春ロボ 2班 2017
主にオムニです。
Fork of
asimawari
by 
yuto kawamura
Revision 0:1787ed4e6e61, committed 2017-10-21
- Comitter:
- yuto17320508
- Date:
- Sat Oct 21 07:57:16 2017 +0000
- Child:
- 1:b15569582801
- Commit message:
- a; ;
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/EC.lib Sat Oct 21 07:57:16 2017 +0000 @@ -0,0 +1,1 @@ +http://developer.mbed.org/teams/ROBOSTEP_SHARE/code/EC/#d73c40fd4b55
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/atai.h Sat Oct 21 07:57:16 2017 +0000
@@ -0,0 +1,44 @@
+
+
+//前進の方向の定義
+double fai=60;//φ
+//個体差で出力調整
+double power_set=0.4;
+double power[3];
+double M[3];
+double MAX;
+double max();
+double x;
+double y;
+double X;
+double Y;
+int i;
+int j;
+//ジョイスティック入力値の偏角
+double sita;
+//関数代入用の角度調整
+double sita_2;
+
+//モーターのクラス
+PwmOut motor[3][2]= {PwmOut(p21),PwmOut(p22),
+ PwmOut(p23),PwmOut(p24),
+ PwmOut(p25),PwmOut(p26)
+ };
+
+//モーターの初期設定
+void setting()
+{
+ for(i=0; i<=2; i++) {
+ power[i]=power_set;
+ }
+ for(i=0; i<=2; i++) {
+ for(j=0; j<=2; i++) {
+ motor[i][j].period_us(100);
+ }
+ }
+}
+
+float attach_timing=0.05f;
+
+
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Sat Oct 21 07:57:16 2017 +0000
@@ -0,0 +1,18 @@
+#include "mbed.h"
+#include "math.h"
+#define Pi 3.14159
+#include "algorithm"
+#include "EC.h"
+#include "pin_define.h"
+#include "atai.h" //値
+
+#include "photo.h" //フォトリフレクタ
+#include "sokuteirinn.h" //測定輪の値の取得 (x,y)
+#include "sokkyo.h" //測距
+#include "jyairo.h" //ジャイロ
+#include "motor_move.h" //モーターを動かす関数
+#include "x.y_theta_dainyuu.h" //x,y方向をθに変換してモーターを呼び出す
+#include "max_determine.h" //方向による出力変化の補正
+
+int main() {}
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/max_determine.h Sat Oct 21 07:57:16 2017 +0000
@@ -0,0 +1,14 @@
+
+double max()
+{
+ double m=0;
+ for(i=0; i<=2; i++) {
+
+ double MAX=fabs(M[i]);
+ if(MAX >= m) {
+ m=MAX;
+ }
+
+ }
+ return m;
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Sat Oct 21 07:57:16 2017 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/b484a57bc302 \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/motor_move.h Sat Oct 21 07:57:16 2017 +0000
@@ -0,0 +1,14 @@
+////////////////モーターの動作////////////////
+void motor_act()
+{
+ for(i=0; i<2; i++) {
+ //絶対値をつける関数
+ if(M[i]>=0) {
+ motor[i][0]=M[i];
+ motor[i][1]=0;
+ } else {
+ motor[i][0]=0;
+ motor[i][1]=-M[i];
+ }
+ }
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/photo.h Sat Oct 21 07:57:16 2017 +0000
@@ -0,0 +1,34 @@
+//フォトインタラプタ上
+InterruptIn photo_1();
+//フォトインタラプタ下
+InterruptIn photo_2();
+
+//フラグ
+int right_flag=1;
+int left_flag=1;
+//フォトトランジスタのフラグ呼び出し
+void photo_1_rise()//右に平行移動しない
+{
+ right_flag=0;
+}
+void photo_1_fall()//右に平行移動する
+{
+ right_flag=1;
+}
+void photo_2_rise()//左に平行移動しない
+{
+ left_flag=0;
+}
+void photo_2_fall()//左に平行移動する
+{
+ left_flag=1;
+}
+
+
+//フォトインタラプタ１
+ photo_1.rise(&photo_1_rise);
+ photo_1.fall(&photo_1_fall);
+
+//フォトインタラプタ２
+ photo_2.rise(&photo_2_rise);
+ photo_2.fall(&photo_2_fall);
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/pin_define.h Sat Oct 21 07:57:16 2017 +0000 @@ -0,0 +1,4 @@ + + + +
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/sokuteirinn.h Sat Oct 21 07:57:16 2017 +0000
@@ -0,0 +1,21 @@
+int resolution=1024;
+
+
+//測定輪の定義
+float radius = 69.56f; //測定輪半径
+Ec EncoderDX(pin_encoderDXA,pin_encoderDXB,NC,resolution,attach_timing);
+Ec EncoderDY(pin_encoderDYA,pin_encoderDYB,NC,resolution,attach_timing);
+
+
+//現在距離の取得
+int get_now_distanceX()
+{
+ int now_distanceX=(int)(EncoderDX.getCount()/resolution*Pi*radius);
+ return now_distanceX;
+}
+int get_now_distanceY()
+{
+ int now_distanceY=(int)(EncoderDY.getCount()/resolution*Pi*radius);
+ return now_distanceY;
+}
+int now_distance[2]={get_now_distanceX(),get_now_distanceY()};
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/x.y_theta_dainyuu.h Sat Oct 21 07:57:16 2017 +0000
@@ -0,0 +1,14 @@
+//////////x, y代入して出力///////////////////
+void for_act()
+{
+ sita = -1.0*(atan2((double)x,(double)y))*180/Pi;
+ sita_2=90-sita;
+ for (i=0; i<=2; i++) {
+ M[i]=sin((sita_2-(fai+i*(-120)))*Pi/180);
+ }
+ for (i=0; i<=2; i++) {
+ M[i]=M[i]*power[i]/max();//方向による出力の差を補正
+ }
+ motor_act();
+
+}
\ No newline at end of file