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Dependencies:   PID QEI mbed

Fork of 2015robot_main by Naoto Deguchi

autoMode.h@65:cebdfc0184d7, 2015-10-05 (annotated)

Committer:
DeguNaoto
Date:
Mon Oct 05 07:53:02 2015 +0000
Revision:
65:cebdfc0184d7
Parent:
64:a98fe602c26d
Child:
66:14df82661dfa
??????????8kHz->20kHz;

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 64:a98fe602c26d 20 flagf=1;
DeguNaoto 52:d9e1629da852 21 targ_velocity=speed;
DeguNaoto 52:d9e1629da852 22 sendData(4,defoR);
DeguNaoto 52:d9e1629da852 23 wait(0.1);
DeguNaoto 52:d9e1629da852 24 sendData(5,defoL);
DeguNaoto 52:d9e1629da852 25 wait(0.1);
DeguNaoto 52:d9e1629da852 26 stateR = defoR;
DeguNaoto 52:d9e1629da852 27 stateL = defoL;
DeguNaoto 61:e018207ae860 28 step = 0;
DeguNaoto 61:e018207ae860 29 CMode = 0;
DeguNaoto 52:d9e1629da852 30 }
DeguNaoto 61:e018207ae860 31 else if(b==8){ /*middle start*/
DeguNaoto 64:a98fe602c26d 32 flagf=1;
DeguNaoto 61:e018207ae860 33 targ_velocity=speed;
DeguNaoto 65:cebdfc0184d7 34 sendData(5,17);
DeguNaoto 61:e018207ae860 35 wait(0.1);
DeguNaoto 65:cebdfc0184d7 36 sendData(4,17);
DeguNaoto 61:e018207ae860 37 wait(0.1);
DeguNaoto 65:cebdfc0184d7 38 stateR = 17;
DeguNaoto 65:cebdfc0184d7 39 stateL = 17;
DeguNaoto 61:e018207ae860 40 step = 4;
DeguNaoto 61:e018207ae860 41 CMode = 6;
DeguNaoto 61:e018207ae860 42 }
DeguNaoto 52:d9e1629da852 43 else if(b==5){ /*reset*/
DeguNaoto 52:d9e1629da852 44 sendData(4,31);
DeguNaoto 52:d9e1629da852 45 wait(0.1);
DeguNaoto 52:d9e1629da852 46 sendData(5,31);
DeguNaoto 52:d9e1629da852 47 wait(0.1);
DeguNaoto 52:d9e1629da852 48 }
DeguNaoto 52:d9e1629da852 49 else if(b==9){ /*stop*/
DeguNaoto 29:03bb1ddbe456 50 Motor_swing=0;
DeguNaoto 22:3996c3f41922 51 sita=PI/4.0,x=0.0,y=0.0;
DeguNaoto 22:3996c3f41922 52 targ_velocity=0.0;
DeguNaoto 22:3996c3f41922 53 targ_sita=PI/4.0;
DeguNaoto 22:3996c3f41922 54 velocity_controller.reset();
DeguNaoto 22:3996c3f41922 55 direction_controller.reset();
DeguNaoto 52:d9e1629da852 56 }
DeguNaoto 52:d9e1629da852 57 else if(b==1){ /*L down*/
DeguNaoto 52:d9e1629da852 58 if(edge1){
DeguNaoto 52:d9e1629da852 59 edge1=0;
DeguNaoto 52:d9e1629da852 60 if(stateL!=1) stateL--;
DeguNaoto 57:3fbd487e055e 61 sendData(4,stateL);
DeguNaoto 52:d9e1629da852 62 }
DeguNaoto 52:d9e1629da852 63 }
DeguNaoto 52:d9e1629da852 64 else if(b==2){ /*L up*/
DeguNaoto 52:d9e1629da852 65 if(edge2){
DeguNaoto 52:d9e1629da852 66 edge2=0;
DeguNaoto 52:d9e1629da852 67 if(stateL!=28) stateL++;
DeguNaoto 57:3fbd487e055e 68 sendData(4,stateL);
DeguNaoto 22:3996c3f41922 69 }
DeguNaoto 52:d9e1629da852 70 }
DeguNaoto 52:d9e1629da852 71 else if(b==3){ /*R down*/
DeguNaoto 52:d9e1629da852 72 if(edge3){
DeguNaoto 52:d9e1629da852 73 edge3=0;
DeguNaoto 52:d9e1629da852 74 if(stateR!=1) stateR--;
DeguNaoto 57:3fbd487e055e 75 sendData(5,stateR);
DeguNaoto 52:d9e1629da852 76 }
DeguNaoto 52:d9e1629da852 77 }
DeguNaoto 52:d9e1629da852 78 else if(b==4){ /*R up*/
DeguNaoto 52:d9e1629da852 79 if(edge4){
DeguNaoto 52:d9e1629da852 80 edge4=0;
DeguNaoto 52:d9e1629da852 81 if(stateR!=28) stateR++;
DeguNaoto 57:3fbd487e055e 82 sendData(5,stateR);
DeguNaoto 52:d9e1629da852 83 }
DeguNaoto 52:d9e1629da852 84 }
DeguNaoto 52:d9e1629da852 85 if(b!=7) edge7=1;
DeguNaoto 52:d9e1629da852 86 if(b!=1) edge1=1;
DeguNaoto 52:d9e1629da852 87 if(b!=2) edge2=1;
DeguNaoto 52:d9e1629da852 88 if(b!=3) edge3=1;
DeguNaoto 52:d9e1629da852 89 if(b!=4) edge4=1;
DeguNaoto 22:3996c3f41922 90 }
DeguNaoto 57:3fbd487e055e 91 #else
DeguNaoto 57:3fbd487e055e 92 void autoPS3(){
DeguNaoto 57:3fbd487e055e 93 if(circle){ /*mode change*/
DeguNaoto 57:3fbd487e055e 94 if(edge_circle){
DeguNaoto 57:3fbd487e055e 95 edge_circle=0;
DeguNaoto 57:3fbd487e055e 96 autoflag=0;
DeguNaoto 57:3fbd487e055e 97 Indicator4=0;
DeguNaoto 57:3fbd487e055e 98 IndicatorAuto=1;
DeguNaoto 57:3fbd487e055e 99 }
DeguNaoto 57:3fbd487e055e 100 }
DeguNaoto 57:3fbd487e055e 101 else if(up){ /*start*/
DeguNaoto 64:a98fe602c26d 102 flagf=1;
DeguNaoto 57:3fbd487e055e 103 targ_velocity=speed;
DeguNaoto 61:e018207ae860 104 sendData(5,defoR);
DeguNaoto 57:3fbd487e055e 105 wait(0.1);
DeguNaoto 61:e018207ae860 106 sendData(4,defoL);
DeguNaoto 57:3fbd487e055e 107 wait(0.1);
DeguNaoto 57:3fbd487e055e 108 stateR = defoR;
DeguNaoto 57:3fbd487e055e 109 stateL = defoL;
DeguNaoto 61:e018207ae860 110 step = 0;
DeguNaoto 61:e018207ae860 111 CStep = 1;
DeguNaoto 61:e018207ae860 112 }
DeguNaoto 61:e018207ae860 113 else if(right){ /*middle start*/
DeguNaoto 64:a98fe602c26d 114 flagf = 1;
DeguNaoto 61:e018207ae860 115 targ_velocity=speed;
DeguNaoto 65:cebdfc0184d7 116 sendData(5,17);
DeguNaoto 61:e018207ae860 117 wait(0.1);
DeguNaoto 65:cebdfc0184d7 118 sendData(4,17);
DeguNaoto 61:e018207ae860 119 wait(0.1);
DeguNaoto 65:cebdfc0184d7 120 stateR = 17;
DeguNaoto 65:cebdfc0184d7 121 stateL = 17;
DeguNaoto 61:e018207ae860 122 step = 4;
DeguNaoto 61:e018207ae860 123 CStep = 6;
DeguNaoto 57:3fbd487e055e 124 }
DeguNaoto 57:3fbd487e055e 125 else if(square){ /*reset*/
DeguNaoto 57:3fbd487e055e 126 sendData(4,31);
DeguNaoto 57:3fbd487e055e 127 wait(0.1);
DeguNaoto 57:3fbd487e055e 128 sendData(5,31);
DeguNaoto 57:3fbd487e055e 129 wait(0.1);
DeguNaoto 57:3fbd487e055e 130 }
DeguNaoto 57:3fbd487e055e 131 else if(triangle){ /*set defo*/
DeguNaoto 60:4a75f3f3a934 132 sendData(5,defoR);
DeguNaoto 57:3fbd487e055e 133 wait(0.1);
DeguNaoto 60:4a75f3f3a934 134 sendData(4,defoL);
DeguNaoto 57:3fbd487e055e 135 wait(0.1);
DeguNaoto 57:3fbd487e055e 136 }
DeguNaoto 57:3fbd487e055e 137 else if(cross){ /*stop*/
DeguNaoto 57:3fbd487e055e 138 Motor_swing=0;
DeguNaoto 64:a98fe602c26d 139 // sita=PI/4.0,x=0.0,y=0.0;
DeguNaoto 57:3fbd487e055e 140 targ_velocity=0.0;
DeguNaoto 57:3fbd487e055e 141 targ_sita=PI/4.0;
DeguNaoto 57:3fbd487e055e 142 velocity_controller.reset();
DeguNaoto 57:3fbd487e055e 143 direction_controller.reset();
DeguNaoto 57:3fbd487e055e 144 }
DeguNaoto 57:3fbd487e055e 145 else if(l1){ /*L up*/
DeguNaoto 57:3fbd487e055e 146 if(edge_l1){
DeguNaoto 57:3fbd487e055e 147 edge_l1=0;
DeguNaoto 61:e018207ae860 148 if(stateL!=1) stateL--;
DeguNaoto 57:3fbd487e055e 149 sendData(4,stateL);
DeguNaoto 57:3fbd487e055e 150 }
DeguNaoto 57:3fbd487e055e 151 }
DeguNaoto 57:3fbd487e055e 152 else if(l2){ /*L down*/
DeguNaoto 57:3fbd487e055e 153 if(edge_l2){
DeguNaoto 57:3fbd487e055e 154 edge_l2=0;
DeguNaoto 57:3fbd487e055e 155 if(stateL!=28) stateL++;
DeguNaoto 57:3fbd487e055e 156 sendData(4,stateL);
DeguNaoto 57:3fbd487e055e 157 }
DeguNaoto 57:3fbd487e055e 158 }
DeguNaoto 57:3fbd487e055e 159 else if(r1){ /*R up*/
DeguNaoto 57:3fbd487e055e 160 if(edge_r1){
DeguNaoto 57:3fbd487e055e 161 edge_r1=0;
DeguNaoto 61:e018207ae860 162 if(stateR!=1) stateR--;
DeguNaoto 57:3fbd487e055e 163 sendData(5,stateR);
DeguNaoto 57:3fbd487e055e 164 }
DeguNaoto 57:3fbd487e055e 165 }
DeguNaoto 57:3fbd487e055e 166 else if(r2){ /*R down*/
DeguNaoto 57:3fbd487e055e 167 if(edge_r2){
DeguNaoto 57:3fbd487e055e 168 edge_r2=0;
DeguNaoto 57:3fbd487e055e 169 if(stateR!=28) stateR++;
DeguNaoto 57:3fbd487e055e 170 sendData(5,stateR);
DeguNaoto 57:3fbd487e055e 171 }
DeguNaoto 57:3fbd487e055e 172 }
DeguNaoto 57:3fbd487e055e 173 }
DeguNaoto 57:3fbd487e055e 174 #endif
DeguNaoto 21:79b94cb922f0 175 /***The function is PID controller initialize.***/
DeguNaoto 21:79b94cb922f0 176 inline void initializeControllers()
DeguNaoto 21:79b94cb922f0 177 {
DeguNaoto 21:79b94cb922f0 178 velocity_controller.setInputLimits(-200000.0, 200000.0); //x1
DeguNaoto 21:79b94cb922f0 179 direction_controller.setInputLimits(-10.0, 10.0); //x2
DeguNaoto 21:79b94cb922f0 180
DeguNaoto 21:79b94cb922f0 181 //Pwm output from MOVE_OUTPUT_LIMIT_BOTTOM to MOVE_OUTPUT_LIMIT_TOP
DeguNaoto 21:79b94cb922f0 182 velocity_controller.setOutputLimits(-1.0, 1.0);
DeguNaoto 21:79b94cb922f0 183 direction_controller.setOutputLimits(-1.0, 1.0);
DeguNaoto 31:74e77ef0831c 184
DeguNaoto 21:79b94cb922f0 185 //set bias. 初期値
DeguNaoto 21:79b94cb922f0 186 velocity_controller.setBias(0.0);
DeguNaoto 21:79b94cb922f0 187 direction_controller.setBias(0.0);
DeguNaoto 21:79b94cb922f0 188
DeguNaoto 21:79b94cb922f0 189 //set mode.
DeguNaoto 21:79b94cb922f0 190 velocity_controller.setMode(AUTO_MODE);
DeguNaoto 21:79b94cb922f0 191 direction_controller.setMode(AUTO_MODE);
DeguNaoto 21:79b94cb922f0 192 }
DeguNaoto 21:79b94cb922f0 193
DeguNaoto 21:79b94cb922f0 194 /***The function is following move speed.***/
DeguNaoto 21:79b94cb922f0 195 inline void velocity_following()
DeguNaoto 21:79b94cb922f0 196 {
DeguNaoto 21:79b94cb922f0 197 velocity_controller.setSetPoint((float)targ_velocity);
DeguNaoto 21:79b94cb922f0 198 velocity_controller.setProcessValue((float)velocity);
DeguNaoto 21:79b94cb922f0 199 x1 = (double)velocity_controller.compute();
DeguNaoto 21:79b94cb922f0 200 }
DeguNaoto 21:79b94cb922f0 201
DeguNaoto 21:79b94cb922f0 202 inline void sita_following()
DeguNaoto 21:79b94cb922f0 203 {
DeguNaoto 21:79b94cb922f0 204 direction_controller.setSetPoint((float)targ_sita);
DeguNaoto 21:79b94cb922f0 205 direction_controller.setProcessValue((float)sita);
DeguNaoto 55:db1797ac6cb1 206 //direction_controller.setSetPoint(0.0); /*目標値とのずれをなくす*/
DeguNaoto 21:79b94cb922f0 207 //direction_controller.setProcessValue(-y);
DeguNaoto 21:79b94cb922f0 208 x2 = (double)direction_controller.compute();
DeguNaoto 21:79b94cb922f0 209 }
DeguNaoto 21:79b94cb922f0 210
DeguNaoto 21:79b94cb922f0 211 inline void move_following()
DeguNaoto 21:79b94cb922f0 212 {
DeguNaoto 21:79b94cb922f0 213 velocity_following();
DeguNaoto 21:79b94cb922f0 214 sita_following();
DeguNaoto 64:a98fe602c26d 215
DeguNaoto 64:a98fe602c26d 216 if(flagf==0){
DeguNaoto 64:a98fe602c26d 217 Vr = ( x1 + x2 ) / 2.0;
DeguNaoto 64:a98fe602c26d 218 Vl = ( x1 - x2 ) / 2.0;
DeguNaoto 63:dad3f4e5e99c 219 }
DeguNaoto 64:a98fe602c26d 220 else if(flagf==1){
DeguNaoto 64:a98fe602c26d 221 if(x2>0){
DeguNaoto 64:a98fe602c26d 222 Vr = x1;
DeguNaoto 64:a98fe602c26d 223 Vl = x1 - x2;
DeguNaoto 64:a98fe602c26d 224 }
DeguNaoto 64:a98fe602c26d 225 else{
DeguNaoto 64:a98fe602c26d 226 Vr = x1 + x2;
DeguNaoto 64:a98fe602c26d 227 Vl = x1;
DeguNaoto 64:a98fe602c26d 228 }
DeguNaoto 63:dad3f4e5e99c 229 }
DeguNaoto 63:dad3f4e5e99c 230
DeguNaoto 64:a98fe602c26d 231 if( abs(Vr) < 0.2 ) Vr = 0.0;
DeguNaoto 64:a98fe602c26d 232 if( abs(Vl) < 0.2 ) Vl = 0.0;
DeguNaoto 21:79b94cb922f0 233 Move_r( ( float ) Vr );
DeguNaoto 21:79b94cb922f0 234 Move_l( ( float ) Vl );
DeguNaoto 21:79b94cb922f0 235 }
DeguNaoto 21:79b94cb922f0 236
DeguNaoto 21:79b94cb922f0 237 #endif /*autoMode.h*/