harurobo_mbed_undercarriage_sub
PathFollowing.cpp@6:efe1bc381434, 2018-12-22 (annotated)
- Committer:
- yuki0701
- Date:
- Sat Dec 22 02:50:28 2018 +0000
- Revision:
- 6:efe1bc381434
- Parent:
- 4:69775231687c
a; ;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
la00noix | 0:591749f315ac | 1 | #include <PathFollowing.h> |
la00noix | 0:591749f315ac | 2 | #include <mbed.h> |
la00noix | 0:591749f315ac | 3 | #include <math.h> |
yuki0701 | 6:efe1bc381434 | 4 | #include "EC.h" |
yuki0701 | 6:efe1bc381434 | 5 | #include "R1370P.h" |
yuki0701 | 6:efe1bc381434 | 6 | #include "move4wheel.h" |
yuki0701 | 6:efe1bc381434 | 7 | #include <stdarg.h> |
yuki0701 | 6:efe1bc381434 | 8 | #include "Maxon_setting.h" |
yuki0701 | 6:efe1bc381434 | 9 | |
yuki0701 | 6:efe1bc381434 | 10 | #define PI 3.141592 |
yuki0701 | 6:efe1bc381434 | 11 | |
la00noix | 0:591749f315ac | 12 | |
yuki0701 | 1:d438093cb464 | 13 | double p_out,r_out_max; |
la00noix | 0:591749f315ac | 14 | double Kvq_p,Kvq_d,Kvr_p,Kvr_d; |
la00noix | 0:591749f315ac | 15 | double diff_old,diffangle,diffangle_old; |
la00noix | 0:591749f315ac | 16 | double out_dutyQ,out_dutyR; |
la00noix | 0:591749f315ac | 17 | double now_angle,target_angle; |
la00noix | 0:591749f315ac | 18 | double now_timeQ,old_timeQ,now_timeR,old_timeR; |
la00noix | 0:591749f315ac | 19 | double now_x, now_y; |
yuki0701 | 4:69775231687c | 20 | double diff_st,diff_tgt,diff_st_tgt,p_param; |
yuki0701 | 6:efe1bc381434 | 21 | double usw_data1,usw_data2,usw_data3,usw_data4; |
la00noix | 0:591749f315ac | 22 | |
yuki0701 | 1:d438093cb464 | 23 | |
yuki0701 | 6:efe1bc381434 | 24 | Ticker motor_tick; //角速度計算用ticker |
yuki0701 | 6:efe1bc381434 | 25 | //Ticker ticker; //for enc |
la00noix | 0:591749f315ac | 26 | Timer timer; |
la00noix | 0:591749f315ac | 27 | |
yuki0701 | 6:efe1bc381434 | 28 | Ec EC1(p8,p26,NC,500,0.05); |
yuki0701 | 6:efe1bc381434 | 29 | Ec EC2(p21,p22,NC,500,0.05); |
yuki0701 | 6:efe1bc381434 | 30 | R1370P gyro(p28,p27); |
yuki0701 | 6:efe1bc381434 | 31 | |
yuki0701 | 6:efe1bc381434 | 32 | double new_dist1=0,new_dist2=0; |
yuki0701 | 6:efe1bc381434 | 33 | double old_dist1=0,old_dist2=0; |
yuki0701 | 6:efe1bc381434 | 34 | double d_dist1=0,d_dist2=0; //座標計算用関数 |
yuki0701 | 6:efe1bc381434 | 35 | double d_x,d_y; |
yuki0701 | 6:efe1bc381434 | 36 | //現在地X,y座標、現在角度については、PathFollowingでnow_x,now_y,now_angleを定義済 |
yuki0701 | 6:efe1bc381434 | 37 | double start_x=0,start_y=0; //スタート位置 |
yuki0701 | 6:efe1bc381434 | 38 | |
yuki0701 | 6:efe1bc381434 | 39 | double x_out,y_out,r_out; //出力値 |
yuki0701 | 6:efe1bc381434 | 40 | |
yuki0701 | 6:efe1bc381434 | 41 | static int16_t m_1=0, m_2=0, m_3=0, m_4=0; //int16bit = int2byte |
yuki0701 | 6:efe1bc381434 | 42 | |
yuki0701 | 6:efe1bc381434 | 43 | |
yuki0701 | 6:efe1bc381434 | 44 | |
yuki0701 | 6:efe1bc381434 | 45 | |
yuki0701 | 6:efe1bc381434 | 46 | void UserLoopSetting2(){ |
yuki0701 | 6:efe1bc381434 | 47 | |
yuki0701 | 6:efe1bc381434 | 48 | gyro.initialize(); |
yuki0701 | 6:efe1bc381434 | 49 | // motor_tick.attach(&calOmega,0.05); //0.05秒間隔で角速度を計算 |
yuki0701 | 6:efe1bc381434 | 50 | EC1.setDiameter_mm(48); |
yuki0701 | 6:efe1bc381434 | 51 | EC2.setDiameter_mm(48); //測定輪半径//後で測定 |
yuki0701 | 6:efe1bc381434 | 52 | |
yuki0701 | 6:efe1bc381434 | 53 | |
yuki0701 | 6:efe1bc381434 | 54 | } |
yuki0701 | 6:efe1bc381434 | 55 | |
la00noix | 0:591749f315ac | 56 | //初期座標:A, 目標座標:B、機体位置:C、点Cから直線ABに下ろした垂線の足:H |
yuki0701 | 4:69775231687c | 57 | void XYRmotorout(double plot_x1, double plot_y1, double plot_x2, double plot_y2, double *ad_x_out, double *ad_y_out, double *ad_r_out, double speed1, double speed2 ) //プログラム使用時、now_x,now_yはグローバル変数として定義する必要あり |
yuki0701 | 4:69775231687c | 58 | //plot_x1,plot_y1:出発地点の座標 |
yuki0701 | 4:69775231687c | 59 | //plot_x2,plot_y2:目標地点の座標 |
yuki0701 | 4:69775231687c | 60 | //speed1:初期速度 |
yuki0701 | 4:69775231687c | 61 | //speed2:目標速度 |
la00noix | 0:591749f315ac | 62 | { |
la00noix | 0:591749f315ac | 63 | double Vector_P[2] = {(plot_x2 - plot_x1), (plot_y2 - plot_y1)}; //ベクトルAB |
la00noix | 0:591749f315ac | 64 | double A_Vector_P = hypot(Vector_P[0], Vector_P[1]); //ベクトルABの大きさ(hypot(a,b)で√(a^2+b^2)を計算できる <math.h>)) |
la00noix | 0:591749f315ac | 65 | double UnitVector_P[2] = {Vector_P[0]/A_Vector_P, Vector_P[1]/A_Vector_P}; //ベクトルABの単位ベクトル |
la00noix | 0:591749f315ac | 66 | double UnitVector_Q[2] = {UnitVector_P[1], -UnitVector_P[0]}; //ベクトルCHの単位ベクトル |
la00noix | 0:591749f315ac | 67 | double Vector_R[2] = {(now_x - plot_x1), (now_y - plot_y1)}; //ベクトルAC |
la00noix | 0:591749f315ac | 68 | double diff = UnitVector_P[0]*Vector_R[1] - UnitVector_P[1]*Vector_R[0]; //機体位置と直線ABの距離(外積を用いて計算) |
la00noix | 0:591749f315ac | 69 | |
yuki0701 | 4:69775231687c | 70 | |
yuki0701 | 4:69775231687c | 71 | //double VectorOut_P[2]= {0}; //ベクトルABに平行方向の出力をx軸方向、y軸方向の出力に分解*/ |
la00noix | 0:591749f315ac | 72 | |
la00noix | 0:591749f315ac | 73 | ///////////////////<XYRmotorout関数内>以下、ベクトルABに垂直な方向の誤差を埋めるPD制御(ベクトルABに垂直方向の出力を求め、x軸方向、y軸方向の出力に分解)////////////////////// |
la00noix | 0:591749f315ac | 74 | |
la00noix | 0:591749f315ac | 75 | timer.start(); |
la00noix | 0:591749f315ac | 76 | now_timeQ=timer.read(); |
la00noix | 0:591749f315ac | 77 | out_dutyQ=Kvq_p*diff+Kvq_d*(diff-diff_old)/(now_timeQ-old_timeQ); //ベクトルABに垂直方向の出力を決定 |
la00noix | 0:591749f315ac | 78 | diff_old=diff; |
la00noix | 0:591749f315ac | 79 | |
yuki0701 | 2:32362343f091 | 80 | if(out_dutyQ>500)out_dutyQ=500; |
yuki0701 | 2:32362343f091 | 81 | if(out_dutyQ<-500)out_dutyQ=-500; |
la00noix | 0:591749f315ac | 82 | |
la00noix | 0:591749f315ac | 83 | old_timeQ=now_timeQ; |
la00noix | 0:591749f315ac | 84 | |
la00noix | 0:591749f315ac | 85 | double VectorOut_Q[2] = {out_dutyQ*UnitVector_Q[0], out_dutyQ*UnitVector_Q[1]}; //ベクトルABに垂直方向の出力をx軸方向、y軸方向の出力に分解 |
la00noix | 0:591749f315ac | 86 | |
la00noix | 0:591749f315ac | 87 | ///////////////////////////////<XYRmotorout関数内>以下、機体角度と目標角度の誤差を埋めるPD制御(旋回のための出力値を決定)////////////////////////////////// |
la00noix | 0:591749f315ac | 88 | |
la00noix | 0:591749f315ac | 89 | now_timeR=timer.read(); |
la00noix | 0:591749f315ac | 90 | diffangle=target_angle-now_angle; |
yuki0701 | 1:d438093cb464 | 91 | out_dutyR=-(Kvr_p*diffangle+Kvr_d*(diffangle-diffangle_old)/(now_timeR-old_timeR)); |
la00noix | 0:591749f315ac | 92 | diffangle_old=diffangle; |
la00noix | 0:591749f315ac | 93 | |
yuki0701 | 1:d438093cb464 | 94 | if(out_dutyR>r_out_max)out_dutyR=r_out_max; |
yuki0701 | 1:d438093cb464 | 95 | if(out_dutyR<-r_out_max)out_dutyR=-r_out_max; |
la00noix | 0:591749f315ac | 96 | |
la00noix | 0:591749f315ac | 97 | old_timeR=now_timeR; |
la00noix | 0:591749f315ac | 98 | |
la00noix | 0:591749f315ac | 99 | //////////////////////////<XYRmotorout関数内>以下、x軸方向、y軸方向、旋回の出力をそれぞれad_x_out,ad_y_out,ad_r_outの指すアドレスに書き込む///////////////////////////// |
la00noix | 0:591749f315ac | 100 | ////////////////////////////////////////////その際、x軸方向、y軸方向の出力はフィールドの座標系から機体の座標系に変換する。/////////////////////////////////////////////// |
yuki0701 | 4:69775231687c | 101 | |
yuki0701 | 4:69775231687c | 102 | diff_st = hypot(now_x-plot_x1,now_y-plot_y1); //出発座標と機体の位置の距離 |
yuki0701 | 4:69775231687c | 103 | diff_tgt = hypot(now_x - plot_x2, now_y - plot_y2); //機体の位置と目標座標の距離 |
yuki0701 | 4:69775231687c | 104 | diff_st_tgt = hypot(plot_x1-plot_x2,plot_y1-plot_y2); //出発座標と目標座標の距離 |
yuki0701 | 4:69775231687c | 105 | |
yuki0701 | 4:69775231687c | 106 | if(speed1 == speed2) { //等速移動 |
yuki0701 | 4:69775231687c | 107 | |
yuki0701 | 4:69775231687c | 108 | double VectorOut_P[2] = {speed1*UnitVector_P[0], speed1*UnitVector_P[1]}; |
yuki0701 | 4:69775231687c | 109 | |
yuki0701 | 4:69775231687c | 110 | *ad_x_out = (VectorOut_P[0]+VectorOut_Q[0])*cos(-now_angle*3.141592/180)-(VectorOut_P[1]+VectorOut_Q[1])*sin(-now_angle*3.141592/180); |
yuki0701 | 4:69775231687c | 111 | *ad_y_out = (VectorOut_P[0]+VectorOut_Q[0])*sin(-now_angle*3.141592/180)+(VectorOut_P[1]+VectorOut_Q[1])*cos(-now_angle*3.141592/180); |
yuki0701 | 4:69775231687c | 112 | *ad_r_out = out_dutyR; |
la00noix | 0:591749f315ac | 113 | |
yuki0701 | 4:69775231687c | 114 | } else if(speed2 == 0) { //減速移動(目標速度が0)→ベクトルABに垂直な方向の出力にもP制御をかける。 |
yuki0701 | 4:69775231687c | 115 | |
yuki0701 | 4:69775231687c | 116 | double VectorOut_P[2] = {speed1*UnitVector_P[0], speed1*UnitVector_P[1]}; |
yuki0701 | 4:69775231687c | 117 | |
yuki0701 | 4:69775231687c | 118 | if(diff_tgt > diff_st_tgt) { |
yuki0701 | 4:69775231687c | 119 | diff_tgt = diff_st_tgt; |
yuki0701 | 4:69775231687c | 120 | } |
yuki0701 | 2:32362343f091 | 121 | |
yuki0701 | 4:69775231687c | 122 | p_param=(diff_tgt/diff_st_tgt); |
yuki0701 | 4:69775231687c | 123 | |
yuki0701 | 4:69775231687c | 124 | *ad_x_out = p_param*((VectorOut_P[0]+VectorOut_Q[0])*cos(-now_angle*3.141592/180)-(VectorOut_P[1]+VectorOut_Q[1])*sin(-now_angle*3.141592/180)); |
yuki0701 | 4:69775231687c | 125 | *ad_y_out = p_param*((VectorOut_P[0]+VectorOut_Q[0])*sin(-now_angle*3.141592/180)+(VectorOut_P[1]+VectorOut_Q[1])*cos(-now_angle*3.141592/180)); |
yuki0701 | 4:69775231687c | 126 | *ad_r_out = out_dutyR; |
yuki0701 | 4:69775231687c | 127 | |
yuki0701 | 4:69775231687c | 128 | } else if(speed1 > speed2) { //減速移動(目標速度が0でない) |
yuki0701 | 2:32362343f091 | 129 | |
yuki0701 | 4:69775231687c | 130 | if(diff_tgt > diff_st_tgt) { |
yuki0701 | 4:69775231687c | 131 | diff_tgt = diff_st_tgt; |
yuki0701 | 4:69775231687c | 132 | } |
yuki0701 | 4:69775231687c | 133 | |
yuki0701 | 4:69775231687c | 134 | p_param=(diff_tgt/diff_st_tgt); |
yuki0701 | 4:69775231687c | 135 | |
yuki0701 | 4:69775231687c | 136 | double speed3 = speed2 + (speed1-speed2)*p_param; |
yuki0701 | 4:69775231687c | 137 | |
yuki0701 | 4:69775231687c | 138 | double VectorOut_P[2] = {speed3*UnitVector_P[0], speed3*UnitVector_P[1]}; |
yuki0701 | 4:69775231687c | 139 | |
yuki0701 | 4:69775231687c | 140 | *ad_x_out = (VectorOut_P[0]+VectorOut_Q[0])*cos(-now_angle*3.141592/180)-(VectorOut_P[1]+VectorOut_Q[1])*sin(-now_angle*3.141592/180); |
yuki0701 | 4:69775231687c | 141 | *ad_y_out = (VectorOut_P[0]+VectorOut_Q[0])*sin(-now_angle*3.141592/180)+(VectorOut_P[1]+VectorOut_Q[1])*cos(-now_angle*3.141592/180); |
yuki0701 | 4:69775231687c | 142 | *ad_r_out = out_dutyR; |
yuki0701 | 2:32362343f091 | 143 | |
yuki0701 | 4:69775231687c | 144 | } else if(speed1 < speed2) { //加速移動(speed1) |
yuki0701 | 4:69775231687c | 145 | |
yuki0701 | 4:69775231687c | 146 | if(diff_st > diff_st_tgt) { |
yuki0701 | 4:69775231687c | 147 | diff_st = diff_st_tgt; |
yuki0701 | 4:69775231687c | 148 | } |
yuki0701 | 4:69775231687c | 149 | |
yuki0701 | 4:69775231687c | 150 | p_param=(diff_st/diff_st_tgt); |
yuki0701 | 2:32362343f091 | 151 | |
yuki0701 | 4:69775231687c | 152 | double speed4 = speed1 + (speed2-speed1)*p_param; |
yuki0701 | 4:69775231687c | 153 | |
yuki0701 | 4:69775231687c | 154 | double VectorOut_P[2] = {speed4*UnitVector_P[0], speed4*UnitVector_P[1]}; |
yuki0701 | 4:69775231687c | 155 | |
yuki0701 | 4:69775231687c | 156 | *ad_x_out = (VectorOut_P[0]+VectorOut_Q[0])*cos(-now_angle*3.141592/180)-(VectorOut_P[1]+VectorOut_Q[1])*sin(-now_angle*3.141592/180); |
yuki0701 | 4:69775231687c | 157 | *ad_y_out = (VectorOut_P[0]+VectorOut_Q[0])*sin(-now_angle*3.141592/180)+(VectorOut_P[1]+VectorOut_Q[1])*cos(-now_angle*3.141592/180); |
yuki0701 | 4:69775231687c | 158 | *ad_r_out = out_dutyR; |
yuki0701 | 2:32362343f091 | 159 | } |
la00noix | 0:591749f315ac | 160 | } |
la00noix | 0:591749f315ac | 161 | |
la00noix | 0:591749f315ac | 162 | ////////////////////////////////////////////////////////////<XYRmotorout関数は以上>//////////////////////////////////////////////////////////////// |
la00noix | 0:591749f315ac | 163 | |
la00noix | 0:591749f315ac | 164 | |
yuki0701 | 4:69775231687c | 165 | /*void set_p_out(double p) //ベクトルABに平行方向の出力値設定関数 |
la00noix | 0:591749f315ac | 166 | { |
la00noix | 0:591749f315ac | 167 | p_out = p; |
yuki0701 | 4:69775231687c | 168 | }*/ |
la00noix | 0:591749f315ac | 169 | |
la00noix | 0:591749f315ac | 170 | void q_setPDparam(double q_p,double q_d) //ベクトルABに垂直な方向の誤差を埋めるPD制御のパラメータ設定関数 |
la00noix | 0:591749f315ac | 171 | { |
la00noix | 0:591749f315ac | 172 | Kvq_p=q_p; |
la00noix | 0:591749f315ac | 173 | Kvq_d=q_d; |
la00noix | 0:591749f315ac | 174 | } |
la00noix | 0:591749f315ac | 175 | |
la00noix | 0:591749f315ac | 176 | void r_setPDparam(double r_p,double r_d) //機体角度と目標角度の誤差を埋めるPD制御のパラメータ設定関数 |
la00noix | 0:591749f315ac | 177 | { |
la00noix | 0:591749f315ac | 178 | Kvr_p=r_p; |
la00noix | 0:591749f315ac | 179 | Kvr_d=r_d; |
la00noix | 0:591749f315ac | 180 | } |
la00noix | 0:591749f315ac | 181 | |
la00noix | 0:591749f315ac | 182 | void set_r_out(double r) //旋回時の最大出力値設定関数 |
la00noix | 0:591749f315ac | 183 | { |
yuki0701 | 1:d438093cb464 | 184 | r_out_max = r; |
la00noix | 0:591749f315ac | 185 | } |
la00noix | 0:591749f315ac | 186 | |
la00noix | 0:591749f315ac | 187 | void set_target_angle(double t) //機体の目標角度設定関数 |
la00noix | 0:591749f315ac | 188 | { |
la00noix | 0:591749f315ac | 189 | target_angle = t; |
la00noix | 0:591749f315ac | 190 | } |
yuki0701 | 6:efe1bc381434 | 191 | |
yuki0701 | 6:efe1bc381434 | 192 | |
yuki0701 | 6:efe1bc381434 | 193 | void UserLoopSetting(); // initialize setting |
yuki0701 | 6:efe1bc381434 | 194 | void DAC_Write(int16_t data, DigitalOut* DAC_cs); |
yuki0701 | 6:efe1bc381434 | 195 | void MotorControl(int16_t val_md1, int16_t val_md2, int16_t val_md3, int16_t val_md4); |
yuki0701 | 6:efe1bc381434 | 196 | |
yuki0701 | 6:efe1bc381434 | 197 | void calOmega() //角速度計算関数 |
yuki0701 | 6:efe1bc381434 | 198 | { |
yuki0701 | 6:efe1bc381434 | 199 | EC1.CalOmega(); |
yuki0701 | 6:efe1bc381434 | 200 | EC2.CalOmega(); |
yuki0701 | 6:efe1bc381434 | 201 | } |
yuki0701 | 6:efe1bc381434 | 202 | |
yuki0701 | 6:efe1bc381434 | 203 | void output(double FL,double BL,double BR,double FR) |
yuki0701 | 6:efe1bc381434 | 204 | { |
yuki0701 | 6:efe1bc381434 | 205 | m1=FL; |
yuki0701 | 6:efe1bc381434 | 206 | m2=BL; |
yuki0701 | 6:efe1bc381434 | 207 | m3=BR; |
yuki0701 | 6:efe1bc381434 | 208 | m4=FR; |
yuki0701 | 6:efe1bc381434 | 209 | } |
yuki0701 | 6:efe1bc381434 | 210 | |
yuki0701 | 6:efe1bc381434 | 211 | void base(double FL,double BL,double BR,double FR,double Max) |
yuki0701 | 6:efe1bc381434 | 212 | //いろんな加算をしても最大OR最小がMaxになるような補正//絶対値が一番でかいやつで除算 |
yuki0701 | 6:efe1bc381434 | 213 | //DCモーターならMax=1、マクソンは-4095~4095だからMax=4095にする |
yuki0701 | 6:efe1bc381434 | 214 | { |
yuki0701 | 6:efe1bc381434 | 215 | if(fabs(FL)>=Max||fabs(BL)>=Max||fabs(BR)>=Max||fabs(FR)>=Max) { |
yuki0701 | 6:efe1bc381434 | 216 | |
yuki0701 | 6:efe1bc381434 | 217 | if (fabs(FL)>=fabs(BL)&&fabs(FL)>=fabs(BR)&&fabs(FL)>=fabs(FR))output(Max*FL/fabs(FL),Max*BL/fabs(FL),Max*BR/fabs(FL),Max*FR/fabs(FL)); |
yuki0701 | 6:efe1bc381434 | 218 | else if(fabs(BL)>=fabs(FL)&&fabs(BL)>=fabs(BR)&&fabs(BL)>=fabs(FR))output(Max*FL/fabs(BL),Max*BL/fabs(BL),Max*BR/fabs(BL),Max*FR/fabs(BL)); |
yuki0701 | 6:efe1bc381434 | 219 | else if(fabs(BR)>=fabs(FL)&&fabs(BR)>=fabs(BL)&&fabs(BR)>=fabs(FR))output(Max*FL/fabs(BR),Max*BL/fabs(BR),Max*BR/fabs(BR),Max*FR/fabs(BR)); |
yuki0701 | 6:efe1bc381434 | 220 | else output(Max*FL/fabs(FR),Max*BL/fabs(FR),Max*BR/fabs(FR),Max*FR/fabs(FR)); |
yuki0701 | 6:efe1bc381434 | 221 | } else { |
yuki0701 | 6:efe1bc381434 | 222 | output(FL,BL,BR,FR); |
yuki0701 | 6:efe1bc381434 | 223 | } |
yuki0701 | 6:efe1bc381434 | 224 | } |
yuki0701 | 6:efe1bc381434 | 225 | |
yuki0701 | 6:efe1bc381434 | 226 | void calc_xy() |
yuki0701 | 6:efe1bc381434 | 227 | { |
yuki0701 | 6:efe1bc381434 | 228 | now_angle=gyro.getAngle(); //ジャイロの値読み込み |
yuki0701 | 6:efe1bc381434 | 229 | |
yuki0701 | 6:efe1bc381434 | 230 | new_dist1=EC1.getDistance_mm(); |
yuki0701 | 6:efe1bc381434 | 231 | new_dist2=EC2.getDistance_mm(); |
yuki0701 | 6:efe1bc381434 | 232 | d_dist1=new_dist1-old_dist1; |
yuki0701 | 6:efe1bc381434 | 233 | d_dist2=new_dist2-old_dist2; |
yuki0701 | 6:efe1bc381434 | 234 | old_dist1=new_dist1; |
yuki0701 | 6:efe1bc381434 | 235 | old_dist2=new_dist2; //微小時間当たりのエンコーダ読み込み |
yuki0701 | 6:efe1bc381434 | 236 | |
yuki0701 | 6:efe1bc381434 | 237 | d_x=d_dist2*sin(now_angle*PI/180)-d_dist1*cos(now_angle*PI/180); |
yuki0701 | 6:efe1bc381434 | 238 | d_y=d_dist2*cos(now_angle*PI/180)+d_dist1*sin(now_angle*PI/180); //微小時間毎の座標変化 |
yuki0701 | 6:efe1bc381434 | 239 | now_x=now_x+d_x; |
yuki0701 | 6:efe1bc381434 | 240 | now_y=now_y-d_y; //微小時間毎に座標に加算 |
yuki0701 | 6:efe1bc381434 | 241 | } |
yuki0701 | 6:efe1bc381434 | 242 | |
yuki0701 | 6:efe1bc381434 | 243 | //ここからそれぞれのプログラム///////////////////////////////////////////////////////////////////////////////////////////////////////////////// |
yuki0701 | 6:efe1bc381434 | 244 | //now_x(現在のx座標),now_y(現在のy座標),now_angle(機体角度(ラジアンではない)(0~360や-180~180とは限らない))(反時計回りが正) |
yuki0701 | 6:efe1bc381434 | 245 | //ジャイロの出力は角度だが三角関数はラジアンとして計算する |
yuki0701 | 6:efe1bc381434 | 246 | //通常の移動+座標のずれ補正+機体の角度補正(+必要に応じさらに別補正) |
yuki0701 | 6:efe1bc381434 | 247 | //ジャイロの仕様上、角度補正をするときに計算式内で角度はそのままよりsinをとったほうがいいかもね |
yuki0701 | 6:efe1bc381434 | 248 | |
yuki0701 | 6:efe1bc381434 | 249 | void purecurve2(int type, //正面を変えずに円弧or楕円を描いて曲がる |
yuki0701 | 6:efe1bc381434 | 250 | double point_x1,double point_y1, |
yuki0701 | 6:efe1bc381434 | 251 | double point_x2,double point_y2, |
yuki0701 | 6:efe1bc381434 | 252 | int theta, |
yuki0701 | 6:efe1bc381434 | 253 | double speed, |
yuki0701 | 6:efe1bc381434 | 254 | double q_p,double q_d, |
yuki0701 | 6:efe1bc381434 | 255 | double r_p,double r_d, |
yuki0701 | 6:efe1bc381434 | 256 | double r_out_max, |
yuki0701 | 6:efe1bc381434 | 257 | double target_angle) |
yuki0701 | 6:efe1bc381434 | 258 | //type:動きの種類(8パターン) point_x1,point_y1=出発地点の座標 point_x2,point_x2=目標地点の座標 theta=plotの間隔(0~90°) speed=速度 |
yuki0701 | 6:efe1bc381434 | 259 | { |
yuki0701 | 6:efe1bc381434 | 260 | //-----PathFollowingのパラメーター設定-----// |
yuki0701 | 6:efe1bc381434 | 261 | q_setPDparam(q_p,q_d); //ベクトルABに垂直な方向の誤差を埋めるPD制御のパラメータ設定関数 |
yuki0701 | 6:efe1bc381434 | 262 | r_setPDparam(r_p,r_d); //機体角度と目標角度の誤差を埋めるPD制御のパラメータ設定関数 |
yuki0701 | 6:efe1bc381434 | 263 | set_r_out(r_out_max); //旋回時の最大出力値設定関数 |
yuki0701 | 6:efe1bc381434 | 264 | set_target_angle(target_angle); //機体目標角度設定関数 |
yuki0701 | 6:efe1bc381434 | 265 | |
yuki0701 | 6:efe1bc381434 | 266 | int s; |
yuki0701 | 6:efe1bc381434 | 267 | int t = 0; |
yuki0701 | 6:efe1bc381434 | 268 | double X,Y;//X=楕円の中心座標、Y=楕円の中心座標 |
yuki0701 | 6:efe1bc381434 | 269 | double a,b; //a=楕円のx軸方向の幅の半分,b=楕円のy軸方向の幅の半分 |
yuki0701 | 6:efe1bc381434 | 270 | double plotx[(90/theta)+1]; //楕円にとるplotのx座標 |
yuki0701 | 6:efe1bc381434 | 271 | double ploty[(90/theta)+1]; |
yuki0701 | 6:efe1bc381434 | 272 | |
yuki0701 | 6:efe1bc381434 | 273 | double x_out,y_out,r_out; |
yuki0701 | 6:efe1bc381434 | 274 | |
yuki0701 | 6:efe1bc381434 | 275 | a=fabs(point_x1-point_x2); |
yuki0701 | 6:efe1bc381434 | 276 | b=fabs(point_y1-point_y2); |
yuki0701 | 6:efe1bc381434 | 277 | |
yuki0701 | 6:efe1bc381434 | 278 | switch(type) { |
yuki0701 | 6:efe1bc381434 | 279 | |
yuki0701 | 6:efe1bc381434 | 280 | case 1://→↑移動 |
yuki0701 | 6:efe1bc381434 | 281 | X=point_x1; |
yuki0701 | 6:efe1bc381434 | 282 | Y=point_y2; |
yuki0701 | 6:efe1bc381434 | 283 | |
yuki0701 | 6:efe1bc381434 | 284 | for(s=0; s<((90/theta)+1); s++) { |
yuki0701 | 6:efe1bc381434 | 285 | plotx[s] = X + a * cos(-PI/2 + s * (PI*theta/180)); |
yuki0701 | 6:efe1bc381434 | 286 | ploty[s] = Y + b * sin(-PI/2 + s * (PI*theta/180)); |
yuki0701 | 6:efe1bc381434 | 287 | //debug_printf("plotx[%d]=%f ploty[%d]=%f\n\r",s,plotx[s],s,ploty[s]); |
yuki0701 | 6:efe1bc381434 | 288 | } |
yuki0701 | 6:efe1bc381434 | 289 | break; |
yuki0701 | 6:efe1bc381434 | 290 | |
yuki0701 | 6:efe1bc381434 | 291 | case 2://↑→移動 |
yuki0701 | 6:efe1bc381434 | 292 | X=point_x2; |
yuki0701 | 6:efe1bc381434 | 293 | Y=point_y1; |
yuki0701 | 6:efe1bc381434 | 294 | |
yuki0701 | 6:efe1bc381434 | 295 | for(s=0; s<((90/theta)+1); s++) { |
yuki0701 | 6:efe1bc381434 | 296 | plotx[s] = X + a * cos(PI - s * (PI*theta/180)); |
yuki0701 | 6:efe1bc381434 | 297 | ploty[s] = Y + b * sin(PI - s * (PI*theta/180)); |
yuki0701 | 6:efe1bc381434 | 298 | //debug_printf("plotx[%d]=%f ploty[%d]=%f\n\r",s,plotx[s],s,ploty[s]); |
yuki0701 | 6:efe1bc381434 | 299 | } |
yuki0701 | 6:efe1bc381434 | 300 | break; |
yuki0701 | 6:efe1bc381434 | 301 | |
yuki0701 | 6:efe1bc381434 | 302 | case 3://↑←移動 |
yuki0701 | 6:efe1bc381434 | 303 | X=point_x2; |
yuki0701 | 6:efe1bc381434 | 304 | Y=point_y1; |
yuki0701 | 6:efe1bc381434 | 305 | |
yuki0701 | 6:efe1bc381434 | 306 | for(s=0; s<((90/theta)+1); s++) { |
yuki0701 | 6:efe1bc381434 | 307 | plotx[s] = X + a * cos(s * (PI*theta/180)); |
yuki0701 | 6:efe1bc381434 | 308 | ploty[s] = Y + b * sin(s * (PI*theta/180)); |
yuki0701 | 6:efe1bc381434 | 309 | //debug_printf("plotx[%d]=%f ploty[%d]=%f\n\r",s,plotx[s],s,ploty[s]); |
yuki0701 | 6:efe1bc381434 | 310 | } |
yuki0701 | 6:efe1bc381434 | 311 | break; |
yuki0701 | 6:efe1bc381434 | 312 | |
yuki0701 | 6:efe1bc381434 | 313 | case 4://←↑移動 |
yuki0701 | 6:efe1bc381434 | 314 | X=point_x1; |
yuki0701 | 6:efe1bc381434 | 315 | Y=point_y2; |
yuki0701 | 6:efe1bc381434 | 316 | |
yuki0701 | 6:efe1bc381434 | 317 | for(s=0; s<((90/theta)+1); s++) { |
yuki0701 | 6:efe1bc381434 | 318 | plotx[s] = X + a * cos(-PI/2 - s * (PI*theta/180)); |
yuki0701 | 6:efe1bc381434 | 319 | ploty[s] = Y + b * sin(-PI/2 - s * (PI*theta/180)); |
yuki0701 | 6:efe1bc381434 | 320 | //debug_printf("plotx[%d]=%f ploty[%d]=%f\n\r",s,plotx[s],s,ploty[s]); |
yuki0701 | 6:efe1bc381434 | 321 | } |
yuki0701 | 6:efe1bc381434 | 322 | break; |
yuki0701 | 6:efe1bc381434 | 323 | |
yuki0701 | 6:efe1bc381434 | 324 | case 5://←↓移動 |
yuki0701 | 6:efe1bc381434 | 325 | X=point_x1; |
yuki0701 | 6:efe1bc381434 | 326 | Y=point_y2; |
yuki0701 | 6:efe1bc381434 | 327 | |
yuki0701 | 6:efe1bc381434 | 328 | for(s=0; s<((90/theta)+1); s++) { |
yuki0701 | 6:efe1bc381434 | 329 | plotx[s] = X + a * cos(PI/2 + s * (PI*theta/180)); |
yuki0701 | 6:efe1bc381434 | 330 | ploty[s] = Y + b * sin(PI/2 + s * (PI*theta/180)); |
yuki0701 | 6:efe1bc381434 | 331 | //debug_printf("plotx[%d]=%f ploty[%d]=%f\n\r",s,plotx[s],s,ploty[s]); |
yuki0701 | 6:efe1bc381434 | 332 | } |
yuki0701 | 6:efe1bc381434 | 333 | break; |
yuki0701 | 6:efe1bc381434 | 334 | |
yuki0701 | 6:efe1bc381434 | 335 | case 6://↓←移動 |
yuki0701 | 6:efe1bc381434 | 336 | X=point_x2; |
yuki0701 | 6:efe1bc381434 | 337 | Y=point_y1; |
yuki0701 | 6:efe1bc381434 | 338 | |
yuki0701 | 6:efe1bc381434 | 339 | for(s=0; s<((90/theta)+1); s++) { |
yuki0701 | 6:efe1bc381434 | 340 | plotx[s] = X + a * cos(-s * (PI*theta/180)); |
yuki0701 | 6:efe1bc381434 | 341 | ploty[s] = Y + b * sin(-s * (PI*theta/180)); |
yuki0701 | 6:efe1bc381434 | 342 | //debug_printf("plotx[%d]=%f ploty[%d]=%f\n\r",s,plotx[s],s,ploty[s]); |
yuki0701 | 6:efe1bc381434 | 343 | } |
yuki0701 | 6:efe1bc381434 | 344 | break; |
yuki0701 | 6:efe1bc381434 | 345 | |
yuki0701 | 6:efe1bc381434 | 346 | case 7://↓→移動 |
yuki0701 | 6:efe1bc381434 | 347 | X=point_x2; |
yuki0701 | 6:efe1bc381434 | 348 | Y=point_y1; |
yuki0701 | 6:efe1bc381434 | 349 | |
yuki0701 | 6:efe1bc381434 | 350 | for(s=0; s<((90/theta)+1); s++) { |
yuki0701 | 6:efe1bc381434 | 351 | plotx[s] = X + a * cos(PI + s * (PI*theta/180)); |
yuki0701 | 6:efe1bc381434 | 352 | ploty[s] = Y + b * sin(PI + s * (PI*theta/180)); |
yuki0701 | 6:efe1bc381434 | 353 | //debug_printf("plotx[%d]=%f ploty[%d]=%f\n\r",s,plotx[s],s,ploty[s]); |
yuki0701 | 6:efe1bc381434 | 354 | } |
yuki0701 | 6:efe1bc381434 | 355 | break; |
yuki0701 | 6:efe1bc381434 | 356 | |
yuki0701 | 6:efe1bc381434 | 357 | case 8://→↓移動 |
yuki0701 | 6:efe1bc381434 | 358 | X=point_x1; |
yuki0701 | 6:efe1bc381434 | 359 | Y=point_y2; |
yuki0701 | 6:efe1bc381434 | 360 | |
yuki0701 | 6:efe1bc381434 | 361 | for(s=0; s<((90/theta)+1); s++) { |
yuki0701 | 6:efe1bc381434 | 362 | plotx[s] = X + a * cos(PI/2 - s * (PI*theta/180)); |
yuki0701 | 6:efe1bc381434 | 363 | ploty[s] = Y + b * sin(PI/2 - s * (PI*theta/180)); |
yuki0701 | 6:efe1bc381434 | 364 | //debug_printf("plotx[%d]=%f ploty[%d]=%f\n\r",s,plotx[s],s,ploty[s]); |
yuki0701 | 6:efe1bc381434 | 365 | } |
yuki0701 | 6:efe1bc381434 | 366 | break; |
yuki0701 | 6:efe1bc381434 | 367 | } |
yuki0701 | 6:efe1bc381434 | 368 | |
yuki0701 | 6:efe1bc381434 | 369 | while(1) { |
yuki0701 | 6:efe1bc381434 | 370 | |
yuki0701 | 6:efe1bc381434 | 371 | calc_xy(); |
yuki0701 | 6:efe1bc381434 | 372 | |
yuki0701 | 6:efe1bc381434 | 373 | XYRmotorout(plotx[t],ploty[t],plotx[t+1],ploty[t+1],&x_out,&y_out,&r_out,speed,speed); |
yuki0701 | 6:efe1bc381434 | 374 | CalMotorOut(x_out,y_out,r_out); |
yuki0701 | 6:efe1bc381434 | 375 | //debug_printf("t=%d now_x=%f now_y=%f x_out=%f y_out=%f\n\r",t,now_x,now_y,x_out,y_out); |
yuki0701 | 6:efe1bc381434 | 376 | |
yuki0701 | 6:efe1bc381434 | 377 | base(GetMotorOut(0),GetMotorOut(1),GetMotorOut(2),GetMotorOut(3),4095); //m1~m4に代入 |
yuki0701 | 6:efe1bc381434 | 378 | //debug_printf("t=%d (0)=%f (1)=%f (2)=%f (3)=%f\n\r",t,GetMotorOut(0),GetMotorOut(1),GetMotorOut(2),GetMotorOut(3)); |
yuki0701 | 6:efe1bc381434 | 379 | |
yuki0701 | 6:efe1bc381434 | 380 | if(((plotx[t+1] - now_x)*(plotx[t+1] - plotx[t]) + (ploty[t+1] - now_y)*(ploty[t+1] - ploty[t])) < 0)t++; |
yuki0701 | 6:efe1bc381434 | 381 | |
yuki0701 | 6:efe1bc381434 | 382 | MotorControl(m_1,m_2,m_3,m_4); //出力 |
yuki0701 | 6:efe1bc381434 | 383 | debug_printf("t=%d m1=%d m2=%d m3=%d m4=%d x=%f y=%f angle=%f\n\r",t,m_1,m_2,m_3,m_4,now_x,now_y,now_angle); |
yuki0701 | 6:efe1bc381434 | 384 | |
yuki0701 | 6:efe1bc381434 | 385 | if(t == (90/theta))break; |
yuki0701 | 6:efe1bc381434 | 386 | } |
yuki0701 | 6:efe1bc381434 | 387 | } |
yuki0701 | 6:efe1bc381434 | 388 | |
yuki0701 | 6:efe1bc381434 | 389 | |
yuki0701 | 6:efe1bc381434 | 390 | void gogo_straight(double x1_point,double y1_point, //直線運動プログラム |
yuki0701 | 6:efe1bc381434 | 391 | double x2_point,double y2_point, |
yuki0701 | 6:efe1bc381434 | 392 | double speed1,double speed2, |
yuki0701 | 6:efe1bc381434 | 393 | double q_p,double q_d, |
yuki0701 | 6:efe1bc381434 | 394 | double r_p,double r_d, |
yuki0701 | 6:efe1bc381434 | 395 | double r_out_max, |
yuki0701 | 6:efe1bc381434 | 396 | double target_angle) |
yuki0701 | 6:efe1bc381434 | 397 | //引数:出発地点の座標(x,y)、目標地点の座標(x,y)、初速度(speed1)、目標速度(speed2)//speed1=speed2 のとき等速運動 |
yuki0701 | 6:efe1bc381434 | 398 | { |
yuki0701 | 6:efe1bc381434 | 399 | //-----PathFollowingのパラメーター設定-----// |
yuki0701 | 6:efe1bc381434 | 400 | q_setPDparam(q_p,q_d); //ベクトルABに垂直な方向の誤差を埋めるPD制御のパラメータ設定関数 |
yuki0701 | 6:efe1bc381434 | 401 | r_setPDparam(r_p,r_d); //機体角度と目標角度の誤差を埋めるPD制御のパラメータ設定関数 |
yuki0701 | 6:efe1bc381434 | 402 | set_r_out(r_out_max); //旋回時の最大出力値設定関数 |
yuki0701 | 6:efe1bc381434 | 403 | set_target_angle(target_angle); //機体目標角度設定関数 |
yuki0701 | 6:efe1bc381434 | 404 | |
yuki0701 | 6:efe1bc381434 | 405 | while (1) { |
yuki0701 | 6:efe1bc381434 | 406 | |
yuki0701 | 6:efe1bc381434 | 407 | calc_xy(); |
yuki0701 | 6:efe1bc381434 | 408 | |
yuki0701 | 6:efe1bc381434 | 409 | XYRmotorout(x1_point,y1_point,x2_point,y2_point,&x_out,&y_out,&r_out,speed1,speed2); |
yuki0701 | 6:efe1bc381434 | 410 | //printf("x = %f, y = %f,angle = %f,x_out=%lf, y_out=%lf, r_out=%lf\n\r",now_x,now_y,now_angle,x_out, y_out,r_out); |
yuki0701 | 6:efe1bc381434 | 411 | |
yuki0701 | 6:efe1bc381434 | 412 | CalMotorOut(x_out,y_out,r_out); |
yuki0701 | 6:efe1bc381434 | 413 | //printf("out1=%lf, out2=%lf, out3=%lf, out4=%lf\n",GetMotorOut(0),GetMotorOut(1),GetMotorOut(2),GetMotorOut(3)); |
yuki0701 | 6:efe1bc381434 | 414 | |
yuki0701 | 6:efe1bc381434 | 415 | base(GetMotorOut(0),GetMotorOut(1),GetMotorOut(2),GetMotorOut(3),4095); |
yuki0701 | 6:efe1bc381434 | 416 | //printf("m1=%d, m2=%d, m3=%d, m4=%d\r\n",m_1,m_2,m_3,m_4); |
yuki0701 | 6:efe1bc381434 | 417 | |
yuki0701 | 6:efe1bc381434 | 418 | MotorControl(m1,m2,m3,m4); |
yuki0701 | 6:efe1bc381434 | 419 | debug_printf("m1=%d m2=%d m3=%d m4=%d x=%f y=%f angle=%f\n\r",m_1,m_2,m_3,m_4,now_x,now_y,now_angle); |
yuki0701 | 6:efe1bc381434 | 420 | |
yuki0701 | 6:efe1bc381434 | 421 | if(((x2_point - now_x)*(x2_point - x1_point) + (y2_point - now_y)*(y2_point - y1_point)) < 0)break; |
yuki0701 | 6:efe1bc381434 | 422 | } |
yuki0701 | 6:efe1bc381434 | 423 | } |
yuki0701 | 6:efe1bc381434 | 424 |