harurobo_mbed_undercarriage_sub
Dependencies: mbed Maxon_setting move4wheel2 EC PathFollowing_12_22 CruizCore_R1370P
main.cpp@0:f0f40dddc0c4, 2018-12-15 (annotated)
- Committer:
- yuki0701
- Date:
- Sat Dec 15 13:25:43 2018 +0000
- Revision:
- 0:f0f40dddc0c4
- Child:
- 1:0c9f53f5c9d0
k;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
yuki0701 | 0:f0f40dddc0c4 | 1 | #include "mbed.h" |
yuki0701 | 0:f0f40dddc0c4 | 2 | #include "EC.h" |
yuki0701 | 0:f0f40dddc0c4 | 3 | #include "R1370P.h" |
yuki0701 | 0:f0f40dddc0c4 | 4 | #include "move4wheel.h" |
yuki0701 | 0:f0f40dddc0c4 | 5 | #include "PathFollowing.h" |
yuki0701 | 0:f0f40dddc0c4 | 6 | #include <stdarg.h> |
yuki0701 | 0:f0f40dddc0c4 | 7 | |
yuki0701 | 0:f0f40dddc0c4 | 8 | #define PI 3.141592 |
yuki0701 | 0:f0f40dddc0c4 | 9 | |
yuki0701 | 0:f0f40dddc0c4 | 10 | #define DEBUG_MODE // compile as debug mode (comment out if you don't use) |
yuki0701 | 0:f0f40dddc0c4 | 11 | #ifdef DEBUG_MODE |
yuki0701 | 0:f0f40dddc0c4 | 12 | #define DEBUG_PRINT // enable debug_printf |
yuki0701 | 0:f0f40dddc0c4 | 13 | #endif |
yuki0701 | 0:f0f40dddc0c4 | 14 | |
yuki0701 | 0:f0f40dddc0c4 | 15 | Serial pc(USBTX,USBRX); |
yuki0701 | 0:f0f40dddc0c4 | 16 | void debug_printf(const char* format,...); // work as printf in debug |
yuki0701 | 0:f0f40dddc0c4 | 17 | void Debug_Control(); // control by PC keybord |
yuki0701 | 0:f0f40dddc0c4 | 18 | |
yuki0701 | 0:f0f40dddc0c4 | 19 | #define SPI_FREQ 1000000 // 1MHz |
yuki0701 | 0:f0f40dddc0c4 | 20 | #define SPI_BITS 16 |
yuki0701 | 0:f0f40dddc0c4 | 21 | #define SPI_MODE 0 |
yuki0701 | 0:f0f40dddc0c4 | 22 | #define SPI_WAIT_US 1 // 1us |
yuki0701 | 0:f0f40dddc0c4 | 23 | |
yuki0701 | 0:f0f40dddc0c4 | 24 | /*モーターの配置 |
yuki0701 | 0:f0f40dddc0c4 | 25 | * md1//---F---\\md4 |
yuki0701 | 0:f0f40dddc0c4 | 26 | * | | |
yuki0701 | 0:f0f40dddc0c4 | 27 | * L + R |
yuki0701 | 0:f0f40dddc0c4 | 28 | * | | |
yuki0701 | 0:f0f40dddc0c4 | 29 | * md2\\---B---//md3 |
yuki0701 | 0:f0f40dddc0c4 | 30 | */ |
yuki0701 | 0:f0f40dddc0c4 | 31 | |
yuki0701 | 0:f0f40dddc0c4 | 32 | //-----mbed-----// |
yuki0701 | 0:f0f40dddc0c4 | 33 | SPI spi(p5,p6,p7); |
yuki0701 | 0:f0f40dddc0c4 | 34 | CAN can1(p30,p29,1000000); |
yuki0701 | 0:f0f40dddc0c4 | 35 | |
yuki0701 | 0:f0f40dddc0c4 | 36 | DigitalOut ss_md1(p15); //エスコンの設定 |
yuki0701 | 0:f0f40dddc0c4 | 37 | DigitalOut ss_md2(p16); |
yuki0701 | 0:f0f40dddc0c4 | 38 | DigitalOut ss_md3(p17); |
yuki0701 | 0:f0f40dddc0c4 | 39 | DigitalOut ss_md4(p18); |
yuki0701 | 0:f0f40dddc0c4 | 40 | |
yuki0701 | 0:f0f40dddc0c4 | 41 | DigitalOut md_enable(p25); |
yuki0701 | 0:f0f40dddc0c4 | 42 | //DigitalIn md_ch_enable(p10); // check enable switch is open or close |
yuki0701 | 0:f0f40dddc0c4 | 43 | //Timer md_disable; |
yuki0701 | 0:f0f40dddc0c4 | 44 | DigitalOut md_stop(p24); // stop all motor |
yuki0701 | 0:f0f40dddc0c4 | 45 | DigitalIn md_check(p23); // check error of all motor driver //とりあえず使わない |
yuki0701 | 0:f0f40dddc0c4 | 46 | |
yuki0701 | 0:f0f40dddc0c4 | 47 | Ec EC1(p8,p26,NC,500,0.05); |
yuki0701 | 0:f0f40dddc0c4 | 48 | Ec EC2(p21,p22,NC,500,0.05); |
yuki0701 | 0:f0f40dddc0c4 | 49 | R1370P gyro(p28,p27); |
yuki0701 | 0:f0f40dddc0c4 | 50 | |
yuki0701 | 0:f0f40dddc0c4 | 51 | Ticker motor_tick; //角速度計算用ticker |
yuki0701 | 0:f0f40dddc0c4 | 52 | Ticker ticker; //for enc |
yuki0701 | 0:f0f40dddc0c4 | 53 | |
yuki0701 | 0:f0f40dddc0c4 | 54 | /*-----nucleo-----// |
yuki0701 | 0:f0f40dddc0c4 | 55 | SPI spi(PB_5,PB_4,PB_3); |
yuki0701 | 0:f0f40dddc0c4 | 56 | |
yuki0701 | 0:f0f40dddc0c4 | 57 | DigitalOut ss_md1(PB_15); //エスコンの設定 |
yuki0701 | 0:f0f40dddc0c4 | 58 | DigitalOut ss_md2(PB_14); |
yuki0701 | 0:f0f40dddc0c4 | 59 | DigitalOut ss_md3(PB_13); |
yuki0701 | 0:f0f40dddc0c4 | 60 | DigitalOut ss_md4(PC_4); |
yuki0701 | 0:f0f40dddc0c4 | 61 | |
yuki0701 | 0:f0f40dddc0c4 | 62 | DigitalOut md_enable(PA_13); // do all motor driver enable |
yuki0701 | 0:f0f40dddc0c4 | 63 | //DigitalIn md_ch_enable(p10); // check enable switch is open or close |
yuki0701 | 0:f0f40dddc0c4 | 64 | //Timer md_disable; |
yuki0701 | 0:f0f40dddc0c4 | 65 | DigitalOut md_stop(PA_14); // stop all motor |
yuki0701 | 0:f0f40dddc0c4 | 66 | DigitalIn md_check(PB_7); // check error of all motor driver //とりあえず使わない |
yuki0701 | 0:f0f40dddc0c4 | 67 | |
yuki0701 | 0:f0f40dddc0c4 | 68 | Ec EC1(PC_6,PC_8,NC,500,0.05); |
yuki0701 | 0:f0f40dddc0c4 | 69 | Ec EC2(PB_1,PB_12,NC,500,0.05); |
yuki0701 | 0:f0f40dddc0c4 | 70 | R1370P gyro(PC_6,PC_7); |
yuki0701 | 0:f0f40dddc0c4 | 71 | |
yuki0701 | 0:f0f40dddc0c4 | 72 | Ticker motor_tick; //角速度計算用ticker |
yuki0701 | 0:f0f40dddc0c4 | 73 | Ticker ticker; //for enc */ |
yuki0701 | 0:f0f40dddc0c4 | 74 | |
yuki0701 | 0:f0f40dddc0c4 | 75 | |
yuki0701 | 0:f0f40dddc0c4 | 76 | |
yuki0701 | 0:f0f40dddc0c4 | 77 | //DigitalOut can_led(LED1); //if can enable -> toggle |
yuki0701 | 0:f0f40dddc0c4 | 78 | DigitalOut debug_led(LED2); //if debugmode -> on |
yuki0701 | 0:f0f40dddc0c4 | 79 | DigitalOut md_stop_led(LED3); //if motor stop -> on |
yuki0701 | 0:f0f40dddc0c4 | 80 | DigitalOut md_err_led(LED4); //if driver error -> on //とりあえず使わない |
yuki0701 | 0:f0f40dddc0c4 | 81 | DigitalOut led(LED1); |
yuki0701 | 0:f0f40dddc0c4 | 82 | |
yuki0701 | 0:f0f40dddc0c4 | 83 | double new_dist1=0,new_dist2=0; |
yuki0701 | 0:f0f40dddc0c4 | 84 | double old_dist1=0,old_dist2=0; |
yuki0701 | 0:f0f40dddc0c4 | 85 | double d_dist1=0,d_dist2=0; //座標計算用関数 |
yuki0701 | 0:f0f40dddc0c4 | 86 | double d_x,d_y; |
yuki0701 | 0:f0f40dddc0c4 | 87 | //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 |
yuki0701 | 0:f0f40dddc0c4 | 88 | double start_x=0,start_y=0; //スタート位置 |
yuki0701 | 0:f0f40dddc0c4 | 89 | |
yuki0701 | 0:f0f40dddc0c4 | 90 | double x_out,y_out,r_out; //出力値 |
yuki0701 | 0:f0f40dddc0c4 | 91 | |
yuki0701 | 0:f0f40dddc0c4 | 92 | static int16_t m1=0, m2=0, m3=0, m4=0; //int16bit = int2byte |
yuki0701 | 0:f0f40dddc0c4 | 93 | |
yuki0701 | 0:f0f40dddc0c4 | 94 | double usw_data1,usw_data2,usw_data3,usw_data4;//CAN通信で受け取った超音波センサーの値(1000倍してあったものを0.01倍して単位を㎝から㎜に直しつつ元の値に戻す(超音波センサーは㎝で距離を読み取る)) |
yuki0701 | 0:f0f40dddc0c4 | 95 | |
yuki0701 | 0:f0f40dddc0c4 | 96 | |
yuki0701 | 0:f0f40dddc0c4 | 97 | ///////////////////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///////////////// |
yuki0701 | 0:f0f40dddc0c4 | 98 | |
yuki0701 | 0:f0f40dddc0c4 | 99 | /*「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 |
yuki0701 | 0:f0f40dddc0c4 | 100 | *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) |
yuki0701 | 0:f0f40dddc0c4 | 101 | *(ex) |
yuki0701 | 0:f0f40dddc0c4 | 102 | *info.nowX.enc → エンコーダにより算出した機体位置のx座標 |
yuki0701 | 0:f0f40dddc0c4 | 103 | *info.nowY.usw → 超音波センサーにより求めた機体位置のy座標 |
yuki0701 | 0:f0f40dddc0c4 | 104 | */ |
yuki0701 | 0:f0f40dddc0c4 | 105 | |
yuki0701 | 0:f0f40dddc0c4 | 106 | typedef struct{ //使用センサーの種類 |
yuki0701 | 0:f0f40dddc0c4 | 107 | double usw; //超音波センサー |
yuki0701 | 0:f0f40dddc0c4 | 108 | double enc; //エンコーダ |
yuki0701 | 0:f0f40dddc0c4 | 109 | double gyro; //ジャイロ |
yuki0701 | 0:f0f40dddc0c4 | 110 | //double line;//ラインセンサー |
yuki0701 | 0:f0f40dddc0c4 | 111 | }robo_sensor; |
yuki0701 | 0:f0f40dddc0c4 | 112 | |
yuki0701 | 0:f0f40dddc0c4 | 113 | typedef struct{ //機体情報の種類 |
yuki0701 | 0:f0f40dddc0c4 | 114 | 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 |
yuki0701 | 0:f0f40dddc0c4 | 115 | robo_sensor nowX; |
yuki0701 | 0:f0f40dddc0c4 | 116 | robo_sensor nowY; |
yuki0701 | 0:f0f40dddc0c4 | 117 | }robo_data; |
yuki0701 | 0:f0f40dddc0c4 | 118 | |
yuki0701 | 0:f0f40dddc0c4 | 119 | robo_data info={{0,0,0},{0,0,0},{0,0,0}}; //全てのデータを0に初期化 |
yuki0701 | 0:f0f40dddc0c4 | 120 | |
yuki0701 | 0:f0f40dddc0c4 | 121 | |
yuki0701 | 0:f0f40dddc0c4 | 122 | ///////////////////////////////////////////////////関数のプロトタイプ宣言//////////////////////////////////////////////////// |
yuki0701 | 0:f0f40dddc0c4 | 123 | |
yuki0701 | 0:f0f40dddc0c4 | 124 | void UserLoopSetting(); // initialize setting |
yuki0701 | 0:f0f40dddc0c4 | 125 | void DAC_Write(int16_t data, DigitalOut* DAC_cs); |
yuki0701 | 0:f0f40dddc0c4 | 126 | void MotorControl(int16_t val_md1, int16_t val_md2, int16_t val_md3, int16_t val_md4); |
yuki0701 | 0:f0f40dddc0c4 | 127 | |
yuki0701 | 0:f0f40dddc0c4 | 128 | void calOmega() //角速度計算関数 |
yuki0701 | 0:f0f40dddc0c4 | 129 | { |
yuki0701 | 0:f0f40dddc0c4 | 130 | EC1.CalOmega(); |
yuki0701 | 0:f0f40dddc0c4 | 131 | EC2.CalOmega(); |
yuki0701 | 0:f0f40dddc0c4 | 132 | } |
yuki0701 | 0:f0f40dddc0c4 | 133 | |
yuki0701 | 0:f0f40dddc0c4 | 134 | void can_read(){//CAN通信受信 |
yuki0701 | 0:f0f40dddc0c4 | 135 | |
yuki0701 | 0:f0f40dddc0c4 | 136 | CANMessage msg; |
yuki0701 | 0:f0f40dddc0c4 | 137 | |
yuki0701 | 0:f0f40dddc0c4 | 138 | if(can1.read(msg)){ |
yuki0701 | 0:f0f40dddc0c4 | 139 | |
yuki0701 | 0:f0f40dddc0c4 | 140 | if(msg.id == 1){ |
yuki0701 | 0:f0f40dddc0c4 | 141 | led = 1; |
yuki0701 | 0:f0f40dddc0c4 | 142 | usw_data1 = 0.01 * (short)((msg.data[0]<<8) | msg.data[1]); |
yuki0701 | 0:f0f40dddc0c4 | 143 | //printf("usw_data1 = %d:%d,%d\n\r",msg.data[0],msg.data[1],x); |
yuki0701 | 0:f0f40dddc0c4 | 144 | }else if(msg.id == 2){ |
yuki0701 | 0:f0f40dddc0c4 | 145 | led = 1; |
yuki0701 | 0:f0f40dddc0c4 | 146 | usw_data2 = 0.01 * (short)((msg.data[0]<<8) | msg.data[1]); |
yuki0701 | 0:f0f40dddc0c4 | 147 | //printf("usw_data2 = %d:%d,%d\n\r",msg.data[0],msg.data[1],x); |
yuki0701 | 0:f0f40dddc0c4 | 148 | }else if(msg.id == 3){ |
yuki0701 | 0:f0f40dddc0c4 | 149 | led = 1; |
yuki0701 | 0:f0f40dddc0c4 | 150 | usw_data3 = 0.01 * (short)((msg.data[0]<<8) | msg.data[1]); |
yuki0701 | 0:f0f40dddc0c4 | 151 | //printf("usw_data3 = %d:%d,%d\n\r",msg.data[0],msg.data[1],x); |
yuki0701 | 0:f0f40dddc0c4 | 152 | }else if(msg.id == 4){ |
yuki0701 | 0:f0f40dddc0c4 | 153 | led = 1; |
yuki0701 | 0:f0f40dddc0c4 | 154 | usw_data4 = 0.01 * (short)((msg.data[0]<<8) | msg.data[1]); |
yuki0701 | 0:f0f40dddc0c4 | 155 | //printf("usw_data4 = %d:%d,%d\n\r",msg.data[0],msg.data[1],x); |
yuki0701 | 0:f0f40dddc0c4 | 156 | } |
yuki0701 | 0:f0f40dddc0c4 | 157 | |
yuki0701 | 0:f0f40dddc0c4 | 158 | } |
yuki0701 | 0:f0f40dddc0c4 | 159 | } |
yuki0701 | 0:f0f40dddc0c4 | 160 | |
yuki0701 | 0:f0f40dddc0c4 | 161 | |
yuki0701 | 0:f0f40dddc0c4 | 162 | void output(double FL,double BL,double BR,double FR) |
yuki0701 | 0:f0f40dddc0c4 | 163 | { |
yuki0701 | 0:f0f40dddc0c4 | 164 | m1=FL; |
yuki0701 | 0:f0f40dddc0c4 | 165 | m2=BL; |
yuki0701 | 0:f0f40dddc0c4 | 166 | m3=BR; |
yuki0701 | 0:f0f40dddc0c4 | 167 | m4=FR; |
yuki0701 | 0:f0f40dddc0c4 | 168 | } |
yuki0701 | 0:f0f40dddc0c4 | 169 | |
yuki0701 | 0:f0f40dddc0c4 | 170 | void base(double FL,double BL,double BR,double FR,double Max) |
yuki0701 | 0:f0f40dddc0c4 | 171 | //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 |
yuki0701 | 0:f0f40dddc0c4 | 172 | //DCモーターならMax=1、マクソンは-4095~4095だからMax=4095にする |
yuki0701 | 0:f0f40dddc0c4 | 173 | { |
yuki0701 | 0:f0f40dddc0c4 | 174 | if(fabs(FL)>=Max||fabs(BL)>=Max||fabs(BR)>=Max||fabs(FR)>=Max) { |
yuki0701 | 0:f0f40dddc0c4 | 175 | |
yuki0701 | 0:f0f40dddc0c4 | 176 | 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 | 0:f0f40dddc0c4 | 177 | 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 | 0:f0f40dddc0c4 | 178 | 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 | 0:f0f40dddc0c4 | 179 | else output(Max*FL/fabs(FR),Max*BL/fabs(FR),Max*BR/fabs(FR),Max*FR/fabs(FR)); |
yuki0701 | 0:f0f40dddc0c4 | 180 | } else { |
yuki0701 | 0:f0f40dddc0c4 | 181 | output(FL,BL,BR,FR); |
yuki0701 | 0:f0f40dddc0c4 | 182 | } |
yuki0701 | 0:f0f40dddc0c4 | 183 | } |
yuki0701 | 0:f0f40dddc0c4 | 184 | |
yuki0701 | 0:f0f40dddc0c4 | 185 | void calc_xy() //エンコーダによる座標計算 |
yuki0701 | 0:f0f40dddc0c4 | 186 | { |
yuki0701 | 0:f0f40dddc0c4 | 187 | now_angle=gyro.getAngle(); //ジャイロの値読み込み |
yuki0701 | 0:f0f40dddc0c4 | 188 | |
yuki0701 | 0:f0f40dddc0c4 | 189 | new_dist1=EC1.getDistance_mm(); |
yuki0701 | 0:f0f40dddc0c4 | 190 | new_dist2=EC2.getDistance_mm(); |
yuki0701 | 0:f0f40dddc0c4 | 191 | d_dist1=new_dist1-old_dist1; |
yuki0701 | 0:f0f40dddc0c4 | 192 | d_dist2=new_dist2-old_dist2; |
yuki0701 | 0:f0f40dddc0c4 | 193 | old_dist1=new_dist1; |
yuki0701 | 0:f0f40dddc0c4 | 194 | old_dist2=new_dist2; //微小時間当たりのエンコーダ読み込み |
yuki0701 | 0:f0f40dddc0c4 | 195 | |
yuki0701 | 0:f0f40dddc0c4 | 196 | d_x=d_dist2*sin(now_angle*PI/180)-d_dist1*cos(now_angle*PI/180); |
yuki0701 | 0:f0f40dddc0c4 | 197 | 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 | 0:f0f40dddc0c4 | 198 | info.nowX.enc = info.nowX.enc + d_x; |
yuki0701 | 0:f0f40dddc0c4 | 199 | info.nowY.enc = info.nowY.enc - d_y; //微小時間毎に座標に加算 |
yuki0701 | 0:f0f40dddc0c4 | 200 | } |
yuki0701 | 0:f0f40dddc0c4 | 201 | |
yuki0701 | 0:f0f40dddc0c4 | 202 | |
yuki0701 | 0:f0f40dddc0c4 | 203 | void calc_xy_usw(double tgt_angle,int xy_type,int pm_type,double xy_base){ //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) |
yuki0701 | 0:f0f40dddc0c4 | 204 | //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) |
yuki0701 | 0:f0f40dddc0c4 | 205 | //xy_type:(0:Y軸平行の壁を読む/1:X軸平行の壁を読む) |
yuki0701 | 0:f0f40dddc0c4 | 206 | //pm_type:(0:各軸正方向側の壁を読む/1:各軸負方向側の壁を読む) |
yuki0701 | 0:f0f40dddc0c4 | 207 | //xy_base:超音波センサーで読む壁の座標(x軸平行の壁のy座標/y軸並行の壁のx座標) |
yuki0701 | 0:f0f40dddc0c4 | 208 | |
yuki0701 | 0:f0f40dddc0c4 | 209 | double R1=130,R2=130,R3=130,R4=130; //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 | 0:f0f40dddc0c4 | 210 | double D1=50,D2=50,D3=50,D4=50; //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 |
yuki0701 | 0:f0f40dddc0c4 | 211 | |
yuki0701 | 0:f0f40dddc0c4 | 212 | now_angle=gyro.getAngle(); |
yuki0701 | 0:f0f40dddc0c4 | 213 | |
yuki0701 | 0:f0f40dddc0c4 | 214 | if(tgt_angle==0){ |
yuki0701 | 0:f0f40dddc0c4 | 215 | if(xy_type==0 && pm_type==0){ |
yuki0701 | 0:f0f40dddc0c4 | 216 | |
yuki0701 | 0:f0f40dddc0c4 | 217 | info.nowX.usw = xy_base - (usw_data3 + R3*cos(now_angle*PI/180) + D3*sin(now_angle*PI/180)); |
yuki0701 | 0:f0f40dddc0c4 | 218 | |
yuki0701 | 0:f0f40dddc0c4 | 219 | }else if(xy_type==0 && pm_type==1){ |
yuki0701 | 0:f0f40dddc0c4 | 220 | |
yuki0701 | 0:f0f40dddc0c4 | 221 | info.nowX.usw = xy_base + (usw_data4 + R4*cos(now_angle*PI/180) + D4*sin(now_angle*PI/180)); |
yuki0701 | 0:f0f40dddc0c4 | 222 | |
yuki0701 | 0:f0f40dddc0c4 | 223 | }else if(xy_type==1 && pm_type==0){ |
yuki0701 | 0:f0f40dddc0c4 | 224 | |
yuki0701 | 0:f0f40dddc0c4 | 225 | info.nowY.usw = xy_base - (usw_data1 + R1*cos(now_angle*PI/180) + D1*sin(now_angle*PI/180)); |
yuki0701 | 0:f0f40dddc0c4 | 226 | |
yuki0701 | 0:f0f40dddc0c4 | 227 | }else if(xy_type==1 && pm_type==1){ |
yuki0701 | 0:f0f40dddc0c4 | 228 | |
yuki0701 | 0:f0f40dddc0c4 | 229 | info.nowY.usw = xy_base + (usw_data2 + R2*cos(now_angle*PI/180) + D2*sin(now_angle*PI/180)); |
yuki0701 | 0:f0f40dddc0c4 | 230 | |
yuki0701 | 0:f0f40dddc0c4 | 231 | } |
yuki0701 | 0:f0f40dddc0c4 | 232 | |
yuki0701 | 0:f0f40dddc0c4 | 233 | }else if(tgt_angle==90){ |
yuki0701 | 0:f0f40dddc0c4 | 234 | if(xy_type==0 && pm_type==0){ |
yuki0701 | 0:f0f40dddc0c4 | 235 | |
yuki0701 | 0:f0f40dddc0c4 | 236 | info.nowX.usw = xy_base - (usw_data2 + R2*cos(now_angle*PI/180) + D2*sin(now_angle*PI/180)); |
yuki0701 | 0:f0f40dddc0c4 | 237 | |
yuki0701 | 0:f0f40dddc0c4 | 238 | }else if(xy_type==0 && pm_type==1){ |
yuki0701 | 0:f0f40dddc0c4 | 239 | |
yuki0701 | 0:f0f40dddc0c4 | 240 | info.nowX.usw = xy_base + (usw_data1 + R1*cos(now_angle*PI/180) + D1*sin(now_angle*PI/180)); |
yuki0701 | 0:f0f40dddc0c4 | 241 | |
yuki0701 | 0:f0f40dddc0c4 | 242 | }else if(xy_type==1 && pm_type==0){ |
yuki0701 | 0:f0f40dddc0c4 | 243 | |
yuki0701 | 0:f0f40dddc0c4 | 244 | info.nowY.usw = xy_base - (usw_data3 + R3*cos(now_angle*PI/180) + D3*sin(now_angle*PI/180)); |
yuki0701 | 0:f0f40dddc0c4 | 245 | |
yuki0701 | 0:f0f40dddc0c4 | 246 | }else if(xy_type==1 && pm_type==1){ |
yuki0701 | 0:f0f40dddc0c4 | 247 | |
yuki0701 | 0:f0f40dddc0c4 | 248 | info.nowY.usw = xy_base + (usw_data4 + R4*cos(now_angle*PI/180) + D4*sin(now_angle*PI/180)); |
yuki0701 | 0:f0f40dddc0c4 | 249 | |
yuki0701 | 0:f0f40dddc0c4 | 250 | } |
yuki0701 | 0:f0f40dddc0c4 | 251 | |
yuki0701 | 0:f0f40dddc0c4 | 252 | }else if(tgt_angle==180){ |
yuki0701 | 0:f0f40dddc0c4 | 253 | if(xy_type==0 && pm_type==0){ |
yuki0701 | 0:f0f40dddc0c4 | 254 | |
yuki0701 | 0:f0f40dddc0c4 | 255 | info.nowX.usw = xy_base - (usw_data4 + R4*cos(now_angle*PI/180) + D4*sin(now_angle*PI/180)); |
yuki0701 | 0:f0f40dddc0c4 | 256 | |
yuki0701 | 0:f0f40dddc0c4 | 257 | }else if(xy_type==0 && pm_type==1){ |
yuki0701 | 0:f0f40dddc0c4 | 258 | |
yuki0701 | 0:f0f40dddc0c4 | 259 | info.nowX.usw = xy_base + (usw_data3 + R3*cos(now_angle*PI/180) + D3*sin(now_angle*PI/180)); |
yuki0701 | 0:f0f40dddc0c4 | 260 | |
yuki0701 | 0:f0f40dddc0c4 | 261 | }else if(xy_type==1 && pm_type==0){ |
yuki0701 | 0:f0f40dddc0c4 | 262 | |
yuki0701 | 0:f0f40dddc0c4 | 263 | info.nowY.usw = xy_base - (usw_data2+ R2*cos(now_angle*PI/180) + D2*sin(now_angle*PI/180)); |
yuki0701 | 0:f0f40dddc0c4 | 264 | |
yuki0701 | 0:f0f40dddc0c4 | 265 | }else if(xy_type==1 && pm_type==1){ |
yuki0701 | 0:f0f40dddc0c4 | 266 | |
yuki0701 | 0:f0f40dddc0c4 | 267 | info.nowY.usw = xy_base + (usw_data1 + R1*cos(now_angle*PI/180) + D1*sin(now_angle*PI/180)); |
yuki0701 | 0:f0f40dddc0c4 | 268 | |
yuki0701 | 0:f0f40dddc0c4 | 269 | } |
yuki0701 | 0:f0f40dddc0c4 | 270 | |
yuki0701 | 0:f0f40dddc0c4 | 271 | } |
yuki0701 | 0:f0f40dddc0c4 | 272 | |
yuki0701 | 0:f0f40dddc0c4 | 273 | } |
yuki0701 | 0:f0f40dddc0c4 | 274 | |
yuki0701 | 0:f0f40dddc0c4 | 275 | //ここからそれぞれのプログラム///////////////////////////////////////////////////////////////////////////////////////////////////////////////// |
yuki0701 | 0:f0f40dddc0c4 | 276 | //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) |
yuki0701 | 0:f0f40dddc0c4 | 277 | //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 |
yuki0701 | 0:f0f40dddc0c4 | 278 | //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) |
yuki0701 | 0:f0f40dddc0c4 | 279 | //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 |
yuki0701 | 0:f0f40dddc0c4 | 280 | |
yuki0701 | 0:f0f40dddc0c4 | 281 | void purecurve2(int type, //正面を変えずに円弧or楕円を描いて曲がる |
yuki0701 | 0:f0f40dddc0c4 | 282 | double point_x1,double point_y1, |
yuki0701 | 0:f0f40dddc0c4 | 283 | double point_x2,double point_y2, |
yuki0701 | 0:f0f40dddc0c4 | 284 | int theta, |
yuki0701 | 0:f0f40dddc0c4 | 285 | double speed, |
yuki0701 | 0:f0f40dddc0c4 | 286 | double q_p,double q_d, |
yuki0701 | 0:f0f40dddc0c4 | 287 | double r_p,double r_d, |
yuki0701 | 0:f0f40dddc0c4 | 288 | double r_out_max, |
yuki0701 | 0:f0f40dddc0c4 | 289 | double target_angle) |
yuki0701 | 0:f0f40dddc0c4 | 290 | //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 |
yuki0701 | 0:f0f40dddc0c4 | 291 | { |
yuki0701 | 0:f0f40dddc0c4 | 292 | //-----PathFollowingのパラメーター設定-----// |
yuki0701 | 0:f0f40dddc0c4 | 293 | 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 |
yuki0701 | 0:f0f40dddc0c4 | 294 | 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 |
yuki0701 | 0:f0f40dddc0c4 | 295 | set_r_out(r_out_max); //旋回時の最大出力値設定関数 |
yuki0701 | 0:f0f40dddc0c4 | 296 | set_target_angle(target_angle); //機体目標角度設定関数 |
yuki0701 | 0:f0f40dddc0c4 | 297 | |
yuki0701 | 0:f0f40dddc0c4 | 298 | int s; |
yuki0701 | 0:f0f40dddc0c4 | 299 | int t = 0; |
yuki0701 | 0:f0f40dddc0c4 | 300 | double X,Y;//X=楕円の中心座標、Y=楕円の中心座標 |
yuki0701 | 0:f0f40dddc0c4 | 301 | 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 | 0:f0f40dddc0c4 | 302 | double plotx[(90/theta)+1]; //楕円にとるplotのx座標 |
yuki0701 | 0:f0f40dddc0c4 | 303 | double ploty[(90/theta)+1]; |
yuki0701 | 0:f0f40dddc0c4 | 304 | |
yuki0701 | 0:f0f40dddc0c4 | 305 | double x_out,y_out,r_out; |
yuki0701 | 0:f0f40dddc0c4 | 306 | |
yuki0701 | 0:f0f40dddc0c4 | 307 | a=fabs(point_x1-point_x2); |
yuki0701 | 0:f0f40dddc0c4 | 308 | b=fabs(point_y1-point_y2); |
yuki0701 | 0:f0f40dddc0c4 | 309 | |
yuki0701 | 0:f0f40dddc0c4 | 310 | switch(type) { |
yuki0701 | 0:f0f40dddc0c4 | 311 | |
yuki0701 | 0:f0f40dddc0c4 | 312 | case 1://→↑移動 |
yuki0701 | 0:f0f40dddc0c4 | 313 | X=point_x1; |
yuki0701 | 0:f0f40dddc0c4 | 314 | Y=point_y2; |
yuki0701 | 0:f0f40dddc0c4 | 315 | |
yuki0701 | 0:f0f40dddc0c4 | 316 | for(s=0; s<((90/theta)+1); s++) { |
yuki0701 | 0:f0f40dddc0c4 | 317 | plotx[s] = X + a * cos(-PI/2 + s * (PI*theta/180)); |
yuki0701 | 0:f0f40dddc0c4 | 318 | ploty[s] = Y + b * sin(-PI/2 + s * (PI*theta/180)); |
yuki0701 | 0:f0f40dddc0c4 | 319 | //debug_printf("plotx[%d]=%f ploty[%d]=%f\n\r",s,plotx[s],s,ploty[s]); |
yuki0701 | 0:f0f40dddc0c4 | 320 | } |
yuki0701 | 0:f0f40dddc0c4 | 321 | break; |
yuki0701 | 0:f0f40dddc0c4 | 322 | |
yuki0701 | 0:f0f40dddc0c4 | 323 | case 2://↑→移動 |
yuki0701 | 0:f0f40dddc0c4 | 324 | X=point_x2; |
yuki0701 | 0:f0f40dddc0c4 | 325 | Y=point_y1; |
yuki0701 | 0:f0f40dddc0c4 | 326 | |
yuki0701 | 0:f0f40dddc0c4 | 327 | for(s=0; s<((90/theta)+1); s++) { |
yuki0701 | 0:f0f40dddc0c4 | 328 | plotx[s] = X + a * cos(PI - s * (PI*theta/180)); |
yuki0701 | 0:f0f40dddc0c4 | 329 | ploty[s] = Y + b * sin(PI - s * (PI*theta/180)); |
yuki0701 | 0:f0f40dddc0c4 | 330 | //debug_printf("plotx[%d]=%f ploty[%d]=%f\n\r",s,plotx[s],s,ploty[s]); |
yuki0701 | 0:f0f40dddc0c4 | 331 | } |
yuki0701 | 0:f0f40dddc0c4 | 332 | break; |
yuki0701 | 0:f0f40dddc0c4 | 333 | |
yuki0701 | 0:f0f40dddc0c4 | 334 | case 3://↑←移動 |
yuki0701 | 0:f0f40dddc0c4 | 335 | X=point_x2; |
yuki0701 | 0:f0f40dddc0c4 | 336 | Y=point_y1; |
yuki0701 | 0:f0f40dddc0c4 | 337 | |
yuki0701 | 0:f0f40dddc0c4 | 338 | for(s=0; s<((90/theta)+1); s++) { |
yuki0701 | 0:f0f40dddc0c4 | 339 | plotx[s] = X + a * cos(s * (PI*theta/180)); |
yuki0701 | 0:f0f40dddc0c4 | 340 | ploty[s] = Y + b * sin(s * (PI*theta/180)); |
yuki0701 | 0:f0f40dddc0c4 | 341 | //debug_printf("plotx[%d]=%f ploty[%d]=%f\n\r",s,plotx[s],s,ploty[s]); |
yuki0701 | 0:f0f40dddc0c4 | 342 | } |
yuki0701 | 0:f0f40dddc0c4 | 343 | break; |
yuki0701 | 0:f0f40dddc0c4 | 344 | |
yuki0701 | 0:f0f40dddc0c4 | 345 | case 4://←↑移動 |
yuki0701 | 0:f0f40dddc0c4 | 346 | X=point_x1; |
yuki0701 | 0:f0f40dddc0c4 | 347 | Y=point_y2; |
yuki0701 | 0:f0f40dddc0c4 | 348 | |
yuki0701 | 0:f0f40dddc0c4 | 349 | for(s=0; s<((90/theta)+1); s++) { |
yuki0701 | 0:f0f40dddc0c4 | 350 | plotx[s] = X + a * cos(-PI/2 - s * (PI*theta/180)); |
yuki0701 | 0:f0f40dddc0c4 | 351 | ploty[s] = Y + b * sin(-PI/2 - s * (PI*theta/180)); |
yuki0701 | 0:f0f40dddc0c4 | 352 | //debug_printf("plotx[%d]=%f ploty[%d]=%f\n\r",s,plotx[s],s,ploty[s]); |
yuki0701 | 0:f0f40dddc0c4 | 353 | } |
yuki0701 | 0:f0f40dddc0c4 | 354 | break; |
yuki0701 | 0:f0f40dddc0c4 | 355 | |
yuki0701 | 0:f0f40dddc0c4 | 356 | case 5://←↓移動 |
yuki0701 | 0:f0f40dddc0c4 | 357 | X=point_x1; |
yuki0701 | 0:f0f40dddc0c4 | 358 | Y=point_y2; |
yuki0701 | 0:f0f40dddc0c4 | 359 | |
yuki0701 | 0:f0f40dddc0c4 | 360 | for(s=0; s<((90/theta)+1); s++) { |
yuki0701 | 0:f0f40dddc0c4 | 361 | plotx[s] = X + a * cos(PI/2 + s * (PI*theta/180)); |
yuki0701 | 0:f0f40dddc0c4 | 362 | ploty[s] = Y + b * sin(PI/2 + s * (PI*theta/180)); |
yuki0701 | 0:f0f40dddc0c4 | 363 | //debug_printf("plotx[%d]=%f ploty[%d]=%f\n\r",s,plotx[s],s,ploty[s]); |
yuki0701 | 0:f0f40dddc0c4 | 364 | } |
yuki0701 | 0:f0f40dddc0c4 | 365 | break; |
yuki0701 | 0:f0f40dddc0c4 | 366 | |
yuki0701 | 0:f0f40dddc0c4 | 367 | case 6://↓←移動 |
yuki0701 | 0:f0f40dddc0c4 | 368 | X=point_x2; |
yuki0701 | 0:f0f40dddc0c4 | 369 | Y=point_y1; |
yuki0701 | 0:f0f40dddc0c4 | 370 | |
yuki0701 | 0:f0f40dddc0c4 | 371 | for(s=0; s<((90/theta)+1); s++) { |
yuki0701 | 0:f0f40dddc0c4 | 372 | plotx[s] = X + a * cos(-s * (PI*theta/180)); |
yuki0701 | 0:f0f40dddc0c4 | 373 | ploty[s] = Y + b * sin(-s * (PI*theta/180)); |
yuki0701 | 0:f0f40dddc0c4 | 374 | //debug_printf("plotx[%d]=%f ploty[%d]=%f\n\r",s,plotx[s],s,ploty[s]); |
yuki0701 | 0:f0f40dddc0c4 | 375 | } |
yuki0701 | 0:f0f40dddc0c4 | 376 | break; |
yuki0701 | 0:f0f40dddc0c4 | 377 | |
yuki0701 | 0:f0f40dddc0c4 | 378 | case 7://↓→移動 |
yuki0701 | 0:f0f40dddc0c4 | 379 | X=point_x2; |
yuki0701 | 0:f0f40dddc0c4 | 380 | Y=point_y1; |
yuki0701 | 0:f0f40dddc0c4 | 381 | |
yuki0701 | 0:f0f40dddc0c4 | 382 | for(s=0; s<((90/theta)+1); s++) { |
yuki0701 | 0:f0f40dddc0c4 | 383 | plotx[s] = X + a * cos(PI + s * (PI*theta/180)); |
yuki0701 | 0:f0f40dddc0c4 | 384 | ploty[s] = Y + b * sin(PI + s * (PI*theta/180)); |
yuki0701 | 0:f0f40dddc0c4 | 385 | //debug_printf("plotx[%d]=%f ploty[%d]=%f\n\r",s,plotx[s],s,ploty[s]); |
yuki0701 | 0:f0f40dddc0c4 | 386 | } |
yuki0701 | 0:f0f40dddc0c4 | 387 | break; |
yuki0701 | 0:f0f40dddc0c4 | 388 | |
yuki0701 | 0:f0f40dddc0c4 | 389 | case 8://→↓移動 |
yuki0701 | 0:f0f40dddc0c4 | 390 | X=point_x1; |
yuki0701 | 0:f0f40dddc0c4 | 391 | Y=point_y2; |
yuki0701 | 0:f0f40dddc0c4 | 392 | |
yuki0701 | 0:f0f40dddc0c4 | 393 | for(s=0; s<((90/theta)+1); s++) { |
yuki0701 | 0:f0f40dddc0c4 | 394 | plotx[s] = X + a * cos(PI/2 - s * (PI*theta/180)); |
yuki0701 | 0:f0f40dddc0c4 | 395 | ploty[s] = Y + b * sin(PI/2 - s * (PI*theta/180)); |
yuki0701 | 0:f0f40dddc0c4 | 396 | //debug_printf("plotx[%d]=%f ploty[%d]=%f\n\r",s,plotx[s],s,ploty[s]); |
yuki0701 | 0:f0f40dddc0c4 | 397 | } |
yuki0701 | 0:f0f40dddc0c4 | 398 | break; |
yuki0701 | 0:f0f40dddc0c4 | 399 | } |
yuki0701 | 0:f0f40dddc0c4 | 400 | |
yuki0701 | 0:f0f40dddc0c4 | 401 | while(1) { |
yuki0701 | 0:f0f40dddc0c4 | 402 | |
yuki0701 | 0:f0f40dddc0c4 | 403 | calc_xy(); |
yuki0701 | 0:f0f40dddc0c4 | 404 | |
yuki0701 | 0:f0f40dddc0c4 | 405 | now_x = info.nowX.enc; //カーブする時はエンコーダにより求める機体位置を100%信用 |
yuki0701 | 0:f0f40dddc0c4 | 406 | now_y = info.nowY.enc; |
yuki0701 | 0:f0f40dddc0c4 | 407 | |
yuki0701 | 0:f0f40dddc0c4 | 408 | XYRmotorout(plotx[t],ploty[t],plotx[t+1],ploty[t+1],&x_out,&y_out,&r_out,speed,speed); |
yuki0701 | 0:f0f40dddc0c4 | 409 | CalMotorOut(x_out,y_out,r_out); |
yuki0701 | 0:f0f40dddc0c4 | 410 | //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 | 0:f0f40dddc0c4 | 411 | |
yuki0701 | 0:f0f40dddc0c4 | 412 | base(GetMotorOut(0),GetMotorOut(1),GetMotorOut(2),GetMotorOut(3),4095); //m1~m4に代入 |
yuki0701 | 0:f0f40dddc0c4 | 413 | //debug_printf("t=%d (0)=%f (1)=%f (2)=%f (3)=%f\n\r",t,GetMotorOut(0),GetMotorOut(1),GetMotorOut(2),GetMotorOut(3)); |
yuki0701 | 0:f0f40dddc0c4 | 414 | |
yuki0701 | 0:f0f40dddc0c4 | 415 | if(((plotx[t+1] - now_x)*(plotx[t+1] - plotx[t]) + (ploty[t+1] - now_y)*(ploty[t+1] - ploty[t])) < 0)t++; |
yuki0701 | 0:f0f40dddc0c4 | 416 | |
yuki0701 | 0:f0f40dddc0c4 | 417 | MotorControl(m1,m2,m3,m4); //出力 |
yuki0701 | 0:f0f40dddc0c4 | 418 | 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 | 0:f0f40dddc0c4 | 419 | |
yuki0701 | 0:f0f40dddc0c4 | 420 | if(t == (90/theta))break; |
yuki0701 | 0:f0f40dddc0c4 | 421 | } |
yuki0701 | 0:f0f40dddc0c4 | 422 | } |
yuki0701 | 0:f0f40dddc0c4 | 423 | |
yuki0701 | 0:f0f40dddc0c4 | 424 | |
yuki0701 | 0:f0f40dddc0c4 | 425 | void gogo_straight(double x1_point,double y1_point, //直線運動プログラム |
yuki0701 | 0:f0f40dddc0c4 | 426 | double x2_point,double y2_point, |
yuki0701 | 0:f0f40dddc0c4 | 427 | double speed1,double speed2, |
yuki0701 | 0:f0f40dddc0c4 | 428 | double q_p,double q_d, |
yuki0701 | 0:f0f40dddc0c4 | 429 | double r_p,double r_d, |
yuki0701 | 0:f0f40dddc0c4 | 430 | double r_out_max, |
yuki0701 | 0:f0f40dddc0c4 | 431 | double target_angle) |
yuki0701 | 0:f0f40dddc0c4 | 432 | //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 |
yuki0701 | 0:f0f40dddc0c4 | 433 | { |
yuki0701 | 0:f0f40dddc0c4 | 434 | //-----PathFollowingのパラメーター設定-----// |
yuki0701 | 0:f0f40dddc0c4 | 435 | 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 |
yuki0701 | 0:f0f40dddc0c4 | 436 | 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 |
yuki0701 | 0:f0f40dddc0c4 | 437 | set_r_out(r_out_max); //旋回時の最大出力値設定関数 |
yuki0701 | 0:f0f40dddc0c4 | 438 | set_target_angle(target_angle); //機体目標角度設定関数 |
yuki0701 | 0:f0f40dddc0c4 | 439 | |
yuki0701 | 0:f0f40dddc0c4 | 440 | while (1) { |
yuki0701 | 0:f0f40dddc0c4 | 441 | |
yuki0701 | 0:f0f40dddc0c4 | 442 | calc_xy(); |
yuki0701 | 0:f0f40dddc0c4 | 443 | |
yuki0701 | 0:f0f40dddc0c4 | 444 | XYRmotorout(x1_point,y1_point,x2_point,y2_point,&x_out,&y_out,&r_out,speed1,speed2); |
yuki0701 | 0:f0f40dddc0c4 | 445 | //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 | 0:f0f40dddc0c4 | 446 | |
yuki0701 | 0:f0f40dddc0c4 | 447 | CalMotorOut(x_out,y_out,r_out); |
yuki0701 | 0:f0f40dddc0c4 | 448 | //printf("out1=%lf, out2=%lf, out3=%lf, out4=%lf\n",GetMotorOut(0),GetMotorOut(1),GetMotorOut(2),GetMotorOut(3)); |
yuki0701 | 0:f0f40dddc0c4 | 449 | |
yuki0701 | 0:f0f40dddc0c4 | 450 | base(GetMotorOut(0),GetMotorOut(1),GetMotorOut(2),GetMotorOut(3),4095); |
yuki0701 | 0:f0f40dddc0c4 | 451 | //printf("m1=%d, m2=%d, m3=%d, m4=%d\r\n",m1,m2,m3,m4); |
yuki0701 | 0:f0f40dddc0c4 | 452 | |
yuki0701 | 0:f0f40dddc0c4 | 453 | MotorControl(m1,m2,m3,m4); |
yuki0701 | 0:f0f40dddc0c4 | 454 | 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); |
yuki0701 | 0:f0f40dddc0c4 | 455 | |
yuki0701 | 0:f0f40dddc0c4 | 456 | if(((x2_point - now_x)*(x2_point - x1_point) + (y2_point - now_y)*(y2_point - y1_point)) < 0)break; |
yuki0701 | 0:f0f40dddc0c4 | 457 | } |
yuki0701 | 0:f0f40dddc0c4 | 458 | } |
yuki0701 | 0:f0f40dddc0c4 | 459 | |
yuki0701 | 0:f0f40dddc0c4 | 460 | /*void usw_pos_correction(int type,double error,double base_x,double base_y,double x1_point,double y1_point,double x2_point,double y2_point){ //超音波センサーによる位置補正プログラム(x軸 or y軸に平行なきのみ) |
yuki0701 | 0:f0f40dddc0c4 | 461 | //type(1:x方向-果物アーム側/2:y方向-果物アーム/3:y方向-三宝アーム側) |
yuki0701 | 0:f0f40dddc0c4 | 462 | //error:補正の終了を判断するときの目標値からの許容誤差 |
yuki0701 | 0:f0f40dddc0c4 | 463 | //base_x,base_y:超音波センサーで読む壁の座標(y軸平行の壁のx座標/x軸平行の壁のy座標) |
yuki0701 | 0:f0f40dddc0c4 | 464 | //x1_point,y2_point:出発地点の座標 |
yuki0701 | 0:f0f40dddc0c4 | 465 | //x2_point,y2_point:目標地点の座標 |
yuki0701 | 0:f0f40dddc0c4 | 466 | |
yuki0701 | 0:f0f40dddc0c4 | 467 | |
yuki0701 | 0:f0f40dddc0c4 | 468 | }*/ |
yuki0701 | 0:f0f40dddc0c4 | 469 | |
yuki0701 | 0:f0f40dddc0c4 | 470 | //////////////////////////////////////////////////////////////以下main文///////////////////////////////////////////////////////////////// |
yuki0701 | 0:f0f40dddc0c4 | 471 | int main() |
yuki0701 | 0:f0f40dddc0c4 | 472 | { |
yuki0701 | 0:f0f40dddc0c4 | 473 | UserLoopSetting(); |
yuki0701 | 0:f0f40dddc0c4 | 474 | //Debug_Control() |
yuki0701 | 0:f0f40dddc0c4 | 475 | |
yuki0701 | 0:f0f40dddc0c4 | 476 | //purecurve2(2,start_x,start_y,500,1000,9,1000,5,0.1,10,0.1,600,0); |
yuki0701 | 0:f0f40dddc0c4 | 477 | |
yuki0701 | 0:f0f40dddc0c4 | 478 | purecurve2(5,start_x,start_y,-500,-500,9,1500,5,0.1,10,0.1,600,0); |
yuki0701 | 0:f0f40dddc0c4 | 479 | gogo_straight(-500,-500,-500,-1500,2000,2000,5,0.1,10,0.1,600,0); |
yuki0701 | 0:f0f40dddc0c4 | 480 | |
yuki0701 | 0:f0f40dddc0c4 | 481 | //purecurve2(3,now_x,now_y,0,2500,9,1000,5,0.1,10,0.1,600,0); |
yuki0701 | 0:f0f40dddc0c4 | 482 | |
yuki0701 | 0:f0f40dddc0c4 | 483 | MotorControl(0,0,0,0); |
yuki0701 | 0:f0f40dddc0c4 | 484 | } |
yuki0701 | 0:f0f40dddc0c4 | 485 | ///////////////////////////////////////////////////////////////////////以下マクソン関連/////////////////////////////////////////////////////////////////////////// |
yuki0701 | 0:f0f40dddc0c4 | 486 | |
yuki0701 | 0:f0f40dddc0c4 | 487 | void UserLoopSetting() |
yuki0701 | 0:f0f40dddc0c4 | 488 | { |
yuki0701 | 0:f0f40dddc0c4 | 489 | //------機体情報の初期化------// |
yuki0701 | 0:f0f40dddc0c4 | 490 | |
yuki0701 | 0:f0f40dddc0c4 | 491 | //info.nowX = {0,0,0}; |
yuki0701 | 0:f0f40dddc0c4 | 492 | //info.nowY = {0,0,0}; |
yuki0701 | 0:f0f40dddc0c4 | 493 | |
yuki0701 | 0:f0f40dddc0c4 | 494 | //-----エスコンの初期設定-----// |
yuki0701 | 0:f0f40dddc0c4 | 495 | spi.format(SPI_BITS, SPI_MODE); |
yuki0701 | 0:f0f40dddc0c4 | 496 | spi.frequency(SPI_FREQ); |
yuki0701 | 0:f0f40dddc0c4 | 497 | ss_md1 = 1; |
yuki0701 | 0:f0f40dddc0c4 | 498 | ss_md2 = 1; |
yuki0701 | 0:f0f40dddc0c4 | 499 | ss_md3 = 1; |
yuki0701 | 0:f0f40dddc0c4 | 500 | ss_md4 = 1; |
yuki0701 | 0:f0f40dddc0c4 | 501 | md_enable = 1; //enable on |
yuki0701 | 0:f0f40dddc0c4 | 502 | md_err_led = 0; |
yuki0701 | 0:f0f40dddc0c4 | 503 | md_stop = 1; |
yuki0701 | 0:f0f40dddc0c4 | 504 | md_stop_led = 1; |
yuki0701 | 0:f0f40dddc0c4 | 505 | //-----センサーの初期設定-----// |
yuki0701 | 0:f0f40dddc0c4 | 506 | gyro.initialize(); |
yuki0701 | 0:f0f40dddc0c4 | 507 | motor_tick.attach(&calOmega,0.05); //0.05秒間隔で角速度を計算 |
yuki0701 | 0:f0f40dddc0c4 | 508 | EC1.setDiameter_mm(48); |
yuki0701 | 0:f0f40dddc0c4 | 509 | EC2.setDiameter_mm(48); //測定輪半径//後で測定 |
yuki0701 | 0:f0f40dddc0c4 | 510 | |
yuki0701 | 0:f0f40dddc0c4 | 511 | #ifdef DEBUG_MODE |
yuki0701 | 0:f0f40dddc0c4 | 512 | debug_led = 1; |
yuki0701 | 0:f0f40dddc0c4 | 513 | pc.attach(Debug_Control, Serial::RxIrq); |
yuki0701 | 0:f0f40dddc0c4 | 514 | #else |
yuki0701 | 0:f0f40dddc0c4 | 515 | debug_led = 0; |
yuki0701 | 0:f0f40dddc0c4 | 516 | #endif |
yuki0701 | 0:f0f40dddc0c4 | 517 | } |
yuki0701 | 0:f0f40dddc0c4 | 518 | |
yuki0701 | 0:f0f40dddc0c4 | 519 | #define MCP4922_AB (1<<15) |
yuki0701 | 0:f0f40dddc0c4 | 520 | #define MCP4922_BUF (1<<14) |
yuki0701 | 0:f0f40dddc0c4 | 521 | #define MCP4922_GA (1<<13) |
yuki0701 | 0:f0f40dddc0c4 | 522 | #define MCP4922_SHDN (1<<12) |
yuki0701 | 0:f0f40dddc0c4 | 523 | |
yuki0701 | 0:f0f40dddc0c4 | 524 | #define MCP4922_SET_OUTA (0x3000) //( MCP4922_GA || MCP4922_SHDN ) //12288 |
yuki0701 | 0:f0f40dddc0c4 | 525 | #define MCP4922_SET_OUTB (0xB000) //( MCP4922_AB || MCP4922_GA || MCP4922_SHDN ) //45056 |
yuki0701 | 0:f0f40dddc0c4 | 526 | #define MCP4922_MASKSET (0x0FFF) //4095 |
yuki0701 | 0:f0f40dddc0c4 | 527 | |
yuki0701 | 0:f0f40dddc0c4 | 528 | void DAC_Write(int16_t data, DigitalOut* DAC_cs) //(出力,出力場所) |
yuki0701 | 0:f0f40dddc0c4 | 529 | { |
yuki0701 | 0:f0f40dddc0c4 | 530 | static uint16_t dataA; //送るデータ |
yuki0701 | 0:f0f40dddc0c4 | 531 | static uint16_t dataB; |
yuki0701 | 0:f0f40dddc0c4 | 532 | |
yuki0701 | 0:f0f40dddc0c4 | 533 | dataA = MCP4922_SET_OUTA; |
yuki0701 | 0:f0f40dddc0c4 | 534 | dataB = MCP4922_SET_OUTB; |
yuki0701 | 0:f0f40dddc0c4 | 535 | |
yuki0701 | 0:f0f40dddc0c4 | 536 | if(data >= 0) { |
yuki0701 | 0:f0f40dddc0c4 | 537 | if(data > 4095) { |
yuki0701 | 0:f0f40dddc0c4 | 538 | data = 4095; |
yuki0701 | 0:f0f40dddc0c4 | 539 | } |
yuki0701 | 0:f0f40dddc0c4 | 540 | dataA += (MCP4922_MASKSET & (uint16_t)(data)); |
yuki0701 | 0:f0f40dddc0c4 | 541 | } else { |
yuki0701 | 0:f0f40dddc0c4 | 542 | if(data < -4095) { |
yuki0701 | 0:f0f40dddc0c4 | 543 | data = -4095; |
yuki0701 | 0:f0f40dddc0c4 | 544 | } |
yuki0701 | 0:f0f40dddc0c4 | 545 | dataB += (MCP4922_MASKSET & (uint16_t)(-data)); |
yuki0701 | 0:f0f40dddc0c4 | 546 | } |
yuki0701 | 0:f0f40dddc0c4 | 547 | |
yuki0701 | 0:f0f40dddc0c4 | 548 | //Aの出力設定 |
yuki0701 | 0:f0f40dddc0c4 | 549 | (DigitalOut)(*DAC_cs)=0; |
yuki0701 | 0:f0f40dddc0c4 | 550 | wait_us(SPI_WAIT_US); |
yuki0701 | 0:f0f40dddc0c4 | 551 | spi.write(dataA); |
yuki0701 | 0:f0f40dddc0c4 | 552 | wait_us(SPI_WAIT_US); |
yuki0701 | 0:f0f40dddc0c4 | 553 | (DigitalOut)(*DAC_cs)=1; |
yuki0701 | 0:f0f40dddc0c4 | 554 | wait_us(SPI_WAIT_US); |
yuki0701 | 0:f0f40dddc0c4 | 555 | |
yuki0701 | 0:f0f40dddc0c4 | 556 | //Bの出力設定 |
yuki0701 | 0:f0f40dddc0c4 | 557 | (DigitalOut)(*DAC_cs)=0; |
yuki0701 | 0:f0f40dddc0c4 | 558 | wait_us(SPI_WAIT_US); |
yuki0701 | 0:f0f40dddc0c4 | 559 | spi.write(dataB); |
yuki0701 | 0:f0f40dddc0c4 | 560 | wait_us(SPI_WAIT_US); |
yuki0701 | 0:f0f40dddc0c4 | 561 | (DigitalOut)(*DAC_cs)=1; |
yuki0701 | 0:f0f40dddc0c4 | 562 | |
yuki0701 | 0:f0f40dddc0c4 | 563 | } |
yuki0701 | 0:f0f40dddc0c4 | 564 | |
yuki0701 | 0:f0f40dddc0c4 | 565 | void MotorControl(int16_t val_md1, int16_t val_md2, int16_t val_md3, int16_t val_md4) //出力 |
yuki0701 | 0:f0f40dddc0c4 | 566 | { |
yuki0701 | 0:f0f40dddc0c4 | 567 | static int16_t zero_check; |
yuki0701 | 0:f0f40dddc0c4 | 568 | |
yuki0701 | 0:f0f40dddc0c4 | 569 | DAC_Write(val_md1, &ss_md1); |
yuki0701 | 0:f0f40dddc0c4 | 570 | DAC_Write(val_md2, &ss_md2); |
yuki0701 | 0:f0f40dddc0c4 | 571 | DAC_Write(val_md3, &ss_md3); |
yuki0701 | 0:f0f40dddc0c4 | 572 | DAC_Write(val_md4, &ss_md4); |
yuki0701 | 0:f0f40dddc0c4 | 573 | |
yuki0701 | 0:f0f40dddc0c4 | 574 | zero_check = (val_md1 | val_md2 | val_md3 | val_md4); //すべての出力が0なら強制停止 |
yuki0701 | 0:f0f40dddc0c4 | 575 | if(zero_check == 0) { |
yuki0701 | 0:f0f40dddc0c4 | 576 | md_stop = 1; |
yuki0701 | 0:f0f40dddc0c4 | 577 | md_stop_led = 1; |
yuki0701 | 0:f0f40dddc0c4 | 578 | } else { |
yuki0701 | 0:f0f40dddc0c4 | 579 | md_stop = 0; |
yuki0701 | 0:f0f40dddc0c4 | 580 | md_stop_led = 0; |
yuki0701 | 0:f0f40dddc0c4 | 581 | } |
yuki0701 | 0:f0f40dddc0c4 | 582 | } |
yuki0701 | 0:f0f40dddc0c4 | 583 | |
yuki0701 | 0:f0f40dddc0c4 | 584 | #ifdef DEBUG_MODE |
yuki0701 | 0:f0f40dddc0c4 | 585 | void Debug_Control() |
yuki0701 | 0:f0f40dddc0c4 | 586 | { |
yuki0701 | 0:f0f40dddc0c4 | 587 | static char pc_command = '\0'; |
yuki0701 | 0:f0f40dddc0c4 | 588 | |
yuki0701 | 0:f0f40dddc0c4 | 589 | pc_command = pc.getc(); |
yuki0701 | 0:f0f40dddc0c4 | 590 | |
yuki0701 | 0:f0f40dddc0c4 | 591 | if(pc_command == 'w') { //前進 |
yuki0701 | 0:f0f40dddc0c4 | 592 | m1+=500; |
yuki0701 | 0:f0f40dddc0c4 | 593 | m2+=500; |
yuki0701 | 0:f0f40dddc0c4 | 594 | m3-=500; |
yuki0701 | 0:f0f40dddc0c4 | 595 | m4-=500; |
yuki0701 | 0:f0f40dddc0c4 | 596 | } else if(pc_command == 's') { //後進 |
yuki0701 | 0:f0f40dddc0c4 | 597 | m1-=500; |
yuki0701 | 0:f0f40dddc0c4 | 598 | m2-=500; |
yuki0701 | 0:f0f40dddc0c4 | 599 | m3+=500; |
yuki0701 | 0:f0f40dddc0c4 | 600 | m4+=500; |
yuki0701 | 0:f0f40dddc0c4 | 601 | } else if(pc_command == 'd') { //右回り |
yuki0701 | 0:f0f40dddc0c4 | 602 | m1+=500; |
yuki0701 | 0:f0f40dddc0c4 | 603 | m2+=500; |
yuki0701 | 0:f0f40dddc0c4 | 604 | m3+=500; |
yuki0701 | 0:f0f40dddc0c4 | 605 | m4+=500; |
yuki0701 | 0:f0f40dddc0c4 | 606 | } else if(pc_command == 'a') { //左回り |
yuki0701 | 0:f0f40dddc0c4 | 607 | m1-=500; |
yuki0701 | 0:f0f40dddc0c4 | 608 | m2-=500; |
yuki0701 | 0:f0f40dddc0c4 | 609 | m3-=500; |
yuki0701 | 0:f0f40dddc0c4 | 610 | m4-=500; |
yuki0701 | 0:f0f40dddc0c4 | 611 | } else { |
yuki0701 | 0:f0f40dddc0c4 | 612 | m1=0; |
yuki0701 | 0:f0f40dddc0c4 | 613 | m2=0; |
yuki0701 | 0:f0f40dddc0c4 | 614 | m3=0; |
yuki0701 | 0:f0f40dddc0c4 | 615 | m4=0; |
yuki0701 | 0:f0f40dddc0c4 | 616 | } |
yuki0701 | 0:f0f40dddc0c4 | 617 | |
yuki0701 | 0:f0f40dddc0c4 | 618 | if(m1>4095) { //最大値を超えないように |
yuki0701 | 0:f0f40dddc0c4 | 619 | m1=4095; |
yuki0701 | 0:f0f40dddc0c4 | 620 | } else if(m1<-4095) { |
yuki0701 | 0:f0f40dddc0c4 | 621 | m1=-4095; |
yuki0701 | 0:f0f40dddc0c4 | 622 | } |
yuki0701 | 0:f0f40dddc0c4 | 623 | if(m2>4095) { |
yuki0701 | 0:f0f40dddc0c4 | 624 | m2=4095; |
yuki0701 | 0:f0f40dddc0c4 | 625 | } else if(m2<-4095) { |
yuki0701 | 0:f0f40dddc0c4 | 626 | m2=-4095; |
yuki0701 | 0:f0f40dddc0c4 | 627 | } |
yuki0701 | 0:f0f40dddc0c4 | 628 | if(m3>4095) { |
yuki0701 | 0:f0f40dddc0c4 | 629 | m3=4095; |
yuki0701 | 0:f0f40dddc0c4 | 630 | } else if(m3<-4095) { |
yuki0701 | 0:f0f40dddc0c4 | 631 | m3=-4095; |
yuki0701 | 0:f0f40dddc0c4 | 632 | } |
yuki0701 | 0:f0f40dddc0c4 | 633 | if(m4>4095) { |
yuki0701 | 0:f0f40dddc0c4 | 634 | m4=4095; |
yuki0701 | 0:f0f40dddc0c4 | 635 | } else if(m4<-4095) { |
yuki0701 | 0:f0f40dddc0c4 | 636 | m4=-4095; |
yuki0701 | 0:f0f40dddc0c4 | 637 | } |
yuki0701 | 0:f0f40dddc0c4 | 638 | |
yuki0701 | 0:f0f40dddc0c4 | 639 | debug_printf("%d %d %d %d\r\n",m1,m2,m3,m4); |
yuki0701 | 0:f0f40dddc0c4 | 640 | MotorControl(m1,m2,m3,m4); |
yuki0701 | 0:f0f40dddc0c4 | 641 | pc_command = '\0'; |
yuki0701 | 0:f0f40dddc0c4 | 642 | } |
yuki0701 | 0:f0f40dddc0c4 | 643 | #endif |
yuki0701 | 0:f0f40dddc0c4 | 644 | |
yuki0701 | 0:f0f40dddc0c4 | 645 | #ifdef DEBUG_PRINT |
yuki0701 | 0:f0f40dddc0c4 | 646 | void debug_printf(const char* format,...) |
yuki0701 | 0:f0f40dddc0c4 | 647 | { |
yuki0701 | 0:f0f40dddc0c4 | 648 | va_list arg; |
yuki0701 | 0:f0f40dddc0c4 | 649 | va_start(arg, format); |
yuki0701 | 0:f0f40dddc0c4 | 650 | vprintf(format, arg); |
yuki0701 | 0:f0f40dddc0c4 | 651 | va_end(arg); |
yuki0701 | 0:f0f40dddc0c4 | 652 | } |
yuki0701 | 0:f0f40dddc0c4 | 653 | #endif |