albatross
/
ControlMain2017
2017年度の製作を開始します
Fork of Control_Main_Full_20160608 by
main.cpp@53:947eff37d01d, 2017-06-15 (annotated)
- Committer:
- YusukeWakuta
- Date:
- Thu Jun 15 05:44:18 2017 +0000
- Branch:
- ?????
- Revision:
- 53:947eff37d01d
- Parent:
- 52:a9d23be503c6
- Child:
- 55:1db68795bccf
????????
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
YusukeWakuta | 13:79eb74eb86c4 | 1 | //中央 |
YusukeWakuta | 0:b1290ca6c4a2 | 2 | |
YusukeWakuta | 0:b1290ca6c4a2 | 3 | #include "mbed.h" |
YusukeWakuta | 49:87af91607b46 | 4 | #include "InputHandler.h" |
tsumagari | 37:7ce6e87b9c36 | 5 | //#include "rtos.h" |
tsumagari | 10:b7159feb11fd | 6 | #define WAIT_LOOP_TIME 0.001 |
tsumagari | 9:c32999b4d2f9 | 7 | #define YOKUTAN_DATAS_NUM 7 |
YusukeWakuta | 32:60af346703d3 | 8 | #define INPUT_DATAS_NUM 7 //ここは1倍とまでしかCANでは一度に送れないため、8以下。そして、翼端コードと数字を合わせる必要あり。 |
YusukeWakuta | 0:b1290ca6c4a2 | 9 | #define SEND_DATAS_CAN_ID 100 |
tsumagari | 8:dbc8c87dac78 | 10 | #define SEND_DATAS_TIME 0.5 |
tsumagari | 8:dbc8c87dac78 | 11 | #define THRESHOLD_OH_VALUE 0.14 |
YusukeWakuta | 15:c5ade23e5de4 | 12 | #define SAMPLE_INTERVAL 0.05 |
YusukeWakuta | 0:b1290ca6c4a2 | 13 | |
YusukeWakuta | 49:87af91607b46 | 14 | #define PITCH_PER_ROLL 1.5//pitchがrollの何倍影響するかを示す値 |
YusukeWakuta | 52:a9d23be503c6 | 15 | #define AVE_NUM 100 |
YusukeWakuta | 49:87af91607b46 | 16 | |
YusukeWakuta | 19:6387e3f02b37 | 17 | /* |
YusukeWakuta | 19:6387e3f02b37 | 18 | roll入力とピッチ入力だとピッチの方が1.5倍効くように |
YusukeWakuta | 19:6387e3f02b37 | 19 | */ |
YusukeWakuta | 18:31722545ecf1 | 20 | |
tsumagari | 9:c32999b4d2f9 | 21 | //-----------------------------------(resetInterrupt def) |
tsumagari | 9:c32999b4d2f9 | 22 | extern "C" void mbed_reset(); |
YusukeWakuta | 13:79eb74eb86c4 | 23 | InterruptIn resetPin(p22); |
tsumagari | 9:c32999b4d2f9 | 24 | Timer resetTimeCount; |
YusukeWakuta | 15:c5ade23e5de4 | 25 | void resetInterrupt() |
YusukeWakuta | 15:c5ade23e5de4 | 26 | { |
YusukeWakuta | 15:c5ade23e5de4 | 27 | while(resetPin) { |
tsumagari | 9:c32999b4d2f9 | 28 | resetTimeCount.start(); |
tsumagari | 9:c32999b4d2f9 | 29 | if(resetTimeCount.read()>3) mbed_reset(); |
tsumagari | 9:c32999b4d2f9 | 30 | } |
tsumagari | 9:c32999b4d2f9 | 31 | resetTimeCount.reset(); |
tsumagari | 9:c32999b4d2f9 | 32 | } |
tsumagari | 9:c32999b4d2f9 | 33 | //------------------------------------------------------- |
tsumagari | 9:c32999b4d2f9 | 34 | |
taurin | 6:7484315ba88a | 35 | CAN can_R(p30,p29); |
taurin | 6:7484315ba88a | 36 | CAN can_L(p9,p10); |
YusukeWakuta | 14:ffe9460922cb | 37 | Serial toKeikiSerial(p28,p27); |
tsumagari | 10:b7159feb11fd | 38 | AnalogIn rollPin(p15); |
YusukeWakuta | 31:3a6be197e98f | 39 | AnalogIn pitchPin(p18); |
YusukeWakuta | 13:79eb74eb86c4 | 40 | DigitalIn drug_R(p14); |
YusukeWakuta | 31:3a6be197e98f | 41 | DigitalIn drug_L(p17); |
YusukeWakuta | 25:12408563540d | 42 | DigitalOut led1(LED1); |
YusukeWakuta | 25:12408563540d | 43 | DigitalOut led2(LED2); |
YusukeWakuta | 15:c5ade23e5de4 | 44 | DigitalOut led4(LED4); |
YusukeWakuta | 15:c5ade23e5de4 | 45 | DigitalOut led3(LED3); |
YusukeWakuta | 43:2d8bffac06cd | 46 | Serial pc(USBTX,USBRX); |
YusukeWakuta | 49:87af91607b46 | 47 | InputCalc pitchIC; |
YusukeWakuta | 49:87af91607b46 | 48 | InputCalc rollIC; |
tsumagari | 37:7ce6e87b9c36 | 49 | //DigitalOut fusokuControl(p25); |
tsumagari | 9:c32999b4d2f9 | 50 | //Ticker sendDatasTicker; |
YusukeWakuta | 0:b1290ca6c4a2 | 51 | |
taurin | 4:4a13dd263a7b | 52 | char yokutanDatas_R[YOKUTAN_DATAS_NUM]; |
taurin | 4:4a13dd263a7b | 53 | char yokutanDatas_L[YOKUTAN_DATAS_NUM]; |
tsumagari | 10:b7159feb11fd | 54 | char inputDatas_R[INPUT_DATAS_NUM]; |
tsumagari | 10:b7159feb11fd | 55 | char inputDatas_L[INPUT_DATAS_NUM]; |
YusukeWakuta | 24:72f9cb6e9440 | 56 | |
YusukeWakuta | 3:0e66ce2ab2fb | 57 | CANMessage recmsg_R; |
YusukeWakuta | 3:0e66ce2ab2fb | 58 | CANMessage recmsg_L; |
YusukeWakuta | 0:b1290ca6c4a2 | 59 | |
tsumagari | 37:7ce6e87b9c36 | 60 | //void tickFusoku(void const * arg){ |
tsumagari | 37:7ce6e87b9c36 | 61 | // while(1){ |
tsumagari | 37:7ce6e87b9c36 | 62 | // fusokuControl = 1; |
tsumagari | 37:7ce6e87b9c36 | 63 | // wait_us(500); |
tsumagari | 37:7ce6e87b9c36 | 64 | // fusokuControl = 0; |
tsumagari | 37:7ce6e87b9c36 | 65 | // wait_us(4500); |
tsumagari | 37:7ce6e87b9c36 | 66 | // } |
tsumagari | 37:7ce6e87b9c36 | 67 | //} |
YusukeWakuta | 49:87af91607b46 | 68 | void SyntheRollAndPitch(double pitch,double roll,float* inputR,float* inputL) |
YusukeWakuta | 49:87af91607b46 | 69 | { |
YusukeWakuta | 49:87af91607b46 | 70 | *inputR = (pitch * PITCH_PER_ROLL + roll)/(PITCH_PER_ROLL + 1.0); |
YusukeWakuta | 49:87af91607b46 | 71 | *inputL = (pitch * PITCH_PER_ROLL - roll)/(PITCH_PER_ROLL + 1.0); |
YusukeWakuta | 49:87af91607b46 | 72 | } |
tsumagari | 36:5ad172e48384 | 73 | |
YusukeWakuta | 15:c5ade23e5de4 | 74 | void InputControlValues() |
YusukeWakuta | 15:c5ade23e5de4 | 75 | { |
YusukeWakuta | 53:947eff37d01d | 76 | double normedPitch = pitchIC.Processing(pitchPin.read()); |
YusukeWakuta | 49:87af91607b46 | 77 | double normedRoll = rollIC.Processing(rollPin.read()); |
YusukeWakuta | 52:a9d23be503c6 | 78 | |
YusukeWakuta | 51:8a579a19a4ff | 79 | float inputR = 0.0; |
YusukeWakuta | 51:8a579a19a4ff | 80 | float inputL = 0.0; |
YusukeWakuta | 51:8a579a19a4ff | 81 | |
YusukeWakuta | 51:8a579a19a4ff | 82 | SyntheRollAndPitch(normedPitch,normedRoll,&inputR,&inputL); |
YusukeWakuta | 51:8a579a19a4ff | 83 | sprintf(inputDatas_R,"%5.2f%d",inputR,(int)drug_R); |
YusukeWakuta | 51:8a579a19a4ff | 84 | sprintf(inputDatas_L,"%5.2f%d",inputL,(int)drug_L); |
YusukeWakuta | 53:947eff37d01d | 85 | pc.printf("inputR:%10.3f inputL:%10.3f normedR:%10.3f normedL:%10.3f sMax:%5.3f sMin:%5.3f\n\r",inputR,inputL,normedPitch,normedRoll,rollIC.shiftedMax,rollIC.shiftedMin); |
YusukeWakuta | 51:8a579a19a4ff | 86 | |
YusukeWakuta | 51:8a579a19a4ff | 87 | //inputDatas_R[sizeof(float)] = (char)drug_R; |
YusukeWakuta | 51:8a579a19a4ff | 88 | //inputDatas_L[sizeof(float)] = (char)drug_L; |
YusukeWakuta | 52:a9d23be503c6 | 89 | // for(int i = 0; i< 7; i++) |
YusukeWakuta | 52:a9d23be503c6 | 90 | // pc.printf("%c",inputDatas_R[i]); |
YusukeWakuta | 52:a9d23be503c6 | 91 | // pc.printf("\n\r"); |
YusukeWakuta | 52:a9d23be503c6 | 92 | //pc.printf("%d",(int)drug_R); |
YusukeWakuta | 51:8a579a19a4ff | 93 | |
YusukeWakuta | 49:87af91607b46 | 94 | led4 =! led4; |
YusukeWakuta | 0:b1290ca6c4a2 | 95 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 96 | |
YusukeWakuta | 15:c5ade23e5de4 | 97 | void SendDatas() |
YusukeWakuta | 15:c5ade23e5de4 | 98 | { |
tsumagari | 10:b7159feb11fd | 99 | can_R.write(CANMessage(SEND_DATAS_CAN_ID, inputDatas_R, INPUT_DATAS_NUM)); |
tsumagari | 10:b7159feb11fd | 100 | can_L.write(CANMessage(SEND_DATAS_CAN_ID, inputDatas_L, INPUT_DATAS_NUM)); |
tsumagari | 8:dbc8c87dac78 | 101 | toKeikiSerial.putc(';'); |
YusukeWakuta | 15:c5ade23e5de4 | 102 | for(int i = 0; i < YOKUTAN_DATAS_NUM; i++) { |
YusukeWakuta | 34:0cff1601bc13 | 103 | toKeikiSerial.putc(yokutanDatas_R[i]); |
YusukeWakuta | 31:3a6be197e98f | 104 | |
YusukeWakuta | 34:0cff1601bc13 | 105 | } |
YusukeWakuta | 34:0cff1601bc13 | 106 | for(int i = 0; i < YOKUTAN_DATAS_NUM; i++) { |
YusukeWakuta | 0:b1290ca6c4a2 | 107 | toKeikiSerial.putc(yokutanDatas_L[i]); |
YusukeWakuta | 0:b1290ca6c4a2 | 108 | } |
YusukeWakuta | 15:c5ade23e5de4 | 109 | for(int i = 0; i < INPUT_DATAS_NUM; i++) { |
taurin | 4:4a13dd263a7b | 110 | toKeikiSerial.putc(inputDatas_R[i]); |
YusukeWakuta | 33:d54dacb7a0aa | 111 | } |
YusukeWakuta | 33:d54dacb7a0aa | 112 | for(int i = 0; i < INPUT_DATAS_NUM; i++) { |
taurin | 4:4a13dd263a7b | 113 | toKeikiSerial.putc(inputDatas_L[i]); |
taurin | 4:4a13dd263a7b | 114 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 115 | } |
tsumagari | 8:dbc8c87dac78 | 116 | |
YusukeWakuta | 15:c5ade23e5de4 | 117 | void init() |
YusukeWakuta | 15:c5ade23e5de4 | 118 | { |
tsumagari | 9:c32999b4d2f9 | 119 | //--------------------------------------(resetInterrupt init) |
tsumagari | 9:c32999b4d2f9 | 120 | resetPin.rise(resetInterrupt); |
tsumagari | 9:c32999b4d2f9 | 121 | resetPin.mode(PullDown); |
tsumagari | 9:c32999b4d2f9 | 122 | //----------------------------------------------------------- |
tsumagari | 9:c32999b4d2f9 | 123 | // sendDatasTicker.attach(SendDatas,SEND_DATAS_TIME); |
YusukeWakuta | 15:c5ade23e5de4 | 124 | for(int i = 0; i < INPUT_DATAS_NUM; i++) { |
taurin | 2:9dc7d5f1e910 | 125 | inputDatas_R[i] = 0; |
taurin | 2:9dc7d5f1e910 | 126 | inputDatas_L[i] = 0; |
taurin | 2:9dc7d5f1e910 | 127 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 128 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 129 | |
YusukeWakuta | 15:c5ade23e5de4 | 130 | void receiveDatas() |
YusukeWakuta | 15:c5ade23e5de4 | 131 | { |
YusukeWakuta | 15:c5ade23e5de4 | 132 | if(can_R.read(recmsg_R)) { |
YusukeWakuta | 15:c5ade23e5de4 | 133 | for(int i = 0; i < recmsg_R.len; i++) { |
YusukeWakuta | 0:b1290ca6c4a2 | 134 | yokutanDatas_R[i] = recmsg_R.data[i]; |
YusukeWakuta | 0:b1290ca6c4a2 | 135 | } |
YusukeWakuta | 25:12408563540d | 136 | led1 = !led1; |
YusukeWakuta | 0:b1290ca6c4a2 | 137 | } |
YusukeWakuta | 15:c5ade23e5de4 | 138 | if(can_L.read(recmsg_L)) { |
YusukeWakuta | 15:c5ade23e5de4 | 139 | for(int i = 0; i < recmsg_L.len; i++) { |
YusukeWakuta | 0:b1290ca6c4a2 | 140 | yokutanDatas_L[i] = recmsg_L.data[i]; |
YusukeWakuta | 15:c5ade23e5de4 | 141 | led3 = !led3; |
YusukeWakuta | 0:b1290ca6c4a2 | 142 | } |
YusukeWakuta | 25:12408563540d | 143 | led2 = !led2; |
YusukeWakuta | 0:b1290ca6c4a2 | 144 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 145 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 146 | |
YusukeWakuta | 15:c5ade23e5de4 | 147 | int main() |
YusukeWakuta | 15:c5ade23e5de4 | 148 | { |
tsumagari | 37:7ce6e87b9c36 | 149 | // Thread tickFusokuThread(&tickFusoku); |
YusukeWakuta | 0:b1290ca6c4a2 | 150 | init(); |
YusukeWakuta | 49:87af91607b46 | 151 | pitchIC.setNeutral(pitchPin.read()); |
YusukeWakuta | 49:87af91607b46 | 152 | rollIC.setNeutral(rollPin.read()); |
YusukeWakuta | 15:c5ade23e5de4 | 153 | while(1) { |
YusukeWakuta | 49:87af91607b46 | 154 | |
tsumagari | 8:dbc8c87dac78 | 155 | InputControlValues(); |
tsumagari | 10:b7159feb11fd | 156 | wait_us(5); |
YusukeWakuta | 0:b1290ca6c4a2 | 157 | receiveDatas(); |
tsumagari | 9:c32999b4d2f9 | 158 | SendDatas(); |
YusukeWakuta | 0:b1290ca6c4a2 | 159 | wait(WAIT_LOOP_TIME); |
YusukeWakuta | 0:b1290ca6c4a2 | 160 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 161 | } |