harurobo_mbed_undercarriage_sub
Maxon_setting.cpp@0:9b75a5e505d0, 2018-12-22 (annotated)
- Committer:
- yuki0701
- Date:
- Sat Dec 22 02:50:21 2018 +0000
- Revision:
- 0:9b75a5e505d0
a
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
yuki0701 | 0:9b75a5e505d0 | 1 | #include <Maxon_setting.h> |
yuki0701 | 0:9b75a5e505d0 | 2 | //#include <mbed.h> |
yuki0701 | 0:9b75a5e505d0 | 3 | //#include <math.h> |
yuki0701 | 0:9b75a5e505d0 | 4 | //#include <stdarg.h> |
yuki0701 | 0:9b75a5e505d0 | 5 | |
yuki0701 | 0:9b75a5e505d0 | 6 | |
yuki0701 | 0:9b75a5e505d0 | 7 | /*#define DEBUG_MODE // compile as debug mode (comment out if you don't use) |
yuki0701 | 0:9b75a5e505d0 | 8 | #ifdef DEBUG_MODE |
yuki0701 | 0:9b75a5e505d0 | 9 | #define DEBUG_PRINT // enable debug_printf |
yuki0701 | 0:9b75a5e505d0 | 10 | #endif*/ |
yuki0701 | 0:9b75a5e505d0 | 11 | |
yuki0701 | 0:9b75a5e505d0 | 12 | Serial pc(USBTX,USBRX); |
yuki0701 | 0:9b75a5e505d0 | 13 | void debug_printf(const char* format,...); // work as printf in debug |
yuki0701 | 0:9b75a5e505d0 | 14 | void Debug_Control(); // control by PC keybord |
yuki0701 | 0:9b75a5e505d0 | 15 | |
yuki0701 | 0:9b75a5e505d0 | 16 | #define SPI_FREQ 1000000 // 1MHz |
yuki0701 | 0:9b75a5e505d0 | 17 | #define SPI_BITS 16 |
yuki0701 | 0:9b75a5e505d0 | 18 | #define SPI_MODE 0 |
yuki0701 | 0:9b75a5e505d0 | 19 | #define SPI_WAIT_US 1 // 1us |
yuki0701 | 0:9b75a5e505d0 | 20 | |
yuki0701 | 0:9b75a5e505d0 | 21 | /*モーターの配置 |
yuki0701 | 0:9b75a5e505d0 | 22 | * md1//---F---\\md4 |
yuki0701 | 0:9b75a5e505d0 | 23 | * | | |
yuki0701 | 0:9b75a5e505d0 | 24 | * L + R |
yuki0701 | 0:9b75a5e505d0 | 25 | * | | |
yuki0701 | 0:9b75a5e505d0 | 26 | * md2\\---B---//md3 |
yuki0701 | 0:9b75a5e505d0 | 27 | */ |
yuki0701 | 0:9b75a5e505d0 | 28 | |
yuki0701 | 0:9b75a5e505d0 | 29 | //-----mbed-----// |
yuki0701 | 0:9b75a5e505d0 | 30 | SPI spi(p5,p6,p7); |
yuki0701 | 0:9b75a5e505d0 | 31 | //CAN can1(p30,p29,1000000); |
yuki0701 | 0:9b75a5e505d0 | 32 | |
yuki0701 | 0:9b75a5e505d0 | 33 | DigitalOut ss_md1(p15); //エスコンの設定 |
yuki0701 | 0:9b75a5e505d0 | 34 | DigitalOut ss_md2(p16); |
yuki0701 | 0:9b75a5e505d0 | 35 | DigitalOut ss_md3(p17); |
yuki0701 | 0:9b75a5e505d0 | 36 | DigitalOut ss_md4(p18); |
yuki0701 | 0:9b75a5e505d0 | 37 | |
yuki0701 | 0:9b75a5e505d0 | 38 | DigitalOut md_enable(p25); |
yuki0701 | 0:9b75a5e505d0 | 39 | //DigitalIn md_ch_enable(p10); // check enable switch is open or close |
yuki0701 | 0:9b75a5e505d0 | 40 | //Timer md_disable; |
yuki0701 | 0:9b75a5e505d0 | 41 | DigitalOut md_stop(p24); // stop all motor |
yuki0701 | 0:9b75a5e505d0 | 42 | DigitalIn md_check(p23); // check error of all motor driver //とりあえず使わない |
yuki0701 | 0:9b75a5e505d0 | 43 | |
yuki0701 | 0:9b75a5e505d0 | 44 | /*Ec EC1(p8,p26,NC,500,0.05); |
yuki0701 | 0:9b75a5e505d0 | 45 | Ec EC2(p21,p22,NC,500,0.05); |
yuki0701 | 0:9b75a5e505d0 | 46 | R1370P gyro(p28,p27);*/ |
yuki0701 | 0:9b75a5e505d0 | 47 | |
yuki0701 | 0:9b75a5e505d0 | 48 | //Ticker motor_tick; //角速度計算用ticker |
yuki0701 | 0:9b75a5e505d0 | 49 | //Ticker ticker; //for enc |
yuki0701 | 0:9b75a5e505d0 | 50 | |
yuki0701 | 0:9b75a5e505d0 | 51 | /*-----nucleo-----// |
yuki0701 | 0:9b75a5e505d0 | 52 | SPI spi(PB_5,PB_4,PB_3); |
yuki0701 | 0:9b75a5e505d0 | 53 | |
yuki0701 | 0:9b75a5e505d0 | 54 | DigitalOut ss_md1(PB_15); //エスコンの設定 |
yuki0701 | 0:9b75a5e505d0 | 55 | DigitalOut ss_md2(PB_14); |
yuki0701 | 0:9b75a5e505d0 | 56 | DigitalOut ss_md3(PB_13); |
yuki0701 | 0:9b75a5e505d0 | 57 | DigitalOut ss_md4(PC_4); |
yuki0701 | 0:9b75a5e505d0 | 58 | |
yuki0701 | 0:9b75a5e505d0 | 59 | DigitalOut md_enable(PA_13); // do all motor driver enable |
yuki0701 | 0:9b75a5e505d0 | 60 | //DigitalIn md_ch_enable(p10); // check enable switch is open or close |
yuki0701 | 0:9b75a5e505d0 | 61 | //Timer md_disable; |
yuki0701 | 0:9b75a5e505d0 | 62 | DigitalOut md_stop(PA_14); // stop all motor |
yuki0701 | 0:9b75a5e505d0 | 63 | DigitalIn md_check(PB_7); // check error of all motor driver //とりあえず使わない |
yuki0701 | 0:9b75a5e505d0 | 64 | |
yuki0701 | 0:9b75a5e505d0 | 65 | Ec EC1(PC_6,PC_8,NC,500,0.05); |
yuki0701 | 0:9b75a5e505d0 | 66 | Ec EC2(PB_1,PB_12,NC,500,0.05); |
yuki0701 | 0:9b75a5e505d0 | 67 | R1370P gyro(PC_6,PC_7); |
yuki0701 | 0:9b75a5e505d0 | 68 | |
yuki0701 | 0:9b75a5e505d0 | 69 | Ticker motor_tick; //角速度計算用ticker |
yuki0701 | 0:9b75a5e505d0 | 70 | Ticker ticker; //for enc */ |
yuki0701 | 0:9b75a5e505d0 | 71 | |
yuki0701 | 0:9b75a5e505d0 | 72 | |
yuki0701 | 0:9b75a5e505d0 | 73 | |
yuki0701 | 0:9b75a5e505d0 | 74 | //DigitalOut can_led(LED1); //if can enable -> toggle |
yuki0701 | 0:9b75a5e505d0 | 75 | DigitalOut debug_led(LED2); //if debugmode -> on |
yuki0701 | 0:9b75a5e505d0 | 76 | DigitalOut md_stop_led(LED3); //if motor stop -> on |
yuki0701 | 0:9b75a5e505d0 | 77 | DigitalOut md_err_led(LED4); //if driver error -> on //とりあえず使わない |
yuki0701 | 0:9b75a5e505d0 | 78 | |
yuki0701 | 0:9b75a5e505d0 | 79 | void UserLoopSetting() |
yuki0701 | 0:9b75a5e505d0 | 80 | { |
yuki0701 | 0:9b75a5e505d0 | 81 | //------機体情報の初期化------// |
yuki0701 | 0:9b75a5e505d0 | 82 | |
yuki0701 | 0:9b75a5e505d0 | 83 | //info.nowX = {0,0,0}; |
yuki0701 | 0:9b75a5e505d0 | 84 | //info.nowY = {0,0,0}; |
yuki0701 | 0:9b75a5e505d0 | 85 | |
yuki0701 | 0:9b75a5e505d0 | 86 | //-----エスコンの初期設定-----// |
yuki0701 | 0:9b75a5e505d0 | 87 | spi.format(SPI_BITS, SPI_MODE); |
yuki0701 | 0:9b75a5e505d0 | 88 | spi.frequency(SPI_FREQ); |
yuki0701 | 0:9b75a5e505d0 | 89 | ss_md1 = 1; |
yuki0701 | 0:9b75a5e505d0 | 90 | ss_md2 = 1; |
yuki0701 | 0:9b75a5e505d0 | 91 | ss_md3 = 1; |
yuki0701 | 0:9b75a5e505d0 | 92 | ss_md4 = 1; |
yuki0701 | 0:9b75a5e505d0 | 93 | md_enable = 1; //enable on |
yuki0701 | 0:9b75a5e505d0 | 94 | md_err_led = 0; |
yuki0701 | 0:9b75a5e505d0 | 95 | md_stop = 1; |
yuki0701 | 0:9b75a5e505d0 | 96 | md_stop_led = 1; |
yuki0701 | 0:9b75a5e505d0 | 97 | //-----センサーの初期設定-----// |
yuki0701 | 0:9b75a5e505d0 | 98 | /* gyro.initialize(); |
yuki0701 | 0:9b75a5e505d0 | 99 | motor_tick.attach(&calOmega,0.05); //0.05秒間隔で角速度を計算 |
yuki0701 | 0:9b75a5e505d0 | 100 | EC1.setDiameter_mm(48); |
yuki0701 | 0:9b75a5e505d0 | 101 | EC2.setDiameter_mm(48); //測定輪半径//後で測定*/ |
yuki0701 | 0:9b75a5e505d0 | 102 | |
yuki0701 | 0:9b75a5e505d0 | 103 | #ifdef DEBUG_MODE |
yuki0701 | 0:9b75a5e505d0 | 104 | debug_led = 1; |
yuki0701 | 0:9b75a5e505d0 | 105 | pc.attach(Debug_Control, Serial::RxIrq); |
yuki0701 | 0:9b75a5e505d0 | 106 | #else |
yuki0701 | 0:9b75a5e505d0 | 107 | debug_led = 0; |
yuki0701 | 0:9b75a5e505d0 | 108 | #endif |
yuki0701 | 0:9b75a5e505d0 | 109 | } |
yuki0701 | 0:9b75a5e505d0 | 110 | |
yuki0701 | 0:9b75a5e505d0 | 111 | #define MCP4922_AB (1<<15) |
yuki0701 | 0:9b75a5e505d0 | 112 | #define MCP4922_BUF (1<<14) |
yuki0701 | 0:9b75a5e505d0 | 113 | #define MCP4922_GA (1<<13) |
yuki0701 | 0:9b75a5e505d0 | 114 | #define MCP4922_SHDN (1<<12) |
yuki0701 | 0:9b75a5e505d0 | 115 | |
yuki0701 | 0:9b75a5e505d0 | 116 | #define MCP4922_SET_OUTA (0x3000) //( MCP4922_GA || MCP4922_SHDN ) //12288 |
yuki0701 | 0:9b75a5e505d0 | 117 | #define MCP4922_SET_OUTB (0xB000) //( MCP4922_AB || MCP4922_GA || MCP4922_SHDN ) //45056 |
yuki0701 | 0:9b75a5e505d0 | 118 | #define MCP4922_MASKSET (0x0FFF) //4095 |
yuki0701 | 0:9b75a5e505d0 | 119 | |
yuki0701 | 0:9b75a5e505d0 | 120 | void DAC_Write(int16_t data, DigitalOut* DAC_cs)//(出力,出力場所) |
yuki0701 | 0:9b75a5e505d0 | 121 | { |
yuki0701 | 0:9b75a5e505d0 | 122 | static uint16_t dataA; //送るデータ |
yuki0701 | 0:9b75a5e505d0 | 123 | static uint16_t dataB; |
yuki0701 | 0:9b75a5e505d0 | 124 | |
yuki0701 | 0:9b75a5e505d0 | 125 | dataA = MCP4922_SET_OUTA; |
yuki0701 | 0:9b75a5e505d0 | 126 | dataB = MCP4922_SET_OUTB; |
yuki0701 | 0:9b75a5e505d0 | 127 | |
yuki0701 | 0:9b75a5e505d0 | 128 | if(data >= 0) { |
yuki0701 | 0:9b75a5e505d0 | 129 | if(data > 4095) { |
yuki0701 | 0:9b75a5e505d0 | 130 | data = 4095; |
yuki0701 | 0:9b75a5e505d0 | 131 | } |
yuki0701 | 0:9b75a5e505d0 | 132 | dataA += (MCP4922_MASKSET & (uint16_t)(data)); |
yuki0701 | 0:9b75a5e505d0 | 133 | } else { |
yuki0701 | 0:9b75a5e505d0 | 134 | if(data < -4095) { |
yuki0701 | 0:9b75a5e505d0 | 135 | data = -4095; |
yuki0701 | 0:9b75a5e505d0 | 136 | } |
yuki0701 | 0:9b75a5e505d0 | 137 | dataB += (MCP4922_MASKSET & (uint16_t)(-data)); |
yuki0701 | 0:9b75a5e505d0 | 138 | } |
yuki0701 | 0:9b75a5e505d0 | 139 | |
yuki0701 | 0:9b75a5e505d0 | 140 | //Aの出力設定 |
yuki0701 | 0:9b75a5e505d0 | 141 | (DigitalOut)(*DAC_cs)=0; |
yuki0701 | 0:9b75a5e505d0 | 142 | wait_us(SPI_WAIT_US); |
yuki0701 | 0:9b75a5e505d0 | 143 | spi.write(dataA); |
yuki0701 | 0:9b75a5e505d0 | 144 | wait_us(SPI_WAIT_US); |
yuki0701 | 0:9b75a5e505d0 | 145 | (DigitalOut)(*DAC_cs)=1; |
yuki0701 | 0:9b75a5e505d0 | 146 | wait_us(SPI_WAIT_US); |
yuki0701 | 0:9b75a5e505d0 | 147 | |
yuki0701 | 0:9b75a5e505d0 | 148 | //Bの出力設定 |
yuki0701 | 0:9b75a5e505d0 | 149 | (DigitalOut)(*DAC_cs)=0; |
yuki0701 | 0:9b75a5e505d0 | 150 | wait_us(SPI_WAIT_US); |
yuki0701 | 0:9b75a5e505d0 | 151 | spi.write(dataB); |
yuki0701 | 0:9b75a5e505d0 | 152 | wait_us(SPI_WAIT_US); |
yuki0701 | 0:9b75a5e505d0 | 153 | (DigitalOut)(*DAC_cs)=1; |
yuki0701 | 0:9b75a5e505d0 | 154 | |
yuki0701 | 0:9b75a5e505d0 | 155 | } |
yuki0701 | 0:9b75a5e505d0 | 156 | |
yuki0701 | 0:9b75a5e505d0 | 157 | void MotorControl(int16_t val_md1, int16_t val_md2, int16_t val_md3, int16_t val_md4) //出力 |
yuki0701 | 0:9b75a5e505d0 | 158 | { |
yuki0701 | 0:9b75a5e505d0 | 159 | static int16_t zero_check; |
yuki0701 | 0:9b75a5e505d0 | 160 | |
yuki0701 | 0:9b75a5e505d0 | 161 | DAC_Write(val_md1, &ss_md1); |
yuki0701 | 0:9b75a5e505d0 | 162 | DAC_Write(val_md2, &ss_md2); |
yuki0701 | 0:9b75a5e505d0 | 163 | DAC_Write(val_md3, &ss_md3); |
yuki0701 | 0:9b75a5e505d0 | 164 | DAC_Write(val_md4, &ss_md4); |
yuki0701 | 0:9b75a5e505d0 | 165 | |
yuki0701 | 0:9b75a5e505d0 | 166 | zero_check = (val_md1 | val_md2 | val_md3 | val_md4); //すべての出力が0なら強制停止 |
yuki0701 | 0:9b75a5e505d0 | 167 | if(zero_check == 0) { |
yuki0701 | 0:9b75a5e505d0 | 168 | md_stop = 1; |
yuki0701 | 0:9b75a5e505d0 | 169 | md_stop_led = 1; |
yuki0701 | 0:9b75a5e505d0 | 170 | } else { |
yuki0701 | 0:9b75a5e505d0 | 171 | md_stop = 0; |
yuki0701 | 0:9b75a5e505d0 | 172 | md_stop_led = 0; |
yuki0701 | 0:9b75a5e505d0 | 173 | } |
yuki0701 | 0:9b75a5e505d0 | 174 | } |
yuki0701 | 0:9b75a5e505d0 | 175 | |
yuki0701 | 0:9b75a5e505d0 | 176 | //#ifdef DEBUG_MODE |
yuki0701 | 0:9b75a5e505d0 | 177 | void Debug_Control() |
yuki0701 | 0:9b75a5e505d0 | 178 | { |
yuki0701 | 0:9b75a5e505d0 | 179 | static char pc_command = '\0'; |
yuki0701 | 0:9b75a5e505d0 | 180 | |
yuki0701 | 0:9b75a5e505d0 | 181 | pc_command = pc.getc(); |
yuki0701 | 0:9b75a5e505d0 | 182 | |
yuki0701 | 0:9b75a5e505d0 | 183 | if(pc_command == 'w') { //前進 |
yuki0701 | 0:9b75a5e505d0 | 184 | m1+=500; |
yuki0701 | 0:9b75a5e505d0 | 185 | m2+=500; |
yuki0701 | 0:9b75a5e505d0 | 186 | m3-=500; |
yuki0701 | 0:9b75a5e505d0 | 187 | m4-=500; |
yuki0701 | 0:9b75a5e505d0 | 188 | } else if(pc_command == 's') { //後進 |
yuki0701 | 0:9b75a5e505d0 | 189 | m1-=500; |
yuki0701 | 0:9b75a5e505d0 | 190 | m2-=500; |
yuki0701 | 0:9b75a5e505d0 | 191 | m3+=500; |
yuki0701 | 0:9b75a5e505d0 | 192 | m4+=500; |
yuki0701 | 0:9b75a5e505d0 | 193 | } else if(pc_command == 'd') { //右回り |
yuki0701 | 0:9b75a5e505d0 | 194 | m1+=500; |
yuki0701 | 0:9b75a5e505d0 | 195 | m2+=500; |
yuki0701 | 0:9b75a5e505d0 | 196 | m3+=500; |
yuki0701 | 0:9b75a5e505d0 | 197 | m4+=500; |
yuki0701 | 0:9b75a5e505d0 | 198 | } else if(pc_command == 'a') { //左回り |
yuki0701 | 0:9b75a5e505d0 | 199 | m1-=500; |
yuki0701 | 0:9b75a5e505d0 | 200 | m2-=500; |
yuki0701 | 0:9b75a5e505d0 | 201 | m3-=500; |
yuki0701 | 0:9b75a5e505d0 | 202 | m4-=500; |
yuki0701 | 0:9b75a5e505d0 | 203 | } else { |
yuki0701 | 0:9b75a5e505d0 | 204 | m1=0; |
yuki0701 | 0:9b75a5e505d0 | 205 | m2=0; |
yuki0701 | 0:9b75a5e505d0 | 206 | m3=0; |
yuki0701 | 0:9b75a5e505d0 | 207 | m4=0; |
yuki0701 | 0:9b75a5e505d0 | 208 | } |
yuki0701 | 0:9b75a5e505d0 | 209 | |
yuki0701 | 0:9b75a5e505d0 | 210 | if(m1>4095) { //最大値を超えないように |
yuki0701 | 0:9b75a5e505d0 | 211 | m1=4095; |
yuki0701 | 0:9b75a5e505d0 | 212 | } else if(m1<-4095) { |
yuki0701 | 0:9b75a5e505d0 | 213 | m1=-4095; |
yuki0701 | 0:9b75a5e505d0 | 214 | } |
yuki0701 | 0:9b75a5e505d0 | 215 | if(m2>4095) { |
yuki0701 | 0:9b75a5e505d0 | 216 | m2=4095; |
yuki0701 | 0:9b75a5e505d0 | 217 | } else if(m2<-4095) { |
yuki0701 | 0:9b75a5e505d0 | 218 | m2=-4095; |
yuki0701 | 0:9b75a5e505d0 | 219 | } |
yuki0701 | 0:9b75a5e505d0 | 220 | if(m3>4095) { |
yuki0701 | 0:9b75a5e505d0 | 221 | m3=4095; |
yuki0701 | 0:9b75a5e505d0 | 222 | } else if(m3<-4095) { |
yuki0701 | 0:9b75a5e505d0 | 223 | m3=-4095; |
yuki0701 | 0:9b75a5e505d0 | 224 | } |
yuki0701 | 0:9b75a5e505d0 | 225 | if(m4>4095) { |
yuki0701 | 0:9b75a5e505d0 | 226 | m4=4095; |
yuki0701 | 0:9b75a5e505d0 | 227 | } else if(m4<-4095) { |
yuki0701 | 0:9b75a5e505d0 | 228 | m4=-4095; |
yuki0701 | 0:9b75a5e505d0 | 229 | } |
yuki0701 | 0:9b75a5e505d0 | 230 | |
yuki0701 | 0:9b75a5e505d0 | 231 | debug_printf("%d %d %d %d\r\n",m1,m2,m3,m4); |
yuki0701 | 0:9b75a5e505d0 | 232 | MotorControl(m1,m2,m3,m4); |
yuki0701 | 0:9b75a5e505d0 | 233 | pc_command = '\0'; |
yuki0701 | 0:9b75a5e505d0 | 234 | } |
yuki0701 | 0:9b75a5e505d0 | 235 | //#endif |
yuki0701 | 0:9b75a5e505d0 | 236 | |
yuki0701 | 0:9b75a5e505d0 | 237 | //#ifdef DEBUG_PRINT |
yuki0701 | 0:9b75a5e505d0 | 238 | void debug_printf(const char* format,...) |
yuki0701 | 0:9b75a5e505d0 | 239 | { |
yuki0701 | 0:9b75a5e505d0 | 240 | va_list arg; |
yuki0701 | 0:9b75a5e505d0 | 241 | va_start(arg, format); |
yuki0701 | 0:9b75a5e505d0 | 242 | vprintf(format, arg); |
yuki0701 | 0:9b75a5e505d0 | 243 | va_end(arg); |
yuki0701 | 0:9b75a5e505d0 | 244 | } |
yuki0701 | 0:9b75a5e505d0 | 245 | //#endif |