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@10:5ef1515735a4, 2017-09-13 (annotated)
- Committer:
- Litvyak_eil4
] - Date:
- Wed Sep 13 22:55:31 2017 +0900
- Revision:
- 10:5ef1515735a4
- Parent:
- 9:6540a10a07fb
- Child:
- 14:5cc44bec9cfc
welcome back my honey wataru
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); |
Litvyak_eil4 |
9:6540a10a07fb | 7 | armEncoder= new QEI(PB_15,PB_4,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); |
Litvyak_eil4 |
10:5ef1515735a4 | 17 | speedPID->setOutputLimits(0,0.7); |
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_); |
eil4nyqn | 8:c47cf4e0230c | 34 | spiralMotor->braking=true; |
eil4nyqn | 8:c47cf4e0230c | 35 | shootingMotor->braking=false; |
WAT34 | 1:35e874e10602 | 36 | |
WAT34 | 6:0bee4b2bb400 | 37 | omni = new Omni(4); |
WAT34 | 6:0bee4b2bb400 | 38 | omniMotor[0] = new ikarashiMDC(rscs,1,0,SM,serial_); |
WAT34 | 6:0bee4b2bb400 | 39 | omniMotor[1] = new ikarashiMDC(rscs,1,1,SM,serial_); |
WAT34 | 6:0bee4b2bb400 | 40 | omniMotor[2] = new ikarashiMDC(rscs,1,2,SM,serial_); |
WAT34 | 6:0bee4b2bb400 | 41 | omniMotor[3] = new ikarashiMDC(rscs,1,3,SM,serial_); |
WAT34 | 6:0bee4b2bb400 | 42 | omniMotor[0]->braking=true; |
WAT34 | 6:0bee4b2bb400 | 43 | omniMotor[1]->braking=true; |
WAT34 | 6:0bee4b2bb400 | 44 | omniMotor[2]->braking=true; |
WAT34 | 6:0bee4b2bb400 | 45 | omniMotor[3]->braking=true; |
WAT34 | 6:0bee4b2bb400 | 46 | |
WAT34 | 4:c2b09fa31492 | 47 | armMotor->setSpeed(0); |
WAT34 | 4:c2b09fa31492 | 48 | shootingMotor->setSpeed(0); |
WAT34 | 4:c2b09fa31492 | 49 | spiralMotor->setSpeed(0); |
WAT34 | 4:c2b09fa31492 | 50 | beltMotor->setSpeed(0); |
WAT34 | 4:c2b09fa31492 | 51 | |
WAT34 | 2:aca690545ec9 | 52 | spiral = new Spiral(spiralMotor); |
WAT34 | 1:35e874e10602 | 53 | |
WAT34 | 1:35e874e10602 | 54 | motorRPM = 0; |
WAT34 | 1:35e874e10602 | 55 | |
WAT34 | 6:0bee4b2bb400 | 56 | omni->setWheelRadian(radians(51.675),radians(76.65+51.675),radians(76.65+51.675+103.35),radians(360-51.675)); |
WAT34 | 6:0bee4b2bb400 | 57 | |
WAT34 | 2:aca690545ec9 | 58 | speedEncoder->rise(this,&boomerang::shootingEncoderCount); |
WAT34 | 2:aca690545ec9 | 59 | speedEncoder->enable_irq(); |
WAT34 | 4:c2b09fa31492 | 60 | armLimit->fall(this,&boomerang::endCalibration); |
WAT34 | 2:aca690545ec9 | 61 | armLimit->disable_irq(); |
WAT34 | 1:35e874e10602 | 62 | |
WAT34 | 6:0bee4b2bb400 | 63 | firing = false; |
WAT34 | 6:0bee4b2bb400 | 64 | |
WAT34 | 6:0bee4b2bb400 | 65 | boomerang::update(); |
WAT34 | 6:0bee4b2bb400 | 66 | } |
WAT34 | 6:0bee4b2bb400 | 67 | |
WAT34 | 6:0bee4b2bb400 | 68 | void boomerang::move(const uint8_t& x,const uint8_t& y,const uint8_t& moment) |
WAT34 | 6:0bee4b2bb400 | 69 | { |
eil4nyqn | 8:c47cf4e0230c | 70 | double rotator = 0; |
eil4nyqn | 8:c47cf4e0230c | 71 | // if(moment < 123 && moment > 130) { |
eil4nyqn | 8:c47cf4e0230c | 72 | rotator = ((moment-127)/127.0)*0.2; |
eil4nyqn | 8:c47cf4e0230c | 73 | // } |
eil4nyqn | 8:c47cf4e0230c | 74 | if((x > 123 && x < 130) && (y > 123 && y < 130)) { |
eil4nyqn | 8:c47cf4e0230c | 75 | omni->computeXY(0,0,rotator); |
eil4nyqn | 8:c47cf4e0230c | 76 | } else { |
eil4nyqn | 8:c47cf4e0230c | 77 | omni->computeXY(((y-127)/127.0)*0.8,((x-127)/127.0)*0.8,rotator); |
eil4nyqn | 8:c47cf4e0230c | 78 | } |
WAT34 | 6:0bee4b2bb400 | 79 | for (size_t i = 0; i < 4; i++) { |
eil4nyqn | 8:c47cf4e0230c | 80 | omniMotor[i]->setSpeed(omni->getOutput(i)); |
WAT34 | 6:0bee4b2bb400 | 81 | } |
WAT34 | 1:35e874e10602 | 82 | } |
WAT34 | 1:35e874e10602 | 83 | |
WAT34 | 1:35e874e10602 | 84 | void boomerang::shootingEncoderCount() |
WAT34 | 1:35e874e10602 | 85 | { |
WAT34 | 1:35e874e10602 | 86 | motorRPM = (1.0/rpmCalc.read())*60; |
WAT34 | 1:35e874e10602 | 87 | rpmCalc.reset(); |
WAT34 | 1:35e874e10602 | 88 | rpmCalc.start(); |
WAT34 | 1:35e874e10602 | 89 | } |
WAT34 | 1:35e874e10602 | 90 | |
WAT34 | 1:35e874e10602 | 91 | void boomerang::setTargetMotorSpeed(const int& targetRPM) |
WAT34 | 1:35e874e10602 | 92 | { |
WAT34 | 2:aca690545ec9 | 93 | speedPID->setSetPoint(targetRPM); |
WAT34 | 1:35e874e10602 | 94 | } |
WAT34 | 1:35e874e10602 | 95 | |
WAT34 | 1:35e874e10602 | 96 | void boomerang::setTargetArmAngle(const int& targetArmAngle) |
WAT34 | 1:35e874e10602 | 97 | { |
WAT34 | 2:aca690545ec9 | 98 | armPID->setSetPoint(targetArmAngle); |
WAT34 | 1:35e874e10602 | 99 | } |
WAT34 | 1:35e874e10602 | 100 | |
WAT34 | 2:aca690545ec9 | 101 | void boomerang::update() |
WAT34 | 1:35e874e10602 | 102 | { |
WAT34 | 6:0bee4b2bb400 | 103 | armAngle = armEncoder->getPulses()/800.0*85.51; |
WAT34 | 6:0bee4b2bb400 | 104 | armPID->setProcessValue(armAngle); |
WAT34 | 6:0bee4b2bb400 | 105 | speedPID->setProcessValue(motorRPM); |
WAT34 | 4:c2b09fa31492 | 106 | if(!calibrating) |
WAT34 | 6:0bee4b2bb400 | 107 | armMotor->setSpeed(armPID->compute()); |
WAT34 | 6:0bee4b2bb400 | 108 | shootingMotor->setSpeed(speedPID->compute()); |
WAT34 | 4:c2b09fa31492 | 109 | beltMotor->setSpeed(beltSpeed); |
WAT34 | 1:35e874e10602 | 110 | } |
WAT34 | 1:35e874e10602 | 111 | |
WAT34 | 2:aca690545ec9 | 112 | bool boomerang::fire() |
WAT34 | 1:35e874e10602 | 113 | { |
WAT34 | 4:c2b09fa31492 | 114 | if(firing) |
WAT34 | 4:c2b09fa31492 | 115 | return false; |
WAT34 | 4:c2b09fa31492 | 116 | firing = true; |
WAT34 | 4:c2b09fa31492 | 117 | beltSpeed=0.4; |
WAT34 | 6:0bee4b2bb400 | 118 | beltTime.attach(callback(this,&boomerang::beltStop),1); |
WAT34 | 2:aca690545ec9 | 119 | spiral->rotate(); |
WAT34 | 4:c2b09fa31492 | 120 | boomerang::update(); |
WAT34 | 2:aca690545ec9 | 121 | return true; |
WAT34 | 1:35e874e10602 | 122 | } |
WAT34 | 1:35e874e10602 | 123 | |
WAT34 | 1:35e874e10602 | 124 | void boomerang::beltStop() |
WAT34 | 1:35e874e10602 | 125 | { |
WAT34 | 4:c2b09fa31492 | 126 | beltSpeed = 0; |
WAT34 | 4:c2b09fa31492 | 127 | firing = false; |
WAT34 | 4:c2b09fa31492 | 128 | boomerang::update(); |
WAT34 | 4:c2b09fa31492 | 129 | |
WAT34 | 1:35e874e10602 | 130 | } |
WAT34 | 1:35e874e10602 | 131 | |
WAT34 | 1:35e874e10602 | 132 | int boomerang::calibrateArm() |
WAT34 | 1:35e874e10602 | 133 | { |
WAT34 | 2:aca690545ec9 | 134 | if(armLimit->read() == true) |
WAT34 | 1:35e874e10602 | 135 | return 1; |
WAT34 | 1:35e874e10602 | 136 | |
WAT34 | 4:c2b09fa31492 | 137 | calibrating = true; |
WAT34 | 2:aca690545ec9 | 138 | armLimit->enable_irq(); |
WAT34 | 2:aca690545ec9 | 139 | armMotor->setSpeed(0.2); |
WAT34 | 1:35e874e10602 | 140 | return 0; |
WAT34 | 1:35e874e10602 | 141 | } |
WAT34 | 1:35e874e10602 | 142 | |
WAT34 | 1:35e874e10602 | 143 | void boomerang::endCalibration() |
WAT34 | 1:35e874e10602 | 144 | { |
WAT34 | 4:c2b09fa31492 | 145 | calibrating = false; |
WAT34 | 2:aca690545ec9 | 146 | armEncoder->reset(); |
WAT34 | 2:aca690545ec9 | 147 | armLimit->disable_irq(); |
WAT34 | 2:aca690545ec9 | 148 | armPID->setSetPoint(10); |
WAT34 | 1:35e874e10602 | 149 | } |