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@60:a45dc19a6001, 2017-06-07 (annotated)

Committer:
YusukeWakuta
Date:
Wed Jun 07 14:13:53 2017 +0000
Branch:
mpu????????
Revision:
60:a45dc19a6001
Parent:
59:f007e543f8c9
Child:
61:988e3f4280ac
????????????????

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
YusukeWakuta 57:d7b709dd1c4f 20 #define ERURON_MOVE_DEG_INI_R 18.0 //degree
tsumagari 53:3eeaafa49707 21 #define DRUG_MOVE_DEG_INI_R 0.49
YusukeWakuta 57:d7b709dd1c4f 22 #define ERURON_TRIM_INI_R 0.38 //値lowerすると頭上げ
YusukeWakuta 58:f84bd22fd586 23 #define DRUG_TRIM_INI_R 0.37
taurin 12:fd9d241843f4 24
YusukeWakuta 57:d7b709dd1c4f 25 #define ERURON_MOVE_DEG_INI_L -19.4 //degree
tsumagari 53:3eeaafa49707 26 #define DRUG_MOVE_DEG_INI_L -0.44
YusukeWakuta 58:f84bd22fd586 27 #define ERURON_TRIM_INI_L 0.402 // 値をお大きいくすると頭上げ
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 59:f007e543f8c9 62 char controlValues[sizeof(float) +3];//0~3:eruruon,4( sizeof(float)で指定してください ):drug
YusukeWakuta 60:a45dc19a6001 63 char floatValues[10];
taurin 12:fd9d241843f4 64 float eruronTrim;
taurin 12:fd9d241843f4 65 float drugTrim;
taurin 12:fd9d241843f4 66 float eruronMoveDeg;
taurin 12:fd9d241843f4 67 float drugMoveDeg;
YusukeWakuta 59:f007e543f8c9 68 float eruronfloat = 0.0;
taurin 0:e052602db102 69 unsigned short ina_val;
taurin 0:e052602db102 70 double V,C;
taurin 0:e052602db102 71 bool SERVO_FLAG;
taurin 0:e052602db102 72 bool INA_FLAG;
tsumagari 22:b38bc18ec3a1 73 bool MPU_FLAG;
YusukeWakuta 31:5d22ebe5f705 74 uint16_t XbusValue;
YusukeWakuta 42:bf98a29e81ac 75 int gyroX;
YusukeWakuta 42:bf98a29e81ac 76 int gyroY;
YusukeWakuta 42:bf98a29e81ac 77 int gyroZ;
YusukeWakuta 42:bf98a29e81ac 78 float sum = 0;
YusukeWakuta 42:bf98a29e81ac 79 uint32_t sumCount = 0;
taurin 0:e052602db102 80
tsumagari 22:b38bc18ec3a1 81 char gyro_c[6] = {0,0,0,0,0,0};
taurin 4:450cafd95ac3 82
taurin 4:450cafd95ac3 83 void toString();
taurin 16:82310bf7c326 84 void receiveDatas();
taurin 16:82310bf7c326 85 void WriteServo();
YusukeWakuta 42:bf98a29e81ac 86 void MpuInit();
YusukeWakuta 42:bf98a29e81ac 87 void mpuProcessing(void const *arg);
taurin 0:e052602db102 88
YusukeWakuta 24:d416722b4aad 89 Ticker gTimer;
YusukeWakuta 24:d416722b4aad 90
YusukeWakuta 26:f14579683f98 91 bool servoInit()
YusukeWakuta 26:f14579683f98 92 {
taurin 4:450cafd95ac3 93 drugServo.period_ms(INIT_SERVO_PERIOD_MS);
taurin 0:e052602db102 94 return true;
taurin 0:e052602db102 95 }
taurin 0:e052602db102 96
YusukeWakuta 26:f14579683f98 97 void sendDatas()
YusukeWakuta 24:d416722b4aad 98 {
YusukeWakuta 26:f14579683f98 99 if(can.write(CANMessage(TO_SEND_CAN_ID, toSendDatas, TO_SEND_DATAS_NUM))) {
taurin 4:450cafd95ac3 100 }
taurin 4:450cafd95ac3 101 }
taurin 4:450cafd95ac3 102
YusukeWakuta 42:bf98a29e81ac 103 void MpuInit()
YusukeWakuta 42:bf98a29e81ac 104 {
YusukeWakuta 42:bf98a29e81ac 105 i2c_mpu.frequency(400000); // use fast (400 kHz) I2C
YusukeWakuta 42:bf98a29e81ac 106 t.start();
YusukeWakuta 42:bf98a29e81ac 107 uint8_t whoami = mpu6050.readByte(MPU6050_ADDRESS, WHO_AM_I_MPU6050); // Read WHO_AM_I register for MPU-6050
YusukeWakuta 42:bf98a29e81ac 108 if (whoami == 0x68) { // WHO_AM_I should always be 0x68
YusukeWakuta 42:bf98a29e81ac 109 Thread::wait(100);
YusukeWakuta 42:bf98a29e81ac 110 mpu6050.MPU6050SelfTest(SelfTest); // Start by performing self test and reporting values
YusukeWakuta 42:bf98a29e81ac 111 Thread::wait(100);
YusukeWakuta 42:bf98a29e81ac 112 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 113 mpu6050.resetMPU6050(); // Reset registers to default in preparation for device calibration
YusukeWakuta 42:bf98a29e81ac 114 mpu6050.calibrateMPU6050(gyroBias, accelBias); // Calibrate gyro and accelerometers, load biases in bias registers
YusukeWakuta 42:bf98a29e81ac 115 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 116 Thread::wait(200);
YusukeWakuta 42:bf98a29e81ac 117 } else {
YusukeWakuta 42:bf98a29e81ac 118 }
YusukeWakuta 42:bf98a29e81ac 119 } else {
YusukeWakuta 42:bf98a29e81ac 120 //pc.printf("out\n\r"); // Loop forever if communication doesn't happen
YusukeWakuta 42:bf98a29e81ac 121 }
YusukeWakuta 42:bf98a29e81ac 122 }
YusukeWakuta 42:bf98a29e81ac 123
YusukeWakuta 42:bf98a29e81ac 124
YusukeWakuta 42:bf98a29e81ac 125 void mpuProcessing(void const *arg)
YusukeWakuta 42:bf98a29e81ac 126 {
YusukeWakuta 42:bf98a29e81ac 127 MpuInit();
YusukeWakuta 42:bf98a29e81ac 128 while(1) {
YusukeWakuta 42:bf98a29e81ac 129 if(mpu6050.readByte(MPU6050_ADDRESS, INT_STATUS) & 0x01) { // check if data ready interrupt
YusukeWakuta 42:bf98a29e81ac 130 mpu6050.readAccelData(accelCount); // Read the x/y/z adc values
YusukeWakuta 42:bf98a29e81ac 131 mpu6050.getAres();
YusukeWakuta 42:bf98a29e81ac 132 ax = (float)accelCount[0]*aRes - accelBias[0]; // get actual g value, this depends on scale being set
YusukeWakuta 42:bf98a29e81ac 133 ay = (float)accelCount[1]*aRes - accelBias[1];
YusukeWakuta 42:bf98a29e81ac 134 az = (float)accelCount[2]*aRes - accelBias[2];
YusukeWakuta 42:bf98a29e81ac 135 mpu6050.readGyroData(gyroCount); // Read the x/y/z adc values
YusukeWakuta 42:bf98a29e81ac 136 mpu6050.getGres();
YusukeWakuta 42:bf98a29e81ac 137 gx = (float)gyroCount[0]*gRes; // - gyroBias[0]; // get actual gyro value, this depends on scale being set
YusukeWakuta 42:bf98a29e81ac 138 gy = (float)gyroCount[1]*gRes; // - gyroBias[1];
YusukeWakuta 42:bf98a29e81ac 139 gz = (float)gyroCount[2]*gRes; // - gyroBias[2];
YusukeWakuta 42:bf98a29e81ac 140 tempCount = mpu6050.readTempData(); // Read the x/y/z adc values
YusukeWakuta 42:bf98a29e81ac 141 temperature = (tempCount) / 340. + 36.53; // Temperature in degrees Centigrade
YusukeWakuta 42:bf98a29e81ac 142 }
YusukeWakuta 42:bf98a29e81ac 143 Now = t.read_us();
YusukeWakuta 42:bf98a29e81ac 144 deltat = (float)((Now - lastUpdate)/1000000.0f) ; // set integration time by time elapsed since last filter update
YusukeWakuta 42:bf98a29e81ac 145 lastUpdate = Now;
YusukeWakuta 42:bf98a29e81ac 146 sum += deltat;
YusukeWakuta 42:bf98a29e81ac 147 sumCount++;
YusukeWakuta 42:bf98a29e81ac 148 if(lastUpdate - firstUpdate > 10000000.0f) {
YusukeWakuta 42:bf98a29e81ac 149 beta = 0.04; // decrease filter gain after stabilized
YusukeWakuta 42:bf98a29e81ac 150 zeta = 0.015; // increasey bias drift gain after stabilized
YusukeWakuta 42:bf98a29e81ac 151 }
YusukeWakuta 42:bf98a29e81ac 152 mpu6050.MadgwickQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f);
YusukeWakuta 42:bf98a29e81ac 153 delt_t = t.read_ms() - count;
YusukeWakuta 42:bf98a29e81ac 154 if (delt_t > MPU_DELT_MIN) {
YusukeWakuta 42:bf98a29e81ac 155 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 156 pitch = -asin(2.0f * (q[1] * q[3] - q[0] * q[2]));
YusukeWakuta 42:bf98a29e81ac 157 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 158 pitch *= 180.0f / PI;
YusukeWakuta 42:bf98a29e81ac 159 yaw *= 180.0f / PI;
YusukeWakuta 42:bf98a29e81ac 160 roll *= 180.0f / PI;
YusukeWakuta 48:0bd406fa4a7f 161 // myled= !myled;
YusukeWakuta 42:bf98a29e81ac 162 count = t.read_ms();
YusukeWakuta 42:bf98a29e81ac 163 sum = 0;
YusukeWakuta 42:bf98a29e81ac 164 sumCount = 0;
YusukeWakuta 42:bf98a29e81ac 165 }
YusukeWakuta 42:bf98a29e81ac 166 Thread::wait(1);
YusukeWakuta 42:bf98a29e81ac 167 }//while(1)
YusukeWakuta 42:bf98a29e81ac 168 }
YusukeWakuta 42:bf98a29e81ac 169
YusukeWakuta 42:bf98a29e81ac 170
YusukeWakuta 26:f14579683f98 171 bool inaInit()
YusukeWakuta 26:f14579683f98 172 {
YusukeWakuta 26:f14579683f98 173 if(!VCmonitor.isExist()) {
taurin 0:e052602db102 174 pc.printf("VCmonitor NOT FOUND\n");
taurin 0:e052602db102 175 return false;
taurin 0:e052602db102 176 }
taurin 0:e052602db102 177 ina_val = 0;
YusukeWakuta 26:f14579683f98 178 if(VCmonitor.rawRead(0x00,&ina_val) != 0) {
taurin 0:e052602db102 179 pc.printf("VCmonitor READ ERROR\n");
taurin 0:e052602db102 180 return false;
taurin 0:e052602db102 181 }
taurin 0:e052602db102 182 VCmonitor.setCurrentCalibration();
taurin 0:e052602db102 183 return true;
taurin 0:e052602db102 184 }
taurin 0:e052602db102 185
YusukeWakuta 57:d7b709dd1c4f 186 //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 187 double ConvertDeg(double servo)
YusukeWakuta 57:d7b709dd1c4f 188 {
YusukeWakuta 57:d7b709dd1c4f 189 double result = 0.0003*pow(servo,3)+0.0039*pow(servo,2)+1.746*servo - 0.0105;
YusukeWakuta 57:d7b709dd1c4f 190 return result;
YusukeWakuta 57:d7b709dd1c4f 191 }
YusukeWakuta 57:d7b709dd1c4f 192
YusukeWakuta 57:d7b709dd1c4f 193 //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 194 double GetValueByHorn(double deg)
YusukeWakuta 57:d7b709dd1c4f 195 {
YusukeWakuta 57:d7b709dd1c4f 196 return deg*(0.10/25.7);
YusukeWakuta 57:d7b709dd1c4f 197 }
YusukeWakuta 57:d7b709dd1c4f 198
YusukeWakuta 57:d7b709dd1c4f 199 double GetFloatByErebon(double erebonDeg)
YusukeWakuta 57:d7b709dd1c4f 200 {
YusukeWakuta 57:d7b709dd1c4f 201 double servoDeg = ConvertDeg(erebonDeg);
YusukeWakuta 57:d7b709dd1c4f 202 double FirstMoveDeg = GetValueByHorn(servoDeg);
YusukeWakuta 57:d7b709dd1c4f 203 return FirstMoveDeg;
YusukeWakuta 57:d7b709dd1c4f 204 }
YusukeWakuta 57:d7b709dd1c4f 205
YusukeWakuta 26:f14579683f98 206 void init()
YusukeWakuta 26:f14579683f98 207 {
YusukeWakuta 48:0bd406fa4a7f 208 if(IsRPin) {
YusukeWakuta 48:0bd406fa4a7f 209 eruronTrim = ERURON_TRIM_INI_R;
YusukeWakuta 48:0bd406fa4a7f 210 drugTrim = DRUG_TRIM_INI_R;
YusukeWakuta 57:d7b709dd1c4f 211 eruronMoveDeg =GetFloatByErebon(ERURON_MOVE_DEG_INI_R);
YusukeWakuta 48:0bd406fa4a7f 212 drugMoveDeg =DRUG_MOVE_DEG_INI_R;
YusukeWakuta 48:0bd406fa4a7f 213 } else {
taurin 13:5e3b4120dbbf 214 eruronTrim = ERURON_TRIM_INI_L;
taurin 13:5e3b4120dbbf 215 drugTrim = DRUG_TRIM_INI_L;
YusukeWakuta 57:d7b709dd1c4f 216 eruronMoveDeg = GetFloatByErebon(ERURON_MOVE_DEG_INI_L);
taurin 13:5e3b4120dbbf 217 drugMoveDeg = DRUG_MOVE_DEG_INI_L;
taurin 12:fd9d241843f4 218 }
taurin 0:e052602db102 219 SERVO_FLAG = servoInit();
taurin 0:e052602db102 220 INA_FLAG = inaInit();
taurin 4:450cafd95ac3 221 sendDatasTicker.attach(&sendDatas,SEND_DATAS_LOOP_TIME);
taurin 16:82310bf7c326 222 // toStringTicker.attach(&toString,0.5);
taurin 16:82310bf7c326 223 receiveDatasTicker.attach(&receiveDatas,RECEIVE_DATAS_LOOP_TIME);
YusukeWakuta 24:d416722b4aad 224
YusukeWakuta 36:ddf4aa818e88 225 // initXBus();
taurin 0:e052602db102 226 }
taurin 0:e052602db102 227
YusukeWakuta 26:f14579683f98 228 void updateDatas()
YusukeWakuta 26:f14579683f98 229 {
YusukeWakuta 26:f14579683f98 230 if(INA_FLAG) {
taurin 0:e052602db102 231 int tmp = VCmonitor.getVoltage(&V);
taurin 0:e052602db102 232 tmp = VCmonitor.getCurrent(&C);
taurin 0:e052602db102 233 }
YusukeWakuta 42:bf98a29e81ac 234
YusukeWakuta 26:f14579683f98 235 for(int i = 0; i < TO_SEND_DATAS_NUM - 1; i++) {
tsumagari 22:b38bc18ec3a1 236 toSendDatas[i] = gyro_c[i];
tsumagari 22:b38bc18ec3a1 237 }
tsumagari 22:b38bc18ec3a1 238 // toSendDatas[TO_SEND_DATAS_NUM - 1] = (char)(V/100);
YusukeWakuta 40:ad98da5da7bf 239 toSendDatas[TO_SEND_DATAS_NUM - 1] = (char)V;
taurin 0:e052602db102 240 }
taurin 0:e052602db102 241
YusukeWakuta 26:f14579683f98 242 void receiveDatas()
YusukeWakuta 26:f14579683f98 243 {
YusukeWakuta 26:f14579683f98 244 if(can.read(recmsg)) {
YusukeWakuta 60:a45dc19a6001 245 for(int i = 0; i < 6; i++) {
YusukeWakuta 60:a45dc19a6001 246 floatValues[i] = recmsg.data[i];
YusukeWakuta 60:a45dc19a6001 247 // controlValues[i] = recmsg.data[i];
YusukeWakuta 60:a45dc19a6001 248 // if(i<sizeof(float)) floatValues[i] = controlValues[i];
taurin 0:e052602db102 249 }
YusukeWakuta 60:a45dc19a6001 250 eruronfloat = atof(floatValues);
taurin 1:9cc932a16d17 251 led1 = !led1;
taurin 0:e052602db102 252 }
taurin 0:e052602db102 253 }
taurin 0:e052602db102 254
YusukeWakuta 42:bf98a29e81ac 255 double calcPulse(float analog)
YusukeWakuta 26:f14579683f98 256 {
tsumagari 53:3eeaafa49707 257 return (0.0006 + (analog)*(0.00240-0.00060) );
tsumagari 53:3eeaafa49707 258 // double min = 0.0006;
tsumagari 53:3eeaafa49707 259 // double max = 0.00240;
tsumagari 53:3eeaafa49707 260 // if(analog >= max)
tsumagari 53:3eeaafa49707 261 // analog = max;
tsumagari 53:3eeaafa49707 262 // else if(analog <= min)
tsumagari 53:3eeaafa49707 263 // analog = min;
YusukeWakuta 56:2b947d31d307 264 //
tsumagari 53:3eeaafa49707 265 // return (min+(analog)*(max-min));
YusukeWakuta 37:1f71ca1e5dd1 266 /*
YusukeWakuta 37:1f71ca1e5dd1 267 int start=510, end=2390;
YusukeWakuta 37:1f71ca1e5dd1 268 while(1) {
YusukeWakuta 37:1f71ca1e5dd1 269 // pc.printf("%f\n\r",(start + (double)(end - start) * analogIn.read()));
YusukeWakuta 37:1f71ca1e5dd1 270 pc.printf("%f\n\r",analogIn.read());
YusukeWakuta 37:1f71ca1e5dd1 271 pwm.pulsewidth_us(start + (double)(end - start) * analogIn.read());
YusukeWakuta 37:1f71ca1e5dd1 272 */
taurin 1:9cc932a16d17 273 }
taurin 1:9cc932a16d17 274
YusukeWakuta 29:516a5d383488 275 void WriteServo()
YusukeWakuta 26:f14579683f98 276 {
YusukeWakuta 60:a45dc19a6001 277 for(int i = 0; i< 10; i++) {
YusukeWakuta 60:a45dc19a6001 278 pc.printf("%c",floatValues[i]);
YusukeWakuta 60:a45dc19a6001 279 }
YusukeWakuta 60:a45dc19a6001 280 pc.printf(" : %f",eruronfloat);
YusukeWakuta 60:a45dc19a6001 281 pc.printf("\n\r");
YusukeWakuta 59:f007e543f8c9 282 drugServo.pulsewidth(calcPulse(drugTrim + drugMoveDeg *(float)controlValues[sizeof(float) + 2]));
YusukeWakuta 59:f007e543f8c9 283 eruronServo.pulsewidth(calcPulse( eruronTrim + eruronMoveDeg * eruronfloat));
YusukeWakuta 60:a45dc19a6001 284 //pc.printf("WriteNum:%10f ef:%10d \n\r",calcPulse( eruronTrim + eruronMoveDeg * eruronfloat),eruronfloat);
YusukeWakuta 60:a45dc19a6001 285 // pc.printf("drValue::%f ei::%f\n\r",drugTrim + drugMoveDeg *(float)controlValues[sizeof(float) + 2]);
taurin 4:450cafd95ac3 286 }
taurin 4:450cafd95ac3 287
YusukeWakuta 26:f14579683f98 288 void setTrim()
YusukeWakuta 26:f14579683f98 289 {
YusukeWakuta 44:624a4469ae21 290 led2 = 1;
YusukeWakuta 26:f14579683f98 291 if(EDstatePin) {
YusukeWakuta 26:f14579683f98 292 eruronTrim = eruronAna.read();
YusukeWakuta 50:b3a8f8e88c50 293 eruronServo.pulsewidth(calcPulse(eruronTrim));
YusukeWakuta 26:f14579683f98 294 } else {
YusukeWakuta 37:1f71ca1e5dd1 295 drugTrim = drugAna.read();
YusukeWakuta 26:f14579683f98 296 drugServo.pulsewidth(calcPulse(drugTrim));
taurin 12:fd9d241843f4 297 }
YusukeWakuta 14:1f6dd929d7de 298 //pc.printf("eruronTrim:%f drugTrim:%f\n\r",eruronTrim,drugTrim);
YusukeWakuta 26:f14579683f98 299 pc.printf("eruronTrim:%f drugTrim:%f ",eruronTrim,drugTrim);
YusukeWakuta 59:f007e543f8c9 300 pc.printf("eMD:%f dMD:%f ei:%d\n\r",eruronMoveDeg,drugMoveDeg,eruronfloat);
taurin 4:450cafd95ac3 301 }
taurin 4:450cafd95ac3 302
YusukeWakuta 26:f14579683f98 303 void setMaxDeg()
YusukeWakuta 26:f14579683f98 304 {
taurin 4:450cafd95ac3 305 led4 = 1;
YusukeWakuta 26:f14579683f98 306 float eruronTemp = eruronAna.read();
YusukeWakuta 37:1f71ca1e5dd1 307 float drugTemp = drugAna.read();
YusukeWakuta 26:f14579683f98 308 if(EDstatePin) {
YusukeWakuta 26:f14579683f98 309 eruronMoveDeg = eruronTemp-eruronTrim;
YusukeWakuta 49:8522856fe0cd 310 eruronServo.pulsewidth(calcPulse(eruronTemp));
YusukeWakuta 26:f14579683f98 311 } else {
YusukeWakuta 26:f14579683f98 312 drugServo.pulsewidth(calcPulse(drugTemp));
YusukeWakuta 26:f14579683f98 313 drugMoveDeg = drugTemp-drugTrim;
taurin 12:fd9d241843f4 314 }
YusukeWakuta 14:1f6dd929d7de 315 pc.printf("eruronTrim:%f drugTrim:%f ",eruronTrim,drugTrim);
YusukeWakuta 59:f007e543f8c9 316 pc.printf("eMD:%f dMD:%f ef:%d\n\r",eruronMoveDeg,drugMoveDeg,eruronfloat);
taurin 4:450cafd95ac3 317 wait_us(10);
taurin 1:9cc932a16d17 318 }
taurin 0:e052602db102 319
YusukeWakuta 26:f14579683f98 320 int main()
YusukeWakuta 26:f14579683f98 321 {
taurin 0:e052602db102 322 init();
YusukeWakuta 31:5d22ebe5f705 323
YusukeWakuta 30:00041540e23c 324 setTrimPin.mode(PullDown);
YusukeWakuta 30:00041540e23c 325 setMaxDegPin.mode(PullDown);
YusukeWakuta 30:00041540e23c 326 EDstatePin.mode(PullDown);
YusukeWakuta 48:0bd406fa4a7f 327 IsRPin.mode(PullDown);
YusukeWakuta 42:bf98a29e81ac 328 Thread mpu_thread(&mpuProcessing);
YusukeWakuta 26:f14579683f98 329
YusukeWakuta 24:d416722b4aad 330 // start motion
tsumagari 33:d075918d4846 331 // gTimer.attach_us(&XbusIntervalHandler, 1000000 / kMotionInterval);
YusukeWakuta 26:f14579683f98 332
YusukeWakuta 26:f14579683f98 333 while(1) {
YusukeWakuta 26:f14579683f98 334 while(setTrimPin) {
taurin 4:450cafd95ac3 335 setTrim();
taurin 4:450cafd95ac3 336 }
YusukeWakuta 26:f14579683f98 337 while (setMaxDegPin) {
YusukeWakuta 29:516a5d383488 338 setMaxDeg();
taurin 4:450cafd95ac3 339 }
taurin 4:450cafd95ac3 340 led4 = 0;
YusukeWakuta 44:624a4469ae21 341 led2 = 0;
taurin 16:82310bf7c326 342 //receiveDatas();
tsumagari 22:b38bc18ec3a1 343 // sendDatas();
taurin 1:9cc932a16d17 344 WriteServo();
taurin 4:450cafd95ac3 345 updateDatas();
tsumagari 22:b38bc18ec3a1 346 led3 = !led3;
taurin 2:7fcb4f970a02 347 wait(WAIT_LOOP_TIME);
taurin 0:e052602db102 348 }
taurin 0:e052602db102 349 }