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。
Fork of ControlMain2017 by
main.cpp@41:d2d123d7a6fa, 2017-04-23 (annotated)
- Committer:
- YusukeWakuta
- Date:
- Sun Apr 23 15:12:59 2017 +0000
- Branch:
- ?????
- Revision:
- 41:d2d123d7a6fa
- Parent:
- 37:7ce6e87b9c36
- Child:
- 42:6cc53727acc2
????
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
YusukeWakuta | 13:79eb74eb86c4 | 1 | //中央 |
YusukeWakuta | 0:b1290ca6c4a2 | 2 | |
YusukeWakuta | 0:b1290ca6c4a2 | 3 | #include "mbed.h" |
tsumagari | 37:7ce6e87b9c36 | 4 | //#include "rtos.h" |
tsumagari | 10:b7159feb11fd | 5 | #define WAIT_LOOP_TIME 0.001 |
tsumagari | 9:c32999b4d2f9 | 6 | #define YOKUTAN_DATAS_NUM 7 |
YusukeWakuta | 32:60af346703d3 | 7 | #define INPUT_DATAS_NUM 7 //ここは1倍とまでしかCANでは一度に送れないため、8以下。そして、翼端コードと数字を合わせる必要あり。 |
YusukeWakuta | 0:b1290ca6c4a2 | 8 | #define SEND_DATAS_CAN_ID 100 |
tsumagari | 8:dbc8c87dac78 | 9 | #define SEND_DATAS_TIME 0.5 |
tsumagari | 8:dbc8c87dac78 | 10 | #define THRESHOLD_OH_VALUE 0.14 |
YusukeWakuta | 15:c5ade23e5de4 | 11 | #define SAMPLE_INTERVAL 0.05 |
YusukeWakuta | 0:b1290ca6c4a2 | 12 | |
YusukeWakuta | 35:adad361dbb53 | 13 | #define PHASE_NUM 15 //奇数にしてください |
YusukeWakuta | 24:72f9cb6e9440 | 14 | #define SUM_UP_NUM 10.0 |
YusukeWakuta | 29:8bff47ab602d | 15 | #define PITCHPERROLL 1.5 |
YusukeWakuta | 19:6387e3f02b37 | 16 | /* |
YusukeWakuta | 19:6387e3f02b37 | 17 | 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 | 18 | */ |
YusukeWakuta | 18:31722545ecf1 | 19 | |
tsumagari | 9:c32999b4d2f9 | 20 | //-----------------------------------(resetInterrupt def) |
tsumagari | 9:c32999b4d2f9 | 21 | extern "C" void mbed_reset(); |
YusukeWakuta | 13:79eb74eb86c4 | 22 | InterruptIn resetPin(p22); |
tsumagari | 9:c32999b4d2f9 | 23 | Timer resetTimeCount; |
YusukeWakuta | 15:c5ade23e5de4 | 24 | void resetInterrupt() |
YusukeWakuta | 15:c5ade23e5de4 | 25 | { |
YusukeWakuta | 15:c5ade23e5de4 | 26 | while(resetPin) { |
tsumagari | 9:c32999b4d2f9 | 27 | resetTimeCount.start(); |
tsumagari | 9:c32999b4d2f9 | 28 | if(resetTimeCount.read()>3) mbed_reset(); |
tsumagari | 9:c32999b4d2f9 | 29 | } |
tsumagari | 9:c32999b4d2f9 | 30 | resetTimeCount.reset(); |
tsumagari | 9:c32999b4d2f9 | 31 | } |
tsumagari | 9:c32999b4d2f9 | 32 | //------------------------------------------------------- |
tsumagari | 9:c32999b4d2f9 | 33 | |
taurin | 6:7484315ba88a | 34 | CAN can_R(p30,p29); |
taurin | 6:7484315ba88a | 35 | CAN can_L(p9,p10); |
YusukeWakuta | 14:ffe9460922cb | 36 | Serial toKeikiSerial(p28,p27); |
tsumagari | 7:59ddbe239835 | 37 | Serial pc(USBTX,USBRX); |
tsumagari | 10:b7159feb11fd | 38 | AnalogIn rollPin(p15); |
YusukeWakuta | 31:3a6be197e98f | 39 | AnalogIn pitchPin(p18); |
YusukeWakuta | 13:79eb74eb86c4 | 40 | DigitalIn drug_R(p14); |
YusukeWakuta | 31:3a6be197e98f | 41 | DigitalIn drug_L(p17); |
YusukeWakuta | 25:12408563540d | 42 | DigitalOut led1(LED1); |
YusukeWakuta | 25:12408563540d | 43 | DigitalOut led2(LED2); |
YusukeWakuta | 15:c5ade23e5de4 | 44 | DigitalOut led4(LED4); |
YusukeWakuta | 15:c5ade23e5de4 | 45 | DigitalOut led3(LED3); |
tsumagari | 37:7ce6e87b9c36 | 46 | //DigitalOut fusokuControl(p25); |
tsumagari | 9:c32999b4d2f9 | 47 | //Ticker sendDatasTicker; |
YusukeWakuta | 0:b1290ca6c4a2 | 48 | |
taurin | 4:4a13dd263a7b | 49 | char yokutanDatas_R[YOKUTAN_DATAS_NUM]; |
taurin | 4:4a13dd263a7b | 50 | char yokutanDatas_L[YOKUTAN_DATAS_NUM]; |
tsumagari | 10:b7159feb11fd | 51 | char inputDatas_R[INPUT_DATAS_NUM]; |
tsumagari | 10:b7159feb11fd | 52 | char inputDatas_L[INPUT_DATAS_NUM]; |
YusukeWakuta | 24:72f9cb6e9440 | 53 | |
YusukeWakuta | 25:12408563540d | 54 | float rollNeutral = 0.739; |
YusukeWakuta | 25:12408563540d | 55 | float rollUpperDiff = 0; |
YusukeWakuta | 25:12408563540d | 56 | float rollLowerDiff = 0; |
YusukeWakuta | 24:72f9cb6e9440 | 57 | |
YusukeWakuta | 25:12408563540d | 58 | float pitchNeutral = 0.468 ;//1って書いた方 |
YusukeWakuta | 25:12408563540d | 59 | float pitchUpperDiff = 0; |
YusukeWakuta | 25:12408563540d | 60 | float pitchLowerDiff = 0; |
YusukeWakuta | 24:72f9cb6e9440 | 61 | float neutralDiff; |
YusukeWakuta | 0:b1290ca6c4a2 | 62 | |
YusukeWakuta | 3:0e66ce2ab2fb | 63 | CANMessage recmsg_R; |
YusukeWakuta | 3:0e66ce2ab2fb | 64 | CANMessage recmsg_L; |
YusukeWakuta | 0:b1290ca6c4a2 | 65 | |
tsumagari | 37:7ce6e87b9c36 | 66 | //void tickFusoku(void const * arg){ |
tsumagari | 37:7ce6e87b9c36 | 67 | // while(1){ |
tsumagari | 37:7ce6e87b9c36 | 68 | // fusokuControl = 1; |
tsumagari | 37:7ce6e87b9c36 | 69 | // wait_us(500); |
tsumagari | 37:7ce6e87b9c36 | 70 | // fusokuControl = 0; |
tsumagari | 37:7ce6e87b9c36 | 71 | // wait_us(4500); |
tsumagari | 37:7ce6e87b9c36 | 72 | // } |
tsumagari | 37:7ce6e87b9c36 | 73 | //} |
tsumagari | 36:5ad172e48384 | 74 | |
YusukeWakuta | 25:12408563540d | 75 | |
YusukeWakuta | 24:72f9cb6e9440 | 76 | |
YusukeWakuta | 25:12408563540d | 77 | |
YusukeWakuta | 18:31722545ecf1 | 78 | |
YusukeWakuta | 21:9b1f5123f4a8 | 79 | |
YusukeWakuta | 29:8bff47ab602d | 80 | |
YusukeWakuta | 15:c5ade23e5de4 | 81 | void InputControlValues() |
YusukeWakuta | 15:c5ade23e5de4 | 82 | { |
YusukeWakuta | 26:745735b0479d | 83 | setMaxAndMin(enumRoll, rollPin.read()); |
YusukeWakuta | 26:745735b0479d | 84 | setMaxAndMin(enumPitch, pitchPin.read()); |
YusukeWakuta | 26:745735b0479d | 85 | |
YusukeWakuta | 30:eb7b7af1070a | 86 | // 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 | 32:60af346703d3 | 87 | float MatchedRoll = MatchUpperAndLower(enumRoll, rollNeutral + rollUpperDiff,rollNeutral + rollLowerDiff,rollNeutral,rollPin.read() + neutralDiff); |
YusukeWakuta | 26:745735b0479d | 88 | float MatchedPitch = MatchUpperAndLower(enumPitch, pitchNeutral + pitchUpperDiff,pitchNeutral + pitchLowerDiff,pitchNeutral,pitchPin.read()); |
YusukeWakuta | 32:60af346703d3 | 89 | //pc.printf("Rollmax:%f value:%f Min:%f" ,); |
YusukeWakuta | 32:60af346703d3 | 90 | float FormatedRoll_R = Format2Range(SetRollPitchRacio(MatchedPitch,MatchedRoll),SetRollPitchRacio(pitchNeutral + pitchUpperDiff,rollNeutral + rollUpperDiff),SetRollPitchRacio(pitchNeutral + pitchLowerDiff,rollNeutral + rollLowerDiff)); |
YusukeWakuta | 29:8bff47ab602d | 91 | *(int *)inputDatas_R =PhaseFloat(FormatedRoll_R,SetRollPitchRacio(pitchNeutral + pitchUpperDiff,rollNeutral + rollUpperDiff),SetRollPitchRacio(pitchNeutral + pitchLowerDiff,rollNeutral + rollLowerDiff)); |
YusukeWakuta | 24:72f9cb6e9440 | 92 | |
YusukeWakuta | 29:8bff47ab602d | 93 | float FormatedRoll_L = Format2Range(SetRollPitchRacio(MatchedPitch, - MatchedRoll),SetRollPitchRacio(pitchNeutral + pitchUpperDiff,-rollNeutral - rollLowerDiff),SetRollPitchRacio(pitchNeutral +pitchLowerDiff, - rollNeutral - rollUpperDiff)); |
YusukeWakuta | 27:1af92a603532 | 94 | //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 | 29:8bff47ab602d | 95 | *(int *)inputDatas_L = PhaseFloat(FormatedRoll_L,SetRollPitchRacio(pitchNeutral + pitchUpperDiff ,- rollNeutral - rollLowerDiff),SetRollPitchRacio(pitchNeutral + pitchLowerDiff ,- rollNeutral - rollUpperDiff)); |
YusukeWakuta | 27:1af92a603532 | 96 | //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 | 97 | if(*(int *)inputDatas_R < 1) |
YusukeWakuta | 28:056287cb001c | 98 | *(int *)inputDatas_R = 1; |
YusukeWakuta | 28:056287cb001c | 99 | else if(*(int *)inputDatas_R > PHASE_NUM) |
YusukeWakuta | 28:056287cb001c | 100 | *(int *)inputDatas_R = PHASE_NUM; |
YusukeWakuta | 28:056287cb001c | 101 | if(*(int *)inputDatas_L < 1) |
YusukeWakuta | 28:056287cb001c | 102 | *(int *)inputDatas_L = 1 ; |
YusukeWakuta | 28:056287cb001c | 103 | else if(*(int *)inputDatas_L > PHASE_NUM) |
YusukeWakuta | 28:056287cb001c | 104 | *(int *)inputDatas_L =PHASE_NUM; |
YusukeWakuta | 16:336e8b102555 | 105 | |
YusukeWakuta | 32:60af346703d3 | 106 | pc.printf("DR :%d DL:%d input_R:%d input_L:%d\n\r",drug_R.read(),drug_L.read(),*(int *)inputDatas_R,*(int *)inputDatas_L); |
YusukeWakuta | 31:3a6be197e98f | 107 | inputDatas_R[sizeof(int)+ 2] = (char)drug_R; |
YusukeWakuta | 15:c5ade23e5de4 | 108 | led4 =! led4; |
YusukeWakuta | 26:745735b0479d | 109 | // pc.printf("%c",*(char *)inputDatas_R[4]); |
YusukeWakuta | 15:c5ade23e5de4 | 110 | //pc.printf("%c",(char)drug_R); |
YusukeWakuta | 31:3a6be197e98f | 111 | inputDatas_L[sizeof(int)+2] = (char)drug_L; |
YusukeWakuta | 33:d54dacb7a0aa | 112 | // pc.printf("eruron:%f drug:%f\n\r,",); |
YusukeWakuta | 0:b1290ca6c4a2 | 113 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 114 | |
YusukeWakuta | 15:c5ade23e5de4 | 115 | void SendDatas() |
YusukeWakuta | 15:c5ade23e5de4 | 116 | { |
tsumagari | 10:b7159feb11fd | 117 | can_R.write(CANMessage(SEND_DATAS_CAN_ID, inputDatas_R, INPUT_DATAS_NUM)); |
tsumagari | 10:b7159feb11fd | 118 | can_L.write(CANMessage(SEND_DATAS_CAN_ID, inputDatas_L, INPUT_DATAS_NUM)); |
tsumagari | 8:dbc8c87dac78 | 119 | toKeikiSerial.putc(';'); |
YusukeWakuta | 15:c5ade23e5de4 | 120 | for(int i = 0; i < YOKUTAN_DATAS_NUM; i++) { |
YusukeWakuta | 34:0cff1601bc13 | 121 | toKeikiSerial.putc(yokutanDatas_R[i]); |
YusukeWakuta | 31:3a6be197e98f | 122 | |
YusukeWakuta | 34:0cff1601bc13 | 123 | } |
YusukeWakuta | 34:0cff1601bc13 | 124 | for(int i = 0; i < YOKUTAN_DATAS_NUM; i++) { |
YusukeWakuta | 0:b1290ca6c4a2 | 125 | toKeikiSerial.putc(yokutanDatas_L[i]); |
YusukeWakuta | 0:b1290ca6c4a2 | 126 | } |
YusukeWakuta | 15:c5ade23e5de4 | 127 | for(int i = 0; i < INPUT_DATAS_NUM; i++) { |
taurin | 4:4a13dd263a7b | 128 | toKeikiSerial.putc(inputDatas_R[i]); |
YusukeWakuta | 33:d54dacb7a0aa | 129 | } |
YusukeWakuta | 33:d54dacb7a0aa | 130 | for(int i = 0; i < INPUT_DATAS_NUM; i++) { |
taurin | 4:4a13dd263a7b | 131 | toKeikiSerial.putc(inputDatas_L[i]); |
taurin | 4:4a13dd263a7b | 132 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 133 | } |
tsumagari | 8:dbc8c87dac78 | 134 | |
YusukeWakuta | 15:c5ade23e5de4 | 135 | void init() |
YusukeWakuta | 15:c5ade23e5de4 | 136 | { |
tsumagari | 9:c32999b4d2f9 | 137 | //--------------------------------------(resetInterrupt init) |
tsumagari | 9:c32999b4d2f9 | 138 | resetPin.rise(resetInterrupt); |
tsumagari | 9:c32999b4d2f9 | 139 | resetPin.mode(PullDown); |
tsumagari | 9:c32999b4d2f9 | 140 | //----------------------------------------------------------- |
tsumagari | 9:c32999b4d2f9 | 141 | // sendDatasTicker.attach(SendDatas,SEND_DATAS_TIME); |
YusukeWakuta | 15:c5ade23e5de4 | 142 | for(int i = 0; i < INPUT_DATAS_NUM; i++) { |
taurin | 2:9dc7d5f1e910 | 143 | inputDatas_R[i] = 0; |
taurin | 2:9dc7d5f1e910 | 144 | inputDatas_L[i] = 0; |
taurin | 2:9dc7d5f1e910 | 145 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 146 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 147 | |
YusukeWakuta | 15:c5ade23e5de4 | 148 | void receiveDatas() |
YusukeWakuta | 15:c5ade23e5de4 | 149 | { |
YusukeWakuta | 15:c5ade23e5de4 | 150 | if(can_R.read(recmsg_R)) { |
YusukeWakuta | 15:c5ade23e5de4 | 151 | for(int i = 0; i < recmsg_R.len; i++) { |
YusukeWakuta | 0:b1290ca6c4a2 | 152 | yokutanDatas_R[i] = recmsg_R.data[i]; |
YusukeWakuta | 15:c5ade23e5de4 | 153 | // pc.printf("%c",yokutanDatas_R[i]); |
YusukeWakuta | 0:b1290ca6c4a2 | 154 | } |
YusukeWakuta | 25:12408563540d | 155 | led1 = !led1; |
YusukeWakuta | 0:b1290ca6c4a2 | 156 | } |
YusukeWakuta | 15:c5ade23e5de4 | 157 | if(can_L.read(recmsg_L)) { |
YusukeWakuta | 15:c5ade23e5de4 | 158 | for(int i = 0; i < recmsg_L.len; i++) { |
YusukeWakuta | 0:b1290ca6c4a2 | 159 | yokutanDatas_L[i] = recmsg_L.data[i]; |
YusukeWakuta | 15:c5ade23e5de4 | 160 | led3 = !led3; |
YusukeWakuta | 15:c5ade23e5de4 | 161 | // pc.printf("%c",yokutanDatas_L[i]); |
YusukeWakuta | 0:b1290ca6c4a2 | 162 | } |
YusukeWakuta | 25:12408563540d | 163 | led2 = !led2; |
YusukeWakuta | 0:b1290ca6c4a2 | 164 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 165 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 166 | |
YusukeWakuta | 15:c5ade23e5de4 | 167 | int main() |
YusukeWakuta | 15:c5ade23e5de4 | 168 | { |
tsumagari | 37:7ce6e87b9c36 | 169 | // Thread tickFusokuThread(&tickFusoku); |
YusukeWakuta | 0:b1290ca6c4a2 | 170 | init(); |
YusukeWakuta | 24:72f9cb6e9440 | 171 | setNeutral(); |
YusukeWakuta | 15:c5ade23e5de4 | 172 | while(1) { |
tsumagari | 8:dbc8c87dac78 | 173 | InputControlValues(); |
tsumagari | 10:b7159feb11fd | 174 | wait_us(5); |
YusukeWakuta | 0:b1290ca6c4a2 | 175 | receiveDatas(); |
tsumagari | 9:c32999b4d2f9 | 176 | SendDatas(); |
YusukeWakuta | 0:b1290ca6c4a2 | 177 | wait(WAIT_LOOP_TIME); |
YusukeWakuta | 0:b1290ca6c4a2 | 178 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 179 | } |