とりあえず 簡単に
Dependencies: CruizCore_R1370P EC_speedcontrol_1010 enc_1multi mbed
main.cpp
- Committer:
- aoikoizumi
- Date:
- 2018-10-26
- Revision:
- 1:2189d6238ac7
- Parent:
- 0:b811f40948e2
File content as of revision 1:2189d6238ac7:
#include "mbed.h" #include "SpeedController.h"//最終的にはSpeedController使わないけど #include "EC.h"//エンコーダ #include "R1370P.h"//ジャイロ //#include "enc_1multi.h" #include "math.h" #define BASIC_SPEED 24 //モーターはこの角速度で駆動させる//SpeedController #define PI 3.141592 SpeedControl Motor_RF(NC,NC,NC,500,0.05,NC,NC); SpeedControl Motor_LF(NC,NC,NC,500,0.05,NC,NC); SpeedControl Motor_LB(NC,NC,NC,500,0.05,NC,NC); SpeedControl Motor_RB(NC,NC,NC,500,0.05,NC,NC);//モーター定義//SpeedController Ec EC1(NC,NC,NC,300,0.05); Ec EC2(NC,NC,NC,300,0.05);//エンコーダ定義 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 { Motor_RF.CalOmega(); Motor_LF.CalOmega(); Motor_LB.CalOmega(); Motor_RB.CalOmega();//SpeedController EC1.CalOmega(); EC2.CalOmega(); } double new_dist1=0,new_dist2=0; double old_dist1=0,old_dist2=0; double d_dist1=0,d_dist2=0;//座標計算用関数 double now_x;//現在地X座標 double now_y;//現在地Y座標 double now_angle; //現在角度 double start_x=0; double start_y=0;//起点 double target_RF=0,target_LF=0,target_LB=0,target_RB=0;//目標速度 Timer t; void output(double iRF,double iLF,double iLB,double iRB)//後にSPI用に変える { target_RF=BASIC_SPEED*iRF; target_LF=BASIC_SPEED*iLF; target_LB=BASIC_SPEED*iLB; target_RB=BASIC_SPEED*iRB; } void base(double bRF,double bLF,double bLB,double bRB,double Max)//いろんな加算をしても最大OR最小が1になるような補正(?)//絶対値が一番でかいやつで除算//double Max(0~1) { if (fabs(bRF)>=fabs(bLF)&&fabs(bRF)>=fabs(bLB)&&fabs(bRF)>=fabs(bRB))output(Max ,Max*bLF/fabs(bRF),Max*bLB/fabs(bRF),Max*bRB/fabs(bRF)); else if(fabs(bLF)>=fabs(bRF)&&fabs(bLF)>=fabs(bLB)&&fabs(bLF)>=fabs(bRB))output(Max*bRF/fabs(bLF),Max ,Max*bLB/fabs(bLF),Max*bRB/fabs(bLF)); else if(fabs(bLB)>=fabs(bRF)&&fabs(bLB)>=fabs(bLF)&&fabs(bLB)>=fabs(bRB))output(Max*bRF/fabs(bLB),Max*bLF/fabs(bLB),Max ,Max*bRB/fabs(bLB)); else output(Max*bRF/fabs(bRB),Max*bLF/fabs(bRB),Max*bLB/fabs(bRB),Max ); } //ここからそれぞれのプログラム////////////////////////////////////////////////////// //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) //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 //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) //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 void gostraight(int type,double goal_x,double goal_y,double speed,double front)//移動パターン(1,2,3,4)、目標X、目標Y、最高速度(0~1)、正面角度 { double y_hosei=(now_y-goal_y)*0.001;//Y座標(mm単位)にP処理 double x_hosei=(now_x-goal_x)*0.001;//X座標(mm単位)にP処理 double incl_hosei=sin(now_angle-front)*(PI/180)*0.1;//機体角度(sin(数度→ラジアンに変換))にP処理 switch(type) { case 1://Y座標一定の正方向横移動 while(now_x<goal_x){ base(-1-y_hosei-incl_hosei,-1+y_hosei-incl_hosei,1+y_hosei-incl_hosei,1-y_hosei-incl_hosei,speed); } break; case 2://Y座標一定の負方向横移動 while(now_x>goal_x){ base(1-y_hosei-incl_hosei,1+y_hosei-incl_hosei,-1+y_hosei-incl_hosei,-1-y_hosei-incl_hosei,speed); } break; case 3://Y座標一定の正方向横移動 while(now_y<goal_y){ base(1+x_hosei-incl_hosei,-1+x_hosei-incl_hosei,-1-x_hosei-incl_hosei,1-x_hosei-incl_hosei,speed); } break; case 4://X座標一定の負方向横移動 while(now_y>goal_y){ base(-1+x_hosei-incl_hosei,1+x_hosei-incl_hosei,1-x_hosei-incl_hosei,-1-x_hosei-incl_hosei,speed); } break; } } //ここまで/////////////////////////////////////////////////////////////////////// int main() { 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); EC1.setDiameter_mm(48); EC2.setDiameter_mm(48);//測定輪半径 double getDistance_mm(); void reset(); EC1.reset(); now_x=start_x; now_y=start_y; while(1) { now_angle=gyro.getAngle(); new_dist1=EC1.getDistance_mm(); new_dist2=EC2.getDistance_mm(); d_dist1=new_dist1-old_dist1; d_dist2=new_dist2-old_dist2; old_dist1=new_dist1; old_dist2=new_dist2;//微小時間当たりのエンコーダ読み込み double d_x=d_dist2*sin(now_angle*PI/180)-d_dist1*sin(now_angle*PI/180); double d_y=d_dist2*sin(now_angle*PI/180)+d_dist1*cos(now_angle*PI/180);//微小時間毎の座標変化 now_x=now_x+d_x; now_y=now_y+d_y;//微小時間毎に座標に加算 } }