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fujiwing2017: Commit


Commit MetaInfo

Revision73 (tree)
Zeit2017-11-12 14:08:46
Autoryus_suzuki

Log Message

Lコースのベーシックエリアゲインやパワー、マイレージの距離を変更。
スタートの尻尾角度を61から59に変更（CロボットとBロボット）

Ändern Zusammenfassung

Diff

--- branches/CS_0922_LPF/sdk/OBJ/Makefile (revision 72)
+++ branches/CS_0922_LPF/sdk/OBJ/Makefile (revision 73)
@@ -6,7 +6,7 @@
66 KERNELDIR = ../..
77 TARGETDIR = $(KERNELDIR)/target/ev3_gcc
88 LOADERDIR = $(KERNELDIR)/target/ev3_gcc/dmloader
9-APPLDIR = ../workspace/L_ETRobo2017_0916_suzuki
9+APPLDIR = ../workspace/R_ETRobo2017_0916_azuma
1010 APPL_DIR = $(APPLDIR)
1111 SRCDIRS += $(APPL_DIR) $(KERNELDIR)/target/ev3_gcc/TLSF-2.4.6/src
1212
@@ -18,8 +18,8 @@
1818 # Compiler options
1919 COPTS += -DBUILD_MODULE
2020 GCC_TARGET = arm-none-eabi
21-INCLUDES += -I../workspace/L_ETRobo2017_0916_suzuki \
22- -I../workspace/L_ETRobo2017_0916_suzuki/../common \
21+INCLUDES += -I../workspace/R_ETRobo2017_0916_azuma \
22+ -I../workspace/R_ETRobo2017_0916_azuma/../common \
2323 -I$(LOADERDIR)/app \
2424 -I$(KERNELDIR)/target/ev3_gcc \
2525 -I$(KERNELDIR)/target/ev3_gcc/drivers/common/include \
@@ -39,7 +39,7 @@
3939
4040 MODOBJS += t_perror.o strerror.o vasyslog.o tlsf.o
4141
42-MODCFG = ../workspace/L_ETRobo2017_0916_suzuki/app.cfg
42+MODCFG = ../workspace/R_ETRobo2017_0916_azuma/app.cfg
4343
4444 MODDIR = $(PWD)
4545
@@ -50,7 +50,7 @@
5050 #
5151 BUILD_LOADABLE_MODULE = 1
5252 CONFIG_EV3RT_APPLICATION = 1
53-include ../workspace/L_ETRobo2017_0916_suzuki/Makefile.inc
53+include ../workspace/R_ETRobo2017_0916_azuma/Makefile.inc
5454 ifeq ($(SRCLANG),c++)
5555 USE_CXX = true
5656 APPL_CXXOBJS += app.o
--- branches/CS_0922_LPF/sdk/OBJ/app.cpp (revision 72)
+++ branches/CS_0922_LPF/sdk/OBJ/app.cpp (revision 73)
@@ -138,13 +138,13 @@
138138 CGyroSensor *m_CGyroSensor;
139139 m_CGyroSensor = m_CSensorFactory->getGyroSensor();
140140
141+ //ev3_lcd_fill_rect(0, 0, EV3_LCD_WIDTH, EV3_LCD_HEIGHT, EV3_LCD_WHITE);
142+ //ev3_lcd_draw_string("Factory Created! ", 0, CALIB_FONT_HEIGHT*2);
143+ //tslp_tsk(500); /* 10msecウェイト */
144+
141145 ev3_lcd_fill_rect(0, 0, EV3_LCD_WIDTH, EV3_LCD_HEIGHT, EV3_LCD_WHITE);
142- ev3_lcd_draw_string("Factory Created! ", 0, CALIB_FONT_HEIGHT*2);
146+ ev3_lcd_draw_string("AreaSwitching Get! ", 0, CALIB_FONT_HEIGHT*2);
143147 tslp_tsk(1000); /* 1000msecウェイト */
144-
145-// ev3_lcd_fill_rect(0, 0, EV3_LCD_WIDTH, EV3_LCD_HEIGHT, EV3_LCD_WHITE);
146-// ev3_lcd_draw_string("AreaSwitching Get! ", 0, CALIB_FONT_HEIGHT*2);
147-// tslp_tsk(500); /* 10msecウェイト */
148148
149149 // ジャイロと倒立振子を初期化.
150150 m_CGyroSensor->reset();
@@ -154,9 +154,9 @@
154154 m_CLRMotorPowerControl->LRControl(0, 0, 0);
155155 //m_CTailMotorOutput->Output(0);
156156
157- ev3_lcd_fill_rect(0, 0, EV3_LCD_WIDTH, EV3_LCD_HEIGHT, EV3_LCD_WHITE);
158- ev3_lcd_draw_string("Reset Complete! ", 0, CALIB_FONT_HEIGHT*2);
159- tslp_tsk(500); /* 10msecウェイト */
157+ //ev3_lcd_fill_rect(0, 0, EV3_LCD_WIDTH, EV3_LCD_HEIGHT, EV3_LCD_WHITE);
158+ //ev3_lcd_draw_string("Reset Complete! ", 0, CALIB_FONT_HEIGHT*2);
159+ //tslp_tsk(500); /* 10msecウェイト */
160160
161161 // Bluetooth起動.
162162 CGlobalVariable::getInstance()->global_bluetooth = ev3_serial_open_file(EV3_SERIAL_BT);
@@ -269,7 +269,7 @@
269269 ev3_lcd_fill_rect(0, 0, EV3_LCD_WIDTH, EV3_LCD_HEIGHT, EV3_LCD_WHITE);
270270 ev3_lcd_draw_string("return false", 0, 24);
271271 tslp_tsk(500); /* 10msecウェイト */
272- ev3_speaker_set_volume(50);
272+ ev3_speaker_set_volume(150);
273273 ev3_speaker_play_tone(261.63, 1000);
274274 break;
275275
--- branches/CS_0922_LPF/sdk/OBJ/cfg1_out.c (revision 72)
+++ branches/CS_0922_LPF/sdk/OBJ/cfg1_out.c (revision 73)
@@ -1538,233 +1538,236 @@
15381538 #ifndef TOPPERS_cfg_valueof_TDOM_APP_DEFINED
15391539 #define TOPPERS_cfg_valueof_TDOM_APP_DEFINED 1
15401540
1541-#line 5 "../workspace/L_ETRobo2017_0916_suzuki/app.cfg"
1541+#line 5 "../workspace/R_ETRobo2017_0916_azuma/app.cfg"
15421542 const unsigned_t TOPPERS_cfg_valueof_TDOM_APP = TDOM_APP;
15431543
15441544 #endif
15451545 #define TOPPERS_cfg_inside_of_TDOM_APP
15461546 const unsigned_t TOPPERS_cfg_valueof_DOMAIN_256 = ( unsigned_t ) ( TDOM_APP );
1547-#line 6 "../workspace/L_ETRobo2017_0916_suzuki/app.cfg"
1547+#line 6 "../workspace/R_ETRobo2017_0916_azuma/app.cfg"
15481548 const unsigned_t TOPPERS_cfg_static_api_256 = 256;
15491549 #define INIT_TASK (<>)
15501550
1551-#line 6 "../workspace/L_ETRobo2017_0916_suzuki/app.cfg"
1552-const unsigned_t TOPPERS_cfg_valueof_tskatr_256 = ( unsigned_t )( TA_ACT ); const signed_t TOPPERS_cfg_valueof_itskpri_256 = ( signed_t )( TMIN_APP_TPRI + 1 ); const unsigned_t TOPPERS_cfg_valueof_stksz_256 = ( unsigned_t )( STACK_SIZE ); const unsigned_t TOPPERS_cfg_valueof_DOMAIN_257 = ( unsigned_t ) ( TDOM_APP );
1553-#line 7 "../workspace/L_ETRobo2017_0916_suzuki/app.cfg"
1551+#line 6 "../workspace/R_ETRobo2017_0916_azuma/app.cfg"
1552+const unsigned_t TOPPERS_cfg_valueof_tskatr_256 = ( unsigned_t )( TA_ACT ); const signed_t TOPPERS_cfg_valueof_itskpri_256 = ( signed_t )( TMIN_APP_TPRI+1 ); const unsigned_t TOPPERS_cfg_valueof_stksz_256 = ( unsigned_t )( STACK_SIZE ); const unsigned_t TOPPERS_cfg_valueof_DOMAIN_257 = ( unsigned_t ) ( TDOM_APP );
1553+#line 7 "../workspace/R_ETRobo2017_0916_azuma/app.cfg"
15541554 const unsigned_t TOPPERS_cfg_static_api_257 = 257;
15551555 #define MAIN_TASK (<>)
15561556
1557-#line 7 "../workspace/L_ETRobo2017_0916_suzuki/app.cfg"
1557+#line 7 "../workspace/R_ETRobo2017_0916_azuma/app.cfg"
15581558 const unsigned_t TOPPERS_cfg_valueof_tskatr_257 = ( unsigned_t )( TA_NULL ); const signed_t TOPPERS_cfg_valueof_itskpri_257 = ( signed_t )( TMIN_APP_TPRI+3 ); const unsigned_t TOPPERS_cfg_valueof_stksz_257 = ( unsigned_t )( STACK_SIZE ); const unsigned_t TOPPERS_cfg_valueof_DOMAIN_258 = ( unsigned_t ) ( TDOM_APP );
1559-#line 8 "../workspace/L_ETRobo2017_0916_suzuki/app.cfg"
1559+#line 8 "../workspace/R_ETRobo2017_0916_azuma/app.cfg"
15601560 const unsigned_t TOPPERS_cfg_static_api_258 = 258;
15611561 #define SAVE_RGB_FILTER_RESULT_TASK (<>)
15621562
1563-#line 8 "../workspace/L_ETRobo2017_0916_suzuki/app.cfg"
1563+#line 8 "../workspace/R_ETRobo2017_0916_azuma/app.cfg"
15641564 const unsigned_t TOPPERS_cfg_valueof_tskatr_258 = ( unsigned_t )( TA_NULL ); const signed_t TOPPERS_cfg_valueof_itskpri_258 = ( signed_t )( TMIN_APP_TPRI+2 ); const unsigned_t TOPPERS_cfg_valueof_stksz_258 = ( unsigned_t )( STACK_SIZE ); const unsigned_t TOPPERS_cfg_valueof_DOMAIN_259 = ( unsigned_t ) ( TDOM_APP );
1565-#line 9 "../workspace/L_ETRobo2017_0916_suzuki/app.cfg"
1565+#line 9 "../workspace/R_ETRobo2017_0916_azuma/app.cfg"
15661566 const unsigned_t TOPPERS_cfg_static_api_259 = 259;
15671567 #define BLUETOOTH_RECEIVE_TASK (<>)
15681568
1569-#line 9 "../workspace/L_ETRobo2017_0916_suzuki/app.cfg"
1569+#line 9 "../workspace/R_ETRobo2017_0916_azuma/app.cfg"
15701570 const unsigned_t TOPPERS_cfg_valueof_tskatr_259 = ( unsigned_t )( TA_NULL ); const signed_t TOPPERS_cfg_valueof_itskpri_259 = ( signed_t )( TMIN_APP_TPRI+4 ); const unsigned_t TOPPERS_cfg_valueof_stksz_259 = ( unsigned_t )( STACK_SIZE ); const unsigned_t TOPPERS_cfg_valueof_DOMAIN_260 = ( unsigned_t ) ( TDOM_APP );
1571-#line 13 "../workspace/L_ETRobo2017_0916_suzuki/app.cfg"
1571+#line 13 "../workspace/R_ETRobo2017_0916_azuma/app.cfg"
15721572 const unsigned_t TOPPERS_cfg_static_api_260 = 260;
15731573 #define MAIN_CYCLE_TASK (<>)
15741574
1575-#line 13 "../workspace/L_ETRobo2017_0916_suzuki/app.cfg"
1575+#line 13 "../workspace/R_ETRobo2017_0916_azuma/app.cfg"
15761576 const unsigned_t TOPPERS_cfg_valueof_cycatr_260 = ( unsigned_t )( TA_NULL ); const unsigned_t TOPPERS_cfg_valueof_cyctim_260 = ( unsigned_t )( 5 ); const unsigned_t TOPPERS_cfg_valueof_cycphs_260 = ( unsigned_t )( 1 ); const unsigned_t TOPPERS_cfg_valueof_DOMAIN_261 = ( unsigned_t ) ( TDOM_APP );
1577-#line 14 "../workspace/L_ETRobo2017_0916_suzuki/app.cfg"
1577+#line 14 "../workspace/R_ETRobo2017_0916_azuma/app.cfg"
15781578 const unsigned_t TOPPERS_cfg_static_api_261 = 261;
15791579 #define SAVE_RGB_FILTER_RESULT_CYCLE_TASK (<>)
15801580
1581-#line 14 "../workspace/L_ETRobo2017_0916_suzuki/app.cfg"
1581+#line 14 "../workspace/R_ETRobo2017_0916_azuma/app.cfg"
15821582 const unsigned_t TOPPERS_cfg_valueof_cycatr_261 = ( unsigned_t )( TA_NULL ); const unsigned_t TOPPERS_cfg_valueof_cyctim_261 = ( unsigned_t )( 1 ); const unsigned_t TOPPERS_cfg_valueof_cycphs_261 = ( unsigned_t )( 0 ); const unsigned_t TOPPERS_cfg_valueof_DOMAIN_262 = ( unsigned_t ) ( TDOM_APP );
1583-#line 15 "../workspace/L_ETRobo2017_0916_suzuki/app.cfg"
1583+#line 15 "../workspace/R_ETRobo2017_0916_azuma/app.cfg"
15841584 const unsigned_t TOPPERS_cfg_static_api_262 = 262;
15851585 #define BLUETOOTH_RECIEVE_CYCLE_TASK (<>)
15861586
1587-#line 15 "../workspace/L_ETRobo2017_0916_suzuki/app.cfg"
1587+#line 15 "../workspace/R_ETRobo2017_0916_azuma/app.cfg"
15881588 const unsigned_t TOPPERS_cfg_valueof_cycatr_262 = ( unsigned_t )( TA_NULL ); const unsigned_t TOPPERS_cfg_valueof_cyctim_262 = ( unsigned_t )( 1 ); const unsigned_t TOPPERS_cfg_valueof_cycphs_262 = ( unsigned_t )( 0 );
15891589 #ifndef TOPPERS_cfg_inside_of_TDOM_APP
15901590
1591-#line 18 "../workspace/L_ETRobo2017_0916_suzuki/app.cfg"
1591+#line 17 "../workspace/R_ETRobo2017_0916_azuma/app.cfg"
15921592 #error syntax error
15931593 #endif
15941594 #undef TOPPERS_cfg_inside_of_TDOM_APP
15951595
15961596
1597-#line 20 "../workspace/L_ETRobo2017_0916_suzuki/app.cfg"
1597+#line 22 "../workspace/R_ETRobo2017_0916_azuma/app.cfg"
15981598 const unsigned_t TOPPERS_cfg_static_api_263 = 263;
15991599 const char TOPPERS_cfg_valueof_module_263[] = "app.o";
1600-#line 21 "../workspace/L_ETRobo2017_0916_suzuki/app.cfg"
1600+#line 23 "../workspace/R_ETRobo2017_0916_azuma/app.cfg"
16011601 const unsigned_t TOPPERS_cfg_static_api_264 = 264;
16021602 const char TOPPERS_cfg_valueof_module_264[] = "GlobalVariable.o";
1603-#line 22 "../workspace/L_ETRobo2017_0916_suzuki/app.cfg"
1603+#line 24 "../workspace/R_ETRobo2017_0916_azuma/app.cfg"
16041604 const unsigned_t TOPPERS_cfg_static_api_265 = 265;
16051605 const char TOPPERS_cfg_valueof_module_265[] = "balancer.o";
1606-#line 23 "../workspace/L_ETRobo2017_0916_suzuki/app.cfg"
1606+#line 25 "../workspace/R_ETRobo2017_0916_azuma/app.cfg"
16071607 const unsigned_t TOPPERS_cfg_static_api_266 = 266;
16081608 const char TOPPERS_cfg_valueof_module_266[] = "balancer_param.o";
1609-#line 24 "../workspace/L_ETRobo2017_0916_suzuki/app.cfg"
1609+#line 26 "../workspace/R_ETRobo2017_0916_azuma/app.cfg"
16101610 const unsigned_t TOPPERS_cfg_static_api_267 = 267;
16111611 const char TOPPERS_cfg_valueof_module_267[] = "AFactory.o";
1612-#line 25 "../workspace/L_ETRobo2017_0916_suzuki/app.cfg"
1612+#line 27 "../workspace/R_ETRobo2017_0916_azuma/app.cfg"
16131613 const unsigned_t TOPPERS_cfg_static_api_268 = 268;
16141614 const char TOPPERS_cfg_valueof_module_268[] = "DataLog.o";
1615-#line 26 "../workspace/L_ETRobo2017_0916_suzuki/app.cfg"
1615+#line 28 "../workspace/R_ETRobo2017_0916_azuma/app.cfg"
16161616 const unsigned_t TOPPERS_cfg_static_api_269 = 269;
16171617 const char TOPPERS_cfg_valueof_module_269[] = "CMonitoringMotorPower.o";
1618-#line 27 "../workspace/L_ETRobo2017_0916_suzuki/app.cfg"
1618+#line 29 "../workspace/R_ETRobo2017_0916_azuma/app.cfg"
16191619 const unsigned_t TOPPERS_cfg_static_api_270 = 270;
16201620 const char TOPPERS_cfg_valueof_module_270[] = "AArea.o";
1621-#line 28 "../workspace/L_ETRobo2017_0916_suzuki/app.cfg"
1621+#line 30 "../workspace/R_ETRobo2017_0916_azuma/app.cfg"
16221622 const unsigned_t TOPPERS_cfg_static_api_271 = 271;
16231623 const char TOPPERS_cfg_valueof_module_271[] = "CAreaFactory.o";
1624-#line 29 "../workspace/L_ETRobo2017_0916_suzuki/app.cfg"
1624+#line 31 "../workspace/R_ETRobo2017_0916_azuma/app.cfg"
16251625 const unsigned_t TOPPERS_cfg_static_api_272 = 272;
16261626 const char TOPPERS_cfg_valueof_module_272[] = "CAreaSwitching.o";
1627-#line 30 "../workspace/L_ETRobo2017_0916_suzuki/app.cfg"
1627+#line 32 "../workspace/R_ETRobo2017_0916_azuma/app.cfg"
16281628 const unsigned_t TOPPERS_cfg_static_api_273 = 273;
16291629 const char TOPPERS_cfg_valueof_module_273[] = "CCalibrationArea.o";
1630-#line 31 "../workspace/L_ETRobo2017_0916_suzuki/app.cfg"
1630+#line 33 "../workspace/R_ETRobo2017_0916_azuma/app.cfg"
16311631 const unsigned_t TOPPERS_cfg_static_api_274 = 274;
16321632 const char TOPPERS_cfg_valueof_module_274[] = "CDrivingArea.o";
1633-#line 32 "../workspace/L_ETRobo2017_0916_suzuki/app.cfg"
1633+#line 34 "../workspace/R_ETRobo2017_0916_azuma/app.cfg"
16341634 const unsigned_t TOPPERS_cfg_static_api_275 = 275;
16351635 const char TOPPERS_cfg_valueof_module_275[] = "CStopArea.o";
1636-#line 33 "../workspace/L_ETRobo2017_0916_suzuki/app.cfg"
1636+#line 35 "../workspace/R_ETRobo2017_0916_azuma/app.cfg"
16371637 const unsigned_t TOPPERS_cfg_static_api_276 = 276;
16381638 const char TOPPERS_cfg_valueof_module_276[] = "AMotor.o";
1639-#line 34 "../workspace/L_ETRobo2017_0916_suzuki/app.cfg"
1639+#line 36 "../workspace/R_ETRobo2017_0916_azuma/app.cfg"
16401640 const unsigned_t TOPPERS_cfg_static_api_277 = 277;
16411641 const char TOPPERS_cfg_valueof_module_277[] = "CMotorOutput.o";
1642-#line 35 "../workspace/L_ETRobo2017_0916_suzuki/app.cfg"
1642+#line 37 "../workspace/R_ETRobo2017_0916_azuma/app.cfg"
16431643 const unsigned_t TOPPERS_cfg_static_api_278 = 278;
16441644 const char TOPPERS_cfg_valueof_module_278[] = "CMotorOutputFactory.o";
1645-#line 36 "../workspace/L_ETRobo2017_0916_suzuki/app.cfg"
1645+#line 38 "../workspace/R_ETRobo2017_0916_azuma/app.cfg"
16461646 const unsigned_t TOPPERS_cfg_static_api_279 = 279;
16471647 const char TOPPERS_cfg_valueof_module_279[] = "CMotorValueGet.o";
1648-#line 37 "../workspace/L_ETRobo2017_0916_suzuki/app.cfg"
1648+#line 39 "../workspace/R_ETRobo2017_0916_azuma/app.cfg"
16491649 const unsigned_t TOPPERS_cfg_static_api_280 = 280;
16501650 const char TOPPERS_cfg_valueof_module_280[] = "CMotorValueGetFactory.o";
1651-#line 38 "../workspace/L_ETRobo2017_0916_suzuki/app.cfg"
1651+#line 40 "../workspace/R_ETRobo2017_0916_azuma/app.cfg"
16521652 const unsigned_t TOPPERS_cfg_static_api_281 = 281;
16531653 const char TOPPERS_cfg_valueof_module_281[] = "ASensor.o";
1654-#line 39 "../workspace/L_ETRobo2017_0916_suzuki/app.cfg"
1654+#line 41 "../workspace/R_ETRobo2017_0916_azuma/app.cfg"
16551655 const unsigned_t TOPPERS_cfg_static_api_282 = 282;
16561656 const char TOPPERS_cfg_valueof_module_282[] = "CColorSensor.o";
1657-#line 40 "../workspace/L_ETRobo2017_0916_suzuki/app.cfg"
1657+#line 42 "../workspace/R_ETRobo2017_0916_azuma/app.cfg"
16581658 const unsigned_t TOPPERS_cfg_static_api_283 = 283;
16591659 const char TOPPERS_cfg_valueof_module_283[] = "CGyroSensor.o";
1660-#line 41 "../workspace/L_ETRobo2017_0916_suzuki/app.cfg"
1660+#line 43 "../workspace/R_ETRobo2017_0916_azuma/app.cfg"
16611661 const unsigned_t TOPPERS_cfg_static_api_284 = 284;
16621662 const char TOPPERS_cfg_valueof_module_284[] = "CSensorFactory.o";
1663-#line 42 "../workspace/L_ETRobo2017_0916_suzuki/app.cfg"
1663+#line 44 "../workspace/R_ETRobo2017_0916_azuma/app.cfg"
16641664 const unsigned_t TOPPERS_cfg_static_api_285 = 285;
16651665 const char TOPPERS_cfg_valueof_module_285[] = "CSonarSensor.o";
1666-#line 43 "../workspace/L_ETRobo2017_0916_suzuki/app.cfg"
1666+#line 45 "../workspace/R_ETRobo2017_0916_azuma/app.cfg"
16671667 const unsigned_t TOPPERS_cfg_static_api_286 = 286;
16681668 const char TOPPERS_cfg_valueof_module_286[] = "CTouchSensor.o";
1669-#line 44 "../workspace/L_ETRobo2017_0916_suzuki/app.cfg"
1669+#line 46 "../workspace/R_ETRobo2017_0916_azuma/app.cfg"
16701670 const unsigned_t TOPPERS_cfg_static_api_287 = 287;
16711671 const char TOPPERS_cfg_valueof_module_287[] = "ACorrectControl.o";
1672-#line 45 "../workspace/L_ETRobo2017_0916_suzuki/app.cfg"
1672+#line 47 "../workspace/R_ETRobo2017_0916_azuma/app.cfg"
16731673 const unsigned_t TOPPERS_cfg_static_api_288 = 288;
16741674 const char TOPPERS_cfg_valueof_module_288[] = "ALRMotorControl.o";
1675-#line 46 "../workspace/L_ETRobo2017_0916_suzuki/app.cfg"
1675+#line 48 "../workspace/R_ETRobo2017_0916_azuma/app.cfg"
16761676 const unsigned_t TOPPERS_cfg_static_api_289 = 289;
16771677 const char TOPPERS_cfg_valueof_module_289[] = "CDirectionCorrectControl.o";
1678-#line 47 "../workspace/L_ETRobo2017_0916_suzuki/app.cfg"
1678+#line 49 "../workspace/R_ETRobo2017_0916_azuma/app.cfg"
16791679 const unsigned_t TOPPERS_cfg_static_api_290 = 290;
16801680 const char TOPPERS_cfg_valueof_module_290[] = "CDirectionCorrectControlFactory.o";
1681-#line 48 "../workspace/L_ETRobo2017_0916_suzuki/app.cfg"
1681+#line 50 "../workspace/R_ETRobo2017_0916_azuma/app.cfg"
16821682 const unsigned_t TOPPERS_cfg_static_api_291 = 291;
16831683 const char TOPPERS_cfg_valueof_module_291[] = "CLightPIDControl.o";
1684-#line 49 "../workspace/L_ETRobo2017_0916_suzuki/app.cfg"
1684+#line 51 "../workspace/R_ETRobo2017_0916_azuma/app.cfg"
16851685 const unsigned_t TOPPERS_cfg_static_api_292 = 292;
16861686 const char TOPPERS_cfg_valueof_module_292[] = "CLightPIDControlFactory.o";
1687-#line 50 "../workspace/L_ETRobo2017_0916_suzuki/app.cfg"
1687+#line 52 "../workspace/R_ETRobo2017_0916_azuma/app.cfg"
16881688 const unsigned_t TOPPERS_cfg_static_api_293 = 293;
16891689 const char TOPPERS_cfg_valueof_module_293[] = "CLRMotorPowerControl.o";
1690-#line 51 "../workspace/L_ETRobo2017_0916_suzuki/app.cfg"
1690+#line 53 "../workspace/R_ETRobo2017_0916_azuma/app.cfg"
16911691 const unsigned_t TOPPERS_cfg_static_api_294 = 294;
1692-const char TOPPERS_cfg_valueof_module_294[] = "CLRMotorPowerControlFactory.o";
1693-#line 52 "../workspace/L_ETRobo2017_0916_suzuki/app.cfg"
1692+const char TOPPERS_cfg_valueof_module_294[] = "CLRMotorPowerLineControl.o";
1693+#line 54 "../workspace/R_ETRobo2017_0916_azuma/app.cfg"
16941694 const unsigned_t TOPPERS_cfg_static_api_295 = 295;
1695-const char TOPPERS_cfg_valueof_module_295[] = "ATailMotorControl.o";
1696-#line 53 "../workspace/L_ETRobo2017_0916_suzuki/app.cfg"
1695+const char TOPPERS_cfg_valueof_module_295[] = "CLRMotorPowerControlFactory.o";
1696+#line 55 "../workspace/R_ETRobo2017_0916_azuma/app.cfg"
16971697 const unsigned_t TOPPERS_cfg_static_api_296 = 296;
1698-const char TOPPERS_cfg_valueof_module_296[] = "CTailMotorControl.o";
1699-#line 54 "../workspace/L_ETRobo2017_0916_suzuki/app.cfg"
1698+const char TOPPERS_cfg_valueof_module_296[] = "ATailMotorControl.o";
1699+#line 56 "../workspace/R_ETRobo2017_0916_azuma/app.cfg"
17001700 const unsigned_t TOPPERS_cfg_static_api_297 = 297;
1701-const char TOPPERS_cfg_valueof_module_297[] = "CTailMotorControlFactory.o";
1702-#line 55 "../workspace/L_ETRobo2017_0916_suzuki/app.cfg"
1701+const char TOPPERS_cfg_valueof_module_297[] = "CTailMotorControl.o";
1702+#line 57 "../workspace/R_ETRobo2017_0916_azuma/app.cfg"
17031703 const unsigned_t TOPPERS_cfg_static_api_298 = 298;
1704-const char TOPPERS_cfg_valueof_module_298[] = "CTailBrakeControl.o";
1705-#line 56 "../workspace/L_ETRobo2017_0916_suzuki/app.cfg"
1704+const char TOPPERS_cfg_valueof_module_298[] = "CTailMotorControlFactory.o";
1705+#line 58 "../workspace/R_ETRobo2017_0916_azuma/app.cfg"
17061706 const unsigned_t TOPPERS_cfg_static_api_299 = 299;
1707-const char TOPPERS_cfg_valueof_module_299[] = "CTailBrakeControlFactory.o";
1708-#line 57 "../workspace/L_ETRobo2017_0916_suzuki/app.cfg"
1707+const char TOPPERS_cfg_valueof_module_299[] = "CTailBrakeControl.o";
1708+#line 59 "../workspace/R_ETRobo2017_0916_azuma/app.cfg"
17091709 const unsigned_t TOPPERS_cfg_static_api_300 = 300;
1710-const char TOPPERS_cfg_valueof_module_300[] = "CTailRocketControl.o";
1711-#line 58 "../workspace/L_ETRobo2017_0916_suzuki/app.cfg"
1710+const char TOPPERS_cfg_valueof_module_300[] = "CTailBrakeControlFactory.o";
1711+#line 60 "../workspace/R_ETRobo2017_0916_azuma/app.cfg"
17121712 const unsigned_t TOPPERS_cfg_static_api_301 = 301;
1713-const char TOPPERS_cfg_valueof_module_301[] = "CTailRocketControlFactory.o";
1714-#line 59 "../workspace/L_ETRobo2017_0916_suzuki/app.cfg"
1713+const char TOPPERS_cfg_valueof_module_301[] = "CTailRocketControl.o";
1714+#line 61 "../workspace/R_ETRobo2017_0916_azuma/app.cfg"
17151715 const unsigned_t TOPPERS_cfg_static_api_302 = 302;
1716-const char TOPPERS_cfg_valueof_module_302[] = "CTwoWheelBalanceControl.o";
1717-#line 60 "../workspace/L_ETRobo2017_0916_suzuki/app.cfg"
1716+const char TOPPERS_cfg_valueof_module_302[] = "CTailRocketControlFactory.o";
1717+#line 62 "../workspace/R_ETRobo2017_0916_azuma/app.cfg"
17181718 const unsigned_t TOPPERS_cfg_static_api_303 = 303;
1719-const char TOPPERS_cfg_valueof_module_303[] = "CTwoWheelBalanceControlFactory.o";
1720-#line 61 "../workspace/L_ETRobo2017_0916_suzuki/app.cfg"
1719+const char TOPPERS_cfg_valueof_module_303[] = "CTwoWheelBalanceControl.o";
1720+#line 63 "../workspace/R_ETRobo2017_0916_azuma/app.cfg"
17211721 const unsigned_t TOPPERS_cfg_static_api_304 = 304;
1722-const char TOPPERS_cfg_valueof_module_304[] = "ADetection.o";
1723-#line 62 "../workspace/L_ETRobo2017_0916_suzuki/app.cfg"
1722+const char TOPPERS_cfg_valueof_module_304[] = "CTwoWheelBalanceControlFactory.o";
1723+#line 64 "../workspace/R_ETRobo2017_0916_azuma/app.cfg"
17241724 const unsigned_t TOPPERS_cfg_static_api_305 = 305;
1725-const char TOPPERS_cfg_valueof_module_305[] = "CMotorPowerDetection.o";
1726-#line 63 "../workspace/L_ETRobo2017_0916_suzuki/app.cfg"
1725+const char TOPPERS_cfg_valueof_module_305[] = "ADetection.o";
1726+#line 65 "../workspace/R_ETRobo2017_0916_azuma/app.cfg"
17271727 const unsigned_t TOPPERS_cfg_static_api_306 = 306;
1728-const char TOPPERS_cfg_valueof_module_306[] = "CMileageDetection.o";
1729-#line 64 "../workspace/L_ETRobo2017_0916_suzuki/app.cfg"
1728+const char TOPPERS_cfg_valueof_module_306[] = "CMotorPowerDetection.o";
1729+#line 66 "../workspace/R_ETRobo2017_0916_azuma/app.cfg"
17301730 const unsigned_t TOPPERS_cfg_static_api_307 = 307;
1731-const char TOPPERS_cfg_valueof_module_307[] = "CDirectionDetection.o";
1732-#line 65 "../workspace/L_ETRobo2017_0916_suzuki/app.cfg"
1731+const char TOPPERS_cfg_valueof_module_307[] = "CMileageDetection.o";
1732+#line 67 "../workspace/R_ETRobo2017_0916_azuma/app.cfg"
17331733 const unsigned_t TOPPERS_cfg_static_api_308 = 308;
1734-const char TOPPERS_cfg_valueof_module_308[] = "CMotorDetectionFactory.o";
1735-#line 66 "../workspace/L_ETRobo2017_0916_suzuki/app.cfg"
1734+const char TOPPERS_cfg_valueof_module_308[] = "CDirectionDetection.o";
1735+#line 68 "../workspace/R_ETRobo2017_0916_azuma/app.cfg"
17361736 const unsigned_t TOPPERS_cfg_static_api_309 = 309;
1737-const char TOPPERS_cfg_valueof_module_309[] = "CTailAngleDetection.o";
1738-#line 67 "../workspace/L_ETRobo2017_0916_suzuki/app.cfg"
1737+const char TOPPERS_cfg_valueof_module_309[] = "CMotorDetectionFactory.o";
1738+#line 69 "../workspace/R_ETRobo2017_0916_azuma/app.cfg"
17391739 const unsigned_t TOPPERS_cfg_static_api_310 = 310;
1740-const char TOPPERS_cfg_valueof_module_310[] = "CCourseOutDetection.o";
1741-#line 68 "../workspace/L_ETRobo2017_0916_suzuki/app.cfg"
1740+const char TOPPERS_cfg_valueof_module_310[] = "CTailAngleDetection.o";
1741+#line 70 "../workspace/R_ETRobo2017_0916_azuma/app.cfg"
17421742 const unsigned_t TOPPERS_cfg_static_api_311 = 311;
1743-const char TOPPERS_cfg_valueof_module_311[] = "CFallDetection.o";
1744-#line 69 "../workspace/L_ETRobo2017_0916_suzuki/app.cfg"
1743+const char TOPPERS_cfg_valueof_module_311[] = "CCourseOutDetection.o";
1744+#line 71 "../workspace/R_ETRobo2017_0916_azuma/app.cfg"
17451745 const unsigned_t TOPPERS_cfg_static_api_312 = 312;
1746-const char TOPPERS_cfg_valueof_module_312[] = "CGrayDetection.o";
1747-#line 70 "../workspace/L_ETRobo2017_0916_suzuki/app.cfg"
1746+const char TOPPERS_cfg_valueof_module_312[] = "CFallDetection.o";
1747+#line 72 "../workspace/R_ETRobo2017_0916_azuma/app.cfg"
17481748 const unsigned_t TOPPERS_cfg_static_api_313 = 313;
1749-const char TOPPERS_cfg_valueof_module_313[] = "CImpactDetection.o";
1750-#line 71 "../workspace/L_ETRobo2017_0916_suzuki/app.cfg"
1749+const char TOPPERS_cfg_valueof_module_313[] = "CGrayDetection.o";
1750+#line 73 "../workspace/R_ETRobo2017_0916_azuma/app.cfg"
17511751 const unsigned_t TOPPERS_cfg_static_api_314 = 314;
1752-const char TOPPERS_cfg_valueof_module_314[] = "CObstacleDetection.o";
1753-#line 72 "../workspace/L_ETRobo2017_0916_suzuki/app.cfg"
1752+const char TOPPERS_cfg_valueof_module_314[] = "CImpactDetection.o";
1753+#line 74 "../workspace/R_ETRobo2017_0916_azuma/app.cfg"
17541754 const unsigned_t TOPPERS_cfg_static_api_315 = 315;
1755-const char TOPPERS_cfg_valueof_module_315[] = "CSensorDetectionFactory.o";
1756-#line 73 "../workspace/L_ETRobo2017_0916_suzuki/app.cfg"
1755+const char TOPPERS_cfg_valueof_module_315[] = "CObstacleDetection.o";
1756+#line 75 "../workspace/R_ETRobo2017_0916_azuma/app.cfg"
17571757 const unsigned_t TOPPERS_cfg_static_api_316 = 316;
1758-const char TOPPERS_cfg_valueof_module_316[] = "CStepDetection.o";
1759-#line 74 "../workspace/L_ETRobo2017_0916_suzuki/app.cfg"
1758+const char TOPPERS_cfg_valueof_module_316[] = "CSensorDetectionFactory.o";
1759+#line 76 "../workspace/R_ETRobo2017_0916_azuma/app.cfg"
17601760 const unsigned_t TOPPERS_cfg_static_api_317 = 317;
1761-const char TOPPERS_cfg_valueof_module_317[] = "CTouchSensorDetection.o";
1762-#line 75 "../workspace/L_ETRobo2017_0916_suzuki/app.cfg"
1761+const char TOPPERS_cfg_valueof_module_317[] = "CStepDetection.o";
1762+#line 77 "../workspace/R_ETRobo2017_0916_azuma/app.cfg"
17631763 const unsigned_t TOPPERS_cfg_static_api_318 = 318;
1764-const char TOPPERS_cfg_valueof_module_318[] = "CTimeDetection.o";
1765-#line 76 "../workspace/L_ETRobo2017_0916_suzuki/app.cfg"
1764+const char TOPPERS_cfg_valueof_module_318[] = "CTouchSensorDetection.o";
1765+#line 78 "../workspace/R_ETRobo2017_0916_azuma/app.cfg"
17661766 const unsigned_t TOPPERS_cfg_static_api_319 = 319;
1767-const char TOPPERS_cfg_valueof_module_319[] = "CTimeDetectionFactory.o";
1767+const char TOPPERS_cfg_valueof_module_319[] = "CTimeDetection.o";
1768+#line 79 "../workspace/R_ETRobo2017_0916_azuma/app.cfg"
1769+const unsigned_t TOPPERS_cfg_static_api_320 = 320;
1770+const char TOPPERS_cfg_valueof_module_320[] = "CTimeDetectionFactory.o";
17681771 #ifdef TOPPERS_cfg_inside_of_TDOM_KERNEL
17691772 #error missing '}'
17701773 #endif
--- branches/CS_0922_LPF/sdk/OBJ/module_cfg.c (revision 72)
+++ branches/CS_0922_LPF/sdk/OBJ/module_cfg.c (revision 73)
@@ -30,7 +30,7 @@
3030
3131 static const T_CTSK _module_ctsk_tab[5] = {
3232 { TA_ACT, 0, _app_init_task, TPRI_APP_INIT_TASK, ROUND_STK_T(STACK_SIZE), _module_ustack_APP_INIT_TASK, DEFAULT_SSTKSZ, NULL },
33- { TA_ACT, 0, init_task, TMIN_APP_TPRI + 1, ROUND_STK_T(STACK_SIZE), _module_ustack_INIT_TASK, DEFAULT_SSTKSZ, NULL },
33+ { TA_ACT, 0, init_task, TMIN_APP_TPRI+1, ROUND_STK_T(STACK_SIZE), _module_ustack_INIT_TASK, DEFAULT_SSTKSZ, NULL },
3434 { TA_NULL, 0, main_task, TMIN_APP_TPRI+3, ROUND_STK_T(STACK_SIZE), _module_ustack_MAIN_TASK, DEFAULT_SSTKSZ, NULL },
3535 { TA_NULL, 0, save_rgb_filter_result_task, TMIN_APP_TPRI+2, ROUND_STK_T(STACK_SIZE), _module_ustack_SAVE_RGB_FILTER_RESULT_TASK, DEFAULT_SSTKSZ, NULL },
3636 { TA_NULL, 0, bluetooth_receive_task, TMIN_APP_TPRI+4, ROUND_STK_T(STACK_SIZE), _module_ustack_BLUETOOTH_RECEIVE_TASK, DEFAULT_SSTKSZ, NULL },
--- branches/CS_0922_LPF/sdk/workspace/R_ETRobo2017_0916_azuma/GlobalVariable.h (revision 72)
+++ branches/CS_0922_LPF/sdk/workspace/R_ETRobo2017_0916_azuma/GlobalVariable.h (revision 73)
@@ -25,7 +25,7 @@
2525 #define OBSTACLE_LOG 1 //ログ出力用のデータ格納数.
2626 //#define OBSTACLE_LOG 1
2727
28-#define FALL_ANGLE 200000 //転倒時角度の閾値.
28+#define FALL_ANGLE 150000 //転倒時角度の閾値.
2929 #define DETECT_ANGLE 10 //起立時角度の閾値.
3030 //#define FALL_LOG 45000 //ログ出力用のデータ格納数.
3131 #define FALL_LOG 10000
@@ -59,8 +59,8 @@
5959 #define B6_MILEAGE 3125 //外カーブ.
6060 #define B7_MILEAGE 1000 //内カーブ.
6161 #define B8_MILEAGE 800 //内急カーブ.
62-#define B9_MILEAGE 1295 //外カーブ.
63-#define B10_MILEAGE 1650//直線.
62+#define B9_MILEAGE 1395 //外カーブ. //1295
63+#define B10_MILEAGE 1550//直線. //1650
6464
6565 //ベーシックゴールからゲートまで移動
6666 #define LG01_MILEAGE 285
@@ -125,7 +125,7 @@
125125 //#define P2_POWER 3
126126
127127 //尻尾角度検知で使う、エリアごとの設定角度.
128-#define B2_ANGLE 59
128+#define B2_ANGLE 57
129129 //#define P3_ANGLE 73
130130 //#define D1_ANGLE 90
131131 ////#define D1_ANGLE 74
--- branches/CS_0922_LPF/sdk/workspace/R_ETRobo2017_0916_azuma/Manager/AreaControl/Area/CAreaFactory.cpp (revision 72)
+++ branches/CS_0922_LPF/sdk/workspace/R_ETRobo2017_0916_azuma/Manager/AreaControl/Area/CAreaFactory.cpp (revision 73)
@@ -233,7 +233,7 @@
233233 //スタート待ちエリア.
234234 //B1区間.
235235 //RUN_information m_RUN_information = {左モータパワー, 右モータパワー, 尻尾角度, 旋回角度};.
236- struct RUN_information B1_RUN_information = {BRAKE_POWER, BRAKE_POWER, 61, 0};
236+ struct RUN_information B1_RUN_information = {BRAKE_POWER, BRAKE_POWER, 59, 0};
237237 m_CDrivingTailMoveArea = new CDrivingArea(B1_RUN_information, LightPID_Gain, m_StopDetection,
238238 m_B2AreaTailAngleDetection, m_CTailMotorControl, m_C180DirectionCorrectControl, m_CLRMotorPowerControl);
239239
@@ -277,7 +277,7 @@
277277
278278 //B3区間.
279279 //RUN_information m_RUN_information = {左モータパワー, 右モータパワー, 尻尾角度, 旋回角度};.
280- struct PID_Gain B3_2_LightPID_Gain = {0.25, 0.001, 0.4};
280+ struct PID_Gain B3_2_LightPID_Gain = {0.07, 0.001, 0.3};
281281 //struct RUN_information B3_RUN_information = {40, 45, 10, 0};
282282 struct RUN_information B3_2_RUN_information = {50, 50, 10, 0};
283283 // struct RUN_information B3_2_RUN_information = {22, 22, 10, 0};
@@ -289,7 +289,7 @@
289289 //加速.
290290 //B4区間.
291291 //RUN_information m_RUN_information = {左モータパワー, 右モータパワー, 尻尾角度, 旋回角度};.
292- struct PID_Gain B4_LightPID_Gain = {0.15, 0.001, 0.3};
292+ struct PID_Gain B4_LightPID_Gain = {0.04, 0.001, 0.5};
293293 // struct RUN_information B4_RUN_information = {65, 70, 10, 0};
294294 struct RUN_information B4_RUN_information = {75, 75, 10, 0};
295295 m_CDrivingB4Area = new CDrivingArea(B4_RUN_information, B4_LightPID_Gain, m_StopDetection,
@@ -298,7 +298,7 @@
298298 //直線.
299299 //B5区間.
300300 //RUN_information m_RUN_information = {左モータパワー, 右モータパワー, 尻尾角度, 旋回角度};.
301- struct PID_Gain B5_LightPID_Gain = {0.1, 0.003, 0.4};
301+ struct PID_Gain B5_LightPID_Gain = {0.10, 0.003, 0.4};
302302 struct RUN_information B5_RUN_information = {140, 140, 10, 0};
303303 //struct RUN_information B5_RUN_information = {80, 76, 10, 0};
304304 m_CDrivingB5Area = new CDrivingArea(B5_RUN_information, B5_LightPID_Gain, m_StopDetection,
@@ -326,7 +326,8 @@
326326 //B8区間.
327327 //RUN_information m_RUN_information = {左モータパワー, 右モータパワー, 尻尾角度, 旋回角度};.
328328 struct PID_Gain B8_LightPID_Gain = {0.35, 0.001, 3.5};
329- struct RUN_information B8_RUN_information = {40, 80, 10, 0};
329+// struct RUN_information B8_RUN_information = {40, 80, 10, 0};
330+ struct RUN_information B8_RUN_information = {50, 80, 10, 0};
330331 // struct RUN_information B8_RUN_information = {48, 80, 10, 0};
331332 m_CDrivingB8Area = new CDrivingArea(B8_RUN_information, B8_LightPID_Gain, m_StopDetection,
332333 m_B8AreaMileageDetection, m_CTailBrakeControl, m_CLightPIDControl, m_CTwoWheelBalanceControl);
@@ -343,7 +344,7 @@
343344 //直線(ベーシックラスト).
344345 //B10区間.
345346 //RUN_information m_RUN_information = {左モータパワー, 右モータパワー, 尻尾角度, 旋回角度};.
346- struct PID_Gain B10_LightPID_Gain = {0.05, 0.005, 0.6};
347+ struct PID_Gain B10_LightPID_Gain = {0.05, 0.001, 0.3};
347348 struct RUN_information B10_RUN_information = {140, 140, 10, 0};
348349 // struct RUN_information B10_RUN_information = {80, 76, 10, 0};
349350 m_CDrivingB10Area = new CDrivingArea(B10_RUN_information, B10_LightPID_Gain, m_StopDetection,
@@ -773,9 +774,9 @@
773774 ev3_speaker_set_volume(50);
774775 ev3_speaker_play_tone(261.63, 1000);
775776 //m_AArea[area_count++] = m_CTailMotorCalibrationArea;
776- m_AArea[area_count++] = m_CLightPIDCalibrationArea; // タッチ待ち→White
777- m_AArea[area_count++] = m_CLightPIDCalibrationArea; // タッチ待ち→Black
778- m_AArea[area_count++] = m_CLightPIDCalibrationArea; // タッチ待ち→Gray
777+ //m_AArea[area_count++] = m_CLightPIDCalibrationArea; // タッチ待ち→White
778+ //m_AArea[area_count++] = m_CLightPIDCalibrationArea; // タッチ待ち→Black
779+ //m_AArea[area_count++] = m_CLightPIDCalibrationArea; // タッチ待ち→Gray
779780 m_AArea[area_count++] = m_CDrivingTailMoveArea1PointHarf;
780781 m_AArea[area_count++] = m_CDrivingTailBrakeArea1; // 尻尾を固定する.
781782 m_AArea[area_count++] = m_CLightPIDTiltCalibrationArea; // タッチ待ち→White
--- branches/CS_0922_LPF/sdk/workspace/R_ETRobo2017_0916_azuma/Work/Control/LightPIDControl/CLightPIDControl.cpp (revision 72)
+++ branches/CS_0922_LPF/sdk/workspace/R_ETRobo2017_0916_azuma/Work/Control/LightPIDControl/CLightPIDControl.cpp (revision 73)
@@ -8,11 +8,13 @@
88 #include "ev3api.h"
99 #include "CLightPIDControl.h"
1010
11-rgb_raw_t CLightPIDControl::rgb_tmpLight = {0, 0, 158};
11+rgb_raw_t CLightPIDControl::rgb_tmpLight = {0, 0, 52};
12+//rgb_raw_t CLightPIDControl::rgb_tmpLight = {0, 0, 158};
1213 //rgb_raw_t CLightPIDControl::rgb_tmpLight.g = 0;
1314 //rgb_raw_t CLightPIDControl::rgb_tmpLight.b = 0;
1415
15-rgb_raw_t CLightPIDControl::rgb_GraytmpLight = {0, 0, 84};
16+rgb_raw_t CLightPIDControl::rgb_GraytmpLight = {0, 0, 70};
17+//rgb_raw_t CLightPIDControl::rgb_GraytmpLight = {0, 0, 84};
1618 //rgb_raw_t CLightPIDControl::rgb_P1tmpLight.g = 0;
1719 //rgb_raw_t CLightPIDControl::rgb_P1tmpLight.b = 0;
1820
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