Revision 10:cf5c159e729a, committed 2019-03-08

Comitter:

yuki0701

Date:

Fri Mar 08 07:09:33 2019 +0000

Parent:

9:63924280272d

Commit message:

a

Changed in this revision

diff -r 63924280272d -r cf5c159e729a can/can.cpp
--- a/can/can.cpp	Thu Mar 07 05:47:18 2019 +0000
+++ b/can/can.cpp	Fri Mar 08 07:09:33 2019 +0000
@@ -32,9 +32,9 @@
             id1_value[6] = (msg.data[0]>>1)%2;  //decide right/left(0 or 1)
             t1_r = msg.data[3];                 //value of t(0~7)
             
-            debug_printf("[0]=%d [1]=%d [2]=%d [3]=%d [4]=%d [5]=%d [6]=%d\n\r"
-                         ,id1_value[0],id1_value[1],id1_value[2],id1_value[3],id1_value[4],id1_value[5],id1_value[6]);
-            debug_printf("t1_r=%d T1=%d can_ashileddata[1]=%d\n\r",t1_r,T1,can_ashileddata[1]);
+            //debug_printf("[0]=%d [1]=%d [2]=%d [3]=%d [4]=%d [5]=%d [6]=%d\n\r"
+              //           ,id1_value[0],id1_value[1],id1_value[2],id1_value[3],id1_value[4],id1_value[5],id1_value[6]);
+            //debug_printf("t1_r=%d T1=%d can_ashileddata[1]=%d\n\r",t1_r,T1,can_ashileddata[1]);
         }
 
         if(msg.id == 3) {

diff -r 63924280272d -r cf5c159e729a main.cpp
--- a/main.cpp	Thu Mar 07 05:47:18 2019 +0000
+++ b/main.cpp	Fri Mar 08 07:09:33 2019 +0000
@@ -40,53 +40,85 @@
 
 #ifdef HARUROBO_TEST_MODE
 
+    id1_value[0] = 1;
+    
+    //while(1);
+
     gogo_straight(1,1,-2962,3500,-2962,2900,200,1000,5,0.1,10,0.1,600,0);
     purecurve(7,1,1,-2962,2900,-2317,2500,9,1000,5,0.1,10,0.1,600,0);
     purecurve(8,1,1,-2317,2500,-1672,2000,9,1000,5,0.1,10,0.1,600,0);
-    gogo_straight(1,1,-1672,2000,-1672,1400,1000,200,5,0.1,10,0.1,600,0);
+    set_cond(2,0,-1050,1,1076);
+    gogo_straight(0,0,-1672,2000,-1672,1400,1000,200,5,0.1,10,0.1,600,0);
     MaxonControl(0,0,0,0);
-    set_cond(2,0,-1243,1,1076);
     pos_correction(-1672,1400,0,0,0);
     enc_correction(1,1);
     wait(0.5);
 
     gogo_straight(1,1,-1672,1400,-1672,2000,200,1000,5,0.1,10,0.1,600,0);
     purecurve(3,1,1,-1672,2000,-2317,2500,9,1000,5,0.1,10,0.1,600,0);
-    purecurve(4,1,1,-2317,2500,-2962,3000,9,1000,5,0.1,10,0.1,600,-90);
-    gogo_straight(1,1,-2962,3000,-2962,4000,1000,1000,5,0.1,10,0.1,600,-90);
+    purecurve(4,1,1,-2317,2500,-2962,3000,9,1000,5,0.1,10,0.1,600,-90); //purecurve(4,1,1,-2317,2500,-2962,3000,9,1000,5,0.1,10,0.1,600,-90);
+    gogo_straight(1,1,-2962,3000,-2962,4000,1000,1000,5,0.1,10,0.1,600,-90);    
     gogo_straight(1,1,-2962,4000,-2962,4500,1000,200,5,0.1,10,0.1,600,-90);
     MaxonControl(0,0,0,0);
     pos_correction(-2962,4500,-90,1,1);
-
-    set_cond(0,0,-2462,0,0);
-    gogo_straight(0,1,-2962,4500,-2850,4500,200,200,5,0.1,10,0.1,800,-90);
+    set_cond(2,0,-2462,0,6000);
+    gogo_straight(0,0,-2962,4500,-2850,4500,200,200,5,0.1,10,0.1,800,-90);
     MaxonControl(0,0,0,0);
-    pos_correction(-2850,4500,-90,0,1);
-    enc_correction(1,0);
+    pos_correction(-2850,4500,-90,0,0);
+    enc_correction(1,1);
     wait(0.5);
 
     gogo_straight(1,1,-2850,4500,-2850,5150,200,1000,5,0.1,10,0.1,800,-90);
     purecurve(2,1,1,-2850,5150,-2257,5500,9,1000,5,0.1,10,0.1,800,-90);
     purecurve(1,1,1,-2257,5500,-1700,6000,9,1000,5,0.1,10,0.1,800,-90);
-    purecurve(3,1,1,-1700,6000,-2257,6647,9,1000,5,0.1,10,0.1,800,-90);
-    gogo_straight(1,1,-2257,6647,-2500,6647,1000,1000,5,0.1,10,0.1,800,-90);
-    set_cond(2,1,-3500,1,6324);
-    gogo_straight(0,0,-2500,6647,-2700,6647,1000,200,5,0.1,10,0.1,800,-90);
+    purecurve(3,1,1,-1700,6000,-2257,6550,9,1000,5,0.1,10,0.1,800,-90);
+    gogo_straight(1,1,-2257,6550,-2500,6550,1000,1000,5,0.1,10,0.1,800,-90);
+    set_cond(2,1,-3500,1,6050);
+    gogo_straight(0,0,-2500,6550,-2700,6600,1000,200,5,0.1,10,0.1,800,-90);
     MaxonControl(0,0,0,0);
-    pos_correction(-2700,6647,-90,0,0);
+    pos_correction(-2700,6600,-90,0,0);
     enc_correction(1,1);
     wait(0.5);
 
-    gogo_straight(1,1,-2700,6647,-2500,6647,200,1000,5,0.1,10,0.1,800,-90);
-    gogo_straight(1,1,-2500,6647,-1000,6647,1000,1000,5,0.1,10,0.1,800,-90);
-    purecurve(8,1,1,-1000,6647,-519,6000,9,1000,5,0.1,10,0.1,600,-180);
+    gogo_straight(1,1,-2700,6600,-2500,6550,200,1000,5,0.1,10,0.1,800,-90);
+    gogo_straight(1,1,-2500,6550,-1300,6550,1000,1000,5,0.1,10,0.1,800,-90);
+    gogo_straight(1,1,-1300,6550,-1000,6500,1000,1000,5,0.1,10,0.1,800,-90);
+    purecurve(8,1,1,-1000,6550,-519,6000,9,1000,5,0.1,10,0.1,600,-180);
     gogo_straight(1,1,-519,6000,-519,4700,1000,1000,5,0.1,10,0.1,600,-180);
-    set_cond(2,1,1243,1,4000);
+    set_cond(2,1,-1000,1,4000);
     gogo_straight(0,0,-519,4700,-519,4500,1000,200,5,0.1,10,0.1,800,-180);
     MaxonControl(0,0,0,0);
     pos_correction(-519,4500,-180,0,0);
+    enc_correction(1,1);
     MaxonControl(0,0,0,0);
 
+//以下自動で初期位置に戻るプログラム
+    wait(3);
+    
+    gogo_straight(1,1,-519,4500,-519,5000,200,1000,5,0.1,10,0.1,600,-180);
+    gogo_straight(1,1,-519,5000,-519,6000,1000,1000,5,0.1,10,0.1,600,-180);
+    gogo_straight(1,1,-519,6000,-519,6600,1000,200,5,0.1,10,0.1,600,-180);
+    MaxonControl(0,0,0,0);
+    set_cond(2,0,0,0,7000);
+    pos_correction(-519,6600,-180,0,0);
+    enc_correction(1,1);
+    gogo_straight(1,1,-519,6600,-1000,6600,200,1000,5,0.1,10,0.1,600,-180);
+    purecurve(5,1,1,-1000,6600,-1672,6000,9,1000,5,0.1,10,0.1,600,-180);
+    purecurve(6,1,1,-1672,6000,-2462,5500,9,1000,5,0.1,10,0.1,600,-180);
+    gogo_straight(1,1,-2462,5500,-2962,5500,1000,200,5,0.1,10,0.1,600,-180);
+    MaxonControl(0,0,0,0);
+    set_cond(2,1,-3500,0,6000);
+    pos_correction(-2962,5500,-180,0,0);
+    enc_correction(1,1);
+    gogo_straight(1,1,-2962,5500,-2962,4700,200,1000,5,0.1,10,0.1,600,-90);
+    gogo_straight(1,1,-2962,4700,-2962,4000,1000,1000,5,0.1,10,0.1,600,0);
+    gogo_straight(1,1,-2962,4000,-2962,3500,1000,200,5,0.1,10,0.1,600,0);
+    MaxonControl(0,0,0,0);
+    set_cond(2,1,-3500,1,2000);
+    pos_correction(-3000,3500,0,0,0);
+    enc_correction(1,1);
+    MaxonControl(0,0,0,0);
+    
 #endif
 
 #ifdef HARUROBO_MAIN_MODE

diff -r 63924280272d -r cf5c159e729a movement/movement.cpp
--- 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);