2015_robocon_bteam / Mbed 2 deprecated 2015robot_main

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependencies:   PID QEI mbed

Fork of 2015robot_main by Naoto Deguchi

autoMode.h@71:4ebc1c0fcb4e, 2015-10-09 (annotated)

Committer:
DeguNaoto
Date:
Fri Oct 09 12:01:58 2015 +0000
Revision:
71:4ebc1c0fcb4e
Parent:
66:14df82661dfa
Child:
73:86b7b82ba997
20151009 ???

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 66:14df82661dfa 5 //PID velocity_controller(36.0,5274.0 ,0.0,RATE);
DeguNaoto 66:14df82661dfa 6 //PID direction_controller(36.0,3.0,0.0,RATE);
DeguNaoto 66:14df82661dfa 7 PID velocity_controller(9.0,5274.0 ,0.0,RATE);
DeguNaoto 34:f9ef622f4376 8 PID direction_controller(36.0,3.0,0.0,RATE);
DeguNaoto 21:79b94cb922f0 9
DeguNaoto 57:3fbd487e055e 10 #ifdef IM920
DeguNaoto 52:d9e1629da852 11 /***IM920 correspondence***/
DeguNaoto 52:d9e1629da852 12 void autoIM920() {
DeguNaoto 52:d9e1629da852 13 if(b==7){ /*mode change*/
DeguNaoto 52:d9e1629da852 14 if(edge7){
DeguNaoto 52:d9e1629da852 15 edge7=0;
DeguNaoto 52:d9e1629da852 16 autoflag=0;
DeguNaoto 52:d9e1629da852 17 Indicator4=0;
DeguNaoto 52:d9e1629da852 18 IndicatorAuto=1;
DeguNaoto 52:d9e1629da852 19 }
DeguNaoto 52:d9e1629da852 20 }
DeguNaoto 52:d9e1629da852 21 else if(b==6){ /*start*/
DeguNaoto 64:a98fe602c26d 22 flagf=1;
DeguNaoto 52:d9e1629da852 23 targ_velocity=speed;
DeguNaoto 66:14df82661dfa 24 sendData(7,defoR);
DeguNaoto 52:d9e1629da852 25 stateR = defoR;
DeguNaoto 52:d9e1629da852 26 stateL = defoL;
DeguNaoto 61:e018207ae860 27 step = 0;
DeguNaoto 61:e018207ae860 28 CMode = 0;
DeguNaoto 52:d9e1629da852 29 }
DeguNaoto 61:e018207ae860 30 else if(b==8){ /*middle start*/
DeguNaoto 64:a98fe602c26d 31 flagf=1;
DeguNaoto 61:e018207ae860 32 targ_velocity=speed;
DeguNaoto 66:14df82661dfa 33 sendData(7,17);
DeguNaoto 65:cebdfc0184d7 34 stateR = 17;
DeguNaoto 65:cebdfc0184d7 35 stateL = 17;
DeguNaoto 61:e018207ae860 36 step = 4;
DeguNaoto 61:e018207ae860 37 CMode = 6;
DeguNaoto 61:e018207ae860 38 }
DeguNaoto 52:d9e1629da852 39 else if(b==5){ /*reset*/
DeguNaoto 66:14df82661dfa 40 sendData(7,31);
DeguNaoto 52:d9e1629da852 41 }
DeguNaoto 52:d9e1629da852 42 else if(b==9){ /*stop*/
DeguNaoto 29:03bb1ddbe456 43 Motor_swing=0;
DeguNaoto 22:3996c3f41922 44 sita=PI/4.0,x=0.0,y=0.0;
DeguNaoto 22:3996c3f41922 45 targ_velocity=0.0;
DeguNaoto 22:3996c3f41922 46 targ_sita=PI/4.0;
DeguNaoto 22:3996c3f41922 47 velocity_controller.reset();
DeguNaoto 22:3996c3f41922 48 direction_controller.reset();
DeguNaoto 52:d9e1629da852 49 }
DeguNaoto 52:d9e1629da852 50 else if(b==1){ /*L down*/
DeguNaoto 52:d9e1629da852 51 if(edge1){
DeguNaoto 52:d9e1629da852 52 edge1=0;
DeguNaoto 52:d9e1629da852 53 if(stateL!=1) stateL--;
DeguNaoto 57:3fbd487e055e 54 sendData(4,stateL);
DeguNaoto 52:d9e1629da852 55 }
DeguNaoto 52:d9e1629da852 56 }
DeguNaoto 52:d9e1629da852 57 else if(b==2){ /*L up*/
DeguNaoto 52:d9e1629da852 58 if(edge2){
DeguNaoto 52:d9e1629da852 59 edge2=0;
DeguNaoto 52:d9e1629da852 60 if(stateL!=28) stateL++;
DeguNaoto 57:3fbd487e055e 61 sendData(4,stateL);
DeguNaoto 22:3996c3f41922 62 }
DeguNaoto 52:d9e1629da852 63 }
DeguNaoto 52:d9e1629da852 64 else if(b==3){ /*R down*/
DeguNaoto 52:d9e1629da852 65 if(edge3){
DeguNaoto 52:d9e1629da852 66 edge3=0;
DeguNaoto 52:d9e1629da852 67 if(stateR!=1) stateR--;
DeguNaoto 57:3fbd487e055e 68 sendData(5,stateR);
DeguNaoto 52:d9e1629da852 69 }
DeguNaoto 52:d9e1629da852 70 }
DeguNaoto 52:d9e1629da852 71 else if(b==4){ /*R up*/
DeguNaoto 52:d9e1629da852 72 if(edge4){
DeguNaoto 52:d9e1629da852 73 edge4=0;
DeguNaoto 52:d9e1629da852 74 if(stateR!=28) stateR++;
DeguNaoto 57:3fbd487e055e 75 sendData(5,stateR);
DeguNaoto 52:d9e1629da852 76 }
DeguNaoto 52:d9e1629da852 77 }
DeguNaoto 52:d9e1629da852 78 if(b!=7) edge7=1;
DeguNaoto 52:d9e1629da852 79 if(b!=1) edge1=1;
DeguNaoto 52:d9e1629da852 80 if(b!=2) edge2=1;
DeguNaoto 52:d9e1629da852 81 if(b!=3) edge3=1;
DeguNaoto 52:d9e1629da852 82 if(b!=4) edge4=1;
DeguNaoto 22:3996c3f41922 83 }
DeguNaoto 57:3fbd487e055e 84 #else
DeguNaoto 57:3fbd487e055e 85 void autoPS3(){
DeguNaoto 57:3fbd487e055e 86 if(circle){ /*mode change*/
DeguNaoto 57:3fbd487e055e 87 if(edge_circle){
DeguNaoto 57:3fbd487e055e 88 edge_circle=0;
DeguNaoto 57:3fbd487e055e 89 autoflag=0;
DeguNaoto 57:3fbd487e055e 90 Indicator4=0;
DeguNaoto 57:3fbd487e055e 91 IndicatorAuto=1;
DeguNaoto 57:3fbd487e055e 92 }
DeguNaoto 57:3fbd487e055e 93 }
DeguNaoto 57:3fbd487e055e 94 else if(up){ /*start*/
DeguNaoto 64:a98fe602c26d 95 flagf=1;
DeguNaoto 57:3fbd487e055e 96 targ_velocity=speed;
DeguNaoto 66:14df82661dfa 97 sendData(7,defoR);
DeguNaoto 57:3fbd487e055e 98 stateR = defoR;
DeguNaoto 57:3fbd487e055e 99 stateL = defoL;
DeguNaoto 61:e018207ae860 100 step = 0;
DeguNaoto 61:e018207ae860 101 CStep = 1;
DeguNaoto 61:e018207ae860 102 }
DeguNaoto 61:e018207ae860 103 else if(right){ /*middle start*/
DeguNaoto 64:a98fe602c26d 104 flagf = 1;
DeguNaoto 61:e018207ae860 105 targ_velocity=speed;
DeguNaoto 66:14df82661dfa 106 sendData(7,17);
DeguNaoto 65:cebdfc0184d7 107 stateR = 17;
DeguNaoto 65:cebdfc0184d7 108 stateL = 17;
DeguNaoto 61:e018207ae860 109 step = 4;
DeguNaoto 61:e018207ae860 110 CStep = 6;
DeguNaoto 57:3fbd487e055e 111 }
DeguNaoto 57:3fbd487e055e 112 else if(square){ /*reset*/
DeguNaoto 66:14df82661dfa 113 sendData(7,31);
DeguNaoto 57:3fbd487e055e 114 }
DeguNaoto 71:4ebc1c0fcb4e 115 else if(triangle){
DeguNaoto 71:4ebc1c0fcb4e 116 // sendData(7,defoR);
DeguNaoto 71:4ebc1c0fcb4e 117 skip = 1;
DeguNaoto 71:4ebc1c0fcb4e 118 }
DeguNaoto 71:4ebc1c0fcb4e 119 else if(!triangle){
DeguNaoto 71:4ebc1c0fcb4e 120 skip = 0;
DeguNaoto 57:3fbd487e055e 121 }
DeguNaoto 57:3fbd487e055e 122 else if(cross){ /*stop*/
DeguNaoto 57:3fbd487e055e 123 Motor_swing=0;
DeguNaoto 64:a98fe602c26d 124 // sita=PI/4.0,x=0.0,y=0.0;
DeguNaoto 57:3fbd487e055e 125 targ_velocity=0.0;
DeguNaoto 57:3fbd487e055e 126 targ_sita=PI/4.0;
DeguNaoto 57:3fbd487e055e 127 velocity_controller.reset();
DeguNaoto 57:3fbd487e055e 128 direction_controller.reset();
DeguNaoto 57:3fbd487e055e 129 }
DeguNaoto 57:3fbd487e055e 130 else if(l1){ /*L up*/
DeguNaoto 57:3fbd487e055e 131 if(edge_l1){
DeguNaoto 57:3fbd487e055e 132 edge_l1=0;
DeguNaoto 61:e018207ae860 133 if(stateL!=1) stateL--;
DeguNaoto 57:3fbd487e055e 134 sendData(4,stateL);
DeguNaoto 57:3fbd487e055e 135 }
DeguNaoto 57:3fbd487e055e 136 }
DeguNaoto 57:3fbd487e055e 137 else if(l2){ /*L down*/
DeguNaoto 57:3fbd487e055e 138 if(edge_l2){
DeguNaoto 57:3fbd487e055e 139 edge_l2=0;
DeguNaoto 57:3fbd487e055e 140 if(stateL!=28) stateL++;
DeguNaoto 57:3fbd487e055e 141 sendData(4,stateL);
DeguNaoto 57:3fbd487e055e 142 }
DeguNaoto 57:3fbd487e055e 143 }
DeguNaoto 57:3fbd487e055e 144 else if(r1){ /*R up*/
DeguNaoto 57:3fbd487e055e 145 if(edge_r1){
DeguNaoto 57:3fbd487e055e 146 edge_r1=0;
DeguNaoto 61:e018207ae860 147 if(stateR!=1) stateR--;
DeguNaoto 57:3fbd487e055e 148 sendData(5,stateR);
DeguNaoto 57:3fbd487e055e 149 }
DeguNaoto 57:3fbd487e055e 150 }
DeguNaoto 57:3fbd487e055e 151 else if(r2){ /*R down*/
DeguNaoto 57:3fbd487e055e 152 if(edge_r2){
DeguNaoto 57:3fbd487e055e 153 edge_r2=0;
DeguNaoto 57:3fbd487e055e 154 if(stateR!=28) stateR++;
DeguNaoto 57:3fbd487e055e 155 sendData(5,stateR);
DeguNaoto 57:3fbd487e055e 156 }
DeguNaoto 57:3fbd487e055e 157 }
DeguNaoto 57:3fbd487e055e 158 }
DeguNaoto 57:3fbd487e055e 159 #endif
DeguNaoto 21:79b94cb922f0 160 /***The function is PID controller initialize.***/
DeguNaoto 21:79b94cb922f0 161 inline void initializeControllers()
DeguNaoto 21:79b94cb922f0 162 {
DeguNaoto 66:14df82661dfa 163 // velocity_controller.setInputLimits(-200000.0, 200000.0); //x1
DeguNaoto 66:14df82661dfa 164 velocity_controller.setInputLimits(-20000.0, 20000.0); //x1
DeguNaoto 21:79b94cb922f0 165 direction_controller.setInputLimits(-10.0, 10.0); //x2
DeguNaoto 21:79b94cb922f0 166
DeguNaoto 21:79b94cb922f0 167 //Pwm output from MOVE_OUTPUT_LIMIT_BOTTOM to MOVE_OUTPUT_LIMIT_TOP
DeguNaoto 21:79b94cb922f0 168 velocity_controller.setOutputLimits(-1.0, 1.0);
DeguNaoto 21:79b94cb922f0 169 direction_controller.setOutputLimits(-1.0, 1.0);
DeguNaoto 31:74e77ef0831c 170
DeguNaoto 21:79b94cb922f0 171 //set bias. 初期値
DeguNaoto 21:79b94cb922f0 172 velocity_controller.setBias(0.0);
DeguNaoto 21:79b94cb922f0 173 direction_controller.setBias(0.0);
DeguNaoto 21:79b94cb922f0 174
DeguNaoto 21:79b94cb922f0 175 //set mode.
DeguNaoto 21:79b94cb922f0 176 velocity_controller.setMode(AUTO_MODE);
DeguNaoto 21:79b94cb922f0 177 direction_controller.setMode(AUTO_MODE);
DeguNaoto 21:79b94cb922f0 178 }
DeguNaoto 21:79b94cb922f0 179
DeguNaoto 21:79b94cb922f0 180 /***The function is following move speed.***/
DeguNaoto 21:79b94cb922f0 181 inline void velocity_following()
DeguNaoto 21:79b94cb922f0 182 {
DeguNaoto 21:79b94cb922f0 183 velocity_controller.setSetPoint((float)targ_velocity);
DeguNaoto 21:79b94cb922f0 184 velocity_controller.setProcessValue((float)velocity);
DeguNaoto 21:79b94cb922f0 185 x1 = (double)velocity_controller.compute();
DeguNaoto 21:79b94cb922f0 186 }
DeguNaoto 21:79b94cb922f0 187
DeguNaoto 21:79b94cb922f0 188 inline void sita_following()
DeguNaoto 21:79b94cb922f0 189 {
DeguNaoto 21:79b94cb922f0 190 direction_controller.setSetPoint((float)targ_sita);
DeguNaoto 21:79b94cb922f0 191 direction_controller.setProcessValue((float)sita);
DeguNaoto 55:db1797ac6cb1 192 //direction_controller.setSetPoint(0.0); /*目標値とのずれをなくす*/
DeguNaoto 21:79b94cb922f0 193 //direction_controller.setProcessValue(-y);
DeguNaoto 21:79b94cb922f0 194 x2 = (double)direction_controller.compute();
DeguNaoto 21:79b94cb922f0 195 }
DeguNaoto 21:79b94cb922f0 196
DeguNaoto 21:79b94cb922f0 197 inline void move_following()
DeguNaoto 21:79b94cb922f0 198 {
DeguNaoto 21:79b94cb922f0 199 velocity_following();
DeguNaoto 21:79b94cb922f0 200 sita_following();
DeguNaoto 64:a98fe602c26d 201
DeguNaoto 64:a98fe602c26d 202 if(flagf==0){
DeguNaoto 64:a98fe602c26d 203 Vr = ( x1 + x2 ) / 2.0;
DeguNaoto 64:a98fe602c26d 204 Vl = ( x1 - x2 ) / 2.0;
DeguNaoto 63:dad3f4e5e99c 205 }
DeguNaoto 64:a98fe602c26d 206 else if(flagf==1){
DeguNaoto 64:a98fe602c26d 207 if(x2>0){
DeguNaoto 64:a98fe602c26d 208 Vr = x1;
DeguNaoto 64:a98fe602c26d 209 Vl = x1 - x2;
DeguNaoto 64:a98fe602c26d 210 }
DeguNaoto 64:a98fe602c26d 211 else{
DeguNaoto 64:a98fe602c26d 212 Vr = x1 + x2;
DeguNaoto 64:a98fe602c26d 213 Vl = x1;
DeguNaoto 64:a98fe602c26d 214 }
DeguNaoto 63:dad3f4e5e99c 215 }
DeguNaoto 63:dad3f4e5e99c 216
DeguNaoto 64:a98fe602c26d 217 if( abs(Vr) < 0.2 ) Vr = 0.0;
DeguNaoto 64:a98fe602c26d 218 if( abs(Vl) < 0.2 ) Vl = 0.0;
DeguNaoto 21:79b94cb922f0 219 Move_r( ( float ) Vr );
DeguNaoto 21:79b94cb922f0 220 Move_l( ( float ) Vl );
DeguNaoto 21:79b94cb922f0 221 }
DeguNaoto 21:79b94cb922f0 222
DeguNaoto 21:79b94cb922f0 223 #endif /*autoMode.h*/