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@13:f9867c3b97b0, 2019-03-19 (annotated)

Committer:
yuki0701
Date:
Tue Mar 19 17:03:27 2019 +0000
Revision:
13:f9867c3b97b0
Parent:
11:9db93bce4eef 
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;
yuki0701 13:f9867c3b97b0 37 int RL_mode;
la00noix 9:7667dcfc7ce5 38
la00noix 0:c61c6e4775ca 39 ///////////////////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 40
la00noix 0:c61c6e4775ca 41 /*「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 42 *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 43 *(ex)
la00noix 0:c61c6e4775ca 44 *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 45 *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 46 */
la00noix 0:c61c6e4775ca 47
la00noix 6:26724c287387 48 typedef struct { //使用センサーの種類
la00noix 0:c61c6e4775ca 49 double usw; //超音波センサー
la00noix 0:c61c6e4775ca 50 double enc; //エンコーダ
la00noix 0:c61c6e4775ca 51 double gyro; //ジャイロ
la00noix 0:c61c6e4775ca 52 //double line;//ラインセンサー
la00noix 6:26724c287387 53 } robo_sensor;
la00noix 0:c61c6e4775ca 54
la00noix 6:26724c287387 55 typedef struct { //機体情報の種類
la00noix 0:c61c6e4775ca 56 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 57 robo_sensor nowX;
la00noix 0:c61c6e4775ca 58 robo_sensor nowY;
la00noix 6:26724c287387 59 } robo_data;
la00noix 0:c61c6e4775ca 60
la00noix 6:26724c287387 61 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 62
la00noix 0:c61c6e4775ca 63 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
la00noix 0:c61c6e4775ca 64
la00noix 6:26724c287387 65 void UserLoopSetting_sensor()
la00noix 6:26724c287387 66 {
la00noix 6:26724c287387 67
la00noix 0:c61c6e4775ca 68 gyro.initialize();
la00noix 0:c61c6e4775ca 69 ec_ticker.attach(&calOmega,0.05); //0.05秒間隔で角速度を計算
la00noix 4:317c53a674fa 70 EC1.setDiameter_mm(25.5);
la00noix 4:317c53a674fa 71 EC2.setDiameter_mm(25.5); //測定輪半径//後で測定
yuki0701 10:c741191360de 72 }
yuki0701 10:c741191360de 73 void UserLoopSetting_enc_right()
yuki0701 10:c741191360de 74 {
yuki0701 11:9db93bce4eef 75 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 76 info.nowY.enc = 3500;
yuki0701 13:f9867c3b97b0 77 RL_mode = 0;
yuki0701 10:c741191360de 78 }
yuki0701 10:c741191360de 79 void UserLoopSetting_enc_left()
yuki0701 10:c741191360de 80 {
yuki0701 11:9db93bce4eef 81 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 82 info.nowY.enc = 3500;
yuki0701 13:f9867c3b97b0 83 RL_mode = 1;
la00noix 0:c61c6e4775ca 84 }
la00noix 0:c61c6e4775ca 85
la00noix 0:c61c6e4775ca 86 void calOmega() //角速度計算関数
la00noix 0:c61c6e4775ca 87 {
la00noix 0:c61c6e4775ca 88 EC1.CalOmega();
la00noix 0:c61c6e4775ca 89 EC2.CalOmega();
la00noix 0:c61c6e4775ca 90 }
la00noix 0:c61c6e4775ca 91
la00noix 0:c61c6e4775ca 92 void output(double FL,double BL,double BR,double FR)
la00noix 0:c61c6e4775ca 93 {
la00noix 0:c61c6e4775ca 94 m1=FL;
la00noix 0:c61c6e4775ca 95 m2=BL;
la00noix 0:c61c6e4775ca 96 m3=BR;
la00noix 0:c61c6e4775ca 97 m4=FR;
la00noix 0:c61c6e4775ca 98 }
la00noix 0:c61c6e4775ca 99
la00noix 0:c61c6e4775ca 100 void base(double FL,double BL,double BR,double FR,double Max)
la00noix 0:c61c6e4775ca 101 //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 102 //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 103 {
la00noix 0:c61c6e4775ca 104 if(fabs(FL)>=Max||fabs(BL)>=Max||fabs(BR)>=Max||fabs(FR)>=Max) {
la00noix 0:c61c6e4775ca 105
la00noix 0:c61c6e4775ca 106 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 107 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 108 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 109 else output(Max*FL/fabs(FR),Max*BL/fabs(FR),Max*BR/fabs(FR),Max*FR/fabs(FR));
la00noix 6:26724c287387 110 } else {
la00noix 0:c61c6e4775ca 111 output(FL,BL,BR,FR);
la00noix 0:c61c6e4775ca 112 }
la00noix 0:c61c6e4775ca 113 }
la00noix 0:c61c6e4775ca 114
la00noix 6:26724c287387 115 void ashi_led()
la00noix 6:26724c287387 116 {
la00noix 6:26724c287387 117
la00noix 6:26724c287387 118 if(now_angle > -1 && now_angle < 1) {
la00noix 6:26724c287387 119 can_ashileddata0_0 = 1;
la00noix 6:26724c287387 120 } else {
la00noix 6:26724c287387 121 can_ashileddata0_0 = 0;
la00noix 0:c61c6e4775ca 122 }
la00noix 6:26724c287387 123
la00noix 6:26724c287387 124 if(now_angle > 350) {
la00noix 6:26724c287387 125 can_ashileddata0_1 = 1;
la00noix 6:26724c287387 126 } else {
la00noix 6:26724c287387 127 can_ashileddata0_1 = 0;
la00noix 0:c61c6e4775ca 128 }
la00noix 6:26724c287387 129
yuki0701 13:f9867c3b97b0 130 if(RL_mode == 0) {
yuki0701 13:f9867c3b97b0 131 if(now_x > 3110 && now_x < 3114) {
yuki0701 13:f9867c3b97b0 132 can_ashileddata0_2 = 1;
yuki0701 13:f9867c3b97b0 133 } else {
yuki0701 13:f9867c3b97b0 134 can_ashileddata0_2 = 0;
yuki0701 13:f9867c3b97b0 135 }
la00noix 6:26724c287387 136
yuki0701 13:f9867c3b97b0 137 if(now_y > 3498 && now_y < 3502) {
yuki0701 13:f9867c3b97b0 138 can_ashileddata0_3 = 1;
yuki0701 13:f9867c3b97b0 139 } else {
yuki0701 13:f9867c3b97b0 140 can_ashileddata0_3 = 0;
yuki0701 13:f9867c3b97b0 141 }
yuki0701 13:f9867c3b97b0 142 } else if(RL_mode == 1) {
yuki0701 13:f9867c3b97b0 143 if(now_x > -3114 && now_x < -3110) {
yuki0701 13:f9867c3b97b0 144 can_ashileddata0_2 = 1;
yuki0701 13:f9867c3b97b0 145 } else {
yuki0701 13:f9867c3b97b0 146 can_ashileddata0_2 = 0;
yuki0701 13:f9867c3b97b0 147 }
yuki0701 13:f9867c3b97b0 148
yuki0701 13:f9867c3b97b0 149 if(now_y > 3498 && now_y < 3502) {
yuki0701 13:f9867c3b97b0 150 can_ashileddata0_3 = 1;
yuki0701 13:f9867c3b97b0 151 } else {
yuki0701 13:f9867c3b97b0 152 can_ashileddata0_3 = 0;
yuki0701 13:f9867c3b97b0 153 }
la00noix 0:c61c6e4775ca 154 }
la00noix 6:26724c287387 155
la00noix 6:26724c287387 156 can_ashileddata[0] = (can_ashileddata0_0<<7 | can_ashileddata0_1<<6 | can_ashileddata0_2<<5 | can_ashileddata0_3<<4);
la00noix 0:c61c6e4775ca 157 }
la00noix 0:c61c6e4775ca 158
la00noix 6:26724c287387 159 void calc_gyro()
la00noix 6:26724c287387 160 {
la00noix 0:c61c6e4775ca 161 now_angle=gyro.getAngle(); //ジャイロの値読み込み
la00noix 0:c61c6e4775ca 162 }
la00noix 0:c61c6e4775ca 163
la00noix 0:c61c6e4775ca 164 void calc_xy_enc() //エンコーダ&ジャイロによる座標計算
la00noix 0:c61c6e4775ca 165 {
la00noix 0:c61c6e4775ca 166 now_angle=gyro.getAngle(); //ジャイロの値読み込み
la00noix 0:c61c6e4775ca 167
la00noix 0:c61c6e4775ca 168 new_dist1=EC1.getDistance_mm();
la00noix 0:c61c6e4775ca 169 new_dist2=EC2.getDistance_mm();
la00noix 0:c61c6e4775ca 170 d_dist1=new_dist1-old_dist1;
la00noix 0:c61c6e4775ca 171 d_dist2=new_dist2-old_dist2;
la00noix 0:c61c6e4775ca 172 old_dist1=new_dist1;
la00noix 0:c61c6e4775ca 173 old_dist2=new_dist2; //微小時間当たりのエンコーダ読み込み
la00noix 0:c61c6e4775ca 174
la00noix 0:c61c6e4775ca 175 d_x=d_dist2*sin(now_angle*PI/180)-d_dist1*cos(now_angle*PI/180);
la00noix 0:c61c6e4775ca 176 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 177 info.nowX.enc = info.nowX.enc + d_x;
la00noix 0:c61c6e4775ca 178 info.nowY.enc = info.nowY.enc - d_y; //微小時間毎に座標に加算
la00noix 0:c61c6e4775ca 179 }
la00noix 0:c61c6e4775ca 180
la00noix 6:26724c287387 181 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 182 {
la00noix 0:c61c6e4775ca 183 //引数の詳細は関数"calc_xy_usw"参照
la00noix 6:26724c287387 184
la00noix 6:26724c287387 185 xy_type = t;
la00noix 6:26724c287387 186
la00noix 6:26724c287387 187 pm_typeX = px;
la00noix 6:26724c287387 188 x_base = bx;
la00noix 6:26724c287387 189
la00noix 6:26724c287387 190 pm_typeY = py;
la00noix 6:26724c287387 191 y_base = by;
la00noix 0:c61c6e4775ca 192 }
la00noix 0:c61c6e4775ca 193
la00noix 6:26724c287387 194 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 195 {
la00noix 0:c61c6e4775ca 196 //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 197 //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 198 //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 199 //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 200
la00noix 0:c61c6e4775ca 201 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 202 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 203
la00noix 0:c61c6e4775ca 204 now_angle=gyro.getAngle(); //ジャイロの値読み込み
la00noix 6:26724c287387 205
la00noix 6:26724c287387 206 if(tgt_angle==0) {
la00noix 6:26724c287387 207 if((xy_type==0 || xy_type==2) && pm_typeX==0) {
la00noix 6:26724c287387 208
la00noix 6:26724c287387 209 info.nowX.usw = x_base - (usw_data4 + R4*cos(now_angle*PI/180) + D4*sin(now_angle*PI/180));
la00noix 6:26724c287387 210
la00noix 6:26724c287387 211 } else if((xy_type==0 || xy_type==2) && pm_typeX==1) {
la00noix 6:26724c287387 212
la00noix 6:26724c287387 213 info.nowX.usw = x_base + (usw_data3 + R3*cos(now_angle*PI/180) + D3*sin(now_angle*PI/180));
la00noix 6:26724c287387 214
la00noix 6:26724c287387 215 }
la00noix 6:26724c287387 216 if((xy_type==1 || xy_type==2) && pm_typeY==0) {
la00noix 6:26724c287387 217
la00noix 6:26724c287387 218 info.nowY.usw = y_base - (usw_data2 + R2*cos(now_angle*PI/180) + D2*sin(now_angle*PI/180));
la00noix 6:26724c287387 219
la00noix 6:26724c287387 220 } else if((xy_type==1 || xy_type==2) && pm_typeY==1) {
la00noix 6:26724c287387 221
la00noix 6:26724c287387 222 info.nowY.usw = y_base + (usw_data1 + R1*cos(now_angle*PI/180) + D1*sin(now_angle*PI/180));
la00noix 6:26724c287387 223
la00noix 6:26724c287387 224 }
la00noix 6:26724c287387 225
la00noix 6:26724c287387 226 } else if(tgt_angle==90) {
la00noix 6:26724c287387 227 if((xy_type==0 || xy_type==2) && pm_typeX==0) {
la00noix 6:26724c287387 228
la00noix 9:7667dcfc7ce5 229 info.nowX.usw = x_base - (usw_data1 + R1*cos((now_angle-tgt_angle)*PI/180) + D1*sin(now_angle*PI/180));
la00noix 6:26724c287387 230
la00noix 6:26724c287387 231 } else if((xy_type==0 || xy_type==2) && pm_typeX==1) {
la00noix 6:26724c287387 232
la00noix 9:7667dcfc7ce5 233 info.nowX.usw = x_base + (usw_data2 + R2*cos((now_angle-tgt_angle)*PI/180) + D2*sin(now_angle*PI/180));
la00noix 6:26724c287387 234
la00noix 6:26724c287387 235 }
la00noix 6:26724c287387 236 if((xy_type==1 || xy_type==2) && pm_typeY==0) {
la00noix 6:26724c287387 237
la00noix 9:7667dcfc7ce5 238 info.nowY.usw = y_base - (usw_data4 + R4*cos((now_angle-tgt_angle)*PI/180) + D4*sin(now_angle*PI/180));
la00noix 6:26724c287387 239
la00noix 6:26724c287387 240 } else if((xy_type==1 || xy_type==2) && pm_typeY==1) {
la00noix 6:26724c287387 241
la00noix 9:7667dcfc7ce5 242 info.nowY.usw = y_base + (usw_data3 + R3*cos((now_angle-tgt_angle)*PI/180) + D3*sin(now_angle*PI/180));
la00noix 6:26724c287387 243
la00noix 6:26724c287387 244 }
la00noix 6:26724c287387 245
la00noix 9:7667dcfc7ce5 246 } else if(tgt_angle==180 || tgt_angle==-180) {
la00noix 6:26724c287387 247 if((xy_type==0 || xy_type==2) && pm_typeX==0) {
la00noix 6:26724c287387 248
la00noix 9:7667dcfc7ce5 249 info.nowX.usw = x_base - (usw_data3 + R3*cos((now_angle-tgt_angle)*PI/180) + D3*sin(now_angle*PI/180));
la00noix 6:26724c287387 250
la00noix 6:26724c287387 251 } else if((xy_type==0 || xy_type==2) && pm_typeX==1) {
la00noix 6:26724c287387 252
la00noix 9:7667dcfc7ce5 253 info.nowX.usw = x_base + (usw_data4 + R4*cos((now_angle-tgt_angle)*PI/180) + D4*sin(now_angle*PI/180));
la00noix 6:26724c287387 254
la00noix 6:26724c287387 255 }
la00noix 6:26724c287387 256 if((xy_type==1 || xy_type==2) && pm_typeY==0) {
la00noix 6:26724c287387 257
la00noix 9:7667dcfc7ce5 258 info.nowY.usw = y_base - (usw_data1+ R1*cos((now_angle-tgt_angle)*PI/180) + D1*sin(now_angle*PI/180));
la00noix 6:26724c287387 259
la00noix 6:26724c287387 260 } else if((xy_type==1 || xy_type==2) && pm_typeY==1) {
la00noix 6:26724c287387 261
la00noix 9:7667dcfc7ce5 262 info.nowY.usw = y_base + (usw_data2 + R2*cos((now_angle-tgt_angle)*PI/180) + D2*sin(now_angle*PI/180));
la00noix 9:7667dcfc7ce5 263
la00noix 9:7667dcfc7ce5 264 }
la00noix 9:7667dcfc7ce5 265 } else if(tgt_angle==-90) {
la00noix 9:7667dcfc7ce5 266 if((xy_type==0 || xy_type==2) && pm_typeX==0) {
la00noix 9:7667dcfc7ce5 267
la00noix 9:7667dcfc7ce5 268 info.nowX.usw = x_base - (usw_data2 + R2*cos((now_angle-tgt_angle)*PI/180) + D2*sin(now_angle*PI/180));
la00noix 9:7667dcfc7ce5 269
la00noix 9:7667dcfc7ce5 270 } else if((xy_type==0 || xy_type==2) && pm_typeX==1) {
la00noix 9:7667dcfc7ce5 271
la00noix 9:7667dcfc7ce5 272 info.nowX.usw = x_base + (usw_data1 + R1*cos((now_angle-tgt_angle)*PI/180) + D1*sin(now_angle*PI/180));
la00noix 9:7667dcfc7ce5 273
la00noix 9:7667dcfc7ce5 274 }
la00noix 9:7667dcfc7ce5 275 if((xy_type==1 || xy_type==2) && pm_typeY==0) {
la00noix 9:7667dcfc7ce5 276
la00noix 9:7667dcfc7ce5 277 info.nowY.usw = y_base - (usw_data3 + R3*cos((now_angle-tgt_angle)*PI/180) + D3*sin(now_angle*PI/180));
la00noix 9:7667dcfc7ce5 278
la00noix 9:7667dcfc7ce5 279 } else if((xy_type==1 || xy_type==2) && pm_typeY==1) {
la00noix 9:7667dcfc7ce5 280
la00noix 9:7667dcfc7ce5 281 info.nowY.usw = y_base + (usw_data4 + R4*cos((now_angle-tgt_angle)*PI/180) + D4*sin(now_angle*PI/180));
la00noix 6:26724c287387 282
la00noix 6:26724c287387 283 }
la00noix 0:c61c6e4775ca 284 }
la00noix 0:c61c6e4775ca 285 }
la00noix 0:c61c6e4775ca 286
la00noix 6:26724c287387 287 void calc_xy(double target_angle, double u,double v)
la00noix 6:26724c287387 288 {
la00noix 0:c61c6e4775ca 289 //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 290
la00noix 6:26724c287387 291 calc_xy_enc();
yuki0701 13:f9867c3b97b0 292
yuki0701 13:f9867c3b97b0 293 if(usw_flag == 1) {
yuki0701 13:f9867c3b97b0 294 u = 1;
yuki0701 13:f9867c3b97b0 295 v = 1;
yuki0701 11:9db93bce4eef 296 }
la00noix 6:26724c287387 297
la00noix 6:26724c287387 298 if(u != 1 || v != 1) {
la00noix 6:26724c287387 299 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 300 }
la00noix 6:26724c287387 301
la00noix 0:c61c6e4775ca 302 now_x = u * info.nowX.enc + (1-u) * info.nowX.usw;
la00noix 0:c61c6e4775ca 303 now_y = v * info.nowY.enc + (1-v) * info.nowY.usw;
la00noix 6:26724c287387 304
la00noix 0:c61c6e4775ca 305 /*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 306 ec_led = 1;
la00noix 0:c61c6e4775ca 307 }else{
la00noix 0:c61c6e4775ca 308 ec_led = 0;
la00noix 0:c61c6e4775ca 309 }
la00noix 6:26724c287387 310
la00noix 0:c61c6e4775ca 311 if(now_angle >-0.5 && now_angle <0.5){
la00noix 0:c61c6e4775ca 312 gyro_led = 1;
la00noix 0:c61c6e4775ca 313 }else{
la00noix 0:c61c6e4775ca 314 gyro_led = 0;
la00noix 0:c61c6e4775ca 315 }*/
la00noix 0:c61c6e4775ca 316 }
la00noix 0:c61c6e4775ca 317
la00noix 9:7667dcfc7ce5 318 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 319 {
la00noix 9:7667dcfc7ce5 320 //x_select,y_select → (0:上書きしない/1:上書きする)
la00noix 9:7667dcfc7ce5 321
la00noix 9:7667dcfc7ce5 322 if(x_select == 1) {
la00noix 9:7667dcfc7ce5 323 info.nowX.enc = info.nowX.usw;
la00noix 9:7667dcfc7ce5 324 }
la00noix 9:7667dcfc7ce5 325 if(y_select == 1) {
la00noix 9:7667dcfc7ce5 326 info.nowY.enc = info.nowY.usw;
la00noix 9:7667dcfc7ce5 327 }
la00noix 9:7667dcfc7ce5 328
la00noix 9:7667dcfc7ce5 329 }
la00noix 9:7667dcfc7ce5 330
la00noix 0:c61c6e4775ca 331 //ここからそれぞれのプログラム/////////////////////////////////////////////////////////////////////////////////////////////////////////////////
la00noix 0:c61c6e4775ca 332 //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 333 //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 334 //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 335 //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 336
la00noix 0:c61c6e4775ca 337 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 338 double point_x1,double point_y1,
la00noix 0:c61c6e4775ca 339 double point_x2,double point_y2,
la00noix 0:c61c6e4775ca 340 int theta,
la00noix 0:c61c6e4775ca 341 double speed,
la00noix 0:c61c6e4775ca 342 double q_p,double q_d,
la00noix 0:c61c6e4775ca 343 double r_p,double r_d,
la00noix 0:c61c6e4775ca 344 double r_out_max,
la00noix 0:c61c6e4775ca 345 double target_angle)
la00noix 0:c61c6e4775ca 346 //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 347 {
la00noix 0:c61c6e4775ca 348 //-----PathFollowingのパラメーター設定-----//
la00noix 0:c61c6e4775ca 349 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 350 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 351 set_r_out(r_out_max); //旋回時の最大出力値設定関数
la00noix 0:c61c6e4775ca 352 set_target_angle(target_angle); //機体目標角度設定関数
la00noix 0:c61c6e4775ca 353
la00noix 0:c61c6e4775ca 354 int s;
la00noix 0:c61c6e4775ca 355 int t = 0;
la00noix 0:c61c6e4775ca 356 double X,Y;//X=楕円の中心座標、Y=楕円の中心座標
la00noix 0:c61c6e4775ca 357 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 358 double plotx[(90/theta)+1]; //楕円にとるplotのx座標
la00noix 0:c61c6e4775ca 359 double ploty[(90/theta)+1];
la00noix 0:c61c6e4775ca 360
la00noix 0:c61c6e4775ca 361 double x_out,y_out,r_out;
la00noix 0:c61c6e4775ca 362
la00noix 0:c61c6e4775ca 363 a=fabs(point_x1-point_x2);
la00noix 0:c61c6e4775ca 364 b=fabs(point_y1-point_y2);
la00noix 0:c61c6e4775ca 365
la00noix 0:c61c6e4775ca 366 switch(type) {
la00noix 0:c61c6e4775ca 367
la00noix 0:c61c6e4775ca 368 case 1://→↑移動
la00noix 0:c61c6e4775ca 369 X=point_x1;
la00noix 0:c61c6e4775ca 370 Y=point_y2;
la00noix 0:c61c6e4775ca 371
la00noix 0:c61c6e4775ca 372 for(s=0; s<((90/theta)+1); s++) {
la00noix 0:c61c6e4775ca 373 plotx[s] = X + a * cos(-PI/2 + s * (PI*theta/180));
la00noix 0:c61c6e4775ca 374 ploty[s] = Y + b * sin(-PI/2 + s * (PI*theta/180));
la00noix 0:c61c6e4775ca 375 //debug_printf("plotx[%d]=%f ploty[%d]=%f\n\r",s,plotx[s],s,ploty[s]);
la00noix 0:c61c6e4775ca 376 }
la00noix 0:c61c6e4775ca 377 break;
la00noix 0:c61c6e4775ca 378
la00noix 0:c61c6e4775ca 379 case 2://↑→移動
la00noix 0:c61c6e4775ca 380 X=point_x2;
la00noix 0:c61c6e4775ca 381 Y=point_y1;
la00noix 0:c61c6e4775ca 382
la00noix 0:c61c6e4775ca 383 for(s=0; s<((90/theta)+1); s++) {
la00noix 0:c61c6e4775ca 384 plotx[s] = X + a * cos(PI - s * (PI*theta/180));
la00noix 0:c61c6e4775ca 385 ploty[s] = Y + b * sin(PI - s * (PI*theta/180));
la00noix 0:c61c6e4775ca 386 //debug_printf("plotx[%d]=%f ploty[%d]=%f\n\r",s,plotx[s],s,ploty[s]);
la00noix 0:c61c6e4775ca 387 }
la00noix 0:c61c6e4775ca 388 break;
la00noix 0:c61c6e4775ca 389
la00noix 0:c61c6e4775ca 390 case 3://↑←移動
la00noix 0:c61c6e4775ca 391 X=point_x2;
la00noix 0:c61c6e4775ca 392 Y=point_y1;
la00noix 0:c61c6e4775ca 393
la00noix 0:c61c6e4775ca 394 for(s=0; s<((90/theta)+1); s++) {
la00noix 0:c61c6e4775ca 395 plotx[s] = X + a * cos(s * (PI*theta/180));
la00noix 0:c61c6e4775ca 396 ploty[s] = Y + b * sin(s * (PI*theta/180));
la00noix 0:c61c6e4775ca 397 //debug_printf("plotx[%d]=%f ploty[%d]=%f\n\r",s,plotx[s],s,ploty[s]);
la00noix 0:c61c6e4775ca 398 }
la00noix 0:c61c6e4775ca 399 break;
la00noix 0:c61c6e4775ca 400
la00noix 0:c61c6e4775ca 401 case 4://←↑移動
la00noix 0:c61c6e4775ca 402 X=point_x1;
la00noix 0:c61c6e4775ca 403 Y=point_y2;
la00noix 0:c61c6e4775ca 404
la00noix 0:c61c6e4775ca 405 for(s=0; s<((90/theta)+1); s++) {
la00noix 0:c61c6e4775ca 406 plotx[s] = X + a * cos(-PI/2 - s * (PI*theta/180));
la00noix 0:c61c6e4775ca 407 ploty[s] = Y + b * sin(-PI/2 - s * (PI*theta/180));
la00noix 0:c61c6e4775ca 408 //debug_printf("plotx[%d]=%f ploty[%d]=%f\n\r",s,plotx[s],s,ploty[s]);
la00noix 0:c61c6e4775ca 409 }
la00noix 0:c61c6e4775ca 410 break;
la00noix 0:c61c6e4775ca 411
la00noix 0:c61c6e4775ca 412 case 5://←↓移動
la00noix 0:c61c6e4775ca 413 X=point_x1;
la00noix 0:c61c6e4775ca 414 Y=point_y2;
la00noix 0:c61c6e4775ca 415
la00noix 0:c61c6e4775ca 416 for(s=0; s<((90/theta)+1); s++) {
la00noix 0:c61c6e4775ca 417 plotx[s] = X + a * cos(PI/2 + s * (PI*theta/180));
la00noix 0:c61c6e4775ca 418 ploty[s] = Y + b * sin(PI/2 + s * (PI*theta/180));
la00noix 0:c61c6e4775ca 419 //debug_printf("plotx[%d]=%f ploty[%d]=%f\n\r",s,plotx[s],s,ploty[s]);
la00noix 0:c61c6e4775ca 420 }
la00noix 0:c61c6e4775ca 421 break;
la00noix 0:c61c6e4775ca 422
la00noix 0:c61c6e4775ca 423 case 6://↓←移動
la00noix 0:c61c6e4775ca 424 X=point_x2;
la00noix 0:c61c6e4775ca 425 Y=point_y1;
la00noix 0:c61c6e4775ca 426
la00noix 0:c61c6e4775ca 427 for(s=0; s<((90/theta)+1); s++) {
la00noix 0:c61c6e4775ca 428 plotx[s] = X + a * cos(-s * (PI*theta/180));
la00noix 0:c61c6e4775ca 429 ploty[s] = Y + b * sin(-s * (PI*theta/180));
la00noix 0:c61c6e4775ca 430 //debug_printf("plotx[%d]=%f ploty[%d]=%f\n\r",s,plotx[s],s,ploty[s]);
la00noix 0:c61c6e4775ca 431 }
la00noix 0:c61c6e4775ca 432 break;
la00noix 0:c61c6e4775ca 433
la00noix 0:c61c6e4775ca 434 case 7://↓→移動
la00noix 0:c61c6e4775ca 435 X=point_x2;
la00noix 0:c61c6e4775ca 436 Y=point_y1;
la00noix 0:c61c6e4775ca 437
la00noix 0:c61c6e4775ca 438 for(s=0; s<((90/theta)+1); s++) {
la00noix 0:c61c6e4775ca 439 plotx[s] = X + a * cos(PI + s * (PI*theta/180));
la00noix 0:c61c6e4775ca 440 ploty[s] = Y + b * sin(PI + s * (PI*theta/180));
la00noix 0:c61c6e4775ca 441 //debug_printf("plotx[%d]=%f ploty[%d]=%f\n\r",s,plotx[s],s,ploty[s]);
la00noix 0:c61c6e4775ca 442 }
la00noix 0:c61c6e4775ca 443 break;
la00noix 0:c61c6e4775ca 444
la00noix 0:c61c6e4775ca 445 case 8://→↓移動
la00noix 0:c61c6e4775ca 446 X=point_x1;
la00noix 0:c61c6e4775ca 447 Y=point_y2;
la00noix 0:c61c6e4775ca 448
la00noix 0:c61c6e4775ca 449 for(s=0; s<((90/theta)+1); s++) {
la00noix 0:c61c6e4775ca 450 plotx[s] = X + a * cos(PI/2 - s * (PI*theta/180));
la00noix 0:c61c6e4775ca 451 ploty[s] = Y + b * sin(PI/2 - s * (PI*theta/180));
la00noix 0:c61c6e4775ca 452 //debug_printf("plotx[%d]=%f ploty[%d]=%f\n\r",s,plotx[s],s,ploty[s]);
la00noix 0:c61c6e4775ca 453 }
la00noix 0:c61c6e4775ca 454 break;
la00noix 0:c61c6e4775ca 455 }
la00noix 0:c61c6e4775ca 456
la00noix 0:c61c6e4775ca 457 while(1) {
la00noix 0:c61c6e4775ca 458
la00noix 9:7667dcfc7ce5 459 if(id1_value[0] != 1)break;
la00noix 9:7667dcfc7ce5 460 if(id1_value[6] != flag)break;
la00noix 9:7667dcfc7ce5 461
la00noix 0:c61c6e4775ca 462 calc_xy(target_angle,u,v);
la00noix 0:c61c6e4775ca 463
la00noix 0:c61c6e4775ca 464 XYRmotorout(plotx[t],ploty[t],plotx[t+1],ploty[t+1],&x_out,&y_out,&r_out,speed,speed);
la00noix 0:c61c6e4775ca 465 CalMotorOut(x_out,y_out,r_out);
la00noix 0:c61c6e4775ca 466 //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 467
la00noix 0:c61c6e4775ca 468 base(GetMotorOut(0),GetMotorOut(1),GetMotorOut(2),GetMotorOut(3),4095); //m1～m4に代入
la00noix 0:c61c6e4775ca 469 //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 470
la00noix 0:c61c6e4775ca 471 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 472
la00noix 0:c61c6e4775ca 473 MaxonControl(m1,m2,m3,m4); //出力
la00noix 0:c61c6e4775ca 474 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 475
la00noix 0:c61c6e4775ca 476 if(t == (90/theta))break;
la00noix 0:c61c6e4775ca 477 }
la00noix 0:c61c6e4775ca 478 }
la00noix 0:c61c6e4775ca 479
la00noix 0:c61c6e4775ca 480 void gogo_straight(double u,double v, //直線運動プログラム
la00noix 0:c61c6e4775ca 481 double x1_point,double y1_point,
la00noix 0:c61c6e4775ca 482 double x2_point,double y2_point,
la00noix 0:c61c6e4775ca 483 double speed1,double speed2,
la00noix 0:c61c6e4775ca 484 double q_p,double q_d,
la00noix 0:c61c6e4775ca 485 double r_p,double r_d,
la00noix 0:c61c6e4775ca 486 double r_out_max,
la00noix 0:c61c6e4775ca 487 double target_angle)
la00noix 0:c61c6e4775ca 488 //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 489 {
la00noix 0:c61c6e4775ca 490 //-----PathFollowingのパラメーター設定-----//
la00noix 0:c61c6e4775ca 491 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 492 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 493 set_r_out(r_out_max); //旋回時の最大出力値設定関数
la00noix 0:c61c6e4775ca 494 set_target_angle(target_angle); //機体目標角度設定関数
la00noix 6:26724c287387 495
la00noix 0:c61c6e4775ca 496 while (1) {
la00noix 0:c61c6e4775ca 497
la00noix 9:7667dcfc7ce5 498 if(id1_value[0] != 1)break;
la00noix 9:7667dcfc7ce5 499 if(id1_value[6] != flag)break;
la00noix 9:7667dcfc7ce5 500
la00noix 0:c61c6e4775ca 501 calc_xy(target_angle,u,v);
la00noix 0:c61c6e4775ca 502
la00noix 0:c61c6e4775ca 503 XYRmotorout(x1_point,y1_point,x2_point,y2_point,&x_out,&y_out,&r_out,speed1,speed2);
la00noix 0:c61c6e4775ca 504 //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 505
la00noix 0:c61c6e4775ca 506 CalMotorOut(x_out,y_out,r_out);
la00noix 0:c61c6e4775ca 507 //printf("out1=%lf, out2=%lf, out3=%lf, out4=%lf\n",GetMotorOut(0),GetMotorOut(1),GetMotorOut(2),GetMotorOut(3));
la00noix 0:c61c6e4775ca 508
la00noix 0:c61c6e4775ca 509 base(GetMotorOut(0),GetMotorOut(1),GetMotorOut(2),GetMotorOut(3),4095);
la00noix 0:c61c6e4775ca 510 //printf("m1=%d, m2=%d, m3=%d, m4=%d\r\n",m_1,m_2,m_3,m_4);
la00noix 6:26724c287387 511
la00noix 0:c61c6e4775ca 512 MaxonControl(m1,m2,m3,m4);
la00noix 0:c61c6e4775ca 513 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 514
la00noix 0:c61c6e4775ca 515 if(((x2_point - now_x)*(x2_point - x1_point) + (y2_point - now_y)*(y2_point - y1_point)) < 0)break;
la00noix 0:c61c6e4775ca 516 }
la00noix 0:c61c6e4775ca 517 }
la00noix 0:c61c6e4775ca 518
la00noix 9:7667dcfc7ce5 519 /*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 520 {
la00noix 6:26724c287387 521
la00noix 0:c61c6e4775ca 522 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 523 double out;
la00noix 6:26724c287387 524
la00noix 0:c61c6e4775ca 525 calc_xy(tgt_angle, u, v);
la00noix 6:26724c287387 526
la00noix 6:26724c287387 527 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 528 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 529 MaxonControl(0,0,0,0);
la00noix 6:26724c287387 530
la00noix 0:c61c6e4775ca 531 calc_xy(tgt_angle, u, v);
la00noix 6:26724c287387 532
la00noix 0:c61c6e4775ca 533 r=hypot(now_x - tgt_x, now_y - tgt_y);
la00noix 6:26724c287387 534
la00noix 0:c61c6e4775ca 535 if(r < R) break;
la00noix 7:44ce34007499 536 if(id1_value[0] != 1)break;
la00noix 0:c61c6e4775ca 537 }
la00noix 6:26724c287387 538
la00noix 6:26724c287387 539 while(1) {
la00noix 6:26724c287387 540
la00noix 0:c61c6e4775ca 541 calc_gyro();
la00noix 6:26724c287387 542
la00noix 0:c61c6e4775ca 543 out = 10 * (tgt_angle - now_angle);
la00noix 6:26724c287387 544
la00noix 0:c61c6e4775ca 545 if(out > 300) { //0～179°のときは時計回りに回転
la00noix 0:c61c6e4775ca 546 MaxonControl(300,300,300,300);
la00noix 6:26724c287387 547 } else if(out < -300) {
la00noix 6:26724c287387 548 MaxonControl(-300,-300,-300,-300);
la00noix 6:26724c287387 549 } else if(out <= 300 && out > -300) {
la00noix 0:c61c6e4775ca 550 MaxonControl(out,out,out,out);
la00noix 0:c61c6e4775ca 551 }
la00noix 6:26724c287387 552
yuki0701 3:8a0faa3b08c3 553 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 554 if(id1_value[0] != 1)break;
la00noix 0:c61c6e4775ca 555 }
la00noix 0:c61c6e4775ca 556 MaxonControl(0,0,0,0);
la00noix 9:7667dcfc7ce5 557 }*/
yuki0701 11:9db93bce4eef 558 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 559 {
yuki0701 10:c741191360de 560 //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 561
yuki0701 13:f9867c3b97b0 562 double first_speed, first_speed50 = 150,last_speed = 50, Max_speed = 300;
yuki0701 10:c741191360de 563 //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 564 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 565 double out;
yuki0701 10:c741191360de 566 double tgt_xx, tgt_yy;
la00noix 9:7667dcfc7ce5 567
la00noix 9:7667dcfc7ce5 568 calc_xy(tgt_angle, u, v);
la00noix 9:7667dcfc7ce5 569
yuki0701 10:c741191360de 570 r = hypot(now_x - tgt_x, now_y - tgt_y);
la00noix 9:7667dcfc7ce5 571
la00noix 9:7667dcfc7ce5 572 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 573
yuki0701 10:c741191360de 574 first_speed = (first_speed50 - last_speed) * r / 50 + last_speed;
la00noix 9:7667dcfc7ce5 575
yuki0701 13:f9867c3b97b0 576 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 577 gogo_straight(u,v,now_x,now_y,tgt_x,tgt_y,30,30,5,0.1,10,0.1,500,tgt_angle);
yuki0701 13:f9867c3b97b0 578 } 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 579 gogo_straight(u,v,now_x,now_y,tgt_x,tgt_y,40,40,5,0.1,10,0.1,500,tgt_angle);
yuki0701 13:f9867c3b97b0 580 } else if(first_speed > Max_speed) {
yuki0701 10:c741191360de 581 tgt_xx = ((Max_speed - last_speed)*now_x + (first_speed - Max_speed)*tgt_x)/(first_speed-last_speed);
yuki0701 10:c741191360de 582 tgt_yy = ((Max_speed - last_speed)*now_y + (first_speed - Max_speed)*tgt_y)/(first_speed-last_speed);
yuki0701 10:c741191360de 583 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 584 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);
yuki0701 13:f9867c3b97b0 585 } else {
la00noix 9:7667dcfc7ce5 586 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 587 }
la00noix 9:7667dcfc7ce5 588
yuki0701 13:f9867c3b97b0 589 //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 590
la00noix 9:7667dcfc7ce5 591 MaxonControl(0,0,0,0);
la00noix 9:7667dcfc7ce5 592
la00noix 9:7667dcfc7ce5 593 calc_xy(tgt_angle, u, v);
la00noix 9:7667dcfc7ce5 594
la00noix 9:7667dcfc7ce5 595 r=hypot(now_x - tgt_x, now_y - tgt_y);
la00noix 9:7667dcfc7ce5 596
la00noix 9:7667dcfc7ce5 597 if(r < R) break;
yuki0701 10:c741191360de 598 if(id1_value[0] != 1)break;
la00noix 9:7667dcfc7ce5 599 }
la00noix 9:7667dcfc7ce5 600
la00noix 9:7667dcfc7ce5 601 while(1) {
la00noix 9:7667dcfc7ce5 602
la00noix 9:7667dcfc7ce5 603 //calc_gyro();
la00noix 9:7667dcfc7ce5 604 now_angle=gyro.getAngle();
yuki0701 11:9db93bce4eef 605 //printf("angle = %f\n\r",now_angle);
la00noix 9:7667dcfc7ce5 606
la00noix 9:7667dcfc7ce5 607 out = 10 * (tgt_angle - now_angle);
la00noix 9:7667dcfc7ce5 608
la00noix 9:7667dcfc7ce5 609 if(out > 300) { //0～179°のときは時計回りに回転
la00noix 9:7667dcfc7ce5 610 MaxonControl(-300,-300,-300,-300);
la00noix 9:7667dcfc7ce5 611 } else if(out < -300) {
la00noix 9:7667dcfc7ce5 612 MaxonControl(300,300,300,300);
la00noix 9:7667dcfc7ce5 613 } else if(out <= 300 && out > -300) {
la00noix 9:7667dcfc7ce5 614 MaxonControl(-out,-out,-out,-out);
la00noix 9:7667dcfc7ce5 615 }
la00noix 9:7667dcfc7ce5 616
la00noix 9:7667dcfc7ce5 617 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 618 if(id1_value[0] != 1)break;
la00noix 9:7667dcfc7ce5 619 }
la00noix 9:7667dcfc7ce5 620 MaxonControl(0,0,0,0);
yuki0701 10:c741191360de 621 }
yuki0701 10:c741191360de 622
yuki0701 11:9db93bce4eef 623
yuki0701 10:c741191360de 624 /*----------------------コメント------------------------*/
yuki0701 10:c741191360de 625 /* 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 626
yuki0701 10:c741191360de 627 /*---------------------------------------------------*/