albatross / Mbed 2 deprecated ControlMain2017_2

今までのジョイスティックの入力を段階分けしていた方式から、アナログ値をできる限りそのまま使用する方式に変更しました。

Dependencies:   mbed-rtos mbed

Fork of ControlMain2017 by albatross

main.cpp@28:056287cb001c, 2017-03-21 (annotated)

Committer:
YusukeWakuta
Date:
Tue Mar 21 17:53:31 2017 +0000
Revision:
28:056287cb001c
Parent:
27:1af92a603532
Child:
29:8bff47ab602d
RL??????

Who changed what in which revision?

UserRevisionLine numberNew contents of line
YusukeWakuta 13:79eb74eb86c4 1 //中央
YusukeWakuta 0:b1290ca6c4a2 2
YusukeWakuta 0:b1290ca6c4a2 3 #include "mbed.h"
tsumagari 10:b7159feb11fd 4 #define WAIT_LOOP_TIME 0.001
tsumagari 9:c32999b4d2f9 5 #define YOKUTAN_DATAS_NUM 7
tsumagari 10:b7159feb11fd 6 #define INPUT_DATAS_NUM 5
YusukeWakuta 0:b1290ca6c4a2 7 #define SEND_DATAS_CAN_ID 100
tsumagari 8:dbc8c87dac78 8 #define SEND_DATAS_TIME 0.5
tsumagari 8:dbc8c87dac78 9 #define THRESHOLD_OH_VALUE 0.14
YusukeWakuta 15:c5ade23e5de4 10 #define SAMPLE_INTERVAL 0.05
YusukeWakuta 0:b1290ca6c4a2 11
YusukeWakuta 28:056287cb001c 12 #define PHASE_NUM 12 //奇数にしてください
YusukeWakuta 24:72f9cb6e9440 13 #define SUM_UP_NUM 10.0
YusukeWakuta 19:6387e3f02b37 14 /*
YusukeWakuta 19:6387e3f02b37 15 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 16 */
YusukeWakuta 18:31722545ecf1 17
tsumagari 9:c32999b4d2f9 18 //-----------------------------------(resetInterrupt def)
tsumagari 9:c32999b4d2f9 19 extern "C" void mbed_reset();
YusukeWakuta 13:79eb74eb86c4 20 InterruptIn resetPin(p22);
tsumagari 9:c32999b4d2f9 21 Timer resetTimeCount;
YusukeWakuta 15:c5ade23e5de4 22 void resetInterrupt()
YusukeWakuta 15:c5ade23e5de4 23 {
YusukeWakuta 15:c5ade23e5de4 24 while(resetPin) {
tsumagari 9:c32999b4d2f9 25 resetTimeCount.start();
tsumagari 9:c32999b4d2f9 26 if(resetTimeCount.read()>3) mbed_reset();
tsumagari 9:c32999b4d2f9 27 }
tsumagari 9:c32999b4d2f9 28 resetTimeCount.reset();
tsumagari 9:c32999b4d2f9 29 }
tsumagari 9:c32999b4d2f9 30 //-------------------------------------------------------
tsumagari 9:c32999b4d2f9 31
taurin 6:7484315ba88a 32 CAN can_R(p30,p29);
taurin 6:7484315ba88a 33 CAN can_L(p9,p10);
YusukeWakuta 14:ffe9460922cb 34 Serial toKeikiSerial(p28,p27);
tsumagari 7:59ddbe239835 35 Serial pc(USBTX,USBRX);
tsumagari 10:b7159feb11fd 36 AnalogIn rollPin(p15);
YusukeWakuta 18:31722545ecf1 37 AnalogIn pitchPin(p20);
YusukeWakuta 13:79eb74eb86c4 38 DigitalIn drug_R(p14);
taurin 6:7484315ba88a 39 DigitalIn drug_L(p19);
YusukeWakuta 25:12408563540d 40 DigitalOut led1(LED1);
YusukeWakuta 25:12408563540d 41 DigitalOut led2(LED2);
YusukeWakuta 15:c5ade23e5de4 42 DigitalOut led4(LED4);
YusukeWakuta 15:c5ade23e5de4 43 DigitalOut led3(LED3);
tsumagari 9:c32999b4d2f9 44 //Ticker sendDatasTicker;
YusukeWakuta 0:b1290ca6c4a2 45
taurin 4:4a13dd263a7b 46 char yokutanDatas_R[YOKUTAN_DATAS_NUM];
taurin 4:4a13dd263a7b 47 char yokutanDatas_L[YOKUTAN_DATAS_NUM];
tsumagari 10:b7159feb11fd 48 char inputDatas_R[INPUT_DATAS_NUM];
tsumagari 10:b7159feb11fd 49 char inputDatas_L[INPUT_DATAS_NUM];
YusukeWakuta 24:72f9cb6e9440 50
YusukeWakuta 25:12408563540d 51 float rollNeutral = 0.739;
YusukeWakuta 25:12408563540d 52 float rollUpperDiff = 0;
YusukeWakuta 25:12408563540d 53 float rollLowerDiff = 0;
YusukeWakuta 24:72f9cb6e9440 54
YusukeWakuta 25:12408563540d 55 float pitchNeutral = 0.468 ;//1って書いた方
YusukeWakuta 25:12408563540d 56 float pitchUpperDiff = 0;
YusukeWakuta 25:12408563540d 57 float pitchLowerDiff = 0;
YusukeWakuta 24:72f9cb6e9440 58 float neutralDiff;
YusukeWakuta 0:b1290ca6c4a2 59
YusukeWakuta 3:0e66ce2ab2fb 60 CANMessage recmsg_R;
YusukeWakuta 3:0e66ce2ab2fb 61 CANMessage recmsg_L;
YusukeWakuta 0:b1290ca6c4a2 62
YusukeWakuta 25:12408563540d 63 enum InputType {
YusukeWakuta 26:745735b0479d 64 enumRoll,
YusukeWakuta 26:745735b0479d 65 enumPitch
YusukeWakuta 25:12408563540d 66 };
YusukeWakuta 25:12408563540d 67
YusukeWakuta 24:72f9cb6e9440 68 void setNeutral()
YusukeWakuta 24:72f9cb6e9440 69 {
YusukeWakuta 24:72f9cb6e9440 70 float rollSum;
YusukeWakuta 24:72f9cb6e9440 71 float pitchSum;
YusukeWakuta 25:12408563540d 72
YusukeWakuta 24:72f9cb6e9440 73 for(int i = 0; i < SUM_UP_NUM; i++) {
YusukeWakuta 24:72f9cb6e9440 74 rollSum += rollPin.read();
YusukeWakuta 24:72f9cb6e9440 75 pitchSum += pitchPin.read();
YusukeWakuta 24:72f9cb6e9440 76 }
YusukeWakuta 25:12408563540d 77 rollNeutral = rollSum / SUM_UP_NUM;
YusukeWakuta 25:12408563540d 78 pitchNeutral = pitchSum / SUM_UP_NUM;
YusukeWakuta 26:745735b0479d 79
YusukeWakuta 26:745735b0479d 80 neutralDiff = pitchNeutral - rollNeutral; //ピッチの初期値の方がい小さいと仮定
YusukeWakuta 26:745735b0479d 81 rollNeutral += neutralDiff;
YusukeWakuta 25:12408563540d 82 }
YusukeWakuta 25:12408563540d 83
YusukeWakuta 25:12408563540d 84 void setMaxAndMin(InputType it,float value)
YusukeWakuta 25:12408563540d 85 {
YusukeWakuta 26:745735b0479d 86 if(it == enumPitch) {
YusukeWakuta 25:12408563540d 87 if(value >pitchNeutral + pitchUpperDiff)
YusukeWakuta 25:12408563540d 88 pitchUpperDiff = value - pitchNeutral;
YusukeWakuta 26:745735b0479d 89 else if(value < rollNeutral + pitchLowerDiff)
YusukeWakuta 26:745735b0479d 90 pitchLowerDiff = value - pitchNeutral;
YusukeWakuta 26:745735b0479d 91 return;
YusukeWakuta 26:745735b0479d 92 } else if(it == enumRoll) {
YusukeWakuta 25:12408563540d 93 if(value >rollNeutral + rollUpperDiff)
YusukeWakuta 25:12408563540d 94 rollUpperDiff = value - rollNeutral;
YusukeWakuta 26:745735b0479d 95 else if(value < rollNeutral + rollLowerDiff)
YusukeWakuta 26:745735b0479d 96 rollLowerDiff = value -rollNeutral ;
YusukeWakuta 26:745735b0479d 97 return;
YusukeWakuta 25:12408563540d 98 }
YusukeWakuta 24:72f9cb6e9440 99 }
YusukeWakuta 24:72f9cb6e9440 100
YusukeWakuta 20:d4951f491642 101 //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
YusukeWakuta 26:745735b0479d 102 float MatchUpperAndLower(InputType it, float max,float min,float neutral,float value)
YusukeWakuta 18:31722545ecf1 103 {
YusukeWakuta 20:d4951f491642 104 float Upper = max- neutral;
YusukeWakuta 20:d4951f491642 105 float Lower = neutral - min;
YusukeWakuta 25:12408563540d 106
YusukeWakuta 26:745735b0479d 107 if(it == enumRoll) {
YusukeWakuta 25:12408563540d 108 if(Upper > Lower) {
YusukeWakuta 25:12408563540d 109 if(value < neutral) {
YusukeWakuta 25:12408563540d 110 value = neutral - ((neutral - value) * (Upper / Lower));
YusukeWakuta 26:745735b0479d 111 // rollLowerDiff = (rollLowerDiff)* (Upper / Lower); //現状範囲値を変えれてないから、ここは要対応。0で割ってしまってnanが出るようになったからコメントアウトした。
YusukeWakuta 25:12408563540d 112 }
YusukeWakuta 25:12408563540d 113 } else {
YusukeWakuta 25:12408563540d 114 if(value > neutral) {
YusukeWakuta 25:12408563540d 115 value = neutral + ((value - neutral) * (Lower / Upper));
YusukeWakuta 26:745735b0479d 116 // rollUpperDiff = rollUpperDiff* (Upper / Lower);
YusukeWakuta 25:12408563540d 117 }
YusukeWakuta 20:d4951f491642 118 }
YusukeWakuta 25:12408563540d 119 return value;
YusukeWakuta 26:745735b0479d 120 } else if(it == enumPitch) {
YusukeWakuta 25:12408563540d 121 if(Upper > Lower) {
YusukeWakuta 25:12408563540d 122 if(value < neutral) {
YusukeWakuta 25:12408563540d 123 value = neutral - ((neutral - value) * (Upper / Lower));
YusukeWakuta 26:745735b0479d 124 // pitchLowerDiff = (pitchLowerDiff)* (Upper / Lower);
YusukeWakuta 25:12408563540d 125 }
YusukeWakuta 25:12408563540d 126 } else {
YusukeWakuta 25:12408563540d 127 if(value > neutral) {
YusukeWakuta 25:12408563540d 128 value = neutral + ((value - neutral) * (Lower / Upper));
YusukeWakuta 26:745735b0479d 129 // pitchUpperDiff= (pitchUpperDiff)* (Upper / Lower);
YusukeWakuta 25:12408563540d 130 }
YusukeWakuta 20:d4951f491642 131 }
YusukeWakuta 25:12408563540d 132 return value;
YusukeWakuta 27:1af92a603532 133 } else return value;
YusukeWakuta 18:31722545ecf1 134 }
YusukeWakuta 18:31722545ecf1 135
YusukeWakuta 21:9b1f5123f4a8 136 //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
YusukeWakuta 21:9b1f5123f4a8 137 float Format2Range(float value,float max,float min)
YusukeWakuta 18:31722545ecf1 138 {
YusukeWakuta 18:31722545ecf1 139 float result;
YusukeWakuta 21:9b1f5123f4a8 140
YusukeWakuta 18:31722545ecf1 141 if(value > max)
YusukeWakuta 18:31722545ecf1 142 result= max;
YusukeWakuta 18:31722545ecf1 143 else if(value < min)
YusukeWakuta 18:31722545ecf1 144 result = min;
YusukeWakuta 21:9b1f5123f4a8 145 else if(value > 1)
YusukeWakuta 21:9b1f5123f4a8 146 result = 1;
YusukeWakuta 21:9b1f5123f4a8 147 else if(value < 0)
YusukeWakuta 21:9b1f5123f4a8 148 result = 0;
YusukeWakuta 18:31722545ecf1 149 else
YusukeWakuta 18:31722545ecf1 150 result = value;
YusukeWakuta 18:31722545ecf1 151 return result;
YusukeWakuta 18:31722545ecf1 152 }
YusukeWakuta 18:31722545ecf1 153
YusukeWakuta 21:9b1f5123f4a8 154 //値をint型の段階に分ける
YusukeWakuta 18:31722545ecf1 155 int PhaseFloat(float value,float max,float min)
YusukeWakuta 18:31722545ecf1 156 {
YusukeWakuta 18:31722545ecf1 157 float PhaseWidth = (max - min) / PHASE_NUM;
YusukeWakuta 18:31722545ecf1 158 if(value< max&& value > min) {
YusukeWakuta 18:31722545ecf1 159 for(int i = 1; i <= PHASE_NUM; i++) {
YusukeWakuta 18:31722545ecf1 160 if(value < min + PhaseWidth * i&& value > min + PhaseWidth * (i - 1) )
YusukeWakuta 18:31722545ecf1 161 return i;
YusukeWakuta 18:31722545ecf1 162 }
YusukeWakuta 18:31722545ecf1 163 } else if(value <= min)
YusukeWakuta 27:1af92a603532 164 return 1;
YusukeWakuta 18:31722545ecf1 165 else if(value>=max)
YusukeWakuta 18:31722545ecf1 166 return PHASE_NUM;
YusukeWakuta 18:31722545ecf1 167 }
YusukeWakuta 18:31722545ecf1 168
YusukeWakuta 15:c5ade23e5de4 169 void InputControlValues()
YusukeWakuta 15:c5ade23e5de4 170 {
YusukeWakuta 26:745735b0479d 171 setMaxAndMin(enumRoll, rollPin.read());
YusukeWakuta 26:745735b0479d 172 setMaxAndMin(enumPitch, pitchPin.read());
YusukeWakuta 26:745735b0479d 173
YusukeWakuta 26:745735b0479d 174 // pc.printf("rollN:%f rollMax:%f rollMin:%f pitchN:%f pitchMax:%f pitchUpper:%f pitchMin:%f pitchLo:%f raw:%f\r\n",rollNeutral,rollNeutral+rollUpperDiff,rollNeutral+rollLowerDiff,pitchNeutral,pitchNeutral+pitchUpperDiff,pitchUpperDiff,pitchNeutral+pitchLowerDiff,pitchLowerDiff,pitchPin.read());
YusukeWakuta 26:745735b0479d 175 float MatchedRoll = MatchUpperAndLower(enumRoll, rollNeutral + rollUpperDiff,rollLowerDiff + rollLowerDiff,rollNeutral,rollPin.read() + neutralDiff);
YusukeWakuta 26:745735b0479d 176 float MatchedPitch = MatchUpperAndLower(enumPitch, pitchNeutral + pitchUpperDiff,pitchNeutral + pitchLowerDiff,pitchNeutral,pitchPin.read());
YusukeWakuta 24:72f9cb6e9440 177
YusukeWakuta 25:12408563540d 178 float FormatedRoll_R = Format2Range((MatchedPitch +MatchedRoll ) / 2.0,(rollNeutral + rollUpperDiff+ pitchNeutral + pitchUpperDiff) / 2.0,(rollNeutral + rollLowerDiff+ pitchNeutral + pitchLowerDiff) / 2.0);
YusukeWakuta 25:12408563540d 179 *(int *)inputDatas_R =PhaseFloat(FormatedRoll_R,(rollNeutral + rollUpperDiff+ pitchNeutral + pitchUpperDiff) / 2.0,(rollNeutral + rollLowerDiff+ pitchNeutral + pitchLowerDiff) / 2.0);
YusukeWakuta 24:72f9cb6e9440 180
YusukeWakuta 27:1af92a603532 181 float FormatedRoll_L = Format2Range((MatchedPitch - MatchedRoll) / 2.0,(pitchNeutral + pitchUpperDiff-rollNeutral - rollLowerDiff) / 2.0,(pitchNeutral +pitchLowerDiff - rollNeutral - rollUpperDiff) / 2.0);
YusukeWakuta 27:1af92a603532 182 //pc.printf("matched:%f max:%f min:%f\n\r",(MatchedPitch - MatchedRoll) / 2.0,(pitchNeutral +pitchLowerDiff - rollNeutral - rollUpperDiff) / 2.0,(pitchNeutral + pitchUpperDiff-rollNeutral - rollLowerDiff) / 2.0);
YusukeWakuta 27:1af92a603532 183 *(int *)inputDatas_L = PhaseFloat(FormatedRoll_L,(pitchNeutral + pitchUpperDiff - rollNeutral - rollLowerDiff) / 2.0,(pitchNeutral + pitchLowerDiff - rollNeutral - rollUpperDiff) / 2.0);
YusukeWakuta 27:1af92a603532 184 //pc.printf("Format:%f max:%f min:%f\n\r",FormatedRoll_L,(pitchNeutral + pitchUpperDiff - rollNeutral - rollLowerDiff) / 2.0,(pitchNeutral + pitchLowerDiff - rollNeutral - rollUpperDiff) / 2.0);
YusukeWakuta 28:056287cb001c 185 if(*(int *)inputDatas_R < 1)
YusukeWakuta 28:056287cb001c 186 *(int *)inputDatas_R = 1;
YusukeWakuta 28:056287cb001c 187 else if(*(int *)inputDatas_R > PHASE_NUM)
YusukeWakuta 28:056287cb001c 188 *(int *)inputDatas_R = PHASE_NUM;
YusukeWakuta 28:056287cb001c 189 if(*(int *)inputDatas_L < 1)
YusukeWakuta 28:056287cb001c 190 *(int *)inputDatas_L = 1 ;
YusukeWakuta 28:056287cb001c 191 else if(*(int *)inputDatas_L > PHASE_NUM)
YusukeWakuta 28:056287cb001c 192 *(int *)inputDatas_L =PHASE_NUM;
YusukeWakuta 16:336e8b102555 193
YusukeWakuta 27:1af92a603532 194 pc.printf("input_R:%d input_L:%d\n\r",*(int *)inputDatas_R,*(int *)inputDatas_L);
tsumagari 10:b7159feb11fd 195 inputDatas_R[4] = (char)drug_R;
YusukeWakuta 15:c5ade23e5de4 196 led4 =! led4;
YusukeWakuta 26:745735b0479d 197 // pc.printf("%c",*(char *)inputDatas_R[4]);
YusukeWakuta 15:c5ade23e5de4 198 //pc.printf("%c",(char)drug_R);
tsumagari 10:b7159feb11fd 199 inputDatas_L[4] = (char)drug_L;
YusukeWakuta 15:c5ade23e5de4 200 // pc.printf("");
YusukeWakuta 0:b1290ca6c4a2 201 }
YusukeWakuta 0:b1290ca6c4a2 202
YusukeWakuta 15:c5ade23e5de4 203 void SendDatas()
YusukeWakuta 15:c5ade23e5de4 204 {
tsumagari 10:b7159feb11fd 205 can_R.write(CANMessage(SEND_DATAS_CAN_ID, inputDatas_R, INPUT_DATAS_NUM));
tsumagari 10:b7159feb11fd 206 can_L.write(CANMessage(SEND_DATAS_CAN_ID, inputDatas_L, INPUT_DATAS_NUM));
tsumagari 8:dbc8c87dac78 207 toKeikiSerial.putc(';');
YusukeWakuta 15:c5ade23e5de4 208 for(int i = 0; i < YOKUTAN_DATAS_NUM; i++) {
YusukeWakuta 0:b1290ca6c4a2 209 toKeikiSerial.putc(yokutanDatas_R[i]);
YusukeWakuta 0:b1290ca6c4a2 210 toKeikiSerial.putc(yokutanDatas_L[i]);
YusukeWakuta 0:b1290ca6c4a2 211 }
YusukeWakuta 15:c5ade23e5de4 212 for(int i = 0; i < INPUT_DATAS_NUM; i++) {
taurin 4:4a13dd263a7b 213 toKeikiSerial.putc(inputDatas_R[i]);
taurin 4:4a13dd263a7b 214 toKeikiSerial.putc(inputDatas_L[i]);
taurin 4:4a13dd263a7b 215 }
YusukeWakuta 0:b1290ca6c4a2 216 }
tsumagari 8:dbc8c87dac78 217
YusukeWakuta 15:c5ade23e5de4 218 void init()
YusukeWakuta 15:c5ade23e5de4 219 {
tsumagari 9:c32999b4d2f9 220 //--------------------------------------(resetInterrupt init)
tsumagari 9:c32999b4d2f9 221 resetPin.rise(resetInterrupt);
tsumagari 9:c32999b4d2f9 222 resetPin.mode(PullDown);
tsumagari 9:c32999b4d2f9 223 //-----------------------------------------------------------
tsumagari 9:c32999b4d2f9 224 // sendDatasTicker.attach(SendDatas,SEND_DATAS_TIME);
YusukeWakuta 15:c5ade23e5de4 225 for(int i = 0; i < INPUT_DATAS_NUM; i++) {
taurin 2:9dc7d5f1e910 226 inputDatas_R[i] = 0;
taurin 2:9dc7d5f1e910 227 inputDatas_L[i] = 0;
taurin 2:9dc7d5f1e910 228 }
YusukeWakuta 0:b1290ca6c4a2 229 }
YusukeWakuta 0:b1290ca6c4a2 230
YusukeWakuta 15:c5ade23e5de4 231 void receiveDatas()
YusukeWakuta 15:c5ade23e5de4 232 {
YusukeWakuta 15:c5ade23e5de4 233 if(can_R.read(recmsg_R)) {
YusukeWakuta 15:c5ade23e5de4 234 for(int i = 0; i < recmsg_R.len; i++) {
YusukeWakuta 0:b1290ca6c4a2 235 yokutanDatas_R[i] = recmsg_R.data[i];
YusukeWakuta 15:c5ade23e5de4 236 // pc.printf("%c",yokutanDatas_R[i]);
YusukeWakuta 0:b1290ca6c4a2 237 }
YusukeWakuta 25:12408563540d 238 led1 = !led1;
YusukeWakuta 0:b1290ca6c4a2 239 }
YusukeWakuta 15:c5ade23e5de4 240 if(can_L.read(recmsg_L)) {
YusukeWakuta 15:c5ade23e5de4 241 for(int i = 0; i < recmsg_L.len; i++) {
YusukeWakuta 0:b1290ca6c4a2 242 yokutanDatas_L[i] = recmsg_L.data[i];
YusukeWakuta 15:c5ade23e5de4 243 led3 = !led3;
YusukeWakuta 15:c5ade23e5de4 244 // pc.printf("%c",yokutanDatas_L[i]);
YusukeWakuta 0:b1290ca6c4a2 245 }
YusukeWakuta 25:12408563540d 246 led2 = !led2;
YusukeWakuta 0:b1290ca6c4a2 247 }
YusukeWakuta 0:b1290ca6c4a2 248 }
YusukeWakuta 0:b1290ca6c4a2 249
YusukeWakuta 15:c5ade23e5de4 250 int main()
YusukeWakuta 15:c5ade23e5de4 251 {
YusukeWakuta 0:b1290ca6c4a2 252 init();
YusukeWakuta 24:72f9cb6e9440 253 setNeutral();
YusukeWakuta 15:c5ade23e5de4 254 while(1) {
tsumagari 8:dbc8c87dac78 255 InputControlValues();
tsumagari 10:b7159feb11fd 256 wait_us(5);
YusukeWakuta 0:b1290ca6c4a2 257 receiveDatas();
tsumagari 9:c32999b4d2f9 258 SendDatas();
YusukeWakuta 0:b1290ca6c4a2 259 wait(WAIT_LOOP_TIME);
YusukeWakuta 0:b1290ca6c4a2 260 }
YusukeWakuta 0:b1290ca6c4a2 261 }