ロボステ6期 / Mbed 2 deprecated NHK2020_main_ros1_2_25

２月25日

Dependencies:   uw_28015 mbed ros_lib_kinetic move4wheel2 EC CruizCore_R6093U CruizCore_R1370P

movement/movement.cpp@0:44f9a43e4ab2, 2020-02-25 (annotated)

Committer:
yuki0701
Date:
Tue Feb 25 01:20:43 2020 +0000
Revision:
0:44f9a43e4ab2
a;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
yuki0701 0:44f9a43e4ab2 1 #include "EC.h"
yuki0701 0:44f9a43e4ab2 2 #include "R1370P.h"
yuki0701 0:44f9a43e4ab2 3 #include "move4wheel.h"
yuki0701 0:44f9a43e4ab2 4 #include "mbed.h"
yuki0701 0:44f9a43e4ab2 5 #include "math.h"
yuki0701 0:44f9a43e4ab2 6 #include "PathFollowing.h"
yuki0701 0:44f9a43e4ab2 7 #include "movement.h"
yuki0701 0:44f9a43e4ab2 8 #include "manual.h"
yuki0701 0:44f9a43e4ab2 9 #include "can.h"
yuki0701 0:44f9a43e4ab2 10 #include "R6093U.h"
yuki0701 0:44f9a43e4ab2 11 #include "uw.h"
yuki0701 0:44f9a43e4ab2 12
yuki0701 0:44f9a43e4ab2 13 #define PI 3.141592
yuki0701 0:44f9a43e4ab2 14
yuki0701 0:44f9a43e4ab2 15 char can_ashileddata[2]= {0};
yuki0701 0:44f9a43e4ab2 16 char can_ashileddata2[8]= {0};
yuki0701 0:44f9a43e4ab2 17 char can_num[1]= {0};
yuki0701 0:44f9a43e4ab2 18 double info_x, info_y, info_r;
yuki0701 0:44f9a43e4ab2 19
yuki0701 0:44f9a43e4ab2 20 //char can_ashileddata3[2]= {0};
yuki0701 0:44f9a43e4ab2 21 //char can_ashileddata4[2]= {0};
yuki0701 0:44f9a43e4ab2 22 //char can_ashileddata5[2]= {0};
yuki0701 0:44f9a43e4ab2 23
yuki0701 0:44f9a43e4ab2 24 int can_ashileddata0_0,can_ashileddata0_1,can_ashileddata0_2,can_ashileddata0_3;
yuki0701 0:44f9a43e4ab2 25
yuki0701 0:44f9a43e4ab2 26 Ec EC2(p16,p15,NC,2048,0.05);
yuki0701 0:44f9a43e4ab2 27 Ec EC1(p18,p17,NC,2048,0.05);
yuki0701 0:44f9a43e4ab2 28
yuki0701 0:44f9a43e4ab2 29
yuki0701 0:44f9a43e4ab2 30 Uw uw1(p28);
yuki0701 0:44f9a43e4ab2 31 Uw uw4(p27);
yuki0701 0:44f9a43e4ab2 32
yuki0701 0:44f9a43e4ab2 33
yuki0701 0:44f9a43e4ab2 34 Ticker ec_ticker; //ec角速度計算用ticker
yuki0701 0:44f9a43e4ab2 35 Ticker uw_ticker; //uw値取得用ticker
yuki0701 0:44f9a43e4ab2 36
yuki0701 0:44f9a43e4ab2 37 //R1370P gyro(p9,p10);
yuki0701 0:44f9a43e4ab2 38
yuki0701 0:44f9a43e4ab2 39 R6093U gyro(p9,p10);
yuki0701 0:44f9a43e4ab2 40
yuki0701 0:44f9a43e4ab2 41 double new_dist1=0,new_dist2=0;
yuki0701 0:44f9a43e4ab2 42 double old_dist1=0,old_dist2=0;
yuki0701 0:44f9a43e4ab2 43 double d_dist1=0,d_dist2=0; //座標計算用関数
yuki0701 0:44f9a43e4ab2 44 double d_x,d_y;
yuki0701 0:44f9a43e4ab2 45 //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
yuki0701 0:44f9a43e4ab2 46 double start_x=0,start_y=0; //スタート位置
yuki0701 0:44f9a43e4ab2 47 double x_out,y_out,r_out; //出力値
yuki0701 0:44f9a43e4ab2 48
yuki0701 0:44f9a43e4ab2 49 int16_t m1=0, m2=0, m3=0, m4=0; //int16bit = int2byte
yuki0701 0:44f9a43e4ab2 50
yuki0701 0:44f9a43e4ab2 51 double xy_type,pm_typeX,pm_typeY,x_base,y_base;
yuki0701 0:44f9a43e4ab2 52
yuki0701 0:44f9a43e4ab2 53 int flag;
yuki0701 0:44f9a43e4ab2 54 double angle_base = 0;
yuki0701 0:44f9a43e4ab2 55
yuki0701 0:44f9a43e4ab2 56 int RL_mode;
yuki0701 0:44f9a43e4ab2 57
yuki0701 0:44f9a43e4ab2 58 int uw_flag1 = 0,uw_flag2 = 0,uw_flag3 = 0,uw_flag4 = 0;
yuki0701 0:44f9a43e4ab2 59
yuki0701 0:44f9a43e4ab2 60 ///////////////////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/////////////////
yuki0701 0:44f9a43e4ab2 61
yuki0701 0:44f9a43e4ab2 62 /*「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
yuki0701 0:44f9a43e4ab2 63 *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）
yuki0701 0:44f9a43e4ab2 64 *(ex)
yuki0701 0:44f9a43e4ab2 65 *info.nowX.enc → エンコーダにより算出した機体位置のx座標
yuki0701 0:44f9a43e4ab2 66 *info.nowY.usw → 超音波センサーにより求めた機体位置のy座標
yuki0701 0:44f9a43e4ab2 67 */
yuki0701 0:44f9a43e4ab2 68
yuki0701 0:44f9a43e4ab2 69 typedef struct { //使用センサーの種類
yuki0701 0:44f9a43e4ab2 70 double usw; //超音波センサー
yuki0701 0:44f9a43e4ab2 71 double enc; //エンコーダ
yuki0701 0:44f9a43e4ab2 72 double gyro; //ジャイロ
yuki0701 0:44f9a43e4ab2 73 //double line;//ラインセンサー
yuki0701 0:44f9a43e4ab2 74 } robo_sensor;
yuki0701 0:44f9a43e4ab2 75
yuki0701 0:44f9a43e4ab2 76 typedef struct { //機体情報の種類
yuki0701 0:44f9a43e4ab2 77 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
yuki0701 0:44f9a43e4ab2 78 robo_sensor nowX;
yuki0701 0:44f9a43e4ab2 79 robo_sensor nowY;
yuki0701 0:44f9a43e4ab2 80 } robo_data;
yuki0701 0:44f9a43e4ab2 81
yuki0701 0:44f9a43e4ab2 82 robo_data info= {{0,0,0},{0,0,0},{0,0,0}}; //全てのデータを0に初期化
yuki0701 0:44f9a43e4ab2 83
yuki0701 0:44f9a43e4ab2 84 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
yuki0701 0:44f9a43e4ab2 85
yuki0701 0:44f9a43e4ab2 86 void UserLoopSetting_sensor()
yuki0701 0:44f9a43e4ab2 87 {
yuki0701 0:44f9a43e4ab2 88
yuki0701 0:44f9a43e4ab2 89 gyro.initialize();
yuki0701 0:44f9a43e4ab2 90 ec_ticker.attach(&calOmega,0.02); //0.05秒間隔で角速度を計算
yuki0701 0:44f9a43e4ab2 91 uw_ticker.attach(&cal_uw,0.05);
yuki0701 0:44f9a43e4ab2 92 EC1.setDiameter_mm(70);
yuki0701 0:44f9a43e4ab2 93 EC2.setDiameter_mm(70); //測定輪半径//後で測定
yuki0701 0:44f9a43e4ab2 94 //info.nowX.enc = 457; //初期位置の設定
yuki0701 0:44f9a43e4ab2 95 //info.nowY.enc = 457;
yuki0701 0:44f9a43e4ab2 96 info.nowX.enc = 0; //初期位置の設定
yuki0701 0:44f9a43e4ab2 97 info.nowY.enc = 0;
yuki0701 0:44f9a43e4ab2 98 angle_base = -90;
yuki0701 0:44f9a43e4ab2 99 }
yuki0701 0:44f9a43e4ab2 100
yuki0701 0:44f9a43e4ab2 101 void UserLoopSetting_enc_right()
yuki0701 0:44f9a43e4ab2 102 {
yuki0701 0:44f9a43e4ab2 103 info.nowX.enc = 3112; //エンコーダの初期位置の設定(右側フィールド)
yuki0701 0:44f9a43e4ab2 104 info.nowY.enc = 3500;
yuki0701 0:44f9a43e4ab2 105 RL_mode = 0;
yuki0701 0:44f9a43e4ab2 106 }
yuki0701 0:44f9a43e4ab2 107
yuki0701 0:44f9a43e4ab2 108 void UserLoopSetting_enc_left()
yuki0701 0:44f9a43e4ab2 109 {
yuki0701 0:44f9a43e4ab2 110 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 0:44f9a43e4ab2 111 info.nowY.enc = 3500;
yuki0701 0:44f9a43e4ab2 112 RL_mode = 1;
yuki0701 0:44f9a43e4ab2 113 }
yuki0701 0:44f9a43e4ab2 114
yuki0701 0:44f9a43e4ab2 115 void calOmega() //角速度計算関数
yuki0701 0:44f9a43e4ab2 116 {
yuki0701 0:44f9a43e4ab2 117 EC1.CalOmega();
yuki0701 0:44f9a43e4ab2 118 EC2.CalOmega();
yuki0701 0:44f9a43e4ab2 119 calc_xy_enc();
yuki0701 0:44f9a43e4ab2 120
yuki0701 0:44f9a43e4ab2 121 //usw_data1 = 10 * uw1.get_dist();
yuki0701 0:44f9a43e4ab2 122 ////usw_data2 = 10 * uw2.get_dist();
yuki0701 0:44f9a43e4ab2 123 //usw_data3 = 10 * uw3.get_dist();
yuki0701 0:44f9a43e4ab2 124 ////usw_data4 = 10 * uw4.get_dist();
yuki0701 0:44f9a43e4ab2 125 }
yuki0701 0:44f9a43e4ab2 126
yuki0701 0:44f9a43e4ab2 127 void cal_uw() //uw値取得用
yuki0701 0:44f9a43e4ab2 128 {
yuki0701 0:44f9a43e4ab2 129 if(uw_flag1 == 1) {
yuki0701 0:44f9a43e4ab2 130 usw_data1 = 10 * uw1.get_dist();
yuki0701 0:44f9a43e4ab2 131 //printf("uw1 = %f\n\r",usw_data1);
yuki0701 0:44f9a43e4ab2 132 }
yuki0701 0:44f9a43e4ab2 133 if(uw_flag2 == 1) {
yuki0701 0:44f9a43e4ab2 134 //usw_data2 = 10 * uw2.get_dist();
yuki0701 0:44f9a43e4ab2 135 }
yuki0701 0:44f9a43e4ab2 136 if(uw_flag3 == 1) {
yuki0701 0:44f9a43e4ab2 137 //usw_data3 = 10 * uw3.get_dist();
yuki0701 0:44f9a43e4ab2 138 }
yuki0701 0:44f9a43e4ab2 139 if(uw_flag4 == 1) {
yuki0701 0:44f9a43e4ab2 140 usw_data4 = 10 * uw4.get_dist();
yuki0701 0:44f9a43e4ab2 141 //printf("uw4 = %f\n\r",usw_data4);
yuki0701 0:44f9a43e4ab2 142 }
yuki0701 0:44f9a43e4ab2 143 }
yuki0701 0:44f9a43e4ab2 144
yuki0701 0:44f9a43e4ab2 145 void output(double FL,double BL,double BR,double FR)
yuki0701 0:44f9a43e4ab2 146 {
yuki0701 0:44f9a43e4ab2 147 m1=FL;
yuki0701 0:44f9a43e4ab2 148 m2=BL;
yuki0701 0:44f9a43e4ab2 149 m3=BR;
yuki0701 0:44f9a43e4ab2 150 m4=FR;
yuki0701 0:44f9a43e4ab2 151 }
yuki0701 0:44f9a43e4ab2 152
yuki0701 0:44f9a43e4ab2 153 void base(double FL,double BL,double BR,double FR,double Max)
yuki0701 0:44f9a43e4ab2 154 //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
yuki0701 0:44f9a43e4ab2 155 //DCモーターならMax=1、マクソンは-4095～4095だからMax=4095にする
yuki0701 0:44f9a43e4ab2 156 {
yuki0701 0:44f9a43e4ab2 157 if(fabs(FL)>=Max||fabs(BL)>=Max||fabs(BR)>=Max||fabs(FR)>=Max) {
yuki0701 0:44f9a43e4ab2 158
yuki0701 0:44f9a43e4ab2 159 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));
yuki0701 0:44f9a43e4ab2 160 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));
yuki0701 0:44f9a43e4ab2 161 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));
yuki0701 0:44f9a43e4ab2 162 else output(Max*FL/fabs(FR),Max*BL/fabs(FR),Max*BR/fabs(FR),Max*FR/fabs(FR));
yuki0701 0:44f9a43e4ab2 163 } else {
yuki0701 0:44f9a43e4ab2 164 output(FL,BL,BR,FR);
yuki0701 0:44f9a43e4ab2 165 }
yuki0701 0:44f9a43e4ab2 166 }
yuki0701 0:44f9a43e4ab2 167
yuki0701 0:44f9a43e4ab2 168 void ashi_led()
yuki0701 0:44f9a43e4ab2 169 {
yuki0701 0:44f9a43e4ab2 170 if(now_angle > -1 && now_angle < 1) {
yuki0701 0:44f9a43e4ab2 171 can_ashileddata0_0 = 1;
yuki0701 0:44f9a43e4ab2 172 } else {
yuki0701 0:44f9a43e4ab2 173 can_ashileddata0_0 = 0;
yuki0701 0:44f9a43e4ab2 174 }
yuki0701 0:44f9a43e4ab2 175
yuki0701 0:44f9a43e4ab2 176 if(now_angle > 350) {
yuki0701 0:44f9a43e4ab2 177 can_ashileddata0_1 = 1;
yuki0701 0:44f9a43e4ab2 178 } else {
yuki0701 0:44f9a43e4ab2 179 can_ashileddata0_1 = 0;
yuki0701 0:44f9a43e4ab2 180 }
yuki0701 0:44f9a43e4ab2 181
yuki0701 0:44f9a43e4ab2 182 if(RL_mode == 0) {
yuki0701 0:44f9a43e4ab2 183 if(now_x > 3110 && now_x < 3114) {
yuki0701 0:44f9a43e4ab2 184 can_ashileddata0_2 = 1;
yuki0701 0:44f9a43e4ab2 185 } else {
yuki0701 0:44f9a43e4ab2 186 can_ashileddata0_2 = 0;
yuki0701 0:44f9a43e4ab2 187 }
yuki0701 0:44f9a43e4ab2 188
yuki0701 0:44f9a43e4ab2 189 if(now_y > 3498 && now_y < 3502) {
yuki0701 0:44f9a43e4ab2 190 can_ashileddata0_3 = 1;
yuki0701 0:44f9a43e4ab2 191 } else {
yuki0701 0:44f9a43e4ab2 192 can_ashileddata0_3 = 0;
yuki0701 0:44f9a43e4ab2 193 }
yuki0701 0:44f9a43e4ab2 194 } else if(RL_mode == 1) {
yuki0701 0:44f9a43e4ab2 195 if(now_x > -3114 && now_x < -3110) {
yuki0701 0:44f9a43e4ab2 196 can_ashileddata0_2 = 1;
yuki0701 0:44f9a43e4ab2 197 } else {
yuki0701 0:44f9a43e4ab2 198 can_ashileddata0_2 = 0;
yuki0701 0:44f9a43e4ab2 199 }
yuki0701 0:44f9a43e4ab2 200
yuki0701 0:44f9a43e4ab2 201 if(now_y > 3498 && now_y < 3502) {
yuki0701 0:44f9a43e4ab2 202 can_ashileddata0_3 = 1;
yuki0701 0:44f9a43e4ab2 203 } else {
yuki0701 0:44f9a43e4ab2 204 can_ashileddata0_3 = 0;
yuki0701 0:44f9a43e4ab2 205 }
yuki0701 0:44f9a43e4ab2 206 }
yuki0701 0:44f9a43e4ab2 207
yuki0701 0:44f9a43e4ab2 208 can_ashileddata[0] = (can_ashileddata0_0<<7 | can_ashileddata0_1<<6 | can_ashileddata0_2<<5 | can_ashileddata0_3<<4);
yuki0701 0:44f9a43e4ab2 209 }
yuki0701 0:44f9a43e4ab2 210
yuki0701 0:44f9a43e4ab2 211 void calc_gyro()
yuki0701 0:44f9a43e4ab2 212 {
yuki0701 0:44f9a43e4ab2 213 //now_angle=gyro.getAngle(); //ジャイロの値読み込み
yuki0701 0:44f9a43e4ab2 214 now_angle = -gyro.getZ_Angle() + angle_base;
yuki0701 0:44f9a43e4ab2 215 }
yuki0701 0:44f9a43e4ab2 216
yuki0701 0:44f9a43e4ab2 217 void print_gyro()
yuki0701 0:44f9a43e4ab2 218 {
yuki0701 0:44f9a43e4ab2 219 while(1) {
yuki0701 0:44f9a43e4ab2 220 //printf("now_gyro = %f\n\r",-gyro.getAngle());
yuki0701 0:44f9a43e4ab2 221 }
yuki0701 0:44f9a43e4ab2 222
yuki0701 0:44f9a43e4ab2 223 }
yuki0701 0:44f9a43e4ab2 224
yuki0701 0:44f9a43e4ab2 225 void calc_xy_enc() //エンコーダ&ジャイロによる座標計算
yuki0701 0:44f9a43e4ab2 226 {
yuki0701 0:44f9a43e4ab2 227 old_angle=now_angle;
yuki0701 0:44f9a43e4ab2 228 //now_angle=gyro.getAngle(); //ジャイロの値読み込み
yuki0701 0:44f9a43e4ab2 229 now_angle = -gyro.getZ_Angle() + angle_base;
yuki0701 0:44f9a43e4ab2 230 adj_angle=(now_angle+old_angle)/2;
yuki0701 0:44f9a43e4ab2 231
yuki0701 0:44f9a43e4ab2 232 new_dist1=EC1.getDistance_mm();
yuki0701 0:44f9a43e4ab2 233 new_dist2=EC2.getDistance_mm();
yuki0701 0:44f9a43e4ab2 234 d_dist1=new_dist1-old_dist1;
yuki0701 0:44f9a43e4ab2 235 d_dist2=new_dist2-old_dist2;
yuki0701 0:44f9a43e4ab2 236 old_dist1=new_dist1;
yuki0701 0:44f9a43e4ab2 237 old_dist2=new_dist2; //微小時間当たりのエンコーダ読み込み
yuki0701 0:44f9a43e4ab2 238
yuki0701 0:44f9a43e4ab2 239 d_x=d_dist2*sin(adj_angle*PI/180)-d_dist1*cos(adj_angle*PI/180);
yuki0701 0:44f9a43e4ab2 240 d_y=d_dist2*cos(adj_angle*PI/180)+d_dist1*sin(adj_angle*PI/180); //微小時間毎の座標変化
yuki0701 0:44f9a43e4ab2 241 info.nowX.enc = info.nowX.enc + d_x;
yuki0701 0:44f9a43e4ab2 242 info.nowY.enc = info.nowY.enc - d_y; //微小時間毎に座標に加算
yuki0701 0:44f9a43e4ab2 243 }
yuki0701 0:44f9a43e4ab2 244
yuki0701 0:44f9a43e4ab2 245
yuki0701 0:44f9a43e4ab2 246 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
yuki0701 0:44f9a43e4ab2 247 {
yuki0701 0:44f9a43e4ab2 248 //引数の詳細は関数"calc_xy_usw"参照
yuki0701 0:44f9a43e4ab2 249
yuki0701 0:44f9a43e4ab2 250 xy_type = t;
yuki0701 0:44f9a43e4ab2 251
yuki0701 0:44f9a43e4ab2 252 pm_typeX = px;
yuki0701 0:44f9a43e4ab2 253 x_base = bx;
yuki0701 0:44f9a43e4ab2 254
yuki0701 0:44f9a43e4ab2 255 pm_typeY = py;
yuki0701 0:44f9a43e4ab2 256 y_base = by;
yuki0701 0:44f9a43e4ab2 257 }
yuki0701 0:44f9a43e4ab2 258
yuki0701 0:44f9a43e4ab2 259 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）
yuki0701 0:44f9a43e4ab2 260 {
yuki0701 0:44f9a43e4ab2 261 //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）
yuki0701 0:44f9a43e4ab2 262 //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）
yuki0701 0:44f9a43e4ab2 263 //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）
yuki0701 0:44f9a43e4ab2 264 //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)
yuki0701 0:44f9a43e4ab2 265
yuki0701 0:44f9a43e4ab2 266 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 0:44f9a43e4ab2 267 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）
yuki0701 0:44f9a43e4ab2 268
yuki0701 0:44f9a43e4ab2 269 // now_angle=gyro.getAngle(); //ジャイロの値読み込み
yuki0701 0:44f9a43e4ab2 270 now_angle = -gyro.getZ_Angle() + angle_base ;
yuki0701 0:44f9a43e4ab2 271
yuki0701 0:44f9a43e4ab2 272 if(tgt_angle > -45 && tgt_angle < 45) {
yuki0701 0:44f9a43e4ab2 273 if((xy_type==0 || xy_type==2) && pm_typeX==0) {
yuki0701 0:44f9a43e4ab2 274
yuki0701 0:44f9a43e4ab2 275 info.nowX.usw = x_base - (usw_data4 + R4*cos(now_angle*PI/180) + D4*sin(now_angle*PI/180));
yuki0701 0:44f9a43e4ab2 276 uw_flag4 = 1;
yuki0701 0:44f9a43e4ab2 277
yuki0701 0:44f9a43e4ab2 278 } else if((xy_type==0 || xy_type==2) && pm_typeX==1) {
yuki0701 0:44f9a43e4ab2 279
yuki0701 0:44f9a43e4ab2 280 info.nowX.usw = x_base + (usw_data3 + R3*cos(now_angle*PI/180) + D3*sin(now_angle*PI/180));
yuki0701 0:44f9a43e4ab2 281 uw_flag3 = 1;
yuki0701 0:44f9a43e4ab2 282
yuki0701 0:44f9a43e4ab2 283 }
yuki0701 0:44f9a43e4ab2 284 if((xy_type==1 || xy_type==2) && pm_typeY==0) {
yuki0701 0:44f9a43e4ab2 285
yuki0701 0:44f9a43e4ab2 286 info.nowY.usw = y_base - (usw_data2 + R2*cos(now_angle*PI/180) + D2*sin(now_angle*PI/180));
yuki0701 0:44f9a43e4ab2 287 uw_flag2 = 1;
yuki0701 0:44f9a43e4ab2 288
yuki0701 0:44f9a43e4ab2 289 } else if((xy_type==1 || xy_type==2) && pm_typeY==1) {
yuki0701 0:44f9a43e4ab2 290
yuki0701 0:44f9a43e4ab2 291 info.nowY.usw = y_base + (usw_data1 + R1*cos(now_angle*PI/180) + D1*sin(now_angle*PI/180));
yuki0701 0:44f9a43e4ab2 292 uw_flag1 = 1;
yuki0701 0:44f9a43e4ab2 293
yuki0701 0:44f9a43e4ab2 294 }
yuki0701 0:44f9a43e4ab2 295
yuki0701 0:44f9a43e4ab2 296 } else if(tgt_angle > 45 && tgt_angle < 135) {
yuki0701 0:44f9a43e4ab2 297 if((xy_type==0 || xy_type==2) && pm_typeX==0) {
yuki0701 0:44f9a43e4ab2 298
yuki0701 0:44f9a43e4ab2 299 info.nowX.usw = x_base - (usw_data1 + R1*cos((now_angle-tgt_angle)*PI/180) + D1*sin((now_angle-tgt_angle)*PI/180));
yuki0701 0:44f9a43e4ab2 300 uw_flag1 = 1;
yuki0701 0:44f9a43e4ab2 301
yuki0701 0:44f9a43e4ab2 302 } else if((xy_type==0 || xy_type==2) && pm_typeX==1) {
yuki0701 0:44f9a43e4ab2 303
yuki0701 0:44f9a43e4ab2 304 info.nowX.usw = x_base + (usw_data2 + R2*cos((now_angle-tgt_angle)*PI/180) + D2*sin((now_angle-tgt_angle)*PI/180));
yuki0701 0:44f9a43e4ab2 305 uw_flag2 = 1;
yuki0701 0:44f9a43e4ab2 306
yuki0701 0:44f9a43e4ab2 307 }
yuki0701 0:44f9a43e4ab2 308 if((xy_type==1 || xy_type==2) && pm_typeY==0) {
yuki0701 0:44f9a43e4ab2 309
yuki0701 0:44f9a43e4ab2 310 info.nowY.usw = y_base - (usw_data4 + R4*cos((now_angle-tgt_angle)*PI/180) + D4*sin((now_angle-tgt_angle)*PI/180));
yuki0701 0:44f9a43e4ab2 311 uw_flag4 = 1;
yuki0701 0:44f9a43e4ab2 312
yuki0701 0:44f9a43e4ab2 313 } else if((xy_type==1 || xy_type==2) && pm_typeY==1) {
yuki0701 0:44f9a43e4ab2 314
yuki0701 0:44f9a43e4ab2 315 info.nowY.usw = y_base + (usw_data3 + R3*cos((now_angle-tgt_angle)*PI/180) + D3*sin((now_angle-tgt_angle)*PI/180));
yuki0701 0:44f9a43e4ab2 316 uw_flag3 = 1;
yuki0701 0:44f9a43e4ab2 317
yuki0701 0:44f9a43e4ab2 318 }
yuki0701 0:44f9a43e4ab2 319
yuki0701 0:44f9a43e4ab2 320 } else if((tgt_angle > 135 && tgt_angle < 225) || (tgt_angle > -225 && tgt_angle < -135)) {
yuki0701 0:44f9a43e4ab2 321 if((xy_type==0 || xy_type==2) && pm_typeX==0) {
yuki0701 0:44f9a43e4ab2 322
yuki0701 0:44f9a43e4ab2 323 info.nowX.usw = x_base - (usw_data3 + R3*cos((now_angle-tgt_angle)*PI/180) + D3*sin((now_angle-tgt_angle)*PI/180));
yuki0701 0:44f9a43e4ab2 324 uw_flag3 = 1;
yuki0701 0:44f9a43e4ab2 325
yuki0701 0:44f9a43e4ab2 326 } else if((xy_type==0 || xy_type==2) && pm_typeX==1) {
yuki0701 0:44f9a43e4ab2 327
yuki0701 0:44f9a43e4ab2 328 info.nowX.usw = x_base + (usw_data4 + R4*cos((now_angle-tgt_angle)*PI/180) + D4*sin((now_angle-tgt_angle)*PI/180));
yuki0701 0:44f9a43e4ab2 329 uw_flag4 = 1;
yuki0701 0:44f9a43e4ab2 330
yuki0701 0:44f9a43e4ab2 331 }
yuki0701 0:44f9a43e4ab2 332 if((xy_type==1 || xy_type==2) && pm_typeY==0) {
yuki0701 0:44f9a43e4ab2 333
yuki0701 0:44f9a43e4ab2 334 info.nowY.usw = y_base - (usw_data1+ R1*cos((now_angle-tgt_angle)*PI/180) + D1*sin((now_angle-tgt_angle)*PI/180));
yuki0701 0:44f9a43e4ab2 335 uw_flag1 = 1;
yuki0701 0:44f9a43e4ab2 336
yuki0701 0:44f9a43e4ab2 337 } else if((xy_type==1 || xy_type==2) && pm_typeY==1) {
yuki0701 0:44f9a43e4ab2 338
yuki0701 0:44f9a43e4ab2 339 info.nowY.usw = y_base + (usw_data2 + R2*cos((now_angle-tgt_angle)*PI/180) + D2*sin((now_angle-tgt_angle)*PI/180));
yuki0701 0:44f9a43e4ab2 340 uw_flag2 = 1;
yuki0701 0:44f9a43e4ab2 341
yuki0701 0:44f9a43e4ab2 342 }
yuki0701 0:44f9a43e4ab2 343 } else if(tgt_angle > -135 && tgt_angle < -45) {
yuki0701 0:44f9a43e4ab2 344 if((xy_type==0 || xy_type==2) && pm_typeX==0) {
yuki0701 0:44f9a43e4ab2 345
yuki0701 0:44f9a43e4ab2 346 info.nowX.usw = x_base - (usw_data2 + R2*cos((now_angle-tgt_angle)*PI/180) + D2*sin((now_angle-tgt_angle)*PI/180));
yuki0701 0:44f9a43e4ab2 347 uw_flag2 = 1;
yuki0701 0:44f9a43e4ab2 348
yuki0701 0:44f9a43e4ab2 349 } else if((xy_type==0 || xy_type==2) && pm_typeX==1) {
yuki0701 0:44f9a43e4ab2 350
yuki0701 0:44f9a43e4ab2 351 info.nowX.usw = x_base + (usw_data1 + R1*cos((now_angle-tgt_angle)*PI/180) + D1*sin((now_angle-tgt_angle)*PI/180));
yuki0701 0:44f9a43e4ab2 352 uw_flag1 = 1;
yuki0701 0:44f9a43e4ab2 353
yuki0701 0:44f9a43e4ab2 354 }
yuki0701 0:44f9a43e4ab2 355 if((xy_type==1 || xy_type==2) && pm_typeY==0) {
yuki0701 0:44f9a43e4ab2 356
yuki0701 0:44f9a43e4ab2 357 info.nowY.usw = y_base - (usw_data3 + R3*cos((now_angle-tgt_angle)*PI/180) + D3*sin((now_angle-tgt_angle)*PI/180));
yuki0701 0:44f9a43e4ab2 358 uw_flag3 = 1;
yuki0701 0:44f9a43e4ab2 359
yuki0701 0:44f9a43e4ab2 360 } else if((xy_type==1 || xy_type==2) && pm_typeY==1) {
yuki0701 0:44f9a43e4ab2 361
yuki0701 0:44f9a43e4ab2 362 info.nowY.usw = y_base + (usw_data4 + R4*cos((now_angle-tgt_angle)*PI/180) + D4*sin((now_angle-tgt_angle)*PI/180));
yuki0701 0:44f9a43e4ab2 363 uw_flag4 = 1;
yuki0701 0:44f9a43e4ab2 364
yuki0701 0:44f9a43e4ab2 365 }
yuki0701 0:44f9a43e4ab2 366 }
yuki0701 0:44f9a43e4ab2 367 }
yuki0701 0:44f9a43e4ab2 368
yuki0701 0:44f9a43e4ab2 369 void uwflag_reset()
yuki0701 0:44f9a43e4ab2 370 {
yuki0701 0:44f9a43e4ab2 371 uw_flag1 = 0;
yuki0701 0:44f9a43e4ab2 372 uw_flag2 = 0;
yuki0701 0:44f9a43e4ab2 373 uw_flag3 = 0;
yuki0701 0:44f9a43e4ab2 374 uw_flag4 = 0;
yuki0701 0:44f9a43e4ab2 375 }
yuki0701 0:44f9a43e4ab2 376
yuki0701 0:44f9a43e4ab2 377 void uwflag_change(int u1,int u2, int u3, int u4)
yuki0701 0:44f9a43e4ab2 378 {
yuki0701 0:44f9a43e4ab2 379 uw_flag1 = u1;
yuki0701 0:44f9a43e4ab2 380 uw_flag2 = u2;
yuki0701 0:44f9a43e4ab2 381 uw_flag3 = u3;
yuki0701 0:44f9a43e4ab2 382 uw_flag4 = u4;
yuki0701 0:44f9a43e4ab2 383 }
yuki0701 0:44f9a43e4ab2 384
yuki0701 0:44f9a43e4ab2 385
yuki0701 0:44f9a43e4ab2 386 void calc_xy(double target_angle, double u,double v)
yuki0701 0:44f9a43e4ab2 387 {
yuki0701 0:44f9a43e4ab2 388 //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
yuki0701 0:44f9a43e4ab2 389
yuki0701 0:44f9a43e4ab2 390 calc_xy_enc();
yuki0701 0:44f9a43e4ab2 391 //usw_data1 = 10 * uw1.get_dist();
yuki0701 0:44f9a43e4ab2 392 ///usw_data2 = 10 * uw2.get_dist();
yuki0701 0:44f9a43e4ab2 393 //usw_data3 = 10 * uw3.get_dist();
yuki0701 0:44f9a43e4ab2 394 ///usw_data4 = 10 * uw4.get_dist();
yuki0701 0:44f9a43e4ab2 395
yuki0701 0:44f9a43e4ab2 396 //printf("uw2 = %f, uw4 = %f\n\r",usw_data2,usw_data4);
yuki0701 0:44f9a43e4ab2 397
yuki0701 0:44f9a43e4ab2 398 if(u != 1 || v != 1) {
yuki0701 0:44f9a43e4ab2 399 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。
yuki0701 0:44f9a43e4ab2 400 }
yuki0701 0:44f9a43e4ab2 401
yuki0701 0:44f9a43e4ab2 402 now_x = u * info.nowX.enc + (1-u) * info.nowX.usw;
yuki0701 0:44f9a43e4ab2 403 now_y = v * info.nowY.enc + (1-v) * info.nowY.usw;
yuki0701 0:44f9a43e4ab2 404
yuki0701 0:44f9a43e4ab2 405 /*if(now_x >-1 && now_x <1 && now_y >-1 && now_y <1){ //スタート時の0合わせ用
yuki0701 0:44f9a43e4ab2 406 ec_led = 1;
yuki0701 0:44f9a43e4ab2 407 }else{
yuki0701 0:44f9a43e4ab2 408 ec_led = 0;
yuki0701 0:44f9a43e4ab2 409 }
yuki0701 0:44f9a43e4ab2 410
yuki0701 0:44f9a43e4ab2 411 if(now_angle >-0.5 && now_angle <0.5){
yuki0701 0:44f9a43e4ab2 412 gyro_led = 1;
yuki0701 0:44f9a43e4ab2 413 }else{
yuki0701 0:44f9a43e4ab2 414 gyro_led = 0;
yuki0701 0:44f9a43e4ab2 415 }*/
yuki0701 0:44f9a43e4ab2 416 }
yuki0701 0:44f9a43e4ab2 417
yuki0701 0:44f9a43e4ab2 418 void copy_xyr_usw(){
yuki0701 0:44f9a43e4ab2 419 calc_xy_enc();
yuki0701 0:44f9a43e4ab2 420 now_angle = -gyro.getZ_Angle() + angle_base;
yuki0701 0:44f9a43e4ab2 421
yuki0701 0:44f9a43e4ab2 422 info_x = info.nowX.enc;
yuki0701 0:44f9a43e4ab2 423 info_y = info.nowY.enc;
yuki0701 0:44f9a43e4ab2 424 info_r = now_angle;
yuki0701 0:44f9a43e4ab2 425
yuki0701 0:44f9a43e4ab2 426 usw_data1 = 10 * uw1.get_dist();
yuki0701 0:44f9a43e4ab2 427 usw_data2 = 2000; //10 * uw2.get_dist();
yuki0701 0:44f9a43e4ab2 428 usw_data3 = 3000; //10 * uw3.get_dist();
yuki0701 0:44f9a43e4ab2 429 usw_data4 = 10 * uw4.get_dist();
yuki0701 0:44f9a43e4ab2 430 }
yuki0701 0:44f9a43e4ab2 431
yuki0701 0:44f9a43e4ab2 432 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
yuki0701 0:44f9a43e4ab2 433 {
yuki0701 0:44f9a43e4ab2 434 //x_select,y_select → (0:上書きしない/1:上書きする)
yuki0701 0:44f9a43e4ab2 435
yuki0701 0:44f9a43e4ab2 436 if(x_select == 1) {
yuki0701 0:44f9a43e4ab2 437 info.nowX.enc = info.nowX.usw;
yuki0701 0:44f9a43e4ab2 438 }
yuki0701 0:44f9a43e4ab2 439 if(y_select == 1) {
yuki0701 0:44f9a43e4ab2 440 info.nowY.enc = info.nowY.usw;
yuki0701 0:44f9a43e4ab2 441 }
yuki0701 0:44f9a43e4ab2 442
yuki0701 0:44f9a43e4ab2 443 }
yuki0701 0:44f9a43e4ab2 444
yuki0701 0:44f9a43e4ab2 445 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 0:44f9a43e4ab2 446 {
yuki0701 0:44f9a43e4ab2 447 info.nowX.enc = x_plot1;
yuki0701 0:44f9a43e4ab2 448 info.nowY.enc = y_plot2;
yuki0701 0:44f9a43e4ab2 449 }
yuki0701 0:44f9a43e4ab2 450
yuki0701 0:44f9a43e4ab2 451 //ここからそれぞれのプログラム/////////////////////////////////////////////////////////////////////////////////////////////////////////////////
yuki0701 0:44f9a43e4ab2 452 //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)
yuki0701 0:44f9a43e4ab2 453 //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
yuki0701 0:44f9a43e4ab2 454 //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)
yuki0701 0:44f9a43e4ab2 455 //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
yuki0701 0:44f9a43e4ab2 456
yuki0701 0:44f9a43e4ab2 457 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
yuki0701 0:44f9a43e4ab2 458 double point_x1,double point_y1,
yuki0701 0:44f9a43e4ab2 459 double point_x2,double point_y2,
yuki0701 0:44f9a43e4ab2 460 int theta,
yuki0701 0:44f9a43e4ab2 461 double speed,
yuki0701 0:44f9a43e4ab2 462 double q_p,double q_d,
yuki0701 0:44f9a43e4ab2 463 double r_p,double r_d,
yuki0701 0:44f9a43e4ab2 464 double r_out_max,
yuki0701 0:44f9a43e4ab2 465 double target_angle, double v_base, double q_out_max)
yuki0701 0:44f9a43e4ab2 466 //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
yuki0701 0:44f9a43e4ab2 467 {
yuki0701 0:44f9a43e4ab2 468 //-----PathFollowingのパラメーター設定-----//
yuki0701 0:44f9a43e4ab2 469 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 0:44f9a43e4ab2 470 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 0:44f9a43e4ab2 471 set_r_out(r_out_max); //旋回時の最大出力値設定関数
yuki0701 0:44f9a43e4ab2 472 set_q_out(q_out_max);
yuki0701 0:44f9a43e4ab2 473 set_target_angle(target_angle); //機体目標角度設定関数
yuki0701 0:44f9a43e4ab2 474
yuki0701 0:44f9a43e4ab2 475 int s;
yuki0701 0:44f9a43e4ab2 476 int t = 0;
yuki0701 0:44f9a43e4ab2 477 double X,Y;//X=楕円の中心座標、Y=楕円の中心座標
yuki0701 0:44f9a43e4ab2 478 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
yuki0701 0:44f9a43e4ab2 479 double plotx[(90/theta)+1]; //楕円にとるplotのx座標
yuki0701 0:44f9a43e4ab2 480 double ploty[(90/theta)+1];
yuki0701 0:44f9a43e4ab2 481
yuki0701 0:44f9a43e4ab2 482 double x_out,y_out,r_out;
yuki0701 0:44f9a43e4ab2 483
yuki0701 0:44f9a43e4ab2 484 a=fabs(point_x1-point_x2);
yuki0701 0:44f9a43e4ab2 485 b=fabs(point_y1-point_y2);
yuki0701 0:44f9a43e4ab2 486
yuki0701 0:44f9a43e4ab2 487 switch(type) {
yuki0701 0:44f9a43e4ab2 488
yuki0701 0:44f9a43e4ab2 489 case 1://→↑移動
yuki0701 0:44f9a43e4ab2 490 X=point_x1;
yuki0701 0:44f9a43e4ab2 491 Y=point_y2;
yuki0701 0:44f9a43e4ab2 492
yuki0701 0:44f9a43e4ab2 493 for(s=0; s<((90/theta)+1); s++) {
yuki0701 0:44f9a43e4ab2 494 plotx[s] = X + a * cos(-PI/2 + s * (PI*theta/180));
yuki0701 0:44f9a43e4ab2 495 ploty[s] = Y + b * sin(-PI/2 + s * (PI*theta/180));
yuki0701 0:44f9a43e4ab2 496 //debug_printf("plotx[%d]=%f ploty[%d]=%f\n\r",s,plotx[s],s,ploty[s]);
yuki0701 0:44f9a43e4ab2 497 }
yuki0701 0:44f9a43e4ab2 498 break;
yuki0701 0:44f9a43e4ab2 499
yuki0701 0:44f9a43e4ab2 500 case 2://↑→移動
yuki0701 0:44f9a43e4ab2 501 X=point_x2;
yuki0701 0:44f9a43e4ab2 502 Y=point_y1;
yuki0701 0:44f9a43e4ab2 503
yuki0701 0:44f9a43e4ab2 504 for(s=0; s<((90/theta)+1); s++) {
yuki0701 0:44f9a43e4ab2 505 plotx[s] = X + a * cos(PI - s * (PI*theta/180));
yuki0701 0:44f9a43e4ab2 506 ploty[s] = Y + b * sin(PI - s * (PI*theta/180));
yuki0701 0:44f9a43e4ab2 507 //debug_printf("plotx[%d]=%f ploty[%d]=%f\n\r",s,plotx[s],s,ploty[s]);
yuki0701 0:44f9a43e4ab2 508 }
yuki0701 0:44f9a43e4ab2 509 break;
yuki0701 0:44f9a43e4ab2 510
yuki0701 0:44f9a43e4ab2 511 case 3://↑←移動
yuki0701 0:44f9a43e4ab2 512 X=point_x2;
yuki0701 0:44f9a43e4ab2 513 Y=point_y1;
yuki0701 0:44f9a43e4ab2 514
yuki0701 0:44f9a43e4ab2 515 for(s=0; s<((90/theta)+1); s++) {
yuki0701 0:44f9a43e4ab2 516 plotx[s] = X + a * cos(s * (PI*theta/180));
yuki0701 0:44f9a43e4ab2 517 ploty[s] = Y + b * sin(s * (PI*theta/180));
yuki0701 0:44f9a43e4ab2 518 //debug_printf("plotx[%d]=%f ploty[%d]=%f\n\r",s,plotx[s],s,ploty[s]);
yuki0701 0:44f9a43e4ab2 519 }
yuki0701 0:44f9a43e4ab2 520 break;
yuki0701 0:44f9a43e4ab2 521
yuki0701 0:44f9a43e4ab2 522 case 4://←↑移動
yuki0701 0:44f9a43e4ab2 523 X=point_x1;
yuki0701 0:44f9a43e4ab2 524 Y=point_y2;
yuki0701 0:44f9a43e4ab2 525
yuki0701 0:44f9a43e4ab2 526 for(s=0; s<((90/theta)+1); s++) {
yuki0701 0:44f9a43e4ab2 527 plotx[s] = X + a * cos(-PI/2 - s * (PI*theta/180));
yuki0701 0:44f9a43e4ab2 528 ploty[s] = Y + b * sin(-PI/2 - s * (PI*theta/180));
yuki0701 0:44f9a43e4ab2 529 //debug_printf("plotx[%d]=%f ploty[%d]=%f\n\r",s,plotx[s],s,ploty[s]);
yuki0701 0:44f9a43e4ab2 530 }
yuki0701 0:44f9a43e4ab2 531 break;
yuki0701 0:44f9a43e4ab2 532
yuki0701 0:44f9a43e4ab2 533 case 5://←↓移動
yuki0701 0:44f9a43e4ab2 534 X=point_x1;
yuki0701 0:44f9a43e4ab2 535 Y=point_y2;
yuki0701 0:44f9a43e4ab2 536
yuki0701 0:44f9a43e4ab2 537 for(s=0; s<((90/theta)+1); s++) {
yuki0701 0:44f9a43e4ab2 538 plotx[s] = X + a * cos(PI/2 + s * (PI*theta/180));
yuki0701 0:44f9a43e4ab2 539 ploty[s] = Y + b * sin(PI/2 + s * (PI*theta/180));
yuki0701 0:44f9a43e4ab2 540 //debug_printf("plotx[%d]=%f ploty[%d]=%f\n\r",s,plotx[s],s,ploty[s]);
yuki0701 0:44f9a43e4ab2 541 }
yuki0701 0:44f9a43e4ab2 542 break;
yuki0701 0:44f9a43e4ab2 543
yuki0701 0:44f9a43e4ab2 544 case 6://↓←移動
yuki0701 0:44f9a43e4ab2 545 X=point_x2;
yuki0701 0:44f9a43e4ab2 546 Y=point_y1;
yuki0701 0:44f9a43e4ab2 547
yuki0701 0:44f9a43e4ab2 548 for(s=0; s<((90/theta)+1); s++) {
yuki0701 0:44f9a43e4ab2 549 plotx[s] = X + a * cos(-s * (PI*theta/180));
yuki0701 0:44f9a43e4ab2 550 ploty[s] = Y + b * sin(-s * (PI*theta/180));
yuki0701 0:44f9a43e4ab2 551 //debug_printf("plotx[%d]=%f ploty[%d]=%f\n\r",s,plotx[s],s,ploty[s]);
yuki0701 0:44f9a43e4ab2 552 }
yuki0701 0:44f9a43e4ab2 553 break;
yuki0701 0:44f9a43e4ab2 554
yuki0701 0:44f9a43e4ab2 555 case 7://↓→移動
yuki0701 0:44f9a43e4ab2 556 X=point_x2;
yuki0701 0:44f9a43e4ab2 557 Y=point_y1;
yuki0701 0:44f9a43e4ab2 558
yuki0701 0:44f9a43e4ab2 559 for(s=0; s<((90/theta)+1); s++) {
yuki0701 0:44f9a43e4ab2 560 plotx[s] = X + a * cos(PI + s * (PI*theta/180));
yuki0701 0:44f9a43e4ab2 561 ploty[s] = Y + b * sin(PI + s * (PI*theta/180));
yuki0701 0:44f9a43e4ab2 562 //debug_printf("plotx[%d]=%f ploty[%d]=%f\n\r",s,plotx[s],s,ploty[s]);
yuki0701 0:44f9a43e4ab2 563 }
yuki0701 0:44f9a43e4ab2 564 break;
yuki0701 0:44f9a43e4ab2 565
yuki0701 0:44f9a43e4ab2 566 case 8://→↓移動
yuki0701 0:44f9a43e4ab2 567 X=point_x1;
yuki0701 0:44f9a43e4ab2 568 Y=point_y2;
yuki0701 0:44f9a43e4ab2 569
yuki0701 0:44f9a43e4ab2 570 for(s=0; s<((90/theta)+1); s++) {
yuki0701 0:44f9a43e4ab2 571 plotx[s] = X + a * cos(PI/2 - s * (PI*theta/180));
yuki0701 0:44f9a43e4ab2 572 ploty[s] = Y + b * sin(PI/2 - s * (PI*theta/180));
yuki0701 0:44f9a43e4ab2 573 //debug_printf("plotx[%d]=%f ploty[%d]=%f\n\r",s,plotx[s],s,ploty[s]);
yuki0701 0:44f9a43e4ab2 574 }
yuki0701 0:44f9a43e4ab2 575 break;
yuki0701 0:44f9a43e4ab2 576 }
yuki0701 0:44f9a43e4ab2 577
yuki0701 0:44f9a43e4ab2 578 while(1) {
yuki0701 0:44f9a43e4ab2 579
yuki0701 0:44f9a43e4ab2 580 if(id1_value[0] != 1)break;
yuki0701 0:44f9a43e4ab2 581 if(id1_value[6] != flag)break;
yuki0701 0:44f9a43e4ab2 582
yuki0701 0:44f9a43e4ab2 583 calc_xy(target_angle,u,v);
yuki0701 0:44f9a43e4ab2 584
yuki0701 0:44f9a43e4ab2 585 XYRmotorout(plotx[t],ploty[t],plotx[t+1],ploty[t+1],&x_out,&y_out,&r_out,speed,speed);
yuki0701 0:44f9a43e4ab2 586 CalMotorOut(x_out,y_out,r_out);
yuki0701 0:44f9a43e4ab2 587 //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 0:44f9a43e4ab2 588
yuki0701 0:44f9a43e4ab2 589 base(GetMotorOut(0),GetMotorOut(1),GetMotorOut(2),GetMotorOut(3),v_base); //m1～m4に代入
yuki0701 0:44f9a43e4ab2 590 //debug_printf("t=%d (0)=%f (1)=%f (2)=%f (3)=%f\n\r",t,GetMotorOut(0),GetMotorOut(1),GetMotorOut(2),GetMotorOut(3));
yuki0701 0:44f9a43e4ab2 591
yuki0701 0:44f9a43e4ab2 592 if(((plotx[t+1] - now_x)*(plotx[t+1] - plotx[t]) + (ploty[t+1] - now_y)*(ploty[t+1] - ploty[t])) < 0)t++;
yuki0701 0:44f9a43e4ab2 593
yuki0701 0:44f9a43e4ab2 594 // MaxonControl(m1,m2,m3,m4); //出力
yuki0701 0:44f9a43e4ab2 595 // 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 0:44f9a43e4ab2 596
yuki0701 0:44f9a43e4ab2 597 if(t == (90/theta))break;
yuki0701 0:44f9a43e4ab2 598 }
yuki0701 0:44f9a43e4ab2 599 }
yuki0701 0:44f9a43e4ab2 600
yuki0701 0:44f9a43e4ab2 601 void gogo_straight(double u,double v, //直線運動プログラム
yuki0701 0:44f9a43e4ab2 602 double x1_point,double y1_point,
yuki0701 0:44f9a43e4ab2 603 double x2_point,double y2_point,
yuki0701 0:44f9a43e4ab2 604 double speed1,double speed2,
yuki0701 0:44f9a43e4ab2 605 double q_p,double q_d,
yuki0701 0:44f9a43e4ab2 606 double r_p,double r_d,
yuki0701 0:44f9a43e4ab2 607 double r_out_max,
yuki0701 0:44f9a43e4ab2 608 double target_angle,double v_base, double q_out_max)
yuki0701 0:44f9a43e4ab2 609 //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
yuki0701 0:44f9a43e4ab2 610 {
yuki0701 0:44f9a43e4ab2 611 //-----PathFollowingのパラメーター設定-----//
yuki0701 0:44f9a43e4ab2 612 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 0:44f9a43e4ab2 613 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 0:44f9a43e4ab2 614 set_r_out(r_out_max); //旋回時の最大出力値設定関数
yuki0701 0:44f9a43e4ab2 615 set_q_out(q_out_max);
yuki0701 0:44f9a43e4ab2 616 set_target_angle(target_angle); //機体目標角度設定関数
yuki0701 0:44f9a43e4ab2 617
yuki0701 0:44f9a43e4ab2 618 while (1) {
yuki0701 0:44f9a43e4ab2 619
yuki0701 0:44f9a43e4ab2 620 if(id1_value[0] != 1)break;
yuki0701 0:44f9a43e4ab2 621 if(id1_value[6] != flag)break;
yuki0701 0:44f9a43e4ab2 622
yuki0701 0:44f9a43e4ab2 623 calc_xy(target_angle,u,v);
yuki0701 0:44f9a43e4ab2 624
yuki0701 0:44f9a43e4ab2 625 XYRmotorout(x1_point,y1_point,x2_point,y2_point,&x_out,&y_out,&r_out,speed1,speed2);
yuki0701 0:44f9a43e4ab2 626 //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);
yuki0701 0:44f9a43e4ab2 627
yuki0701 0:44f9a43e4ab2 628 CalMotorOut(x_out,y_out,r_out);
yuki0701 0:44f9a43e4ab2 629 //printf("out1=%lf, out2=%lf, out3=%lf, out4=%lf\n",GetMotorOut(0),GetMotorOut(1),GetMotorOut(2),GetMotorOut(3));
yuki0701 0:44f9a43e4ab2 630
yuki0701 0:44f9a43e4ab2 631 base(GetMotorOut(0),GetMotorOut(1),GetMotorOut(2),GetMotorOut(3),v_base);
yuki0701 0:44f9a43e4ab2 632 //printf("m1=%d, m2=%d, m3=%d, m4=%d\r\n",m_1,m_2,m_3,m_4);
yuki0701 0:44f9a43e4ab2 633
yuki0701 0:44f9a43e4ab2 634 // MaxonControl(m1,m2,m3,m4);
yuki0701 0:44f9a43e4ab2 635 // 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 0:44f9a43e4ab2 636 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 0:44f9a43e4ab2 637 //printf("usw2 = %f usw4 = %f x=%f y=%f angle=%f\n\r",usw_data2,usw_data4,now_x,now_y,now_angle);
yuki0701 0:44f9a43e4ab2 638
yuki0701 0:44f9a43e4ab2 639 if(((x2_point - now_x)*(x2_point - x1_point) + (y2_point - now_y)*(y2_point - y1_point)) < 0)break;
yuki0701 0:44f9a43e4ab2 640 }
yuki0701 0:44f9a43e4ab2 641 }
yuki0701 0:44f9a43e4ab2 642
yuki0701 0:44f9a43e4ab2 643
yuki0701 0:44f9a43e4ab2 644
yuki0701 0:44f9a43e4ab2 645 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 0:44f9a43e4ab2 646 {
yuki0701 0:44f9a43e4ab2 647 // i:0~(制御点の個数-1)
yuki0701 0:44f9a43e4ab2 648 // k:スプライト曲線の次元
yuki0701 0:44f9a43e4ab2 649 // t:0~(ノットベクトルの最大値)
yuki0701 0:44f9a43e4ab2 650 // nv[]:ノットベクトル
yuki0701 0:44f9a43e4ab2 651 double w1 = 0.0, w2 = 0.0;
yuki0701 0:44f9a43e4ab2 652 if (k == 1) {
yuki0701 0:44f9a43e4ab2 653 if (t > nv[i] && t <= nv[i + 1])
yuki0701 0:44f9a43e4ab2 654 return 1.0;
yuki0701 0:44f9a43e4ab2 655 else
yuki0701 0:44f9a43e4ab2 656 return 0.0;
yuki0701 0:44f9a43e4ab2 657 } else {
yuki0701 0:44f9a43e4ab2 658 if ((nv[i + k] - nv[i + 1]) != 0) {
yuki0701 0:44f9a43e4ab2 659 w1 = ((nv[i + k] - t) / (nv[i + k] - nv[i + 1])) * spline_base(i + 1, k - 1, t, nv);
yuki0701 0:44f9a43e4ab2 660 //printf("%f\n\r",w1);
yuki0701 0:44f9a43e4ab2 661 }
yuki0701 0:44f9a43e4ab2 662 if ((nv[i + k - 1] - nv[i]) != 0) {
yuki0701 0:44f9a43e4ab2 663 w2 = ((t - nv[i]) / (nv[i + k - 1] - nv[i])) * spline_base(i, k - 1, t, nv);
yuki0701 0:44f9a43e4ab2 664 //printf("%f\n\r",w2);
yuki0701 0:44f9a43e4ab2 665 }
yuki0701 0:44f9a43e4ab2 666 return (w1 + w2);
yuki0701 0:44f9a43e4ab2 667 }
yuki0701 0:44f9a43e4ab2 668 }
yuki0701 0:44f9a43e4ab2 669
yuki0701 0:44f9a43e4ab2 670
yuki0701 0:44f9a43e4ab2 671 void spline_move(double u, double v,
yuki0701 0:44f9a43e4ab2 672 double st_x,double st_y,double end_x,double end_y,
yuki0701 0:44f9a43e4ab2 673 double cont1_x,double cont1_y,double cont2_x,double cont2_y,
yuki0701 0:44f9a43e4ab2 674 double st_speed, double end_speed,
yuki0701 0:44f9a43e4ab2 675 double q_p,double q_d,
yuki0701 0:44f9a43e4ab2 676 double r_p,double r_d,
yuki0701 0:44f9a43e4ab2 677 double r_out_max,
yuki0701 0:44f9a43e4ab2 678 double target_angle, double v_base, double q_out_max, int num)
yuki0701 0:44f9a43e4ab2 679 {
yuki0701 0:44f9a43e4ab2 680 double dx, dy, dr;
yuki0701 0:44f9a43e4ab2 681 int nt[] = {0, 0, 0, 1, 2, 2, 2}; //ノットベクトル
yuki0701 0:44f9a43e4ab2 682 //dr = (end_angle - st_angle) / num;
yuki0701 0:44f9a43e4ab2 683 int ds = (end_speed - st_speed) / num;
yuki0701 0:44f9a43e4ab2 684
yuki0701 0:44f9a43e4ab2 685 //-----PathFollowingのパラメーター設定-----//
yuki0701 0:44f9a43e4ab2 686 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 0:44f9a43e4ab2 687 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 0:44f9a43e4ab2 688 set_r_out(r_out_max); //旋回時の最大出力値設定関数
yuki0701 0:44f9a43e4ab2 689 set_q_out(q_out_max);
yuki0701 0:44f9a43e4ab2 690 set_target_angle(target_angle); //機体目標角度設定関数
yuki0701 0:44f9a43e4ab2 691
yuki0701 0:44f9a43e4ab2 692 double plotx[num + 1]; //楕円にとるplotのx座標
yuki0701 0:44f9a43e4ab2 693 double ploty[num + 1];
yuki0701 0:44f9a43e4ab2 694 double value_t;
yuki0701 0:44f9a43e4ab2 695 int i, j;
yuki0701 0:44f9a43e4ab2 696 int t = 0;
yuki0701 0:44f9a43e4ab2 697 // for(i = 0; i < 7; i++){
yuki0701 0:44f9a43e4ab2 698 // printf("not_V = %d\n\r",nt[i]);
yuki0701 0:44f9a43e4ab2 699 // }
yuki0701 0:44f9a43e4ab2 700 for (i = 0; i < num + 1; i++) {
yuki0701 0:44f9a43e4ab2 701 plotx[i] = 0.0;
yuki0701 0:44f9a43e4ab2 702 ploty[i] = 0.0;
yuki0701 0:44f9a43e4ab2 703 }
yuki0701 0:44f9a43e4ab2 704 printf("{\n");
yuki0701 0:44f9a43e4ab2 705 for (i = 0; i < num + 1; i++) {
yuki0701 0:44f9a43e4ab2 706 value_t = (double)2 * i / num;
yuki0701 0:44f9a43e4ab2 707 for (j = 0; j < 4; j++) {
yuki0701 0:44f9a43e4ab2 708 if (j == 0) {
yuki0701 0:44f9a43e4ab2 709 plotx[i] += st_x * spline_base(j, 3, value_t, nt);
yuki0701 0:44f9a43e4ab2 710 ploty[i] += st_y * spline_base(j, 3, value_t, nt);
yuki0701 0:44f9a43e4ab2 711 } else if (j == 1) {
yuki0701 0:44f9a43e4ab2 712 plotx[i] += cont1_x * spline_base(j, 3, value_t, nt);
yuki0701 0:44f9a43e4ab2 713 ploty[i] += cont1_y * spline_base(j, 3, value_t, nt);
yuki0701 0:44f9a43e4ab2 714 } else if (j == 2) {
yuki0701 0:44f9a43e4ab2 715 plotx[i] += cont2_x * spline_base(j, 3, value_t, nt);
yuki0701 0:44f9a43e4ab2 716 ploty[i] += cont2_y * spline_base(j, 3, value_t, nt);
yuki0701 0:44f9a43e4ab2 717 } else if (j == 3) {
yuki0701 0:44f9a43e4ab2 718 plotx[i] += end_x * spline_base(j, 3, value_t, nt);
yuki0701 0:44f9a43e4ab2 719 ploty[i] += end_y * spline_base(j, 3, value_t, nt);
yuki0701 0:44f9a43e4ab2 720 }
yuki0701 0:44f9a43e4ab2 721 }
yuki0701 0:44f9a43e4ab2 722 //printf("plot_x = %f, plot_y = %f\n\r", plotx[i], ploty[i]);
yuki0701 0:44f9a43e4ab2 723 }
yuki0701 0:44f9a43e4ab2 724 while(1) {
yuki0701 0:44f9a43e4ab2 725
yuki0701 0:44f9a43e4ab2 726 if(id1_value[0] != 1)break;
yuki0701 0:44f9a43e4ab2 727 if(id1_value[6] != flag)break;
yuki0701 0:44f9a43e4ab2 728
yuki0701 0:44f9a43e4ab2 729 calc_xy(target_angle,u,v);
yuki0701 0:44f9a43e4ab2 730
yuki0701 0:44f9a43e4ab2 731 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 0:44f9a43e4ab2 732 CalMotorOut(x_out,y_out,r_out);
yuki0701 0:44f9a43e4ab2 733 //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 0:44f9a43e4ab2 734
yuki0701 0:44f9a43e4ab2 735 base(GetMotorOut(0),GetMotorOut(1),GetMotorOut(2),GetMotorOut(3),v_base); //m1～m4に代入
yuki0701 0:44f9a43e4ab2 736 //debug_printf("t=%d (0)=%f (1)=%f (2)=%f (3)=%f\n\r",t,GetMotorOut(0),GetMotorOut(1),GetMotorOut(2),GetMotorOut(3));
yuki0701 0:44f9a43e4ab2 737
yuki0701 0:44f9a43e4ab2 738 if(((plotx[t+1] - now_x)*(plotx[t+1] - plotx[t]) + (ploty[t+1] - now_y)*(ploty[t+1] - ploty[t])) < 0)t++;
yuki0701 0:44f9a43e4ab2 739
yuki0701 0:44f9a43e4ab2 740 // MaxonControl(m1,m2,m3,m4); //出力
yuki0701 0:44f9a43e4ab2 741 // 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 0:44f9a43e4ab2 742 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 0:44f9a43e4ab2 743
yuki0701 0:44f9a43e4ab2 744 if(t == num)break;
yuki0701 0:44f9a43e4ab2 745 }
yuki0701 0:44f9a43e4ab2 746
yuki0701 0:44f9a43e4ab2 747 }
yuki0701 0:44f9a43e4ab2 748
yuki0701 0:44f9a43e4ab2 749
yuki0701 0:44f9a43e4ab2 750
yuki0701 0:44f9a43e4ab2 751
yuki0701 0:44f9a43e4ab2 752 /*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)
yuki0701 0:44f9a43e4ab2 753 {
yuki0701 0:44f9a43e4ab2 754
yuki0701 0:44f9a43e4ab2 755 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
yuki0701 0:44f9a43e4ab2 756 double out;
yuki0701 0:44f9a43e4ab2 757
yuki0701 0:44f9a43e4ab2 758 calc_xy(tgt_angle, u, v);
yuki0701 0:44f9a43e4ab2 759
yuki0701 0:44f9a43e4ab2 760 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 0:44f9a43e4ab2 761 gogo_straight(u,v,now_x,now_y,tgt_x,tgt_y,200,50,5,0.1,10,0.1,500,tgt_angle);
yuki0701 0:44f9a43e4ab2 762 MaxonControl(0,0,0,0);
yuki0701 0:44f9a43e4ab2 763
yuki0701 0:44f9a43e4ab2 764 calc_xy(tgt_angle, u, v);
yuki0701 0:44f9a43e4ab2 765
yuki0701 0:44f9a43e4ab2 766 r=hypot(now_x - tgt_x, now_y - tgt_y);
yuki0701 0:44f9a43e4ab2 767
yuki0701 0:44f9a43e4ab2 768 if(r < R) break;
yuki0701 0:44f9a43e4ab2 769 if(id1_value[0] != 1)break;
yuki0701 0:44f9a43e4ab2 770 }
yuki0701 0:44f9a43e4ab2 771
yuki0701 0:44f9a43e4ab2 772 while(1) {
yuki0701 0:44f9a43e4ab2 773
yuki0701 0:44f9a43e4ab2 774 calc_gyro();
yuki0701 0:44f9a43e4ab2 775
yuki0701 0:44f9a43e4ab2 776 out = 10 * (tgt_angle - now_angle);
yuki0701 0:44f9a43e4ab2 777
yuki0701 0:44f9a43e4ab2 778 if(out > 300) { //0～179°のときは時計回りに回転
yuki0701 0:44f9a43e4ab2 779 MaxonControl(300,300,300,300);
yuki0701 0:44f9a43e4ab2 780 } else if(out < -300) {
yuki0701 0:44f9a43e4ab2 781 MaxonControl(-300,-300,-300,-300);
yuki0701 0:44f9a43e4ab2 782 } else if(out <= 300 && out > -300) {
yuki0701 0:44f9a43e4ab2 783 MaxonControl(out,out,out,out);
yuki0701 0:44f9a43e4ab2 784 }
yuki0701 0:44f9a43e4ab2 785
yuki0701 0:44f9a43e4ab2 786 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
yuki0701 0:44f9a43e4ab2 787 if(id1_value[0] != 1)break;
yuki0701 0:44f9a43e4ab2 788 }
yuki0701 0:44f9a43e4ab2 789 MaxonControl(0,0,0,0);
yuki0701 0:44f9a43e4ab2 790 }*/
yuki0701 0:44f9a43e4ab2 791
yuki0701 0:44f9a43e4ab2 792 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)
yuki0701 0:44f9a43e4ab2 793 {
yuki0701 0:44f9a43e4ab2 794 //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）
yuki0701 0:44f9a43e4ab2 795
yuki0701 0:44f9a43e4ab2 796 double first_speed, first_speed50 = 10, last_speed = 10, Max_speed = 500, speed5 = 20;
yuki0701 0:44f9a43e4ab2 797 double r, R=25; // 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
yuki0701 0:44f9a43e4ab2 798 double out;
yuki0701 0:44f9a43e4ab2 799
yuki0701 0:44f9a43e4ab2 800 calc_xy(tgt_angle, u, v);
yuki0701 0:44f9a43e4ab2 801
yuki0701 0:44f9a43e4ab2 802 //r = hypot(now_x - tgt_x, now_y - tgt_y);
yuki0701 0:44f9a43e4ab2 803
yuki0701 0:44f9a43e4ab2 804 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 0:44f9a43e4ab2 805 //printf("col\n\n\n");
yuki0701 0:44f9a43e4ab2 806 if(id1_value[0] != 1)break;
yuki0701 0:44f9a43e4ab2 807 if(id1_value[6] != flag)break;
yuki0701 0:44f9a43e4ab2 808
yuki0701 0:44f9a43e4ab2 809 //first_speed = first_speed50 * r / 50;
yuki0701 0:44f9a43e4ab2 810
yuki0701 0:44f9a43e4ab2 811 /*if(first_speed > Max_speed){
yuki0701 0:44f9a43e4ab2 812 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);
yuki0701 0:44f9a43e4ab2 813 }else{
yuki0701 0:44f9a43e4ab2 814 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);
yuki0701 0:44f9a43e4ab2 815 }*/
yuki0701 0:44f9a43e4ab2 816
yuki0701 0:44f9a43e4ab2 817 //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 0:44f9a43e4ab2 818
yuki0701 0:44f9a43e4ab2 819 int diff_sm = hypot(now_x-tgt_x,now_y-tgt_y);
yuki0701 0:44f9a43e4ab2 820
yuki0701 0:44f9a43e4ab2 821 int f_speed = diff_sm / 5 * (speed5 - last_speed);
yuki0701 0:44f9a43e4ab2 822 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, 70);
yuki0701 0:44f9a43e4ab2 823 //gogo_straight(1,1,0,0,200,0,50,500,5,0.1,10,0.1,50,0);
yuki0701 0:44f9a43e4ab2 824 //gogo_straight(u,v,now_x,now_y,0,100,first_speed50,last_speed,5,0.1,10,0.1,500,tgt_angle);
yuki0701 0:44f9a43e4ab2 825
yuki0701 0:44f9a43e4ab2 826 // MaxonControl(0,0,0,0);
yuki0701 0:44f9a43e4ab2 827 m1 = 0;
yuki0701 0:44f9a43e4ab2 828 m2 = 0;
yuki0701 0:44f9a43e4ab2 829 m3 = 0;
yuki0701 0:44f9a43e4ab2 830 m4 = 0;
yuki0701 0:44f9a43e4ab2 831
yuki0701 0:44f9a43e4ab2 832 calc_xy(tgt_angle, u, v);
yuki0701 0:44f9a43e4ab2 833
yuki0701 0:44f9a43e4ab2 834 r=hypot(now_x - tgt_x, now_y - tgt_y);
yuki0701 0:44f9a43e4ab2 835
yuki0701 0:44f9a43e4ab2 836 if(r < R) break;
yuki0701 0:44f9a43e4ab2 837 }
yuki0701 0:44f9a43e4ab2 838
yuki0701 0:44f9a43e4ab2 839 while(1) {
yuki0701 0:44f9a43e4ab2 840
yuki0701 0:44f9a43e4ab2 841 if(id1_value[0] != 1)break;
yuki0701 0:44f9a43e4ab2 842 if(id1_value[6] != flag)break;
yuki0701 0:44f9a43e4ab2 843
yuki0701 0:44f9a43e4ab2 844 //calc_gyro();
yuki0701 0:44f9a43e4ab2 845 // now_angle=gyro.getAngle();
yuki0701 0:44f9a43e4ab2 846 now_angle = -gyro.getZ_Angle() + angle_base;
yuki0701 0:44f9a43e4ab2 847 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 0:44f9a43e4ab2 848 else if(now_angle > tgt_angle + 1)out = 5 * (tgt_angle - now_angle + 1);
yuki0701 0:44f9a43e4ab2 849 else if(tgt_angle - 1 > now_angle)out = 5 * (tgt_angle - now_angle - 1);
yuki0701 0:44f9a43e4ab2 850
yuki0701 0:44f9a43e4ab2 851 printf("angle = %f out = %f\n\r",now_angle,out);
yuki0701 0:44f9a43e4ab2 852
yuki0701 0:44f9a43e4ab2 853 if(out > 100) { //0～179°のときは時計回りに回転
yuki0701 0:44f9a43e4ab2 854 // MaxonControl(-300,-300,-300,-300);
yuki0701 0:44f9a43e4ab2 855 m1 = -100;
yuki0701 0:44f9a43e4ab2 856 m2 = -100;
yuki0701 0:44f9a43e4ab2 857 m3 = -100;
yuki0701 0:44f9a43e4ab2 858 m4 = -100;
yuki0701 0:44f9a43e4ab2 859
yuki0701 0:44f9a43e4ab2 860 } else if(out < -100) {
yuki0701 0:44f9a43e4ab2 861 // MaxonControl(300,300,300,300);
yuki0701 0:44f9a43e4ab2 862 m1 = 100;
yuki0701 0:44f9a43e4ab2 863 m2 = 100;
yuki0701 0:44f9a43e4ab2 864 m3 = 100;
yuki0701 0:44f9a43e4ab2 865 m4 = 100;
yuki0701 0:44f9a43e4ab2 866 } else if(out <= 100 && out > -100) {
yuki0701 0:44f9a43e4ab2 867 // MaxonControl(-out,-out,-out,-out);
yuki0701 0:44f9a43e4ab2 868 m1 = -out;
yuki0701 0:44f9a43e4ab2 869 m2 = -out;
yuki0701 0:44f9a43e4ab2 870 m3 = -out;
yuki0701 0:44f9a43e4ab2 871 m4 = -out;
yuki0701 0:44f9a43e4ab2 872 }
yuki0701 0:44f9a43e4ab2 873
yuki0701 0:44f9a43e4ab2 874 /* if(out > 100) { //0～179°のときは時計回りに回転
yuki0701 0:44f9a43e4ab2 875 // MaxonControl(-300,-300,-300,-300);
yuki0701 0:44f9a43e4ab2 876 m1 = 9900;
yuki0701 0:44f9a43e4ab2 877 m2 = 9900;
yuki0701 0:44f9a43e4ab2 878 m3 = 9900;
yuki0701 0:44f9a43e4ab2 879 m4 = 9900;
yuki0701 0:44f9a43e4ab2 880
yuki0701 0:44f9a43e4ab2 881 } else if(out < -100) {
yuki0701 0:44f9a43e4ab2 882 // MaxonControl(300,300,300,300);
yuki0701 0:44f9a43e4ab2 883 m1 = 10100;
yuki0701 0:44f9a43e4ab2 884 m2 = 10100;
yuki0701 0:44f9a43e4ab2 885 m3 = 10100;
yuki0701 0:44f9a43e4ab2 886 m4 = 10100;
yuki0701 0:44f9a43e4ab2 887 } else if(out <= 100 && out > -100) {
yuki0701 0:44f9a43e4ab2 888 // MaxonControl(-out,-out,-out,-out);
yuki0701 0:44f9a43e4ab2 889 m1 = -out + 10000;
yuki0701 0:44f9a43e4ab2 890 m2 = -out + 10000;
yuki0701 0:44f9a43e4ab2 891 m3 = -out + 10000;
yuki0701 0:44f9a43e4ab2 892 m4 = -out + 10000;
yuki0701 0:44f9a43e4ab2 893 }*/
yuki0701 0:44f9a43e4ab2 894
yuki0701 0:44f9a43e4ab2 895 }
yuki0701 0:44f9a43e4ab2 896 // MaxonControl(0,0,0,0);
yuki0701 0:44f9a43e4ab2 897 m1 = 0;
yuki0701 0:44f9a43e4ab2 898 m2 = 0;
yuki0701 0:44f9a43e4ab2 899 m3 = 0;
yuki0701 0:44f9a43e4ab2 900 m4 = 0;
yuki0701 0:44f9a43e4ab2 901 }
yuki0701 0:44f9a43e4ab2 902
yuki0701 0:44f9a43e4ab2 903 void mt_stop()
yuki0701 0:44f9a43e4ab2 904 {
yuki0701 0:44f9a43e4ab2 905 m1 = 0;
yuki0701 0:44f9a43e4ab2 906 m2 = 0;
yuki0701 0:44f9a43e4ab2 907 m3 = 0;
yuki0701 0:44f9a43e4ab2 908 m4 = 0;
yuki0701 0:44f9a43e4ab2 909 printf("motor stop\n\r");
yuki0701 0:44f9a43e4ab2 910 }
yuki0701 0:44f9a43e4ab2 911
yuki0701 0:44f9a43e4ab2 912 void mt_check(double out, int dr)
yuki0701 0:44f9a43e4ab2 913 {
yuki0701 0:44f9a43e4ab2 914 // dr→ 1:x+ 2:x- 3:y+ 4:y-
yuki0701 0:44f9a43e4ab2 915 while(1) {
yuki0701 0:44f9a43e4ab2 916 if(dr == 1) {
yuki0701 0:44f9a43e4ab2 917 m1 = out;
yuki0701 0:44f9a43e4ab2 918 m2 = -out;
yuki0701 0:44f9a43e4ab2 919 m3 = -out;
yuki0701 0:44f9a43e4ab2 920 m4 = out;
yuki0701 0:44f9a43e4ab2 921 } else if(dr == 2) {
yuki0701 0:44f9a43e4ab2 922 m1 = -out;
yuki0701 0:44f9a43e4ab2 923 m2 = out;
yuki0701 0:44f9a43e4ab2 924 m3 = out;
yuki0701 0:44f9a43e4ab2 925 m4 = -out;
yuki0701 0:44f9a43e4ab2 926 } else if(dr == 3) {
yuki0701 0:44f9a43e4ab2 927 m1 = out;
yuki0701 0:44f9a43e4ab2 928 m2 = out;
yuki0701 0:44f9a43e4ab2 929 m3 = -out;
yuki0701 0:44f9a43e4ab2 930 m4 = -out;
yuki0701 0:44f9a43e4ab2 931 } else if(dr == 4) {
yuki0701 0:44f9a43e4ab2 932 m1 = -out;
yuki0701 0:44f9a43e4ab2 933 m2 = -out;
yuki0701 0:44f9a43e4ab2 934 m3 = out;
yuki0701 0:44f9a43e4ab2 935 m4 = out;
yuki0701 0:44f9a43e4ab2 936 }
yuki0701 0:44f9a43e4ab2 937
yuki0701 0:44f9a43e4ab2 938 printf("motor check out = %f\n\r",out);
yuki0701 0:44f9a43e4ab2 939 }
yuki0701 0:44f9a43e4ab2 940 }