春ロボ1班(元F3RC4班+) / Mbed 2 deprecated harurobo_ashi_3_20

3/20 2:04

Dependencies:   mbed move4wheel2 EC CruizCore_R1370P

movement/movement.cpp@11:9db93bce4eef, 2019-03-19 (annotated)

Committer:
yuki0701
Date:
Tue Mar 19 02:30:34 2019 +0000
Revision:
11:9db93bce4eef
Parent:
10:c741191360de
Child:
13:f9867c3b97b0
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 8:2ba338b4590e 14 char can_ashileddata[2]= {0};
la00noix 6:26724c287387 15 int can_ashileddata0_0,can_ashileddata0_1,can_ashileddata0_2,can_ashileddata0_3;
la00noix 0:c61c6e4775ca 16
la00noix 6:26724c287387 17 Ec EC1(p22,p21,NC,500,0.05);
yuki0701 3:8a0faa3b08c3 18 Ec EC2(p26,p8,NC,500,0.05);
la00noix 6:26724c287387 19
la00noix 0:c61c6e4775ca 20 Ticker ec_ticker; //ec角速度計算用ticker
la00noix 0:c61c6e4775ca 21
la00noix 0:c61c6e4775ca 22 R1370P gyro(p28,p27);
la00noix 0:c61c6e4775ca 23
la00noix 0:c61c6e4775ca 24 double new_dist1=0,new_dist2=0;
la00noix 0:c61c6e4775ca 25 double old_dist1=0,old_dist2=0;
la00noix 0:c61c6e4775ca 26 double d_dist1=0,d_dist2=0; //座標計算用関数
la00noix 0:c61c6e4775ca 27 double d_x,d_y;
la00noix 0:c61c6e4775ca 28 //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
la00noix 0:c61c6e4775ca 29 double start_x=0,start_y=0; //スタート位置
la00noix 0:c61c6e4775ca 30 double x_out,y_out,r_out; //出力値
la00noix 0:c61c6e4775ca 31
la00noix 0:c61c6e4775ca 32 int16_t m1=0, m2=0, m3=0, m4=0; //int16bit = int2byte
la00noix 0:c61c6e4775ca 33
la00noix 0:c61c6e4775ca 34 double xy_type,pm_typeX,pm_typeY,x_base,y_base;
la00noix 0:c61c6e4775ca 35
la00noix 9:7667dcfc7ce5 36 int flag;
la00noix 9:7667dcfc7ce5 37
la00noix 0:c61c6e4775ca 38 ///////////////////機体情報をメンバとする構造体"robo_data"と構造体型変数info(←この変数に各センサーにより求めた機体情報(機体位置/機体角度)を格納する)の宣言/////////////////
la00noix 0:c61c6e4775ca 39
la00noix 0:c61c6e4775ca 40 /*「info.(機体情報の種類).(使用センサーの種類)」に各情報を格納する
la00noix 0:c61c6e4775ca 41 *状況に応じて、どのセンサーにより算出した情報を信用するかを選択し、その都度now_angle,now_x,now_yに代入する。（何種類かのセンサーの情報を混ぜて使用することも可能）
la00noix 0:c61c6e4775ca 42 *(ex)
la00noix 0:c61c6e4775ca 43 *info.nowX.enc → エンコーダにより算出した機体位置のx座標
la00noix 0:c61c6e4775ca 44 *info.nowY.usw → 超音波センサーにより求めた機体位置のy座標
la00noix 0:c61c6e4775ca 45 */
la00noix 0:c61c6e4775ca 46
la00noix 6:26724c287387 47 typedef struct { //使用センサーの種類
la00noix 0:c61c6e4775ca 48 double usw; //超音波センサー
la00noix 0:c61c6e4775ca 49 double enc; //エンコーダ
la00noix 0:c61c6e4775ca 50 double gyro; //ジャイロ
la00noix 0:c61c6e4775ca 51 //double line;//ラインセンサー
la00noix 6:26724c287387 52 } robo_sensor;
la00noix 0:c61c6e4775ca 53
la00noix 6:26724c287387 54 typedef struct { //機体情報の種類
la00noix 0:c61c6e4775ca 55 robo_sensor angle; //←機体角度は超音波センサーやラインセンサーからも算出可能なので一応格納先を用意したが、ジャイロの値を完全に信用してもいいかも
la00noix 0:c61c6e4775ca 56 robo_sensor nowX;
la00noix 0:c61c6e4775ca 57 robo_sensor nowY;
la00noix 6:26724c287387 58 } robo_data;
la00noix 0:c61c6e4775ca 59
la00noix 6:26724c287387 60 robo_data info= {{0,0,0},{0,0,0},{0,0,0}}; //全てのデータを0に初期化
la00noix 0:c61c6e4775ca 61
la00noix 0:c61c6e4775ca 62 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
la00noix 0:c61c6e4775ca 63
la00noix 6:26724c287387 64 void UserLoopSetting_sensor()
la00noix 6:26724c287387 65 {
la00noix 6:26724c287387 66
la00noix 0:c61c6e4775ca 67 gyro.initialize();
la00noix 0:c61c6e4775ca 68 ec_ticker.attach(&calOmega,0.05); //0.05秒間隔で角速度を計算
la00noix 4:317c53a674fa 69 EC1.setDiameter_mm(25.5);
la00noix 4:317c53a674fa 70 EC2.setDiameter_mm(25.5); //測定輪半径//後で測定
yuki0701 10:c741191360de 71 }
yuki0701 10:c741191360de 72 void UserLoopSetting_enc_right()
yuki0701 10:c741191360de 73 {
yuki0701 11:9db93bce4eef 74 info.nowX.enc = 3112; //エンコーダの初期位置の設定(右側フィールド)
yuki0701 10:c741191360de 75 info.nowY.enc = 3500;
yuki0701 10:c741191360de 76 }
yuki0701 10:c741191360de 77 void UserLoopSetting_enc_left()
yuki0701 10:c741191360de 78 {
yuki0701 11:9db93bce4eef 79 info.nowX.enc = -3112; //エンコーダの初期位置の設定(左側フィールド)
yuki0701 1:3c11e07da92a 80 info.nowY.enc = 3500;
la00noix 0:c61c6e4775ca 81 }
la00noix 0:c61c6e4775ca 82
la00noix 0:c61c6e4775ca 83 void calOmega() //角速度計算関数
la00noix 0:c61c6e4775ca 84 {
la00noix 0:c61c6e4775ca 85 EC1.CalOmega();
la00noix 0:c61c6e4775ca 86 EC2.CalOmega();
la00noix 0:c61c6e4775ca 87 }
la00noix 0:c61c6e4775ca 88
la00noix 0:c61c6e4775ca 89 void output(double FL,double BL,double BR,double FR)
la00noix 0:c61c6e4775ca 90 {
la00noix 0:c61c6e4775ca 91 m1=FL;
la00noix 0:c61c6e4775ca 92 m2=BL;
la00noix 0:c61c6e4775ca 93 m3=BR;
la00noix 0:c61c6e4775ca 94 m4=FR;
la00noix 0:c61c6e4775ca 95 }
la00noix 0:c61c6e4775ca 96
la00noix 0:c61c6e4775ca 97 void base(double FL,double BL,double BR,double FR,double Max)
la00noix 0:c61c6e4775ca 98 //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
la00noix 0:c61c6e4775ca 99 //DCモーターならMax=1、マクソンは-4095～4095だからMax=4095にする
la00noix 0:c61c6e4775ca 100 {
la00noix 0:c61c6e4775ca 101 if(fabs(FL)>=Max||fabs(BL)>=Max||fabs(BR)>=Max||fabs(FR)>=Max) {
la00noix 0:c61c6e4775ca 102
la00noix 0:c61c6e4775ca 103 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));
la00noix 0:c61c6e4775ca 104 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));
la00noix 0:c61c6e4775ca 105 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));
la00noix 0:c61c6e4775ca 106 else output(Max*FL/fabs(FR),Max*BL/fabs(FR),Max*BR/fabs(FR),Max*FR/fabs(FR));
la00noix 6:26724c287387 107 } else {
la00noix 0:c61c6e4775ca 108 output(FL,BL,BR,FR);
la00noix 0:c61c6e4775ca 109 }
la00noix 0:c61c6e4775ca 110 }
la00noix 0:c61c6e4775ca 111
la00noix 6:26724c287387 112 void ashi_led()
la00noix 6:26724c287387 113 {
la00noix 6:26724c287387 114
la00noix 6:26724c287387 115 if(now_angle > -1 && now_angle < 1) {
la00noix 6:26724c287387 116 can_ashileddata0_0 = 1;
la00noix 6:26724c287387 117 } else {
la00noix 6:26724c287387 118 can_ashileddata0_0 = 0;
la00noix 0:c61c6e4775ca 119 }
la00noix 6:26724c287387 120
la00noix 6:26724c287387 121 if(now_angle > 350) {
la00noix 6:26724c287387 122 can_ashileddata0_1 = 1;
la00noix 6:26724c287387 123 } else {
la00noix 6:26724c287387 124 can_ashileddata0_1 = 0;
la00noix 0:c61c6e4775ca 125 }
la00noix 6:26724c287387 126
la00noix 6:26724c287387 127 if(now_x > -1 && now_x < 1) {
la00noix 6:26724c287387 128 can_ashileddata0_2 = 1;
la00noix 6:26724c287387 129 } else {
la00noix 6:26724c287387 130 can_ashileddata0_2 = 0;
la00noix 0:c61c6e4775ca 131 }
la00noix 6:26724c287387 132
la00noix 6:26724c287387 133 if(now_y > -1 && now_y < 1) {
la00noix 6:26724c287387 134 can_ashileddata0_3 = 1;
la00noix 6:26724c287387 135 } else {
la00noix 6:26724c287387 136 can_ashileddata0_3 = 0;
la00noix 0:c61c6e4775ca 137 }
la00noix 6:26724c287387 138
la00noix 6:26724c287387 139 can_ashileddata[0] = (can_ashileddata0_0<<7 | can_ashileddata0_1<<6 | can_ashileddata0_2<<5 | can_ashileddata0_3<<4);
la00noix 0:c61c6e4775ca 140 }
la00noix 0:c61c6e4775ca 141
la00noix 6:26724c287387 142 void calc_gyro()
la00noix 6:26724c287387 143 {
la00noix 0:c61c6e4775ca 144 now_angle=gyro.getAngle(); //ジャイロの値読み込み
la00noix 0:c61c6e4775ca 145 }
la00noix 0:c61c6e4775ca 146
la00noix 0:c61c6e4775ca 147 void calc_xy_enc() //エンコーダ&ジャイロによる座標計算
la00noix 0:c61c6e4775ca 148 {
la00noix 0:c61c6e4775ca 149 now_angle=gyro.getAngle(); //ジャイロの値読み込み
la00noix 0:c61c6e4775ca 150
la00noix 0:c61c6e4775ca 151 new_dist1=EC1.getDistance_mm();
la00noix 0:c61c6e4775ca 152 new_dist2=EC2.getDistance_mm();
la00noix 0:c61c6e4775ca 153 d_dist1=new_dist1-old_dist1;
la00noix 0:c61c6e4775ca 154 d_dist2=new_dist2-old_dist2;
la00noix 0:c61c6e4775ca 155 old_dist1=new_dist1;
la00noix 0:c61c6e4775ca 156 old_dist2=new_dist2; //微小時間当たりのエンコーダ読み込み
la00noix 0:c61c6e4775ca 157
la00noix 0:c61c6e4775ca 158 d_x=d_dist2*sin(now_angle*PI/180)-d_dist1*cos(now_angle*PI/180);
la00noix 0:c61c6e4775ca 159 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
la00noix 0:c61c6e4775ca 160 info.nowX.enc = info.nowX.enc + d_x;
la00noix 0:c61c6e4775ca 161 info.nowY.enc = info.nowY.enc - d_y; //微小時間毎に座標に加算
la00noix 0:c61c6e4775ca 162 }
la00noix 0:c61c6e4775ca 163
la00noix 6:26724c287387 164 void set_cond(int t, int px, double bx, int py, double by) //超音波センサーを使用するときの条件設定関数
la00noix 6:26724c287387 165 {
la00noix 0:c61c6e4775ca 166 //引数の詳細は関数"calc_xy_usw"参照
la00noix 6:26724c287387 167
la00noix 6:26724c287387 168 xy_type = t;
la00noix 6:26724c287387 169
la00noix 6:26724c287387 170 pm_typeX = px;
la00noix 6:26724c287387 171 x_base = bx;
la00noix 6:26724c287387 172
la00noix 6:26724c287387 173 pm_typeY = py;
la00noix 6:26724c287387 174 y_base = by;
la00noix 0:c61c6e4775ca 175 }
la00noix 0:c61c6e4775ca 176
la00noix 6:26724c287387 177 void calc_xy_usw(double tgt_angle) //超音波センサーによる座標計算（機体が旋回する場合はこの方法による座標計算は出来ない）
la00noix 6:26724c287387 178 {
la00noix 0:c61c6e4775ca 179 //tgt_angle:機体の目標角度（運動初期角度と同じ/今大会では0,90,180のみ）
la00noix 0:c61c6e4775ca 180 //xy_type:（0:Y軸平行の壁を読む/1:X軸平行の壁を読む/2:X,Y軸平行の壁を共に読む）
la00noix 0:c61c6e4775ca 181 //pm_typeX,pm_typeY:（0:各軸正方向側の壁を読む/1:各軸負方向側の壁を読む）
la00noix 0:c61c6e4775ca 182 //x_base,y_base:超音波センサーで読む壁の座標(y軸並行の壁のx座標/x軸平行の壁のy座標)
la00noix 6:26724c287387 183
la00noix 0:c61c6e4775ca 184 double R1=240,R2=240,R3=240,R4=240; //機体の中心から各超音波センサーが付いている面までの距離
la00noix 9:7667dcfc7ce5 185 double D1=30,D2=0,D3=0,D4=0; //各超音波センサーが付いている面の中心から各超音波センサーまでの距離（時計回りを正とする）
la00noix 6:26724c287387 186
la00noix 0:c61c6e4775ca 187 now_angle=gyro.getAngle(); //ジャイロの値読み込み
la00noix 6:26724c287387 188
la00noix 6:26724c287387 189 if(tgt_angle==0) {
la00noix 6:26724c287387 190 if((xy_type==0 || xy_type==2) && pm_typeX==0) {
la00noix 6:26724c287387 191
la00noix 6:26724c287387 192 info.nowX.usw = x_base - (usw_data4 + R4*cos(now_angle*PI/180) + D4*sin(now_angle*PI/180));
la00noix 6:26724c287387 193
la00noix 6:26724c287387 194 } else if((xy_type==0 || xy_type==2) && pm_typeX==1) {
la00noix 6:26724c287387 195
la00noix 6:26724c287387 196 info.nowX.usw = x_base + (usw_data3 + R3*cos(now_angle*PI/180) + D3*sin(now_angle*PI/180));
la00noix 6:26724c287387 197
la00noix 6:26724c287387 198 }
la00noix 6:26724c287387 199 if((xy_type==1 || xy_type==2) && pm_typeY==0) {
la00noix 6:26724c287387 200
la00noix 6:26724c287387 201 info.nowY.usw = y_base - (usw_data2 + R2*cos(now_angle*PI/180) + D2*sin(now_angle*PI/180));
la00noix 6:26724c287387 202
la00noix 6:26724c287387 203 } else if((xy_type==1 || xy_type==2) && pm_typeY==1) {
la00noix 6:26724c287387 204
la00noix 6:26724c287387 205 info.nowY.usw = y_base + (usw_data1 + R1*cos(now_angle*PI/180) + D1*sin(now_angle*PI/180));
la00noix 6:26724c287387 206
la00noix 6:26724c287387 207 }
la00noix 6:26724c287387 208
la00noix 6:26724c287387 209 } else if(tgt_angle==90) {
la00noix 6:26724c287387 210 if((xy_type==0 || xy_type==2) && pm_typeX==0) {
la00noix 6:26724c287387 211
la00noix 9:7667dcfc7ce5 212 info.nowX.usw = x_base - (usw_data1 + R1*cos((now_angle-tgt_angle)*PI/180) + D1*sin(now_angle*PI/180));
la00noix 6:26724c287387 213
la00noix 6:26724c287387 214 } else if((xy_type==0 || xy_type==2) && pm_typeX==1) {
la00noix 6:26724c287387 215
la00noix 9:7667dcfc7ce5 216 info.nowX.usw = x_base + (usw_data2 + R2*cos((now_angle-tgt_angle)*PI/180) + D2*sin(now_angle*PI/180));
la00noix 6:26724c287387 217
la00noix 6:26724c287387 218 }
la00noix 6:26724c287387 219 if((xy_type==1 || xy_type==2) && pm_typeY==0) {
la00noix 6:26724c287387 220
la00noix 9:7667dcfc7ce5 221 info.nowY.usw = y_base - (usw_data4 + R4*cos((now_angle-tgt_angle)*PI/180) + D4*sin(now_angle*PI/180));
la00noix 6:26724c287387 222
la00noix 6:26724c287387 223 } else if((xy_type==1 || xy_type==2) && pm_typeY==1) {
la00noix 6:26724c287387 224
la00noix 9:7667dcfc7ce5 225 info.nowY.usw = y_base + (usw_data3 + R3*cos((now_angle-tgt_angle)*PI/180) + D3*sin(now_angle*PI/180));
la00noix 6:26724c287387 226
la00noix 6:26724c287387 227 }
la00noix 6:26724c287387 228
la00noix 9:7667dcfc7ce5 229 } else if(tgt_angle==180 || tgt_angle==-180) {
la00noix 6:26724c287387 230 if((xy_type==0 || xy_type==2) && pm_typeX==0) {
la00noix 6:26724c287387 231
la00noix 9:7667dcfc7ce5 232 info.nowX.usw = x_base - (usw_data3 + R3*cos((now_angle-tgt_angle)*PI/180) + D3*sin(now_angle*PI/180));
la00noix 6:26724c287387 233
la00noix 6:26724c287387 234 } else if((xy_type==0 || xy_type==2) && pm_typeX==1) {
la00noix 6:26724c287387 235
la00noix 9:7667dcfc7ce5 236 info.nowX.usw = x_base + (usw_data4 + R4*cos((now_angle-tgt_angle)*PI/180) + D4*sin(now_angle*PI/180));
la00noix 6:26724c287387 237
la00noix 6:26724c287387 238 }
la00noix 6:26724c287387 239 if((xy_type==1 || xy_type==2) && pm_typeY==0) {
la00noix 6:26724c287387 240
la00noix 9:7667dcfc7ce5 241 info.nowY.usw = y_base - (usw_data1+ R1*cos((now_angle-tgt_angle)*PI/180) + D1*sin(now_angle*PI/180));
la00noix 6:26724c287387 242
la00noix 6:26724c287387 243 } else if((xy_type==1 || xy_type==2) && pm_typeY==1) {
la00noix 6:26724c287387 244
la00noix 9:7667dcfc7ce5 245 info.nowY.usw = y_base + (usw_data2 + R2*cos((now_angle-tgt_angle)*PI/180) + D2*sin(now_angle*PI/180));
la00noix 9:7667dcfc7ce5 246
la00noix 9:7667dcfc7ce5 247 }
la00noix 9:7667dcfc7ce5 248 } else if(tgt_angle==-90) {
la00noix 9:7667dcfc7ce5 249 if((xy_type==0 || xy_type==2) && pm_typeX==0) {
la00noix 9:7667dcfc7ce5 250
la00noix 9:7667dcfc7ce5 251 info.nowX.usw = x_base - (usw_data2 + R2*cos((now_angle-tgt_angle)*PI/180) + D2*sin(now_angle*PI/180));
la00noix 9:7667dcfc7ce5 252
la00noix 9:7667dcfc7ce5 253 } else if((xy_type==0 || xy_type==2) && pm_typeX==1) {
la00noix 9:7667dcfc7ce5 254
la00noix 9:7667dcfc7ce5 255 info.nowX.usw = x_base + (usw_data1 + R1*cos((now_angle-tgt_angle)*PI/180) + D1*sin(now_angle*PI/180));
la00noix 9:7667dcfc7ce5 256
la00noix 9:7667dcfc7ce5 257 }
la00noix 9:7667dcfc7ce5 258 if((xy_type==1 || xy_type==2) && pm_typeY==0) {
la00noix 9:7667dcfc7ce5 259
la00noix 9:7667dcfc7ce5 260 info.nowY.usw = y_base - (usw_data3 + R3*cos((now_angle-tgt_angle)*PI/180) + D3*sin(now_angle*PI/180));
la00noix 9:7667dcfc7ce5 261
la00noix 9:7667dcfc7ce5 262 } else if((xy_type==1 || xy_type==2) && pm_typeY==1) {
la00noix 9:7667dcfc7ce5 263
la00noix 9:7667dcfc7ce5 264 info.nowY.usw = y_base + (usw_data4 + R4*cos((now_angle-tgt_angle)*PI/180) + D4*sin(now_angle*PI/180));
la00noix 6:26724c287387 265
la00noix 6:26724c287387 266 }
la00noix 0:c61c6e4775ca 267 }
la00noix 0:c61c6e4775ca 268 }
la00noix 0:c61c6e4775ca 269
la00noix 6:26724c287387 270 void calc_xy(double target_angle, double u,double v)
la00noix 6:26724c287387 271 {
la00noix 0:c61c6e4775ca 272 //エンコーダにより求めた機体の座標と超音波センサーにより求めた機体の座標を(エンコーダ : 超音波 = u : 1-u / v : 1-v)の割合で混ぜて now_x,now_y に代入する
la00noix 6:26724c287387 273
la00noix 6:26724c287387 274 calc_xy_enc();
yuki0701 11:9db93bce4eef 275
yuki0701 11:9db93bce4eef 276 if(usw_flag == 1){
yuki0701 11:9db93bce4eef 277 u = 1;
yuki0701 11:9db93bce4eef 278 v = 1;
yuki0701 11:9db93bce4eef 279 }
la00noix 6:26724c287387 280
la00noix 6:26724c287387 281 if(u != 1 || v != 1) {
la00noix 6:26724c287387 282 calc_xy_usw(target_angle); //エンコーダの値しか使用しない場合は超音波センサーによる座標計算は行わずに計算量を減らす。
la00noix 6:26724c287387 283 }
la00noix 6:26724c287387 284
la00noix 0:c61c6e4775ca 285 now_x = u * info.nowX.enc + (1-u) * info.nowX.usw;
la00noix 0:c61c6e4775ca 286 now_y = v * info.nowY.enc + (1-v) * info.nowY.usw;
la00noix 6:26724c287387 287
la00noix 0:c61c6e4775ca 288 /*if(now_x >-1 && now_x <1 && now_y >-1 && now_y <1){ //スタート時の0合わせ用
la00noix 0:c61c6e4775ca 289 ec_led = 1;
la00noix 0:c61c6e4775ca 290 }else{
la00noix 0:c61c6e4775ca 291 ec_led = 0;
la00noix 0:c61c6e4775ca 292 }
la00noix 6:26724c287387 293
la00noix 0:c61c6e4775ca 294 if(now_angle >-0.5 && now_angle <0.5){
la00noix 0:c61c6e4775ca 295 gyro_led = 1;
la00noix 0:c61c6e4775ca 296 }else{
la00noix 0:c61c6e4775ca 297 gyro_led = 0;
la00noix 0:c61c6e4775ca 298 }*/
la00noix 0:c61c6e4775ca 299 }
la00noix 0:c61c6e4775ca 300
la00noix 9:7667dcfc7ce5 301 void enc_correction(int x_select,int y_select) //エンコーダの座標を超音波センサの座標で上書き
la00noix 9:7667dcfc7ce5 302 {
la00noix 9:7667dcfc7ce5 303 //x_select,y_select → (0:上書きしない/1:上書きする)
la00noix 9:7667dcfc7ce5 304
la00noix 9:7667dcfc7ce5 305 if(x_select == 1) {
la00noix 9:7667dcfc7ce5 306 info.nowX.enc = info.nowX.usw;
la00noix 9:7667dcfc7ce5 307 }
la00noix 9:7667dcfc7ce5 308 if(y_select == 1) {
la00noix 9:7667dcfc7ce5 309 info.nowY.enc = info.nowY.usw;
la00noix 9:7667dcfc7ce5 310 }
la00noix 9:7667dcfc7ce5 311
la00noix 9:7667dcfc7ce5 312 }
la00noix 9:7667dcfc7ce5 313
la00noix 0:c61c6e4775ca 314 //ここからそれぞれのプログラム/////////////////////////////////////////////////////////////////////////////////////////////////////////////////
la00noix 0:c61c6e4775ca 315 //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)
la00noix 0:c61c6e4775ca 316 //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
la00noix 0:c61c6e4775ca 317 //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)
la00noix 0:c61c6e4775ca 318 //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
la00noix 0:c61c6e4775ca 319
la00noix 0:c61c6e4775ca 320 void purecurve(int type,double u,double v, //正面を変えずに円弧or楕円を描いて曲がる
la00noix 0:c61c6e4775ca 321 double point_x1,double point_y1,
la00noix 0:c61c6e4775ca 322 double point_x2,double point_y2,
la00noix 0:c61c6e4775ca 323 int theta,
la00noix 0:c61c6e4775ca 324 double speed,
la00noix 0:c61c6e4775ca 325 double q_p,double q_d,
la00noix 0:c61c6e4775ca 326 double r_p,double r_d,
la00noix 0:c61c6e4775ca 327 double r_out_max,
la00noix 0:c61c6e4775ca 328 double target_angle)
la00noix 0:c61c6e4775ca 329 //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
la00noix 0:c61c6e4775ca 330 {
la00noix 0:c61c6e4775ca 331 //-----PathFollowingのパラメーター設定-----//
la00noix 0:c61c6e4775ca 332 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
la00noix 0:c61c6e4775ca 333 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
la00noix 0:c61c6e4775ca 334 set_r_out(r_out_max); //旋回時の最大出力値設定関数
la00noix 0:c61c6e4775ca 335 set_target_angle(target_angle); //機体目標角度設定関数
la00noix 0:c61c6e4775ca 336
la00noix 0:c61c6e4775ca 337 int s;
la00noix 0:c61c6e4775ca 338 int t = 0;
la00noix 0:c61c6e4775ca 339 double X,Y;//X=楕円の中心座標、Y=楕円の中心座標
la00noix 0:c61c6e4775ca 340 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
la00noix 0:c61c6e4775ca 341 double plotx[(90/theta)+1]; //楕円にとるplotのx座標
la00noix 0:c61c6e4775ca 342 double ploty[(90/theta)+1];
la00noix 0:c61c6e4775ca 343
la00noix 0:c61c6e4775ca 344 double x_out,y_out,r_out;
la00noix 0:c61c6e4775ca 345
la00noix 0:c61c6e4775ca 346 a=fabs(point_x1-point_x2);
la00noix 0:c61c6e4775ca 347 b=fabs(point_y1-point_y2);
la00noix 0:c61c6e4775ca 348
la00noix 0:c61c6e4775ca 349 switch(type) {
la00noix 0:c61c6e4775ca 350
la00noix 0:c61c6e4775ca 351 case 1://→↑移動
la00noix 0:c61c6e4775ca 352 X=point_x1;
la00noix 0:c61c6e4775ca 353 Y=point_y2;
la00noix 0:c61c6e4775ca 354
la00noix 0:c61c6e4775ca 355 for(s=0; s<((90/theta)+1); s++) {
la00noix 0:c61c6e4775ca 356 plotx[s] = X + a * cos(-PI/2 + s * (PI*theta/180));
la00noix 0:c61c6e4775ca 357 ploty[s] = Y + b * sin(-PI/2 + s * (PI*theta/180));
la00noix 0:c61c6e4775ca 358 //debug_printf("plotx[%d]=%f ploty[%d]=%f\n\r",s,plotx[s],s,ploty[s]);
la00noix 0:c61c6e4775ca 359 }
la00noix 0:c61c6e4775ca 360 break;
la00noix 0:c61c6e4775ca 361
la00noix 0:c61c6e4775ca 362 case 2://↑→移動
la00noix 0:c61c6e4775ca 363 X=point_x2;
la00noix 0:c61c6e4775ca 364 Y=point_y1;
la00noix 0:c61c6e4775ca 365
la00noix 0:c61c6e4775ca 366 for(s=0; s<((90/theta)+1); s++) {
la00noix 0:c61c6e4775ca 367 plotx[s] = X + a * cos(PI - s * (PI*theta/180));
la00noix 0:c61c6e4775ca 368 ploty[s] = Y + b * sin(PI - s * (PI*theta/180));
la00noix 0:c61c6e4775ca 369 //debug_printf("plotx[%d]=%f ploty[%d]=%f\n\r",s,plotx[s],s,ploty[s]);
la00noix 0:c61c6e4775ca 370 }
la00noix 0:c61c6e4775ca 371 break;
la00noix 0:c61c6e4775ca 372
la00noix 0:c61c6e4775ca 373 case 3://↑←移動
la00noix 0:c61c6e4775ca 374 X=point_x2;
la00noix 0:c61c6e4775ca 375 Y=point_y1;
la00noix 0:c61c6e4775ca 376
la00noix 0:c61c6e4775ca 377 for(s=0; s<((90/theta)+1); s++) {
la00noix 0:c61c6e4775ca 378 plotx[s] = X + a * cos(s * (PI*theta/180));
la00noix 0:c61c6e4775ca 379 ploty[s] = Y + b * sin(s * (PI*theta/180));
la00noix 0:c61c6e4775ca 380 //debug_printf("plotx[%d]=%f ploty[%d]=%f\n\r",s,plotx[s],s,ploty[s]);
la00noix 0:c61c6e4775ca 381 }
la00noix 0:c61c6e4775ca 382 break;
la00noix 0:c61c6e4775ca 383
la00noix 0:c61c6e4775ca 384 case 4://←↑移動
la00noix 0:c61c6e4775ca 385 X=point_x1;
la00noix 0:c61c6e4775ca 386 Y=point_y2;
la00noix 0:c61c6e4775ca 387
la00noix 0:c61c6e4775ca 388 for(s=0; s<((90/theta)+1); s++) {
la00noix 0:c61c6e4775ca 389 plotx[s] = X + a * cos(-PI/2 - s * (PI*theta/180));
la00noix 0:c61c6e4775ca 390 ploty[s] = Y + b * sin(-PI/2 - s * (PI*theta/180));
la00noix 0:c61c6e4775ca 391 //debug_printf("plotx[%d]=%f ploty[%d]=%f\n\r",s,plotx[s],s,ploty[s]);
la00noix 0:c61c6e4775ca 392 }
la00noix 0:c61c6e4775ca 393 break;
la00noix 0:c61c6e4775ca 394
la00noix 0:c61c6e4775ca 395 case 5://←↓移動
la00noix 0:c61c6e4775ca 396 X=point_x1;
la00noix 0:c61c6e4775ca 397 Y=point_y2;
la00noix 0:c61c6e4775ca 398
la00noix 0:c61c6e4775ca 399 for(s=0; s<((90/theta)+1); s++) {
la00noix 0:c61c6e4775ca 400 plotx[s] = X + a * cos(PI/2 + s * (PI*theta/180));
la00noix 0:c61c6e4775ca 401 ploty[s] = Y + b * sin(PI/2 + s * (PI*theta/180));
la00noix 0:c61c6e4775ca 402 //debug_printf("plotx[%d]=%f ploty[%d]=%f\n\r",s,plotx[s],s,ploty[s]);
la00noix 0:c61c6e4775ca 403 }
la00noix 0:c61c6e4775ca 404 break;
la00noix 0:c61c6e4775ca 405
la00noix 0:c61c6e4775ca 406 case 6://↓←移動
la00noix 0:c61c6e4775ca 407 X=point_x2;
la00noix 0:c61c6e4775ca 408 Y=point_y1;
la00noix 0:c61c6e4775ca 409
la00noix 0:c61c6e4775ca 410 for(s=0; s<((90/theta)+1); s++) {
la00noix 0:c61c6e4775ca 411 plotx[s] = X + a * cos(-s * (PI*theta/180));
la00noix 0:c61c6e4775ca 412 ploty[s] = Y + b * sin(-s * (PI*theta/180));
la00noix 0:c61c6e4775ca 413 //debug_printf("plotx[%d]=%f ploty[%d]=%f\n\r",s,plotx[s],s,ploty[s]);
la00noix 0:c61c6e4775ca 414 }
la00noix 0:c61c6e4775ca 415 break;
la00noix 0:c61c6e4775ca 416
la00noix 0:c61c6e4775ca 417 case 7://↓→移動
la00noix 0:c61c6e4775ca 418 X=point_x2;
la00noix 0:c61c6e4775ca 419 Y=point_y1;
la00noix 0:c61c6e4775ca 420
la00noix 0:c61c6e4775ca 421 for(s=0; s<((90/theta)+1); s++) {
la00noix 0:c61c6e4775ca 422 plotx[s] = X + a * cos(PI + s * (PI*theta/180));
la00noix 0:c61c6e4775ca 423 ploty[s] = Y + b * sin(PI + s * (PI*theta/180));
la00noix 0:c61c6e4775ca 424 //debug_printf("plotx[%d]=%f ploty[%d]=%f\n\r",s,plotx[s],s,ploty[s]);
la00noix 0:c61c6e4775ca 425 }
la00noix 0:c61c6e4775ca 426 break;
la00noix 0:c61c6e4775ca 427
la00noix 0:c61c6e4775ca 428 case 8://→↓移動
la00noix 0:c61c6e4775ca 429 X=point_x1;
la00noix 0:c61c6e4775ca 430 Y=point_y2;
la00noix 0:c61c6e4775ca 431
la00noix 0:c61c6e4775ca 432 for(s=0; s<((90/theta)+1); s++) {
la00noix 0:c61c6e4775ca 433 plotx[s] = X + a * cos(PI/2 - s * (PI*theta/180));
la00noix 0:c61c6e4775ca 434 ploty[s] = Y + b * sin(PI/2 - s * (PI*theta/180));
la00noix 0:c61c6e4775ca 435 //debug_printf("plotx[%d]=%f ploty[%d]=%f\n\r",s,plotx[s],s,ploty[s]);
la00noix 0:c61c6e4775ca 436 }
la00noix 0:c61c6e4775ca 437 break;
la00noix 0:c61c6e4775ca 438 }
la00noix 0:c61c6e4775ca 439
la00noix 0:c61c6e4775ca 440 while(1) {
la00noix 0:c61c6e4775ca 441
la00noix 9:7667dcfc7ce5 442 if(id1_value[0] != 1)break;
la00noix 9:7667dcfc7ce5 443 if(id1_value[6] != flag)break;
la00noix 9:7667dcfc7ce5 444
la00noix 0:c61c6e4775ca 445 calc_xy(target_angle,u,v);
la00noix 0:c61c6e4775ca 446
la00noix 0:c61c6e4775ca 447 XYRmotorout(plotx[t],ploty[t],plotx[t+1],ploty[t+1],&x_out,&y_out,&r_out,speed,speed);
la00noix 0:c61c6e4775ca 448 CalMotorOut(x_out,y_out,r_out);
la00noix 0:c61c6e4775ca 449 //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);
la00noix 0:c61c6e4775ca 450
la00noix 0:c61c6e4775ca 451 base(GetMotorOut(0),GetMotorOut(1),GetMotorOut(2),GetMotorOut(3),4095); //m1～m4に代入
la00noix 0:c61c6e4775ca 452 //debug_printf("t=%d (0)=%f (1)=%f (2)=%f (3)=%f\n\r",t,GetMotorOut(0),GetMotorOut(1),GetMotorOut(2),GetMotorOut(3));
la00noix 6:26724c287387 453
la00noix 0:c61c6e4775ca 454 if(((plotx[t+1] - now_x)*(plotx[t+1] - plotx[t]) + (ploty[t+1] - now_y)*(ploty[t+1] - ploty[t])) < 0)t++;
la00noix 0:c61c6e4775ca 455
la00noix 0:c61c6e4775ca 456 MaxonControl(m1,m2,m3,m4); //出力
la00noix 0:c61c6e4775ca 457 debug_printf("t=%d m1=%d m2=%d m3=%d m4=%d x=%f y=%f angle=%f\n\r",t,m1,m2,m3,m4,now_x,now_y,now_angle);
la00noix 6:26724c287387 458
la00noix 0:c61c6e4775ca 459 if(t == (90/theta))break;
la00noix 0:c61c6e4775ca 460 }
la00noix 0:c61c6e4775ca 461 }
la00noix 0:c61c6e4775ca 462
la00noix 0:c61c6e4775ca 463 void gogo_straight(double u,double v, //直線運動プログラム
la00noix 0:c61c6e4775ca 464 double x1_point,double y1_point,
la00noix 0:c61c6e4775ca 465 double x2_point,double y2_point,
la00noix 0:c61c6e4775ca 466 double speed1,double speed2,
la00noix 0:c61c6e4775ca 467 double q_p,double q_d,
la00noix 0:c61c6e4775ca 468 double r_p,double r_d,
la00noix 0:c61c6e4775ca 469 double r_out_max,
la00noix 0:c61c6e4775ca 470 double target_angle)
la00noix 0:c61c6e4775ca 471 //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
la00noix 0:c61c6e4775ca 472 {
la00noix 0:c61c6e4775ca 473 //-----PathFollowingのパラメーター設定-----//
la00noix 0:c61c6e4775ca 474 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
la00noix 0:c61c6e4775ca 475 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
la00noix 0:c61c6e4775ca 476 set_r_out(r_out_max); //旋回時の最大出力値設定関数
la00noix 0:c61c6e4775ca 477 set_target_angle(target_angle); //機体目標角度設定関数
la00noix 6:26724c287387 478
la00noix 0:c61c6e4775ca 479 while (1) {
la00noix 0:c61c6e4775ca 480
la00noix 9:7667dcfc7ce5 481 if(id1_value[0] != 1)break;
la00noix 9:7667dcfc7ce5 482 if(id1_value[6] != flag)break;
la00noix 9:7667dcfc7ce5 483
la00noix 0:c61c6e4775ca 484 calc_xy(target_angle,u,v);
la00noix 0:c61c6e4775ca 485
la00noix 0:c61c6e4775ca 486 XYRmotorout(x1_point,y1_point,x2_point,y2_point,&x_out,&y_out,&r_out,speed1,speed2);
la00noix 0:c61c6e4775ca 487 //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);
la00noix 0:c61c6e4775ca 488
la00noix 0:c61c6e4775ca 489 CalMotorOut(x_out,y_out,r_out);
la00noix 0:c61c6e4775ca 490 //printf("out1=%lf, out2=%lf, out3=%lf, out4=%lf\n",GetMotorOut(0),GetMotorOut(1),GetMotorOut(2),GetMotorOut(3));
la00noix 0:c61c6e4775ca 491
la00noix 0:c61c6e4775ca 492 base(GetMotorOut(0),GetMotorOut(1),GetMotorOut(2),GetMotorOut(3),4095);
la00noix 0:c61c6e4775ca 493 //printf("m1=%d, m2=%d, m3=%d, m4=%d\r\n",m_1,m_2,m_3,m_4);
la00noix 6:26724c287387 494
la00noix 0:c61c6e4775ca 495 MaxonControl(m1,m2,m3,m4);
la00noix 0:c61c6e4775ca 496 debug_printf("m1=%d m2=%d m3=%d m4=%d x=%f y=%f angle=%f\n\r",m1,m2,m3,m4,now_x,now_y,now_angle);
la00noix 0:c61c6e4775ca 497
la00noix 0:c61c6e4775ca 498 if(((x2_point - now_x)*(x2_point - x1_point) + (y2_point - now_y)*(y2_point - y1_point)) < 0)break;
la00noix 0:c61c6e4775ca 499 }
la00noix 0:c61c6e4775ca 500 }
la00noix 0:c61c6e4775ca 501
la00noix 9:7667dcfc7ce5 502 /*void pos_correction(double tgt_x, double tgt_y, double tgt_angle, double u, double v) //位置補正(使用前にMaxonControl(0,0,0,0)を入れる)
la00noix 6:26724c287387 503 {
la00noix 6:26724c287387 504
la00noix 0:c61c6e4775ca 505 double r, R=10; // r:一回補正が入るごとの機体の位置と目標位置の距離(ズレ) R:補正終了とみなす目標位置からの機体の位置のズレ
la00noix 0:c61c6e4775ca 506 double out;
la00noix 6:26724c287387 507
la00noix 0:c61c6e4775ca 508 calc_xy(tgt_angle, u, v);
la00noix 6:26724c287387 509
la00noix 6:26724c287387 510 while(1) { //機体の位置を目標領域（目標座標＋許容誤差）に収める
la00noix 4:317c53a674fa 511 gogo_straight(u,v,now_x,now_y,tgt_x,tgt_y,200,50,5,0.1,10,0.1,500,tgt_angle);
la00noix 0:c61c6e4775ca 512 MaxonControl(0,0,0,0);
la00noix 6:26724c287387 513
la00noix 0:c61c6e4775ca 514 calc_xy(tgt_angle, u, v);
la00noix 6:26724c287387 515
la00noix 0:c61c6e4775ca 516 r=hypot(now_x - tgt_x, now_y - tgt_y);
la00noix 6:26724c287387 517
la00noix 0:c61c6e4775ca 518 if(r < R) break;
la00noix 7:44ce34007499 519 if(id1_value[0] != 1)break;
la00noix 0:c61c6e4775ca 520 }
la00noix 6:26724c287387 521
la00noix 6:26724c287387 522 while(1) {
la00noix 6:26724c287387 523
la00noix 0:c61c6e4775ca 524 calc_gyro();
la00noix 6:26724c287387 525
la00noix 0:c61c6e4775ca 526 out = 10 * (tgt_angle - now_angle);
la00noix 6:26724c287387 527
la00noix 0:c61c6e4775ca 528 if(out > 300) { //0～179°のときは時計回りに回転
la00noix 0:c61c6e4775ca 529 MaxonControl(300,300,300,300);
la00noix 6:26724c287387 530 } else if(out < -300) {
la00noix 6:26724c287387 531 MaxonControl(-300,-300,-300,-300);
la00noix 6:26724c287387 532 } else if(out <= 300 && out > -300) {
la00noix 0:c61c6e4775ca 533 MaxonControl(out,out,out,out);
la00noix 0:c61c6e4775ca 534 }
la00noix 6:26724c287387 535
yuki0701 3:8a0faa3b08c3 536 if(tgt_angle - 0.5 < now_angle && now_angle < tgt_angle + 0.5) break; //目標角度からの許容誤差内に機体の角度が収まった時、補正終了
la00noix 7:44ce34007499 537 if(id1_value[0] != 1)break;
la00noix 0:c61c6e4775ca 538 }
la00noix 0:c61c6e4775ca 539 MaxonControl(0,0,0,0);
la00noix 9:7667dcfc7ce5 540 }*/
yuki0701 11:9db93bce4eef 541 void pos_correction(double tgt_x, double tgt_y, double tgt_angle, double u, double v, double R) //改良版 位置補正(使用前にMaxonControl(0,0,0,0)を入れる)
la00noix 9:7667dcfc7ce5 542 {
yuki0701 10:c741191360de 543 //距離に比例的に補正初速度を増加させる。（最大速度を設定しそれ以上は出ないようにする/初期速度が目標速度を下回らないようにする）
la00noix 9:7667dcfc7ce5 544
yuki0701 11:9db93bce4eef 545 double first_speed, first_speed50 = 150,last_speed = 50, Max_speed = 300;
yuki0701 10:c741191360de 546 //first_speed50:５センチのズレを補正するときの補正初速度 / last_speed:目標速度 / first_speed:first_speed50とlast_speedを元に計算した実際の補正初速度 / Max_speed:補正速度の上限
yuki0701 11:9db93bce4eef 547 double r; // r:一回補正が入るごとの機体の位置と目標位置の距離(ズレ) R:補正終了とみなす目標位置からの機体の位置のズレ
la00noix 9:7667dcfc7ce5 548 double out;
yuki0701 10:c741191360de 549 double tgt_xx, tgt_yy;
la00noix 9:7667dcfc7ce5 550
la00noix 9:7667dcfc7ce5 551 calc_xy(tgt_angle, u, v);
la00noix 9:7667dcfc7ce5 552
yuki0701 10:c741191360de 553 r = hypot(now_x - tgt_x, now_y - tgt_y);
la00noix 9:7667dcfc7ce5 554
la00noix 9:7667dcfc7ce5 555 while(1) { //機体の位置を目標領域（目標座標＋許容誤差）に収める
la00noix 9:7667dcfc7ce5 556
yuki0701 10:c741191360de 557 first_speed = (first_speed50 - last_speed) * r / 50 + last_speed;
la00noix 9:7667dcfc7ce5 558
yuki0701 10:c741191360de 559 if(r < 20){ //目標地点までの距離が１センチ以上２センチ未満のとき
yuki0701 10:c741191360de 560 gogo_straight(u,v,now_x,now_y,tgt_x,tgt_y,30,30,5,0.1,10,0.1,500,tgt_angle);
yuki0701 10:c741191360de 561 }else if(r < 30){ ////目標地点までの距離が２センチ以上３センチ未満のとき
yuki0701 10:c741191360de 562 gogo_straight(u,v,now_x,now_y,tgt_x,tgt_y,40,40,5,0.1,10,0.1,500,tgt_angle);
yuki0701 10:c741191360de 563 }else if(first_speed > Max_speed){
yuki0701 10:c741191360de 564 tgt_xx = ((Max_speed - last_speed)*now_x + (first_speed - Max_speed)*tgt_x)/(first_speed-last_speed);
yuki0701 10:c741191360de 565 tgt_yy = ((Max_speed - last_speed)*now_y + (first_speed - Max_speed)*tgt_y)/(first_speed-last_speed);
yuki0701 10:c741191360de 566 gogo_straight(u,v,now_x,now_y,tgt_xx,tgt_yy,Max_speed,Max_speed,5,0.1,10,0.1,500,tgt_angle);
yuki0701 10:c741191360de 567 gogo_straight(u,v,tgt_xx,tgt_yy,tgt_x,tgt_y,Max_speed,last_speed,5,0.1,10,0.1,500,tgt_angle);
la00noix 9:7667dcfc7ce5 568 }else{
la00noix 9:7667dcfc7ce5 569 gogo_straight(u,v,now_x,now_y,tgt_x,tgt_y,first_speed,last_speed,5,0.1,10,0.1,500,tgt_angle);
yuki0701 10:c741191360de 570 }
la00noix 9:7667dcfc7ce5 571
yuki0701 10:c741191360de 572 //gogo_straight(u,v,now_x,now_y,tgt_x,tgt_y,first_speed50,last_speed,5,0.1,10,0.1,500,tgt_angle);
la00noix 9:7667dcfc7ce5 573
la00noix 9:7667dcfc7ce5 574 MaxonControl(0,0,0,0);
la00noix 9:7667dcfc7ce5 575
la00noix 9:7667dcfc7ce5 576 calc_xy(tgt_angle, u, v);
la00noix 9:7667dcfc7ce5 577
la00noix 9:7667dcfc7ce5 578 r=hypot(now_x - tgt_x, now_y - tgt_y);
la00noix 9:7667dcfc7ce5 579
la00noix 9:7667dcfc7ce5 580 if(r < R) break;
yuki0701 10:c741191360de 581 if(id1_value[0] != 1)break;
la00noix 9:7667dcfc7ce5 582 }
la00noix 9:7667dcfc7ce5 583
la00noix 9:7667dcfc7ce5 584 while(1) {
la00noix 9:7667dcfc7ce5 585
la00noix 9:7667dcfc7ce5 586 //calc_gyro();
la00noix 9:7667dcfc7ce5 587 now_angle=gyro.getAngle();
yuki0701 11:9db93bce4eef 588 //printf("angle = %f\n\r",now_angle);
la00noix 9:7667dcfc7ce5 589
la00noix 9:7667dcfc7ce5 590 out = 10 * (tgt_angle - now_angle);
la00noix 9:7667dcfc7ce5 591
la00noix 9:7667dcfc7ce5 592 if(out > 300) { //0～179°のときは時計回りに回転
la00noix 9:7667dcfc7ce5 593 MaxonControl(-300,-300,-300,-300);
la00noix 9:7667dcfc7ce5 594 } else if(out < -300) {
la00noix 9:7667dcfc7ce5 595 MaxonControl(300,300,300,300);
la00noix 9:7667dcfc7ce5 596 } else if(out <= 300 && out > -300) {
la00noix 9:7667dcfc7ce5 597 MaxonControl(-out,-out,-out,-out);
la00noix 9:7667dcfc7ce5 598 }
la00noix 9:7667dcfc7ce5 599
la00noix 9:7667dcfc7ce5 600 if(tgt_angle - 1 < now_angle && now_angle < tgt_angle + 1) break; //目標角度からの許容誤差内に機体の角度が収まった時、補正終了
yuki0701 10:c741191360de 601 if(id1_value[0] != 1)break;
la00noix 9:7667dcfc7ce5 602 }
la00noix 9:7667dcfc7ce5 603 MaxonControl(0,0,0,0);
yuki0701 10:c741191360de 604 }
yuki0701 10:c741191360de 605
yuki0701 11:9db93bce4eef 606
yuki0701 10:c741191360de 607 /*----------------------コメント------------------------*/
yuki0701 10:c741191360de 608 /* 3/10(日):pos_correctionの中身を一部修正しました。（引数に変更はありません。）
yuki0701 10:c741191360de 609
yuki0701 10:c741191360de 610 /*---------------------------------------------------*/