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

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Dependencies:   uw_28015 mbed move4wheel2 EC CruizCore_R6093U CruizCore_R1370P

movement/movement.cpp@0:b87fd8dd4322, 2019-03-19 (annotated)

Committer:
la00noix
Date:
Tue Mar 19 13:20:23 2019 +0000
Revision:
0:b87fd8dd4322
Child:
1:26fc1b2f1c42
a

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 "maxonsetting.h"
la00noix 0:b87fd8dd4322 9 #include "manual.h"
la00noix 0:b87fd8dd4322 10 #include "can.h"
la00noix 0:b87fd8dd4322 11
la00noix 0:b87fd8dd4322 12 #define PI 3.141592
la00noix 0:b87fd8dd4322 13
la00noix 0:b87fd8dd4322 14 char can_ashileddata[2]= {0};
la00noix 0:b87fd8dd4322 15 int can_ashileddata0_0,can_ashileddata0_1,can_ashileddata0_2,can_ashileddata0_3;
la00noix 0:b87fd8dd4322 16
la00noix 0:b87fd8dd4322 17 Ec EC1(p22,p21,NC,500,0.05);
la00noix 0:b87fd8dd4322 18 Ec EC2(p26,p8,NC,500,0.05);
la00noix 0:b87fd8dd4322 19
la00noix 0:b87fd8dd4322 20 Ticker ec_ticker; //ec角速度計算用ticker
la00noix 0:b87fd8dd4322 21
la00noix 0:b87fd8dd4322 22 R1370P gyro(p28,p27);
la00noix 0:b87fd8dd4322 23
la00noix 0:b87fd8dd4322 24 double new_dist1=0,new_dist2=0;
la00noix 0:b87fd8dd4322 25 double old_dist1=0,old_dist2=0;
la00noix 0:b87fd8dd4322 26 double d_dist1=0,d_dist2=0; //座標計算用関数
la00noix 0:b87fd8dd4322 27 double d_x,d_y;
la00noix 0:b87fd8dd4322 28 //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 29 double start_x=0,start_y=0; //スタート位置
la00noix 0:b87fd8dd4322 30 double x_out,y_out,r_out; //出力値
la00noix 0:b87fd8dd4322 31
la00noix 0:b87fd8dd4322 32 int16_t m1=0, m2=0, m3=0, m4=0; //int16bit = int2byte
la00noix 0:b87fd8dd4322 33
la00noix 0:b87fd8dd4322 34 double xy_type,pm_typeX,pm_typeY,x_base,y_base;
la00noix 0:b87fd8dd4322 35
la00noix 0:b87fd8dd4322 36 int flag;
la00noix 0:b87fd8dd4322 37
la00noix 0:b87fd8dd4322 38 ///////////////////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 39
la00noix 0:b87fd8dd4322 40 /*「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 41 *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 42 *(ex)
la00noix 0:b87fd8dd4322 43 *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 44 *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 45 */
la00noix 0:b87fd8dd4322 46
la00noix 0:b87fd8dd4322 47 typedef struct { //使用センサーの種類
la00noix 0:b87fd8dd4322 48 double usw; //超音波センサー
la00noix 0:b87fd8dd4322 49 double enc; //エンコーダ
la00noix 0:b87fd8dd4322 50 double gyro; //ジャイロ
la00noix 0:b87fd8dd4322 51 //double line;//ラインセンサー
la00noix 0:b87fd8dd4322 52 } robo_sensor;
la00noix 0:b87fd8dd4322 53
la00noix 0:b87fd8dd4322 54 typedef struct { //機体情報の種類
la00noix 0:b87fd8dd4322 55 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 56 robo_sensor nowX;
la00noix 0:b87fd8dd4322 57 robo_sensor nowY;
la00noix 0:b87fd8dd4322 58 } robo_data;
la00noix 0:b87fd8dd4322 59
la00noix 0:b87fd8dd4322 60 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 61
la00noix 0:b87fd8dd4322 62 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
la00noix 0:b87fd8dd4322 63
la00noix 0:b87fd8dd4322 64 void UserLoopSetting_sensor()
la00noix 0:b87fd8dd4322 65 {
la00noix 0:b87fd8dd4322 66
la00noix 0:b87fd8dd4322 67 gyro.initialize();
la00noix 0:b87fd8dd4322 68 ec_ticker.attach(&calOmega,0.05); //0.05秒間隔で角速度を計算
la00noix 0:b87fd8dd4322 69 EC1.setDiameter_mm(25.5);
la00noix 0:b87fd8dd4322 70 EC2.setDiameter_mm(25.5); //測定輪半径//後で測定
la00noix 0:b87fd8dd4322 71 info.nowX.enc = -2962; //初期位置の設定
la00noix 0:b87fd8dd4322 72 info.nowY.enc = 3500;
la00noix 0:b87fd8dd4322 73 }
la00noix 0:b87fd8dd4322 74
la00noix 0:b87fd8dd4322 75 void calOmega() //角速度計算関数
la00noix 0:b87fd8dd4322 76 {
la00noix 0:b87fd8dd4322 77 EC1.CalOmega();
la00noix 0:b87fd8dd4322 78 EC2.CalOmega();
la00noix 0:b87fd8dd4322 79 }
la00noix 0:b87fd8dd4322 80
la00noix 0:b87fd8dd4322 81 void output(double FL,double BL,double BR,double FR)
la00noix 0:b87fd8dd4322 82 {
la00noix 0:b87fd8dd4322 83 m1=FL;
la00noix 0:b87fd8dd4322 84 m2=BL;
la00noix 0:b87fd8dd4322 85 m3=BR;
la00noix 0:b87fd8dd4322 86 m4=FR;
la00noix 0:b87fd8dd4322 87 }
la00noix 0:b87fd8dd4322 88
la00noix 0:b87fd8dd4322 89 void base(double FL,double BL,double BR,double FR,double Max)
la00noix 0:b87fd8dd4322 90 //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 91 //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 92 {
la00noix 0:b87fd8dd4322 93 if(fabs(FL)>=Max||fabs(BL)>=Max||fabs(BR)>=Max||fabs(FR)>=Max) {
la00noix 0:b87fd8dd4322 94
la00noix 0:b87fd8dd4322 95 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 96 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 97 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 98 else output(Max*FL/fabs(FR),Max*BL/fabs(FR),Max*BR/fabs(FR),Max*FR/fabs(FR));
la00noix 0:b87fd8dd4322 99 } else {
la00noix 0:b87fd8dd4322 100 output(FL,BL,BR,FR);
la00noix 0:b87fd8dd4322 101 }
la00noix 0:b87fd8dd4322 102 }
la00noix 0:b87fd8dd4322 103
la00noix 0:b87fd8dd4322 104 void ashi_led()
la00noix 0:b87fd8dd4322 105 {
la00noix 0:b87fd8dd4322 106
la00noix 0:b87fd8dd4322 107 if(now_angle > -1 && now_angle < 1) {
la00noix 0:b87fd8dd4322 108 can_ashileddata0_0 = 1;
la00noix 0:b87fd8dd4322 109 } else {
la00noix 0:b87fd8dd4322 110 can_ashileddata0_0 = 0;
la00noix 0:b87fd8dd4322 111 }
la00noix 0:b87fd8dd4322 112
la00noix 0:b87fd8dd4322 113 if(now_angle > 350) {
la00noix 0:b87fd8dd4322 114 can_ashileddata0_1 = 1;
la00noix 0:b87fd8dd4322 115 } else {
la00noix 0:b87fd8dd4322 116 can_ashileddata0_1 = 0;
la00noix 0:b87fd8dd4322 117 }
la00noix 0:b87fd8dd4322 118
la00noix 0:b87fd8dd4322 119 if(now_x > -1 && now_x < 1) {
la00noix 0:b87fd8dd4322 120 can_ashileddata0_2 = 1;
la00noix 0:b87fd8dd4322 121 } else {
la00noix 0:b87fd8dd4322 122 can_ashileddata0_2 = 0;
la00noix 0:b87fd8dd4322 123 }
la00noix 0:b87fd8dd4322 124
la00noix 0:b87fd8dd4322 125 if(now_y > -1 && now_y < 1) {
la00noix 0:b87fd8dd4322 126 can_ashileddata0_3 = 1;
la00noix 0:b87fd8dd4322 127 } else {
la00noix 0:b87fd8dd4322 128 can_ashileddata0_3 = 0;
la00noix 0:b87fd8dd4322 129 }
la00noix 0:b87fd8dd4322 130
la00noix 0:b87fd8dd4322 131 can_ashileddata[0] = (can_ashileddata0_0<<7 | can_ashileddata0_1<<6 | can_ashileddata0_2<<5 | can_ashileddata0_3<<4);
la00noix 0:b87fd8dd4322 132 }
la00noix 0:b87fd8dd4322 133
la00noix 0:b87fd8dd4322 134 void calc_gyro()
la00noix 0:b87fd8dd4322 135 {
la00noix 0:b87fd8dd4322 136 now_angle=gyro.getAngle(); //ジャイロの値読み込み
la00noix 0:b87fd8dd4322 137 }
la00noix 0:b87fd8dd4322 138
la00noix 0:b87fd8dd4322 139 void calc_xy_enc() //エンコーダ&ジャイロによる座標計算
la00noix 0:b87fd8dd4322 140 {
la00noix 0:b87fd8dd4322 141 now_angle=gyro.getAngle(); //ジャイロの値読み込み
la00noix 0:b87fd8dd4322 142
la00noix 0:b87fd8dd4322 143 new_dist1=EC1.getDistance_mm();
la00noix 0:b87fd8dd4322 144 new_dist2=EC2.getDistance_mm();
la00noix 0:b87fd8dd4322 145 d_dist1=new_dist1-old_dist1;
la00noix 0:b87fd8dd4322 146 d_dist2=new_dist2-old_dist2;
la00noix 0:b87fd8dd4322 147 old_dist1=new_dist1;
la00noix 0:b87fd8dd4322 148 old_dist2=new_dist2; //微小時間当たりのエンコーダ読み込み
la00noix 0:b87fd8dd4322 149
la00noix 0:b87fd8dd4322 150 d_x=d_dist2*sin(now_angle*PI/180)-d_dist1*cos(now_angle*PI/180);
la00noix 0:b87fd8dd4322 151 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 152 info.nowX.enc = info.nowX.enc + d_x;
la00noix 0:b87fd8dd4322 153 info.nowY.enc = info.nowY.enc - d_y; //微小時間毎に座標に加算
la00noix 0:b87fd8dd4322 154 }
la00noix 0:b87fd8dd4322 155
la00noix 0:b87fd8dd4322 156 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 157 {
la00noix 0:b87fd8dd4322 158 //引数の詳細は関数"calc_xy_usw"参照
la00noix 0:b87fd8dd4322 159
la00noix 0:b87fd8dd4322 160 xy_type = t;
la00noix 0:b87fd8dd4322 161
la00noix 0:b87fd8dd4322 162 pm_typeX = px;
la00noix 0:b87fd8dd4322 163 x_base = bx;
la00noix 0:b87fd8dd4322 164
la00noix 0:b87fd8dd4322 165 pm_typeY = py;
la00noix 0:b87fd8dd4322 166 y_base = by;
la00noix 0:b87fd8dd4322 167 }
la00noix 0:b87fd8dd4322 168
la00noix 0:b87fd8dd4322 169 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 170 {
la00noix 0:b87fd8dd4322 171 //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 172 //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 173 //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 174 //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 175
la00noix 0:b87fd8dd4322 176 double R1=240,R2=240,R3=240,R4=240; //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
la00noix 0:b87fd8dd4322 177 double D1=30,D2=0,D3=0,D4=0; //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 178
la00noix 0:b87fd8dd4322 179 now_angle=gyro.getAngle(); //ジャイロの値読み込み
la00noix 0:b87fd8dd4322 180
la00noix 0:b87fd8dd4322 181 if(tgt_angle==0) {
la00noix 0:b87fd8dd4322 182 if((xy_type==0 || xy_type==2) && pm_typeX==0) {
la00noix 0:b87fd8dd4322 183
la00noix 0:b87fd8dd4322 184 info.nowX.usw = x_base - (usw_data4 + R4*cos(now_angle*PI/180) + D4*sin(now_angle*PI/180));
la00noix 0:b87fd8dd4322 185
la00noix 0:b87fd8dd4322 186 } else if((xy_type==0 || xy_type==2) && pm_typeX==1) {
la00noix 0:b87fd8dd4322 187
la00noix 0:b87fd8dd4322 188 info.nowX.usw = x_base + (usw_data3 + R3*cos(now_angle*PI/180) + D3*sin(now_angle*PI/180));
la00noix 0:b87fd8dd4322 189
la00noix 0:b87fd8dd4322 190 }
la00noix 0:b87fd8dd4322 191 if((xy_type==1 || xy_type==2) && pm_typeY==0) {
la00noix 0:b87fd8dd4322 192
la00noix 0:b87fd8dd4322 193 info.nowY.usw = y_base - (usw_data2 + R2*cos(now_angle*PI/180) + D2*sin(now_angle*PI/180));
la00noix 0:b87fd8dd4322 194
la00noix 0:b87fd8dd4322 195 } else if((xy_type==1 || xy_type==2) && pm_typeY==1) {
la00noix 0:b87fd8dd4322 196
la00noix 0:b87fd8dd4322 197 info.nowY.usw = y_base + (usw_data1 + R1*cos(now_angle*PI/180) + D1*sin(now_angle*PI/180));
la00noix 0:b87fd8dd4322 198
la00noix 0:b87fd8dd4322 199 }
la00noix 0:b87fd8dd4322 200
la00noix 0:b87fd8dd4322 201 } else if(tgt_angle==90) {
la00noix 0:b87fd8dd4322 202 if((xy_type==0 || xy_type==2) && pm_typeX==0) {
la00noix 0:b87fd8dd4322 203
la00noix 0:b87fd8dd4322 204 info.nowX.usw = x_base - (usw_data1 + R1*cos((now_angle-tgt_angle)*PI/180) + D1*sin(now_angle*PI/180));
la00noix 0:b87fd8dd4322 205
la00noix 0:b87fd8dd4322 206 } else if((xy_type==0 || xy_type==2) && pm_typeX==1) {
la00noix 0:b87fd8dd4322 207
la00noix 0:b87fd8dd4322 208 info.nowX.usw = x_base + (usw_data2 + R2*cos((now_angle-tgt_angle)*PI/180) + D2*sin(now_angle*PI/180));
la00noix 0:b87fd8dd4322 209
la00noix 0:b87fd8dd4322 210 }
la00noix 0:b87fd8dd4322 211 if((xy_type==1 || xy_type==2) && pm_typeY==0) {
la00noix 0:b87fd8dd4322 212
la00noix 0:b87fd8dd4322 213 info.nowY.usw = y_base - (usw_data4 + R4*cos((now_angle-tgt_angle)*PI/180) + D4*sin(now_angle*PI/180));
la00noix 0:b87fd8dd4322 214
la00noix 0:b87fd8dd4322 215 } else if((xy_type==1 || xy_type==2) && pm_typeY==1) {
la00noix 0:b87fd8dd4322 216
la00noix 0:b87fd8dd4322 217 info.nowY.usw = y_base + (usw_data3 + R3*cos((now_angle-tgt_angle)*PI/180) + D3*sin(now_angle*PI/180));
la00noix 0:b87fd8dd4322 218
la00noix 0:b87fd8dd4322 219 }
la00noix 0:b87fd8dd4322 220
la00noix 0:b87fd8dd4322 221 } else if(tgt_angle==180 || tgt_angle==-180) {
la00noix 0:b87fd8dd4322 222 if((xy_type==0 || xy_type==2) && pm_typeX==0) {
la00noix 0:b87fd8dd4322 223
la00noix 0:b87fd8dd4322 224 info.nowX.usw = x_base - (usw_data3 + R3*cos((now_angle-tgt_angle)*PI/180) + D3*sin(now_angle*PI/180));
la00noix 0:b87fd8dd4322 225
la00noix 0:b87fd8dd4322 226 } else if((xy_type==0 || xy_type==2) && pm_typeX==1) {
la00noix 0:b87fd8dd4322 227
la00noix 0:b87fd8dd4322 228 info.nowX.usw = x_base + (usw_data4 + R4*cos((now_angle-tgt_angle)*PI/180) + D4*sin(now_angle*PI/180));
la00noix 0:b87fd8dd4322 229
la00noix 0:b87fd8dd4322 230 }
la00noix 0:b87fd8dd4322 231 if((xy_type==1 || xy_type==2) && pm_typeY==0) {
la00noix 0:b87fd8dd4322 232
la00noix 0:b87fd8dd4322 233 info.nowY.usw = y_base - (usw_data1+ R1*cos((now_angle-tgt_angle)*PI/180) + D1*sin(now_angle*PI/180));
la00noix 0:b87fd8dd4322 234
la00noix 0:b87fd8dd4322 235 } else if((xy_type==1 || xy_type==2) && pm_typeY==1) {
la00noix 0:b87fd8dd4322 236
la00noix 0:b87fd8dd4322 237 info.nowY.usw = y_base + (usw_data2 + R2*cos((now_angle-tgt_angle)*PI/180) + D2*sin(now_angle*PI/180));
la00noix 0:b87fd8dd4322 238
la00noix 0:b87fd8dd4322 239 }
la00noix 0:b87fd8dd4322 240 } else if(tgt_angle==-90) {
la00noix 0:b87fd8dd4322 241 if((xy_type==0 || xy_type==2) && pm_typeX==0) {
la00noix 0:b87fd8dd4322 242
la00noix 0:b87fd8dd4322 243 info.nowX.usw = x_base - (usw_data2 + R2*cos((now_angle-tgt_angle)*PI/180) + D2*sin(now_angle*PI/180));
la00noix 0:b87fd8dd4322 244
la00noix 0:b87fd8dd4322 245 } else if((xy_type==0 || xy_type==2) && pm_typeX==1) {
la00noix 0:b87fd8dd4322 246
la00noix 0:b87fd8dd4322 247 info.nowX.usw = x_base + (usw_data1 + R1*cos((now_angle-tgt_angle)*PI/180) + D1*sin(now_angle*PI/180));
la00noix 0:b87fd8dd4322 248
la00noix 0:b87fd8dd4322 249 }
la00noix 0:b87fd8dd4322 250 if((xy_type==1 || xy_type==2) && pm_typeY==0) {
la00noix 0:b87fd8dd4322 251
la00noix 0:b87fd8dd4322 252 info.nowY.usw = y_base - (usw_data3 + R3*cos((now_angle-tgt_angle)*PI/180) + D3*sin(now_angle*PI/180));
la00noix 0:b87fd8dd4322 253
la00noix 0:b87fd8dd4322 254 } else if((xy_type==1 || xy_type==2) && pm_typeY==1) {
la00noix 0:b87fd8dd4322 255
la00noix 0:b87fd8dd4322 256 info.nowY.usw = y_base + (usw_data4 + R4*cos((now_angle-tgt_angle)*PI/180) + D4*sin(now_angle*PI/180));
la00noix 0:b87fd8dd4322 257
la00noix 0:b87fd8dd4322 258 }
la00noix 0:b87fd8dd4322 259 }
la00noix 0:b87fd8dd4322 260 }
la00noix 0:b87fd8dd4322 261
la00noix 0:b87fd8dd4322 262 void calc_xy(double target_angle, double u,double v)
la00noix 0:b87fd8dd4322 263 {
la00noix 0:b87fd8dd4322 264 //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 265
la00noix 0:b87fd8dd4322 266 calc_xy_enc();
la00noix 0:b87fd8dd4322 267
la00noix 0:b87fd8dd4322 268 if(u != 1 || v != 1) {
la00noix 0:b87fd8dd4322 269 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 270 }
la00noix 0:b87fd8dd4322 271
la00noix 0:b87fd8dd4322 272 now_x = u * info.nowX.enc + (1-u) * info.nowX.usw;
la00noix 0:b87fd8dd4322 273 now_y = v * info.nowY.enc + (1-v) * info.nowY.usw;
la00noix 0:b87fd8dd4322 274
la00noix 0:b87fd8dd4322 275 /*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 276 ec_led = 1;
la00noix 0:b87fd8dd4322 277 }else{
la00noix 0:b87fd8dd4322 278 ec_led = 0;
la00noix 0:b87fd8dd4322 279 }
la00noix 0:b87fd8dd4322 280
la00noix 0:b87fd8dd4322 281 if(now_angle >-0.5 && now_angle <0.5){
la00noix 0:b87fd8dd4322 282 gyro_led = 1;
la00noix 0:b87fd8dd4322 283 }else{
la00noix 0:b87fd8dd4322 284 gyro_led = 0;
la00noix 0:b87fd8dd4322 285 }*/
la00noix 0:b87fd8dd4322 286 }
la00noix 0:b87fd8dd4322 287
la00noix 0:b87fd8dd4322 288 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 289 {
la00noix 0:b87fd8dd4322 290 //x_select,y_select → (0:上書きしない/1:上書きする)
la00noix 0:b87fd8dd4322 291
la00noix 0:b87fd8dd4322 292 if(x_select == 1) {
la00noix 0:b87fd8dd4322 293 info.nowX.enc = info.nowX.usw;
la00noix 0:b87fd8dd4322 294 }
la00noix 0:b87fd8dd4322 295 if(y_select == 1) {
la00noix 0:b87fd8dd4322 296 info.nowY.enc = info.nowY.usw;
la00noix 0:b87fd8dd4322 297 }
la00noix 0:b87fd8dd4322 298
la00noix 0:b87fd8dd4322 299 }
la00noix 0:b87fd8dd4322 300
la00noix 0:b87fd8dd4322 301 //ここからそれぞれのプログラム/////////////////////////////////////////////////////////////////////////////////////////////////////////////////
la00noix 0:b87fd8dd4322 302 //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 303 //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 304 //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 305 //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 306
la00noix 0:b87fd8dd4322 307 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 308 double point_x1,double point_y1,
la00noix 0:b87fd8dd4322 309 double point_x2,double point_y2,
la00noix 0:b87fd8dd4322 310 int theta,
la00noix 0:b87fd8dd4322 311 double speed,
la00noix 0:b87fd8dd4322 312 double q_p,double q_d,
la00noix 0:b87fd8dd4322 313 double r_p,double r_d,
la00noix 0:b87fd8dd4322 314 double r_out_max,
la00noix 0:b87fd8dd4322 315 double target_angle)
la00noix 0:b87fd8dd4322 316 //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 317 {
la00noix 0:b87fd8dd4322 318 //-----PathFollowingのパラメーター設定-----//
la00noix 0:b87fd8dd4322 319 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 320 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 321 set_r_out(r_out_max); //旋回時の最大出力値設定関数
la00noix 0:b87fd8dd4322 322 set_target_angle(target_angle); //機体目標角度設定関数
la00noix 0:b87fd8dd4322 323
la00noix 0:b87fd8dd4322 324 int s;
la00noix 0:b87fd8dd4322 325 int t = 0;
la00noix 0:b87fd8dd4322 326 double X,Y;//X=楕円の中心座標、Y=楕円の中心座標
la00noix 0:b87fd8dd4322 327 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 328 double plotx[(90/theta)+1]; //楕円にとるplotのx座標
la00noix 0:b87fd8dd4322 329 double ploty[(90/theta)+1];
la00noix 0:b87fd8dd4322 330
la00noix 0:b87fd8dd4322 331 double x_out,y_out,r_out;
la00noix 0:b87fd8dd4322 332
la00noix 0:b87fd8dd4322 333 a=fabs(point_x1-point_x2);
la00noix 0:b87fd8dd4322 334 b=fabs(point_y1-point_y2);
la00noix 0:b87fd8dd4322 335
la00noix 0:b87fd8dd4322 336 switch(type) {
la00noix 0:b87fd8dd4322 337
la00noix 0:b87fd8dd4322 338 case 1://→↑移動
la00noix 0:b87fd8dd4322 339 X=point_x1;
la00noix 0:b87fd8dd4322 340 Y=point_y2;
la00noix 0:b87fd8dd4322 341
la00noix 0:b87fd8dd4322 342 for(s=0; s<((90/theta)+1); s++) {
la00noix 0:b87fd8dd4322 343 plotx[s] = X + a * cos(-PI/2 + s * (PI*theta/180));
la00noix 0:b87fd8dd4322 344 ploty[s] = Y + b * sin(-PI/2 + s * (PI*theta/180));
la00noix 0:b87fd8dd4322 345 //debug_printf("plotx[%d]=%f ploty[%d]=%f\n\r",s,plotx[s],s,ploty[s]);
la00noix 0:b87fd8dd4322 346 }
la00noix 0:b87fd8dd4322 347 break;
la00noix 0:b87fd8dd4322 348
la00noix 0:b87fd8dd4322 349 case 2://↑→移動
la00noix 0:b87fd8dd4322 350 X=point_x2;
la00noix 0:b87fd8dd4322 351 Y=point_y1;
la00noix 0:b87fd8dd4322 352
la00noix 0:b87fd8dd4322 353 for(s=0; s<((90/theta)+1); s++) {
la00noix 0:b87fd8dd4322 354 plotx[s] = X + a * cos(PI - s * (PI*theta/180));
la00noix 0:b87fd8dd4322 355 ploty[s] = Y + b * sin(PI - s * (PI*theta/180));
la00noix 0:b87fd8dd4322 356 //debug_printf("plotx[%d]=%f ploty[%d]=%f\n\r",s,plotx[s],s,ploty[s]);
la00noix 0:b87fd8dd4322 357 }
la00noix 0:b87fd8dd4322 358 break;
la00noix 0:b87fd8dd4322 359
la00noix 0:b87fd8dd4322 360 case 3://↑←移動
la00noix 0:b87fd8dd4322 361 X=point_x2;
la00noix 0:b87fd8dd4322 362 Y=point_y1;
la00noix 0:b87fd8dd4322 363
la00noix 0:b87fd8dd4322 364 for(s=0; s<((90/theta)+1); s++) {
la00noix 0:b87fd8dd4322 365 plotx[s] = X + a * cos(s * (PI*theta/180));
la00noix 0:b87fd8dd4322 366 ploty[s] = Y + b * sin(s * (PI*theta/180));
la00noix 0:b87fd8dd4322 367 //debug_printf("plotx[%d]=%f ploty[%d]=%f\n\r",s,plotx[s],s,ploty[s]);
la00noix 0:b87fd8dd4322 368 }
la00noix 0:b87fd8dd4322 369 break;
la00noix 0:b87fd8dd4322 370
la00noix 0:b87fd8dd4322 371 case 4://←↑移動
la00noix 0:b87fd8dd4322 372 X=point_x1;
la00noix 0:b87fd8dd4322 373 Y=point_y2;
la00noix 0:b87fd8dd4322 374
la00noix 0:b87fd8dd4322 375 for(s=0; s<((90/theta)+1); s++) {
la00noix 0:b87fd8dd4322 376 plotx[s] = X + a * cos(-PI/2 - s * (PI*theta/180));
la00noix 0:b87fd8dd4322 377 ploty[s] = Y + b * sin(-PI/2 - s * (PI*theta/180));
la00noix 0:b87fd8dd4322 378 //debug_printf("plotx[%d]=%f ploty[%d]=%f\n\r",s,plotx[s],s,ploty[s]);
la00noix 0:b87fd8dd4322 379 }
la00noix 0:b87fd8dd4322 380 break;
la00noix 0:b87fd8dd4322 381
la00noix 0:b87fd8dd4322 382 case 5://←↓移動
la00noix 0:b87fd8dd4322 383 X=point_x1;
la00noix 0:b87fd8dd4322 384 Y=point_y2;
la00noix 0:b87fd8dd4322 385
la00noix 0:b87fd8dd4322 386 for(s=0; s<((90/theta)+1); s++) {
la00noix 0:b87fd8dd4322 387 plotx[s] = X + a * cos(PI/2 + s * (PI*theta/180));
la00noix 0:b87fd8dd4322 388 ploty[s] = Y + b * sin(PI/2 + s * (PI*theta/180));
la00noix 0:b87fd8dd4322 389 //debug_printf("plotx[%d]=%f ploty[%d]=%f\n\r",s,plotx[s],s,ploty[s]);
la00noix 0:b87fd8dd4322 390 }
la00noix 0:b87fd8dd4322 391 break;
la00noix 0:b87fd8dd4322 392
la00noix 0:b87fd8dd4322 393 case 6://↓←移動
la00noix 0:b87fd8dd4322 394 X=point_x2;
la00noix 0:b87fd8dd4322 395 Y=point_y1;
la00noix 0:b87fd8dd4322 396
la00noix 0:b87fd8dd4322 397 for(s=0; s<((90/theta)+1); s++) {
la00noix 0:b87fd8dd4322 398 plotx[s] = X + a * cos(-s * (PI*theta/180));
la00noix 0:b87fd8dd4322 399 ploty[s] = Y + b * sin(-s * (PI*theta/180));
la00noix 0:b87fd8dd4322 400 //debug_printf("plotx[%d]=%f ploty[%d]=%f\n\r",s,plotx[s],s,ploty[s]);
la00noix 0:b87fd8dd4322 401 }
la00noix 0:b87fd8dd4322 402 break;
la00noix 0:b87fd8dd4322 403
la00noix 0:b87fd8dd4322 404 case 7://↓→移動
la00noix 0:b87fd8dd4322 405 X=point_x2;
la00noix 0:b87fd8dd4322 406 Y=point_y1;
la00noix 0:b87fd8dd4322 407
la00noix 0:b87fd8dd4322 408 for(s=0; s<((90/theta)+1); s++) {
la00noix 0:b87fd8dd4322 409 plotx[s] = X + a * cos(PI + s * (PI*theta/180));
la00noix 0:b87fd8dd4322 410 ploty[s] = Y + b * sin(PI + s * (PI*theta/180));
la00noix 0:b87fd8dd4322 411 //debug_printf("plotx[%d]=%f ploty[%d]=%f\n\r",s,plotx[s],s,ploty[s]);
la00noix 0:b87fd8dd4322 412 }
la00noix 0:b87fd8dd4322 413 break;
la00noix 0:b87fd8dd4322 414
la00noix 0:b87fd8dd4322 415 case 8://→↓移動
la00noix 0:b87fd8dd4322 416 X=point_x1;
la00noix 0:b87fd8dd4322 417 Y=point_y2;
la00noix 0:b87fd8dd4322 418
la00noix 0:b87fd8dd4322 419 for(s=0; s<((90/theta)+1); s++) {
la00noix 0:b87fd8dd4322 420 plotx[s] = X + a * cos(PI/2 - s * (PI*theta/180));
la00noix 0:b87fd8dd4322 421 ploty[s] = Y + b * sin(PI/2 - s * (PI*theta/180));
la00noix 0:b87fd8dd4322 422 //debug_printf("plotx[%d]=%f ploty[%d]=%f\n\r",s,plotx[s],s,ploty[s]);
la00noix 0:b87fd8dd4322 423 }
la00noix 0:b87fd8dd4322 424 break;
la00noix 0:b87fd8dd4322 425 }
la00noix 0:b87fd8dd4322 426
la00noix 0:b87fd8dd4322 427 while(1) {
la00noix 0:b87fd8dd4322 428
la00noix 0:b87fd8dd4322 429 if(id1_value[0] != 1)break;
la00noix 0:b87fd8dd4322 430 if(id1_value[6] != flag)break;
la00noix 0:b87fd8dd4322 431
la00noix 0:b87fd8dd4322 432 calc_xy(target_angle,u,v);
la00noix 0:b87fd8dd4322 433
la00noix 0:b87fd8dd4322 434 XYRmotorout(plotx[t],ploty[t],plotx[t+1],ploty[t+1],&x_out,&y_out,&r_out,speed,speed);
la00noix 0:b87fd8dd4322 435 CalMotorOut(x_out,y_out,r_out);
la00noix 0:b87fd8dd4322 436 //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 437
la00noix 0:b87fd8dd4322 438 base(GetMotorOut(0),GetMotorOut(1),GetMotorOut(2),GetMotorOut(3),4095); //m1～m4に代入
la00noix 0:b87fd8dd4322 439 //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 440
la00noix 0:b87fd8dd4322 441 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 442
la00noix 0:b87fd8dd4322 443 MaxonControl(m1,m2,m3,m4); //出力
la00noix 0:b87fd8dd4322 444 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 445
la00noix 0:b87fd8dd4322 446 if(t == (90/theta))break;
la00noix 0:b87fd8dd4322 447 }
la00noix 0:b87fd8dd4322 448 }
la00noix 0:b87fd8dd4322 449
la00noix 0:b87fd8dd4322 450 void gogo_straight(double u,double v, //直線運動プログラム
la00noix 0:b87fd8dd4322 451 double x1_point,double y1_point,
la00noix 0:b87fd8dd4322 452 double x2_point,double y2_point,
la00noix 0:b87fd8dd4322 453 double speed1,double speed2,
la00noix 0:b87fd8dd4322 454 double q_p,double q_d,
la00noix 0:b87fd8dd4322 455 double r_p,double r_d,
la00noix 0:b87fd8dd4322 456 double r_out_max,
la00noix 0:b87fd8dd4322 457 double target_angle)
la00noix 0:b87fd8dd4322 458 //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 459 {
la00noix 0:b87fd8dd4322 460 //-----PathFollowingのパラメーター設定-----//
la00noix 0:b87fd8dd4322 461 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 462 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 463 set_r_out(r_out_max); //旋回時の最大出力値設定関数
la00noix 0:b87fd8dd4322 464 set_target_angle(target_angle); //機体目標角度設定関数
la00noix 0:b87fd8dd4322 465
la00noix 0:b87fd8dd4322 466 while (1) {
la00noix 0:b87fd8dd4322 467
la00noix 0:b87fd8dd4322 468 if(id1_value[0] != 1)break;
la00noix 0:b87fd8dd4322 469 if(id1_value[6] != flag)break;
la00noix 0:b87fd8dd4322 470
la00noix 0:b87fd8dd4322 471 calc_xy(target_angle,u,v);
la00noix 0:b87fd8dd4322 472
la00noix 0:b87fd8dd4322 473 XYRmotorout(x1_point,y1_point,x2_point,y2_point,&x_out,&y_out,&r_out,speed1,speed2);
la00noix 0:b87fd8dd4322 474 //printf("x = %f, y = %f,angle = %f,x_out=%lf, y_out=%lf, r_out=%lf\n\r",now_x,now_y,now_angle,x_out, y_out,r_out);
la00noix 0:b87fd8dd4322 475
la00noix 0:b87fd8dd4322 476 CalMotorOut(x_out,y_out,r_out);
la00noix 0:b87fd8dd4322 477 //printf("out1=%lf, out2=%lf, out3=%lf, out4=%lf\n",GetMotorOut(0),GetMotorOut(1),GetMotorOut(2),GetMotorOut(3));
la00noix 0:b87fd8dd4322 478
la00noix 0:b87fd8dd4322 479 base(GetMotorOut(0),GetMotorOut(1),GetMotorOut(2),GetMotorOut(3),4095);
la00noix 0:b87fd8dd4322 480 //printf("m1=%d, m2=%d, m3=%d, m4=%d\r\n",m_1,m_2,m_3,m_4);
la00noix 0:b87fd8dd4322 481
la00noix 0:b87fd8dd4322 482 MaxonControl(m1,m2,m3,m4);
la00noix 0:b87fd8dd4322 483 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);
la00noix 0:b87fd8dd4322 484
la00noix 0:b87fd8dd4322 485 if(((x2_point - now_x)*(x2_point - x1_point) + (y2_point - now_y)*(y2_point - y1_point)) < 0)break;
la00noix 0:b87fd8dd4322 486 }
la00noix 0:b87fd8dd4322 487 }
la00noix 0:b87fd8dd4322 488
la00noix 0:b87fd8dd4322 489 /*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 490 {
la00noix 0:b87fd8dd4322 491
la00noix 0:b87fd8dd4322 492 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 493 double out;
la00noix 0:b87fd8dd4322 494
la00noix 0:b87fd8dd4322 495 calc_xy(tgt_angle, u, v);
la00noix 0:b87fd8dd4322 496
la00noix 0:b87fd8dd4322 497 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 498 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 499 MaxonControl(0,0,0,0);
la00noix 0:b87fd8dd4322 500
la00noix 0:b87fd8dd4322 501 calc_xy(tgt_angle, u, v);
la00noix 0:b87fd8dd4322 502
la00noix 0:b87fd8dd4322 503 r=hypot(now_x - tgt_x, now_y - tgt_y);
la00noix 0:b87fd8dd4322 504
la00noix 0:b87fd8dd4322 505 if(r < R) break;
la00noix 0:b87fd8dd4322 506 if(id1_value[0] != 1)break;
la00noix 0:b87fd8dd4322 507 }
la00noix 0:b87fd8dd4322 508
la00noix 0:b87fd8dd4322 509 while(1) {
la00noix 0:b87fd8dd4322 510
la00noix 0:b87fd8dd4322 511 calc_gyro();
la00noix 0:b87fd8dd4322 512
la00noix 0:b87fd8dd4322 513 out = 10 * (tgt_angle - now_angle);
la00noix 0:b87fd8dd4322 514
la00noix 0:b87fd8dd4322 515 if(out > 300) { //0～179°のときは時計回りに回転
la00noix 0:b87fd8dd4322 516 MaxonControl(300,300,300,300);
la00noix 0:b87fd8dd4322 517 } else if(out < -300) {
la00noix 0:b87fd8dd4322 518 MaxonControl(-300,-300,-300,-300);
la00noix 0:b87fd8dd4322 519 } else if(out <= 300 && out > -300) {
la00noix 0:b87fd8dd4322 520 MaxonControl(out,out,out,out);
la00noix 0:b87fd8dd4322 521 }
la00noix 0:b87fd8dd4322 522
la00noix 0:b87fd8dd4322 523 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 524 if(id1_value[0] != 1)break;
la00noix 0:b87fd8dd4322 525 }
la00noix 0:b87fd8dd4322 526 MaxonControl(0,0,0,0);
la00noix 0:b87fd8dd4322 527 }*/
la00noix 0:b87fd8dd4322 528
la00noix 0:b87fd8dd4322 529 void pos_correction(double tgt_x, double tgt_y, double tgt_angle, double u, double v) //改良版 位置補正(使用前にMaxonControl(0,0,0,0)を入れる)
la00noix 0:b87fd8dd4322 530 {
la00noix 0:b87fd8dd4322 531 //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 532
la00noix 0:b87fd8dd4322 533 double first_speed, first_speed50 = 150, last_speed = 25, Max_speed = 500;
la00noix 0:b87fd8dd4322 534 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 535 double out;
la00noix 0:b87fd8dd4322 536
la00noix 0:b87fd8dd4322 537 calc_xy(tgt_angle, u, v);
la00noix 0:b87fd8dd4322 538
la00noix 0:b87fd8dd4322 539 //r = hypot(now_x - tgt_x, now_y - tgt_y);
la00noix 0:b87fd8dd4322 540
la00noix 0:b87fd8dd4322 541 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 542
la00noix 0:b87fd8dd4322 543 if(id1_value[0] != 1)break;
la00noix 0:b87fd8dd4322 544 if(id1_value[6] != flag)break;
la00noix 0:b87fd8dd4322 545
la00noix 0:b87fd8dd4322 546 //first_speed = first_speed50 * r / 50;
la00noix 0:b87fd8dd4322 547
la00noix 0:b87fd8dd4322 548 /*if(first_speed > Max_speed){
la00noix 0:b87fd8dd4322 549 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);
la00noix 0:b87fd8dd4322 550 }else{
la00noix 0:b87fd8dd4322 551 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 552 }*/
la00noix 0:b87fd8dd4322 553
la00noix 0:b87fd8dd4322 554 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);
la00noix 0:b87fd8dd4322 555
la00noix 0:b87fd8dd4322 556 MaxonControl(0,0,0,0);
la00noix 0:b87fd8dd4322 557
la00noix 0:b87fd8dd4322 558 calc_xy(tgt_angle, u, v);
la00noix 0:b87fd8dd4322 559
la00noix 0:b87fd8dd4322 560 r=hypot(now_x - tgt_x, now_y - tgt_y);
la00noix 0:b87fd8dd4322 561
la00noix 0:b87fd8dd4322 562 if(r < R) break;
la00noix 0:b87fd8dd4322 563 }
la00noix 0:b87fd8dd4322 564
la00noix 0:b87fd8dd4322 565 while(1) {
la00noix 0:b87fd8dd4322 566
la00noix 0:b87fd8dd4322 567 if(id1_value[0] != 1)break;
la00noix 0:b87fd8dd4322 568 if(id1_value[6] != flag)break;
la00noix 0:b87fd8dd4322 569
la00noix 0:b87fd8dd4322 570 //calc_gyro();
la00noix 0:b87fd8dd4322 571 now_angle=gyro.getAngle();
la00noix 0:b87fd8dd4322 572 printf("angle = %f\n\r",now_angle);
la00noix 0:b87fd8dd4322 573
la00noix 0:b87fd8dd4322 574 out = 10 * (tgt_angle - now_angle);
la00noix 0:b87fd8dd4322 575
la00noix 0:b87fd8dd4322 576 if(out > 300) { //0～179°のときは時計回りに回転
la00noix 0:b87fd8dd4322 577 MaxonControl(-300,-300,-300,-300);
la00noix 0:b87fd8dd4322 578 } else if(out < -300) {
la00noix 0:b87fd8dd4322 579 MaxonControl(300,300,300,300);
la00noix 0:b87fd8dd4322 580 } else if(out <= 300 && out > -300) {
la00noix 0:b87fd8dd4322 581 MaxonControl(-out,-out,-out,-out);
la00noix 0:b87fd8dd4322 582 }
la00noix 0:b87fd8dd4322 583
la00noix 0:b87fd8dd4322 584 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
la00noix 0:b87fd8dd4322 585 }
la00noix 0:b87fd8dd4322 586 MaxonControl(0,0,0,0);
la00noix 0:b87fd8dd4322 587 }