albatross / Mbed 2 deprecated ControlYokutan2017_2

ControlMainでの変更に対応して、新しくレポジトリを作りました

Dependencies:   Control_Yokutan_CANver1 XBusServo mbed mbed-rtos

Fork of ControlYokutan2017 by albatross

main.cpp@54:113656a959b7, 2017-04-02 (annotated)

Committer:
tsumagari
Date:
Sun Apr 02 01:58:05 2017 +0000
Branch:
mpu????????
Revision:
54:113656a959b7
Parent:
53:3eeaafa49707
Child:
55:eaff0c602c99
4.2tf last

Who changed what in which revision?

UserRevisionLine numberNew contents of line
taurin 0:e052602db102 1 //翼端can program
taurin 0:e052602db102 2 #include "mbed.h"
tsumagari 22:b38bc18ec3a1 3 #include "MPU6050.h"
taurin 0:e052602db102 4 #include "INA226.hpp"
YusukeWakuta 42:bf98a29e81ac 5 #include "rtos.h"
YusukeWakuta 24:d416722b4aad 6 #include "XBusServo.h"
taurin 4:450cafd95ac3 7
tsumagari 22:b38bc18ec3a1 8 #define TO_SEND_DATAS_NUM 7
taurin 2:7fcb4f970a02 9 #define INIT_SERVO_PERIOD_MS 20
taurin 4:450cafd95ac3 10 #define WAIT_LOOP_TIME 0.02
YusukeWakuta 47:5e3a836deaba 11 #define CONTROL_VALUES_NUM 7
taurin 0:e052602db102 12 #define TO_SEND_CAN_ID 100
taurin 4:450cafd95ac3 13 #define SEND_DATAS_LOOP_TIME 0.1
tsumagari 33:d075918d4846 14 #define RECEIVE_DATAS_LOOP_TIME 0.1
taurin 12:fd9d241843f4 15
YusukeWakuta 42:bf98a29e81ac 16 #define MPU_LOOP_TIME 0.01
YusukeWakuta 42:bf98a29e81ac 17 #define MPU_DELT_MIN 250
YusukeWakuta 42:bf98a29e81ac 18
YusukeWakuta 49:8522856fe0cd 19 #define ERURON_MOVE_DEG_INI_R 0.45
tsumagari 53:3eeaafa49707 20 #define DRUG_MOVE_DEG_INI_R 0.49
tsumagari 54:113656a959b7 21 #define ERURON_TRIM_INI_R 0.50 //値36werすると頭上げ
tsumagari 53:3eeaafa49707 22 #define DRUG_TRIM_INI_R 0.37
taurin 12:fd9d241843f4 23
tsumagari 54:113656a959b7 24 #define ERURON_MOVE_DEG_INI_L -0.45
tsumagari 53:3eeaafa49707 25 #define DRUG_MOVE_DEG_INI_L -0.44
tsumagari 54:113656a959b7 26 #define ERURON_TRIM_INI_L 0.37 // 値をお大きいくすると頭上げ
YusukeWakuta 47:5e3a836deaba 27 #define DRUG_TRIM_INI_L 0.68//値を小さくすると開く側
taurin 2:7fcb4f970a02 28
tsumagari 53:3eeaafa49707 29 #define PHASE_NUM 15.0 //奇数にしてください。そしてメインコードと必ず同じ値にしてください
tsumagari 53:3eeaafa49707 30 #define NEUTRAL_PHASE 8.0
YusukeWakuta 42:bf98a29e81ac 31
YusukeWakuta 38:b492990e2b56 32 /*ドラッグラダー
YusukeWakuta 37:1f71ca1e5dd1 33 初期値 0.65
YusukeWakuta 37:1f71ca1e5dd1 34 最大角0.99
YusukeWakuta 36:ddf4aa818e88 35 */
YusukeWakuta 24:d416722b4aad 36
taurin 0:e052602db102 37 CAN can(p30,p29);
taurin 0:e052602db102 38 CANMessage recmsg;
taurin 0:e052602db102 39 Serial pc(USBTX,USBRX);
taurin 0:e052602db102 40 I2C ina226_i2c(p28,p27);
taurin 0:e052602db102 41 INA226 VCmonitor(ina226_i2c);
taurin 13:5e3b4120dbbf 42 PwmOut drugServo(p22);
tsumagari 33:d075918d4846 43 PwmOut eruronServo(p23);
taurin 1:9cc932a16d17 44 DigitalOut led1(LED1);
taurin 4:450cafd95ac3 45 AnalogIn drugAna(p20);
taurin 4:450cafd95ac3 46 AnalogIn eruronAna(p19);
YusukeWakuta 48:0bd406fa4a7f 47 DigitalIn IsRPin(p11);
YusukeWakuta 28:99686a3f0e86 48 DigitalIn setTrimPin(p12);
YusukeWakuta 28:99686a3f0e86 49 DigitalIn EDstatePin(p14);
YusukeWakuta 28:99686a3f0e86 50 DigitalIn setMaxDegPin(p15);
YusukeWakuta 44:624a4469ae21 51 DigitalOut led2(LED2);
taurin 4:450cafd95ac3 52 DigitalOut led3(LED3);
taurin 4:450cafd95ac3 53 DigitalOut led4(LED4);
taurin 4:450cafd95ac3 54 Ticker sendDatasTicker;
tsumagari 22:b38bc18ec3a1 55 //Ticker toStringTicker;
taurin 16:82310bf7c326 56 Ticker receiveDatasTicker;
YusukeWakuta 42:bf98a29e81ac 57 MPU6050 mpu6050;
YusukeWakuta 42:bf98a29e81ac 58 Timer t;
YusukeWakuta 42:bf98a29e81ac 59
YusukeWakuta 42:bf98a29e81ac 60 //Set up I2C, (SDA,SCL)
YusukeWakuta 42:bf98a29e81ac 61 I2C i2c_mpu(p9,p10);
taurin 16:82310bf7c326 62
taurin 0:e052602db102 63 char toSendDatas[TO_SEND_DATAS_NUM];
YusukeWakuta 45:e3df49d7b912 64 char controlValues[sizeof(int) +3];//0~3:eruruon,4( sizeof(float)で指定してください ):drug
YusukeWakuta 42:bf98a29e81ac 65 char intvalues[sizeof(int)];
taurin 12:fd9d241843f4 66 float eruronTrim;
taurin 12:fd9d241843f4 67 float drugTrim;
taurin 12:fd9d241843f4 68 float eruronMoveDeg;
taurin 12:fd9d241843f4 69 float drugMoveDeg;
YusukeWakuta 44:624a4469ae21 70 int eruronint = 1;
taurin 0:e052602db102 71 unsigned short ina_val;
taurin 0:e052602db102 72 double V,C;
taurin 0:e052602db102 73 bool SERVO_FLAG;
taurin 0:e052602db102 74 bool INA_FLAG;
tsumagari 22:b38bc18ec3a1 75 bool MPU_FLAG;
YusukeWakuta 31:5d22ebe5f705 76 uint16_t XbusValue;
YusukeWakuta 42:bf98a29e81ac 77 int gyroX;
YusukeWakuta 42:bf98a29e81ac 78 int gyroY;
YusukeWakuta 42:bf98a29e81ac 79 int gyroZ;
YusukeWakuta 42:bf98a29e81ac 80 float sum = 0;
YusukeWakuta 42:bf98a29e81ac 81 uint32_t sumCount = 0;
taurin 0:e052602db102 82
tsumagari 22:b38bc18ec3a1 83 char gyro_c[6] = {0,0,0,0,0,0};
taurin 4:450cafd95ac3 84
taurin 4:450cafd95ac3 85 void toString();
taurin 16:82310bf7c326 86 void receiveDatas();
taurin 16:82310bf7c326 87 void WriteServo();
YusukeWakuta 42:bf98a29e81ac 88 void MpuInit();
YusukeWakuta 42:bf98a29e81ac 89 void mpuProcessing(void const *arg);
taurin 0:e052602db102 90
YusukeWakuta 24:d416722b4aad 91 Ticker gTimer;
YusukeWakuta 24:d416722b4aad 92
YusukeWakuta 26:f14579683f98 93 bool servoInit()
YusukeWakuta 26:f14579683f98 94 {
taurin 4:450cafd95ac3 95 drugServo.period_ms(INIT_SERVO_PERIOD_MS);
taurin 0:e052602db102 96 return true;
taurin 0:e052602db102 97 }
taurin 0:e052602db102 98
YusukeWakuta 26:f14579683f98 99 void sendDatas()
YusukeWakuta 24:d416722b4aad 100 {
YusukeWakuta 26:f14579683f98 101 if(can.write(CANMessage(TO_SEND_CAN_ID, toSendDatas, TO_SEND_DATAS_NUM))) {
taurin 4:450cafd95ac3 102 }
taurin 4:450cafd95ac3 103 }
taurin 4:450cafd95ac3 104
YusukeWakuta 42:bf98a29e81ac 105 void MpuInit()
YusukeWakuta 42:bf98a29e81ac 106 {
YusukeWakuta 42:bf98a29e81ac 107 i2c_mpu.frequency(400000); // use fast (400 kHz) I2C
YusukeWakuta 42:bf98a29e81ac 108 t.start();
YusukeWakuta 42:bf98a29e81ac 109 uint8_t whoami = mpu6050.readByte(MPU6050_ADDRESS, WHO_AM_I_MPU6050); // Read WHO_AM_I register for MPU-6050
YusukeWakuta 42:bf98a29e81ac 110 if (whoami == 0x68) { // WHO_AM_I should always be 0x68
YusukeWakuta 42:bf98a29e81ac 111 Thread::wait(100);
YusukeWakuta 42:bf98a29e81ac 112 mpu6050.MPU6050SelfTest(SelfTest); // Start by performing self test and reporting values
YusukeWakuta 42:bf98a29e81ac 113 Thread::wait(100);
YusukeWakuta 42:bf98a29e81ac 114 if(SelfTest[0] < 1.0f && SelfTest[1] < 1.0f && SelfTest[2] < 1.0f && SelfTest[3] < 1.0f && SelfTest[4] < 1.0f && SelfTest[5] < 1.0f) {
YusukeWakuta 42:bf98a29e81ac 115 mpu6050.resetMPU6050(); // Reset registers to default in preparation for device calibration
YusukeWakuta 42:bf98a29e81ac 116 mpu6050.calibrateMPU6050(gyroBias, accelBias); // Calibrate gyro and accelerometers, load biases in bias registers
YusukeWakuta 42:bf98a29e81ac 117 mpu6050.initMPU6050(); //pc.printf("MPU6050 initialized for active data mode....\n\r"); // Initialize device for active mode read of acclerometer, gyroscope, and temperature
YusukeWakuta 42:bf98a29e81ac 118 Thread::wait(200);
YusukeWakuta 42:bf98a29e81ac 119 } else {
YusukeWakuta 42:bf98a29e81ac 120 }
YusukeWakuta 42:bf98a29e81ac 121 } else {
YusukeWakuta 42:bf98a29e81ac 122 //pc.printf("out\n\r"); // Loop forever if communication doesn't happen
YusukeWakuta 42:bf98a29e81ac 123 }
YusukeWakuta 42:bf98a29e81ac 124 }
YusukeWakuta 42:bf98a29e81ac 125
YusukeWakuta 42:bf98a29e81ac 126
YusukeWakuta 42:bf98a29e81ac 127 void mpuProcessing(void const *arg)
YusukeWakuta 42:bf98a29e81ac 128 {
YusukeWakuta 42:bf98a29e81ac 129 MpuInit();
YusukeWakuta 42:bf98a29e81ac 130 while(1) {
YusukeWakuta 42:bf98a29e81ac 131 if(mpu6050.readByte(MPU6050_ADDRESS, INT_STATUS) & 0x01) { // check if data ready interrupt
YusukeWakuta 42:bf98a29e81ac 132 mpu6050.readAccelData(accelCount); // Read the x/y/z adc values
YusukeWakuta 42:bf98a29e81ac 133 mpu6050.getAres();
YusukeWakuta 42:bf98a29e81ac 134 ax = (float)accelCount[0]*aRes - accelBias[0]; // get actual g value, this depends on scale being set
YusukeWakuta 42:bf98a29e81ac 135 ay = (float)accelCount[1]*aRes - accelBias[1];
YusukeWakuta 42:bf98a29e81ac 136 az = (float)accelCount[2]*aRes - accelBias[2];
YusukeWakuta 42:bf98a29e81ac 137 mpu6050.readGyroData(gyroCount); // Read the x/y/z adc values
YusukeWakuta 42:bf98a29e81ac 138 mpu6050.getGres();
YusukeWakuta 42:bf98a29e81ac 139 gx = (float)gyroCount[0]*gRes; // - gyroBias[0]; // get actual gyro value, this depends on scale being set
YusukeWakuta 42:bf98a29e81ac 140 gy = (float)gyroCount[1]*gRes; // - gyroBias[1];
YusukeWakuta 42:bf98a29e81ac 141 gz = (float)gyroCount[2]*gRes; // - gyroBias[2];
YusukeWakuta 42:bf98a29e81ac 142 tempCount = mpu6050.readTempData(); // Read the x/y/z adc values
YusukeWakuta 42:bf98a29e81ac 143 temperature = (tempCount) / 340. + 36.53; // Temperature in degrees Centigrade
YusukeWakuta 42:bf98a29e81ac 144 }
YusukeWakuta 42:bf98a29e81ac 145 Now = t.read_us();
YusukeWakuta 42:bf98a29e81ac 146 deltat = (float)((Now - lastUpdate)/1000000.0f) ; // set integration time by time elapsed since last filter update
YusukeWakuta 42:bf98a29e81ac 147 lastUpdate = Now;
YusukeWakuta 42:bf98a29e81ac 148 sum += deltat;
YusukeWakuta 42:bf98a29e81ac 149 sumCount++;
YusukeWakuta 42:bf98a29e81ac 150 if(lastUpdate - firstUpdate > 10000000.0f) {
YusukeWakuta 42:bf98a29e81ac 151 beta = 0.04; // decrease filter gain after stabilized
YusukeWakuta 42:bf98a29e81ac 152 zeta = 0.015; // increasey bias drift gain after stabilized
YusukeWakuta 42:bf98a29e81ac 153 }
YusukeWakuta 42:bf98a29e81ac 154 mpu6050.MadgwickQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f);
YusukeWakuta 42:bf98a29e81ac 155 delt_t = t.read_ms() - count;
YusukeWakuta 42:bf98a29e81ac 156 if (delt_t > MPU_DELT_MIN) {
YusukeWakuta 42:bf98a29e81ac 157 yaw = atan2(2.0f * (q[1] * q[2] + q[0] * q[3]), q[0] * q[0] + q[1] * q[1] - q[2] * q[2] - q[3] * q[3]);
YusukeWakuta 42:bf98a29e81ac 158 pitch = -asin(2.0f * (q[1] * q[3] - q[0] * q[2]));
YusukeWakuta 42:bf98a29e81ac 159 roll = atan2(2.0f * (q[0] * q[1] + q[2] * q[3]), q[0] * q[0] - q[1] * q[1] - q[2] * q[2] + q[3] * q[3]);
YusukeWakuta 42:bf98a29e81ac 160 pitch *= 180.0f / PI;
YusukeWakuta 42:bf98a29e81ac 161 yaw *= 180.0f / PI;
YusukeWakuta 42:bf98a29e81ac 162 roll *= 180.0f / PI;
YusukeWakuta 48:0bd406fa4a7f 163 // myled= !myled;
YusukeWakuta 42:bf98a29e81ac 164 count = t.read_ms();
YusukeWakuta 42:bf98a29e81ac 165 sum = 0;
YusukeWakuta 42:bf98a29e81ac 166 sumCount = 0;
YusukeWakuta 42:bf98a29e81ac 167 }
YusukeWakuta 42:bf98a29e81ac 168 Thread::wait(1);
YusukeWakuta 42:bf98a29e81ac 169 }//while(1)
YusukeWakuta 42:bf98a29e81ac 170 }
YusukeWakuta 42:bf98a29e81ac 171
YusukeWakuta 42:bf98a29e81ac 172
YusukeWakuta 26:f14579683f98 173 bool inaInit()
YusukeWakuta 26:f14579683f98 174 {
YusukeWakuta 26:f14579683f98 175 if(!VCmonitor.isExist()) {
taurin 0:e052602db102 176 pc.printf("VCmonitor NOT FOUND\n");
taurin 0:e052602db102 177 return false;
taurin 0:e052602db102 178 }
taurin 0:e052602db102 179 ina_val = 0;
YusukeWakuta 26:f14579683f98 180 if(VCmonitor.rawRead(0x00,&ina_val) != 0) {
taurin 0:e052602db102 181 pc.printf("VCmonitor READ ERROR\n");
taurin 0:e052602db102 182 return false;
taurin 0:e052602db102 183 }
taurin 0:e052602db102 184 VCmonitor.setCurrentCalibration();
taurin 0:e052602db102 185 return true;
taurin 0:e052602db102 186 }
taurin 0:e052602db102 187
YusukeWakuta 26:f14579683f98 188 void init()
YusukeWakuta 26:f14579683f98 189 {
YusukeWakuta 48:0bd406fa4a7f 190 if(IsRPin) {
YusukeWakuta 48:0bd406fa4a7f 191 eruronTrim = ERURON_TRIM_INI_R;
YusukeWakuta 48:0bd406fa4a7f 192 drugTrim = DRUG_TRIM_INI_R;
YusukeWakuta 48:0bd406fa4a7f 193 eruronMoveDeg = ERURON_MOVE_DEG_INI_R;
YusukeWakuta 48:0bd406fa4a7f 194 drugMoveDeg =DRUG_MOVE_DEG_INI_R;
YusukeWakuta 48:0bd406fa4a7f 195 } else {
taurin 13:5e3b4120dbbf 196 eruronTrim = ERURON_TRIM_INI_L;
taurin 13:5e3b4120dbbf 197 drugTrim = DRUG_TRIM_INI_L;
taurin 13:5e3b4120dbbf 198 eruronMoveDeg = ERURON_MOVE_DEG_INI_L;
taurin 13:5e3b4120dbbf 199 drugMoveDeg = DRUG_MOVE_DEG_INI_L;
taurin 12:fd9d241843f4 200 }
taurin 0:e052602db102 201 SERVO_FLAG = servoInit();
taurin 0:e052602db102 202 INA_FLAG = inaInit();
taurin 4:450cafd95ac3 203 sendDatasTicker.attach(&sendDatas,SEND_DATAS_LOOP_TIME);
taurin 16:82310bf7c326 204 // toStringTicker.attach(&toString,0.5);
taurin 16:82310bf7c326 205 receiveDatasTicker.attach(&receiveDatas,RECEIVE_DATAS_LOOP_TIME);
YusukeWakuta 24:d416722b4aad 206
YusukeWakuta 36:ddf4aa818e88 207 // initXBus();
taurin 0:e052602db102 208 }
taurin 0:e052602db102 209
YusukeWakuta 26:f14579683f98 210 void updateDatas()
YusukeWakuta 26:f14579683f98 211 {
YusukeWakuta 26:f14579683f98 212 if(INA_FLAG) {
taurin 0:e052602db102 213 int tmp = VCmonitor.getVoltage(&V);
taurin 0:e052602db102 214 tmp = VCmonitor.getCurrent(&C);
taurin 0:e052602db102 215 }
YusukeWakuta 42:bf98a29e81ac 216
YusukeWakuta 26:f14579683f98 217 for(int i = 0; i < TO_SEND_DATAS_NUM - 1; i++) {
tsumagari 22:b38bc18ec3a1 218 toSendDatas[i] = gyro_c[i];
tsumagari 22:b38bc18ec3a1 219 }
tsumagari 22:b38bc18ec3a1 220 // toSendDatas[TO_SEND_DATAS_NUM - 1] = (char)(V/100);
YusukeWakuta 40:ad98da5da7bf 221 toSendDatas[TO_SEND_DATAS_NUM - 1] = (char)V;
taurin 0:e052602db102 222 }
taurin 0:e052602db102 223
YusukeWakuta 26:f14579683f98 224 void receiveDatas()
YusukeWakuta 26:f14579683f98 225 {
YusukeWakuta 26:f14579683f98 226 if(can.read(recmsg)) {
YusukeWakuta 26:f14579683f98 227 for(int i = 0; i < CONTROL_VALUES_NUM; i++) {
YusukeWakuta 3:4417217b4f66 228 controlValues[i] = recmsg.data[i];
YusukeWakuta 42:bf98a29e81ac 229 if(i<sizeof(int)) intvalues[i] = controlValues[i];
taurin 0:e052602db102 230 }
YusukeWakuta 44:624a4469ae21 231 // intvalues[0] = controlValues[0];
YusukeWakuta 42:bf98a29e81ac 232 eruronint = *(const int *)intvalues;
taurin 1:9cc932a16d17 233 led1 = !led1;
taurin 0:e052602db102 234 }
taurin 0:e052602db102 235 }
taurin 0:e052602db102 236
YusukeWakuta 42:bf98a29e81ac 237 double calcPulse(float analog)
YusukeWakuta 26:f14579683f98 238 {
tsumagari 53:3eeaafa49707 239 return (0.0006 + (analog)*(0.00240-0.00060) );
tsumagari 53:3eeaafa49707 240 // double min = 0.0006;
tsumagari 53:3eeaafa49707 241 // double max = 0.00240;
tsumagari 53:3eeaafa49707 242 // if(analog >= max)
tsumagari 53:3eeaafa49707 243 // analog = max;
tsumagari 53:3eeaafa49707 244 // else if(analog <= min)
tsumagari 53:3eeaafa49707 245 // analog = min;
tsumagari 53:3eeaafa49707 246 //
tsumagari 53:3eeaafa49707 247 // return (min+(analog)*(max-min));
YusukeWakuta 37:1f71ca1e5dd1 248 /*
YusukeWakuta 37:1f71ca1e5dd1 249 int start=510, end=2390;
YusukeWakuta 37:1f71ca1e5dd1 250 while(1) {
YusukeWakuta 37:1f71ca1e5dd1 251 // pc.printf("%f\n\r",(start + (double)(end - start) * analogIn.read()));
YusukeWakuta 37:1f71ca1e5dd1 252 pc.printf("%f\n\r",analogIn.read());
YusukeWakuta 37:1f71ca1e5dd1 253 pwm.pulsewidth_us(start + (double)(end - start) * analogIn.read());
YusukeWakuta 37:1f71ca1e5dd1 254 */
taurin 1:9cc932a16d17 255 }
taurin 1:9cc932a16d17 256
YusukeWakuta 29:516a5d383488 257 void WriteServo()
YusukeWakuta 26:f14579683f98 258 {
YusukeWakuta 45:e3df49d7b912 259 drugServo.pulsewidth(calcPulse(drugTrim + drugMoveDeg *(float)controlValues[sizeof(int) + 2]));
YusukeWakuta 51:eafff055a3f4 260 eruronServo.pulsewidth(calcPulse( eruronTrim + eruronMoveDeg * (1.0/PHASE_NUM) * (eruronint - NEUTRAL_PHASE)));
YusukeWakuta 48:0bd406fa4a7f 261 pc.printf("WriteNum:%f ",calcPulse( eruronTrim + eruronMoveDeg * (1.0/PHASE_NUM) * eruronint));
YusukeWakuta 49:8522856fe0cd 262 pc.printf("drValue::%f ef::%f\n\r",drugTrim + drugMoveDeg *(float)controlValues[sizeof(int) + 2],eruronTrim + eruronMoveDeg * (1.0/PHASE_NUM) * (eruronint - 6.0));
YusukeWakuta 37:1f71ca1e5dd1 263 // pc.printf("raw:%f sampled:%f\n\r",eruronfloat /3.0,SampleFloat(eruronfloat / 3.0));
taurin 4:450cafd95ac3 264 }
taurin 4:450cafd95ac3 265
YusukeWakuta 26:f14579683f98 266 void setTrim()
YusukeWakuta 26:f14579683f98 267 {
YusukeWakuta 44:624a4469ae21 268 led2 = 1;
YusukeWakuta 26:f14579683f98 269 if(EDstatePin) {
YusukeWakuta 26:f14579683f98 270 eruronTrim = eruronAna.read();
YusukeWakuta 50:b3a8f8e88c50 271 eruronServo.pulsewidth(calcPulse(eruronTrim));
YusukeWakuta 26:f14579683f98 272 } else {
YusukeWakuta 37:1f71ca1e5dd1 273 drugTrim = drugAna.read();
YusukeWakuta 26:f14579683f98 274 drugServo.pulsewidth(calcPulse(drugTrim));
taurin 12:fd9d241843f4 275 }
YusukeWakuta 14:1f6dd929d7de 276 //pc.printf("eruronTrim:%f drugTrim:%f\n\r",eruronTrim,drugTrim);
YusukeWakuta 26:f14579683f98 277 pc.printf("eruronTrim:%f drugTrim:%f ",eruronTrim,drugTrim);
YusukeWakuta 42:bf98a29e81ac 278 pc.printf("eMD:%f dMD:%f ei:%d\n\r",eruronMoveDeg,drugMoveDeg,eruronint);
taurin 4:450cafd95ac3 279 }
taurin 4:450cafd95ac3 280
YusukeWakuta 26:f14579683f98 281 void setMaxDeg()
YusukeWakuta 26:f14579683f98 282 {
taurin 4:450cafd95ac3 283 led4 = 1;
YusukeWakuta 26:f14579683f98 284 float eruronTemp = eruronAna.read();
YusukeWakuta 37:1f71ca1e5dd1 285 float drugTemp = drugAna.read();
YusukeWakuta 26:f14579683f98 286 if(EDstatePin) {
YusukeWakuta 26:f14579683f98 287 eruronMoveDeg = eruronTemp-eruronTrim;
YusukeWakuta 49:8522856fe0cd 288 eruronServo.pulsewidth(calcPulse(eruronTemp));
YusukeWakuta 26:f14579683f98 289 } else {
YusukeWakuta 26:f14579683f98 290 drugServo.pulsewidth(calcPulse(drugTemp));
YusukeWakuta 26:f14579683f98 291 drugMoveDeg = drugTemp-drugTrim;
taurin 12:fd9d241843f4 292 }
YusukeWakuta 14:1f6dd929d7de 293 pc.printf("eruronTrim:%f drugTrim:%f ",eruronTrim,drugTrim);
YusukeWakuta 42:bf98a29e81ac 294 pc.printf("eMD:%f dMD:%f ef:%d\n\r",eruronMoveDeg,drugMoveDeg,eruronint);
taurin 4:450cafd95ac3 295 wait_us(10);
taurin 1:9cc932a16d17 296 }
taurin 0:e052602db102 297
YusukeWakuta 26:f14579683f98 298 int main()
YusukeWakuta 26:f14579683f98 299 {
taurin 0:e052602db102 300 init();
YusukeWakuta 31:5d22ebe5f705 301
YusukeWakuta 30:00041540e23c 302 setTrimPin.mode(PullDown);
YusukeWakuta 30:00041540e23c 303 setMaxDegPin.mode(PullDown);
YusukeWakuta 30:00041540e23c 304 EDstatePin.mode(PullDown);
YusukeWakuta 48:0bd406fa4a7f 305 IsRPin.mode(PullDown);
YusukeWakuta 42:bf98a29e81ac 306 Thread mpu_thread(&mpuProcessing);
YusukeWakuta 26:f14579683f98 307
YusukeWakuta 24:d416722b4aad 308 // start motion
tsumagari 33:d075918d4846 309 // gTimer.attach_us(&XbusIntervalHandler, 1000000 / kMotionInterval);
YusukeWakuta 26:f14579683f98 310
YusukeWakuta 26:f14579683f98 311 while(1) {
YusukeWakuta 26:f14579683f98 312 while(setTrimPin) {
taurin 4:450cafd95ac3 313 setTrim();
taurin 4:450cafd95ac3 314 }
YusukeWakuta 26:f14579683f98 315 while (setMaxDegPin) {
YusukeWakuta 29:516a5d383488 316 setMaxDeg();
taurin 4:450cafd95ac3 317 }
YusukeWakuta 42:bf98a29e81ac 318 // pc.printf("eruronTrim:%f drugTrim:%f ",eruronTrim,drugTrim);
YusukeWakuta 42:bf98a29e81ac 319 //// pc.printf("eMD:%f dMD:%f ",eruronMoveDeg,drugMoveDeg);
YusukeWakuta 42:bf98a29e81ac 320 // pc.printf("pitch:%d roll:%d yaw:%d\n\r",pitch,roll,yaw);
taurin 4:450cafd95ac3 321 led4 = 0;
YusukeWakuta 44:624a4469ae21 322 led2 = 0;
taurin 16:82310bf7c326 323 //receiveDatas();
tsumagari 22:b38bc18ec3a1 324 // sendDatas();
taurin 1:9cc932a16d17 325 WriteServo();
taurin 4:450cafd95ac3 326 updateDatas();
tsumagari 22:b38bc18ec3a1 327 led3 = !led3;
taurin 2:7fcb4f970a02 328 wait(WAIT_LOOP_TIME);
taurin 0:e052602db102 329 }
taurin 0:e052602db102 330 }