NagaokaRoboticsClub_mbedTeam / Mbed OS NHK2017_octopus2

Octopus!!

Dependencies:   2017NHKpin_config FEP HMC6352 PID QEI R1307 ikarashiMDC omni_wheel

Fork of KANIv3 by NagaokaRoboticsClub_mbedTeam

bot/bot.cpp@15:9aa11febe517, 2017-09-17 (annotated)

Committer:
UCHITAKE
Date:
Sun Sep 17 00:53:01 2017 +0900
Branch:
develop1
Revision:
15:9aa11febe517
Parent:
14:1fadf7d2f583
Child:
16:50651ff960b9
work(noCompass)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
uchitake 1:845af5425eec 1 #include "bot.h"
uchitake 1:845af5425eec 2
uchitake 1:845af5425eec 3 Bot::Bot() :
uchitake 6:fe9767a50891 4 PIDC(),
UCHITAKE 15:9aa11febe517 5 pad(XBee2TX, XBee2RX, ADDR),
uchitake 9:39be1525dfe0 6 RS485(MDTX, MDRX, 38400),
uchitake 9:39be1525dfe0 7 RS485Controller(PWM1),
UCHITAKE 15:9aa11febe517 8 powerSwitch(MDstop),
uchitake 9:39be1525dfe0 9 quadOmni(&RS485Controller, &RS485),
uchitake 9:39be1525dfe0 10 slider(&RS485Controller, &RS485),
uchitake 9:39be1525dfe0 11 armMotor({
UCHITAKE 11:a8385ca0a275 12 ikarashiMDC({&RS485Controller, 1, 1, SM, &RS485}),
UCHITAKE 11:a8385ca0a275 13 ikarashiMDC({&RS485Controller, 1, 2, SM, &RS485}),
UCHITAKE 11:a8385ca0a275 14 ikarashiMDC({&RS485Controller, 1, 3, SM, &RS485})
uchitake 9:39be1525dfe0 15 }),
uchitake 9:39be1525dfe0 16 receiveSuccessed(0),
uchitake 14:1fadf7d2f583 17 led({DebugLED3, DebugLED4, DebugLED5}),
uchitake 9:39be1525dfe0 18 debugSerial(USBTX, USBRX, 115200)
uchitake 1:845af5425eec 19 {
uchitake 9:39be1525dfe0 20 for(int i = 0; i < 3; i++) {
uchitake 9:39be1525dfe0 21 armMotor[i].braking = true;
uchitake 9:39be1525dfe0 22 }
uchitake 9:39be1525dfe0 23
uchitake 9:39be1525dfe0 24 quadOmni.moveXY(0, 0, 0);
uchitake 9:39be1525dfe0 25
UCHITAKE 15:9aa11febe517 26 powerSwitch = true;
uchitake 14:1fadf7d2f583 27 for(int i = 0; i < 3; i++) {
uchitake 14:1fadf7d2f583 28 led[i] = true;
uchitake 9:39be1525dfe0 29 wait(0.1);
uchitake 14:1fadf7d2f583 30 led[i] = false;
UCHITAKE 10:99dc4ae08998 31 }
uchitake 1:845af5425eec 32 }
uchitake 1:845af5425eec 33
uchitake 1:845af5425eec 34 void Bot::confirmAll()
uchitake 1:845af5425eec 35 {
uchitake 6:fe9767a50891 36 receiveSuccessed = pad.receiveState();
UCHITAKE 15:9aa11febe517 37 if(!pad.getButton2(3)) powerSwitch = 0;
uchitake 14:1fadf7d2f583 38 led[0] = receiveSuccessed;
uchitake 6:fe9767a50891 39 if(!receiveSuccessed) {
uchitake 9:39be1525dfe0 40 quadOmni.moveXY(0, 0, 0);
uchitake 9:39be1525dfe0 41 slider.slide(0);
uchitake 9:39be1525dfe0 42 for(int i = 0; i < 3; i++) {
uchitake 9:39be1525dfe0 43 armMotor[i].setSpeed(0);
uchitake 9:39be1525dfe0 44 }
uchitake 1:845af5425eec 45 }
uchitake 1:845af5425eec 46 }
uchitake 1:845af5425eec 47
uchitake 1:845af5425eec 48 void Bot::controllDrive()
uchitake 1:845af5425eec 49 {
uchitake 6:fe9767a50891 50 if(receiveSuccessed) {
uchitake 14:1fadf7d2f583 51 led[1] = !led[1];
uchitake 3:369d9ee17e84 52 if(pad.getNorm(1) > 0.5) {
UCHITAKE 15:9aa11febe517 53 // PIDC::PID::setSetPoint((pad.getRadian(1) - M_PI / 2) * (180.0 / M_PI));
UCHITAKE 15:9aa11febe517 54 // PIDC::confirm();
uchitake 3:369d9ee17e84 55 }
uchitake 9:39be1525dfe0 56 quadOmni.moveXY(
UCHITAKE 15:9aa11febe517 57 pad.getStick(0),
UCHITAKE 15:9aa11febe517 58 -pad.getStick(1),
UCHITAKE 15:9aa11febe517 59 - pad.getStick(2) / 3.0 // PIDC::calculationResult
uchitake 6:fe9767a50891 60 );
uchitake 3:369d9ee17e84 61 } else {
uchitake 9:39be1525dfe0 62 quadOmni.moveXY(0, 0, 0);
uchitake 3:369d9ee17e84 63 }
uchitake 3:369d9ee17e84 64 }
uchitake 3:369d9ee17e84 65
uchitake 3:369d9ee17e84 66 void Bot::controllDrive2()
uchitake 3:369d9ee17e84 67 {
uchitake 4:1073deb368df 68 float moment = 0;
uchitake 3:369d9ee17e84 69 static float beforestick = pad.getStick(2);
uchitake 6:fe9767a50891 70
uchitake 5:16ea97725085 71 if(!pad.getButton2(2)) {
uchitake 6:fe9767a50891 72 PIDC::resetPlaneOffset();
uchitake 5:16ea97725085 73 }
uchitake 3:369d9ee17e84 74
uchitake 4:1073deb368df 75 if((beforestick >= 0.5 && pad.getStick(2) < 0.5) || (beforestick <= -0.5 && pad.getStick(2) > -0.5)) {
uchitake 5:16ea97725085 76 PIDC::PID::setSetPoint(0.0);
uchitake 6:fe9767a50891 77 PIDC::resetAxisOffset();
uchitake 3:369d9ee17e84 78 }
uchitake 3:369d9ee17e84 79
uchitake 4:1073deb368df 80 if(pad.getStick(2) > 0.5 || pad.getStick(2) < -0.5) {
uchitake 5:16ea97725085 81 moment = pad.getStick(2) / 4.0;
uchitake 3:369d9ee17e84 82 PIDC::confirm();
uchitake 4:1073deb368df 83 }
uchitake 4:1073deb368df 84 if(fabs(pad.getStick(2)) < 0.5) {
uchitake 3:369d9ee17e84 85 PIDC::confirm();
uchitake 6:fe9767a50891 86 moment = PIDC::calculationResult;
uchitake 3:369d9ee17e84 87 }
uchitake 3:369d9ee17e84 88
uchitake 6:fe9767a50891 89 if(receiveSuccessed) {
uchitake 14:1fadf7d2f583 90 led[1] = !led[1];
uchitake 9:39be1525dfe0 91 quadOmni.moveCircular(
uchitake 6:fe9767a50891 92 pad.getNorm(0) / 2.0,
uchitake 6:fe9767a50891 93 pad.getRadian(0) - PIDC::planeCurrentDegree / 10.0 * (M_PI / 180.0) + M_PI,
uchitake 6:fe9767a50891 94 moment
uchitake 6:fe9767a50891 95 );
uchitake 3:369d9ee17e84 96 } else {
uchitake 9:39be1525dfe0 97 quadOmni.moveXY(0, 0, 0);
uchitake 3:369d9ee17e84 98 }
uchitake 3:369d9ee17e84 99 beforestick = pad.getStick(2);
uchitake 1:845af5425eec 100 }
uchitake 1:845af5425eec 101
uchitake 1:845af5425eec 102 void Bot::controllMech()
uchitake 1:845af5425eec 103 {
uchitake 6:fe9767a50891 104 if(receiveSuccessed) {
uchitake 1:845af5425eec 105 // if(!pad.getButton1(0)) motor.moveSlider(ARM_MAX_SPEED);
uchitake 1:845af5425eec 106 // if(!pad.getButton1(1)) motor.moveSlider(-ARM_MAX_SPEED);
uchitake 1:845af5425eec 107 // if(pad.getButton1(0) && pad.getButton1(1)) motor.moveSlider(0);
uchitake 1:845af5425eec 108 //
uchitake 1:845af5425eec 109 // if(!pad.getButton1(3)) motor.shakeHead(ARM_MAX_SPEED);
uchitake 1:845af5425eec 110 // if(!pad.getButton1(4)) motor.shakeHead(-ARM_MAX_SPEED);
uchitake 1:845af5425eec 111 // if(pad.getButton1(3) && pad.getButton1(4)) motor.shakeHead(0);
uchitake 1:845af5425eec 112 //
uchitake 9:39be1525dfe0 113 if(!pad.getButton1(5)) armMotor[SWORD].setSpeed(0.6);
uchitake 9:39be1525dfe0 114 if(!pad.getButton1(6)) armMotor[SWORD].setSpeed(-0.6);
uchitake 9:39be1525dfe0 115 if(pad.getButton1(5) && pad.getButton1(6)) armMotor[SWORD].setSpeed(-0.0);
uchitake 1:845af5425eec 116
UCHITAKE 15:9aa11febe517 117 if(!pad.getButton1(3)) slider.slide(1.0);
UCHITAKE 15:9aa11febe517 118 if(!pad.getButton1(4)) slider.slide(-1.0);
UCHITAKE 15:9aa11febe517 119 if(pad.getButton1(3) && pad.getButton1(4)) slider.slide(0.0);
UCHITAKE 15:9aa11febe517 120
UCHITAKE 15:9aa11febe517 121 if(!pad.getButton2(4)) {
UCHITAKE 15:9aa11febe517 122 armMotor[DESTROY].setSpeed(-1.0);
UCHITAKE 15:9aa11febe517 123 } else {
UCHITAKE 15:9aa11febe517 124 armMotor[DESTROY].setSpeed(0.0);
UCHITAKE 15:9aa11febe517 125 }
uchitake 1:845af5425eec 126 //
uchitake 1:845af5425eec 127 // if(!pad.getButton1(2)) {
uchitake 1:845af5425eec 128 // motor.destroy(DESTROY_MAX_SPEED);
uchitake 1:845af5425eec 129 // } else {
uchitake 1:845af5425eec 130 // motor.destroy(0);
uchitake 1:845af5425eec 131 // }
uchitake 1:845af5425eec 132 //
uchitake 3:369d9ee17e84 133 } else {
uchitake 9:39be1525dfe0 134 slider.slide(0);
uchitake 9:39be1525dfe0 135 for(int i = 0; i < 3; i++) {
uchitake 9:39be1525dfe0 136 armMotor[i].setSpeed(0);
uchitake 9:39be1525dfe0 137 }
uchitake 3:369d9ee17e84 138 }
uchitake 1:845af5425eec 139 }
uchitake 1:845af5425eec 140
uchitake 1:845af5425eec 141
uchitake 1:845af5425eec 142 void Bot::calibrate()
uchitake 1:845af5425eec 143 {
uchitake 6:fe9767a50891 144 if(receiveSuccessed &&
uchitake 6:fe9767a50891 145 !pad.getButton2(0) &&
uchitake 6:fe9767a50891 146 !pad.getButton2(1)
uchitake 6:fe9767a50891 147 ) {
uchitake 1:845af5425eec 148 PIDC::calibration(HMC6352_ENTER_CALIB);
uchitake 9:39be1525dfe0 149 quadOmni.moveXY(0, 0, 0.4);
uchitake 3:369d9ee17e84 150 wait(5.0);
uchitake 9:39be1525dfe0 151 quadOmni.moveXY(0, 0, 0);
uchitake 1:845af5425eec 152 PIDC::calibration(HMC6352_EXIT_CALIB);
uchitake 1:845af5425eec 153 }
uchitake 3:369d9ee17e84 154 }