春ロボ1班(元F3RC4班+) / Mbed 2 deprecated harurobo_ashi_3_8

改良版位置補正プログラム動作未確認

Dependencies:   mbed move4wheel2 EC CruizCore_R1370P

movement/movement.cpp@10:cf5c159e729a, 2019-03-08 (annotated)

Committer:
yuki0701
Date:
Fri Mar 08 07:09:33 2019 +0000
Revision:
10:cf5c159e729a
Parent:
9:63924280272d 
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 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
yuki0701 10:cf5c159e729a 175 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 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
yuki0701 10:cf5c159e729a 202 info.nowX.usw = x_base - (usw_data1 + R1*cos((now_angle-tgt_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
yuki0701 10:cf5c159e729a 206 info.nowX.usw = x_base + (usw_data2 + R2*cos((now_angle-tgt_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
yuki0701 10:cf5c159e729a 211 info.nowY.usw = y_base - (usw_data4 + R4*cos((now_angle-tgt_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
yuki0701 10:cf5c159e729a 215 info.nowY.usw = y_base + (usw_data3 + R3*cos((now_angle-tgt_angle)*PI/180) + D3*sin(now_angle*PI/180));
la00noix 6:26724c287387 216
la00noix 6:26724c287387 217 }
la00noix 6:26724c287387 218
yuki0701 10:cf5c159e729a 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
yuki0701 10:cf5c159e729a 222 info.nowX.usw = x_base - (usw_data3 + R3*cos((now_angle-tgt_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
yuki0701 10:cf5c159e729a 226 info.nowX.usw = x_base + (usw_data4 + R4*cos((now_angle-tgt_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
yuki0701 10:cf5c159e729a 231 info.nowY.usw = y_base - (usw_data1+ R1*cos((now_angle-tgt_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
yuki0701 10:cf5c159e729a 235 info.nowY.usw = y_base + (usw_data2 + R2*cos((now_angle-tgt_angle)*PI/180) + D2*sin(now_angle*PI/180));
yuki0701 10:cf5c159e729a 236
yuki0701 10:cf5c159e729a 237 }
yuki0701 10:cf5c159e729a 238 } else if(tgt_angle==-90) {
yuki0701 10:cf5c159e729a 239 if((xy_type==0 || xy_type==2) && pm_typeX==0) {
yuki0701 10:cf5c159e729a 240
yuki0701 10:cf5c159e729a 241 info.nowX.usw = x_base - (usw_data2 + R2*cos((now_angle-tgt_angle)*PI/180) + D2*sin(now_angle*PI/180));
yuki0701 10:cf5c159e729a 242
yuki0701 10:cf5c159e729a 243 } else if((xy_type==0 || xy_type==2) && pm_typeX==1) {
yuki0701 10:cf5c159e729a 244
yuki0701 10:cf5c159e729a 245 info.nowX.usw = x_base + (usw_data1 + R1*cos((now_angle-tgt_angle)*PI/180) + D1*sin(now_angle*PI/180));
yuki0701 10:cf5c159e729a 246
yuki0701 10:cf5c159e729a 247 }
yuki0701 10:cf5c159e729a 248 if((xy_type==1 || xy_type==2) && pm_typeY==0) {
yuki0701 10:cf5c159e729a 249
yuki0701 10:cf5c159e729a 250 info.nowY.usw = y_base - (usw_data3 + R3*cos((now_angle-tgt_angle)*PI/180) + D3*sin(now_angle*PI/180));
yuki0701 10:cf5c159e729a 251
yuki0701 10:cf5c159e729a 252 } else if((xy_type==1 || xy_type==2) && pm_typeY==1) {
yuki0701 10:cf5c159e729a 253
yuki0701 10:cf5c159e729a 254 info.nowY.usw = y_base + (usw_data4 + R4*cos((now_angle-tgt_angle)*PI/180) + D4*sin(now_angle*PI/180));
la00noix 6:26724c287387 255
la00noix 6:26724c287387 256 }
la00noix 0:c61c6e4775ca 257 }
la00noix 0:c61c6e4775ca 258 }
la00noix 0:c61c6e4775ca 259
la00noix 6:26724c287387 260 void calc_xy(double target_angle, double u,double v)
la00noix 6:26724c287387 261 {
la00noix 0:c61c6e4775ca 262 //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 263
la00noix 6:26724c287387 264 calc_xy_enc();
la00noix 6:26724c287387 265
la00noix 6:26724c287387 266 if(u != 1 || v != 1) {
la00noix 6:26724c287387 267 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 268 }
la00noix 6:26724c287387 269
la00noix 0:c61c6e4775ca 270 now_x = u * info.nowX.enc + (1-u) * info.nowX.usw;
la00noix 0:c61c6e4775ca 271 now_y = v * info.nowY.enc + (1-v) * info.nowY.usw;
la00noix 6:26724c287387 272
la00noix 0:c61c6e4775ca 273 /*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 274 ec_led = 1;
la00noix 0:c61c6e4775ca 275 }else{
la00noix 0:c61c6e4775ca 276 ec_led = 0;
la00noix 0:c61c6e4775ca 277 }
la00noix 6:26724c287387 278
la00noix 0:c61c6e4775ca 279 if(now_angle >-0.5 && now_angle <0.5){
la00noix 0:c61c6e4775ca 280 gyro_led = 1;
la00noix 0:c61c6e4775ca 281 }else{
la00noix 0:c61c6e4775ca 282 gyro_led = 0;
la00noix 0:c61c6e4775ca 283 }*/
la00noix 0:c61c6e4775ca 284 }
la00noix 0:c61c6e4775ca 285
yuki0701 10:cf5c159e729a 286 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
yuki0701 10:cf5c159e729a 287 {
yuki0701 9:63924280272d 288 //x_select,y_select → (0:上書きしない/1:上書きする)
yuki0701 9:63924280272d 289
yuki0701 10:cf5c159e729a 290 if(x_select == 1) {
yuki0701 9:63924280272d 291 info.nowX.enc = info.nowX.usw;
yuki0701 9:63924280272d 292 }
yuki0701 10:cf5c159e729a 293 if(y_select == 1) {
yuki0701 9:63924280272d 294 info.nowY.enc = info.nowY.usw;
yuki0701 9:63924280272d 295 }
yuki0701 10:cf5c159e729a 296
yuki0701 9:63924280272d 297 }
yuki0701 9:63924280272d 298
la00noix 0:c61c6e4775ca 299 //ここからそれぞれのプログラム/////////////////////////////////////////////////////////////////////////////////////////////////////////////////
la00noix 0:c61c6e4775ca 300 //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 301 //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 302 //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 303 //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 304
la00noix 0:c61c6e4775ca 305 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 306 double point_x1,double point_y1,
la00noix 0:c61c6e4775ca 307 double point_x2,double point_y2,
la00noix 0:c61c6e4775ca 308 int theta,
la00noix 0:c61c6e4775ca 309 double speed,
la00noix 0:c61c6e4775ca 310 double q_p,double q_d,
la00noix 0:c61c6e4775ca 311 double r_p,double r_d,
la00noix 0:c61c6e4775ca 312 double r_out_max,
la00noix 0:c61c6e4775ca 313 double target_angle)
la00noix 0:c61c6e4775ca 314 //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 315 {
la00noix 0:c61c6e4775ca 316 //-----PathFollowingのパラメーター設定-----//
la00noix 0:c61c6e4775ca 317 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 318 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 319 set_r_out(r_out_max); //旋回時の最大出力値設定関数
la00noix 0:c61c6e4775ca 320 set_target_angle(target_angle); //機体目標角度設定関数
la00noix 0:c61c6e4775ca 321
la00noix 0:c61c6e4775ca 322 int s;
la00noix 0:c61c6e4775ca 323 int t = 0;
la00noix 0:c61c6e4775ca 324 double X,Y;//X=楕円の中心座標、Y=楕円の中心座標
la00noix 0:c61c6e4775ca 325 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 326 double plotx[(90/theta)+1]; //楕円にとるplotのx座標
la00noix 0:c61c6e4775ca 327 double ploty[(90/theta)+1];
la00noix 0:c61c6e4775ca 328
la00noix 0:c61c6e4775ca 329 double x_out,y_out,r_out;
la00noix 0:c61c6e4775ca 330
la00noix 0:c61c6e4775ca 331 a=fabs(point_x1-point_x2);
la00noix 0:c61c6e4775ca 332 b=fabs(point_y1-point_y2);
la00noix 0:c61c6e4775ca 333
la00noix 0:c61c6e4775ca 334 switch(type) {
la00noix 0:c61c6e4775ca 335
la00noix 0:c61c6e4775ca 336 case 1://→↑移動
la00noix 0:c61c6e4775ca 337 X=point_x1;
la00noix 0:c61c6e4775ca 338 Y=point_y2;
la00noix 0:c61c6e4775ca 339
la00noix 0:c61c6e4775ca 340 for(s=0; s<((90/theta)+1); s++) {
la00noix 0:c61c6e4775ca 341 plotx[s] = X + a * cos(-PI/2 + s * (PI*theta/180));
la00noix 0:c61c6e4775ca 342 ploty[s] = Y + b * sin(-PI/2 + s * (PI*theta/180));
la00noix 0:c61c6e4775ca 343 //debug_printf("plotx[%d]=%f ploty[%d]=%f\n\r",s,plotx[s],s,ploty[s]);
la00noix 0:c61c6e4775ca 344 }
la00noix 0:c61c6e4775ca 345 break;
la00noix 0:c61c6e4775ca 346
la00noix 0:c61c6e4775ca 347 case 2://↑→移動
la00noix 0:c61c6e4775ca 348 X=point_x2;
la00noix 0:c61c6e4775ca 349 Y=point_y1;
la00noix 0:c61c6e4775ca 350
la00noix 0:c61c6e4775ca 351 for(s=0; s<((90/theta)+1); s++) {
la00noix 0:c61c6e4775ca 352 plotx[s] = X + a * cos(PI - s * (PI*theta/180));
la00noix 0:c61c6e4775ca 353 ploty[s] = Y + b * sin(PI - s * (PI*theta/180));
la00noix 0:c61c6e4775ca 354 //debug_printf("plotx[%d]=%f ploty[%d]=%f\n\r",s,plotx[s],s,ploty[s]);
la00noix 0:c61c6e4775ca 355 }
la00noix 0:c61c6e4775ca 356 break;
la00noix 0:c61c6e4775ca 357
la00noix 0:c61c6e4775ca 358 case 3://↑←移動
la00noix 0:c61c6e4775ca 359 X=point_x2;
la00noix 0:c61c6e4775ca 360 Y=point_y1;
la00noix 0:c61c6e4775ca 361
la00noix 0:c61c6e4775ca 362 for(s=0; s<((90/theta)+1); s++) {
la00noix 0:c61c6e4775ca 363 plotx[s] = X + a * cos(s * (PI*theta/180));
la00noix 0:c61c6e4775ca 364 ploty[s] = Y + b * sin(s * (PI*theta/180));
la00noix 0:c61c6e4775ca 365 //debug_printf("plotx[%d]=%f ploty[%d]=%f\n\r",s,plotx[s],s,ploty[s]);
la00noix 0:c61c6e4775ca 366 }
la00noix 0:c61c6e4775ca 367 break;
la00noix 0:c61c6e4775ca 368
la00noix 0:c61c6e4775ca 369 case 4://←↑移動
la00noix 0:c61c6e4775ca 370 X=point_x1;
la00noix 0:c61c6e4775ca 371 Y=point_y2;
la00noix 0:c61c6e4775ca 372
la00noix 0:c61c6e4775ca 373 for(s=0; s<((90/theta)+1); s++) {
la00noix 0:c61c6e4775ca 374 plotx[s] = X + a * cos(-PI/2 - s * (PI*theta/180));
la00noix 0:c61c6e4775ca 375 ploty[s] = Y + b * sin(-PI/2 - s * (PI*theta/180));
la00noix 0:c61c6e4775ca 376 //debug_printf("plotx[%d]=%f ploty[%d]=%f\n\r",s,plotx[s],s,ploty[s]);
la00noix 0:c61c6e4775ca 377 }
la00noix 0:c61c6e4775ca 378 break;
la00noix 0:c61c6e4775ca 379
la00noix 0:c61c6e4775ca 380 case 5://←↓移動
la00noix 0:c61c6e4775ca 381 X=point_x1;
la00noix 0:c61c6e4775ca 382 Y=point_y2;
la00noix 0:c61c6e4775ca 383
la00noix 0:c61c6e4775ca 384 for(s=0; s<((90/theta)+1); s++) {
la00noix 0:c61c6e4775ca 385 plotx[s] = X + a * cos(PI/2 + s * (PI*theta/180));
la00noix 0:c61c6e4775ca 386 ploty[s] = Y + b * sin(PI/2 + s * (PI*theta/180));
la00noix 0:c61c6e4775ca 387 //debug_printf("plotx[%d]=%f ploty[%d]=%f\n\r",s,plotx[s],s,ploty[s]);
la00noix 0:c61c6e4775ca 388 }
la00noix 0:c61c6e4775ca 389 break;
la00noix 0:c61c6e4775ca 390
la00noix 0:c61c6e4775ca 391 case 6://↓←移動
la00noix 0:c61c6e4775ca 392 X=point_x2;
la00noix 0:c61c6e4775ca 393 Y=point_y1;
la00noix 0:c61c6e4775ca 394
la00noix 0:c61c6e4775ca 395 for(s=0; s<((90/theta)+1); s++) {
la00noix 0:c61c6e4775ca 396 plotx[s] = X + a * cos(-s * (PI*theta/180));
la00noix 0:c61c6e4775ca 397 ploty[s] = Y + b * sin(-s * (PI*theta/180));
la00noix 0:c61c6e4775ca 398 //debug_printf("plotx[%d]=%f ploty[%d]=%f\n\r",s,plotx[s],s,ploty[s]);
la00noix 0:c61c6e4775ca 399 }
la00noix 0:c61c6e4775ca 400 break;
la00noix 0:c61c6e4775ca 401
la00noix 0:c61c6e4775ca 402 case 7://↓→移動
la00noix 0:c61c6e4775ca 403 X=point_x2;
la00noix 0:c61c6e4775ca 404 Y=point_y1;
la00noix 0:c61c6e4775ca 405
la00noix 0:c61c6e4775ca 406 for(s=0; s<((90/theta)+1); s++) {
la00noix 0:c61c6e4775ca 407 plotx[s] = X + a * cos(PI + s * (PI*theta/180));
la00noix 0:c61c6e4775ca 408 ploty[s] = Y + b * sin(PI + s * (PI*theta/180));
la00noix 0:c61c6e4775ca 409 //debug_printf("plotx[%d]=%f ploty[%d]=%f\n\r",s,plotx[s],s,ploty[s]);
la00noix 0:c61c6e4775ca 410 }
la00noix 0:c61c6e4775ca 411 break;
la00noix 0:c61c6e4775ca 412
la00noix 0:c61c6e4775ca 413 case 8://→↓移動
la00noix 0:c61c6e4775ca 414 X=point_x1;
la00noix 0:c61c6e4775ca 415 Y=point_y2;
la00noix 0:c61c6e4775ca 416
la00noix 0:c61c6e4775ca 417 for(s=0; s<((90/theta)+1); s++) {
la00noix 0:c61c6e4775ca 418 plotx[s] = X + a * cos(PI/2 - s * (PI*theta/180));
la00noix 0:c61c6e4775ca 419 ploty[s] = Y + b * sin(PI/2 - s * (PI*theta/180));
la00noix 0:c61c6e4775ca 420 //debug_printf("plotx[%d]=%f ploty[%d]=%f\n\r",s,plotx[s],s,ploty[s]);
la00noix 0:c61c6e4775ca 421 }
la00noix 0:c61c6e4775ca 422 break;
la00noix 0:c61c6e4775ca 423 }
la00noix 0:c61c6e4775ca 424
la00noix 0:c61c6e4775ca 425 while(1) {
la00noix 0:c61c6e4775ca 426
la00noix 0:c61c6e4775ca 427 calc_xy(target_angle,u,v);
la00noix 0:c61c6e4775ca 428
la00noix 0:c61c6e4775ca 429 XYRmotorout(plotx[t],ploty[t],plotx[t+1],ploty[t+1],&x_out,&y_out,&r_out,speed,speed);
la00noix 0:c61c6e4775ca 430 CalMotorOut(x_out,y_out,r_out);
la00noix 0:c61c6e4775ca 431 //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 432
la00noix 0:c61c6e4775ca 433 base(GetMotorOut(0),GetMotorOut(1),GetMotorOut(2),GetMotorOut(3),4095); //m1～m4に代入
la00noix 0:c61c6e4775ca 434 //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 435
la00noix 0:c61c6e4775ca 436 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 437
la00noix 0:c61c6e4775ca 438 MaxonControl(m1,m2,m3,m4); //出力
la00noix 0:c61c6e4775ca 439 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 440
la00noix 0:c61c6e4775ca 441 if(t == (90/theta))break;
la00noix 0:c61c6e4775ca 442 if(id1_value[0] != 1)break;
la00noix 0:c61c6e4775ca 443 }
la00noix 0:c61c6e4775ca 444 }
la00noix 0:c61c6e4775ca 445
la00noix 0:c61c6e4775ca 446 void gogo_straight(double u,double v, //直線運動プログラム
la00noix 0:c61c6e4775ca 447 double x1_point,double y1_point,
la00noix 0:c61c6e4775ca 448 double x2_point,double y2_point,
la00noix 0:c61c6e4775ca 449 double speed1,double speed2,
la00noix 0:c61c6e4775ca 450 double q_p,double q_d,
la00noix 0:c61c6e4775ca 451 double r_p,double r_d,
la00noix 0:c61c6e4775ca 452 double r_out_max,
la00noix 0:c61c6e4775ca 453 double target_angle)
la00noix 0:c61c6e4775ca 454 //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 455 {
la00noix 0:c61c6e4775ca 456 //-----PathFollowingのパラメーター設定-----//
la00noix 0:c61c6e4775ca 457 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 458 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 459 set_r_out(r_out_max); //旋回時の最大出力値設定関数
la00noix 0:c61c6e4775ca 460 set_target_angle(target_angle); //機体目標角度設定関数
la00noix 6:26724c287387 461
la00noix 0:c61c6e4775ca 462 while (1) {
la00noix 0:c61c6e4775ca 463
la00noix 0:c61c6e4775ca 464 calc_xy(target_angle,u,v);
la00noix 0:c61c6e4775ca 465
la00noix 0:c61c6e4775ca 466 XYRmotorout(x1_point,y1_point,x2_point,y2_point,&x_out,&y_out,&r_out,speed1,speed2);
la00noix 0:c61c6e4775ca 467 //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 468
la00noix 0:c61c6e4775ca 469 CalMotorOut(x_out,y_out,r_out);
la00noix 0:c61c6e4775ca 470 //printf("out1=%lf, out2=%lf, out3=%lf, out4=%lf\n",GetMotorOut(0),GetMotorOut(1),GetMotorOut(2),GetMotorOut(3));
la00noix 0:c61c6e4775ca 471
la00noix 0:c61c6e4775ca 472 base(GetMotorOut(0),GetMotorOut(1),GetMotorOut(2),GetMotorOut(3),4095);
la00noix 0:c61c6e4775ca 473 //printf("m1=%d, m2=%d, m3=%d, m4=%d\r\n",m_1,m_2,m_3,m_4);
la00noix 6:26724c287387 474
la00noix 0:c61c6e4775ca 475 MaxonControl(m1,m2,m3,m4);
la00noix 0:c61c6e4775ca 476 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 477
la00noix 0:c61c6e4775ca 478 if(((x2_point - now_x)*(x2_point - x1_point) + (y2_point - now_y)*(y2_point - y1_point)) < 0)break;
la00noix 6:26724c287387 479 if(id1_value[0] != 1)break;
la00noix 0:c61c6e4775ca 480 }
la00noix 0:c61c6e4775ca 481 }
la00noix 0:c61c6e4775ca 482
yuki0701 9:63924280272d 483 /*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 484 {
la00noix 6:26724c287387 485
la00noix 0:c61c6e4775ca 486 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 487 double out;
la00noix 6:26724c287387 488
la00noix 0:c61c6e4775ca 489 calc_xy(tgt_angle, u, v);
la00noix 6:26724c287387 490
la00noix 6:26724c287387 491 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 492 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 493 MaxonControl(0,0,0,0);
la00noix 6:26724c287387 494
la00noix 0:c61c6e4775ca 495 calc_xy(tgt_angle, u, v);
la00noix 6:26724c287387 496
la00noix 0:c61c6e4775ca 497 r=hypot(now_x - tgt_x, now_y - tgt_y);
la00noix 6:26724c287387 498
la00noix 0:c61c6e4775ca 499 if(r < R) break;
la00noix 7:44ce34007499 500 if(id1_value[0] != 1)break;
la00noix 0:c61c6e4775ca 501 }
la00noix 6:26724c287387 502
la00noix 6:26724c287387 503 while(1) {
la00noix 6:26724c287387 504
la00noix 0:c61c6e4775ca 505 calc_gyro();
la00noix 6:26724c287387 506
la00noix 0:c61c6e4775ca 507 out = 10 * (tgt_angle - now_angle);
la00noix 6:26724c287387 508
la00noix 0:c61c6e4775ca 509 if(out > 300) { //0～179°のときは時計回りに回転
la00noix 0:c61c6e4775ca 510 MaxonControl(300,300,300,300);
la00noix 6:26724c287387 511 } else if(out < -300) {
la00noix 6:26724c287387 512 MaxonControl(-300,-300,-300,-300);
la00noix 6:26724c287387 513 } else if(out <= 300 && out > -300) {
la00noix 0:c61c6e4775ca 514 MaxonControl(out,out,out,out);
la00noix 0:c61c6e4775ca 515 }
la00noix 6:26724c287387 516
yuki0701 3:8a0faa3b08c3 517 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 518 if(id1_value[0] != 1)break;
la00noix 0:c61c6e4775ca 519 }
la00noix 0:c61c6e4775ca 520 MaxonControl(0,0,0,0);
yuki0701 9:63924280272d 521 }*/
yuki0701 9:63924280272d 522
yuki0701 9:63924280272d 523 void pos_correction(double tgt_x, double tgt_y, double tgt_angle, double u, double v) //改良版 位置補正(使用前にMaxonControl(0,0,0,0)を入れる)
yuki0701 9:63924280272d 524 {
yuki0701 9:63924280272d 525 //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）
yuki0701 9:63924280272d 526
yuki0701 10:cf5c159e729a 527 double first_speed, first_speed50 = 150, last_speed = 25, Max_speed = 500;
yuki0701 9:63924280272d 528 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
yuki0701 9:63924280272d 529 double out;
yuki0701 9:63924280272d 530
yuki0701 9:63924280272d 531 calc_xy(tgt_angle, u, v);
yuki0701 10:cf5c159e729a 532
yuki0701 10:cf5c159e729a 533 //r = hypot(now_x - tgt_x, now_y - tgt_y);
yuki0701 9:63924280272d 534
yuki0701 9:63924280272d 535 while(1) { //機体の位置を目標領域（目標座標＋許容誤差）に収める
yuki0701 10:cf5c159e729a 536
yuki0701 10:cf5c159e729a 537 //first_speed = first_speed50 * r / 50;
yuki0701 10:cf5c159e729a 538
yuki0701 10:cf5c159e729a 539 /*if(first_speed > Max_speed){
yuki0701 9:63924280272d 540 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);
yuki0701 9:63924280272d 541 }else{
yuki0701 9:63924280272d 542 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:cf5c159e729a 543 }*/
yuki0701 10:cf5c159e729a 544
yuki0701 10:cf5c159e729a 545 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);
yuki0701 10:cf5c159e729a 546
yuki0701 9:63924280272d 547 MaxonControl(0,0,0,0);
yuki0701 9:63924280272d 548
yuki0701 9:63924280272d 549 calc_xy(tgt_angle, u, v);
yuki0701 9:63924280272d 550
yuki0701 9:63924280272d 551 r=hypot(now_x - tgt_x, now_y - tgt_y);
yuki0701 9:63924280272d 552
yuki0701 9:63924280272d 553 if(r < R) break;
yuki0701 9:63924280272d 554 if(id1_value[0] != 1)break;
yuki0701 9:63924280272d 555 }
yuki0701 9:63924280272d 556
yuki0701 9:63924280272d 557 while(1) {
yuki0701 9:63924280272d 558
yuki0701 10:cf5c159e729a 559 //calc_gyro();
yuki0701 10:cf5c159e729a 560 now_angle=gyro.getAngle();
yuki0701 10:cf5c159e729a 561 printf("angle = %f\n\r",now_angle);
yuki0701 9:63924280272d 562
yuki0701 9:63924280272d 563 out = 10 * (tgt_angle - now_angle);
yuki0701 9:63924280272d 564
yuki0701 9:63924280272d 565 if(out > 300) { //0～179°のときは時計回りに回転
yuki0701 10:cf5c159e729a 566 MaxonControl(-300,-300,-300,-300);
yuki0701 9:63924280272d 567 } else if(out < -300) {
yuki0701 10:cf5c159e729a 568 MaxonControl(300,300,300,300);
yuki0701 9:63924280272d 569 } else if(out <= 300 && out > -300) {
yuki0701 10:cf5c159e729a 570 MaxonControl(-out,-out,-out,-out);
yuki0701 9:63924280272d 571 }
yuki0701 9:63924280272d 572
yuki0701 10:cf5c159e729a 573 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 9:63924280272d 574 if(id1_value[0] != 1)break;
yuki0701 9:63924280272d 575 }
yuki0701 9:63924280272d 576 MaxonControl(0,0,0,0);
la00noix 0:c61c6e4775ca 577 }