347 lines
9.1 KiB
C++
347 lines
9.1 KiB
C++
/*
|
|
競技用ランサーロボット
|
|
半蔵 4.1
|
|
(C)2014 kou029w - MIT License
|
|
*/
|
|
|
|
#include <MsTimer2.h>
|
|
#include <Tone.h>
|
|
#include <Servo.h>
|
|
#include "Motor.h"
|
|
|
|
/* 標的の直前にあるマーカーを見つけ出す範囲 : {最小, 最大} */
|
|
struct range_t{
|
|
unsigned long min;
|
|
unsigned long max;
|
|
};
|
|
|
|
/* 標的のためのランスの角度 : {before[度], after[度]} */
|
|
struct lanceAngle_t{
|
|
int before;
|
|
int after;
|
|
};
|
|
|
|
/* 標的の情報 */
|
|
struct target_t{
|
|
struct range_t range;
|
|
unsigned long way; //マーカーから標的までの距離
|
|
struct lanceAngle_t lanceAngle;
|
|
};
|
|
|
|
/**************************************/
|
|
/* 動作パラメーター */
|
|
|
|
unsigned long lapDistance = 28550; //ロータリーエンコーダーのカウント数/周
|
|
unsigned long turnDistance = 4650; //カーブ中でのカウント数
|
|
|
|
struct target_t targetA = {{lapDistance/2, lapDistance*0.6 }, 900, { 29, 0}};
|
|
struct target_t targetB = {{lapDistance/2, lapDistance*0.75}, 900, {-32, 0}};
|
|
struct target_t targetC = {{lapDistance*0.6, lapDistance*0.85}, 900, { 34, 0}};
|
|
struct target_t targetD = {{lapDistance*0.75, lapDistance*0.85}, 900, {-42, 0}};
|
|
struct target_t targetE = {{ 500,4000}, 750, { 48, 53}};
|
|
struct target_t targetF = {{4000,7000}, 750, { 60, 67}};
|
|
|
|
int laps = 3; //最大周回数
|
|
bool silent = false; //サイレントモード(true:ブザーを鳴らさない)
|
|
|
|
int steeringAngleMin = -30; //度
|
|
int steeringAngleMax = 10; //度
|
|
|
|
int deltaSpeedMax = 500; //最大速度差
|
|
int speedMax = 255; //最大速度
|
|
|
|
int cycle = 1; //動作周波数(ms)
|
|
|
|
int errorCountThreshold = 500; //最大読み取りエラー回数(これを超えると停止する)
|
|
|
|
/**************************************/
|
|
/* ピンの設定 */
|
|
|
|
// Servo : SC-1267SG
|
|
unsigned int steeringServoCenter = 1808; //us
|
|
unsigned int steeringServoMin = (steeringServoCenter-780); //us
|
|
unsigned int steeringServoMax = (steeringServoCenter+780); //us
|
|
|
|
// Servo : SC-0352
|
|
unsigned int lanceServoCenter = 1560; //us
|
|
unsigned int lanceServoMin = (lanceServoCenter-780); //us
|
|
unsigned int lanceServoMax = (lanceServoCenter+780); //us
|
|
|
|
unsigned char buzzerPin = 3;
|
|
unsigned char rotPin = 2;
|
|
|
|
unsigned char numSensors = 8;
|
|
unsigned char sensorPin[] = {19,18,17,16,15,14,13,12}; //右端から順番に左端へ
|
|
|
|
unsigned char lineSensorMask = 0b01111110;
|
|
unsigned char markerSensorMask = 0b10000001;
|
|
|
|
unsigned char steeringServoPin = 9;
|
|
unsigned char lanceServoPin = 10;
|
|
|
|
unsigned char motorLeftEnablePin = 5;
|
|
unsigned char motorLeftDirectionPin = 4;
|
|
unsigned char motorRightEnablePin = 6;
|
|
unsigned char motorRightDirectionPin = 7;
|
|
|
|
/**************************************/
|
|
/* グローバル変数 */
|
|
|
|
Servo steeringServo;
|
|
Servo lanceServo;
|
|
Motor motorR;
|
|
Motor motorL;
|
|
|
|
//ラインが1、地面が0、MSBが左端、LSBが右端
|
|
unsigned char sensor = 0x00;
|
|
|
|
// 右のモーターと左のモーターの速度差 : (右のモーター)-(左のモーター)
|
|
int deltaSpeed = 0;
|
|
// 駆動用モーターの速度
|
|
int speed = 0;
|
|
|
|
// ステアリングの角度
|
|
long angle = 0; // 度
|
|
|
|
int errorCount = 0;
|
|
|
|
volatile unsigned long distance = 0;
|
|
unsigned long modeChangedDistance = 0;
|
|
|
|
/**************************************/
|
|
|
|
/* 動作モード */
|
|
enum mode_t {
|
|
MODE_STOP, //停止
|
|
MODE_STRAIGHT, //まっすぐ進む
|
|
MODE_TURN, //左に曲がる
|
|
MODE_ATTACK_E, //平行標的1
|
|
MODE_ATTACK_F, //平行標的2
|
|
MODE_ATTACK_A, //右垂直標的
|
|
MODE_ATTACK_B, //左垂直標的
|
|
MODE_ATTACK_C, //右垂直標的
|
|
MODE_ATTACK_D, //左垂直標的
|
|
MODE_ATTACK_CYLINDER //円筒標的
|
|
} mode;
|
|
|
|
/**************************************/
|
|
|
|
/* センサーを読んで、車体の動作を決定する */
|
|
void trace(){
|
|
switch(sensor&lineSensorMask){
|
|
default:
|
|
errorCount++;
|
|
return;
|
|
case 0b01000000:
|
|
speed = speedMax*0.3;
|
|
deltaSpeed = -145;
|
|
angle = -15;
|
|
break;
|
|
case 0b01100000:
|
|
speed = speedMax*0.5;
|
|
deltaSpeed = -115;
|
|
angle = -13;
|
|
break;
|
|
case 0b00100000:
|
|
speed = speedMax*0.7;
|
|
deltaSpeed = -95;
|
|
angle = -11;
|
|
break;
|
|
case 0b00110000:
|
|
speed = speedMax*0.9;
|
|
deltaSpeed = -75;
|
|
angle = -9;
|
|
break;
|
|
case 0b00010000:
|
|
speed = speedMax;
|
|
deltaSpeed = 0;
|
|
angle = -1;
|
|
break;
|
|
case 0b00011000:
|
|
speed = speedMax;
|
|
deltaSpeed = 0;
|
|
angle = 0;
|
|
break;
|
|
case 0b00001000:
|
|
speed = speedMax;
|
|
deltaSpeed = 0;
|
|
angle = 1;
|
|
break;
|
|
case 0b00001100:
|
|
speed = speedMax;
|
|
deltaSpeed = 0;
|
|
angle = 2;
|
|
break;
|
|
case 0b00000100:
|
|
speed = speedMax;
|
|
deltaSpeed = 3;
|
|
angle = 3;
|
|
break;
|
|
case 0b00000110:
|
|
speed = speedMax;
|
|
deltaSpeed = 4;
|
|
angle = 4;
|
|
break;
|
|
case 0b00000010:
|
|
speed = 0;
|
|
deltaSpeed = 5;
|
|
angle = 5;
|
|
break;
|
|
}
|
|
errorCount = 0;
|
|
}
|
|
|
|
/**************************************/
|
|
|
|
void setup(){
|
|
//サーボ
|
|
steeringServo.attach(steeringServoPin, steeringServoMin, steeringServoMax);
|
|
lanceServo.attach(lanceServoPin, lanceServoMin, lanceServoMax);
|
|
steering(0);
|
|
lance(0);
|
|
//駆動用モーター
|
|
motorL.attach(motorLeftEnablePin, motorLeftDirectionPin);
|
|
motorR.attach(motorRightEnablePin, motorRightDirectionPin);
|
|
motorL.mode(STOP);
|
|
motorR.mode(STOP);
|
|
//センサー
|
|
sensorInit();
|
|
//エンコーダー
|
|
pinMode(rotPin, INPUT);
|
|
attachInterrupt(0, rot, RISING);
|
|
//ブザー
|
|
startBeep();
|
|
/* 3秒停止 */
|
|
delay(3000);
|
|
/* スタート */
|
|
mode = MODE_STRAIGHT;
|
|
MsTimer2::set(cycle, run);
|
|
MsTimer2::start();
|
|
}
|
|
|
|
void loop(){
|
|
scanSensor();
|
|
}
|
|
|
|
/* 車体の動作を決定する */
|
|
void run(){
|
|
if(distance > lapDistance*laps || errorCount > errorCountThreshold){
|
|
mode = MODE_STOP;
|
|
}
|
|
switch(mode){
|
|
default:
|
|
case MODE_STOP: //停止
|
|
MsTimer2::stop();
|
|
lanceServo.detach();
|
|
steeringServo.detach();
|
|
motorL.mode(STOP);
|
|
motorR.mode(STOP);
|
|
while(1){
|
|
;
|
|
}
|
|
break;
|
|
case MODE_STRAIGHT: //まっすぐ進む
|
|
trace();
|
|
modeSet();
|
|
break;
|
|
case MODE_TURN: //左に曲がる
|
|
trace();
|
|
lance(0);
|
|
if(distance - modeChangedDistance > turnDistance){
|
|
mode = MODE_STRAIGHT;
|
|
}
|
|
break;
|
|
case MODE_ATTACK_E: //平行標的1
|
|
trace();
|
|
lance(targetE.lanceAngle.before);
|
|
if(distance - modeChangedDistance > targetE.way){ //マーカーから少し進んで、叩く
|
|
lance(targetE.lanceAngle.after);
|
|
mode = MODE_STRAIGHT;
|
|
}
|
|
break;
|
|
case MODE_ATTACK_F: //平行標的2
|
|
trace();
|
|
lance(targetF.lanceAngle.before);
|
|
if(distance - modeChangedDistance > targetF.way){ //マーカーから少し進んで、叩く
|
|
lance(targetF.lanceAngle.after);
|
|
mode = MODE_STRAIGHT;
|
|
}
|
|
break;
|
|
case MODE_ATTACK_A: //右垂直標
|
|
trace();
|
|
lance(targetA.lanceAngle.before);
|
|
if(distance - modeChangedDistance > targetA.way){ //マーカーから少し進んで、まっすぐに戻す
|
|
lance(targetA.lanceAngle.after);
|
|
mode = MODE_STRAIGHT;
|
|
}
|
|
break;
|
|
case MODE_ATTACK_C: //右垂直標
|
|
trace();
|
|
lance(targetC.lanceAngle.before);
|
|
if(distance - modeChangedDistance > targetC.way){ //マーカーから少し進んで、まっすぐに戻す
|
|
lance(targetC.lanceAngle.after);
|
|
mode = MODE_STRAIGHT;
|
|
}
|
|
break;
|
|
case MODE_ATTACK_B: //左垂直標
|
|
trace();
|
|
lance(targetB.lanceAngle.before);
|
|
if(distance - modeChangedDistance > targetB.way){ //マーカーから少し進んで、まっすぐに戻す
|
|
lance(targetB.lanceAngle.after);
|
|
mode = MODE_STRAIGHT;
|
|
}
|
|
break;
|
|
case MODE_ATTACK_D: //左垂直標
|
|
trace();
|
|
lance(targetD.lanceAngle.before);
|
|
if(distance - modeChangedDistance > targetD.way){ //マーカーから少し進んで、まっすぐに戻す
|
|
lance(targetD.lanceAngle.after);
|
|
mode = MODE_STRAIGHT;
|
|
}
|
|
break;
|
|
case MODE_ATTACK_CYLINDER: //円筒標的
|
|
mode = MODE_STRAIGHT;
|
|
break;
|
|
}
|
|
|
|
/* 駆動モーター用 */
|
|
deltaSpeed = constrain(deltaSpeed, -deltaSpeedMax, deltaSpeedMax);
|
|
if(deltaSpeed<0){
|
|
motorL.speed(speed + deltaSpeed);
|
|
motorR.speed(speed);
|
|
}else{
|
|
motorL.speed(speed);
|
|
motorR.speed(speed - deltaSpeed);
|
|
}
|
|
|
|
/* ステアリングサーボ用 */
|
|
angle = constrain(angle, steeringAngleMin, steeringAngleMax);
|
|
steering(angle);
|
|
}
|
|
|
|
/* モードを決定する */
|
|
void modeSet(){
|
|
unsigned long way = distance%lapDistance;
|
|
switch(sensor&markerSensorMask){
|
|
default:
|
|
case 0b00000000:
|
|
mode = MODE_STRAIGHT;
|
|
break;
|
|
case 0b10000001:
|
|
modeChangedDistance = distance;
|
|
mode = MODE_TURN;
|
|
break;
|
|
case 0b00000001: //E,F,A,C
|
|
modeChangedDistance = distance;
|
|
if(targetE.range.min <= way && way < targetE.range.max) mode = MODE_ATTACK_E;
|
|
if(targetF.range.min <= way && way < targetF.range.max) mode = MODE_ATTACK_F;
|
|
if(targetA.range.min <= way && way < targetA.range.max) mode = MODE_ATTACK_A;
|
|
if(targetC.range.min <= way && way < targetC.range.max) mode = MODE_ATTACK_C;
|
|
break;
|
|
case 0b10000000: //B,D
|
|
modeChangedDistance = distance;
|
|
if(targetB.range.min <= way && way < targetB.range.max) mode = MODE_ATTACK_B;
|
|
if(targetD.range.min <= way && way < targetD.range.max) mode = MODE_ATTACK_D;
|
|
break;
|
|
}
|
|
}
|