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Dependencies:   PID QEI mbed

Fork of 2015robot_main by Naoto Deguchi

autoMode.h@90:9fe39ebe721f, 2015-10-15 (annotated)

Committer:
DeguNaoto
Date:
Thu Oct 15 09:44:09 2015 +0000
Revision:
90:9fe39ebe721f
Parent:
89:048a72382b0a
Child:
96:a972ba5cf2d7
20151015???????

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 83:e1638c58e1f1 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*/
unicore32 80:7e24b99b9b61 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 86:5f0b065cb4d3 19 flaga=0;
DeguNaoto 52:d9e1629da852 20 }
DeguNaoto 52:d9e1629da852 21 }
DeguNaoto 89:048a72382b0a 22 else if((b==6)&&(!flaga)){ /*start*/
DeguNaoto 83:e1638c58e1f1 23 if(edge6){
DeguNaoto 83:e1638c58e1f1 24 edge6=0;
DeguNaoto 83:e1638c58e1f1 25 resetState();
DeguNaoto 83:e1638c58e1f1 26 flagf=1;
DeguNaoto 89:048a72382b0a 27 spcount=0.0;
DeguNaoto 89:048a72382b0a 28 // targ_velocity=speed;
DeguNaoto 85:dd18a2d79956 29 // sendData(7,70);
DeguNaoto 89:048a72382b0a 30 sendData(5,69); //right
DeguNaoto 89:048a72382b0a 31 wait(0.05);
DeguNaoto 89:048a72382b0a 32 sendData(4,70); //left
DeguNaoto 89:048a72382b0a 33 wait(0.05);
DeguNaoto 85:dd18a2d79956 34 stateR = 69;
DeguNaoto 85:dd18a2d79956 35 stateL = 69;
DeguNaoto 83:e1638c58e1f1 36 step = 0;
DeguNaoto 83:e1638c58e1f1 37 CStep = 1;
DeguNaoto 86:5f0b065cb4d3 38 flaga = 1;
DeguNaoto 83:e1638c58e1f1 39 }
DeguNaoto 52:d9e1629da852 40 }
DeguNaoto 89:048a72382b0a 41 else if((b==5)&&(!flaga)){ /*middle start*/
DeguNaoto 83:e1638c58e1f1 42 if(edge5){
DeguNaoto 83:e1638c58e1f1 43 edge5=0;
DeguNaoto 83:e1638c58e1f1 44 resetState();
DeguNaoto 83:e1638c58e1f1 45 flagf = 1;
DeguNaoto 89:048a72382b0a 46 spcount=0.0;
DeguNaoto 89:048a72382b0a 47 // targ_velocity=speed;
DeguNaoto 89:048a72382b0a 48 // sendData(7,59);
DeguNaoto 89:048a72382b0a 49 sendData(5,58); //right
DeguNaoto 89:048a72382b0a 50 wait(0.05);
DeguNaoto 89:048a72382b0a 51 sendData(4,61); //left
DeguNaoto 89:048a72382b0a 52 wait(0.05);
DeguNaoto 88:cbed08732872 53 stateR = 59;
DeguNaoto 88:cbed08732872 54 stateL = 59;
DeguNaoto 83:e1638c58e1f1 55 step = 5;
DeguNaoto 83:e1638c58e1f1 56 CStep = 6;
DeguNaoto 87:6b6b6611d33f 57 flaga = 1;
DeguNaoto 83:e1638c58e1f1 58 }
DeguNaoto 61:e018207ae860 59 }
DeguNaoto 89:048a72382b0a 60 else if((b==8)&&(!flaga)){ /*opponents start*/
DeguNaoto 83:e1638c58e1f1 61 if(edge8){
DeguNaoto 83:e1638c58e1f1 62 edge8=0;
DeguNaoto 83:e1638c58e1f1 63 resetState();
DeguNaoto 83:e1638c58e1f1 64 flagf = 1;
DeguNaoto 89:048a72382b0a 65 spcount=0.0;
DeguNaoto 89:048a72382b0a 66 // targ_velocity = speed;
DeguNaoto 88:cbed08732872 67 // sendData(7,70);
DeguNaoto 89:048a72382b0a 68 sendData(5,69); //right
DeguNaoto 89:048a72382b0a 69 wait(0.05);
DeguNaoto 89:048a72382b0a 70 sendData(4,60); //left
DeguNaoto 89:048a72382b0a 71 wait(0.05);
DeguNaoto 88:cbed08732872 72 stateR = 70;
DeguNaoto 88:cbed08732872 73 stateL = 70;
DeguNaoto 83:e1638c58e1f1 74 step = 15;
DeguNaoto 84:919a335ac81e 75 CStep = 15;
DeguNaoto 87:6b6b6611d33f 76 flaga = 1;
DeguNaoto 83:e1638c58e1f1 77 }
DeguNaoto 52:d9e1629da852 78 }
DeguNaoto 90:9fe39ebe721f 79 else if(b==9){ /******/
DeguNaoto 52:d9e1629da852 80 }
DeguNaoto 52:d9e1629da852 81 else if(b==1){ /*L down*/
DeguNaoto 52:d9e1629da852 82 if(edge1){
DeguNaoto 52:d9e1629da852 83 edge1=0;
DeguNaoto 52:d9e1629da852 84 if(stateL!=1) stateL--;
DeguNaoto 57:3fbd487e055e 85 sendData(4,stateL);
DeguNaoto 52:d9e1629da852 86 }
DeguNaoto 52:d9e1629da852 87 }
DeguNaoto 52:d9e1629da852 88 else if(b==2){ /*L up*/
DeguNaoto 52:d9e1629da852 89 if(edge2){
DeguNaoto 52:d9e1629da852 90 edge2=0;
unicore32 69:bf094811b4a9 91 if(stateL!=MAX_VALUE) stateL++;
DeguNaoto 57:3fbd487e055e 92 sendData(4,stateL);
DeguNaoto 22:3996c3f41922 93 }
DeguNaoto 52:d9e1629da852 94 }
DeguNaoto 52:d9e1629da852 95 else if(b==3){ /*R down*/
DeguNaoto 52:d9e1629da852 96 if(edge3){
DeguNaoto 52:d9e1629da852 97 edge3=0;
DeguNaoto 52:d9e1629da852 98 if(stateR!=1) stateR--;
DeguNaoto 57:3fbd487e055e 99 sendData(5,stateR);
DeguNaoto 52:d9e1629da852 100 }
DeguNaoto 52:d9e1629da852 101 }
DeguNaoto 52:d9e1629da852 102 else if(b==4){ /*R up*/
DeguNaoto 52:d9e1629da852 103 if(edge4){
DeguNaoto 52:d9e1629da852 104 edge4=0;
unicore32 69:bf094811b4a9 105 if(stateR!=MAX_VALUE) stateR++;
DeguNaoto 57:3fbd487e055e 106 sendData(5,stateR);
DeguNaoto 52:d9e1629da852 107 }
DeguNaoto 52:d9e1629da852 108 }
DeguNaoto 75:4cdcd50ee666 109 if(a2){
DeguNaoto 75:4cdcd50ee666 110 skip = 1;
DeguNaoto 75:4cdcd50ee666 111 }
DeguNaoto 75:4cdcd50ee666 112 else if(!a2){
DeguNaoto 75:4cdcd50ee666 113 skip = 0;
DeguNaoto 75:4cdcd50ee666 114 }
DeguNaoto 52:d9e1629da852 115 if(b!=1) edge1=1;
DeguNaoto 52:d9e1629da852 116 if(b!=2) edge2=1;
DeguNaoto 52:d9e1629da852 117 if(b!=3) edge3=1;
DeguNaoto 52:d9e1629da852 118 if(b!=4) edge4=1;
DeguNaoto 84:919a335ac81e 119 if(b!=5) edge5=1;
DeguNaoto 83:e1638c58e1f1 120 if(b!=6) edge6=1;
DeguNaoto 84:919a335ac81e 121 if(b!=7) edge7=1;
DeguNaoto 83:e1638c58e1f1 122 if(b!=8) edge8=1;
DeguNaoto 22:3996c3f41922 123 }
DeguNaoto 57:3fbd487e055e 124 #else
DeguNaoto 57:3fbd487e055e 125 void autoPS3(){
DeguNaoto 57:3fbd487e055e 126 if(circle){ /*mode change*/
DeguNaoto 57:3fbd487e055e 127 if(edge_circle){
DeguNaoto 57:3fbd487e055e 128 edge_circle=0;
DeguNaoto 57:3fbd487e055e 129 autoflag=0;
DeguNaoto 57:3fbd487e055e 130 Indicator4=0;
DeguNaoto 57:3fbd487e055e 131 IndicatorAuto=1;
DeguNaoto 87:6b6b6611d33f 132 flaga = 0;
DeguNaoto 57:3fbd487e055e 133 }
DeguNaoto 57:3fbd487e055e 134 }
DeguNaoto 57:3fbd487e055e 135 else if(up){ /*start*/
DeguNaoto 84:919a335ac81e 136 if(edge_up){
DeguNaoto 84:919a335ac81e 137 edge_up=0;
DeguNaoto 84:919a335ac81e 138 resetState();
DeguNaoto 84:919a335ac81e 139 flagf=1;
DeguNaoto 84:919a335ac81e 140 targ_velocity=speed;
DeguNaoto 85:dd18a2d79956 141 // sendData(7,70);
DeguNaoto 85:dd18a2d79956 142 sendData(5,69);
DeguNaoto 84:919a335ac81e 143 wait(0.1);
DeguNaoto 85:dd18a2d79956 144 sendData(4,69);
DeguNaoto 85:dd18a2d79956 145 stateR = 69;
DeguNaoto 85:dd18a2d79956 146 stateL = 69;
DeguNaoto 84:919a335ac81e 147 step = 0;
DeguNaoto 84:919a335ac81e 148 CStep = 1;
DeguNaoto 87:6b6b6611d33f 149 flaga = 1;
DeguNaoto 84:919a335ac81e 150 }
DeguNaoto 61:e018207ae860 151 }
DeguNaoto 61:e018207ae860 152 else if(right){ /*middle start*/
DeguNaoto 84:919a335ac81e 153 if(edge_right){
DeguNaoto 84:919a335ac81e 154 edge_right=0;
DeguNaoto 84:919a335ac81e 155 resetState();
DeguNaoto 84:919a335ac81e 156 flagf = 1;
DeguNaoto 84:919a335ac81e 157 targ_velocity=speed;
DeguNaoto 84:919a335ac81e 158 sendData(7,61);
DeguNaoto 85:dd18a2d79956 159 /*sendData(4,61);
DeguNaoto 85:dd18a2d79956 160 wait(0.1);
DeguNaoto 85:dd18a2d79956 161 sendData(5,58);*/
DeguNaoto 84:919a335ac81e 162 stateR = 61;
DeguNaoto 84:919a335ac81e 163 stateL = 61;
DeguNaoto 84:919a335ac81e 164 step = 5;
DeguNaoto 84:919a335ac81e 165 CStep = 6;
DeguNaoto 87:6b6b6611d33f 166 flaga = 1;
DeguNaoto 84:919a335ac81e 167 }
DeguNaoto 77:7dd154b5ace3 168 }
DeguNaoto 77:7dd154b5ace3 169 else if(down){ /*opponents start*/
DeguNaoto 84:919a335ac81e 170 if(edge_down){
DeguNaoto 84:919a335ac81e 171 edge_down=0;
DeguNaoto 84:919a335ac81e 172 resetState();
DeguNaoto 84:919a335ac81e 173 flagf = 1;
DeguNaoto 84:919a335ac81e 174 targ_velocity = speed;
DeguNaoto 85:dd18a2d79956 175 sendData(7,70);
DeguNaoto 85:dd18a2d79956 176 stateR = 70;
DeguNaoto 85:dd18a2d79956 177 stateL = 70;
DeguNaoto 84:919a335ac81e 178 step = 15;
DeguNaoto 84:919a335ac81e 179 CStep = 15;
DeguNaoto 87:6b6b6611d33f 180 flaga = 1;
DeguNaoto 84:919a335ac81e 181 }
DeguNaoto 57:3fbd487e055e 182 }
DeguNaoto 57:3fbd487e055e 183 else if(square){ /*reset*/
unicore32 68:2b2b88ecdcce 184 sendData(7,255);
DeguNaoto 57:3fbd487e055e 185 }
DeguNaoto 57:3fbd487e055e 186 else if(cross){ /*stop*/
DeguNaoto 57:3fbd487e055e 187 Motor_swing=0;
DeguNaoto 64:a98fe602c26d 188 // sita=PI/4.0,x=0.0,y=0.0;
DeguNaoto 57:3fbd487e055e 189 targ_velocity=0.0;
DeguNaoto 79:7f86e18f40ef 190 #ifdef BLUE
DeguNaoto 57:3fbd487e055e 191 targ_sita=PI/4.0;
DeguNaoto 79:7f86e18f40ef 192 #else
DeguNaoto 79:7f86e18f40ef 193 targ_sita=-PI/4.0;
DeguNaoto 79:7f86e18f40ef 194 #endif
DeguNaoto 57:3fbd487e055e 195 velocity_controller.reset();
DeguNaoto 57:3fbd487e055e 196 direction_controller.reset();
DeguNaoto 57:3fbd487e055e 197 }
DeguNaoto 57:3fbd487e055e 198 else if(l1){ /*L up*/
DeguNaoto 57:3fbd487e055e 199 if(edge_l1){
DeguNaoto 57:3fbd487e055e 200 edge_l1=0;
DeguNaoto 61:e018207ae860 201 if(stateL!=1) stateL--;
DeguNaoto 57:3fbd487e055e 202 sendData(4,stateL);
DeguNaoto 57:3fbd487e055e 203 }
DeguNaoto 57:3fbd487e055e 204 }
DeguNaoto 57:3fbd487e055e 205 else if(l2){ /*L down*/
DeguNaoto 57:3fbd487e055e 206 if(edge_l2){
DeguNaoto 57:3fbd487e055e 207 edge_l2=0;
unicore32 69:bf094811b4a9 208 if(stateL!=MAX_VALUE) stateL++;
DeguNaoto 57:3fbd487e055e 209 sendData(4,stateL);
DeguNaoto 57:3fbd487e055e 210 }
DeguNaoto 57:3fbd487e055e 211 }
DeguNaoto 57:3fbd487e055e 212 else if(r1){ /*R up*/
DeguNaoto 57:3fbd487e055e 213 if(edge_r1){
DeguNaoto 57:3fbd487e055e 214 edge_r1=0;
DeguNaoto 61:e018207ae860 215 if(stateR!=1) stateR--;
DeguNaoto 57:3fbd487e055e 216 sendData(5,stateR);
DeguNaoto 57:3fbd487e055e 217 }
DeguNaoto 57:3fbd487e055e 218 }
DeguNaoto 57:3fbd487e055e 219 else if(r2){ /*R down*/
DeguNaoto 57:3fbd487e055e 220 if(edge_r2){
DeguNaoto 57:3fbd487e055e 221 edge_r2=0;
unicore32 69:bf094811b4a9 222 if(stateR!=MAX_VALUE) stateR++;
DeguNaoto 57:3fbd487e055e 223 sendData(5,stateR);
DeguNaoto 57:3fbd487e055e 224 }
DeguNaoto 57:3fbd487e055e 225 }
DeguNaoto 75:4cdcd50ee666 226 if(triangle){
DeguNaoto 75:4cdcd50ee666 227 skip = 1;
DeguNaoto 75:4cdcd50ee666 228 }
DeguNaoto 75:4cdcd50ee666 229 else if(!triangle){
DeguNaoto 75:4cdcd50ee666 230 skip = 0;
DeguNaoto 75:4cdcd50ee666 231 }
DeguNaoto 57:3fbd487e055e 232 }
DeguNaoto 57:3fbd487e055e 233 #endif
DeguNaoto 21:79b94cb922f0 234 /***The function is PID controller initialize.***/
DeguNaoto 21:79b94cb922f0 235 inline void initializeControllers()
DeguNaoto 21:79b94cb922f0 236 {
DeguNaoto 66:14df82661dfa 237 // velocity_controller.setInputLimits(-200000.0, 200000.0); //x1
DeguNaoto 66:14df82661dfa 238 velocity_controller.setInputLimits(-20000.0, 20000.0); //x1
DeguNaoto 21:79b94cb922f0 239 direction_controller.setInputLimits(-10.0, 10.0); //x2
DeguNaoto 21:79b94cb922f0 240
DeguNaoto 21:79b94cb922f0 241 //Pwm output from MOVE_OUTPUT_LIMIT_BOTTOM to MOVE_OUTPUT_LIMIT_TOP
DeguNaoto 79:7f86e18f40ef 242 // velocity_controller.setOutputLimits(-1.0, 1.0);
DeguNaoto 79:7f86e18f40ef 243 velocity_controller.setOutputLimits(0.0, 1.0);
DeguNaoto 21:79b94cb922f0 244 direction_controller.setOutputLimits(-1.0, 1.0);
DeguNaoto 31:74e77ef0831c 245
DeguNaoto 21:79b94cb922f0 246 //set bias. 初期値
DeguNaoto 21:79b94cb922f0 247 velocity_controller.setBias(0.0);
DeguNaoto 21:79b94cb922f0 248 direction_controller.setBias(0.0);
DeguNaoto 21:79b94cb922f0 249
DeguNaoto 21:79b94cb922f0 250 //set mode.
DeguNaoto 21:79b94cb922f0 251 velocity_controller.setMode(AUTO_MODE);
DeguNaoto 21:79b94cb922f0 252 direction_controller.setMode(AUTO_MODE);
DeguNaoto 21:79b94cb922f0 253 }
DeguNaoto 21:79b94cb922f0 254
DeguNaoto 21:79b94cb922f0 255 /***The function is following move speed.***/
DeguNaoto 21:79b94cb922f0 256 inline void velocity_following()
DeguNaoto 21:79b94cb922f0 257 {
DeguNaoto 21:79b94cb922f0 258 velocity_controller.setSetPoint((float)targ_velocity);
DeguNaoto 21:79b94cb922f0 259 velocity_controller.setProcessValue((float)velocity);
DeguNaoto 21:79b94cb922f0 260 x1 = (double)velocity_controller.compute();
DeguNaoto 21:79b94cb922f0 261 }
DeguNaoto 21:79b94cb922f0 262
DeguNaoto 21:79b94cb922f0 263 inline void sita_following()
DeguNaoto 21:79b94cb922f0 264 {
DeguNaoto 21:79b94cb922f0 265 direction_controller.setSetPoint((float)targ_sita);
DeguNaoto 21:79b94cb922f0 266 direction_controller.setProcessValue((float)sita);
DeguNaoto 55:db1797ac6cb1 267 //direction_controller.setSetPoint(0.0); /*目標値とのずれをなくす*/
DeguNaoto 21:79b94cb922f0 268 //direction_controller.setProcessValue(-y);
DeguNaoto 21:79b94cb922f0 269 x2 = (double)direction_controller.compute();
DeguNaoto 21:79b94cb922f0 270 }
DeguNaoto 21:79b94cb922f0 271
DeguNaoto 21:79b94cb922f0 272 inline void move_following()
DeguNaoto 21:79b94cb922f0 273 {
DeguNaoto 21:79b94cb922f0 274 velocity_following();
DeguNaoto 21:79b94cb922f0 275 sita_following();
DeguNaoto 64:a98fe602c26d 276
DeguNaoto 64:a98fe602c26d 277 if(flagf==0){
DeguNaoto 79:7f86e18f40ef 278 Vr = ( 2.0*(-x1) + x2 ) / 3.0;
DeguNaoto 79:7f86e18f40ef 279 Vl = ( 2.0*(-x1) - x2 ) / 3.0;
DeguNaoto 63:dad3f4e5e99c 280 }
DeguNaoto 64:a98fe602c26d 281 else if(flagf==1){
DeguNaoto 64:a98fe602c26d 282 if(x2>0){
DeguNaoto 64:a98fe602c26d 283 Vr = x1;
DeguNaoto 64:a98fe602c26d 284 Vl = x1 - x2;
DeguNaoto 64:a98fe602c26d 285 }
DeguNaoto 64:a98fe602c26d 286 else{
DeguNaoto 64:a98fe602c26d 287 Vr = x1 + x2;
DeguNaoto 64:a98fe602c26d 288 Vl = x1;
DeguNaoto 64:a98fe602c26d 289 }
DeguNaoto 63:dad3f4e5e99c 290 }
DeguNaoto 63:dad3f4e5e99c 291
DeguNaoto 64:a98fe602c26d 292 if( abs(Vr) < 0.2 ) Vr = 0.0;
DeguNaoto 64:a98fe602c26d 293 if( abs(Vl) < 0.2 ) Vl = 0.0;
DeguNaoto 21:79b94cb922f0 294 Move_r( ( float ) Vr );
DeguNaoto 21:79b94cb922f0 295 Move_l( ( float ) Vl );
DeguNaoto 21:79b94cb922f0 296 }
DeguNaoto 21:79b94cb922f0 297
DeguNaoto 21:79b94cb922f0 298 #endif /*autoMode.h*/