改良版位置補正プログラム動作未確認
Dependencies: mbed move4wheel2 EC CruizCore_R1370P
Diff: movement/movement.cpp
- Revision:
- 10:cf5c159e729a
- Parent:
- 9:63924280272d
--- a/movement/movement.cpp Thu Mar 07 05:47:18 2019 +0000 +++ b/movement/movement.cpp Fri Mar 08 07:09:33 2019 +0000 @@ -172,7 +172,7 @@ //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) 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 - 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 + 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) now_angle=gyro.getAngle(); //ジャイロの値読み込み @@ -199,40 +199,59 @@ } else if(tgt_angle==90) { if((xy_type==0 || xy_type==2) && pm_typeX==0) { - info.nowX.usw = x_base - (usw_data1 + R1*cos(now_angle*PI/180) + D1*sin(now_angle*PI/180)); + info.nowX.usw = x_base - (usw_data1 + R1*cos((now_angle-tgt_angle)*PI/180) + D1*sin(now_angle*PI/180)); } else if((xy_type==0 || xy_type==2) && pm_typeX==1) { - info.nowX.usw = x_base + (usw_data2 + R2*cos(now_angle*PI/180) + D2*sin(now_angle*PI/180)); + info.nowX.usw = x_base + (usw_data2 + R2*cos((now_angle-tgt_angle)*PI/180) + D2*sin(now_angle*PI/180)); } if((xy_type==1 || xy_type==2) && pm_typeY==0) { - info.nowY.usw = y_base - (usw_data4 + R4*cos(now_angle*PI/180) + D4*sin(now_angle*PI/180)); + info.nowY.usw = y_base - (usw_data4 + R4*cos((now_angle-tgt_angle)*PI/180) + D4*sin(now_angle*PI/180)); } else if((xy_type==1 || xy_type==2) && pm_typeY==1) { - info.nowY.usw = y_base + (usw_data3 + R3*cos(now_angle*PI/180) + D3*sin(now_angle*PI/180)); + info.nowY.usw = y_base + (usw_data3 + R3*cos((now_angle-tgt_angle)*PI/180) + D3*sin(now_angle*PI/180)); } - } else if(tgt_angle==180) { + } else if(tgt_angle==180 || tgt_angle==-180) { if((xy_type==0 || xy_type==2) && pm_typeX==0) { - info.nowX.usw = x_base - (usw_data3 + R3*cos(now_angle*PI/180) + D3*sin(now_angle*PI/180)); + info.nowX.usw = x_base - (usw_data3 + R3*cos((now_angle-tgt_angle)*PI/180) + D3*sin(now_angle*PI/180)); } else if((xy_type==0 || xy_type==2) && pm_typeX==1) { - info.nowX.usw = x_base + (usw_data4 + R4*cos(now_angle*PI/180) + D4*sin(now_angle*PI/180)); + info.nowX.usw = x_base + (usw_data4 + R4*cos((now_angle-tgt_angle)*PI/180) + D4*sin(now_angle*PI/180)); } if((xy_type==1 || xy_type==2) && pm_typeY==0) { - info.nowY.usw = y_base - (usw_data1+ R1*cos(now_angle*PI/180) + D1*sin(now_angle*PI/180)); + info.nowY.usw = y_base - (usw_data1+ R1*cos((now_angle-tgt_angle)*PI/180) + D1*sin(now_angle*PI/180)); } else if((xy_type==1 || xy_type==2) && pm_typeY==1) { - info.nowY.usw = y_base + (usw_data2 + R2*cos(now_angle*PI/180) + D2*sin(now_angle*PI/180)); + info.nowY.usw = y_base + (usw_data2 + R2*cos((now_angle-tgt_angle)*PI/180) + D2*sin(now_angle*PI/180)); + + } + } else if(tgt_angle==-90) { + if((xy_type==0 || xy_type==2) && pm_typeX==0) { + + info.nowX.usw = x_base - (usw_data2 + R2*cos((now_angle-tgt_angle)*PI/180) + D2*sin(now_angle*PI/180)); + + } else if((xy_type==0 || xy_type==2) && pm_typeX==1) { + + info.nowX.usw = x_base + (usw_data1 + R1*cos((now_angle-tgt_angle)*PI/180) + D1*sin(now_angle*PI/180)); + + } + if((xy_type==1 || xy_type==2) && pm_typeY==0) { + + info.nowY.usw = y_base - (usw_data3 + R3*cos((now_angle-tgt_angle)*PI/180) + D3*sin(now_angle*PI/180)); + + } else if((xy_type==1 || xy_type==2) && pm_typeY==1) { + + info.nowY.usw = y_base + (usw_data4 + R4*cos((now_angle-tgt_angle)*PI/180) + D4*sin(now_angle*PI/180)); } } @@ -264,16 +283,17 @@ }*/ } -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 +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 +{ //x_select,y_select → (0:上書きしない/1:上書きする) - if(x_select == 1){ + if(x_select == 1) { info.nowX.enc = info.nowX.usw; } - if(y_select == 1){ + if(y_select == 1) { info.nowY.enc = info.nowY.usw; } - + } //ここからそれぞれのプログラム///////////////////////////////////////////////////////////////////////////////////////////////////////////////// @@ -504,24 +524,26 @@ { //距離に比例させて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) - double first_speed, first_speed50 = 200, last_speed = 50, Max_speed = 1000; + double first_speed, first_speed50 = 150, last_speed = 25, Max_speed = 500; 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 double out; calc_xy(tgt_angle, u, v); - - r = hypot(now_x - tgt_x, now_y - tgt_y); + + //r = hypot(now_x - tgt_x, now_y - tgt_y); while(1) { //機体の位置を目標領域(目標座標+許容誤差)に収める - - first_speed = first_speed50 * r / 50; - - if(first_speed > Max_speed){ + + //first_speed = first_speed50 * r / 50; + + /*if(first_speed > Max_speed){ gogo_straight(u,v,now_x,now_y,tgt_x,tgt_y,Max_speed,Max_speed,5,0.1,10,0.1,500,tgt_angle); }else{ 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); - } - + }*/ + + 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); + MaxonControl(0,0,0,0); calc_xy(tgt_angle, u, v); @@ -534,19 +556,21 @@ while(1) { - calc_gyro(); + //calc_gyro(); + now_angle=gyro.getAngle(); + printf("angle = %f\n\r",now_angle); out = 10 * (tgt_angle - now_angle); if(out > 300) { //0~179°のときは時計回りに回転 - MaxonControl(300,300,300,300); + MaxonControl(-300,-300,-300,-300); } else if(out < -300) { - MaxonControl(-300,-300,-300,-300); + MaxonControl(300,300,300,300); } else if(out <= 300 && out > -300) { - MaxonControl(out,out,out,out); + MaxonControl(-out,-out,-out,-out); } - 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 + 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 if(id1_value[0] != 1)break; } MaxonControl(0,0,0,0);