2017ロボコンはやとブーメランプログラム
Dependencies: PID QEI ikarashiMDC recieveController omni
hayatoBoomerang.cpp@6:0bee4b2bb400, 2017-09-01 (annotated)
- Committer:
- WAT34
- Date:
- Fri Sep 01 10:42:27 2017 +0900
- Revision:
- 6:0bee4b2bb400
- Parent:
- 4:c2b09fa31492
- Child:
- 8:c47cf4e0230c
- Child:
- 11:68defd561031
backupped
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
WAT34 | 1:35e874e10602 | 1 | #include "hayatoBoomerang.h" |
WAT34 | 2:aca690545ec9 | 2 | #include "pinConfig.h" |
WAT34 | 1:35e874e10602 | 3 | |
WAT34 | 1:35e874e10602 | 4 | boomerang::boomerang(Serial *serial_) |
WAT34 | 1:35e874e10602 | 5 | { |
WAT34 | 2:aca690545ec9 | 6 | speedEncoder = new InterruptIn(SPEED_ENCODER); |
WAT34 | 6:0bee4b2bb400 | 7 | armEncoder= new QEI(D10,D11,NC,624); |
WAT34 | 1:35e874e10602 | 8 | |
WAT34 | 4:c2b09fa31492 | 9 | armLimit = new InterruptIn(NC); |
WAT34 | 4:c2b09fa31492 | 10 | //armLimit->mode(PullUp); |
WAT34 | 2:aca690545ec9 | 11 | |
WAT34 | 2:aca690545ec9 | 12 | rscs = new DigitalOut(NC); |
WAT34 | 1:35e874e10602 | 13 | |
WAT34 | 1:35e874e10602 | 14 | speedPID = new PID(SPEED_P,SPEED_I,SPEED_D,RATE); |
WAT34 | 1:35e874e10602 | 15 | armPID = new PID(ARM_P,ARM_I,ARM_D,RATE); |
WAT34 | 6:0bee4b2bb400 | 16 | speedPID->setInputLimits(0.0,9000.0); |
WAT34 | 2:aca690545ec9 | 17 | speedPID->setOutputLimits(0,1.0); |
WAT34 | 1:35e874e10602 | 18 | |
WAT34 | 6:0bee4b2bb400 | 19 | armPID->setInputLimits(5,80); |
WAT34 | 6:0bee4b2bb400 | 20 | armPID->setOutputLimits(-1.0,1.0); |
WAT34 | 2:aca690545ec9 | 21 | |
WAT34 | 2:aca690545ec9 | 22 | speedPID->setBias(0); |
WAT34 | 2:aca690545ec9 | 23 | speedPID->setMode(AUTO_MODE); |
WAT34 | 2:aca690545ec9 | 24 | speedPID->setSetPoint(0); |
WAT34 | 1:35e874e10602 | 25 | |
WAT34 | 2:aca690545ec9 | 26 | armPID->setBias(0); |
WAT34 | 2:aca690545ec9 | 27 | armPID->setSetPoint(0); |
WAT34 | 2:aca690545ec9 | 28 | armPID->setMode(AUTO_MODE); |
WAT34 | 1:35e874e10602 | 29 | |
WAT34 | 2:aca690545ec9 | 30 | armMotor = new ikarashiMDC(rscs,0,0,SM,serial_); |
WAT34 | 2:aca690545ec9 | 31 | shootingMotor = new ikarashiMDC(rscs,0,1,SM,serial_); |
WAT34 | 2:aca690545ec9 | 32 | spiralMotor = new ikarashiMDC(rscs,0,2,SM,serial_); |
WAT34 | 2:aca690545ec9 | 33 | beltMotor = new ikarashiMDC(rscs,0,3,SM,serial_); |
WAT34 | 1:35e874e10602 | 34 | |
WAT34 | 6:0bee4b2bb400 | 35 | omni = new Omni(4); |
WAT34 | 6:0bee4b2bb400 | 36 | omniMotor[0] = new ikarashiMDC(rscs,1,0,SM,serial_); |
WAT34 | 6:0bee4b2bb400 | 37 | omniMotor[1] = new ikarashiMDC(rscs,1,1,SM,serial_); |
WAT34 | 6:0bee4b2bb400 | 38 | omniMotor[2] = new ikarashiMDC(rscs,1,2,SM,serial_); |
WAT34 | 6:0bee4b2bb400 | 39 | omniMotor[3] = new ikarashiMDC(rscs,1,3,SM,serial_); |
WAT34 | 6:0bee4b2bb400 | 40 | omniMotor[0]->braking=true; |
WAT34 | 6:0bee4b2bb400 | 41 | omniMotor[1]->braking=true; |
WAT34 | 6:0bee4b2bb400 | 42 | omniMotor[2]->braking=true; |
WAT34 | 6:0bee4b2bb400 | 43 | omniMotor[3]->braking=true; |
WAT34 | 6:0bee4b2bb400 | 44 | |
WAT34 | 4:c2b09fa31492 | 45 | armMotor->setSpeed(0); |
WAT34 | 4:c2b09fa31492 | 46 | shootingMotor->setSpeed(0); |
WAT34 | 4:c2b09fa31492 | 47 | spiralMotor->setSpeed(0); |
WAT34 | 4:c2b09fa31492 | 48 | beltMotor->setSpeed(0); |
WAT34 | 4:c2b09fa31492 | 49 | |
WAT34 | 2:aca690545ec9 | 50 | spiral = new Spiral(spiralMotor); |
WAT34 | 1:35e874e10602 | 51 | |
WAT34 | 1:35e874e10602 | 52 | motorRPM = 0; |
WAT34 | 1:35e874e10602 | 53 | |
WAT34 | 6:0bee4b2bb400 | 54 | omni->setWheelRadian(radians(51.675),radians(76.65+51.675),radians(76.65+51.675+103.35),radians(360-51.675)); |
WAT34 | 6:0bee4b2bb400 | 55 | |
WAT34 | 2:aca690545ec9 | 56 | speedEncoder->rise(this,&boomerang::shootingEncoderCount); |
WAT34 | 2:aca690545ec9 | 57 | speedEncoder->enable_irq(); |
WAT34 | 4:c2b09fa31492 | 58 | armLimit->fall(this,&boomerang::endCalibration); |
WAT34 | 2:aca690545ec9 | 59 | armLimit->disable_irq(); |
WAT34 | 1:35e874e10602 | 60 | |
WAT34 | 6:0bee4b2bb400 | 61 | firing = false; |
WAT34 | 6:0bee4b2bb400 | 62 | |
WAT34 | 6:0bee4b2bb400 | 63 | boomerang::update(); |
WAT34 | 6:0bee4b2bb400 | 64 | } |
WAT34 | 6:0bee4b2bb400 | 65 | |
WAT34 | 6:0bee4b2bb400 | 66 | void boomerang::move(const uint8_t& x,const uint8_t& y,const uint8_t& moment) |
WAT34 | 6:0bee4b2bb400 | 67 | { |
WAT34 | 6:0bee4b2bb400 | 68 | omni->computeXY((y-127)/127.0,(x-127)/127.0,moment); |
WAT34 | 6:0bee4b2bb400 | 69 | for (size_t i = 0; i < 4; i++) { |
WAT34 | 6:0bee4b2bb400 | 70 | omniMotor[i]->setSpeed((omni->getOutput(i)-127)/127.0); |
WAT34 | 6:0bee4b2bb400 | 71 | } |
WAT34 | 1:35e874e10602 | 72 | } |
WAT34 | 1:35e874e10602 | 73 | |
WAT34 | 1:35e874e10602 | 74 | void boomerang::shootingEncoderCount() |
WAT34 | 1:35e874e10602 | 75 | { |
WAT34 | 1:35e874e10602 | 76 | motorRPM = (1.0/rpmCalc.read())*60; |
WAT34 | 1:35e874e10602 | 77 | rpmCalc.reset(); |
WAT34 | 1:35e874e10602 | 78 | rpmCalc.start(); |
WAT34 | 1:35e874e10602 | 79 | } |
WAT34 | 1:35e874e10602 | 80 | |
WAT34 | 1:35e874e10602 | 81 | void boomerang::setTargetMotorSpeed(const int& targetRPM) |
WAT34 | 1:35e874e10602 | 82 | { |
WAT34 | 2:aca690545ec9 | 83 | speedPID->setSetPoint(targetRPM); |
WAT34 | 1:35e874e10602 | 84 | } |
WAT34 | 1:35e874e10602 | 85 | |
WAT34 | 1:35e874e10602 | 86 | void boomerang::setTargetArmAngle(const int& targetArmAngle) |
WAT34 | 1:35e874e10602 | 87 | { |
WAT34 | 2:aca690545ec9 | 88 | armPID->setSetPoint(targetArmAngle); |
WAT34 | 1:35e874e10602 | 89 | } |
WAT34 | 1:35e874e10602 | 90 | |
WAT34 | 2:aca690545ec9 | 91 | void boomerang::update() |
WAT34 | 1:35e874e10602 | 92 | { |
WAT34 | 6:0bee4b2bb400 | 93 | armAngle = armEncoder->getPulses()/800.0*85.51; |
WAT34 | 6:0bee4b2bb400 | 94 | armPID->setProcessValue(armAngle); |
WAT34 | 6:0bee4b2bb400 | 95 | speedPID->setProcessValue(motorRPM); |
WAT34 | 4:c2b09fa31492 | 96 | if(!calibrating) |
WAT34 | 6:0bee4b2bb400 | 97 | armMotor->setSpeed(armPID->compute()); |
WAT34 | 6:0bee4b2bb400 | 98 | shootingMotor->setSpeed(speedPID->compute()); |
WAT34 | 4:c2b09fa31492 | 99 | beltMotor->setSpeed(beltSpeed); |
WAT34 | 1:35e874e10602 | 100 | } |
WAT34 | 1:35e874e10602 | 101 | |
WAT34 | 2:aca690545ec9 | 102 | bool boomerang::fire() |
WAT34 | 1:35e874e10602 | 103 | { |
WAT34 | 4:c2b09fa31492 | 104 | if(firing) |
WAT34 | 4:c2b09fa31492 | 105 | return false; |
WAT34 | 4:c2b09fa31492 | 106 | firing = true; |
WAT34 | 4:c2b09fa31492 | 107 | beltSpeed=0.4; |
WAT34 | 6:0bee4b2bb400 | 108 | beltTime.attach(callback(this,&boomerang::beltStop),1); |
WAT34 | 2:aca690545ec9 | 109 | spiral->rotate(); |
WAT34 | 4:c2b09fa31492 | 110 | boomerang::update(); |
WAT34 | 2:aca690545ec9 | 111 | return true; |
WAT34 | 1:35e874e10602 | 112 | } |
WAT34 | 1:35e874e10602 | 113 | |
WAT34 | 1:35e874e10602 | 114 | void boomerang::beltStop() |
WAT34 | 1:35e874e10602 | 115 | { |
WAT34 | 4:c2b09fa31492 | 116 | beltSpeed = 0; |
WAT34 | 4:c2b09fa31492 | 117 | firing = false; |
WAT34 | 4:c2b09fa31492 | 118 | boomerang::update(); |
WAT34 | 4:c2b09fa31492 | 119 | |
WAT34 | 1:35e874e10602 | 120 | } |
WAT34 | 1:35e874e10602 | 121 | |
WAT34 | 1:35e874e10602 | 122 | int boomerang::calibrateArm() |
WAT34 | 1:35e874e10602 | 123 | { |
WAT34 | 2:aca690545ec9 | 124 | if(armLimit->read() == true) |
WAT34 | 1:35e874e10602 | 125 | return 1; |
WAT34 | 1:35e874e10602 | 126 | |
WAT34 | 4:c2b09fa31492 | 127 | calibrating = true; |
WAT34 | 2:aca690545ec9 | 128 | armLimit->enable_irq(); |
WAT34 | 2:aca690545ec9 | 129 | armMotor->setSpeed(0.2); |
WAT34 | 1:35e874e10602 | 130 | return 0; |
WAT34 | 1:35e874e10602 | 131 | } |
WAT34 | 1:35e874e10602 | 132 | |
WAT34 | 1:35e874e10602 | 133 | void boomerang::endCalibration() |
WAT34 | 1:35e874e10602 | 134 | { |
WAT34 | 4:c2b09fa31492 | 135 | calibrating = false; |
WAT34 | 2:aca690545ec9 | 136 | armEncoder->reset(); |
WAT34 | 2:aca690545ec9 | 137 | armLimit->disable_irq(); |
WAT34 | 2:aca690545ec9 | 138 | armPID->setSetPoint(10); |
WAT34 | 1:35e874e10602 | 139 | } |