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@41:efebfdd955ac, 2017-03-18 (annotated)
- Committer:
- tsumagari
- Date:
- Sat Mar 18 14:10:10 2017 +0000
- Branch:
- XBus???
- Revision:
- 41:efebfdd955ac
- Parent:
- 40:ad98da5da7bf
3?18;
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 | 24:d416722b4aad | 5 | #include "XBusServo.h" |
taurin | 4:450cafd95ac3 | 6 | |
tsumagari | 22:b38bc18ec3a1 | 7 | #define TO_SEND_DATAS_NUM 7 |
taurin | 2:7fcb4f970a02 | 8 | #define INIT_SERVO_PERIOD_MS 20 |
taurin | 4:450cafd95ac3 | 9 | #define WAIT_LOOP_TIME 0.02 |
tsumagari | 23:d551db88df65 | 10 | #define CONTROL_VALUES_NUM sizeof(float) + 1 |
taurin | 0:e052602db102 | 11 | #define TO_SEND_CAN_ID 100 |
taurin | 4:450cafd95ac3 | 12 | #define SEND_DATAS_LOOP_TIME 0.1 |
tsumagari | 33:d075918d4846 | 13 | #define RECEIVE_DATAS_LOOP_TIME 0.1 |
taurin | 12:fd9d241843f4 | 14 | |
YusukeWakuta | 40:ad98da5da7bf | 15 | #define ERURON_MOVE_DEG_INI_R 1.0 |
YusukeWakuta | 39:c6036315831a | 16 | #define DRUG_MOVE_DEG_INI_R 0.32 |
YusukeWakuta | 32:b03557a08efa | 17 | #define ERURON_TRIM_INI_R 0 |
YusukeWakuta | 39:c6036315831a | 18 | #define DRUG_TRIM_INI_R 0.62 |
taurin | 12:fd9d241843f4 | 19 | |
YusukeWakuta | 40:ad98da5da7bf | 20 | #define ERURON_MOVE_DEG_INI_L 1.0 |
YusukeWakuta | 39:c6036315831a | 21 | #define DRUG_MOVE_DEG_INI_L 0.32 |
YusukeWakuta | 32:b03557a08efa | 22 | #define ERURON_TRIM_INI_L 0 |
YusukeWakuta | 39:c6036315831a | 23 | #define DRUG_TRIM_INI_L 0.62 |
taurin | 2:7fcb4f970a02 | 24 | |
YusukeWakuta | 38:b492990e2b56 | 25 | /*ドラッグラダー |
YusukeWakuta | 37:1f71ca1e5dd1 | 26 | 初期値 0.65 |
YusukeWakuta | 37:1f71ca1e5dd1 | 27 | 最大角0.99 |
YusukeWakuta | 36:ddf4aa818e88 | 28 | */ |
YusukeWakuta | 24:d416722b4aad | 29 | |
taurin | 0:e052602db102 | 30 | CAN can(p30,p29); |
taurin | 0:e052602db102 | 31 | CANMessage recmsg; |
taurin | 0:e052602db102 | 32 | Serial pc(USBTX,USBRX); |
tsumagari | 22:b38bc18ec3a1 | 33 | MPU6050 mpu(p9,p10); |
taurin | 0:e052602db102 | 34 | I2C ina226_i2c(p28,p27); |
taurin | 0:e052602db102 | 35 | INA226 VCmonitor(ina226_i2c); |
taurin | 13:5e3b4120dbbf | 36 | PwmOut drugServo(p22); |
tsumagari | 33:d075918d4846 | 37 | PwmOut eruronServo(p23); |
taurin | 1:9cc932a16d17 | 38 | DigitalOut led1(LED1); |
taurin | 4:450cafd95ac3 | 39 | AnalogIn drugAna(p20); |
taurin | 4:450cafd95ac3 | 40 | AnalogIn eruronAna(p19); |
YusukeWakuta | 28:99686a3f0e86 | 41 | DigitalIn LRstatePin(p11); |
YusukeWakuta | 28:99686a3f0e86 | 42 | DigitalIn setTrimPin(p12); |
YusukeWakuta | 28:99686a3f0e86 | 43 | DigitalIn EDstatePin(p14); |
YusukeWakuta | 28:99686a3f0e86 | 44 | DigitalIn setMaxDegPin(p15); |
taurin | 4:450cafd95ac3 | 45 | DigitalOut debugLED(LED2); |
taurin | 4:450cafd95ac3 | 46 | DigitalOut led3(LED3); |
taurin | 4:450cafd95ac3 | 47 | DigitalOut led4(LED4); |
taurin | 4:450cafd95ac3 | 48 | Ticker sendDatasTicker; |
tsumagari | 22:b38bc18ec3a1 | 49 | //Ticker toStringTicker; |
taurin | 16:82310bf7c326 | 50 | Ticker receiveDatasTicker; |
taurin | 16:82310bf7c326 | 51 | |
taurin | 0:e052602db102 | 52 | char toSendDatas[TO_SEND_DATAS_NUM]; |
tsumagari | 33:d075918d4846 | 53 | char controlValues[CONTROL_VALUES_NUM];//0~3:eruruon,4( sizeof(float)で指定してください ):drug |
tsumagari | 23:d551db88df65 | 54 | char floatvalues[sizeof(float)]; |
taurin | 12:fd9d241843f4 | 55 | float eruronTrim; |
taurin | 12:fd9d241843f4 | 56 | float drugTrim; |
taurin | 12:fd9d241843f4 | 57 | float eruronMoveDeg; |
taurin | 12:fd9d241843f4 | 58 | float drugMoveDeg; |
tsumagari | 23:d551db88df65 | 59 | float eruronfloat; |
taurin | 0:e052602db102 | 60 | unsigned short ina_val; |
taurin | 0:e052602db102 | 61 | double V,C; |
taurin | 0:e052602db102 | 62 | bool SERVO_FLAG; |
taurin | 0:e052602db102 | 63 | bool INA_FLAG; |
tsumagari | 22:b38bc18ec3a1 | 64 | bool MPU_FLAG; |
YusukeWakuta | 31:5d22ebe5f705 | 65 | uint16_t XbusValue; |
taurin | 0:e052602db102 | 66 | |
tsumagari | 22:b38bc18ec3a1 | 67 | char gyro_c[6] = {0,0,0,0,0,0}; |
taurin | 4:450cafd95ac3 | 68 | |
taurin | 4:450cafd95ac3 | 69 | void toString(); |
taurin | 16:82310bf7c326 | 70 | void receiveDatas(); |
taurin | 16:82310bf7c326 | 71 | void WriteServo(); |
taurin | 0:e052602db102 | 72 | |
YusukeWakuta | 24:d416722b4aad | 73 | Ticker gTimer; |
YusukeWakuta | 24:d416722b4aad | 74 | |
YusukeWakuta | 26:f14579683f98 | 75 | bool servoInit() |
YusukeWakuta | 26:f14579683f98 | 76 | { |
taurin | 4:450cafd95ac3 | 77 | drugServo.period_ms(INIT_SERVO_PERIOD_MS); |
taurin | 0:e052602db102 | 78 | return true; |
taurin | 0:e052602db102 | 79 | } |
taurin | 0:e052602db102 | 80 | |
YusukeWakuta | 26:f14579683f98 | 81 | void sendDatas() |
YusukeWakuta | 24:d416722b4aad | 82 | { |
YusukeWakuta | 26:f14579683f98 | 83 | if(can.write(CANMessage(TO_SEND_CAN_ID, toSendDatas, TO_SEND_DATAS_NUM))) { |
taurin | 4:450cafd95ac3 | 84 | } |
taurin | 4:450cafd95ac3 | 85 | } |
taurin | 4:450cafd95ac3 | 86 | |
YusukeWakuta | 26:f14579683f98 | 87 | bool inaInit() |
YusukeWakuta | 26:f14579683f98 | 88 | { |
YusukeWakuta | 26:f14579683f98 | 89 | if(!VCmonitor.isExist()) { |
taurin | 0:e052602db102 | 90 | pc.printf("VCmonitor NOT FOUND\n"); |
taurin | 0:e052602db102 | 91 | return false; |
taurin | 0:e052602db102 | 92 | } |
taurin | 0:e052602db102 | 93 | ina_val = 0; |
YusukeWakuta | 26:f14579683f98 | 94 | if(VCmonitor.rawRead(0x00,&ina_val) != 0) { |
taurin | 0:e052602db102 | 95 | pc.printf("VCmonitor READ ERROR\n"); |
taurin | 0:e052602db102 | 96 | return false; |
taurin | 0:e052602db102 | 97 | } |
taurin | 0:e052602db102 | 98 | VCmonitor.setCurrentCalibration(); |
taurin | 0:e052602db102 | 99 | return true; |
taurin | 0:e052602db102 | 100 | } |
taurin | 0:e052602db102 | 101 | |
YusukeWakuta | 26:f14579683f98 | 102 | void init() |
YusukeWakuta | 26:f14579683f98 | 103 | { |
YusukeWakuta | 26:f14579683f98 | 104 | if(!LRstatePin) { |
taurin | 13:5e3b4120dbbf | 105 | eruronTrim = ERURON_TRIM_INI_L; |
taurin | 13:5e3b4120dbbf | 106 | drugTrim = DRUG_TRIM_INI_L; |
taurin | 13:5e3b4120dbbf | 107 | eruronMoveDeg = ERURON_MOVE_DEG_INI_L; |
taurin | 13:5e3b4120dbbf | 108 | drugMoveDeg = DRUG_MOVE_DEG_INI_L; |
YusukeWakuta | 26:f14579683f98 | 109 | } else { |
taurin | 12:fd9d241843f4 | 110 | eruronTrim = ERURON_TRIM_INI_R; |
taurin | 12:fd9d241843f4 | 111 | drugTrim = DRUG_TRIM_INI_R; |
taurin | 12:fd9d241843f4 | 112 | eruronMoveDeg = ERURON_MOVE_DEG_INI_R; |
taurin | 13:5e3b4120dbbf | 113 | drugMoveDeg =DRUG_MOVE_DEG_INI_R; |
taurin | 12:fd9d241843f4 | 114 | } |
taurin | 0:e052602db102 | 115 | SERVO_FLAG = servoInit(); |
tsumagari | 22:b38bc18ec3a1 | 116 | MPU_FLAG = mpu.testConnection(); |
taurin | 0:e052602db102 | 117 | INA_FLAG = inaInit(); |
taurin | 4:450cafd95ac3 | 118 | sendDatasTicker.attach(&sendDatas,SEND_DATAS_LOOP_TIME); |
taurin | 16:82310bf7c326 | 119 | // toStringTicker.attach(&toString,0.5); |
taurin | 16:82310bf7c326 | 120 | receiveDatasTicker.attach(&receiveDatas,RECEIVE_DATAS_LOOP_TIME); |
YusukeWakuta | 24:d416722b4aad | 121 | |
YusukeWakuta | 36:ddf4aa818e88 | 122 | // initXBus(); |
taurin | 0:e052602db102 | 123 | } |
taurin | 0:e052602db102 | 124 | |
YusukeWakuta | 26:f14579683f98 | 125 | void updateDatas() |
YusukeWakuta | 26:f14579683f98 | 126 | { |
YusukeWakuta | 26:f14579683f98 | 127 | if(INA_FLAG) { |
taurin | 0:e052602db102 | 128 | int tmp = VCmonitor.getVoltage(&V); |
taurin | 0:e052602db102 | 129 | tmp = VCmonitor.getCurrent(&C); |
taurin | 0:e052602db102 | 130 | } |
YusukeWakuta | 26:f14579683f98 | 131 | if(MPU_FLAG) { |
tsumagari | 22:b38bc18ec3a1 | 132 | mpu.read(MPU6050_GYRO_XOUT_H_REG, gyro_c, 6); |
taurin | 0:e052602db102 | 133 | } |
YusukeWakuta | 26:f14579683f98 | 134 | for(int i = 0; i < TO_SEND_DATAS_NUM - 1; i++) { |
tsumagari | 22:b38bc18ec3a1 | 135 | toSendDatas[i] = gyro_c[i]; |
tsumagari | 22:b38bc18ec3a1 | 136 | } |
tsumagari | 22:b38bc18ec3a1 | 137 | // toSendDatas[TO_SEND_DATAS_NUM - 1] = (char)(V/100); |
YusukeWakuta | 40:ad98da5da7bf | 138 | toSendDatas[TO_SEND_DATAS_NUM - 1] = (char)V; |
taurin | 0:e052602db102 | 139 | } |
taurin | 0:e052602db102 | 140 | |
YusukeWakuta | 26:f14579683f98 | 141 | void receiveDatas() |
YusukeWakuta | 26:f14579683f98 | 142 | { |
YusukeWakuta | 26:f14579683f98 | 143 | if(can.read(recmsg)) { |
YusukeWakuta | 26:f14579683f98 | 144 | for(int i = 0; i < CONTROL_VALUES_NUM; i++) { |
YusukeWakuta | 3:4417217b4f66 | 145 | controlValues[i] = recmsg.data[i]; |
tsumagari | 33:d075918d4846 | 146 | if(i<sizeof(float)) floatvalues[i] = controlValues[i]; |
taurin | 0:e052602db102 | 147 | } |
tsumagari | 23:d551db88df65 | 148 | eruronfloat = *(const float *)floatvalues; |
taurin | 1:9cc932a16d17 | 149 | led1 = !led1; |
taurin | 0:e052602db102 | 150 | } |
taurin | 0:e052602db102 | 151 | } |
taurin | 0:e052602db102 | 152 | |
YusukeWakuta | 35:707119a675dc | 153 | double calcPulse(float deg) |
YusukeWakuta | 26:f14579683f98 | 154 | { |
YusukeWakuta | 38:b492990e2b56 | 155 | return (0.0006+(deg)*(0.00220-0.00045)); |
YusukeWakuta | 37:1f71ca1e5dd1 | 156 | /* |
YusukeWakuta | 37:1f71ca1e5dd1 | 157 | int start=510, end=2390; |
YusukeWakuta | 37:1f71ca1e5dd1 | 158 | while(1) { |
YusukeWakuta | 37:1f71ca1e5dd1 | 159 | // pc.printf("%f\n\r",(start + (double)(end - start) * analogIn.read())); |
YusukeWakuta | 37:1f71ca1e5dd1 | 160 | pc.printf("%f\n\r",analogIn.read()); |
YusukeWakuta | 37:1f71ca1e5dd1 | 161 | pwm.pulsewidth_us(start + (double)(end - start) * analogIn.read()); |
YusukeWakuta | 37:1f71ca1e5dd1 | 162 | */ |
taurin | 1:9cc932a16d17 | 163 | } |
taurin | 1:9cc932a16d17 | 164 | |
YusukeWakuta | 35:707119a675dc | 165 | float SampleFloat(float f) //小数点以下第二位を切り捨て |
YusukeWakuta | 26:f14579683f98 | 166 | { |
tsumagari | 41:efebfdd955ac | 167 | int temp = ((f + 0.05) * 100.0) / 10; |
tsumagari | 41:efebfdd955ac | 168 | float result = temp /10.0; |
YusukeWakuta | 35:707119a675dc | 169 | return result; |
YusukeWakuta | 26:f14579683f98 | 170 | } |
YusukeWakuta | 26:f14579683f98 | 171 | |
YusukeWakuta | 29:516a5d383488 | 172 | void WriteServo() |
YusukeWakuta | 26:f14579683f98 | 173 | { |
YusukeWakuta | 38:b492990e2b56 | 174 | drugServo.pulsewidth(calcPulse( drugTrim + drugMoveDeg *(float)controlValues[sizeof(float)] / 2.0)); |
YusukeWakuta | 38:b492990e2b56 | 175 | eruronServo.pulsewidth(calcPulse( eruronTrim + eruronMoveDeg * SampleFloat((eruronfloat)))); |
YusukeWakuta | 38:b492990e2b56 | 176 | pc.printf("drValue::%f ef::%f\n\r",drugTrim + drugMoveDeg *(float)controlValues[sizeof(float)],SampleFloat((eruronfloat))); |
YusukeWakuta | 37:1f71ca1e5dd1 | 177 | // pc.printf("raw:%f sampled:%f\n\r",eruronfloat /3.0,SampleFloat(eruronfloat / 3.0)); |
taurin | 4:450cafd95ac3 | 178 | } |
taurin | 4:450cafd95ac3 | 179 | |
YusukeWakuta | 26:f14579683f98 | 180 | void setTrim() |
YusukeWakuta | 26:f14579683f98 | 181 | { |
taurin | 4:450cafd95ac3 | 182 | debugLED = 1; |
YusukeWakuta | 26:f14579683f98 | 183 | if(EDstatePin) { |
YusukeWakuta | 26:f14579683f98 | 184 | eruronTrim = eruronAna.read(); |
YusukeWakuta | 26:f14579683f98 | 185 | } else { |
YusukeWakuta | 37:1f71ca1e5dd1 | 186 | drugTrim = drugAna.read(); |
YusukeWakuta | 26:f14579683f98 | 187 | drugServo.pulsewidth(calcPulse(drugTrim)); |
taurin | 12:fd9d241843f4 | 188 | } |
YusukeWakuta | 14:1f6dd929d7de | 189 | //pc.printf("eruronTrim:%f drugTrim:%f\n\r",eruronTrim,drugTrim); |
YusukeWakuta | 26:f14579683f98 | 190 | pc.printf("eruronTrim:%f drugTrim:%f ",eruronTrim,drugTrim); |
YusukeWakuta | 26:f14579683f98 | 191 | pc.printf("eMD:%f dMD:%f ef:%f\n\r",eruronMoveDeg,drugMoveDeg,eruronfloat); |
taurin | 4:450cafd95ac3 | 192 | } |
taurin | 4:450cafd95ac3 | 193 | |
YusukeWakuta | 26:f14579683f98 | 194 | void setMaxDeg() |
YusukeWakuta | 26:f14579683f98 | 195 | { |
taurin | 4:450cafd95ac3 | 196 | led4 = 1; |
YusukeWakuta | 26:f14579683f98 | 197 | float eruronTemp = eruronAna.read(); |
YusukeWakuta | 37:1f71ca1e5dd1 | 198 | float drugTemp = drugAna.read(); |
YusukeWakuta | 26:f14579683f98 | 199 | if(EDstatePin) { |
YusukeWakuta | 26:f14579683f98 | 200 | eruronMoveDeg = eruronTemp-eruronTrim; |
YusukeWakuta | 26:f14579683f98 | 201 | } else { |
YusukeWakuta | 26:f14579683f98 | 202 | drugServo.pulsewidth(calcPulse(drugTemp)); |
YusukeWakuta | 26:f14579683f98 | 203 | drugMoveDeg = drugTemp-drugTrim; |
taurin | 12:fd9d241843f4 | 204 | } |
YusukeWakuta | 14:1f6dd929d7de | 205 | pc.printf("eruronTrim:%f drugTrim:%f ",eruronTrim,drugTrim); |
tsumagari | 23:d551db88df65 | 206 | pc.printf("eMD:%f dMD:%f ef:%f\n\r",eruronMoveDeg,drugMoveDeg,eruronfloat); |
taurin | 4:450cafd95ac3 | 207 | wait_us(10); |
taurin | 1:9cc932a16d17 | 208 | } |
taurin | 0:e052602db102 | 209 | |
YusukeWakuta | 26:f14579683f98 | 210 | int main() |
YusukeWakuta | 26:f14579683f98 | 211 | { |
taurin | 0:e052602db102 | 212 | init(); |
YusukeWakuta | 31:5d22ebe5f705 | 213 | |
YusukeWakuta | 30:00041540e23c | 214 | setTrimPin.mode(PullDown); |
YusukeWakuta | 30:00041540e23c | 215 | setMaxDegPin.mode(PullDown); |
YusukeWakuta | 30:00041540e23c | 216 | EDstatePin.mode(PullDown); |
YusukeWakuta | 30:00041540e23c | 217 | LRstatePin.mode(PullDown); |
YusukeWakuta | 26:f14579683f98 | 218 | |
YusukeWakuta | 24:d416722b4aad | 219 | // start motion |
tsumagari | 33:d075918d4846 | 220 | // gTimer.attach_us(&XbusIntervalHandler, 1000000 / kMotionInterval); |
YusukeWakuta | 26:f14579683f98 | 221 | |
YusukeWakuta | 26:f14579683f98 | 222 | while(1) { |
YusukeWakuta | 26:f14579683f98 | 223 | while(setTrimPin) { |
taurin | 4:450cafd95ac3 | 224 | setTrim(); |
taurin | 4:450cafd95ac3 | 225 | } |
YusukeWakuta | 26:f14579683f98 | 226 | while (setMaxDegPin) { |
YusukeWakuta | 29:516a5d383488 | 227 | setMaxDeg(); |
taurin | 4:450cafd95ac3 | 228 | } |
YusukeWakuta | 37:1f71ca1e5dd1 | 229 | pc.printf("eruronTrim:%f drugTrim:%f ",eruronTrim,drugTrim); |
YusukeWakuta | 37:1f71ca1e5dd1 | 230 | pc.printf("eMD:%f dMD:%f ",eruronMoveDeg,drugMoveDeg); |
taurin | 4:450cafd95ac3 | 231 | led4 = 0; |
taurin | 4:450cafd95ac3 | 232 | debugLED = 0; |
taurin | 16:82310bf7c326 | 233 | //receiveDatas(); |
tsumagari | 22:b38bc18ec3a1 | 234 | // sendDatas(); |
taurin | 1:9cc932a16d17 | 235 | WriteServo(); |
taurin | 4:450cafd95ac3 | 236 | updateDatas(); |
tsumagari | 22:b38bc18ec3a1 | 237 | led3 = !led3; |
taurin | 2:7fcb4f970a02 | 238 | wait(WAIT_LOOP_TIME); |
taurin | 0:e052602db102 | 239 | } |
taurin | 0:e052602db102 | 240 | } |