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@25:12408563540d, 2017-03-20 (annotated)

Committer:
YusukeWakuta
Date:
Mon Mar 20 23:33:54 2017 +0000
Revision:
25:12408563540d
Parent:
24:72f9cb6e9440
Child:
26:745735b0479d
??????????????

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 16:336e8b102555 10 #define SUM_UP_NUM 20
YusukeWakuta 15:c5ade23e5de4 11 #define SAMPLE_INTERVAL 0.05
YusukeWakuta 0:b1290ca6c4a2 12
YusukeWakuta 20:d4951f491642 13 #define PHASE_NUM 6 //偶数にしてください
YusukeWakuta 24:72f9cb6e9440 14 #define SUM_UP_NUM 10.0
YusukeWakuta 19:6387e3f02b37 15 /*
YusukeWakuta 19:6387e3f02b37 16 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 17 */
YusukeWakuta 18:31722545ecf1 18
tsumagari 9:c32999b4d2f9 19 //-----------------------------------(resetInterrupt def)
tsumagari 9:c32999b4d2f9 20 extern "C" void mbed_reset();
YusukeWakuta 13:79eb74eb86c4 21 InterruptIn resetPin(p22);
tsumagari 9:c32999b4d2f9 22 Timer resetTimeCount;
YusukeWakuta 15:c5ade23e5de4 23 void resetInterrupt()
YusukeWakuta 15:c5ade23e5de4 24 {
YusukeWakuta 15:c5ade23e5de4 25 while(resetPin) {
tsumagari 9:c32999b4d2f9 26 resetTimeCount.start();
tsumagari 9:c32999b4d2f9 27 if(resetTimeCount.read()>3) mbed_reset();
tsumagari 9:c32999b4d2f9 28 }
tsumagari 9:c32999b4d2f9 29 resetTimeCount.reset();
tsumagari 9:c32999b4d2f9 30 }
tsumagari 9:c32999b4d2f9 31 //-------------------------------------------------------
tsumagari 9:c32999b4d2f9 32
taurin 6:7484315ba88a 33 CAN can_R(p30,p29);
taurin 6:7484315ba88a 34 CAN can_L(p9,p10);
YusukeWakuta 14:ffe9460922cb 35 Serial toKeikiSerial(p28,p27);
tsumagari 7:59ddbe239835 36 Serial pc(USBTX,USBRX);
tsumagari 10:b7159feb11fd 37 AnalogIn rollPin(p15);
YusukeWakuta 18:31722545ecf1 38 AnalogIn pitchPin(p20);
YusukeWakuta 13:79eb74eb86c4 39 DigitalIn drug_R(p14);
taurin 6:7484315ba88a 40 DigitalIn drug_L(p19);
YusukeWakuta 25:12408563540d 41 DigitalOut led1(LED1);
YusukeWakuta 25:12408563540d 42 DigitalOut led2(LED2);
YusukeWakuta 15:c5ade23e5de4 43 DigitalOut led4(LED4);
YusukeWakuta 15:c5ade23e5de4 44 DigitalOut led3(LED3);
tsumagari 9:c32999b4d2f9 45 //Ticker sendDatasTicker;
YusukeWakuta 0:b1290ca6c4a2 46
taurin 4:4a13dd263a7b 47 char yokutanDatas_R[YOKUTAN_DATAS_NUM];
taurin 4:4a13dd263a7b 48 char yokutanDatas_L[YOKUTAN_DATAS_NUM];
tsumagari 10:b7159feb11fd 49 char inputDatas_R[INPUT_DATAS_NUM];
tsumagari 10:b7159feb11fd 50 char inputDatas_L[INPUT_DATAS_NUM];
YusukeWakuta 24:72f9cb6e9440 51
YusukeWakuta 25:12408563540d 52 float rollNeutral = 0.739;
YusukeWakuta 25:12408563540d 53 float rollUpperDiff = 0;
YusukeWakuta 25:12408563540d 54 float rollLowerDiff = 0;
YusukeWakuta 24:72f9cb6e9440 55
YusukeWakuta 25:12408563540d 56 float pitchNeutral = 0.468 ;//1って書いた方
YusukeWakuta 25:12408563540d 57 float pitchUpperDiff = 0;
YusukeWakuta 25:12408563540d 58 float pitchLowerDiff = 0;
YusukeWakuta 24:72f9cb6e9440 59 float neutralDiff;
YusukeWakuta 0:b1290ca6c4a2 60
YusukeWakuta 3:0e66ce2ab2fb 61 CANMessage recmsg_R;
YusukeWakuta 3:0e66ce2ab2fb 62 CANMessage recmsg_L;
YusukeWakuta 0:b1290ca6c4a2 63
YusukeWakuta 25:12408563540d 64 enum InputType {
YusukeWakuta 25:12408563540d 65 roll,
YusukeWakuta 25:12408563540d 66 pitch
YusukeWakuta 25:12408563540d 67 };
YusukeWakuta 25:12408563540d 68
YusukeWakuta 24:72f9cb6e9440 69 void setNeutral()
YusukeWakuta 24:72f9cb6e9440 70 {
YusukeWakuta 24:72f9cb6e9440 71 float rollSum;
YusukeWakuta 24:72f9cb6e9440 72 float pitchSum;
YusukeWakuta 25:12408563540d 73
YusukeWakuta 24:72f9cb6e9440 74 for(int i = 0; i < SUM_UP_NUM; i++) {
YusukeWakuta 24:72f9cb6e9440 75 rollSum += rollPin.read();
YusukeWakuta 24:72f9cb6e9440 76 pitchSum += pitchPin.read();
YusukeWakuta 24:72f9cb6e9440 77 }
YusukeWakuta 25:12408563540d 78 rollNeutral = rollSum / SUM_UP_NUM;
YusukeWakuta 25:12408563540d 79 pitchNeutral = pitchSum / SUM_UP_NUM;
YusukeWakuta 25:12408563540d 80 }
YusukeWakuta 25:12408563540d 81
YusukeWakuta 25:12408563540d 82 void setMaxAndMin(InputType it,float value)
YusukeWakuta 25:12408563540d 83 {
YusukeWakuta 25:12408563540d 84 if(it = InputType.pitch) {
YusukeWakuta 25:12408563540d 85 if(value >pitchNeutral + pitchUpperDiff)
YusukeWakuta 25:12408563540d 86 pitchUpperDiff = value - pitchNeutral;
YusukeWakuta 25:12408563540d 87 else if(value < rollNeutral - pitchLowerDiff)
YusukeWakuta 25:12408563540d 88 pitchLowerDiff = pitchNeutral - value;
YusukeWakuta 25:12408563540d 89 } else if(it = InputType.roll) {
YusukeWakuta 25:12408563540d 90 if(value >rollNeutral + rollUpperDiff)
YusukeWakuta 25:12408563540d 91 rollUpperDiff = value - rollNeutral;
YusukeWakuta 25:12408563540d 92 else if(value < rollNeutral - rollLowerDiff)
YusukeWakuta 25:12408563540d 93 rollLowerDiff = rollNeutral - value;
YusukeWakuta 25:12408563540d 94 }
YusukeWakuta 24:72f9cb6e9440 95 }
YusukeWakuta 24:72f9cb6e9440 96
YusukeWakuta 24:72f9cb6e9440 97
YusukeWakuta 25:12408563540d 98 void calibrateRoll2Pitch()
YusukeWakuta 24:72f9cb6e9440 99 {
YusukeWakuta 25:12408563540d 100 neutralDiff = pitchNeutral - rollNeutral; //ピッチの初期値の方がい小さいと仮定
YusukeWakuta 25:12408563540d 101 rollNeutral += neutralDiff;
YusukeWakuta 25:12408563540d 102 rollUpperDiff += neutralDiff;
YusukeWakuta 25:12408563540d 103 rollLowerDiff += neutralDiff;
YusukeWakuta 24:72f9cb6e9440 104 }
YusukeWakuta 24:72f9cb6e9440 105
YusukeWakuta 20:d4951f491642 106 //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 25:12408563540d 107 float MatchRollUpperAndLower(InputType it, float max,float min,float neutral,float value)
YusukeWakuta 18:31722545ecf1 108 {
YusukeWakuta 20:d4951f491642 109 float Upper = max- neutral;
YusukeWakuta 20:d4951f491642 110 float Lower = neutral - min;
YusukeWakuta 25:12408563540d 111
YusukeWakuta 25:12408563540d 112 if(it = InputType.roll) {
YusukeWakuta 25:12408563540d 113 if(Upper > Lower) {
YusukeWakuta 25:12408563540d 114 if(value < neutral) {
YusukeWakuta 25:12408563540d 115 value = neutral - ((neutral - value) * (Upper / Lower));
YusukeWakuta 25:12408563540d 116 rollLowerDiff = (rollLowerDiff)* (Upper / Lower);
YusukeWakuta 25:12408563540d 117 }
YusukeWakuta 25:12408563540d 118 } else {
YusukeWakuta 25:12408563540d 119 if(value > neutral) {
YusukeWakuta 25:12408563540d 120 value = neutral + ((value - neutral) * (Lower / Upper));
YusukeWakuta 25:12408563540d 121 rollUpperDiff = rollUpperDiff* (Upper / Lower);
YusukeWakuta 25:12408563540d 122 }
YusukeWakuta 20:d4951f491642 123 }
YusukeWakuta 25:12408563540d 124 return value;
YusukeWakuta 25:12408563540d 125 } else if(it = InputType.pitch) {
YusukeWakuta 25:12408563540d 126 if(Upper > Lower) {
YusukeWakuta 25:12408563540d 127 if(value < neutral) {
YusukeWakuta 25:12408563540d 128 value = neutral - ((neutral - value) * (Upper / Lower));
YusukeWakuta 25:12408563540d 129 pitchLowerDiff = (pitchLowerDiff)* (Upper / Lower);
YusukeWakuta 25:12408563540d 130 }
YusukeWakuta 25:12408563540d 131 } else {
YusukeWakuta 25:12408563540d 132 if(value > neutral) {
YusukeWakuta 25:12408563540d 133 value = neutral + ((value - neutral) * (Lower / Upper));
YusukeWakuta 25:12408563540d 134 pitchUpperDiff= (pitchUpperDiff)* (Upper / Lower);
YusukeWakuta 25:12408563540d 135 }
YusukeWakuta 20:d4951f491642 136 }
YusukeWakuta 25:12408563540d 137 return value;
YusukeWakuta 20:d4951f491642 138 }
YusukeWakuta 18:31722545ecf1 139 }
YusukeWakuta 18:31722545ecf1 140
YusukeWakuta 21:9b1f5123f4a8 141 //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 142 float Format2Range(float value,float max,float min)
YusukeWakuta 18:31722545ecf1 143 {
YusukeWakuta 18:31722545ecf1 144 float result;
YusukeWakuta 21:9b1f5123f4a8 145
YusukeWakuta 18:31722545ecf1 146 if(value > max)
YusukeWakuta 18:31722545ecf1 147 result= max;
YusukeWakuta 18:31722545ecf1 148 else if(value < min)
YusukeWakuta 18:31722545ecf1 149 result = min;
YusukeWakuta 21:9b1f5123f4a8 150 else if(value > 1)
YusukeWakuta 21:9b1f5123f4a8 151 result = 1;
YusukeWakuta 21:9b1f5123f4a8 152 else if(value < 0)
YusukeWakuta 21:9b1f5123f4a8 153 result = 0;
YusukeWakuta 18:31722545ecf1 154 else
YusukeWakuta 18:31722545ecf1 155 result = value;
YusukeWakuta 18:31722545ecf1 156 return result;
YusukeWakuta 18:31722545ecf1 157 }
YusukeWakuta 18:31722545ecf1 158
YusukeWakuta 21:9b1f5123f4a8 159 //値をint型の段階に分ける
YusukeWakuta 18:31722545ecf1 160 int PhaseFloat(float value,float max,float min)
YusukeWakuta 18:31722545ecf1 161 {
YusukeWakuta 18:31722545ecf1 162 float PhaseWidth = (max - min) / PHASE_NUM;
YusukeWakuta 18:31722545ecf1 163 if(value< max&& value > min) {
YusukeWakuta 18:31722545ecf1 164 for(int i = 1; i <= PHASE_NUM; i++) {
YusukeWakuta 18:31722545ecf1 165 if(value < min + PhaseWidth * i&& value > min + PhaseWidth * (i - 1) )
YusukeWakuta 18:31722545ecf1 166 return i;
YusukeWakuta 18:31722545ecf1 167 }
YusukeWakuta 18:31722545ecf1 168 } else if(value <= min)
YusukeWakuta 18:31722545ecf1 169 return 0;
YusukeWakuta 18:31722545ecf1 170 else if(value>=max)
YusukeWakuta 18:31722545ecf1 171 return PHASE_NUM;
YusukeWakuta 18:31722545ecf1 172 }
YusukeWakuta 18:31722545ecf1 173
YusukeWakuta 15:c5ade23e5de4 174 void InputControlValues()
YusukeWakuta 15:c5ade23e5de4 175 {
YusukeWakuta 25:12408563540d 176 setRollMaxAndMin(InputType.roll, rollPin.read());
YusukeWakuta 25:12408563540d 177 setPitchMaxAndMin(InputType.pitch, pitchPin.read());
YusukeWakuta 25:12408563540d 178 calibrateRoll2Pitch();
YusukeWakuta 25:12408563540d 179 float MatchedRoll = MatchUpperAndLower(InputType.roll, rollNeutral + rollUpperDiff,rollLowerDiff + rollLowerDiff,rollNeutral,rollPin.read() - neutralDiff);
YusukeWakuta 25:12408563540d 180 float MatchedPitch = MatchUpperAndLower(InputType.pitch, pitchNeutral + pitchUpperDiff,pitchNeutral + pitchLowerDiff,pitchNeutral,pitchPin.read());
YusukeWakuta 24:72f9cb6e9440 181
YusukeWakuta 25:12408563540d 182 float FormatedRoll_R = Format2Range((MatchedPitch +MatchedRoll ) / 2.0,(rollNeutral + rollUpperDiff+ pitchNeutral + pitchUpperDiff) / 2.0,(rollNeutral + rollLowerDiff+ pitchNeutral + pitchLowerDiff) / 2.0);
YusukeWakuta 25:12408563540d 183 *(int *)inputDatas_R =PhaseFloat(FormatedRoll_R,(rollNeutral + rollUpperDiff+ pitchNeutral + pitchUpperDiff) / 2.0,(rollNeutral + rollLowerDiff+ pitchNeutral + pitchLowerDiff) / 2.0);
YusukeWakuta 24:72f9cb6e9440 184
YusukeWakuta 25:12408563540d 185 float FormatedRoll_L = Format2Range((MatchedPitch - MatchedRoll) / 2.0,(rollNeutral + rollUpperDiff- pitchNeutral -pitchLowerDiff) / 2.0,(rollNeutral + rollLowerDiff- pitchNeutral - pitchUpperDiff) / 2.0);
YusukeWakuta 25:12408563540d 186 *(int *)inputDatas_L = PhaseFloat(FormatedRoll_R,(rollNeutral + rollUpperDiff- pitchNeutral - pitchLowerDiff) / 2.0,(rollNeutral + rollLowerDiff- pitchNeutral + pitchUpperDiff) / 2.0);
YusukeWakuta 16:336e8b102555 187
YusukeWakuta 25:12408563540d 188
YusukeWakuta 25:12408563540d 189 if(*(int *)inputDatas_R < 0)
YusukeWakuta 25:12408563540d 190 *(int *)inputDatas_R = 0;
YusukeWakuta 25:12408563540d 191 else if(*(int *)inputDatas_R > PHASE_NUM)
YusukeWakuta 25:12408563540d 192 *(int *)inputDatas_R = PHASE_NUM;
YusukeWakuta 25:12408563540d 193 if(*(int *)inputDatas_L < 0)
YusukeWakuta 25:12408563540d 194 *(int *)inputDatas_L = 0 ;
YusukeWakuta 25:12408563540d 195 else if(*(int *)inputDatas_L > PHASE_NUM)
YusukeWakuta 25:12408563540d 196 *(int *)inputDatas_L =PHASE_NUM;
YusukeWakuta 16:336e8b102555 197
YusukeWakuta 19:6387e3f02b37 198 pc.printf("input_R:%d input_L:%d\n\r",*(int *)inputDatas_R,*(int *)inputDatas_L);
tsumagari 10:b7159feb11fd 199 inputDatas_R[4] = (char)drug_R;
YusukeWakuta 15:c5ade23e5de4 200 led4 =! led4;
YusukeWakuta 15:c5ade23e5de4 201 pc.printf("%c",*(char *)inputDatas_R[4]);
YusukeWakuta 15:c5ade23e5de4 202 //pc.printf("%c",(char)drug_R);
tsumagari 10:b7159feb11fd 203 inputDatas_L[4] = (char)drug_L;
YusukeWakuta 15:c5ade23e5de4 204 // pc.printf("");
YusukeWakuta 0:b1290ca6c4a2 205 }
YusukeWakuta 0:b1290ca6c4a2 206
YusukeWakuta 15:c5ade23e5de4 207 void SendDatas()
YusukeWakuta 15:c5ade23e5de4 208 {
tsumagari 10:b7159feb11fd 209 can_R.write(CANMessage(SEND_DATAS_CAN_ID, inputDatas_R, INPUT_DATAS_NUM));
tsumagari 10:b7159feb11fd 210 can_L.write(CANMessage(SEND_DATAS_CAN_ID, inputDatas_L, INPUT_DATAS_NUM));
tsumagari 8:dbc8c87dac78 211 toKeikiSerial.putc(';');
YusukeWakuta 15:c5ade23e5de4 212 for(int i = 0; i < YOKUTAN_DATAS_NUM; i++) {
YusukeWakuta 0:b1290ca6c4a2 213 toKeikiSerial.putc(yokutanDatas_R[i]);
YusukeWakuta 0:b1290ca6c4a2 214 toKeikiSerial.putc(yokutanDatas_L[i]);
YusukeWakuta 0:b1290ca6c4a2 215 }
YusukeWakuta 15:c5ade23e5de4 216 for(int i = 0; i < INPUT_DATAS_NUM; i++) {
taurin 4:4a13dd263a7b 217 toKeikiSerial.putc(inputDatas_R[i]);
taurin 4:4a13dd263a7b 218 toKeikiSerial.putc(inputDatas_L[i]);
taurin 4:4a13dd263a7b 219 }
YusukeWakuta 0:b1290ca6c4a2 220 }
tsumagari 8:dbc8c87dac78 221
YusukeWakuta 15:c5ade23e5de4 222 void init()
YusukeWakuta 15:c5ade23e5de4 223 {
tsumagari 9:c32999b4d2f9 224 //--------------------------------------(resetInterrupt init)
tsumagari 9:c32999b4d2f9 225 resetPin.rise(resetInterrupt);
tsumagari 9:c32999b4d2f9 226 resetPin.mode(PullDown);
tsumagari 9:c32999b4d2f9 227 //-----------------------------------------------------------
tsumagari 9:c32999b4d2f9 228 // sendDatasTicker.attach(SendDatas,SEND_DATAS_TIME);
YusukeWakuta 15:c5ade23e5de4 229 for(int i = 0; i < INPUT_DATAS_NUM; i++) {
taurin 2:9dc7d5f1e910 230 inputDatas_R[i] = 0;
taurin 2:9dc7d5f1e910 231 inputDatas_L[i] = 0;
taurin 2:9dc7d5f1e910 232 }
YusukeWakuta 0:b1290ca6c4a2 233 }
YusukeWakuta 0:b1290ca6c4a2 234
YusukeWakuta 15:c5ade23e5de4 235 void receiveDatas()
YusukeWakuta 15:c5ade23e5de4 236 {
YusukeWakuta 15:c5ade23e5de4 237 if(can_R.read(recmsg_R)) {
YusukeWakuta 15:c5ade23e5de4 238 for(int i = 0; i < recmsg_R.len; i++) {
YusukeWakuta 0:b1290ca6c4a2 239 yokutanDatas_R[i] = recmsg_R.data[i];
YusukeWakuta 15:c5ade23e5de4 240 // pc.printf("%c",yokutanDatas_R[i]);
YusukeWakuta 0:b1290ca6c4a2 241 }
YusukeWakuta 25:12408563540d 242 led1 = !led1;
YusukeWakuta 0:b1290ca6c4a2 243 }
YusukeWakuta 15:c5ade23e5de4 244 if(can_L.read(recmsg_L)) {
YusukeWakuta 15:c5ade23e5de4 245 for(int i = 0; i < recmsg_L.len; i++) {
YusukeWakuta 0:b1290ca6c4a2 246 yokutanDatas_L[i] = recmsg_L.data[i];
YusukeWakuta 15:c5ade23e5de4 247 led3 = !led3;
YusukeWakuta 15:c5ade23e5de4 248 // pc.printf("%c",yokutanDatas_L[i]);
YusukeWakuta 0:b1290ca6c4a2 249 }
YusukeWakuta 25:12408563540d 250 led2 = !led2;
YusukeWakuta 0:b1290ca6c4a2 251 }
YusukeWakuta 0:b1290ca6c4a2 252 }
YusukeWakuta 0:b1290ca6c4a2 253
YusukeWakuta 15:c5ade23e5de4 254 int main()
YusukeWakuta 15:c5ade23e5de4 255 {
YusukeWakuta 0:b1290ca6c4a2 256 init();
YusukeWakuta 24:72f9cb6e9440 257 setNeutral();
YusukeWakuta 15:c5ade23e5de4 258 while(1) {
tsumagari 8:dbc8c87dac78 259 InputControlValues();
tsumagari 10:b7159feb11fd 260 wait_us(5);
YusukeWakuta 0:b1290ca6c4a2 261 receiveDatas();
tsumagari 9:c32999b4d2f9 262 SendDatas();
YusukeWakuta 0:b1290ca6c4a2 263 wait(WAIT_LOOP_TIME);
YusukeWakuta 0:b1290ca6c4a2 264 }
YusukeWakuta 0:b1290ca6c4a2 265 }