春ロボ1班(元F3RC4班+) / Mbed 2 deprecated harurobo_ashi_3_6

3/6

Dependencies:   mbed move4wheel2 EC CruizCore_R1370P

movement/movement.cpp@8:4bdfac5b52e1, 2019-03-05 (annotated)

Committer:
yuki0701
Date:
Tue Mar 05 04:29:49 2019 +0000
Revision:
8:4bdfac5b52e1
Parent:
7:44ce34007499
Child:
9:337fe0747940
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 6:26724c287387 14 char can_ashileddata[1]= {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 0:c61c6e4775ca 36 ///////////////////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 37
la00noix 0:c61c6e4775ca 38 /*「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 39 *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 40 *(ex)
la00noix 0:c61c6e4775ca 41 *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 42 *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 43 */
la00noix 0:c61c6e4775ca 44
la00noix 6:26724c287387 45 typedef struct { //使用センサーの種類
la00noix 0:c61c6e4775ca 46 double usw; //超音波センサー
la00noix 0:c61c6e4775ca 47 double enc; //エンコーダ
la00noix 0:c61c6e4775ca 48 double gyro; //ジャイロ
la00noix 0:c61c6e4775ca 49 //double line;//ラインセンサー
la00noix 6:26724c287387 50 } robo_sensor;
la00noix 0:c61c6e4775ca 51
la00noix 6:26724c287387 52 typedef struct { //機体情報の種類
la00noix 0:c61c6e4775ca 53 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 54 robo_sensor nowX;
la00noix 0:c61c6e4775ca 55 robo_sensor nowY;
la00noix 6:26724c287387 56 } robo_data;
la00noix 0:c61c6e4775ca 57
la00noix 6:26724c287387 58 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 59
la00noix 0:c61c6e4775ca 60 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
la00noix 0:c61c6e4775ca 61
la00noix 6:26724c287387 62 void UserLoopSetting_sensor()
la00noix 6:26724c287387 63 {
la00noix 6:26724c287387 64
la00noix 0:c61c6e4775ca 65 gyro.initialize();
la00noix 0:c61c6e4775ca 66 ec_ticker.attach(&calOmega,0.05); //0.05秒間隔で角速度を計算
la00noix 4:317c53a674fa 67 EC1.setDiameter_mm(25.5);
la00noix 4:317c53a674fa 68 EC2.setDiameter_mm(25.5); //測定輪半径//後で測定
yuki0701 1:3c11e07da92a 69 info.nowX.enc = -2962; //初期位置の設定
yuki0701 1:3c11e07da92a 70 info.nowY.enc = 3500;
la00noix 0:c61c6e4775ca 71 }
la00noix 0:c61c6e4775ca 72
la00noix 0:c61c6e4775ca 73 void calOmega() //角速度計算関数
la00noix 0:c61c6e4775ca 74 {
la00noix 0:c61c6e4775ca 75 EC1.CalOmega();
la00noix 0:c61c6e4775ca 76 EC2.CalOmega();
la00noix 0:c61c6e4775ca 77 }
la00noix 0:c61c6e4775ca 78
la00noix 0:c61c6e4775ca 79 void output(double FL,double BL,double BR,double FR)
la00noix 0:c61c6e4775ca 80 {
la00noix 0:c61c6e4775ca 81 m1=FL;
la00noix 0:c61c6e4775ca 82 m2=BL;
la00noix 0:c61c6e4775ca 83 m3=BR;
la00noix 0:c61c6e4775ca 84 m4=FR;
la00noix 0:c61c6e4775ca 85 }
la00noix 0:c61c6e4775ca 86
la00noix 0:c61c6e4775ca 87 void base(double FL,double BL,double BR,double FR,double Max)
la00noix 0:c61c6e4775ca 88 //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 89 //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 90 {
la00noix 0:c61c6e4775ca 91 if(fabs(FL)>=Max||fabs(BL)>=Max||fabs(BR)>=Max||fabs(FR)>=Max) {
la00noix 0:c61c6e4775ca 92
la00noix 0:c61c6e4775ca 93 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 94 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 95 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 96 else output(Max*FL/fabs(FR),Max*BL/fabs(FR),Max*BR/fabs(FR),Max*FR/fabs(FR));
la00noix 6:26724c287387 97 } else {
la00noix 0:c61c6e4775ca 98 output(FL,BL,BR,FR);
la00noix 0:c61c6e4775ca 99 }
la00noix 0:c61c6e4775ca 100 }
la00noix 0:c61c6e4775ca 101
la00noix 6:26724c287387 102 void ashi_led()
la00noix 6:26724c287387 103 {
la00noix 6:26724c287387 104
la00noix 6:26724c287387 105 if(now_angle > -1 && now_angle < 1) {
la00noix 6:26724c287387 106 can_ashileddata0_0 = 1;
la00noix 6:26724c287387 107 } else {
la00noix 6:26724c287387 108 can_ashileddata0_0 = 0;
la00noix 0:c61c6e4775ca 109 }
la00noix 6:26724c287387 110
la00noix 6:26724c287387 111 if(now_angle > 350) {
la00noix 6:26724c287387 112 can_ashileddata0_1 = 1;
la00noix 6:26724c287387 113 } else {
la00noix 6:26724c287387 114 can_ashileddata0_1 = 0;
la00noix 0:c61c6e4775ca 115 }
la00noix 6:26724c287387 116
la00noix 6:26724c287387 117 if(now_x > -1 && now_x < 1) {
la00noix 6:26724c287387 118 can_ashileddata0_2 = 1;
la00noix 6:26724c287387 119 } else {
la00noix 6:26724c287387 120 can_ashileddata0_2 = 0;
la00noix 0:c61c6e4775ca 121 }
la00noix 6:26724c287387 122
la00noix 6:26724c287387 123 if(now_y > -1 && now_y < 1) {
la00noix 6:26724c287387 124 can_ashileddata0_3 = 1;
la00noix 6:26724c287387 125 } else {
la00noix 6:26724c287387 126 can_ashileddata0_3 = 0;
la00noix 0:c61c6e4775ca 127 }
la00noix 6:26724c287387 128
la00noix 6:26724c287387 129 can_ashileddata[0] = (can_ashileddata0_0<<7 | can_ashileddata0_1<<6 | can_ashileddata0_2<<5 | can_ashileddata0_3<<4);
la00noix 0:c61c6e4775ca 130 }
la00noix 0:c61c6e4775ca 131
la00noix 6:26724c287387 132 void calc_gyro()
la00noix 6:26724c287387 133 {
la00noix 0:c61c6e4775ca 134 now_angle=gyro.getAngle(); //ジャイロの値読み込み
la00noix 0:c61c6e4775ca 135 }
la00noix 0:c61c6e4775ca 136
la00noix 0:c61c6e4775ca 137 void calc_xy_enc() //エンコーダ&ジャイロによる座標計算
la00noix 0:c61c6e4775ca 138 {
la00noix 0:c61c6e4775ca 139 now_angle=gyro.getAngle(); //ジャイロの値読み込み
la00noix 0:c61c6e4775ca 140
la00noix 0:c61c6e4775ca 141 new_dist1=EC1.getDistance_mm();
la00noix 0:c61c6e4775ca 142 new_dist2=EC2.getDistance_mm();
la00noix 0:c61c6e4775ca 143 d_dist1=new_dist1-old_dist1;
la00noix 0:c61c6e4775ca 144 d_dist2=new_dist2-old_dist2;
la00noix 0:c61c6e4775ca 145 old_dist1=new_dist1;
la00noix 0:c61c6e4775ca 146 old_dist2=new_dist2; //微小時間当たりのエンコーダ読み込み
la00noix 0:c61c6e4775ca 147
la00noix 0:c61c6e4775ca 148 d_x=d_dist2*sin(now_angle*PI/180)-d_dist1*cos(now_angle*PI/180);
la00noix 0:c61c6e4775ca 149 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 150 info.nowX.enc = info.nowX.enc + d_x;
la00noix 0:c61c6e4775ca 151 info.nowY.enc = info.nowY.enc - d_y; //微小時間毎に座標に加算
la00noix 0:c61c6e4775ca 152 }
la00noix 0:c61c6e4775ca 153
la00noix 6:26724c287387 154 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 155 {
la00noix 0:c61c6e4775ca 156 //引数の詳細は関数"calc_xy_usw"参照
la00noix 6:26724c287387 157
la00noix 6:26724c287387 158 xy_type = t;
la00noix 6:26724c287387 159
la00noix 6:26724c287387 160 pm_typeX = px;
la00noix 6:26724c287387 161 x_base = bx;
la00noix 6:26724c287387 162
la00noix 6:26724c287387 163 pm_typeY = py;
la00noix 6:26724c287387 164 y_base = by;
la00noix 0:c61c6e4775ca 165 }
la00noix 0:c61c6e4775ca 166
la00noix 6:26724c287387 167 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 168 {
la00noix 0:c61c6e4775ca 169 //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 170 //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 171 //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 172 //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 173
la00noix 0:c61c6e4775ca 174 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 0:c61c6e4775ca 175 double D1=30,D2=30,D3=30,D4=30; //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
la00noix 6:26724c287387 176
la00noix 0:c61c6e4775ca 177 now_angle=gyro.getAngle(); //ジャイロの値読み込み
la00noix 6:26724c287387 178
la00noix 6:26724c287387 179 if(tgt_angle==0) {
la00noix 6:26724c287387 180 if((xy_type==0 || xy_type==2) && pm_typeX==0) {
la00noix 6:26724c287387 181
la00noix 6:26724c287387 182 info.nowX.usw = x_base - (usw_data4 + R4*cos(now_angle*PI/180) + D4*sin(now_angle*PI/180));
la00noix 6:26724c287387 183
la00noix 6:26724c287387 184 } else if((xy_type==0 || xy_type==2) && pm_typeX==1) {
la00noix 6:26724c287387 185
la00noix 6:26724c287387 186 info.nowX.usw = x_base + (usw_data3 + R3*cos(now_angle*PI/180) + D3*sin(now_angle*PI/180));
la00noix 6:26724c287387 187
la00noix 6:26724c287387 188 }
la00noix 6:26724c287387 189 if((xy_type==1 || xy_type==2) && pm_typeY==0) {
la00noix 6:26724c287387 190
la00noix 6:26724c287387 191 info.nowY.usw = y_base - (usw_data2 + R2*cos(now_angle*PI/180) + D2*sin(now_angle*PI/180));
la00noix 6:26724c287387 192
la00noix 6:26724c287387 193 } else if((xy_type==1 || xy_type==2) && pm_typeY==1) {
la00noix 6:26724c287387 194
la00noix 6:26724c287387 195 info.nowY.usw = y_base + (usw_data1 + R1*cos(now_angle*PI/180) + D1*sin(now_angle*PI/180));
la00noix 6:26724c287387 196
la00noix 6:26724c287387 197 }
la00noix 6:26724c287387 198
la00noix 6:26724c287387 199 } else if(tgt_angle==90) {
la00noix 6:26724c287387 200 if((xy_type==0 || xy_type==2) && pm_typeX==0) {
la00noix 6:26724c287387 201
la00noix 6:26724c287387 202 info.nowX.usw = x_base - (usw_data1 + R1*cos(now_angle*PI/180) + D1*sin(now_angle*PI/180));
la00noix 6:26724c287387 203
la00noix 6:26724c287387 204 } else if((xy_type==0 || xy_type==2) && pm_typeX==1) {
la00noix 6:26724c287387 205
la00noix 6:26724c287387 206 info.nowX.usw = x_base + (usw_data2 + R2*cos(now_angle*PI/180) + D2*sin(now_angle*PI/180));
la00noix 6:26724c287387 207
la00noix 6:26724c287387 208 }
la00noix 6:26724c287387 209 if((xy_type==1 || xy_type==2) && pm_typeY==0) {
la00noix 6:26724c287387 210
la00noix 6:26724c287387 211 info.nowY.usw = y_base - (usw_data4 + R4*cos(now_angle*PI/180) + D4*sin(now_angle*PI/180));
la00noix 6:26724c287387 212
la00noix 6:26724c287387 213 } else if((xy_type==1 || xy_type==2) && pm_typeY==1) {
la00noix 6:26724c287387 214
la00noix 6:26724c287387 215 info.nowY.usw = y_base + (usw_data3 + R3*cos(now_angle*PI/180) + D3*sin(now_angle*PI/180));
la00noix 6:26724c287387 216
la00noix 6:26724c287387 217 }
la00noix 6:26724c287387 218
yuki0701 8:4bdfac5b52e1 219 } else if(tgt_angle==180 || tgt_angle == -180) {
la00noix 6:26724c287387 220 if((xy_type==0 || xy_type==2) && pm_typeX==0) {
la00noix 6:26724c287387 221
la00noix 6:26724c287387 222 info.nowX.usw = x_base - (usw_data3 + R3*cos(now_angle*PI/180) + D3*sin(now_angle*PI/180));
la00noix 6:26724c287387 223
la00noix 6:26724c287387 224 } else if((xy_type==0 || xy_type==2) && pm_typeX==1) {
la00noix 6:26724c287387 225
la00noix 6:26724c287387 226 info.nowX.usw = x_base + (usw_data4 + R4*cos(now_angle*PI/180) + D4*sin(now_angle*PI/180));
la00noix 6:26724c287387 227
la00noix 6:26724c287387 228 }
la00noix 6:26724c287387 229 if((xy_type==1 || xy_type==2) && pm_typeY==0) {
la00noix 6:26724c287387 230
la00noix 6:26724c287387 231 info.nowY.usw = y_base - (usw_data1+ R1*cos(now_angle*PI/180) + D1*sin(now_angle*PI/180));
la00noix 6:26724c287387 232
la00noix 6:26724c287387 233 } else if((xy_type==1 || xy_type==2) && pm_typeY==1) {
la00noix 6:26724c287387 234
la00noix 6:26724c287387 235 info.nowY.usw = y_base + (usw_data2 + R2*cos(now_angle*PI/180) + D2*sin(now_angle*PI/180));
la00noix 6:26724c287387 236
la00noix 6:26724c287387 237 }
yuki0701 8:4bdfac5b52e1 238 }else if(tgt_angle==-90) {
yuki0701 8:4bdfac5b52e1 239 if((xy_type==0 || xy_type==2) && pm_typeX==0) {
yuki0701 8:4bdfac5b52e1 240
yuki0701 8:4bdfac5b52e1 241 info.nowX.usw = x_base - (usw_data2 + R2*cos(now_angle*PI/180) + D2*sin(now_angle*PI/180));
yuki0701 8:4bdfac5b52e1 242
yuki0701 8:4bdfac5b52e1 243 } else if((xy_type==0 || xy_type==2) && pm_typeX==1) {
yuki0701 8:4bdfac5b52e1 244
yuki0701 8:4bdfac5b52e1 245 info.nowX.usw = x_base + (usw_data1 + R1*cos(now_angle*PI/180) + D1*sin(now_angle*PI/180));
yuki0701 8:4bdfac5b52e1 246
yuki0701 8:4bdfac5b52e1 247 }
yuki0701 8:4bdfac5b52e1 248 if((xy_type==1 || xy_type==2) && pm_typeY==0) {
yuki0701 8:4bdfac5b52e1 249
yuki0701 8:4bdfac5b52e1 250 info.nowY.usw = y_base - (usw_data3 + R3*cos(now_angle*PI/180) + D3*sin(now_angle*PI/180));
yuki0701 8:4bdfac5b52e1 251
yuki0701 8:4bdfac5b52e1 252 } else if((xy_type==1 || xy_type==2) && pm_typeY==1) {
yuki0701 8:4bdfac5b52e1 253
yuki0701 8:4bdfac5b52e1 254 info.nowY.usw = y_base + (usw_data4 + R4*cos(now_angle*PI/180) + D4*sin(now_angle*PI/180));
yuki0701 8:4bdfac5b52e1 255
yuki0701 8:4bdfac5b52e1 256 }
yuki0701 8:4bdfac5b52e1 257
la00noix 0:c61c6e4775ca 258 }
la00noix 0:c61c6e4775ca 259 }
la00noix 0:c61c6e4775ca 260
la00noix 6:26724c287387 261 void calc_xy(double target_angle, double u,double v)
la00noix 6:26724c287387 262 {
la00noix 0:c61c6e4775ca 263 //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 264
la00noix 6:26724c287387 265 calc_xy_enc();
la00noix 6:26724c287387 266
la00noix 6:26724c287387 267 if(u != 1 || v != 1) {
la00noix 6:26724c287387 268 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 269 }
la00noix 6:26724c287387 270
la00noix 0:c61c6e4775ca 271 now_x = u * info.nowX.enc + (1-u) * info.nowX.usw;
la00noix 0:c61c6e4775ca 272 now_y = v * info.nowY.enc + (1-v) * info.nowY.usw;
la00noix 6:26724c287387 273
la00noix 0:c61c6e4775ca 274 /*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 275 ec_led = 1;
la00noix 0:c61c6e4775ca 276 }else{
la00noix 0:c61c6e4775ca 277 ec_led = 0;
la00noix 0:c61c6e4775ca 278 }
la00noix 6:26724c287387 279
la00noix 0:c61c6e4775ca 280 if(now_angle >-0.5 && now_angle <0.5){
la00noix 0:c61c6e4775ca 281 gyro_led = 1;
la00noix 0:c61c6e4775ca 282 }else{
la00noix 0:c61c6e4775ca 283 gyro_led = 0;
la00noix 0:c61c6e4775ca 284 }*/
la00noix 0:c61c6e4775ca 285 }
la00noix 0:c61c6e4775ca 286
la00noix 0:c61c6e4775ca 287 //ここからそれぞれのプログラム/////////////////////////////////////////////////////////////////////////////////////////////////////////////////
la00noix 0:c61c6e4775ca 288 //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 289 //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 290 //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 291 //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 292
la00noix 0:c61c6e4775ca 293 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 294 double point_x1,double point_y1,
la00noix 0:c61c6e4775ca 295 double point_x2,double point_y2,
la00noix 0:c61c6e4775ca 296 int theta,
la00noix 0:c61c6e4775ca 297 double speed,
la00noix 0:c61c6e4775ca 298 double q_p,double q_d,
la00noix 0:c61c6e4775ca 299 double r_p,double r_d,
la00noix 0:c61c6e4775ca 300 double r_out_max,
la00noix 0:c61c6e4775ca 301 double target_angle)
la00noix 0:c61c6e4775ca 302 //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 303 {
la00noix 0:c61c6e4775ca 304 //-----PathFollowingのパラメーター設定-----//
la00noix 0:c61c6e4775ca 305 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 306 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 307 set_r_out(r_out_max); //旋回時の最大出力値設定関数
la00noix 0:c61c6e4775ca 308 set_target_angle(target_angle); //機体目標角度設定関数
la00noix 0:c61c6e4775ca 309
la00noix 0:c61c6e4775ca 310 int s;
la00noix 0:c61c6e4775ca 311 int t = 0;
la00noix 0:c61c6e4775ca 312 double X,Y;//X=楕円の中心座標、Y=楕円の中心座標
la00noix 0:c61c6e4775ca 313 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 314 double plotx[(90/theta)+1]; //楕円にとるplotのx座標
la00noix 0:c61c6e4775ca 315 double ploty[(90/theta)+1];
la00noix 0:c61c6e4775ca 316
la00noix 0:c61c6e4775ca 317 double x_out,y_out,r_out;
la00noix 0:c61c6e4775ca 318
la00noix 0:c61c6e4775ca 319 a=fabs(point_x1-point_x2);
la00noix 0:c61c6e4775ca 320 b=fabs(point_y1-point_y2);
la00noix 0:c61c6e4775ca 321
la00noix 0:c61c6e4775ca 322 switch(type) {
la00noix 0:c61c6e4775ca 323
la00noix 0:c61c6e4775ca 324 case 1://→↑移動
la00noix 0:c61c6e4775ca 325 X=point_x1;
la00noix 0:c61c6e4775ca 326 Y=point_y2;
la00noix 0:c61c6e4775ca 327
la00noix 0:c61c6e4775ca 328 for(s=0; s<((90/theta)+1); s++) {
la00noix 0:c61c6e4775ca 329 plotx[s] = X + a * cos(-PI/2 + s * (PI*theta/180));
la00noix 0:c61c6e4775ca 330 ploty[s] = Y + b * sin(-PI/2 + s * (PI*theta/180));
la00noix 0:c61c6e4775ca 331 //debug_printf("plotx[%d]=%f ploty[%d]=%f\n\r",s,plotx[s],s,ploty[s]);
la00noix 0:c61c6e4775ca 332 }
la00noix 0:c61c6e4775ca 333 break;
la00noix 0:c61c6e4775ca 334
la00noix 0:c61c6e4775ca 335 case 2://↑→移動
la00noix 0:c61c6e4775ca 336 X=point_x2;
la00noix 0:c61c6e4775ca 337 Y=point_y1;
la00noix 0:c61c6e4775ca 338
la00noix 0:c61c6e4775ca 339 for(s=0; s<((90/theta)+1); s++) {
la00noix 0:c61c6e4775ca 340 plotx[s] = X + a * cos(PI - s * (PI*theta/180));
la00noix 0:c61c6e4775ca 341 ploty[s] = Y + b * sin(PI - s * (PI*theta/180));
la00noix 0:c61c6e4775ca 342 //debug_printf("plotx[%d]=%f ploty[%d]=%f\n\r",s,plotx[s],s,ploty[s]);
la00noix 0:c61c6e4775ca 343 }
la00noix 0:c61c6e4775ca 344 break;
la00noix 0:c61c6e4775ca 345
la00noix 0:c61c6e4775ca 346 case 3://↑←移動
la00noix 0:c61c6e4775ca 347 X=point_x2;
la00noix 0:c61c6e4775ca 348 Y=point_y1;
la00noix 0:c61c6e4775ca 349
la00noix 0:c61c6e4775ca 350 for(s=0; s<((90/theta)+1); s++) {
la00noix 0:c61c6e4775ca 351 plotx[s] = X + a * cos(s * (PI*theta/180));
la00noix 0:c61c6e4775ca 352 ploty[s] = Y + b * sin(s * (PI*theta/180));
la00noix 0:c61c6e4775ca 353 //debug_printf("plotx[%d]=%f ploty[%d]=%f\n\r",s,plotx[s],s,ploty[s]);
la00noix 0:c61c6e4775ca 354 }
la00noix 0:c61c6e4775ca 355 break;
la00noix 0:c61c6e4775ca 356
la00noix 0:c61c6e4775ca 357 case 4://←↑移動
la00noix 0:c61c6e4775ca 358 X=point_x1;
la00noix 0:c61c6e4775ca 359 Y=point_y2;
la00noix 0:c61c6e4775ca 360
la00noix 0:c61c6e4775ca 361 for(s=0; s<((90/theta)+1); s++) {
la00noix 0:c61c6e4775ca 362 plotx[s] = X + a * cos(-PI/2 - s * (PI*theta/180));
la00noix 0:c61c6e4775ca 363 ploty[s] = Y + b * sin(-PI/2 - s * (PI*theta/180));
la00noix 0:c61c6e4775ca 364 //debug_printf("plotx[%d]=%f ploty[%d]=%f\n\r",s,plotx[s],s,ploty[s]);
la00noix 0:c61c6e4775ca 365 }
la00noix 0:c61c6e4775ca 366 break;
la00noix 0:c61c6e4775ca 367
la00noix 0:c61c6e4775ca 368 case 5://←↓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 6://↓←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(-s * (PI*theta/180));
la00noix 0:c61c6e4775ca 385 ploty[s] = Y + b * sin(-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 7://↓→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(PI + s * (PI*theta/180));
la00noix 0:c61c6e4775ca 396 ploty[s] = Y + b * sin(PI + 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 8://→↓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
la00noix 0:c61c6e4775ca 413 while(1) {
la00noix 0:c61c6e4775ca 414
la00noix 0:c61c6e4775ca 415 calc_xy(target_angle,u,v);
la00noix 0:c61c6e4775ca 416
la00noix 0:c61c6e4775ca 417 XYRmotorout(plotx[t],ploty[t],plotx[t+1],ploty[t+1],&x_out,&y_out,&r_out,speed,speed);
la00noix 0:c61c6e4775ca 418 CalMotorOut(x_out,y_out,r_out);
la00noix 0:c61c6e4775ca 419 //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 420
la00noix 0:c61c6e4775ca 421 base(GetMotorOut(0),GetMotorOut(1),GetMotorOut(2),GetMotorOut(3),4095); //m1～m4に代入
la00noix 0:c61c6e4775ca 422 //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 423
la00noix 0:c61c6e4775ca 424 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 425
la00noix 0:c61c6e4775ca 426 MaxonControl(m1,m2,m3,m4); //出力
la00noix 0:c61c6e4775ca 427 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 428
la00noix 0:c61c6e4775ca 429 if(t == (90/theta))break;
la00noix 0:c61c6e4775ca 430 if(id1_value[0] != 1)break;
la00noix 0:c61c6e4775ca 431 }
la00noix 0:c61c6e4775ca 432 }
la00noix 0:c61c6e4775ca 433
la00noix 0:c61c6e4775ca 434 void gogo_straight(double u,double v, //直線運動プログラム
la00noix 0:c61c6e4775ca 435 double x1_point,double y1_point,
la00noix 0:c61c6e4775ca 436 double x2_point,double y2_point,
la00noix 0:c61c6e4775ca 437 double speed1,double speed2,
la00noix 0:c61c6e4775ca 438 double q_p,double q_d,
la00noix 0:c61c6e4775ca 439 double r_p,double r_d,
la00noix 0:c61c6e4775ca 440 double r_out_max,
la00noix 0:c61c6e4775ca 441 double target_angle)
la00noix 0:c61c6e4775ca 442 //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 443 {
la00noix 0:c61c6e4775ca 444 //-----PathFollowingのパラメーター設定-----//
la00noix 0:c61c6e4775ca 445 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 446 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 447 set_r_out(r_out_max); //旋回時の最大出力値設定関数
la00noix 0:c61c6e4775ca 448 set_target_angle(target_angle); //機体目標角度設定関数
la00noix 6:26724c287387 449
la00noix 0:c61c6e4775ca 450 while (1) {
la00noix 0:c61c6e4775ca 451
la00noix 0:c61c6e4775ca 452 calc_xy(target_angle,u,v);
la00noix 0:c61c6e4775ca 453
la00noix 0:c61c6e4775ca 454 XYRmotorout(x1_point,y1_point,x2_point,y2_point,&x_out,&y_out,&r_out,speed1,speed2);
la00noix 0:c61c6e4775ca 455 //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 456
la00noix 0:c61c6e4775ca 457 CalMotorOut(x_out,y_out,r_out);
la00noix 0:c61c6e4775ca 458 //printf("out1=%lf, out2=%lf, out3=%lf, out4=%lf\n",GetMotorOut(0),GetMotorOut(1),GetMotorOut(2),GetMotorOut(3));
la00noix 0:c61c6e4775ca 459
la00noix 0:c61c6e4775ca 460 base(GetMotorOut(0),GetMotorOut(1),GetMotorOut(2),GetMotorOut(3),4095);
la00noix 0:c61c6e4775ca 461 //printf("m1=%d, m2=%d, m3=%d, m4=%d\r\n",m_1,m_2,m_3,m_4);
la00noix 6:26724c287387 462
la00noix 0:c61c6e4775ca 463 MaxonControl(m1,m2,m3,m4);
la00noix 0:c61c6e4775ca 464 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 465
la00noix 0:c61c6e4775ca 466 if(((x2_point - now_x)*(x2_point - x1_point) + (y2_point - now_y)*(y2_point - y1_point)) < 0)break;
la00noix 6:26724c287387 467 if(id1_value[0] != 1)break;
la00noix 0:c61c6e4775ca 468 }
la00noix 0:c61c6e4775ca 469 }
la00noix 0:c61c6e4775ca 470
la00noix 6:26724c287387 471 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 472 {
la00noix 6:26724c287387 473
la00noix 0:c61c6e4775ca 474 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 475 double out;
la00noix 6:26724c287387 476
la00noix 0:c61c6e4775ca 477 calc_xy(tgt_angle, u, v);
la00noix 6:26724c287387 478
la00noix 6:26724c287387 479 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 480 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 481 MaxonControl(0,0,0,0);
la00noix 6:26724c287387 482
la00noix 0:c61c6e4775ca 483 calc_xy(tgt_angle, u, v);
la00noix 6:26724c287387 484
la00noix 0:c61c6e4775ca 485 r=hypot(now_x - tgt_x, now_y - tgt_y);
la00noix 6:26724c287387 486
la00noix 0:c61c6e4775ca 487 if(r < R) break;
la00noix 7:44ce34007499 488 if(id1_value[0] != 1)break;
la00noix 0:c61c6e4775ca 489 }
la00noix 6:26724c287387 490
la00noix 6:26724c287387 491 while(1) {
la00noix 6:26724c287387 492
la00noix 0:c61c6e4775ca 493 calc_gyro();
la00noix 6:26724c287387 494
la00noix 0:c61c6e4775ca 495 out = 10 * (tgt_angle - now_angle);
la00noix 6:26724c287387 496
la00noix 0:c61c6e4775ca 497 if(out > 300) { //0～179°のときは時計回りに回転
la00noix 0:c61c6e4775ca 498 MaxonControl(300,300,300,300);
la00noix 6:26724c287387 499 } else if(out < -300) {
la00noix 6:26724c287387 500 MaxonControl(-300,-300,-300,-300);
la00noix 6:26724c287387 501 } else if(out <= 300 && out > -300) {
la00noix 0:c61c6e4775ca 502 MaxonControl(out,out,out,out);
la00noix 0:c61c6e4775ca 503 }
la00noix 6:26724c287387 504
yuki0701 3:8a0faa3b08c3 505 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 506 if(id1_value[0] != 1)break;
la00noix 0:c61c6e4775ca 507 }
la00noix 0:c61c6e4775ca 508 MaxonControl(0,0,0,0);
la00noix 0:c61c6e4775ca 509 }