春ロボ1班(元F3RC4班+) / Mbed 2 deprecated harurobo_main_ver5

harurobo-main-ver5

Dependencies:   mbed EC PathFollowing-ver11 CruizCore_R1370P

main.cpp@8:84d10508818a, 2018-12-05 (annotated)

Committer:
yuki0701
Date:
Wed Dec 05 07:02:46 2018 +0000
Revision:
8:84d10508818a
Parent:
7:e269985951bf 
a

Who changed what in which revision?

UserRevisionLine numberNew contents of line
la00noix 0:f5992b0c6e00 1 #include "mbed.h"
la00noix 0:f5992b0c6e00 2 #include "EC.h"
la00noix 0:f5992b0c6e00 3 #include "R1370P.h"
la00noix 0:f5992b0c6e00 4 #include "move4wheel.h"
la00noix 0:f5992b0c6e00 5 #include "PathFollowing.h"
la00noix 0:f5992b0c6e00 6 #include <stdarg.h>
la00noix 0:f5992b0c6e00 7
la00noix 0:f5992b0c6e00 8 #define PI 3.141592
la00noix 0:f5992b0c6e00 9
la00noix 0:f5992b0c6e00 10 #define DEBUG_MODE // compile as debug mode (comment out if you don't use)
la00noix 0:f5992b0c6e00 11 #ifdef DEBUG_MODE
la00noix 0:f5992b0c6e00 12 #define DEBUG_PRINT // enable debug_printf
la00noix 0:f5992b0c6e00 13 #endif
la00noix 0:f5992b0c6e00 14
la00noix 0:f5992b0c6e00 15 Serial pc(USBTX,USBRX);
la00noix 0:f5992b0c6e00 16 void debug_printf(const char* format,...); // work as printf in debug
la00noix 0:f5992b0c6e00 17 void Debug_Control(); // control by PC keybord
la00noix 0:f5992b0c6e00 18
la00noix 0:f5992b0c6e00 19 #define SPI_FREQ 1000000 // 1MHz
la00noix 0:f5992b0c6e00 20 #define SPI_BITS 16
la00noix 0:f5992b0c6e00 21 #define SPI_MODE 0
la00noix 0:f5992b0c6e00 22 #define SPI_WAIT_US 1 // 1us
yuki0701 3:e696a6dd4254 23 //SPI spi(PB_5,PB_4,PB_3); //Nucleo
yuki0701 3:e696a6dd4254 24 SPI spi(p5,p6,p7); //mbed
la00noix 0:f5992b0c6e00 25
yuki0701 3:e696a6dd4254 26 /*DigitalOut ss_md1(PB_15); //エスコンの設定
la00noix 0:f5992b0c6e00 27 DigitalOut ss_md2(PB_14);
la00noix 0:f5992b0c6e00 28 DigitalOut ss_md3(PB_13);
la00noix 0:f5992b0c6e00 29 DigitalOut ss_md4(PC_4);
la00noix 0:f5992b0c6e00 30
la00noix 0:f5992b0c6e00 31 DigitalOut md_enable(PA_13); // do all motor driver enable
la00noix 0:f5992b0c6e00 32 //DigitalIn md_ch_enable(p10); // check enable switch is open or close
la00noix 0:f5992b0c6e00 33 //Timer md_disable;
la00noix 0:f5992b0c6e00 34 DigitalOut md_stop(PA_14); // stop all motor
yuki0701 3:e696a6dd4254 35 DigitalIn md_check(PB_7); // check error of all motor driver //とりあえず使わない*/
yuki0701 3:e696a6dd4254 36
yuki0701 3:e696a6dd4254 37 DigitalOut ss_md1(p15); //エスコンの設定
yuki0701 3:e696a6dd4254 38 DigitalOut ss_md2(p16);
yuki0701 3:e696a6dd4254 39 DigitalOut ss_md3(p17);
yuki0701 3:e696a6dd4254 40 DigitalOut ss_md4(p18);
yuki0701 3:e696a6dd4254 41
yuki0701 3:e696a6dd4254 42 DigitalOut md_enable(p25);
yuki0701 3:e696a6dd4254 43 //Timer md_disable;
yuki0701 3:e696a6dd4254 44 DigitalOut md_stop(p24); // stop all motor
yuki0701 3:e696a6dd4254 45 DigitalIn md_check(p23); // check error of all motor driver //とりあえず使わない
yuki0701 3:e696a6dd4254 46
la00noix 0:f5992b0c6e00 47
la00noix 0:f5992b0c6e00 48 /*モーターの配置
la00noix 0:f5992b0c6e00 49 * md1//---F---\\md4
la00noix 0:f5992b0c6e00 50 * | |
la00noix 0:f5992b0c6e00 51 * L + R
la00noix 0:f5992b0c6e00 52 * | |
la00noix 0:f5992b0c6e00 53 * md2\\---B---//md3
la00noix 0:f5992b0c6e00 54 */
la00noix 0:f5992b0c6e00 55
la00noix 0:f5992b0c6e00 56
yuki0701 3:e696a6dd4254 57 //Ec EC1(PC_6,PC_8,NC,500,0.05);
yuki0701 3:e696a6dd4254 58 //Ec EC2(PB_1,PB_12,NC,500,0.05); //Nucleo
yuki0701 3:e696a6dd4254 59
yuki0701 5:7493649d098b 60 Ec EC1(p21,p22,NC,500,0.05);
yuki0701 3:e696a6dd4254 61 Ec EC2(p8,p26,NC,500,0.05); //←mbad
la00noix 0:f5992b0c6e00 62 Ticker motor_tick; //角速度計算用ticker
la00noix 0:f5992b0c6e00 63 Ticker ticker; //for enc
la00noix 0:f5992b0c6e00 64
yuki0701 3:e696a6dd4254 65 //R1370P gyro(PC_6,PC_7); //ジャイロ
yuki0701 3:e696a6dd4254 66 R1370P gyro(p28,p27);
la00noix 0:f5992b0c6e00 67
la00noix 0:f5992b0c6e00 68 //DigitalOut can_led(LED1); //if can enable -> toggle
la00noix 0:f5992b0c6e00 69 DigitalOut debug_led(LED2); //if debugmode -> on
la00noix 0:f5992b0c6e00 70 DigitalOut md_stop_led(LED3); //if motor stop -> on
la00noix 0:f5992b0c6e00 71 DigitalOut md_err_led(LED4); //if driver error -> on //とりあえず使わない
la00noix 0:f5992b0c6e00 72
la00noix 0:f5992b0c6e00 73 double new_dist1=0,new_dist2=0;
la00noix 0:f5992b0c6e00 74 double old_dist1=0,old_dist2=0;
la00noix 0:f5992b0c6e00 75 double d_dist1=0,d_dist2=0; //座標計算用関数
la00noix 0:f5992b0c6e00 76 double d_x,d_y;
la00noix 0:f5992b0c6e00 77 //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:f5992b0c6e00 78 double start_x=0,start_y=0; //スタート位置
la00noix 0:f5992b0c6e00 79
yuki0701 3:e696a6dd4254 80 double x_out,y_out,r_out;//出力値
yuki0701 3:e696a6dd4254 81
la00noix 0:f5992b0c6e00 82 static int16_t m1=0, m2=0, m3=0, m4=0; //int16bit = int2byte
la00noix 0:f5992b0c6e00 83
yuki0701 3:e696a6dd4254 84 ///////////////////////////////////////////////////関数のプロトタイプ宣言////////////////////////////////////////////////////
la00noix 0:f5992b0c6e00 85 void UserLoopSetting(); // initialize setting
la00noix 0:f5992b0c6e00 86 void DAC_Write(int16_t data, DigitalOut* DAC_cs);
la00noix 0:f5992b0c6e00 87 void MotorControl(int16_t val_md1, int16_t val_md2, int16_t val_md3, int16_t val_md4);
la00noix 0:f5992b0c6e00 88
la00noix 0:f5992b0c6e00 89 void calOmega() //角速度計算関数
la00noix 0:f5992b0c6e00 90 {
la00noix 0:f5992b0c6e00 91 EC1.CalOmega();
la00noix 0:f5992b0c6e00 92 EC2.CalOmega();
la00noix 0:f5992b0c6e00 93 }
la00noix 0:f5992b0c6e00 94
la00noix 0:f5992b0c6e00 95 void output(double FL,double BL,double BR,double FR)
la00noix 0:f5992b0c6e00 96 {
la00noix 0:f5992b0c6e00 97 m1=FL;
la00noix 0:f5992b0c6e00 98 m2=BL;
la00noix 0:f5992b0c6e00 99 m3=BR;
la00noix 0:f5992b0c6e00 100 m4=FR;
la00noix 0:f5992b0c6e00 101 }
la00noix 0:f5992b0c6e00 102
yuki0701 7:e269985951bf 103 /*void base(double FL,double BL,double BR,double FR,double Max)
la00noix 0:f5992b0c6e00 104 //いろんな加算をしても最大OR最小が１になるような補正(?)//絶対値が一番でかいやつで除算//double Max(0~1)
la00noix 0:f5992b0c6e00 105 //マクソンは-4095～4095だからMax=4095にする//最速スピードを出すための関数になってる
la00noix 0:f5992b0c6e00 106 {
yuki0701 3:e696a6dd4254 107 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));
yuki0701 3:e696a6dd4254 108 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));
yuki0701 3:e696a6dd4254 109 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));
yuki0701 3:e696a6dd4254 110 else output(Max*FL/fabs(FR),Max*BL/fabs(FR),Max*BR/fabs(FR),Max*FR/fabs(FR));
yuki0701 7:e269985951bf 111 }*/
yuki0701 7:e269985951bf 112
yuki0701 7:e269985951bf 113 void base(double FL,double BL,double BR,double FR,double Max)
yuki0701 7:e269985951bf 114 //いろんな加算をしても最大OR最小が１になるような補正(?)//絶対値が一番でかいやつで除算//double Max(0~1)
yuki0701 7:e269985951bf 115 //マクソンは-4095～4095だからMax=4095にする//最速スピードを出すための関数になってる
yuki0701 7:e269985951bf 116 {
yuki0701 7:e269985951bf 117 if(fabs(FL)>=Max||fabs(BL)>=Max||fabs(BR)>=Max||fabs(FR)>=Max) {
yuki0701 7:e269985951bf 118
yuki0701 7:e269985951bf 119 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));
yuki0701 7:e269985951bf 120 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));
yuki0701 7:e269985951bf 121 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));
yuki0701 7:e269985951bf 122 else output(Max*FL/fabs(FR),Max*BL/fabs(FR),Max*BR/fabs(FR),Max*FR/fabs(FR));
yuki0701 7:e269985951bf 123 } else {
yuki0701 7:e269985951bf 124 output(FL,BL,BR,FR);
yuki0701 7:e269985951bf 125 }
yuki0701 7:e269985951bf 126
yuki0701 3:e696a6dd4254 127 }
yuki0701 3:e696a6dd4254 128 void calc_xy()
yuki0701 3:e696a6dd4254 129 {
yuki0701 3:e696a6dd4254 130 now_angle=gyro.getAngle(); //ジャイロの値読み込み
yuki0701 3:e696a6dd4254 131
yuki0701 3:e696a6dd4254 132 new_dist1=EC1.getDistance_mm();
yuki0701 3:e696a6dd4254 133 new_dist2=EC2.getDistance_mm();
yuki0701 3:e696a6dd4254 134 d_dist1=new_dist1-old_dist1;
yuki0701 3:e696a6dd4254 135 d_dist2=new_dist2-old_dist2;
yuki0701 3:e696a6dd4254 136 old_dist1=new_dist1;
yuki0701 3:e696a6dd4254 137 old_dist2=new_dist2; //微小時間当たりのエンコーダ読み込み
yuki0701 3:e696a6dd4254 138
yuki0701 3:e696a6dd4254 139 d_x=d_dist2*sin(now_angle*PI/180)-d_dist1*cos(now_angle*PI/180);
yuki0701 3:e696a6dd4254 140 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
yuki0701 3:e696a6dd4254 141 now_x=now_x+d_x;
yuki0701 3:e696a6dd4254 142 now_y=now_y-d_y; //微小時間毎に座標に加算
yuki0701 5:7493649d098b 143
la00noix 0:f5992b0c6e00 144 }
la00noix 0:f5992b0c6e00 145
la00noix 0:f5992b0c6e00 146 //ここからそれぞれのプログラム//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
la00noix 0:f5992b0c6e00 147 //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:f5992b0c6e00 148 //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:f5992b0c6e00 149 //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:f5992b0c6e00 150 //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:f5992b0c6e00 151
yuki0701 8:84d10508818a 152 void purecurve(int type,double X,double Y,double r,int theta,double speed1,double speed2)
la00noix 0:f5992b0c6e00 153 {
la00noix 0:f5992b0c6e00 154 //正面を変えずに円弧を描いて90°曲がる
la00noix 0:f5992b0c6e00 155 //X=円弧の中心座標、Y=円弧の中心座標、r=円弧の半径、theta=plotの間隔(0～90°)、v=目標速度
yuki0701 8:84d10508818a 156 //speed1:初速度, speed2:目標速度
la00noix 0:f5992b0c6e00 157
la00noix 0:f5992b0c6e00 158 int s;
yuki0701 3:e696a6dd4254 159 int t = 0;
la00noix 0:f5992b0c6e00 160 double plotx[(90/theta)+1]; //円弧にとるplotのx座標
la00noix 0:f5992b0c6e00 161 double ploty[(90/theta)+1];
la00noix 0:f5992b0c6e00 162 //double plotvx[(90/theta)+1]; //各plotにおける速度
la00noix 0:f5992b0c6e00 163 //double plotvy[(90/theta)+1];
la00noix 0:f5992b0c6e00 164
la00noix 0:f5992b0c6e00 165 double x_out,y_out,r_out;
la00noix 0:f5992b0c6e00 166
la00noix 0:f5992b0c6e00 167 switch(type) {
la00noix 0:f5992b0c6e00 168 case 1://↑から→
la00noix 0:f5992b0c6e00 169
la00noix 0:f5992b0c6e00 170 for(s=0; s<((90/theta)+1); s++) {
yuki0701 3:e696a6dd4254 171 plotx[s] = X + r * cos(PI - s * (PI*theta/180));
la00noix 0:f5992b0c6e00 172 ploty[s] = Y + r * sin(PI - s * (PI*theta/180));
la00noix 0:f5992b0c6e00 173 //plotvx[s] = -v * cos(PI - s * (PI*theta/180));
la00noix 0:f5992b0c6e00 174 //plotvy[s] = v * sin(PI - s * (PI*theta/180));
yuki0701 5:7493649d098b 175 debug_printf("plotx[%d]=%f ploty[%d]=%f\n\r",s,plotx[s],s,ploty[s]);
la00noix 0:f5992b0c6e00 176 }
la00noix 0:f5992b0c6e00 177
la00noix 0:f5992b0c6e00 178 while(1) {
yuki0701 8:84d10508818a 179 //now_angle=gyro.getAngle(); //ジャイロの値読み込み
la00noix 0:f5992b0c6e00 180
yuki0701 3:e696a6dd4254 181 calc_xy();
la00noix 0:f5992b0c6e00 182
yuki0701 8:84d10508818a 183 XYRmotorout(plotx[t],ploty[t],plotx[t+1],ploty[t+1],&x_out,&y_out,&r_out,speed1,speed2);
la00noix 0:f5992b0c6e00 184 CalMotorOut(x_out,y_out,r_out); //move4wheel内のモーター番号定義または成分分解が違うかも？
la00noix 0:f5992b0c6e00 185 //CalMotorOut(plotvx[t], plotvy[t],0);
la00noix 0:f5992b0c6e00 186
yuki0701 3:e696a6dd4254 187 //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);
yuki0701 3:e696a6dd4254 188 //debug_printf("t=%d (0)=%f (1)=%f (2)=%f (3)=%f\n\r",t,GetMotorOut(0),GetMotorOut(1),GetMotorOut(2),GetMotorOut(3));
la00noix 0:f5992b0c6e00 189
yuki0701 3:e696a6dd4254 190 base(GetMotorOut(0),GetMotorOut(1),GetMotorOut(2),GetMotorOut(3),1000); //m1～m4に代入
la00noix 0:f5992b0c6e00 191
yuki0701 3:e696a6dd4254 192 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:f5992b0c6e00 193 if(t == (90/theta))break;
la00noix 2:e04e6b5d6584 194
la00noix 0:f5992b0c6e00 195 MotorControl(m1,m2,m3,m4); //出力
la00noix 2:e04e6b5d6584 196
yuki0701 5:7493649d098b 197 //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 0:f5992b0c6e00 198
la00noix 0:f5992b0c6e00 199 }
la00noix 0:f5992b0c6e00 200
la00noix 0:f5992b0c6e00 201 case 2://↑から← //まだ編集してない
la00noix 0:f5992b0c6e00 202
la00noix 0:f5992b0c6e00 203 for(s=0; s<((90/theta)+1); s++) {
la00noix 0:f5992b0c6e00 204 plotx[s] = X + r * cos(s * (PI*theta/180));
la00noix 0:f5992b0c6e00 205 ploty[s] = Y + r * sin(s * (PI*theta/180));
la00noix 0:f5992b0c6e00 206 }
la00noix 0:f5992b0c6e00 207
la00noix 0:f5992b0c6e00 208 while(1) {
la00noix 0:f5992b0c6e00 209
yuki0701 8:84d10508818a 210 //now_angle=gyro.getAngle(); //ジャイロの値読み込み
yuki0701 5:7493649d098b 211
yuki0701 3:e696a6dd4254 212 calc_xy();
la00noix 0:f5992b0c6e00 213
yuki0701 8:84d10508818a 214 XYRmotorout(plotx[t],ploty[t],plotx[t+1],ploty[t+1],&x_out,&y_out,&r_out,speed1,speed2);
la00noix 0:f5992b0c6e00 215 CalMotorOut(x_out,y_out,r_out);
yuki0701 3:e696a6dd4254 216 base(GetMotorOut(0),GetMotorOut(1),GetMotorOut(2),GetMotorOut(3),1000);
yuki0701 3:e696a6dd4254 217 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:f5992b0c6e00 218 if(t == (90/theta))break;
la00noix 0:f5992b0c6e00 219
yuki0701 3:e696a6dd4254 220 MotorControl(m1,m2,m3,m4);
la00noix 0:f5992b0c6e00 221 }
la00noix 0:f5992b0c6e00 222 }
la00noix 0:f5992b0c6e00 223 }
yuki0701 3:e696a6dd4254 224
yuki0701 8:84d10508818a 225 void purecurve2(int type,double point_x1,double point_y1,double point_x2,double point_y2,int theta,double speed1,double speed2)
yuki0701 5:7493649d098b 226 {
yuki0701 5:7493649d098b 227 //正面を変えずに円弧を描いて90°曲がる
yuki0701 5:7493649d098b 228 //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°)、v=目標速度
yuki0701 5:7493649d098b 229 //type:動きの種類（8パターン)
yuki0701 5:7493649d098b 230
yuki0701 5:7493649d098b 231 int s;
yuki0701 5:7493649d098b 232 int t = 0;
yuki0701 5:7493649d098b 233 double X,Y;//X=楕円の中心座標、Y=楕円の中心座標
yuki0701 5:7493649d098b 234 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
yuki0701 5:7493649d098b 235 double plotx[(90/theta)+1]; //楕円にとるplotのx座標
yuki0701 5:7493649d098b 236 double ploty[(90/theta)+1];
yuki0701 5:7493649d098b 237 //double plotvx[(90/theta)+1]; //各plotにおける速度
yuki0701 5:7493649d098b 238 //double plotvy[(90/theta)+1];
yuki0701 5:7493649d098b 239 double x_out,y_out,r_out;
yuki0701 5:7493649d098b 240
yuki0701 5:7493649d098b 241 a=fabs(point_x1-point_x2);
yuki0701 5:7493649d098b 242 b=fabs(point_y1-point_y2);
yuki0701 5:7493649d098b 243
yuki0701 5:7493649d098b 244 switch(type) {
yuki0701 5:7493649d098b 245
yuki0701 5:7493649d098b 246 case 1://→↑移動
yuki0701 5:7493649d098b 247 X=point_x1;
yuki0701 5:7493649d098b 248 Y=point_y2;
yuki0701 5:7493649d098b 249
yuki0701 5:7493649d098b 250 for(s=0; s<((90/theta)+1); s++) {
yuki0701 5:7493649d098b 251 plotx[s] = X + a * cos(-PI/2 + s * (PI*theta/180));
yuki0701 5:7493649d098b 252 ploty[s] = Y + b * sin(-PI/2 + s * (PI*theta/180));
yuki0701 5:7493649d098b 253 //debug_printf("plotx[%d]=%f ploty[%d]=%f\n\r",s,plotx[s],s,ploty[s]);
yuki0701 5:7493649d098b 254 }
yuki0701 5:7493649d098b 255 break;
yuki0701 5:7493649d098b 256
yuki0701 5:7493649d098b 257 case 2://↑→移動
yuki0701 5:7493649d098b 258 X=point_x2;
yuki0701 5:7493649d098b 259 Y=point_y1;
yuki0701 5:7493649d098b 260
yuki0701 5:7493649d098b 261 for(s=0; s<((90/theta)+1); s++) {
yuki0701 5:7493649d098b 262 plotx[s] = X + a * cos(PI - s * (PI*theta/180));
yuki0701 5:7493649d098b 263 ploty[s] = Y + b * sin(PI - s * (PI*theta/180));
yuki0701 5:7493649d098b 264 //debug_printf("plotx[%d]=%f ploty[%d]=%f\n\r",s,plotx[s],s,ploty[s]);
yuki0701 5:7493649d098b 265 }
yuki0701 5:7493649d098b 266 break;
yuki0701 5:7493649d098b 267
yuki0701 5:7493649d098b 268 case 3://↑←移動
yuki0701 5:7493649d098b 269 X=point_x2;
yuki0701 5:7493649d098b 270 Y=point_y1;
yuki0701 5:7493649d098b 271
yuki0701 5:7493649d098b 272 for(s=0; s<((90/theta)+1); s++) {
yuki0701 5:7493649d098b 273 plotx[s] = X + a * cos(s * (PI*theta/180));
yuki0701 5:7493649d098b 274 ploty[s] = Y + b * sin(s * (PI*theta/180));
yuki0701 5:7493649d098b 275 //debug_printf("plotx[%d]=%f ploty[%d]=%f\n\r",s,plotx[s],s,ploty[s]);
yuki0701 5:7493649d098b 276 }
yuki0701 5:7493649d098b 277 break;
yuki0701 5:7493649d098b 278
yuki0701 5:7493649d098b 279 case 4://←↑移動
yuki0701 5:7493649d098b 280 X=point_x1;
yuki0701 5:7493649d098b 281 Y=point_y2;
yuki0701 5:7493649d098b 282
yuki0701 5:7493649d098b 283 for(s=0; s<((90/theta)+1); s++) {
yuki0701 5:7493649d098b 284 plotx[s] = X + a * cos(-PI/2 - s * (PI*theta/180));
yuki0701 5:7493649d098b 285 ploty[s] = Y + b * sin(-PI/2 - s * (PI*theta/180));
yuki0701 5:7493649d098b 286 //debug_printf("plotx[%d]=%f ploty[%d]=%f\n\r",s,plotx[s],s,ploty[s]);
yuki0701 5:7493649d098b 287 }
yuki0701 5:7493649d098b 288 break;
yuki0701 5:7493649d098b 289
yuki0701 5:7493649d098b 290 case 5://←↓移動
yuki0701 5:7493649d098b 291 X=point_x1;
yuki0701 5:7493649d098b 292 Y=point_y2;
yuki0701 5:7493649d098b 293
yuki0701 5:7493649d098b 294 for(s=0; s<((90/theta)+1); s++) {
yuki0701 5:7493649d098b 295 plotx[s] = X + a * cos(PI/2 + s * (PI*theta/180));
yuki0701 5:7493649d098b 296 ploty[s] = Y + b * sin(PI/2 + s * (PI*theta/180));
yuki0701 5:7493649d098b 297 //debug_printf("plotx[%d]=%f ploty[%d]=%f\n\r",s,plotx[s],s,ploty[s]);
yuki0701 5:7493649d098b 298 }
yuki0701 5:7493649d098b 299 break;
yuki0701 5:7493649d098b 300
yuki0701 5:7493649d098b 301 case 6://↓←移動
yuki0701 5:7493649d098b 302 X=point_x2;
yuki0701 5:7493649d098b 303 Y=point_y1;
yuki0701 5:7493649d098b 304
yuki0701 5:7493649d098b 305 for(s=0; s<((90/theta)+1); s++) {
yuki0701 5:7493649d098b 306 plotx[s] = X + a * cos(-s * (PI*theta/180));
yuki0701 5:7493649d098b 307 ploty[s] = Y + b * sin(-s * (PI*theta/180));
yuki0701 5:7493649d098b 308 //debug_printf("plotx[%d]=%f ploty[%d]=%f\n\r",s,plotx[s],s,ploty[s]);
yuki0701 5:7493649d098b 309 }
yuki0701 5:7493649d098b 310 break;
yuki0701 5:7493649d098b 311
yuki0701 5:7493649d098b 312 case 7://↓→移動
yuki0701 5:7493649d098b 313 X=point_x2;
yuki0701 5:7493649d098b 314 Y=point_y1;
yuki0701 5:7493649d098b 315
yuki0701 5:7493649d098b 316 for(s=0; s<((90/theta)+1); s++) {
yuki0701 5:7493649d098b 317 plotx[s] = X + a * cos(PI + s * (PI*theta/180));
yuki0701 5:7493649d098b 318 ploty[s] = Y + b * sin(PI + s * (PI*theta/180));
yuki0701 5:7493649d098b 319 //debug_printf("plotx[%d]=%f ploty[%d]=%f\n\r",s,plotx[s],s,ploty[s]);
yuki0701 5:7493649d098b 320 }
yuki0701 5:7493649d098b 321 break;
yuki0701 5:7493649d098b 322
yuki0701 5:7493649d098b 323 case 8://→↓移動
yuki0701 5:7493649d098b 324 X=point_x1;
yuki0701 5:7493649d098b 325 Y=point_y2;
yuki0701 5:7493649d098b 326
yuki0701 5:7493649d098b 327 for(s=0; s<((90/theta)+1); s++) {
yuki0701 5:7493649d098b 328 plotx[s] = X + a * cos(PI/2 - s * (PI*theta/180));
yuki0701 5:7493649d098b 329 ploty[s] = Y + b * sin(PI/2 - s * (PI*theta/180));
yuki0701 5:7493649d098b 330 //debug_printf("plotx[%d]=%f ploty[%d]=%f\n\r",s,plotx[s],s,ploty[s]);
yuki0701 5:7493649d098b 331 }
yuki0701 5:7493649d098b 332 break;
yuki0701 5:7493649d098b 333 }
yuki0701 5:7493649d098b 334
yuki0701 5:7493649d098b 335 while(1) {
yuki0701 6:14cb400f99f7 336 //now_angle=gyro.getAngle(); //ジャイロの値読み込み
yuki0701 5:7493649d098b 337
yuki0701 5:7493649d098b 338 calc_xy();
yuki0701 5:7493649d098b 339
yuki0701 8:84d10508818a 340 XYRmotorout(plotx[t],ploty[t],plotx[t+1],ploty[t+1],&x_out,&y_out,&r_out,speed1,speed2);
yuki0701 5:7493649d098b 341 CalMotorOut(x_out,y_out,r_out); //move4wheel内のモーター番号定義または成分分解が違うかも？
yuki0701 5:7493649d098b 342 //CalMotorOut(plotvx[t], plotvy[t],0);
yuki0701 5:7493649d098b 343
yuki0701 7:e269985951bf 344 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);
yuki0701 5:7493649d098b 345 //debug_printf("t=%d (0)=%f (1)=%f (2)=%f (3)=%f\n\r",t,GetMotorOut(0),GetMotorOut(1),GetMotorOut(2),GetMotorOut(3));
yuki0701 5:7493649d098b 346
yuki0701 5:7493649d098b 347 base(GetMotorOut(0),GetMotorOut(1),GetMotorOut(2),GetMotorOut(3),1000); //m1～m4に代入
yuki0701 5:7493649d098b 348
yuki0701 5:7493649d098b 349 if(((plotx[t+1] - now_x)*(plotx[t+1] - plotx[t]) + (ploty[t+1] - now_y)*(ploty[t+1] - ploty[t])) < 0)t++;
yuki0701 5:7493649d098b 350 if(t == (90/theta))break;
yuki0701 5:7493649d098b 351
yuki0701 5:7493649d098b 352 MotorControl(m1,m2,m3,m4); //出力
yuki0701 5:7493649d098b 353
yuki0701 7:e269985951bf 354 //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);
yuki0701 5:7493649d098b 355
yuki0701 5:7493649d098b 356 }
yuki0701 5:7493649d098b 357 }
yuki0701 5:7493649d098b 358
yuki0701 5:7493649d098b 359
yuki0701 5:7493649d098b 360
yuki0701 5:7493649d098b 361
yuki0701 8:84d10508818a 362 void gogo_straight(double x1_point,double y1_point,double x2_point,double y2_point,double speed1,double speed2) //直線運動プログラム
yuki0701 8:84d10508818a 363 //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）
yuki0701 3:e696a6dd4254 364 {
yuki0701 3:e696a6dd4254 365 while (1) {
yuki0701 3:e696a6dd4254 366
yuki0701 3:e696a6dd4254 367 //now_angle=gyro.getAngle();
yuki0701 3:e696a6dd4254 368
yuki0701 3:e696a6dd4254 369 calc_xy();
yuki0701 3:e696a6dd4254 370 printf("x = %f, y = %f, angle = %f\r\n",now_x,now_y,now_angle);
yuki0701 3:e696a6dd4254 371
yuki0701 3:e696a6dd4254 372
yuki0701 3:e696a6dd4254 373 //Debug_Control();
yuki0701 8:84d10508818a 374 XYRmotorout(x1_point,y1_point,x2_point,y2_point,&x_out,&y_out,&r_out,speed1,speed2);
yuki0701 7:e269985951bf 375 //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);
yuki0701 3:e696a6dd4254 376
yuki0701 3:e696a6dd4254 377 CalMotorOut(x_out,y_out,r_out);
yuki0701 3:e696a6dd4254 378 //printf("out1=%lf, out2=%lf, out3=%lf, out4=%lf\n",GetMotorOut(0),GetMotorOut(1),GetMotorOut(2),GetMotorOut(3));
yuki0701 3:e696a6dd4254 379
yuki0701 3:e696a6dd4254 380 base(GetMotorOut(0),GetMotorOut(1),GetMotorOut(2),GetMotorOut(3),1000);
yuki0701 3:e696a6dd4254 381 //printf("m1=%d, m2=%d, m3=%d, m4=%d\r\n",m1,m2,m3,m4);
yuki0701 3:e696a6dd4254 382 MotorControl(m1,m2,m3,m4);
yuki0701 5:7493649d098b 383
yuki0701 3:e696a6dd4254 384 if(((x2_point - now_x)*(x2_point - x1_point) + (y2_point - now_y)*(y2_point - y1_point)) < 0) break;
yuki0701 3:e696a6dd4254 385
yuki0701 3:e696a6dd4254 386 }
yuki0701 3:e696a6dd4254 387
yuki0701 3:e696a6dd4254 388 }
yuki0701 3:e696a6dd4254 389
yuki0701 5:7493649d098b 390 void go_straight(int type,double goal_x,double goal_y,double speed,double front) //移動パターン(1,2,3,4)、目標X、目標Y、最高速度(0~1)、正面角度
yuki0701 3:e696a6dd4254 391 {
yuki0701 3:e696a6dd4254 392 double y_hosei=(now_y-goal_y)*0.001;//Y座標(mm単位)にP処理
yuki0701 3:e696a6dd4254 393 double x_hosei=(now_x-goal_x)*0.001;//X座標(mm単位)にP処理
yuki0701 3:e696a6dd4254 394 double incl_hosei=sin(now_angle-front)*(PI/180)*0.1;//機体角度(sin(数度→ラジアンに変換))にP処理
yuki0701 3:e696a6dd4254 395
yuki0701 3:e696a6dd4254 396 switch(type) {
yuki0701 3:e696a6dd4254 397 case 1://Y座標一定の正方向横移動
yuki0701 5:7493649d098b 398 while(now_x<goal_x) {
yuki0701 5:7493649d098b 399 base(-1-y_hosei-incl_hosei,-1+y_hosei-incl_hosei,1+y_hosei-incl_hosei,1-y_hosei-incl_hosei,speed);
yuki0701 3:e696a6dd4254 400 }
yuki0701 3:e696a6dd4254 401 break;
yuki0701 5:7493649d098b 402
yuki0701 3:e696a6dd4254 403 case 2://Y座標一定の負方向横移動
yuki0701 5:7493649d098b 404 while(now_x>goal_x) {
yuki0701 5:7493649d098b 405 base(1-y_hosei-incl_hosei,1+y_hosei-incl_hosei,-1+y_hosei-incl_hosei,-1-y_hosei-incl_hosei,speed);
yuki0701 3:e696a6dd4254 406 }
yuki0701 3:e696a6dd4254 407 break;
yuki0701 5:7493649d098b 408
yuki0701 3:e696a6dd4254 409 case 3://Y座標一定の正方向横移動
yuki0701 5:7493649d098b 410 while(now_y<goal_y) {
yuki0701 5:7493649d098b 411 base(1+x_hosei-incl_hosei,-1+x_hosei-incl_hosei,-1-x_hosei-incl_hosei,1-x_hosei-incl_hosei,speed);
yuki0701 3:e696a6dd4254 412 }
yuki0701 3:e696a6dd4254 413 break;
yuki0701 5:7493649d098b 414
yuki0701 3:e696a6dd4254 415 case 4://X座標一定の負方向横移動
yuki0701 5:7493649d098b 416 while(now_y>goal_y) {
yuki0701 5:7493649d098b 417 base(-1+x_hosei-incl_hosei,1+x_hosei-incl_hosei,1-x_hosei-incl_hosei,-1-x_hosei-incl_hosei,speed);
yuki0701 3:e696a6dd4254 418 }
yuki0701 3:e696a6dd4254 419 break;
yuki0701 3:e696a6dd4254 420 }
yuki0701 3:e696a6dd4254 421 }
yuki0701 3:e696a6dd4254 422
yuki0701 6:14cb400f99f7 423
yuki0701 6:14cb400f99f7 424
yuki0701 3:e696a6dd4254 425 //////////////////////////////////////////////////////////////以下main文////////////////////////////////////////////////////////////////////////
la00noix 0:f5992b0c6e00 426
la00noix 0:f5992b0c6e00 427 int main()
la00noix 0:f5992b0c6e00 428 {
la00noix 0:f5992b0c6e00 429 UserLoopSetting();
la00noix 0:f5992b0c6e00 430
yuki0701 3:e696a6dd4254 431 void reset();
la00noix 0:f5992b0c6e00 432 EC1.reset();
yuki0701 3:e696a6dd4254 433 EC2.reset();
la00noix 0:f5992b0c6e00 434
la00noix 0:f5992b0c6e00 435 now_x=start_x;
la00noix 0:f5992b0c6e00 436 now_y=start_y;
yuki0701 5:7493649d098b 437
yuki0701 6:14cb400f99f7 438 /*set_target_angle(0);
yuki0701 6:14cb400f99f7 439 purecurve2(1,0,0,1000,1000,9);
yuki0701 6:14cb400f99f7 440 MotorControl(0,0,0,0);*/
yuki0701 6:14cb400f99f7 441
yuki0701 6:14cb400f99f7 442 /* set_target_angle(0);
yuki0701 6:14cb400f99f7 443 while(1){
yuki0701 6:14cb400f99f7 444 purecurve2(7,0,0,500,-500,9);
yuki0701 6:14cb400f99f7 445 MotorControl(0,0,0,0);
yuki0701 6:14cb400f99f7 446 purecurve2(1,500,-500,1000,0,9);
yuki0701 6:14cb400f99f7 447 MotorControl(0,0,0,0);
yuki0701 6:14cb400f99f7 448 purecurve2(3,1000,0,500,500,9);
yuki0701 6:14cb400f99f7 449 MotorControl(0,0,0,0);
yuki0701 6:14cb400f99f7 450 purecurve2(5,500,500,0,0,9);
yuki0701 6:14cb400f99f7 451 MotorControl(0,0,0,0);
yuki0701 6:14cb400f99f7 452 }*/
yuki0701 5:7493649d098b 453
yuki0701 7:e269985951bf 454 int a=0;
yuki0701 6:14cb400f99f7 455 while(1) {
yuki0701 6:14cb400f99f7 456 set_target_angle(a);
yuki0701 8:84d10508818a 457 gogo_straight(0,0,0,-1200,1000,1000);
yuki0701 8:84d10508818a 458 gogo_straight(0,-1200,0,-1500,1000,1000);
yuki0701 6:14cb400f99f7 459 MotorControl(0,0,0,0);
yuki0701 6:14cb400f99f7 460 wait(1);
yuki0701 5:7493649d098b 461
yuki0701 7:e269985951bf 462 //a=a+90;
yuki0701 6:14cb400f99f7 463
yuki0701 6:14cb400f99f7 464 set_target_angle(a);
yuki0701 8:84d10508818a 465 gogo_straight(0,-1500,0,-300,1000,1000);
yuki0701 8:84d10508818a 466 gogo_straight(0,-300,0,0,1000,1000);
yuki0701 6:14cb400f99f7 467 MotorControl(0,0,0,0);
yuki0701 6:14cb400f99f7 468 wait(1);
yuki0701 6:14cb400f99f7 469
yuki0701 7:e269985951bf 470 //a=a+90;
yuki0701 6:14cb400f99f7 471
yuki0701 6:14cb400f99f7 472 }
la00noix 0:f5992b0c6e00 473
la00noix 0:f5992b0c6e00 474 }
yuki0701 3:e696a6dd4254 475 ///////////////////////////////////////////////////////////////////////以下マクソン関連///////////////////////////////////////////////////////////////////////////
la00noix 0:f5992b0c6e00 476
la00noix 0:f5992b0c6e00 477 void UserLoopSetting()
la00noix 0:f5992b0c6e00 478 {
la00noix 0:f5992b0c6e00 479 //-----エスコンの初期設定-----//
la00noix 0:f5992b0c6e00 480 spi.format(SPI_BITS, SPI_MODE);
la00noix 0:f5992b0c6e00 481 spi.frequency(SPI_FREQ);
la00noix 0:f5992b0c6e00 482 ss_md1 = 1;
la00noix 0:f5992b0c6e00 483 ss_md2 = 1;
la00noix 0:f5992b0c6e00 484 ss_md3 = 1;
la00noix 0:f5992b0c6e00 485 ss_md4 = 1;
la00noix 0:f5992b0c6e00 486 md_enable = 1; //enable on
la00noix 0:f5992b0c6e00 487 md_err_led = 0;
la00noix 0:f5992b0c6e00 488 md_stop = 1;
la00noix 0:f5992b0c6e00 489 md_stop_led = 1;
la00noix 0:f5992b0c6e00 490 //-----センサーの初期設定-----//
la00noix 0:f5992b0c6e00 491 gyro.initialize();
la00noix 0:f5992b0c6e00 492 motor_tick.attach(&calOmega,0.05); //0.05秒間隔で角速度を計算
la00noix 0:f5992b0c6e00 493 EC1.setDiameter_mm(48);
la00noix 0:f5992b0c6e00 494 EC2.setDiameter_mm(48); //測定輪半径
la00noix 0:f5992b0c6e00 495 //-----PathFollowingのパラメーター設定-----//
yuki0701 8:84d10508818a 496 //set_p_out(1000); //ベクトルABに平行方向の出力値設定関数(カーブを曲がる速度)
yuki0701 6:14cb400f99f7 497 q_setPDparam(5,0.1); //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
yuki0701 3:e696a6dd4254 498 r_setPDparam(10,0.1); //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
yuki0701 6:14cb400f99f7 499 set_r_out(600); //旋回時の最大出力値設定関数
yuki0701 5:7493649d098b 500 // set_target_angle(0); //機体目標角度設定関数
la00noix 0:f5992b0c6e00 501
la00noix 0:f5992b0c6e00 502 #ifdef DEBUG_MODE
la00noix 0:f5992b0c6e00 503 debug_led = 1;
la00noix 0:f5992b0c6e00 504 pc.attach(Debug_Control, Serial::RxIrq);
la00noix 0:f5992b0c6e00 505 #else
la00noix 0:f5992b0c6e00 506 debug_led = 0;
la00noix 0:f5992b0c6e00 507 #endif
la00noix 0:f5992b0c6e00 508 }
la00noix 0:f5992b0c6e00 509
la00noix 0:f5992b0c6e00 510 #define MCP4922_AB (1<<15)
la00noix 0:f5992b0c6e00 511 #define MCP4922_BUF (1<<14)
la00noix 0:f5992b0c6e00 512 #define MCP4922_GA (1<<13)
la00noix 0:f5992b0c6e00 513 #define MCP4922_SHDN (1<<12)
la00noix 0:f5992b0c6e00 514
la00noix 0:f5992b0c6e00 515 #define MCP4922_SET_OUTA (0x3000) //( MCP4922_GA || MCP4922_SHDN ) //12288
la00noix 0:f5992b0c6e00 516 #define MCP4922_SET_OUTB (0xB000) //( MCP4922_AB || MCP4922_GA || MCP4922_SHDN ) //45056
la00noix 0:f5992b0c6e00 517 #define MCP4922_MASKSET (0x0FFF) //4095
la00noix 0:f5992b0c6e00 518
yuki0701 5:7493649d098b 519 void DAC_Write(int16_t data, DigitalOut* DAC_cs) //(出力,出力場所)
la00noix 0:f5992b0c6e00 520 {
la00noix 0:f5992b0c6e00 521 static uint16_t dataA; //送るデータ
la00noix 0:f5992b0c6e00 522 static uint16_t dataB;
la00noix 0:f5992b0c6e00 523
la00noix 0:f5992b0c6e00 524 dataA = MCP4922_SET_OUTA;
la00noix 0:f5992b0c6e00 525 dataB = MCP4922_SET_OUTB;
la00noix 0:f5992b0c6e00 526
la00noix 0:f5992b0c6e00 527 if(data >= 0) {
la00noix 0:f5992b0c6e00 528 if(data > 4095) {
la00noix 0:f5992b0c6e00 529 data = 4095;
la00noix 0:f5992b0c6e00 530 }
la00noix 0:f5992b0c6e00 531 dataA += (MCP4922_MASKSET & (uint16_t)(data));
la00noix 0:f5992b0c6e00 532 } else {
la00noix 0:f5992b0c6e00 533 if(data < -4095) {
la00noix 0:f5992b0c6e00 534 data = -4095;
la00noix 0:f5992b0c6e00 535 }
la00noix 0:f5992b0c6e00 536 dataB += (MCP4922_MASKSET & (uint16_t)(-data));
la00noix 0:f5992b0c6e00 537 }
la00noix 0:f5992b0c6e00 538
la00noix 0:f5992b0c6e00 539 //Aの出力設定
la00noix 0:f5992b0c6e00 540 (DigitalOut)(*DAC_cs)=0;
la00noix 0:f5992b0c6e00 541 wait_us(SPI_WAIT_US);
la00noix 0:f5992b0c6e00 542 spi.write(dataA);
la00noix 0:f5992b0c6e00 543 wait_us(SPI_WAIT_US);
la00noix 0:f5992b0c6e00 544 (DigitalOut)(*DAC_cs)=1;
la00noix 0:f5992b0c6e00 545 wait_us(SPI_WAIT_US);
la00noix 0:f5992b0c6e00 546
la00noix 0:f5992b0c6e00 547 //Bの出力設定
la00noix 0:f5992b0c6e00 548 (DigitalOut)(*DAC_cs)=0;
la00noix 0:f5992b0c6e00 549 wait_us(SPI_WAIT_US);
la00noix 0:f5992b0c6e00 550 spi.write(dataB);
la00noix 0:f5992b0c6e00 551 wait_us(SPI_WAIT_US);
la00noix 0:f5992b0c6e00 552 (DigitalOut)(*DAC_cs)=1;
la00noix 0:f5992b0c6e00 553
la00noix 0:f5992b0c6e00 554 }
la00noix 0:f5992b0c6e00 555
yuki0701 5:7493649d098b 556 void MotorControl(int16_t val_md1, int16_t val_md2, int16_t val_md3, int16_t val_md4) //出力
la00noix 0:f5992b0c6e00 557 {
la00noix 0:f5992b0c6e00 558 static int16_t zero_check;
la00noix 0:f5992b0c6e00 559
la00noix 0:f5992b0c6e00 560 DAC_Write(val_md1, &ss_md1);
la00noix 0:f5992b0c6e00 561 DAC_Write(val_md2, &ss_md2);
la00noix 0:f5992b0c6e00 562 DAC_Write(val_md3, &ss_md3);
la00noix 0:f5992b0c6e00 563 DAC_Write(val_md4, &ss_md4);
la00noix 0:f5992b0c6e00 564
la00noix 0:f5992b0c6e00 565 zero_check = (val_md1 | val_md2 | val_md3 | val_md4); //すべての出力が0なら強制停止
la00noix 0:f5992b0c6e00 566 if(zero_check == 0) {
la00noix 0:f5992b0c6e00 567 md_stop = 1;
la00noix 0:f5992b0c6e00 568 md_stop_led = 1;
la00noix 0:f5992b0c6e00 569 } else {
la00noix 0:f5992b0c6e00 570 md_stop = 0;
la00noix 0:f5992b0c6e00 571 md_stop_led = 0;
la00noix 0:f5992b0c6e00 572 }
la00noix 0:f5992b0c6e00 573 }
la00noix 0:f5992b0c6e00 574
la00noix 0:f5992b0c6e00 575 #ifdef DEBUG_MODE
la00noix 0:f5992b0c6e00 576 void Debug_Control()
la00noix 0:f5992b0c6e00 577 {
la00noix 0:f5992b0c6e00 578 static char pc_command = '\0';
la00noix 0:f5992b0c6e00 579
la00noix 0:f5992b0c6e00 580 pc_command = pc.getc();
la00noix 0:f5992b0c6e00 581
la00noix 1:86eae1cf26d2 582 if(pc_command == 'w') { //前進
la00noix 0:f5992b0c6e00 583 m1+=500;
la00noix 0:f5992b0c6e00 584 m2+=500;
la00noix 0:f5992b0c6e00 585 m3-=500;
la00noix 0:f5992b0c6e00 586 m4-=500;
la00noix 1:86eae1cf26d2 587 } else if(pc_command == 's') { //後進
la00noix 0:f5992b0c6e00 588 m1-=500;
la00noix 0:f5992b0c6e00 589 m2-=500;
la00noix 0:f5992b0c6e00 590 m3+=500;
la00noix 0:f5992b0c6e00 591 m4+=500;
la00noix 1:86eae1cf26d2 592 } else if(pc_command == 'd') { //右回り
la00noix 0:f5992b0c6e00 593 m1+=500;
la00noix 0:f5992b0c6e00 594 m2+=500;
la00noix 0:f5992b0c6e00 595 m3+=500;
la00noix 0:f5992b0c6e00 596 m4+=500;
la00noix 1:86eae1cf26d2 597 } else if(pc_command == 'a') { //左回り
la00noix 0:f5992b0c6e00 598 m1-=500;
la00noix 0:f5992b0c6e00 599 m2-=500;
la00noix 0:f5992b0c6e00 600 m3-=500;
la00noix 0:f5992b0c6e00 601 m4-=500;
la00noix 0:f5992b0c6e00 602 } else {
la00noix 0:f5992b0c6e00 603 m1=0;
la00noix 0:f5992b0c6e00 604 m2=0;
la00noix 0:f5992b0c6e00 605 m3=0;
la00noix 0:f5992b0c6e00 606 m4=0;
la00noix 0:f5992b0c6e00 607 }
la00noix 0:f5992b0c6e00 608
la00noix 0:f5992b0c6e00 609 if(m1>4095) { //最大値を超えないように
la00noix 0:f5992b0c6e00 610 m1=4095;
la00noix 0:f5992b0c6e00 611 } else if(m1<-4095) {
la00noix 0:f5992b0c6e00 612 m1=-4095;
la00noix 0:f5992b0c6e00 613 }
la00noix 0:f5992b0c6e00 614 if(m2>4095) {
la00noix 0:f5992b0c6e00 615 m2=4095;
la00noix 0:f5992b0c6e00 616 } else if(m2<-4095) {
la00noix 0:f5992b0c6e00 617 m2=-4095;
la00noix 0:f5992b0c6e00 618 }
la00noix 0:f5992b0c6e00 619 if(m3>4095) {
la00noix 0:f5992b0c6e00 620 m3=4095;
la00noix 0:f5992b0c6e00 621 } else if(m3<-4095) {
la00noix 0:f5992b0c6e00 622 m3=-4095;
la00noix 0:f5992b0c6e00 623 }
la00noix 0:f5992b0c6e00 624 if(m4>4095) {
la00noix 0:f5992b0c6e00 625 m4=4095;
la00noix 0:f5992b0c6e00 626 } else if(m4<-4095) {
la00noix 0:f5992b0c6e00 627 m4=-4095;
la00noix 0:f5992b0c6e00 628 }
la00noix 0:f5992b0c6e00 629
la00noix 0:f5992b0c6e00 630 debug_printf("%d %d %d %d\r\n",m1,m2,m3,m4);
la00noix 0:f5992b0c6e00 631 MotorControl(m1,m2,m3,m4);
la00noix 0:f5992b0c6e00 632 pc_command = '\0';
la00noix 0:f5992b0c6e00 633 }
la00noix 0:f5992b0c6e00 634 #endif
la00noix 0:f5992b0c6e00 635
la00noix 0:f5992b0c6e00 636 #ifdef DEBUG_PRINT
la00noix 0:f5992b0c6e00 637 void debug_printf(const char* format,...)
la00noix 0:f5992b0c6e00 638 {
la00noix 0:f5992b0c6e00 639 va_list arg;
la00noix 0:f5992b0c6e00 640 va_start(arg, format);
la00noix 0:f5992b0c6e00 641 vprintf(format, arg);
la00noix 0:f5992b0c6e00 642 va_end(arg);
la00noix 0:f5992b0c6e00 643 }
la00noix 0:f5992b0c6e00 644 #endif