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Dependencies:   PID QEI mbed

Fork of 2015robot_main by Naoto Deguchi

autoMode.h@60:4a75f3f3a934, 2015-10-02 (annotated)

Committer:
DeguNaoto
Date:
Fri Oct 02 07:24:52 2015 +0000
Revision:
60:4a75f3f3a934
Parent:
57:3fbd487e055e
Child:
61:e018207ae860
????????????

Who changed what in which revision?

UserRevisionLine numberNew contents of line
DeguNaoto 21:79b94cb922f0 1 #ifndef AUTOMODE_H
DeguNaoto 21:79b94cb922f0 2 #define AUTOMODE_H
DeguNaoto 21:79b94cb922f0 3
DeguNaoto 21:79b94cb922f0 4 /***PID Controller***/
DeguNaoto 31:74e77ef0831c 5 PID velocity_controller(36.0,5274.0 ,0.0,RATE);
DeguNaoto 34:f9ef622f4376 6 PID direction_controller(36.0,3.0,0.0,RATE);
DeguNaoto 21:79b94cb922f0 7
DeguNaoto 57:3fbd487e055e 8 #ifdef IM920
DeguNaoto 52:d9e1629da852 9 /***IM920 correspondence***/
DeguNaoto 52:d9e1629da852 10 void autoIM920() {
DeguNaoto 52:d9e1629da852 11 if(b==7){ /*mode change*/
DeguNaoto 52:d9e1629da852 12 if(edge7){
DeguNaoto 52:d9e1629da852 13 edge7=0;
DeguNaoto 52:d9e1629da852 14 autoflag=0;
DeguNaoto 52:d9e1629da852 15 Indicator4=0;
DeguNaoto 52:d9e1629da852 16 IndicatorAuto=1;
DeguNaoto 52:d9e1629da852 17 }
DeguNaoto 52:d9e1629da852 18 }
DeguNaoto 52:d9e1629da852 19 else if(b==6){ /*start*/
DeguNaoto 52:d9e1629da852 20 targ_velocity=speed;
DeguNaoto 52:d9e1629da852 21 sendData(4,defoR);
DeguNaoto 52:d9e1629da852 22 wait(0.1);
DeguNaoto 52:d9e1629da852 23 sendData(5,defoL);
DeguNaoto 52:d9e1629da852 24 wait(0.1);
DeguNaoto 52:d9e1629da852 25 stateR = defoR;
DeguNaoto 52:d9e1629da852 26 stateL = defoL;
DeguNaoto 52:d9e1629da852 27 }
DeguNaoto 52:d9e1629da852 28 else if(b==5){ /*reset*/
DeguNaoto 52:d9e1629da852 29 sendData(4,31);
DeguNaoto 52:d9e1629da852 30 wait(0.1);
DeguNaoto 52:d9e1629da852 31 sendData(5,31);
DeguNaoto 52:d9e1629da852 32 wait(0.1);
DeguNaoto 52:d9e1629da852 33 }
DeguNaoto 52:d9e1629da852 34 else if(b==8){ /*set defo*/
DeguNaoto 57:3fbd487e055e 35 sendData(5,defoR);
DeguNaoto 52:d9e1629da852 36 wait(0.1);
DeguNaoto 57:3fbd487e055e 37 sendData(4,defoL);
DeguNaoto 52:d9e1629da852 38 wait(0.1);
DeguNaoto 52:d9e1629da852 39 }
DeguNaoto 52:d9e1629da852 40 else if(b==9){ /*stop*/
DeguNaoto 29:03bb1ddbe456 41 Motor_swing=0;
DeguNaoto 22:3996c3f41922 42 sita=PI/4.0,x=0.0,y=0.0;
DeguNaoto 22:3996c3f41922 43 targ_velocity=0.0;
DeguNaoto 22:3996c3f41922 44 targ_sita=PI/4.0;
DeguNaoto 22:3996c3f41922 45 velocity_controller.reset();
DeguNaoto 22:3996c3f41922 46 direction_controller.reset();
DeguNaoto 52:d9e1629da852 47 }
DeguNaoto 52:d9e1629da852 48 else if(b==1){ /*L down*/
DeguNaoto 52:d9e1629da852 49 if(edge1){
DeguNaoto 52:d9e1629da852 50 edge1=0;
DeguNaoto 52:d9e1629da852 51 if(stateL!=1) stateL--;
DeguNaoto 57:3fbd487e055e 52 sendData(4,stateL);
DeguNaoto 52:d9e1629da852 53 }
DeguNaoto 52:d9e1629da852 54 }
DeguNaoto 52:d9e1629da852 55 else if(b==2){ /*L up*/
DeguNaoto 52:d9e1629da852 56 if(edge2){
DeguNaoto 52:d9e1629da852 57 edge2=0;
DeguNaoto 52:d9e1629da852 58 if(stateL!=28) stateL++;
DeguNaoto 57:3fbd487e055e 59 sendData(4,stateL);
DeguNaoto 22:3996c3f41922 60 }
DeguNaoto 52:d9e1629da852 61 }
DeguNaoto 52:d9e1629da852 62 else if(b==3){ /*R down*/
DeguNaoto 52:d9e1629da852 63 if(edge3){
DeguNaoto 52:d9e1629da852 64 edge3=0;
DeguNaoto 52:d9e1629da852 65 if(stateR!=1) stateR--;
DeguNaoto 57:3fbd487e055e 66 sendData(5,stateR);
DeguNaoto 52:d9e1629da852 67 }
DeguNaoto 52:d9e1629da852 68 }
DeguNaoto 52:d9e1629da852 69 else if(b==4){ /*R up*/
DeguNaoto 52:d9e1629da852 70 if(edge4){
DeguNaoto 52:d9e1629da852 71 edge4=0;
DeguNaoto 52:d9e1629da852 72 if(stateR!=28) stateR++;
DeguNaoto 57:3fbd487e055e 73 sendData(5,stateR);
DeguNaoto 52:d9e1629da852 74 }
DeguNaoto 52:d9e1629da852 75 }
DeguNaoto 52:d9e1629da852 76 if(b!=7) edge7=1;
DeguNaoto 52:d9e1629da852 77 if(b!=1) edge1=1;
DeguNaoto 52:d9e1629da852 78 if(b!=2) edge2=1;
DeguNaoto 52:d9e1629da852 79 if(b!=3) edge3=1;
DeguNaoto 52:d9e1629da852 80 if(b!=4) edge4=1;
DeguNaoto 22:3996c3f41922 81 }
DeguNaoto 57:3fbd487e055e 82 #else
DeguNaoto 57:3fbd487e055e 83 void autoPS3(){
DeguNaoto 57:3fbd487e055e 84 if(circle){ /*mode change*/
DeguNaoto 57:3fbd487e055e 85 if(edge_circle){
DeguNaoto 57:3fbd487e055e 86 edge_circle=0;
DeguNaoto 57:3fbd487e055e 87 autoflag=0;
DeguNaoto 57:3fbd487e055e 88 Indicator4=0;
DeguNaoto 57:3fbd487e055e 89 IndicatorAuto=1;
DeguNaoto 57:3fbd487e055e 90 }
DeguNaoto 57:3fbd487e055e 91 }
DeguNaoto 57:3fbd487e055e 92 else if(up){ /*start*/
DeguNaoto 57:3fbd487e055e 93 targ_velocity=speed;
DeguNaoto 60:4a75f3f3a934 94 // sendData(5,defoR);
DeguNaoto 60:4a75f3f3a934 95 sendData(5,13);
DeguNaoto 57:3fbd487e055e 96 wait(0.1);
DeguNaoto 60:4a75f3f3a934 97 // sendData(4,defoL);
DeguNaoto 60:4a75f3f3a934 98 sendData(4,13);
DeguNaoto 57:3fbd487e055e 99 wait(0.1);
DeguNaoto 57:3fbd487e055e 100 stateR = defoR;
DeguNaoto 57:3fbd487e055e 101 stateL = defoL;
DeguNaoto 57:3fbd487e055e 102 }
DeguNaoto 57:3fbd487e055e 103 else if(square){ /*reset*/
DeguNaoto 57:3fbd487e055e 104 sendData(4,31);
DeguNaoto 57:3fbd487e055e 105 wait(0.1);
DeguNaoto 57:3fbd487e055e 106 sendData(5,31);
DeguNaoto 57:3fbd487e055e 107 wait(0.1);
DeguNaoto 57:3fbd487e055e 108 }
DeguNaoto 57:3fbd487e055e 109 else if(triangle){ /*set defo*/
DeguNaoto 60:4a75f3f3a934 110 sendData(5,defoR);
DeguNaoto 57:3fbd487e055e 111 wait(0.1);
DeguNaoto 60:4a75f3f3a934 112 sendData(4,defoL);
DeguNaoto 57:3fbd487e055e 113 wait(0.1);
DeguNaoto 57:3fbd487e055e 114 }
DeguNaoto 57:3fbd487e055e 115 else if(cross){ /*stop*/
DeguNaoto 57:3fbd487e055e 116 Motor_swing=0;
DeguNaoto 57:3fbd487e055e 117 sita=PI/4.0,x=0.0,y=0.0;
DeguNaoto 57:3fbd487e055e 118 targ_velocity=0.0;
DeguNaoto 57:3fbd487e055e 119 targ_sita=PI/4.0;
DeguNaoto 57:3fbd487e055e 120 velocity_controller.reset();
DeguNaoto 57:3fbd487e055e 121 direction_controller.reset();
DeguNaoto 57:3fbd487e055e 122 }
DeguNaoto 57:3fbd487e055e 123 else if(l1){ /*L up*/
DeguNaoto 57:3fbd487e055e 124 if(edge_l1){
DeguNaoto 57:3fbd487e055e 125 edge_l1=0;
DeguNaoto 57:3fbd487e055e 126 if(stateL!=2) stateL--;
DeguNaoto 57:3fbd487e055e 127 sendData(4,stateL);
DeguNaoto 57:3fbd487e055e 128 }
DeguNaoto 57:3fbd487e055e 129 }
DeguNaoto 57:3fbd487e055e 130 else if(l2){ /*L down*/
DeguNaoto 57:3fbd487e055e 131 if(edge_l2){
DeguNaoto 57:3fbd487e055e 132 edge_l2=0;
DeguNaoto 57:3fbd487e055e 133 if(stateL!=28) stateL++;
DeguNaoto 57:3fbd487e055e 134 sendData(4,stateL);
DeguNaoto 57:3fbd487e055e 135 }
DeguNaoto 57:3fbd487e055e 136 }
DeguNaoto 57:3fbd487e055e 137 else if(r1){ /*R up*/
DeguNaoto 57:3fbd487e055e 138 if(edge_r1){
DeguNaoto 57:3fbd487e055e 139 edge_r1=0;
DeguNaoto 57:3fbd487e055e 140 if(stateR!=2) stateR--;
DeguNaoto 57:3fbd487e055e 141 sendData(5,stateR);
DeguNaoto 57:3fbd487e055e 142 }
DeguNaoto 57:3fbd487e055e 143 }
DeguNaoto 57:3fbd487e055e 144 else if(r2){ /*R down*/
DeguNaoto 57:3fbd487e055e 145 if(edge_r2){
DeguNaoto 57:3fbd487e055e 146 edge_r2=0;
DeguNaoto 57:3fbd487e055e 147 if(stateR!=28) stateR++;
DeguNaoto 57:3fbd487e055e 148 sendData(5,stateR);
DeguNaoto 57:3fbd487e055e 149 }
DeguNaoto 57:3fbd487e055e 150 }
DeguNaoto 57:3fbd487e055e 151 }
DeguNaoto 57:3fbd487e055e 152 #endif
DeguNaoto 21:79b94cb922f0 153 /***The function is PID controller initialize.***/
DeguNaoto 21:79b94cb922f0 154 inline void initializeControllers()
DeguNaoto 21:79b94cb922f0 155 {
DeguNaoto 21:79b94cb922f0 156 velocity_controller.setInputLimits(-200000.0, 200000.0); //x1
DeguNaoto 21:79b94cb922f0 157 direction_controller.setInputLimits(-10.0, 10.0); //x2
DeguNaoto 21:79b94cb922f0 158
DeguNaoto 21:79b94cb922f0 159 //Pwm output from MOVE_OUTPUT_LIMIT_BOTTOM to MOVE_OUTPUT_LIMIT_TOP
DeguNaoto 21:79b94cb922f0 160 velocity_controller.setOutputLimits(-1.0, 1.0);
DeguNaoto 21:79b94cb922f0 161 direction_controller.setOutputLimits(-1.0, 1.0);
DeguNaoto 31:74e77ef0831c 162
DeguNaoto 21:79b94cb922f0 163 //set bias. 初期値
DeguNaoto 21:79b94cb922f0 164 velocity_controller.setBias(0.0);
DeguNaoto 21:79b94cb922f0 165 direction_controller.setBias(0.0);
DeguNaoto 21:79b94cb922f0 166
DeguNaoto 21:79b94cb922f0 167 //set mode.
DeguNaoto 21:79b94cb922f0 168 velocity_controller.setMode(AUTO_MODE);
DeguNaoto 21:79b94cb922f0 169 direction_controller.setMode(AUTO_MODE);
DeguNaoto 21:79b94cb922f0 170 }
DeguNaoto 21:79b94cb922f0 171
DeguNaoto 21:79b94cb922f0 172 /***The function is following move speed.***/
DeguNaoto 21:79b94cb922f0 173 inline void velocity_following()
DeguNaoto 21:79b94cb922f0 174 {
DeguNaoto 21:79b94cb922f0 175 velocity_controller.setSetPoint((float)targ_velocity);
DeguNaoto 21:79b94cb922f0 176 velocity_controller.setProcessValue((float)velocity);
DeguNaoto 21:79b94cb922f0 177 x1 = (double)velocity_controller.compute();
DeguNaoto 21:79b94cb922f0 178 }
DeguNaoto 21:79b94cb922f0 179
DeguNaoto 21:79b94cb922f0 180 inline void sita_following()
DeguNaoto 21:79b94cb922f0 181 {
DeguNaoto 21:79b94cb922f0 182 direction_controller.setSetPoint((float)targ_sita);
DeguNaoto 21:79b94cb922f0 183 direction_controller.setProcessValue((float)sita);
DeguNaoto 55:db1797ac6cb1 184 //direction_controller.setSetPoint(0.0); /*目標値とのずれをなくす*/
DeguNaoto 21:79b94cb922f0 185 //direction_controller.setProcessValue(-y);
DeguNaoto 21:79b94cb922f0 186 x2 = (double)direction_controller.compute();
DeguNaoto 21:79b94cb922f0 187 }
DeguNaoto 21:79b94cb922f0 188
DeguNaoto 21:79b94cb922f0 189 inline void move_following()
DeguNaoto 21:79b94cb922f0 190 {
DeguNaoto 21:79b94cb922f0 191 velocity_following();
DeguNaoto 21:79b94cb922f0 192 sita_following();
DeguNaoto 21:79b94cb922f0 193 Vr = ( x1 + x2 ) / 2.0;
DeguNaoto 21:79b94cb922f0 194 Vl = ( x1 - x2 ) / 2.0;
DeguNaoto 21:79b94cb922f0 195 if( abs(Vr) < 0.05 ) Vr = 0.0;
DeguNaoto 21:79b94cb922f0 196 if( abs(Vl) < 0.05 ) Vl = 0.0;
DeguNaoto 21:79b94cb922f0 197 Move_r( ( float ) Vr );
DeguNaoto 21:79b94cb922f0 198 Move_l( ( float ) Vl );
DeguNaoto 21:79b94cb922f0 199 }
DeguNaoto 21:79b94cb922f0 200
DeguNaoto 21:79b94cb922f0 201 #endif /*autoMode.h*/