2020_TeamA / Mbed 2 deprecated somaomuni2

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Dependencies:   mbed YKNCT_Movement SBDBT BNO055 YKNCT_MD YKNCT_I2C

main.cpp@7:93ab5505ac1b, 2020-03-19 (annotated)

Committer:
yoshikawaryota
Date:
Thu Mar 19 04:53:20 2020 +0000
Revision:
7:93ab5505ac1b
Parent:
6:201e3de9777d
Child:
8:ddedee42c253
add Acceleration_timer;Ver.yoshikawa

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;
yoshikawaryota 2:ec149525ec2a 20 /* ロボットの目標座標 */
yoshikawaryota 2:ec149525ec2a 21 ROCATION Target;
TakushimaYukimasa 0:9e851dc42cde 22
TakushimaYukimasa 0:9e851dc42cde 23 /* 定数定義 ------------------------------------------------------------------*/
TakushimaYukimasa 0:9e851dc42cde 24 /* マクロ定義 ----------------------------------------------------------------*/
TakushimaYukimasa 0:9e851dc42cde 25 /* 関数プロトタイプ宣言 -------------------------------------------------------*/
TakushimaYukimasa 0:9e851dc42cde 26
TakushimaYukimasa 0:9e851dc42cde 27 /* タイマ呼び出し用 */
TakushimaYukimasa 0:9e851dc42cde 28 void IT_CallBack(void);
TakushimaYukimasa 0:9e851dc42cde 29
TakushimaYukimasa 0:9e851dc42cde 30 /* 自己位置推定処理 */
TakushimaYukimasa 0:9e851dc42cde 31 void LocEstimate(void);
TakushimaYukimasa 0:9e851dc42cde 32
yoshikawaryota 7:93ab5505ac1b 33 /* 台形制御値代入 */
yoshikawaryota 7:93ab5505ac1b 34 void omuni_control(int tar_x, int tar_y, int tar_rev);
yoshikawaryota 7:93ab5505ac1b 35
yoshikawaryota 7:93ab5505ac1b 36 /* オムニ関係 */
yoshikawaryota 7:93ab5505ac1b 37 void SubOmuni(int X,int Y,int R);
yoshikawaryota 2:ec149525ec2a 38
TakushimaYukimasa 0:9e851dc42cde 39
TakushimaYukimasa 0:9e851dc42cde 40 /* 変数定義 ------------------------------------------------------------------*/
TakushimaYukimasa 0:9e851dc42cde 41
TakushimaYukimasa 0:9e851dc42cde 42 /* 操作権 0…なし 1…手動 2…自動 */
TakushimaYukimasa 0:9e851dc42cde 43 int operate=0;
TakushimaYukimasa 0:9e851dc42cde 44
TakushimaYukimasa 0:9e851dc42cde 45 /* 自動シーケンス */
TakushimaYukimasa 0:9e851dc42cde 46 int auto_mode=0;
TakushimaYukimasa 0:9e851dc42cde 47
TakushimaYukimasa 0:9e851dc42cde 48 /* 直読みエンコーダ角度保存(degree) */
TakushimaYukimasa 0:9e851dc42cde 49 double EncoderDeg[EncoderMAX] = {0};
TakushimaYukimasa 0:9e851dc42cde 50
TakushimaYukimasa 0:9e851dc42cde 51 /* 足回り値保存変数 */
yoshikawaryota 2:ec149525ec2a 52 int MovMotor[4]= {0};
TakushimaYukimasa 0:9e851dc42cde 53
yoshikawaryota 6:201e3de9777d 54 /* 移動終了フラグ */
yoshikawaryota 6:201e3de9777d 55 bool fin_flag=0;
yoshikawaryota 4:05a6bda2e11f 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
yoshikawaryota 1:b9f698be841c 60 /* 補正値用定数 */
yoshikawaryota 1:b9f698be841c 61 int cor=4;
yoshikawaryota 1:b9f698be841c 62
TakushimaYukimasa 0:9e851dc42cde 63 /* クラス定義 ----------------------------------------------------------------*/
TakushimaYukimasa 0:9e851dc42cde 64
TakushimaYukimasa 0:9e851dc42cde 65 /* 割り込み用クラス */
TakushimaYukimasa 0:9e851dc42cde 66 Ticker flipper;
TakushimaYukimasa 0:9e851dc42cde 67
yoshikawaryota 1:b9f698be841c 68 /* gyro用タイマ */
yoshikawaryota 1:b9f698be841c 69 Timer yawCnt;
yoshikawaryota 1:b9f698be841c 70
yoshikawaryota 2:ec149525ec2a 71 /* P制御終了タイマ */
yoshikawaryota 2:ec149525ec2a 72 Timer P_fin;
yoshikawaryota 2:ec149525ec2a 73
yoshikawaryota 7:93ab5505ac1b 74 /* タイマ加速 */
yoshikawaryota 7:93ab5505ac1b 75 Timer Acc_time;
yoshikawaryota 7:93ab5505ac1b 76
TakushimaYukimasa 0:9e851dc42cde 77 /* UART (Tx,Rx) */
TakushimaYukimasa 0:9e851dc42cde 78 Serial telemetry(USBTX, USBRX, 115200);
TakushimaYukimasa 0:9e851dc42cde 79
TakushimaYukimasa 0:9e851dc42cde 80 /* コントローラー */
TakushimaYukimasa 0:9e851dc42cde 81 SBDBT DS3(PA_0, PA_1, 9600);
TakushimaYukimasa 0:9e851dc42cde 82
TakushimaYukimasa 0:9e851dc42cde 83 /* オンボードLED */
TakushimaYukimasa 0:9e851dc42cde 84 DigitalOut led(LED2);
TakushimaYukimasa 0:9e851dc42cde 85
TakushimaYukimasa 0:9e851dc42cde 86 /* USERボタン */
TakushimaYukimasa 0:9e851dc42cde 87 DigitalIn UB(PC_13,PullDown);
TakushimaYukimasa 0:9e851dc42cde 88
TakushimaYukimasa 0:9e851dc42cde 89 /* エンコーダーピン CS */
TakushimaYukimasa 0:9e851dc42cde 90 DigitalOut CS[] = {PA_2,PA_3};
TakushimaYukimasa 0:9e851dc42cde 91 DigitalOut CL[] = {PA_4,PA_5};
TakushimaYukimasa 0:9e851dc42cde 92 DigitalIn DO[] = {PA_6,PA_7};
TakushimaYukimasa 0:9e851dc42cde 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
TakushimaYukimasa 0:9e851dc42cde 100 /* ジャイロのピン設定 */
TakushimaYukimasa 0:9e851dc42cde 101 BNO055 bno(PB_9, PB_8);
TakushimaYukimasa 0:9e851dc42cde 102
TakushimaYukimasa 0:9e851dc42cde 103
TakushimaYukimasa 0:9e851dc42cde 104 /*----------------------------------- main ----------------------------------*/
TakushimaYukimasa 0:9e851dc42cde 105 int main()
TakushimaYukimasa 0:9e851dc42cde 106 {
yoshikawaryota 2:ec149525ec2a 107 telemetry.printf("\n\rMainStart");
TakushimaYukimasa 0:9e851dc42cde 108
yoshikawaryota 2:ec149525ec2a 109 /* 割り込みの設定
yoshikawaryota 2:ec149525ec2a 110 * IT_CallBack関数を0.1msで割り込み */
yoshikawaryota 2:ec149525ec2a 111 flipper.attach_us(&IT_CallBack, 100);
TakushimaYukimasa 0:9e851dc42cde 112
yoshikawaryota 2:ec149525ec2a 113 /* ジャイロの設定 */
yoshikawaryota 2:ec149525ec2a 114 bno.setmode(OPERATION_MODE_IMUPLUS);
TakushimaYukimasa 0:9e851dc42cde 115
yoshikawaryota 2:ec149525ec2a 116 /* I2CMDの設定 */
yoshikawaryota 2:ec149525ec2a 117 MD.Init(0,MD_SMB);
yoshikawaryota 2:ec149525ec2a 118 MD.Init(1,MD_SMB);
yoshikawaryota 2:ec149525ec2a 119 MD.Init(2,MD_SMB);
yoshikawaryota 2:ec149525ec2a 120 MD.Init(3,MD_SMB);
TakushimaYukimasa 0:9e851dc42cde 121
yoshikawaryota 2:ec149525ec2a 122 telemetry.printf("\n\rMainLoopStart");
yoshikawaryota 2:ec149525ec2a 123 /* メインループ --------------------------------------------------------------*/
yoshikawaryota 2:ec149525ec2a 124 while(1) {
yoshikawaryota 2:ec149525ec2a 125 /* オンボードLED点滅 */
yoshikawaryota 2:ec149525ec2a 126 led=!led;
TakushimaYukimasa 0:9e851dc42cde 127
yoshikawaryota 2:ec149525ec2a 128 /* 表示改行 */
yoshikawaryota 2:ec149525ec2a 129 telemetry.printf("\n\r");
TakushimaYukimasa 0:9e851dc42cde 130
yoshikawaryota 2:ec149525ec2a 131 /* 自動処理関連テレメトリ */
yoshikawaryota 2:ec149525ec2a 132 telemetry.printf("ope:%d ",operate);
yoshikawaryota 2:ec149525ec2a 133 /* 座標テレメトリ */
yoshikawaryota 2:ec149525ec2a 134 telemetry.printf("X:%4.0f Y:%4.0f T:%4.0f ",NowLoc.X,NowLoc.Y,NowLoc.theta);
TakushimaYukimasa 0:9e851dc42cde 135
yoshikawaryota 2:ec149525ec2a 136 /* 自己位置推定更新 */
yoshikawaryota 2:ec149525ec2a 137 LocEstimate();
TakushimaYukimasa 0:9e851dc42cde 138
yoshikawaryota 7:93ab5505ac1b 139 for(int i=0; i<4; i++) {
yoshikawaryota 7:93ab5505ac1b 140 MD.Set(i,MovMotor[i]);
yoshikawaryota 7:93ab5505ac1b 141 MovMotor[i]=0;
yoshikawaryota 7:93ab5505ac1b 142 }
yoshikawaryota 2:ec149525ec2a 143 /* I2CMD実行 */
yoshikawaryota 2:ec149525ec2a 144 MD.Exe();
yoshikawaryota 2:ec149525ec2a 145
yoshikawaryota 2:ec149525ec2a 146 /* タイマ-スタート */
yoshikawaryota 2:ec149525ec2a 147 yawCnt.start();
yoshikawaryota 2:ec149525ec2a 148 /* タイマーリセット */
yoshikawaryota 2:ec149525ec2a 149 yawCnt.reset();
TakushimaYukimasa 0:9e851dc42cde 150
TakushimaYukimasa 0:9e851dc42cde 151
yoshikawaryota 2:ec149525ec2a 152 /* 操縦権変更 ×停止 △手動 〇自動 */
yoshikawaryota 2:ec149525ec2a 153 if(DS3.CROSS) operate=0;
yoshikawaryota 2:ec149525ec2a 154 if(DS3.TRIANGLE) operate=1;
yoshikawaryota 2:ec149525ec2a 155 if(DS3.CIRCLE) operate=2;
TakushimaYukimasa 0:9e851dc42cde 156
yoshikawaryota 2:ec149525ec2a 157 /* 操縦権：なし 停止動作 */
yoshikawaryota 2:ec149525ec2a 158 if(operate==0) {
yoshikawaryota 2:ec149525ec2a 159 /* 足回り停止 */
yoshikawaryota 2:ec149525ec2a 160 omuni.XmarkOmni_Move(0,0,0);
yoshikawaryota 2:ec149525ec2a 161 for (int i = 0; i < 4; i++) {
yoshikawaryota 1:b9f698be841c 162 MD.Set(i,MovMotor[i]);
yoshikawaryota 1:b9f698be841c 163 }
TakushimaYukimasa 0:9e851dc42cde 164
yoshikawaryota 2:ec149525ec2a 165 }
yoshikawaryota 2:ec149525ec2a 166 /* 操縦権：手動 */
yoshikawaryota 2:ec149525ec2a 167 else if(operate==1) {
yoshikawaryota 2:ec149525ec2a 168 /* 足回り手動動作 */
yoshikawaryota 2:ec149525ec2a 169 int x_val = (double)(DS3.LX-64)*100/64;
yoshikawaryota 2:ec149525ec2a 170 int y_val = (double)(64-DS3.LY)*100/64;
yoshikawaryota 2:ec149525ec2a 171 int r_val = (double)(DS3.RX-64)*100/64;
yoshikawaryota 1:b9f698be841c 172
yoshikawaryota 2:ec149525ec2a 173 /* 目標角更新 */
yoshikawaryota 2:ec149525ec2a 174 if(DS3.RX!=64) yawCnt.reset();
yoshikawaryota 2:ec149525ec2a 175 if(yawCnt.read_ms()<1000) TarTheta=NowLoc.theta;
yoshikawaryota 2:ec149525ec2a 176
yoshikawaryota 2:ec149525ec2a 177 /* gyro値による補正 */
yoshikawaryota 2:ec149525ec2a 178 r_val += (TarTheta-NowLoc.theta)*cor;
yoshikawaryota 2:ec149525ec2a 179
yoshikawaryota 7:93ab5505ac1b 180 SubOmuni(x_val, y_val, r_val);
TakushimaYukimasa 0:9e851dc42cde 181
yoshikawaryota 2:ec149525ec2a 182 }
yoshikawaryota 2:ec149525ec2a 183 /* 操縦権：自動 */
yoshikawaryota 2:ec149525ec2a 184 else if(operate==2) {
yoshikawaryota 2:ec149525ec2a 185 switch(auto_mode) {
yoshikawaryota 2:ec149525ec2a 186 /* スタート待機処理 */
yoshikawaryota 2:ec149525ec2a 187 case 0:
yoshikawaryota 2:ec149525ec2a 188 /* オンボードSWで次のステップに */
yoshikawaryota 2:ec149525ec2a 189 if(UB) auto_mode++;
yoshikawaryota 2:ec149525ec2a 190 break;
TakushimaYukimasa 0:9e851dc42cde 191
yoshikawaryota 2:ec149525ec2a 192 /* 〇〇の処理 */
yoshikawaryota 2:ec149525ec2a 193 case 1:
yoshikawaryota 7:93ab5505ac1b 194 omuni_control(1000, 1000, 360);
yoshikawaryota 2:ec149525ec2a 195 /* 〇〇の時次のステップに */
yoshikawaryota 6:201e3de9777d 196 if(fin_flag) {
yoshikawaryota 6:201e3de9777d 197 fin_flag=0;
yoshikawaryota 6:201e3de9777d 198 auto_mode++;
yoshikawaryota 6:201e3de9777d 199 }
yoshikawaryota 2:ec149525ec2a 200 break;
TakushimaYukimasa 0:9e851dc42cde 201
yoshikawaryota 2:ec149525ec2a 202 /* 終了処理 */
yoshikawaryota 2:ec149525ec2a 203 default:
yoshikawaryota 2:ec149525ec2a 204 auto_mode=0;
yoshikawaryota 2:ec149525ec2a 205 operate=0;
yoshikawaryota 2:ec149525ec2a 206 break;
yoshikawaryota 2:ec149525ec2a 207 }
yoshikawaryota 2:ec149525ec2a 208 }
yoshikawaryota 2:ec149525ec2a 209
TakushimaYukimasa 0:9e851dc42cde 210 }
TakushimaYukimasa 0:9e851dc42cde 211 }
TakushimaYukimasa 0:9e851dc42cde 212
TakushimaYukimasa 0:9e851dc42cde 213
TakushimaYukimasa 0:9e851dc42cde 214 /*******************************************************************************
TakushimaYukimasa 0:9e851dc42cde 215 * @概要 自己位置推定関数
TakushimaYukimasa 0:9e851dc42cde 216 * @引数 なし
TakushimaYukimasa 0:9e851dc42cde 217 * @返り値 なし
TakushimaYukimasa 0:9e851dc42cde 218 *******************************************************************************/
yoshikawaryota 2:ec149525ec2a 219 void LocEstimate(void)
yoshikawaryota 2:ec149525ec2a 220 {
yoshikawaryota 2:ec149525ec2a 221 static double GyroDeg[2]= {0};
yoshikawaryota 2:ec149525ec2a 222 static double EncDeg[2][2]= {0};
yoshikawaryota 2:ec149525ec2a 223 static double disp[3]= {0};
TakushimaYukimasa 0:9e851dc42cde 224
yoshikawaryota 7:93ab5505ac1b 225
yoshikawaryota 7:93ab5505ac1b 226
yoshikawaryota 2:ec149525ec2a 227 /* ジャイロの値取得 */
yoshikawaryota 2:ec149525ec2a 228 bno.get_angles();
yoshikawaryota 2:ec149525ec2a 229 GyroDeg[1]=GyroDeg[0];
yoshikawaryota 2:ec149525ec2a 230 GyroDeg[0]=bno.euler.yaw;
yoshikawaryota 2:ec149525ec2a 231 if(GyroDeg[0]!=0) {
yoshikawaryota 2:ec149525ec2a 232 /* 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 */
yoshikawaryota 2:ec149525ec2a 233 if(GyroDeg[1]<90 && GyroDeg[0]>270) GyroDeg[1]+=360;
yoshikawaryota 2:ec149525ec2a 234 /* 0→359を跨いだ時，前回の値を360以上の値で表記 */
yoshikawaryota 2:ec149525ec2a 235 else if(GyroDeg[1]>270 && GyroDeg[0]<90) GyroDeg[1]-=360;
yoshikawaryota 2:ec149525ec2a 236 /* 差を求める*/
yoshikawaryota 2:ec149525ec2a 237 disp[2]=GyroDeg[1]-GyroDeg[0];
yoshikawaryota 2:ec149525ec2a 238 }
yoshikawaryota 2:ec149525ec2a 239 /* Enc2つの差分求める */
yoshikawaryota 2:ec149525ec2a 240 for(int i=0; i<2; i++) {
yoshikawaryota 2:ec149525ec2a 241 EncDeg[i][1]=EncDeg[i][0];
yoshikawaryota 2:ec149525ec2a 242 EncDeg[i][0]=EncoderDeg[i];
yoshikawaryota 7:93ab5505ac1b 243 disp[i]=DEG_TO_DIS(EncDeg[i][1]-EncDeg[i][0]);
yoshikawaryota 2:ec149525ec2a 244 }
yoshikawaryota 2:ec149525ec2a 245 /* 差分を加速度として保存 */
yoshikawaryota 2:ec149525ec2a 246 NowAcc.theta = disp[2];
yoshikawaryota 7:93ab5505ac1b 247 NowAcc.X = -disp[0] * cos(DEG_TO_RAD(NowLoc.theta)) - disp[1] * sin(DEG_TO_RAD(NowLoc.theta));
yoshikawaryota 7:93ab5505ac1b 248 NowAcc.Y = -disp[0] * sin(DEG_TO_RAD(NowLoc.theta)) + disp[1] * cos(DEG_TO_RAD(NowLoc.theta));
yoshikawaryota 2:ec149525ec2a 249 /* 差分を累積して現在位置を保存 */
yoshikawaryota 2:ec149525ec2a 250 NowLoc.X += NowAcc.X;
yoshikawaryota 2:ec149525ec2a 251 NowLoc.Y += NowAcc.Y;
yoshikawaryota 2:ec149525ec2a 252 NowLoc.theta += NowAcc.theta;
TakushimaYukimasa 0:9e851dc42cde 253 }
TakushimaYukimasa 0:9e851dc42cde 254
TakushimaYukimasa 0:9e851dc42cde 255
TakushimaYukimasa 0:9e851dc42cde 256
TakushimaYukimasa 0:9e851dc42cde 257
TakushimaYukimasa 0:9e851dc42cde 258 /* 割り込み(100us) *************************************************************/
TakushimaYukimasa 0:9e851dc42cde 259 void IT_CallBack(void)
TakushimaYukimasa 0:9e851dc42cde 260 {
yoshikawaryota 2:ec149525ec2a 261 static int cnt = 0;
yoshikawaryota 2:ec149525ec2a 262 static int data[EncoderMAX] = {0};
yoshikawaryota 2:ec149525ec2a 263 static double EncDeg[EncoderMAX][2] = {0};
yoshikawaryota 2:ec149525ec2a 264
yoshikawaryota 2:ec149525ec2a 265 for(int i=0; i<EncoderMAX; i++)
yoshikawaryota 2:ec149525ec2a 266 switch(cnt) {
yoshikawaryota 2:ec149525ec2a 267 /* 最初の処理 */
yoshikawaryota 2:ec149525ec2a 268 case 0:
yoshikawaryota 2:ec149525ec2a 269 data[i] = 0;
yoshikawaryota 2:ec149525ec2a 270 CS[i] = 0;
yoshikawaryota 2:ec149525ec2a 271 CL[i] = 1;
yoshikawaryota 2:ec149525ec2a 272 break;
yoshikawaryota 2:ec149525ec2a 273 /* 最後の処理 */
yoshikawaryota 2:ec149525ec2a 274 case 25:
yoshikawaryota 2:ec149525ec2a 275 CS[i]=1;
yoshikawaryota 2:ec149525ec2a 276 /* 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) */
yoshikawaryota 2:ec149525ec2a 277 EncDeg[i][1] = EncDeg[i][0];
yoshikawaryota 2:ec149525ec2a 278 EncDeg[i][0] = (double)data[i] * 360.0 / 4096;
yoshikawaryota 2:ec149525ec2a 279 /* 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 */
yoshikawaryota 2:ec149525ec2a 280 if ((270 <= EncDeg[i][1]) && (EncDeg[i][0] < 90))
yoshikawaryota 2:ec149525ec2a 281 EncDeg[i][1] -= 360;
yoshikawaryota 2:ec149525ec2a 282 /* 0→359を跨いだ時，前回の値を360以上の値で表記 */
yoshikawaryota 2:ec149525ec2a 283 else if ((EncDeg[i][1] < 90) && (270 <= EncDeg[i][0]))
yoshikawaryota 2:ec149525ec2a 284 EncDeg[i][1] += 360;
yoshikawaryota 2:ec149525ec2a 285 /* 差を求める*/
yoshikawaryota 2:ec149525ec2a 286 EncoderDeg[i] += EncDeg[i][0] - EncDeg[i][1];
yoshikawaryota 2:ec149525ec2a 287 break;
yoshikawaryota 2:ec149525ec2a 288 /* 通常の処理 */
yoshikawaryota 2:ec149525ec2a 289 default:
yoshikawaryota 2:ec149525ec2a 290 CL[i]=!CL[i];
yoshikawaryota 2:ec149525ec2a 291 /* 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 */
yoshikawaryota 2:ec149525ec2a 292 if(cnt != 1 && cnt % 2) {
yoshikawaryota 2:ec149525ec2a 293 data[i] |= (DO[i]==1);
yoshikawaryota 2:ec149525ec2a 294 data[i] = data[i] << 1;
yoshikawaryota 2:ec149525ec2a 295 }
yoshikawaryota 2:ec149525ec2a 296 break;
yoshikawaryota 2:ec149525ec2a 297 }
yoshikawaryota 2:ec149525ec2a 298 cnt++;
yoshikawaryota 2:ec149525ec2a 299 cnt%=26;
yoshikawaryota 2:ec149525ec2a 300 }
yoshikawaryota 2:ec149525ec2a 301
yoshikawaryota 2:ec149525ec2a 302
yoshikawaryota 2:ec149525ec2a 303
yoshikawaryota 2:ec149525ec2a 304
yoshikawaryota 7:93ab5505ac1b 305
yoshikawaryota 7:93ab5505ac1b 306 /*******************************************************************************
yoshikawaryota 7:93ab5505ac1b 307 * @概要 オムニの値計算する(加算式)
yoshikawaryota 7:93ab5505ac1b 308 * @引数 X,Y,Rotationそれぞれの操作量
yoshikawaryota 7:93ab5505ac1b 309 * @返り値 なし
yoshikawaryota 7:93ab5505ac1b 310 *******************************************************************************/
yoshikawaryota 7:93ab5505ac1b 311 void SubOmuni(int X,int Y,int R)
yoshikawaryota 7:93ab5505ac1b 312 {
yoshikawaryota 7:93ab5505ac1b 313 /* 入力を100%に制限 */
yoshikawaryota 7:93ab5505ac1b 314 X=Rest(X,100);
yoshikawaryota 7:93ab5505ac1b 315 Y=Rest(Y,100);
yoshikawaryota 7:93ab5505ac1b 316 R=Rest(R,100);
yoshikawaryota 7:93ab5505ac1b 317
yoshikawaryota 7:93ab5505ac1b 318 /* オムニ計算結果をtmpに */
yoshikawaryota 7:93ab5505ac1b 319 int tmp[4]= {0};
yoshikawaryota 7:93ab5505ac1b 320 omuni.XmarkOmni_Move(X,Y,R);
yoshikawaryota 7:93ab5505ac1b 321
yoshikawaryota 7:93ab5505ac1b 322 /* 計算結果を加算する */
yoshikawaryota 7:93ab5505ac1b 323 for(int i=0; i<4; i++) MovMotor[i]+=tmp[i];
yoshikawaryota 7:93ab5505ac1b 324 }
yoshikawaryota 7:93ab5505ac1b 325
yoshikawaryota 7:93ab5505ac1b 326
yoshikawaryota 7:93ab5505ac1b 327
yoshikawaryota 7:93ab5505ac1b 328
yoshikawaryota 7:93ab5505ac1b 329
yoshikawaryota 2:ec149525ec2a 330 /*******************************************************************************
yoshikawaryota 2:ec149525ec2a 331 * @概要 P制御
yoshikawaryota 2:ec149525ec2a 332 * @引数 tar_x :目標のx座標
yoshikawaryota 2:ec149525ec2a 333 * @引数 tar_y :目標のy座標
yoshikawaryota 2:ec149525ec2a 334 * @引数 tar_rev: 目標角
yoshikawaryota 2:ec149525ec2a 335 * @返り値 なし
yoshikawaryota 2:ec149525ec2a 336 *******************************************************************************/
yoshikawaryota 7:93ab5505ac1b 337 void omuni_control(int tar_x, int tar_y, int tar_theta)
yoshikawaryota 2:ec149525ec2a 338 {
yoshikawaryota 6:201e3de9777d 339 static int log_distance = 0;
yoshikawaryota 6:201e3de9777d 340 static double log_theta = 0;
yoshikawaryota 6:201e3de9777d 341 static bool dis_flag = 0;
TakushimaYukimasa 0:9e851dc42cde 342
yoshikawaryota 4:05a6bda2e11f 343 if(dis_flag==0) {
yoshikawaryota 7:93ab5505ac1b 344 /* タイマー初期化 */
yoshikawaryota 7:93ab5505ac1b 345 Acc_time.reset();
yoshikawaryota 7:93ab5505ac1b 346 P_fin.reset();
yoshikawaryota 7:93ab5505ac1b 347 /* タイマー始動 */
yoshikawaryota 7:93ab5505ac1b 348 Acc_time.start();
yoshikawaryota 7:93ab5505ac1b 349 P_fin.start();
yoshikawaryota 6:201e3de9777d 350 /* 現在角度を記録しておく */
yoshikawaryota 6:201e3de9777d 351 log_theta = NowLoc.theta;
yoshikawaryota 4:05a6bda2e11f 352 /* 現在座標と目標座標との距離を記録しておく */
yoshikawaryota 4:05a6bda2e11f 353 log_distance = (int)sqrt(pow((double)tar_x - NowLoc.X, 2.0) + pow((double)tar_y - NowLoc.Y, 2.0));
yoshikawaryota 4:05a6bda2e11f 354 /* フラグ回収 */
yoshikawaryota 4:05a6bda2e11f 355 dis_flag=1;
yoshikawaryota 4:05a6bda2e11f 356 }
yoshikawaryota 2:ec149525ec2a 357
yoshikawaryota 7:93ab5505ac1b 358 int x_val = 0, x_acc_val = 0, x_dec_val = 0;
yoshikawaryota 7:93ab5505ac1b 359 int y_val = 0, y_acc_val = 0, y_dec_val = 0;
yoshikawaryota 4:05a6bda2e11f 360 int t_val = 0;
yoshikawaryota 4:05a6bda2e11f 361
yoshikawaryota 4:05a6bda2e11f 362 double theta_tar = 0.0;
yoshikawaryota 7:93ab5505ac1b 363 /* 減速処理の値代入 */
yoshikawaryota 7:93ab5505ac1b 364 x_dec_val = ABS((tar_x - NowLoc.X) * 0.06);
yoshikawaryota 7:93ab5505ac1b 365 y_dec_val = ABS((tar_y - NowLoc.Y) * 0.06);
yoshikawaryota 7:93ab5505ac1b 366 /* 加速処理の値代入 */
yoshikawaryota 7:93ab5505ac1b 367 x_acc_val=ABS((int)Acc_time.read_ms() * 0.15);
yoshikawaryota 7:93ab5505ac1b 368 y_acc_val=ABS((int)Acc_time.read_ms() * 0.15);
yoshikawaryota 7:93ab5505ac1b 369 /* 低い方の値代入 */
yoshikawaryota 7:93ab5505ac1b 370 x_val = M_MIN(x_acc_val, x_dec_val);
yoshikawaryota 7:93ab5505ac1b 371 y_val = M_MIN(y_acc_val, y_dec_val);
yoshikawaryota 7:93ab5505ac1b 372
yoshikawaryota 4:05a6bda2e11f 373 /* 最低を決める */
yoshikawaryota 7:93ab5505ac1b 374 x_val = M_MAX(x_val, 20);
yoshikawaryota 7:93ab5505ac1b 375 y_val = M_MAX(y_val, 20);
yoshikawaryota 7:93ab5505ac1b 376
yoshikawaryota 4:05a6bda2e11f 377 /* 100以内に収める */
yoshikawaryota 4:05a6bda2e11f 378 x_val = Rest(x_val, 100);
yoshikawaryota 4:05a6bda2e11f 379 y_val = Rest(y_val, 100);
yoshikawaryota 2:ec149525ec2a 380
yoshikawaryota 4:05a6bda2e11f 381 /* 正負を決める */
yoshikawaryota 4:05a6bda2e11f 382 if ((tar_x - NowLoc.X) < 0)
yoshikawaryota 4:05a6bda2e11f 383 x_val *= -1;
yoshikawaryota 4:05a6bda2e11f 384 if ((tar_y - NowLoc.Y) < 0)
yoshikawaryota 4:05a6bda2e11f 385 y_val *= -1;
yoshikawaryota 2:ec149525ec2a 386
yoshikawaryota 4:05a6bda2e11f 387 /* 残り距離計算 */
yoshikawaryota 4:05a6bda2e11f 388 int remain = (int)sqrt(pow((double)tar_x - NowLoc.X, 2.0) + pow((double)tar_y - NowLoc.Y, 2.0));
yoshikawaryota 4:05a6bda2e11f 389 /* 移動量に応じたthetaを求める */
yoshikawaryota 6:201e3de9777d 390 theta_tar = (((double)log_distance - remain) / log_distance) * (tar_theta - log_theta);
yoshikawaryota 4:05a6bda2e11f 391 /* 合わせるthetaと現在thetaの差分からtheta補整をかける */
yoshikawaryota 4:05a6bda2e11f 392 t_val = (theta_tar - NowLoc.theta) * 1.5;
yoshikawaryota 3:b77f51108bf1 393
yoshikawaryota 4:05a6bda2e11f 394 t_val = Rest(t_val, 20);
yoshikawaryota 2:ec149525ec2a 395
yoshikawaryota 7:93ab5505ac1b 396 SubOmuni(x_val, y_val, t_val);
yoshikawaryota 2:ec149525ec2a 397
yoshikawaryota 4:05a6bda2e11f 398 /* 終了処理 */
yoshikawaryota 4:05a6bda2e11f 399 if ((5 > ABS(remain)) && ABS(tar_theta - NowLoc.theta) < 0.1) {
yoshikawaryota 4:05a6bda2e11f 400 x_val = 0;
yoshikawaryota 4:05a6bda2e11f 401 y_val = 0;
yoshikawaryota 4:05a6bda2e11f 402 }
yoshikawaryota 4:05a6bda2e11f 403 if (x_val == 0 && y_val == 0)
yoshikawaryota 4:05a6bda2e11f 404 P_fin.start();
yoshikawaryota 4:05a6bda2e11f 405 else
yoshikawaryota 4:05a6bda2e11f 406 P_fin.reset();
yoshikawaryota 2:ec149525ec2a 407
yoshikawaryota 4:05a6bda2e11f 408 if (P_fin.read_ms() > 100) {
yoshikawaryota 4:05a6bda2e11f 409 /* タイマー停止 */
yoshikawaryota 4:05a6bda2e11f 410 P_fin.stop();
yoshikawaryota 4:05a6bda2e11f 411 /* フラグを建て直す */
yoshikawaryota 4:05a6bda2e11f 412 dis_flag=0;
yoshikawaryota 6:201e3de9777d 413 fin_flag=1;
yoshikawaryota 2:ec149525ec2a 414 }
TakushimaYukimasa 0:9e851dc42cde 415 }