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Dependencies:   PID QEI mbed

Fork of 2015robot_main by Naoto Deguchi

Swing.h@101:b67d33e56b66, 2015-10-17 (annotated)

Committer:
DeguNaoto
Date:
Sat Oct 17 06:04:49 2015 +0000
Revision:
101:b67d33e56b66
Parent:
100:5769dc0e7478
Child:
112:717acc7c99f9
20151017 ?????????????

Who changed what in which revision?

UserRevisionLine numberNew contents of line
DeguNaoto 49:9276fda93084 1 #ifndef SWING_H
DeguNaoto 49:9276fda93084 2 #define SWING_H
DeguNaoto 49:9276fda93084 3
DeguNaoto 49:9276fda93084 4 /***Swing.***/
DeguNaoto 101:b67d33e56b66 5 PID contSwing(20.917 ,2.0 ,0.0 ,RATE);
unicore32 93:9cacc1763463 6 Ticker interruptSwingSpeed;
unicore32 93:9cacc1763463 7
unicore32 93:9cacc1763463 8 inline void countSwingSpeed() {
unicore32 93:9cacc1763463 9 static int i = 0;
DeguNaoto 101:b67d33e56b66 10 if (i <= swingspeed) {
unicore32 93:9cacc1763463 11 i+=swingspeed/10.0;
unicore32 93:9cacc1763463 12 targSwingRadVelocity=i;
unicore32 93:9cacc1763463 13 }
unicore32 93:9cacc1763463 14 else {
unicore32 94:086b53bd195e 15 interruptSwingSpeed.detach();
unicore32 93:9cacc1763463 16 }
unicore32 93:9cacc1763463 17 }
DeguNaoto 57:3fbd487e055e 18
DeguNaoto 49:9276fda93084 19 inline void initializeSwing() {
DeguNaoto 49:9276fda93084 20 interrupter.rise(&countSwing);
DeguNaoto 49:9276fda93084 21 Motor_swing.period_us(SWING_PERIOD);
DeguNaoto 49:9276fda93084 22 //controller set
DeguNaoto 66:14df82661dfa 23 contSwing.setInputLimits(0.0, 100.0);
DeguNaoto 83:e1638c58e1f1 24 contSwing.setOutputLimits(0.0, 1.0);
DeguNaoto 49:9276fda93084 25 contSwing.setBias(0.0);
DeguNaoto 49:9276fda93084 26 contSwing.setMode(AUTO_MODE);
DeguNaoto 49:9276fda93084 27 }
DeguNaoto 57:3fbd487e055e 28 float waitTime = 0.0;
DeguNaoto 49:9276fda93084 29 void countSwing() {
DeguNaoto 49:9276fda93084 30 Indicator1 = !Indicator1;
DeguNaoto 49:9276fda93084 31 if(enableShoot){
DeguNaoto 49:9276fda93084 32 enableShoot=0;
DeguNaoto 99:ee7f78d64c14 33 // waitTime = (float)(((2.0 * PI) / swingRadVelocity) / 2.0);
DeguNaoto 99:ee7f78d64c14 34 // waitTime = (float)((((10.0 * PI) / 4.0) / swingRadVelocity) / 8.0);
DeguNaoto 101:b67d33e56b66 35 if(swingRadVelocity==0.0) waitTime = (float)((((2.0 * PI) / swingRadVelocity) / 4.0));//-0.0017);
DeguNaoto 100:5769dc0e7478 36 else waitTime=0.0;
DeguNaoto 99:ee7f78d64c14 37 if(waitTime<0.0) waitTime=0.0;
DeguNaoto 99:ee7f78d64c14 38 if(waitTime>10.0) waitTime=10.0;
DeguNaoto 99:ee7f78d64c14 39 wait(waitTime);
DeguNaoto 49:9276fda93084 40 sendData(1,6);
DeguNaoto 49:9276fda93084 41 }
DeguNaoto 49:9276fda93084 42 }
DeguNaoto 49:9276fda93084 43
DeguNaoto 55:db1797ac6cb1 44 double swingSita=0.0;
DeguNaoto 49:9276fda93084 45 inline void mesureSwing() {
DeguNaoto 55:db1797ac6cb1 46 PulsesSwing = ( double )SwingSens.getPulses();
DeguNaoto 98:ffe1247b9784 47 swingRadVelocity = (((PulsesSwing - PrefPulsesSwing) / 3000.0) * 2.0 * PI) / RATE;
DeguNaoto 55:db1797ac6cb1 48 PrefPulsesSwing = PulsesSwing;
DeguNaoto 49:9276fda93084 49 }
DeguNaoto 55:db1797ac6cb1 50
DeguNaoto 50:8ea4714316ce 51 double cont=0.0;
DeguNaoto 49:9276fda93084 52 inline void swingFollowing(){
DeguNaoto 49:9276fda93084 53 contSwing.setSetPoint(( float )targSwingRadVelocity);
DeguNaoto 49:9276fda93084 54 contSwing.setProcessValue(( float )swingRadVelocity);
DeguNaoto 50:8ea4714316ce 55 cont = contSwing.compute();
DeguNaoto 50:8ea4714316ce 56 Motor_swing = cont;
DeguNaoto 49:9276fda93084 57 }
DeguNaoto 49:9276fda93084 58
DeguNaoto 49:9276fda93084 59 #endif /*Swing.h*/