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@16:50651ff960b9, 2017-09-25 (annotated)

Committer:
uchitake
Date:
Mon Sep 25 18:15:43 2017 +0900
Branch:
develop1
Revision:
16:50651ff960b9
Parent:
15:9aa11febe517
Child:
17:79fa65706f92
fix keybind

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 14:1fadf7d2f583 53 led[1] = !led[1];
uchitake 3:369d9ee17e84 54 if(pad.getNorm(1) > 0.5) {
UCHITAKE 15:9aa11febe517 55 // PIDC::PID::setSetPoint((pad.getRadian(1) - M_PI / 2) * (180.0 / M_PI));
UCHITAKE 15:9aa11febe517 56 // PIDC::confirm();
uchitake 3:369d9ee17e84 57 }
uchitake 9:39be1525dfe0 58 quadOmni.moveXY(
UCHITAKE 15:9aa11febe517 59 pad.getStick(0),
UCHITAKE 15:9aa11febe517 60 -pad.getStick(1),
UCHITAKE 15:9aa11febe517 61 - pad.getStick(2) / 3.0 // PIDC::calculationResult
uchitake 6:fe9767a50891 62 );
uchitake 3:369d9ee17e84 63 } else {
uchitake 9:39be1525dfe0 64 quadOmni.moveXY(0, 0, 0);
uchitake 3:369d9ee17e84 65 }
uchitake 3:369d9ee17e84 66 }
uchitake 3:369d9ee17e84 67
uchitake 3:369d9ee17e84 68 void Bot::controllDrive2()
uchitake 3:369d9ee17e84 69 {
uchitake 4:1073deb368df 70 float moment = 0;
uchitake 3:369d9ee17e84 71 static float beforestick = pad.getStick(2);
uchitake 6:fe9767a50891 72
uchitake 5:16ea97725085 73 if(!pad.getButton2(2)) {
uchitake 6:fe9767a50891 74 PIDC::resetPlaneOffset();
uchitake 5:16ea97725085 75 }
uchitake 3:369d9ee17e84 76
uchitake 4:1073deb368df 77 if((beforestick >= 0.5 && pad.getStick(2) < 0.5) || (beforestick <= -0.5 && pad.getStick(2) > -0.5)) {
uchitake 5:16ea97725085 78 PIDC::PID::setSetPoint(0.0);
uchitake 6:fe9767a50891 79 PIDC::resetAxisOffset();
uchitake 3:369d9ee17e84 80 }
uchitake 3:369d9ee17e84 81
uchitake 4:1073deb368df 82 if(pad.getStick(2) > 0.5 || pad.getStick(2) < -0.5) {
uchitake 5:16ea97725085 83 moment = pad.getStick(2) / 4.0;
uchitake 3:369d9ee17e84 84 PIDC::confirm();
uchitake 4:1073deb368df 85 }
uchitake 4:1073deb368df 86 if(fabs(pad.getStick(2)) < 0.5) {
uchitake 3:369d9ee17e84 87 PIDC::confirm();
uchitake 6:fe9767a50891 88 moment = PIDC::calculationResult;
uchitake 3:369d9ee17e84 89 }
uchitake 3:369d9ee17e84 90
uchitake 6:fe9767a50891 91 if(receiveSuccessed) {
uchitake 14:1fadf7d2f583 92 led[1] = !led[1];
uchitake 9:39be1525dfe0 93 quadOmni.moveCircular(
uchitake 6:fe9767a50891 94 pad.getNorm(0) / 2.0,
uchitake 6:fe9767a50891 95 pad.getRadian(0) - PIDC::planeCurrentDegree / 10.0 * (M_PI / 180.0) + M_PI,
uchitake 6:fe9767a50891 96 moment
uchitake 6:fe9767a50891 97 );
uchitake 3:369d9ee17e84 98 } else {
uchitake 9:39be1525dfe0 99 quadOmni.moveXY(0, 0, 0);
uchitake 3:369d9ee17e84 100 }
uchitake 3:369d9ee17e84 101 beforestick = pad.getStick(2);
uchitake 1:845af5425eec 102 }
uchitake 1:845af5425eec 103
uchitake 1:845af5425eec 104 void Bot::controllMech()
uchitake 1:845af5425eec 105 {
uchitake 6:fe9767a50891 106 if(receiveSuccessed) {
uchitake 1:845af5425eec 107 // if(!pad.getButton1(0)) motor.moveSlider(ARM_MAX_SPEED);
uchitake 1:845af5425eec 108 // if(!pad.getButton1(1)) motor.moveSlider(-ARM_MAX_SPEED);
uchitake 1:845af5425eec 109 // if(pad.getButton1(0) && pad.getButton1(1)) motor.moveSlider(0);
uchitake 1:845af5425eec 110 //
uchitake 1:845af5425eec 111 // if(!pad.getButton1(3)) motor.shakeHead(ARM_MAX_SPEED);
uchitake 1:845af5425eec 112 // if(!pad.getButton1(4)) motor.shakeHead(-ARM_MAX_SPEED);
uchitake 1:845af5425eec 113 // if(pad.getButton1(3) && pad.getButton1(4)) motor.shakeHead(0);
uchitake 1:845af5425eec 114 //
uchitake 16:50651ff960b9 115 if(!pad.getButton1(6)) {
uchitake 16:50651ff960b9 116 armMotor[SWORD].setSpeed(0.6);
uchitake 16:50651ff960b9 117 }
uchitake 16:50651ff960b9 118 if(pad.getButton1(6)) armMotor[SWORD].setSpeed(0.0);
uchitake 1:845af5425eec 119
UCHITAKE 15:9aa11febe517 120 if(!pad.getButton1(3)) slider.slide(1.0);
UCHITAKE 15:9aa11febe517 121 if(!pad.getButton1(4)) slider.slide(-1.0);
UCHITAKE 15:9aa11febe517 122 if(pad.getButton1(3) && pad.getButton1(4)) slider.slide(0.0);
UCHITAKE 15:9aa11febe517 123
uchitake 16:50651ff960b9 124 if(!pad.getButton2(1)) {
UCHITAKE 15:9aa11febe517 125 armMotor[DESTROY].setSpeed(-1.0);
UCHITAKE 15:9aa11febe517 126 } else {
UCHITAKE 15:9aa11febe517 127 armMotor[DESTROY].setSpeed(0.0);
UCHITAKE 15:9aa11febe517 128 }
uchitake 1:845af5425eec 129 //
uchitake 1:845af5425eec 130 // if(!pad.getButton1(2)) {
uchitake 1:845af5425eec 131 // motor.destroy(DESTROY_MAX_SPEED);
uchitake 1:845af5425eec 132 // } else {
uchitake 1:845af5425eec 133 // motor.destroy(0);
uchitake 1:845af5425eec 134 // }
uchitake 1:845af5425eec 135 //
uchitake 3:369d9ee17e84 136 } else {
uchitake 9:39be1525dfe0 137 slider.slide(0);
uchitake 9:39be1525dfe0 138 for(int i = 0; i < 3; i++) {
uchitake 9:39be1525dfe0 139 armMotor[i].setSpeed(0);
uchitake 9:39be1525dfe0 140 }
uchitake 3:369d9ee17e84 141 }
uchitake 1:845af5425eec 142 }
uchitake 1:845af5425eec 143
uchitake 1:845af5425eec 144
uchitake 1:845af5425eec 145 void Bot::calibrate()
uchitake 1:845af5425eec 146 {
uchitake 6:fe9767a50891 147 if(receiveSuccessed &&
uchitake 6:fe9767a50891 148 !pad.getButton2(0) &&
uchitake 6:fe9767a50891 149 !pad.getButton2(1)
uchitake 6:fe9767a50891 150 ) {
uchitake 1:845af5425eec 151 PIDC::calibration(HMC6352_ENTER_CALIB);
uchitake 9:39be1525dfe0 152 quadOmni.moveXY(0, 0, 0.4);
uchitake 3:369d9ee17e84 153 wait(5.0);
uchitake 9:39be1525dfe0 154 quadOmni.moveXY(0, 0, 0);
uchitake 1:845af5425eec 155 PIDC::calibration(HMC6352_EXIT_CALIB);
uchitake 1:845af5425eec 156 }
uchitake 3:369d9ee17e84 157 }