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@85:bc03f862a316, 2021-10-08 (annotated)
- Committer:
- NaotoMorita
- Date:
- Fri Oct 08 08:11:25 2021 +0000
- Revision:
- 85:bc03f862a316
- Parent:
- 83:e69ab831031c
- Child:
- 87:89bbbcdb667b
for osaka
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 | 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 | |
NaotoMorita | 85:bc03f862a316 | 65 | if(loop_count >= 6) |
cocorlow | 56:888379912f81 | 66 | { |
cocorlow | 56:888379912f81 | 67 | writeSdcard(); |
cocorlow | 56:888379912f81 | 68 | loop_count = 1; |
NaotoMorita | 68:b9f6938fab9d | 69 | |
cocorlow | 56:888379912f81 | 70 | } |
cocorlow | 56:888379912f81 | 71 | else |
cocorlow | 56:888379912f81 | 72 | { |
cocorlow | 56:888379912f81 | 73 | loop_count +=1; |
cocorlow | 56:888379912f81 | 74 | } |
cocorlow | 56:888379912f81 | 75 | } |