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@3:8b9ba783512e, 2020-03-05 (annotated)

Committer:
maxnagazumi
Date:
Thu Mar 05 02:13:38 2020 +0000
Revision:
3:8b9ba783512e
Parent:
1:9d2b2b5ec36f
Child:
4:6a8cd13da02d
3/5

Who changed what in which revision?

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