NagaokaRoboticsClub_mbedTeam / Mbed OS 2018NHK_gaku_ver2

未完成

Dependencies:   linemiconget petbottle_Loadin5port Kinect OmniPosition PID QEI　led R1307 S-ShapeModel SerialMultiByte TFmini fep2 ikarashiMDC linesSnsor omni_wheel solenoid_valve

gakuBot/gakubot.h@2:c501f6845500, 2018-10-16 (annotated)

Committer:
tanabe2000
Date:
Tue Oct 16 03:32:37 2018 +0000
Revision:
2:c501f6845500
Parent:
0:7822f4172b0c 
2018 NHK auto A team

Who changed what in which revision?

UserRevisionLine numberNew contents of line
tanabe2000 0:7822f4172b0c 1 #ifndef BOT_H
tanabe2000 0:7822f4172b0c 2 #define BOT_H
tanabe2000 0:7822f4172b0c 3
tanabe2000 0:7822f4172b0c 4 #include "mbed.h"
tanabe2000 0:7822f4172b0c 5 #include "ikarashiMDC.h"
tanabe2000 0:7822f4172b0c 6 //#include "controller.h"
tanabe2000 0:7822f4172b0c 7 #include "linemiconget.h"
tanabe2000 0:7822f4172b0c 8 #include "omni_wheel.h"
tanabe2000 0:7822f4172b0c 9 #include "OmniPosition.h"
tanabe2000 0:7822f4172b0c 10 #include "PID.h"
tanabe2000 0:7822f4172b0c 11 #include "QEI.h"
tanabe2000 0:7822f4172b0c 12 #include "position_controller.h"
tanabe2000 0:7822f4172b0c 13 #include "solenoid_valve.h"
tanabe2000 0:7822f4172b0c 14 #include "petbottleLoading.h"
tanabe2000 0:7822f4172b0c 15 #include"fep_kinect.h"
tanabe2000 0:7822f4172b0c 16 #include "pin_config.h"
tanabe2000 0:7822f4172b0c 17
tanabe2000 0:7822f4172b0c 18 #define loadingParamator 1955
tanabe2000 0:7822f4172b0c 19 #define slidorparamotor 1000-127
tanabe2000 0:7822f4172b0c 20
tanabe2000 0:7822f4172b0c 21 #define PI 3.141592653589793
tanabe2000 0:7822f4172b0c 22 #define ADDR 198
tanabe2000 0:7822f4172b0c 23
tanabe2000 0:7822f4172b0c 24
tanabe2000 0:7822f4172b0c 25 //#define angleKP 4.2
tanabe2000 0:7822f4172b0c 26 //#define angleKI 0.0
tanabe2000 0:7822f4172b0c 27 //#define angleKD 0.0001
tanabe2000 0:7822f4172b0c 28 #define angleKP 3.5
tanabe2000 0:7822f4172b0c 29 #define angleKI 0.0
tanabe2000 0:7822f4172b0c 30 #define angleKD 0.00005
tanabe2000 0:7822f4172b0c 31
tanabe2000 0:7822f4172b0c 32 #define fire1KP 10.8
tanabe2000 0:7822f4172b0c 33 #define fire1KI 0.095
tanabe2000 0:7822f4172b0c 34 #define fire1KD 0.00005
tanabe2000 0:7822f4172b0c 35
tanabe2000 0:7822f4172b0c 36 #define fire2KP 10.8
tanabe2000 0:7822f4172b0c 37 #define fire2KI 0.095
tanabe2000 0:7822f4172b0c 38 #define fire2KD 0.00005
tanabe2000 0:7822f4172b0c 39
tanabe2000 0:7822f4172b0c 40 #define XKP 17.0
tanabe2000 0:7822f4172b0c 41 #define XIP 0//4.0,9.0
tanabe2000 0:7822f4172b0c 42 #define XDP 0.0004
tanabe2000 0:7822f4172b0c 43
tanabe2000 0:7822f4172b0c 44 #define YKP 17.0
tanabe2000 0:7822f4172b0c 45 #define YIP 0
tanabe2000 0:7822f4172b0c 46 #define YDP 0.0004
tanabe2000 0:7822f4172b0c 47
tanabe2000 0:7822f4172b0c 48 #define frontKP 0.0
tanabe2000 0:7822f4172b0c 49 #define frontKP 0.0
tanabe2000 0:7822f4172b0c 50 #define frontKD 0.0
tanabe2000 0:7822f4172b0c 51
tanabe2000 0:7822f4172b0c 52 #define behindKP 0.4
tanabe2000 0:7822f4172b0c 53 #define behindKI 0.0
tanabe2000 0:7822f4172b0c 54 #define behindKD 0.00015
tanabe2000 0:7822f4172b0c 55
tanabe2000 0:7822f4172b0c 56 #define RATE 0.01
tanabe2000 0:7822f4172b0c 57 #define PI 3.14159265
tanabe2000 0:7822f4172b0c 58
tanabe2000 0:7822f4172b0c 59 #define KA 0.95
tanabe2000 0:7822f4172b0c 60
tanabe2000 0:7822f4172b0c 61 //#define MOTOR_MODE_STOP 0
tanabe2000 0:7822f4172b0c 62 //#define MOTOR_MODE_FORWARD 1
tanabe2000 0:7822f4172b0c 63 //#define MOTOR_MODE_BACKWARD 2
tanabe2000 0:7822f4172b0c 64 //#define MOTOR_MODE_RIGHT 3
tanabe2000 0:7822f4172b0c 65 //#define MOTOR_MODE_LEFT 4
tanabe2000 0:7822f4172b0c 66
tanabe2000 0:7822f4172b0c 67 #define table2400X 2133
tanabe2000 0:7822f4172b0c 68 #define table2400Y -4755
tanabe2000 0:7822f4172b0c 69 #define table1800X 7756
tanabe2000 0:7822f4172b0c 70 #define table1500X 6464
tanabe2000 0:7822f4172b0c 71 #define table1200X 5160
tanabe2000 0:7822f4172b0c 72 #define dash1X 1063
tanabe2000 0:7822f4172b0c 73 #define dash1Y -2113
tanabe2000 0:7822f4172b0c 74 #define dash2X 1046
tanabe2000 0:7822f4172b0c 75 #define dash2Y -4618
tanabe2000 0:7822f4172b0c 76 #define dash3X 2465
tanabe2000 0:7822f4172b0c 77 #define dash3Y -4609
tanabe2000 0:7822f4172b0c 78
tanabe2000 0:7822f4172b0c 79 #define wallmodeY -4300
tanabe2000 0:7822f4172b0c 80 #define walldashY -4700
tanabe2000 2:c501f6845500 81 #define wallslide 0.3
tanabe2000 0:7822f4172b0c 82
tanabe2000 0:7822f4172b0c 83
tanabe2000 0:7822f4172b0c 84
tanabe2000 0:7822f4172b0c 85
tanabe2000 0:7822f4172b0c 86 class GakuBot
tanabe2000 0:7822f4172b0c 87 {
tanabe2000 0:7822f4172b0c 88 public:
tanabe2000 0:7822f4172b0c 89 GakuBot();
tanabe2000 0:7822f4172b0c 90 void botConfirm();
tanabe2000 0:7822f4172b0c 91 void controllerMode1();
tanabe2000 0:7822f4172b0c 92 void controllerMode2();
tanabe2000 0:7822f4172b0c 93 void controllMech1();
tanabe2000 0:7822f4172b0c 94 void controllMech2();
tanabe2000 0:7822f4172b0c 95 void autoMode1();
tanabe2000 0:7822f4172b0c 96 void autoMode2();
tanabe2000 0:7822f4172b0c 97
tanabe2000 0:7822f4172b0c 98
tanabe2000 0:7822f4172b0c 99 void controllMech();
tanabe2000 0:7822f4172b0c 100
tanabe2000 0:7822f4172b0c 101 private:
tanabe2000 0:7822f4172b0c 102 DigitalOut led;
tanabe2000 0:7822f4172b0c 103
tanabe2000 0:7822f4172b0c 104 /*PID系*/
tanabe2000 0:7822f4172b0c 105 PID fire1Pid, fire2Pid, anglePID, XPid, YPid, distanceFrontPid, distanceBehindPid;
tanabe2000 0:7822f4172b0c 106
tanabe2000 0:7822f4172b0c 107 Serial debugpc;
tanabe2000 0:7822f4172b0c 108 /*モータ系*/
tanabe2000 0:7822f4172b0c 109 OmniWheel omni;
tanabe2000 0:7822f4172b0c 110 DigitalOut RS485control;
tanabe2000 0:7822f4172b0c 111 Serial RS485;
tanabe2000 0:7822f4172b0c 112 ikarashiMDC* wheels[4];
tanabe2000 0:7822f4172b0c 113 ikarashiMDC* fire[2];
tanabe2000 0:7822f4172b0c 114 double firePwm[2];
tanabe2000 0:7822f4172b0c 115 float stick[4], speed[4];
tanabe2000 0:7822f4172b0c 116
tanabe2000 0:7822f4172b0c 117 /*角度系*/
tanabe2000 0:7822f4172b0c 118 float Output_PID,Output_PID2,nowAngle, ofsetNowAngle, attachAngle;
tanabe2000 0:7822f4172b0c 119 int pullDistance, pullDistanceOfset, nowPals, distanceOfset, distanceOfset2, nowPals2;
tanabe2000 0:7822f4172b0c 120 /*受信系*/
tanabe2000 0:7822f4172b0c 121 // Controller con;
tanabe2000 0:7822f4172b0c 122 bool receiveSuccessed;
tanabe2000 0:7822f4172b0c 123 int mode;
tanabe2000 0:7822f4172b0c 124 OmniPosition getposition;
tanabe2000 0:7822f4172b0c 125 fep_kinect kinect;
tanabe2000 0:7822f4172b0c 126 linemiconget lmicon;
tanabe2000 0:7822f4172b0c 127 /*座標系*/
tanabe2000 0:7822f4172b0c 128 PositionController* conposition;
tanabe2000 0:7822f4172b0c 129
tanabe2000 0:7822f4172b0c 130 /*タイマー系*/
tanabe2000 0:7822f4172b0c 131 Timer t ,confirmT, pidT;
tanabe2000 0:7822f4172b0c 132 double dt, confirmDt;
tanabe2000 0:7822f4172b0c 133 PortValve valveFire1, valveFire2;
tanabe2000 0:7822f4172b0c 134 Timer pt, fireFrag1time;
tanabe2000 0:7822f4172b0c 135 float pdt;
tanabe2000 0:7822f4172b0c 136 int fireDistance1,fireDistance2 , loadingmode;
tanabe2000 0:7822f4172b0c 137 petbottleLoading loading;
tanabe2000 0:7822f4172b0c 138 int airFlag, sw3flag;
tanabe2000 0:7822f4172b0c 139 float beforeYaw, yawdegree;
tanabe2000 0:7822f4172b0c 140 int yawMode;
tanabe2000 0:7822f4172b0c 141 DigitalIn startSW;
tanabe2000 0:7822f4172b0c 142 float demoX,demoY;
tanabe2000 0:7822f4172b0c 143 int lineCount;
tanabe2000 0:7822f4172b0c 144 int getx, gety;
tanabe2000 0:7822f4172b0c 145 int fireFlag1, fireFlag2;
tanabe2000 0:7822f4172b0c 146 DigitalIn limit1,limit2;
tanabe2000 0:7822f4172b0c 147 double X, Y;
tanabe2000 0:7822f4172b0c 148 double Xlopass, Xlopassb, Ylopass, Ylopassb, targetradians;
tanabe2000 0:7822f4172b0c 149 int Xdemo[5], Ydemo[5], demomode;
tanabe2000 0:7822f4172b0c 150 int movetablemode, firecount, fireFlag, modeFlag;
tanabe2000 0:7822f4172b0c 151 int solenoidValve1is, solenoidValve2is , dpetbotle;
tanabe2000 0:7822f4172b0c 152 float fireMDCPwm[2], piddt;
tanabe2000 0:7822f4172b0c 153 int start_;
tanabe2000 0:7822f4172b0c 154 int suzuki[3];
tanabe2000 0:7822f4172b0c 155 int kabeFlag;
tanabe2000 0:7822f4172b0c 156 int kinectmode, kinectDistance;
tanabe2000 0:7822f4172b0c 157 int kinectFlag, swflag;
tanabe2000 0:7822f4172b0c 158
tanabe2000 0:7822f4172b0c 159 };
tanabe2000 0:7822f4172b0c 160
tanabe2000 0:7822f4172b0c 161
tanabe2000 0:7822f4172b0c 162 #endif//BOT_H