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:
- 2017-03-20
- Revision:
- 22:5253367e7d78
- Parent:
- 21:9b1f5123f4a8
- Child:
- 23:358e97dab762
File content as of revision 22:5253367e7d78:
//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_NEUTRAL 0.468 //1って書いた方 #define PITCH_MAX 0.884 #define PITCH_MIN 0.110 #define OLD_ROLL_NEUTRAL 0.739 #define ROLL_NEUTRAL 0.468 //2て書いた方 //中心の値は二つでお同じにする #define ROLL_MAX 0.963 - (OLD_ROLL_NEUTRAL - PITCH_NEUTRAL) #define ROLL_MIN 0.555 - (OLD_ROLL_NEUTRAL - PITCH_NEUTRAL) #define PHASE_NUM 12 //偶数にしてください /* 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 */ //-----------------------------------(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; float changedRollMax; float changedRollMin; float changedPitchMax; float changedPitchMin; CANMessage recmsg_R; CANMessage recmsg_L; //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 MatchRollUpperAndLower(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)); changedRollMin = ROLL_NEUTRAL - (ROLL_NEUTRAL - ROLL_MIN)* (Upper / Lower); changedRollMax = ROLL_MAX; } } else { if(value > neutral) { value = neutral + ((value - neutral) * (Lower / Upper)); changedRollMax = ROLL_NEUTRAL + (ROLL_MAX - ROLL_NEUTRAL)* (Upper / Lower); changedRollMin = ROLL_MIN; } } return value; } //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 MatchPitchUpperAndLower(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)); //ここで範囲値を再設定する changedPitchMin = PITCH_NEUTRAL - (PITCH_NEUTRAL - PITCH_MIN)* (Upper / Lower); changedPitchMax = PITCH_MAX; } } else { if(value > neutral) { value = neutral + ((value - neutral) * (Lower / Upper)); changedPitchMax = PITCH_NEUTRAL + (PITCH_MAX - PITCH_NEUTRAL)* (Upper / Lower); changedPitchMin = PITCH_MIN; } } return value; } //範囲外に値がない場合にエラーが発生するので範囲内に収める float Format2Range(float value,float max,float min) { float result; if(value > max) result= max; else if(value < min) result = min; else if(value > 1) result = 1; else if(value < 0) result = 0; else result = value; return result; } //値をint型の段階に分ける 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() { pc.printf("Roll:%f Pitch:%f ",rollPin.read() - (OLD_ROLL_NEUTRAL - PITCH_NEUTRAL),pitchPin.read()); float MatchedRoll = MatchRollUpperAndLower(ROLL_MAX,ROLL_MIN,ROLL_NEUTRAL,rollPin.read() - (OLD_ROLL_NEUTRAL - PITCH_NEUTRAL)); float MatchedPitch = MatchPitchUpperAndLower(PITCH_MAX,ROLL_MIN,PITCH_NEUTRAL,pitchPin.read()); float FormatedR = Format2Range((MatchedPitch +MatchedRoll ) / 2.0,(changedRollMax + changedPitchMax) / 2.0,(changedRollMin + changedPitchMin) / 2.0); *(int *)inputDatas_R[0] =(char)PhaseFloat(FormatedR,(changedRollMax + changedPitchMax) / 2.0,(changedRollMin + changedPitchMin) / 2.0); float FormatedL = Format2Range((MatchedPitch - MatchedRoll) / 2.0,(changedPitchMax - changedRollMin) /2.0,(changedPitchMin - changedRollMax) / 2.0); *(int *)inputDatas_L = (char)PhaseFloat(FormatedL,changedPitchMax - changedRollMin,changedPitchMin - changedRollMax); if(*(int *)inputDatas_R < 0) *(int *)inputDatas_R = 0; else if(*(int *)inputDatas_R > PHASE_NUM) *(int *)inputDatas_R = PHASE_NUM; if(*(int *)inputDatas_L < 0) *(int *)inputDatas_L = 0 ; else if(*(int *)inputDatas_L > PHASE_NUM) *(int *)inputDatas_L =PHASE_NUM; pc.printf("input_R:%d input_L:%d ",*(int *)inputDatas_R,*(int *)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(""); for(int i =0 ; i< 4; i++) pc.printf("datas:%c ",inputDatas_R[i]); pc.printf("\n\r"); } 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]); } } 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]); } } } int main() { init(); while(1) { myled2 =! myled2; InputControlValues(); wait_us(5); receiveDatas(); SendDatas(); wait(WAIT_LOOP_TIME); } }