2020_TeamA / Mbed 2 deprecated Yoshida_MiniRobo

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Dependencies:   mbed YKNCT_Movement SBDBT BNO055 YKNCT_MD YKNCT_I2C

main.cpp@14:18ec50f38993, 2020-03-17 (annotated)

Committer:
TakushimaYukimasa
Date:
Tue Mar 17 14:08:44 2020 +0000
Revision:
14:18ec50f38993
Parent:
13:c8af1467ba8b
Child:
15:909c23ab7f0c
clean add commentout; byTakushima

Who changed what in which revision?

UserRevisionLine numberNew contents of line
TakushimaYukimasa 0:9e851dc42cde 1 /**
TakushimaYukimasa 0:9e851dc42cde 2 ********************************************************************************
TakushimaYukimasa 0:9e851dc42cde 3 * @file main.c
TakushimaYukimasa 0:9e851dc42cde 4 * @author You
TakushimaYukimasa 0:9e851dc42cde 5 * @version V?.?.?
TakushimaYukimasa 0:9e851dc42cde 6 * @date Today
TakushimaYukimasa 0:9e851dc42cde 7 * @brief メインファイル
TakushimaYukimasa 0:9e851dc42cde 8 ******************************************************************************
TakushimaYukimasa 0:9e851dc42cde 9 */
TakushimaYukimasa 0:9e851dc42cde 10
TakushimaYukimasa 0:9e851dc42cde 11 /* Includes ------------------------------------------------------------------*/
TakushimaYukimasa 0:9e851dc42cde 12 #include <main.h>
TakushimaYukimasa 0:9e851dc42cde 13
TakushimaYukimasa 0:9e851dc42cde 14 /* 型定義 --------------------------------------------------------------------*/
TakushimaYukimasa 0:9e851dc42cde 15
TakushimaYukimasa 0:9e851dc42cde 16 /* ロボットの加速度 */
TakushimaYukimasa 0:9e851dc42cde 17 ROCATION NowAcc;
TakushimaYukimasa 0:9e851dc42cde 18 /* ロボットの座標 */
TakushimaYukimasa 0:9e851dc42cde 19 ROCATION NowLoc;
TakushimaYukimasa 0:9e851dc42cde 20
TakushimaYukimasa 0:9e851dc42cde 21 /* 定数定義 ------------------------------------------------------------------*/
TakushimaYukimasa 0:9e851dc42cde 22 /* マクロ定義 ----------------------------------------------------------------*/
TakushimaYukimasa 0:9e851dc42cde 23 /* 関数プロトタイプ宣言 -------------------------------------------------------*/
TakushimaYukimasa 0:9e851dc42cde 24
TakushimaYukimasa 0:9e851dc42cde 25 /* タイマ呼び出し用 */
TakushimaYukimasa 0:9e851dc42cde 26 void IT_CallBack(void);
TakushimaYukimasa 0:9e851dc42cde 27
TakushimaYukimasa 0:9e851dc42cde 28 /* 自己位置推定処理 */
TakushimaYukimasa 0:9e851dc42cde 29 void LocEstimate(void);
TakushimaYukimasa 0:9e851dc42cde 30
yoshidayuito 7:8bea84f72e64 31 /* 壁あて */
yoshidayuito 7:8bea84f72e64 32 void ToWall(void);
TakushimaYukimasa 0:9e851dc42cde 33
yoshidayuito 13:c8af1467ba8b 34 /* x座標移動 */
yoshidayuito 13:c8af1467ba8b 35 int XCooMove(int Tar,int Err);
yoshidayuito 13:c8af1467ba8b 36
TakushimaYukimasa 0:9e851dc42cde 37 /* 変数定義 ------------------------------------------------------------------*/
TakushimaYukimasa 0:9e851dc42cde 38
TakushimaYukimasa 0:9e851dc42cde 39 /* 操作権 0…なし 1…手動 2…自動 */
TakushimaYukimasa 0:9e851dc42cde 40 int operate=0;
TakushimaYukimasa 0:9e851dc42cde 41
TakushimaYukimasa 0:9e851dc42cde 42 /* 自動シーケンス */
TakushimaYukimasa 0:9e851dc42cde 43 int auto_mode=0;
TakushimaYukimasa 0:9e851dc42cde 44
TakushimaYukimasa 0:9e851dc42cde 45 /* 直読みエンコーダ角度保存(degree) */
TakushimaYukimasa 0:9e851dc42cde 46 double EncoderDeg[EncoderMAX] = {0};
TakushimaYukimasa 0:9e851dc42cde 47
TakushimaYukimasa 0:9e851dc42cde 48 /* 足回り値保存変数 */
yoshidayuito 7:8bea84f72e64 49 int MovMotor[4]= {0};
TakushimaYukimasa 0:9e851dc42cde 50
TakushimaYukimasa 0:9e851dc42cde 51 /* 自動yaw補整目標角度 */
TakushimaYukimasa 0:9e851dc42cde 52 double TarTheta=0;
TakushimaYukimasa 0:9e851dc42cde 53
yoshidayuito 13:c8af1467ba8b 54
TakushimaYukimasa 0:9e851dc42cde 55 /* クラス定義 ----------------------------------------------------------------*/
TakushimaYukimasa 0:9e851dc42cde 56
TakushimaYukimasa 0:9e851dc42cde 57 /* 割り込み用クラス */
TakushimaYukimasa 0:9e851dc42cde 58 Ticker flipper;
TakushimaYukimasa 0:9e851dc42cde 59
TakushimaYukimasa 0:9e851dc42cde 60 /* UART (Tx,Rx) */
TakushimaYukimasa 0:9e851dc42cde 61 Serial telemetry(USBTX, USBRX, 115200);
TakushimaYukimasa 0:9e851dc42cde 62
TakushimaYukimasa 0:9e851dc42cde 63 /* コントローラー */
TakushimaYukimasa 0:9e851dc42cde 64 SBDBT DS3(PA_0, PA_1, 9600);
TakushimaYukimasa 0:9e851dc42cde 65
TakushimaYukimasa 0:9e851dc42cde 66 /* オンボードLED */
TakushimaYukimasa 0:9e851dc42cde 67 DigitalOut led(LED2);
TakushimaYukimasa 0:9e851dc42cde 68
TakushimaYukimasa 0:9e851dc42cde 69 /* USERボタン */
TakushimaYukimasa 0:9e851dc42cde 70 DigitalIn UB(PC_13,PullDown);
TakushimaYukimasa 0:9e851dc42cde 71
TakushimaYukimasa 0:9e851dc42cde 72 /* エンコーダーピン CS */
TakushimaYukimasa 0:9e851dc42cde 73 DigitalOut CS[] = {PA_2,PA_3};
TakushimaYukimasa 0:9e851dc42cde 74 DigitalOut CL[] = {PA_4,PA_5};
TakushimaYukimasa 0:9e851dc42cde 75 DigitalIn DO[] = {PA_6,PA_7};
TakushimaYukimasa 0:9e851dc42cde 76
yoshidayuito 1:520233a969e2 77 /* ジャイロ用タイマー */
yoshidayuito 1:520233a969e2 78 Timer yawCnt;
yoshidayuito 1:520233a969e2 79
TakushimaYukimasa 0:9e851dc42cde 80 /* 足回り動作クラス定義 */
TakushimaYukimasa 0:9e851dc42cde 81 Move omuni(MovMotor,NowLoc.theta);
TakushimaYukimasa 0:9e851dc42cde 82
TakushimaYukimasa 0:9e851dc42cde 83 /* I2C MDのクラス定義 */
TakushimaYukimasa 0:9e851dc42cde 84 YKNCT_MD_I2C MD(PB_9,PB_8);
TakushimaYukimasa 0:9e851dc42cde 85
yoshidayuito 8:367c7d6ef5a3 86 /* I2C Inputのクラス定義 */
yoshidayuito 8:367c7d6ef5a3 87 YKNCT_I2C_IN In(PB_9,PB_8);
yoshidayuito 8:367c7d6ef5a3 88
TakushimaYukimasa 0:9e851dc42cde 89 /* ジャイロのピン設定 */
TakushimaYukimasa 0:9e851dc42cde 90 BNO055 bno(PB_9, PB_8);
TakushimaYukimasa 0:9e851dc42cde 91
TakushimaYukimasa 0:9e851dc42cde 92
TakushimaYukimasa 0:9e851dc42cde 93 /*----------------------------------- main ----------------------------------*/
TakushimaYukimasa 0:9e851dc42cde 94 int main()
TakushimaYukimasa 0:9e851dc42cde 95 {
yoshidayuito 7:8bea84f72e64 96 telemetry.printf("\n\rMainStart");
TakushimaYukimasa 0:9e851dc42cde 97
yoshidayuito 7:8bea84f72e64 98 /* 割り込みの設定
yoshidayuito 7:8bea84f72e64 99 * IT_CallBack関数を0.1msで割り込み */
yoshidayuito 7:8bea84f72e64 100 flipper.attach_us(&IT_CallBack, 100);
TakushimaYukimasa 0:9e851dc42cde 101
yoshidayuito 7:8bea84f72e64 102 /* ジャイロの設定 */
yoshidayuito 7:8bea84f72e64 103 bno.setmode(OPERATION_MODE_IMUPLUS);
TakushimaYukimasa 0:9e851dc42cde 104
yoshidayuito 7:8bea84f72e64 105 /* I2CMDの設定 */
yoshidayuito 7:8bea84f72e64 106 MD.Init(0,MD_SMB);
yoshidayuito 7:8bea84f72e64 107 MD.Init(1,MD_SMB);
yoshidayuito 7:8bea84f72e64 108 MD.Init(2,MD_SMB);
yoshidayuito 7:8bea84f72e64 109 MD.Init(3,MD_SMB);
yoshidayuito 10:9ee22b22e583 110
yoshidayuito 8:367c7d6ef5a3 111 In.Init(0,0);
yoshidayuito 8:367c7d6ef5a3 112 In.Init(0,1);
TakushimaYukimasa 0:9e851dc42cde 113
yoshidayuito 7:8bea84f72e64 114 telemetry.printf("\n\rMainLoopStart");
yoshidayuito 7:8bea84f72e64 115 /* メインループ --------------------------------------------------------------*/
yoshidayuito 11:42310638e241 116 while(1) {
yoshidayuito 7:8bea84f72e64 117 /* オンボードLED点滅 */
yoshidayuito 7:8bea84f72e64 118 led=!led;
yoshidayuito 7:8bea84f72e64 119
yoshidayuito 7:8bea84f72e64 120 /* 表示改行 */
yoshidayuito 7:8bea84f72e64 121 telemetry.printf("\n\r");
TakushimaYukimasa 0:9e851dc42cde 122
yoshidayuito 7:8bea84f72e64 123 /* 自動処理関連テレメトリ */
yoshidayuito 7:8bea84f72e64 124 telemetry.printf("ope:%d ",operate);
yoshidayuito 7:8bea84f72e64 125 /* 座標テレメトリ */
yoshidayuito 7:8bea84f72e64 126 telemetry.printf("X:%4.0f Y:%4.0f T:%4.0f ",NowLoc.X,NowLoc.Y,NowLoc.theta);
TakushimaYukimasa 0:9e851dc42cde 127
yoshidayuito 7:8bea84f72e64 128 /* 自己位置推定更新 */
yoshidayuito 7:8bea84f72e64 129 LocEstimate();
TakushimaYukimasa 0:9e851dc42cde 130
TakushimaYukimasa 14:18ec50f38993 131
TakushimaYukimasa 14:18ec50f38993 132 /* オムニ分のMD代入 */
TakushimaYukimasa 14:18ec50f38993 133 OmuniExe;
TakushimaYukimasa 14:18ec50f38993 134
yoshidayuito 7:8bea84f72e64 135 /* I2CMD実行 */
yoshidayuito 7:8bea84f72e64 136 MD.Exe();
TakushimaYukimasa 0:9e851dc42cde 137
yoshidayuito 11:42310638e241 138 /* ジャイロ用タイマースタート */
yoshidayuito 7:8bea84f72e64 139 yawCnt.start();
yoshidayuito 11:42310638e241 140 /* ジャイロ用タイマーリセット */
yoshidayuito 7:8bea84f72e64 141 yawCnt.reset();
yoshidayuito 7:8bea84f72e64 142
yoshidayuito 7:8bea84f72e64 143 /* 操縦権変更 ×停止 △手動 〇自動 */
yoshidayuito 7:8bea84f72e64 144 if(DS3.CROSS) operate=0;
yoshidayuito 7:8bea84f72e64 145 if(DS3.TRIANGLE) operate=1;
yoshidayuito 7:8bea84f72e64 146 if(DS3.CIRCLE) operate=2;
TakushimaYukimasa 0:9e851dc42cde 147
yoshidayuito 7:8bea84f72e64 148 /* 操縦権：なし 停止動作 */
yoshidayuito 7:8bea84f72e64 149 if(operate==0) {
yoshidayuito 7:8bea84f72e64 150 /* 足回り停止 */
yoshidayuito 7:8bea84f72e64 151 omuni.XmarkOmni_Move(0,0,0);
yoshidayuito 10:9ee22b22e583 152
yoshidayuito 7:8bea84f72e64 153 }
yoshidayuito 7:8bea84f72e64 154 /* 操縦権：手動 */
yoshidayuito 7:8bea84f72e64 155 else if(operate==1) {
yoshidayuito 7:8bea84f72e64 156 /* 足回り手動動作 */
yoshidayuito 7:8bea84f72e64 157 int x_val = (double)(DS3.LX-64)*100/64;
yoshidayuito 7:8bea84f72e64 158 int y_val = (double)(64-DS3.LY)*100/64;
yoshidayuito 7:8bea84f72e64 159 int r_val = (double)(DS3.RX-64)*100/64;
yoshidayuito 7:8bea84f72e64 160
yoshidayuito 7:8bea84f72e64 161 /* タイマーをリセット */
yoshidayuito 7:8bea84f72e64 162 if(DS3.RX!=64) yawCnt.reset();
yoshidayuito 7:8bea84f72e64 163 /* 目標角度再設定 */
yoshidayuito 7:8bea84f72e64 164 if(yawCnt.read_ms()<1000) TarTheta=NowLoc.theta;
yoshidayuito 7:8bea84f72e64 165 /* r_val補正 */
yoshidayuito 7:8bea84f72e64 166 r_val+=(TarTheta-NowLoc.theta)*CONST_CORRECTION_YAW;
yoshidayuito 7:8bea84f72e64 167
yoshidayuito 7:8bea84f72e64 168 omuni.XmarkOmni_Move(x_val,y_val,r_val);
yoshidayuito 10:9ee22b22e583 169
yoshidayuito 9:94112b5df540 170 /* 壁あて実行 */
yoshidayuito 9:94112b5df540 171 if(DS3.R1) ToWall();
yoshidayuito 7:8bea84f72e64 172 }
yoshidayuito 7:8bea84f72e64 173 /* 操縦権：自動 */
yoshidayuito 7:8bea84f72e64 174 else if(operate==2) {
yoshidayuito 7:8bea84f72e64 175 switch(auto_mode) {
yoshidayuito 7:8bea84f72e64 176 /* スタート待機処理 */
yoshidayuito 7:8bea84f72e64 177 case 0:
yoshidayuito 7:8bea84f72e64 178 /* オンボードSWで次のステップに */
yoshidayuito 7:8bea84f72e64 179 if(UB) auto_mode++;
yoshidayuito 7:8bea84f72e64 180 break;
yoshidayuito 7:8bea84f72e64 181
yoshidayuito 7:8bea84f72e64 182 /* 〇〇の処理 */
yoshidayuito 7:8bea84f72e64 183 case 1:
yoshidayuito 13:c8af1467ba8b 184 /* 動作終了時次のステップに */
yoshidayuito 13:c8af1467ba8b 185 if(XCooMove(1000,50)==0)
yoshidayuito 13:c8af1467ba8b 186 auto_mode++;
TakushimaYukimasa 14:18ec50f38993 187
yoshidayuito 7:8bea84f72e64 188 break;
yoshidayuito 7:8bea84f72e64 189
yoshidayuito 7:8bea84f72e64 190 /* 終了処理 */
yoshidayuito 7:8bea84f72e64 191 default:
yoshidayuito 7:8bea84f72e64 192 auto_mode=0;
yoshidayuito 7:8bea84f72e64 193 operate=0;
yoshidayuito 7:8bea84f72e64 194 break;
yoshidayuito 7:8bea84f72e64 195 }
yoshidayuito 7:8bea84f72e64 196 }
yoshidayuito 7:8bea84f72e64 197
TakushimaYukimasa 0:9e851dc42cde 198 }
TakushimaYukimasa 0:9e851dc42cde 199 }
TakushimaYukimasa 0:9e851dc42cde 200
TakushimaYukimasa 0:9e851dc42cde 201
TakushimaYukimasa 0:9e851dc42cde 202 /*******************************************************************************
TakushimaYukimasa 0:9e851dc42cde 203 * @概要 自己位置推定関数
TakushimaYukimasa 0:9e851dc42cde 204 * @引数 なし
TakushimaYukimasa 0:9e851dc42cde 205 * @返り値 なし
TakushimaYukimasa 0:9e851dc42cde 206 *******************************************************************************/
yoshidayuito 7:8bea84f72e64 207 void LocEstimate(void)
yoshidayuito 7:8bea84f72e64 208 {
yoshidayuito 7:8bea84f72e64 209 static double GyroDeg[2]= {0};
yoshidayuito 7:8bea84f72e64 210 static double EncDeg[2][2]= {0};
yoshidayuito 7:8bea84f72e64 211 static double disp[3]= {0};
TakushimaYukimasa 0:9e851dc42cde 212
yoshidayuito 7:8bea84f72e64 213 /* ジャイロの値取得 */
yoshidayuito 7:8bea84f72e64 214 bno.get_angles();
yoshidayuito 7:8bea84f72e64 215 GyroDeg[1]=GyroDeg[0];
yoshidayuito 7:8bea84f72e64 216 GyroDeg[0]=bno.euler.yaw;
yoshidayuito 7:8bea84f72e64 217 if(GyroDeg[0]!=0) {
yoshidayuito 7:8bea84f72e64 218 /* 359→0を跨いだ時，前回の値を0から逆回転で負の値で表記 */
yoshidayuito 7:8bea84f72e64 219 if(GyroDeg[1]<90 && GyroDeg[0]>270) GyroDeg[1]+=360;
yoshidayuito 7:8bea84f72e64 220 /* 0→359を跨いだ時，前回の値を360以上の値で表記 */
yoshidayuito 7:8bea84f72e64 221 else if(GyroDeg[1]>270 && GyroDeg[0]<90) GyroDeg[1]-=360;
yoshidayuito 7:8bea84f72e64 222 /* 差を求める*/
yoshidayuito 7:8bea84f72e64 223 disp[2]=GyroDeg[1]-GyroDeg[0];
yoshidayuito 7:8bea84f72e64 224 }
TakushimaYukimasa 14:18ec50f38993 225 /* Enc1つの差分求める */
TakushimaYukimasa 14:18ec50f38993 226 for(int i=0; i<1; i++) {
yoshidayuito 7:8bea84f72e64 227 EncDeg[i][1]=EncDeg[i][0];
yoshidayuito 7:8bea84f72e64 228 EncDeg[i][0]=EncoderDeg[i];
yoshidayuito 7:8bea84f72e64 229 disp[i]=EncDeg[i][1]-EncDeg[i][0];
yoshidayuito 7:8bea84f72e64 230 }
yoshidayuito 7:8bea84f72e64 231 /* 差分を加速度として保存 */
yoshidayuito 7:8bea84f72e64 232 NowAcc.theta = disp[2];
TakushimaYukimasa 14:18ec50f38993 233 NowAcc.X = -disp[0] * cos(NowLoc.theta);
TakushimaYukimasa 14:18ec50f38993 234
yoshidayuito 7:8bea84f72e64 235 /* 差分を累積して現在位置を保存 */
yoshidayuito 7:8bea84f72e64 236 NowLoc.X += NowAcc.X;
yoshidayuito 7:8bea84f72e64 237 NowLoc.theta += NowAcc.theta;
TakushimaYukimasa 0:9e851dc42cde 238 }
TakushimaYukimasa 0:9e851dc42cde 239
TakushimaYukimasa 0:9e851dc42cde 240
TakushimaYukimasa 0:9e851dc42cde 241
TakushimaYukimasa 0:9e851dc42cde 242
TakushimaYukimasa 0:9e851dc42cde 243 /* 割り込み(100us) *************************************************************/
TakushimaYukimasa 0:9e851dc42cde 244 void IT_CallBack(void)
TakushimaYukimasa 0:9e851dc42cde 245 {
yoshidayuito 7:8bea84f72e64 246 static int cnt = 0;
yoshidayuito 7:8bea84f72e64 247 static int data[EncoderMAX] = {0};
yoshidayuito 7:8bea84f72e64 248 static double EncDeg[EncoderMAX][2] = {0};
TakushimaYukimasa 0:9e851dc42cde 249
yoshidayuito 7:8bea84f72e64 250 for(int i=0; i<EncoderMAX; i++)
yoshidayuito 7:8bea84f72e64 251 switch(cnt) {
yoshidayuito 7:8bea84f72e64 252 /* 最初の処理 */
yoshidayuito 7:8bea84f72e64 253 case 0:
yoshidayuito 7:8bea84f72e64 254 data[i] = 0;
yoshidayuito 7:8bea84f72e64 255 CS[i] = 0;
yoshidayuito 7:8bea84f72e64 256 CL[i] = 1;
yoshidayuito 7:8bea84f72e64 257 break;
yoshidayuito 7:8bea84f72e64 258 /* 最後の処理 */
yoshidayuito 7:8bea84f72e64 259 case 25:
yoshidayuito 7:8bea84f72e64 260 CS[i]=1;
yoshidayuito 7:8bea84f72e64 261 /* 前回の値更新 今回の値更新(エンコーダの値(0~4096)を角度(0~360)に) */
yoshidayuito 7:8bea84f72e64 262 EncDeg[i][1] = EncDeg[i][0];
yoshidayuito 7:8bea84f72e64 263 EncDeg[i][0] = (double)data[i] * 360.0 / 4096;
yoshidayuito 7:8bea84f72e64 264 /* 359→0を跨いだ時，前回の値を0から逆回転で負の値で表記 */
yoshidayuito 7:8bea84f72e64 265 if ((270 <= EncDeg[i][1]) && (EncDeg[i][0] < 90))
yoshidayuito 7:8bea84f72e64 266 EncDeg[i][1] -= 360;
yoshidayuito 7:8bea84f72e64 267 /* 0→359を跨いだ時，前回の値を360以上の値で表記 */
yoshidayuito 7:8bea84f72e64 268 else if ((EncDeg[i][1] < 90) && (270 <= EncDeg[i][0]))
yoshidayuito 7:8bea84f72e64 269 EncDeg[i][1] += 360;
yoshidayuito 7:8bea84f72e64 270 /* 差を求める*/
yoshidayuito 7:8bea84f72e64 271 EncoderDeg[i] += EncDeg[i][0] - EncDeg[i][1];
yoshidayuito 7:8bea84f72e64 272 break;
yoshidayuito 7:8bea84f72e64 273 /* 通常の処理 */
yoshidayuito 7:8bea84f72e64 274 default:
yoshidayuito 7:8bea84f72e64 275 CL[i]=!CL[i];
yoshidayuito 7:8bea84f72e64 276 /* 最初でも最後でもなく奇数回で最初以外の時読み取り処理 */
yoshidayuito 7:8bea84f72e64 277 if(cnt != 1 && cnt % 2) {
yoshidayuito 7:8bea84f72e64 278 data[i] |= (DO[i]==1);
yoshidayuito 7:8bea84f72e64 279 data[i] = data[i] << 1;
yoshidayuito 7:8bea84f72e64 280 }
yoshidayuito 7:8bea84f72e64 281 break;
yoshidayuito 7:8bea84f72e64 282 }
yoshidayuito 7:8bea84f72e64 283 cnt++;
yoshidayuito 7:8bea84f72e64 284 cnt%=26;
yoshidayuito 7:8bea84f72e64 285 }
yoshidayuito 7:8bea84f72e64 286
yoshidayuito 7:8bea84f72e64 287
yoshidayuito 7:8bea84f72e64 288
yoshidayuito 7:8bea84f72e64 289
yoshidayuito 7:8bea84f72e64 290 /*******************************************************************************
yoshidayuito 7:8bea84f72e64 291 * @概要 壁あて関数
yoshidayuito 7:8bea84f72e64 292 * @引数 なし
yoshidayuito 7:8bea84f72e64 293 * @返り値 なし
yoshidayuito 7:8bea84f72e64 294 *******************************************************************************/
yoshidayuito 7:8bea84f72e64 295 void ToWall(void)
yoshidayuito 7:8bea84f72e64 296 {
TakushimaYukimasa 14:18ec50f38993 297 /* 左側リミットに応じて左2輪の操作量を決める */
yoshidayuito 9:94112b5df540 298 if(In.Get(0)==0)
yoshidayuito 7:8bea84f72e64 299 for(int i=0; i<2; i++) MovMotor[i]-=10;
TakushimaYukimasa 14:18ec50f38993 300
TakushimaYukimasa 14:18ec50f38993 301 /* 右側リミットに応じて左2輪の操作量を決める */
yoshidayuito 9:94112b5df540 302 if(In.Get(1)==0)
yoshidayuito 7:8bea84f72e64 303 for(int i=2; i<4; i++) MovMotor[i]+=10;
yoshidayuito 10:9ee22b22e583 304 }
yoshidayuito 10:9ee22b22e583 305
yoshidayuito 10:9ee22b22e583 306
yoshidayuito 10:9ee22b22e583 307
yoshidayuito 10:9ee22b22e583 308 /*******************************************************************************
yoshidayuito 10:9ee22b22e583 309 * @概要 x座標移動関数
yoshidayuito 11:42310638e241 310 * @引数 Tar:目標値
yoshidayuito 10:9ee22b22e583 311 * @引数 Err :許容誤差
yoshidayuito 10:9ee22b22e583 312 * @返り値 val_p:残り距離
yoshidayuito 10:9ee22b22e583 313 *******************************************************************************/
yoshidayuito 11:42310638e241 314 int XCooMove(int Tar,int Err)
yoshidayuito 10:9ee22b22e583 315 {
TakushimaYukimasa 14:18ec50f38993 316 /* x座標移動初期化フラグ */
TakushimaYukimasa 14:18ec50f38993 317 static bool XCooMoveFlag=0;
TakushimaYukimasa 14:18ec50f38993 318
TakushimaYukimasa 14:18ec50f38993 319 /* x座標移動タイマー */
TakushimaYukimasa 14:18ec50f38993 320 static Timer CooCnt;
TakushimaYukimasa 14:18ec50f38993 321
TakushimaYukimasa 14:18ec50f38993 322 /* 速度 加速・減速・最終操作量 */
yoshidayuito 11:42310638e241 323 int val_p=0,val_t=0,val=0;
yoshidayuito 10:9ee22b22e583 324
TakushimaYukimasa 14:18ec50f38993 325 /* X座標移動最初だけ初期化 */
TakushimaYukimasa 14:18ec50f38993 326 if(XCooMoveFlag==0) {
yoshidayuito 13:c8af1467ba8b 327 /* タイマースタート */
yoshidayuito 13:c8af1467ba8b 328 CooCnt.start();
yoshidayuito 13:c8af1467ba8b 329 /* X座標移動用タイマーリセット */
yoshidayuito 13:c8af1467ba8b 330 CooCnt.reset();
TakushimaYukimasa 14:18ec50f38993 331 /* 初期化フラグ立てる */
TakushimaYukimasa 14:18ec50f38993 332 XCooMoveFlag=1;
yoshidayuito 13:c8af1467ba8b 333 }
yoshidayuito 10:9ee22b22e583 334
TakushimaYukimasa 14:18ec50f38993 335 /* 加速・減速それぞれ求める */
TakushimaYukimasa 14:18ec50f38993 336 val_p=(Tar-NowLoc.X)*CONST_ACC_X;
TakushimaYukimasa 14:18ec50f38993 337 val_t=CooCnt.read_ms()*CONST_DEC_X;
yoshidayuito 11:42310638e241 338
TakushimaYukimasa 14:18ec50f38993 339 /* 小さい方を操作量として採択 */
yoshidayuito 11:42310638e241 340 val=MIN(val_p,val_t);
yoshidayuito 10:9ee22b22e583 341
yoshidayuito 11:42310638e241 342 /* -100~100に調整 */
yoshidayuito 10:9ee22b22e583 343 if(val>100) val=100;
yoshidayuito 11:42310638e241 344 else if(val<-100) val=-100;
yoshidayuito 11:42310638e241 345
TakushimaYukimasa 14:18ec50f38993 346 /* X方向のみ操作量を与えてオムニ代入 */
yoshidayuito 10:9ee22b22e583 347 omuni.XmarkOmni_Move(val,0,0);
yoshidayuito 11:42310638e241 348
TakushimaYukimasa 14:18ec50f38993 349 /* 残り距離求める */
yoshidayuito 13:c8af1467ba8b 350 int RemDis=Tar-NowLoc.X;
yoshidayuito 11:42310638e241 351
TakushimaYukimasa 14:18ec50f38993 352 /* 終了条件満たしているなら終了処理 */
TakushimaYukimasa 14:18ec50f38993 353 if(RemDis<=Err) {
TakushimaYukimasa 14:18ec50f38993 354 /* フラグ回収 */
TakushimaYukimasa 14:18ec50f38993 355 XCooMoveFlag=0;
TakushimaYukimasa 14:18ec50f38993 356 return 0;
TakushimaYukimasa 14:18ec50f38993 357 }
TakushimaYukimasa 14:18ec50f38993 358 /* 満たしてないなら残り距離返す */
TakushimaYukimasa 14:18ec50f38993 359 else
TakushimaYukimasa 14:18ec50f38993 360 return RemDis;
TakushimaYukimasa 0:9e851dc42cde 361 }