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SIT 湘南工科大学 ロボット同好会

湘南工科大学ロボット同好会です。

スタートゲート 基本プログラム改良

リセット時に常にゲートを開放してUPスイッチでスタート準備のためゲート閉鎖、LEFTスイッチでタイマー計測スタートしゲート開放という状態にしました。

リセット時に常にゲートを開放してUPスイッチでスタート準備のためゲート閉鎖以降は前回と同じです。

タイマー計測時は通過するたびにスタートスイッチを押したときからのタイムを更新し続けます。

 プログラム↓(赤文字部分)

/*****************************************

   スタートゲート制御基板用スケッチ

   LCD Keypad Shield使用

 *****************************************/

 

#include <LiquidCrystal.h> //LCDライブラリ

#include <Boards.h>  //LCDライブラリ

#include <Servo.h>  //サーボライブラリ

 

/*select the pins used on the LCD panel

   lcdの使っているピン番号

  LiquidCrystal(rs, enable, d4, d5, d6, d7)

  rs: LCDのRSピンに接続するArduino側のピン番号

  rw: LCDのRWピンに接続するArduino側のピン番号

  enable: LCDのenableピンに接続するArduino側のピン番号

  d0~d7: LCDのdataピンに接続するArduino側のピン番号

 

  d0~d3はオプションで、省略すると4本のデータライン(d4~d7)だけで制御します。 */

LiquidCrystal lcd(8, 9, 4, 5, 6, 7);

 

// define some values used by the panel and buttons

//timer2

int pushbutton;

//パターン

int INTimepattern = 4;

int OUTTimepattern = 4;

int pattern;

int gate1pattern = 0;

int gate2pattern = 0;

/*I = IN

  O = OUT

  cnts = second

  cntm = minute*/

// 分秒表示

int Icnts = 0;

int Icntm = 0;

int Ocnts = 0;

int Ocntm = 0;

//センサーカウント

int sensorINcnt = 0;

int sensorOUTcnt = 0;

//時間計算

unsigned long Itimemillis = 0;

unsigned long Itimemicros = 0;

unsigned long Otimemillis = 0;

unsigned long Otimemicros = 0;

unsigned long Itime1 = 0;

int Itime2 = 0;

unsigned long Itime3 = 0;

unsigned long Otime1 = 0;

int Otime2 = 0;

unsigned long Otime3 = 0;

//時間

unsigned long micros();

//時間その他

int IcntIN = 0;

int OcntOUT = 0;

//定義

#define LEFT   0

#define UP     1

#define DOWN   2

#define RIGHT  3

#define SELECT 4

#define NONE   5

 

#define analogswitch A0

 

//sensor2 ゲート1OUT ゲート2IN

#define sensor1 15  //ゲート1 回路が少ないほう(出口) 41

#define sensor2 16  //ゲート1 回路が多いほう(入口)  41D

#define sensor3 17  //ゲート2 回路が少ないほう(出口) 41

#define sensor4 18  //ゲート2 回路が多いほう(入口)  41D

int sensorin1;

int sensorin2;

int sensorin3;

int sensorin4;

int INsensorpattern = 0;

int OUTsensorpattern = 0;

int Isensor = 0;

int Osensor = 0;

//A0~A5→D14~D19 変換可能

 

//servo2

Servo myservo1;

Servo myservo2;

 

//proccesing変数宣言

int outTime_m = 0; // OUTコース:分

int outTime_s = 0; // OUTコース:秒

int outTime_c = 0; // OUTコース:センチ秒

int inTime_m = 0;  // INコース:分

int inTime_s = 0;  // INコース:秒

int inTime_c = 0;  // INコース:センチ秒

 

//タイマー表示2周目3周目

int secondOTIME = 0;

int thirdOTIME = 0;

int secondITIME = 0;

int thirdITIME = 0;

int secondOcntM = 0;

int secondOcntS = 0;

int thirdOcntM = 0;

int thirdOcntS = 0;

int secondIcntM = 0;

int secondIcntS = 0;

int thirdIcntM = 0;

int thirdIcntS = 0;

 

 

 

// read the buttons

int button() {

  pushbutton = (analogRead(analogswitch) / 4);

  if (pushbutton > 240) return NONE;

  if (pushbutton < 10) return  RIGHT;

  if (pushbutton < 50) return  UP;

  if (pushbutton < 100) return DOWN;

  if (pushbutton < 150) return LEFT;

  if (pushbutton < 200) return SELECT;

  // return NONE;

}

 

void timerOUT() {

  sensorOUTpattern();

  pattern = button();

  switch (OUTTimepattern) {

    case 0:

      //ミリ秒基準

      Otimemillis = millis();

      Otime2 = Otimemillis - Otime1;

      if (Otime2 >= 1000) {

        Otime1 = Otimemillis;

        Ocnts += 1;

      }

      if (Ocnts >= 60) {

        Ocnts = 0;

        Ocntm += 1;

      }

      if (OUTsensorpattern == 31) {

        secondOTIME = Otime2;

        secondOcntS = Ocnts;

        secondOcntM = Ocntm;

        outTime_c = secondOTIME;

        outTime_s = secondOcntS;

        outTime_m = secondOcntM;

      }

      if (OUTsensorpattern == 60) {

 

        OUTTimepattern = 2;

      }

      break;

 

    case 2:

 

      break;

 

    case 4:

      Otimemillis = millis();

      Otime1 = Otimemillis;

      Otime2 = Otimemillis - Otime1;

      Ocnts = 0;

      Ocntm = 0;

      secondOTIME = 0;

      secondOcntS = 0;

      secondOcntM = 0;

      outTime_c = secondOTIME;

      outTime_s = secondOcntS;

      outTime_m = secondOcntM;

      break;

  }

 

}

void timerIN() {

  pattern = button();

  sensorINpattern();

  switch (INTimepattern) {

    case 0:

      Itimemillis = millis();

      Itime2 = Itimemillis - Itime1;

      if (Itime2 >= 1000) {

        Itime1 = Itimemillis;

        Icnts += 1;

      }

      if (Icnts >= 60) {

        Icnts = 0;

        Icntm += 1;

      }

      if (INsensorpattern == 31) {

        secondITIME = Itime2;

        secondIcntS = Icnts;

        secondIcntM = Icntm;

        inTime_c = secondITIME;

        inTime_s = secondIcntS;

        inTime_m = secondIcntM;

      }

      if (INsensorpattern == 60) {

 

        INTimepattern = 2;

      }

      break;

 

    case 2:

 

      break;

 

    case 4:

      Itimemillis = millis();

      Itime1 = Itimemillis;

      Itime2 = Itimemillis - Itime1;

      Icnts = 0;

      Icntm = 0;

      secondITIME = 0;

      secondIcntS = 0;

      secondIcntM = 0;

      inTime_c = secondITIME;

      inTime_s = secondIcntS;

      inTime_m = secondIcntM;

 

      break;

  }

}

 

void LCD() {

  timerIN();

  timerOUT();

  lcd.setCursor(5, 1);

  lcd.print(inTime_m);

  lcd.print(" ");

  lcd.print(inTime_s);

  lcd.print(" ");

  lcd.print(inTime_c);

  lcd.print("   ");

  lcd.setCursor(5, 0);

  lcd.print(outTime_m);

  lcd.print(" ");

  lcd.print(outTime_s);

  lcd.print(" ");

  lcd.print(outTime_c);

  lcd.print("   ");

}

 

 

void proccesing() {

  timerIN();

  timerOUT();

  Serial.print("H");      // ヘッダ送信(先頭を示す文字)

  Serial.write(highByte(outTime_c));// OUTコース;センチ秒データ送信

  Serial.write(lowByte(outTime_c));// OUTコース;センチ秒データ送信

  Serial.write(highByte(inTime_c)); // INコースミリ秒データ送信

  Serial.write(lowByte(inTime_c)); // INコースミリ秒データ送信

  Serial.write(outTime_m);// OUTコース;分データ送信

  Serial.write(outTime_s);// OUTコース;秒データ送信

  Serial.write(inTime_m); // INコース;分データ送信

  Serial.write(inTime_s); // INコース;秒データ送信

  Serial.print('\n');

}

 

 

void sensoro() {

{ if (digitalRead(sensor1) == LOW) {

      sensorin1 = 1;

    }

    else {

      sensorin1 = 0;

    }

  }

{ if (digitalRead(sensor2) == LOW) {

      sensorin2 = 1;

    }

    else {

      sensorin2 = 0;

    }

  }

 

}

 

void sensori() {

{ if (digitalRead(sensor3) == LOW) {

      sensorin3 = 1;

    }

    else {

      sensorin3 = 0;

    }

  }

{ if (digitalRead(sensor4) == LOW) {

      sensorin4 = 1;

    }

    else {

      sensorin4 = 0;

    }

  }

}

void sensorOUT() {

  sensoro();

  if (sensorin1 == 0// && sensorin3 == 0

     ) {

    Osensor = 1;

  }

  else {

    Osensor = 0;

  }

}

 

void sensorIN() {

  sensori();

  if (sensorin3 == 0//&& sensorin1 == 0

     ) {

    Isensor = 1;

  }

  else {

    Isensor = 0;

  }

}

void sensorOUTpattern() {

  sensorOUT();

  pattern = button();

  switch (OUTsensorpattern) {

    case 0:

    sensorOUTcnt = 0;

    gate2pattern = 1;

    if ( pattern == 1){

      gate2pattern = 0;

      OUTsensorpattern = 1;

    }

    break;

   

    case 1:

      sensorOUTcnt = 0;

      if ( pattern == 0 ) {

        gate2pattern = 1;

        OUTsensorpattern = 20;

      }

      break;

 

    case 10:

      sensorOUTcnt = 0;

      if (Osensor == 1) {

        OUTsensorpattern = 20;

      }

      break;

 

    case 20://1回目通過

      sensorOUTcnt++;

      OUTTimepattern = 0;

      if (sensorOUTcnt >= 1700) {

        sensorOUTcnt = 0;

        OUTsensorpattern = 30;

      }

      break;

 

    case 30://

      if (pattern == 4) {

        sensorOUTcnt = 0;

        OUTsensorpattern = 70;

      }

      if (Osensor == 1 ) {

        sensorOUTcnt = 0;

        OUTsensorpattern = 31;//31にすると2回目通過のタイムをPCに表示

      }

 

      break;

 

    case 31:

      sensorOUTcnt++;

      if (sensorOUTcnt >= 1) {

        sensorOUTcnt = 0;

        OUTsensorpattern = 40;

      }

      break;

 

    case 40://

      sensorOUTcnt++;

      if (sensorOUTcnt >= 1700 ) {

        sensorOUTcnt = 0;

        OUTsensorpattern = 30;

      }

      break;

 

    case 50://ゴール後

      if (Osensor == 1 ) {

        OUTTimepattern = 2;

        sensorOUTcnt = 0;

        OUTsensorpattern = 60;

      }

      break;

 

    case 60:

      sensorOUTcnt++;

      if (sensorOUTcnt >= 1) {

        sensorOUTcnt = 0;

        OUTsensorpattern = 61;

      }

      break;

 

    case 61:

      if (pattern == 0) {

        sensorOUTcnt = 0;

 

        OUTsensorpattern = 70;

      }

      break;

 

    case 70:

      OUTTimepattern = 2;

      sensorOUTcnt++;

      if (pattern == 4) {

        sensorOUTcnt = 0;

        OUTsensorpattern = 71;

      }

      break;

 

    case 71:

      OUTTimepattern = 4;

      sensorOUTcnt++;

      if (sensorOUTcnt > 300) {

        gate2pattern = 0;

        sensorOUTcnt = 0;

        OUTsensorpattern = 1;

      }

      break;

  }

}

 

void sensorINpattern() {

  sensorIN();

  pattern = button();

  switch (INsensorpattern) {

    case 0:

    sensorINcnt = 0;

    gate1pattern = 1;

    if ( pattern == 1){

    gate1pattern = 0;

    INsensorpattern = 1;

    }

    break;

   

    case 1:

      sensorINcnt = 0;

      if ( pattern == 0 ) {

        gate1pattern = 1;

        INsensorpattern = 20;//10にすればゲート通過から測定が可能

      }

      break;

 

    case 10:

      sensorINcnt = 0;

      if (Isensor == 1) {

        INsensorpattern = 20;

      }

      break;

 

    case 20://1回目通過

      sensorINcnt++;

      INTimepattern = 0;

      if (sensorINcnt >= 1700) {

        sensorINcnt = 0;

        INsensorpattern = 30;

      }

      break;

 

    case 30://通過前クラッシュしたらスイッチを押して通過判断

      if ( pattern == 4) {

        sensorINcnt = 0;

        INsensorpattern = 70;

      }

      if (Isensor == 1 ) {

        sensorINcnt = 0;

        INsensorpattern = 31;

      }

 

      break;

 

    case 31:

      sensorINcnt++;

      if (sensorINcnt >= 1) {

        sensorINcnt = 0;

        INsensorpattern = 40;

      }

      break;

 

    case 40://3回目通過(ゴール)

      sensorINcnt++;

      if (sensorINcnt > 1000 ) {

        sensorINcnt = 0;

        INsensorpattern = 30;

      }

      break;

 

    case 50:

      if (Isensor == 1 ) {

        INTimepattern = 2;

        sensorINcnt = 0;

        INsensorpattern = 60;

      }

      break;

 

 

 

    case 60://ゴール後

      sensorINcnt++;

      if (sensorINcnt >= 1 ) {

        sensorINcnt = 0;

        INsensorpattern = 61;

      }

      break;

 

    case 61:

      if (pattern == 0) {

        sensorINcnt = 0;

 

        INsensorpattern = 70;

      }

      break;

    case 70:

      INTimepattern = 2;

      sensorINcnt++;

      if (pattern == 4) {

        sensorINcnt = 0;

        INsensorpattern = 71;

      }

      break;

 

    case 71:

      INTimepattern = 4;

      sensorINcnt++;

      if (sensorINcnt > 300) {

        gate1pattern = 0;

        sensorINcnt = 0;

        INsensorpattern = 1;

      }

  }

}

 

 

void servoOUT() {

  sensorOUTpattern();

  switch (gate2pattern) {

    case 0://閉じる

      myservo2.write(126);//126で閉じる

      break;

 

    case 1:

      myservo2.write(39);//39で開く

      break;

  }

}

 

void servoIN() {

  sensorINpattern();

  switch (gate1pattern) {

    case 0:

      myservo1.write(124);//124で閉じる

      break;

 

    case 1:

      myservo1.write(37);//37で開く

      break;

  }

}

 

void setup() {

  Serial.begin(250000);

  pinMode(sensor1, INPUT_PULLUP);

  pinMode(sensor2, INPUT_PULLUP);

  pinMode(sensor3, INPUT_PULLUP);

  pinMode(sensor4, INPUT_PULLUP);

  myservo1.attach(11);

  myservo2.attach(3);

  lcd.begin(16, 2);              // start the library

  lcd.setCursor(0, 0);

  lcd.print("1OUT"); // print a simple message

  lcd.setCursor(0, 1);   // move to the begining of the second line

  lcd.print("2IN");

}

 

void loop() {

  timerIN();

  timerOUT();

  servoIN();

  servoOUT();

  proccesing();

  LCD();

  timechange();

  sensortimekakunin();

}

 

 

 

void timeprinter() {

  timerIN();

  timerOUT();

  Serial.print("IN");

  Serial.print(" ");

  Serial.print(Icntm);

  Serial.print(" ");

  Serial.print(Icnts);

  Serial.print(" ");

  Serial.print(Itime2);

  Serial.print(" ");

  Serial.print("OUT");

  Serial.print(" ");

  Serial.print(Ocntm);

  Serial.print(" ");

  Serial.print(Ocnts);

  Serial.print(" ");

  Serial.print(Otime2);

  Serial.print(" ");

  Serial.print(INTimepattern);

  Serial.print(" ");

  Serial.print(pattern);

  Serial.print(" ");

  Serial.println(IcntIN);

}

 

void sensorprinter() {

  sensori();

  sensoro();

  Serial.print("sensor1");

  Serial.print(sensorin1);

  Serial.print(" ");

  Serial.print("sensor2");

  Serial.print(sensorin2 );

  Serial.print(" ");

  Serial.print("sensor3");

  Serial.print(sensorin3 );

  Serial.print(" ");

  Serial.print("sensor4");

  Serial.println(sensorin4 );

}

 

void patternkakunin() {

  Serial.print(pattern);

  Serial.print(INTimepattern);

  Serial.println(OUTTimepattern);

}

void sensorkakunin() {

  sensoro();

  sensori();

  sensorIN();

  sensorOUT();

  Serial.print(sensorin1);

  Serial.print(sensorin2);

  Serial.print(sensorin3);

  Serial.print(sensorin4);

  Serial.print(INsensorpattern);

  Serial.println(OUTsensorpattern);

}

void sensortimekakunin() {

  sensorINpattern();

  sensorOUTpattern();

  Serial.print(Isensor);

  Serial.print(INTimepattern);

  Serial.print(INsensorpattern);

  Serial.print(" ");

  Serial.print(Osensor);

  Serial.print(OUTTimepattern);

  Serial.println(OUTsensorpattern);

}

void servokakunin() {

  servoIN();

  servoOUT();

  Serial.print(gate1pattern);

  Serial.println(gate2pattern);

}

void timechange() {

  timerIN();

  timerOUT();

  Serial.print(" ");

  Serial.print(outTime_c);

  Serial.print(" ");

  Serial.print(outTime_s);

  Serial.print(" ");

  Serial.print(outTime_m);

  Serial.print(" ");

  Serial.print(inTime_c);

  Serial.print(" ");

  Serial.print(inTime_s);

  Serial.print(" ");

  Serial.println(inTime_m);

 

}