HAPSRG / Mbed 2 deprecated optWingforHAPS_Eigen

Eigen Revision

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

servo.cpp@76:7fd3ac1afe3e, 2021-08-07 (annotated)

Committer:
NaotoMorita
Date:
Sat Aug 07 06:54:58 2021 +0000
Revision:
76:7fd3ac1afe3e
Parent:
73:84ffa0166e6c
Child:
77:2bf856e3eca4
async update

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 70:99f974d8960e 22 pitchPID.setProcessValue(rpy.x);
NaotoMorita 70:99f974d8960e 23 pitchratePID.setProcessValue(gyro.x);
NaotoMorita 70:99f974d8960e 24 rollPID.setProcessValue(rpy.y);
NaotoMorita 70:99f974d8960e 25 rollratePID.setProcessValue(gyro.y);
NaotoMorita 73:84ffa0166e6c 26 //de = -rc[1];
NaotoMorita 73:84ffa0166e6c 27 //da = +rc[0];
NaotoMorita 73:84ffa0166e6c 28 de = -(pitchPID.compute()+pitchratePID.compute()-rc[1]);
NaotoMorita 73:84ffa0166e6c 29 da = rollPID.compute()+rollratePID.compute()+rc[0];
NaotoMorita 70:99f974d8960e 30 //float de = pitchPID.compute()+pitchratePID.compute()-rc[1];
NaotoMorita 70:99f974d8960e 31 //float da = rollPID.compute()+rollratePID.compute()+rc[0];
NaotoMorita 73:84ffa0166e6c 32 dT = rc[2];
NaotoMorita 70:99f974d8960e 33
NaotoMorita 73:84ffa0166e6c 34 scaledServoOut[0]=-de+da;
NaotoMorita 73:84ffa0166e6c 35 scaledServoOut[1]=de+da;
NaotoMorita 70:99f974d8960e 36 scaledMotorOut[0]= dT;
NaotoMorita 70:99f974d8960e 37
cocorlow 56:888379912f81 38 float LP_servo = 0.2;
NaotoMorita 70:99f974d8960e 39 float LP_motor = 0.2;
cocorlow 56:888379912f81 40 for(int i = 0; i < sizeof(servoOut)/sizeof(servoOut[0]); i++)
cocorlow 56:888379912f81 41 {
cocorlow 56:888379912f81 42 servoOut[i] = LP_servo*(mapfloat(scaledServoOut[i],-1,1,servoPwmMin,servoPwmMax))+(1.0-LP_servo)*servoOut[i];
cocorlow 56:888379912f81 43 if(servoOut[i]<servoPwmMin)
cocorlow 56:888379912f81 44 {
cocorlow 56:888379912f81 45 servoOut[i] = servoPwmMin;
cocorlow 56:888379912f81 46 }
cocorlow 56:888379912f81 47 if(servoOut[i]>servoPwmMax)
cocorlow 56:888379912f81 48 {
cocorlow 56:888379912f81 49 servoOut[i] = servoPwmMax;
cocorlow 56:888379912f81 50 }
cocorlow 56:888379912f81 51 }
cocorlow 56:888379912f81 52
NaotoMorita 70:99f974d8960e 53 for(int i = 0;i<sizeof(motorOut)/sizeof(motorOut[0]) ;i++){
NaotoMorita 70:99f974d8960e 54 motorOut[i] = LP_motor*(mapfloat(scaledMotorOut[i],-1,1,motorPwmMin,motorPwmMax))+(1.0-LP_motor)*motorOut[i];
NaotoMorita 70:99f974d8960e 55 if(motorOut[i]<motorPwmMin) {
NaotoMorita 70:99f974d8960e 56 motorOut[i] = motorPwmMin;
NaotoMorita 70:99f974d8960e 57 };
NaotoMorita 70:99f974d8960e 58 if(motorOut[i]>motorPwmMax) {
NaotoMorita 70:99f974d8960e 59 motorOut[i] = motorPwmMax;
NaotoMorita 70:99f974d8960e 60 };
NaotoMorita 70:99f974d8960e 61 }
NaotoMorita 70:99f974d8960e 62 servoRight.pulsewidth_us(servoOut[0]);
NaotoMorita 70:99f974d8960e 63 servoLeft.pulsewidth_us(servoOut[1]);
NaotoMorita 70:99f974d8960e 64 servoThrust.pulsewidth_us(motorOut[0]);
NaotoMorita 68:b9f6938fab9d 65
cocorlow 56:888379912f81 66 if(loop_count >= 10)
cocorlow 56:888379912f81 67 {
cocorlow 56:888379912f81 68 writeSdcard();
cocorlow 56:888379912f81 69 loop_count = 1;
NaotoMorita 68:b9f6938fab9d 70
cocorlow 56:888379912f81 71 }
cocorlow 56:888379912f81 72 else
cocorlow 56:888379912f81 73 {
cocorlow 56:888379912f81 74 loop_count +=1;
cocorlow 56:888379912f81 75 }
cocorlow 56:888379912f81 76 }