2020_TeamA / Mbed 2 deprecated Yoshida_MiniRobo

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Dependencies:   mbed YKNCT_Movement SBDBT BNO055 YKNCT_MD YKNCT_I2C

main.cpp@22:9d77148a3f09, 2020-03-23 (annotated)

Committer:
yoshidayuito
Date:
Mon Mar 23 05:34:40 2020 +0000
Revision:
22:9d77148a3f09
Parent:
21:22b863d32705
Child:
23:98b634305bab
add KyoRobo Move;Ver.yoshida

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
yoshidayuito 16:ea3008995c41 37 /* ライン補正 */
yoshidayuito 17:5b4080915375 38 int LineCor(int Line_Dire);
yoshidayuito 16:ea3008995c41 39
yoshidayuito 22:9d77148a3f09 40 /* オムニ加算式 */
yoshidayuito 16:ea3008995c41 41 void SubOmuni(int X,int Y,int R);
yoshidayuito 16:ea3008995c41 42
TakushimaYukimasa 0:9e851dc42cde 43 /* 変数定義 ------------------------------------------------------------------*/
TakushimaYukimasa 0:9e851dc42cde 44
TakushimaYukimasa 0:9e851dc42cde 45 /* 操作権 0…なし 1…手動 2…自動 */
TakushimaYukimasa 0:9e851dc42cde 46 int operate=0;
TakushimaYukimasa 0:9e851dc42cde 47
TakushimaYukimasa 0:9e851dc42cde 48 /* 自動シーケンス */
TakushimaYukimasa 0:9e851dc42cde 49 int auto_mode=0;
TakushimaYukimasa 0:9e851dc42cde 50
TakushimaYukimasa 0:9e851dc42cde 51 /* 直読みエンコーダ角度保存(degree) */
TakushimaYukimasa 0:9e851dc42cde 52 double EncoderDeg[EncoderMAX] = {0};
TakushimaYukimasa 0:9e851dc42cde 53
TakushimaYukimasa 0:9e851dc42cde 54 /* 足回り値保存変数 */
yoshidayuito 7:8bea84f72e64 55 int MovMotor[4]= {0};
TakushimaYukimasa 0:9e851dc42cde 56
TakushimaYukimasa 0:9e851dc42cde 57 /* 自動yaw補整目標角度 */
TakushimaYukimasa 0:9e851dc42cde 58 double TarTheta=0;
TakushimaYukimasa 0:9e851dc42cde 59
yoshidayuito 22:9d77148a3f09 60 /* ライン補正移動方向 0…左 1…右 2…直進*/
yoshidayuito 17:5b4080915375 61 int Line_Dire=0;
yoshidayuito 13:c8af1467ba8b 62
yoshidayuito 22:9d77148a3f09 63 /* ライン番号 */
yoshidayuito 22:9d77148a3f09 64 int Line_Num=0;
yoshidayuito 22:9d77148a3f09 65
TakushimaYukimasa 0:9e851dc42cde 66 /* クラス定義 ----------------------------------------------------------------*/
TakushimaYukimasa 0:9e851dc42cde 67
TakushimaYukimasa 0:9e851dc42cde 68 /* 割り込み用クラス */
TakushimaYukimasa 0:9e851dc42cde 69 Ticker flipper;
TakushimaYukimasa 0:9e851dc42cde 70
TakushimaYukimasa 0:9e851dc42cde 71 /* UART (Tx,Rx) */
TakushimaYukimasa 0:9e851dc42cde 72 Serial telemetry(USBTX, USBRX, 115200);
TakushimaYukimasa 0:9e851dc42cde 73
TakushimaYukimasa 0:9e851dc42cde 74 /* コントローラー */
TakushimaYukimasa 0:9e851dc42cde 75 SBDBT DS3(PA_0, PA_1, 9600);
TakushimaYukimasa 0:9e851dc42cde 76
TakushimaYukimasa 0:9e851dc42cde 77 /* オンボードLED */
TakushimaYukimasa 0:9e851dc42cde 78 DigitalOut led(LED2);
TakushimaYukimasa 0:9e851dc42cde 79
TakushimaYukimasa 0:9e851dc42cde 80 /* USERボタン */
TakushimaYukimasa 0:9e851dc42cde 81 DigitalIn UB(PC_13,PullDown);
TakushimaYukimasa 0:9e851dc42cde 82
TakushimaYukimasa 0:9e851dc42cde 83 /* エンコーダーピン CS */
TakushimaYukimasa 0:9e851dc42cde 84 DigitalOut CS[] = {PA_2,PA_3};
TakushimaYukimasa 0:9e851dc42cde 85 DigitalOut CL[] = {PA_4,PA_5};
TakushimaYukimasa 0:9e851dc42cde 86 DigitalIn DO[] = {PA_6,PA_7};
TakushimaYukimasa 0:9e851dc42cde 87
yoshidayuito 1:520233a969e2 88 /* ジャイロ用タイマー */
yoshidayuito 1:520233a969e2 89 Timer yawCnt;
yoshidayuito 1:520233a969e2 90
yoshidayuito 22:9d77148a3f09 91 /* 前進用タイマー */
yoshidayuito 22:9d77148a3f09 92 Timer Forward;
yoshidayuito 22:9d77148a3f09 93
TakushimaYukimasa 0:9e851dc42cde 94 /* 足回り動作クラス定義 */
TakushimaYukimasa 0:9e851dc42cde 95 Move omuni(MovMotor,NowLoc.theta);
TakushimaYukimasa 0:9e851dc42cde 96
TakushimaYukimasa 0:9e851dc42cde 97 /* I2C MDのクラス定義 */
TakushimaYukimasa 0:9e851dc42cde 98 YKNCT_MD_I2C MD(PB_9,PB_8);
TakushimaYukimasa 0:9e851dc42cde 99
yoshidayuito 8:367c7d6ef5a3 100 /* I2C Inputのクラス定義 */
yoshidayuito 8:367c7d6ef5a3 101 YKNCT_I2C_IN In(PB_9,PB_8);
yoshidayuito 8:367c7d6ef5a3 102
TakushimaYukimasa 0:9e851dc42cde 103 /* ジャイロのピン設定 */
TakushimaYukimasa 0:9e851dc42cde 104 BNO055 bno(PB_9, PB_8);
TakushimaYukimasa 0:9e851dc42cde 105
TakushimaYukimasa 0:9e851dc42cde 106
TakushimaYukimasa 0:9e851dc42cde 107 /*----------------------------------- main ----------------------------------*/
TakushimaYukimasa 0:9e851dc42cde 108 int main()
TakushimaYukimasa 0:9e851dc42cde 109 {
yoshidayuito 7:8bea84f72e64 110 telemetry.printf("\n\rMainStart");
TakushimaYukimasa 0:9e851dc42cde 111
yoshidayuito 7:8bea84f72e64 112 /* 割り込みの設定
yoshidayuito 7:8bea84f72e64 113 * IT_CallBack関数を0.1msで割り込み */
yoshidayuito 7:8bea84f72e64 114 flipper.attach_us(&IT_CallBack, 100);
TakushimaYukimasa 0:9e851dc42cde 115
yoshidayuito 7:8bea84f72e64 116 /* ジャイロの設定 */
yoshidayuito 7:8bea84f72e64 117 bno.setmode(OPERATION_MODE_IMUPLUS);
TakushimaYukimasa 0:9e851dc42cde 118
yoshidayuito 7:8bea84f72e64 119 /* I2CMDの設定 */
yoshidayuito 7:8bea84f72e64 120 MD.Init(0,MD_SMB);
yoshidayuito 7:8bea84f72e64 121 MD.Init(1,MD_SMB);
yoshidayuito 7:8bea84f72e64 122 MD.Init(2,MD_SMB);
yoshidayuito 7:8bea84f72e64 123 MD.Init(3,MD_SMB);
yoshidayuito 10:9ee22b22e583 124
yoshidayuito 15:909c23ab7f0c 125 /* 足リミット */
yoshidayuito 8:367c7d6ef5a3 126 In.Init(0,0);
yoshidayuito 8:367c7d6ef5a3 127 In.Init(0,1);
TakushimaYukimasa 0:9e851dc42cde 128
yoshidayuito 15:909c23ab7f0c 129 /* ラインセンサ */
yoshidayuito 15:909c23ab7f0c 130 In.Init(0,2);
yoshidayuito 15:909c23ab7f0c 131 In.Init(0,3);
yoshidayuito 15:909c23ab7f0c 132
yoshidayuito 22:9d77148a3f09 133 /* タイマーリセット */
yoshidayuito 22:9d77148a3f09 134 Forward.reset();
yoshidayuito 22:9d77148a3f09 135
yoshidayuito 7:8bea84f72e64 136 telemetry.printf("\n\rMainLoopStart");
yoshidayuito 7:8bea84f72e64 137 /* メインループ --------------------------------------------------------------*/
yoshidayuito 11:42310638e241 138 while(1) {
yoshidayuito 7:8bea84f72e64 139 /* オンボードLED点滅 */
yoshidayuito 7:8bea84f72e64 140 led=!led;
yoshidayuito 7:8bea84f72e64 141
yoshidayuito 7:8bea84f72e64 142 /* 表示改行 */
yoshidayuito 7:8bea84f72e64 143 telemetry.printf("\n\r");
TakushimaYukimasa 0:9e851dc42cde 144
yoshidayuito 7:8bea84f72e64 145 /* 自動処理関連テレメトリ */
yoshidayuito 7:8bea84f72e64 146 telemetry.printf("ope:%d ",operate);
yoshidayuito 7:8bea84f72e64 147 /* 座標テレメトリ */
yoshidayuito 7:8bea84f72e64 148 telemetry.printf("X:%4.0f Y:%4.0f T:%4.0f ",NowLoc.X,NowLoc.Y,NowLoc.theta);
TakushimaYukimasa 0:9e851dc42cde 149
yoshidayuito 7:8bea84f72e64 150 /* 自己位置推定更新 */
yoshidayuito 7:8bea84f72e64 151 LocEstimate();
TakushimaYukimasa 0:9e851dc42cde 152
TakushimaYukimasa 14:18ec50f38993 153
TakushimaYukimasa 14:18ec50f38993 154 /* オムニ分のMD代入 */
TakushimaYukimasa 14:18ec50f38993 155 OmuniExe;
TakushimaYukimasa 14:18ec50f38993 156
yoshidayuito 16:ea3008995c41 157 for(int i=0; i<4; i++) {
yoshidayuito 16:ea3008995c41 158 MD.Set(i,MovMotor[i]);
yoshidayuito 16:ea3008995c41 159 MovMotor[i]=0;
yoshidayuito 16:ea3008995c41 160 }
yoshidayuito 16:ea3008995c41 161
yoshidayuito 7:8bea84f72e64 162 /* I2CMD実行 */
yoshidayuito 7:8bea84f72e64 163 MD.Exe();
TakushimaYukimasa 0:9e851dc42cde 164
yoshidayuito 11:42310638e241 165 /* ジャイロ用タイマースタート */
yoshidayuito 7:8bea84f72e64 166 yawCnt.start();
yoshidayuito 11:42310638e241 167 /* ジャイロ用タイマーリセット */
yoshidayuito 7:8bea84f72e64 168 yawCnt.reset();
yoshidayuito 7:8bea84f72e64 169
yoshidayuito 7:8bea84f72e64 170 /* 操縦権変更 ×停止 △手動 〇自動 */
yoshidayuito 7:8bea84f72e64 171 if(DS3.CROSS) operate=0;
yoshidayuito 7:8bea84f72e64 172 if(DS3.TRIANGLE) operate=1;
yoshidayuito 7:8bea84f72e64 173 if(DS3.CIRCLE) operate=2;
TakushimaYukimasa 0:9e851dc42cde 174
yoshidayuito 7:8bea84f72e64 175 /* 操縦権：なし 停止動作 */
yoshidayuito 7:8bea84f72e64 176 if(operate==0) {
yoshidayuito 7:8bea84f72e64 177 /* 足回り停止 */
yoshidayuito 16:ea3008995c41 178 SubOmuni(0,0,0);
yoshidayuito 10:9ee22b22e583 179
yoshidayuito 7:8bea84f72e64 180 }
yoshidayuito 7:8bea84f72e64 181 /* 操縦権：手動 */
yoshidayuito 7:8bea84f72e64 182 else if(operate==1) {
yoshidayuito 7:8bea84f72e64 183 /* 足回り手動動作 */
yoshidayuito 7:8bea84f72e64 184 int x_val = (double)(DS3.LX-64)*100/64;
yoshidayuito 7:8bea84f72e64 185 int y_val = (double)(64-DS3.LY)*100/64;
yoshidayuito 7:8bea84f72e64 186 int r_val = (double)(DS3.RX-64)*100/64;
yoshidayuito 7:8bea84f72e64 187
yoshidayuito 7:8bea84f72e64 188 /* タイマーをリセット */
yoshidayuito 7:8bea84f72e64 189 if(DS3.RX!=64) yawCnt.reset();
yoshidayuito 7:8bea84f72e64 190 /* 目標角度再設定 */
yoshidayuito 7:8bea84f72e64 191 if(yawCnt.read_ms()<1000) TarTheta=NowLoc.theta;
yoshidayuito 7:8bea84f72e64 192 /* r_val補正 */
yoshidayuito 7:8bea84f72e64 193 r_val+=(TarTheta-NowLoc.theta)*CONST_CORRECTION_YAW;
yoshidayuito 7:8bea84f72e64 194
yoshidayuito 16:ea3008995c41 195 SubOmuni(x_val,y_val,r_val);
yoshidayuito 10:9ee22b22e583 196
yoshidayuito 9:94112b5df540 197 /* 壁あて実行 */
yoshidayuito 9:94112b5df540 198 if(DS3.R1) ToWall();
yoshidayuito 7:8bea84f72e64 199 }
yoshidayuito 7:8bea84f72e64 200 /* 操縦権：自動 */
yoshidayuito 7:8bea84f72e64 201 else if(operate==2) {
yoshidayuito 7:8bea84f72e64 202 switch(auto_mode) {
yoshidayuito 7:8bea84f72e64 203 /* スタート待機処理 */
yoshidayuito 7:8bea84f72e64 204 case 0:
yoshidayuito 20:79f96d223e5d 205 /* STARTで次のステップに */
yoshidayuito 20:79f96d223e5d 206 if(DS3.START) auto_mode++;
yoshidayuito 7:8bea84f72e64 207 break;
yoshidayuito 7:8bea84f72e64 208
yoshidayuito 22:9d77148a3f09 209 /* X座標移動 */
yoshidayuito 7:8bea84f72e64 210 case 1:
yoshidayuito 22:9d77148a3f09 211 /* 壁あて実行 */
yoshidayuito 22:9d77148a3f09 212 ToWall();
yoshidayuito 13:c8af1467ba8b 213 /* 動作終了時次のステップに */
yoshidayuito 22:9d77148a3f09 214 if(Line_Num==0&&XCooMove(-1000,30)==0) {
yoshidayuito 22:9d77148a3f09 215 Line_Num++;
yoshidayuito 22:9d77148a3f09 216 auto_mode++;
yoshidayuito 22:9d77148a3f09 217 }
yoshidayuito 22:9d77148a3f09 218 if(Line_Num==1&&XCooMove(-1500,30)==0) {
yoshidayuito 22:9d77148a3f09 219 Line_Num++;
yoshidayuito 22:9d77148a3f09 220 auto_mode++;
yoshidayuito 22:9d77148a3f09 221 }
yoshidayuito 22:9d77148a3f09 222 if(Line_Num==2&&XCooMove(-2200,30)==0) {
yoshidayuito 22:9d77148a3f09 223 Line_Num=0;
yoshidayuito 22:9d77148a3f09 224 auto_mode++;
yoshidayuito 22:9d77148a3f09 225 }
yoshidayuito 22:9d77148a3f09 226
yoshidayuito 22:9d77148a3f09 227 break;
yoshidayuito 22:9d77148a3f09 228
yoshidayuito 22:9d77148a3f09 229 /* ラインまで移動 */
yoshidayuito 22:9d77148a3f09 230 case 2:
yoshidayuito 22:9d77148a3f09 231 /* ライン到達後次のステップに */
yoshidayuito 22:9d77148a3f09 232 Line_Dire=0;
yoshidayuito 22:9d77148a3f09 233 if(LineCor(Line_Dire)==1)
yoshidayuito 22:9d77148a3f09 234 auto_mode++;
yoshidayuito 22:9d77148a3f09 235
yoshidayuito 22:9d77148a3f09 236 break;
yoshidayuito 22:9d77148a3f09 237 /* */
yoshidayuito 22:9d77148a3f09 238 case 3:
yoshidayuito 22:9d77148a3f09 239 /* ライン補正しながら直進 */
yoshidayuito 22:9d77148a3f09 240 Line_Dire=2;
yoshidayuito 22:9d77148a3f09 241 LineCor(Line_Dire);
yoshidayuito 22:9d77148a3f09 242 Forward.start();
yoshidayuito 22:9d77148a3f09 243 SubOmuni(0,20,0);
yoshidayuito 22:9d77148a3f09 244 /* 動作終了時次のステップに */
yoshidayuito 22:9d77148a3f09 245 if(Forward.read_ms()==2500) {
yoshidayuito 22:9d77148a3f09 246 auto_mode++;
yoshidayuito 22:9d77148a3f09 247 Forward.reset();
yoshidayuito 22:9d77148a3f09 248 }
yoshidayuito 22:9d77148a3f09 249
yoshidayuito 22:9d77148a3f09 250 break;
yoshidayuito 22:9d77148a3f09 251
yoshidayuito 22:9d77148a3f09 252 case 4:
yoshidayuito 22:9d77148a3f09 253 /* ライン補正しながら後ろへ移動 */
yoshidayuito 22:9d77148a3f09 254 LineCor(Line_Dire);
yoshidayuito 22:9d77148a3f09 255 ToWall();
yoshidayuito 22:9d77148a3f09 256 if(In.Get(0)==1&&In.Get(1)==1)
yoshidayuito 13:c8af1467ba8b 257 auto_mode++;
TakushimaYukimasa 14:18ec50f38993 258
yoshidayuito 7:8bea84f72e64 259 break;
yoshidayuito 7:8bea84f72e64 260
yoshidayuito 22:9d77148a3f09 261 case 5:
yoshidayuito 22:9d77148a3f09 262 /* 壁あて実行 */
yoshidayuito 22:9d77148a3f09 263 ToWall();
yoshidayuito 22:9d77148a3f09 264 /* 右へ移動 */
yoshidayuito 22:9d77148a3f09 265 if(Line_Num==1&&XCooMove(1200,10)==0)
yoshidayuito 22:9d77148a3f09 266 auto_mode++;
yoshidayuito 22:9d77148a3f09 267 if(Line_Num==2&&XCooMove(1700,10)==0)
yoshidayuito 22:9d77148a3f09 268 auto_mode++;
yoshidayuito 22:9d77148a3f09 269 if(Line_Num==3&&XCooMove(2400,10)==0)
yoshidayuito 17:5b4080915375 270 auto_mode++;
yoshidayuito 17:5b4080915375 271
yoshidayuito 17:5b4080915375 272 break;
yoshidayuito 17:5b4080915375 273
yoshidayuito 22:9d77148a3f09 274 case 6:
yoshidayuito 22:9d77148a3f09 275 /* 宝物置き場付近まで直進 */
yoshidayuito 22:9d77148a3f09 276 Forward.start();
yoshidayuito 22:9d77148a3f09 277 SubOmuni(0,20,0);
yoshidayuito 22:9d77148a3f09 278 /* 動作終了時次のステップに */
yoshidayuito 22:9d77148a3f09 279 if(Forward.read_ms()==4000) {
yoshidayuito 22:9d77148a3f09 280 auto_mode++;
yoshidayuito 22:9d77148a3f09 281 Forward.reset();
yoshidayuito 22:9d77148a3f09 282 }
yoshidayuito 22:9d77148a3f09 283
yoshidayuito 22:9d77148a3f09 284 break;
yoshidayuito 22:9d77148a3f09 285
yoshidayuito 22:9d77148a3f09 286 case 7:
yoshidayuito 22:9d77148a3f09 287 /* 宝物置き場のラインまで移動 */
yoshidayuito 22:9d77148a3f09 288 Line_Dire=1;
yoshidayuito 22:9d77148a3f09 289 if(LineCor(Line_Dire)==1)
yoshidayuito 22:9d77148a3f09 290 auto_mode++;
yoshidayuito 22:9d77148a3f09 291
yoshidayuito 22:9d77148a3f09 292 break;
yoshidayuito 22:9d77148a3f09 293
yoshidayuito 22:9d77148a3f09 294 case 8:
yoshidayuito 22:9d77148a3f09 295 /* 宝物置き場前まで移動 */
yoshidayuito 22:9d77148a3f09 296 Forward.start();
yoshidayuito 22:9d77148a3f09 297 SubOmuni(0,20,0);
yoshidayuito 22:9d77148a3f09 298 /* 動作終了時次のステップに */
yoshidayuito 22:9d77148a3f09 299 if(Forward.read_ms()==2000) {
yoshidayuito 22:9d77148a3f09 300 auto_mode++;
yoshidayuito 22:9d77148a3f09 301 Forward.reset();
yoshidayuito 22:9d77148a3f09 302 }
yoshidayuito 22:9d77148a3f09 303
yoshidayuito 22:9d77148a3f09 304 break;
yoshidayuito 22:9d77148a3f09 305
yoshidayuito 22:9d77148a3f09 306 case 9:
yoshidayuito 22:9d77148a3f09 307 /* スタートゾーンに移動 */
yoshidayuito 22:9d77148a3f09 308 ToWall();
yoshidayuito 22:9d77148a3f09 309 if(In.Get(0)==1&&In.Get(1)==1)
yoshidayuito 22:9d77148a3f09 310 auto_mode++;
yoshidayuito 22:9d77148a3f09 311
yoshidayuito 22:9d77148a3f09 312 break;
yoshidayuito 22:9d77148a3f09 313
yoshidayuito 22:9d77148a3f09 314
yoshidayuito 7:8bea84f72e64 315 /* 終了処理 */
yoshidayuito 7:8bea84f72e64 316 default:
yoshidayuito 7:8bea84f72e64 317 auto_mode=0;
yoshidayuito 7:8bea84f72e64 318 operate=0;
yoshidayuito 7:8bea84f72e64 319 break;
yoshidayuito 7:8bea84f72e64 320 }
yoshidayuito 7:8bea84f72e64 321 }
yoshidayuito 7:8bea84f72e64 322
TakushimaYukimasa 0:9e851dc42cde 323 }
TakushimaYukimasa 0:9e851dc42cde 324 }
TakushimaYukimasa 0:9e851dc42cde 325
TakushimaYukimasa 0:9e851dc42cde 326
TakushimaYukimasa 0:9e851dc42cde 327 /*******************************************************************************
TakushimaYukimasa 0:9e851dc42cde 328 * @概要 自己位置推定関数
TakushimaYukimasa 0:9e851dc42cde 329 * @引数 なし
TakushimaYukimasa 0:9e851dc42cde 330 * @返り値 なし
TakushimaYukimasa 0:9e851dc42cde 331 *******************************************************************************/
yoshidayuito 7:8bea84f72e64 332 void LocEstimate(void)
yoshidayuito 7:8bea84f72e64 333 {
yoshidayuito 22:9d77148a3f09 334 static double GyroDeg[2]= {0};
yoshidayuito 7:8bea84f72e64 335 static double EncDeg[2][2]= {0};
yoshidayuito 7:8bea84f72e64 336 static double disp[3]= {0};
TakushimaYukimasa 0:9e851dc42cde 337
yoshidayuito 22:9d77148a3f09 338
yoshidayuito 21:22b863d32705 339
yoshidayuito 7:8bea84f72e64 340 /* ジャイロの値取得 */
yoshidayuito 7:8bea84f72e64 341 bno.get_angles();
yoshidayuito 7:8bea84f72e64 342 GyroDeg[1]=GyroDeg[0];
yoshidayuito 7:8bea84f72e64 343 GyroDeg[0]=bno.euler.yaw;
yoshidayuito 7:8bea84f72e64 344 if(GyroDeg[0]!=0) {
yoshidayuito 7:8bea84f72e64 345 /* 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 346 if(GyroDeg[1]<90 && GyroDeg[0]>270) GyroDeg[1]+=360;
yoshidayuito 7:8bea84f72e64 347 /* 0→359を跨いだ時，前回の値を360以上の値で表記 */
yoshidayuito 7:8bea84f72e64 348 else if(GyroDeg[1]>270 && GyroDeg[0]<90) GyroDeg[1]-=360;
yoshidayuito 7:8bea84f72e64 349 /* 差を求める*/
yoshidayuito 7:8bea84f72e64 350 disp[2]=GyroDeg[1]-GyroDeg[0];
yoshidayuito 7:8bea84f72e64 351 }
yoshidayuito 21:22b863d32705 352 /* Enc2つの差分求める */
yoshidayuito 21:22b863d32705 353 for(int i=0; i<2; i++) {
yoshidayuito 7:8bea84f72e64 354 EncDeg[i][1]=EncDeg[i][0];
yoshidayuito 7:8bea84f72e64 355 EncDeg[i][0]=EncoderDeg[i];
yoshidayuito 21:22b863d32705 356 disp[i]=DEG_TO_DIS(EncDeg[i][1]-EncDeg[i][0]);
yoshidayuito 7:8bea84f72e64 357 }
yoshidayuito 7:8bea84f72e64 358 /* 差分を加速度として保存 */
yoshidayuito 7:8bea84f72e64 359 NowAcc.theta = disp[2];
yoshidayuito 21:22b863d32705 360 NowAcc.X = -disp[0] * cos(DEG_TO_RAD(NowLoc.theta)) - disp[1] * sin(DEG_TO_RAD(NowLoc.theta));
yoshidayuito 21:22b863d32705 361 NowAcc.Y = -disp[0] * sin(DEG_TO_RAD(NowLoc.theta)) + disp[1] * cos(DEG_TO_RAD(NowLoc.theta));
yoshidayuito 7:8bea84f72e64 362 /* 差分を累積して現在位置を保存 */
yoshidayuito 7:8bea84f72e64 363 NowLoc.X += NowAcc.X;
yoshidayuito 21:22b863d32705 364 NowLoc.Y += NowAcc.Y;
yoshidayuito 7:8bea84f72e64 365 NowLoc.theta += NowAcc.theta;
TakushimaYukimasa 0:9e851dc42cde 366 }
TakushimaYukimasa 0:9e851dc42cde 367
TakushimaYukimasa 0:9e851dc42cde 368
TakushimaYukimasa 0:9e851dc42cde 369
TakushimaYukimasa 0:9e851dc42cde 370
TakushimaYukimasa 0:9e851dc42cde 371 /* 割り込み(100us) *************************************************************/
TakushimaYukimasa 0:9e851dc42cde 372 void IT_CallBack(void)
TakushimaYukimasa 0:9e851dc42cde 373 {
yoshidayuito 7:8bea84f72e64 374 static int cnt = 0;
yoshidayuito 7:8bea84f72e64 375 static int data[EncoderMAX] = {0};
yoshidayuito 7:8bea84f72e64 376 static double EncDeg[EncoderMAX][2] = {0};
TakushimaYukimasa 0:9e851dc42cde 377
yoshidayuito 7:8bea84f72e64 378 for(int i=0; i<EncoderMAX; i++)
yoshidayuito 7:8bea84f72e64 379 switch(cnt) {
yoshidayuito 7:8bea84f72e64 380 /* 最初の処理 */
yoshidayuito 7:8bea84f72e64 381 case 0:
yoshidayuito 7:8bea84f72e64 382 data[i] = 0;
yoshidayuito 7:8bea84f72e64 383 CS[i] = 0;
yoshidayuito 7:8bea84f72e64 384 CL[i] = 1;
yoshidayuito 7:8bea84f72e64 385 break;
yoshidayuito 7:8bea84f72e64 386 /* 最後の処理 */
yoshidayuito 7:8bea84f72e64 387 case 25:
yoshidayuito 7:8bea84f72e64 388 CS[i]=1;
yoshidayuito 7:8bea84f72e64 389 /* 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 390 EncDeg[i][1] = EncDeg[i][0];
yoshidayuito 7:8bea84f72e64 391 EncDeg[i][0] = (double)data[i] * 360.0 / 4096;
yoshidayuito 7:8bea84f72e64 392 /* 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 393 if ((270 <= EncDeg[i][1]) && (EncDeg[i][0] < 90))
yoshidayuito 7:8bea84f72e64 394 EncDeg[i][1] -= 360;
yoshidayuito 7:8bea84f72e64 395 /* 0→359を跨いだ時，前回の値を360以上の値で表記 */
yoshidayuito 7:8bea84f72e64 396 else if ((EncDeg[i][1] < 90) && (270 <= EncDeg[i][0]))
yoshidayuito 7:8bea84f72e64 397 EncDeg[i][1] += 360;
yoshidayuito 7:8bea84f72e64 398 /* 差を求める*/
yoshidayuito 7:8bea84f72e64 399 EncoderDeg[i] += EncDeg[i][0] - EncDeg[i][1];
yoshidayuito 7:8bea84f72e64 400 break;
yoshidayuito 7:8bea84f72e64 401 /* 通常の処理 */
yoshidayuito 7:8bea84f72e64 402 default:
yoshidayuito 7:8bea84f72e64 403 CL[i]=!CL[i];
yoshidayuito 7:8bea84f72e64 404 /* 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 405 if(cnt != 1 && cnt % 2) {
yoshidayuito 7:8bea84f72e64 406 data[i] |= (DO[i]==1);
yoshidayuito 7:8bea84f72e64 407 data[i] = data[i] << 1;
yoshidayuito 7:8bea84f72e64 408 }
yoshidayuito 7:8bea84f72e64 409 break;
yoshidayuito 7:8bea84f72e64 410 }
yoshidayuito 7:8bea84f72e64 411 cnt++;
yoshidayuito 7:8bea84f72e64 412 cnt%=26;
yoshidayuito 7:8bea84f72e64 413 }
yoshidayuito 7:8bea84f72e64 414
yoshidayuito 7:8bea84f72e64 415
yoshidayuito 7:8bea84f72e64 416
yoshidayuito 7:8bea84f72e64 417
yoshidayuito 7:8bea84f72e64 418 /*******************************************************************************
yoshidayuito 7:8bea84f72e64 419 * @概要 壁あて関数
yoshidayuito 7:8bea84f72e64 420 * @引数 なし
yoshidayuito 7:8bea84f72e64 421 * @返り値 なし
yoshidayuito 7:8bea84f72e64 422 *******************************************************************************/
yoshidayuito 7:8bea84f72e64 423 void ToWall(void)
yoshidayuito 7:8bea84f72e64 424 {
TakushimaYukimasa 14:18ec50f38993 425 /* 左側リミットに応じて左2輪の操作量を決める */
yoshidayuito 9:94112b5df540 426 if(In.Get(0)==0)
yoshidayuito 7:8bea84f72e64 427 for(int i=0; i<2; i++) MovMotor[i]-=10;
TakushimaYukimasa 14:18ec50f38993 428
TakushimaYukimasa 14:18ec50f38993 429 /* 右側リミットに応じて左2輪の操作量を決める */
yoshidayuito 9:94112b5df540 430 if(In.Get(1)==0)
yoshidayuito 7:8bea84f72e64 431 for(int i=2; i<4; i++) MovMotor[i]+=10;
yoshidayuito 22:9d77148a3f09 432
yoshidayuito 10:9ee22b22e583 433 }
yoshidayuito 10:9ee22b22e583 434
yoshidayuito 10:9ee22b22e583 435
yoshidayuito 10:9ee22b22e583 436
yoshidayuito 10:9ee22b22e583 437 /*******************************************************************************
yoshidayuito 10:9ee22b22e583 438 * @概要 x座標移動関数
yoshidayuito 11:42310638e241 439 * @引数 Tar:目標値
yoshidayuito 10:9ee22b22e583 440 * @引数 Err :許容誤差
yoshidayuito 10:9ee22b22e583 441 * @返り値 val_p:残り距離
yoshidayuito 10:9ee22b22e583 442 *******************************************************************************/
yoshidayuito 11:42310638e241 443 int XCooMove(int Tar,int Err)
yoshidayuito 10:9ee22b22e583 444 {
TakushimaYukimasa 14:18ec50f38993 445 /* x座標移動初期化フラグ */
TakushimaYukimasa 14:18ec50f38993 446 static bool XCooMoveFlag=0;
TakushimaYukimasa 14:18ec50f38993 447
TakushimaYukimasa 14:18ec50f38993 448 /* x座標移動タイマー */
TakushimaYukimasa 14:18ec50f38993 449 static Timer CooCnt;
TakushimaYukimasa 14:18ec50f38993 450
TakushimaYukimasa 14:18ec50f38993 451 /* 速度 加速・減速・最終操作量 */
yoshidayuito 11:42310638e241 452 int val_p=0,val_t=0,val=0;
yoshidayuito 10:9ee22b22e583 453
TakushimaYukimasa 14:18ec50f38993 454 /* X座標移動最初だけ初期化 */
TakushimaYukimasa 14:18ec50f38993 455 if(XCooMoveFlag==0) {
yoshidayuito 13:c8af1467ba8b 456 /* タイマースタート */
yoshidayuito 13:c8af1467ba8b 457 CooCnt.start();
yoshidayuito 13:c8af1467ba8b 458 /* X座標移動用タイマーリセット */
yoshidayuito 13:c8af1467ba8b 459 CooCnt.reset();
TakushimaYukimasa 14:18ec50f38993 460 /* 初期化フラグ立てる */
TakushimaYukimasa 14:18ec50f38993 461 XCooMoveFlag=1;
yoshidayuito 13:c8af1467ba8b 462 }
yoshidayuito 10:9ee22b22e583 463
TakushimaYukimasa 14:18ec50f38993 464 /* 加速・減速それぞれ求める */
TakushimaYukimasa 14:18ec50f38993 465 val_p=(Tar-NowLoc.X)*CONST_ACC_X;
TakushimaYukimasa 14:18ec50f38993 466 val_t=CooCnt.read_ms()*CONST_DEC_X;
yoshidayuito 11:42310638e241 467
TakushimaYukimasa 14:18ec50f38993 468 /* 小さい方を操作量として採択 */
yoshidayuito 11:42310638e241 469 val=MIN(val_p,val_t);
yoshidayuito 10:9ee22b22e583 470
yoshidayuito 11:42310638e241 471 /* -100~100に調整 */
yoshidayuito 10:9ee22b22e583 472 if(val>100) val=100;
yoshidayuito 11:42310638e241 473 else if(val<-100) val=-100;
yoshidayuito 11:42310638e241 474
TakushimaYukimasa 14:18ec50f38993 475 /* X方向のみ操作量を与えてオムニ代入 */
yoshidayuito 16:ea3008995c41 476 SubOmuni(val,0,0);
yoshidayuito 11:42310638e241 477
TakushimaYukimasa 14:18ec50f38993 478 /* 残り距離求める */
yoshidayuito 13:c8af1467ba8b 479 int RemDis=Tar-NowLoc.X;
yoshidayuito 11:42310638e241 480
TakushimaYukimasa 14:18ec50f38993 481 /* 終了条件満たしているなら終了処理 */
TakushimaYukimasa 14:18ec50f38993 482 if(RemDis<=Err) {
TakushimaYukimasa 14:18ec50f38993 483 /* フラグ回収 */
TakushimaYukimasa 14:18ec50f38993 484 XCooMoveFlag=0;
TakushimaYukimasa 14:18ec50f38993 485 return 0;
TakushimaYukimasa 14:18ec50f38993 486 }
TakushimaYukimasa 14:18ec50f38993 487 /* 満たしてないなら残り距離返す */
TakushimaYukimasa 14:18ec50f38993 488 else
TakushimaYukimasa 14:18ec50f38993 489 return RemDis;
yoshidayuito 15:909c23ab7f0c 490 }
yoshidayuito 15:909c23ab7f0c 491
yoshidayuito 15:909c23ab7f0c 492
yoshidayuito 15:909c23ab7f0c 493
yoshidayuito 16:ea3008995c41 494
yoshidayuito 16:ea3008995c41 495 /*******************************************************************************
yoshidayuito 16:ea3008995c41 496 * @概要 オムニの値計算する(加算式)
yoshidayuito 16:ea3008995c41 497 * @引数 X,Y,Rotationそれぞれの操作量
yoshidayuito 16:ea3008995c41 498 * @返り値 なし
yoshidayuito 16:ea3008995c41 499 *******************************************************************************/
yoshidayuito 16:ea3008995c41 500 void SubOmuni(int X,int Y,int R)
yoshidayuito 16:ea3008995c41 501 {
yoshidayuito 16:ea3008995c41 502 /* 入力を100%に制限 */
yoshidayuito 16:ea3008995c41 503 X=Rest(X,100);
yoshidayuito 16:ea3008995c41 504 Y=Rest(Y,100);
yoshidayuito 16:ea3008995c41 505 R=Rest(R,100);
yoshidayuito 16:ea3008995c41 506
yoshidayuito 19:0840e182f96d 507
yoshidayuito 22:9d77148a3f09 508
yoshidayuito 19:0840e182f96d 509
yoshidayuito 16:ea3008995c41 510 /* オムニ計算結果をtmpに */
yoshidayuito 16:ea3008995c41 511 int tmp[4]= {0};
yoshidayuito 22:9d77148a3f09 512
yoshidayuito 19:0840e182f96d 513 /* 一度データをtmpに保存 */
yoshidayuito 22:9d77148a3f09 514 for(int i=0; i<4; i++)
yoshidayuito 19:0840e182f96d 515 tmp[i]=MovMotor[i];
yoshidayuito 22:9d77148a3f09 516
yoshidayuito 19:0840e182f96d 517 /* オムニ計算 */
yoshidayuito 16:ea3008995c41 518 omuni.XmarkOmni_Move(X,Y,R);
yoshidayuito 22:9d77148a3f09 519
yoshidayuito 16:ea3008995c41 520 /* 計算結果を加算する */
yoshidayuito 19:0840e182f96d 521 for(int i=0; i<4; i++)
yoshidayuito 19:0840e182f96d 522 MovMotor[i]+=tmp[i];
yoshidayuito 16:ea3008995c41 523 }
yoshidayuito 16:ea3008995c41 524
yoshidayuito 16:ea3008995c41 525
yoshidayuito 16:ea3008995c41 526
yoshidayuito 16:ea3008995c41 527
yoshidayuito 15:909c23ab7f0c 528 /*******************************************************************************
yoshidayuito 15:909c23ab7f0c 529 * @概要 ライン補正関数
yoshidayuito 22:9d77148a3f09 530 * @引数 Line_Dire:初期移動方向
yoshidayuito 15:909c23ab7f0c 531 * @返り値 なし
yoshidayuito 15:909c23ab7f0c 532 *******************************************************************************/
yoshidayuito 17:5b4080915375 533 int LineCor(int Line_Dire)
yoshidayuito 15:909c23ab7f0c 534 {
yoshidayuito 15:909c23ab7f0c 535 /* xの操作量 */
yoshidayuito 16:ea3008995c41 536 int val_x=0;
yoshidayuito 15:909c23ab7f0c 537 /* 左側,右側の前回の値 */
yoshidayuito 17:5b4080915375 538 static int Last_val;
yoshidayuito 15:909c23ab7f0c 539 /* ライン補正初期化フラグ */
yoshidayuito 15:909c23ab7f0c 540 static bool LineFlag=0;
yoshidayuito 15:909c23ab7f0c 541
yoshidayuito 15:909c23ab7f0c 542 if(LineFlag==0) {
yoshidayuito 22:9d77148a3f09 543 /* 初期値設定 0…左 1…右 2…直進*/
yoshidayuito 17:5b4080915375 544 Last_val=Line_Dire;
yoshidayuito 15:909c23ab7f0c 545 /* 初期化フラグ立てる */
yoshidayuito 15:909c23ab7f0c 546 LineFlag=1;
yoshidayuito 15:909c23ab7f0c 547 }
yoshidayuito 15:909c23ab7f0c 548
yoshidayuito 15:909c23ab7f0c 549 /* どちらもラインに乗っていない状態 */
yoshidayuito 15:909c23ab7f0c 550 if(In.Get(2)==0&&In.Get(3)==0) {
yoshidayuito 17:5b4080915375 551 if(Last_val==0) val_x-=10;
yoshidayuito 17:5b4080915375 552 if(Last_val==1) val_x+=10;
yoshidayuito 22:9d77148a3f09 553 else val_x+=0;
yoshidayuito 15:909c23ab7f0c 554 }
yoshidayuito 16:ea3008995c41 555
yoshidayuito 18:61d3a2b78aee 556 /* 左側のみ */
yoshidayuito 18:61d3a2b78aee 557 if(In.Get(2)==1&&In.Get(3)==0) {
yoshidayuito 18:61d3a2b78aee 558 val_x-=10;
yoshidayuito 18:61d3a2b78aee 559 Last_val=0;
yoshidayuito 18:61d3a2b78aee 560 }
yoshidayuito 18:61d3a2b78aee 561 /* 右側のみ */
yoshidayuito 18:61d3a2b78aee 562 else if(In.Get(2)==0&&In.Get(3)==1) {
yoshidayuito 18:61d3a2b78aee 563 val_x+=10;
yoshidayuito 18:61d3a2b78aee 564 Last_val=1;
yoshidayuito 18:61d3a2b78aee 565 }
yoshidayuito 18:61d3a2b78aee 566 /* どちらも乗っている */
yoshidayuito 18:61d3a2b78aee 567 else
yoshidayuito 18:61d3a2b78aee 568 /* フラグ回収 */
yoshidayuito 18:61d3a2b78aee 569 LineFlag=0;
yoshidayuito 15:909c23ab7f0c 570
yoshidayuito 15:909c23ab7f0c 571
yoshidayuito 16:ea3008995c41 572 SubOmuni(val_x,0,0);
yoshidayuito 17:5b4080915375 573
yoshidayuito 17:5b4080915375 574 /* 到達 */
yoshidayuito 17:5b4080915375 575 if(LineFlag==0) return 1;
yoshidayuito 17:5b4080915375 576 /* 未到達 */
yoshidayuito 17:5b4080915375 577 else return 0;
TakushimaYukimasa 0:9e851dc42cde 578 }