Bteam tactics plan A _ move table ver
Dependencies: HCSR04 PID QEI mbed
Fork of UNKO_FINAL by
main.cpp@5:167327a82430, 2018-09-23 (annotated)
- Committer:
- yuron
- Date:
- Sun Sep 23 17:02:06 2018 +0000
- Revision:
- 5:167327a82430
- Parent:
- 4:df334779a69e
- Child:
- 6:5a051a378e42
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Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
yuron | 4:df334779a69e | 1 | /* ------------------------------------------------------------------- */ |
yuron | 4:df334779a69e | 2 | /* NHKロボコン2018-Bチーム自動ロボット(設計者: 4S 関) */ |
yuron | 4:df334779a69e | 3 | /* ------------------------------------------------------------------- */ |
yuron | 4:df334779a69e | 4 | /* このプログラムは上記のロボット専用の制御プログラムである。 */ |
yuron | 4:df334779a69e | 5 | /* ------------------------------------------------------------------- */ |
yuron | 4:df334779a69e | 6 | /* 対応機種: NUCLEO-F446RE */ |
yuron | 4:df334779a69e | 7 | /* ------------------------------------------------------------------- */ |
yuron | 4:df334779a69e | 8 | /* 製作者: 4D 高久 雄飛, mail: rab1sy23@gmail.com */ |
yuron | 4:df334779a69e | 9 | /* ------------------------------------------------------------------- */ |
yuron | 4:df334779a69e | 10 | /* 使用センサ: リミットスイッチ1個, ロータリーエンコーダ: 7個, 超音波センサ: 1個, フォトインタラプタ: 1個 */ |
yuron | 4:df334779a69e | 11 | /* 他にラインセンサ基板のPIC(16F1938)と通信をしてライントレースをさせている */ |
yuron | 4:df334779a69e | 12 | /* ------------------------------------------------------------------- */ |
yuron | 5:167327a82430 | 13 | |
yuron | 0:f73c1b076ae4 | 14 | #include "mbed.h" |
yuron | 0:f73c1b076ae4 | 15 | #include "math.h" |
yuron | 0:f73c1b076ae4 | 16 | #include "QEI.h" |
yuron | 0:f73c1b076ae4 | 17 | #include "PID.h" |
yuron | 4:df334779a69e | 18 | #include "hcsr04.h" |
yuron | 5:167327a82430 | 19 | |
yuron | 5:167327a82430 | 20 | //Pi |
yuron | 0:f73c1b076ae4 | 21 | #define PI 3.14159265359 |
yuron | 5:167327a82430 | 22 | //PIDGain of wheels(fast_mode) |
yuron | 4:df334779a69e | 23 | #define Kp 20.0 |
yuron | 4:df334779a69e | 24 | #define Ki 0.02 |
yuron | 4:df334779a69e | 25 | #define Kd 0.0 |
yuron | 5:167327a82430 | 26 | //PIDGain of rollers |
yuron | 5:167327a82430 | 27 | #define roller_Kp 4.0 |
yuron | 5:167327a82430 | 28 | #define roller_Ki 0.04 |
yuron | 5:167327a82430 | 29 | #define roller_Kd 0.0 |
yuron | 5:167327a82430 | 30 | //PIDGain of wheels(slow_mode) |
yuron | 5:167327a82430 | 31 | #define Kp_slow 0.6 |
yuron | 5:167327a82430 | 32 | #define Ki_slow 0.03 |
yuron | 5:167327a82430 | 33 | #define Kd_slow 0.0 |
yuron | 5:167327a82430 | 34 | |
yuron | 5:167327a82430 | 35 | //停止 |
yuron | 5:167327a82430 | 36 | #define stop 0 |
yuron | 5:167327a82430 | 37 | //低速右移動 |
yuron | 5:167327a82430 | 38 | #define right_slow 1 |
yuron | 5:167327a82430 | 39 | //低速左移動 |
yuron | 5:167327a82430 | 40 | #define left_slow 2 |
yuron | 5:167327a82430 | 41 | //超低速右移動 |
yuron | 5:167327a82430 | 42 | #define right_super_slow 3 |
yuron | 5:167327a82430 | 43 | //超低速左移動 |
yuron | 5:167327a82430 | 44 | #define left_super_slow 4 |
yuron | 5:167327a82430 | 45 | //右旋回 |
yuron | 5:167327a82430 | 46 | #define turn_right 5 |
yuron | 5:167327a82430 | 47 | //左旋回 |
yuron | 5:167327a82430 | 48 | #define turn_left 6 |
yuron | 5:167327a82430 | 49 | //前進 |
yuron | 5:167327a82430 | 50 | #define front_trace 7 |
yuron | 5:167327a82430 | 51 | //後進 |
yuron | 5:167327a82430 | 52 | #define back_trace 8 |
yuron | 5:167327a82430 | 53 | //前前進後ろ右旋回 |
yuron | 5:167327a82430 | 54 | #define front_front_back_right 9 |
yuron | 5:167327a82430 | 55 | //前前進後ろ左旋回 |
yuron | 5:167327a82430 | 56 | #define front_front_back_left 10 |
yuron | 5:167327a82430 | 57 | //前右旋回後ろ前進 |
yuron | 5:167327a82430 | 58 | #define front_right_back_front 11 |
yuron | 5:167327a82430 | 59 | //前左旋回後ろ前進 |
yuron | 5:167327a82430 | 60 | #define front_left_back_front 12 |
yuron | 5:167327a82430 | 61 | |
yuron | 5:167327a82430 | 62 | //赤ゾーン |
yuron | 5:167327a82430 | 63 | #define red 1 |
yuron | 5:167327a82430 | 64 | //青ゾーン |
yuron | 5:167327a82430 | 65 | #define blue 0 |
yuron | 4:df334779a69e | 66 | |
yuron | 4:df334779a69e | 67 | //右前オムニ |
yuron | 4:df334779a69e | 68 | PID migimae(Kp, Ki, Kd, 0.001); |
yuron | 4:df334779a69e | 69 | //右後オムニ |
yuron | 4:df334779a69e | 70 | PID migiusiro(Kp, Ki, Kd, 0.001); |
yuron | 4:df334779a69e | 71 | //左前オムニ |
yuron | 4:df334779a69e | 72 | PID hidarimae(Kp, Ki, Kd, 0.001); |
yuron | 4:df334779a69e | 73 | //左後オムニ |
yuron | 4:df334779a69e | 74 | PID hidariusiro(Kp, Ki, Kd, 0.001); |
yuron | 5:167327a82430 | 75 | |
yuron | 5:167327a82430 | 76 | //右前オムニ(スローモード) |
yuron | 5:167327a82430 | 77 | PID migimae_slow(Kp_slow, Ki_slow, Kd_slow, 0.001); |
yuron | 5:167327a82430 | 78 | //右後オムニ(スローモード) |
yuron | 5:167327a82430 | 79 | PID migiusiro_slow(Kp_slow, Ki_slow, Kd_slow, 0.001); |
yuron | 5:167327a82430 | 80 | //左前オムニ(スローモード) |
yuron | 5:167327a82430 | 81 | PID hidarimae_slow(Kp_slow, Ki_slow, Kd_slow, 0.001); |
yuron | 5:167327a82430 | 82 | //左後オムニ(スローモード) |
yuron | 5:167327a82430 | 83 | PID hidariusiro_slow(Kp_slow, Ki_slow, Kd_slow, 0.001); |
yuron | 5:167327a82430 | 84 | |
yuron | 4:df334779a69e | 85 | //前ローラー |
yuron | 5:167327a82430 | 86 | PID front_roller(roller_Kp, roller_Ki, roller_Kd, 0.001); |
yuron | 4:df334779a69e | 87 | //後ローラー |
yuron | 5:167327a82430 | 88 | PID back_roller (roller_Kp, roller_Ki, roller_Kd, 0.001); |
yuron | 0:f73c1b076ae4 | 89 | |
yuron | 4:df334779a69e | 90 | //MDとの通信ポート |
yuron | 4:df334779a69e | 91 | I2C i2c(PB_9, PB_8); //SDA, SCL |
yuron | 4:df334779a69e | 92 | //PCとの通信ポート |
yuron | 4:df334779a69e | 93 | Serial pc(USBTX, USBRX); //TX, RX |
yuron | 4:df334779a69e | 94 | //フォトインタラプタ制御基板からの受信ポート |
yuron | 4:df334779a69e | 95 | Serial photo(NC, PC_11); //TX, RX |
yuron | 4:df334779a69e | 96 | //TWE-Liteからの受信ポート |
yuron | 4:df334779a69e | 97 | Serial twe(PC_12, PD_2); //TX, RX |
yuron | 4:df334779a69e | 98 | |
yuron | 4:df334779a69e | 99 | //超音波センサ1 |
yuron | 4:df334779a69e | 100 | HCSR04 sonic(PB_3, PB_10); //Trig, Echo |
yuron | 4:df334779a69e | 101 | //超音波センサ2 |
yuron | 4:df334779a69e | 102 | //HCSR04 sonic2(PC_13, PA_15); //Trig, Echo |
yuron | 4:df334779a69e | 103 | //超音波センサ3 |
yuron | 4:df334779a69e | 104 | //HCSR04 sonic3(PC_15, PC_14); //Trig, Echo |
yuron | 4:df334779a69e | 105 | //超音波センサ4 |
yuron | 4:df334779a69e | 106 | //HCSR04 sonic4(PH_1 , PH_0 ); //Trig, Echo |
yuron | 4:df334779a69e | 107 | |
yuron | 4:df334779a69e | 108 | //赤、青ゾーン切り替え用スイッチ |
yuron | 4:df334779a69e | 109 | DigitalIn side(PC_1); |
yuron | 4:df334779a69e | 110 | //スタートボタン |
yuron | 4:df334779a69e | 111 | DigitalIn start_button(PC_4); |
yuron | 5:167327a82430 | 112 | //フェンス検知用リミットスイッチ |
yuron | 5:167327a82430 | 113 | DigitalIn limit(PH_1); |
yuron | 4:df334779a69e | 114 | //スイッチ1 |
yuron | 4:df334779a69e | 115 | DigitalIn user_switch1(PB_0); |
yuron | 4:df334779a69e | 116 | //スイッチ2 |
yuron | 4:df334779a69e | 117 | DigitalIn user_switch2(PA_4); |
yuron | 4:df334779a69e | 118 | //スイッチ3 |
yuron | 4:df334779a69e | 119 | DigitalIn user_switch3(PA_3); |
yuron | 4:df334779a69e | 120 | //スイッチ4 |
yuron | 4:df334779a69e | 121 | //以下の文を入れるとロリコンが読めなくなる |
yuron | 4:df334779a69e | 122 | //DigitalIn user_switch4(PA_2); |
yuron | 4:df334779a69e | 123 | //スイッチ5 |
yuron | 4:df334779a69e | 124 | DigitalIn user_switch5(PA_10); |
yuron | 4:df334779a69e | 125 | |
yuron | 4:df334779a69e | 126 | //フォトインタラプタ |
yuron | 4:df334779a69e | 127 | DigitalIn photo_interrupter(PA_15); |
yuron | 4:df334779a69e | 128 | |
yuron | 4:df334779a69e | 129 | //12V停止信号ピン |
yuron | 0:f73c1b076ae4 | 130 | DigitalOut emergency(PA_13); |
yuron | 4:df334779a69e | 131 | |
yuron | 4:df334779a69e | 132 | //赤ゾーンLED |
yuron | 4:df334779a69e | 133 | DigitalOut blue_side(PC_0); |
yuron | 4:df334779a69e | 134 | //青ゾーンLED |
yuron | 4:df334779a69e | 135 | DigitalOut red_side(PC_3); |
yuron | 4:df334779a69e | 136 | //スタートLED |
yuron | 4:df334779a69e | 137 | DigitalOut start_LED(PA_8); |
yuron | 4:df334779a69e | 138 | //LED1 |
yuron | 4:df334779a69e | 139 | DigitalOut myled1(PC_6); |
yuron | 4:df334779a69e | 140 | //LED2 |
yuron | 4:df334779a69e | 141 | DigitalOut myled2(PC_5); |
yuron | 4:df334779a69e | 142 | //LED3 |
yuron | 4:df334779a69e | 143 | DigitalOut myled3(PA_12); |
yuron | 4:df334779a69e | 144 | //LED4 |
yuron | 4:df334779a69e | 145 | DigitalOut myled4(PB_1); |
yuron | 4:df334779a69e | 146 | //LED5 |
yuron | 4:df334779a69e | 147 | DigitalOut myled5(PA_5); |
yuron | 0:f73c1b076ae4 | 148 | |
yuron | 4:df334779a69e | 149 | //前ローラー |
yuron | 4:df334779a69e | 150 | QEI front_roller_wheel(PA_0, PA_1, NC, 624); |
yuron | 4:df334779a69e | 151 | //後ローラー |
yuron | 4:df334779a69e | 152 | QEI back_roller_wheel(PB_5, PB_4, NC, 624); |
yuron | 4:df334779a69e | 153 | //計測オムニ1 |
yuron | 5:167327a82430 | 154 | QEI measure_wheel(PC_9, PC_8, NC, 624); |
yuron | 4:df334779a69e | 155 | //計測オムニ2(使用不可) |
yuron | 4:df334779a69e | 156 | //QEI measure2_wheel(PB_3, PB_10, NC, 624); |
yuron | 4:df334779a69e | 157 | //右前オムニ |
yuron | 4:df334779a69e | 158 | QEI migimae_wheel(PB_6 , PA_7 , NC, 624); |
yuron | 4:df334779a69e | 159 | //右後オムニ |
yuron | 4:df334779a69e | 160 | QEI migiusiro_wheel(PA_11, PB_12, NC, 624); |
yuron | 4:df334779a69e | 161 | //左前オムニ |
yuron | 4:df334779a69e | 162 | QEI hidarimae_wheel(PB_2, PB_15, NC, 624); |
yuron | 4:df334779a69e | 163 | //左後オムニ |
yuron | 4:df334779a69e | 164 | QEI hidariusiro_wheel(PB_14, PB_13, NC, 624); |
yuron | 0:f73c1b076ae4 | 165 | |
yuron | 4:df334779a69e | 166 | Ticker get_rps; |
yuron | 4:df334779a69e | 167 | Ticker get_distance; |
yuron | 1:62b321f6c9c3 | 168 | Timer timer; |
yuron | 5:167327a82430 | 169 | Timer back_timer1; |
yuron | 5:167327a82430 | 170 | Timer back_timer2; |
yuron | 5:167327a82430 | 171 | Timer back_timer3; |
yuron | 0:f73c1b076ae4 | 172 | |
yuron | 5:167327a82430 | 173 | bool roller_flag = 0; |
yuron | 5:167327a82430 | 174 | bool start_flag = 0; |
yuron | 5:167327a82430 | 175 | int loading_state = 0; |
yuron | 5:167327a82430 | 176 | int line_state = 0; |
yuron | 5:167327a82430 | 177 | int front_line_state = 0; |
yuron | 5:167327a82430 | 178 | int back_line_state = 0; |
yuron | 5:167327a82430 | 179 | int line_state_pettern = 0; |
yuron | 5:167327a82430 | 180 | unsigned int distance; |
yuron | 5:167327a82430 | 181 | int trace_direction = 0; |
yuron | 5:167327a82430 | 182 | static int i = 0; |
yuron | 5:167327a82430 | 183 | int right_flag = 0; |
yuron | 5:167327a82430 | 184 | |
yuron | 0:f73c1b076ae4 | 185 | |
yuron | 4:df334779a69e | 186 | int migimae_rpm; |
yuron | 4:df334779a69e | 187 | int migiusiro_rpm; |
yuron | 4:df334779a69e | 188 | int hidarimae_rpm; |
yuron | 4:df334779a69e | 189 | int hidariusiro_rpm; |
yuron | 5:167327a82430 | 190 | //int measure_rpm; |
yuron | 4:df334779a69e | 191 | int front_roller_rpm; |
yuron | 4:df334779a69e | 192 | int back_roller_rpm; |
yuron | 0:f73c1b076ae4 | 193 | |
yuron | 5:167327a82430 | 194 | //int migimae_pulse; |
yuron | 5:167327a82430 | 195 | //int migiusiro_pulse; |
yuron | 5:167327a82430 | 196 | //int hidarimae_pulse; |
yuron | 5:167327a82430 | 197 | //int hidariusiro_pulse; |
yuron | 5:167327a82430 | 198 | int measure_pulse; |
yuron | 5:167327a82430 | 199 | //int front_roller_pulse; |
yuron | 5:167327a82430 | 200 | //int back_roller_pulse; |
yuron | 5:167327a82430 | 201 | |
yuron | 5:167327a82430 | 202 | int migimae_pulse[10]; |
yuron | 5:167327a82430 | 203 | int migiusiro_pulse[10]; |
yuron | 5:167327a82430 | 204 | int hidarimae_pulse[10]; |
yuron | 5:167327a82430 | 205 | int hidariusiro_pulse[10]; |
yuron | 5:167327a82430 | 206 | //int measure_pulse[10]; |
yuron | 5:167327a82430 | 207 | int front_roller_pulse[10]; |
yuron | 5:167327a82430 | 208 | int back_roller_pulse[10]; |
yuron | 0:f73c1b076ae4 | 209 | |
yuron | 5:167327a82430 | 210 | int sum_migimae_pulse; |
yuron | 5:167327a82430 | 211 | int sum_migiusiro_pulse; |
yuron | 5:167327a82430 | 212 | int sum_hidarimae_pulse; |
yuron | 5:167327a82430 | 213 | int sum_hidariusiro_pulse; |
yuron | 5:167327a82430 | 214 | //int sum_measure_pulse; |
yuron | 5:167327a82430 | 215 | int sum_front_roller_pulse; |
yuron | 5:167327a82430 | 216 | int sum_back_roller_pulse; |
yuron | 0:f73c1b076ae4 | 217 | |
yuron | 5:167327a82430 | 218 | int ave_migimae_pulse; |
yuron | 5:167327a82430 | 219 | int ave_migiusiro_pulse; |
yuron | 5:167327a82430 | 220 | int ave_hidarimae_pulse; |
yuron | 5:167327a82430 | 221 | int ave_hidariusiro_pulse; |
yuron | 5:167327a82430 | 222 | //int ave_measure_pulse; |
yuron | 5:167327a82430 | 223 | int ave_front_roller_pulse; |
yuron | 5:167327a82430 | 224 | int ave_back_roller_pulse; |
yuron | 0:f73c1b076ae4 | 225 | |
yuron | 0:f73c1b076ae4 | 226 | char send_data[1]; |
yuron | 0:f73c1b076ae4 | 227 | char true_send_data[1]; |
yuron | 0:f73c1b076ae4 | 228 | |
yuron | 4:df334779a69e | 229 | char migimae_data[1]; |
yuron | 4:df334779a69e | 230 | char migiusiro_data[1]; |
yuron | 4:df334779a69e | 231 | char hidarimae_data[1]; |
yuron | 4:df334779a69e | 232 | char hidariusiro_data[1]; |
yuron | 4:df334779a69e | 233 | char front_roller_data[1]; |
yuron | 4:df334779a69e | 234 | char back_roller_data[1]; |
yuron | 4:df334779a69e | 235 | char loading_data[1]; |
yuron | 4:df334779a69e | 236 | char cylinder_data[1]; |
yuron | 4:df334779a69e | 237 | |
yuron | 4:df334779a69e | 238 | char true_migimae_data[1]; |
yuron | 4:df334779a69e | 239 | char true_migiusiro_data[1]; |
yuron | 4:df334779a69e | 240 | char true_hidarimae_data[1]; |
yuron | 4:df334779a69e | 241 | char true_hidariusiro_data[1]; |
yuron | 4:df334779a69e | 242 | |
yuron | 5:167327a82430 | 243 | //各関数のプロトタイプ宣言 |
yuron | 5:167327a82430 | 244 | //回転数取得関数 |
yuron | 0:f73c1b076ae4 | 245 | void flip(); |
yuron | 5:167327a82430 | 246 | //前進PID(fast_mode) |
yuron | 4:df334779a69e | 247 | int front_PID(int RF, int RB, int LF, int LB); |
yuron | 5:167327a82430 | 248 | //前進PID(slow_mode) |
yuron | 5:167327a82430 | 249 | int front_PID_slow(int RF, int RB, int LF, int LB); |
yuron | 5:167327a82430 | 250 | //前進PID(fast_mode) |
yuron | 4:df334779a69e | 251 | int back_PID(int RF, int RB, int LF, int LB); |
yuron | 5:167327a82430 | 252 | //後進PID(slow_mode) |
yuron | 5:167327a82430 | 253 | int back_PID_slow(int RF, int RB, int LF, int LB); |
yuron | 5:167327a82430 | 254 | //右進PID(fast_mode) |
yuron | 4:df334779a69e | 255 | int rihgt_PID(int RF, int RB, int LF, int LB); |
yuron | 5:167327a82430 | 256 | //左進PID(fast_mode) |
yuron | 4:df334779a69e | 257 | int left_PID(int RF, int RB, int LF, int LB); |
yuron | 5:167327a82430 | 258 | //右前PID(slow_mode) |
yuron | 4:df334779a69e | 259 | int right_front_PID(int RB, int LF); |
yuron | 5:167327a82430 | 260 | //右後PID(slow_mode) |
yuron | 4:df334779a69e | 261 | int right_back_PID(int RF, int LB); |
yuron | 5:167327a82430 | 262 | //左前PID(slow_mode) |
yuron | 4:df334779a69e | 263 | int left_front_PID(int RF, int LB); |
yuron | 5:167327a82430 | 264 | //左後PID(slow_mode) |
yuron | 4:df334779a69e | 265 | int left_back_PID(int RB, int RF); |
yuron | 5:167327a82430 | 266 | //右旋回PID(fast mode) |
yuron | 4:df334779a69e | 267 | int turn_right_PID(int RF, int RB, int LF, int LB); |
yuron | 5:167327a82430 | 268 | //右旋回PID(slow mode) |
yuron | 5:167327a82430 | 269 | int turn_right_PID_slow(int RF, int RB, int LF, int LB); |
yuron | 5:167327a82430 | 270 | //左旋回PID(fast mode) |
yuron | 4:df334779a69e | 271 | int turn_left_PID(int RF, int RB, int LF, int LB); |
yuron | 5:167327a82430 | 272 | //左旋回PID(sow mode) |
yuron | 5:167327a82430 | 273 | int turn_left_PID_slow(int RF, int RB, int LF, int LB); |
yuron | 5:167327a82430 | 274 | //前前進後右旋回(slow_mode) |
yuron | 5:167327a82430 | 275 | int front_front_back_right_PID(int RF, int RB, int LF, int LB); |
yuron | 5:167327a82430 | 276 | //前前進後左旋回(slow_mode) |
yuron | 5:167327a82430 | 277 | int front_front_back_left_PID(int RF, int RB, int LF, int LB); |
yuron | 5:167327a82430 | 278 | //前右旋回後前進(slow_mode) |
yuron | 5:167327a82430 | 279 | int front_right_back_front_PID(int RF, int RB, int LF, int LB); |
yuron | 5:167327a82430 | 280 | //前左旋回後前進(slow_mode) |
yuron | 5:167327a82430 | 281 | int front_left_back_front_PID(int RF, int RB, int LF, int LB); |
yuron | 5:167327a82430 | 282 | //ローラーPID |
yuron | 4:df334779a69e | 283 | int roller_PID(int front, int back); |
yuron | 5:167327a82430 | 284 | |
yuron | 5:167327a82430 | 285 | //ラインセンサ制御基板との通信用関数 |
yuron | 4:df334779a69e | 286 | void linetrace(); |
yuron | 5:167327a82430 | 287 | //超音波センサ用関数 |
yuron | 4:df334779a69e | 288 | void ultrasonic(); |
yuron | 0:f73c1b076ae4 | 289 | |
yuron | 5:167327a82430 | 290 | //移動平均をPID |
yuron | 4:df334779a69e | 291 | void flip() { |
yuron | 5:167327a82430 | 292 | |
yuron | 5:167327a82430 | 293 | //前回のi番目のデータを消して新たにそこにデータを書き込む(キューのような考え?) |
yuron | 5:167327a82430 | 294 | sum_migimae_pulse -= migimae_pulse[i]; |
yuron | 5:167327a82430 | 295 | sum_migiusiro_pulse -= migiusiro_pulse[i]; |
yuron | 5:167327a82430 | 296 | sum_hidarimae_pulse -= hidarimae_pulse[i]; |
yuron | 5:167327a82430 | 297 | sum_hidariusiro_pulse -= hidariusiro_pulse[i]; |
yuron | 5:167327a82430 | 298 | sum_front_roller_pulse -= front_roller_pulse[i]; |
yuron | 5:167327a82430 | 299 | sum_back_roller_pulse -= back_roller_pulse[i]; |
yuron | 4:df334779a69e | 300 | |
yuron | 5:167327a82430 | 301 | //配列のi番目の箱に取得パルスを代入 |
yuron | 5:167327a82430 | 302 | migimae_pulse[i] = migimae_wheel.getPulses(); |
yuron | 5:167327a82430 | 303 | migiusiro_pulse[i] = migiusiro_wheel.getPulses(); |
yuron | 5:167327a82430 | 304 | hidarimae_pulse[i] = hidarimae_wheel.getPulses(); |
yuron | 5:167327a82430 | 305 | hidariusiro_pulse[i] = hidariusiro_wheel.getPulses(); |
yuron | 5:167327a82430 | 306 | measure_pulse = measure_wheel.getPulses(); |
yuron | 5:167327a82430 | 307 | front_roller_pulse[i] = front_roller_wheel.getPulses(); |
yuron | 5:167327a82430 | 308 | back_roller_pulse[i] = back_roller_wheel.getPulses(); |
yuron | 5:167327a82430 | 309 | //migimae_pulse = migimae_wheel.getPulses(); |
yuron | 5:167327a82430 | 310 | //migiusiro_pulse = migiusiro_wheel.getPulses(); |
yuron | 5:167327a82430 | 311 | //hidarimae_pulse = hidarimae_wheel.getPulses(); |
yuron | 5:167327a82430 | 312 | //hidariusiro_pulse = hidariusiro_wheel.getPulses(); |
yuron | 4:df334779a69e | 313 | |
yuron | 4:df334779a69e | 314 | migimae_wheel.reset(); |
yuron | 4:df334779a69e | 315 | migiusiro_wheel.reset(); |
yuron | 4:df334779a69e | 316 | hidarimae_wheel.reset(); |
yuron | 4:df334779a69e | 317 | hidariusiro_wheel.reset(); |
yuron | 4:df334779a69e | 318 | front_roller_wheel.reset(); |
yuron | 4:df334779a69e | 319 | back_roller_wheel.reset(); |
yuron | 5:167327a82430 | 320 | |
yuron | 5:167327a82430 | 321 | //i[0]~i[9]までの合計値を代入 |
yuron | 5:167327a82430 | 322 | sum_migimae_pulse += migimae_pulse[i]; |
yuron | 5:167327a82430 | 323 | sum_migiusiro_pulse += migiusiro_pulse[i]; |
yuron | 5:167327a82430 | 324 | sum_hidarimae_pulse += hidarimae_pulse[i]; |
yuron | 5:167327a82430 | 325 | sum_hidariusiro_pulse += hidariusiro_pulse[i]; |
yuron | 5:167327a82430 | 326 | sum_front_roller_pulse += front_roller_pulse[i]; |
yuron | 5:167327a82430 | 327 | sum_back_roller_pulse += back_roller_pulse[i]; |
yuron | 5:167327a82430 | 328 | |
yuron | 5:167327a82430 | 329 | //インクリメント |
yuron | 5:167327a82430 | 330 | i++; |
yuron | 5:167327a82430 | 331 | |
yuron | 5:167327a82430 | 332 | //iが最大値(9)になったらリセット |
yuron | 5:167327a82430 | 333 | if(i > 9) { |
yuron | 5:167327a82430 | 334 | i = 0; |
yuron | 5:167327a82430 | 335 | } |
yuron | 5:167327a82430 | 336 | |
yuron | 5:167327a82430 | 337 | //10回分の合計値を10で割り、取得パルスの平均を出す |
yuron | 5:167327a82430 | 338 | ave_migimae_pulse = sum_migimae_pulse / 10; |
yuron | 5:167327a82430 | 339 | ave_migiusiro_pulse = sum_migiusiro_pulse / 10; |
yuron | 5:167327a82430 | 340 | ave_hidarimae_pulse = sum_hidarimae_pulse / 10; |
yuron | 5:167327a82430 | 341 | ave_hidariusiro_pulse = sum_hidariusiro_pulse / 10; |
yuron | 5:167327a82430 | 342 | ave_front_roller_pulse = sum_front_roller_pulse / 10; |
yuron | 5:167327a82430 | 343 | ave_back_roller_pulse = sum_back_roller_pulse / 10; |
yuron | 5:167327a82430 | 344 | |
yuron | 5:167327a82430 | 345 | //平均値をRPMへ変換 |
yuron | 5:167327a82430 | 346 | migimae_rpm = ave_migimae_pulse * 25 * 60 / 1200; |
yuron | 5:167327a82430 | 347 | migiusiro_rpm = ave_migiusiro_pulse * 25 * 60 / 1200; |
yuron | 5:167327a82430 | 348 | hidarimae_rpm = ave_hidarimae_pulse * 25 * 60 / 1200; |
yuron | 5:167327a82430 | 349 | hidariusiro_rpm = ave_hidariusiro_pulse * 25 * 60 / 1200; |
yuron | 5:167327a82430 | 350 | front_roller_rpm = ave_front_roller_pulse * 25 * 60 / 1200; |
yuron | 5:167327a82430 | 351 | back_roller_rpm = ave_back_roller_pulse * 25 * 60 / 1200; |
yuron | 5:167327a82430 | 352 | |
yuron | 5:167327a82430 | 353 | //pc.printf("左後 %d\n", abs(hidariusiro_rpm)); |
yuron | 5:167327a82430 | 354 | //pc.printf("%d\n\r", measure_pulse); |
yuron | 5:167327a82430 | 355 | //pc.printf("%d %d\n", abs(front_roller_rpm), abs(back_roller_rpm)); |
yuron | 5:167327a82430 | 356 | //pc.printf("前 %d 後 %d %d %d\n", abs(front_roller_rpm), abs(back_roller_rpm), distance, line_state); |
yuron | 4:df334779a69e | 357 | } |
yuron | 5:167327a82430 | 358 | //前進(fast mode) |
yuron | 4:df334779a69e | 359 | int front_PID(int RF, int RB, int LF, int LB) { |
yuron | 5:167327a82430 | 360 | // センサ出力値の最小、最大 |
yuron | 4:df334779a69e | 361 | migimae.setInputLimits(-400, 400); |
yuron | 4:df334779a69e | 362 | migiusiro.setInputLimits(-400, 400); |
yuron | 4:df334779a69e | 363 | hidarimae.setInputLimits(-400, 400); |
yuron | 4:df334779a69e | 364 | hidariusiro.setInputLimits(-400, 400); |
yuron | 5:167327a82430 | 365 | |
yuron | 5:167327a82430 | 366 | // 制御量の最小、最大 |
yuron | 4:df334779a69e | 367 | migimae.setOutputLimits(0x0C, 0x7C); |
yuron | 4:df334779a69e | 368 | migiusiro.setOutputLimits(0x0C, 0x7C); |
yuron | 4:df334779a69e | 369 | hidarimae.setOutputLimits(0x0C, 0x7C); |
yuron | 4:df334779a69e | 370 | hidariusiro.setOutputLimits(0x0C, 0x7C); |
yuron | 4:df334779a69e | 371 | |
yuron | 5:167327a82430 | 372 | // よくわからんやつ |
yuron | 4:df334779a69e | 373 | migimae.setMode(AUTO_MODE); |
yuron | 4:df334779a69e | 374 | migiusiro.setMode(AUTO_MODE); |
yuron | 4:df334779a69e | 375 | hidarimae.setMode(AUTO_MODE); |
yuron | 4:df334779a69e | 376 | hidariusiro.setMode(AUTO_MODE); |
yuron | 0:f73c1b076ae4 | 377 | |
yuron | 5:167327a82430 | 378 | // 目標値 |
yuron | 4:df334779a69e | 379 | migimae.setSetPoint(RF); |
yuron | 4:df334779a69e | 380 | migiusiro.setSetPoint(RB); |
yuron | 4:df334779a69e | 381 | hidarimae.setSetPoint(LF); |
yuron | 4:df334779a69e | 382 | hidariusiro.setSetPoint(LB); |
yuron | 5:167327a82430 | 383 | |
yuron | 5:167327a82430 | 384 | // センサ出力 |
yuron | 4:df334779a69e | 385 | migimae.setProcessValue(abs(migimae_rpm)); |
yuron | 4:df334779a69e | 386 | migiusiro.setProcessValue(abs(migiusiro_rpm)); |
yuron | 4:df334779a69e | 387 | hidarimae.setProcessValue(abs(hidarimae_rpm)); |
yuron | 4:df334779a69e | 388 | hidariusiro.setProcessValue(abs(hidariusiro_rpm)); |
yuron | 5:167327a82430 | 389 | |
yuron | 5:167327a82430 | 390 | // 制御量(計算結果) |
yuron | 4:df334779a69e | 391 | migimae_data[0] = migimae.compute(); |
yuron | 4:df334779a69e | 392 | migiusiro_data[0] = migiusiro.compute(); |
yuron | 4:df334779a69e | 393 | hidarimae_data[0] = hidarimae.compute(); |
yuron | 4:df334779a69e | 394 | hidariusiro_data[0] = hidariusiro.compute(); |
yuron | 0:f73c1b076ae4 | 395 | |
yuron | 5:167327a82430 | 396 | // 制御量をPWM値に変換 |
yuron | 4:df334779a69e | 397 | true_migimae_data[0] = 0x7D - migimae_data[0]; |
yuron | 4:df334779a69e | 398 | true_migiusiro_data[0] = 0x7D - migiusiro_data[0]; |
yuron | 4:df334779a69e | 399 | true_hidarimae_data[0] = 0x7D - hidarimae_data[0]; |
yuron | 4:df334779a69e | 400 | true_hidariusiro_data[0] = 0x7D - hidariusiro_data[0]; |
yuron | 5:167327a82430 | 401 | |
yuron | 4:df334779a69e | 402 | return 0; |
yuron | 0:f73c1b076ae4 | 403 | } |
yuron | 5:167327a82430 | 404 | //前進(slow mode) |
yuron | 5:167327a82430 | 405 | int front_PID_slow(int RF, int RB, int LF, int LB) { |
yuron | 5:167327a82430 | 406 | // センサ出力値の最小、最大 |
yuron | 5:167327a82430 | 407 | migimae_slow.setInputLimits(-400, 400); |
yuron | 5:167327a82430 | 408 | migiusiro_slow.setInputLimits(-400, 400); |
yuron | 5:167327a82430 | 409 | hidarimae_slow.setInputLimits(-400, 400); |
yuron | 5:167327a82430 | 410 | hidariusiro_slow.setInputLimits(-400, 400); |
yuron | 5:167327a82430 | 411 | |
yuron | 5:167327a82430 | 412 | // 制御量の最小、最大 |
yuron | 5:167327a82430 | 413 | migimae_slow.setOutputLimits(0x0C, 0x7C); |
yuron | 5:167327a82430 | 414 | migiusiro_slow.setOutputLimits(0x0C, 0x7C); |
yuron | 5:167327a82430 | 415 | hidarimae_slow.setOutputLimits(0x0C, 0x7C); |
yuron | 5:167327a82430 | 416 | hidariusiro_slow.setOutputLimits(0x0C, 0x7C); |
yuron | 5:167327a82430 | 417 | |
yuron | 5:167327a82430 | 418 | // よくわからんやつ |
yuron | 5:167327a82430 | 419 | migimae_slow.setMode(AUTO_MODE); |
yuron | 5:167327a82430 | 420 | migiusiro_slow.setMode(AUTO_MODE); |
yuron | 5:167327a82430 | 421 | hidarimae_slow.setMode(AUTO_MODE); |
yuron | 5:167327a82430 | 422 | hidariusiro_slow.setMode(AUTO_MODE); |
yuron | 5:167327a82430 | 423 | |
yuron | 5:167327a82430 | 424 | // 目標値 |
yuron | 5:167327a82430 | 425 | migimae_slow.setSetPoint(RF); |
yuron | 5:167327a82430 | 426 | migiusiro_slow.setSetPoint(RB); |
yuron | 5:167327a82430 | 427 | hidarimae_slow.setSetPoint(LF); |
yuron | 5:167327a82430 | 428 | hidariusiro_slow.setSetPoint(LB); |
yuron | 5:167327a82430 | 429 | |
yuron | 5:167327a82430 | 430 | // センサ出力 |
yuron | 5:167327a82430 | 431 | migimae_slow.setProcessValue(abs(migimae_rpm)); |
yuron | 5:167327a82430 | 432 | migiusiro_slow.setProcessValue(abs(migiusiro_rpm)); |
yuron | 5:167327a82430 | 433 | hidarimae_slow.setProcessValue(abs(hidarimae_rpm)); |
yuron | 5:167327a82430 | 434 | hidariusiro_slow.setProcessValue(abs(hidariusiro_rpm)); |
yuron | 5:167327a82430 | 435 | |
yuron | 5:167327a82430 | 436 | // 制御量(計算結果) |
yuron | 5:167327a82430 | 437 | migimae_data[0] = migimae_slow.compute(); |
yuron | 5:167327a82430 | 438 | migiusiro_data[0] = migiusiro_slow.compute(); |
yuron | 5:167327a82430 | 439 | hidarimae_data[0] = hidarimae_slow.compute(); |
yuron | 5:167327a82430 | 440 | hidariusiro_data[0] = hidariusiro_slow.compute(); |
yuron | 5:167327a82430 | 441 | |
yuron | 5:167327a82430 | 442 | // 制御量をPWM値に変換 |
yuron | 5:167327a82430 | 443 | true_migimae_data[0] = 0x7D - migimae_data[0]; |
yuron | 5:167327a82430 | 444 | true_migiusiro_data[0] = 0x7D - migiusiro_data[0]; |
yuron | 5:167327a82430 | 445 | true_hidarimae_data[0] = 0x7D - hidarimae_data[0]; |
yuron | 5:167327a82430 | 446 | true_hidariusiro_data[0] = 0x7D - hidariusiro_data[0]; |
yuron | 5:167327a82430 | 447 | |
yuron | 5:167327a82430 | 448 | return 0; |
yuron | 5:167327a82430 | 449 | } |
yuron | 5:167327a82430 | 450 | //後進(fast mode) |
yuron | 4:df334779a69e | 451 | int back_PID(int RF, int RB, int LF, int LB) { |
yuron | 5:167327a82430 | 452 | // センサ出力値の最小、最大 |
yuron | 4:df334779a69e | 453 | migimae.setInputLimits(-400, 400); |
yuron | 4:df334779a69e | 454 | migiusiro.setInputLimits(-400, 400); |
yuron | 4:df334779a69e | 455 | hidarimae.setInputLimits(-400, 400); |
yuron | 4:df334779a69e | 456 | hidariusiro.setInputLimits(-400, 400); |
yuron | 5:167327a82430 | 457 | |
yuron | 5:167327a82430 | 458 | // 制御量の最小、最大 |
yuron | 4:df334779a69e | 459 | migimae.setOutputLimits(0x84, 0xFF); |
yuron | 4:df334779a69e | 460 | migiusiro.setOutputLimits(0x84, 0xFF); |
yuron | 4:df334779a69e | 461 | hidarimae.setOutputLimits(0x84, 0xFF); |
yuron | 4:df334779a69e | 462 | hidariusiro.setOutputLimits(0x84, 0xFF); |
yuron | 5:167327a82430 | 463 | |
yuron | 5:167327a82430 | 464 | // よくわからんやつ |
yuron | 4:df334779a69e | 465 | migimae.setMode(AUTO_MODE); |
yuron | 4:df334779a69e | 466 | migiusiro.setMode(AUTO_MODE); |
yuron | 4:df334779a69e | 467 | hidarimae.setMode(AUTO_MODE); |
yuron | 4:df334779a69e | 468 | hidariusiro.setMode(AUTO_MODE); |
yuron | 5:167327a82430 | 469 | |
yuron | 5:167327a82430 | 470 | // 目標値 |
yuron | 4:df334779a69e | 471 | migimae.setSetPoint(RF); |
yuron | 4:df334779a69e | 472 | migiusiro.setSetPoint(RB); |
yuron | 4:df334779a69e | 473 | hidarimae.setSetPoint(LF); |
yuron | 4:df334779a69e | 474 | hidariusiro.setSetPoint(LB); |
yuron | 5:167327a82430 | 475 | |
yuron | 5:167327a82430 | 476 | // センサ出力 |
yuron | 4:df334779a69e | 477 | //目標値が負の数になると出力がバグるため目標値は絶対値で指定して出力は逆回転になるようにしてます。 |
yuron | 4:df334779a69e | 478 | migimae.setProcessValue(abs(migimae_rpm)); |
yuron | 4:df334779a69e | 479 | migiusiro.setProcessValue(abs(migiusiro_rpm)); |
yuron | 4:df334779a69e | 480 | hidarimae.setProcessValue(abs(hidarimae_rpm)); |
yuron | 4:df334779a69e | 481 | hidariusiro.setProcessValue(abs(hidariusiro_rpm)); |
yuron | 5:167327a82430 | 482 | |
yuron | 5:167327a82430 | 483 | // 制御量(計算結果) |
yuron | 4:df334779a69e | 484 | migimae_data[0] = migimae.compute(); |
yuron | 4:df334779a69e | 485 | migiusiro_data[0] = migiusiro.compute(); |
yuron | 4:df334779a69e | 486 | hidarimae_data[0] = hidarimae.compute(); |
yuron | 4:df334779a69e | 487 | hidariusiro_data[0] = hidariusiro.compute(); |
yuron | 5:167327a82430 | 488 | |
yuron | 4:df334779a69e | 489 | true_migimae_data[0] = migimae_data[0]; |
yuron | 4:df334779a69e | 490 | true_migiusiro_data[0] = migiusiro_data[0]; |
yuron | 4:df334779a69e | 491 | true_hidarimae_data[0] = hidarimae_data[0]; |
yuron | 4:df334779a69e | 492 | true_hidariusiro_data[0] = hidariusiro_data[0]; |
yuron | 5:167327a82430 | 493 | |
yuron | 4:df334779a69e | 494 | return 0; |
yuron | 4:df334779a69e | 495 | } |
yuron | 5:167327a82430 | 496 | //後進(slow mode) |
yuron | 5:167327a82430 | 497 | int back_PID_slow(int RF, int RB, int LF, int LB) { |
yuron | 5:167327a82430 | 498 | // センサ出力値の最小、最大 |
yuron | 5:167327a82430 | 499 | migimae_slow.setInputLimits(-400, 400); |
yuron | 5:167327a82430 | 500 | migiusiro_slow.setInputLimits(-400, 400); |
yuron | 5:167327a82430 | 501 | hidarimae_slow.setInputLimits(-400, 400); |
yuron | 5:167327a82430 | 502 | hidariusiro_slow.setInputLimits(-400, 400); |
yuron | 5:167327a82430 | 503 | |
yuron | 5:167327a82430 | 504 | // 制御量の最小、最大 |
yuron | 5:167327a82430 | 505 | migimae_slow.setOutputLimits(0x84, 0xFF); |
yuron | 5:167327a82430 | 506 | migiusiro_slow.setOutputLimits(0x84, 0xFF); |
yuron | 5:167327a82430 | 507 | hidarimae_slow.setOutputLimits(0x84, 0xFF); |
yuron | 5:167327a82430 | 508 | hidariusiro_slow.setOutputLimits(0x84, 0xFF); |
yuron | 5:167327a82430 | 509 | |
yuron | 5:167327a82430 | 510 | // よくわからんやつ |
yuron | 5:167327a82430 | 511 | migimae_slow.setMode(AUTO_MODE); |
yuron | 5:167327a82430 | 512 | migiusiro_slow.setMode(AUTO_MODE); |
yuron | 5:167327a82430 | 513 | hidarimae_slow.setMode(AUTO_MODE); |
yuron | 5:167327a82430 | 514 | hidariusiro_slow.setMode(AUTO_MODE); |
yuron | 5:167327a82430 | 515 | |
yuron | 5:167327a82430 | 516 | // 目標値 |
yuron | 5:167327a82430 | 517 | migimae_slow.setSetPoint(RF); |
yuron | 5:167327a82430 | 518 | migiusiro_slow.setSetPoint(RB); |
yuron | 5:167327a82430 | 519 | hidarimae_slow.setSetPoint(LF); |
yuron | 5:167327a82430 | 520 | hidariusiro_slow.setSetPoint(LB); |
yuron | 5:167327a82430 | 521 | |
yuron | 5:167327a82430 | 522 | // センサ出力 |
yuron | 5:167327a82430 | 523 | //目標値が負の数になると出力がバグるため目標値は絶対値で指定して出力は逆回転になるようにしてます。 |
yuron | 5:167327a82430 | 524 | migimae_slow.setProcessValue(abs(migimae_rpm)); |
yuron | 5:167327a82430 | 525 | migiusiro_slow.setProcessValue(abs(migiusiro_rpm)); |
yuron | 5:167327a82430 | 526 | hidarimae_slow.setProcessValue(abs(hidarimae_rpm)); |
yuron | 5:167327a82430 | 527 | hidariusiro_slow.setProcessValue(abs(hidariusiro_rpm)); |
yuron | 5:167327a82430 | 528 | |
yuron | 5:167327a82430 | 529 | // 制御量(計算結果) |
yuron | 5:167327a82430 | 530 | migimae_data[0] = migimae_slow.compute(); |
yuron | 5:167327a82430 | 531 | migiusiro_data[0] = migiusiro_slow.compute(); |
yuron | 5:167327a82430 | 532 | hidarimae_data[0] = hidarimae_slow.compute(); |
yuron | 5:167327a82430 | 533 | hidariusiro_data[0] = hidariusiro_slow.compute(); |
yuron | 5:167327a82430 | 534 | |
yuron | 5:167327a82430 | 535 | true_migimae_data[0] = migimae_data[0]; |
yuron | 5:167327a82430 | 536 | true_migiusiro_data[0] = migiusiro_data[0]; |
yuron | 5:167327a82430 | 537 | true_hidarimae_data[0] = hidarimae_data[0]; |
yuron | 5:167327a82430 | 538 | true_hidariusiro_data[0] = hidariusiro_data[0]; |
yuron | 5:167327a82430 | 539 | |
yuron | 5:167327a82430 | 540 | return 0; |
yuron | 5:167327a82430 | 541 | } |
yuron | 5:167327a82430 | 542 | //右進(fast mode) |
yuron | 4:df334779a69e | 543 | int right_PID(int RF, int RB, int LF, int LB) { |
yuron | 5:167327a82430 | 544 | // センサ出力値の最小、最大 |
yuron | 4:df334779a69e | 545 | migimae.setInputLimits(-400, 400); |
yuron | 4:df334779a69e | 546 | migiusiro.setInputLimits(-400, 400); |
yuron | 4:df334779a69e | 547 | hidarimae.setInputLimits(-400, 400); |
yuron | 4:df334779a69e | 548 | hidariusiro.setInputLimits(-400, 400); |
yuron | 5:167327a82430 | 549 | |
yuron | 5:167327a82430 | 550 | // 制御量の最小、最大 |
yuron | 4:df334779a69e | 551 | migimae.setOutputLimits(0x84, 0xFF); |
yuron | 4:df334779a69e | 552 | migiusiro.setOutputLimits(0x0C, 0x7C); |
yuron | 4:df334779a69e | 553 | hidarimae.setOutputLimits(0x0C, 0x7C); |
yuron | 4:df334779a69e | 554 | hidariusiro.setOutputLimits(0x84, 0xFF); |
yuron | 4:df334779a69e | 555 | |
yuron | 5:167327a82430 | 556 | // よくわからんやつ |
yuron | 4:df334779a69e | 557 | migimae.setMode(AUTO_MODE); |
yuron | 4:df334779a69e | 558 | migiusiro.setMode(AUTO_MODE); |
yuron | 4:df334779a69e | 559 | hidarimae.setMode(AUTO_MODE); |
yuron | 4:df334779a69e | 560 | hidariusiro.setMode(AUTO_MODE); |
yuron | 4:df334779a69e | 561 | |
yuron | 5:167327a82430 | 562 | // 目標値 |
yuron | 4:df334779a69e | 563 | migimae.setSetPoint(RF); |
yuron | 4:df334779a69e | 564 | migiusiro.setSetPoint(RB); |
yuron | 4:df334779a69e | 565 | hidarimae.setSetPoint(LF); |
yuron | 4:df334779a69e | 566 | hidariusiro.setSetPoint(LB); |
yuron | 5:167327a82430 | 567 | |
yuron | 5:167327a82430 | 568 | // センサ出力 |
yuron | 4:df334779a69e | 569 | migimae.setProcessValue(abs(migimae_rpm)); |
yuron | 4:df334779a69e | 570 | migiusiro.setProcessValue(abs(migiusiro_rpm)); |
yuron | 4:df334779a69e | 571 | hidarimae.setProcessValue(abs(hidarimae_rpm)); |
yuron | 4:df334779a69e | 572 | hidariusiro.setProcessValue(abs(hidariusiro_rpm)); |
yuron | 5:167327a82430 | 573 | |
yuron | 5:167327a82430 | 574 | // 制御量(計算結果) |
yuron | 4:df334779a69e | 575 | migimae_data[0] = migimae.compute(); |
yuron | 4:df334779a69e | 576 | migiusiro_data[0] = migiusiro.compute(); |
yuron | 4:df334779a69e | 577 | hidarimae_data[0] = hidarimae.compute(); |
yuron | 4:df334779a69e | 578 | hidariusiro_data[0] = hidariusiro.compute(); |
yuron | 4:df334779a69e | 579 | |
yuron | 5:167327a82430 | 580 | // 制御量をPWM値に変換 |
yuron | 4:df334779a69e | 581 | true_migimae_data[0] = migimae_data[0]; |
yuron | 4:df334779a69e | 582 | true_migiusiro_data[0] = 0x7D - migiusiro_data[0]; |
yuron | 4:df334779a69e | 583 | true_hidarimae_data[0] = 0x7D - hidarimae_data[0]; |
yuron | 4:df334779a69e | 584 | true_hidariusiro_data[0] = hidariusiro_data[0]; |
yuron | 5:167327a82430 | 585 | |
yuron | 4:df334779a69e | 586 | return 0; |
yuron | 4:df334779a69e | 587 | } |
yuron | 5:167327a82430 | 588 | //右進(slow mode) |
yuron | 5:167327a82430 | 589 | int right_PID_slow(int RF, int RB, int LF, int LB) { |
yuron | 5:167327a82430 | 590 | // センサ出力値の最小、最大 |
yuron | 5:167327a82430 | 591 | migimae_slow.setInputLimits(-400, 400); |
yuron | 5:167327a82430 | 592 | migiusiro_slow.setInputLimits(-400, 400); |
yuron | 5:167327a82430 | 593 | hidarimae_slow.setInputLimits(-400, 400); |
yuron | 5:167327a82430 | 594 | hidariusiro_slow.setInputLimits(-400, 400); |
yuron | 5:167327a82430 | 595 | |
yuron | 5:167327a82430 | 596 | // 制御量の最小、最大 |
yuron | 5:167327a82430 | 597 | migimae_slow.setOutputLimits(0x84, 0xFF); |
yuron | 5:167327a82430 | 598 | migiusiro_slow.setOutputLimits(0x0C, 0x7C); |
yuron | 5:167327a82430 | 599 | hidarimae_slow.setOutputLimits(0x0C, 0x7C); |
yuron | 5:167327a82430 | 600 | hidariusiro_slow.setOutputLimits(0x84, 0xFF); |
yuron | 5:167327a82430 | 601 | |
yuron | 5:167327a82430 | 602 | // よくわからんやつ |
yuron | 5:167327a82430 | 603 | migimae_slow.setMode(AUTO_MODE); |
yuron | 5:167327a82430 | 604 | migiusiro_slow.setMode(AUTO_MODE); |
yuron | 5:167327a82430 | 605 | hidarimae_slow.setMode(AUTO_MODE); |
yuron | 5:167327a82430 | 606 | hidariusiro_slow.setMode(AUTO_MODE); |
yuron | 5:167327a82430 | 607 | |
yuron | 5:167327a82430 | 608 | // 目標値 |
yuron | 5:167327a82430 | 609 | migimae_slow.setSetPoint(RF); |
yuron | 5:167327a82430 | 610 | migiusiro_slow.setSetPoint(RB); |
yuron | 5:167327a82430 | 611 | hidarimae_slow.setSetPoint(LF); |
yuron | 5:167327a82430 | 612 | hidariusiro_slow.setSetPoint(LB); |
yuron | 5:167327a82430 | 613 | |
yuron | 5:167327a82430 | 614 | // センサ出力 |
yuron | 5:167327a82430 | 615 | migimae_slow.setProcessValue(abs(migimae_rpm)); |
yuron | 5:167327a82430 | 616 | migiusiro_slow.setProcessValue(abs(migiusiro_rpm)); |
yuron | 5:167327a82430 | 617 | hidarimae_slow.setProcessValue(abs(hidarimae_rpm)); |
yuron | 5:167327a82430 | 618 | hidariusiro_slow.setProcessValue(abs(hidariusiro_rpm)); |
yuron | 5:167327a82430 | 619 | |
yuron | 5:167327a82430 | 620 | // 制御量(計算結果) |
yuron | 5:167327a82430 | 621 | migimae_data[0] = migimae_slow.compute(); |
yuron | 5:167327a82430 | 622 | migiusiro_data[0] = migiusiro_slow.compute(); |
yuron | 5:167327a82430 | 623 | hidarimae_data[0] = hidarimae_slow.compute(); |
yuron | 5:167327a82430 | 624 | hidariusiro_data[0] = hidariusiro_slow.compute(); |
yuron | 5:167327a82430 | 625 | |
yuron | 5:167327a82430 | 626 | // 制御量をPWM値に変換 |
yuron | 5:167327a82430 | 627 | true_migimae_data[0] = migimae_data[0]; |
yuron | 5:167327a82430 | 628 | true_migiusiro_data[0] = 0x7D - migiusiro_data[0]; |
yuron | 5:167327a82430 | 629 | true_hidarimae_data[0] = 0x7D - hidarimae_data[0]; |
yuron | 5:167327a82430 | 630 | true_hidariusiro_data[0] = hidariusiro_data[0]; |
yuron | 5:167327a82430 | 631 | |
yuron | 5:167327a82430 | 632 | return 0; |
yuron | 5:167327a82430 | 633 | } |
yuron | 5:167327a82430 | 634 | //左進(fast mode) |
yuron | 4:df334779a69e | 635 | int left_PID(int RF, int RB, int LF, int LB) { |
yuron | 5:167327a82430 | 636 | // センサ出力値の最小、最大 |
yuron | 4:df334779a69e | 637 | migimae.setInputLimits(-400, 400); |
yuron | 4:df334779a69e | 638 | migiusiro.setInputLimits(-400, 400); |
yuron | 4:df334779a69e | 639 | hidarimae.setInputLimits(-400, 400); |
yuron | 4:df334779a69e | 640 | hidariusiro.setInputLimits(-400, 400); |
yuron | 5:167327a82430 | 641 | |
yuron | 5:167327a82430 | 642 | // 制御量の最小、最大 |
yuron | 4:df334779a69e | 643 | migimae.setOutputLimits(0x0C, 0x7C); |
yuron | 4:df334779a69e | 644 | migiusiro.setOutputLimits(0x84, 0xFF); |
yuron | 4:df334779a69e | 645 | hidarimae.setOutputLimits(0x84, 0xFF); |
yuron | 4:df334779a69e | 646 | hidariusiro.setOutputLimits(0x0C, 0x7C); |
yuron | 0:f73c1b076ae4 | 647 | |
yuron | 5:167327a82430 | 648 | // よくわからんやつ |
yuron | 4:df334779a69e | 649 | migimae.setMode(AUTO_MODE); |
yuron | 4:df334779a69e | 650 | migiusiro.setMode(AUTO_MODE); |
yuron | 4:df334779a69e | 651 | hidarimae.setMode(AUTO_MODE); |
yuron | 4:df334779a69e | 652 | hidariusiro.setMode(AUTO_MODE); |
yuron | 4:df334779a69e | 653 | |
yuron | 5:167327a82430 | 654 | // 目標値 |
yuron | 4:df334779a69e | 655 | migimae.setSetPoint(RF); |
yuron | 4:df334779a69e | 656 | migiusiro.setSetPoint(RB); |
yuron | 4:df334779a69e | 657 | hidarimae.setSetPoint(LF); |
yuron | 4:df334779a69e | 658 | hidariusiro.setSetPoint(LB); |
yuron | 5:167327a82430 | 659 | |
yuron | 5:167327a82430 | 660 | // センサ出力 |
yuron | 4:df334779a69e | 661 | migimae.setProcessValue(abs(migimae_rpm)); |
yuron | 4:df334779a69e | 662 | migiusiro.setProcessValue(abs(migiusiro_rpm)); |
yuron | 4:df334779a69e | 663 | hidarimae.setProcessValue(abs(hidarimae_rpm)); |
yuron | 4:df334779a69e | 664 | hidariusiro.setProcessValue(abs(hidariusiro_rpm)); |
yuron | 5:167327a82430 | 665 | |
yuron | 5:167327a82430 | 666 | // 制御量(計算結果) |
yuron | 4:df334779a69e | 667 | migimae_data[0] = migimae.compute(); |
yuron | 4:df334779a69e | 668 | migiusiro_data[0] = migiusiro.compute(); |
yuron | 4:df334779a69e | 669 | hidarimae_data[0] = hidarimae.compute(); |
yuron | 4:df334779a69e | 670 | hidariusiro_data[0] = hidariusiro.compute(); |
yuron | 4:df334779a69e | 671 | |
yuron | 5:167327a82430 | 672 | // 制御量をPWM値に変換 |
yuron | 5:167327a82430 | 673 | true_migimae_data[0] = 0x7D - migimae_data[0]; |
yuron | 5:167327a82430 | 674 | true_migiusiro_data[0] = migiusiro_data[0]; |
yuron | 5:167327a82430 | 675 | true_hidarimae_data[0] = hidarimae_data[0]; |
yuron | 5:167327a82430 | 676 | true_hidariusiro_data[0] = 0x7D - hidariusiro_data[0]; |
yuron | 5:167327a82430 | 677 | |
yuron | 5:167327a82430 | 678 | return 0; |
yuron | 5:167327a82430 | 679 | } |
yuron | 5:167327a82430 | 680 | //左進(slow mode) |
yuron | 5:167327a82430 | 681 | int left_PID_slow(int RF, int RB, int LF, int LB) { |
yuron | 5:167327a82430 | 682 | // センサ出力値の最小、最大 |
yuron | 5:167327a82430 | 683 | migimae_slow.setInputLimits(-400, 400); |
yuron | 5:167327a82430 | 684 | migiusiro_slow.setInputLimits(-400, 400); |
yuron | 5:167327a82430 | 685 | hidarimae_slow.setInputLimits(-400, 400); |
yuron | 5:167327a82430 | 686 | hidariusiro_slow.setInputLimits(-400, 400); |
yuron | 5:167327a82430 | 687 | |
yuron | 5:167327a82430 | 688 | // 制御量の最小、最大 |
yuron | 5:167327a82430 | 689 | migimae_slow.setOutputLimits(0x0C, 0x7C); |
yuron | 5:167327a82430 | 690 | migiusiro_slow.setOutputLimits(0x84, 0xFF); |
yuron | 5:167327a82430 | 691 | hidarimae_slow.setOutputLimits(0x84, 0xFF); |
yuron | 5:167327a82430 | 692 | hidariusiro_slow.setOutputLimits(0x0C, 0x7C); |
yuron | 5:167327a82430 | 693 | |
yuron | 5:167327a82430 | 694 | // よくわからんやつ |
yuron | 5:167327a82430 | 695 | migimae_slow.setMode(AUTO_MODE); |
yuron | 5:167327a82430 | 696 | migiusiro_slow.setMode(AUTO_MODE); |
yuron | 5:167327a82430 | 697 | hidarimae_slow.setMode(AUTO_MODE); |
yuron | 5:167327a82430 | 698 | hidariusiro_slow.setMode(AUTO_MODE); |
yuron | 5:167327a82430 | 699 | |
yuron | 5:167327a82430 | 700 | // 目標値 |
yuron | 5:167327a82430 | 701 | migimae_slow.setSetPoint(RF); |
yuron | 5:167327a82430 | 702 | migiusiro_slow.setSetPoint(RB); |
yuron | 5:167327a82430 | 703 | hidarimae_slow.setSetPoint(LF); |
yuron | 5:167327a82430 | 704 | hidariusiro_slow.setSetPoint(LB); |
yuron | 5:167327a82430 | 705 | |
yuron | 5:167327a82430 | 706 | // センサ出力 |
yuron | 5:167327a82430 | 707 | migimae_slow.setProcessValue(abs(migimae_rpm)); |
yuron | 5:167327a82430 | 708 | migiusiro_slow.setProcessValue(abs(migiusiro_rpm)); |
yuron | 5:167327a82430 | 709 | hidarimae_slow.setProcessValue(abs(hidarimae_rpm)); |
yuron | 5:167327a82430 | 710 | hidariusiro_slow.setProcessValue(abs(hidariusiro_rpm)); |
yuron | 5:167327a82430 | 711 | |
yuron | 5:167327a82430 | 712 | // 制御量(計算結果) |
yuron | 5:167327a82430 | 713 | migimae_data[0] = migimae_slow.compute(); |
yuron | 5:167327a82430 | 714 | migiusiro_data[0] = migiusiro_slow.compute(); |
yuron | 5:167327a82430 | 715 | hidarimae_data[0] = hidarimae_slow.compute(); |
yuron | 5:167327a82430 | 716 | hidariusiro_data[0] = hidariusiro_slow.compute(); |
yuron | 5:167327a82430 | 717 | |
yuron | 5:167327a82430 | 718 | // 制御量をPWM値に変換 |
yuron | 4:df334779a69e | 719 | true_migimae_data[0] = 0x7D - migimae_data[0]; |
yuron | 4:df334779a69e | 720 | true_migiusiro_data[0] = migiusiro_data[0]; |
yuron | 4:df334779a69e | 721 | true_hidarimae_data[0] = hidarimae_data[0]; |
yuron | 4:df334779a69e | 722 | true_hidariusiro_data[0] = 0x7D - hidariusiro_data[0]; |
yuron | 5:167327a82430 | 723 | |
yuron | 4:df334779a69e | 724 | return 0; |
yuron | 4:df334779a69e | 725 | } |
yuron | 5:167327a82430 | 726 | //斜め右前(fast mode) |
yuron | 4:df334779a69e | 727 | int right_front_PID(int RB, int LF) { |
yuron | 5:167327a82430 | 728 | // センサ出力値の最小、最大 |
yuron | 5:167327a82430 | 729 | migiusiro.setInputLimits(0, 400); |
yuron | 5:167327a82430 | 730 | hidarimae.setInputLimits(0, 400); |
yuron | 5:167327a82430 | 731 | |
yuron | 5:167327a82430 | 732 | // 制御量の最小、最大 |
yuron | 4:df334779a69e | 733 | migiusiro.setOutputLimits(0x0C, 0x7C); |
yuron | 4:df334779a69e | 734 | hidarimae.setOutputLimits(0x0C, 0x7C); |
yuron | 4:df334779a69e | 735 | |
yuron | 5:167327a82430 | 736 | // よくわからんやつ |
yuron | 4:df334779a69e | 737 | migiusiro.setMode(AUTO_MODE); |
yuron | 4:df334779a69e | 738 | hidarimae.setMode(AUTO_MODE); |
yuron | 4:df334779a69e | 739 | |
yuron | 5:167327a82430 | 740 | // 目標値 |
yuron | 4:df334779a69e | 741 | migiusiro.setSetPoint(RB); |
yuron | 4:df334779a69e | 742 | hidarimae.setSetPoint(LF); |
yuron | 5:167327a82430 | 743 | |
yuron | 5:167327a82430 | 744 | // センサ出力 |
yuron | 4:df334779a69e | 745 | migiusiro.setProcessValue(abs(migiusiro_rpm)); |
yuron | 4:df334779a69e | 746 | hidarimae.setProcessValue(abs(hidarimae_rpm)); |
yuron | 5:167327a82430 | 747 | |
yuron | 5:167327a82430 | 748 | // 制御量(計算結果) |
yuron | 4:df334779a69e | 749 | migiusiro_data[0] = migiusiro.compute(); |
yuron | 4:df334779a69e | 750 | hidarimae_data[0] = hidarimae.compute(); |
yuron | 4:df334779a69e | 751 | |
yuron | 5:167327a82430 | 752 | // 制御量をPWM値に変換 |
yuron | 5:167327a82430 | 753 | true_migimae_data[0] = 0x80; |
yuron | 4:df334779a69e | 754 | true_migiusiro_data[0] = 0x7D - migiusiro_data[0]; |
yuron | 4:df334779a69e | 755 | true_hidarimae_data[0] = 0x7D - hidarimae_data[0]; |
yuron | 5:167327a82430 | 756 | true_hidariusiro_data[0] = 0x80; |
yuron | 5:167327a82430 | 757 | |
yuron | 4:df334779a69e | 758 | return 0; |
yuron | 4:df334779a69e | 759 | } |
yuron | 5:167327a82430 | 760 | //斜め右後(fast mode) |
yuron | 4:df334779a69e | 761 | int right_back_PID(int RF, int LB) { |
yuron | 5:167327a82430 | 762 | // センサ出力値の最小、最大 |
yuron | 4:df334779a69e | 763 | migimae.setInputLimits(-400, 400); |
yuron | 4:df334779a69e | 764 | hidariusiro.setInputLimits(-400, 400); |
yuron | 5:167327a82430 | 765 | |
yuron | 5:167327a82430 | 766 | // 制御量の最小、最大 |
yuron | 4:df334779a69e | 767 | migimae.setOutputLimits(0x84, 0xFF); |
yuron | 4:df334779a69e | 768 | hidariusiro.setOutputLimits(0x84, 0xFF); |
yuron | 5:167327a82430 | 769 | |
yuron | 5:167327a82430 | 770 | // よくわからんやつ |
yuron | 4:df334779a69e | 771 | migimae.setMode(AUTO_MODE); |
yuron | 4:df334779a69e | 772 | hidariusiro.setMode(AUTO_MODE); |
yuron | 5:167327a82430 | 773 | |
yuron | 5:167327a82430 | 774 | // 目標値 |
yuron | 4:df334779a69e | 775 | migimae.setSetPoint(RF); |
yuron | 4:df334779a69e | 776 | hidariusiro.setSetPoint(LB); |
yuron | 5:167327a82430 | 777 | |
yuron | 5:167327a82430 | 778 | // センサ出力 |
yuron | 4:df334779a69e | 779 | //目標値が負の数になると出力がバグるため目標値は絶対値で指定して出力は逆回転になるようにしてます。 |
yuron | 4:df334779a69e | 780 | migimae.setProcessValue(abs(migimae_rpm)); |
yuron | 4:df334779a69e | 781 | hidariusiro.setProcessValue(abs(hidariusiro_rpm)); |
yuron | 5:167327a82430 | 782 | |
yuron | 5:167327a82430 | 783 | // 制御量(計算結果) |
yuron | 4:df334779a69e | 784 | migimae_data[0] = migimae.compute(); |
yuron | 4:df334779a69e | 785 | hidariusiro_data[0] = hidariusiro.compute(); |
yuron | 5:167327a82430 | 786 | |
yuron | 4:df334779a69e | 787 | true_migimae_data[0] = migimae_data[0]; |
yuron | 5:167327a82430 | 788 | true_migiusiro_data[0] = 0x80; |
yuron | 5:167327a82430 | 789 | true_hidarimae_data[0] = 0x80; |
yuron | 4:df334779a69e | 790 | true_hidariusiro_data[0] = hidariusiro_data[0]; |
yuron | 5:167327a82430 | 791 | |
yuron | 4:df334779a69e | 792 | return 0; |
yuron | 4:df334779a69e | 793 | } |
yuron | 5:167327a82430 | 794 | //斜め左前(fast mode) |
yuron | 4:df334779a69e | 795 | int left_front_PID(int RF, int LB) { |
yuron | 5:167327a82430 | 796 | // センサ出力値の最小、最大 |
yuron | 4:df334779a69e | 797 | migimae.setInputLimits(-400, 400); |
yuron | 4:df334779a69e | 798 | hidariusiro.setInputLimits(-400, 400); |
yuron | 5:167327a82430 | 799 | |
yuron | 5:167327a82430 | 800 | // 制御量の最小、最大 |
yuron | 4:df334779a69e | 801 | migimae.setOutputLimits(0x0C, 0x7C); |
yuron | 4:df334779a69e | 802 | hidariusiro.setOutputLimits(0x0C, 0x7C); |
yuron | 4:df334779a69e | 803 | |
yuron | 5:167327a82430 | 804 | // よくわからんやつ |
yuron | 4:df334779a69e | 805 | migimae.setMode(AUTO_MODE); |
yuron | 4:df334779a69e | 806 | hidariusiro.setMode(AUTO_MODE); |
yuron | 4:df334779a69e | 807 | |
yuron | 5:167327a82430 | 808 | // 目標値 |
yuron | 4:df334779a69e | 809 | migimae.setSetPoint(RF); |
yuron | 4:df334779a69e | 810 | hidariusiro.setSetPoint(LB); |
yuron | 5:167327a82430 | 811 | |
yuron | 5:167327a82430 | 812 | // センサ出力 |
yuron | 4:df334779a69e | 813 | migimae.setProcessValue(abs(migimae_rpm)); |
yuron | 4:df334779a69e | 814 | hidariusiro.setProcessValue(abs(hidariusiro_rpm)); |
yuron | 5:167327a82430 | 815 | |
yuron | 5:167327a82430 | 816 | // 制御量(計算結果) |
yuron | 4:df334779a69e | 817 | migimae_data[0] = migimae.compute(); |
yuron | 4:df334779a69e | 818 | hidariusiro_data[0] = hidariusiro.compute(); |
yuron | 4:df334779a69e | 819 | |
yuron | 5:167327a82430 | 820 | // 制御量をPWM値に変換 |
yuron | 4:df334779a69e | 821 | true_migimae_data[0] = 0x7D - migimae_data[0]; |
yuron | 5:167327a82430 | 822 | true_migiusiro_data[0] = 0x80; |
yuron | 5:167327a82430 | 823 | true_hidarimae_data[0] = 0x80; |
yuron | 4:df334779a69e | 824 | true_hidariusiro_data[0] = 0x7D - hidariusiro_data[0]; |
yuron | 5:167327a82430 | 825 | |
yuron | 2:c32991ba628f | 826 | return 0; |
yuron | 0:f73c1b076ae4 | 827 | } |
yuron | 5:167327a82430 | 828 | //斜め左後(fast mode) |
yuron | 4:df334779a69e | 829 | int left_back_PID(int RB, int LF) { |
yuron | 5:167327a82430 | 830 | // センサ出力値の最小、最大 |
yuron | 4:df334779a69e | 831 | migiusiro.setInputLimits(-400, 400); |
yuron | 4:df334779a69e | 832 | hidarimae.setInputLimits(-400, 400); |
yuron | 5:167327a82430 | 833 | |
yuron | 5:167327a82430 | 834 | // 制御量の最小、最大 |
yuron | 4:df334779a69e | 835 | migiusiro.setOutputLimits(0x84, 0xFF); |
yuron | 4:df334779a69e | 836 | hidarimae.setOutputLimits(0x84, 0xFF); |
yuron | 5:167327a82430 | 837 | |
yuron | 5:167327a82430 | 838 | // よくわからんやつ |
yuron | 4:df334779a69e | 839 | migiusiro.setMode(AUTO_MODE); |
yuron | 4:df334779a69e | 840 | hidarimae.setMode(AUTO_MODE); |
yuron | 5:167327a82430 | 841 | |
yuron | 5:167327a82430 | 842 | // 目標値 |
yuron | 4:df334779a69e | 843 | migiusiro.setSetPoint(RB); |
yuron | 4:df334779a69e | 844 | hidarimae.setSetPoint(LF); |
yuron | 5:167327a82430 | 845 | |
yuron | 5:167327a82430 | 846 | // センサ出力 |
yuron | 2:c32991ba628f | 847 | //目標値が負の数になると出力がバグるため目標値は絶対値で指定して出力は逆回転になるようにしてます。 |
yuron | 4:df334779a69e | 848 | migiusiro.setProcessValue(abs(migiusiro_rpm)); |
yuron | 4:df334779a69e | 849 | hidarimae.setProcessValue(abs(hidarimae_rpm)); |
yuron | 5:167327a82430 | 850 | |
yuron | 5:167327a82430 | 851 | // 制御量(計算結果) |
yuron | 4:df334779a69e | 852 | migiusiro_data[0] = migiusiro.compute(); |
yuron | 4:df334779a69e | 853 | hidarimae_data[0] = hidarimae.compute(); |
yuron | 5:167327a82430 | 854 | |
yuron | 5:167327a82430 | 855 | true_migimae_data[0] = 0x80; |
yuron | 4:df334779a69e | 856 | true_migiusiro_data[0] = migiusiro_data[0]; |
yuron | 4:df334779a69e | 857 | true_hidarimae_data[0] = hidarimae_data[0]; |
yuron | 5:167327a82430 | 858 | true_hidariusiro_data[0] = 0x80; |
yuron | 5:167327a82430 | 859 | |
yuron | 2:c32991ba628f | 860 | return 0; |
yuron | 1:62b321f6c9c3 | 861 | } |
yuron | 5:167327a82430 | 862 | //右旋回(fast mode) |
yuron | 4:df334779a69e | 863 | int turn_right_PID(int RF, int RB, int LF, int LB) { |
yuron | 5:167327a82430 | 864 | // センサ出力値の最小、最大 |
yuron | 4:df334779a69e | 865 | migimae.setInputLimits(-400, 400); |
yuron | 4:df334779a69e | 866 | migiusiro.setInputLimits(-400, 400); |
yuron | 4:df334779a69e | 867 | hidarimae.setInputLimits(-400, 400); |
yuron | 4:df334779a69e | 868 | hidariusiro.setInputLimits(-400, 400); |
yuron | 5:167327a82430 | 869 | |
yuron | 5:167327a82430 | 870 | // 制御量の最小、最大 |
yuron | 4:df334779a69e | 871 | migimae.setOutputLimits(0x84, 0xFF); |
yuron | 4:df334779a69e | 872 | migiusiro.setOutputLimits(0x84, 0xFF); |
yuron | 4:df334779a69e | 873 | hidarimae.setOutputLimits(0x0C, 0x7C); |
yuron | 4:df334779a69e | 874 | hidariusiro.setOutputLimits(0x0C, 0x7C); |
yuron | 4:df334779a69e | 875 | |
yuron | 5:167327a82430 | 876 | // よくわからんやつ |
yuron | 4:df334779a69e | 877 | migimae.setMode(AUTO_MODE); |
yuron | 4:df334779a69e | 878 | migiusiro.setMode(AUTO_MODE); |
yuron | 4:df334779a69e | 879 | hidarimae.setMode(AUTO_MODE); |
yuron | 4:df334779a69e | 880 | hidariusiro.setMode(AUTO_MODE); |
yuron | 4:df334779a69e | 881 | |
yuron | 5:167327a82430 | 882 | // 目標値 |
yuron | 4:df334779a69e | 883 | migimae.setSetPoint(RF); |
yuron | 4:df334779a69e | 884 | migiusiro.setSetPoint(RB); |
yuron | 4:df334779a69e | 885 | hidarimae.setSetPoint(LF); |
yuron | 4:df334779a69e | 886 | hidariusiro.setSetPoint(LB); |
yuron | 5:167327a82430 | 887 | |
yuron | 5:167327a82430 | 888 | // センサ出力 |
yuron | 4:df334779a69e | 889 | migimae.setProcessValue(abs(migimae_rpm)); |
yuron | 4:df334779a69e | 890 | migiusiro.setProcessValue(abs(migiusiro_rpm)); |
yuron | 4:df334779a69e | 891 | hidarimae.setProcessValue(abs(hidarimae_rpm)); |
yuron | 4:df334779a69e | 892 | hidariusiro.setProcessValue(abs(hidariusiro_rpm)); |
yuron | 5:167327a82430 | 893 | |
yuron | 5:167327a82430 | 894 | // 制御量(計算結果) |
yuron | 4:df334779a69e | 895 | migimae_data[0] = migimae.compute(); |
yuron | 4:df334779a69e | 896 | migiusiro_data[0] = migiusiro.compute(); |
yuron | 4:df334779a69e | 897 | hidarimae_data[0] = hidarimae.compute(); |
yuron | 4:df334779a69e | 898 | hidariusiro_data[0] = hidariusiro.compute(); |
yuron | 4:df334779a69e | 899 | |
yuron | 5:167327a82430 | 900 | // 制御量をPWM値に変換 |
yuron | 4:df334779a69e | 901 | true_migimae_data[0] = migimae_data[0]; |
yuron | 4:df334779a69e | 902 | true_migiusiro_data[0] = migiusiro_data[0]; |
yuron | 4:df334779a69e | 903 | true_hidarimae_data[0] = 0x7D - hidarimae_data[0]; |
yuron | 4:df334779a69e | 904 | true_hidariusiro_data[0] = 0x7D - hidariusiro_data[0]; |
yuron | 5:167327a82430 | 905 | |
yuron | 4:df334779a69e | 906 | return 0; |
yuron | 4:df334779a69e | 907 | } |
yuron | 5:167327a82430 | 908 | //右旋回(slow mode) |
yuron | 5:167327a82430 | 909 | int turn_right_PID_slow(int RF, int RB, int LF, int LB) { |
yuron | 5:167327a82430 | 910 | // センサ出力値の最小、最大 |
yuron | 5:167327a82430 | 911 | migimae_slow.setInputLimits(-400, 400); |
yuron | 5:167327a82430 | 912 | migiusiro_slow.setInputLimits(-400, 400); |
yuron | 5:167327a82430 | 913 | hidarimae_slow.setInputLimits(-400, 400); |
yuron | 5:167327a82430 | 914 | hidariusiro_slow.setInputLimits(-400, 400); |
yuron | 5:167327a82430 | 915 | |
yuron | 5:167327a82430 | 916 | // 制御量の最小、最大 |
yuron | 5:167327a82430 | 917 | migimae_slow.setOutputLimits(0x84, 0xFF); |
yuron | 5:167327a82430 | 918 | migiusiro_slow.setOutputLimits(0x84, 0xFF); |
yuron | 5:167327a82430 | 919 | hidarimae_slow.setOutputLimits(0x0C, 0x7C); |
yuron | 5:167327a82430 | 920 | hidariusiro_slow.setOutputLimits(0x0C, 0x7C); |
yuron | 5:167327a82430 | 921 | |
yuron | 5:167327a82430 | 922 | // よくわからんやつ |
yuron | 5:167327a82430 | 923 | migimae_slow.setMode(AUTO_MODE); |
yuron | 5:167327a82430 | 924 | migiusiro_slow.setMode(AUTO_MODE); |
yuron | 5:167327a82430 | 925 | hidarimae_slow.setMode(AUTO_MODE); |
yuron | 5:167327a82430 | 926 | hidariusiro_slow.setMode(AUTO_MODE); |
yuron | 5:167327a82430 | 927 | |
yuron | 5:167327a82430 | 928 | // 目標値 |
yuron | 5:167327a82430 | 929 | migimae_slow.setSetPoint(RF); |
yuron | 5:167327a82430 | 930 | migiusiro_slow.setSetPoint(RB); |
yuron | 5:167327a82430 | 931 | hidarimae_slow.setSetPoint(LF); |
yuron | 5:167327a82430 | 932 | hidariusiro_slow.setSetPoint(LB); |
yuron | 5:167327a82430 | 933 | |
yuron | 5:167327a82430 | 934 | // センサ出力 |
yuron | 5:167327a82430 | 935 | migimae_slow.setProcessValue(abs(migimae_rpm)); |
yuron | 5:167327a82430 | 936 | migiusiro_slow.setProcessValue(abs(migiusiro_rpm)); |
yuron | 5:167327a82430 | 937 | hidarimae_slow.setProcessValue(abs(hidarimae_rpm)); |
yuron | 5:167327a82430 | 938 | hidariusiro_slow.setProcessValue(abs(hidariusiro_rpm)); |
yuron | 5:167327a82430 | 939 | |
yuron | 5:167327a82430 | 940 | // 制御量(計算結果) |
yuron | 5:167327a82430 | 941 | migimae_data[0] = migimae_slow.compute(); |
yuron | 5:167327a82430 | 942 | migiusiro_data[0] = migiusiro_slow.compute(); |
yuron | 5:167327a82430 | 943 | hidarimae_data[0] = hidarimae_slow.compute(); |
yuron | 5:167327a82430 | 944 | hidariusiro_data[0] = hidariusiro_slow.compute(); |
yuron | 5:167327a82430 | 945 | |
yuron | 5:167327a82430 | 946 | // 制御量をPWM値に変換 |
yuron | 5:167327a82430 | 947 | true_migimae_data[0] = migimae_data[0]; |
yuron | 5:167327a82430 | 948 | true_migiusiro_data[0] = migiusiro_data[0]; |
yuron | 5:167327a82430 | 949 | true_hidarimae_data[0] = 0x7D - hidarimae_data[0]; |
yuron | 5:167327a82430 | 950 | true_hidariusiro_data[0] = 0x7D - hidariusiro_data[0]; |
yuron | 5:167327a82430 | 951 | |
yuron | 5:167327a82430 | 952 | return 0; |
yuron | 5:167327a82430 | 953 | } |
yuron | 5:167327a82430 | 954 | //左旋回(fast mode) |
yuron | 4:df334779a69e | 955 | int turn_left_PID(int RF, int RB, int LF, int LB) { |
yuron | 5:167327a82430 | 956 | // センサ出力値の最小、最大 |
yuron | 4:df334779a69e | 957 | migimae.setInputLimits(-400, 400); |
yuron | 4:df334779a69e | 958 | migiusiro.setInputLimits(-400, 400); |
yuron | 4:df334779a69e | 959 | hidarimae.setInputLimits(-400, 400); |
yuron | 4:df334779a69e | 960 | hidariusiro.setInputLimits(-400, 400); |
yuron | 5:167327a82430 | 961 | |
yuron | 5:167327a82430 | 962 | // 制御量の最小、最大 |
yuron | 4:df334779a69e | 963 | migimae.setOutputLimits(0x0C, 0x7C); |
yuron | 4:df334779a69e | 964 | migiusiro.setOutputLimits(0x0C, 0x7C); |
yuron | 4:df334779a69e | 965 | hidarimae.setOutputLimits(0x84, 0xFF); |
yuron | 4:df334779a69e | 966 | hidariusiro.setOutputLimits(0x84, 0xFF); |
yuron | 4:df334779a69e | 967 | |
yuron | 5:167327a82430 | 968 | // よくわからんやつ |
yuron | 4:df334779a69e | 969 | migimae.setMode(AUTO_MODE); |
yuron | 4:df334779a69e | 970 | migiusiro.setMode(AUTO_MODE); |
yuron | 4:df334779a69e | 971 | hidarimae.setMode(AUTO_MODE); |
yuron | 4:df334779a69e | 972 | hidariusiro.setMode(AUTO_MODE); |
yuron | 4:df334779a69e | 973 | |
yuron | 5:167327a82430 | 974 | // 目標値 |
yuron | 4:df334779a69e | 975 | migimae.setSetPoint(RF); |
yuron | 4:df334779a69e | 976 | migiusiro.setSetPoint(RB); |
yuron | 4:df334779a69e | 977 | hidarimae.setSetPoint(LF); |
yuron | 4:df334779a69e | 978 | hidariusiro.setSetPoint(LB); |
yuron | 5:167327a82430 | 979 | |
yuron | 5:167327a82430 | 980 | // センサ出力 |
yuron | 4:df334779a69e | 981 | migimae.setProcessValue(abs(migimae_rpm)); |
yuron | 4:df334779a69e | 982 | migiusiro.setProcessValue(abs(migiusiro_rpm)); |
yuron | 4:df334779a69e | 983 | hidarimae.setProcessValue(abs(hidarimae_rpm)); |
yuron | 4:df334779a69e | 984 | hidariusiro.setProcessValue(abs(hidariusiro_rpm)); |
yuron | 5:167327a82430 | 985 | |
yuron | 5:167327a82430 | 986 | // 制御量(計算結果) |
yuron | 4:df334779a69e | 987 | migimae_data[0] = migimae.compute(); |
yuron | 4:df334779a69e | 988 | migiusiro_data[0] = migiusiro.compute(); |
yuron | 4:df334779a69e | 989 | hidarimae_data[0] = hidarimae.compute(); |
yuron | 4:df334779a69e | 990 | hidariusiro_data[0] = hidariusiro.compute(); |
yuron | 4:df334779a69e | 991 | |
yuron | 5:167327a82430 | 992 | // 制御量をPWM値に変換 |
yuron | 5:167327a82430 | 993 | true_migimae_data[0] = 0x7D - migimae_data[0]; |
yuron | 5:167327a82430 | 994 | true_migiusiro_data[0] = 0x7D - migiusiro_data[0]; |
yuron | 5:167327a82430 | 995 | true_hidarimae_data[0] = hidarimae_data[0]; |
yuron | 5:167327a82430 | 996 | true_hidariusiro_data[0] = hidariusiro_data[0]; |
yuron | 5:167327a82430 | 997 | |
yuron | 5:167327a82430 | 998 | return 0; |
yuron | 5:167327a82430 | 999 | } |
yuron | 5:167327a82430 | 1000 | //左旋回(slow mode) |
yuron | 5:167327a82430 | 1001 | int turn_left_PID_slow(int RF, int RB, int LF, int LB) { |
yuron | 5:167327a82430 | 1002 | // センサ出力値の最小、最大 |
yuron | 5:167327a82430 | 1003 | migimae_slow.setInputLimits(-400, 400); |
yuron | 5:167327a82430 | 1004 | migiusiro_slow.setInputLimits(-400, 400); |
yuron | 5:167327a82430 | 1005 | hidarimae_slow.setInputLimits(-400, 400); |
yuron | 5:167327a82430 | 1006 | hidariusiro_slow.setInputLimits(-400, 400); |
yuron | 5:167327a82430 | 1007 | |
yuron | 5:167327a82430 | 1008 | // 制御量の最小、最大 |
yuron | 5:167327a82430 | 1009 | migimae_slow.setOutputLimits(0x0C, 0x7C); |
yuron | 5:167327a82430 | 1010 | migiusiro_slow.setOutputLimits(0x0C, 0x7C); |
yuron | 5:167327a82430 | 1011 | hidarimae_slow.setOutputLimits(0x84, 0xFF); |
yuron | 5:167327a82430 | 1012 | hidariusiro_slow.setOutputLimits(0x84, 0xFF); |
yuron | 5:167327a82430 | 1013 | |
yuron | 5:167327a82430 | 1014 | // よくわからんやつ |
yuron | 5:167327a82430 | 1015 | migimae_slow.setMode(AUTO_MODE); |
yuron | 5:167327a82430 | 1016 | migiusiro_slow.setMode(AUTO_MODE); |
yuron | 5:167327a82430 | 1017 | hidarimae_slow.setMode(AUTO_MODE); |
yuron | 5:167327a82430 | 1018 | hidariusiro_slow.setMode(AUTO_MODE); |
yuron | 5:167327a82430 | 1019 | |
yuron | 5:167327a82430 | 1020 | // 目標値 |
yuron | 5:167327a82430 | 1021 | migimae_slow.setSetPoint(RF); |
yuron | 5:167327a82430 | 1022 | migiusiro_slow.setSetPoint(RB); |
yuron | 5:167327a82430 | 1023 | hidarimae_slow.setSetPoint(LF); |
yuron | 5:167327a82430 | 1024 | hidariusiro_slow.setSetPoint(LB); |
yuron | 5:167327a82430 | 1025 | |
yuron | 5:167327a82430 | 1026 | // センサ出力 |
yuron | 5:167327a82430 | 1027 | migimae_slow.setProcessValue(abs(migimae_rpm)); |
yuron | 5:167327a82430 | 1028 | migiusiro_slow.setProcessValue(abs(migiusiro_rpm)); |
yuron | 5:167327a82430 | 1029 | hidarimae_slow.setProcessValue(abs(hidarimae_rpm)); |
yuron | 5:167327a82430 | 1030 | hidariusiro_slow.setProcessValue(abs(hidariusiro_rpm)); |
yuron | 5:167327a82430 | 1031 | |
yuron | 5:167327a82430 | 1032 | // 制御量(計算結果) |
yuron | 5:167327a82430 | 1033 | migimae_data[0] = migimae_slow.compute(); |
yuron | 5:167327a82430 | 1034 | migiusiro_data[0] = migiusiro_slow.compute(); |
yuron | 5:167327a82430 | 1035 | hidarimae_data[0] = hidarimae_slow.compute(); |
yuron | 5:167327a82430 | 1036 | hidariusiro_data[0] = hidariusiro_slow.compute(); |
yuron | 5:167327a82430 | 1037 | |
yuron | 5:167327a82430 | 1038 | // 制御量をPWM値に変換 |
yuron | 4:df334779a69e | 1039 | true_migimae_data[0] = 0x7D - migimae_data[0]; |
yuron | 4:df334779a69e | 1040 | true_migiusiro_data[0] = 0x7D - migiusiro_data[0]; |
yuron | 4:df334779a69e | 1041 | true_hidarimae_data[0] = hidarimae_data[0]; |
yuron | 4:df334779a69e | 1042 | true_hidariusiro_data[0] = hidariusiro_data[0]; |
yuron | 5:167327a82430 | 1043 | |
yuron | 5:167327a82430 | 1044 | return 0; |
yuron | 5:167327a82430 | 1045 | } |
yuron | 5:167327a82430 | 1046 | //前前進後右旋回(slow_mode) |
yuron | 5:167327a82430 | 1047 | int front_front_back_right_PID(int RF, int RB, int LF, int LB) { |
yuron | 5:167327a82430 | 1048 | // センサ出力値の最小、最大 |
yuron | 5:167327a82430 | 1049 | migimae_slow.setInputLimits(-400, 400); |
yuron | 5:167327a82430 | 1050 | migiusiro_slow.setInputLimits(-400, 400); |
yuron | 5:167327a82430 | 1051 | hidarimae_slow.setInputLimits(-400, 400); |
yuron | 5:167327a82430 | 1052 | hidariusiro_slow.setInputLimits(-400, 400); |
yuron | 5:167327a82430 | 1053 | |
yuron | 5:167327a82430 | 1054 | // 制御量の最小、最大 |
yuron | 5:167327a82430 | 1055 | migimae_slow.setOutputLimits(0x0C, 0x7C); |
yuron | 5:167327a82430 | 1056 | migiusiro_slow.setOutputLimits(0x0C, 0x7C); |
yuron | 5:167327a82430 | 1057 | hidarimae_slow.setOutputLimits(0x0C, 0x7C); |
yuron | 5:167327a82430 | 1058 | hidariusiro_slow.setOutputLimits(0x84, 0xFF); |
yuron | 5:167327a82430 | 1059 | |
yuron | 5:167327a82430 | 1060 | // よくわからんやつ |
yuron | 5:167327a82430 | 1061 | migimae_slow.setMode(AUTO_MODE); |
yuron | 5:167327a82430 | 1062 | migiusiro_slow.setMode(AUTO_MODE); |
yuron | 5:167327a82430 | 1063 | hidarimae_slow.setMode(AUTO_MODE); |
yuron | 5:167327a82430 | 1064 | hidariusiro_slow.setMode(AUTO_MODE); |
yuron | 5:167327a82430 | 1065 | |
yuron | 5:167327a82430 | 1066 | // 目標値 |
yuron | 5:167327a82430 | 1067 | migimae_slow.setSetPoint(RF); |
yuron | 5:167327a82430 | 1068 | migiusiro_slow.setSetPoint(RB); |
yuron | 5:167327a82430 | 1069 | hidarimae_slow.setSetPoint(LF); |
yuron | 5:167327a82430 | 1070 | hidariusiro_slow.setSetPoint(LB); |
yuron | 5:167327a82430 | 1071 | |
yuron | 5:167327a82430 | 1072 | // センサ出力 |
yuron | 5:167327a82430 | 1073 | migimae_slow.setProcessValue(abs(migimae_rpm)); |
yuron | 5:167327a82430 | 1074 | migiusiro_slow.setProcessValue(abs(migiusiro_rpm)); |
yuron | 5:167327a82430 | 1075 | hidarimae_slow.setProcessValue(abs(hidarimae_rpm)); |
yuron | 5:167327a82430 | 1076 | hidariusiro_slow.setProcessValue(abs(hidariusiro_rpm)); |
yuron | 5:167327a82430 | 1077 | |
yuron | 5:167327a82430 | 1078 | // 制御量(計算結果) |
yuron | 5:167327a82430 | 1079 | migimae_data[0] = migimae_slow.compute(); |
yuron | 5:167327a82430 | 1080 | migiusiro_data[0] = migiusiro_slow.compute(); |
yuron | 5:167327a82430 | 1081 | hidarimae_data[0] = hidarimae_slow.compute(); |
yuron | 5:167327a82430 | 1082 | hidariusiro_data[0] = hidariusiro_slow.compute(); |
yuron | 5:167327a82430 | 1083 | |
yuron | 5:167327a82430 | 1084 | // 制御量をPWM値に変換 |
yuron | 5:167327a82430 | 1085 | true_migimae_data[0] = 0x7D - migimae_data[0]; |
yuron | 5:167327a82430 | 1086 | true_migiusiro_data[0] = 0x7D - migiusiro_data[0]; |
yuron | 5:167327a82430 | 1087 | true_hidarimae_data[0] = 0x7D - hidarimae_data[0]; |
yuron | 5:167327a82430 | 1088 | true_hidariusiro_data[0] = hidariusiro_data[0]; |
yuron | 5:167327a82430 | 1089 | |
yuron | 4:df334779a69e | 1090 | return 0; |
yuron | 4:df334779a69e | 1091 | } |
yuron | 5:167327a82430 | 1092 | //前前進後左旋回(slow_mode) |
yuron | 5:167327a82430 | 1093 | int front_front_back_left_PID(int RF, int RB, int LF, int LB) { |
yuron | 5:167327a82430 | 1094 | // センサ出力値の最小、最大 |
yuron | 5:167327a82430 | 1095 | migimae_slow.setInputLimits(-400, 400); |
yuron | 5:167327a82430 | 1096 | migiusiro_slow.setInputLimits(-400, 400); |
yuron | 5:167327a82430 | 1097 | hidarimae_slow.setInputLimits(-400, 400); |
yuron | 5:167327a82430 | 1098 | hidariusiro_slow.setInputLimits(-400, 400); |
yuron | 5:167327a82430 | 1099 | |
yuron | 5:167327a82430 | 1100 | // 制御量の最小、最大 |
yuron | 5:167327a82430 | 1101 | migimae_slow.setOutputLimits(0x0C, 0x7C); |
yuron | 5:167327a82430 | 1102 | migiusiro_slow.setOutputLimits(0x84, 0xFF); |
yuron | 5:167327a82430 | 1103 | hidarimae_slow.setOutputLimits(0x0C, 0x7C); |
yuron | 5:167327a82430 | 1104 | hidariusiro_slow.setOutputLimits(0x0C, 0x7C); |
yuron | 5:167327a82430 | 1105 | |
yuron | 5:167327a82430 | 1106 | // よくわからんやつ |
yuron | 5:167327a82430 | 1107 | migimae_slow.setMode(AUTO_MODE); |
yuron | 5:167327a82430 | 1108 | migiusiro_slow.setMode(AUTO_MODE); |
yuron | 5:167327a82430 | 1109 | hidarimae_slow.setMode(AUTO_MODE); |
yuron | 5:167327a82430 | 1110 | hidariusiro_slow.setMode(AUTO_MODE); |
yuron | 5:167327a82430 | 1111 | |
yuron | 5:167327a82430 | 1112 | // 目標値 |
yuron | 5:167327a82430 | 1113 | migimae_slow.setSetPoint(RF); |
yuron | 5:167327a82430 | 1114 | migiusiro_slow.setSetPoint(RB); |
yuron | 5:167327a82430 | 1115 | hidarimae_slow.setSetPoint(LF); |
yuron | 5:167327a82430 | 1116 | hidariusiro_slow.setSetPoint(LB); |
yuron | 5:167327a82430 | 1117 | |
yuron | 5:167327a82430 | 1118 | // センサ出力 |
yuron | 5:167327a82430 | 1119 | migimae_slow.setProcessValue(abs(migimae_rpm)); |
yuron | 5:167327a82430 | 1120 | migiusiro_slow.setProcessValue(abs(migiusiro_rpm)); |
yuron | 5:167327a82430 | 1121 | hidarimae_slow.setProcessValue(abs(hidarimae_rpm)); |
yuron | 5:167327a82430 | 1122 | hidariusiro_slow.setProcessValue(abs(hidariusiro_rpm)); |
yuron | 5:167327a82430 | 1123 | |
yuron | 5:167327a82430 | 1124 | // 制御量(計算結果) |
yuron | 5:167327a82430 | 1125 | migimae_data[0] = migimae_slow.compute(); |
yuron | 5:167327a82430 | 1126 | migiusiro_data[0] = migiusiro_slow.compute(); |
yuron | 5:167327a82430 | 1127 | hidarimae_data[0] = hidarimae_slow.compute(); |
yuron | 5:167327a82430 | 1128 | hidariusiro_data[0] = hidariusiro_slow.compute(); |
yuron | 5:167327a82430 | 1129 | |
yuron | 5:167327a82430 | 1130 | // 制御量をPWM値に変換 |
yuron | 5:167327a82430 | 1131 | true_migimae_data[0] = 0x7D - migimae_data[0]; |
yuron | 5:167327a82430 | 1132 | true_migiusiro_data[0] = migiusiro_data[0]; |
yuron | 5:167327a82430 | 1133 | true_hidarimae_data[0] = 0x7D - hidarimae_data[0]; |
yuron | 5:167327a82430 | 1134 | true_hidariusiro_data[0] = 0x7D - hidariusiro_data[0]; |
yuron | 5:167327a82430 | 1135 | |
yuron | 5:167327a82430 | 1136 | return 0; |
yuron | 5:167327a82430 | 1137 | } |
yuron | 5:167327a82430 | 1138 | //前右旋回後前進(slow_mode) |
yuron | 5:167327a82430 | 1139 | int front_right_back_front_PID(int RF, int RB, int LF, int LB) { |
yuron | 5:167327a82430 | 1140 | // センサ出力値の最小、最大 |
yuron | 5:167327a82430 | 1141 | migimae_slow.setInputLimits(-400, 400); |
yuron | 5:167327a82430 | 1142 | migiusiro_slow.setInputLimits(-400, 400); |
yuron | 5:167327a82430 | 1143 | hidarimae_slow.setInputLimits(-400, 400); |
yuron | 5:167327a82430 | 1144 | hidariusiro_slow.setInputLimits(-400, 400); |
yuron | 5:167327a82430 | 1145 | |
yuron | 5:167327a82430 | 1146 | // 制御量の最小、最大 |
yuron | 5:167327a82430 | 1147 | migimae_slow.setOutputLimits(0x84, 0xFF); |
yuron | 5:167327a82430 | 1148 | migiusiro_slow.setOutputLimits(0x0C, 0x7C); |
yuron | 5:167327a82430 | 1149 | hidarimae_slow.setOutputLimits(0x0C, 0x7C); |
yuron | 5:167327a82430 | 1150 | hidariusiro_slow.setOutputLimits(0x0C, 0x7C); |
yuron | 5:167327a82430 | 1151 | |
yuron | 5:167327a82430 | 1152 | // よくわからんやつ |
yuron | 5:167327a82430 | 1153 | migimae_slow.setMode(AUTO_MODE); |
yuron | 5:167327a82430 | 1154 | migiusiro_slow.setMode(AUTO_MODE); |
yuron | 5:167327a82430 | 1155 | hidarimae_slow.setMode(AUTO_MODE); |
yuron | 5:167327a82430 | 1156 | hidariusiro_slow.setMode(AUTO_MODE); |
yuron | 5:167327a82430 | 1157 | |
yuron | 5:167327a82430 | 1158 | // 目標値 |
yuron | 5:167327a82430 | 1159 | migimae_slow.setSetPoint(RF); |
yuron | 5:167327a82430 | 1160 | migiusiro_slow.setSetPoint(RB); |
yuron | 5:167327a82430 | 1161 | hidarimae_slow.setSetPoint(LF); |
yuron | 5:167327a82430 | 1162 | hidariusiro_slow.setSetPoint(LB); |
yuron | 5:167327a82430 | 1163 | |
yuron | 5:167327a82430 | 1164 | // センサ出力 |
yuron | 5:167327a82430 | 1165 | migimae_slow.setProcessValue(abs(migimae_rpm)); |
yuron | 5:167327a82430 | 1166 | migiusiro_slow.setProcessValue(abs(migiusiro_rpm)); |
yuron | 5:167327a82430 | 1167 | hidarimae_slow.setProcessValue(abs(hidarimae_rpm)); |
yuron | 5:167327a82430 | 1168 | hidariusiro_slow.setProcessValue(abs(hidariusiro_rpm)); |
yuron | 5:167327a82430 | 1169 | |
yuron | 5:167327a82430 | 1170 | // 制御量(計算結果) |
yuron | 5:167327a82430 | 1171 | migimae_data[0] = migimae_slow.compute(); |
yuron | 5:167327a82430 | 1172 | migiusiro_data[0] = migiusiro_slow.compute(); |
yuron | 5:167327a82430 | 1173 | hidarimae_data[0] = hidarimae_slow.compute(); |
yuron | 5:167327a82430 | 1174 | hidariusiro_data[0] = hidariusiro_slow.compute(); |
yuron | 5:167327a82430 | 1175 | |
yuron | 5:167327a82430 | 1176 | // 制御量をPWM値に変換 |
yuron | 5:167327a82430 | 1177 | true_migimae_data[0] = migimae_data[0]; |
yuron | 5:167327a82430 | 1178 | true_migiusiro_data[0] = 0x7D - migiusiro_data[0]; |
yuron | 5:167327a82430 | 1179 | true_hidarimae_data[0] = 0x7D - hidarimae_data[0]; |
yuron | 5:167327a82430 | 1180 | true_hidariusiro_data[0] = 0x7D - hidariusiro_data[0]; |
yuron | 5:167327a82430 | 1181 | |
yuron | 5:167327a82430 | 1182 | return 0; |
yuron | 5:167327a82430 | 1183 | } |
yuron | 5:167327a82430 | 1184 | //前左旋回後前進(slow_mode) |
yuron | 5:167327a82430 | 1185 | int front_left_back_front_PID(int RF, int RB, int LF, int LB) { |
yuron | 5:167327a82430 | 1186 | // センサ出力値の最小、最大 |
yuron | 5:167327a82430 | 1187 | migimae_slow.setInputLimits(-400, 400); |
yuron | 5:167327a82430 | 1188 | migiusiro_slow.setInputLimits(-400, 400); |
yuron | 5:167327a82430 | 1189 | hidarimae_slow.setInputLimits(-400, 400); |
yuron | 5:167327a82430 | 1190 | hidariusiro_slow.setInputLimits(-400, 400); |
yuron | 5:167327a82430 | 1191 | |
yuron | 5:167327a82430 | 1192 | // 制御量の最小、最大 |
yuron | 5:167327a82430 | 1193 | migimae_slow.setOutputLimits(0x0C, 0x7C); |
yuron | 5:167327a82430 | 1194 | migiusiro_slow.setOutputLimits(0x0C, 0x7C); |
yuron | 5:167327a82430 | 1195 | hidarimae_slow.setOutputLimits(0x84, 0xFF); |
yuron | 5:167327a82430 | 1196 | hidariusiro_slow.setOutputLimits(0x0C, 0x7C); |
yuron | 5:167327a82430 | 1197 | |
yuron | 5:167327a82430 | 1198 | // よくわからんやつ |
yuron | 5:167327a82430 | 1199 | migimae_slow.setMode(AUTO_MODE); |
yuron | 5:167327a82430 | 1200 | migiusiro_slow.setMode(AUTO_MODE); |
yuron | 5:167327a82430 | 1201 | hidarimae_slow.setMode(AUTO_MODE); |
yuron | 5:167327a82430 | 1202 | hidariusiro_slow.setMode(AUTO_MODE); |
yuron | 5:167327a82430 | 1203 | |
yuron | 5:167327a82430 | 1204 | // 目標値 |
yuron | 5:167327a82430 | 1205 | migimae_slow.setSetPoint(RF); |
yuron | 5:167327a82430 | 1206 | migiusiro_slow.setSetPoint(RB); |
yuron | 5:167327a82430 | 1207 | hidarimae_slow.setSetPoint(LF); |
yuron | 5:167327a82430 | 1208 | hidariusiro_slow.setSetPoint(LB); |
yuron | 5:167327a82430 | 1209 | |
yuron | 5:167327a82430 | 1210 | // センサ出力 |
yuron | 5:167327a82430 | 1211 | migimae_slow.setProcessValue(abs(migimae_rpm)); |
yuron | 5:167327a82430 | 1212 | migiusiro_slow.setProcessValue(abs(migiusiro_rpm)); |
yuron | 5:167327a82430 | 1213 | hidarimae_slow.setProcessValue(abs(hidarimae_rpm)); |
yuron | 5:167327a82430 | 1214 | hidariusiro_slow.setProcessValue(abs(hidariusiro_rpm)); |
yuron | 5:167327a82430 | 1215 | |
yuron | 5:167327a82430 | 1216 | // 制御量(計算結果) |
yuron | 5:167327a82430 | 1217 | migimae_data[0] = migimae_slow.compute(); |
yuron | 5:167327a82430 | 1218 | migiusiro_data[0] = migiusiro_slow.compute(); |
yuron | 5:167327a82430 | 1219 | hidarimae_data[0] = hidarimae_slow.compute(); |
yuron | 5:167327a82430 | 1220 | hidariusiro_data[0] = hidariusiro_slow.compute(); |
yuron | 5:167327a82430 | 1221 | |
yuron | 5:167327a82430 | 1222 | // 制御量をPWM値に変換 |
yuron | 5:167327a82430 | 1223 | true_migimae_data[0] = 0x7D - migimae_data[0]; |
yuron | 5:167327a82430 | 1224 | true_migiusiro_data[0] = 0x7D - migiusiro_data[0]; |
yuron | 5:167327a82430 | 1225 | true_hidarimae_data[0] = hidarimae_data[0]; |
yuron | 5:167327a82430 | 1226 | true_hidariusiro_data[0] = 0x7D - hidariusiro_data[0]; |
yuron | 5:167327a82430 | 1227 | |
yuron | 5:167327a82430 | 1228 | return 0; |
yuron | 5:167327a82430 | 1229 | } |
yuron | 5:167327a82430 | 1230 | //ローラー |
yuron | 4:df334779a69e | 1231 | int roller_PID(int front, int back) { |
yuron | 4:df334779a69e | 1232 | front_roller.setInputLimits(-2000, 2000); |
yuron | 4:df334779a69e | 1233 | back_roller.setInputLimits(-2000, 2000); |
yuron | 5:167327a82430 | 1234 | |
yuron | 4:df334779a69e | 1235 | front_roller.setOutputLimits(0x84, 0xFF); |
yuron | 4:df334779a69e | 1236 | back_roller.setOutputLimits(0x84, 0xFF); |
yuron | 5:167327a82430 | 1237 | |
yuron | 4:df334779a69e | 1238 | front_roller.setMode(AUTO_MODE); |
yuron | 4:df334779a69e | 1239 | back_roller.setMode(AUTO_MODE); |
yuron | 5:167327a82430 | 1240 | |
yuron | 4:df334779a69e | 1241 | front_roller.setSetPoint(front); |
yuron | 4:df334779a69e | 1242 | back_roller.setSetPoint(back); |
yuron | 5:167327a82430 | 1243 | |
yuron | 4:df334779a69e | 1244 | front_roller.setProcessValue(abs(front_roller_rpm)); |
yuron | 4:df334779a69e | 1245 | back_roller.setProcessValue(abs(back_roller_rpm)); |
yuron | 5:167327a82430 | 1246 | |
yuron | 4:df334779a69e | 1247 | front_roller_data[0] = front_roller.compute(); |
yuron | 4:df334779a69e | 1248 | back_roller_data[0] = back_roller.compute(); |
yuron | 5:167327a82430 | 1249 | |
yuron | 4:df334779a69e | 1250 | return 0; |
yuron | 4:df334779a69e | 1251 | } |
yuron | 5:167327a82430 | 1252 | //ラインセンサ基板との通信用関数 |
yuron | 4:df334779a69e | 1253 | void linetrace() { |
yuron | 4:df334779a69e | 1254 | line_state = photo.getc(); |
yuron | 5:167327a82430 | 1255 | //7bit目が1だったら7bit目を0に戻す |
yuron | 5:167327a82430 | 1256 | if((0b10000000 & line_state) == 0b10000000) { |
yuron | 5:167327a82430 | 1257 | back_line_state = 0b01111111 & line_state; |
yuron | 5:167327a82430 | 1258 | } |
yuron | 5:167327a82430 | 1259 | else { |
yuron | 5:167327a82430 | 1260 | front_line_state = line_state; |
yuron | 5:167327a82430 | 1261 | } |
yuron | 5:167327a82430 | 1262 | //4byte以上は出力できないよ |
yuron | 5:167327a82430 | 1263 | //pc.printf("%d\n\r", line_state); |
yuron | 5:167327a82430 | 1264 | //pc.printf("NAMA %d, front: %d, back: %d\n\r", line_state, front_line_state, back_line_state); |
yuron | 4:df334779a69e | 1265 | } |
yuron | 5:167327a82430 | 1266 | //超音波センサ用関数 |
yuron | 4:df334779a69e | 1267 | void ultrasonic() { |
yuron | 5:167327a82430 | 1268 | //超音波発射 |
yuron | 4:df334779a69e | 1269 | sonic.start(); |
yuron | 5:167327a82430 | 1270 | //10ms待機 |
yuron | 4:df334779a69e | 1271 | wait(0.01); |
yuron | 4:df334779a69e | 1272 | //get_dist_cm関数は、計測から得られた距離(cm)を返します。 |
yuron | 4:df334779a69e | 1273 | distance = sonic.get_dist_cm(); |
yuron | 5:167327a82430 | 1274 | //pc.printf("%d[cm]\r\n", distance); |
yuron | 4:df334779a69e | 1275 | } |
yuron | 4:df334779a69e | 1276 | int main(void) { |
yuron | 5:167327a82430 | 1277 | //こんにちは世界 |
yuron | 4:df334779a69e | 1278 | pc.printf("HelloWorld\n"); |
yuron | 5:167327a82430 | 1279 | //緊急停止用信号ピンをLow |
yuron | 0:f73c1b076ae4 | 1280 | emergency = 0; |
yuron | 5:167327a82430 | 1281 | //回転数取得関数のタイマ割り込み(40ms) |
yuron | 4:df334779a69e | 1282 | get_rps.attach_us(&flip, 40000); |
yuron | 5:167327a82430 | 1283 | |
yuron | 5:167327a82430 | 1284 | //フォトセンサ制御基板との通信ボーレートの設定(115200) |
yuron | 4:df334779a69e | 1285 | photo.baud(115200); |
yuron | 5:167327a82430 | 1286 | pc.baud(460800); |
yuron | 5:167327a82430 | 1287 | //フォトセンサ制御基板との通信関数の受信割り込み |
yuron | 4:df334779a69e | 1288 | photo.attach(linetrace, Serial::RxIrq); |
yuron | 5:167327a82430 | 1289 | //サイドチェンジボタンをPullDownに設定 |
yuron | 4:df334779a69e | 1290 | side.mode(PullDown); |
yuron | 5:167327a82430 | 1291 | limit.mode(PullDown); |
yuron | 5:167327a82430 | 1292 | //超音波センサの温度設定 |
yuron | 4:df334779a69e | 1293 | // setTemp関数は、HCSR04のメンバ変数temperature(気温を保持する変数)を引数として受け取った値に変更します。 |
yuron | 4:df334779a69e | 1294 | sonic.setTemp(25); |
yuron | 5:167327a82430 | 1295 | |
yuron | 5:167327a82430 | 1296 | //各MD, エアシリ制御基板へ起動後0.1秒間0x80を送りつける(通信切断防止用) |
yuron | 2:c32991ba628f | 1297 | send_data[0] = 0x80; |
yuron | 4:df334779a69e | 1298 | i2c.write(0x10, send_data, 1); |
yuron | 4:df334779a69e | 1299 | i2c.write(0x12, send_data, 1); |
yuron | 4:df334779a69e | 1300 | i2c.write(0x14, send_data, 1); |
yuron | 4:df334779a69e | 1301 | i2c.write(0x16, send_data, 1); |
yuron | 3:1223cab367d9 | 1302 | i2c.write(0x20, send_data, 1); |
yuron | 3:1223cab367d9 | 1303 | i2c.write(0x22, send_data, 1); |
yuron | 4:df334779a69e | 1304 | i2c.write(0x30, send_data, 1); |
yuron | 4:df334779a69e | 1305 | i2c.write(0x40, send_data, 1); |
yuron | 0:f73c1b076ae4 | 1306 | wait(0.1); |
yuron | 5:167327a82430 | 1307 | |
yuron | 4:df334779a69e | 1308 | while(1) { |
yuron | 5:167327a82430 | 1309 | |
yuron | 5:167327a82430 | 1310 | //超音波取得関数の呼び出し |
yuron | 4:df334779a69e | 1311 | ultrasonic(); |
yuron | 5:167327a82430 | 1312 | |
yuron | 5:167327a82430 | 1313 | //赤ゾーン選択 |
yuron | 5:167327a82430 | 1314 | if(side == red){ |
yuron | 4:df334779a69e | 1315 | red_side = 1; |
yuron | 4:df334779a69e | 1316 | blue_side = 0; |
yuron | 5:167327a82430 | 1317 | //青ゾーン選択 |
yuron | 4:df334779a69e | 1318 | } else { |
yuron | 4:df334779a69e | 1319 | red_side = 0; |
yuron | 4:df334779a69e | 1320 | blue_side = 1; |
yuron | 4:df334779a69e | 1321 | } |
yuron | 5:167327a82430 | 1322 | |
yuron | 5:167327a82430 | 1323 | //スタートボタン押したらエアシリ伸びる&start_flag立つ |
yuron | 5:167327a82430 | 1324 | if(start_button == 0){ |
yuron | 5:167327a82430 | 1325 | //start_flag = 1; |
yuron | 4:df334779a69e | 1326 | myled1 = 1; |
yuron | 4:df334779a69e | 1327 | cylinder_data[0] = 0x0F; |
yuron | 4:df334779a69e | 1328 | i2c.write(0x40, cylinder_data, 1); |
yuron | 5:167327a82430 | 1329 | } else { |
yuron | 5:167327a82430 | 1330 | myled1 = 0; |
yuron | 5:167327a82430 | 1331 | cylinder_data[0] = 0x80; |
yuron | 5:167327a82430 | 1332 | i2c.write(0x40, cylinder_data, 1); |
yuron | 5:167327a82430 | 1333 | } |
yuron | 4:df334779a69e | 1334 | if(user_switch2 == 0 && user_switch3 == 1){ |
yuron | 5:167327a82430 | 1335 | myled2 = 1; |
yuron | 4:df334779a69e | 1336 | loading_data[0] = 0x0C; |
yuron | 4:df334779a69e | 1337 | i2c.write(0x30, loading_data, 1); |
yuron | 5:167327a82430 | 1338 | } |
yuron | 4:df334779a69e | 1339 | else if(user_switch3 == 0 && user_switch2 == 1){ |
yuron | 5:167327a82430 | 1340 | myled3 = 1; |
yuron | 4:df334779a69e | 1341 | loading_data[0] = 0xFF; |
yuron | 4:df334779a69e | 1342 | i2c.write(0x30, loading_data, 1); |
yuron | 4:df334779a69e | 1343 | } else { |
yuron | 4:df334779a69e | 1344 | myled2 = 0; |
yuron | 4:df334779a69e | 1345 | myled3 = 0; |
yuron | 5:167327a82430 | 1346 | loading_data[0] = 0x80; |
yuron | 4:df334779a69e | 1347 | i2c.write(0x30, loading_data, 1); |
yuron | 5:167327a82430 | 1348 | } |
yuron | 5:167327a82430 | 1349 | |
yuron | 5:167327a82430 | 1350 | //ここからプロトタイプ移動プログラム |
yuron | 5:167327a82430 | 1351 | //pc.printf("pulse: %d, front: %d, back: %d\n\r", abs(measure_pulse), front_line_state, back_line_state); |
yuron | 5:167327a82430 | 1352 | //pc.printf("FR: %d, BR: %d, FL: %d, BL: %d\n\r", abs(migimae_pulse), abs(migiusiro_pulse), abs(hidarimae_pulse), abs(hidariusiro_pulse)); |
yuron | 0:f73c1b076ae4 | 1353 | |
yuron | 4:df334779a69e | 1354 | /* |
yuron | 5:167327a82430 | 1355 | //パルスが0以上10000未満の間高速右移動 |
yuron | 5:167327a82430 | 1356 | if(abs(measure_pulse) < 10000 && abs(measure_pulse) >= 0) { |
yuron | 5:167327a82430 | 1357 | right_PID(255, 300, 255, 300); |
yuron | 5:167327a82430 | 1358 | i2c.write(0x10, true_migimae_data, 1, false); |
yuron | 5:167327a82430 | 1359 | i2c.write(0x12, true_migiusiro_data, 1, false); |
yuron | 5:167327a82430 | 1360 | i2c.write(0x14, true_hidarimae_data, 1, false); |
yuron | 5:167327a82430 | 1361 | i2c.write(0x16, true_hidariusiro_data, 1, false); |
yuron | 5:167327a82430 | 1362 | wait_us(20); |
yuron | 4:df334779a69e | 1363 | } |
yuron | 5:167327a82430 | 1364 | //パルスが10000以上になったら低速右移動開始 |
yuron | 5:167327a82430 | 1365 | else if(abs(measure_pulse) >= 10000) { |
yuron | 5:167327a82430 | 1366 | right_PID_slow(93, 100, 93, 100); |
yuron | 5:167327a82430 | 1367 | i2c.write(0x10, true_migimae_data, 1, false); |
yuron | 5:167327a82430 | 1368 | i2c.write(0x12, true_migiusiro_data, 1, false); |
yuron | 5:167327a82430 | 1369 | i2c.write(0x14, true_hidarimae_data, 1, false); |
yuron | 5:167327a82430 | 1370 | i2c.write(0x16, true_hidariusiro_data, 1, false); |
yuron | 5:167327a82430 | 1371 | wait_us(20); |
yuron | 5:167327a82430 | 1372 | */ |
yuron | 5:167327a82430 | 1373 | //距離が11cm~29cmだったらトレースせずに停止 |
yuron | 5:167327a82430 | 1374 | if(distance > 10 && distance < 30) { |
yuron | 5:167327a82430 | 1375 | //タイマスタート |
yuron | 5:167327a82430 | 1376 | timer.start(); |
yuron | 5:167327a82430 | 1377 | //トレース方向の反転 |
yuron | 5:167327a82430 | 1378 | trace_direction = 1; |
yuron | 5:167327a82430 | 1379 | //テーブル検知して1秒たったら後進開始 |
yuron | 5:167327a82430 | 1380 | if(timer.read() > 1.0f) { |
yuron | 5:167327a82430 | 1381 | line_state_pettern = back_trace; |
yuron | 5:167327a82430 | 1382 | pc.printf("start_back!\n\r"); |
yuron | 5:167327a82430 | 1383 | } else { |
yuron | 5:167327a82430 | 1384 | line_state_pettern = stop; |
yuron | 5:167327a82430 | 1385 | } |
yuron | 5:167327a82430 | 1386 | |
yuron | 5:167327a82430 | 1387 | //上記以外の距離でライントレースするよん |
yuron | 5:167327a82430 | 1388 | } else { |
yuron | 5:167327a82430 | 1389 | //タイマリセット |
yuron | 5:167327a82430 | 1390 | timer.reset(); |
yuron | 5:167327a82430 | 1391 | /* |
yuron | 5:167327a82430 | 1392 | //リミットスイッチが押されたら |
yuron | 5:167327a82430 | 1393 | if(limit.read() == 0) { |
yuron | 5:167327a82430 | 1394 | //トレース方向の反転 |
yuron | 5:167327a82430 | 1395 | trace_direction = 0; |
yuron | 5:167327a82430 | 1396 | //タイマスタート |
yuron | 5:167327a82430 | 1397 | timer.start(); |
yuron | 5:167327a82430 | 1398 | //1.5秒間右移動 |
yuron | 5:167327a82430 | 1399 | if(timer.read() < 1.5f) { |
yuron | 5:167327a82430 | 1400 | line_state_pettern = right_slow; |
yuron | 5:167327a82430 | 1401 | } else { |
yuron | 5:167327a82430 | 1402 | timer.reset(); |
yuron | 5:167327a82430 | 1403 | } |
yuron | 5:167327a82430 | 1404 | */ |
yuron | 5:167327a82430 | 1405 | |
yuron | 5:167327a82430 | 1406 | //ライン検知するまで右移動 |
yuron | 5:167327a82430 | 1407 | if((front_line_state == 0) && (back_line_state == 0)) { |
yuron | 5:167327a82430 | 1408 | //青ゾーンの時ライン検知するまで右移動 |
yuron | 5:167327a82430 | 1409 | if(side == blue) { |
yuron | 5:167327a82430 | 1410 | line_state_pettern = right_slow; |
yuron | 5:167327a82430 | 1411 | //赤ゾーンの時ライン検知するまで左移動 |
yuron | 5:167327a82430 | 1412 | } else { |
yuron | 5:167327a82430 | 1413 | line_state_pettern = left_slow; |
yuron | 5:167327a82430 | 1414 | } |
yuron | 5:167327a82430 | 1415 | } |
yuron | 5:167327a82430 | 1416 | /* |
yuron | 5:167327a82430 | 1417 | //前はライン検知してるけど後ろは検知できない時右移動 |
yuron | 5:167327a82430 | 1418 | else if((front_line_state >= 1) && (back_line_state == 0)) { |
yuron | 5:167327a82430 | 1419 | line_state_pettern = right_super_slow; |
yuron | 5:167327a82430 | 1420 | } |
yuron | 5:167327a82430 | 1421 | //前はライン検知できないけど後ろは検知してる時右移動 |
yuron | 5:167327a82430 | 1422 | else if((front_line_state == 0) && (back_line_state >= 1)) { |
yuron | 5:167327a82430 | 1423 | line_state_pettern = right_super_slow; |
yuron | 5:167327a82430 | 1424 | } |
yuron | 5:167327a82430 | 1425 | */ |
yuron | 5:167327a82430 | 1426 | |
yuron | 5:167327a82430 | 1427 | //前が右寄りの時 |
yuron | 5:167327a82430 | 1428 | else if((front_line_state <= 5) && (front_line_state != 0)) { |
yuron | 5:167327a82430 | 1429 | |
yuron | 5:167327a82430 | 1430 | //前も後ろも右寄りの時右移動 |
yuron | 5:167327a82430 | 1431 | if((back_line_state <= 5) && (back_line_state != 0)) { |
yuron | 5:167327a82430 | 1432 | line_state_pettern = right_super_slow; |
yuron | 5:167327a82430 | 1433 | } |
yuron | 5:167327a82430 | 1434 | //前が右寄りで後ろが真ん中の時前右旋回後ろ前進 |
yuron | 5:167327a82430 | 1435 | else if((back_line_state >= 6) && (back_line_state <= 12)) { |
yuron | 5:167327a82430 | 1436 | line_state_pettern = front_right_back_front; |
yuron | 5:167327a82430 | 1437 | } |
yuron | 5:167327a82430 | 1438 | //前が右寄りで後ろが左寄りの時左旋回 |
yuron | 5:167327a82430 | 1439 | else if((back_line_state >= 13) && (back_line_state <= 17)) { |
yuron | 5:167327a82430 | 1440 | line_state_pettern = turn_left; |
yuron | 5:167327a82430 | 1441 | } |
yuron | 5:167327a82430 | 1442 | |
yuron | 5:167327a82430 | 1443 | } |
yuron | 5:167327a82430 | 1444 | //前が真ん中寄りの時 |
yuron | 5:167327a82430 | 1445 | else if((front_line_state >= 6) && (front_line_state <= 12)) { |
yuron | 5:167327a82430 | 1446 | |
yuron | 5:167327a82430 | 1447 | //前が真ん中で後ろが右寄りの時前前進後ろ右旋回 |
yuron | 5:167327a82430 | 1448 | if((back_line_state <= 5) && (back_line_state != 0)) { |
yuron | 5:167327a82430 | 1449 | line_state_pettern = front_front_back_right; |
yuron | 5:167327a82430 | 1450 | } |
yuron | 5:167327a82430 | 1451 | //前も後ろも真ん中の時前進 |
yuron | 5:167327a82430 | 1452 | else if((back_line_state >= 6) && (back_line_state <= 12)) { |
yuron | 5:167327a82430 | 1453 | if(trace_direction == 0) { |
yuron | 5:167327a82430 | 1454 | line_state_pettern = front_trace; |
yuron | 5:167327a82430 | 1455 | } |
yuron | 5:167327a82430 | 1456 | else if(trace_direction == 1) { |
yuron | 5:167327a82430 | 1457 | line_state_pettern = back_trace; |
yuron | 5:167327a82430 | 1458 | /* |
yuron | 5:167327a82430 | 1459 | //リミットスイッチが押されたら |
yuron | 5:167327a82430 | 1460 | if(limit.read() == 0) { |
yuron | 5:167327a82430 | 1461 | //トレース方向の反転 |
yuron | 5:167327a82430 | 1462 | trace_direction = 0; |
yuron | 5:167327a82430 | 1463 | right_flag = 1; |
yuron | 5:167327a82430 | 1464 | //timer.start(); |
yuron | 5:167327a82430 | 1465 | //1.5秒間右移動 |
yuron | 5:167327a82430 | 1466 | //if(timer.read() < 1.5f) { |
yuron | 5:167327a82430 | 1467 | //line_state_pettern = right_slow; |
yuron | 5:167327a82430 | 1468 | //} else { |
yuron | 5:167327a82430 | 1469 | //timer.reset(); |
yuron | 5:167327a82430 | 1470 | //} |
yuron | 5:167327a82430 | 1471 | } |
yuron | 5:167327a82430 | 1472 | */ |
yuron | 5:167327a82430 | 1473 | } |
yuron | 5:167327a82430 | 1474 | } |
yuron | 5:167327a82430 | 1475 | //前が真ん中で後ろが左寄りの時前前進後ろ左旋回 |
yuron | 5:167327a82430 | 1476 | else if((back_line_state >= 13) && (back_line_state <= 17)) { |
yuron | 5:167327a82430 | 1477 | line_state_pettern = front_front_back_left; |
yuron | 5:167327a82430 | 1478 | } |
yuron | 5:167327a82430 | 1479 | } |
yuron | 5:167327a82430 | 1480 | //前が左寄りの時 |
yuron | 5:167327a82430 | 1481 | else if((front_line_state >= 13) && (front_line_state <= 17)) { |
yuron | 5:167327a82430 | 1482 | |
yuron | 5:167327a82430 | 1483 | //前が左寄りで後ろが右寄りの時右旋回 |
yuron | 5:167327a82430 | 1484 | if((back_line_state <= 5) && (back_line_state != 0)) { |
yuron | 5:167327a82430 | 1485 | line_state_pettern = turn_right; |
yuron | 5:167327a82430 | 1486 | } |
yuron | 5:167327a82430 | 1487 | //前が左寄りで後ろが真ん中の時前左旋回後ろ前進 |
yuron | 5:167327a82430 | 1488 | else if((back_line_state >= 6) && (back_line_state <= 12)) { |
yuron | 5:167327a82430 | 1489 | line_state_pettern = front_left_back_front; |
yuron | 5:167327a82430 | 1490 | } |
yuron | 5:167327a82430 | 1491 | //前が左よりで後ろも左寄りの時左移動 |
yuron | 5:167327a82430 | 1492 | else if((back_line_state >= 13) && (back_line_state <= 17)) { |
yuron | 5:167327a82430 | 1493 | line_state_pettern = left_super_slow; |
yuron | 5:167327a82430 | 1494 | } |
yuron | 5:167327a82430 | 1495 | |
yuron | 5:167327a82430 | 1496 | //それ以外 |
yuron | 5:167327a82430 | 1497 | } else { |
yuron | 5:167327a82430 | 1498 | line_state_pettern = stop; |
yuron | 5:167327a82430 | 1499 | } |
yuron | 5:167327a82430 | 1500 | //スイッチが押されていないとき(壁から離れたとき) |
yuron | 5:167327a82430 | 1501 | /* |
yuron | 5:167327a82430 | 1502 | } else { |
yuron | 5:167327a82430 | 1503 | //後進し続ける |
yuron | 5:167327a82430 | 1504 | line_state_pettern = back_trace; |
yuron | 5:167327a82430 | 1505 | }*/ |
yuron | 4:df334779a69e | 1506 | } |
yuron | 5:167327a82430 | 1507 | //} |
yuron | 5:167327a82430 | 1508 | |
yuron | 5:167327a82430 | 1509 | pc.printf("F%3d B%3d P%3d %3d %3d\n\r", front_line_state, back_line_state, line_state_pettern, abs(measure_pulse), right_flag); |
yuron | 3:1223cab367d9 | 1510 | |
yuron | 5:167327a82430 | 1511 | //right_flagが0(初期状態)の時 |
yuron | 5:167327a82430 | 1512 | if(right_flag == 0) { |
yuron | 5:167327a82430 | 1513 | //リミットONでright_flag = 1 |
yuron | 5:167327a82430 | 1514 | if(limit.read() == 0) { |
yuron | 5:167327a82430 | 1515 | right_flag = 1; |
yuron | 5:167327a82430 | 1516 | } |
yuron | 4:df334779a69e | 1517 | } |
yuron | 5:167327a82430 | 1518 | //リミットがONの時(1回目) |
yuron | 5:167327a82430 | 1519 | if(right_flag == 1) { |
yuron | 5:167327a82430 | 1520 | //トレース方向の反転(前進) |
yuron | 5:167327a82430 | 1521 | trace_direction = 0; |
yuron | 5:167327a82430 | 1522 | back_timer1.start(); |
yuron | 5:167327a82430 | 1523 | if(back_timer1.read() <= 1.5f && back_timer1.read() != 0.0f) { |
yuron | 5:167327a82430 | 1524 | line_state_pettern = right_slow; |
yuron | 5:167327a82430 | 1525 | } |
yuron | 5:167327a82430 | 1526 | else if(back_timer1.read() > 1.5f) { |
yuron | 5:167327a82430 | 1527 | back_timer1.reset(); |
yuron | 5:167327a82430 | 1528 | right_flag = 2; |
yuron | 5:167327a82430 | 1529 | } |
yuron | 5:167327a82430 | 1530 | } |
yuron | 5:167327a82430 | 1531 | else if(right_flag == 2) { |
yuron | 5:167327a82430 | 1532 | if(limit.read() == 0) { |
yuron | 5:167327a82430 | 1533 | right_flag = 3; |
yuron | 5:167327a82430 | 1534 | } |
yuron | 4:df334779a69e | 1535 | } |
yuron | 5:167327a82430 | 1536 | //リミットがONの時(2回目) |
yuron | 5:167327a82430 | 1537 | else if(right_flag == 3) { |
yuron | 5:167327a82430 | 1538 | trace_direction = 0; |
yuron | 5:167327a82430 | 1539 | back_timer2.start(); |
yuron | 5:167327a82430 | 1540 | if(back_timer2.read() <= 0.8f && back_timer2.read() != 0.0f) { |
yuron | 5:167327a82430 | 1541 | line_state_pettern = right_slow; |
yuron | 5:167327a82430 | 1542 | } |
yuron | 5:167327a82430 | 1543 | else if(back_timer2.read() > 0.8f) { |
yuron | 5:167327a82430 | 1544 | back_timer2.reset(); |
yuron | 5:167327a82430 | 1545 | right_flag = 4; |
yuron | 5:167327a82430 | 1546 | } |
yuron | 5:167327a82430 | 1547 | } |
yuron | 5:167327a82430 | 1548 | else if(right_flag == 4) { |
yuron | 5:167327a82430 | 1549 | if(limit.read() == 0) { |
yuron | 5:167327a82430 | 1550 | right_flag = 5; |
yuron | 5:167327a82430 | 1551 | } |
yuron | 4:df334779a69e | 1552 | } |
yuron | 5:167327a82430 | 1553 | //リミットがONの時(3回目) |
yuron | 5:167327a82430 | 1554 | else if(right_flag == 5) { |
yuron | 5:167327a82430 | 1555 | trace_direction = 0; |
yuron | 5:167327a82430 | 1556 | back_timer3.start(); |
yuron | 5:167327a82430 | 1557 | if(back_timer3.read() <= 0.8f && back_timer3.read() != 0.8f) { |
yuron | 5:167327a82430 | 1558 | line_state_pettern = right_slow; |
yuron | 5:167327a82430 | 1559 | } |
yuron | 5:167327a82430 | 1560 | else if(back_timer3.read() > 0.8f) { |
yuron | 5:167327a82430 | 1561 | back_timer3.reset(); |
yuron | 5:167327a82430 | 1562 | right_flag = 6; |
yuron | 5:167327a82430 | 1563 | } |
yuron | 5:167327a82430 | 1564 | } |
yuron | 5:167327a82430 | 1565 | else if(right_flag == 6) { |
yuron | 5:167327a82430 | 1566 | if(limit.read() == 0) { |
yuron | 5:167327a82430 | 1567 | right_flag = 7; |
yuron | 5:167327a82430 | 1568 | } |
yuron | 5:167327a82430 | 1569 | } |
yuron | 5:167327a82430 | 1570 | //リミットがONの時(4回目) |
yuron | 5:167327a82430 | 1571 | else if(right_flag == 7) { |
yuron | 5:167327a82430 | 1572 | //スタートゾーンに近づいたら減速 |
yuron | 5:167327a82430 | 1573 | if(abs(measure_pulse) < 1200) { |
yuron | 5:167327a82430 | 1574 | line_state_pettern = left_super_slow; |
yuron | 5:167327a82430 | 1575 | } |
yuron | 5:167327a82430 | 1576 | else if(abs(measure_pulse) < 500) { |
yuron | 5:167327a82430 | 1577 | line_state_pettern = stop; |
yuron | 5:167327a82430 | 1578 | } else { |
yuron | 5:167327a82430 | 1579 | line_state_pettern = left_slow; |
yuron | 5:167327a82430 | 1580 | } |
yuron | 4:df334779a69e | 1581 | } |
yuron | 3:1223cab367d9 | 1582 | |
yuron | 3:1223cab367d9 | 1583 | /* |
yuron | 5:167327a82430 | 1584 | if(right_flag == 1) { |
yuron | 5:167327a82430 | 1585 | line_state_pettern = front_trace; |
yuron | 5:167327a82430 | 1586 | wait(2); |
yuron | 5:167327a82430 | 1587 | line_state_pettern = right_slow; |
yuron | 5:167327a82430 | 1588 | wait(2); |
yuron | 5:167327a82430 | 1589 | right_flag = 2; |
yuron | 5:167327a82430 | 1590 | } |
yuron | 5:167327a82430 | 1591 | */ |
yuron | 5:167327a82430 | 1592 | |
yuron | 5:167327a82430 | 1593 | switch(line_state_pettern) { |
yuron | 5:167327a82430 | 1594 | |
yuron | 5:167327a82430 | 1595 | //青ゾーンでライン検知しないと低速右移動 |
yuron | 5:167327a82430 | 1596 | case right_slow: |
yuron | 5:167327a82430 | 1597 | right_PID_slow(50, 51, 50, 51); |
yuron | 5:167327a82430 | 1598 | i2c.write(0x10, true_migimae_data, 1, false); |
yuron | 5:167327a82430 | 1599 | i2c.write(0x12, true_migiusiro_data, 1, false); |
yuron | 5:167327a82430 | 1600 | i2c.write(0x14, true_hidarimae_data, 1, false); |
yuron | 5:167327a82430 | 1601 | i2c.write(0x16, true_hidariusiro_data, 1, false); |
yuron | 5:167327a82430 | 1602 | wait_us(20); |
yuron | 5:167327a82430 | 1603 | break; |
yuron | 5:167327a82430 | 1604 | |
yuron | 5:167327a82430 | 1605 | //赤ゾーンでライン検知しないと低速左移動 |
yuron | 5:167327a82430 | 1606 | case left_slow: |
yuron | 5:167327a82430 | 1607 | left_PID_slow(50, 50, 50, 50); |
yuron | 5:167327a82430 | 1608 | i2c.write(0x10, true_migimae_data, 1, false); |
yuron | 5:167327a82430 | 1609 | i2c.write(0x12, true_migiusiro_data, 1, false); |
yuron | 5:167327a82430 | 1610 | i2c.write(0x14, true_hidarimae_data, 1, false); |
yuron | 5:167327a82430 | 1611 | i2c.write(0x16, true_hidariusiro_data, 1, false); |
yuron | 5:167327a82430 | 1612 | wait_us(20); |
yuron | 5:167327a82430 | 1613 | break; |
yuron | 5:167327a82430 | 1614 | |
yuron | 5:167327a82430 | 1615 | //超低速右移動 |
yuron | 5:167327a82430 | 1616 | case right_super_slow: |
yuron | 5:167327a82430 | 1617 | right_PID_slow(10, 10, 10, 10); |
yuron | 5:167327a82430 | 1618 | i2c.write(0x10, true_migimae_data, 1, false); |
yuron | 5:167327a82430 | 1619 | i2c.write(0x12, true_migiusiro_data, 1, false); |
yuron | 5:167327a82430 | 1620 | i2c.write(0x14, true_hidarimae_data, 1, false); |
yuron | 5:167327a82430 | 1621 | i2c.write(0x16, true_hidariusiro_data, 1, false); |
yuron | 5:167327a82430 | 1622 | wait_us(20); |
yuron | 5:167327a82430 | 1623 | break; |
yuron | 5:167327a82430 | 1624 | |
yuron | 5:167327a82430 | 1625 | //超低速左移動 |
yuron | 5:167327a82430 | 1626 | case left_super_slow: |
yuron | 5:167327a82430 | 1627 | left_PID_slow(10, 10, 10, 10); |
yuron | 5:167327a82430 | 1628 | i2c.write(0x10, true_migimae_data, 1, false); |
yuron | 5:167327a82430 | 1629 | i2c.write(0x12, true_migiusiro_data, 1, false); |
yuron | 5:167327a82430 | 1630 | i2c.write(0x14, true_hidarimae_data, 1, false); |
yuron | 5:167327a82430 | 1631 | i2c.write(0x16, true_hidariusiro_data, 1, false); |
yuron | 5:167327a82430 | 1632 | wait_us(20); |
yuron | 5:167327a82430 | 1633 | break; |
yuron | 5:167327a82430 | 1634 | |
yuron | 5:167327a82430 | 1635 | //右旋回 |
yuron | 5:167327a82430 | 1636 | case turn_right: |
yuron | 5:167327a82430 | 1637 | turn_right_PID_slow(10, 10, 10, 10); |
yuron | 5:167327a82430 | 1638 | i2c.write(0x10, true_migimae_data, 1, false); |
yuron | 5:167327a82430 | 1639 | i2c.write(0x12, true_migiusiro_data, 1, false); |
yuron | 5:167327a82430 | 1640 | i2c.write(0x14, true_hidarimae_data, 1, false); |
yuron | 5:167327a82430 | 1641 | i2c.write(0x16, true_hidariusiro_data, 1, false); |
yuron | 5:167327a82430 | 1642 | wait_us(20); |
yuron | 5:167327a82430 | 1643 | break; |
yuron | 5:167327a82430 | 1644 | |
yuron | 5:167327a82430 | 1645 | //左旋回 |
yuron | 5:167327a82430 | 1646 | case turn_left: |
yuron | 5:167327a82430 | 1647 | turn_left_PID_slow(10, 10, 10, 10); |
yuron | 5:167327a82430 | 1648 | i2c.write(0x10, true_migimae_data, 1, false); |
yuron | 5:167327a82430 | 1649 | i2c.write(0x12, true_migiusiro_data, 1, false); |
yuron | 5:167327a82430 | 1650 | i2c.write(0x14, true_hidarimae_data, 1, false); |
yuron | 5:167327a82430 | 1651 | i2c.write(0x16, true_hidariusiro_data, 1, false); |
yuron | 5:167327a82430 | 1652 | wait_us(20); |
yuron | 5:167327a82430 | 1653 | break; |
yuron | 5:167327a82430 | 1654 | |
yuron | 5:167327a82430 | 1655 | //前進 |
yuron | 5:167327a82430 | 1656 | case front_trace: |
yuron | 5:167327a82430 | 1657 | front_PID_slow(30, 30, 30, 30); |
yuron | 5:167327a82430 | 1658 | //front_PID_slow(50, 50, 50, 50); |
yuron | 5:167327a82430 | 1659 | i2c.write(0x10, true_migimae_data, 1, false); |
yuron | 5:167327a82430 | 1660 | i2c.write(0x12, true_migiusiro_data, 1, false); |
yuron | 5:167327a82430 | 1661 | i2c.write(0x14, true_hidarimae_data, 1, false); |
yuron | 5:167327a82430 | 1662 | i2c.write(0x16, true_hidariusiro_data, 1, false); |
yuron | 5:167327a82430 | 1663 | wait_us(20); |
yuron | 5:167327a82430 | 1664 | break; |
yuron | 5:167327a82430 | 1665 | //後進 |
yuron | 5:167327a82430 | 1666 | case back_trace: |
yuron | 5:167327a82430 | 1667 | back_PID_slow(30, 30, 30, 30); |
yuron | 5:167327a82430 | 1668 | //back_PID_slow(50, 50, 50, 50); |
yuron | 5:167327a82430 | 1669 | i2c.write(0x10, true_migimae_data, 1, false); |
yuron | 5:167327a82430 | 1670 | i2c.write(0x12, true_migiusiro_data, 1, false); |
yuron | 5:167327a82430 | 1671 | i2c.write(0x14, true_hidarimae_data, 1, false); |
yuron | 5:167327a82430 | 1672 | i2c.write(0x16, true_hidariusiro_data, 1, false); |
yuron | 5:167327a82430 | 1673 | wait_us(20); |
yuron | 5:167327a82430 | 1674 | break; |
yuron | 5:167327a82430 | 1675 | |
yuron | 5:167327a82430 | 1676 | //前前進後ろ右旋回 |
yuron | 5:167327a82430 | 1677 | case front_front_back_right: |
yuron | 5:167327a82430 | 1678 | front_front_back_right_PID(30, 30, 30, 30); |
yuron | 5:167327a82430 | 1679 | //true_hidarimae_data[0] = 0x80; |
yuron | 5:167327a82430 | 1680 | i2c.write(0x10, true_migimae_data, 1, false); |
yuron | 5:167327a82430 | 1681 | i2c.write(0x12, true_migiusiro_data, 1, false); |
yuron | 5:167327a82430 | 1682 | i2c.write(0x14, true_hidarimae_data, 1, false); |
yuron | 5:167327a82430 | 1683 | i2c.write(0x16, true_hidariusiro_data, 1, false); |
yuron | 5:167327a82430 | 1684 | wait_us(20); |
yuron | 5:167327a82430 | 1685 | break; |
yuron | 5:167327a82430 | 1686 | |
yuron | 5:167327a82430 | 1687 | //前前進後ろ左旋回 |
yuron | 5:167327a82430 | 1688 | case front_front_back_left: |
yuron | 5:167327a82430 | 1689 | front_front_back_left_PID(30, 30, 30, 30); |
yuron | 5:167327a82430 | 1690 | //true_migimae_data[0] = 0x80; |
yuron | 5:167327a82430 | 1691 | i2c.write(0x10, true_migimae_data, 1, false); |
yuron | 5:167327a82430 | 1692 | i2c.write(0x12, true_migiusiro_data, 1, false); |
yuron | 5:167327a82430 | 1693 | i2c.write(0x14, true_hidarimae_data, 1, false); |
yuron | 5:167327a82430 | 1694 | i2c.write(0x16, true_hidariusiro_data, 1, false); |
yuron | 5:167327a82430 | 1695 | wait_us(20); |
yuron | 5:167327a82430 | 1696 | break; |
yuron | 5:167327a82430 | 1697 | |
yuron | 5:167327a82430 | 1698 | //前右旋回後ろ前進 |
yuron | 5:167327a82430 | 1699 | case front_right_back_front: |
yuron | 5:167327a82430 | 1700 | front_right_back_front_PID(30, 30, 30, 30); |
yuron | 5:167327a82430 | 1701 | //true_migiusiro_data[0] = 0x80; |
yuron | 5:167327a82430 | 1702 | i2c.write(0x10, true_migimae_data, 1, false); |
yuron | 5:167327a82430 | 1703 | i2c.write(0x12, true_migiusiro_data, 1, false); |
yuron | 5:167327a82430 | 1704 | i2c.write(0x14, true_hidarimae_data, 1, false); |
yuron | 5:167327a82430 | 1705 | i2c.write(0x16, true_hidariusiro_data, 1, false); |
yuron | 5:167327a82430 | 1706 | wait_us(20); |
yuron | 5:167327a82430 | 1707 | break; |
yuron | 5:167327a82430 | 1708 | |
yuron | 5:167327a82430 | 1709 | //前左旋回後ろ前進 |
yuron | 5:167327a82430 | 1710 | case front_left_back_front: |
yuron | 5:167327a82430 | 1711 | front_left_back_front_PID(30, 30, 30, 30); |
yuron | 5:167327a82430 | 1712 | //true_hidariusiro_data[0] = 0x80; |
yuron | 5:167327a82430 | 1713 | i2c.write(0x10, true_migimae_data, 1, false); |
yuron | 5:167327a82430 | 1714 | i2c.write(0x12, true_migiusiro_data, 1, false); |
yuron | 5:167327a82430 | 1715 | i2c.write(0x14, true_hidarimae_data, 1, false); |
yuron | 5:167327a82430 | 1716 | i2c.write(0x16, true_hidariusiro_data, 1, false); |
yuron | 5:167327a82430 | 1717 | wait_us(20); |
yuron | 5:167327a82430 | 1718 | break; |
yuron | 5:167327a82430 | 1719 | |
yuron | 5:167327a82430 | 1720 | |
yuron | 5:167327a82430 | 1721 | //それ以外ショートブレーキ |
yuron | 5:167327a82430 | 1722 | default: |
yuron | 5:167327a82430 | 1723 | /* |
yuron | 5:167327a82430 | 1724 | front_PID_slow(30, 30, 30, 30); |
yuron | 5:167327a82430 | 1725 | i2c.write(0x10, true_migimae_data, 1, false); |
yuron | 5:167327a82430 | 1726 | i2c.write(0x12, true_migiusiro_data, 1, false); |
yuron | 5:167327a82430 | 1727 | i2c.write(0x14, true_hidarimae_data, 1, false); |
yuron | 5:167327a82430 | 1728 | i2c.write(0x16, true_hidariusiro_data, 1, false); |
yuron | 5:167327a82430 | 1729 | wait_us(20); |
yuron | 5:167327a82430 | 1730 | break; |
yuron | 5:167327a82430 | 1731 | */ |
yuron | 5:167327a82430 | 1732 | |
yuron | 5:167327a82430 | 1733 | true_migimae_data[0] = 0x80; |
yuron | 5:167327a82430 | 1734 | true_migiusiro_data[0] = 0x80; |
yuron | 5:167327a82430 | 1735 | true_hidarimae_data[0] = 0x80; |
yuron | 5:167327a82430 | 1736 | true_hidariusiro_data[0] = 0x80; |
yuron | 5:167327a82430 | 1737 | i2c.write(0x10, true_migimae_data, 1, false); |
yuron | 5:167327a82430 | 1738 | i2c.write(0x12, true_migiusiro_data, 1, false); |
yuron | 5:167327a82430 | 1739 | i2c.write(0x14, true_hidarimae_data, 1, false); |
yuron | 5:167327a82430 | 1740 | i2c.write(0x16, true_hidariusiro_data, 1, false); |
yuron | 5:167327a82430 | 1741 | wait_us(20); |
yuron | 5:167327a82430 | 1742 | break; |
yuron | 5:167327a82430 | 1743 | |
yuron | 5:167327a82430 | 1744 | } |
yuron | 5:167327a82430 | 1745 | |
yuron | 5:167327a82430 | 1746 | /* |
yuron | 5:167327a82430 | 1747 | //前進 |
yuron | 5:167327a82430 | 1748 | front_PID(300, 300, 300, 300); |
yuron | 4:df334779a69e | 1749 | i2c.write(0x10, true_migimae_data, 1, false); |
yuron | 4:df334779a69e | 1750 | i2c.write(0x12, true_migiusiro_data, 1, false); |
yuron | 4:df334779a69e | 1751 | i2c.write(0x14, true_hidarimae_data, 1, false); |
yuron | 4:df334779a69e | 1752 | i2c.write(0x16, true_hidariusiro_data, 1, false); |
yuron | 4:df334779a69e | 1753 | wait_us(20); |
yuron | 5:167327a82430 | 1754 | |
yuron | 5:167327a82430 | 1755 | //後進 |
yuron | 5:167327a82430 | 1756 | back_PID(300, 300, 300, 300); |
yuron | 4:df334779a69e | 1757 | i2c.write(0x10, true_migimae_data, 1, false); |
yuron | 4:df334779a69e | 1758 | i2c.write(0x12, true_migiusiro_data, 1, false); |
yuron | 4:df334779a69e | 1759 | i2c.write(0x14, true_hidarimae_data, 1, false); |
yuron | 4:df334779a69e | 1760 | i2c.write(0x16, true_hidariusiro_data,1, false); |
yuron | 4:df334779a69e | 1761 | wait_us(20); |
yuron | 5:167327a82430 | 1762 | |
yuron | 5:167327a82430 | 1763 | //右進行 |
yuron | 5:167327a82430 | 1764 | //right_PID(255, 300, 255, 300); |
yuron | 5:167327a82430 | 1765 | right_PID_slow(93, 100, 93, 100); |
yuron | 5:167327a82430 | 1766 | i2c.write(0x10, true_migimae_data, 1, false); |
yuron | 5:167327a82430 | 1767 | i2c.write(0x12, true_migiusiro_data, 1, false); |
yuron | 5:167327a82430 | 1768 | i2c.write(0x14, true_hidarimae_data, 1, false); |
yuron | 5:167327a82430 | 1769 | i2c.write(0x16, true_hidariusiro_data,1, false); |
yuron | 5:167327a82430 | 1770 | wait_us(20); |
yuron | 5:167327a82430 | 1771 | |
yuron | 5:167327a82430 | 1772 | //左進行 |
yuron | 5:167327a82430 | 1773 | left_PID(300, 255, 300, 255); |
yuron | 5:167327a82430 | 1774 | i2c.write(0x10, true_migimae_data, 1, false); |
yuron | 5:167327a82430 | 1775 | i2c.write(0x12, true_migiusiro_data, 1, false); |
yuron | 5:167327a82430 | 1776 | i2c.write(0x14, true_hidarimae_data, 1, false); |
yuron | 5:167327a82430 | 1777 | i2c.write(0x16, true_hidariusiro_data,1, false); |
yuron | 5:167327a82430 | 1778 | wait_us(20); |
yuron | 5:167327a82430 | 1779 | |
yuron | 5:167327a82430 | 1780 | //斜め右前 |
yuron | 5:167327a82430 | 1781 | right_front_PID(300, 300); |
yuron | 4:df334779a69e | 1782 | i2c.write(0x10, true_migimae_data, 1, false); |
yuron | 4:df334779a69e | 1783 | i2c.write(0x12, true_migiusiro_data, 1, false); |
yuron | 4:df334779a69e | 1784 | i2c.write(0x14, true_hidarimae_data, 1, false); |
yuron | 4:df334779a69e | 1785 | i2c.write(0x16, true_hidariusiro_data,1, false); |
yuron | 4:df334779a69e | 1786 | wait_us(20); |
yuron | 5:167327a82430 | 1787 | |
yuron | 5:167327a82430 | 1788 | //斜め右後 |
yuron | 5:167327a82430 | 1789 | right_back_PID(300, 300); |
yuron | 5:167327a82430 | 1790 | i2c.write(0x10, true_migimae_data, 1, false); |
yuron | 5:167327a82430 | 1791 | i2c.write(0x12, true_migiusiro_data, 1, false); |
yuron | 5:167327a82430 | 1792 | i2c.write(0x14, true_hidarimae_data, 1, false); |
yuron | 5:167327a82430 | 1793 | i2c.write(0x16, true_hidariusiro_data,1, false); |
yuron | 5:167327a82430 | 1794 | wait_us(20); |
yuron | 5:167327a82430 | 1795 | |
yuron | 5:167327a82430 | 1796 | //斜め左前 |
yuron | 5:167327a82430 | 1797 | left_front_PID(300, 300); |
yuron | 4:df334779a69e | 1798 | i2c.write(0x10, true_migimae_data, 1, false); |
yuron | 4:df334779a69e | 1799 | i2c.write(0x12, true_migiusiro_data, 1, false); |
yuron | 4:df334779a69e | 1800 | i2c.write(0x14, true_hidarimae_data, 1, false); |
yuron | 4:df334779a69e | 1801 | i2c.write(0x16, true_hidariusiro_data,1, false); |
yuron | 4:df334779a69e | 1802 | wait_us(20); |
yuron | 5:167327a82430 | 1803 | |
yuron | 5:167327a82430 | 1804 | //斜め左後 |
yuron | 5:167327a82430 | 1805 | left_back_PID(300, 300); |
yuron | 4:df334779a69e | 1806 | i2c.write(0x10, true_migimae_data, 1, false); |
yuron | 4:df334779a69e | 1807 | i2c.write(0x12, true_migiusiro_data, 1, false); |
yuron | 4:df334779a69e | 1808 | i2c.write(0x14, true_hidarimae_data, 1, false); |
yuron | 4:df334779a69e | 1809 | i2c.write(0x16, true_hidariusiro_data,1, false); |
yuron | 4:df334779a69e | 1810 | wait_us(20); |
yuron | 5:167327a82430 | 1811 | |
yuron | 5:167327a82430 | 1812 | //右旋回 |
yuron | 5:167327a82430 | 1813 | turn_right_PID(300, 300, 300, 300); |
yuron | 5:167327a82430 | 1814 | i2c.write(0x10, true_migimae_data, 1, false); |
yuron | 5:167327a82430 | 1815 | i2c.write(0x12, true_migiusiro_data, 1, false); |
yuron | 5:167327a82430 | 1816 | i2c.write(0x14, true_hidarimae_data, 1, false); |
yuron | 5:167327a82430 | 1817 | i2c.write(0x16, true_hidariusiro_data,1, false); |
yuron | 5:167327a82430 | 1818 | wait_us(20); |
yuron | 5:167327a82430 | 1819 | |
yuron | 5:167327a82430 | 1820 | //左旋回 |
yuron | 5:167327a82430 | 1821 | turn_left_PID(300, 300, 300, 300); |
yuron | 5:167327a82430 | 1822 | i2c.write(0x10, true_migimae_data, 1, false); |
yuron | 5:167327a82430 | 1823 | i2c.write(0x12, true_migiusiro_data, 1, false); |
yuron | 5:167327a82430 | 1824 | i2c.write(0x14, true_hidarimae_data, 1, false); |
yuron | 5:167327a82430 | 1825 | i2c.write(0x16, true_hidariusiro_data,1, false); |
yuron | 5:167327a82430 | 1826 | wait_us(20); |
yuron | 5:167327a82430 | 1827 | |
yuron | 5:167327a82430 | 1828 | //前前進後ろ右旋回 |
yuron | 5:167327a82430 | 1829 | front_front_back_right_PID(30, 30, 30, 30); |
yuron | 4:df334779a69e | 1830 | true_hidarimae_data[0] = 0x80; |
yuron | 4:df334779a69e | 1831 | i2c.write(0x10, true_migimae_data, 1, false); |
yuron | 4:df334779a69e | 1832 | i2c.write(0x12, true_migiusiro_data, 1, false); |
yuron | 4:df334779a69e | 1833 | i2c.write(0x14, true_hidarimae_data, 1, false); |
yuron | 4:df334779a69e | 1834 | i2c.write(0x16, true_hidariusiro_data,1, false); |
yuron | 4:df334779a69e | 1835 | wait_us(20); |
yuron | 4:df334779a69e | 1836 | |
yuron | 5:167327a82430 | 1837 | //前前進後ろ左旋回 |
yuron | 5:167327a82430 | 1838 | front_front_back_left_PID(30, 30, 30, 30); |
yuron | 4:df334779a69e | 1839 | true_migimae_data[0] = 0x80; |
yuron | 4:df334779a69e | 1840 | i2c.write(0x10, true_migimae_data, 1, false); |
yuron | 4:df334779a69e | 1841 | i2c.write(0x12, true_migiusiro_data, 1, false); |
yuron | 4:df334779a69e | 1842 | i2c.write(0x14, true_hidarimae_data, 1, false); |
yuron | 4:df334779a69e | 1843 | i2c.write(0x16, true_hidariusiro_data,1, false); |
yuron | 4:df334779a69e | 1844 | wait_us(20); |
yuron | 4:df334779a69e | 1845 | |
yuron | 5:167327a82430 | 1846 | //前右旋回後ろ前進 |
yuron | 5:167327a82430 | 1847 | front_right_back_front_PID(30, 30, 30, 30); |
yuron | 4:df334779a69e | 1848 | true_migiusiro_data[0] = 0x80; |
yuron | 5:167327a82430 | 1849 | i2c.write(0x10, true_migimae_data, 1, false); |
yuron | 5:167327a82430 | 1850 | i2c.write(0x12, true_migiusiro_data, 1, false); |
yuron | 5:167327a82430 | 1851 | i2c.write(0x14, true_hidarimae_data, 1, false); |
yuron | 5:167327a82430 | 1852 | i2c.write(0x16, true_hidariusiro_data,1, false); |
yuron | 5:167327a82430 | 1853 | wait_us(20); |
yuron | 5:167327a82430 | 1854 | |
yuron | 5:167327a82430 | 1855 | //前左旋回後ろ前進 |
yuron | 5:167327a82430 | 1856 | front_left_back_front_PID(30, 30, 30, 30); |
yuron | 4:df334779a69e | 1857 | true_hidariusiro_data[0] = 0x80; |
yuron | 4:df334779a69e | 1858 | i2c.write(0x10, true_migimae_data, 1, false); |
yuron | 4:df334779a69e | 1859 | i2c.write(0x12, true_migiusiro_data, 1, false); |
yuron | 4:df334779a69e | 1860 | i2c.write(0x14, true_hidarimae_data, 1, false); |
yuron | 4:df334779a69e | 1861 | i2c.write(0x16, true_hidariusiro_data,1, false); |
yuron | 4:df334779a69e | 1862 | wait_us(20); |
yuron | 4:df334779a69e | 1863 | |
yuron | 5:167327a82430 | 1864 | //ローラーぐるぐる(max930rpm) |
yuron | 5:167327a82430 | 1865 | roller_PID(440, 400); |
yuron | 4:df334779a69e | 1866 | i2c.write(0x20, front_roller_data, 1, false); |
yuron | 4:df334779a69e | 1867 | i2c.write(0x22, back_roller_data, 1, false); |
yuron | 5:167327a82430 | 1868 | wait_us(20); |
yuron | 0:f73c1b076ae4 | 1869 | */ |
yuron | 5:167327a82430 | 1870 | |
yuron | 5:167327a82430 | 1871 | /* |
yuron | 5:167327a82430 | 1872 | if(front_roller_rpm > 500) { |
yuron | 5:167327a82430 | 1873 | cylinder_data[0] = 0x0F; |
yuron | 5:167327a82430 | 1874 | i2c.write(0x40, cylinder_data, 1); |
yuron | 5:167327a82430 | 1875 | myled5 = 1; |
yuron | 5:167327a82430 | 1876 | wait(0.5); |
yuron | 5:167327a82430 | 1877 | |
yuron | 5:167327a82430 | 1878 | cylinder_data[0] = 0x80; |
yuron | 5:167327a82430 | 1879 | i2c.write(0x40, cylinder_data, 1); |
yuron | 5:167327a82430 | 1880 | myled5 = 0; |
yuron | 5:167327a82430 | 1881 | wait(0.5); |
yuron | 5:167327a82430 | 1882 | } else { |
yuron | 5:167327a82430 | 1883 | cylinder_data[0] = 0x80; |
yuron | 5:167327a82430 | 1884 | i2c.write(0x40, cylinder_data, 1); |
yuron | 5:167327a82430 | 1885 | myled5 = 0; |
yuron | 5:167327a82430 | 1886 | wait(0.5); |
yuron | 5:167327a82430 | 1887 | } |
yuron | 5:167327a82430 | 1888 | */ |
yuron | 0:f73c1b076ae4 | 1889 | /* |
yuron | 2:c32991ba628f | 1890 | //どんどん加速(逆転) |
yuron | 5:167327a82430 | 1891 | for(send_data[0] = 0x84; send_data[0] < 0xFF; send_data[0]++){ |
yuron | 5:167327a82430 | 1892 | i2c.write(0x10, send_data, 1); |
yuron | 5:167327a82430 | 1893 | i2c.write(0x12, send_data, 1); |
yuron | 5:167327a82430 | 1894 | i2c.write(0x14, send_data, 1); |
yuron | 5:167327a82430 | 1895 | i2c.write(0x16, send_data, 1); |
yuron | 0:f73c1b076ae4 | 1896 | wait(0.1); |
yuron | 0:f73c1b076ae4 | 1897 | } |
yuron | 2:c32991ba628f | 1898 | //だんだん減速(逆転) |
yuron | 5:167327a82430 | 1899 | for(send_data[0] = 0x0C; send_data[0] > 0x7C; send_data[0]--){ |
yuron | 0:f73c1b076ae4 | 1900 | //ice(0x88, send_data); |
yuron | 0:f73c1b076ae4 | 1901 | //ice(0xA2, send_data); |
yuron | 5:167327a82430 | 1902 | |
yuron | 5:167327a82430 | 1903 | i2c.write(0x10, send_data, 1); |
yuron | 5:167327a82430 | 1904 | i2c.write(0x12, send_data, 1); |
yuron | 5:167327a82430 | 1905 | i2c.write(0x14, send_data, 1); |
yuron | 5:167327a82430 | 1906 | i2c.write(0x16, send_data, 1); |
yuron | 0:f73c1b076ae4 | 1907 | wait(0.1); |
yuron | 0:f73c1b076ae4 | 1908 | } |
yuron | 0:f73c1b076ae4 | 1909 | */ |
yuron | 0:f73c1b076ae4 | 1910 | } |
yuron | 0:f73c1b076ae4 | 1911 | } |
yuron | 5:167327a82430 | 1912 | |
yuron | 5:167327a82430 | 1913 | |
yuron | 5:167327a82430 | 1914 | |
yuron | 5:167327a82430 | 1915 | |
yuron | 5:167327a82430 | 1916 |