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?
User | Revision | Line number | New 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 | } |