2020_TeamA / Mbed 2 deprecated somaomuni2

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Dependencies:   mbed YKNCT_Movement SBDBT BNO055 YKNCT_MD YKNCT_I2C

main.cpp@3:b77f51108bf1, 2020-03-17 (annotated)

Committer:
yoshikawaryota
Date:
Tue Mar 17 06:05:28 2020 +0000
Revision:
3:b77f51108bf1
Parent:
2:ec149525ec2a
Child:
4:05a6bda2e11f
update P_control;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 2:ec149525ec2a 33 /* P制御値代入 */
yoshikawaryota 2:ec149525ec2a 34 void Pro_control(int tar_x, int tar_y, int tar_rev);
yoshikawaryota 2:ec149525ec2a 35
TakushimaYukimasa 0:9e851dc42cde 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 */
yoshikawaryota 2:ec149525ec2a 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
yoshikawaryota 1:b9f698be841c 54 /* 補正値用定数 */
yoshikawaryota 1:b9f698be841c 55 int cor=4;
yoshikawaryota 1:b9f698be841c 56
TakushimaYukimasa 0:9e851dc42cde 57 /* クラス定義 ----------------------------------------------------------------*/
TakushimaYukimasa 0:9e851dc42cde 58
TakushimaYukimasa 0:9e851dc42cde 59 /* 割り込み用クラス */
TakushimaYukimasa 0:9e851dc42cde 60 Ticker flipper;
TakushimaYukimasa 0:9e851dc42cde 61
yoshikawaryota 1:b9f698be841c 62 /* gyro用タイマ */
yoshikawaryota 1:b9f698be841c 63 Timer yawCnt;
yoshikawaryota 1:b9f698be841c 64
yoshikawaryota 2:ec149525ec2a 65 /* P制御終了タイマ */
yoshikawaryota 2:ec149525ec2a 66 Timer P_fin;
yoshikawaryota 2:ec149525ec2a 67
TakushimaYukimasa 0:9e851dc42cde 68 /* UART (Tx,Rx) */
TakushimaYukimasa 0:9e851dc42cde 69 Serial telemetry(USBTX, USBRX, 115200);
TakushimaYukimasa 0:9e851dc42cde 70
TakushimaYukimasa 0:9e851dc42cde 71 /* コントローラー */
TakushimaYukimasa 0:9e851dc42cde 72 SBDBT DS3(PA_0, PA_1, 9600);
TakushimaYukimasa 0:9e851dc42cde 73
TakushimaYukimasa 0:9e851dc42cde 74 /* オンボードLED */
TakushimaYukimasa 0:9e851dc42cde 75 DigitalOut led(LED2);
TakushimaYukimasa 0:9e851dc42cde 76
TakushimaYukimasa 0:9e851dc42cde 77 /* USERボタン */
TakushimaYukimasa 0:9e851dc42cde 78 DigitalIn UB(PC_13,PullDown);
TakushimaYukimasa 0:9e851dc42cde 79
TakushimaYukimasa 0:9e851dc42cde 80 /* エンコーダーピン CS */
TakushimaYukimasa 0:9e851dc42cde 81 DigitalOut CS[] = {PA_2,PA_3};
TakushimaYukimasa 0:9e851dc42cde 82 DigitalOut CL[] = {PA_4,PA_5};
TakushimaYukimasa 0:9e851dc42cde 83 DigitalIn DO[] = {PA_6,PA_7};
TakushimaYukimasa 0:9e851dc42cde 84
TakushimaYukimasa 0:9e851dc42cde 85 /* 足回り動作クラス定義 */
TakushimaYukimasa 0:9e851dc42cde 86 Move omuni(MovMotor,NowLoc.theta);
TakushimaYukimasa 0:9e851dc42cde 87
TakushimaYukimasa 0:9e851dc42cde 88 /* I2C MDのクラス定義 */
TakushimaYukimasa 0:9e851dc42cde 89 YKNCT_MD_I2C MD(PB_9,PB_8);
TakushimaYukimasa 0:9e851dc42cde 90
TakushimaYukimasa 0:9e851dc42cde 91 /* ジャイロのピン設定 */
TakushimaYukimasa 0:9e851dc42cde 92 BNO055 bno(PB_9, PB_8);
TakushimaYukimasa 0:9e851dc42cde 93
TakushimaYukimasa 0:9e851dc42cde 94
TakushimaYukimasa 0:9e851dc42cde 95 /*----------------------------------- main ----------------------------------*/
TakushimaYukimasa 0:9e851dc42cde 96 int main()
TakushimaYukimasa 0:9e851dc42cde 97 {
yoshikawaryota 2:ec149525ec2a 98 telemetry.printf("\n\rMainStart");
TakushimaYukimasa 0:9e851dc42cde 99
yoshikawaryota 2:ec149525ec2a 100 /* 割り込みの設定
yoshikawaryota 2:ec149525ec2a 101 * IT_CallBack関数を0.1msで割り込み */
yoshikawaryota 2:ec149525ec2a 102 flipper.attach_us(&IT_CallBack, 100);
TakushimaYukimasa 0:9e851dc42cde 103
yoshikawaryota 2:ec149525ec2a 104 /* ジャイロの設定 */
yoshikawaryota 2:ec149525ec2a 105 bno.setmode(OPERATION_MODE_IMUPLUS);
TakushimaYukimasa 0:9e851dc42cde 106
yoshikawaryota 2:ec149525ec2a 107 /* I2CMDの設定 */
yoshikawaryota 2:ec149525ec2a 108 MD.Init(0,MD_SMB);
yoshikawaryota 2:ec149525ec2a 109 MD.Init(1,MD_SMB);
yoshikawaryota 2:ec149525ec2a 110 MD.Init(2,MD_SMB);
yoshikawaryota 2:ec149525ec2a 111 MD.Init(3,MD_SMB);
TakushimaYukimasa 0:9e851dc42cde 112
yoshikawaryota 2:ec149525ec2a 113 telemetry.printf("\n\rMainLoopStart");
yoshikawaryota 2:ec149525ec2a 114 /* メインループ --------------------------------------------------------------*/
yoshikawaryota 2:ec149525ec2a 115 while(1) {
yoshikawaryota 2:ec149525ec2a 116 /* オンボードLED点滅 */
yoshikawaryota 2:ec149525ec2a 117 led=!led;
TakushimaYukimasa 0:9e851dc42cde 118
yoshikawaryota 2:ec149525ec2a 119 /* 表示改行 */
yoshikawaryota 2:ec149525ec2a 120 telemetry.printf("\n\r");
TakushimaYukimasa 0:9e851dc42cde 121
yoshikawaryota 2:ec149525ec2a 122 /* 自動処理関連テレメトリ */
yoshikawaryota 2:ec149525ec2a 123 telemetry.printf("ope:%d ",operate);
yoshikawaryota 2:ec149525ec2a 124 /* 座標テレメトリ */
yoshikawaryota 2:ec149525ec2a 125 telemetry.printf("X:%4.0f Y:%4.0f T:%4.0f ",NowLoc.X,NowLoc.Y,NowLoc.theta);
TakushimaYukimasa 0:9e851dc42cde 126
yoshikawaryota 2:ec149525ec2a 127 /* 自己位置推定更新 */
yoshikawaryota 2:ec149525ec2a 128 LocEstimate();
TakushimaYukimasa 0:9e851dc42cde 129
yoshikawaryota 2:ec149525ec2a 130 /* I2CMD実行 */
yoshikawaryota 2:ec149525ec2a 131 MD.Exe();
yoshikawaryota 2:ec149525ec2a 132
yoshikawaryota 2:ec149525ec2a 133 /* タイマ-スタート */
yoshikawaryota 2:ec149525ec2a 134 yawCnt.start();
yoshikawaryota 2:ec149525ec2a 135 /* タイマーリセット */
yoshikawaryota 2:ec149525ec2a 136 yawCnt.reset();
TakushimaYukimasa 0:9e851dc42cde 137
TakushimaYukimasa 0:9e851dc42cde 138
yoshikawaryota 2:ec149525ec2a 139 /* 操縦権変更 ×停止 △手動 〇自動 */
yoshikawaryota 2:ec149525ec2a 140 if(DS3.CROSS) operate=0;
yoshikawaryota 2:ec149525ec2a 141 if(DS3.TRIANGLE) operate=1;
yoshikawaryota 2:ec149525ec2a 142 if(DS3.CIRCLE) operate=2;
TakushimaYukimasa 0:9e851dc42cde 143
yoshikawaryota 2:ec149525ec2a 144 /* 操縦権：なし 停止動作 */
yoshikawaryota 2:ec149525ec2a 145 if(operate==0) {
yoshikawaryota 2:ec149525ec2a 146 /* 足回り停止 */
yoshikawaryota 2:ec149525ec2a 147 omuni.XmarkOmni_Move(0,0,0);
yoshikawaryota 2:ec149525ec2a 148 for (int i = 0; i < 4; i++) {
yoshikawaryota 1:b9f698be841c 149 MD.Set(i,MovMotor[i]);
yoshikawaryota 1:b9f698be841c 150 }
TakushimaYukimasa 0:9e851dc42cde 151
yoshikawaryota 2:ec149525ec2a 152 }
yoshikawaryota 2:ec149525ec2a 153 /* 操縦権：手動 */
yoshikawaryota 2:ec149525ec2a 154 else if(operate==1) {
yoshikawaryota 2:ec149525ec2a 155 /* 足回り手動動作 */
yoshikawaryota 2:ec149525ec2a 156 int x_val = (double)(DS3.LX-64)*100/64;
yoshikawaryota 2:ec149525ec2a 157 int y_val = (double)(64-DS3.LY)*100/64;
yoshikawaryota 2:ec149525ec2a 158 int r_val = (double)(DS3.RX-64)*100/64;
yoshikawaryota 1:b9f698be841c 159
yoshikawaryota 2:ec149525ec2a 160 /* 目標角更新 */
yoshikawaryota 2:ec149525ec2a 161 if(DS3.RX!=64) yawCnt.reset();
yoshikawaryota 2:ec149525ec2a 162 if(yawCnt.read_ms()<1000) TarTheta=NowLoc.theta;
yoshikawaryota 2:ec149525ec2a 163
yoshikawaryota 2:ec149525ec2a 164 /* gyro値による補正 */
yoshikawaryota 2:ec149525ec2a 165 r_val += (TarTheta-NowLoc.theta)*cor;
yoshikawaryota 2:ec149525ec2a 166
yoshikawaryota 2:ec149525ec2a 167 omuni.XmarkOmni_Move(x_val,y_val,r_val);
yoshikawaryota 2:ec149525ec2a 168 for (int i = 0; i < 4; i++) {
yoshikawaryota 1:b9f698be841c 169 MD.Set(i,MovMotor[i]);
yoshikawaryota 1:b9f698be841c 170 }
TakushimaYukimasa 0:9e851dc42cde 171
yoshikawaryota 2:ec149525ec2a 172 }
yoshikawaryota 2:ec149525ec2a 173 /* 操縦権：自動 */
yoshikawaryota 2:ec149525ec2a 174 else if(operate==2) {
yoshikawaryota 2:ec149525ec2a 175 switch(auto_mode) {
yoshikawaryota 2:ec149525ec2a 176 /* スタート待機処理 */
yoshikawaryota 2:ec149525ec2a 177 case 0:
yoshikawaryota 2:ec149525ec2a 178 /* オンボードSWで次のステップに */
yoshikawaryota 2:ec149525ec2a 179 if(UB) auto_mode++;
yoshikawaryota 2:ec149525ec2a 180 break;
TakushimaYukimasa 0:9e851dc42cde 181
yoshikawaryota 2:ec149525ec2a 182 /* 〇〇の処理 */
yoshikawaryota 2:ec149525ec2a 183 case 1:
yoshikawaryota 2:ec149525ec2a 184 /* 〇〇の時次のステップに */
yoshikawaryota 2:ec149525ec2a 185 if(1) auto_mode++;
yoshikawaryota 2:ec149525ec2a 186 break;
TakushimaYukimasa 0:9e851dc42cde 187
yoshikawaryota 2:ec149525ec2a 188 /* 終了処理 */
yoshikawaryota 2:ec149525ec2a 189 default:
yoshikawaryota 2:ec149525ec2a 190 auto_mode=0;
yoshikawaryota 2:ec149525ec2a 191 operate=0;
yoshikawaryota 2:ec149525ec2a 192 break;
yoshikawaryota 2:ec149525ec2a 193 }
yoshikawaryota 2:ec149525ec2a 194 }
yoshikawaryota 2:ec149525ec2a 195
TakushimaYukimasa 0:9e851dc42cde 196 }
TakushimaYukimasa 0:9e851dc42cde 197 }
TakushimaYukimasa 0:9e851dc42cde 198
TakushimaYukimasa 0:9e851dc42cde 199
TakushimaYukimasa 0:9e851dc42cde 200 /*******************************************************************************
TakushimaYukimasa 0:9e851dc42cde 201 * @概要 自己位置推定関数
TakushimaYukimasa 0:9e851dc42cde 202 * @引数 なし
TakushimaYukimasa 0:9e851dc42cde 203 * @返り値 なし
TakushimaYukimasa 0:9e851dc42cde 204 *******************************************************************************/
yoshikawaryota 2:ec149525ec2a 205 void LocEstimate(void)
yoshikawaryota 2:ec149525ec2a 206 {
yoshikawaryota 2:ec149525ec2a 207 static double GyroDeg[2]= {0};
yoshikawaryota 2:ec149525ec2a 208 static double EncDeg[2][2]= {0};
yoshikawaryota 2:ec149525ec2a 209 static double disp[3]= {0};
TakushimaYukimasa 0:9e851dc42cde 210
yoshikawaryota 2:ec149525ec2a 211 /* ジャイロの値取得 */
yoshikawaryota 2:ec149525ec2a 212 bno.get_angles();
yoshikawaryota 2:ec149525ec2a 213 GyroDeg[1]=GyroDeg[0];
yoshikawaryota 2:ec149525ec2a 214 GyroDeg[0]=bno.euler.yaw;
yoshikawaryota 2:ec149525ec2a 215 if(GyroDeg[0]!=0) {
yoshikawaryota 2:ec149525ec2a 216 /* 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 217 if(GyroDeg[1]<90 && GyroDeg[0]>270) GyroDeg[1]+=360;
yoshikawaryota 2:ec149525ec2a 218 /* 0→359を跨いだ時，前回の値を360以上の値で表記 */
yoshikawaryota 2:ec149525ec2a 219 else if(GyroDeg[1]>270 && GyroDeg[0]<90) GyroDeg[1]-=360;
yoshikawaryota 2:ec149525ec2a 220 /* 差を求める*/
yoshikawaryota 2:ec149525ec2a 221 disp[2]=GyroDeg[1]-GyroDeg[0];
yoshikawaryota 2:ec149525ec2a 222 }
yoshikawaryota 2:ec149525ec2a 223 /* Enc2つの差分求める */
yoshikawaryota 2:ec149525ec2a 224 for(int i=0; i<2; i++) {
yoshikawaryota 2:ec149525ec2a 225 EncDeg[i][1]=EncDeg[i][0];
yoshikawaryota 2:ec149525ec2a 226 EncDeg[i][0]=EncoderDeg[i];
yoshikawaryota 2:ec149525ec2a 227 disp[i]=EncDeg[i][1]-EncDeg[i][0];
yoshikawaryota 2:ec149525ec2a 228 }
yoshikawaryota 2:ec149525ec2a 229 /* 差分を加速度として保存 */
yoshikawaryota 2:ec149525ec2a 230 NowAcc.theta = disp[2];
yoshikawaryota 2:ec149525ec2a 231 NowAcc.X = disp[0] * cos(NowLoc.theta) + disp[1] * sin(NowLoc.theta)+200*disp[2];
yoshikawaryota 2:ec149525ec2a 232 NowAcc.Y = -disp[0] * sin(NowLoc.theta) + disp[1] * cos(NowLoc.theta)+200*disp[2];
yoshikawaryota 2:ec149525ec2a 233 /* 差分を累積して現在位置を保存 */
yoshikawaryota 2:ec149525ec2a 234 NowLoc.X += NowAcc.X;
yoshikawaryota 2:ec149525ec2a 235 NowLoc.Y += NowAcc.Y;
yoshikawaryota 2:ec149525ec2a 236 NowLoc.theta += NowAcc.theta;
TakushimaYukimasa 0:9e851dc42cde 237 }
TakushimaYukimasa 0:9e851dc42cde 238
TakushimaYukimasa 0:9e851dc42cde 239
TakushimaYukimasa 0:9e851dc42cde 240
TakushimaYukimasa 0:9e851dc42cde 241
TakushimaYukimasa 0:9e851dc42cde 242 /* 割り込み(100us) *************************************************************/
TakushimaYukimasa 0:9e851dc42cde 243 void IT_CallBack(void)
TakushimaYukimasa 0:9e851dc42cde 244 {
yoshikawaryota 2:ec149525ec2a 245 static int cnt = 0;
yoshikawaryota 2:ec149525ec2a 246 static int data[EncoderMAX] = {0};
yoshikawaryota 2:ec149525ec2a 247 static double EncDeg[EncoderMAX][2] = {0};
yoshikawaryota 2:ec149525ec2a 248
yoshikawaryota 2:ec149525ec2a 249 for(int i=0; i<EncoderMAX; i++)
yoshikawaryota 2:ec149525ec2a 250 switch(cnt) {
yoshikawaryota 2:ec149525ec2a 251 /* 最初の処理 */
yoshikawaryota 2:ec149525ec2a 252 case 0:
yoshikawaryota 2:ec149525ec2a 253 data[i] = 0;
yoshikawaryota 2:ec149525ec2a 254 CS[i] = 0;
yoshikawaryota 2:ec149525ec2a 255 CL[i] = 1;
yoshikawaryota 2:ec149525ec2a 256 break;
yoshikawaryota 2:ec149525ec2a 257 /* 最後の処理 */
yoshikawaryota 2:ec149525ec2a 258 case 25:
yoshikawaryota 2:ec149525ec2a 259 CS[i]=1;
yoshikawaryota 2:ec149525ec2a 260 /* 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 261 EncDeg[i][1] = EncDeg[i][0];
yoshikawaryota 2:ec149525ec2a 262 EncDeg[i][0] = (double)data[i] * 360.0 / 4096;
yoshikawaryota 2:ec149525ec2a 263 /* 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 264 if ((270 <= EncDeg[i][1]) && (EncDeg[i][0] < 90))
yoshikawaryota 2:ec149525ec2a 265 EncDeg[i][1] -= 360;
yoshikawaryota 2:ec149525ec2a 266 /* 0→359を跨いだ時，前回の値を360以上の値で表記 */
yoshikawaryota 2:ec149525ec2a 267 else if ((EncDeg[i][1] < 90) && (270 <= EncDeg[i][0]))
yoshikawaryota 2:ec149525ec2a 268 EncDeg[i][1] += 360;
yoshikawaryota 2:ec149525ec2a 269 /* 差を求める*/
yoshikawaryota 2:ec149525ec2a 270 EncoderDeg[i] += EncDeg[i][0] - EncDeg[i][1];
yoshikawaryota 2:ec149525ec2a 271 break;
yoshikawaryota 2:ec149525ec2a 272 /* 通常の処理 */
yoshikawaryota 2:ec149525ec2a 273 default:
yoshikawaryota 2:ec149525ec2a 274 CL[i]=!CL[i];
yoshikawaryota 2:ec149525ec2a 275 /* 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 276 if(cnt != 1 && cnt % 2) {
yoshikawaryota 2:ec149525ec2a 277 data[i] |= (DO[i]==1);
yoshikawaryota 2:ec149525ec2a 278 data[i] = data[i] << 1;
yoshikawaryota 2:ec149525ec2a 279 }
yoshikawaryota 2:ec149525ec2a 280 break;
yoshikawaryota 2:ec149525ec2a 281 }
yoshikawaryota 2:ec149525ec2a 282 cnt++;
yoshikawaryota 2:ec149525ec2a 283 cnt%=26;
yoshikawaryota 2:ec149525ec2a 284 }
yoshikawaryota 2:ec149525ec2a 285
yoshikawaryota 2:ec149525ec2a 286
yoshikawaryota 2:ec149525ec2a 287
yoshikawaryota 2:ec149525ec2a 288
yoshikawaryota 2:ec149525ec2a 289 /*******************************************************************************
yoshikawaryota 2:ec149525ec2a 290 * @概要 P制御
yoshikawaryota 2:ec149525ec2a 291 * @引数 tar_x :目標のx座標
yoshikawaryota 2:ec149525ec2a 292 * @引数 tar_y :目標のy座標
yoshikawaryota 2:ec149525ec2a 293 * @引数 tar_rev: 目標角
yoshikawaryota 2:ec149525ec2a 294 * @返り値 なし
yoshikawaryota 2:ec149525ec2a 295 *******************************************************************************/
yoshikawaryota 2:ec149525ec2a 296 void Pro_control(int tar_x, int tar_y, int tar_theta)
yoshikawaryota 2:ec149525ec2a 297 {
yoshikawaryota 2:ec149525ec2a 298 int log_distance = 0;
TakushimaYukimasa 0:9e851dc42cde 299
yoshikawaryota 2:ec149525ec2a 300 /* 現在座標と目標座標との距離を記録しておく */
yoshikawaryota 2:ec149525ec2a 301 log_distance = (int)sqrt(pow((double)tar_x - NowLoc.X, 2.0) + pow((double)tar_y - NowLoc.Y, 2.0));
yoshikawaryota 2:ec149525ec2a 302
yoshikawaryota 2:ec149525ec2a 303 int x_vel = 0;
yoshikawaryota 2:ec149525ec2a 304 int y_vel = 0;
yoshikawaryota 2:ec149525ec2a 305 int t_vel = 0;
yoshikawaryota 2:ec149525ec2a 306
yoshikawaryota 2:ec149525ec2a 307 double theta_tar=0.0;
yoshikawaryota 2:ec149525ec2a 308
yoshikawaryota 2:ec149525ec2a 309 while(1) {
yoshikawaryota 3:b77f51108bf1 310 /* 自己位置更新 */
yoshikawaryota 3:b77f51108bf1 311 LocEstimate();
yoshikawaryota 3:b77f51108bf1 312
yoshikawaryota 2:ec149525ec2a 313 x_vel = ABS((tar_x - NowLoc.X) * 0.06);
yoshikawaryota 2:ec149525ec2a 314 y_vel = ABS((tar_y - NowLoc.Y) * 0.06);
yoshikawaryota 2:ec149525ec2a 315
yoshikawaryota 2:ec149525ec2a 316 /* 最低を決める */
yoshikawaryota 2:ec149525ec2a 317 if (x_vel < 20)
yoshikawaryota 2:ec149525ec2a 318 x_vel = 20;
yoshikawaryota 2:ec149525ec2a 319 if (y_vel < 20)
yoshikawaryota 2:ec149525ec2a 320 y_vel = 20;
yoshikawaryota 2:ec149525ec2a 321 /* 100以内に収める */
yoshikawaryota 2:ec149525ec2a 322 x_vel = Rest(x_vel, 100);
yoshikawaryota 2:ec149525ec2a 323 y_vel = Rest(y_vel, 100);
yoshikawaryota 2:ec149525ec2a 324
yoshikawaryota 2:ec149525ec2a 325 /* 正負を決める */
yoshikawaryota 2:ec149525ec2a 326 if ((tar_x - NowLoc.X) < 0)
yoshikawaryota 2:ec149525ec2a 327 x_vel *= -1;
yoshikawaryota 2:ec149525ec2a 328 if ((tar_y - NowLoc.Y) < 0)
yoshikawaryota 2:ec149525ec2a 329 y_vel *= -1;
yoshikawaryota 2:ec149525ec2a 330
yoshikawaryota 2:ec149525ec2a 331 /* 残り距離計算 */
yoshikawaryota 2:ec149525ec2a 332 int remain = (int)sqrt(pow((double)tar_x - NowLoc.X, 2.0) + pow((double)tar_y - NowLoc.Y, 2.0));
yoshikawaryota 2:ec149525ec2a 333 /* 移動量に応じたthetaを求める */
yoshikawaryota 2:ec149525ec2a 334 theta_tar = (((double)log_distance - remain) / log_distance) * (tar_theta - NowLoc.theta) + NowLoc.theta;;
yoshikawaryota 2:ec149525ec2a 335 /* 合わせるthetaと現在thetaの差分からtheta補整をかける */
yoshikawaryota 2:ec149525ec2a 336 t_vel = (theta_tar - NowLoc.theta) * 1.5;
yoshikawaryota 3:b77f51108bf1 337
yoshikawaryota 2:ec149525ec2a 338 t_vel = Rest(t_vel, 20);
yoshikawaryota 2:ec149525ec2a 339
yoshikawaryota 2:ec149525ec2a 340 omuni.XmarkOmni_Move(x_vel,y_vel,t_vel);
yoshikawaryota 2:ec149525ec2a 341
yoshikawaryota 2:ec149525ec2a 342
yoshikawaryota 2:ec149525ec2a 343 /* 終了処理 */
yoshikawaryota 2:ec149525ec2a 344 if ((5 > ABS(remain)) && ABS(tar_theta - NowLoc.theta) < 0.1) {
yoshikawaryota 2:ec149525ec2a 345 x_vel = 0;
yoshikawaryota 2:ec149525ec2a 346 y_vel = 0;
yoshikawaryota 2:ec149525ec2a 347 }
yoshikawaryota 2:ec149525ec2a 348 if (x_vel == 0 && y_vel == 0)
yoshikawaryota 2:ec149525ec2a 349 P_fin.start();
yoshikawaryota 2:ec149525ec2a 350 else
yoshikawaryota 2:ec149525ec2a 351 P_fin.reset();
yoshikawaryota 2:ec149525ec2a 352
yoshikawaryota 2:ec149525ec2a 353 if (P_fin.read_ms() > 100) {
yoshikawaryota 2:ec149525ec2a 354 /* タイマー停止 */
yoshikawaryota 2:ec149525ec2a 355 P_fin.stop();
yoshikawaryota 2:ec149525ec2a 356 P_fin.reset();
yoshikawaryota 3:b77f51108bf1 357
yoshikawaryota 2:ec149525ec2a 358 break;
yoshikawaryota 2:ec149525ec2a 359 }
yoshikawaryota 2:ec149525ec2a 360 }
TakushimaYukimasa 0:9e851dc42cde 361 }