NagaokaRoboticsClub_mbedTeam / Mbed OS NHK2017_octopus2_drive

タコ　駆動側　

Dependencies:   2017NHKpin_config FEP R1307 PID ikarashiMDC omni_wheel

Fork of NHK2017_octopus2 by NagaokaRoboticsClub_mbedTeam

bot/bot.cpp@27:47c6eee26e76, 2017-10-01 (annotated)

Committer:
takeuchi
Date:
Sun Oct 01 16:52:33 2017 +0900
Revision:
27:47c6eee26e76
Parent:
24:593910fa1397
Child:
28:676330f1d186
fix PID gain

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 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) {
uchitake 17:79fa65706f92 53 debugSerial.printf("%d\n\r", PIDC::getRawDegree());
uchitake 14:1fadf7d2f583 54 led[1] = !led[1];
uchitake 3:369d9ee17e84 55 if(pad.getNorm(1) > 0.5) {
uchitake 17:79fa65706f92 56 PIDC::PID::setSetPoint((pad.getRadian(1) - M_PI / 2) * (180.0 / M_PI));
uchitake 17:79fa65706f92 57 PIDC::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 {
uchitake 4:1073deb368df 73 float moment = 0;
uchitake 3:369d9ee17e84 74 static float beforestick = pad.getStick(2);
uchitake 6:fe9767a50891 75
uchitake 5:16ea97725085 76 if(!pad.getButton2(2)) {
uchitake 6:fe9767a50891 77 PIDC::resetPlaneOffset();
uchitake 5:16ea97725085 78 }
uchitake 3:369d9ee17e84 79
uchitake 4:1073deb368df 80 if((beforestick >= 0.5 && pad.getStick(2) < 0.5) || (beforestick <= -0.5 && pad.getStick(2) > -0.5)) {
uchitake 5:16ea97725085 81 PIDC::PID::setSetPoint(0.0);
uchitake 6:fe9767a50891 82 PIDC::resetAxisOffset();
uchitake 3:369d9ee17e84 83 }
uchitake 3:369d9ee17e84 84
uchitake 4:1073deb368df 85 if(pad.getStick(2) > 0.5 || pad.getStick(2) < -0.5) {
uchitake 5:16ea97725085 86 moment = pad.getStick(2) / 4.0;
uchitake 3:369d9ee17e84 87 PIDC::confirm();
uchitake 4:1073deb368df 88 }
uchitake 4:1073deb368df 89 if(fabs(pad.getStick(2)) < 0.5) {
uchitake 3:369d9ee17e84 90 PIDC::confirm();
uchitake 6:fe9767a50891 91 moment = PIDC::calculationResult;
uchitake 3:369d9ee17e84 92 }
uchitake 3:369d9ee17e84 93
uchitake 6:fe9767a50891 94 if(receiveSuccessed) {
uchitake 14:1fadf7d2f583 95 led[1] = !led[1];
uchitake 9:39be1525dfe0 96 quadOmni.moveCircular(
uchitake 6:fe9767a50891 97 pad.getNorm(0) / 2.0,
uchitake 6:fe9767a50891 98 pad.getRadian(0) - PIDC::planeCurrentDegree / 10.0 * (M_PI / 180.0) + M_PI,
uchitake 6:fe9767a50891 99 moment
uchitake 6:fe9767a50891 100 );
uchitake 3:369d9ee17e84 101 } else {
uchitake 9:39be1525dfe0 102 quadOmni.moveXY(0, 0, 0);
uchitake 3:369d9ee17e84 103 }
uchitake 3:369d9ee17e84 104 beforestick = pad.getStick(2);
uchitake 1:845af5425eec 105 }
uchitake 1:845af5425eec 106
uchitake 17:79fa65706f92 107 void Bot::controllDrive3()
uchitake 17:79fa65706f92 108 {
uchitake 17:79fa65706f92 109 static int mode = 1;
uchitake 17:79fa65706f92 110 if(receiveSuccessed) {
uchitake 17:79fa65706f92 111 debugSerial.printf("%d\n\r", PIDC::getCurrentDegree());
uchitake 17:79fa65706f92 112
uchitake 17:79fa65706f92 113 if(!pad.getButton2(4)) {
uchitake 17:79fa65706f92 114 mode = 1;
uchitake 17:79fa65706f92 115 }
uchitake 17:79fa65706f92 116
uchitake 17:79fa65706f92 117 if(!pad.getButton2(5)) {
uchitake 17:79fa65706f92 118 mode = 2;
uchitake 17:79fa65706f92 119 }
uchitake 17:79fa65706f92 120
uchitake 17:79fa65706f92 121 if(mode == 1) {
uchitake 17:79fa65706f92 122 PIDC::PID::setSetPoint(0.0);
uchitake 17:79fa65706f92 123 PIDC::confirm();
uchitake 17:79fa65706f92 124
uchitake 17:79fa65706f92 125 quadOmni.moveXY(
uchitake 17:79fa65706f92 126 pad.getStick(0),
uchitake 17:79fa65706f92 127 -pad.getStick(1),
takeuchi 27:47c6eee26e76 128 0.5,
takeuchi 27:47c6eee26e76 129 0.5,
uchitake 17:79fa65706f92 130 -PIDC::calculationResult
uchitake 17:79fa65706f92 131 );
uchitake 17:79fa65706f92 132 }
uchitake 17:79fa65706f92 133 if(mode == 2) {
uchitake 17:79fa65706f92 134 PIDC::PID::setSetPoint(90.0);
uchitake 17:79fa65706f92 135 PIDC::confirm();
uchitake 17:79fa65706f92 136
uchitake 17:79fa65706f92 137 quadOmni.moveXY(
uchitake 17:79fa65706f92 138 -pad.getStick(1),
uchitake 19:34da005ea4ea 139 -pad.getStick(0),
takeuchi 27:47c6eee26e76 140 0.5,
takeuchi 27:47c6eee26e76 141 0.5,
uchitake 17:79fa65706f92 142 -PIDC::calculationResult
uchitake 17:79fa65706f92 143 );
uchitake 17:79fa65706f92 144 }
uchitake 17:79fa65706f92 145 } else {
uchitake 17:79fa65706f92 146 quadOmni.moveXY(0, 0, 0);
uchitake 17:79fa65706f92 147 }
uchitake 17:79fa65706f92 148 }
uchitake 17:79fa65706f92 149
uchitake 1:845af5425eec 150 void Bot::controllMech()
uchitake 1:845af5425eec 151 {
uchitake 6:fe9767a50891 152 if(receiveSuccessed) {
uchitake 16:50651ff960b9 153 if(!pad.getButton1(6)) {
uchitake 16:50651ff960b9 154 armMotor[SWORD].setSpeed(0.6);
uchitake 16:50651ff960b9 155 }
uchitake 16:50651ff960b9 156 if(pad.getButton1(6)) armMotor[SWORD].setSpeed(0.0);
uchitake 1:845af5425eec 157
uchitake 19:34da005ea4ea 158 slider.slide(pad.getStick(3));
UCHITAKE 15:9aa11febe517 159
uchitake 16:50651ff960b9 160 if(!pad.getButton2(1)) {
UCHITAKE 15:9aa11febe517 161 armMotor[DESTROY].setSpeed(-1.0);
UCHITAKE 15:9aa11febe517 162 } else {
UCHITAKE 15:9aa11febe517 163 armMotor[DESTROY].setSpeed(0.0);
UCHITAKE 15:9aa11febe517 164 }
uchitake 3:369d9ee17e84 165 } else {
uchitake 9:39be1525dfe0 166 slider.slide(0);
uchitake 9:39be1525dfe0 167 for(int i = 0; i < 3; i++) {
uchitake 9:39be1525dfe0 168 armMotor[i].setSpeed(0);
uchitake 9:39be1525dfe0 169 }
uchitake 3:369d9ee17e84 170 }
uchitake 1:845af5425eec 171 }
uchitake 1:845af5425eec 172
uchitake 1:845af5425eec 173
uchitake 1:845af5425eec 174 void Bot::calibrate()
uchitake 1:845af5425eec 175 {
uchitake 6:fe9767a50891 176 if(receiveSuccessed &&
uchitake 6:fe9767a50891 177 !pad.getButton2(0) &&
uchitake 6:fe9767a50891 178 !pad.getButton2(1)
uchitake 6:fe9767a50891 179 ) {
uchitake 19:34da005ea4ea 180 t.start();
uchitake 19:34da005ea4ea 181 t.reset();
uchitake 1:845af5425eec 182 PIDC::calibration(HMC6352_ENTER_CALIB);
uchitake 19:34da005ea4ea 183 while(t.read() < 5.0) {
uchitake 19:34da005ea4ea 184 quadOmni.moveXY(0, 0, 0.4);
uchitake 19:34da005ea4ea 185 slider.slide(0);
uchitake 19:34da005ea4ea 186 for(int i = 0; i < 3; i++) {
uchitake 19:34da005ea4ea 187 armMotor[i].setSpeed(0);
uchitake 19:34da005ea4ea 188 }
uchitake 19:34da005ea4ea 189 }
uchitake 19:34da005ea4ea 190 t.stop();
uchitake 9:39be1525dfe0 191 quadOmni.moveXY(0, 0, 0);
uchitake 1:845af5425eec 192 PIDC::calibration(HMC6352_EXIT_CALIB);
uchitake 1:845af5425eec 193 }
uchitake 3:369d9ee17e84 194 }