春ロボ1班(元F3RC4班+) / Mbed 2 deprecated harurobo_ashi_3_19

3/19

Dependencies:   mbed move4wheel2 EC CruizCore_R1370P

manual/manual.cpp@0:c61c6e4775ca, 2019-02-13 (annotated)

Committer:
la00noix
Date:
Wed Feb 13 03:02:19 2019 +0000
Revision:
0:c61c6e4775ca
Child:
6:26724c287387
a

Who changed what in which revision?

UserRevisionLine numberNew contents of line
la00noix 0:c61c6e4775ca 1 #include "EC.h"
la00noix 0:c61c6e4775ca 2 #include "R1370P.h"
la00noix 0:c61c6e4775ca 3 #include "move4wheel.h"
la00noix 0:c61c6e4775ca 4 #include "mbed.h"
la00noix 0:c61c6e4775ca 5 #include "math.h"
la00noix 0:c61c6e4775ca 6 #include "PathFollowing.h"
la00noix 0:c61c6e4775ca 7 #include "movement.h"
la00noix 0:c61c6e4775ca 8 #include "maxonsetting.h"
la00noix 0:c61c6e4775ca 9 #include "manual.h"
la00noix 0:c61c6e4775ca 10 #include "can.h"
la00noix 0:c61c6e4775ca 11
la00noix 0:c61c6e4775ca 12 #define PI 3.141592
la00noix 0:c61c6e4775ca 13
la00noix 0:c61c6e4775ca 14 int id1_value[6]={0};
la00noix 0:c61c6e4775ca 15
la00noix 0:c61c6e4775ca 16 //-----手動用の変数宣言--------------------------------------------------------------------------//
la00noix 0:c61c6e4775ca 17 int stick_theta; //ジョイスティックの角度
la00noix 0:c61c6e4775ca 18 int manual_xout,manual_yout; //フィールド座標系のx,y方向の速度
la00noix 0:c61c6e4775ca 19 int manual_realxout,manual_realyout; //機体座標系のx,y方向の速度
la00noix 0:c61c6e4775ca 20 int manual_rout; //旋回速度
la00noix 0:c61c6e4775ca 21
la00noix 0:c61c6e4775ca 22 void CalManualOut(int v,int r_out) //vはθ方向の速度、r_outは旋回速度(正の値)
la00noix 0:c61c6e4775ca 23 //PS3ジョイスティックの x=127.5 かつ y>127.5 の直線を0°としてθをとる
la00noix 0:c61c6e4775ca 24 {
la00noix 0:c61c6e4775ca 25 stick_theta = (short)((id1_value[1]<<8) | id1_value[2]);
la00noix 0:c61c6e4775ca 26 //debug_printf("stick = %d\n\r",stick_theta);
la00noix 0:c61c6e4775ca 27
la00noix 0:c61c6e4775ca 28 //ジョイスティック方向の速度をフィールド座標系の速度に変換
la00noix 0:c61c6e4775ca 29 manual_xout = v * sin(PI*stick_theta/180);
la00noix 0:c61c6e4775ca 30 manual_yout = -v * cos(PI*stick_theta/180);
la00noix 0:c61c6e4775ca 31
la00noix 0:c61c6e4775ca 32 //フィールド座標系の速度を機体座標系の速度に変換
la00noix 0:c61c6e4775ca 33 manual_realxout = manual_xout * cos(PI*now_angle/180) + manual_yout * sin(PI*now_angle/180);
la00noix 0:c61c6e4775ca 34 manual_realyout = -manual_xout * sin(PI*now_angle/180) + manual_yout * cos(PI*now_angle/180);
la00noix 0:c61c6e4775ca 35
la00noix 0:c61c6e4775ca 36 if(id1_value[4] == 1){ //旋回速度を代入
la00noix 0:c61c6e4775ca 37 manual_rout = 0;
la00noix 0:c61c6e4775ca 38 }else if(id1_value[4] == 2){
la00noix 0:c61c6e4775ca 39 manual_rout = r_out;
la00noix 0:c61c6e4775ca 40 }else if(id1_value[4] == 3){
la00noix 0:c61c6e4775ca 41 manual_rout = -r_out;
la00noix 0:c61c6e4775ca 42 }
la00noix 0:c61c6e4775ca 43
la00noix 0:c61c6e4775ca 44
la00noix 0:c61c6e4775ca 45 }
la00noix 0:c61c6e4775ca 46
la00noix 0:c61c6e4775ca 47 void ManualOut(int slow_v, int slow_r, int fast_v, int fast_r){
la00noix 0:c61c6e4775ca 48
la00noix 0:c61c6e4775ca 49 calc_gyro();
la00noix 0:c61c6e4775ca 50
la00noix 0:c61c6e4775ca 51 if(id1_value[3]==1){ //BOTTONR1押したら減速
la00noix 0:c61c6e4775ca 52 CalManualOut(slow_v,slow_r);
la00noix 0:c61c6e4775ca 53 }else{
la00noix 0:c61c6e4775ca 54 CalManualOut(fast_v,fast_r);
la00noix 0:c61c6e4775ca 55 }
la00noix 0:c61c6e4775ca 56
la00noix 0:c61c6e4775ca 57 if(id1_value[5] == 1){ //ニュートラルポジションなら出力0
la00noix 0:c61c6e4775ca 58 output(0,0,0,0);
la00noix 0:c61c6e4775ca 59 base(manual_rout,manual_rout,manual_rout,manual_rout,4095);
la00noix 0:c61c6e4775ca 60 }else{
la00noix 0:c61c6e4775ca 61 CalMotorOut(manual_realxout,manual_realyout,0);
la00noix 0:c61c6e4775ca 62 base(GetMotorOut(0)+manual_rout,GetMotorOut(1)+manual_rout,GetMotorOut(2)+manual_rout,GetMotorOut(3)+manual_rout,4095);
la00noix 0:c61c6e4775ca 63 }
la00noix 0:c61c6e4775ca 64
la00noix 0:c61c6e4775ca 65 MaxonControl(m1,m2,m3,m4);
la00noix 0:c61c6e4775ca 66 debug_printf("m1=%d m2=%d m3=%d m4=%d now_angle=%f\n\r",m1,m2,m3,m4,now_angle);
la00noix 0:c61c6e4775ca 67 }