File content as of revision 20:22efb19bb82f:

/**
 * This library is included main.cpp.
 * class "machine" whitch machine functions are structured.
 */

#ifndef MACHINE_H
#define MACHINE_H

/**
 * Includes
 */
#include "mbed.h"
#include "QEI.h"
#include "PID.h"
#include "PinDefined_and_Setting_ps3.h"
#include "Parameters_ps3.h"
#include "communicate.h"

/**
 * Functions prototype.
 */
inline void initializeMotors();
inline void initializeControllers();
void Move_r(float speed1);
void Move_l(float speed2);
inline void mesure_move_r_velocity();
inline void mesure_move_l_velocity();
inline void mesure_swing_velocity();
inline void Move_r_speed_following();
inline void Move_l_speed_following();
inline void Swing_speed_following();
void Emergency_toggle();
inline void initialize_interrupter();
void shootEsaka();

/**
 * Defines
 */
#define RATE 0.01
#define PI 3.14159265359
//#define speed 10000.0
#define speed 10000.0

/**
 * Set functions.
 */

/***PID Controller***/
PID velocity_controller(18.0,5274.0 ,0.0,RATE);
PID direction_controller(9.0,2637.0,0.0,RATE);

/***Variables***/
double Pulses_move_r        = 0.0;
double Pulses_move_l        = 0.0;
double Pulses_swing         = 0.0;
double PrefPulses_move_r    = 0.0;
double PrefPulses_move_l    = 0.0;
double PrefPulses_swing     = 0.0;
double swing_velocity       = 0.0;
double velocity             = 0.0;
double targ_velocity        = 0.0;
double targ_sita            = 0.0;
double targ_swing_velocity  = 0.0;
double dsita                = 0.0;
double dx                   = 0.0;
double dy                   = 0.0;
double sita                 = 0.0;
double x                    = 0.0;
double y                    = 0.0;
double dlr                  = 0.0;
double dll                  = 0.0;
double vr                   = 0.0;
double vl                   = 0.0; 
double x1                   = 0.0;
double x2                   = 0.0;
double Vr                   = 0.0;
double Vl                   = 0.0;
int step                    = 0;
int cylinder_step           = 0;

/**
 * Functions.
 */

/***The function is motors initialize.***/
inline void initializeMotors()
{
    Move_r_Motor_PWM.period_us(MOVE_R_PERIOD_US);
    Move_l_Motor_PWM.period_us(MOVE_L_PERIOD_US);
}

/***The function is PID controller initialize.***/
inline void initializeControllers()
{

    velocity_controller.setInputLimits(-200000.0, 200000.0); //x1
    direction_controller.setInputLimits(-10.0, 10.0); //x2

    //Pwm output from MOVE_OUTPUT_LIMIT_BOTTOM to MOVE_OUTPUT_LIMIT_TOP
    velocity_controller.setOutputLimits(-1.0, 1.0);
    direction_controller.setOutputLimits(-1.0, 1.0);
    
    //set bias. 初期値
    velocity_controller.setBias(0.0);
    direction_controller.setBias(0.0);

    //set mode.
    velocity_controller.setMode(AUTO_MODE);
    direction_controller.setMode(AUTO_MODE);
}

/***The function is Move on field.***/
//Right
void Move_r(float speed1)
{
    if(speed1<0) {
        Move_r_Motor_CCW = 1;
        Move_r_Motor_CW = 0;
        Move_r_Motor_PWM = abs(speed1);
    } else {
        Move_r_Motor_CCW = 0;
        Move_r_Motor_CW = 1;
        Move_r_Motor_PWM = speed1;
    }
}
//Left
void Move_l(float speed2)
{
    if(speed2<0) {
        Move_l_Motor_CCW = 1;
        Move_l_Motor_CW = 0;
        Move_l_Motor_PWM = abs(speed2);
    } else {
        Move_l_Motor_CCW = 0;
        Move_l_Motor_CW = 1;
        Move_l_Motor_PWM = speed2;
    }
}

/***Caluculate state.***/
inline void mesure_state()
{
    Pulses_move_r       = ( double )Move_r_sense.getPulses();
    Pulses_move_l       = ( double )Move_l_sense.getPulses();
    dlr                 = ( ( ( Pulses_move_r - PrefPulses_move_r ) / ppr ) * 2.0 * PI ) * r_wheel;
    dll                 = ( ( ( Pulses_move_l - PrefPulses_move_l ) / ppr ) * 2.0 * PI ) * r_wheel;
    PrefPulses_move_r   = Pulses_move_r;
    PrefPulses_move_l   = Pulses_move_l;
    vr                  = dlr / RATE;
    vl                  = dll / RATE;
    velocity            = ( vr + vl ) / 2.0;
    dsita               = ( dlr - dll ) / ( 2.0 * d );
    dx                  = ( ( dlr + dll ) / 2.0 ) * cos( sita + dsita / 2.0 );
    dy                  = ( ( dlr + dll ) / 2.0 ) * sin( sita + dsita / 2.0 );
    sita                += dsita;
    x                   += dx;
    y                   += dy;
}

/***The function is following move speed.***/

inline void velocity_following()
{
    velocity_controller.setSetPoint((float)targ_velocity);
    velocity_controller.setProcessValue((float)velocity);
    x1 = (double)velocity_controller.compute();
}

inline void sita_following()
{
    direction_controller.setSetPoint((float)targ_sita);
    direction_controller.setProcessValue((float)sita);
    //direction_controller.setSetPoint(0.0);  //目標値とのずれをなくす
    //direction_controller.setProcessValue(-y);
    x2 = (double)direction_controller.compute();
}

inline void move_following()
{
    velocity_following();
    sita_following();
    Vr                  = ( x1 + x2 ) / 2.0;
    Vl                  = ( x1 - x2 ) / 2.0;
    if(abs(Vr)<0.05) Vr = 0.0;
    if(abs(Vl)<0.05) Vl = 0.0;
    Move_r((float)Vr);
    Move_l((float)Vl);
}

/***Emergency stop.***/
void Emergency_toggle()
{
    if(edge_circle) {
        edge_circle=0;
        Emergency_stop = !Emergency_stop;
    }
}

/***Interrupter to shoot.***/
inline void initialize_interrupter() {
    interrupter.rise(&shootEsaka);
}

void shootEsaka() {
    Indicator1 = !Indicator1;
}

#endif /*machine.h*/