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Dependencies:   DriveConroller IMU MDD Mycan Odometer PID RotaryEncoder UART USS mbed

Fork of AR_MastarNode by MEC-B

main.cpp@0:6db16ad02a1b, 2018-08-04 (annotated)

Committer:
TanakaTarou
Date:
Sat Aug 04 13:07:23 2018 +0000
Revision:
0:6db16ad02a1b
Child:
1:d7ceb38da3d8
AR?MasterNode

Who changed what in which revision?

UserRevisionLine numberNew contents of line
TanakaTarou 0:6db16ad02a1b 1 #include "mbed.h"
TanakaTarou 0:6db16ad02a1b 2 #include "DriveController.h"
TanakaTarou 0:6db16ad02a1b 3 #include "IMU.h"
TanakaTarou 0:6db16ad02a1b 4 #include "MDD.h"
TanakaTarou 0:6db16ad02a1b 5 #include "MDD2.h"
TanakaTarou 0:6db16ad02a1b 6 #include "Mycan.h"
TanakaTarou 0:6db16ad02a1b 7 #include "Odometer.h"
TanakaTarou 0:6db16ad02a1b 8 #include "PID.h"
TanakaTarou 0:6db16ad02a1b 9 #include "RotaryEncoder.h"
TanakaTarou 0:6db16ad02a1b 10 #include "CSV.h"
TanakaTarou 0:6db16ad02a1b 11 #include "SBUS.h"
TanakaTarou 0:6db16ad02a1b 12 #include "USS.h"
TanakaTarou 0:6db16ad02a1b 13 #include "hardwareConfig.h"
TanakaTarou 0:6db16ad02a1b 14
TanakaTarou 0:6db16ad02a1b 15 //(X, Y, θ, speed, angle, injection, 補給昇降)
TanakaTarou 0:6db16ad02a1b 16 float position[10][7] = {{0.0, 0.0, 0.0, 0, 90, 0, 0.0},//x移動, 角度変化
TanakaTarou 0:6db16ad02a1b 17 {-0.3, 0.0, 0.0, 0, 90, 0, 0.0},//y移動
TanakaTarou 0:6db16ad02a1b 18 {-0.3, 5.0, 0.0, 0, 90, 0, 0.0},//発射
TanakaTarou 0:6db16ad02a1b 19 {-0.3, 0.0, 0.0, 0, 90, 0, 0.0},//y移動,角度戻す, P上昇
TanakaTarou 0:6db16ad02a1b 20
TanakaTarou 0:6db16ad02a1b 21 {-0.6, 0.0, 0.0, 0, 90, 0, 0.0},//x移動, 角度変化, 下降&バットマン駆動
TanakaTarou 0:6db16ad02a1b 22 {-0.6, 5.0, 0.0, 0, 90, 0, 0.0},//y移動
TanakaTarou 0:6db16ad02a1b 23 {-0.6, 0.0, 0.0, 0, 90, 0, 0.0},//発射
TanakaTarou 0:6db16ad02a1b 24 //{6.0, 0.0, 0.0, 20, 90, 0, 6.8},//y移動,角度戻す, P上昇
TanakaTarou 0:6db16ad02a1b 25
TanakaTarou 0:6db16ad02a1b 26 {-0.9, 0.0, 0.0, 20, 90, 0, 0.0},//x移動, 角度変化, 下降&バットマン駆動
TanakaTarou 0:6db16ad02a1b 27 {-0.9, 5.0, 0.0, 20, 90, 0, 0.0},//y移動
TanakaTarou 0:6db16ad02a1b 28 {-0.9, 0.0, 0.0, 20, 90, 0, 0.0},//発射
TanakaTarou 0:6db16ad02a1b 29 //{7.0, 0.0, 0.0, 20, 90, 0, 6.8},//y移動,角度戻す, P上昇
TanakaTarou 0:6db16ad02a1b 30 /*
TanakaTarou 0:6db16ad02a1b 31 {3.0, 0.0, 0.0, 20, 80, 0, 0.0},//x移動, 角度変化, 下降&バットマン駆動
TanakaTarou 0:6db16ad02a1b 32 {3.0, 2.5, 0.0, 20, 80, 0, 0.0},//y移動
TanakaTarou 0:6db16ad02a1b 33 {3.0, 2.5, 0.0, 20, 80, 1, 0.0},//下段に発射
TanakaTarou 0:6db16ad02a1b 34 {3.0, 2.5, 0.0, 20, 90, 0, 6.8},//角度戻す, P上昇
TanakaTarou 0:6db16ad02a1b 35 {3.0, 2.5, 0.0, 20, 80, 0, 0.0},//角度変化, 下降&バットマン駆動
TanakaTarou 0:6db16ad02a1b 36 {3.0, 2.5, 0.0, 20, 80, 1, 0.0},//上段に発射
TanakaTarou 0:6db16ad02a1b 37 {0.0, 0.0, 0.0, 20, 90, 0, 6.8} //x・y移動,スタートゾーンに戻る
TanakaTarou 0:6db16ad02a1b 38 */
TanakaTarou 0:6db16ad02a1b 39 };
TanakaTarou 0:6db16ad02a1b 40
TanakaTarou 0:6db16ad02a1b 41 controller getPropoData();
TanakaTarou 0:6db16ad02a1b 42 //bool isConvergence(int num);
TanakaTarou 0:6db16ad02a1b 43
TanakaTarou 0:6db16ad02a1b 44 //x軸補正用 PID
TanakaTarou 0:6db16ad02a1b 45 PID pidRobotX(2, 0, 0, 0.01, 0.3);
TanakaTarou 0:6db16ad02a1b 46 float target_x = 0;
TanakaTarou 0:6db16ad02a1b 47
TanakaTarou 0:6db16ad02a1b 48 //y軸補正用 PID
TanakaTarou 0:6db16ad02a1b 49 PID pidRobotY(2, 0, 0, 0.01, 0.3);
TanakaTarou 0:6db16ad02a1b 50 float target_y = 0;
TanakaTarou 0:6db16ad02a1b 51
TanakaTarou 0:6db16ad02a1b 52 //USS用
TanakaTarou 0:6db16ad02a1b 53 PID pidUss(0.02, 0, 0, 0.01, 0.3);
TanakaTarou 0:6db16ad02a1b 54 float target_uss = 25.0;
TanakaTarou 0:6db16ad02a1b 55
TanakaTarou 0:6db16ad02a1b 56 int main()
TanakaTarou 0:6db16ad02a1b 57 {
TanakaTarou 0:6db16ad02a1b 58 //タイマー３の優先度を最低にする
TanakaTarou 0:6db16ad02a1b 59 NVIC_SetPriority(TIMER3_IRQn, 100);
TanakaTarou 0:6db16ad02a1b 60
TanakaTarou 0:6db16ad02a1b 61 //IMUのキャリブレーション
TanakaTarou 0:6db16ad02a1b 62 imu.performCalibration();
TanakaTarou 0:6db16ad02a1b 63 imu.startAngleComputing();
TanakaTarou 0:6db16ad02a1b 64
TanakaTarou 0:6db16ad02a1b 65 //yow角補正用 (Pgain, Igain, Dgain, 制御ループ時間[s], 計算出力100%定義)
TanakaTarou 0:6db16ad02a1b 66 PID pidRobotYow(0.05, 0, 0, 0.01, 0.95);
TanakaTarou 0:6db16ad02a1b 67 float target = 0;
TanakaTarou 0:6db16ad02a1b 68 mecanum.imu_yow = &imu.angle[2];
TanakaTarou 0:6db16ad02a1b 69 pidRobotYow.sensor = &imu.angle[2];
TanakaTarou 0:6db16ad02a1b 70 pidRobotYow.target = ⌖
TanakaTarou 0:6db16ad02a1b 71 pidRobotYow.start();
TanakaTarou 0:6db16ad02a1b 72
TanakaTarou 0:6db16ad02a1b 73 for(int i; i < 3; i++)
TanakaTarou 0:6db16ad02a1b 74 enc[i].changeDirection();
TanakaTarou 0:6db16ad02a1b 75
TanakaTarou 0:6db16ad02a1b 76 //オドメーターの定義
TanakaTarou 0:6db16ad02a1b 77 float matrix[3][3] = {{1, 0, 0},
TanakaTarou 0:6db16ad02a1b 78 {0, 1, 0},
TanakaTarou 0:6db16ad02a1b 79 {0, 0, 0}
TanakaTarou 0:6db16ad02a1b 80 };
TanakaTarou 0:6db16ad02a1b 81 Odometer odm(matrix, 0.048);
TanakaTarou 0:6db16ad02a1b 82 float tmp = 0;
TanakaTarou 0:6db16ad02a1b 83 float *encoders[3] = {&enc[0].rotations, &enc[1].rotations, &tmp};
TanakaTarou 0:6db16ad02a1b 84 odm.setupOdometerSensors(encoders, &imu.angle[2]);
TanakaTarou 0:6db16ad02a1b 85 odm.startComputingOdometry(0.005, 0, 0, 0);
TanakaTarou 0:6db16ad02a1b 86
TanakaTarou 0:6db16ad02a1b 87 //オドメーターX
TanakaTarou 0:6db16ad02a1b 88 pidRobotX.sensor = &odm.x;
TanakaTarou 0:6db16ad02a1b 89 pidRobotX.target = &target_x;
TanakaTarou 0:6db16ad02a1b 90 pidRobotX.start();
TanakaTarou 0:6db16ad02a1b 91
TanakaTarou 0:6db16ad02a1b 92 //オドメーターY
TanakaTarou 0:6db16ad02a1b 93 pidRobotY.sensor = &odm.y;
TanakaTarou 0:6db16ad02a1b 94 pidRobotY.target = &target_y;
TanakaTarou 0:6db16ad02a1b 95 pidRobotY.start();
TanakaTarou 0:6db16ad02a1b 96
TanakaTarou 0:6db16ad02a1b 97 //USS pid設定
TanakaTarou 0:6db16ad02a1b 98 uss.startTriger();
TanakaTarou 0:6db16ad02a1b 99 pidUss.sensor = &uss.distance;
TanakaTarou 0:6db16ad02a1b 100 pidUss.target = &target_uss;
TanakaTarou 0:6db16ad02a1b 101 pidUss.start();
TanakaTarou 0:6db16ad02a1b 102
TanakaTarou 0:6db16ad02a1b 103 while(1)
TanakaTarou 0:6db16ad02a1b 104 {
TanakaTarou 0:6db16ad02a1b 105 controller cmd = getPropoData(); //getPropoData & getCanData
TanakaTarou 0:6db16ad02a1b 106
TanakaTarou 0:6db16ad02a1b 107 static int posi_num = 0;
TanakaTarou 0:6db16ad02a1b 108 static int reset_swich = 0;
TanakaTarou 0:6db16ad02a1b 109 if(cmd.H == 2 && reset_swich == 0)
TanakaTarou 0:6db16ad02a1b 110 {
TanakaTarou 0:6db16ad02a1b 111 posi_num += 1;
TanakaTarou 0:6db16ad02a1b 112 if(posi_num > 9)
TanakaTarou 0:6db16ad02a1b 113 posi_num = 0;
TanakaTarou 0:6db16ad02a1b 114 reset_swich = 1;
TanakaTarou 0:6db16ad02a1b 115 }
TanakaTarou 0:6db16ad02a1b 116 else if(cmd.H == 0 && reset_swich == 1)
TanakaTarou 0:6db16ad02a1b 117 reset_swich = 0;
TanakaTarou 0:6db16ad02a1b 118
TanakaTarou 0:6db16ad02a1b 119 if(position[posi_num][5] == 1)
TanakaTarou 0:6db16ad02a1b 120 can.set(1, 1, position[posi_num][3]);
TanakaTarou 0:6db16ad02a1b 121 else
TanakaTarou 0:6db16ad02a1b 122 can.set(1, 1, 0);
TanakaTarou 0:6db16ad02a1b 123 can.set(1, 2, position[posi_num][4]);
TanakaTarou 0:6db16ad02a1b 124 can.set(2, 1, position[posi_num][6]);
TanakaTarou 0:6db16ad02a1b 125 can.send();
TanakaTarou 0:6db16ad02a1b 126
TanakaTarou 0:6db16ad02a1b 127 //ロボットの移動速度(LX, LY, RX)
TanakaTarou 0:6db16ad02a1b 128 float robot_velocity[3];
TanakaTarou 0:6db16ad02a1b 129
TanakaTarou 0:6db16ad02a1b 130 //yow角調整処理
TanakaTarou 0:6db16ad02a1b 131 *pidRobotYow.target = position[posi_num][2];
TanakaTarou 0:6db16ad02a1b 132 robot_velocity[2] = pidRobotYow.output;
TanakaTarou 0:6db16ad02a1b 133
TanakaTarou 0:6db16ad02a1b 134 //x軸調整処理
TanakaTarou 0:6db16ad02a1b 135 *pidRobotX.target = position[posi_num][0];
TanakaTarou 0:6db16ad02a1b 136 robot_velocity[0] = pidRobotX.output;
TanakaTarou 0:6db16ad02a1b 137
TanakaTarou 0:6db16ad02a1b 138 //USS距離調整処理
TanakaTarou 0:6db16ad02a1b 139 if(posi_num == 2 || posi_num == 5 || posi_num == 8)
TanakaTarou 0:6db16ad02a1b 140 {
TanakaTarou 0:6db16ad02a1b 141 *pidUss.target = position[posi_num][1];
TanakaTarou 0:6db16ad02a1b 142 robot_velocity[1] = -pidUss.output;
TanakaTarou 0:6db16ad02a1b 143 }
TanakaTarou 0:6db16ad02a1b 144 else
TanakaTarou 0:6db16ad02a1b 145 {
TanakaTarou 0:6db16ad02a1b 146 //y軸調整処理
TanakaTarou 0:6db16ad02a1b 147 *pidRobotY.target = position[posi_num][1];
TanakaTarou 0:6db16ad02a1b 148 robot_velocity[1] = pidRobotY.output;
TanakaTarou 0:6db16ad02a1b 149 }
TanakaTarou 0:6db16ad02a1b 150
TanakaTarou 0:6db16ad02a1b 151 //角度・XYリセット
TanakaTarou 0:6db16ad02a1b 152 if(cmd.F == 2)
TanakaTarou 0:6db16ad02a1b 153 {
TanakaTarou 0:6db16ad02a1b 154 imu.angle[2] = 0;
TanakaTarou 0:6db16ad02a1b 155 *pidRobotYow.target = 0;
TanakaTarou 0:6db16ad02a1b 156 odm.x = 0;
TanakaTarou 0:6db16ad02a1b 157 *pidRobotX.target = 0;
TanakaTarou 0:6db16ad02a1b 158 odm.y = 0;
TanakaTarou 0:6db16ad02a1b 159 *pidRobotY.target = 0;
TanakaTarou 0:6db16ad02a1b 160 }
TanakaTarou 0:6db16ad02a1b 161
TanakaTarou 0:6db16ad02a1b 162 //ホイール速度計算
TanakaTarou 0:6db16ad02a1b 163 mecanum.setVelL(robot_velocity);
TanakaTarou 0:6db16ad02a1b 164 mecanum.computeWheelVel();
TanakaTarou 0:6db16ad02a1b 165 mecanum.rescaleWheelVel();
TanakaTarou 0:6db16ad02a1b 166
TanakaTarou 0:6db16ad02a1b 167 //モーターの駆動
TanakaTarou 0:6db16ad02a1b 168 for(int i = 0; i < 4; i++)
TanakaTarou 0:6db16ad02a1b 169 Motor[i].drive(mecanum.wheel_vel[i]);
TanakaTarou 0:6db16ad02a1b 170
TanakaTarou 0:6db16ad02a1b 171 //posi_num += isConvergence(posi_num);
TanakaTarou 0:6db16ad02a1b 172
TanakaTarou 0:6db16ad02a1b 173 pc.printf("%.2f\t", odm.x);
TanakaTarou 0:6db16ad02a1b 174 pc.printf("%.2f\t", odm.y);
TanakaTarou 0:6db16ad02a1b 175
TanakaTarou 0:6db16ad02a1b 176 pc.printf("\n");
TanakaTarou 0:6db16ad02a1b 177 wait(0.02);
TanakaTarou 0:6db16ad02a1b 178 }
TanakaTarou 0:6db16ad02a1b 179 }
TanakaTarou 0:6db16ad02a1b 180
TanakaTarou 0:6db16ad02a1b 181 controller getPropoData()
TanakaTarou 0:6db16ad02a1b 182 {
TanakaTarou 0:6db16ad02a1b 183 float dead_zone = 0.05;
TanakaTarou 0:6db16ad02a1b 184 controller propo;
TanakaTarou 0:6db16ad02a1b 185 sbus.isFailSafe();
TanakaTarou 0:6db16ad02a1b 186
TanakaTarou 0:6db16ad02a1b 187 //propo直接コントロール
TanakaTarou 0:6db16ad02a1b 188 if(sbus.isFailSafe())
TanakaTarou 0:6db16ad02a1b 189 {
TanakaTarou 0:6db16ad02a1b 190 propo.LX = propo.LY = propo.RX = propo.RY = 0;
TanakaTarou 0:6db16ad02a1b 191 propo.H = propo.A = propo.D = propo.F = propo.G = propo.fail_safe = 0;
TanakaTarou 0:6db16ad02a1b 192 }
TanakaTarou 0:6db16ad02a1b 193 else
TanakaTarou 0:6db16ad02a1b 194 {
TanakaTarou 0:6db16ad02a1b 195 propo.LX = sbus.getStickVal(0) / 255.0;
TanakaTarou 0:6db16ad02a1b 196 propo.LY = sbus.getStickVal(1) / 255.0;
TanakaTarou 0:6db16ad02a1b 197 propo.RX = -sbus.getStickVal(2) / 255.0;
TanakaTarou 0:6db16ad02a1b 198 propo.RY = sbus.getStickVal(3) / 255.0;
TanakaTarou 0:6db16ad02a1b 199 propo.H = sbus.getSwitchVal(0);
TanakaTarou 0:6db16ad02a1b 200 propo.C = sbus.getSwitchVal(1);
TanakaTarou 0:6db16ad02a1b 201 propo.E = sbus.getSwitchVal(2);
TanakaTarou 0:6db16ad02a1b 202 propo.F = sbus.getSwitchVal(3);
TanakaTarou 0:6db16ad02a1b 203 propo.G = sbus.getSwitchVal(4);
TanakaTarou 0:6db16ad02a1b 204 propo.fail_safe = 1;
TanakaTarou 0:6db16ad02a1b 205 }
TanakaTarou 0:6db16ad02a1b 206
TanakaTarou 0:6db16ad02a1b 207 if(propo.RX < dead_zone && propo.RX > -dead_zone) propo.RX = 0;
TanakaTarou 0:6db16ad02a1b 208 if(propo.RY < dead_zone && propo.RY > -dead_zone) propo.RY = 0;
TanakaTarou 0:6db16ad02a1b 209 if(propo.LX < dead_zone && propo.LX > -dead_zone) propo.LX = 0;
TanakaTarou 0:6db16ad02a1b 210 if(propo.LY < dead_zone && propo.LY > -dead_zone) propo.LY = 0;
TanakaTarou 0:6db16ad02a1b 211 return propo;
TanakaTarou 0:6db16ad02a1b 212 }
TanakaTarou 0:6db16ad02a1b 213
TanakaTarou 0:6db16ad02a1b 214 /*
TanakaTarou 0:6db16ad02a1b 215 bool isConvergence(int num)
TanakaTarou 0:6db16ad02a1b 216 {
TanakaTarou 0:6db16ad02a1b 217 bool tf;
TanakaTarou 0:6db16ad02a1b 218 if(num > 3 && num < 8)
TanakaTarou 0:6db16ad02a1b 219 num -= 4;
TanakaTarou 0:6db16ad02a1b 220 else if(num > 7 && num < 12)
TanakaTarou 0:6db16ad02a1b 221 num -= 8;
TanakaTarou 0:6db16ad02a1b 222 else if(num > 11 && num < 15)
TanakaTarou 0:6db16ad02a1b 223 num -= 8;
TanakaTarou 0:6db16ad02a1b 224
TanakaTarou 0:6db16ad02a1b 225 if(num == 0)
TanakaTarou 0:6db16ad02a1b 226 {
TanakaTarou 0:6db16ad02a1b 227 if(pidRobotX.output == 0)
TanakaTarou 0:6db16ad02a1b 228 tf = 1;
TanakaTarou 0:6db16ad02a1b 229 else
TanakaTarou 0:6db16ad02a1b 230 tf = 0;
TanakaTarou 0:6db16ad02a1b 231 }
TanakaTarou 0:6db16ad02a1b 232 else if(num == 1)
TanakaTarou 0:6db16ad02a1b 233 {
TanakaTarou 0:6db16ad02a1b 234 if(pidUss.output == 0)
TanakaTarou 0:6db16ad02a1b 235 tf = 1;
TanakaTarou 0:6db16ad02a1b 236 else
TanakaTarou 0:6db16ad02a1b 237 tf = 0;
TanakaTarou 0:6db16ad02a1b 238 }
TanakaTarou 0:6db16ad02a1b 239 else if(num == 2)
TanakaTarou 0:6db16ad02a1b 240 {
TanakaTarou 0:6db16ad02a1b 241 wait(1.0);
TanakaTarou 0:6db16ad02a1b 242 tf = 1;
TanakaTarou 0:6db16ad02a1b 243 }
TanakaTarou 0:6db16ad02a1b 244 else if(num == 3)
TanakaTarou 0:6db16ad02a1b 245 {
TanakaTarou 0:6db16ad02a1b 246 if(pidRobotY.output == 0)
TanakaTarou 0:6db16ad02a1b 247 tf = 1;
TanakaTarou 0:6db16ad02a1b 248 else
TanakaTarou 0:6db16ad02a1b 249 tf = 0;
TanakaTarou 0:6db16ad02a1b 250 }
TanakaTarou 0:6db16ad02a1b 251 else if(num == 15)
TanakaTarou 0:6db16ad02a1b 252 {
TanakaTarou 0:6db16ad02a1b 253
TanakaTarou 0:6db16ad02a1b 254 }
TanakaTarou 0:6db16ad02a1b 255 else if(num == 16)
TanakaTarou 0:6db16ad02a1b 256 {
TanakaTarou 0:6db16ad02a1b 257
TanakaTarou 0:6db16ad02a1b 258 }
TanakaTarou 0:6db16ad02a1b 259 else if(num == 17)
TanakaTarou 0:6db16ad02a1b 260 {
TanakaTarou 0:6db16ad02a1b 261
TanakaTarou 0:6db16ad02a1b 262 }
TanakaTarou 0:6db16ad02a1b 263
TanakaTarou 0:6db16ad02a1b 264 return tf;
TanakaTarou 0:6db16ad02a1b 265 }
TanakaTarou 0:6db16ad02a1b 266 */