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@139:b378528c05f2, 2021-12-06 (annotated)
- Committer:
- cocorlow
- Date:
- Mon Dec 06 08:26:16 2021 +0000
- Revision:
- 139:b378528c05f2
- Parent:
- 137:240588882ae2
- Child:
- 140:53dbdb207542
Eigen
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
cocorlow | 139:b378528c05f2 | 1 | //#include "global.hpp" |
cocorlow | 139:b378528c05f2 | 2 | // |
cocorlow | 139:b378528c05f2 | 3 | //// 割り込まれた時点での出力(computeの結果)を返す関数 |
cocorlow | 139:b378528c05f2 | 4 | //void calcServoOut() |
cocorlow | 139:b378528c05f2 | 5 | //{ |
cocorlow | 139:b378528c05f2 | 6 | // // sbusデータの読み込み |
cocorlow | 139:b378528c05f2 | 7 | // for (int i =0 ; i < 16;i ++){ |
cocorlow | 139:b378528c05f2 | 8 | // rc[i] = 0.65f * mapfloat(float(sbus.getData(i)),368,1680,-1,1) + (1.0f - 0.65f) * rc[i]; // mapped input |
cocorlow | 139:b378528c05f2 | 9 | // } |
cocorlow | 139:b378528c05f2 | 10 | // |
cocorlow | 139:b378528c05f2 | 11 | // |
cocorlow | 139:b378528c05f2 | 12 | // //姿勢角の所得 |
cocorlow | 139:b378528c05f2 | 13 | // euler = eskf.computeAngles(); |
cocorlow | 139:b378528c05f2 | 14 | // rpy.x = euler(1,1); |
cocorlow | 139:b378528c05f2 | 15 | // rpy.y = euler(2,1); |
cocorlow | 139:b378528c05f2 | 16 | // rpy.z = euler(3,1); |
cocorlow | 139:b378528c05f2 | 17 | // |
cocorlow | 139:b378528c05f2 | 18 | // //PIDへの状態量のセット |
cocorlow | 139:b378528c05f2 | 19 | // pitchPID.setProcessValue(rpy.y); |
cocorlow | 139:b378528c05f2 | 20 | // pitchratePID.setProcessValue(gyro.y); |
cocorlow | 139:b378528c05f2 | 21 | // rollPID.setProcessValue(rpy.x); |
cocorlow | 139:b378528c05f2 | 22 | // rollratePID.setProcessValue(gyro.x); |
cocorlow | 139:b378528c05f2 | 23 | // |
cocorlow | 139:b378528c05f2 | 24 | // dT = rc[2]; |
cocorlow | 139:b378528c05f2 | 25 | // |
cocorlow | 139:b378528c05f2 | 26 | // if (rc[4]>-0.3f && rc[6] < -0.3f) |
cocorlow | 139:b378528c05f2 | 27 | // { |
cocorlow | 139:b378528c05f2 | 28 | // //level_flight(); |
cocorlow | 139:b378528c05f2 | 29 | // //point_guide(); |
cocorlow | 139:b378528c05f2 | 30 | // climb(); |
cocorlow | 139:b378528c05f2 | 31 | // rollPID.setSetPoint(roll_obj); |
cocorlow | 139:b378528c05f2 | 32 | // pitchPID.setSetPoint(pitch_obj); |
cocorlow | 139:b378528c05f2 | 33 | // dT += dT_obj; |
cocorlow | 139:b378528c05f2 | 34 | // }else{ |
cocorlow | 139:b378528c05f2 | 35 | // rollPID.setSetPoint(0.0f); |
cocorlow | 139:b378528c05f2 | 36 | // pitchPID.setSetPoint(0.0f); |
cocorlow | 139:b378528c05f2 | 37 | // } |
cocorlow | 139:b378528c05f2 | 38 | // |
cocorlow | 139:b378528c05f2 | 39 | // //舵角計算 |
cocorlow | 139:b378528c05f2 | 40 | // if(rc[4]<-0.3f){ |
cocorlow | 139:b378528c05f2 | 41 | // de = (rc[0]-rc[1])/2.0f; |
cocorlow | 139:b378528c05f2 | 42 | // da = (rc[0]+rc[1])/2.0f; |
cocorlow | 139:b378528c05f2 | 43 | // }else{ |
cocorlow | 139:b378528c05f2 | 44 | // de = (pitchPID.compute()+pitchratePID.compute())+(rc[0]-rc[1])/2.0f; |
cocorlow | 139:b378528c05f2 | 45 | // da = (rollPID.compute()+rollratePID.compute())+(rc[0]+rc[1])/2.0f; |
cocorlow | 139:b378528c05f2 | 46 | // } |
cocorlow | 139:b378528c05f2 | 47 | // |
cocorlow | 139:b378528c05f2 | 48 | // scaledServoOut[0]=de+da; |
cocorlow | 139:b378528c05f2 | 49 | // scaledServoOut[1]=-de+da; |
cocorlow | 139:b378528c05f2 | 50 | // scaledMotorOut[0]= dT; |
cocorlow | 139:b378528c05f2 | 51 | // |
cocorlow | 139:b378528c05f2 | 52 | // float LP_servo = 0.2; |
cocorlow | 139:b378528c05f2 | 53 | // float LP_motor = 0.2; |
cocorlow | 139:b378528c05f2 | 54 | // for(int i = 0; i < sizeof(servoOut)/sizeof(servoOut[0]); i++) |
cocorlow | 139:b378528c05f2 | 55 | // { |
cocorlow | 139:b378528c05f2 | 56 | // servoOut[i] = LP_servo*(mapfloat(scaledServoOut[i],-1,1,servoPwmMin,servoPwmMax))+(1.0-LP_servo)*servoOut[i]; |
cocorlow | 139:b378528c05f2 | 57 | // if(servoOut[i]<servoPwmMin) |
cocorlow | 139:b378528c05f2 | 58 | // { |
cocorlow | 139:b378528c05f2 | 59 | // servoOut[i] = servoPwmMin; |
cocorlow | 139:b378528c05f2 | 60 | // } |
cocorlow | 139:b378528c05f2 | 61 | // if(servoOut[i]>servoPwmMax) |
cocorlow | 139:b378528c05f2 | 62 | // { |
cocorlow | 139:b378528c05f2 | 63 | // servoOut[i] = servoPwmMax; |
cocorlow | 139:b378528c05f2 | 64 | // } |
cocorlow | 139:b378528c05f2 | 65 | // } |
cocorlow | 139:b378528c05f2 | 66 | // |
cocorlow | 139:b378528c05f2 | 67 | // for(int i = 0;i<sizeof(motorOut)/sizeof(motorOut[0]) ;i++){ |
cocorlow | 139:b378528c05f2 | 68 | // motorOut[i] = LP_motor*(mapfloat(scaledMotorOut[i],-1,1,motorPwmMin,motorPwmMax))+(1.0-LP_motor)*motorOut[i]; |
cocorlow | 139:b378528c05f2 | 69 | // if(motorOut[i]<motorPwmMin) { |
cocorlow | 139:b378528c05f2 | 70 | // motorOut[i] = motorPwmMin; |
cocorlow | 139:b378528c05f2 | 71 | // }; |
cocorlow | 139:b378528c05f2 | 72 | // if(motorOut[i]>motorPwmMax) { |
cocorlow | 139:b378528c05f2 | 73 | // motorOut[i] = motorPwmMax; |
cocorlow | 139:b378528c05f2 | 74 | // }; |
cocorlow | 139:b378528c05f2 | 75 | // } |
cocorlow | 139:b378528c05f2 | 76 | // servoRight.pulsewidth_us(servoOut[0]); |
cocorlow | 139:b378528c05f2 | 77 | // servoLeft.pulsewidth_us(servoOut[1]); |
cocorlow | 139:b378528c05f2 | 78 | // servoThrust.pulsewidth_us(motorOut[0]); |
cocorlow | 139:b378528c05f2 | 79 | // |
cocorlow | 139:b378528c05f2 | 80 | // sendData2PC(); |
cocorlow | 139:b378528c05f2 | 81 | // writeSDcard(); |
cocorlow | 139:b378528c05f2 | 82 | // |
cocorlow | 139:b378528c05f2 | 83 | // if(loop_count >= 5) |
cocorlow | 139:b378528c05f2 | 84 | // { |
cocorlow | 139:b378528c05f2 | 85 | // sendTelemetry(); |
cocorlow | 139:b378528c05f2 | 86 | // loop_count = 1; |
cocorlow | 139:b378528c05f2 | 87 | // |
cocorlow | 139:b378528c05f2 | 88 | // } |
cocorlow | 139:b378528c05f2 | 89 | // else |
cocorlow | 139:b378528c05f2 | 90 | // { |
cocorlow | 139:b378528c05f2 | 91 | // loop_count +=1; |
cocorlow | 139:b378528c05f2 | 92 | // } |
cocorlow | 139:b378528c05f2 | 93 | //} |