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@70:99f974d8960e, 2021-06-29 (annotated)

Committer:
NaotoMorita
Date:
Tue Jun 29 08:07:55 2021 +0000
Revision:
70:99f974d8960e
Parent:
68:b9f6938fab9d
Child:
73:84ffa0166e6c
commit

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 70:99f974d8960e 6 // sbusデータの読み込み
NaotoMorita 70:99f974d8960e 7 for (int i =0 ; i < 16;i ++){
NaotoMorita 70:99f974d8960e 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 57:923e3df16159 11 // 自身の位置に応じてエレベータ舵角を決定する
NaotoMorita 57:923e3df16159 12
NaotoMorita 70:99f974d8960e 13 pitchPID.setProcessValue(rpy.x);
NaotoMorita 70:99f974d8960e 14 pitchratePID.setProcessValue(gyro.x);
NaotoMorita 70:99f974d8960e 15 rollPID.setProcessValue(rpy.y);
NaotoMorita 70:99f974d8960e 16 rollratePID.setProcessValue(gyro.y);
NaotoMorita 70:99f974d8960e 17 float de = pitchPID.compute()+pitchratePID.compute()-rc[1];
NaotoMorita 70:99f974d8960e 18 float da = rollPID.compute()+rollratePID.compute()+rc[0];
NaotoMorita 70:99f974d8960e 19 //float de = pitchPID.compute()+pitchratePID.compute()-rc[1];
NaotoMorita 70:99f974d8960e 20 //float da = rollPID.compute()+rollratePID.compute()+rc[0];
NaotoMorita 70:99f974d8960e 21 float dT = rc[2];
NaotoMorita 70:99f974d8960e 22
NaotoMorita 70:99f974d8960e 23 scaledServoOut[0]=de+da;
NaotoMorita 70:99f974d8960e 24 scaledServoOut[1]=-de+da;
NaotoMorita 70:99f974d8960e 25 scaledMotorOut[0]= dT;
NaotoMorita 70:99f974d8960e 26
cocorlow 56:888379912f81 27 float LP_servo = 0.2;
NaotoMorita 70:99f974d8960e 28 float LP_motor = 0.2;
cocorlow 56:888379912f81 29 for(int i = 0; i < sizeof(servoOut)/sizeof(servoOut[0]); i++)
cocorlow 56:888379912f81 30 {
cocorlow 56:888379912f81 31 servoOut[i] = LP_servo*(mapfloat(scaledServoOut[i],-1,1,servoPwmMin,servoPwmMax))+(1.0-LP_servo)*servoOut[i];
cocorlow 56:888379912f81 32 if(servoOut[i]<servoPwmMin)
cocorlow 56:888379912f81 33 {
cocorlow 56:888379912f81 34 servoOut[i] = servoPwmMin;
cocorlow 56:888379912f81 35 }
cocorlow 56:888379912f81 36 if(servoOut[i]>servoPwmMax)
cocorlow 56:888379912f81 37 {
cocorlow 56:888379912f81 38 servoOut[i] = servoPwmMax;
cocorlow 56:888379912f81 39 }
cocorlow 56:888379912f81 40 }
cocorlow 56:888379912f81 41
NaotoMorita 70:99f974d8960e 42 for(int i = 0;i<sizeof(motorOut)/sizeof(motorOut[0]) ;i++){
NaotoMorita 70:99f974d8960e 43 motorOut[i] = LP_motor*(mapfloat(scaledMotorOut[i],-1,1,motorPwmMin,motorPwmMax))+(1.0-LP_motor)*motorOut[i];
NaotoMorita 70:99f974d8960e 44 if(motorOut[i]<motorPwmMin) {
NaotoMorita 70:99f974d8960e 45 motorOut[i] = motorPwmMin;
NaotoMorita 70:99f974d8960e 46 };
NaotoMorita 70:99f974d8960e 47 if(motorOut[i]>motorPwmMax) {
NaotoMorita 70:99f974d8960e 48 motorOut[i] = motorPwmMax;
NaotoMorita 70:99f974d8960e 49 };
NaotoMorita 70:99f974d8960e 50 }
NaotoMorita 70:99f974d8960e 51 servoRight.pulsewidth_us(servoOut[0]);
NaotoMorita 70:99f974d8960e 52 servoLeft.pulsewidth_us(servoOut[1]);
NaotoMorita 70:99f974d8960e 53 servoThrust.pulsewidth_us(motorOut[0]);
NaotoMorita 68:b9f6938fab9d 54
cocorlow 56:888379912f81 55 if(loop_count >= 10)
cocorlow 56:888379912f81 56 {
cocorlow 56:888379912f81 57 writeSdcard();
cocorlow 56:888379912f81 58 loop_count = 1;
NaotoMorita 68:b9f6938fab9d 59
cocorlow 56:888379912f81 60 }
cocorlow 56:888379912f81 61 else
cocorlow 56:888379912f81 62 {
cocorlow 56:888379912f81 63 loop_count +=1;
cocorlow 56:888379912f81 64 }
cocorlow 56:888379912f81 65 }