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@64:9d7582920f50, 2017-06-28 (annotated)

Committer:
tsumagari
Date:
Wed Jun 28 11:14:34 2017 +0000
Branch:
mpu????????
Revision:
64:9d7582920f50
Parent:
63:52b882a5968c
Child:
65:e30d198efe71
?????????6?17TF??

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"
YusukeWakuta 57:d7b709dd1c4f 7 #include "math.h"
taurin 4:450cafd95ac3 8
tsumagari 22:b38bc18ec3a1 9 #define TO_SEND_DATAS_NUM 7
taurin 2:7fcb4f970a02 10 #define INIT_SERVO_PERIOD_MS 20
taurin 4:450cafd95ac3 11 #define WAIT_LOOP_TIME 0.02
YusukeWakuta 47:5e3a836deaba 12 #define CONTROL_VALUES_NUM 7
taurin 0:e052602db102 13 #define TO_SEND_CAN_ID 100
taurin 4:450cafd95ac3 14 #define SEND_DATAS_LOOP_TIME 0.1
tsumagari 33:d075918d4846 15 #define RECEIVE_DATAS_LOOP_TIME 0.1
taurin 12:fd9d241843f4 16
YusukeWakuta 42:bf98a29e81ac 17 #define MPU_LOOP_TIME 0.01
YusukeWakuta 42:bf98a29e81ac 18 #define MPU_DELT_MIN 250
YusukeWakuta 42:bf98a29e81ac 19
tsumagari 64:9d7582920f50 20 #define ERURON_MOVE_DEG_INI_R 14.4//18.0 //degree
tsumagari 53:3eeaafa49707 21 #define DRUG_MOVE_DEG_INI_R 0.49
tsumagari 64:9d7582920f50 22 #define ERURON_TRIM_INI_R 0.41733 //値lowerすると頭上げ 0.37で後縁一致
YusukeWakuta 58:f84bd22fd586 23 #define DRUG_TRIM_INI_R 0.37
taurin 12:fd9d241843f4 24
tsumagari 64:9d7582920f50 25 #define ERURON_MOVE_DEG_INI_L -15.52//-19.4 //degree
YusukeWakuta 63:52b882a5968c 26 #define DRUG_MOVE_DEG_INI_L -0.52
tsumagari 64:9d7582920f50 27 #define ERURON_TRIM_INI_L 0.48567 // 値を大きくすると頭上げ
YusukeWakuta 58:f84bd22fd586 28 #define DRUG_TRIM_INI_L 0.73//値を小さくすると開く側
taurin 2:7fcb4f970a02 29
YusukeWakuta 38:b492990e2b56 30 /*ドラッグラダー
YusukeWakuta 37:1f71ca1e5dd1 31 初期値 0.65
YusukeWakuta 37:1f71ca1e5dd1 32 最大角0.99
YusukeWakuta 36:ddf4aa818e88 33 */
YusukeWakuta 24:d416722b4aad 34
taurin 0:e052602db102 35 CAN can(p30,p29);
taurin 0:e052602db102 36 CANMessage recmsg;
taurin 0:e052602db102 37 Serial pc(USBTX,USBRX);
taurin 0:e052602db102 38 I2C ina226_i2c(p28,p27);
taurin 0:e052602db102 39 INA226 VCmonitor(ina226_i2c);
taurin 13:5e3b4120dbbf 40 PwmOut drugServo(p22);
tsumagari 33:d075918d4846 41 PwmOut eruronServo(p23);
taurin 1:9cc932a16d17 42 DigitalOut led1(LED1);
taurin 4:450cafd95ac3 43 AnalogIn drugAna(p20);
taurin 4:450cafd95ac3 44 AnalogIn eruronAna(p19);
YusukeWakuta 48:0bd406fa4a7f 45 DigitalIn IsRPin(p11);
YusukeWakuta 28:99686a3f0e86 46 DigitalIn setTrimPin(p12);
YusukeWakuta 28:99686a3f0e86 47 DigitalIn EDstatePin(p14);
YusukeWakuta 28:99686a3f0e86 48 DigitalIn setMaxDegPin(p15);
YusukeWakuta 44:624a4469ae21 49 DigitalOut led2(LED2);
taurin 4:450cafd95ac3 50 DigitalOut led3(LED3);
taurin 4:450cafd95ac3 51 DigitalOut led4(LED4);
taurin 4:450cafd95ac3 52 Ticker sendDatasTicker;
tsumagari 22:b38bc18ec3a1 53 //Ticker toStringTicker;
taurin 16:82310bf7c326 54 Ticker receiveDatasTicker;
YusukeWakuta 42:bf98a29e81ac 55 MPU6050 mpu6050;
YusukeWakuta 42:bf98a29e81ac 56 Timer t;
YusukeWakuta 42:bf98a29e81ac 57
YusukeWakuta 42:bf98a29e81ac 58 //Set up I2C, (SDA,SCL)
YusukeWakuta 42:bf98a29e81ac 59 I2C i2c_mpu(p9,p10);
taurin 16:82310bf7c326 60
taurin 0:e052602db102 61 char toSendDatas[TO_SEND_DATAS_NUM];
YusukeWakuta 60:a45dc19a6001 62 char floatValues[10];
taurin 12:fd9d241843f4 63 float eruronTrim;
taurin 12:fd9d241843f4 64 float drugTrim;
taurin 12:fd9d241843f4 65 float eruronMoveDeg;
taurin 12:fd9d241843f4 66 float drugMoveDeg;
YusukeWakuta 59:f007e543f8c9 67 float eruronfloat = 0.0;
taurin 0:e052602db102 68 unsigned short ina_val;
taurin 0:e052602db102 69 double V,C;
taurin 0:e052602db102 70 bool SERVO_FLAG;
taurin 0:e052602db102 71 bool INA_FLAG;
tsumagari 22:b38bc18ec3a1 72 bool MPU_FLAG;
YusukeWakuta 42:bf98a29e81ac 73 int gyroX;
YusukeWakuta 42:bf98a29e81ac 74 int gyroY;
YusukeWakuta 42:bf98a29e81ac 75 int gyroZ;
YusukeWakuta 42:bf98a29e81ac 76 float sum = 0;
YusukeWakuta 61:988e3f4280ac 77 float drugInput = 0.0;
YusukeWakuta 42:bf98a29e81ac 78 uint32_t sumCount = 0;
taurin 0:e052602db102 79
tsumagari 22:b38bc18ec3a1 80 char gyro_c[6] = {0,0,0,0,0,0};
taurin 4:450cafd95ac3 81
taurin 4:450cafd95ac3 82 void toString();
taurin 16:82310bf7c326 83 void receiveDatas();
taurin 16:82310bf7c326 84 void WriteServo();
YusukeWakuta 42:bf98a29e81ac 85 void MpuInit();
YusukeWakuta 42:bf98a29e81ac 86 void mpuProcessing(void const *arg);
taurin 0:e052602db102 87
YusukeWakuta 24:d416722b4aad 88 Ticker gTimer;
YusukeWakuta 24:d416722b4aad 89
YusukeWakuta 26:f14579683f98 90 bool servoInit()
YusukeWakuta 26:f14579683f98 91 {
taurin 4:450cafd95ac3 92 drugServo.period_ms(INIT_SERVO_PERIOD_MS);
taurin 0:e052602db102 93 return true;
taurin 0:e052602db102 94 }
taurin 0:e052602db102 95
YusukeWakuta 26:f14579683f98 96 void sendDatas()
YusukeWakuta 24:d416722b4aad 97 {
YusukeWakuta 26:f14579683f98 98 if(can.write(CANMessage(TO_SEND_CAN_ID, toSendDatas, TO_SEND_DATAS_NUM))) {
taurin 4:450cafd95ac3 99 }
taurin 4:450cafd95ac3 100 }
taurin 4:450cafd95ac3 101
YusukeWakuta 42:bf98a29e81ac 102 void MpuInit()
YusukeWakuta 42:bf98a29e81ac 103 {
YusukeWakuta 42:bf98a29e81ac 104 i2c_mpu.frequency(400000); // use fast (400 kHz) I2C
YusukeWakuta 42:bf98a29e81ac 105 t.start();
YusukeWakuta 42:bf98a29e81ac 106 uint8_t whoami = mpu6050.readByte(MPU6050_ADDRESS, WHO_AM_I_MPU6050); // Read WHO_AM_I register for MPU-6050
YusukeWakuta 42:bf98a29e81ac 107 if (whoami == 0x68) { // WHO_AM_I should always be 0x68
YusukeWakuta 42:bf98a29e81ac 108 Thread::wait(100);
YusukeWakuta 42:bf98a29e81ac 109 mpu6050.MPU6050SelfTest(SelfTest); // Start by performing self test and reporting values
YusukeWakuta 42:bf98a29e81ac 110 Thread::wait(100);
YusukeWakuta 42:bf98a29e81ac 111 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 112 mpu6050.resetMPU6050(); // Reset registers to default in preparation for device calibration
YusukeWakuta 42:bf98a29e81ac 113 mpu6050.calibrateMPU6050(gyroBias, accelBias); // Calibrate gyro and accelerometers, load biases in bias registers
YusukeWakuta 42:bf98a29e81ac 114 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 115 Thread::wait(200);
YusukeWakuta 42:bf98a29e81ac 116 } else {
YusukeWakuta 42:bf98a29e81ac 117 }
YusukeWakuta 42:bf98a29e81ac 118 } else {
YusukeWakuta 42:bf98a29e81ac 119 //pc.printf("out\n\r"); // Loop forever if communication doesn't happen
YusukeWakuta 42:bf98a29e81ac 120 }
YusukeWakuta 42:bf98a29e81ac 121 }
YusukeWakuta 42:bf98a29e81ac 122
YusukeWakuta 42:bf98a29e81ac 123
YusukeWakuta 42:bf98a29e81ac 124 void mpuProcessing(void const *arg)
YusukeWakuta 42:bf98a29e81ac 125 {
YusukeWakuta 42:bf98a29e81ac 126 MpuInit();
YusukeWakuta 42:bf98a29e81ac 127 while(1) {
YusukeWakuta 42:bf98a29e81ac 128 if(mpu6050.readByte(MPU6050_ADDRESS, INT_STATUS) & 0x01) { // check if data ready interrupt
YusukeWakuta 42:bf98a29e81ac 129 mpu6050.readAccelData(accelCount); // Read the x/y/z adc values
YusukeWakuta 42:bf98a29e81ac 130 mpu6050.getAres();
YusukeWakuta 42:bf98a29e81ac 131 ax = (float)accelCount[0]*aRes - accelBias[0]; // get actual g value, this depends on scale being set
YusukeWakuta 42:bf98a29e81ac 132 ay = (float)accelCount[1]*aRes - accelBias[1];
YusukeWakuta 42:bf98a29e81ac 133 az = (float)accelCount[2]*aRes - accelBias[2];
YusukeWakuta 42:bf98a29e81ac 134 mpu6050.readGyroData(gyroCount); // Read the x/y/z adc values
YusukeWakuta 42:bf98a29e81ac 135 mpu6050.getGres();
YusukeWakuta 42:bf98a29e81ac 136 gx = (float)gyroCount[0]*gRes; // - gyroBias[0]; // get actual gyro value, this depends on scale being set
YusukeWakuta 42:bf98a29e81ac 137 gy = (float)gyroCount[1]*gRes; // - gyroBias[1];
YusukeWakuta 42:bf98a29e81ac 138 gz = (float)gyroCount[2]*gRes; // - gyroBias[2];
YusukeWakuta 42:bf98a29e81ac 139 tempCount = mpu6050.readTempData(); // Read the x/y/z adc values
YusukeWakuta 42:bf98a29e81ac 140 temperature = (tempCount) / 340. + 36.53; // Temperature in degrees Centigrade
YusukeWakuta 42:bf98a29e81ac 141 }
YusukeWakuta 42:bf98a29e81ac 142 Now = t.read_us();
YusukeWakuta 42:bf98a29e81ac 143 deltat = (float)((Now - lastUpdate)/1000000.0f) ; // set integration time by time elapsed since last filter update
YusukeWakuta 42:bf98a29e81ac 144 lastUpdate = Now;
YusukeWakuta 42:bf98a29e81ac 145 sum += deltat;
YusukeWakuta 42:bf98a29e81ac 146 sumCount++;
YusukeWakuta 42:bf98a29e81ac 147 if(lastUpdate - firstUpdate > 10000000.0f) {
YusukeWakuta 42:bf98a29e81ac 148 beta = 0.04; // decrease filter gain after stabilized
YusukeWakuta 42:bf98a29e81ac 149 zeta = 0.015; // increasey bias drift gain after stabilized
YusukeWakuta 42:bf98a29e81ac 150 }
YusukeWakuta 42:bf98a29e81ac 151 mpu6050.MadgwickQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f);
YusukeWakuta 42:bf98a29e81ac 152 delt_t = t.read_ms() - count;
YusukeWakuta 42:bf98a29e81ac 153 if (delt_t > MPU_DELT_MIN) {
YusukeWakuta 42:bf98a29e81ac 154 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 155 pitch = -asin(2.0f * (q[1] * q[3] - q[0] * q[2]));
YusukeWakuta 42:bf98a29e81ac 156 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 157 pitch *= 180.0f / PI;
YusukeWakuta 42:bf98a29e81ac 158 yaw *= 180.0f / PI;
YusukeWakuta 42:bf98a29e81ac 159 roll *= 180.0f / PI;
YusukeWakuta 48:0bd406fa4a7f 160 // myled= !myled;
YusukeWakuta 42:bf98a29e81ac 161 count = t.read_ms();
YusukeWakuta 42:bf98a29e81ac 162 sum = 0;
YusukeWakuta 42:bf98a29e81ac 163 sumCount = 0;
YusukeWakuta 42:bf98a29e81ac 164 }
tsumagari 64:9d7582920f50 165 gyro_c[0]=(char)((int)pitch);
tsumagari 64:9d7582920f50 166 gyro_c[1]=(char)(int)((pitch - (int)pitch)*100);
tsumagari 64:9d7582920f50 167 gyro_c[2]=(char)((int)roll);
tsumagari 64:9d7582920f50 168 gyro_c[3]=(char)(int)((roll - (int)roll)*100);
tsumagari 64:9d7582920f50 169 gyro_c[4]=(char)((int)yaw);
tsumagari 64:9d7582920f50 170 gyro_c[5]=(char)(int)((yaw - (int)yaw)*100);
tsumagari 64:9d7582920f50 171 pc.printf("p:%f,r:%f,y:%f\n\r",pitch,roll,yaw);
YusukeWakuta 42:bf98a29e81ac 172 Thread::wait(1);
YusukeWakuta 42:bf98a29e81ac 173 }//while(1)
YusukeWakuta 42:bf98a29e81ac 174 }
YusukeWakuta 42:bf98a29e81ac 175
YusukeWakuta 42:bf98a29e81ac 176
YusukeWakuta 26:f14579683f98 177 bool inaInit()
YusukeWakuta 26:f14579683f98 178 {
YusukeWakuta 26:f14579683f98 179 if(!VCmonitor.isExist()) {
taurin 0:e052602db102 180 pc.printf("VCmonitor NOT FOUND\n");
taurin 0:e052602db102 181 return false;
taurin 0:e052602db102 182 }
taurin 0:e052602db102 183 ina_val = 0;
YusukeWakuta 26:f14579683f98 184 if(VCmonitor.rawRead(0x00,&ina_val) != 0) {
taurin 0:e052602db102 185 pc.printf("VCmonitor READ ERROR\n");
taurin 0:e052602db102 186 return false;
taurin 0:e052602db102 187 }
taurin 0:e052602db102 188 VCmonitor.setCurrentCalibration();
taurin 0:e052602db102 189 return true;
taurin 0:e052602db102 190 }
taurin 0:e052602db102 191
YusukeWakuta 57:d7b709dd1c4f 192 //動かしたいエレボンの角度から、動かしたいサーボホーンの角度を得る。
YusukeWakuta 57:d7b709dd1c4f 193 double ConvertDeg(double servo)
YusukeWakuta 57:d7b709dd1c4f 194 {
YusukeWakuta 62:1db967d29809 195 return 0.0011 * pow(servo,3) + 0.017 * pow(servo,2) + 2.3019 * servo - 0.2269;
YusukeWakuta 62:1db967d29809 196 //return 0.0003*pow(servo,3)+0.0039*pow(servo,2)+1.746*servo - 0.0105;
YusukeWakuta 57:d7b709dd1c4f 197 }
YusukeWakuta 57:d7b709dd1c4f 198
YusukeWakuta 57:d7b709dd1c4f 199 //ホーンを動かしたい角度から、変化させるアナログ値の幅を得る。3度変化
YusukeWakuta 57:d7b709dd1c4f 200 double GetValueByHorn(double deg)
YusukeWakuta 57:d7b709dd1c4f 201 {
YusukeWakuta 57:d7b709dd1c4f 202 return deg*(0.10/25.7);
YusukeWakuta 57:d7b709dd1c4f 203 }
YusukeWakuta 57:d7b709dd1c4f 204
YusukeWakuta 57:d7b709dd1c4f 205 double GetFloatByErebon(double erebonDeg)
YusukeWakuta 57:d7b709dd1c4f 206 {
YusukeWakuta 57:d7b709dd1c4f 207 double servoDeg = ConvertDeg(erebonDeg);
YusukeWakuta 61:988e3f4280ac 208 return GetValueByHorn(servoDeg);
YusukeWakuta 57:d7b709dd1c4f 209 }
YusukeWakuta 57:d7b709dd1c4f 210
YusukeWakuta 26:f14579683f98 211 void init()
YusukeWakuta 26:f14579683f98 212 {
YusukeWakuta 48:0bd406fa4a7f 213 if(IsRPin) {
YusukeWakuta 48:0bd406fa4a7f 214 eruronTrim = ERURON_TRIM_INI_R;
YusukeWakuta 48:0bd406fa4a7f 215 drugTrim = DRUG_TRIM_INI_R;
YusukeWakuta 57:d7b709dd1c4f 216 eruronMoveDeg =GetFloatByErebon(ERURON_MOVE_DEG_INI_R);
YusukeWakuta 48:0bd406fa4a7f 217 drugMoveDeg =DRUG_MOVE_DEG_INI_R;
YusukeWakuta 48:0bd406fa4a7f 218 } else {
taurin 13:5e3b4120dbbf 219 eruronTrim = ERURON_TRIM_INI_L;
taurin 13:5e3b4120dbbf 220 drugTrim = DRUG_TRIM_INI_L;
YusukeWakuta 57:d7b709dd1c4f 221 eruronMoveDeg = GetFloatByErebon(ERURON_MOVE_DEG_INI_L);
taurin 13:5e3b4120dbbf 222 drugMoveDeg = DRUG_MOVE_DEG_INI_L;
taurin 12:fd9d241843f4 223 }
taurin 0:e052602db102 224 SERVO_FLAG = servoInit();
taurin 0:e052602db102 225 INA_FLAG = inaInit();
taurin 4:450cafd95ac3 226 sendDatasTicker.attach(&sendDatas,SEND_DATAS_LOOP_TIME);
taurin 16:82310bf7c326 227 // toStringTicker.attach(&toString,0.5);
taurin 16:82310bf7c326 228 receiveDatasTicker.attach(&receiveDatas,RECEIVE_DATAS_LOOP_TIME);
taurin 0:e052602db102 229 }
taurin 0:e052602db102 230
YusukeWakuta 26:f14579683f98 231 void updateDatas()
YusukeWakuta 26:f14579683f98 232 {
YusukeWakuta 26:f14579683f98 233 if(INA_FLAG) {
taurin 0:e052602db102 234 int tmp = VCmonitor.getVoltage(&V);
taurin 0:e052602db102 235 tmp = VCmonitor.getCurrent(&C);
taurin 0:e052602db102 236 }
YusukeWakuta 42:bf98a29e81ac 237
YusukeWakuta 26:f14579683f98 238 for(int i = 0; i < TO_SEND_DATAS_NUM - 1; i++) {
tsumagari 22:b38bc18ec3a1 239 toSendDatas[i] = gyro_c[i];
tsumagari 22:b38bc18ec3a1 240 }
tsumagari 22:b38bc18ec3a1 241 // toSendDatas[TO_SEND_DATAS_NUM - 1] = (char)(V/100);
YusukeWakuta 40:ad98da5da7bf 242 toSendDatas[TO_SEND_DATAS_NUM - 1] = (char)V;
taurin 0:e052602db102 243 }
taurin 0:e052602db102 244
YusukeWakuta 26:f14579683f98 245 void receiveDatas()
YusukeWakuta 26:f14579683f98 246 {
YusukeWakuta 61:988e3f4280ac 247 if(can.read(recmsg)) { //ここの中でpc.printfすると重すぎて固まるので注意
YusukeWakuta 61:988e3f4280ac 248 for(int i = 0; i < 5; i++) {
YusukeWakuta 60:a45dc19a6001 249 floatValues[i] = recmsg.data[i];
taurin 0:e052602db102 250 }
YusukeWakuta 61:988e3f4280ac 251 drugInput = recmsg.data[5]- '0';
YusukeWakuta 60:a45dc19a6001 252 eruronfloat = atof(floatValues);
taurin 1:9cc932a16d17 253 led1 = !led1;
taurin 0:e052602db102 254 }
taurin 0:e052602db102 255 }
taurin 0:e052602db102 256
YusukeWakuta 42:bf98a29e81ac 257 double calcPulse(float analog)
YusukeWakuta 26:f14579683f98 258 {
tsumagari 53:3eeaafa49707 259 return (0.0006 + (analog)*(0.00240-0.00060) );
taurin 1:9cc932a16d17 260 }
taurin 1:9cc932a16d17 261
YusukeWakuta 29:516a5d383488 262 void WriteServo()
YusukeWakuta 26:f14579683f98 263 {
YusukeWakuta 62:1db967d29809 264 // for(int i = 0; i< 10; i++) {
YusukeWakuta 61:988e3f4280ac 265 // pc.printf("%c",floatValues[i]);
YusukeWakuta 61:988e3f4280ac 266 // }
YusukeWakuta 61:988e3f4280ac 267 // pc.printf(" : %f",eruronfloat);
YusukeWakuta 61:988e3f4280ac 268 // pc.printf("\n\r");
YusukeWakuta 61:988e3f4280ac 269 drugServo.pulsewidth(calcPulse(drugTrim + drugMoveDeg *drugInput));
YusukeWakuta 59:f007e543f8c9 270 eruronServo.pulsewidth(calcPulse( eruronTrim + eruronMoveDeg * eruronfloat));
tsumagari 64:9d7582920f50 271 // pc.printf("ef:%10f %5f\n\r",eruronfloat,drugInput);
taurin 4:450cafd95ac3 272 }
taurin 4:450cafd95ac3 273
YusukeWakuta 26:f14579683f98 274 void setTrim()
YusukeWakuta 26:f14579683f98 275 {
YusukeWakuta 44:624a4469ae21 276 led2 = 1;
YusukeWakuta 26:f14579683f98 277 if(EDstatePin) {
YusukeWakuta 26:f14579683f98 278 eruronTrim = eruronAna.read();
YusukeWakuta 50:b3a8f8e88c50 279 eruronServo.pulsewidth(calcPulse(eruronTrim));
YusukeWakuta 26:f14579683f98 280 } else {
YusukeWakuta 37:1f71ca1e5dd1 281 drugTrim = drugAna.read();
YusukeWakuta 26:f14579683f98 282 drugServo.pulsewidth(calcPulse(drugTrim));
taurin 12:fd9d241843f4 283 }
YusukeWakuta 14:1f6dd929d7de 284 //pc.printf("eruronTrim:%f drugTrim:%f\n\r",eruronTrim,drugTrim);
YusukeWakuta 26:f14579683f98 285 pc.printf("eruronTrim:%f drugTrim:%f ",eruronTrim,drugTrim);
YusukeWakuta 59:f007e543f8c9 286 pc.printf("eMD:%f dMD:%f ei:%d\n\r",eruronMoveDeg,drugMoveDeg,eruronfloat);
taurin 4:450cafd95ac3 287 }
taurin 4:450cafd95ac3 288
YusukeWakuta 26:f14579683f98 289 void setMaxDeg()
YusukeWakuta 26:f14579683f98 290 {
taurin 4:450cafd95ac3 291 led4 = 1;
YusukeWakuta 26:f14579683f98 292 float eruronTemp = eruronAna.read();
YusukeWakuta 37:1f71ca1e5dd1 293 float drugTemp = drugAna.read();
YusukeWakuta 26:f14579683f98 294 if(EDstatePin) {
YusukeWakuta 26:f14579683f98 295 eruronMoveDeg = eruronTemp-eruronTrim;
YusukeWakuta 49:8522856fe0cd 296 eruronServo.pulsewidth(calcPulse(eruronTemp));
YusukeWakuta 26:f14579683f98 297 } else {
YusukeWakuta 26:f14579683f98 298 drugServo.pulsewidth(calcPulse(drugTemp));
YusukeWakuta 26:f14579683f98 299 drugMoveDeg = drugTemp-drugTrim;
taurin 12:fd9d241843f4 300 }
YusukeWakuta 14:1f6dd929d7de 301 pc.printf("eruronTrim:%f drugTrim:%f ",eruronTrim,drugTrim);
YusukeWakuta 59:f007e543f8c9 302 pc.printf("eMD:%f dMD:%f ef:%d\n\r",eruronMoveDeg,drugMoveDeg,eruronfloat);
taurin 4:450cafd95ac3 303 wait_us(10);
taurin 1:9cc932a16d17 304 }
taurin 0:e052602db102 305
YusukeWakuta 26:f14579683f98 306 int main()
YusukeWakuta 26:f14579683f98 307 {
taurin 0:e052602db102 308 init();
YusukeWakuta 31:5d22ebe5f705 309
YusukeWakuta 30:00041540e23c 310 setTrimPin.mode(PullDown);
YusukeWakuta 30:00041540e23c 311 setMaxDegPin.mode(PullDown);
YusukeWakuta 30:00041540e23c 312 EDstatePin.mode(PullDown);
YusukeWakuta 48:0bd406fa4a7f 313 IsRPin.mode(PullDown);
YusukeWakuta 42:bf98a29e81ac 314 Thread mpu_thread(&mpuProcessing);
YusukeWakuta 26:f14579683f98 315
YusukeWakuta 24:d416722b4aad 316 // start motion
tsumagari 33:d075918d4846 317 // gTimer.attach_us(&XbusIntervalHandler, 1000000 / kMotionInterval);
YusukeWakuta 26:f14579683f98 318
YusukeWakuta 26:f14579683f98 319 while(1) {
YusukeWakuta 26:f14579683f98 320 while(setTrimPin) {
taurin 4:450cafd95ac3 321 setTrim();
taurin 4:450cafd95ac3 322 }
YusukeWakuta 26:f14579683f98 323 while (setMaxDegPin) {
YusukeWakuta 29:516a5d383488 324 setMaxDeg();
taurin 4:450cafd95ac3 325 }
taurin 4:450cafd95ac3 326 led4 = 0;
YusukeWakuta 44:624a4469ae21 327 led2 = 0;
taurin 16:82310bf7c326 328 //receiveDatas();
tsumagari 22:b38bc18ec3a1 329 // sendDatas();
taurin 1:9cc932a16d17 330 WriteServo();
taurin 4:450cafd95ac3 331 updateDatas();
tsumagari 22:b38bc18ec3a1 332 led3 = !led3;
taurin 2:7fcb4f970a02 333 wait(WAIT_LOOP_TIME);
taurin 0:e052602db102 334 }
taurin 0:e052602db102 335 }