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@87:89bbbcdb667b, 2021-10-20 (annotated)

Committer:
osaka
Date:
Wed Oct 20 01:50:52 2021 +0000
Revision:
87:89bbbcdb667b
Parent:
85:bc03f862a316
Child:
90:96c2b0ed4b96
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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 83:e69ab831031c 6 // sbusデータの読み込み
NaotoMorita 83:e69ab831031c 7 for (int i =0 ; i < 16;i ++){
NaotoMorita 83:e69ab831031c 8 rc[i] = 0.65f * mapfloat(float(sbus.getData(i)),368,1680,-1,1) + (1.0f - 0.65f) * rc[i]; // mapped input
NaotoMorita 70:99f974d8960e 9 }
NaotoMorita 57:923e3df16159 10
NaotoMorita 73:84ffa0166e6c 11 //rc[1] = joystick.getX();
NaotoMorita 73:84ffa0166e6c 12 //rc[0] = joystick.getY();
NaotoMorita 73:84ffa0166e6c 13
NaotoMorita 57:923e3df16159 14 // 自身の位置に応じてエレベータ舵角を決定する
NaotoMorita 57:923e3df16159 15
NaotoMorita 83:e69ab831031c 16 //float rollObj = 20.0f*M_PI/180.0f*rc[0];
NaotoMorita 83:e69ab831031c 17 //float gaincoef = 1.0f;
NaotoMorita 83:e69ab831031c 18 //rollPID.setGain(5.0*gaincoef,0.0f,0.0);
NaotoMorita 83:e69ab831031c 19 //rollratePID.setGain(0.5*gaincoef,0.0f,0.0);
NaotoMorita 70:99f974d8960e 20 pitchPID.setProcessValue(rpy.x);
NaotoMorita 70:99f974d8960e 21 pitchratePID.setProcessValue(gyro.x);
NaotoMorita 70:99f974d8960e 22 rollPID.setProcessValue(rpy.y);
NaotoMorita 83:e69ab831031c 23 //rollPID.setSetPoint(rollObj);
NaotoMorita 70:99f974d8960e 24 rollratePID.setProcessValue(gyro.y);
NaotoMorita 83:e69ab831031c 25 //de = rc[1];
NaotoMorita 73:84ffa0166e6c 26 //da = +rc[0];
NaotoMorita 83:e69ab831031c 27 de = -(pitchPID.compute()+pitchratePID.compute())+rc[1];
NaotoMorita 83:e69ab831031c 28 da = (rollPID.compute()+rollratePID.compute())+rc[0];
NaotoMorita 70:99f974d8960e 29 //float de = pitchPID.compute()+pitchratePID.compute()-rc[1];
NaotoMorita 70:99f974d8960e 30 //float da = rollPID.compute()+rollratePID.compute()+rc[0];
NaotoMorita 73:84ffa0166e6c 31 dT = rc[2];
NaotoMorita 70:99f974d8960e 32
NaotoMorita 73:84ffa0166e6c 33 scaledServoOut[0]=-de+da;
NaotoMorita 73:84ffa0166e6c 34 scaledServoOut[1]=de+da;
NaotoMorita 70:99f974d8960e 35 scaledMotorOut[0]= dT;
NaotoMorita 70:99f974d8960e 36
cocorlow 56:888379912f81 37 float LP_servo = 0.2;
NaotoMorita 70:99f974d8960e 38 float LP_motor = 0.2;
cocorlow 56:888379912f81 39 for(int i = 0; i < sizeof(servoOut)/sizeof(servoOut[0]); i++)
cocorlow 56:888379912f81 40 {
cocorlow 56:888379912f81 41 servoOut[i] = LP_servo*(mapfloat(scaledServoOut[i],-1,1,servoPwmMin,servoPwmMax))+(1.0-LP_servo)*servoOut[i];
cocorlow 56:888379912f81 42 if(servoOut[i]<servoPwmMin)
cocorlow 56:888379912f81 43 {
cocorlow 56:888379912f81 44 servoOut[i] = servoPwmMin;
cocorlow 56:888379912f81 45 }
cocorlow 56:888379912f81 46 if(servoOut[i]>servoPwmMax)
cocorlow 56:888379912f81 47 {
cocorlow 56:888379912f81 48 servoOut[i] = servoPwmMax;
cocorlow 56:888379912f81 49 }
cocorlow 56:888379912f81 50 }
cocorlow 56:888379912f81 51
NaotoMorita 70:99f974d8960e 52 for(int i = 0;i<sizeof(motorOut)/sizeof(motorOut[0]) ;i++){
NaotoMorita 70:99f974d8960e 53 motorOut[i] = LP_motor*(mapfloat(scaledMotorOut[i],-1,1,motorPwmMin,motorPwmMax))+(1.0-LP_motor)*motorOut[i];
NaotoMorita 70:99f974d8960e 54 if(motorOut[i]<motorPwmMin) {
NaotoMorita 70:99f974d8960e 55 motorOut[i] = motorPwmMin;
NaotoMorita 70:99f974d8960e 56 };
NaotoMorita 70:99f974d8960e 57 if(motorOut[i]>motorPwmMax) {
NaotoMorita 70:99f974d8960e 58 motorOut[i] = motorPwmMax;
NaotoMorita 70:99f974d8960e 59 };
NaotoMorita 70:99f974d8960e 60 }
NaotoMorita 70:99f974d8960e 61 servoRight.pulsewidth_us(servoOut[0]);
NaotoMorita 70:99f974d8960e 62 servoLeft.pulsewidth_us(servoOut[1]);
NaotoMorita 70:99f974d8960e 63 servoThrust.pulsewidth_us(motorOut[0]);
NaotoMorita 68:b9f6938fab9d 64
osaka 87:89bbbcdb667b 65 sendData2PC();
osaka 87:89bbbcdb667b 66 writeSDcard();
NaotoMorita 85:bc03f862a316 67 if(loop_count >= 6)
cocorlow 56:888379912f81 68 {
osaka 87:89bbbcdb667b 69 sendTelemetry();
cocorlow 56:888379912f81 70 loop_count = 1;
NaotoMorita 68:b9f6938fab9d 71
cocorlow 56:888379912f81 72 }
cocorlow 56:888379912f81 73 else
cocorlow 56:888379912f81 74 {
cocorlow 56:888379912f81 75 loop_count +=1;
cocorlow 56:888379912f81 76 }
cocorlow 56:888379912f81 77 }