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@57:d7b709dd1c4f, 2017-05-13 (annotated)

Committer:
YusukeWakuta
Date:
Sat May 13 15:20:02 2017 +0000
Branch:
mpu????????
Revision:
57:d7b709dd1c4f
Parent:
56:2b947d31d307
Child:
58:f84bd22fd586
5?13???????

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
tsumagari 53:3eeaafa49707 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 57:d7b709dd1c4f 27 #define ERURON_TRIM_INI_L 0.402 // 値をお大きいくすると頭上げ
YusukeWakuta 47:5e3a836deaba 28 #define DRUG_TRIM_INI_L 0.68//値を小さくすると開く側
taurin 2:7fcb4f970a02 29
YusukeWakuta 57:d7b709dd1c4f 30 #define PHASE_NUM 15 //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
YusukeWakuta 56:2b947d31d307 31 #define NEUTRAL_PHASE (PHASE_NUM + 1) / 2.0
YusukeWakuta 42:bf98a29e81ac 32
YusukeWakuta 38:b492990e2b56 33 /*ドラッグラダー
YusukeWakuta 37:1f71ca1e5dd1 34 初期値 0.65
YusukeWakuta 37:1f71ca1e5dd1 35 最大角0.99
YusukeWakuta 36:ddf4aa818e88 36 */
YusukeWakuta 24:d416722b4aad 37
taurin 0:e052602db102 38 CAN can(p30,p29);
taurin 0:e052602db102 39 CANMessage recmsg;
taurin 0:e052602db102 40 Serial pc(USBTX,USBRX);
taurin 0:e052602db102 41 I2C ina226_i2c(p28,p27);
taurin 0:e052602db102 42 INA226 VCmonitor(ina226_i2c);
taurin 13:5e3b4120dbbf 43 PwmOut drugServo(p22);
tsumagari 33:d075918d4846 44 PwmOut eruronServo(p23);
taurin 1:9cc932a16d17 45 DigitalOut led1(LED1);
taurin 4:450cafd95ac3 46 AnalogIn drugAna(p20);
taurin 4:450cafd95ac3 47 AnalogIn eruronAna(p19);
YusukeWakuta 48:0bd406fa4a7f 48 DigitalIn IsRPin(p11);
YusukeWakuta 28:99686a3f0e86 49 DigitalIn setTrimPin(p12);
YusukeWakuta 28:99686a3f0e86 50 DigitalIn EDstatePin(p14);
YusukeWakuta 28:99686a3f0e86 51 DigitalIn setMaxDegPin(p15);
YusukeWakuta 44:624a4469ae21 52 DigitalOut led2(LED2);
taurin 4:450cafd95ac3 53 DigitalOut led3(LED3);
taurin 4:450cafd95ac3 54 DigitalOut led4(LED4);
taurin 4:450cafd95ac3 55 Ticker sendDatasTicker;
tsumagari 22:b38bc18ec3a1 56 //Ticker toStringTicker;
taurin 16:82310bf7c326 57 Ticker receiveDatasTicker;
YusukeWakuta 42:bf98a29e81ac 58 MPU6050 mpu6050;
YusukeWakuta 42:bf98a29e81ac 59 Timer t;
YusukeWakuta 42:bf98a29e81ac 60
YusukeWakuta 42:bf98a29e81ac 61 //Set up I2C, (SDA,SCL)
YusukeWakuta 42:bf98a29e81ac 62 I2C i2c_mpu(p9,p10);
taurin 16:82310bf7c326 63
taurin 0:e052602db102 64 char toSendDatas[TO_SEND_DATAS_NUM];
YusukeWakuta 45:e3df49d7b912 65 char controlValues[sizeof(int) +3];//0~3:eruruon,4( sizeof(float)で指定してください ):drug
YusukeWakuta 42:bf98a29e81ac 66 char intvalues[sizeof(int)];
taurin 12:fd9d241843f4 67 float eruronTrim;
taurin 12:fd9d241843f4 68 float drugTrim;
taurin 12:fd9d241843f4 69 float eruronMoveDeg;
taurin 12:fd9d241843f4 70 float drugMoveDeg;
YusukeWakuta 55:eaff0c602c99 71 int eruronint = NEUTRAL_PHASE;
taurin 0:e052602db102 72 unsigned short ina_val;
taurin 0:e052602db102 73 double V,C;
taurin 0:e052602db102 74 bool SERVO_FLAG;
taurin 0:e052602db102 75 bool INA_FLAG;
tsumagari 22:b38bc18ec3a1 76 bool MPU_FLAG;
YusukeWakuta 31:5d22ebe5f705 77 uint16_t XbusValue;
YusukeWakuta 42:bf98a29e81ac 78 int gyroX;
YusukeWakuta 42:bf98a29e81ac 79 int gyroY;
YusukeWakuta 42:bf98a29e81ac 80 int gyroZ;
YusukeWakuta 42:bf98a29e81ac 81 float sum = 0;
YusukeWakuta 42:bf98a29e81ac 82 uint32_t sumCount = 0;
taurin 0:e052602db102 83
tsumagari 22:b38bc18ec3a1 84 char gyro_c[6] = {0,0,0,0,0,0};
taurin 4:450cafd95ac3 85
taurin 4:450cafd95ac3 86 void toString();
taurin 16:82310bf7c326 87 void receiveDatas();
taurin 16:82310bf7c326 88 void WriteServo();
YusukeWakuta 42:bf98a29e81ac 89 void MpuInit();
YusukeWakuta 42:bf98a29e81ac 90 void mpuProcessing(void const *arg);
taurin 0:e052602db102 91
YusukeWakuta 24:d416722b4aad 92 Ticker gTimer;
YusukeWakuta 24:d416722b4aad 93
YusukeWakuta 26:f14579683f98 94 bool servoInit()
YusukeWakuta 26:f14579683f98 95 {
taurin 4:450cafd95ac3 96 drugServo.period_ms(INIT_SERVO_PERIOD_MS);
taurin 0:e052602db102 97 return true;
taurin 0:e052602db102 98 }
taurin 0:e052602db102 99
YusukeWakuta 26:f14579683f98 100 void sendDatas()
YusukeWakuta 24:d416722b4aad 101 {
YusukeWakuta 26:f14579683f98 102 if(can.write(CANMessage(TO_SEND_CAN_ID, toSendDatas, TO_SEND_DATAS_NUM))) {
taurin 4:450cafd95ac3 103 }
taurin 4:450cafd95ac3 104 }
taurin 4:450cafd95ac3 105
YusukeWakuta 42:bf98a29e81ac 106 void MpuInit()
YusukeWakuta 42:bf98a29e81ac 107 {
YusukeWakuta 42:bf98a29e81ac 108 i2c_mpu.frequency(400000); // use fast (400 kHz) I2C
YusukeWakuta 42:bf98a29e81ac 109 t.start();
YusukeWakuta 42:bf98a29e81ac 110 uint8_t whoami = mpu6050.readByte(MPU6050_ADDRESS, WHO_AM_I_MPU6050); // Read WHO_AM_I register for MPU-6050
YusukeWakuta 42:bf98a29e81ac 111 if (whoami == 0x68) { // WHO_AM_I should always be 0x68
YusukeWakuta 42:bf98a29e81ac 112 Thread::wait(100);
YusukeWakuta 42:bf98a29e81ac 113 mpu6050.MPU6050SelfTest(SelfTest); // Start by performing self test and reporting values
YusukeWakuta 42:bf98a29e81ac 114 Thread::wait(100);
YusukeWakuta 42:bf98a29e81ac 115 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 116 mpu6050.resetMPU6050(); // Reset registers to default in preparation for device calibration
YusukeWakuta 42:bf98a29e81ac 117 mpu6050.calibrateMPU6050(gyroBias, accelBias); // Calibrate gyro and accelerometers, load biases in bias registers
YusukeWakuta 42:bf98a29e81ac 118 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 119 Thread::wait(200);
YusukeWakuta 42:bf98a29e81ac 120 } else {
YusukeWakuta 42:bf98a29e81ac 121 }
YusukeWakuta 42:bf98a29e81ac 122 } else {
YusukeWakuta 42:bf98a29e81ac 123 //pc.printf("out\n\r"); // Loop forever if communication doesn't happen
YusukeWakuta 42:bf98a29e81ac 124 }
YusukeWakuta 42:bf98a29e81ac 125 }
YusukeWakuta 42:bf98a29e81ac 126
YusukeWakuta 42:bf98a29e81ac 127
YusukeWakuta 42:bf98a29e81ac 128 void mpuProcessing(void const *arg)
YusukeWakuta 42:bf98a29e81ac 129 {
YusukeWakuta 42:bf98a29e81ac 130 MpuInit();
YusukeWakuta 42:bf98a29e81ac 131 while(1) {
YusukeWakuta 42:bf98a29e81ac 132 if(mpu6050.readByte(MPU6050_ADDRESS, INT_STATUS) & 0x01) { // check if data ready interrupt
YusukeWakuta 42:bf98a29e81ac 133 mpu6050.readAccelData(accelCount); // Read the x/y/z adc values
YusukeWakuta 42:bf98a29e81ac 134 mpu6050.getAres();
YusukeWakuta 42:bf98a29e81ac 135 ax = (float)accelCount[0]*aRes - accelBias[0]; // get actual g value, this depends on scale being set
YusukeWakuta 42:bf98a29e81ac 136 ay = (float)accelCount[1]*aRes - accelBias[1];
YusukeWakuta 42:bf98a29e81ac 137 az = (float)accelCount[2]*aRes - accelBias[2];
YusukeWakuta 42:bf98a29e81ac 138 mpu6050.readGyroData(gyroCount); // Read the x/y/z adc values
YusukeWakuta 42:bf98a29e81ac 139 mpu6050.getGres();
YusukeWakuta 42:bf98a29e81ac 140 gx = (float)gyroCount[0]*gRes; // - gyroBias[0]; // get actual gyro value, this depends on scale being set
YusukeWakuta 42:bf98a29e81ac 141 gy = (float)gyroCount[1]*gRes; // - gyroBias[1];
YusukeWakuta 42:bf98a29e81ac 142 gz = (float)gyroCount[2]*gRes; // - gyroBias[2];
YusukeWakuta 42:bf98a29e81ac 143 tempCount = mpu6050.readTempData(); // Read the x/y/z adc values
YusukeWakuta 42:bf98a29e81ac 144 temperature = (tempCount) / 340. + 36.53; // Temperature in degrees Centigrade
YusukeWakuta 42:bf98a29e81ac 145 }
YusukeWakuta 42:bf98a29e81ac 146 Now = t.read_us();
YusukeWakuta 42:bf98a29e81ac 147 deltat = (float)((Now - lastUpdate)/1000000.0f) ; // set integration time by time elapsed since last filter update
YusukeWakuta 42:bf98a29e81ac 148 lastUpdate = Now;
YusukeWakuta 42:bf98a29e81ac 149 sum += deltat;
YusukeWakuta 42:bf98a29e81ac 150 sumCount++;
YusukeWakuta 42:bf98a29e81ac 151 if(lastUpdate - firstUpdate > 10000000.0f) {
YusukeWakuta 42:bf98a29e81ac 152 beta = 0.04; // decrease filter gain after stabilized
YusukeWakuta 42:bf98a29e81ac 153 zeta = 0.015; // increasey bias drift gain after stabilized
YusukeWakuta 42:bf98a29e81ac 154 }
YusukeWakuta 42:bf98a29e81ac 155 mpu6050.MadgwickQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f);
YusukeWakuta 42:bf98a29e81ac 156 delt_t = t.read_ms() - count;
YusukeWakuta 42:bf98a29e81ac 157 if (delt_t > MPU_DELT_MIN) {
YusukeWakuta 42:bf98a29e81ac 158 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 159 pitch = -asin(2.0f * (q[1] * q[3] - q[0] * q[2]));
YusukeWakuta 42:bf98a29e81ac 160 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 161 pitch *= 180.0f / PI;
YusukeWakuta 42:bf98a29e81ac 162 yaw *= 180.0f / PI;
YusukeWakuta 42:bf98a29e81ac 163 roll *= 180.0f / PI;
YusukeWakuta 48:0bd406fa4a7f 164 // myled= !myled;
YusukeWakuta 42:bf98a29e81ac 165 count = t.read_ms();
YusukeWakuta 42:bf98a29e81ac 166 sum = 0;
YusukeWakuta 42:bf98a29e81ac 167 sumCount = 0;
YusukeWakuta 42:bf98a29e81ac 168 }
YusukeWakuta 42:bf98a29e81ac 169 Thread::wait(1);
YusukeWakuta 42:bf98a29e81ac 170 }//while(1)
YusukeWakuta 42:bf98a29e81ac 171 }
YusukeWakuta 42:bf98a29e81ac 172
YusukeWakuta 42:bf98a29e81ac 173
YusukeWakuta 26:f14579683f98 174 bool inaInit()
YusukeWakuta 26:f14579683f98 175 {
YusukeWakuta 26:f14579683f98 176 if(!VCmonitor.isExist()) {
taurin 0:e052602db102 177 pc.printf("VCmonitor NOT FOUND\n");
taurin 0:e052602db102 178 return false;
taurin 0:e052602db102 179 }
taurin 0:e052602db102 180 ina_val = 0;
YusukeWakuta 26:f14579683f98 181 if(VCmonitor.rawRead(0x00,&ina_val) != 0) {
taurin 0:e052602db102 182 pc.printf("VCmonitor READ ERROR\n");
taurin 0:e052602db102 183 return false;
taurin 0:e052602db102 184 }
taurin 0:e052602db102 185 VCmonitor.setCurrentCalibration();
taurin 0:e052602db102 186 return true;
taurin 0:e052602db102 187 }
taurin 0:e052602db102 188
YusukeWakuta 57:d7b709dd1c4f 189 //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 190 double ConvertDeg(double servo)
YusukeWakuta 57:d7b709dd1c4f 191 {
YusukeWakuta 57:d7b709dd1c4f 192 double result = 0.0003*pow(servo,3)+0.0039*pow(servo,2)+1.746*servo - 0.0105;
YusukeWakuta 57:d7b709dd1c4f 193 return result;
YusukeWakuta 57:d7b709dd1c4f 194 }
YusukeWakuta 57:d7b709dd1c4f 195
YusukeWakuta 57:d7b709dd1c4f 196 //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 197 double GetValueByHorn(double deg)
YusukeWakuta 57:d7b709dd1c4f 198 {
YusukeWakuta 57:d7b709dd1c4f 199 return deg*(0.10/25.7);
YusukeWakuta 57:d7b709dd1c4f 200 }
YusukeWakuta 57:d7b709dd1c4f 201
YusukeWakuta 57:d7b709dd1c4f 202 double GetFloatByErebon(double erebonDeg)
YusukeWakuta 57:d7b709dd1c4f 203 {
YusukeWakuta 57:d7b709dd1c4f 204 double servoDeg = ConvertDeg(erebonDeg);
YusukeWakuta 57:d7b709dd1c4f 205 double FirstMoveDeg = GetValueByHorn(servoDeg);
YusukeWakuta 57:d7b709dd1c4f 206 return FirstMoveDeg;
YusukeWakuta 57:d7b709dd1c4f 207 }
YusukeWakuta 57:d7b709dd1c4f 208
YusukeWakuta 26:f14579683f98 209 void init()
YusukeWakuta 26:f14579683f98 210 {
YusukeWakuta 48:0bd406fa4a7f 211 if(IsRPin) {
YusukeWakuta 48:0bd406fa4a7f 212 eruronTrim = ERURON_TRIM_INI_R;
YusukeWakuta 48:0bd406fa4a7f 213 drugTrim = DRUG_TRIM_INI_R;
YusukeWakuta 57:d7b709dd1c4f 214 eruronMoveDeg =GetFloatByErebon(ERURON_MOVE_DEG_INI_R);
YusukeWakuta 48:0bd406fa4a7f 215 drugMoveDeg =DRUG_MOVE_DEG_INI_R;
YusukeWakuta 48:0bd406fa4a7f 216 } else {
taurin 13:5e3b4120dbbf 217 eruronTrim = ERURON_TRIM_INI_L;
taurin 13:5e3b4120dbbf 218 drugTrim = DRUG_TRIM_INI_L;
YusukeWakuta 57:d7b709dd1c4f 219 eruronMoveDeg = GetFloatByErebon(ERURON_MOVE_DEG_INI_L);
taurin 13:5e3b4120dbbf 220 drugMoveDeg = DRUG_MOVE_DEG_INI_L;
taurin 12:fd9d241843f4 221 }
taurin 0:e052602db102 222 SERVO_FLAG = servoInit();
taurin 0:e052602db102 223 INA_FLAG = inaInit();
taurin 4:450cafd95ac3 224 sendDatasTicker.attach(&sendDatas,SEND_DATAS_LOOP_TIME);
taurin 16:82310bf7c326 225 // toStringTicker.attach(&toString,0.5);
taurin 16:82310bf7c326 226 receiveDatasTicker.attach(&receiveDatas,RECEIVE_DATAS_LOOP_TIME);
YusukeWakuta 24:d416722b4aad 227
YusukeWakuta 36:ddf4aa818e88 228 // initXBus();
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 26:f14579683f98 247 if(can.read(recmsg)) {
YusukeWakuta 26:f14579683f98 248 for(int i = 0; i < CONTROL_VALUES_NUM; i++) {
YusukeWakuta 3:4417217b4f66 249 controlValues[i] = recmsg.data[i];
YusukeWakuta 42:bf98a29e81ac 250 if(i<sizeof(int)) intvalues[i] = controlValues[i];
taurin 0:e052602db102 251 }
YusukeWakuta 44:624a4469ae21 252 // intvalues[0] = controlValues[0];
YusukeWakuta 42:bf98a29e81ac 253 eruronint = *(const int *)intvalues;
taurin 1:9cc932a16d17 254 led1 = !led1;
taurin 0:e052602db102 255 }
taurin 0:e052602db102 256 }
taurin 0:e052602db102 257
YusukeWakuta 42:bf98a29e81ac 258 double calcPulse(float analog)
YusukeWakuta 26:f14579683f98 259 {
tsumagari 53:3eeaafa49707 260 return (0.0006 + (analog)*(0.00240-0.00060) );
tsumagari 53:3eeaafa49707 261 // double min = 0.0006;
tsumagari 53:3eeaafa49707 262 // double max = 0.00240;
tsumagari 53:3eeaafa49707 263 // if(analog >= max)
tsumagari 53:3eeaafa49707 264 // analog = max;
tsumagari 53:3eeaafa49707 265 // else if(analog <= min)
tsumagari 53:3eeaafa49707 266 // analog = min;
YusukeWakuta 56:2b947d31d307 267 //
tsumagari 53:3eeaafa49707 268 // return (min+(analog)*(max-min));
YusukeWakuta 37:1f71ca1e5dd1 269 /*
YusukeWakuta 37:1f71ca1e5dd1 270 int start=510, end=2390;
YusukeWakuta 37:1f71ca1e5dd1 271 while(1) {
YusukeWakuta 37:1f71ca1e5dd1 272 // pc.printf("%f\n\r",(start + (double)(end - start) * analogIn.read()));
YusukeWakuta 37:1f71ca1e5dd1 273 pc.printf("%f\n\r",analogIn.read());
YusukeWakuta 37:1f71ca1e5dd1 274 pwm.pulsewidth_us(start + (double)(end - start) * analogIn.read());
YusukeWakuta 37:1f71ca1e5dd1 275 */
taurin 1:9cc932a16d17 276 }
taurin 1:9cc932a16d17 277
YusukeWakuta 29:516a5d383488 278 void WriteServo()
YusukeWakuta 26:f14579683f98 279 {
YusukeWakuta 45:e3df49d7b912 280 drugServo.pulsewidth(calcPulse(drugTrim + drugMoveDeg *(float)controlValues[sizeof(int) + 2]));
YusukeWakuta 57:d7b709dd1c4f 281 eruronServo.pulsewidth(calcPulse( eruronTrim + eruronMoveDeg * (eruronint - NEUTRAL_PHASE)/(PHASE_NUM-NEUTRAL_PHASE)));
YusukeWakuta 48:0bd406fa4a7f 282 pc.printf("WriteNum:%f ",calcPulse( eruronTrim + eruronMoveDeg * (1.0/PHASE_NUM) * eruronint));
YusukeWakuta 55:eaff0c602c99 283 pc.printf("drValue::%f ei::%f\n\r",drugTrim + drugMoveDeg *(float)controlValues[sizeof(int) + 2],eruronTrim + eruronMoveDeg * (1.0/PHASE_NUM) * (eruronint - NEUTRAL_PHASE));
YusukeWakuta 37:1f71ca1e5dd1 284 // pc.printf("raw:%f sampled:%f\n\r",eruronfloat /3.0,SampleFloat(eruronfloat / 3.0));
taurin 4:450cafd95ac3 285 }
taurin 4:450cafd95ac3 286
YusukeWakuta 26:f14579683f98 287 void setTrim()
YusukeWakuta 26:f14579683f98 288 {
YusukeWakuta 44:624a4469ae21 289 led2 = 1;
YusukeWakuta 26:f14579683f98 290 if(EDstatePin) {
YusukeWakuta 26:f14579683f98 291 eruronTrim = eruronAna.read();
YusukeWakuta 50:b3a8f8e88c50 292 eruronServo.pulsewidth(calcPulse(eruronTrim));
YusukeWakuta 26:f14579683f98 293 } else {
YusukeWakuta 37:1f71ca1e5dd1 294 drugTrim = drugAna.read();
YusukeWakuta 26:f14579683f98 295 drugServo.pulsewidth(calcPulse(drugTrim));
taurin 12:fd9d241843f4 296 }
YusukeWakuta 14:1f6dd929d7de 297 //pc.printf("eruronTrim:%f drugTrim:%f\n\r",eruronTrim,drugTrim);
YusukeWakuta 26:f14579683f98 298 pc.printf("eruronTrim:%f drugTrim:%f ",eruronTrim,drugTrim);
YusukeWakuta 42:bf98a29e81ac 299 pc.printf("eMD:%f dMD:%f ei:%d\n\r",eruronMoveDeg,drugMoveDeg,eruronint);
taurin 4:450cafd95ac3 300 }
taurin 4:450cafd95ac3 301
YusukeWakuta 26:f14579683f98 302 void setMaxDeg()
YusukeWakuta 26:f14579683f98 303 {
taurin 4:450cafd95ac3 304 led4 = 1;
YusukeWakuta 26:f14579683f98 305 float eruronTemp = eruronAna.read();
YusukeWakuta 37:1f71ca1e5dd1 306 float drugTemp = drugAna.read();
YusukeWakuta 26:f14579683f98 307 if(EDstatePin) {
YusukeWakuta 26:f14579683f98 308 eruronMoveDeg = eruronTemp-eruronTrim;
YusukeWakuta 49:8522856fe0cd 309 eruronServo.pulsewidth(calcPulse(eruronTemp));
YusukeWakuta 26:f14579683f98 310 } else {
YusukeWakuta 26:f14579683f98 311 drugServo.pulsewidth(calcPulse(drugTemp));
YusukeWakuta 26:f14579683f98 312 drugMoveDeg = drugTemp-drugTrim;
taurin 12:fd9d241843f4 313 }
YusukeWakuta 14:1f6dd929d7de 314 pc.printf("eruronTrim:%f drugTrim:%f ",eruronTrim,drugTrim);
YusukeWakuta 42:bf98a29e81ac 315 pc.printf("eMD:%f dMD:%f ef:%d\n\r",eruronMoveDeg,drugMoveDeg,eruronint);
taurin 4:450cafd95ac3 316 wait_us(10);
taurin 1:9cc932a16d17 317 }
taurin 0:e052602db102 318
YusukeWakuta 26:f14579683f98 319 int main()
YusukeWakuta 26:f14579683f98 320 {
taurin 0:e052602db102 321 init();
YusukeWakuta 31:5d22ebe5f705 322
YusukeWakuta 30:00041540e23c 323 setTrimPin.mode(PullDown);
YusukeWakuta 30:00041540e23c 324 setMaxDegPin.mode(PullDown);
YusukeWakuta 30:00041540e23c 325 EDstatePin.mode(PullDown);
YusukeWakuta 48:0bd406fa4a7f 326 IsRPin.mode(PullDown);
YusukeWakuta 42:bf98a29e81ac 327 Thread mpu_thread(&mpuProcessing);
YusukeWakuta 26:f14579683f98 328
YusukeWakuta 24:d416722b4aad 329 // start motion
tsumagari 33:d075918d4846 330 // gTimer.attach_us(&XbusIntervalHandler, 1000000 / kMotionInterval);
YusukeWakuta 26:f14579683f98 331
YusukeWakuta 26:f14579683f98 332 while(1) {
YusukeWakuta 26:f14579683f98 333 while(setTrimPin) {
taurin 4:450cafd95ac3 334 setTrim();
taurin 4:450cafd95ac3 335 }
YusukeWakuta 26:f14579683f98 336 while (setMaxDegPin) {
YusukeWakuta 29:516a5d383488 337 setMaxDeg();
taurin 4:450cafd95ac3 338 }
taurin 4:450cafd95ac3 339 led4 = 0;
YusukeWakuta 44:624a4469ae21 340 led2 = 0;
taurin 16:82310bf7c326 341 //receiveDatas();
tsumagari 22:b38bc18ec3a1 342 // sendDatas();
taurin 1:9cc932a16d17 343 WriteServo();
taurin 4:450cafd95ac3 344 updateDatas();
tsumagari 22:b38bc18ec3a1 345 led3 = !led3;
taurin 2:7fcb4f970a02 346 wait(WAIT_LOOP_TIME);
taurin 0:e052602db102 347 }
taurin 0:e052602db102 348 }