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Dependencies:   mbed MatrixMath LPS25HB_I2C LSM9DS1 Matrix2 PIDcontroller LoopTicker SBUS_without_mainfile UsaPack solaESKF_wind Vector3 CalibrateMagneto FastPWM

servo.cpp@74:af3b7cedff56, 2021-08-26 (annotated)

Committer:
NaotoMorita
Date:
Thu Aug 26 04:27:01 2021 +0000
Revision:
74:af3b7cedff56
Parent:
73:be7a8b8188de
Child:
75:7fa924da9d32
controller modify

Who changed what in which revision?

UserRevisionLine numberNew contents of line
cocorlow 56:888379912f81 1 #include "global.hpp"
cocorlow 56:888379912f81 2
cocorlow 56:888379912f81 3 // 割り込まれた時点での出力(computeの結果）を返す関数
cocorlow 56:888379912f81 4 void calcServoOut()
cocorlow 56:888379912f81 5 {
cocorlow 56:888379912f81 6 if(sbus.failSafe == false)
cocorlow 56:888379912f81 7 {
cocorlow 56:888379912f81 8 // sbusデータの読み込み
cocorlow 56:888379912f81 9 for (int i = 0; i < 16;i ++)
cocorlow 56:888379912f81 10 {
cocorlow 56:888379912f81 11 rc[i] = 0.65f * mapfloat(float(sbus.getData(i)),368,1680,-1,1) + (1.0f - 0.65f) * rc[i]; // mapped input
cocorlow 56:888379912f81 12 }
cocorlow 56:888379912f81 13 }
NaotoMorita 62:ef10fd919f7b 14 //pc.printf("rc:%f\r\n",rc[1]);
NaotoMorita 57:923e3df16159 15
NaotoMorita 57:923e3df16159 16 // 自身の位置に応じてエレベータ舵角を決定する
NaotoMorita 71:62eb45ecffe9 17 float derc = rc[1];
NaotoMorita 71:62eb45ecffe9 18 float darc = rc[0]-rc[1];
cocorlow 63:851e96f54a86 19 deobj = 0.0f;
NaotoMorita 57:923e3df16159 20 switch(pos_tail)
NaotoMorita 57:923e3df16159 21 {
NaotoMorita 57:923e3df16159 22 case 0: //left
NaotoMorita 71:62eb45ecffe9 23 deobj = derc-darc;
NaotoMorita 57:923e3df16159 24 break;
NaotoMorita 57:923e3df16159 25 case 1: //center
NaotoMorita 71:62eb45ecffe9 26 deobj = derc;
NaotoMorita 57:923e3df16159 27 break;
NaotoMorita 57:923e3df16159 28 case 2: //right
NaotoMorita 71:62eb45ecffe9 29 deobj = derc+darc;
NaotoMorita 57:923e3df16159 30 break;
NaotoMorita 57:923e3df16159 31 default: // error situation
NaotoMorita 57:923e3df16159 32 deobj = 0.0f;
NaotoMorita 57:923e3df16159 33 break;
NaotoMorita 57:923e3df16159 34 }
NaotoMorita 74:af3b7cedff56 35
NaotoMorita 74:af3b7cedff56 36
NaotoMorita 74:af3b7cedff56 37 float objgain = 15.0f*M_PI/180.0f;
NaotoMorita 74:af3b7cedff56 38 float pitchobj = objgain * (deobj+updateValues.de_command);
NaotoMorita 57:923e3df16159 39
NaotoMorita 57:923e3df16159 40 //ゲインの係数をrc8で変更
NaotoMorita 74:af3b7cedff56 41 float gaincoef = (rc[7]+1.0f)/2.0f;
NaotoMorita 74:af3b7cedff56 42 if(gaincoef<0.0f){gaincoef = 0.0f;}
NaotoMorita 74:af3b7cedff56 43 if(gaincoef>1.0f){gaincoef = 1.0f;}
NaotoMorita 74:af3b7cedff56 44 pitchPID.setGain(6.36, 10.6*gaincoef,0.0);
NaotoMorita 74:af3b7cedff56 45 pitchratePID.setGain(0.9540,0.0,0.0);
NaotoMorita 71:62eb45ecffe9 46 pitchPID.setProcessValue(rpy.x);
NaotoMorita 71:62eb45ecffe9 47 pitchratePID.setProcessValue(gyro.x);
NaotoMorita 57:923e3df16159 48 //目標値のセット
NaotoMorita 57:923e3df16159 49 pitchPID.setSetPoint(pitchobj); //目標の設定
NaotoMorita 71:62eb45ecffe9 50
cocorlow 63:851e96f54a86 51 de = pitchPID.compute()+pitchratePID.compute();
NaotoMorita 74:af3b7cedff56 52 if(de<-1.0f){de = -1.0f;}
NaotoMorita 74:af3b7cedff56 53 if(de>1.0f){de = 1.0f;}
cocorlow 56:888379912f81 54
osaka 67:1da4e7ccdd2b 55 if (pos_tail == 0)
osaka 67:1da4e7ccdd2b 56 {
NaotoMorita 71:62eb45ecffe9 57 scaledServoOut[0]=-de;
osaka 67:1da4e7ccdd2b 58 }
osaka 67:1da4e7ccdd2b 59 else
osaka 67:1da4e7ccdd2b 60 {
NaotoMorita 71:62eb45ecffe9 61 scaledServoOut[0]=de;
osaka 67:1da4e7ccdd2b 62 }
cocorlow 56:888379912f81 63
cocorlow 56:888379912f81 64 float LP_servo = 0.2;
cocorlow 56:888379912f81 65 for(int i = 0; i < sizeof(servoOut)/sizeof(servoOut[0]); i++)
cocorlow 56:888379912f81 66 {
cocorlow 56:888379912f81 67 servoOut[i] = LP_servo*(mapfloat(scaledServoOut[i],-1,1,servoPwmMin,servoPwmMax))+(1.0-LP_servo)*servoOut[i];
cocorlow 56:888379912f81 68 if(servoOut[i]<servoPwmMin)
cocorlow 56:888379912f81 69 {
cocorlow 56:888379912f81 70 servoOut[i] = servoPwmMin;
cocorlow 56:888379912f81 71 }
cocorlow 56:888379912f81 72 if(servoOut[i]>servoPwmMax)
cocorlow 56:888379912f81 73 {
cocorlow 56:888379912f81 74 servoOut[i] = servoPwmMax;
cocorlow 56:888379912f81 75 }
cocorlow 56:888379912f81 76 }
cocorlow 56:888379912f81 77
cocorlow 56:888379912f81 78 servo.pulsewidth_us(servoOut[0]);
NaotoMorita 73:be7a8b8188de 79 send2center();
cocorlow 56:888379912f81 80 }