File content as of revision 6:7ec6c3d3a30a:

#include "mbed.h"
#include "SpeedController.h"
#include "EC.h"
#include "R1370P.h"
#include "enc_1multi.h"
#define BASIC_SPEED 15  //モーターはこの角速度で駆動させる

SpeedControl motorR(PB_13,PA_10,NC,500,0.05,PB_10,PB_1);  //right  enc migi ue
SpeedControl motorL(PB_5,PB_3,NC,500,0.05,PA_5,PA_7);    //left   enc hidari sita  //ok
Ec EC1(PB_4,PA_8,NC,300,0.05);    //center enc
Ticker motor_tick;  //角速度計算用ticker
Ticker ticker;//for enc

Serial pc(USBTX, USBRX); // tx, rx //PC USB
R1370P gyro(PC_6,PC_7);


void calOmega() //角速度計算関数
{
    motorR.CalOmega();
    motorL.CalOmega();
    EC1.CalOmega();
}

//DigitalIn button(USER_BUTTON);
DigitalIn reset_f(PC_1,PullUp);
DigitalIn reset_a(PA_4,PullUp);

PwmOut servo(PB_14);//servo
PwmOut motor_f(PC_9);
PwmOut motor_b(PB_9);//arm
DigitalOut denjiben(PC_0);//dennjibenn


double new_dist=0;
double old_dist=0;
double d_dist=0;
double x;
double y;
double asari_x=900;
double asari_y=2500;//asariwo toru tekisetsuna zahyouwo kaeraremasu
double goal_x=1120;
double goal_y=1700;
double start_x=185;
double start_y=150;
Timer t;
int i=1;

int kai=0;//printf kansuu
double target_R=0,target_L=0;


double angle; //変数宣言


void tgt(double r,double l)//void de sika tsukawanaino ha mottainai kimosuru
{
    target_R=BASIC_SPEED*r;
    target_L=BASIC_SPEED*l;
}


//printf wo dousa kakunin sidai kesou toha omotte imasu
void susumu_y(double ay,double by,double goaly)//y zahyou wo motiita susumikata subete
{
//pc.printf("ay=%f by=%f y=%f goaly=%f\r\n",ay,by,y,goaly);
    if(y<goaly-50&&ay>=0) {
        t.start();
        pc.printf("R=%f L=%f\r\n",target_R,target_L);
        if(t.read_ms()<100) {
            pc.printf("t=%f",t.read());
            tgt(ay/3,by/3);
        } else if(t.read_ms()>=100&&t.read_ms()<200) {
            pc.printf("t=%f",t.read());
            tgt(ay*2/3,by*2/3);
        } else {
            tgt(ay,by);
            t.stop();
            pc.printf("R=%f L=%f",target_R,target_L);
        }
    } else if(y<goaly&&y>=goaly-50&&ay>=0) {
        tgt(ay/3,by/3);


    } else if(y>goaly+50&&ay<0) {
        t.start();
        pc.printf("R=%f L=%f\r\n",target_R,target_L);
        if(t.read_ms()<100) {
            pc.printf("t=%f",t.read());
            tgt(ay/3,by/3);
        } else if(t.read_ms()>=100&&t.read_ms()<200) {
            pc.printf("t=%f",t.read());
            tgt(ay*2/3,by*2/3);
        } else {
            tgt(ay,by);
            t.stop();
            pc.printf("R=%f L=%f",target_R,target_L);
        }
    } else if(y>goaly&&y<=goaly+50&&ay<0) {
        tgt(ay/3,by/3);
    } else {
        i++;
        t.reset();
        pc.printf("owari%d\r\n",i);
    }
}



void susumu_xl(double axl,double bxl,double goalxl)//hidarikara mokuhyoutenn ni toutatsu surutameno dousa
{

    if(x<goalxl-50) {
        t.start();
        pc.printf("R=%f L=%f\r\n",target_R,target_L);
        if(t.read_ms()<100) {
            pc.printf("t=%f",t.read());
            tgt(axl/3,bxl/3);
        } else if(t.read_ms()>=100&&t.read_ms()<200) {
            pc.printf("t=%f",t.read());
            tgt(axl*2/3,bxl*2/3);
        } else {
            tgt(axl,bxl);
            t.stop();
            pc.printf("R=%f L=%f",target_R,target_L);
        }
    } else if(x<goalxl&&x>=goalxl-50) {
        tgt(axl/3,bxl/3);

    } else {
        t.reset();
        i++;
        pc.printf("owari\r\n");
    }
}

void susumu_xr(double axr,double bxr,double goalxr)//migikara mokuhyoutenn ni toutatsu surutameno dousa
{

    if(x>goalxr+50) {
        t.start();
        pc.printf("R=%f L=%f\r\n",target_R,target_L);
        if(t.read_ms()<100) {
            pc.printf("t=%f",t.read());
            tgt(axr/3,bxr/3);
        } else if(t.read_ms()>=100&&t.read_ms()<200) {
            pc.printf("t=%f",t.read());
            tgt(axr*2/3,bxr*2/3);
        } else {
            tgt(axr,bxr);
            t.stop();
            pc.printf("R=%f L=%f",target_R,target_L);
        }
    } else if(x>goalxr&&x<=goalxr+50) {
        tgt(axr/3,bxr/3);

    } else {
        t.reset();
        i++;
        pc.printf("owari\r\n");
    }
}

void susumu_ang(double a,double b,double goal)//kakudo
{
    if(goal-5>angle&&a<b) {//usetsu
        t.start();
        pc.printf("R=%f L=%f\r\n",target_R,target_L);
        if(t.read_ms()<100) {
            pc.printf("t=%f",t.read());
            tgt(a/3,b/3);
        } else if(t.read_ms()>=100&&t.read_ms()<200) {
            pc.printf("t=%f",t.read());
            tgt(a*2/3,b*2/3);
        } else {
            tgt(a,b);
            t.stop();
            pc.printf("R=%f L=%f",target_R,target_L);
        }
    } else if(angle<goal&&angle>=goal-5&&a<b) {
        tgt(a/3,b/3);

    } else if(angle>goal+5&&a>b) { //sasetsu
        t.start();
        pc.printf("R=%f L=%f\r\n",target_R,target_L);
        if(t.read_ms()<100) {
            pc.printf("t=%f",t.read());
            tgt(a/3,b/3);
        } else if(t.read_ms()>=100&&t.read_ms()<200) {
            pc.printf("t=%f",t.read());
            tgt(a*2/3,b*2/3);
        } else {
            tgt(a,b);
            t.stop();
            pc.printf("R=%f L=%f",target_R,target_L);
        }
    } else if(angle>goal&&angle<=goal+5&&a>b) {
        tgt(a/3,b/3);

    } else {
        i++;
        t.reset();
        pc.printf("reset\r\n");
    }
}





int main(void)
{
    
    gyro.initialize();    //main関数の最初に一度だけ実行
    gyro.acc_offset();    //やってもやらなくてもいい

    printf("start\r\n");
    motor_tick.attach(&calOmega,0.05);
    motorR.setDOconstant(34.1);
    motorL.setDOconstant(30);//c
    motorR.setPDparam(0,0);
    motorR.setPDparam(0,0);//pd//akirameta


    EC1.setDiameter_mm(50);//sokuteirinnhannkei
    double  getDistance_mm();
    //int EC1.getCount()=0;
    void reset  ();
    EC1.reset();


    servo.period_ms(20);

    motor_f.period_ms(30);
    motor_b.period_ms(30);//arm
    x=start_x;
    y=start_y;//start point//keisann wo sinaosu hitsuyouga arimasu

    while(1) {
        // motorR.turnF(0.3);
        //motorL.turnF(0.3);//for debug
        motorR.Sc(target_R);
        motorL.Sc(target_L);//target_R,target_Lの値を変えることで直進・後退・右回転・左回転を行う
        angle=gyro.getAngle()*(-1);    //角度の値を受け取る

        EC1.getDistance_mm();
        // EC1.CalOmega();


        if(target_R==0) motorR.stop();
        else motorR.Sc(target_R);
        if(target_L==0) motorL.stop();
        else motorL.Sc(target_L);
        
        new_dist=EC1.getDistance_mm();
            d_dist=new_dist-old_dist;
            old_dist=new_dist;

        double d_x=d_dist*sin(angle);
        double d_y=d_dist*cos(angle);
        x=x+d_x;
        y=y+d_y;



        if(kai>=3) {
            

            //double d_x=d_dist*sin(angle);;
            //double d_y=d_dist*cos(angle);;
            //x=x+d_x;
            //y=y+d_y;

            pc.printf("R=%f L=%f",target_R,target_L);
            // pc.printf("omg_R=%f omg_L=%f  \r\n",motorR.getOmega(),motorL.getOmega());
            pc.printf("i=%d\r\n",i);
            //pc.printf("EC1=%f",EC1.getDistance_mm(),EC1.getCount());
            pc.printf("x=%f y=%f",x,y);
            pc.printf("angle=%f\r\n",angle);
            //機体の進む方向、右モーターの角速度、左モーターの角速度を表示
            kai=0;
        }
        kai++;
        if(i==0) {
            /*if(reset_f.read()==1) {
                wait(0.05);
                if(reset_f.read()==1) {
              */      denjiben=0;
            i++;
            //     }
        //}
        if(reset_a.read()==1) {
            wait(0.05);
            if(reset_a.read()==1) {
                denjiben=0;
                x=70;
                y=2500;
                i=14;
            }
        }//x,y
    }
    if(i==1) {
        susumu_y(1,1,start_x+178);//x,x+178
    }
    if(i==2) {
        susumu_ang(0.5,1,45);//x+121.5,x+471.5
    }
    if(i==3) {
        susumu_xl(1,1,728.5);//728.5,1078.5
    }
    if(i==4) {
        susumu_ang(1,0.5,0);//850,1372
    }
    if(i==5) {
        susumu_y(1,1,1700);//850,1700
    }
    if(i==6) {
        motorR.stop();
        motorL.stop();
        t.start();
        if(t<1) {
            motor_f=0.82;
            motor_b=0;
        } else {
            motor_f=0;
            motor_b=0;
            printf("finish");
            t.reset();
            i++;
        }
    }//gatiasari


    if(i==7) {
        t.start();
        if(t<1) {
            motor_f=0;
            motor_b=0.82;
        } else {
            motor_f=0;
            motor_b=0;
            printf("finish");
            t.reset();
        }
        if(angle>=-89) {
            target_R=BASIC_SPEED/5;
            target_L=BASIC_SPEED/(-5);
        }
        if(angle<=-91) {
            target_R=BASIC_SPEED/(-5);
            target_L=BASIC_SPEED/-5;
        }
        if(angle>-91&angle<-89) {
            motorR.stop();
            motorL.stop();
            wait(0.5);
            if(angle>-91&angle<-89) {
                i++;
            }
        }
    }//kakudo tyousei
    if(i==8) {
        susumu_xr(1,1,700);//700,1700
    }
    if(i==9) {
        susumu_ang(1/3,1,0);//390,2010
    }
    if(i==10) {
        susumu_y(1,1,asari_y-310);//390,y-310
    }
    if(i==11) {
        susumu_ang(1/3,1,90);//700,y
    }
    if(i==12) {
        motorR.stop();
        motorL.stop();
        servo.pulsewidth_us(2100);
        wait(1.5);
        servo.pulsewidth_us(2400);
        wait(1);
        i++;
    }
    if(i==13) {
        if(angle>=91) {
            target_R=BASIC_SPEED/5;
            target_L=BASIC_SPEED/(-5);
        }
        if(angle<=89) {
            target_R=BASIC_SPEED/(-5);
            target_L=BASIC_SPEED/5;
        }
        if(angle>89&angle<91) {
            motorR.stop();
            motorL.stop();
            wait(0.1);
            if(angle>89&angle<91) {
                i++;
            }
        }
    }
    if(i==14) {
        susumu_xl(1,1,asari_x);//x,y
    }
    if(i==15) {
        motorR.stop();
        motorL.stop();
        wait(0.5);
        denjiben=1;
        wait(0.5);
        servo.pulsewidth_us(900);
        wait(2);
        i++;
    }
    if(i==16) {
        susumu_xr(-1,-1,700);//700,y
    }
    if(i==17) {
        susumu_ang(-1/3,-1,0);//390,y-310
    }
    if(i==18) {
        susumu_y(-1,-1,goal_y+310);//390,y+310
    }
    if(i==19) {
        susumu_ang(-1/3,-1,-90);//700,y
    }
    if(i==20) {
        susumu_xl(-1,-1,goal_x);//x,y
    }
    if(i==21) {
        motorR.stop();
        motorL.stop();
        wait(0.5);
        denjiben=0;
        wait(0.5);

        break;
    }


}//while
tgt(0,0);
return 0;

}//intmain