春ロボ1班(元F3RC4班+)
/
harurobo_main_ver5
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Dependencies: mbed EC PathFollowing-ver11 CruizCore_R1370P
Revision 0:f5992b0c6e00, committed 2018-11-16
- Comitter:
- la00noix
- Date:
- Fri Nov 16 23:21:38 2018 +0000
- Child:
- 1:86eae1cf26d2
- Commit message:
- a
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/CruizCore_R1370P.lib Fri Nov 16 23:21:38 2018 +0000 @@ -0,0 +1,1 @@ +http://os.mbed.com/teams/ROBOSTEP_LIBRARY/code/CruizCore_R1370P/#b034f6d0b378
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/EC.lib Fri Nov 16 23:21:38 2018 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/teams/F3RC4/code/EC/#4bc324e21350
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/PathFollowing.lib Fri Nov 16 23:21:38 2018 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/teams/F3RC4/code/PathFollowing/#591749f315ac
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Fri Nov 16 23:21:38 2018 +0000
@@ -0,0 +1,381 @@
+#include "mbed.h"
+#include "EC.h"
+#include "R1370P.h"
+#include "move4wheel.h"
+#include "PathFollowing.h"
+#include <stdarg.h>
+
+#define PI 3.141592
+
+#define DEBUG_MODE // compile as debug mode (comment out if you don't use)
+#ifdef DEBUG_MODE
+#define DEBUG_PRINT // enable debug_printf
+#endif
+
+Serial pc(USBTX,USBRX);
+void debug_printf(const char* format,...); // work as printf in debug
+void Debug_Control(); // control by PC keybord
+
+#define SPI_FREQ 1000000 // 1MHz
+#define SPI_BITS 16
+#define SPI_MODE 0
+#define SPI_WAIT_US 1 // 1us
+SPI spi(PB_5,PB_4,PB_3);
+
+DigitalOut ss_md1(PB_15); //エスコンの設定
+DigitalOut ss_md2(PB_14);
+DigitalOut ss_md3(PB_13);
+DigitalOut ss_md4(PC_4);
+
+DigitalOut md_enable(PA_13); // do all motor driver enable
+//DigitalIn md_ch_enable(p10); // check enable switch is open or close
+//Timer md_disable;
+DigitalOut md_stop(PA_14); // stop all motor
+DigitalIn md_check(PB_7); // check error of all motor driver //とりあえず使わない
+
+/*モーターの配置
+* md1//---F---\\md4
+* | |
+* L + R
+* | |
+* md2\\---B---//md3
+*/
+
+
+Ec EC1(PC_6,PC_8,NC,500,0.05);
+Ec EC2(PB_1,PB_12,NC,500,0.05); //エンコーダ
+Ticker motor_tick; //角速度計算用ticker
+Ticker ticker; //for enc
+
+R1370P gyro(PC_6,PC_7); //ジャイロ
+
+//DigitalOut can_led(LED1); //if can enable -> toggle
+DigitalOut debug_led(LED2); //if debugmode -> on
+DigitalOut md_stop_led(LED3); //if motor stop -> on
+DigitalOut md_err_led(LED4); //if driver error -> on //とりあえず使わない
+
+double new_dist1=0,new_dist2=0;
+double old_dist1=0,old_dist2=0;
+double d_dist1=0,d_dist2=0; //座標計算用関数
+double d_x,d_y;
+//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
+double start_x=0,start_y=0; //スタート位置
+
+static int16_t m1=0, m2=0, m3=0, m4=0; //int16bit = int2byte
+
+void UserLoopSetting(); // initialize setting
+void DAC_Write(int16_t data, DigitalOut* DAC_cs);
+void MotorControl(int16_t val_md1, int16_t val_md2, int16_t val_md3, int16_t val_md4);
+
+void calOmega() //角速度計算関数
+{
+ EC1.CalOmega();
+ EC2.CalOmega();
+}
+
+void output(double FL,double BL,double BR,double FR)
+{
+ m1=FL;
+ m2=BL;
+ m3=BR;
+ m4=FR;
+}
+
+void base(double FL,double BL,double BR,double FR,double Max)
+//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)
+//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
+{
+ if (fabs(FL)>=fabs(BL)&&fabs(FL)>=fabs(BR)&&fabs(FL)>=fabs(FR))output(Max ,Max*BL/fabs(FL),Max*BR/fabs(FL),Max*FR/fabs(FL));
+ else if(fabs(BL)>=fabs(FL)&&fabs(BL)>=fabs(BR)&&fabs(BL)>=fabs(FR))output(Max*FL/fabs(BL),Max ,Max*BR/fabs(BL),Max*FR/fabs(BL));
+ else if(fabs(BR)>=fabs(FL)&&fabs(BR)>=fabs(BL)&&fabs(BR)>=fabs(FR))output(Max*FL/fabs(BR),Max*BL/fabs(BR),Max ,Max*FR/fabs(BR));
+ else output(Max*FL/fabs(FR),Max*BL/fabs(FR),Max*BR/fabs(FR),Max );
+}
+
+//ここからそれぞれのプログラム//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+//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)
+//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
+//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)
+//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
+
+void purecurve(int type,double X,double Y,double r,int theta,double speed/*,double v*/)
+{
+//正面を変えずに円弧を描いて90°曲がる
+//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
+
+ int s;
+ int t = 0;
+ double plotx[(90/theta)+1]; //円弧にとるplotのx座標
+ double ploty[(90/theta)+1];
+ //double plotvx[(90/theta)+1]; //各plotにおける速度
+ //double plotvy[(90/theta)+1];
+
+ double x_out,y_out,r_out;
+
+ switch(type) {
+ case 1://↑から→
+
+ for(s=0; s<((90/theta)+1); s++) {
+ plotx[s] = X + r * cos(PI - s * (PI*theta/180)) + r;
+ ploty[s] = Y + r * sin(PI - s * (PI*theta/180));
+ //plotvx[s] = -v * cos(PI - s * (PI*theta/180));
+ //plotvy[s] = v * sin(PI - s * (PI*theta/180));
+ //printf("plotx[%d]=%f ploty[%d]=%f\n\r",s,plotx[s],s,ploty[s]);
+ }
+
+ while(1) {
+ now_angle=gyro.getAngle(); //ジャイロの値読み込み
+
+ new_dist1=EC1.getDistance_mm();
+ new_dist2=EC2.getDistance_mm();
+ d_dist1=new_dist1-old_dist1;
+ d_dist2=new_dist2-old_dist2;
+ old_dist1=new_dist1;
+ old_dist2=new_dist2; //微小時間当たりのエンコーダ読み込み
+
+ d_x=d_dist2*sin(now_angle*PI/180)-d_dist1*cos(now_angle*PI/180);
+ 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
+ now_x=now_x+d_x;
+ now_y=now_y+d_y; //微小時間毎に座標に加算
+
+ XYRmotorout(plotx[t],ploty[t],plotx[t+1],ploty[t+1],&x_out,&y_out,&r_out);
+ 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？
+ //CalMotorOut(plotvx[t], plotvy[t],0);
+
+ //printf("t=%d x_out=%f y_out=%f\n\r",t,x_out,y_out);
+ //printf("t=%d (0)=%f (1)=%f (2)=%f (3)=%f\n\r",t,GetMotorOut(0),GetMotorOut(1),GetMotorOut(2),GetMotorOut(3));
+
+ output(GetMotorOut(0),GetMotorOut(1),GetMotorOut(2),GetMotorOut(3)); //m1～m4に代入
+
+ if(((X - now_x)*(plotx[t+1] - plotx[t]) + (Y - now_y)*(ploty[t+1] - ploty[t])) < 0)t++;
+ if(t == (90/theta))break;
+
+ MotorControl(m1,m2,m3,m4); //出力
+
+ //printf("m1=%d m2=%d m3=%d m4=%d x=%f y=%f\n\r",m1,m2,m3,m4,now_x,now_y);
+
+ }
+
+ case 2://↑から← //まだ編集してない
+
+ for(s=0; s<((90/theta)+1); s++) {
+ plotx[s] = X + r * cos(s * (PI*theta/180));
+ ploty[s] = Y + r * sin(s * (PI*theta/180));
+ }
+
+ while(1) {
+
+ now_angle=gyro.getAngle(); //ジャイロの値読み込み
+
+ new_dist1=EC1.getDistance_mm();
+ new_dist2=EC2.getDistance_mm();
+ d_dist1=new_dist1-old_dist1;
+ d_dist2=new_dist2-old_dist2;
+ old_dist1=new_dist1;
+ old_dist2=new_dist2; //微小時間当たりのエンコーダ読み込み
+
+ d_x=d_dist2*sin(now_angle*PI/180)-d_dist1*cos(now_angle*PI/180);
+ 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
+ now_x=now_x+d_x;
+ now_y=now_y+d_y; //微小時間毎に座標に加算
+
+ XYRmotorout(plotx[t],ploty[t],plotx[t+1],ploty[t+1],&x_out,&y_out,&r_out);
+ CalMotorOut(x_out,y_out,r_out);
+ base(GetMotorOut(0),GetMotorOut(1),GetMotorOut(2),GetMotorOut(3),4095);
+ if(((X - now_x)*(plotx[t+1] - plotx[t]) + (Y - now_y)*(ploty[t+1] - ploty[t])) < 0)t++;
+ if(t == (90/theta))break;
+
+ }
+ }
+}
+//ここまで///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+int main()
+{
+ UserLoopSetting();
+
+ /*void reset();
+ EC1.reset();
+ EC2.reset();*/
+
+ now_x=start_x;
+ now_y=start_y;
+
+ //m1, m2, m3, m4 に出力を代入すればとりあえず動く
+
+ while(1) {
+
+ //Debug_Control();
+ purecurve(1,0,0,1000,9,1000);
+ //MotorControl(m1,m2,m3,m4);
+
+ }
+}
+
+void UserLoopSetting()
+{
+//-----エスコンの初期設定-----//
+ spi.format(SPI_BITS, SPI_MODE);
+ spi.frequency(SPI_FREQ);
+ ss_md1 = 1;
+ ss_md2 = 1;
+ ss_md3 = 1;
+ ss_md4 = 1;
+ md_enable = 1; //enable on
+ md_err_led = 0;
+ md_stop = 1;
+ md_stop_led = 1;
+//-----センサーの初期設定-----//
+ gyro.initialize();
+ motor_tick.attach(&calOmega,0.05); //0.05秒間隔で角速度を計算
+ EC1.setDiameter_mm(48);
+ EC2.setDiameter_mm(48); //測定輪半径
+//-----PathFollowingのパラメーター設定-----//
+ 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)
+ q_setPDparam(30,30); //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
+ r_setPDparam(30,30); //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
+ set_r_out(1000); //旋回時の最大出力値設定関数
+ set_target_angle(0); //機体目標角度設定関数
+
+#ifdef DEBUG_MODE
+ debug_led = 1;
+ pc.attach(Debug_Control, Serial::RxIrq);
+#else
+ debug_led = 0;
+#endif
+}
+
+#define MCP4922_AB (1<<15)
+#define MCP4922_BUF (1<<14)
+#define MCP4922_GA (1<<13)
+#define MCP4922_SHDN (1<<12)
+
+#define MCP4922_SET_OUTA (0x3000) //( MCP4922_GA || MCP4922_SHDN ) //12288
+#define MCP4922_SET_OUTB (0xB000) //( MCP4922_AB || MCP4922_GA || MCP4922_SHDN ) //45056
+#define MCP4922_MASKSET (0x0FFF) //4095
+
+void DAC_Write(int16_t data, DigitalOut* DAC_cs) //(出力,出力場所)
+{
+ static uint16_t dataA; //送るデータ
+ static uint16_t dataB;
+
+ dataA = MCP4922_SET_OUTA;
+ dataB = MCP4922_SET_OUTB;
+
+ if(data >= 0) {
+ if(data > 4095) {
+ data = 4095;
+ }
+ dataA += (MCP4922_MASKSET & (uint16_t)(data));
+ } else {
+ if(data < -4095) {
+ data = -4095;
+ }
+ dataB += (MCP4922_MASKSET & (uint16_t)(-data));
+ }
+
+ //Aの出力設定
+ (DigitalOut)(*DAC_cs)=0;
+ wait_us(SPI_WAIT_US);
+ spi.write(dataA);
+ wait_us(SPI_WAIT_US);
+ (DigitalOut)(*DAC_cs)=1;
+ wait_us(SPI_WAIT_US);
+
+ //Bの出力設定
+ (DigitalOut)(*DAC_cs)=0;
+ wait_us(SPI_WAIT_US);
+ spi.write(dataB);
+ wait_us(SPI_WAIT_US);
+ (DigitalOut)(*DAC_cs)=1;
+
+}
+
+void MotorControl(int16_t val_md1, int16_t val_md2, int16_t val_md3, int16_t val_md4) //出力
+{
+ static int16_t zero_check;
+
+ DAC_Write(val_md1, &ss_md1);
+ DAC_Write(val_md2, &ss_md2);
+ DAC_Write(val_md3, &ss_md3);
+ DAC_Write(val_md4, &ss_md4);
+
+ zero_check = (val_md1 | val_md2 | val_md3 | val_md4); //すべての出力が0なら強制停止
+ if(zero_check == 0) {
+ md_stop = 1;
+ md_stop_led = 1;
+ } else {
+ md_stop = 0;
+ md_stop_led = 0;
+ }
+}
+
+#ifdef DEBUG_MODE
+void Debug_Control()
+{
+ static char pc_command = '\0';
+
+ pc_command = pc.getc();
+
+ if(pc_command == 'f') { //前進
+ m1+=500;
+ m2+=500;
+ m3-=500;
+ m4-=500;
+ } else if(pc_command == 'b') { //後進
+ m1-=500;
+ m2-=500;
+ m3+=500;
+ m4+=500;
+ } else if(pc_command == 'r') { //右回り
+ m1+=500;
+ m2+=500;
+ m3+=500;
+ m4+=500;
+ } else if(pc_command == 'l') { //左回り
+ m1-=500;
+ m2-=500;
+ m3-=500;
+ m4-=500;
+ } else {
+ m1=0;
+ m2=0;
+ m3=0;
+ m4=0;
+ }
+
+ if(m1>4095) { //最大値を超えないように
+ m1=4095;
+ } else if(m1<-4095) {
+ m1=-4095;
+ }
+ if(m2>4095) {
+ m2=4095;
+ } else if(m2<-4095) {
+ m2=-4095;
+ }
+ if(m3>4095) {
+ m3=4095;
+ } else if(m3<-4095) {
+ m3=-4095;
+ }
+ if(m4>4095) {
+ m4=4095;
+ } else if(m4<-4095) {
+ m4=-4095;
+ }
+
+ debug_printf("%d %d %d %d\r\n",m1,m2,m3,m4);
+ MotorControl(m1,m2,m3,m4);
+ pc_command = '\0';
+}
+#endif
+
+#ifdef DEBUG_PRINT
+void debug_printf(const char* format,...)
+{
+ va_list arg;
+ va_start(arg, format);
+ vprintf(format, arg);
+ va_end(arg);
+}
+#endif
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Fri Nov 16 23:21:38 2018 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/mbed_official/code/mbed/builds/e95d10626187 \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/move4wheel.lib Fri Nov 16 23:21:38 2018 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/teams/F3RC4/code/move4wheel/#6a2b95e78d25