1. rescuerobo.ソフトウェア要求仕様書
TRANSCRIPT
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1 200/10/14
1.0
2009/10/21 1.0
2009/10/21 1.0
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1. ................................ ................................ ................................ ................................ .. 4
1.1. ................................ ................................ ................................ ............... 4
1.2. ................................ ................................ ................................ ........ 4
1.3. ................................ ................................ .......................... 4
1.4. ................................ ................................ ............... 4
1.5. ................................ ................................ .......................... 4
2. ................................ ................................ ................................ ................... 5
2.1. ................................ ................................ ................................ ..... 5
2.1.1. ................................ ................................ 5
2.1.2. ................................ ................................ 5
3. ................................ ................................ ................................ .......................... 7
3.1.1. ................................ ................................ ................................ ..... 7
3.1.2. ................................ ................................ .......................... 7
3.1.3. ................................ ................................ ................................ ............... 8
3.1.4. ................................ ................................ ............................. 8
3.1.5. ................................ ................................ ................................ ........ 8
3.1.6. ................................ ................................ ................................ ..... 8
3.1.7. ................................ ................................ ............................. 9
3.1.8. ................................ ................................ ................................ ........ 9
4. ................................ ................................ ................................ ........................ 10
4.1. ................................ ................................ ................ 10
5. ................................ ................................ ................................ ........................ 12
5.1.1. ................................ ................................ ................................ ... 12
5.1.2. ................................ ................................ ........................ 12
5.1.3. ................................ ................................ ................................ ............. 12
5.1.4. ................................ ................................ ........................... 12
5.1.4.1 ................................ ............................. 13
5.1.4.2 PID ................................ ................................ ................... 15
5.1.4.3 ................................ ................................ ....................... 15
5.1.4.4 90 180 1
1 1
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5.1.5. ................................ ................................ ................................ ...... 17
5.1.6. ................................ ................................ ................................ ... 18
5.1.7. ................................ ................................ ........................... 18
5.1.8. ................................ ................................ ................................ ...... 185.1.9. LCD ................................ ................................ ................................ ..... 19
5.1.10. ................................ ................................ ................................ ... 21
6. ................................ ................................ ................................ ...... 23
7. ................................ ................................ .................... 24
7.1. ................................ ................................ ................................ ............. 24
7.2. ................................ ................................ ................................ ............. 24
7.3. ................................ ................................ ................................ ............. 24
7.4. ................................ ................................ ................................ ............. 247.5. ................................ ................................ ................................ ..................... 24
8. ................................ ................................ ................................ ............................ 25
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1.
1.1.
1.2.
1.3.
1.4.
1.5.
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2.
2.1.
2.1.1.
2.1.2.
180mm180mm46
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10msLCD
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3.
1.
3.1.1.
1
3.1.2.
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3.1.3.
LCD
3.1.4.
PID KpKd
90 180 1
1 1
3.1.5.
1
3
3 (1)+(2)
3.1.6.
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3.1.7.
3.1.8.
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4.
4.1.
AM3 for 49K
OS
MPU/MCU
8 1ChipCPU MN103SFA5K
EPROMROM224K RAM10K
162 LCD SW2SW3
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.
12V
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5.
5.1.1.
1
5.1.2.
5.1.3.
LCD
S T O P P I N G
5.1.4.
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4
3
2
1
0
0 1 2 3 4 5 6
0 1 2 3 4 5
6 7 8 9 10 11
12 13 14 15 16 17
18 19 20 21 22 23
A
SW 0 1xxxxxx
5.1.4.1
SW7 SW65
SW100xxxxx
SW 100 x0001 SW 100 x0001
SW2 SW3
SW2 1
SW3 1
LCD
SW3
SW2
LCD
CPU
x
y
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unsigned int
0 23
LCD
S E T T I N G M O D E
H O M E : 1 8
SW 100 x0010 SW 100 x0010
SW2 SW3
SW2 1
SW3 1
unsigned int
0 23
LCD
S E T T I N G M O D E
P A T I E N T : 4
SW 100 x0100 SW 100 x0100
SW2 SW3
SW2 1
SW3 1
unsigned int
0 23
LCD
S E T T I N G M O D E
G O A L : 2 3
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5.1.4.2 PID
PID SW7 SW6 SW101xxxxx
K
SW 100 01000 SW 100 x1000
SW2 SW3
SW2 1 0.5
SW3 1 0.5
Kp
float
Kd
SW 100 01000 SW 100 01000
SW2 SW3
SW2 1 0.001
SW3 1 0.001
Kd
float
5.1.4.3
PID
SW7
SW10100000
SW 10100000 SW2 SW3
SW2 1
SW3 1
Direc
int
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5.1.4.4 90 180 1
1
1
4 90 180 1
1
1
SW7,
SW04
90
SW 10100001 SW2 SW3
SW2 1
SW3 1
90
int
0
180
SW 10100010 SW2 SW3
SW2 1
SW3 1
180
int
0
1
SW 10100100 SW2 SW3
SW2 1
SW3 1
1
int
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0
1
SW 10101000 SW2 SW3
SW2 1
SW3 1
1
int
0
1
SW 10110000 SW2 SW3
SW2 1
SW3 1
1
int
0
5.1.5.
SW2
SW2 1
SW2 2
SW2 3
SW2 4
LCD
D I S C O V E R I N G
T I M E 0 : 5 1
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R E S C U I N G
T I M E 1 : 2 0
5.1.6.
-
-
-
4
5.1.7.
-
-
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5.1.8.
-
-
-
LED 360
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90
5.1.9. LCD
5.1.9.1 (Settingmode)
LCD
S E T T I N G M O D E
H O M E : 1 8
SettingStart SS
LCD
LCD
S E T T I N G M O D E
P A T I E N T : 4
SettingVictim Input SV
LCD
LCD
S E T T I N G M O D E
G O A L : 2 3
SettingTarget ST
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LCD
PID PID 3
LCD
LCDSETTING
S E T T I N G M O D E
K p = 1 0 0
S E T T I N G M O D E
K d = 0 . 0 0 1
S E T T I N G M O D E
K i = 1
LCD
90 180 1 1 1
)
90 1801
1 1
LCDLCDSETTINGMODE
S E T T I N G M O D E
R O T A T E _ 9 0 :
S E T T I N G M O D E
R O T A T E _ 1 8 0 :
S E T T I N G M O D E
D R I E C :
S E T T I N G M O D E
B A C K W A R D :
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S E T T I N G M O D E
F O R W _ S T P :
S E T T I N G M O D EF O R W _ B A K :
LCD
1.2 (ViewScore)
LCD
D I S C O V E R I N G
T I M E 0 : 5 1
LCD
R E S C U I N G
T I M E 1 : 2 0
LCD
T O T A L S C O R E
T I M E 1 : 2 0
5.1.10.
10ms LCD
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0:00
LCD
LCDRUNNING
LCDTIME
R U N N I N G M O D E
T I M E 1 0 4 5
XX:XX 10
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7.
7.1.
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7.2.
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7.3.
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7.4.
7.5.
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