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Dependencies:   PID QEI mbed

Fork of 2015robot_main by Naoto Deguchi

autoMode.h@61:e018207ae860, 2015-10-03 (annotated)

Committer:
DeguNaoto
Date:
Sat Oct 03 00:52:21 2015 +0000
Revision:
61:e018207ae860
Parent:
60:4a75f3f3a934
Child:
63:dad3f4e5e99c
20151003??????????

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 52:d9e1629da852 20 targ_velocity=speed;
DeguNaoto 52:d9e1629da852 21 sendData(4,defoR);
DeguNaoto 52:d9e1629da852 22 wait(0.1);
DeguNaoto 52:d9e1629da852 23 sendData(5,defoL);
DeguNaoto 52:d9e1629da852 24 wait(0.1);
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 61:e018207ae860 31 targ_velocity=speed;
DeguNaoto 61:e018207ae860 32 sendData(5,13);
DeguNaoto 61:e018207ae860 33 wait(0.1);
DeguNaoto 61:e018207ae860 34 sendData(4,13);
DeguNaoto 61:e018207ae860 35 wait(0.1);
DeguNaoto 61:e018207ae860 36 stateR = 13;
DeguNaoto 61:e018207ae860 37 stateL = 13;
DeguNaoto 61:e018207ae860 38 step = 4;
DeguNaoto 61:e018207ae860 39 CMode = 6;
DeguNaoto 61:e018207ae860 40 }
DeguNaoto 52:d9e1629da852 41 else if(b==5){ /*reset*/
DeguNaoto 52:d9e1629da852 42 sendData(4,31);
DeguNaoto 52:d9e1629da852 43 wait(0.1);
DeguNaoto 52:d9e1629da852 44 sendData(5,31);
DeguNaoto 52:d9e1629da852 45 wait(0.1);
DeguNaoto 52:d9e1629da852 46 }
DeguNaoto 52:d9e1629da852 47 else if(b==9){ /*stop*/
DeguNaoto 29:03bb1ddbe456 48 Motor_swing=0;
DeguNaoto 22:3996c3f41922 49 sita=PI/4.0,x=0.0,y=0.0;
DeguNaoto 22:3996c3f41922 50 targ_velocity=0.0;
DeguNaoto 22:3996c3f41922 51 targ_sita=PI/4.0;
DeguNaoto 22:3996c3f41922 52 velocity_controller.reset();
DeguNaoto 22:3996c3f41922 53 direction_controller.reset();
DeguNaoto 52:d9e1629da852 54 }
DeguNaoto 52:d9e1629da852 55 else if(b==1){ /*L down*/
DeguNaoto 52:d9e1629da852 56 if(edge1){
DeguNaoto 52:d9e1629da852 57 edge1=0;
DeguNaoto 52:d9e1629da852 58 if(stateL!=1) stateL--;
DeguNaoto 57:3fbd487e055e 59 sendData(4,stateL);
DeguNaoto 52:d9e1629da852 60 }
DeguNaoto 52:d9e1629da852 61 }
DeguNaoto 52:d9e1629da852 62 else if(b==2){ /*L up*/
DeguNaoto 52:d9e1629da852 63 if(edge2){
DeguNaoto 52:d9e1629da852 64 edge2=0;
DeguNaoto 52:d9e1629da852 65 if(stateL!=28) stateL++;
DeguNaoto 57:3fbd487e055e 66 sendData(4,stateL);
DeguNaoto 22:3996c3f41922 67 }
DeguNaoto 52:d9e1629da852 68 }
DeguNaoto 52:d9e1629da852 69 else if(b==3){ /*R down*/
DeguNaoto 52:d9e1629da852 70 if(edge3){
DeguNaoto 52:d9e1629da852 71 edge3=0;
DeguNaoto 52:d9e1629da852 72 if(stateR!=1) stateR--;
DeguNaoto 57:3fbd487e055e 73 sendData(5,stateR);
DeguNaoto 52:d9e1629da852 74 }
DeguNaoto 52:d9e1629da852 75 }
DeguNaoto 52:d9e1629da852 76 else if(b==4){ /*R up*/
DeguNaoto 52:d9e1629da852 77 if(edge4){
DeguNaoto 52:d9e1629da852 78 edge4=0;
DeguNaoto 52:d9e1629da852 79 if(stateR!=28) stateR++;
DeguNaoto 57:3fbd487e055e 80 sendData(5,stateR);
DeguNaoto 52:d9e1629da852 81 }
DeguNaoto 52:d9e1629da852 82 }
DeguNaoto 52:d9e1629da852 83 if(b!=7) edge7=1;
DeguNaoto 52:d9e1629da852 84 if(b!=1) edge1=1;
DeguNaoto 52:d9e1629da852 85 if(b!=2) edge2=1;
DeguNaoto 52:d9e1629da852 86 if(b!=3) edge3=1;
DeguNaoto 52:d9e1629da852 87 if(b!=4) edge4=1;
DeguNaoto 22:3996c3f41922 88 }
DeguNaoto 57:3fbd487e055e 89 #else
DeguNaoto 57:3fbd487e055e 90 void autoPS3(){
DeguNaoto 57:3fbd487e055e 91 if(circle){ /*mode change*/
DeguNaoto 57:3fbd487e055e 92 if(edge_circle){
DeguNaoto 57:3fbd487e055e 93 edge_circle=0;
DeguNaoto 57:3fbd487e055e 94 autoflag=0;
DeguNaoto 57:3fbd487e055e 95 Indicator4=0;
DeguNaoto 57:3fbd487e055e 96 IndicatorAuto=1;
DeguNaoto 57:3fbd487e055e 97 }
DeguNaoto 57:3fbd487e055e 98 }
DeguNaoto 57:3fbd487e055e 99 else if(up){ /*start*/
DeguNaoto 57:3fbd487e055e 100 targ_velocity=speed;
DeguNaoto 61:e018207ae860 101 sendData(5,defoR);
DeguNaoto 57:3fbd487e055e 102 wait(0.1);
DeguNaoto 61:e018207ae860 103 sendData(4,defoL);
DeguNaoto 57:3fbd487e055e 104 wait(0.1);
DeguNaoto 57:3fbd487e055e 105 stateR = defoR;
DeguNaoto 57:3fbd487e055e 106 stateL = defoL;
DeguNaoto 61:e018207ae860 107 step = 0;
DeguNaoto 61:e018207ae860 108 CStep = 1;
DeguNaoto 61:e018207ae860 109 }
DeguNaoto 61:e018207ae860 110 else if(right){ /*middle start*/
DeguNaoto 61:e018207ae860 111 targ_velocity=speed;
DeguNaoto 61:e018207ae860 112 sendData(5,13);
DeguNaoto 61:e018207ae860 113 wait(0.1);
DeguNaoto 61:e018207ae860 114 sendData(4,13);
DeguNaoto 61:e018207ae860 115 wait(0.1);
DeguNaoto 61:e018207ae860 116 stateR = 13;
DeguNaoto 61:e018207ae860 117 stateL = 13;
DeguNaoto 61:e018207ae860 118 step = 4;
DeguNaoto 61:e018207ae860 119 CStep = 6;
DeguNaoto 57:3fbd487e055e 120 }
DeguNaoto 57:3fbd487e055e 121 else if(square){ /*reset*/
DeguNaoto 57:3fbd487e055e 122 sendData(4,31);
DeguNaoto 57:3fbd487e055e 123 wait(0.1);
DeguNaoto 57:3fbd487e055e 124 sendData(5,31);
DeguNaoto 57:3fbd487e055e 125 wait(0.1);
DeguNaoto 57:3fbd487e055e 126 }
DeguNaoto 57:3fbd487e055e 127 else if(triangle){ /*set defo*/
DeguNaoto 60:4a75f3f3a934 128 sendData(5,defoR);
DeguNaoto 57:3fbd487e055e 129 wait(0.1);
DeguNaoto 60:4a75f3f3a934 130 sendData(4,defoL);
DeguNaoto 57:3fbd487e055e 131 wait(0.1);
DeguNaoto 57:3fbd487e055e 132 }
DeguNaoto 57:3fbd487e055e 133 else if(cross){ /*stop*/
DeguNaoto 57:3fbd487e055e 134 Motor_swing=0;
DeguNaoto 57:3fbd487e055e 135 sita=PI/4.0,x=0.0,y=0.0;
DeguNaoto 57:3fbd487e055e 136 targ_velocity=0.0;
DeguNaoto 57:3fbd487e055e 137 targ_sita=PI/4.0;
DeguNaoto 57:3fbd487e055e 138 velocity_controller.reset();
DeguNaoto 57:3fbd487e055e 139 direction_controller.reset();
DeguNaoto 57:3fbd487e055e 140 }
DeguNaoto 57:3fbd487e055e 141 else if(l1){ /*L up*/
DeguNaoto 57:3fbd487e055e 142 if(edge_l1){
DeguNaoto 57:3fbd487e055e 143 edge_l1=0;
DeguNaoto 61:e018207ae860 144 if(stateL!=1) stateL--;
DeguNaoto 57:3fbd487e055e 145 sendData(4,stateL);
DeguNaoto 57:3fbd487e055e 146 }
DeguNaoto 57:3fbd487e055e 147 }
DeguNaoto 57:3fbd487e055e 148 else if(l2){ /*L down*/
DeguNaoto 57:3fbd487e055e 149 if(edge_l2){
DeguNaoto 57:3fbd487e055e 150 edge_l2=0;
DeguNaoto 57:3fbd487e055e 151 if(stateL!=28) stateL++;
DeguNaoto 57:3fbd487e055e 152 sendData(4,stateL);
DeguNaoto 57:3fbd487e055e 153 }
DeguNaoto 57:3fbd487e055e 154 }
DeguNaoto 57:3fbd487e055e 155 else if(r1){ /*R up*/
DeguNaoto 57:3fbd487e055e 156 if(edge_r1){
DeguNaoto 57:3fbd487e055e 157 edge_r1=0;
DeguNaoto 61:e018207ae860 158 if(stateR!=1) stateR--;
DeguNaoto 57:3fbd487e055e 159 sendData(5,stateR);
DeguNaoto 57:3fbd487e055e 160 }
DeguNaoto 57:3fbd487e055e 161 }
DeguNaoto 57:3fbd487e055e 162 else if(r2){ /*R down*/
DeguNaoto 57:3fbd487e055e 163 if(edge_r2){
DeguNaoto 57:3fbd487e055e 164 edge_r2=0;
DeguNaoto 57:3fbd487e055e 165 if(stateR!=28) stateR++;
DeguNaoto 57:3fbd487e055e 166 sendData(5,stateR);
DeguNaoto 57:3fbd487e055e 167 }
DeguNaoto 57:3fbd487e055e 168 }
DeguNaoto 57:3fbd487e055e 169 }
DeguNaoto 57:3fbd487e055e 170 #endif
DeguNaoto 21:79b94cb922f0 171 /***The function is PID controller initialize.***/
DeguNaoto 21:79b94cb922f0 172 inline void initializeControllers()
DeguNaoto 21:79b94cb922f0 173 {
DeguNaoto 21:79b94cb922f0 174 velocity_controller.setInputLimits(-200000.0, 200000.0); //x1
DeguNaoto 21:79b94cb922f0 175 direction_controller.setInputLimits(-10.0, 10.0); //x2
DeguNaoto 21:79b94cb922f0 176
DeguNaoto 21:79b94cb922f0 177 //Pwm output from MOVE_OUTPUT_LIMIT_BOTTOM to MOVE_OUTPUT_LIMIT_TOP
DeguNaoto 21:79b94cb922f0 178 velocity_controller.setOutputLimits(-1.0, 1.0);
DeguNaoto 21:79b94cb922f0 179 direction_controller.setOutputLimits(-1.0, 1.0);
DeguNaoto 31:74e77ef0831c 180
DeguNaoto 21:79b94cb922f0 181 //set bias. 初期値
DeguNaoto 21:79b94cb922f0 182 velocity_controller.setBias(0.0);
DeguNaoto 21:79b94cb922f0 183 direction_controller.setBias(0.0);
DeguNaoto 21:79b94cb922f0 184
DeguNaoto 21:79b94cb922f0 185 //set mode.
DeguNaoto 21:79b94cb922f0 186 velocity_controller.setMode(AUTO_MODE);
DeguNaoto 21:79b94cb922f0 187 direction_controller.setMode(AUTO_MODE);
DeguNaoto 21:79b94cb922f0 188 }
DeguNaoto 21:79b94cb922f0 189
DeguNaoto 21:79b94cb922f0 190 /***The function is following move speed.***/
DeguNaoto 21:79b94cb922f0 191 inline void velocity_following()
DeguNaoto 21:79b94cb922f0 192 {
DeguNaoto 21:79b94cb922f0 193 velocity_controller.setSetPoint((float)targ_velocity);
DeguNaoto 21:79b94cb922f0 194 velocity_controller.setProcessValue((float)velocity);
DeguNaoto 21:79b94cb922f0 195 x1 = (double)velocity_controller.compute();
DeguNaoto 21:79b94cb922f0 196 }
DeguNaoto 21:79b94cb922f0 197
DeguNaoto 21:79b94cb922f0 198 inline void sita_following()
DeguNaoto 21:79b94cb922f0 199 {
DeguNaoto 21:79b94cb922f0 200 direction_controller.setSetPoint((float)targ_sita);
DeguNaoto 21:79b94cb922f0 201 direction_controller.setProcessValue((float)sita);
DeguNaoto 55:db1797ac6cb1 202 //direction_controller.setSetPoint(0.0); /*目標値とのずれをなくす*/
DeguNaoto 21:79b94cb922f0 203 //direction_controller.setProcessValue(-y);
DeguNaoto 21:79b94cb922f0 204 x2 = (double)direction_controller.compute();
DeguNaoto 21:79b94cb922f0 205 }
DeguNaoto 21:79b94cb922f0 206
DeguNaoto 21:79b94cb922f0 207 inline void move_following()
DeguNaoto 21:79b94cb922f0 208 {
DeguNaoto 21:79b94cb922f0 209 velocity_following();
DeguNaoto 21:79b94cb922f0 210 sita_following();
DeguNaoto 21:79b94cb922f0 211 Vr = ( x1 + x2 ) / 2.0;
DeguNaoto 21:79b94cb922f0 212 Vl = ( x1 - x2 ) / 2.0;
DeguNaoto 21:79b94cb922f0 213 if( abs(Vr) < 0.05 ) Vr = 0.0;
DeguNaoto 21:79b94cb922f0 214 if( abs(Vl) < 0.05 ) Vl = 0.0;
DeguNaoto 21:79b94cb922f0 215 Move_r( ( float ) Vr );
DeguNaoto 21:79b94cb922f0 216 Move_l( ( float ) Vl );
DeguNaoto 21:79b94cb922f0 217 }
DeguNaoto 21:79b94cb922f0 218
DeguNaoto 21:79b94cb922f0 219 #endif /*autoMode.h*/