albatross
/
ControlMain2017
2017年度の製作を開始します
Fork of Control_Main_Full_20160608 by
main.cpp
- Committer:
- YusukeWakuta
- Date:
- 2017-03-19
- Revision:
- 18:31722545ecf1
- Parent:
- 16:336e8b102555
- Child:
- 19:6387e3f02b37
File content as of revision 18:31722545ecf1:
//中央 #include "mbed.h" #define WAIT_LOOP_TIME 0.001 #define YOKUTAN_DATAS_NUM 7 #define INPUT_DATAS_NUM 5 #define SEND_DATAS_CAN_ID 100 #define SEND_DATAS_TIME 0.5 #define THRESHOLD_OH_VALUE 0.14 #define SUM_UP_NUM 20 #define SAMPLE_INTERVAL 0.05 #define PITCH_INPUT_NEUTRAL 0.457 //1って書いた方 #define PITCH_INPUT_MAX 0.884 #define PITCH_INPUT_MIN 0.110 #define ROLL_INPUT_NEUTRAL 0.739 //2て書いた方 #define ROLL_INPUT_MAX 0.963 #define ROLL_INPUT_MIN 0.555 #define SUMED_INPUT_NEUTRAL 0.598 #define SUMED_INPUT_MAX 0.9235 #define SUMED_INPUT_MIN 0.3325 #define DEC_INPUT_NEUTRAL -0.141 #define DEC_INPUT_MAX -0.0395 #define DEC_INPUT_MIN -0.2225 #define PHASE_NUM 7 //奇数にしてください //-----------------------------------(resetInterrupt def) extern "C" void mbed_reset(); InterruptIn resetPin(p22); Timer resetTimeCount; void resetInterrupt() { while(resetPin) { resetTimeCount.start(); if(resetTimeCount.read()>3) mbed_reset(); } resetTimeCount.reset(); } //------------------------------------------------------- CAN can_R(p30,p29); CAN can_L(p9,p10); Serial toKeikiSerial(p28,p27); Serial pc(USBTX,USBRX); AnalogIn rollPin(p15); AnalogIn pitchPin(p20); DigitalIn drug_R(p14); DigitalIn drug_L(p19); DigitalOut myled1(LED1); DigitalOut myled2(LED2); DigitalOut led4(LED4); DigitalOut led3(LED3); //Ticker sendDatasTicker; char yokutanDatas_R[YOKUTAN_DATAS_NUM]; char yokutanDatas_L[YOKUTAN_DATAS_NUM]; char inputDatas_R[INPUT_DATAS_NUM]; char inputDatas_L[INPUT_DATAS_NUM]; bool stateP = true; bool stateQ = true; bool stateP_old = true; bool stateQ_old = true; CANMessage recmsg_R; CANMessage recmsg_L; float get_analogin_ave(AnalogIn pin) { float val = 0; for(int i = 0; i<SUM_UP_NUM; i++) { val += pin.read(); } return val/SUM_UP_NUM; } //値を0から1の範囲に収めます float FormatSumed2Range(float value) { float result; if(value > 1) result = 1; else if(value < 0) result = 0; else result = value; return result; } float FormatEach2Range(float value,float max,float min) { float result; if(value > max) result= max; else if(value < min) result = min; else result = value; return result; } //ジョイスティックの中間値から上と下の幅を合わせます。値を取得するたびに呼び出してください。範囲は広い方に合わせる物とします float MatchUpperAndLower(float max,float min,float neutral,float value) { float Upper = max- neutral; float Lower = neutral - min; if(Upper > Lower) { if(value < neutral) value = neutral - ((neutral - value) * (Upper / Lower)); } else { if(value > neutral) value = neutral + ((value - neutral) * (Lower / Upper)); } return value; } //Format2Rangeの後に呼び出してください int SampleFloat(float f) { int temp = ((f + 0.025) * 100.0) / 5; float result = temp / 20.0; return result; } int PhaseFloat(float value,float max,float min) { float PhaseWidth = (max - min) / PHASE_NUM; if(value< max&& value > min) { for(int i = 1; i <= PHASE_NUM; i++) { if(value < min + PhaseWidth * i&& value > min + PhaseWidth * (i - 1) ) return i; } } else if(value <= min) return 0; else if(value>=max) return PHASE_NUM; } void InputControlValues() { float MatchedRoll = MatchUpperAndLower(ROLL_INPUT_MAX,ROLL_INPUT_MIN,ROLL_INPUT_NEUTRAL,rollPin.read()); float MatchedPitch = MatchUpperAndLower(PITCH_INPUT_MAX,ROLL_INPUT_MIN,PITCH_INPUT_NEUTRAL,pitchPin.read() - (ROLL_INPUT_NEUTRAL - PITCH_INPUT_NEUTRAL)); float FormatedEachRollR = FormatEach2Range((MatchedRoll + MatchedPitch) / 2.0,SUMED_INPUT_MAX,SUMED_INPUT_MIN); float FormatSumedR = FormatSumed2Range(FormatedEachRollR); *(int *)inputDatas_R =PhaseFloat(FormatSumedR,ROLL_INPUT_MAX,ROLL_INPUT_MIN); float FormatedEachRollL = FormatEach2Range((MatchedRoll - MatchedPitch) / 2.0,ROLL_INPUT_MAX,ROLL_INPUT_MIN); float FormatSumedL = FormatSumed2Range(FormatedEachRollL); *(int *)inputDatas_L = PhaseFloat(FormatSumedR,ROLL_INPUT_MAX,ROLL_INPUT_MIN); if(*(float *)inputDatas_R < 0) *(float *)inputDatas_R = 0; else if(*(int *)inputDatas_R > PHASE_NUM) *(int *)inputDatas_R = PHASE_NUM; if(*(float *)inputDatas_L < 0) *(float *)inputDatas_L = 0 ; else if(*(int *)inputDatas_L > PHASE_NUM) *(int *)inputDatas_L =PHASE_NUM; pc.printf("input_R:%f input_L:%f\n\r",*(float *)inputDatas_R,*(float *)inputDatas_L); inputDatas_R[4] = (char)drug_R; led4 =! led4; pc.printf("%c",*(char *)inputDatas_R[4]); //pc.printf("%c",(char)drug_R); inputDatas_L[4] = (char)drug_L; // pc.printf(""); } void toString_R() { pc.printf("R:"); for(int i = 0; i < INPUT_DATAS_NUM; i++) { pc.printf("%d:%i ",i,inputDatas_R[i]); } } void toString_L() { pc.printf("L:"); for(int i = 0; i < INPUT_DATAS_NUM; i++) { pc.printf("%d:%i ",i,inputDatas_L[i]); } pc.printf("\n\r"); } void SendDatas() { can_R.write(CANMessage(SEND_DATAS_CAN_ID, inputDatas_R, INPUT_DATAS_NUM)); can_L.write(CANMessage(SEND_DATAS_CAN_ID, inputDatas_L, INPUT_DATAS_NUM)); toKeikiSerial.putc(';'); for(int i = 0; i < YOKUTAN_DATAS_NUM; i++) { toKeikiSerial.putc(yokutanDatas_R[i]); toKeikiSerial.putc(yokutanDatas_L[i]); } for(int i = 0; i < INPUT_DATAS_NUM; i++) { toKeikiSerial.putc(inputDatas_R[i]); toKeikiSerial.putc(inputDatas_L[i]); } // toKeikiSerial.putc(cadence); // pc.printf("test\n\r"); } void init() { //--------------------------------------(resetInterrupt init) resetPin.rise(resetInterrupt); resetPin.mode(PullDown); //----------------------------------------------------------- // sendDatasTicker.attach(SendDatas,SEND_DATAS_TIME); for(int i = 0; i < INPUT_DATAS_NUM; i++) { inputDatas_R[i] = 0; inputDatas_L[i] = 0; } } void receiveDatas() { if(can_R.read(recmsg_R)) { for(int i = 0; i < recmsg_R.len; i++) { yokutanDatas_R[i] = recmsg_R.data[i]; // pc.printf("%c",yokutanDatas_R[i]); } myled1 = !myled1; } if(can_L.read(recmsg_L)) { for(int i = 0; i < recmsg_L.len; i++) { yokutanDatas_L[i] = recmsg_L.data[i]; led3 = !led3; // pc.printf("%c",yokutanDatas_L[i]); } myled2 = !myled2; } } int main() { init(); while(1) { InputControlValues(); wait_us(5); receiveDatas(); SendDatas(); // pc.printf("%d",drug_R.read()); // toString_R(); // toString_L(); wait(WAIT_LOOP_TIME); } }