned int HANDLE_MIN = ( 800+30); //ms
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const unsigned int HANDLE_MAX = (2300+30); //ms
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const int LANCE_DEFAULT = 90; //度
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const int LANCE_DEGREE_DEFAULT = 90; //度
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const unsigned int LANCE_MIN = 544; //ms
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const unsigned int LANCE_MAX = 2400; //ms
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@ -58,19 +58,19 @@ const byte PIN_SERVO_HANDLE = 10;
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const byte PIN_SERVO_LANCE = 9;
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const byte PIN_MOTOR_LEFT_1 = 5;
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const byte PIN_MOTOR_LEFT_2 = 4;
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const byte PIN_MOTOR_LEFT_2 = 7;
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const byte PIN_MOTOR_RIGHT_1 = 6;
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const byte PIN_MOTOR_RIGHT_2 = 7;
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const byte PIN_MOTOR_RIGHT_2 = 8;
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const byte MODE_STOP = 0;
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const byte MODE_TRACE = 10;
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const byte MODE_RIGHT = 21; // 右カーブ
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const byte MODE_LEFT = 22; // 左カーブ
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const byte MODE_STOP = 0x10;
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const byte MODE_TRACE = 0x11;
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const byte MODE_LEFT = 0x12; //左カーブ
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const byte MODE_RIGHT = 0x13; //右カーブ
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const byte TARGET_NONE = 40;
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const byte TARGET_PARALLEL = 41;
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const byte TARGET_VERTICAL = 42;
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const byte TARGET_CYLINDER = 43;
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const byte TARGET_NONE = 0x40;
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const byte TARGET_PARALLEL = 0x41; //平行標的
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const byte TARGET_VERTICAL = 0x42; //垂直標的
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const byte TARGET_CYLINDER = 0x43; //円筒標的
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const byte MASK_MODE_TRACE = 0b01111110;
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const byte MASK_CHECK_MARKER = 0b10000001;
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@ -87,7 +87,6 @@ Motor motorL;
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byte mode;
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byte target;
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unsigned int counterOld;
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char handleAngle;
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char lanceAngle;
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/**************************************/
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@ -95,78 +94,76 @@ char lanceAngle;
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void trace(byte sensor){
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switch( sensor & MASK_MODE_TRACE ){
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case 0b01000000:
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handleAngle = -20;
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handle(-20);
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motorMode(GO, GO, 0x40, 0xff);
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lanceAngle = 0;
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break;
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case 0b01100000:
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handleAngle = -16;
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handle(-16);
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motorMode(GO, GO, 0xff, 0xff);
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lanceAngle = 0;
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break;
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case 0b00100000:
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handleAngle = -12;
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handle(-12);
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motorMode(GO, GO, 0xff, 0xff);
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lanceAngle = 0;
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break;
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case 0b00110000:
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handleAngle = -5;
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handle(-5);
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motorMode(GO, GO, 0xff, 0xff);
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break;
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case 0b00010000:
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handleAngle = -2;
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handle(-2);
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motorMode(GO, GO, 0xff, 0xff);
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break;
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case 0b00011000:
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handleAngle = 0;
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handle(0);
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motorMode(GO, GO, 0xff, 0xff);
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break;
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case 0b00001000:
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handleAngle = 2;
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handle(2);
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motorMode(GO, GO, 0xff, 0xff);
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break;
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case 0b00001100:
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handleAngle = 5;
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handle(5);
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motorMode(GO, GO, 0xff, 0xff);
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break;
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case 0b00000100:
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handleAngle = 7;
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handle(7);
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motorMode(GO, GO, 0xff, 0xff);
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break;
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case 0b00000110:
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handleAngle = 10;
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handle(10);
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motorMode(GO, GO, 0xff, 0xff);
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break;
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case 0b00000010:
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handleAngle = 12;
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handle(12);
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motorMode(GO, GO, 0xff, 0xff);
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break;
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}
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}
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/**************************************/
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void motorMode(byte motorLeftMode, byte motorRightMode, byte motorLeftSpeed, byte motorRightSpeed){
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motorL.mode( motorLeftMode, motorLeftSpeed);
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motorR.mode(motorRightMode, motorRightSpeed);
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}
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void handle(char handle_angle){
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servoHandle.write(HANDLE_DEFAULT + handle_angle);
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void handle(int degree){
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servoHandle.write(HANDLE_DEGREE_DEFAULT + degree);
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}
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void lance(char lance_angle){
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servoLance.write(LANCE_DEFAULT - lance_angle);
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void lance(int degree){
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servoLance.write(LANCE_DEGREE_DEFAULT - degree);
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}
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/* ロータリーエンコーダーの変化を見る */
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volatile unsigned long counter = 0;
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void count(){
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static byte rot[2] = {0};
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rot[1] = digitalRead(PIN_ROT);
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if(rot[1] != rot[0]){
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static byte rot[2] = {0}; //rot[0]:今の状態, rot[1]:前回の状態
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rot[0] = digitalRead(PIN_ROT);
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if(rot[0] != rot[1]){
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rot[1] = rot[0];
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counter++;
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rot[0] = rot[1];
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}
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}
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@ -226,23 +223,23 @@ void loop(){
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if(counter - counterOld > TARGET_NONE_COUNT ) target = 0;
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break;
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default:
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switch( sensor & MASK_CHECK_MARKER ){
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case 0x81:
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target = TARGET_NONE;
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counterOld = counter;
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break;
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case 0x01:
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lanceAngle = LANCE_ANGLE1;
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target = TARGET_PARALLEL;
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break;
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case 0x80:
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lanceAngle = LANCE_ANGLE3;
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target = TARGET_VERTICAL;
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break;
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}
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switch( sensor & MASK_CHECK_MARKER ){
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case 0x81:
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target = TARGET_NONE;
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counterOld = counter;
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break;
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case 0x01:
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lanceAngle = LANCE_ANGLE1;
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target = TARGET_PARALLEL;
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break;
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case 0x80:
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lanceAngle = LANCE_ANGLE3;
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target = TARGET_VERTICAL;
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break;
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}
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if( lanceAngle == LANCE_ANGLE1 && counter%840 > 420) lanceAngle = LANCE_ANGLE4;
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break;
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}
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if( lanceAngle == LANCE_ANGLE1 && counter%LAP_COUNT > LAP_COUNT/2) lanceAngle = LANCE_ANGLE4;
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static unsigned long millis_lance = 0;
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if(millis() - millis_lance > LANCE_INTERVAL){
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millis_lance = millis();
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@ -255,25 +252,50 @@ void loop(){
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break;
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}
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}
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//ランスの動作を決定する
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switch(target){
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case TARGET_NONE:
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lanceAngle = LANCE_ANGLE0;
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if(counter - counterOld > TARGET_NONE_COUNT ) target = 0;
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break;
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case TARGET_PARALLEL:
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case TARGET_VERTICAL:
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case TARGET_CYLINDER:
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default:
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switch( sensor & MASK_CHECK_MARKER ){
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case 0x81:
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target = TARGET_NONE;
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counterOld = counter;
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break;
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case 0x01:
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lanceAngle = LANCE_ANGLE1;
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target = TARGET_PARALLEL;
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break;
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case 0x80:
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lanceAngle = LANCE_ANGLE3;
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target = TARGET_VERTICAL;
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break;
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}
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break;
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}
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//全体の動作を決定する
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switch(mode){
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case MODE_TRACE:
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trace(sensor);
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if( counter > 854*6 - 60 ){ // 6周(1周854カウント)したら、円筒標的を狙いに行く
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if( counter > LAP_COUNT*6 - LAP_COUNT/14 ){ // 6周したら、円筒標的を狙いに行く
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mode = MODE_STOP;
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}
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break;
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case MODE_STOP:
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default:
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digitalWrite(PIN_LED, HIGH);
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handleAngle = 0;
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handle(0);
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lanceAngle = -90;
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motorMode(GO, GO, 0xff, 0xff);
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if( counter - counterOld > 40 ){
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if( counter - counterOld > LAP_COUNT/21 ){
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motorMode(STOP, STOP, 0xff, 0xff);
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}
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}
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handle(handleAngle);
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lance(lanceAngle);
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}
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