2020_TeamA / Mbed 2 deprecated somaomuni2

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Dependencies:   mbed YKNCT_Movement SBDBT BNO055 YKNCT_MD YKNCT_I2C

main.cpp@12:1daa4d490a12, 2020-03-24 (annotated)

Committer:
yoshikawaryota
Date:
Tue Mar 24 07:22:31 2020 +0000
Revision:
12:1daa4d490a12
Parent:
11:80b1daeb243f
Child:
13:e4de7896f808
update OEI;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 /* オムニ関係 */
yoshikawaryota 7:93ab5505ac1b 34 void SubOmuni(int X,int Y,int R);
yoshikawaryota 2:ec149525ec2a 35
yoshikawaryota 8:ddedee42c253 36 /* 台形制御値代入 */
yoshikawaryota 9:8c550d496736 37 int omuni_control(int tar_x, int tar_y, int tar_theta, int error);
TakushimaYukimasa 0:9e851dc42cde 38
TakushimaYukimasa 0:9e851dc42cde 39 /* 変数定義 ------------------------------------------------------------------*/
TakushimaYukimasa 0:9e851dc42cde 40
TakushimaYukimasa 0:9e851dc42cde 41 /* 操作権 0…なし 1…手動 2…自動 */
TakushimaYukimasa 0:9e851dc42cde 42 int operate=0;
TakushimaYukimasa 0:9e851dc42cde 43
TakushimaYukimasa 0:9e851dc42cde 44 /* 自動シーケンス */
TakushimaYukimasa 0:9e851dc42cde 45 int auto_mode=0;
TakushimaYukimasa 0:9e851dc42cde 46
TakushimaYukimasa 0:9e851dc42cde 47 /* 直読みエンコーダ角度保存(degree) */
TakushimaYukimasa 0:9e851dc42cde 48 double EncoderDeg[EncoderMAX] = {0};
TakushimaYukimasa 0:9e851dc42cde 49
TakushimaYukimasa 0:9e851dc42cde 50 /* 足回り値保存変数 */
yoshikawaryota 2:ec149525ec2a 51 int MovMotor[4]= {0};
TakushimaYukimasa 0:9e851dc42cde 52
TakushimaYukimasa 0:9e851dc42cde 53 /* 自動yaw補整目標角度 */
TakushimaYukimasa 0:9e851dc42cde 54 double TarTheta=0;
TakushimaYukimasa 0:9e851dc42cde 55
yoshikawaryota 1:b9f698be841c 56 /* 補正値用定数 */
yoshikawaryota 1:b9f698be841c 57 int cor=4;
yoshikawaryota 1:b9f698be841c 58
TakushimaYukimasa 0:9e851dc42cde 59 /* クラス定義 ----------------------------------------------------------------*/
TakushimaYukimasa 0:9e851dc42cde 60
TakushimaYukimasa 0:9e851dc42cde 61 /* 割り込み用クラス */
TakushimaYukimasa 0:9e851dc42cde 62 Ticker flipper;
TakushimaYukimasa 0:9e851dc42cde 63
yoshikawaryota 1:b9f698be841c 64 /* gyro用タイマ */
yoshikawaryota 1:b9f698be841c 65 Timer yawCnt;
yoshikawaryota 1:b9f698be841c 66
yoshikawaryota 2:ec149525ec2a 67 /* P制御終了タイマ */
yoshikawaryota 2:ec149525ec2a 68 Timer P_fin;
yoshikawaryota 2:ec149525ec2a 69
yoshikawaryota 7:93ab5505ac1b 70 /* タイマ加速 */
yoshikawaryota 7:93ab5505ac1b 71 Timer Acc_time;
yoshikawaryota 7:93ab5505ac1b 72
TakushimaYukimasa 0:9e851dc42cde 73 /* UART (Tx,Rx) */
TakushimaYukimasa 0:9e851dc42cde 74 Serial telemetry(USBTX, USBRX, 115200);
TakushimaYukimasa 0:9e851dc42cde 75
TakushimaYukimasa 0:9e851dc42cde 76 /* コントローラー */
TakushimaYukimasa 0:9e851dc42cde 77 SBDBT DS3(PA_0, PA_1, 9600);
TakushimaYukimasa 0:9e851dc42cde 78
TakushimaYukimasa 0:9e851dc42cde 79 /* オンボードLED */
TakushimaYukimasa 0:9e851dc42cde 80 DigitalOut led(LED2);
TakushimaYukimasa 0:9e851dc42cde 81
TakushimaYukimasa 0:9e851dc42cde 82 /* USERボタン */
TakushimaYukimasa 0:9e851dc42cde 83 DigitalIn UB(PC_13,PullDown);
TakushimaYukimasa 0:9e851dc42cde 84
TakushimaYukimasa 0:9e851dc42cde 85 /* エンコーダーピン CS */
TakushimaYukimasa 0:9e851dc42cde 86 DigitalOut CS[] = {PA_2,PA_3};
TakushimaYukimasa 0:9e851dc42cde 87 DigitalOut CL[] = {PA_4,PA_5};
TakushimaYukimasa 0:9e851dc42cde 88 DigitalIn DO[] = {PA_6,PA_7};
TakushimaYukimasa 0:9e851dc42cde 89
TakushimaYukimasa 0:9e851dc42cde 90 /* 足回り動作クラス定義 */
TakushimaYukimasa 0:9e851dc42cde 91 Move omuni(MovMotor,NowLoc.theta);
TakushimaYukimasa 0:9e851dc42cde 92
TakushimaYukimasa 0:9e851dc42cde 93 /* I2C MDのクラス定義 */
TakushimaYukimasa 0:9e851dc42cde 94 YKNCT_MD_I2C MD(PB_9,PB_8);
TakushimaYukimasa 0:9e851dc42cde 95
TakushimaYukimasa 0:9e851dc42cde 96 /* ジャイロのピン設定 */
TakushimaYukimasa 0:9e851dc42cde 97 BNO055 bno(PB_9, PB_8);
TakushimaYukimasa 0:9e851dc42cde 98
TakushimaYukimasa 0:9e851dc42cde 99
TakushimaYukimasa 0:9e851dc42cde 100 /*----------------------------------- main ----------------------------------*/
TakushimaYukimasa 0:9e851dc42cde 101 int main()
TakushimaYukimasa 0:9e851dc42cde 102 {
yoshikawaryota 2:ec149525ec2a 103 telemetry.printf("\n\rMainStart");
TakushimaYukimasa 0:9e851dc42cde 104
yoshikawaryota 2:ec149525ec2a 105 /* 割り込みの設定
yoshikawaryota 2:ec149525ec2a 106 * IT_CallBack関数を0.1msで割り込み */
yoshikawaryota 2:ec149525ec2a 107 flipper.attach_us(&IT_CallBack, 100);
TakushimaYukimasa 0:9e851dc42cde 108
yoshikawaryota 2:ec149525ec2a 109 /* ジャイロの設定 */
yoshikawaryota 2:ec149525ec2a 110 bno.setmode(OPERATION_MODE_IMUPLUS);
TakushimaYukimasa 0:9e851dc42cde 111
yoshikawaryota 2:ec149525ec2a 112 /* I2CMDの設定 */
yoshikawaryota 2:ec149525ec2a 113 MD.Init(0,MD_SMB);
yoshikawaryota 2:ec149525ec2a 114 MD.Init(1,MD_SMB);
yoshikawaryota 2:ec149525ec2a 115 MD.Init(2,MD_SMB);
yoshikawaryota 2:ec149525ec2a 116 MD.Init(3,MD_SMB);
TakushimaYukimasa 0:9e851dc42cde 117
yoshikawaryota 2:ec149525ec2a 118 telemetry.printf("\n\rMainLoopStart");
yoshikawaryota 2:ec149525ec2a 119 /* メインループ --------------------------------------------------------------*/
yoshikawaryota 2:ec149525ec2a 120 while(1) {
yoshikawaryota 2:ec149525ec2a 121 /* オンボードLED点滅 */
yoshikawaryota 2:ec149525ec2a 122 led=!led;
TakushimaYukimasa 0:9e851dc42cde 123
yoshikawaryota 2:ec149525ec2a 124 /* 表示改行 */
yoshikawaryota 2:ec149525ec2a 125 telemetry.printf("\n\r");
TakushimaYukimasa 0:9e851dc42cde 126
yoshikawaryota 2:ec149525ec2a 127 /* 自動処理関連テレメトリ */
yoshikawaryota 2:ec149525ec2a 128 telemetry.printf("ope:%d ",operate);
yoshikawaryota 2:ec149525ec2a 129 /* 座標テレメトリ */
yoshikawaryota 2:ec149525ec2a 130 telemetry.printf("X:%4.0f Y:%4.0f T:%4.0f ",NowLoc.X,NowLoc.Y,NowLoc.theta);
TakushimaYukimasa 0:9e851dc42cde 131
yoshikawaryota 2:ec149525ec2a 132 /* 自己位置推定更新 */
yoshikawaryota 2:ec149525ec2a 133 LocEstimate();
TakushimaYukimasa 0:9e851dc42cde 134
yoshikawaryota 7:93ab5505ac1b 135 for(int i=0; i<4; i++) {
yoshikawaryota 7:93ab5505ac1b 136 MD.Set(i,MovMotor[i]);
yoshikawaryota 7:93ab5505ac1b 137 MovMotor[i]=0;
yoshikawaryota 7:93ab5505ac1b 138 }
yoshikawaryota 2:ec149525ec2a 139 /* I2CMD実行 */
yoshikawaryota 2:ec149525ec2a 140 MD.Exe();
yoshikawaryota 2:ec149525ec2a 141
yoshikawaryota 2:ec149525ec2a 142 /* タイマ-スタート */
yoshikawaryota 2:ec149525ec2a 143 yawCnt.start();
yoshikawaryota 2:ec149525ec2a 144 /* タイマーリセット */
yoshikawaryota 2:ec149525ec2a 145 yawCnt.reset();
TakushimaYukimasa 0:9e851dc42cde 146
TakushimaYukimasa 0:9e851dc42cde 147
yoshikawaryota 2:ec149525ec2a 148 /* 操縦権変更 ×停止 △手動 〇自動 */
yoshikawaryota 2:ec149525ec2a 149 if(DS3.CROSS) operate=0;
yoshikawaryota 2:ec149525ec2a 150 if(DS3.TRIANGLE) operate=1;
yoshikawaryota 2:ec149525ec2a 151 if(DS3.CIRCLE) operate=2;
TakushimaYukimasa 0:9e851dc42cde 152
yoshikawaryota 2:ec149525ec2a 153 /* 操縦権：なし 停止動作 */
yoshikawaryota 2:ec149525ec2a 154 if(operate==0) {
yoshikawaryota 2:ec149525ec2a 155 /* 足回り停止 */
yoshikawaryota 2:ec149525ec2a 156 omuni.XmarkOmni_Move(0,0,0);
yoshikawaryota 2:ec149525ec2a 157 for (int i = 0; i < 4; i++) {
yoshikawaryota 1:b9f698be841c 158 MD.Set(i,MovMotor[i]);
yoshikawaryota 1:b9f698be841c 159 }
TakushimaYukimasa 0:9e851dc42cde 160
yoshikawaryota 2:ec149525ec2a 161 }
yoshikawaryota 2:ec149525ec2a 162 /* 操縦権：手動 */
yoshikawaryota 2:ec149525ec2a 163 else if(operate==1) {
yoshikawaryota 2:ec149525ec2a 164 /* 足回り手動動作 */
yoshikawaryota 2:ec149525ec2a 165 int x_val = (double)(DS3.LX-64)*100/64;
yoshikawaryota 2:ec149525ec2a 166 int y_val = (double)(64-DS3.LY)*100/64;
yoshikawaryota 2:ec149525ec2a 167 int r_val = (double)(DS3.RX-64)*100/64;
yoshikawaryota 1:b9f698be841c 168
yoshikawaryota 2:ec149525ec2a 169 /* 目標角更新 */
yoshikawaryota 2:ec149525ec2a 170 if(DS3.RX!=64) yawCnt.reset();
yoshikawaryota 2:ec149525ec2a 171 if(yawCnt.read_ms()<1000) TarTheta=NowLoc.theta;
yoshikawaryota 2:ec149525ec2a 172
yoshikawaryota 2:ec149525ec2a 173 /* gyro値による補正 */
yoshikawaryota 2:ec149525ec2a 174 r_val += (TarTheta-NowLoc.theta)*cor;
yoshikawaryota 2:ec149525ec2a 175
yoshikawaryota 7:93ab5505ac1b 176 SubOmuni(x_val, y_val, r_val);
TakushimaYukimasa 0:9e851dc42cde 177
yoshikawaryota 2:ec149525ec2a 178 }
yoshikawaryota 2:ec149525ec2a 179 /* 操縦権：自動 */
yoshikawaryota 2:ec149525ec2a 180 else if(operate==2) {
yoshikawaryota 2:ec149525ec2a 181 switch(auto_mode) {
yoshikawaryota 2:ec149525ec2a 182 /* スタート待機処理 */
yoshikawaryota 2:ec149525ec2a 183 case 0:
yoshikawaryota 2:ec149525ec2a 184 /* オンボードSWで次のステップに */
yoshikawaryota 2:ec149525ec2a 185 if(UB) auto_mode++;
yoshikawaryota 2:ec149525ec2a 186 break;
TakushimaYukimasa 0:9e851dc42cde 187
yoshikawaryota 12:1daa4d490a12 188 /* 〇〇の処理(青ゾーン) */
yoshikawaryota 2:ec149525ec2a 189 case 1:
yoshikawaryota 12:1daa4d490a12 190 if(omuni_control(1950, 1250, 0, 100) == 1) auto_mode++;
yoshikawaryota 12:1daa4d490a12 191 break;
yoshikawaryota 12:1daa4d490a12 192 case 2:
yoshikawaryota 12:1daa4d490a12 193 if(omuni_control(1950, 2750, 0, 100) == 1) auto_mode++;
yoshikawaryota 12:1daa4d490a12 194 break;
yoshikawaryota 12:1daa4d490a12 195 case 3:
yoshikawaryota 12:1daa4d490a12 196 if(omuni_control(510, 2750, 0, 100) == 1) auto_mode++;
yoshikawaryota 12:1daa4d490a12 197 break;
yoshikawaryota 12:1daa4d490a12 198 case 4:
yoshikawaryota 12:1daa4d490a12 199 if(omuni_control(510, 4250, 0, 100) == 1) auto_mode++;
yoshikawaryota 12:1daa4d490a12 200 break;
yoshikawaryota 12:1daa4d490a12 201 case 5:
yoshikawaryota 12:1daa4d490a12 202 if(omuni_control(1950, 4250, 0, 100) == 1) auto_mode++;
yoshikawaryota 12:1daa4d490a12 203 break;
yoshikawaryota 12:1daa4d490a12 204 case 6:
yoshikawaryota 12:1daa4d490a12 205 if(omuni_control(1950, 5750, 0, 100) == 1) auto_mode++;
yoshikawaryota 12:1daa4d490a12 206 break;
yoshikawaryota 12:1daa4d490a12 207 case 7:
yoshikawaryota 12:1daa4d490a12 208 if(omuni_control(1210, 5750, 0, 100) == 1) auto_mode++;
yoshikawaryota 12:1daa4d490a12 209 break;
yoshikawaryota 12:1daa4d490a12 210 case 8:
yoshikawaryota 12:1daa4d490a12 211 if(omuni_control(1210, 9000, 0, 100) == 1) auto_mode++;
yoshikawaryota 12:1daa4d490a12 212 break;
yoshikawaryota 12:1daa4d490a12 213 case 9:
yoshikawaryota 12:1daa4d490a12 214 if(omuni_control(5515, 9000, 0, 100) == 1) auto_mode++;
yoshikawaryota 2:ec149525ec2a 215 break;
TakushimaYukimasa 0:9e851dc42cde 216
yoshikawaryota 12:1daa4d490a12 217 /* 〇〇の処理(赤ゾーン) */
yoshikawaryota 12:1daa4d490a12 218 /*case 1:
yoshikawaryota 12:1daa4d490a12 219 if(omuni_control(-1950, 1250, 0, 100) == 1) auto_mode++;
yoshikawaryota 12:1daa4d490a12 220 break;
yoshikawaryota 12:1daa4d490a12 221 case 2:
yoshikawaryota 12:1daa4d490a12 222 if(omuni_control(-1950, 2750, 0, 100) == 1) auto_mode++;
yoshikawaryota 12:1daa4d490a12 223 break;
yoshikawaryota 12:1daa4d490a12 224 case 3:
yoshikawaryota 12:1daa4d490a12 225 if(omuni_control(-510, 2750, 0, 100) == 1) auto_mode++;
yoshikawaryota 12:1daa4d490a12 226 break;
yoshikawaryota 12:1daa4d490a12 227 case 4:
yoshikawaryota 12:1daa4d490a12 228 if(omuni_control(-510, 4250, 0, 100) == 1) auto_mode++;
yoshikawaryota 12:1daa4d490a12 229 break;
yoshikawaryota 12:1daa4d490a12 230 case 5:
yoshikawaryota 12:1daa4d490a12 231 if(omuni_control(-1950, 4250, 0, 100) == 1) auto_mode++;
yoshikawaryota 12:1daa4d490a12 232 break;
yoshikawaryota 12:1daa4d490a12 233 case 6:
yoshikawaryota 12:1daa4d490a12 234 if(omuni_control(-1950, 5750, 0, 100) == 1) auto_mode++;
yoshikawaryota 12:1daa4d490a12 235 break;
yoshikawaryota 12:1daa4d490a12 236 case 7:
yoshikawaryota 12:1daa4d490a12 237 if(omuni_control(-1210, 5750, 0, 100) == 1) auto_mode++;
yoshikawaryota 12:1daa4d490a12 238 break;
yoshikawaryota 12:1daa4d490a12 239 case 8:
yoshikawaryota 12:1daa4d490a12 240 if(omuni_control(-1210, 9000, 0, 100) == 1) auto_mode++;
yoshikawaryota 12:1daa4d490a12 241 break;
yoshikawaryota 12:1daa4d490a12 242 case 9:
yoshikawaryota 12:1daa4d490a12 243 if(omuni_control(-5515, 9000, 0, 100) == 1) auto_mode++;
yoshikawaryota 12:1daa4d490a12 244 break;
yoshikawaryota 12:1daa4d490a12 245 */
yoshikawaryota 12:1daa4d490a12 246
yoshikawaryota 2:ec149525ec2a 247 /* 終了処理 */
yoshikawaryota 2:ec149525ec2a 248 default:
yoshikawaryota 2:ec149525ec2a 249 auto_mode=0;
yoshikawaryota 2:ec149525ec2a 250 operate=0;
yoshikawaryota 2:ec149525ec2a 251 break;
yoshikawaryota 2:ec149525ec2a 252 }
yoshikawaryota 2:ec149525ec2a 253 }
yoshikawaryota 2:ec149525ec2a 254
TakushimaYukimasa 0:9e851dc42cde 255 }
TakushimaYukimasa 0:9e851dc42cde 256 }
TakushimaYukimasa 0:9e851dc42cde 257
TakushimaYukimasa 0:9e851dc42cde 258
TakushimaYukimasa 0:9e851dc42cde 259 /*******************************************************************************
TakushimaYukimasa 0:9e851dc42cde 260 * @概要 自己位置推定関数
TakushimaYukimasa 0:9e851dc42cde 261 * @引数 なし
TakushimaYukimasa 0:9e851dc42cde 262 * @返り値 なし
TakushimaYukimasa 0:9e851dc42cde 263 *******************************************************************************/
yoshikawaryota 2:ec149525ec2a 264 void LocEstimate(void)
yoshikawaryota 2:ec149525ec2a 265 {
yoshikawaryota 2:ec149525ec2a 266 static double GyroDeg[2]= {0};
yoshikawaryota 2:ec149525ec2a 267 static double EncDeg[2][2]= {0};
yoshikawaryota 2:ec149525ec2a 268 static double disp[3]= {0};
TakushimaYukimasa 0:9e851dc42cde 269
yoshikawaryota 7:93ab5505ac1b 270
yoshikawaryota 7:93ab5505ac1b 271
yoshikawaryota 2:ec149525ec2a 272 /* ジャイロの値取得 */
yoshikawaryota 2:ec149525ec2a 273 bno.get_angles();
yoshikawaryota 2:ec149525ec2a 274 GyroDeg[1]=GyroDeg[0];
yoshikawaryota 2:ec149525ec2a 275 GyroDeg[0]=bno.euler.yaw;
yoshikawaryota 2:ec149525ec2a 276 if(GyroDeg[0]!=0) {
yoshikawaryota 2:ec149525ec2a 277 /* 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 278 if(GyroDeg[1]<90 && GyroDeg[0]>270) GyroDeg[1]+=360;
yoshikawaryota 2:ec149525ec2a 279 /* 0→359を跨いだ時，前回の値を360以上の値で表記 */
yoshikawaryota 2:ec149525ec2a 280 else if(GyroDeg[1]>270 && GyroDeg[0]<90) GyroDeg[1]-=360;
yoshikawaryota 2:ec149525ec2a 281 /* 差を求める*/
yoshikawaryota 2:ec149525ec2a 282 disp[2]=GyroDeg[1]-GyroDeg[0];
yoshikawaryota 2:ec149525ec2a 283 }
yoshikawaryota 2:ec149525ec2a 284 /* Enc2つの差分求める */
yoshikawaryota 2:ec149525ec2a 285 for(int i=0; i<2; i++) {
yoshikawaryota 2:ec149525ec2a 286 EncDeg[i][1]=EncDeg[i][0];
yoshikawaryota 2:ec149525ec2a 287 EncDeg[i][0]=EncoderDeg[i];
yoshikawaryota 7:93ab5505ac1b 288 disp[i]=DEG_TO_DIS(EncDeg[i][1]-EncDeg[i][0]);
yoshikawaryota 2:ec149525ec2a 289 }
yoshikawaryota 2:ec149525ec2a 290 /* 差分を加速度として保存 */
yoshikawaryota 2:ec149525ec2a 291 NowAcc.theta = disp[2];
yoshikawaryota 7:93ab5505ac1b 292 NowAcc.X = -disp[0] * cos(DEG_TO_RAD(NowLoc.theta)) - disp[1] * sin(DEG_TO_RAD(NowLoc.theta));
yoshikawaryota 7:93ab5505ac1b 293 NowAcc.Y = -disp[0] * sin(DEG_TO_RAD(NowLoc.theta)) + disp[1] * cos(DEG_TO_RAD(NowLoc.theta));
yoshikawaryota 2:ec149525ec2a 294 /* 差分を累積して現在位置を保存 */
yoshikawaryota 2:ec149525ec2a 295 NowLoc.X += NowAcc.X;
yoshikawaryota 2:ec149525ec2a 296 NowLoc.Y += NowAcc.Y;
yoshikawaryota 2:ec149525ec2a 297 NowLoc.theta += NowAcc.theta;
TakushimaYukimasa 0:9e851dc42cde 298 }
TakushimaYukimasa 0:9e851dc42cde 299
TakushimaYukimasa 0:9e851dc42cde 300
TakushimaYukimasa 0:9e851dc42cde 301
TakushimaYukimasa 0:9e851dc42cde 302
TakushimaYukimasa 0:9e851dc42cde 303 /* 割り込み(100us) *************************************************************/
TakushimaYukimasa 0:9e851dc42cde 304 void IT_CallBack(void)
TakushimaYukimasa 0:9e851dc42cde 305 {
yoshikawaryota 2:ec149525ec2a 306 static int cnt = 0;
yoshikawaryota 2:ec149525ec2a 307 static int data[EncoderMAX] = {0};
yoshikawaryota 2:ec149525ec2a 308 static double EncDeg[EncoderMAX][2] = {0};
yoshikawaryota 2:ec149525ec2a 309
yoshikawaryota 2:ec149525ec2a 310 for(int i=0; i<EncoderMAX; i++)
yoshikawaryota 2:ec149525ec2a 311 switch(cnt) {
yoshikawaryota 2:ec149525ec2a 312 /* 最初の処理 */
yoshikawaryota 2:ec149525ec2a 313 case 0:
yoshikawaryota 2:ec149525ec2a 314 data[i] = 0;
yoshikawaryota 2:ec149525ec2a 315 CS[i] = 0;
yoshikawaryota 2:ec149525ec2a 316 CL[i] = 1;
yoshikawaryota 2:ec149525ec2a 317 break;
yoshikawaryota 2:ec149525ec2a 318 /* 最後の処理 */
yoshikawaryota 2:ec149525ec2a 319 case 25:
yoshikawaryota 2:ec149525ec2a 320 CS[i]=1;
yoshikawaryota 2:ec149525ec2a 321 /* 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 322 EncDeg[i][1] = EncDeg[i][0];
yoshikawaryota 2:ec149525ec2a 323 EncDeg[i][0] = (double)data[i] * 360.0 / 4096;
yoshikawaryota 2:ec149525ec2a 324 /* 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 325 if ((270 <= EncDeg[i][1]) && (EncDeg[i][0] < 90))
yoshikawaryota 2:ec149525ec2a 326 EncDeg[i][1] -= 360;
yoshikawaryota 2:ec149525ec2a 327 /* 0→359を跨いだ時，前回の値を360以上の値で表記 */
yoshikawaryota 2:ec149525ec2a 328 else if ((EncDeg[i][1] < 90) && (270 <= EncDeg[i][0]))
yoshikawaryota 2:ec149525ec2a 329 EncDeg[i][1] += 360;
yoshikawaryota 2:ec149525ec2a 330 /* 差を求める*/
yoshikawaryota 2:ec149525ec2a 331 EncoderDeg[i] += EncDeg[i][0] - EncDeg[i][1];
yoshikawaryota 2:ec149525ec2a 332 break;
yoshikawaryota 2:ec149525ec2a 333 /* 通常の処理 */
yoshikawaryota 2:ec149525ec2a 334 default:
yoshikawaryota 2:ec149525ec2a 335 CL[i]=!CL[i];
yoshikawaryota 2:ec149525ec2a 336 /* 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 337 if(cnt != 1 && cnt % 2) {
yoshikawaryota 2:ec149525ec2a 338 data[i] |= (DO[i]==1);
yoshikawaryota 2:ec149525ec2a 339 data[i] = data[i] << 1;
yoshikawaryota 2:ec149525ec2a 340 }
yoshikawaryota 2:ec149525ec2a 341 break;
yoshikawaryota 2:ec149525ec2a 342 }
yoshikawaryota 2:ec149525ec2a 343 cnt++;
yoshikawaryota 2:ec149525ec2a 344 cnt%=26;
yoshikawaryota 2:ec149525ec2a 345 }
yoshikawaryota 2:ec149525ec2a 346
yoshikawaryota 2:ec149525ec2a 347
yoshikawaryota 2:ec149525ec2a 348
yoshikawaryota 2:ec149525ec2a 349
yoshikawaryota 7:93ab5505ac1b 350
yoshikawaryota 7:93ab5505ac1b 351 /*******************************************************************************
yoshikawaryota 7:93ab5505ac1b 352 * @概要 オムニの値計算する(加算式)
yoshikawaryota 7:93ab5505ac1b 353 * @引数 X,Y,Rotationそれぞれの操作量
yoshikawaryota 7:93ab5505ac1b 354 * @返り値 なし
yoshikawaryota 7:93ab5505ac1b 355 *******************************************************************************/
yoshikawaryota 7:93ab5505ac1b 356 void SubOmuni(int X,int Y,int R)
yoshikawaryota 7:93ab5505ac1b 357 {
yoshikawaryota 7:93ab5505ac1b 358 /* 入力を100%に制限 */
yoshikawaryota 7:93ab5505ac1b 359 X=Rest(X,100);
yoshikawaryota 7:93ab5505ac1b 360 Y=Rest(Y,100);
yoshikawaryota 7:93ab5505ac1b 361 R=Rest(R,100);
yoshikawaryota 7:93ab5505ac1b 362
yoshikawaryota 9:8c550d496736 363
yoshikawaryota 9:8c550d496736 364
yoshikawaryota 9:8c550d496736 365
yoshikawaryota 7:93ab5505ac1b 366 /* オムニ計算結果をtmpに */
yoshikawaryota 7:93ab5505ac1b 367 int tmp[4]= {0};
yoshikawaryota 9:8c550d496736 368
yoshikawaryota 9:8c550d496736 369 /* 一度データをtmpに保存 */
yoshikawaryota 9:8c550d496736 370 for(int i=0; i<4; i++)
yoshikawaryota 9:8c550d496736 371 tmp[i]=MovMotor[i];
yoshikawaryota 9:8c550d496736 372
yoshikawaryota 9:8c550d496736 373 /* オムニ計算 */
yoshikawaryota 7:93ab5505ac1b 374 omuni.XmarkOmni_Move(X,Y,R);
yoshikawaryota 7:93ab5505ac1b 375
yoshikawaryota 7:93ab5505ac1b 376 /* 計算結果を加算する */
yoshikawaryota 9:8c550d496736 377 for(int i=0; i<4; i++)
yoshikawaryota 9:8c550d496736 378 MovMotor[i]+=tmp[i];
yoshikawaryota 7:93ab5505ac1b 379 }
yoshikawaryota 7:93ab5505ac1b 380
yoshikawaryota 7:93ab5505ac1b 381
yoshikawaryota 7:93ab5505ac1b 382
yoshikawaryota 7:93ab5505ac1b 383
yoshikawaryota 7:93ab5505ac1b 384
yoshikawaryota 2:ec149525ec2a 385 /*******************************************************************************
yoshikawaryota 9:8c550d496736 386 * @概要 台形制御
yoshikawaryota 10:e19d1d12f0ed 387 * @引数 tar_x :目標のx座標
yoshikawaryota 10:e19d1d12f0ed 388 * @引数 tar_y :目標のy座標
yoshikawaryota 10:e19d1d12f0ed 389 * @引数 tar_theta:目標角
yoshikawaryota 12:1daa4d490a12 390 * @引数 error :次ステップに進む基準とする距離
yoshikawaryota 9:8c550d496736 391 * @返り値 0(継続) 1(移動完了)
yoshikawaryota 2:ec149525ec2a 392 *******************************************************************************/
yoshikawaryota 9:8c550d496736 393 int omuni_control(int tar_x, int tar_y, int tar_theta, int error)
yoshikawaryota 2:ec149525ec2a 394 {
yoshikawaryota 6:201e3de9777d 395 static int log_distance = 0;
yoshikawaryota 9:8c550d496736 396 static int be_tar_x = 0, be_tar_y = 0;
yoshikawaryota 9:8c550d496736 397 static int a = 0, b = 0;
yoshikawaryota 6:201e3de9777d 398 static double log_theta = 0;
yoshikawaryota 6:201e3de9777d 399 static bool dis_flag = 0;
TakushimaYukimasa 0:9e851dc42cde 400
yoshikawaryota 4:05a6bda2e11f 401 if(dis_flag==0) {
yoshikawaryota 7:93ab5505ac1b 402 /* タイマー初期化 */
yoshikawaryota 7:93ab5505ac1b 403 Acc_time.reset();
yoshikawaryota 7:93ab5505ac1b 404 P_fin.reset();
yoshikawaryota 7:93ab5505ac1b 405 /* タイマー始動 */
yoshikawaryota 7:93ab5505ac1b 406 Acc_time.start();
yoshikawaryota 7:93ab5505ac1b 407 P_fin.start();
yoshikawaryota 6:201e3de9777d 408 /* 現在角度を記録しておく */
yoshikawaryota 6:201e3de9777d 409 log_theta = NowLoc.theta;
yoshikawaryota 4:05a6bda2e11f 410 /* 現在座標と目標座標との距離を記録しておく */
yoshikawaryota 4:05a6bda2e11f 411 log_distance = (int)sqrt(pow((double)tar_x - NowLoc.X, 2.0) + pow((double)tar_y - NowLoc.Y, 2.0));
yoshikawaryota 9:8c550d496736 412 /* 目標地点間を結ぶ直線の傾きと切片を求める */
yoshikawaryota 10:e19d1d12f0ed 413 if(tar_x != be_tar_x) a = (tar_y - be_tar_y) / (tar_x - be_tar_x);
yoshikawaryota 9:8c550d496736 414 b = tar_y - a * tar_x;
yoshikawaryota 4:05a6bda2e11f 415 /* フラグ回収 */
yoshikawaryota 4:05a6bda2e11f 416 dis_flag=1;
yoshikawaryota 4:05a6bda2e11f 417 }
yoshikawaryota 2:ec149525ec2a 418
yoshikawaryota 12:1daa4d490a12 419 int x_val = 0, /*x_acc_val = 0,*/ x_dec_val = 0, Px = 0;
yoshikawaryota 12:1daa4d490a12 420 int y_val = 0, /*y_acc_val = 0,*/ y_dec_val = 0, Py = 0;
yoshikawaryota 4:05a6bda2e11f 421 int t_val = 0;
yoshikawaryota 10:e19d1d12f0ed 422 int P_dis = 0, r = 0;
yoshikawaryota 10:e19d1d12f0ed 423 int Max[2] = {0}, Min[2] = {0}, x = 0, y = 0;
yoshikawaryota 4:05a6bda2e11f 424
yoshikawaryota 4:05a6bda2e11f 425 double theta_tar = 0.0;
yoshikawaryota 9:8c550d496736 426
yoshikawaryota 10:e19d1d12f0ed 427 /* x,yの値域を代入(0=x,1=y) */
yoshikawaryota 9:8c550d496736 428 if(NowLoc.X <= tar_x) {
yoshikawaryota 10:e19d1d12f0ed 429 Max[0] = tar_x;
yoshikawaryota 10:e19d1d12f0ed 430 Min[0] = NowLoc.X;
yoshikawaryota 9:8c550d496736 431 } else {
yoshikawaryota 10:e19d1d12f0ed 432 Max[0] = NowLoc.X;
yoshikawaryota 10:e19d1d12f0ed 433 Min[0] = tar_x;
yoshikawaryota 10:e19d1d12f0ed 434 }
yoshikawaryota 10:e19d1d12f0ed 435 if(NowLoc.Y <= tar_y) {
yoshikawaryota 10:e19d1d12f0ed 436 Max[1] = tar_y;
yoshikawaryota 10:e19d1d12f0ed 437 Min[1] = NowLoc.Y;
yoshikawaryota 10:e19d1d12f0ed 438 } else {
yoshikawaryota 10:e19d1d12f0ed 439 Max[1] = NowLoc.Y;
yoshikawaryota 10:e19d1d12f0ed 440 Min[1] = tar_y;
yoshikawaryota 9:8c550d496736 441 }
yoshikawaryota 9:8c550d496736 442 /* 目標にする点Pの決定 */
yoshikawaryota 10:e19d1d12f0ed 443 if(Max[0] != Min[0]) {
yoshikawaryota 10:e19d1d12f0ed 444 r = sqrt(pow(NowAcc.X,2)+pow(NowAcc.Y,2)) * 1.5;
yoshikawaryota 10:e19d1d12f0ed 445 /* 半径の最大を設定 */
yoshikawaryota 10:e19d1d12f0ed 446 r = Rest(r, 100);
yoshikawaryota 10:e19d1d12f0ed 447 for(x=Min[0]; x<=Max[0]; x++) {
yoshikawaryota 10:e19d1d12f0ed 448 y = a * x + b;
yoshikawaryota 10:e19d1d12f0ed 449 P_dis = sqrt(pow(x-NowLoc.X,2)+pow(y-NowLoc.Y,2));
yoshikawaryota 10:e19d1d12f0ed 450 if(P_dis == r && ABS(tar_x - x) < ABS(tar_x - NowLoc.X) || P_dis == r && ABS(tar_y - y) < ABS(tar_y - NowLoc.Y)) {
yoshikawaryota 10:e19d1d12f0ed 451 Px = x;
yoshikawaryota 10:e19d1d12f0ed 452 Py = y;
yoshikawaryota 10:e19d1d12f0ed 453 break;
yoshikawaryota 10:e19d1d12f0ed 454 }
yoshikawaryota 10:e19d1d12f0ed 455 if(x == Max[0]) {
yoshikawaryota 10:e19d1d12f0ed 456 Px = tar_x;
yoshikawaryota 10:e19d1d12f0ed 457 Py = tar_y;
yoshikawaryota 10:e19d1d12f0ed 458 }
yoshikawaryota 9:8c550d496736 459 }
yoshikawaryota 10:e19d1d12f0ed 460 }
yoshikawaryota 12:1daa4d490a12 461 /* x=定数の式(縦の直線)になった時 */
yoshikawaryota 10:e19d1d12f0ed 462 else {
yoshikawaryota 10:e19d1d12f0ed 463 r = sqrt(pow(NowAcc.X,2)+pow(NowAcc.Y,2)) * 1.5;
yoshikawaryota 10:e19d1d12f0ed 464 /* 半径の最大を設定 */
yoshikawaryota 10:e19d1d12f0ed 465 r = Rest(r, 100);
yoshikawaryota 10:e19d1d12f0ed 466 for(y=Min[1]; y<=Max[1]; y++) {
yoshikawaryota 10:e19d1d12f0ed 467 P_dis = y;
yoshikawaryota 12:1daa4d490a12 468
yoshikawaryota 9:8c550d496736 469 Px = tar_x;
yoshikawaryota 10:e19d1d12f0ed 470 if(P_dis == r && ABS(tar_y - y) < ABS(tar_y - NowLoc.Y)) {
yoshikawaryota 10:e19d1d12f0ed 471 Py = y;
yoshikawaryota 10:e19d1d12f0ed 472 break;
yoshikawaryota 10:e19d1d12f0ed 473 }
yoshikawaryota 10:e19d1d12f0ed 474 if(y == Max[1]) Py = tar_y;
yoshikawaryota 9:8c550d496736 475 }
yoshikawaryota 9:8c550d496736 476 }
yoshikawaryota 7:93ab5505ac1b 477 /* 減速処理の値代入 */
yoshikawaryota 9:8c550d496736 478 x_dec_val = ABS((Px - NowLoc.X) * 0.06);
yoshikawaryota 9:8c550d496736 479 y_dec_val = ABS((Py - NowLoc.Y) * 0.06);
yoshikawaryota 7:93ab5505ac1b 480 /* 加速処理の値代入 */
yoshikawaryota 12:1daa4d490a12 481 /*x_acc_val=ABS((int)Acc_time.read_ms() * 0.15);
yoshikawaryota 12:1daa4d490a12 482 y_acc_val=ABS((int)Acc_time.read_ms() * 0.15);*/
yoshikawaryota 7:93ab5505ac1b 483 /* 低い方の値代入 */
yoshikawaryota 12:1daa4d490a12 484 /*x_val = M_MIN(x_acc_val, x_dec_val);
yoshikawaryota 12:1daa4d490a12 485 y_val = M_MIN(y_acc_val, y_dec_val);*/
yoshikawaryota 12:1daa4d490a12 486 x_val = x_dec_val;
yoshikawaryota 12:1daa4d490a12 487 y_val = y_dec_val;
yoshikawaryota 9:8c550d496736 488
yoshikawaryota 4:05a6bda2e11f 489 /* 最低を決める */
yoshikawaryota 7:93ab5505ac1b 490 x_val = M_MAX(x_val, 20);
yoshikawaryota 7:93ab5505ac1b 491 y_val = M_MAX(y_val, 20);
yoshikawaryota 9:8c550d496736 492
yoshikawaryota 4:05a6bda2e11f 493 /* 100以内に収める */
yoshikawaryota 4:05a6bda2e11f 494 x_val = Rest(x_val, 100);
yoshikawaryota 4:05a6bda2e11f 495 y_val = Rest(y_val, 100);
yoshikawaryota 2:ec149525ec2a 496
yoshikawaryota 4:05a6bda2e11f 497 /* 正負を決める */
yoshikawaryota 9:8c550d496736 498 if ((Px - NowLoc.X) < 0)
yoshikawaryota 4:05a6bda2e11f 499 x_val *= -1;
yoshikawaryota 9:8c550d496736 500 if ((Py - NowLoc.Y) < 0)
yoshikawaryota 4:05a6bda2e11f 501 y_val *= -1;
yoshikawaryota 2:ec149525ec2a 502
yoshikawaryota 4:05a6bda2e11f 503 /* 残り距離計算 */
yoshikawaryota 4:05a6bda2e11f 504 int remain = (int)sqrt(pow((double)tar_x - NowLoc.X, 2.0) + pow((double)tar_y - NowLoc.Y, 2.0));
yoshikawaryota 4:05a6bda2e11f 505 /* 移動量に応じたthetaを求める */
yoshikawaryota 8:ddedee42c253 506 theta_tar = (((double)log_distance - remain) / log_distance) * (tar_theta - log_theta) + log_theta;
yoshikawaryota 4:05a6bda2e11f 507 /* 合わせるthetaと現在thetaの差分からtheta補整をかける */
yoshikawaryota 4:05a6bda2e11f 508 t_val = (theta_tar - NowLoc.theta) * 1.5;
yoshikawaryota 3:b77f51108bf1 509
yoshikawaryota 4:05a6bda2e11f 510 t_val = Rest(t_val, 20);
yoshikawaryota 2:ec149525ec2a 511
yoshikawaryota 7:93ab5505ac1b 512 SubOmuni(x_val, y_val, t_val);
yoshikawaryota 2:ec149525ec2a 513
yoshikawaryota 4:05a6bda2e11f 514 /* 終了処理 */
yoshikawaryota 9:8c550d496736 515 if(error != 0 && error >= remain) {
yoshikawaryota 9:8c550d496736 516 be_tar_x = tar_x;
yoshikawaryota 9:8c550d496736 517 be_tar_y = tar_y;
yoshikawaryota 9:8c550d496736 518 return 1;
yoshikawaryota 9:8c550d496736 519 } else if ((5 > ABS(remain)) && ABS(tar_theta - NowLoc.theta) < 0.1) {
yoshikawaryota 4:05a6bda2e11f 520 x_val = 0;
yoshikawaryota 4:05a6bda2e11f 521 y_val = 0;
yoshikawaryota 4:05a6bda2e11f 522 }
yoshikawaryota 4:05a6bda2e11f 523 if (x_val == 0 && y_val == 0)
yoshikawaryota 4:05a6bda2e11f 524 P_fin.start();
yoshikawaryota 4:05a6bda2e11f 525 else
yoshikawaryota 4:05a6bda2e11f 526 P_fin.reset();
yoshikawaryota 2:ec149525ec2a 527
yoshikawaryota 4:05a6bda2e11f 528 if (P_fin.read_ms() > 100) {
yoshikawaryota 4:05a6bda2e11f 529 /* タイマー停止 */
yoshikawaryota 4:05a6bda2e11f 530 P_fin.stop();
yoshikawaryota 4:05a6bda2e11f 531 /* フラグを建て直す */
yoshikawaryota 4:05a6bda2e11f 532 dis_flag=0;
yoshikawaryota 9:8c550d496736 533
yoshikawaryota 8:ddedee42c253 534 return 1;
yoshikawaryota 2:ec149525ec2a 535 }
yoshikawaryota 8:ddedee42c253 536 return 0;
TakushimaYukimasa 0:9e851dc42cde 537 }