春ロボ　ロケット団 / Mbed 2 deprecated Spring_motor_test2

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Dependencies:   mbed SpeedController Encoder CruizCore_R1370P

main.cpp@18:1d89ec4148ec, 2020-03-05 (annotated)

Committer:
maxnagazumi
Date:
Thu Mar 05 12:46:31 2020 +0000
Revision:
18:1d89ec4148ec
Parent:
17:bafc6a46b3df
Child:
19:0c1c3b2e009f
a

Who changed what in which revision?

UserRevisionLine numberNew contents of line
maxnagazumi 16:7ce4ab00621a 1
maxnagazumi 0:c17bc30288a2 2 #include "mbed.h"
maxnagazumi 0:c17bc30288a2 3 #include "EC.h"
maxnagazumi 0:c17bc30288a2 4 #include "SpeedController.h"
maxnagazumi 0:c17bc30288a2 5 #define RESOLUTION 500
maxnagazumi 0:c17bc30288a2 6 #include "math.h"
maxnagazumi 0:c17bc30288a2 7 #include "R1370P.h"
maxnagazumi 0:c17bc30288a2 8
maxnagazumi 0:c17bc30288a2 9 //PwmOut motor_1F(PA_5);//1Forward Right motor Forward
maxnagazumi 0:c17bc30288a2 10 //PwmOut motor_1B(PC_7);//Forward Right motor Back
maxnagazumi 0:c17bc30288a2 11 //PwmOut motor_2F(PC_9);//2Forward Left motor Forward
maxnagazumi 0:c17bc30288a2 12 //PwmOut motor_2B(PA_1);//Forward Left motor Back
maxnagazumi 0:c17bc30288a2 13 //PwmOut motor_3F(PA_10);//3Back Right motor Forward
maxnagazumi 0:c17bc30288a2 14 //PwmOut motor_3B(PB_4);//Back Right motor Back
maxnagazumi 0:c17bc30288a2 15 //PwmOut motor_4F(PA_9);//4Back Left motor Forward
maxnagazumi 0:c17bc30288a2 16 //PwmOut motor_4B(PA_7);//Back Left motor Back
maxnagazumi 0:c17bc30288a2 17
maxnagazumi 0:c17bc30288a2 18 Ec2multi ec[]= {Ec2multi(PC_5,PB_2,RESOLUTION),
maxnagazumi 0:c17bc30288a2 19 Ec2multi(PA_11,PB_1,RESOLUTION),
maxnagazumi 0:c17bc30288a2 20 Ec2multi(PB_12,PB_15,RESOLUTION),
maxnagazumi 0:c17bc30288a2 21 Ec2multi(PC_4,PB_14,RESOLUTION)
maxnagazumi 0:c17bc30288a2 22 }; //1逓倍用class
maxnagazumi 0:c17bc30288a2 23
maxnagazumi 0:c17bc30288a2 24 Ec2multi ecXY[]= {Ec2multi(PC_6,PB_8,RESOLUTION),
maxnagazumi 4:6a8cd13da02d 25 Ec2multi(PC_8,PB_9,RESOLUTION)
maxnagazumi 0:c17bc30288a2 26 };
maxnagazumi 0:c17bc30288a2 27
maxnagazumi 0:c17bc30288a2 28 SpeedControl motor[]= {SpeedControl(PA_5,PC_7,50,ec[0]),
maxnagazumi 0:c17bc30288a2 29 SpeedControl(PC_9,PA_1,50,ec[1]),
maxnagazumi 0:c17bc30288a2 30 SpeedControl(PA_10,PB_4,50,ec[2]),
maxnagazumi 0:c17bc30288a2 31 SpeedControl(PA_9,PA_7,50,ec[3])
maxnagazumi 0:c17bc30288a2 32 };
maxnagazumi 0:c17bc30288a2 33
maxnagazumi 0:c17bc30288a2 34 //R1370P gyro(PA_11,PA_12);
maxnagazumi 0:c17bc30288a2 35
maxnagazumi 0:c17bc30288a2 36 DigitalIn button(USER_BUTTON);
maxnagazumi 1:9d2b2b5ec36f 37 Serial pc(USBTX, USBRX); // tx, rx
maxnagazumi 1:9d2b2b5ec36f 38 R1370P gyro(PC_10,PC_11); // tx, rx
maxnagazumi 0:c17bc30288a2 39
maxnagazumi 0:c17bc30288a2 40 Ticker ticker;
maxnagazumi 0:c17bc30288a2 41
maxnagazumi 0:c17bc30288a2 42 void calOmega()
maxnagazumi 0:c17bc30288a2 43 {
maxnagazumi 0:c17bc30288a2 44 for(int i=0; i<4; i++) {
maxnagazumi 0:c17bc30288a2 45 ec[i].calOmega();
maxnagazumi 0:c17bc30288a2 46 }
maxnagazumi 0:c17bc30288a2 47 }
maxnagazumi 0:c17bc30288a2 48
maxnagazumi 0:c17bc30288a2 49 //自己位置取得
maxnagazumi 1:9d2b2b5ec36f 50 double theta=0;
maxnagazumi 0:c17bc30288a2 51 class Location
maxnagazumi 0:c17bc30288a2 52 {
maxnagazumi 0:c17bc30288a2 53 public:
maxnagazumi 0:c17bc30288a2 54 Location():x_(0),y_(0)
maxnagazumi 0:c17bc30288a2 55 {
maxnagazumi 0:c17bc30288a2 56 for(int i =0; i<2; i++) {
maxnagazumi 0:c17bc30288a2 57 old_count[i]=0;
maxnagazumi 0:c17bc30288a2 58 }
maxnagazumi 0:c17bc30288a2 59 }
maxnagazumi 0:c17bc30288a2 60 void calXY()
maxnagazumi 0:c17bc30288a2 61 {
maxnagazumi 0:c17bc30288a2 62 double ec_count[2]= {};
maxnagazumi 1:9d2b2b5ec36f 63 double ax,ay,bx,by;
maxnagazumi 4:6a8cd13da02d 64 double atheta,btheta;
maxnagazumi 4:6a8cd13da02d 65 atheta = (45+theta)/180*3.14;
maxnagazumi 4:6a8cd13da02d 66 btheta = (135+theta)/180*3.14;
maxnagazumi 4:6a8cd13da02d 67
maxnagazumi 0:c17bc30288a2 68 ec_count[0]=ecXY[0].getCount();
maxnagazumi 0:c17bc30288a2 69 ec_count[1]=ecXY[1].getCount();
maxnagazumi 4:6a8cd13da02d 70 ax = (ec_count[0]-old_count[0])*cos(atheta);
maxnagazumi 4:6a8cd13da02d 71 ay = (ec_count[0]-old_count[0])*sin(atheta);
maxnagazumi 4:6a8cd13da02d 72 bx = (ec_count[1]-old_count[1])*cos(btheta);
maxnagazumi 4:6a8cd13da02d 73 by = (ec_count[1]-old_count[1])*sin(btheta);
maxnagazumi 1:9d2b2b5ec36f 74 x_=x_+ax + bx;
maxnagazumi 4:6a8cd13da02d 75 y_=y_+ay + by;
maxnagazumi 0:c17bc30288a2 76 old_count[0]=ec_count[0];
maxnagazumi 0:c17bc30288a2 77 old_count[1]=ec_count[1];
maxnagazumi 0:c17bc30288a2 78 }
maxnagazumi 0:c17bc30288a2 79 double getX()
maxnagazumi 0:c17bc30288a2 80 {
maxnagazumi 0:c17bc30288a2 81 return x_;
maxnagazumi 0:c17bc30288a2 82 }
maxnagazumi 0:c17bc30288a2 83 double getY()
maxnagazumi 0:c17bc30288a2 84 {
maxnagazumi 0:c17bc30288a2 85 return y_;
maxnagazumi 0:c17bc30288a2 86 }
maxnagazumi 0:c17bc30288a2 87
maxnagazumi 0:c17bc30288a2 88 private:
maxnagazumi 0:c17bc30288a2 89 double x_;
maxnagazumi 0:c17bc30288a2 90 double y_;
maxnagazumi 0:c17bc30288a2 91 double old_count[2];
maxnagazumi 0:c17bc30288a2 92 };
maxnagazumi 0:c17bc30288a2 93
maxnagazumi 0:c17bc30288a2 94
maxnagazumi 1:9d2b2b5ec36f 95
maxnagazumi 1:9d2b2b5ec36f 96 //目的地決定
maxnagazumi 0:c17bc30288a2 97 int plot[5][2]= {
maxnagazumi 0:c17bc30288a2 98 {0,0}
maxnagazumi 17:bafc6a46b3df 99 ,{0,10000}
maxnagazumi 18:1d89ec4148ec 100 ,{5000,10000}
maxnagazumi 18:1d89ec4148ec 101 ,{5000,0}
maxnagazumi 18:1d89ec4148ec 102 ,{2000,5000}
maxnagazumi 0:c17bc30288a2 103 };
maxnagazumi 0:c17bc30288a2 104
maxnagazumi 0:c17bc30288a2 105 //出力を計算
maxnagazumi 0:c17bc30288a2 106 int x,y;
maxnagazumi 3:8b9ba783512e 107
maxnagazumi 3:8b9ba783512e 108 class WheelOmega
maxnagazumi 1:9d2b2b5ec36f 109 {
maxnagazumi 3:8b9ba783512e 110 public:
maxnagazumi 18:1d89ec4148ec 111 WheelOmega(): max_(0),vx_(0),vy_(0),theta_(0)
maxnagazumi 3:8b9ba783512e 112 {
maxnagazumi 3:8b9ba783512e 113 for(int i=0; i<4; i++) {
maxnagazumi 3:8b9ba783512e 114 omega[i]=0;
maxnagazumi 3:8b9ba783512e 115 }
maxnagazumi 3:8b9ba783512e 116 }
maxnagazumi 3:8b9ba783512e 117 void setOmega(int max)
maxnagazumi 3:8b9ba783512e 118 {
maxnagazumi 17:bafc6a46b3df 119 if(max >= 0) {
maxnagazumi 17:bafc6a46b3df 120 max_=max;
maxnagazumi 17:bafc6a46b3df 121 } else {
maxnagazumi 17:bafc6a46b3df 122 max_ = -1 * max;
maxnagazumi 17:bafc6a46b3df 123 }
maxnagazumi 3:8b9ba783512e 124 }
maxnagazumi 18:1d89ec4148ec 125 void setVxy(double vx,double vy,double theta)
maxnagazumi 3:8b9ba783512e 126 {
maxnagazumi 3:8b9ba783512e 127 vx_=vx;
maxnagazumi 3:8b9ba783512e 128 vy_=vy;
maxnagazumi 18:1d89ec4148ec 129 theta_=theta;
maxnagazumi 3:8b9ba783512e 130 }
maxnagazumi 3:8b9ba783512e 131 void calOmega()
maxnagazumi 3:8b9ba783512e 132 {
maxnagazumi 18:1d89ec4148ec 133 omega[0]=max_*vx_/sqrt(2.0)-max_*vy_/sqrt(2.0)-theta*max_*0.005;
maxnagazumi 18:1d89ec4148ec 134 omega[1]=-max_*vx_/sqrt(2.0)-max_*vy_/sqrt(2.0)-theta*max_*0.005;
maxnagazumi 18:1d89ec4148ec 135 omega[2]=-max_*vx_/sqrt(2.0)+max_*vy_/sqrt(2.0)-theta*max_*0.005;
maxnagazumi 18:1d89ec4148ec 136 omega[3]=max_*vx_/sqrt(2.0)+max_*vy_/sqrt(2.0)-theta*max_*0.005;
maxnagazumi 3:8b9ba783512e 137 };
maxnagazumi 3:8b9ba783512e 138 double getOmega(int i)
maxnagazumi 3:8b9ba783512e 139 {
maxnagazumi 3:8b9ba783512e 140 return omega[i];
maxnagazumi 3:8b9ba783512e 141 }
maxnagazumi 3:8b9ba783512e 142 private:
maxnagazumi 18:1d89ec4148ec 143 double max_,vx_,vy_,theta_;
maxnagazumi 3:8b9ba783512e 144 double omega[4];
maxnagazumi 3:8b9ba783512e 145 };
maxnagazumi 3:8b9ba783512e 146
maxnagazumi 3:8b9ba783512e 147 WheelOmega omega;
maxnagazumi 18:1d89ec4148ec 148 //パラメタ処理
maxnagazumi 16:7ce4ab00621a 149 double pControl(int dx_,int dy_,double time_)
maxnagazumi 16:7ce4ab00621a 150 {
maxnagazumi 16:7ce4ab00621a 151 double distance,z,zMax;
maxnagazumi 16:7ce4ab00621a 152 distance = sqrt((double)dx_*dx_+dy_*dy_);
maxnagazumi 18:1d89ec4148ec 153 z=0.004*distance;
maxnagazumi 17:bafc6a46b3df 154 zMax=10;
maxnagazumi 16:7ce4ab00621a 155 if(z>zMax) {
maxnagazumi 16:7ce4ab00621a 156 z=zMax;
maxnagazumi 16:7ce4ab00621a 157 }
maxnagazumi 17:bafc6a46b3df 158 if(time_<1) {
maxnagazumi 17:bafc6a46b3df 159 z=z*time_;
maxnagazumi 16:7ce4ab00621a 160 }
maxnagazumi 16:7ce4ab00621a 161 return z;
maxnagazumi 16:7ce4ab00621a 162 }
koheim 11:f9f3014598b9 163
maxnagazumi 18:1d89ec4148ec 164 //出力
maxnagazumi 18:1d89ec4148ec 165 int a=0;
maxnagazumi 18:1d89ec4148ec 166 void motorOut()
maxnagazumi 18:1d89ec4148ec 167 {
maxnagazumi 18:1d89ec4148ec 168 for(int i=0; i<4; i++) {
maxnagazumi 18:1d89ec4148ec 169 motor[i].Sc(omega.getOmega(i));
maxnagazumi 18:1d89ec4148ec 170 }
maxnagazumi 18:1d89ec4148ec 171 }
maxnagazumi 18:1d89ec4148ec 172
maxnagazumi 0:c17bc30288a2 173 int main()
maxnagazumi 0:c17bc30288a2 174 {
maxnagazumi 1:9d2b2b5ec36f 175 gyro.initialize(); //main関数の最初に一度だけ実行
maxnagazumi 1:9d2b2b5ec36f 176 gyro.acc_offset();
maxnagazumi 18:1d89ec4148ec 177 double angle;
maxnagazumi 18:1d89ec4148ec 178 angle=gyro.getAngle();
maxnagazumi 18:1d89ec4148ec 179 double z;
maxnagazumi 0:c17bc30288a2 180 printf("start\r\n");
maxnagazumi 0:c17bc30288a2 181 motor[0].setEquation(0.008031,-0.022300,-0.008839,-0.016290);
maxnagazumi 0:c17bc30288a2 182 motor[1].setEquation(0.008878,-0.016622,-0.009702,-0.015806);
maxnagazumi 0:c17bc30288a2 183 motor[2].setEquation(0.008637,-0.016537,-0.009397,-0.012159);
maxnagazumi 0:c17bc30288a2 184 motor[3].setEquation(0.008096,-0.014822,-0.008801,-0.016645);
maxnagazumi 0:c17bc30288a2 185
maxnagazumi 0:c17bc30288a2 186 motor[0].setDutyLimit(0.5);
maxnagazumi 0:c17bc30288a2 187 motor[1].setDutyLimit(0.5);
maxnagazumi 0:c17bc30288a2 188 motor[2].setDutyLimit(0.5);
maxnagazumi 0:c17bc30288a2 189 motor[3].setDutyLimit(0.5);
maxnagazumi 0:c17bc30288a2 190
maxnagazumi 3:8b9ba783512e 191 motor[0].setPDparam( 0.02000, 0.0005 );
maxnagazumi 3:8b9ba783512e 192 motor[1].setPDparam( 0.02000, 0.0005 );
maxnagazumi 3:8b9ba783512e 193 motor[2].setPDparam( 0.02000, 0.0005 );
maxnagazumi 3:8b9ba783512e 194 motor[3].setPDparam( 0.02000, 0.0005);
maxnagazumi 0:c17bc30288a2 195
maxnagazumi 3:8b9ba783512e 196 while(1) {
maxnagazumi 3:8b9ba783512e 197 printf("waiting\r\n");
maxnagazumi 3:8b9ba783512e 198 if(button==0) {
maxnagazumi 4:6a8cd13da02d 199 wait(1);
maxnagazumi 3:8b9ba783512e 200 ticker.attach(motorOut,0.05);
maxnagazumi 3:8b9ba783512e 201 break;
maxnagazumi 3:8b9ba783512e 202 }
maxnagazumi 3:8b9ba783512e 203 }
maxnagazumi 3:8b9ba783512e 204
maxnagazumi 3:8b9ba783512e 205 int n=1,dx,dy,aimX,aimY;
maxnagazumi 3:8b9ba783512e 206 double vx,vy;
maxnagazumi 0:c17bc30288a2 207 Location location;
maxnagazumi 16:7ce4ab00621a 208 Timer time;
maxnagazumi 16:7ce4ab00621a 209 time.start();
maxnagazumi 0:c17bc30288a2 210 while(1) {
maxnagazumi 0:c17bc30288a2 211 //自己位置取得
maxnagazumi 18:1d89ec4148ec 212 theta=gyro.getAngle()-angle; //角度の値を受け取る
maxnagazumi 0:c17bc30288a2 213 location.calXY();
maxnagazumi 1:9d2b2b5ec36f 214
maxnagazumi 0:c17bc30288a2 215 x=location.getX();
maxnagazumi 0:c17bc30288a2 216 y=location.getY();
maxnagazumi 16:7ce4ab00621a 217 printf("X=%d,Y=%d theta=%5.3f z=%5.3f %f \r\n",x,y,theta,z,time.read());
maxnagazumi 1:9d2b2b5ec36f 218
maxnagazumi 0:c17bc30288a2 219 //目的地決定(syuusoku check)
maxnagazumi 0:c17bc30288a2 220 aimX = plot[n][0];
maxnagazumi 0:c17bc30288a2 221 aimY = plot[n][1];
maxnagazumi 0:c17bc30288a2 222 //出力を計算(kitai xy);
maxnagazumi 0:c17bc30288a2 223 dx=aimX-x;
maxnagazumi 0:c17bc30288a2 224 dy=aimY-y;
maxnagazumi 0:c17bc30288a2 225 vx=dx/sqrt((double)dx*dx+dy*dy);
maxnagazumi 0:c17bc30288a2 226 vy=dy/sqrt((double)dx*dx+dy*dy);
maxnagazumi 1:9d2b2b5ec36f 227 //四輪の出力計算
maxnagazumi 16:7ce4ab00621a 228 z=pControl(dx,dy,time.read());
koheim 15:e26bad257626 229 omega.setOmega(z);
maxnagazumi 18:1d89ec4148ec 230 omega.setVxy(vx,vy,theta);
maxnagazumi 3:8b9ba783512e 231 omega.calOmega();
maxnagazumi 18:1d89ec4148ec 232 //ゴール判定
maxnagazumi 17:bafc6a46b3df 233 if(dx<500 && dx>-500 && dy<500 && dy>-500) {
maxnagazumi 16:7ce4ab00621a 234 n++;
maxnagazumi 18:1d89ec4148ec 235 printf("reach%d\r\n",n);
maxnagazumi 16:7ce4ab00621a 236 ticker.detach();
maxnagazumi 18:1d89ec4148ec 237 /*for(int j=0; j<4; j++) {
maxnagazumi 16:7ce4ab00621a 238 motor[j].stop();
maxnagazumi 0:c17bc30288a2 239 }
maxnagazumi 18:1d89ec4148ec 240 wait(1);*/
maxnagazumi 16:7ce4ab00621a 241 time.reset();
maxnagazumi 18:1d89ec4148ec 242 ticker.attach(motorOut,0.05);
koheim 15:e26bad257626 243 }
maxnagazumi 16:7ce4ab00621a 244
maxnagazumi 18:1d89ec4148ec 245 if(n>=5) {
maxnagazumi 1:9d2b2b5ec36f 246 for(int j=0; j<4; j++) {
maxnagazumi 4:6a8cd13da02d 247 motor[j].Sc(0);
maxnagazumi 4:6a8cd13da02d 248 }
maxnagazumi 4:6a8cd13da02d 249 while(1) {
maxnagazumi 18:1d89ec4148ec 250
maxnagazumi 4:6a8cd13da02d 251 printf("fin");
maxnagazumi 9:04291120b9ad 252 ticker.detach();
maxnagazumi 1:9d2b2b5ec36f 253 }
maxnagazumi 1:9d2b2b5ec36f 254 }
maxnagazumi 0:c17bc30288a2 255 }
maxnagazumi 0:c17bc30288a2 256 }