NagaokaRoboticsClub_mbedTeam / Mbed OS NHK2017_octopus2_arms

タコ　腕

Dependencies:   2017NHKpin_config FEP ikarashiMDC

Fork of NHK2017_octopus2 by NagaokaRoboticsClub_mbedTeam

bot/bot.cpp@32:b619c7787dc3, 2017-10-06 (annotated)

Committer:
takeuchi
Date:
Fri Oct 06 20:12:29 2017 +0900
Branch:
develop
Revision:
32:b619c7787dc3
Parent:
29:41f6fc4c8962
Child:
35:4608938f67c5
pass compile :)

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 15:9aa11febe517 4 pad(XBee2TX, XBee2RX, ADDR),
uchitake 9:39be1525dfe0 5 RS485(MDTX, MDRX, 38400),
uchitake 9:39be1525dfe0 6 RS485Controller(PWM1),
UCHITAKE 15:9aa11febe517 7 powerSwitch(MDstop),
uchitake 9:39be1525dfe0 8 quadOmni(&RS485Controller, &RS485),
uchitake 9:39be1525dfe0 9 slider(&RS485Controller, &RS485),
uchitake 9:39be1525dfe0 10 armMotor({
UCHITAKE 11:a8385ca0a275 11 ikarashiMDC({&RS485Controller, 1, 1, SM, &RS485}),
UCHITAKE 11:a8385ca0a275 12 ikarashiMDC({&RS485Controller, 1, 2, SM, &RS485}),
UCHITAKE 11:a8385ca0a275 13 ikarashiMDC({&RS485Controller, 1, 3, SM, &RS485})
uchitake 9:39be1525dfe0 14 }),
uchitake 9:39be1525dfe0 15 receiveSuccessed(0),
uchitake 28:676330f1d186 16 frontDegree(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 16:50651ff960b9 37 if(!pad.getButton2(3) && !pad.getButton2(0)) {
uchitake 16:50651ff960b9 38 powerSwitch = 0;
uchitake 16:50651ff960b9 39 }
uchitake 14:1fadf7d2f583 40 led[0] = receiveSuccessed;
uchitake 6:fe9767a50891 41 if(!receiveSuccessed) {
uchitake 9:39be1525dfe0 42 quadOmni.moveXY(0, 0, 0);
uchitake 9:39be1525dfe0 43 slider.slide(0);
uchitake 9:39be1525dfe0 44 for(int i = 0; i < 3; i++) {
uchitake 9:39be1525dfe0 45 armMotor[i].setSpeed(0);
uchitake 9:39be1525dfe0 46 }
uchitake 1:845af5425eec 47 }
uchitake 1:845af5425eec 48 }
uchitake 1:845af5425eec 49
uchitake 1:845af5425eec 50 void Bot::controllDrive()
uchitake 1:845af5425eec 51 {
uchitake 6:fe9767a50891 52 if(receiveSuccessed) {
takeuchi 32:b619c7787dc3 53 debugSerial.printf("%d\n\r", plane.getRawDegree());
uchitake 14:1fadf7d2f583 54 led[1] = !led[1];
uchitake 3:369d9ee17e84 55 if(pad.getNorm(1) > 0.5) {
takeuchi 32:b619c7787dc3 56 plane.setSetPoint((pad.getRadian(1) - M_PI / 2) * (180.0 / M_PI));
takeuchi 32:b619c7787dc3 57 plane.confirm();
uchitake 3:369d9ee17e84 58 }
uchitake 9:39be1525dfe0 59 quadOmni.moveXY(
UCHITAKE 15:9aa11febe517 60 pad.getStick(0),
UCHITAKE 15:9aa11febe517 61 -pad.getStick(1),
uchitake 24:593910fa1397 62 0,
uchitake 24:593910fa1397 63 0,
UCHITAKE 15:9aa11febe517 64 - pad.getStick(2) / 3.0 // PIDC::calculationResult
uchitake 6:fe9767a50891 65 );
uchitake 3:369d9ee17e84 66 } else {
uchitake 9:39be1525dfe0 67 quadOmni.moveXY(0, 0, 0);
uchitake 3:369d9ee17e84 68 }
uchitake 3:369d9ee17e84 69 }
uchitake 3:369d9ee17e84 70
uchitake 3:369d9ee17e84 71 void Bot::controllDrive2()
uchitake 3:369d9ee17e84 72 {
takeuchi 32:b619c7787dc3 73 plane.confirm();
takeuchi 32:b619c7787dc3 74 axis.confirm();
uchitake 4:1073deb368df 75 float moment = 0;
uchitake 3:369d9ee17e84 76 static float beforestick = pad.getStick(2);
uchitake 6:fe9767a50891 77
uchitake 5:16ea97725085 78 if(!pad.getButton2(2)) {
takeuchi 32:b619c7787dc3 79 axis.resetOffset();
uchitake 5:16ea97725085 80 }
uchitake 3:369d9ee17e84 81
uchitake 4:1073deb368df 82 if((beforestick >= 0.5 && pad.getStick(2) < 0.5) || (beforestick <= -0.5 && pad.getStick(2) > -0.5)) {
takeuchi 32:b619c7787dc3 83 plane.setSetPoint(0.0);
takeuchi 32:b619c7787dc3 84 plane.resetOffset();
uchitake 3:369d9ee17e84 85 }
uchitake 3:369d9ee17e84 86
uchitake 4:1073deb368df 87 if(pad.getStick(2) > 0.5 || pad.getStick(2) < -0.5) {
uchitake 29:41f6fc4c8962 88 moment = pad.getStick(2) / 2.0;
uchitake 29:41f6fc4c8962 89 } else {
takeuchi 32:b619c7787dc3 90 moment = plane.getCalculationResult();
uchitake 3:369d9ee17e84 91 }
uchitake 3:369d9ee17e84 92
uchitake 6:fe9767a50891 93 if(receiveSuccessed) {
uchitake 14:1fadf7d2f583 94 led[1] = !led[1];
uchitake 9:39be1525dfe0 95 quadOmni.moveCircular(
uchitake 29:41f6fc4c8962 96 pad.getNorm(0),
takeuchi 32:b619c7787dc3 97 pad.getRadian(0) - axis.getCurrentDegree() / 10.0 * (M_PI / 180.0) + M_PI,
uchitake 29:41f6fc4c8962 98 0.5,
uchitake 29:41f6fc4c8962 99 0.5,
uchitake 29:41f6fc4c8962 100 -moment
uchitake 6:fe9767a50891 101 );
uchitake 3:369d9ee17e84 102 } else {
uchitake 9:39be1525dfe0 103 quadOmni.moveXY(0, 0, 0);
uchitake 3:369d9ee17e84 104 }
uchitake 3:369d9ee17e84 105 beforestick = pad.getStick(2);
uchitake 1:845af5425eec 106 }
uchitake 1:845af5425eec 107
uchitake 17:79fa65706f92 108 void Bot::controllDrive3()
uchitake 17:79fa65706f92 109 {
uchitake 28:676330f1d186 110 static int rollR = 0;
uchitake 28:676330f1d186 111 static int rollL = 0;
uchitake 17:79fa65706f92 112 static int mode = 1;
uchitake 17:79fa65706f92 113 if(receiveSuccessed) {
uchitake 28:676330f1d186 114 if(rollR && !pad.getButton2(2)) {
uchitake 28:676330f1d186 115 frontDegree += ADJUST_DEGREE;
uchitake 28:676330f1d186 116 }
uchitake 28:676330f1d186 117 rollR = pad.getButton2(2);
uchitake 28:676330f1d186 118
uchitake 28:676330f1d186 119 if(rollL && !pad.getButton2(0)) {
uchitake 28:676330f1d186 120 frontDegree -= ADJUST_DEGREE;
uchitake 28:676330f1d186 121 }
uchitake 28:676330f1d186 122 rollL = pad.getButton2(0);
uchitake 17:79fa65706f92 123
uchitake 17:79fa65706f92 124 if(!pad.getButton2(4)) {
uchitake 17:79fa65706f92 125 mode = 1;
uchitake 17:79fa65706f92 126 }
uchitake 17:79fa65706f92 127
uchitake 17:79fa65706f92 128 if(!pad.getButton2(5)) {
uchitake 17:79fa65706f92 129 mode = 2;
uchitake 17:79fa65706f92 130 }
uchitake 17:79fa65706f92 131
uchitake 17:79fa65706f92 132 if(mode == 1) {
takeuchi 32:b619c7787dc3 133 plane.setPoint(frontDegree);
takeuchi 32:b619c7787dc3 134 plane.confirm();
uchitake 17:79fa65706f92 135
uchitake 17:79fa65706f92 136 quadOmni.moveXY(
uchitake 17:79fa65706f92 137 pad.getStick(0),
uchitake 17:79fa65706f92 138 -pad.getStick(1),
takeuchi 27:47c6eee26e76 139 0.5,
takeuchi 27:47c6eee26e76 140 0.5,
takeuchi 32:b619c7787dc3 141 -plane.getCalculationResult()
uchitake 17:79fa65706f92 142 );
uchitake 17:79fa65706f92 143 }
uchitake 17:79fa65706f92 144 if(mode == 2) {
takeuchi 32:b619c7787dc3 145 plane.setPoint(90.0 + frontDegree);
takeuchi 32:b619c7787dc3 146 plane.confirm();
uchitake 17:79fa65706f92 147
uchitake 17:79fa65706f92 148 quadOmni.moveXY(
uchitake 17:79fa65706f92 149 -pad.getStick(1),
uchitake 19:34da005ea4ea 150 -pad.getStick(0),
takeuchi 27:47c6eee26e76 151 0.5,
takeuchi 27:47c6eee26e76 152 0.5,
takeuchi 32:b619c7787dc3 153 -plane.getCalculationResult()
uchitake 17:79fa65706f92 154 );
uchitake 17:79fa65706f92 155 }
uchitake 17:79fa65706f92 156 } else {
uchitake 17:79fa65706f92 157 quadOmni.moveXY(0, 0, 0);
uchitake 17:79fa65706f92 158 }
uchitake 17:79fa65706f92 159 }
uchitake 17:79fa65706f92 160
uchitake 1:845af5425eec 161 void Bot::controllMech()
uchitake 1:845af5425eec 162 {
uchitake 6:fe9767a50891 163 if(receiveSuccessed) {
uchitake 16:50651ff960b9 164 if(!pad.getButton1(6)) {
uchitake 16:50651ff960b9 165 armMotor[SWORD].setSpeed(0.6);
uchitake 16:50651ff960b9 166 }
uchitake 16:50651ff960b9 167 if(pad.getButton1(6)) armMotor[SWORD].setSpeed(0.0);
uchitake 1:845af5425eec 168
uchitake 19:34da005ea4ea 169 slider.slide(pad.getStick(3));
UCHITAKE 15:9aa11febe517 170
uchitake 16:50651ff960b9 171 if(!pad.getButton2(1)) {
UCHITAKE 15:9aa11febe517 172 armMotor[DESTROY].setSpeed(-1.0);
UCHITAKE 15:9aa11febe517 173 } else {
UCHITAKE 15:9aa11febe517 174 armMotor[DESTROY].setSpeed(0.0);
UCHITAKE 15:9aa11febe517 175 }
uchitake 3:369d9ee17e84 176 } else {
uchitake 9:39be1525dfe0 177 slider.slide(0);
uchitake 9:39be1525dfe0 178 for(int i = 0; i < 3; i++) {
uchitake 9:39be1525dfe0 179 armMotor[i].setSpeed(0);
uchitake 9:39be1525dfe0 180 }
uchitake 3:369d9ee17e84 181 }
uchitake 1:845af5425eec 182 }
uchitake 1:845af5425eec 183
uchitake 1:845af5425eec 184
uchitake 1:845af5425eec 185 void Bot::calibrate()
uchitake 1:845af5425eec 186 {
uchitake 6:fe9767a50891 187 if(receiveSuccessed &&
uchitake 6:fe9767a50891 188 !pad.getButton2(0) &&
uchitake 6:fe9767a50891 189 !pad.getButton2(1)
uchitake 6:fe9767a50891 190 ) {
uchitake 19:34da005ea4ea 191 t.start();
uchitake 19:34da005ea4ea 192 t.reset();
takeuchi 32:b619c7787dc3 193 plane.calibration(HMC6352_ENTER_CALIB);
uchitake 19:34da005ea4ea 194 while(t.read() < 5.0) {
uchitake 19:34da005ea4ea 195 quadOmni.moveXY(0, 0, 0.4);
uchitake 19:34da005ea4ea 196 slider.slide(0);
uchitake 19:34da005ea4ea 197 for(int i = 0; i < 3; i++) {
uchitake 19:34da005ea4ea 198 armMotor[i].setSpeed(0);
uchitake 19:34da005ea4ea 199 }
uchitake 19:34da005ea4ea 200 }
uchitake 19:34da005ea4ea 201 t.stop();
uchitake 9:39be1525dfe0 202 quadOmni.moveXY(0, 0, 0);
takeuchi 32:b619c7787dc3 203 plane.calibration(HMC6352_EXIT_CALIB);
uchitake 1:845af5425eec 204 }
uchitake 3:369d9ee17e84 205 }