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@19:6387e3f02b37, 2017-03-19 (annotated)

Committer:
YusukeWakuta
Date:
Sun Mar 19 12:18:41 2017 +0000
Revision:
19:6387e3f02b37
Parent:
18:31722545ecf1
Child:
20:d4951f491642
R????

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 19:6387e3f02b37 13 #define PITCH_INPUT_NEUTRAL 0.468 //1って書いた方
YusukeWakuta 18:31722545ecf1 14 #define PITCH_INPUT_MAX 0.884
YusukeWakuta 18:31722545ecf1 15 #define PITCH_INPUT_MIN 0.110
YusukeWakuta 18:31722545ecf1 16
YusukeWakuta 19:6387e3f02b37 17 #define OLD_ROLL_NEUTRAL 0.739
YusukeWakuta 19:6387e3f02b37 18 #define ROLL_INPUT_NEUTRAL 0.468 //２て書いた方
YusukeWakuta 19:6387e3f02b37 19 #define ROLL_INPUT_MAX 0.963 - (OLD_ROLL_NEUTRAL - PITCH_INPUT_NEUTRAL)
YusukeWakuta 19:6387e3f02b37 20 #define ROLL_INPUT_MIN 0.555 - (OLD_ROLL_NEUTRAL - PITCH_INPUT_NEUTRAL)
YusukeWakuta 18:31722545ecf1 21
YusukeWakuta 19:6387e3f02b37 22 #define SUMED_INPUT_NEUTRAL 0.457
YusukeWakuta 19:6387e3f02b37 23 #define SUMED_INPUT_MAX (PITCH_INPUT_MAX +ROLL_INPUT_MAX ) / 2.0 //0.7825
YusukeWakuta 19:6387e3f02b37 24 #define SUMED_INPUT_MIN (PITCH_INPUT_MIN +ROLL_INPUT_MIN ) / 2.0
YusukeWakuta 18:31722545ecf1 25
YusukeWakuta 19:6387e3f02b37 26 #define DEC_INPUT_NEUTRAL 0
YusukeWakuta 19:6387e3f02b37 27 #define DEC_INPUT_MAX (PITCH_INPUT_MAX -ROLL_INPUT_MIN ) / 2.0
YusukeWakuta 19:6387e3f02b37 28 #define DEC_INPUT_MIN (PITCH_INPUT_MIN -ROLL_INPUT_MAX ) / 2.0
YusukeWakuta 18:31722545ecf1 29 #define PHASE_NUM 7 //奇数にしてください
YusukeWakuta 19:6387e3f02b37 30 /*
YusukeWakuta 19:6387e3f02b37 31 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 32 */
YusukeWakuta 18:31722545ecf1 33
tsumagari 9:c32999b4d2f9 34 //-----------------------------------(resetInterrupt def)
tsumagari 9:c32999b4d2f9 35 extern "C" void mbed_reset();
YusukeWakuta 13:79eb74eb86c4 36 InterruptIn resetPin(p22);
tsumagari 9:c32999b4d2f9 37 Timer resetTimeCount;
YusukeWakuta 15:c5ade23e5de4 38 void resetInterrupt()
YusukeWakuta 15:c5ade23e5de4 39 {
YusukeWakuta 15:c5ade23e5de4 40 while(resetPin) {
tsumagari 9:c32999b4d2f9 41 resetTimeCount.start();
tsumagari 9:c32999b4d2f9 42 if(resetTimeCount.read()>3) mbed_reset();
tsumagari 9:c32999b4d2f9 43 }
tsumagari 9:c32999b4d2f9 44 resetTimeCount.reset();
tsumagari 9:c32999b4d2f9 45 }
tsumagari 9:c32999b4d2f9 46 //-------------------------------------------------------
tsumagari 9:c32999b4d2f9 47
taurin 6:7484315ba88a 48 CAN can_R(p30,p29);
taurin 6:7484315ba88a 49 CAN can_L(p9,p10);
YusukeWakuta 14:ffe9460922cb 50 Serial toKeikiSerial(p28,p27);
tsumagari 7:59ddbe239835 51 Serial pc(USBTX,USBRX);
tsumagari 10:b7159feb11fd 52 AnalogIn rollPin(p15);
YusukeWakuta 18:31722545ecf1 53 AnalogIn pitchPin(p20);
YusukeWakuta 13:79eb74eb86c4 54 DigitalIn drug_R(p14);
taurin 6:7484315ba88a 55 DigitalIn drug_L(p19);
YusukeWakuta 0:b1290ca6c4a2 56 DigitalOut myled1(LED1);
YusukeWakuta 0:b1290ca6c4a2 57 DigitalOut myled2(LED2);
YusukeWakuta 15:c5ade23e5de4 58 DigitalOut led4(LED4);
YusukeWakuta 15:c5ade23e5de4 59 DigitalOut led3(LED3);
tsumagari 9:c32999b4d2f9 60 //Ticker sendDatasTicker;
YusukeWakuta 0:b1290ca6c4a2 61
taurin 4:4a13dd263a7b 62 char yokutanDatas_R[YOKUTAN_DATAS_NUM];
taurin 4:4a13dd263a7b 63 char yokutanDatas_L[YOKUTAN_DATAS_NUM];
tsumagari 10:b7159feb11fd 64 char inputDatas_R[INPUT_DATAS_NUM];
tsumagari 10:b7159feb11fd 65 char inputDatas_L[INPUT_DATAS_NUM];
taurin 4:4a13dd263a7b 66 bool stateP = true;
taurin 4:4a13dd263a7b 67 bool stateQ = true;
taurin 4:4a13dd263a7b 68 bool stateP_old = true;
taurin 4:4a13dd263a7b 69 bool stateQ_old = true;
YusukeWakuta 0:b1290ca6c4a2 70
YusukeWakuta 3:0e66ce2ab2fb 71 CANMessage recmsg_R;
YusukeWakuta 3:0e66ce2ab2fb 72 CANMessage recmsg_L;
YusukeWakuta 0:b1290ca6c4a2 73
YusukeWakuta 15:c5ade23e5de4 74 float get_analogin_ave(AnalogIn pin)
YusukeWakuta 15:c5ade23e5de4 75 {
tsumagari 10:b7159feb11fd 76 float val = 0;
YusukeWakuta 15:c5ade23e5de4 77 for(int i = 0; i<SUM_UP_NUM; i++) {
tsumagari 10:b7159feb11fd 78 val += pin.read();
YusukeWakuta 15:c5ade23e5de4 79 }
YusukeWakuta 15:c5ade23e5de4 80 return val/SUM_UP_NUM;
tsumagari 10:b7159feb11fd 81 }
tsumagari 10:b7159feb11fd 82
YusukeWakuta 18:31722545ecf1 83 //値を0から1の範囲に収めます
YusukeWakuta 18:31722545ecf1 84 float FormatSumed2Range(float value)
YusukeWakuta 18:31722545ecf1 85 {
YusukeWakuta 18:31722545ecf1 86 float result;
YusukeWakuta 18:31722545ecf1 87 if(value > 1)
YusukeWakuta 18:31722545ecf1 88 result = 1;
YusukeWakuta 18:31722545ecf1 89 else if(value < 0)
YusukeWakuta 18:31722545ecf1 90 result = 0;
YusukeWakuta 18:31722545ecf1 91 else
YusukeWakuta 18:31722545ecf1 92 result = value;
YusukeWakuta 18:31722545ecf1 93 return result;
YusukeWakuta 18:31722545ecf1 94 }
YusukeWakuta 18:31722545ecf1 95
YusukeWakuta 18:31722545ecf1 96 float FormatEach2Range(float value,float max,float min)
YusukeWakuta 18:31722545ecf1 97 {
YusukeWakuta 18:31722545ecf1 98 float result;
YusukeWakuta 18:31722545ecf1 99 if(value > max)
YusukeWakuta 18:31722545ecf1 100 result= max;
YusukeWakuta 18:31722545ecf1 101 else if(value < min)
YusukeWakuta 18:31722545ecf1 102 result = min;
YusukeWakuta 18:31722545ecf1 103 else
YusukeWakuta 18:31722545ecf1 104 result = value;
YusukeWakuta 18:31722545ecf1 105 return result;
YusukeWakuta 18:31722545ecf1 106 }
YusukeWakuta 18:31722545ecf1 107
YusukeWakuta 18:31722545ecf1 108 //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 18:31722545ecf1 109 float MatchUpperAndLower(float max,float min,float neutral,float value)
YusukeWakuta 18:31722545ecf1 110 {
YusukeWakuta 18:31722545ecf1 111 float Upper = max- neutral;
YusukeWakuta 18:31722545ecf1 112 float Lower = neutral - min;
YusukeWakuta 18:31722545ecf1 113 if(Upper > Lower) {
YusukeWakuta 18:31722545ecf1 114 if(value < neutral)
YusukeWakuta 18:31722545ecf1 115 value = neutral - ((neutral - value) * (Upper / Lower));
YusukeWakuta 18:31722545ecf1 116 } else {
YusukeWakuta 18:31722545ecf1 117 if(value > neutral)
YusukeWakuta 18:31722545ecf1 118 value = neutral + ((value - neutral) * (Lower / Upper));
YusukeWakuta 18:31722545ecf1 119 }
YusukeWakuta 18:31722545ecf1 120 return value;
YusukeWakuta 18:31722545ecf1 121 }
YusukeWakuta 18:31722545ecf1 122
YusukeWakuta 18:31722545ecf1 123 //Format2Rangeの後に呼び出してください
YusukeWakuta 18:31722545ecf1 124 int SampleFloat(float f)
YusukeWakuta 18:31722545ecf1 125 {
YusukeWakuta 18:31722545ecf1 126 int temp = ((f + 0.025) * 100.0) / 5;
YusukeWakuta 18:31722545ecf1 127 float result = temp / 20.0;
YusukeWakuta 18:31722545ecf1 128 return result;
YusukeWakuta 18:31722545ecf1 129
YusukeWakuta 18:31722545ecf1 130 }
YusukeWakuta 18:31722545ecf1 131
YusukeWakuta 18:31722545ecf1 132 int PhaseFloat(float value,float max,float min)
YusukeWakuta 18:31722545ecf1 133 {
YusukeWakuta 18:31722545ecf1 134 float PhaseWidth = (max - min) / PHASE_NUM;
YusukeWakuta 18:31722545ecf1 135 if(value< max&& value > min) {
YusukeWakuta 18:31722545ecf1 136 for(int i = 1; i <= PHASE_NUM; i++) {
YusukeWakuta 18:31722545ecf1 137 if(value < min + PhaseWidth * i&& value > min + PhaseWidth * (i - 1) )
YusukeWakuta 18:31722545ecf1 138 return i;
YusukeWakuta 18:31722545ecf1 139 }
YusukeWakuta 18:31722545ecf1 140 } else if(value <= min)
YusukeWakuta 18:31722545ecf1 141 return 0;
YusukeWakuta 18:31722545ecf1 142 else if(value>=max)
YusukeWakuta 18:31722545ecf1 143 return PHASE_NUM;
YusukeWakuta 18:31722545ecf1 144
YusukeWakuta 18:31722545ecf1 145 }
YusukeWakuta 18:31722545ecf1 146
YusukeWakuta 18:31722545ecf1 147
YusukeWakuta 15:c5ade23e5de4 148 void InputControlValues()
YusukeWakuta 15:c5ade23e5de4 149 {
YusukeWakuta 19:6387e3f02b37 150 pc.printf("Roll:%f Pitch:%f ",rollPin.read() - (OLD_ROLL_NEUTRAL - PITCH_INPUT_NEUTRAL),pitchPin.read());
YusukeWakuta 19:6387e3f02b37 151 float MatchedRoll = MatchUpperAndLower(ROLL_INPUT_MAX,ROLL_INPUT_MIN,ROLL_INPUT_NEUTRAL,rollPin.read() - (OLD_ROLL_NEUTRAL - PITCH_INPUT_NEUTRAL));
YusukeWakuta 19:6387e3f02b37 152 float MatchedPitch = MatchUpperAndLower(PITCH_INPUT_MAX,ROLL_INPUT_MIN,PITCH_INPUT_NEUTRAL,pitchPin.read());
YusukeWakuta 19:6387e3f02b37 153 float FormatedEachRollR = FormatEach2Range((MatchedPitch +MatchedRoll ) / 2.0,SUMED_INPUT_MAX,SUMED_INPUT_MIN);
YusukeWakuta 18:31722545ecf1 154 float FormatSumedR = FormatSumed2Range(FormatedEachRollR);
YusukeWakuta 19:6387e3f02b37 155 *(int *)inputDatas_R =PhaseFloat(FormatSumedR,SUMED_INPUT_MAX,SUMED_INPUT_MIN);
YusukeWakuta 19:6387e3f02b37 156 pc.printf("FormatR:%f ",FormatSumedR);
YusukeWakuta 19:6387e3f02b37 157 float FormatedEachRollL = FormatEach2Range((MatchedPitch - MatchedRoll) / 2.0,DEC_INPUT_MAX,DEC_INPUT_MIN);
YusukeWakuta 18:31722545ecf1 158 float FormatSumedL = FormatSumed2Range(FormatedEachRollL);
YusukeWakuta 19:6387e3f02b37 159 pc.printf("FormatL:%f ",FormatSumedL);
YusukeWakuta 19:6387e3f02b37 160 *(int *)inputDatas_L = PhaseFloat(FormatSumedR,DEC_INPUT_MAX,DEC_INPUT_MIN);
YusukeWakuta 16:336e8b102555 161
YusukeWakuta 19:6387e3f02b37 162 if(*(int *)inputDatas_R < 0)
YusukeWakuta 19:6387e3f02b37 163 *(int *)inputDatas_R = 0;
YusukeWakuta 18:31722545ecf1 164 else if(*(int *)inputDatas_R > PHASE_NUM)
YusukeWakuta 18:31722545ecf1 165 *(int *)inputDatas_R = PHASE_NUM;
YusukeWakuta 19:6387e3f02b37 166 if(*(int *)inputDatas_L < 0)
YusukeWakuta 19:6387e3f02b37 167 *(int *)inputDatas_L = 0 ;
YusukeWakuta 18:31722545ecf1 168 else if(*(int *)inputDatas_L > PHASE_NUM)
YusukeWakuta 18:31722545ecf1 169 *(int *)inputDatas_L =PHASE_NUM;
YusukeWakuta 16:336e8b102555 170
YusukeWakuta 19:6387e3f02b37 171 pc.printf("input_R:%d input_L:%d\n\r",*(int *)inputDatas_R,*(int *)inputDatas_L);
tsumagari 10:b7159feb11fd 172 inputDatas_R[4] = (char)drug_R;
YusukeWakuta 15:c5ade23e5de4 173 led4 =! led4;
YusukeWakuta 15:c5ade23e5de4 174 pc.printf("%c",*(char *)inputDatas_R[4]);
YusukeWakuta 15:c5ade23e5de4 175 //pc.printf("%c",(char)drug_R);
tsumagari 10:b7159feb11fd 176 inputDatas_L[4] = (char)drug_L;
YusukeWakuta 15:c5ade23e5de4 177 // pc.printf("");
YusukeWakuta 0:b1290ca6c4a2 178 }
YusukeWakuta 0:b1290ca6c4a2 179
YusukeWakuta 18:31722545ecf1 180
YusukeWakuta 18:31722545ecf1 181
YusukeWakuta 15:c5ade23e5de4 182 void toString_R()
YusukeWakuta 15:c5ade23e5de4 183 {
taurin 4:4a13dd263a7b 184 pc.printf("R:");
YusukeWakuta 15:c5ade23e5de4 185 for(int i = 0; i < INPUT_DATAS_NUM; i++) {
taurin 4:4a13dd263a7b 186 pc.printf("%d:%i ",i,inputDatas_R[i]);
taurin 4:4a13dd263a7b 187 }
YusukeWakuta 0:b1290ca6c4a2 188 }
YusukeWakuta 0:b1290ca6c4a2 189
YusukeWakuta 15:c5ade23e5de4 190 void toString_L()
YusukeWakuta 15:c5ade23e5de4 191 {
taurin 4:4a13dd263a7b 192 pc.printf("L:");
YusukeWakuta 15:c5ade23e5de4 193 for(int i = 0; i < INPUT_DATAS_NUM; i++) {
taurin 4:4a13dd263a7b 194 pc.printf("%d:%i ",i,inputDatas_L[i]);
taurin 4:4a13dd263a7b 195 }
taurin 4:4a13dd263a7b 196 pc.printf("\n\r");
YusukeWakuta 0:b1290ca6c4a2 197 }
YusukeWakuta 0:b1290ca6c4a2 198
YusukeWakuta 15:c5ade23e5de4 199 void SendDatas()
YusukeWakuta 15:c5ade23e5de4 200 {
tsumagari 10:b7159feb11fd 201 can_R.write(CANMessage(SEND_DATAS_CAN_ID, inputDatas_R, INPUT_DATAS_NUM));
tsumagari 10:b7159feb11fd 202 can_L.write(CANMessage(SEND_DATAS_CAN_ID, inputDatas_L, INPUT_DATAS_NUM));
tsumagari 8:dbc8c87dac78 203 toKeikiSerial.putc(';');
YusukeWakuta 15:c5ade23e5de4 204 for(int i = 0; i < YOKUTAN_DATAS_NUM; i++) {
YusukeWakuta 0:b1290ca6c4a2 205 toKeikiSerial.putc(yokutanDatas_R[i]);
YusukeWakuta 0:b1290ca6c4a2 206 toKeikiSerial.putc(yokutanDatas_L[i]);
YusukeWakuta 0:b1290ca6c4a2 207 }
YusukeWakuta 15:c5ade23e5de4 208 for(int i = 0; i < INPUT_DATAS_NUM; i++) {
taurin 4:4a13dd263a7b 209 toKeikiSerial.putc(inputDatas_R[i]);
taurin 4:4a13dd263a7b 210 toKeikiSerial.putc(inputDatas_L[i]);
taurin 4:4a13dd263a7b 211 }
tsumagari 8:dbc8c87dac78 212 // toKeikiSerial.putc(cadence);
YusukeWakuta 15:c5ade23e5de4 213 // pc.printf("test\n\r");
YusukeWakuta 0:b1290ca6c4a2 214 }
tsumagari 8:dbc8c87dac78 215
YusukeWakuta 15:c5ade23e5de4 216 void init()
YusukeWakuta 15:c5ade23e5de4 217 {
tsumagari 9:c32999b4d2f9 218 //--------------------------------------(resetInterrupt init)
tsumagari 9:c32999b4d2f9 219 resetPin.rise(resetInterrupt);
tsumagari 9:c32999b4d2f9 220 resetPin.mode(PullDown);
tsumagari 9:c32999b4d2f9 221 //-----------------------------------------------------------
tsumagari 9:c32999b4d2f9 222 // sendDatasTicker.attach(SendDatas,SEND_DATAS_TIME);
YusukeWakuta 15:c5ade23e5de4 223 for(int i = 0; i < INPUT_DATAS_NUM; i++) {
taurin 2:9dc7d5f1e910 224 inputDatas_R[i] = 0;
taurin 2:9dc7d5f1e910 225 inputDatas_L[i] = 0;
taurin 2:9dc7d5f1e910 226 }
YusukeWakuta 0:b1290ca6c4a2 227 }
YusukeWakuta 0:b1290ca6c4a2 228
YusukeWakuta 15:c5ade23e5de4 229 void receiveDatas()
YusukeWakuta 15:c5ade23e5de4 230 {
YusukeWakuta 15:c5ade23e5de4 231 if(can_R.read(recmsg_R)) {
YusukeWakuta 15:c5ade23e5de4 232 for(int i = 0; i < recmsg_R.len; i++) {
YusukeWakuta 0:b1290ca6c4a2 233 yokutanDatas_R[i] = recmsg_R.data[i];
YusukeWakuta 15:c5ade23e5de4 234 // pc.printf("%c",yokutanDatas_R[i]);
YusukeWakuta 0:b1290ca6c4a2 235 }
taurin 4:4a13dd263a7b 236 myled1 = !myled1;
YusukeWakuta 0:b1290ca6c4a2 237 }
YusukeWakuta 15:c5ade23e5de4 238 if(can_L.read(recmsg_L)) {
YusukeWakuta 15:c5ade23e5de4 239 for(int i = 0; i < recmsg_L.len; i++) {
YusukeWakuta 0:b1290ca6c4a2 240 yokutanDatas_L[i] = recmsg_L.data[i];
YusukeWakuta 15:c5ade23e5de4 241 led3 = !led3;
YusukeWakuta 15:c5ade23e5de4 242 // pc.printf("%c",yokutanDatas_L[i]);
YusukeWakuta 0:b1290ca6c4a2 243 }
taurin 4:4a13dd263a7b 244 myled2 = !myled2;
YusukeWakuta 0:b1290ca6c4a2 245 }
YusukeWakuta 0:b1290ca6c4a2 246 }
YusukeWakuta 0:b1290ca6c4a2 247
YusukeWakuta 15:c5ade23e5de4 248 int main()
YusukeWakuta 15:c5ade23e5de4 249 {
YusukeWakuta 0:b1290ca6c4a2 250 init();
YusukeWakuta 15:c5ade23e5de4 251 while(1) {
tsumagari 8:dbc8c87dac78 252 InputControlValues();
tsumagari 10:b7159feb11fd 253 wait_us(5);
YusukeWakuta 0:b1290ca6c4a2 254 receiveDatas();
tsumagari 9:c32999b4d2f9 255 SendDatas();
YusukeWakuta 15:c5ade23e5de4 256 // pc.printf("%d",drug_R.read());
tsumagari 10:b7159feb11fd 257 // toString_R();
taurin 4:4a13dd263a7b 258 // toString_L();
YusukeWakuta 0:b1290ca6c4a2 259 wait(WAIT_LOOP_TIME);
YusukeWakuta 0:b1290ca6c4a2 260 }
YusukeWakuta 0:b1290ca6c4a2 261 }