HAPSRG / Mbed 2 deprecated hexaTest_Eigen

solaESKF_EIGEN

Dependencies:   mbed LPS25HB_I2C LSM9DS1 PIDcontroller LoopTicker GPSUBX_UART_Eigen SBUS_without_mainfile MedianFilter Eigen UsaPack solaESKF_Eigen Vector3 CalibrateMagneto FastPWM

servo.cpp@77:2bf856e3eca4, 2021-09-07 (annotated)

Committer:
NaotoMorita
Date:
Tue Sep 07 08:13:45 2021 +0000
Revision:
77:2bf856e3eca4
Parent:
76:7fd3ac1afe3e
Child:
82:c183c29d2427
update0907

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 {
NaotoMorita 76:7fd3ac1afe3e 6 if(serialControlSource){
NaotoMorita 76:7fd3ac1afe3e 7 for(int i = 0;i<4;i++){
NaotoMorita 76:7fd3ac1afe3e 8 rc[i] = float(vp.actData[i])/1000.0f;
NaotoMorita 76:7fd3ac1afe3e 9 }
NaotoMorita 76:7fd3ac1afe3e 10 }else{
NaotoMorita 76:7fd3ac1afe3e 11 // sbusデータの読み込み
NaotoMorita 76:7fd3ac1afe3e 12 for (int i =0 ; i < 16;i ++){
NaotoMorita 76:7fd3ac1afe3e 13 rc[i] = 0.65f * mapfloat(float(sbus.getData(i)),368,1680,-1,1) + (1.0f - 0.65f) * rc[i]; // mapped input
NaotoMorita 76:7fd3ac1afe3e 14 }
NaotoMorita 70:99f974d8960e 15 }
NaotoMorita 57:923e3df16159 16
NaotoMorita 73:84ffa0166e6c 17 //rc[1] = joystick.getX();
NaotoMorita 73:84ffa0166e6c 18 //rc[0] = joystick.getY();
NaotoMorita 73:84ffa0166e6c 19
NaotoMorita 57:923e3df16159 20 // 自身の位置に応じてエレベータ舵角を決定する
NaotoMorita 57:923e3df16159 21
NaotoMorita 77:2bf856e3eca4 22 float rollObj = 20.0f*M_PI/180.0f*rc[0];
NaotoMorita 77:2bf856e3eca4 23 float gaincoef = (rc[5]+1.0f)/2.0f*1.9f+1.0f;
NaotoMorita 77:2bf856e3eca4 24 rollPID.setGain(5.0*gaincoef,0.0f,0.0);
NaotoMorita 77:2bf856e3eca4 25 rollratePID.setGain(0.5*gaincoef,0.0f,0.0);
NaotoMorita 70:99f974d8960e 26 pitchPID.setProcessValue(rpy.x);
NaotoMorita 70:99f974d8960e 27 pitchratePID.setProcessValue(gyro.x);
NaotoMorita 70:99f974d8960e 28 rollPID.setProcessValue(rpy.y);
NaotoMorita 77:2bf856e3eca4 29 rollPID.setSetPoint(rollObj);
NaotoMorita 70:99f974d8960e 30 rollratePID.setProcessValue(gyro.y);
NaotoMorita 73:84ffa0166e6c 31 //de = -rc[1];
NaotoMorita 73:84ffa0166e6c 32 //da = +rc[0];
NaotoMorita 73:84ffa0166e6c 33 de = -(pitchPID.compute()+pitchratePID.compute()-rc[1]);
NaotoMorita 77:2bf856e3eca4 34 da = rollPID.compute()+rollratePID.compute();
NaotoMorita 70:99f974d8960e 35 //float de = pitchPID.compute()+pitchratePID.compute()-rc[1];
NaotoMorita 70:99f974d8960e 36 //float da = rollPID.compute()+rollratePID.compute()+rc[0];
NaotoMorita 73:84ffa0166e6c 37 dT = rc[2];
NaotoMorita 70:99f974d8960e 38
NaotoMorita 73:84ffa0166e6c 39 scaledServoOut[0]=-de+da;
NaotoMorita 73:84ffa0166e6c 40 scaledServoOut[1]=de+da;
NaotoMorita 70:99f974d8960e 41 scaledMotorOut[0]= dT;
NaotoMorita 70:99f974d8960e 42
cocorlow 56:888379912f81 43 float LP_servo = 0.2;
NaotoMorita 70:99f974d8960e 44 float LP_motor = 0.2;
cocorlow 56:888379912f81 45 for(int i = 0; i < sizeof(servoOut)/sizeof(servoOut[0]); i++)
cocorlow 56:888379912f81 46 {
cocorlow 56:888379912f81 47 servoOut[i] = LP_servo*(mapfloat(scaledServoOut[i],-1,1,servoPwmMin,servoPwmMax))+(1.0-LP_servo)*servoOut[i];
cocorlow 56:888379912f81 48 if(servoOut[i]<servoPwmMin)
cocorlow 56:888379912f81 49 {
cocorlow 56:888379912f81 50 servoOut[i] = servoPwmMin;
cocorlow 56:888379912f81 51 }
cocorlow 56:888379912f81 52 if(servoOut[i]>servoPwmMax)
cocorlow 56:888379912f81 53 {
cocorlow 56:888379912f81 54 servoOut[i] = servoPwmMax;
cocorlow 56:888379912f81 55 }
cocorlow 56:888379912f81 56 }
cocorlow 56:888379912f81 57
NaotoMorita 70:99f974d8960e 58 for(int i = 0;i<sizeof(motorOut)/sizeof(motorOut[0]) ;i++){
NaotoMorita 70:99f974d8960e 59 motorOut[i] = LP_motor*(mapfloat(scaledMotorOut[i],-1,1,motorPwmMin,motorPwmMax))+(1.0-LP_motor)*motorOut[i];
NaotoMorita 70:99f974d8960e 60 if(motorOut[i]<motorPwmMin) {
NaotoMorita 70:99f974d8960e 61 motorOut[i] = motorPwmMin;
NaotoMorita 70:99f974d8960e 62 };
NaotoMorita 70:99f974d8960e 63 if(motorOut[i]>motorPwmMax) {
NaotoMorita 70:99f974d8960e 64 motorOut[i] = motorPwmMax;
NaotoMorita 70:99f974d8960e 65 };
NaotoMorita 70:99f974d8960e 66 }
NaotoMorita 70:99f974d8960e 67 servoRight.pulsewidth_us(servoOut[0]);
NaotoMorita 70:99f974d8960e 68 servoLeft.pulsewidth_us(servoOut[1]);
NaotoMorita 70:99f974d8960e 69 servoThrust.pulsewidth_us(motorOut[0]);
NaotoMorita 68:b9f6938fab9d 70
cocorlow 56:888379912f81 71 if(loop_count >= 10)
cocorlow 56:888379912f81 72 {
cocorlow 56:888379912f81 73 writeSdcard();
cocorlow 56:888379912f81 74 loop_count = 1;
NaotoMorita 68:b9f6938fab9d 75
cocorlow 56:888379912f81 76 }
cocorlow 56:888379912f81 77 else
cocorlow 56:888379912f81 78 {
cocorlow 56:888379912f81 79 loop_count +=1;
cocorlow 56:888379912f81 80 }
cocorlow 56:888379912f81 81 }