Revision 32:952bf02857f8, committed 2018-11-11

Comitter:

TanakaTarou

Date:

Sun Nov 11 08:13:37 2018 +0000

Parent:

31:23ed34fa842f

Commit message:

11/11 ????10???

Changed in this revision

--- a/hardwareConfig.h	Thu Nov 08 14:58:20 2018 +0000
+++ b/hardwareConfig.h	Sun Nov 11 08:13:37 2018 +0000
@@ -19,7 +19,7 @@
                        };
                        
 //(逆運動学モデル, ホイールの計算100%定義)
-DriveController mecanum(jacobian, 0.6);
+DriveController mecanum(jacobian, 0.8);
 
 //sbus用 (tx, rx)
 SBUS sbus(p28, p27);

--- a/main.cpp	Thu Nov 08 14:58:20 2018 +0000
+++ b/main.cpp	Sun Nov 11 08:13:37 2018 +0000
@@ -12,8 +12,8 @@
 #include "hardwareConfig.h"
 #include "stateLib.h"
 
-#define PIDMAX_X 0.45
-#define PIDMAX_Y 0.5
+#define PIDMAX_X 0.60
+#define PIDMAX_Y 0.70
 /*
 #define RETURN_X 0.45
 #define RETURN_Y 0.5
@@ -32,7 +32,7 @@
 void fenceUss();
 
 //x軸補正用 PID
-PID pidRobotX(4, 0, 0, 0.01, PIDMAX_X, &timer);
+PID pidRobotX(3, 0, 0, 0.01, PIDMAX_X, &timer);
 float target_x = 0;
 
 //y軸補正用 PID
@@ -40,11 +40,11 @@
 float target_y = 0;
 
 //yow角補正用 (Pgain, Igain, Dgain, 制御ループ時間[s], 計算出力100%定義)
-PID pidRobotYow(0.05, 0, 0, 0.01, 0.3, &timer);
+PID pidRobotYow(0.10, 0, 0, 0.01, 0.5, &timer);
 float target_yow = 0;
 
 //USS用
-PID pidUss(0.025, 0, 0, 0.1, 0.5, &timer);
+PID pidUss(0.025, 0, 0, 0.1, 0.7, &timer);
 float target_uss = 0;
 
 //オドメーターの定義
@@ -52,7 +52,7 @@
                       {0, 1, 0},
                       {0, 0, 0}
                      };
-Odometer odm(matrix, 0.050);
+Odometer odm(matrix, 0.0508);
 
 int table_sw[13];
 int now_num;
@@ -427,7 +427,9 @@
                 num = 35;
             if(table_sw[9] == 0 && num > 34 && num < 42)
                 num = 42;
-            if(table_sw[9] == 1 || table_sw[11] == 1)
+            if(table_sw[9] == 0 && table_sw[11] == 0 && num > 41 && num < 46)
+                num = 46;
+            else if(table_sw[9] == 1 || table_sw[11] == 1)
             {
                 if(table_sw[3] == 0 && table_sw[4] == 1 && num > 48 && num < 52)
                     num = 52;
@@ -438,7 +440,7 @@
         //B1・B2単発
         if(table_sw[3] == 1 && table_sw[4] == 0)
         {
-            if(num > 45 && num < 58)
+            if(num > 48 && num < 58)
                 num = 58;
         }
         else if(table_sw[3] == 0 && table_sw[4] == 1)
@@ -450,11 +452,11 @@
         }
         else if(table_sw[3] == 1 && table_sw[4] == 1 && num > 45 && num < 52)
             num = 52;
-        else if(table_sw[3] == 0 && table_sw[4] == 0 && num > 45 && num < 58)
-            num = 58;
+        else if(table_sw[3] == 0 && table_sw[4] == 0 && num > 45 && num < 59)
+            num = 59;
         //Cテーブル
         if(table_sw[5] == 0 && table_sw[6] == 0 && table_sw[7] == 0 && num > 57 && num < 72)
-                num = 72;
+            num = 72;
         else
         {
             if(table_sw[5] == 0 && num > 58 && num < 63)
@@ -474,7 +476,7 @@
             if(table_sw[2] == 0 && num > 79 && num < 84)
                 num = 84;
             if(table_sw[1] == 0 && table_sw[2] == 0 && num == 84)
-                num = LIBNUM - 1;
+                num = 85;
         }
         else if(num > 70 && num < LIBNUM - 1)
             num = LIBNUM - 1;
@@ -687,13 +689,13 @@
     if(now_num == 0)
     {
         c2_discovery = c3_discovery = LED[2] = LED[3] = 0;
-        state_lib[41][1] = state_lib[42][1] = 0.0;
-        state_lib[45][1] = state_lib[46][1] = 0.0;
+        state_lib[62][1] = state_lib[63][1] = 0.0;
+        state_lib[66][1] = state_lib[67][1] = 0.0;
     }
     int side_uss;
     side_uss = (can.get(8, 1)) * 2;
     
-    if(now_num == 39 && table_sw[6] == 1 && c2_discovery == 0)
+    if(now_num == 60 && table_sw[6] == 1 && c2_discovery == 0)
     {
         if(side_uss > 15 && side_uss < 85)
             c2_discovery =  LED[2] = 1;
@@ -701,8 +703,8 @@
         {
             c_odm1 = odm.y - 0.5;
             if(c_odm1 < 0)
-                state_lib[41][1] = state_lib[42][1] = 0;
-            else state_lib[41][1] = state_lib[42][1] = c_odm1;
+                state_lib[62][1] = state_lib[63][1] = 0;
+            else state_lib[62][1] = state_lib[63][1] = c_odm1;
             
             if(table_sw[7] == 1 && c3_discovery == 0)
             {
@@ -712,13 +714,13 @@
                 {
                     c_odm2 = odm.y - 0.4;
                     if(c_odm2 < 0)
-                        state_lib[45][1] = state_lib[46][1] = 0;
-                    else state_lib[45][1] = state_lib[46][1] = c_odm2;
+                        state_lib[66][1] = state_lib[67][1] = 0;
+                    else state_lib[66][1] = state_lib[67][1] = c_odm2;
                 }
             }
         }
     }
-    if(now_num == 47 && table_sw[7] == 1 && c3_discovery == 0)
+    if(now_num == 63 && table_sw[7] == 1 && c3_discovery == 0)
     {
         if(side_uss > 15 && side_uss < 85)
             c3_discovery = LED[3] = 1;
@@ -726,8 +728,8 @@
         {
             c_odm3 = odm.y - 0.4;
             if(c_odm3 < 0)
-                state_lib[45][1] = state_lib[46][1] = 0;
-            else state_lib[45][1] = state_lib[46][1] = c_odm3;
+                state_lib[66][1] = state_lib[67][1] = 0;
+            else state_lib[66][1] = state_lib[67][1] = c_odm3;
         }
     }
 }

--- a/stateLib.h	Thu Nov 08 14:58:20 2018 +0000
+++ b/stateLib.h	Sun Nov 11 08:13:37 2018 +0000
@@ -187,10 +187,10 @@
 topsPara para_B1_a = {35, 84.5};
 topsPara para_B1_b = {38, 83.8};
 
-topsPara para_B2 = {58, 85.0};
-topsPara para_B2_a = {58, 84.4};
-topsPara para_B2_b = {58, 83.9};
-topsPara para_B2_c = {58, 83.5};
+topsPara para_B2 = {58, 85.2};
+topsPara para_B2_a = {58, 84.6};
+topsPara para_B2_b = {58, 84.2};
+topsPara para_B2_c = {59, 83.9};
 
 topsPara para_C1 = {34, 84.2};
 topsPara para_C2 = {41, 85.2};