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
main.cpp@65:e30d198efe71, 2017-06-28 (annotated)
- Committer:
- tsumagari
- Date:
- Wed Jun 28 14:57:23 2017 +0000
- Branch:
- mpu????????
- Revision:
- 65:e30d198efe71
- Parent:
- 64:9d7582920f50
6/28?????RL???????????????
Who changed what in which revision?
User | Revision | Line number | New 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 | 65:e30d198efe71 | 22 | #define ERURON_TRIM_INI_R 0.38633 //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 | 65:e30d198efe71 | 27 | #define ERURON_TRIM_INI_L 0.51567 // 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 | } |