ロボステ6期 / Mbed 2 deprecated NHK2020-main１

あ

Dependencies:   uw_28015 mbed move4wheel2 EC CruizCore_R6093U CruizCore_R1370P

movement/movement.cpp@2:820dcd23c8e3, 2019-12-11 (annotated)

Committer:
yuki0701
Date:
Wed Dec 11 04:59:36 2019 +0000
Revision:
2:820dcd23c8e3
Parent:
1:26fc1b2f1c42 
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Who changed what in which revision?

UserRevisionLine numberNew contents of line
la00noix 0:b87fd8dd4322 1 #include "EC.h"
la00noix 0:b87fd8dd4322 2 #include "R1370P.h"
la00noix 0:b87fd8dd4322 3 #include "move4wheel.h"
la00noix 0:b87fd8dd4322 4 #include "mbed.h"
la00noix 0:b87fd8dd4322 5 #include "math.h"
la00noix 0:b87fd8dd4322 6 #include "PathFollowing.h"
la00noix 0:b87fd8dd4322 7 #include "movement.h"
la00noix 0:b87fd8dd4322 8 #include "manual.h"
la00noix 0:b87fd8dd4322 9 #include "can.h"
yuki0701 1:26fc1b2f1c42 10 #include "R6093U.h"
yuki0701 2:820dcd23c8e3 11 #include "uw.h"
la00noix 0:b87fd8dd4322 12
la00noix 0:b87fd8dd4322 13 #define PI 3.141592
la00noix 0:b87fd8dd4322 14
la00noix 0:b87fd8dd4322 15 char can_ashileddata[2]= {0};
yuki0701 1:26fc1b2f1c42 16 char can_ashileddata2[8]= {0};
yuki0701 1:26fc1b2f1c42 17 //char can_ashileddata3[2]= {0};
yuki0701 1:26fc1b2f1c42 18 //char can_ashileddata4[2]= {0};
yuki0701 1:26fc1b2f1c42 19 //char can_ashileddata5[2]= {0};
yuki0701 1:26fc1b2f1c42 20
la00noix 0:b87fd8dd4322 21 int can_ashileddata0_0,can_ashileddata0_1,can_ashileddata0_2,can_ashileddata0_3;
la00noix 0:b87fd8dd4322 22
yuki0701 1:26fc1b2f1c42 23 Ec EC2(p16,p15,NC,2048,0.05);
yuki0701 2:820dcd23c8e3 24 Ec EC1(p18,p17,NC,2048,0.05);
yuki0701 2:820dcd23c8e3 25
yuki0701 2:820dcd23c8e3 26
yuki0701 2:820dcd23c8e3 27 Uw uw1(p28);
yuki0701 2:820dcd23c8e3 28 Uw uw4(p27);
yuki0701 2:820dcd23c8e3 29
la00noix 0:b87fd8dd4322 30
la00noix 0:b87fd8dd4322 31 Ticker ec_ticker; //ec角速度計算用ticker
yuki0701 2:820dcd23c8e3 32 Ticker uw_ticker; //uw値取得用ticker
la00noix 0:b87fd8dd4322 33
yuki0701 1:26fc1b2f1c42 34 //R1370P gyro(p9,p10);
yuki0701 1:26fc1b2f1c42 35
yuki0701 1:26fc1b2f1c42 36 R6093U gyro(p9,p10);
la00noix 0:b87fd8dd4322 37
la00noix 0:b87fd8dd4322 38 double new_dist1=0,new_dist2=0;
la00noix 0:b87fd8dd4322 39 double old_dist1=0,old_dist2=0;
la00noix 0:b87fd8dd4322 40 double d_dist1=0,d_dist2=0; //座標計算用関数
la00noix 0:b87fd8dd4322 41 double d_x,d_y;
la00noix 0:b87fd8dd4322 42 //現在地X,y座標、現在角度については、PathFollowingでnow_x,now_y,now_angleを定義済
la00noix 0:b87fd8dd4322 43 double start_x=0,start_y=0; //スタート位置
la00noix 0:b87fd8dd4322 44 double x_out,y_out,r_out; //出力値
la00noix 0:b87fd8dd4322 45
la00noix 0:b87fd8dd4322 46 int16_t m1=0, m2=0, m3=0, m4=0; //int16bit = int2byte
la00noix 0:b87fd8dd4322 47
la00noix 0:b87fd8dd4322 48 double xy_type,pm_typeX,pm_typeY,x_base,y_base;
la00noix 0:b87fd8dd4322 49
la00noix 0:b87fd8dd4322 50 int flag;
la00noix 0:b87fd8dd4322 51
yuki0701 1:26fc1b2f1c42 52 int RL_mode;
yuki0701 1:26fc1b2f1c42 53
yuki0701 2:820dcd23c8e3 54 int uw_flag1 = 0,uw_flag2 = 0,uw_flag3 = 0,uw_flag4 = 0;
yuki0701 2:820dcd23c8e3 55
la00noix 0:b87fd8dd4322 56 ///////////////////機体情報をメンバとする構造体"robo_data"と構造体型変数info(←この変数に各センサーにより求めた機体情報(機体位置/機体角度)を格納する)の宣言/////////////////
la00noix 0:b87fd8dd4322 57
la00noix 0:b87fd8dd4322 58 /*「info.(機体情報の種類).(使用センサーの種類)」に各情報を格納する
la00noix 0:b87fd8dd4322 59 *状況に応じて、どのセンサーにより算出した情報を信用するかを選択し、その都度now_angle,now_x,now_yに代入する。（何種類かのセンサーの情報を混ぜて使用することも可能）
la00noix 0:b87fd8dd4322 60 *(ex)
la00noix 0:b87fd8dd4322 61 *info.nowX.enc → エンコーダにより算出した機体位置のx座標
la00noix 0:b87fd8dd4322 62 *info.nowY.usw → 超音波センサーにより求めた機体位置のy座標
la00noix 0:b87fd8dd4322 63 */
la00noix 0:b87fd8dd4322 64
la00noix 0:b87fd8dd4322 65 typedef struct { //使用センサーの種類
la00noix 0:b87fd8dd4322 66 double usw; //超音波センサー
la00noix 0:b87fd8dd4322 67 double enc; //エンコーダ
la00noix 0:b87fd8dd4322 68 double gyro; //ジャイロ
la00noix 0:b87fd8dd4322 69 //double line;//ラインセンサー
la00noix 0:b87fd8dd4322 70 } robo_sensor;
la00noix 0:b87fd8dd4322 71
la00noix 0:b87fd8dd4322 72 typedef struct { //機体情報の種類
la00noix 0:b87fd8dd4322 73 robo_sensor angle; //←機体角度は超音波センサーやラインセンサーからも算出可能なので一応格納先を用意したが、ジャイロの値を完全に信用してもいいかも
la00noix 0:b87fd8dd4322 74 robo_sensor nowX;
la00noix 0:b87fd8dd4322 75 robo_sensor nowY;
la00noix 0:b87fd8dd4322 76 } robo_data;
la00noix 0:b87fd8dd4322 77
la00noix 0:b87fd8dd4322 78 robo_data info= {{0,0,0},{0,0,0},{0,0,0}}; //全てのデータを0に初期化
la00noix 0:b87fd8dd4322 79
la00noix 0:b87fd8dd4322 80 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
la00noix 0:b87fd8dd4322 81
la00noix 0:b87fd8dd4322 82 void UserLoopSetting_sensor()
la00noix 0:b87fd8dd4322 83 {
la00noix 0:b87fd8dd4322 84
la00noix 0:b87fd8dd4322 85 gyro.initialize();
la00noix 0:b87fd8dd4322 86 ec_ticker.attach(&calOmega,0.05); //0.05秒間隔で角速度を計算
yuki0701 2:820dcd23c8e3 87 uw_ticker.attach(&cal_uw,0.05);
yuki0701 1:26fc1b2f1c42 88 EC1.setDiameter_mm(70);
yuki0701 1:26fc1b2f1c42 89 EC2.setDiameter_mm(70); //測定輪半径//後で測定
yuki0701 2:820dcd23c8e3 90 info.nowX.enc = 457; //初期位置の設定
yuki0701 2:820dcd23c8e3 91 info.nowY.enc = 457;
yuki0701 1:26fc1b2f1c42 92 }
yuki0701 1:26fc1b2f1c42 93
yuki0701 1:26fc1b2f1c42 94 void UserLoopSetting_enc_right()
yuki0701 1:26fc1b2f1c42 95 {
yuki0701 1:26fc1b2f1c42 96 info.nowX.enc = 3112; //エンコーダの初期位置の設定(右側フィールド)
la00noix 0:b87fd8dd4322 97 info.nowY.enc = 3500;
yuki0701 1:26fc1b2f1c42 98 RL_mode = 0;
yuki0701 1:26fc1b2f1c42 99 }
yuki0701 1:26fc1b2f1c42 100
yuki0701 1:26fc1b2f1c42 101 void UserLoopSetting_enc_left()
yuki0701 1:26fc1b2f1c42 102 {
yuki0701 1:26fc1b2f1c42 103 info.nowX.enc = -3112; //エンコーダの初期位置の設定(左側フィールド)
yuki0701 1:26fc1b2f1c42 104 info.nowY.enc = 3500;
yuki0701 1:26fc1b2f1c42 105 RL_mode = 1;
la00noix 0:b87fd8dd4322 106 }
la00noix 0:b87fd8dd4322 107
la00noix 0:b87fd8dd4322 108 void calOmega() //角速度計算関数
la00noix 0:b87fd8dd4322 109 {
la00noix 0:b87fd8dd4322 110 EC1.CalOmega();
la00noix 0:b87fd8dd4322 111 EC2.CalOmega();
yuki0701 2:820dcd23c8e3 112
yuki0701 2:820dcd23c8e3 113 //usw_data1 = 10 * uw1.get_dist();
yuki0701 2:820dcd23c8e3 114 ////usw_data2 = 10 * uw2.get_dist();
yuki0701 2:820dcd23c8e3 115 //usw_data3 = 10 * uw3.get_dist();
yuki0701 2:820dcd23c8e3 116 ////usw_data4 = 10 * uw4.get_dist();
yuki0701 2:820dcd23c8e3 117 }
yuki0701 2:820dcd23c8e3 118
yuki0701 2:820dcd23c8e3 119 void cal_uw() //uw値取得用
yuki0701 2:820dcd23c8e3 120 {
yuki0701 2:820dcd23c8e3 121 if(uw_flag1 == 1) {
yuki0701 2:820dcd23c8e3 122 usw_data1 = 10 * uw1.get_dist();
yuki0701 2:820dcd23c8e3 123 //printf("uw1 = %f\n\r",usw_data1);
yuki0701 2:820dcd23c8e3 124 }
yuki0701 2:820dcd23c8e3 125 if(uw_flag2 == 1) {
yuki0701 2:820dcd23c8e3 126 //usw_data2 = 10 * uw2.get_dist();
yuki0701 2:820dcd23c8e3 127 }
yuki0701 2:820dcd23c8e3 128 if(uw_flag3 == 1) {
yuki0701 2:820dcd23c8e3 129 //usw_data3 = 10 * uw3.get_dist();
yuki0701 2:820dcd23c8e3 130 }
yuki0701 2:820dcd23c8e3 131 if(uw_flag4 == 1) {
yuki0701 2:820dcd23c8e3 132 usw_data4 = 10 * uw4.get_dist();
yuki0701 2:820dcd23c8e3 133 //printf("uw4 = %f\n\r",usw_data4);
yuki0701 2:820dcd23c8e3 134 }
la00noix 0:b87fd8dd4322 135 }
la00noix 0:b87fd8dd4322 136
la00noix 0:b87fd8dd4322 137 void output(double FL,double BL,double BR,double FR)
la00noix 0:b87fd8dd4322 138 {
la00noix 0:b87fd8dd4322 139 m1=FL;
la00noix 0:b87fd8dd4322 140 m2=BL;
la00noix 0:b87fd8dd4322 141 m3=BR;
la00noix 0:b87fd8dd4322 142 m4=FR;
la00noix 0:b87fd8dd4322 143 }
la00noix 0:b87fd8dd4322 144
la00noix 0:b87fd8dd4322 145 void base(double FL,double BL,double BR,double FR,double Max)
la00noix 0:b87fd8dd4322 146 //いろんな加算をしても最大OR最小がMaxになるような補正//絶対値が一番でかいやつで除算
la00noix 0:b87fd8dd4322 147 //DCモーターならMax=1、マクソンは-4095～4095だからMax=4095にする
la00noix 0:b87fd8dd4322 148 {
la00noix 0:b87fd8dd4322 149 if(fabs(FL)>=Max||fabs(BL)>=Max||fabs(BR)>=Max||fabs(FR)>=Max) {
la00noix 0:b87fd8dd4322 150
la00noix 0:b87fd8dd4322 151 if (fabs(FL)>=fabs(BL)&&fabs(FL)>=fabs(BR)&&fabs(FL)>=fabs(FR))output(Max*FL/fabs(FL),Max*BL/fabs(FL),Max*BR/fabs(FL),Max*FR/fabs(FL));
la00noix 0:b87fd8dd4322 152 else if(fabs(BL)>=fabs(FL)&&fabs(BL)>=fabs(BR)&&fabs(BL)>=fabs(FR))output(Max*FL/fabs(BL),Max*BL/fabs(BL),Max*BR/fabs(BL),Max*FR/fabs(BL));
la00noix 0:b87fd8dd4322 153 else if(fabs(BR)>=fabs(FL)&&fabs(BR)>=fabs(BL)&&fabs(BR)>=fabs(FR))output(Max*FL/fabs(BR),Max*BL/fabs(BR),Max*BR/fabs(BR),Max*FR/fabs(BR));
la00noix 0:b87fd8dd4322 154 else output(Max*FL/fabs(FR),Max*BL/fabs(FR),Max*BR/fabs(FR),Max*FR/fabs(FR));
la00noix 0:b87fd8dd4322 155 } else {
la00noix 0:b87fd8dd4322 156 output(FL,BL,BR,FR);
la00noix 0:b87fd8dd4322 157 }
la00noix 0:b87fd8dd4322 158 }
la00noix 0:b87fd8dd4322 159
la00noix 0:b87fd8dd4322 160 void ashi_led()
la00noix 0:b87fd8dd4322 161 {
la00noix 0:b87fd8dd4322 162 if(now_angle > -1 && now_angle < 1) {
la00noix 0:b87fd8dd4322 163 can_ashileddata0_0 = 1;
la00noix 0:b87fd8dd4322 164 } else {
la00noix 0:b87fd8dd4322 165 can_ashileddata0_0 = 0;
la00noix 0:b87fd8dd4322 166 }
la00noix 0:b87fd8dd4322 167
la00noix 0:b87fd8dd4322 168 if(now_angle > 350) {
la00noix 0:b87fd8dd4322 169 can_ashileddata0_1 = 1;
la00noix 0:b87fd8dd4322 170 } else {
la00noix 0:b87fd8dd4322 171 can_ashileddata0_1 = 0;
la00noix 0:b87fd8dd4322 172 }
la00noix 0:b87fd8dd4322 173
yuki0701 1:26fc1b2f1c42 174 if(RL_mode == 0) {
yuki0701 1:26fc1b2f1c42 175 if(now_x > 3110 && now_x < 3114) {
yuki0701 1:26fc1b2f1c42 176 can_ashileddata0_2 = 1;
yuki0701 1:26fc1b2f1c42 177 } else {
yuki0701 1:26fc1b2f1c42 178 can_ashileddata0_2 = 0;
yuki0701 1:26fc1b2f1c42 179 }
la00noix 0:b87fd8dd4322 180
yuki0701 1:26fc1b2f1c42 181 if(now_y > 3498 && now_y < 3502) {
yuki0701 1:26fc1b2f1c42 182 can_ashileddata0_3 = 1;
yuki0701 1:26fc1b2f1c42 183 } else {
yuki0701 1:26fc1b2f1c42 184 can_ashileddata0_3 = 0;
yuki0701 1:26fc1b2f1c42 185 }
yuki0701 1:26fc1b2f1c42 186 } else if(RL_mode == 1) {
yuki0701 1:26fc1b2f1c42 187 if(now_x > -3114 && now_x < -3110) {
yuki0701 1:26fc1b2f1c42 188 can_ashileddata0_2 = 1;
yuki0701 1:26fc1b2f1c42 189 } else {
yuki0701 1:26fc1b2f1c42 190 can_ashileddata0_2 = 0;
yuki0701 1:26fc1b2f1c42 191 }
yuki0701 1:26fc1b2f1c42 192
yuki0701 1:26fc1b2f1c42 193 if(now_y > 3498 && now_y < 3502) {
yuki0701 1:26fc1b2f1c42 194 can_ashileddata0_3 = 1;
yuki0701 1:26fc1b2f1c42 195 } else {
yuki0701 1:26fc1b2f1c42 196 can_ashileddata0_3 = 0;
yuki0701 1:26fc1b2f1c42 197 }
la00noix 0:b87fd8dd4322 198 }
la00noix 0:b87fd8dd4322 199
la00noix 0:b87fd8dd4322 200 can_ashileddata[0] = (can_ashileddata0_0<<7 | can_ashileddata0_1<<6 | can_ashileddata0_2<<5 | can_ashileddata0_3<<4);
la00noix 0:b87fd8dd4322 201 }
la00noix 0:b87fd8dd4322 202
la00noix 0:b87fd8dd4322 203 void calc_gyro()
la00noix 0:b87fd8dd4322 204 {
yuki0701 1:26fc1b2f1c42 205 //now_angle=gyro.getAngle(); //ジャイロの値読み込み
yuki0701 1:26fc1b2f1c42 206 now_angle = -gyro.getZ_Angle();
yuki0701 1:26fc1b2f1c42 207 }
yuki0701 1:26fc1b2f1c42 208
yuki0701 1:26fc1b2f1c42 209 void print_gyro()
yuki0701 1:26fc1b2f1c42 210 {
yuki0701 1:26fc1b2f1c42 211 while(1) {
yuki0701 1:26fc1b2f1c42 212 //printf("now_gyro = %f\n\r",-gyro.getAngle());
yuki0701 1:26fc1b2f1c42 213 }
yuki0701 1:26fc1b2f1c42 214
la00noix 0:b87fd8dd4322 215 }
la00noix 0:b87fd8dd4322 216
la00noix 0:b87fd8dd4322 217 void calc_xy_enc() //エンコーダ&ジャイロによる座標計算
la00noix 0:b87fd8dd4322 218 {
yuki0701 1:26fc1b2f1c42 219 //now_angle=gyro.getAngle(); //ジャイロの値読み込み
yuki0701 1:26fc1b2f1c42 220 now_angle = -gyro.getZ_Angle();
la00noix 0:b87fd8dd4322 221
la00noix 0:b87fd8dd4322 222 new_dist1=EC1.getDistance_mm();
la00noix 0:b87fd8dd4322 223 new_dist2=EC2.getDistance_mm();
la00noix 0:b87fd8dd4322 224 d_dist1=new_dist1-old_dist1;
la00noix 0:b87fd8dd4322 225 d_dist2=new_dist2-old_dist2;
la00noix 0:b87fd8dd4322 226 old_dist1=new_dist1;
la00noix 0:b87fd8dd4322 227 old_dist2=new_dist2; //微小時間当たりのエンコーダ読み込み
la00noix 0:b87fd8dd4322 228
la00noix 0:b87fd8dd4322 229 d_x=d_dist2*sin(now_angle*PI/180)-d_dist1*cos(now_angle*PI/180);
la00noix 0:b87fd8dd4322 230 d_y=d_dist2*cos(now_angle*PI/180)+d_dist1*sin(now_angle*PI/180); //微小時間毎の座標変化
la00noix 0:b87fd8dd4322 231 info.nowX.enc = info.nowX.enc + d_x;
la00noix 0:b87fd8dd4322 232 info.nowY.enc = info.nowY.enc - d_y; //微小時間毎に座標に加算
la00noix 0:b87fd8dd4322 233 }
la00noix 0:b87fd8dd4322 234
la00noix 0:b87fd8dd4322 235 void set_cond(int t, int px, double bx, int py, double by) //超音波センサーを使用するときの条件設定関数
la00noix 0:b87fd8dd4322 236 {
la00noix 0:b87fd8dd4322 237 //引数の詳細は関数"calc_xy_usw"参照
la00noix 0:b87fd8dd4322 238
la00noix 0:b87fd8dd4322 239 xy_type = t;
la00noix 0:b87fd8dd4322 240
la00noix 0:b87fd8dd4322 241 pm_typeX = px;
la00noix 0:b87fd8dd4322 242 x_base = bx;
la00noix 0:b87fd8dd4322 243
la00noix 0:b87fd8dd4322 244 pm_typeY = py;
la00noix 0:b87fd8dd4322 245 y_base = by;
la00noix 0:b87fd8dd4322 246 }
la00noix 0:b87fd8dd4322 247
la00noix 0:b87fd8dd4322 248 void calc_xy_usw(double tgt_angle) //超音波センサーによる座標計算（機体が旋回する場合はこの方法による座標計算は出来ない）
la00noix 0:b87fd8dd4322 249 {
la00noix 0:b87fd8dd4322 250 //tgt_angle:機体の目標角度（運動初期角度と同じ/今大会では0,90,180のみ）
la00noix 0:b87fd8dd4322 251 //xy_type:（0:Y軸平行の壁を読む/1:X軸平行の壁を読む/2:X,Y軸平行の壁を共に読む）
la00noix 0:b87fd8dd4322 252 //pm_typeX,pm_typeY:（0:各軸正方向側の壁を読む/1:各軸負方向側の壁を読む）
la00noix 0:b87fd8dd4322 253 //x_base,y_base:超音波センサーで読む壁の座標(y軸並行の壁のx座標/x軸平行の壁のy座標)
la00noix 0:b87fd8dd4322 254
yuki0701 2:820dcd23c8e3 255 double R1=414.5,R2=414.5,R3=414.5,R4=414.5; //機体の中心から各超音波センサーが付いている面までの距離
yuki0701 2:820dcd23c8e3 256 double D1=237.5,D2=237.5,D3=237.5,D4=237.5; //各超音波センサーが付いている面の中心から各超音波センサーまでの距離（時計回りを正とする）
la00noix 0:b87fd8dd4322 257
yuki0701 1:26fc1b2f1c42 258 // now_angle=gyro.getAngle(); //ジャイロの値読み込み
yuki0701 1:26fc1b2f1c42 259 now_angle = -gyro.getZ_Angle();
la00noix 0:b87fd8dd4322 260
la00noix 0:b87fd8dd4322 261 if(tgt_angle==0) {
la00noix 0:b87fd8dd4322 262 if((xy_type==0 || xy_type==2) && pm_typeX==0) {
la00noix 0:b87fd8dd4322 263
la00noix 0:b87fd8dd4322 264 info.nowX.usw = x_base - (usw_data4 + R4*cos(now_angle*PI/180) + D4*sin(now_angle*PI/180));
yuki0701 2:820dcd23c8e3 265 uw_flag4 = 1;
la00noix 0:b87fd8dd4322 266
la00noix 0:b87fd8dd4322 267 } else if((xy_type==0 || xy_type==2) && pm_typeX==1) {
la00noix 0:b87fd8dd4322 268
la00noix 0:b87fd8dd4322 269 info.nowX.usw = x_base + (usw_data3 + R3*cos(now_angle*PI/180) + D3*sin(now_angle*PI/180));
yuki0701 2:820dcd23c8e3 270 uw_flag3 = 1;
la00noix 0:b87fd8dd4322 271
la00noix 0:b87fd8dd4322 272 }
la00noix 0:b87fd8dd4322 273 if((xy_type==1 || xy_type==2) && pm_typeY==0) {
la00noix 0:b87fd8dd4322 274
la00noix 0:b87fd8dd4322 275 info.nowY.usw = y_base - (usw_data2 + R2*cos(now_angle*PI/180) + D2*sin(now_angle*PI/180));
yuki0701 2:820dcd23c8e3 276 uw_flag2 = 1;
la00noix 0:b87fd8dd4322 277
la00noix 0:b87fd8dd4322 278 } else if((xy_type==1 || xy_type==2) && pm_typeY==1) {
la00noix 0:b87fd8dd4322 279
la00noix 0:b87fd8dd4322 280 info.nowY.usw = y_base + (usw_data1 + R1*cos(now_angle*PI/180) + D1*sin(now_angle*PI/180));
yuki0701 2:820dcd23c8e3 281 uw_flag1 = 1;
la00noix 0:b87fd8dd4322 282
la00noix 0:b87fd8dd4322 283 }
la00noix 0:b87fd8dd4322 284
la00noix 0:b87fd8dd4322 285 } else if(tgt_angle==90) {
la00noix 0:b87fd8dd4322 286 if((xy_type==0 || xy_type==2) && pm_typeX==0) {
la00noix 0:b87fd8dd4322 287
la00noix 0:b87fd8dd4322 288 info.nowX.usw = x_base - (usw_data1 + R1*cos((now_angle-tgt_angle)*PI/180) + D1*sin(now_angle*PI/180));
yuki0701 2:820dcd23c8e3 289 uw_flag1 = 1;
la00noix 0:b87fd8dd4322 290
la00noix 0:b87fd8dd4322 291 } else if((xy_type==0 || xy_type==2) && pm_typeX==1) {
la00noix 0:b87fd8dd4322 292
la00noix 0:b87fd8dd4322 293 info.nowX.usw = x_base + (usw_data2 + R2*cos((now_angle-tgt_angle)*PI/180) + D2*sin(now_angle*PI/180));
yuki0701 2:820dcd23c8e3 294 uw_flag2 = 1;
la00noix 0:b87fd8dd4322 295
la00noix 0:b87fd8dd4322 296 }
la00noix 0:b87fd8dd4322 297 if((xy_type==1 || xy_type==2) && pm_typeY==0) {
la00noix 0:b87fd8dd4322 298
la00noix 0:b87fd8dd4322 299 info.nowY.usw = y_base - (usw_data4 + R4*cos((now_angle-tgt_angle)*PI/180) + D4*sin(now_angle*PI/180));
yuki0701 2:820dcd23c8e3 300 uw_flag4 = 1;
la00noix 0:b87fd8dd4322 301
la00noix 0:b87fd8dd4322 302 } else if((xy_type==1 || xy_type==2) && pm_typeY==1) {
la00noix 0:b87fd8dd4322 303
la00noix 0:b87fd8dd4322 304 info.nowY.usw = y_base + (usw_data3 + R3*cos((now_angle-tgt_angle)*PI/180) + D3*sin(now_angle*PI/180));
yuki0701 2:820dcd23c8e3 305 uw_flag3 = 1;
la00noix 0:b87fd8dd4322 306
la00noix 0:b87fd8dd4322 307 }
la00noix 0:b87fd8dd4322 308
la00noix 0:b87fd8dd4322 309 } else if(tgt_angle==180 || tgt_angle==-180) {
la00noix 0:b87fd8dd4322 310 if((xy_type==0 || xy_type==2) && pm_typeX==0) {
la00noix 0:b87fd8dd4322 311
la00noix 0:b87fd8dd4322 312 info.nowX.usw = x_base - (usw_data3 + R3*cos((now_angle-tgt_angle)*PI/180) + D3*sin(now_angle*PI/180));
yuki0701 2:820dcd23c8e3 313 uw_flag3 = 1;
la00noix 0:b87fd8dd4322 314
la00noix 0:b87fd8dd4322 315 } else if((xy_type==0 || xy_type==2) && pm_typeX==1) {
la00noix 0:b87fd8dd4322 316
la00noix 0:b87fd8dd4322 317 info.nowX.usw = x_base + (usw_data4 + R4*cos((now_angle-tgt_angle)*PI/180) + D4*sin(now_angle*PI/180));
yuki0701 2:820dcd23c8e3 318 uw_flag4 = 1;
la00noix 0:b87fd8dd4322 319
la00noix 0:b87fd8dd4322 320 }
la00noix 0:b87fd8dd4322 321 if((xy_type==1 || xy_type==2) && pm_typeY==0) {
la00noix 0:b87fd8dd4322 322
la00noix 0:b87fd8dd4322 323 info.nowY.usw = y_base - (usw_data1+ R1*cos((now_angle-tgt_angle)*PI/180) + D1*sin(now_angle*PI/180));
yuki0701 2:820dcd23c8e3 324 uw_flag1 = 1;
la00noix 0:b87fd8dd4322 325
la00noix 0:b87fd8dd4322 326 } else if((xy_type==1 || xy_type==2) && pm_typeY==1) {
la00noix 0:b87fd8dd4322 327
la00noix 0:b87fd8dd4322 328 info.nowY.usw = y_base + (usw_data2 + R2*cos((now_angle-tgt_angle)*PI/180) + D2*sin(now_angle*PI/180));
yuki0701 2:820dcd23c8e3 329 uw_flag2 = 1;
la00noix 0:b87fd8dd4322 330
la00noix 0:b87fd8dd4322 331 }
la00noix 0:b87fd8dd4322 332 } else if(tgt_angle==-90) {
la00noix 0:b87fd8dd4322 333 if((xy_type==0 || xy_type==2) && pm_typeX==0) {
la00noix 0:b87fd8dd4322 334
la00noix 0:b87fd8dd4322 335 info.nowX.usw = x_base - (usw_data2 + R2*cos((now_angle-tgt_angle)*PI/180) + D2*sin(now_angle*PI/180));
yuki0701 2:820dcd23c8e3 336 uw_flag2 = 1;
la00noix 0:b87fd8dd4322 337
la00noix 0:b87fd8dd4322 338 } else if((xy_type==0 || xy_type==2) && pm_typeX==1) {
la00noix 0:b87fd8dd4322 339
la00noix 0:b87fd8dd4322 340 info.nowX.usw = x_base + (usw_data1 + R1*cos((now_angle-tgt_angle)*PI/180) + D1*sin(now_angle*PI/180));
yuki0701 2:820dcd23c8e3 341 uw_flag1 = 1;
la00noix 0:b87fd8dd4322 342
la00noix 0:b87fd8dd4322 343 }
la00noix 0:b87fd8dd4322 344 if((xy_type==1 || xy_type==2) && pm_typeY==0) {
la00noix 0:b87fd8dd4322 345
la00noix 0:b87fd8dd4322 346 info.nowY.usw = y_base - (usw_data3 + R3*cos((now_angle-tgt_angle)*PI/180) + D3*sin(now_angle*PI/180));
yuki0701 2:820dcd23c8e3 347 uw_flag3 = 1;
la00noix 0:b87fd8dd4322 348
la00noix 0:b87fd8dd4322 349 } else if((xy_type==1 || xy_type==2) && pm_typeY==1) {
la00noix 0:b87fd8dd4322 350
la00noix 0:b87fd8dd4322 351 info.nowY.usw = y_base + (usw_data4 + R4*cos((now_angle-tgt_angle)*PI/180) + D4*sin(now_angle*PI/180));
yuki0701 2:820dcd23c8e3 352 uw_flag4 = 1;
la00noix 0:b87fd8dd4322 353
la00noix 0:b87fd8dd4322 354 }
la00noix 0:b87fd8dd4322 355 }
la00noix 0:b87fd8dd4322 356 }
la00noix 0:b87fd8dd4322 357
yuki0701 2:820dcd23c8e3 358 void uwflag_reset()
yuki0701 2:820dcd23c8e3 359 {
yuki0701 2:820dcd23c8e3 360 uw_flag1 = 0;
yuki0701 2:820dcd23c8e3 361 uw_flag2 = 0;
yuki0701 2:820dcd23c8e3 362 uw_flag3 = 0;
yuki0701 2:820dcd23c8e3 363 uw_flag4 = 0;
yuki0701 2:820dcd23c8e3 364 }
yuki0701 2:820dcd23c8e3 365
yuki0701 2:820dcd23c8e3 366 void uwflag_change(int u1,int u2, int u3, int u4)
yuki0701 2:820dcd23c8e3 367 {
yuki0701 2:820dcd23c8e3 368 uw_flag1 = u1;
yuki0701 2:820dcd23c8e3 369 uw_flag2 = u2;
yuki0701 2:820dcd23c8e3 370 uw_flag3 = u3;
yuki0701 2:820dcd23c8e3 371 uw_flag4 = u4;
yuki0701 2:820dcd23c8e3 372 }
yuki0701 2:820dcd23c8e3 373
yuki0701 2:820dcd23c8e3 374
la00noix 0:b87fd8dd4322 375 void calc_xy(double target_angle, double u,double v)
la00noix 0:b87fd8dd4322 376 {
la00noix 0:b87fd8dd4322 377 //エンコーダにより求めた機体の座標と超音波センサーにより求めた機体の座標を(エンコーダ : 超音波 = u : 1-u / v : 1-v)の割合で混ぜて now_x,now_y に代入する
la00noix 0:b87fd8dd4322 378
la00noix 0:b87fd8dd4322 379 calc_xy_enc();
yuki0701 2:820dcd23c8e3 380 //usw_data1 = 10 * uw1.get_dist();
yuki0701 2:820dcd23c8e3 381 ///usw_data2 = 10 * uw2.get_dist();
yuki0701 2:820dcd23c8e3 382 //usw_data3 = 10 * uw3.get_dist();
yuki0701 2:820dcd23c8e3 383 ///usw_data4 = 10 * uw4.get_dist();
yuki0701 2:820dcd23c8e3 384
yuki0701 2:820dcd23c8e3 385 //printf("uw2 = %f, uw4 = %f\n\r",usw_data2,usw_data4);
la00noix 0:b87fd8dd4322 386
la00noix 0:b87fd8dd4322 387 if(u != 1 || v != 1) {
la00noix 0:b87fd8dd4322 388 calc_xy_usw(target_angle); //エンコーダの値しか使用しない場合は超音波センサーによる座標計算は行わずに計算量を減らす。
la00noix 0:b87fd8dd4322 389 }
la00noix 0:b87fd8dd4322 390
la00noix 0:b87fd8dd4322 391 now_x = u * info.nowX.enc + (1-u) * info.nowX.usw;
la00noix 0:b87fd8dd4322 392 now_y = v * info.nowY.enc + (1-v) * info.nowY.usw;
la00noix 0:b87fd8dd4322 393
la00noix 0:b87fd8dd4322 394 /*if(now_x >-1 && now_x <1 && now_y >-1 && now_y <1){ //スタート時の0合わせ用
la00noix 0:b87fd8dd4322 395 ec_led = 1;
la00noix 0:b87fd8dd4322 396 }else{
la00noix 0:b87fd8dd4322 397 ec_led = 0;
la00noix 0:b87fd8dd4322 398 }
la00noix 0:b87fd8dd4322 399
la00noix 0:b87fd8dd4322 400 if(now_angle >-0.5 && now_angle <0.5){
la00noix 0:b87fd8dd4322 401 gyro_led = 1;
la00noix 0:b87fd8dd4322 402 }else{
la00noix 0:b87fd8dd4322 403 gyro_led = 0;
la00noix 0:b87fd8dd4322 404 }*/
la00noix 0:b87fd8dd4322 405 }
la00noix 0:b87fd8dd4322 406
la00noix 0:b87fd8dd4322 407 void enc_correction(int x_select,int y_select) //エンコーダの座標を超音波センサの座標で上書き
la00noix 0:b87fd8dd4322 408 {
la00noix 0:b87fd8dd4322 409 //x_select,y_select → (0:上書きしない/1:上書きする)
la00noix 0:b87fd8dd4322 410
la00noix 0:b87fd8dd4322 411 if(x_select == 1) {
la00noix 0:b87fd8dd4322 412 info.nowX.enc = info.nowX.usw;
la00noix 0:b87fd8dd4322 413 }
la00noix 0:b87fd8dd4322 414 if(y_select == 1) {
la00noix 0:b87fd8dd4322 415 info.nowY.enc = info.nowY.usw;
la00noix 0:b87fd8dd4322 416 }
la00noix 0:b87fd8dd4322 417
la00noix 0:b87fd8dd4322 418 }
la00noix 0:b87fd8dd4322 419
yuki0701 2:820dcd23c8e3 420 void enc_correction2(int x_plot1, int y_plot2) //引数の座標でエンコーダの座標を修正
yuki0701 2:820dcd23c8e3 421 {
yuki0701 2:820dcd23c8e3 422 info.nowX.enc = x_plot1;
yuki0701 2:820dcd23c8e3 423 info.nowY.enc = y_plot2;
yuki0701 2:820dcd23c8e3 424 }
yuki0701 2:820dcd23c8e3 425
la00noix 0:b87fd8dd4322 426 //ここからそれぞれのプログラム/////////////////////////////////////////////////////////////////////////////////////////////////////////////////
la00noix 0:b87fd8dd4322 427 //now_x(現在のx座標),now_y(現在のy座標),now_angle(機体角度(ラジアンではない)(0~360や-180~180とは限らない))(反時計回りが正)
la00noix 0:b87fd8dd4322 428 //ジャイロの出力は角度だが三角関数はラジアンとして計算する
la00noix 0:b87fd8dd4322 429 //通常の移動＋座標のずれ補正＋機体の角度補正(＋必要に応じさらに別補正)
la00noix 0:b87fd8dd4322 430 //ジャイロの仕様上、角度補正をするときに計算式内で角度はそのままよりsinをとったほうがいいかもね
la00noix 0:b87fd8dd4322 431
la00noix 0:b87fd8dd4322 432 void purecurve(int type,double u,double v, //正面を変えずに円弧or楕円を描いて曲がる
la00noix 0:b87fd8dd4322 433 double point_x1,double point_y1,
la00noix 0:b87fd8dd4322 434 double point_x2,double point_y2,
la00noix 0:b87fd8dd4322 435 int theta,
la00noix 0:b87fd8dd4322 436 double speed,
la00noix 0:b87fd8dd4322 437 double q_p,double q_d,
la00noix 0:b87fd8dd4322 438 double r_p,double r_d,
la00noix 0:b87fd8dd4322 439 double r_out_max,
yuki0701 2:820dcd23c8e3 440 double target_angle, double v_base, double q_out_max)
la00noix 0:b87fd8dd4322 441 //type:動きの種類（8パターン) point_x1,point_y1=出発地点の座標 point_x2,point_x2=目標地点の座標 theta=plotの間隔(0～90°) speed=速度
la00noix 0:b87fd8dd4322 442 {
la00noix 0:b87fd8dd4322 443 //-----PathFollowingのパラメーター設定-----//
la00noix 0:b87fd8dd4322 444 q_setPDparam(q_p,q_d); //ベクトルABに垂直な方向の誤差を埋めるPD制御のパラメータ設定関数
la00noix 0:b87fd8dd4322 445 r_setPDparam(r_p,r_d); //機体角度と目標角度の誤差を埋めるPD制御のパラメータ設定関数
la00noix 0:b87fd8dd4322 446 set_r_out(r_out_max); //旋回時の最大出力値設定関数
yuki0701 2:820dcd23c8e3 447 set_q_out(q_out_max);
la00noix 0:b87fd8dd4322 448 set_target_angle(target_angle); //機体目標角度設定関数
la00noix 0:b87fd8dd4322 449
la00noix 0:b87fd8dd4322 450 int s;
la00noix 0:b87fd8dd4322 451 int t = 0;
la00noix 0:b87fd8dd4322 452 double X,Y;//X=楕円の中心座標、Y=楕円の中心座標
la00noix 0:b87fd8dd4322 453 double a,b; //a=楕円のx軸方向の幅の半分,b=楕円のy軸方向の幅の半分
la00noix 0:b87fd8dd4322 454 double plotx[(90/theta)+1]; //楕円にとるplotのx座標
la00noix 0:b87fd8dd4322 455 double ploty[(90/theta)+1];
la00noix 0:b87fd8dd4322 456
la00noix 0:b87fd8dd4322 457 double x_out,y_out,r_out;
la00noix 0:b87fd8dd4322 458
la00noix 0:b87fd8dd4322 459 a=fabs(point_x1-point_x2);
la00noix 0:b87fd8dd4322 460 b=fabs(point_y1-point_y2);
la00noix 0:b87fd8dd4322 461
la00noix 0:b87fd8dd4322 462 switch(type) {
la00noix 0:b87fd8dd4322 463
la00noix 0:b87fd8dd4322 464 case 1://→↑移動
la00noix 0:b87fd8dd4322 465 X=point_x1;
la00noix 0:b87fd8dd4322 466 Y=point_y2;
la00noix 0:b87fd8dd4322 467
la00noix 0:b87fd8dd4322 468 for(s=0; s<((90/theta)+1); s++) {
la00noix 0:b87fd8dd4322 469 plotx[s] = X + a * cos(-PI/2 + s * (PI*theta/180));
la00noix 0:b87fd8dd4322 470 ploty[s] = Y + b * sin(-PI/2 + s * (PI*theta/180));
la00noix 0:b87fd8dd4322 471 //debug_printf("plotx[%d]=%f ploty[%d]=%f\n\r",s,plotx[s],s,ploty[s]);
la00noix 0:b87fd8dd4322 472 }
la00noix 0:b87fd8dd4322 473 break;
la00noix 0:b87fd8dd4322 474
la00noix 0:b87fd8dd4322 475 case 2://↑→移動
la00noix 0:b87fd8dd4322 476 X=point_x2;
la00noix 0:b87fd8dd4322 477 Y=point_y1;
la00noix 0:b87fd8dd4322 478
la00noix 0:b87fd8dd4322 479 for(s=0; s<((90/theta)+1); s++) {
la00noix 0:b87fd8dd4322 480 plotx[s] = X + a * cos(PI - s * (PI*theta/180));
la00noix 0:b87fd8dd4322 481 ploty[s] = Y + b * sin(PI - s * (PI*theta/180));
la00noix 0:b87fd8dd4322 482 //debug_printf("plotx[%d]=%f ploty[%d]=%f\n\r",s,plotx[s],s,ploty[s]);
la00noix 0:b87fd8dd4322 483 }
la00noix 0:b87fd8dd4322 484 break;
la00noix 0:b87fd8dd4322 485
la00noix 0:b87fd8dd4322 486 case 3://↑←移動
la00noix 0:b87fd8dd4322 487 X=point_x2;
la00noix 0:b87fd8dd4322 488 Y=point_y1;
la00noix 0:b87fd8dd4322 489
la00noix 0:b87fd8dd4322 490 for(s=0; s<((90/theta)+1); s++) {
la00noix 0:b87fd8dd4322 491 plotx[s] = X + a * cos(s * (PI*theta/180));
la00noix 0:b87fd8dd4322 492 ploty[s] = Y + b * sin(s * (PI*theta/180));
la00noix 0:b87fd8dd4322 493 //debug_printf("plotx[%d]=%f ploty[%d]=%f\n\r",s,plotx[s],s,ploty[s]);
la00noix 0:b87fd8dd4322 494 }
la00noix 0:b87fd8dd4322 495 break;
la00noix 0:b87fd8dd4322 496
la00noix 0:b87fd8dd4322 497 case 4://←↑移動
la00noix 0:b87fd8dd4322 498 X=point_x1;
la00noix 0:b87fd8dd4322 499 Y=point_y2;
la00noix 0:b87fd8dd4322 500
la00noix 0:b87fd8dd4322 501 for(s=0; s<((90/theta)+1); s++) {
la00noix 0:b87fd8dd4322 502 plotx[s] = X + a * cos(-PI/2 - s * (PI*theta/180));
la00noix 0:b87fd8dd4322 503 ploty[s] = Y + b * sin(-PI/2 - s * (PI*theta/180));
la00noix 0:b87fd8dd4322 504 //debug_printf("plotx[%d]=%f ploty[%d]=%f\n\r",s,plotx[s],s,ploty[s]);
la00noix 0:b87fd8dd4322 505 }
la00noix 0:b87fd8dd4322 506 break;
la00noix 0:b87fd8dd4322 507
la00noix 0:b87fd8dd4322 508 case 5://←↓移動
la00noix 0:b87fd8dd4322 509 X=point_x1;
la00noix 0:b87fd8dd4322 510 Y=point_y2;
la00noix 0:b87fd8dd4322 511
la00noix 0:b87fd8dd4322 512 for(s=0; s<((90/theta)+1); s++) {
la00noix 0:b87fd8dd4322 513 plotx[s] = X + a * cos(PI/2 + s * (PI*theta/180));
la00noix 0:b87fd8dd4322 514 ploty[s] = Y + b * sin(PI/2 + s * (PI*theta/180));
la00noix 0:b87fd8dd4322 515 //debug_printf("plotx[%d]=%f ploty[%d]=%f\n\r",s,plotx[s],s,ploty[s]);
la00noix 0:b87fd8dd4322 516 }
la00noix 0:b87fd8dd4322 517 break;
la00noix 0:b87fd8dd4322 518
la00noix 0:b87fd8dd4322 519 case 6://↓←移動
la00noix 0:b87fd8dd4322 520 X=point_x2;
la00noix 0:b87fd8dd4322 521 Y=point_y1;
la00noix 0:b87fd8dd4322 522
la00noix 0:b87fd8dd4322 523 for(s=0; s<((90/theta)+1); s++) {
la00noix 0:b87fd8dd4322 524 plotx[s] = X + a * cos(-s * (PI*theta/180));
la00noix 0:b87fd8dd4322 525 ploty[s] = Y + b * sin(-s * (PI*theta/180));
la00noix 0:b87fd8dd4322 526 //debug_printf("plotx[%d]=%f ploty[%d]=%f\n\r",s,plotx[s],s,ploty[s]);
la00noix 0:b87fd8dd4322 527 }
la00noix 0:b87fd8dd4322 528 break;
la00noix 0:b87fd8dd4322 529
la00noix 0:b87fd8dd4322 530 case 7://↓→移動
la00noix 0:b87fd8dd4322 531 X=point_x2;
la00noix 0:b87fd8dd4322 532 Y=point_y1;
la00noix 0:b87fd8dd4322 533
la00noix 0:b87fd8dd4322 534 for(s=0; s<((90/theta)+1); s++) {
la00noix 0:b87fd8dd4322 535 plotx[s] = X + a * cos(PI + s * (PI*theta/180));
la00noix 0:b87fd8dd4322 536 ploty[s] = Y + b * sin(PI + s * (PI*theta/180));
la00noix 0:b87fd8dd4322 537 //debug_printf("plotx[%d]=%f ploty[%d]=%f\n\r",s,plotx[s],s,ploty[s]);
la00noix 0:b87fd8dd4322 538 }
la00noix 0:b87fd8dd4322 539 break;
la00noix 0:b87fd8dd4322 540
la00noix 0:b87fd8dd4322 541 case 8://→↓移動
la00noix 0:b87fd8dd4322 542 X=point_x1;
la00noix 0:b87fd8dd4322 543 Y=point_y2;
la00noix 0:b87fd8dd4322 544
la00noix 0:b87fd8dd4322 545 for(s=0; s<((90/theta)+1); s++) {
la00noix 0:b87fd8dd4322 546 plotx[s] = X + a * cos(PI/2 - s * (PI*theta/180));
la00noix 0:b87fd8dd4322 547 ploty[s] = Y + b * sin(PI/2 - s * (PI*theta/180));
la00noix 0:b87fd8dd4322 548 //debug_printf("plotx[%d]=%f ploty[%d]=%f\n\r",s,plotx[s],s,ploty[s]);
la00noix 0:b87fd8dd4322 549 }
la00noix 0:b87fd8dd4322 550 break;
la00noix 0:b87fd8dd4322 551 }
la00noix 0:b87fd8dd4322 552
la00noix 0:b87fd8dd4322 553 while(1) {
la00noix 0:b87fd8dd4322 554
la00noix 0:b87fd8dd4322 555 if(id1_value[0] != 1)break;
la00noix 0:b87fd8dd4322 556 if(id1_value[6] != flag)break;
la00noix 0:b87fd8dd4322 557
la00noix 0:b87fd8dd4322 558 calc_xy(target_angle,u,v);
la00noix 0:b87fd8dd4322 559
la00noix 0:b87fd8dd4322 560 XYRmotorout(plotx[t],ploty[t],plotx[t+1],ploty[t+1],&x_out,&y_out,&r_out,speed,speed);
la00noix 0:b87fd8dd4322 561 CalMotorOut(x_out,y_out,r_out);
la00noix 0:b87fd8dd4322 562 //debug_printf("t=%d now_x=%f now_y=%f x_out=%f y_out=%f\n\r",t,now_x,now_y,x_out,y_out);
la00noix 0:b87fd8dd4322 563
yuki0701 2:820dcd23c8e3 564 base(GetMotorOut(0),GetMotorOut(1),GetMotorOut(2),GetMotorOut(3),v_base); //m1～m4に代入
la00noix 0:b87fd8dd4322 565 //debug_printf("t=%d (0)=%f (1)=%f (2)=%f (3)=%f\n\r",t,GetMotorOut(0),GetMotorOut(1),GetMotorOut(2),GetMotorOut(3));
la00noix 0:b87fd8dd4322 566
la00noix 0:b87fd8dd4322 567 if(((plotx[t+1] - now_x)*(plotx[t+1] - plotx[t]) + (ploty[t+1] - now_y)*(ploty[t+1] - ploty[t])) < 0)t++;
la00noix 0:b87fd8dd4322 568
yuki0701 1:26fc1b2f1c42 569 // MaxonControl(m1,m2,m3,m4); //出力
yuki0701 1:26fc1b2f1c42 570 // debug_printf("t=%d m1=%d m2=%d m3=%d m4=%d x=%f y=%f angle=%f\n\r",t,m1,m2,m3,m4,now_x,now_y,now_angle);
la00noix 0:b87fd8dd4322 571
la00noix 0:b87fd8dd4322 572 if(t == (90/theta))break;
la00noix 0:b87fd8dd4322 573 }
la00noix 0:b87fd8dd4322 574 }
la00noix 0:b87fd8dd4322 575
la00noix 0:b87fd8dd4322 576 void gogo_straight(double u,double v, //直線運動プログラム
la00noix 0:b87fd8dd4322 577 double x1_point,double y1_point,
la00noix 0:b87fd8dd4322 578 double x2_point,double y2_point,
la00noix 0:b87fd8dd4322 579 double speed1,double speed2,
la00noix 0:b87fd8dd4322 580 double q_p,double q_d,
la00noix 0:b87fd8dd4322 581 double r_p,double r_d,
la00noix 0:b87fd8dd4322 582 double r_out_max,
yuki0701 2:820dcd23c8e3 583 double target_angle,double v_base, double q_out_max)
la00noix 0:b87fd8dd4322 584 //引数:出発地点の座標（x,y）、目標地点の座標(x,y)、初速度（speed1）、目標速度（speed2）//speed1=speed2 のとき等速運動
la00noix 0:b87fd8dd4322 585 {
la00noix 0:b87fd8dd4322 586 //-----PathFollowingのパラメーター設定-----//
la00noix 0:b87fd8dd4322 587 q_setPDparam(q_p,q_d); //ベクトルABに垂直な方向の誤差を埋めるPD制御のパラメータ設定関数
la00noix 0:b87fd8dd4322 588 r_setPDparam(r_p,r_d); //機体角度と目標角度の誤差を埋めるPD制御のパラメータ設定関数
la00noix 0:b87fd8dd4322 589 set_r_out(r_out_max); //旋回時の最大出力値設定関数
yuki0701 2:820dcd23c8e3 590 set_q_out(q_out_max);
la00noix 0:b87fd8dd4322 591 set_target_angle(target_angle); //機体目標角度設定関数
la00noix 0:b87fd8dd4322 592
la00noix 0:b87fd8dd4322 593 while (1) {
la00noix 0:b87fd8dd4322 594
la00noix 0:b87fd8dd4322 595 if(id1_value[0] != 1)break;
la00noix 0:b87fd8dd4322 596 if(id1_value[6] != flag)break;
la00noix 0:b87fd8dd4322 597
la00noix 0:b87fd8dd4322 598 calc_xy(target_angle,u,v);
la00noix 0:b87fd8dd4322 599
la00noix 0:b87fd8dd4322 600 XYRmotorout(x1_point,y1_point,x2_point,y2_point,&x_out,&y_out,&r_out,speed1,speed2);
yuki0701 1:26fc1b2f1c42 601 //printf("n_x = %f, n_y = %f,n_angle = %f, t_x = %f, t_y = %f, t_angle = %f, x_out=%lf, y_out=%lf, r_out=%lf\n\r",now_x,now_y,now_angle,x2_point,y2_point,target_angle,x_out, y_out,r_out);
la00noix 0:b87fd8dd4322 602
la00noix 0:b87fd8dd4322 603 CalMotorOut(x_out,y_out,r_out);
la00noix 0:b87fd8dd4322 604 //printf("out1=%lf, out2=%lf, out3=%lf, out4=%lf\n",GetMotorOut(0),GetMotorOut(1),GetMotorOut(2),GetMotorOut(3));
la00noix 0:b87fd8dd4322 605
yuki0701 2:820dcd23c8e3 606 base(GetMotorOut(0),GetMotorOut(1),GetMotorOut(2),GetMotorOut(3),v_base);
la00noix 0:b87fd8dd4322 607 //printf("m1=%d, m2=%d, m3=%d, m4=%d\r\n",m_1,m_2,m_3,m_4);
la00noix 0:b87fd8dd4322 608
yuki0701 1:26fc1b2f1c42 609 // MaxonControl(m1,m2,m3,m4);
yuki0701 1:26fc1b2f1c42 610 // debug_printf("m1=%d m2=%d m3=%d m4=%d x=%f y=%f angle=%f\n\r",m1,m2,m3,m4,now_x,now_y,now_angle);
yuki0701 1:26fc1b2f1c42 611 printf("m1=%d m2=%d m3=%d m4=%d x=%f y=%f angle=%f\n\r",m1,m2,m3,m4,now_x,now_y,now_angle);
yuki0701 2:820dcd23c8e3 612 //printf("usw2 = %f usw4 = %f x=%f y=%f angle=%f\n\r",usw_data2,usw_data4,now_x,now_y,now_angle);
la00noix 0:b87fd8dd4322 613
la00noix 0:b87fd8dd4322 614 if(((x2_point - now_x)*(x2_point - x1_point) + (y2_point - now_y)*(y2_point - y1_point)) < 0)break;
la00noix 0:b87fd8dd4322 615 }
la00noix 0:b87fd8dd4322 616 }
la00noix 0:b87fd8dd4322 617
yuki0701 2:820dcd23c8e3 618
yuki0701 2:820dcd23c8e3 619
yuki0701 2:820dcd23c8e3 620 double spline_base(int i, int k, double t, int nv[]) //スプライン基底関数を求める関数
yuki0701 2:820dcd23c8e3 621 {
yuki0701 2:820dcd23c8e3 622 // i:0~(制御点の個数-1)
yuki0701 2:820dcd23c8e3 623 // k:スプライト曲線の次元
yuki0701 2:820dcd23c8e3 624 // t:0~(ノットベクトルの最大値)
yuki0701 2:820dcd23c8e3 625 // nv[]:ノットベクトル
yuki0701 2:820dcd23c8e3 626 double w1 = 0.0, w2 = 0.0;
yuki0701 2:820dcd23c8e3 627 if (k == 1) {
yuki0701 2:820dcd23c8e3 628 if (t > nv[i] && t <= nv[i + 1])
yuki0701 2:820dcd23c8e3 629 return 1.0;
yuki0701 2:820dcd23c8e3 630 else
yuki0701 2:820dcd23c8e3 631 return 0.0;
yuki0701 2:820dcd23c8e3 632 } else {
yuki0701 2:820dcd23c8e3 633 if ((nv[i + k] - nv[i + 1]) != 0) {
yuki0701 2:820dcd23c8e3 634 w1 = ((nv[i + k] - t) / (nv[i + k] - nv[i + 1])) * spline_base(i + 1, k - 1, t, nv);
yuki0701 2:820dcd23c8e3 635 //printf("%f\n\r",w1);
yuki0701 2:820dcd23c8e3 636 }
yuki0701 2:820dcd23c8e3 637 if ((nv[i + k - 1] - nv[i]) != 0) {
yuki0701 2:820dcd23c8e3 638 w2 = ((t - nv[i]) / (nv[i + k - 1] - nv[i])) * spline_base(i, k - 1, t, nv);
yuki0701 2:820dcd23c8e3 639 //printf("%f\n\r",w2);
yuki0701 2:820dcd23c8e3 640 }
yuki0701 2:820dcd23c8e3 641 return (w1 + w2);
yuki0701 2:820dcd23c8e3 642 }
yuki0701 2:820dcd23c8e3 643 }
yuki0701 2:820dcd23c8e3 644
yuki0701 2:820dcd23c8e3 645
yuki0701 2:820dcd23c8e3 646 void spline_move(double u, double v,
yuki0701 2:820dcd23c8e3 647 double st_x,double st_y,double end_x,double end_y,
yuki0701 2:820dcd23c8e3 648 double cont1_x,double cont1_y,double cont2_x,double cont2_y,
yuki0701 2:820dcd23c8e3 649 double st_speed, double end_speed,
yuki0701 2:820dcd23c8e3 650 double q_p,double q_d,
yuki0701 2:820dcd23c8e3 651 double r_p,double r_d,
yuki0701 2:820dcd23c8e3 652 double r_out_max,
yuki0701 2:820dcd23c8e3 653 double target_angle, double v_base, double q_out_max, int num)
yuki0701 2:820dcd23c8e3 654 {
yuki0701 2:820dcd23c8e3 655 double dx, dy, dr;
yuki0701 2:820dcd23c8e3 656 int nt[] = {0, 0, 0, 1, 2, 2, 2}; //ノットベクトル
yuki0701 2:820dcd23c8e3 657 //dr = (end_angle - st_angle) / num;
yuki0701 2:820dcd23c8e3 658 int ds = (end_speed - st_speed) / num;
yuki0701 2:820dcd23c8e3 659
yuki0701 2:820dcd23c8e3 660 //-----PathFollowingのパラメーター設定-----//
yuki0701 2:820dcd23c8e3 661 q_setPDparam(q_p,q_d); //ベクトルABに垂直な方向の誤差を埋めるPD制御のパラメータ設定関数
yuki0701 2:820dcd23c8e3 662 r_setPDparam(r_p,r_d); //機体角度と目標角度の誤差を埋めるPD制御のパラメータ設定関数
yuki0701 2:820dcd23c8e3 663 set_r_out(r_out_max); //旋回時の最大出力値設定関数
yuki0701 2:820dcd23c8e3 664 set_q_out(q_out_max);
yuki0701 2:820dcd23c8e3 665 set_target_angle(target_angle); //機体目標角度設定関数
yuki0701 2:820dcd23c8e3 666
yuki0701 2:820dcd23c8e3 667 double plotx[num + 1]; //楕円にとるplotのx座標
yuki0701 2:820dcd23c8e3 668 double ploty[num + 1];
yuki0701 2:820dcd23c8e3 669 double value_t;
yuki0701 2:820dcd23c8e3 670 int i, j;
yuki0701 2:820dcd23c8e3 671 int t = 0;
yuki0701 2:820dcd23c8e3 672 // for(i = 0; i < 7; i++){
yuki0701 2:820dcd23c8e3 673 // printf("not_V = %d\n\r",nt[i]);
yuki0701 2:820dcd23c8e3 674 // }
yuki0701 2:820dcd23c8e3 675 for (i = 0; i < num + 1; i++) {
yuki0701 2:820dcd23c8e3 676 plotx[i] = 0.0;
yuki0701 2:820dcd23c8e3 677 ploty[i] = 0.0;
yuki0701 2:820dcd23c8e3 678 }
yuki0701 2:820dcd23c8e3 679 printf("{\n");
yuki0701 2:820dcd23c8e3 680 for (i = 0; i < num + 1; i++) {
yuki0701 2:820dcd23c8e3 681 value_t = (double)2 * i / num;
yuki0701 2:820dcd23c8e3 682 for (j = 0; j < 4; j++) {
yuki0701 2:820dcd23c8e3 683 if (j == 0) {
yuki0701 2:820dcd23c8e3 684 plotx[i] += st_x * spline_base(j, 3, value_t, nt);
yuki0701 2:820dcd23c8e3 685 ploty[i] += st_y * spline_base(j, 3, value_t, nt);
yuki0701 2:820dcd23c8e3 686 } else if (j == 1) {
yuki0701 2:820dcd23c8e3 687 plotx[i] += cont1_x * spline_base(j, 3, value_t, nt);
yuki0701 2:820dcd23c8e3 688 ploty[i] += cont1_y * spline_base(j, 3, value_t, nt);
yuki0701 2:820dcd23c8e3 689 } else if (j == 2) {
yuki0701 2:820dcd23c8e3 690 plotx[i] += cont2_x * spline_base(j, 3, value_t, nt);
yuki0701 2:820dcd23c8e3 691 ploty[i] += cont2_y * spline_base(j, 3, value_t, nt);
yuki0701 2:820dcd23c8e3 692 } else if (j == 3) {
yuki0701 2:820dcd23c8e3 693 plotx[i] += end_x * spline_base(j, 3, value_t, nt);
yuki0701 2:820dcd23c8e3 694 ploty[i] += end_y * spline_base(j, 3, value_t, nt);
yuki0701 2:820dcd23c8e3 695 }
yuki0701 2:820dcd23c8e3 696 }
yuki0701 2:820dcd23c8e3 697 //printf("plot_x = %f, plot_y = %f\n\r", plotx[i], ploty[i]);
yuki0701 2:820dcd23c8e3 698 }
yuki0701 2:820dcd23c8e3 699 while(1) {
yuki0701 2:820dcd23c8e3 700
yuki0701 2:820dcd23c8e3 701 if(id1_value[0] != 1)break;
yuki0701 2:820dcd23c8e3 702 if(id1_value[6] != flag)break;
yuki0701 2:820dcd23c8e3 703
yuki0701 2:820dcd23c8e3 704 calc_xy(target_angle,u,v);
yuki0701 2:820dcd23c8e3 705
yuki0701 2:820dcd23c8e3 706 XYRmotorout(plotx[t],ploty[t],plotx[t+1],ploty[t+1],&x_out,&y_out,&r_out,st_speed+ds*t,st_speed+ds*(t+1));
yuki0701 2:820dcd23c8e3 707 CalMotorOut(x_out,y_out,r_out);
yuki0701 2:820dcd23c8e3 708 //debug_printf("t=%d now_x=%f now_y=%f x_out=%f y_out=%f\n\r",t,now_x,now_y,x_out,y_out);
yuki0701 2:820dcd23c8e3 709
yuki0701 2:820dcd23c8e3 710 base(GetMotorOut(0),GetMotorOut(1),GetMotorOut(2),GetMotorOut(3),v_base); //m1～m4に代入
yuki0701 2:820dcd23c8e3 711 //debug_printf("t=%d (0)=%f (1)=%f (2)=%f (3)=%f\n\r",t,GetMotorOut(0),GetMotorOut(1),GetMotorOut(2),GetMotorOut(3));
yuki0701 2:820dcd23c8e3 712
yuki0701 2:820dcd23c8e3 713 if(((plotx[t+1] - now_x)*(plotx[t+1] - plotx[t]) + (ploty[t+1] - now_y)*(ploty[t+1] - ploty[t])) < 0)t++;
yuki0701 2:820dcd23c8e3 714
yuki0701 2:820dcd23c8e3 715 // MaxonControl(m1,m2,m3,m4); //出力
yuki0701 2:820dcd23c8e3 716 // debug_printf("t=%d m1=%d m2=%d m3=%d m4=%d x=%f y=%f angle=%f\n\r",t,m1,m2,m3,m4,now_x,now_y,now_angle);
yuki0701 2:820dcd23c8e3 717 printf("m1=%d m2=%d m3=%d m4=%d x=%f y=%f angle=%f\n\r",m1,m2,m3,m4,now_x,now_y,now_angle);
yuki0701 2:820dcd23c8e3 718
yuki0701 2:820dcd23c8e3 719 if(t == num)break;
yuki0701 2:820dcd23c8e3 720 }
yuki0701 2:820dcd23c8e3 721
yuki0701 2:820dcd23c8e3 722 }
yuki0701 2:820dcd23c8e3 723
yuki0701 2:820dcd23c8e3 724
yuki0701 2:820dcd23c8e3 725
yuki0701 2:820dcd23c8e3 726
la00noix 0:b87fd8dd4322 727 /*void pos_correction(double tgt_x, double tgt_y, double tgt_angle, double u, double v) //位置補正(使用前にMaxonControl(0,0,0,0)を入れる)
la00noix 0:b87fd8dd4322 728 {
la00noix 0:b87fd8dd4322 729
la00noix 0:b87fd8dd4322 730 double r, R=10; // r:一回補正が入るごとの機体の位置と目標位置の距離(ズレ) R:補正終了とみなす目標位置からの機体の位置のズレ
la00noix 0:b87fd8dd4322 731 double out;
la00noix 0:b87fd8dd4322 732
la00noix 0:b87fd8dd4322 733 calc_xy(tgt_angle, u, v);
la00noix 0:b87fd8dd4322 734
la00noix 0:b87fd8dd4322 735 while(1) { //機体の位置を目標領域（目標座標＋許容誤差）に収める
la00noix 0:b87fd8dd4322 736 gogo_straight(u,v,now_x,now_y,tgt_x,tgt_y,200,50,5,0.1,10,0.1,500,tgt_angle);
la00noix 0:b87fd8dd4322 737 MaxonControl(0,0,0,0);
la00noix 0:b87fd8dd4322 738
la00noix 0:b87fd8dd4322 739 calc_xy(tgt_angle, u, v);
la00noix 0:b87fd8dd4322 740
la00noix 0:b87fd8dd4322 741 r=hypot(now_x - tgt_x, now_y - tgt_y);
la00noix 0:b87fd8dd4322 742
la00noix 0:b87fd8dd4322 743 if(r < R) break;
la00noix 0:b87fd8dd4322 744 if(id1_value[0] != 1)break;
la00noix 0:b87fd8dd4322 745 }
la00noix 0:b87fd8dd4322 746
la00noix 0:b87fd8dd4322 747 while(1) {
la00noix 0:b87fd8dd4322 748
la00noix 0:b87fd8dd4322 749 calc_gyro();
la00noix 0:b87fd8dd4322 750
la00noix 0:b87fd8dd4322 751 out = 10 * (tgt_angle - now_angle);
la00noix 0:b87fd8dd4322 752
la00noix 0:b87fd8dd4322 753 if(out > 300) { //0～179°のときは時計回りに回転
la00noix 0:b87fd8dd4322 754 MaxonControl(300,300,300,300);
la00noix 0:b87fd8dd4322 755 } else if(out < -300) {
la00noix 0:b87fd8dd4322 756 MaxonControl(-300,-300,-300,-300);
la00noix 0:b87fd8dd4322 757 } else if(out <= 300 && out > -300) {
la00noix 0:b87fd8dd4322 758 MaxonControl(out,out,out,out);
la00noix 0:b87fd8dd4322 759 }
la00noix 0:b87fd8dd4322 760
la00noix 0:b87fd8dd4322 761 if(tgt_angle - 0.5 < now_angle && now_angle < tgt_angle + 0.5) break; //目標角度からの許容誤差内に機体の角度が収まった時、補正終了
la00noix 0:b87fd8dd4322 762 if(id1_value[0] != 1)break;
la00noix 0:b87fd8dd4322 763 }
la00noix 0:b87fd8dd4322 764 MaxonControl(0,0,0,0);
la00noix 0:b87fd8dd4322 765 }*/
la00noix 0:b87fd8dd4322 766
yuki0701 2:820dcd23c8e3 767 void pos_correction(double tgt_x, double tgt_y, double tgt_angle, double u, double v, double v_base) //改良版 位置補正(使用前にMaxonControl(0,0,0,0)を入れる)
la00noix 0:b87fd8dd4322 768 {
la00noix 0:b87fd8dd4322 769 //距離に比例させて補正初速度を増加させる。（最大速度を設定しそれ以上は出ないようにする）
la00noix 0:b87fd8dd4322 770
yuki0701 2:820dcd23c8e3 771 double first_speed, first_speed50 = 10, last_speed = 10, Max_speed = 500, speed5 = 20;
yuki0701 2:820dcd23c8e3 772 double r, R=50; // r:一回補正が入るごとの機体の位置と目標位置の距離(ズレ) R:補正終了とみなす目標位置からの機体の位置のズレ
la00noix 0:b87fd8dd4322 773 double out;
la00noix 0:b87fd8dd4322 774
la00noix 0:b87fd8dd4322 775 calc_xy(tgt_angle, u, v);
la00noix 0:b87fd8dd4322 776
la00noix 0:b87fd8dd4322 777 //r = hypot(now_x - tgt_x, now_y - tgt_y);
la00noix 0:b87fd8dd4322 778
la00noix 0:b87fd8dd4322 779 while(1) { //機体の位置を目標領域（目標座標＋許容誤差）に収める
yuki0701 1:26fc1b2f1c42 780 //printf("col\n\n\n");
la00noix 0:b87fd8dd4322 781 if(id1_value[0] != 1)break;
la00noix 0:b87fd8dd4322 782 if(id1_value[6] != flag)break;
la00noix 0:b87fd8dd4322 783
la00noix 0:b87fd8dd4322 784 //first_speed = first_speed50 * r / 50;
la00noix 0:b87fd8dd4322 785
la00noix 0:b87fd8dd4322 786 /*if(first_speed > Max_speed){
yuki0701 2:820dcd23c8e3 787 gogo_straight(u,v,now_x,now_y,tgt_x,tgt_y,Max_speed,Max_speed,5,0.1,10,0.1,500,tgt_angle, v_base);
la00noix 0:b87fd8dd4322 788 }else{
la00noix 0:b87fd8dd4322 789 gogo_straight(u,v,now_x,now_y,tgt_x,tgt_y,first_speed,last_speed,5,0.1,10,0.1,500,tgt_angle);
la00noix 0:b87fd8dd4322 790 }*/
la00noix 0:b87fd8dd4322 791
yuki0701 1:26fc1b2f1c42 792 //gogo_straight(u,v,now_x,now_y,tgt_x,tgt_y,first_speed50,last_speed,5,0.1,10,0.1,500,tgt_angle);
yuki0701 2:820dcd23c8e3 793
yuki0701 2:820dcd23c8e3 794 int diff_sm = hypot(now_x-tgt_x,now_y-tgt_y);
yuki0701 2:820dcd23c8e3 795
yuki0701 2:820dcd23c8e3 796 int f_speed = diff_sm / 5 * (speed5 - last_speed);
yuki0701 2:820dcd23c8e3 797 gogo_straight(u,v,now_x,now_y,tgt_x,tgt_y,f_speed,last_speed,0.5,0.05,5,0.05,20,tgt_angle, v_base, 30);
yuki0701 1:26fc1b2f1c42 798 //gogo_straight(1,1,0,0,200,0,50,500,5,0.1,10,0.1,50,0);
yuki0701 1:26fc1b2f1c42 799 //gogo_straight(u,v,now_x,now_y,0,100,first_speed50,last_speed,5,0.1,10,0.1,500,tgt_angle);
la00noix 0:b87fd8dd4322 800
yuki0701 1:26fc1b2f1c42 801 // MaxonControl(0,0,0,0);
yuki0701 1:26fc1b2f1c42 802 m1 = 0;
yuki0701 1:26fc1b2f1c42 803 m2 = 0;
yuki0701 1:26fc1b2f1c42 804 m3 = 0;
yuki0701 1:26fc1b2f1c42 805 m4 = 0;
la00noix 0:b87fd8dd4322 806
la00noix 0:b87fd8dd4322 807 calc_xy(tgt_angle, u, v);
la00noix 0:b87fd8dd4322 808
la00noix 0:b87fd8dd4322 809 r=hypot(now_x - tgt_x, now_y - tgt_y);
la00noix 0:b87fd8dd4322 810
la00noix 0:b87fd8dd4322 811 if(r < R) break;
la00noix 0:b87fd8dd4322 812 }
la00noix 0:b87fd8dd4322 813
la00noix 0:b87fd8dd4322 814 while(1) {
la00noix 0:b87fd8dd4322 815
la00noix 0:b87fd8dd4322 816 if(id1_value[0] != 1)break;
la00noix 0:b87fd8dd4322 817 if(id1_value[6] != flag)break;
la00noix 0:b87fd8dd4322 818
la00noix 0:b87fd8dd4322 819 //calc_gyro();
yuki0701 1:26fc1b2f1c42 820 // now_angle=gyro.getAngle();
yuki0701 1:26fc1b2f1c42 821 now_angle = -gyro.getZ_Angle();
yuki0701 2:820dcd23c8e3 822 if(tgt_angle - 1 < now_angle && now_angle < tgt_angle + 1) break; //目標角度からの許容誤差内に機体の角度が収まった時、補正終了
yuki0701 2:820dcd23c8e3 823 else if(now_angle > tgt_angle + 1)out = 5 * (tgt_angle - now_angle + 1);
yuki0701 2:820dcd23c8e3 824 else if(tgt_angle - 1 > now_angle)out = 5 * (tgt_angle - now_angle - 1);
la00noix 0:b87fd8dd4322 825
yuki0701 2:820dcd23c8e3 826 printf("angle = %f out = %f\n\r",now_angle,out);
la00noix 0:b87fd8dd4322 827
yuki0701 2:820dcd23c8e3 828 if(out > 100) { //0～179°のときは時計回りに回転
yuki0701 1:26fc1b2f1c42 829 // MaxonControl(-300,-300,-300,-300);
yuki0701 2:820dcd23c8e3 830 m1 = -100;
yuki0701 2:820dcd23c8e3 831 m2 = -100;
yuki0701 2:820dcd23c8e3 832 m3 = -100;
yuki0701 2:820dcd23c8e3 833 m4 = -100;
yuki0701 1:26fc1b2f1c42 834
yuki0701 2:820dcd23c8e3 835 } else if(out < -100) {
yuki0701 1:26fc1b2f1c42 836 // MaxonControl(300,300,300,300);
yuki0701 2:820dcd23c8e3 837 m1 = 100;
yuki0701 2:820dcd23c8e3 838 m2 = 100;
yuki0701 2:820dcd23c8e3 839 m3 = 100;
yuki0701 2:820dcd23c8e3 840 m4 = 100;
yuki0701 2:820dcd23c8e3 841 } else if(out <= 100 && out > -100) {
yuki0701 1:26fc1b2f1c42 842 // MaxonControl(-out,-out,-out,-out);
yuki0701 1:26fc1b2f1c42 843 m1 = -out;
yuki0701 1:26fc1b2f1c42 844 m2 = -out;
yuki0701 1:26fc1b2f1c42 845 m3 = -out;
yuki0701 1:26fc1b2f1c42 846 m4 = -out;
la00noix 0:b87fd8dd4322 847 }
la00noix 0:b87fd8dd4322 848
yuki0701 2:820dcd23c8e3 849
la00noix 0:b87fd8dd4322 850 }
yuki0701 1:26fc1b2f1c42 851 // MaxonControl(0,0,0,0);
yuki0701 1:26fc1b2f1c42 852 m1 = 0;
yuki0701 1:26fc1b2f1c42 853 m2 = 0;
yuki0701 1:26fc1b2f1c42 854 m3 = 0;
yuki0701 1:26fc1b2f1c42 855 m4 = 0;
yuki0701 1:26fc1b2f1c42 856 }
yuki0701 1:26fc1b2f1c42 857
yuki0701 1:26fc1b2f1c42 858 void mt_stop()
yuki0701 1:26fc1b2f1c42 859 {
yuki0701 1:26fc1b2f1c42 860 m1 = 0;
yuki0701 1:26fc1b2f1c42 861 m2 = 0;
yuki0701 1:26fc1b2f1c42 862 m3 = 0;
yuki0701 1:26fc1b2f1c42 863 m4 = 0;
yuki0701 1:26fc1b2f1c42 864 printf("motor stop\n\r");
la00noix 0:b87fd8dd4322 865 }