MEC-B / Mbed 2 deprecated AR_MastarNode_copy

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

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

Fork of AR_MastarNode by MEC-B

main.cpp@4:9f74525eb37f, 2018-08-09 (annotated)

Committer:
TanakaTarou
Date:
Thu Aug 09 00:21:35 2018 +0000
Revision:
4:9f74525eb37f
Parent:
3:6b4adb4d7101
Child:
5:7c5e07260e1e
8/8???&??????????????????

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 4:9f74525eb37f 15
TanakaTarou 0:6db16ad02a1b 16 //(X, Y, θ, speed, angle, injection, 補給昇降)
TanakaTarou 4:9f74525eb37f 17 float position[19][6] = {{0.0, 0.0, 0.0, 0, 90, 0},//初期位置
TanakaTarou 4:9f74525eb37f 18 {-3.825, 0.0, 0.0, 0, 82, 0},//x移動, 角度変化
TanakaTarou 4:9f74525eb37f 19 {-3.825, 20.0, 0.0, 0, 82, 0},//y移動
TanakaTarou 4:9f74525eb37f 20 {-3.825, 20.0, 0.0, 35, 82, 0},//発射
TanakaTarou 4:9f74525eb37f 21 {-3.825, 0.0, 0.0, 0, 90, 0},//y移動,角度戻す, P上昇
TanakaTarou 0:6db16ad02a1b 22
TanakaTarou 4:9f74525eb37f 23 {-4.825, 0.0, 0.0, 0, 82, 0},//x移動, 角度変化, 下降&バットマン駆動
TanakaTarou 4:9f74525eb37f 24 {-4.825, 20.0, 0.0, 0, 82, 0},//y移動
TanakaTarou 4:9f74525eb37f 25 {-4.825, 20.0, 0.0, 35, 82, 0},//発射
TanakaTarou 4:9f74525eb37f 26 {-4.825, 0.0, 0.0, 0, 90, 1},//y移動,角度戻す, P上昇
TanakaTarou 4:9f74525eb37f 27
TanakaTarou 4:9f74525eb37f 28 {-5.825, 0.0, 0.0, 0, 82, 0},//x移動, 角度変化, 下降&バットマン駆動
TanakaTarou 4:9f74525eb37f 29 {-5.825, 20.0, 0.0, 0, 82, 0},//y移動
TanakaTarou 4:9f74525eb37f 30 {-5.825, 20.0, 0.0, 35, 82, 0},//発射
TanakaTarou 4:9f74525eb37f 31 {-5.825, 0.0, 0.0, 0, 90, 1},//y移動,角度戻す, P上昇
TanakaTarou 4:9f74525eb37f 32
TanakaTarou 4:9f74525eb37f 33 {-1.825, 0.0, 0.0, 0, 82, 0.0},//x移動, 角度変化, 下降&バットマン駆動
TanakaTarou 4:9f74525eb37f 34 {-1.825, 20.0, 0.0, 0, 82, 0.0},//y移動
TanakaTarou 4:9f74525eb37f 35 {-1.825, 20.0, 0.0, 18, 82, 0.0},//下段に発射
TanakaTarou 4:9f74525eb37f 36 {-1.825, 20.0, 0.0, 0, 90, 0.0},//角度戻す, P上昇
TanakaTarou 4:9f74525eb37f 37 {-1.825, 20.0, 0.0, 0, 85, 0.0},//角度変化, 下降&バットマン駆動
TanakaTarou 4:9f74525eb37f 38 {-1.825, 20.0, 0.0, 18, 85, 0.0},//上段に発射
TanakaTarou 0:6db16ad02a1b 39 };
TanakaTarou 0:6db16ad02a1b 40
TanakaTarou 0:6db16ad02a1b 41 controller getPropoData();
TanakaTarou 3:6b4adb4d7101 42 bool isConvergetnceTops();
TanakaTarou 0:6db16ad02a1b 43
TanakaTarou 0:6db16ad02a1b 44 //x軸補正用 PID
soyooo 1:d7ceb38da3d8 45 PID pidRobotX(2, 0, 0, 0.01, 0.3, &timer);
TanakaTarou 0:6db16ad02a1b 46 float target_x = 0;
TanakaTarou 0:6db16ad02a1b 47
TanakaTarou 0:6db16ad02a1b 48 //y軸補正用 PID
soyooo 1:d7ceb38da3d8 49 PID pidRobotY(2, 0, 0, 0.01, 0.3, &timer);
TanakaTarou 0:6db16ad02a1b 50 float target_y = 0;
TanakaTarou 0:6db16ad02a1b 51
soyooo 1:d7ceb38da3d8 52 //yow角補正用 (Pgain, Igain, Dgain, 制御ループ時間[s], 計算出力100%定義)
soyooo 1:d7ceb38da3d8 53 PID pidRobotYow(0.05, 0, 0, 0.01, 0.95, &timer);
soyooo 1:d7ceb38da3d8 54 float target_yow = 0;
soyooo 1:d7ceb38da3d8 55
TanakaTarou 0:6db16ad02a1b 56 //USS用
TanakaTarou 4:9f74525eb37f 57 PID pidUss(0.025, 0, 0, 0.1, 0.6, &timer);
TanakaTarou 4:9f74525eb37f 58 float target_uss = 8.0;
TanakaTarou 3:6b4adb4d7101 59 int posi_num = 0;
TanakaTarou 3:6b4adb4d7101 60
TanakaTarou 0:6db16ad02a1b 61 int main()
TanakaTarou 0:6db16ad02a1b 62 {
TanakaTarou 0:6db16ad02a1b 63 //タイマー３の優先度を最低にする
TanakaTarou 0:6db16ad02a1b 64 NVIC_SetPriority(TIMER3_IRQn, 100);
TanakaTarou 0:6db16ad02a1b 65
TanakaTarou 0:6db16ad02a1b 66 //IMUのキャリブレーション
TanakaTarou 4:9f74525eb37f 67 wait(1);
TanakaTarou 0:6db16ad02a1b 68 imu.performCalibration();
TanakaTarou 0:6db16ad02a1b 69 imu.startAngleComputing();
TanakaTarou 0:6db16ad02a1b 70
TanakaTarou 0:6db16ad02a1b 71 for(int i; i < 3; i++)
TanakaTarou 0:6db16ad02a1b 72 enc[i].changeDirection();
TanakaTarou 0:6db16ad02a1b 73
TanakaTarou 0:6db16ad02a1b 74 //オドメーターの定義
TanakaTarou 0:6db16ad02a1b 75 float matrix[3][3] = {{1, 0, 0},
TanakaTarou 0:6db16ad02a1b 76 {0, 1, 0},
TanakaTarou 0:6db16ad02a1b 77 {0, 0, 0}
TanakaTarou 0:6db16ad02a1b 78 };
TanakaTarou 0:6db16ad02a1b 79 Odometer odm(matrix, 0.048);
TanakaTarou 0:6db16ad02a1b 80 float tmp = 0;
TanakaTarou 0:6db16ad02a1b 81 float *encoders[3] = {&enc[0].rotations, &enc[1].rotations, &tmp};
TanakaTarou 0:6db16ad02a1b 82 odm.setupOdometerSensors(encoders, &imu.angle[2]);
TanakaTarou 0:6db16ad02a1b 83 odm.startComputingOdometry(0.005, 0, 0, 0);
TanakaTarou 0:6db16ad02a1b 84
TanakaTarou 0:6db16ad02a1b 85 //オドメーターX
TanakaTarou 0:6db16ad02a1b 86 pidRobotX.sensor = &odm.x;
TanakaTarou 0:6db16ad02a1b 87 pidRobotX.target = &target_x;
TanakaTarou 0:6db16ad02a1b 88 pidRobotX.start();
TanakaTarou 0:6db16ad02a1b 89
TanakaTarou 0:6db16ad02a1b 90 //オドメーターY
TanakaTarou 0:6db16ad02a1b 91 pidRobotY.sensor = &odm.y;
TanakaTarou 0:6db16ad02a1b 92 pidRobotY.target = &target_y;
TanakaTarou 0:6db16ad02a1b 93 pidRobotY.start();
soyooo 1:d7ceb38da3d8 94
TanakaTarou 4:9f74525eb37f 95 //許容誤差
soyooo 1:d7ceb38da3d8 96 pidRobotX.allowable_error = 0.1;
soyooo 1:d7ceb38da3d8 97 pidRobotY.allowable_error = 0.1;
soyooo 1:d7ceb38da3d8 98 pidRobotYow.allowable_error = 2;
soyooo 1:d7ceb38da3d8 99 pidUss.allowable_error = 3;
soyooo 1:d7ceb38da3d8 100
TanakaTarou 4:9f74525eb37f 101 //マイクロスイッチ
TanakaTarou 3:6b4adb4d7101 102 sw1.mode(PullUp);
TanakaTarou 3:6b4adb4d7101 103 sw2.mode(PullUp);
TanakaTarou 3:6b4adb4d7101 104
TanakaTarou 0:6db16ad02a1b 105 while(1)
TanakaTarou 0:6db16ad02a1b 106 {
TanakaTarou 4:9f74525eb37f 107 controller cmd = getPropoData();
TanakaTarou 0:6db16ad02a1b 108
TanakaTarou 3:6b4adb4d7101 109 can.set(1, 1, int(position[posi_num][3]));
TanakaTarou 3:6b4adb4d7101 110 can.set(1, 2, int(position[posi_num][4]));
TanakaTarou 3:6b4adb4d7101 111 //can.set(1, 3, int(position[posi_num][5]));
TanakaTarou 3:6b4adb4d7101 112 while(can.send() == 0);
TanakaTarou 3:6b4adb4d7101 113
TanakaTarou 2:7af15d4ee55a 114 can.read();
soyooo 1:d7ceb38da3d8 115
TanakaTarou 3:6b4adb4d7101 116 if(pidRobotX.isConvergence(1) == 1
TanakaTarou 3:6b4adb4d7101 117 && pidRobotYow.isConvergence(1) == 1)
soyooo 1:d7ceb38da3d8 118 {
TanakaTarou 3:6b4adb4d7101 119 if(position[posi_num][1] >= 10)
TanakaTarou 3:6b4adb4d7101 120 {
TanakaTarou 3:6b4adb4d7101 121 if(pidUss.isConvergence(1) == 1
TanakaTarou 3:6b4adb4d7101 122 && isConvergetnceTops() == 1)
TanakaTarou 3:6b4adb4d7101 123 posi_num++;
TanakaTarou 3:6b4adb4d7101 124 }
TanakaTarou 3:6b4adb4d7101 125 else if(pidRobotY.isConvergence(1) == 1)
soyooo 1:d7ceb38da3d8 126 posi_num++;
soyooo 1:d7ceb38da3d8 127 }
soyooo 1:d7ceb38da3d8 128
TanakaTarou 4:9f74525eb37f 129 if(posi_num >= 19)
soyooo 1:d7ceb38da3d8 130 posi_num = 0;
soyooo 1:d7ceb38da3d8 131
TanakaTarou 0:6db16ad02a1b 132 //ロボットの移動速度(LX, LY, RX)
TanakaTarou 0:6db16ad02a1b 133 float robot_velocity[3];
TanakaTarou 0:6db16ad02a1b 134
TanakaTarou 0:6db16ad02a1b 135 //yow角調整処理
TanakaTarou 0:6db16ad02a1b 136 *pidRobotYow.target = position[posi_num][2];
TanakaTarou 0:6db16ad02a1b 137 robot_velocity[2] = pidRobotYow.output;
TanakaTarou 0:6db16ad02a1b 138
TanakaTarou 0:6db16ad02a1b 139 //x軸調整処理
TanakaTarou 0:6db16ad02a1b 140 *pidRobotX.target = position[posi_num][0];
TanakaTarou 0:6db16ad02a1b 141 robot_velocity[0] = pidRobotX.output;
TanakaTarou 0:6db16ad02a1b 142
TanakaTarou 0:6db16ad02a1b 143 //USS距離調整処理
soyooo 1:d7ceb38da3d8 144 if(position[posi_num][1] >= 10)
TanakaTarou 0:6db16ad02a1b 145 {
TanakaTarou 4:9f74525eb37f 146 *pidUss.target = position[posi_num][1] - 8;
TanakaTarou 0:6db16ad02a1b 147 robot_velocity[1] = -pidUss.output;
TanakaTarou 0:6db16ad02a1b 148 }
TanakaTarou 0:6db16ad02a1b 149 else
TanakaTarou 0:6db16ad02a1b 150 {
TanakaTarou 0:6db16ad02a1b 151 //y軸調整処理
TanakaTarou 0:6db16ad02a1b 152 *pidRobotY.target = position[posi_num][1];
TanakaTarou 0:6db16ad02a1b 153 robot_velocity[1] = pidRobotY.output;
TanakaTarou 0:6db16ad02a1b 154 }
TanakaTarou 3:6b4adb4d7101 155
TanakaTarou 3:6b4adb4d7101 156 if(sw1 == 1 && sw2 == 1)
TanakaTarou 4:9f74525eb37f 157 imu.angle[2] = odm.y = 0;
TanakaTarou 0:6db16ad02a1b 158
TanakaTarou 0:6db16ad02a1b 159 //ホイール速度計算
TanakaTarou 4:9f74525eb37f 160 mecanum.setVelG(robot_velocity);
TanakaTarou 0:6db16ad02a1b 161 mecanum.computeWheelVel();
TanakaTarou 0:6db16ad02a1b 162 mecanum.rescaleWheelVel();
TanakaTarou 0:6db16ad02a1b 163
TanakaTarou 0:6db16ad02a1b 164 //モーターの駆動
TanakaTarou 0:6db16ad02a1b 165 for(int i = 0; i < 4; i++)
TanakaTarou 3:6b4adb4d7101 166 Motor[i].drive(mecanum.wheel_vel[i]);
TanakaTarou 0:6db16ad02a1b 167
TanakaTarou 3:6b4adb4d7101 168 pc.printf("%.2f\t", odm.x);
TanakaTarou 3:6b4adb4d7101 169 pc.printf("%.2f\t", odm.y);
TanakaTarou 3:6b4adb4d7101 170 pc.printf("%.2f\t", imu.angle[2]);
TanakaTarou 3:6b4adb4d7101 171 pc.printf("%.2f\t", uss.distance);
TanakaTarou 0:6db16ad02a1b 172 pc.printf("\n");
TanakaTarou 2:7af15d4ee55a 173
TanakaTarou 3:6b4adb4d7101 174 wait(0.01);
TanakaTarou 0:6db16ad02a1b 175 }
TanakaTarou 0:6db16ad02a1b 176 }
TanakaTarou 0:6db16ad02a1b 177
TanakaTarou 0:6db16ad02a1b 178 controller getPropoData()
TanakaTarou 0:6db16ad02a1b 179 {
TanakaTarou 0:6db16ad02a1b 180 float dead_zone = 0.05;
TanakaTarou 0:6db16ad02a1b 181 controller propo;
TanakaTarou 0:6db16ad02a1b 182 sbus.isFailSafe();
TanakaTarou 0:6db16ad02a1b 183
TanakaTarou 0:6db16ad02a1b 184 //propo直接コントロール
TanakaTarou 0:6db16ad02a1b 185 if(sbus.isFailSafe())
TanakaTarou 0:6db16ad02a1b 186 {
TanakaTarou 0:6db16ad02a1b 187 propo.LX = propo.LY = propo.RX = propo.RY = 0;
TanakaTarou 0:6db16ad02a1b 188 propo.H = propo.A = propo.D = propo.F = propo.G = propo.fail_safe = 0;
TanakaTarou 0:6db16ad02a1b 189 }
TanakaTarou 0:6db16ad02a1b 190 else
TanakaTarou 0:6db16ad02a1b 191 {
TanakaTarou 0:6db16ad02a1b 192 propo.LX = sbus.getStickVal(0) / 255.0;
TanakaTarou 0:6db16ad02a1b 193 propo.LY = sbus.getStickVal(1) / 255.0;
TanakaTarou 0:6db16ad02a1b 194 propo.RX = -sbus.getStickVal(2) / 255.0;
TanakaTarou 0:6db16ad02a1b 195 propo.RY = sbus.getStickVal(3) / 255.0;
TanakaTarou 0:6db16ad02a1b 196 propo.H = sbus.getSwitchVal(0);
TanakaTarou 0:6db16ad02a1b 197 propo.C = sbus.getSwitchVal(1);
TanakaTarou 0:6db16ad02a1b 198 propo.E = sbus.getSwitchVal(2);
TanakaTarou 0:6db16ad02a1b 199 propo.F = sbus.getSwitchVal(3);
TanakaTarou 0:6db16ad02a1b 200 propo.G = sbus.getSwitchVal(4);
TanakaTarou 0:6db16ad02a1b 201 propo.fail_safe = 1;
TanakaTarou 0:6db16ad02a1b 202 }
TanakaTarou 0:6db16ad02a1b 203 if(propo.RX < dead_zone && propo.RX > -dead_zone) propo.RX = 0;
TanakaTarou 0:6db16ad02a1b 204 if(propo.RY < dead_zone && propo.RY > -dead_zone) propo.RY = 0;
TanakaTarou 0:6db16ad02a1b 205 if(propo.LX < dead_zone && propo.LX > -dead_zone) propo.LX = 0;
TanakaTarou 0:6db16ad02a1b 206 if(propo.LY < dead_zone && propo.LY > -dead_zone) propo.LY = 0;
TanakaTarou 0:6db16ad02a1b 207 return propo;
TanakaTarou 0:6db16ad02a1b 208 }
TanakaTarou 0:6db16ad02a1b 209
TanakaTarou 3:6b4adb4d7101 210 bool isConvergetnceTops()
TanakaTarou 0:6db16ad02a1b 211 {
TanakaTarou 4:9f74525eb37f 212 int velocity_pid = can.get(3, 1);
TanakaTarou 4:9f74525eb37f 213 int angle_pid = can.get(3, 2);
TanakaTarou 4:9f74525eb37f 214 int velocity_val = can.get(3, 3);
TanakaTarou 4:9f74525eb37f 215 int angle_val = can.get(3, 4);
TanakaTarou 3:6b4adb4d7101 216
TanakaTarou 4:9f74525eb37f 217 if(angle_pid == 1 && velocity_pid == 1 && velocity_val == position[posi_num][3] && angle_val == position[posi_num][4])
TanakaTarou 4:9f74525eb37f 218 return 1;
TanakaTarou 3:6b4adb4d7101 219 else return 0;
TanakaTarou 4:9f74525eb37f 220 }