2018年度用翼端mbedプログラム
Dependencies: Control_Yokutan_CANver1 XBusServo mbed mbed-rtos
Fork of ControlYokutan2017_2 by
main.cpp@68:ae3c3500074c, 2017-09-29 (annotated)
- Committer:
- tsumagari
- Date:
- Fri Sep 29 08:13:16 2017 +0000
- Branch:
- mpu????????
- Revision:
- 68:ae3c3500074c
- Parent:
- 67:94fe2180f39a
- Child:
- 69:073116d31a56
InSetMode?????
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 | 67:94fe2180f39a | 20 | #define ERURON_MOVE_DEG_INI_R 14.4*0.8//18.0 //degree |
tsumagari | 67:94fe2180f39a | 21 | #define DRUG_MOVE_DEG_INI_R 0.49 |
tsumagari | 66:2d1a7f270e27 | 22 | #define ERURON_TRIM_INI_R 0.39633 //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 | 67:94fe2180f39a | 27 | #define ERURON_TRIM_INI_L 0.41567 // 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 | |
tsumagari | 67:94fe2180f39a | 30 | |
tsumagari | 67:94fe2180f39a | 31 | #define debug pc.printf |
tsumagari | 67:94fe2180f39a | 32 | #define debugMPU //pc.printf |
tsumagari | 67:94fe2180f39a | 33 | |
tsumagari | 67:94fe2180f39a | 34 | const char *configfilename = "/local/CONFIG.csv"; |
tsumagari | 67:94fe2180f39a | 35 | |
YusukeWakuta | 38:b492990e2b56 | 36 | /*ドラッグラダー |
YusukeWakuta | 37:1f71ca1e5dd1 | 37 | 初期値 0.65 |
YusukeWakuta | 37:1f71ca1e5dd1 | 38 | 最大角0.99 |
YusukeWakuta | 36:ddf4aa818e88 | 39 | */ |
YusukeWakuta | 24:d416722b4aad | 40 | |
taurin | 0:e052602db102 | 41 | CAN can(p30,p29); |
taurin | 0:e052602db102 | 42 | CANMessage recmsg; |
taurin | 0:e052602db102 | 43 | Serial pc(USBTX,USBRX); |
taurin | 0:e052602db102 | 44 | I2C ina226_i2c(p28,p27); |
taurin | 0:e052602db102 | 45 | INA226 VCmonitor(ina226_i2c); |
taurin | 13:5e3b4120dbbf | 46 | PwmOut drugServo(p22); |
tsumagari | 33:d075918d4846 | 47 | PwmOut eruronServo(p23); |
taurin | 1:9cc932a16d17 | 48 | DigitalOut led1(LED1); |
tsumagari | 68:ae3c3500074c | 49 | AnalogIn eruronAna(p20); |
tsumagari | 68:ae3c3500074c | 50 | AnalogIn drugAna(p19); |
tsumagari | 68:ae3c3500074c | 51 | DigitalIn IsRPin(p11,PullDown); |
tsumagari | 68:ae3c3500074c | 52 | DigitalIn InSetModePin(p12,PullDown); |
tsumagari | 68:ae3c3500074c | 53 | DigitalIn EDstatePin(p14,PullDown); |
tsumagari | 68:ae3c3500074c | 54 | DigitalIn TrimMaxDegPin(p15,PullDown); |
YusukeWakuta | 44:624a4469ae21 | 55 | DigitalOut led2(LED2); |
taurin | 4:450cafd95ac3 | 56 | DigitalOut led3(LED3); |
taurin | 4:450cafd95ac3 | 57 | DigitalOut led4(LED4); |
taurin | 4:450cafd95ac3 | 58 | Ticker sendDatasTicker; |
tsumagari | 22:b38bc18ec3a1 | 59 | //Ticker toStringTicker; |
taurin | 16:82310bf7c326 | 60 | Ticker receiveDatasTicker; |
YusukeWakuta | 42:bf98a29e81ac | 61 | MPU6050 mpu6050; |
YusukeWakuta | 42:bf98a29e81ac | 62 | Timer t; |
YusukeWakuta | 42:bf98a29e81ac | 63 | |
tsumagari | 67:94fe2180f39a | 64 | LocalFileSystem local("local"); |
tsumagari | 67:94fe2180f39a | 65 | |
YusukeWakuta | 42:bf98a29e81ac | 66 | //Set up I2C, (SDA,SCL) |
YusukeWakuta | 42:bf98a29e81ac | 67 | I2C i2c_mpu(p9,p10); |
taurin | 16:82310bf7c326 | 68 | |
taurin | 0:e052602db102 | 69 | char toSendDatas[TO_SEND_DATAS_NUM]; |
YusukeWakuta | 60:a45dc19a6001 | 70 | char floatValues[10]; |
taurin | 12:fd9d241843f4 | 71 | float eruronTrim; |
taurin | 12:fd9d241843f4 | 72 | float drugTrim; |
taurin | 12:fd9d241843f4 | 73 | float eruronMoveDeg; |
taurin | 12:fd9d241843f4 | 74 | float drugMoveDeg; |
YusukeWakuta | 59:f007e543f8c9 | 75 | float eruronfloat = 0.0; |
taurin | 0:e052602db102 | 76 | unsigned short ina_val; |
taurin | 0:e052602db102 | 77 | double V,C; |
taurin | 0:e052602db102 | 78 | bool SERVO_FLAG; |
taurin | 0:e052602db102 | 79 | bool INA_FLAG; |
tsumagari | 22:b38bc18ec3a1 | 80 | bool MPU_FLAG; |
YusukeWakuta | 42:bf98a29e81ac | 81 | int gyroX; |
YusukeWakuta | 42:bf98a29e81ac | 82 | int gyroY; |
YusukeWakuta | 42:bf98a29e81ac | 83 | int gyroZ; |
YusukeWakuta | 42:bf98a29e81ac | 84 | float sum = 0; |
YusukeWakuta | 61:988e3f4280ac | 85 | float drugInput = 0.0; |
YusukeWakuta | 42:bf98a29e81ac | 86 | uint32_t sumCount = 0; |
taurin | 0:e052602db102 | 87 | |
tsumagari | 22:b38bc18ec3a1 | 88 | char gyro_c[6] = {0,0,0,0,0,0}; |
taurin | 4:450cafd95ac3 | 89 | |
taurin | 4:450cafd95ac3 | 90 | void toString(); |
taurin | 16:82310bf7c326 | 91 | void receiveDatas(); |
taurin | 16:82310bf7c326 | 92 | void WriteServo(); |
YusukeWakuta | 42:bf98a29e81ac | 93 | void MpuInit(); |
YusukeWakuta | 42:bf98a29e81ac | 94 | void mpuProcessing(void const *arg); |
taurin | 0:e052602db102 | 95 | |
YusukeWakuta | 24:d416722b4aad | 96 | Ticker gTimer; |
YusukeWakuta | 24:d416722b4aad | 97 | |
YusukeWakuta | 26:f14579683f98 | 98 | bool servoInit() |
YusukeWakuta | 26:f14579683f98 | 99 | { |
taurin | 4:450cafd95ac3 | 100 | drugServo.period_ms(INIT_SERVO_PERIOD_MS); |
taurin | 0:e052602db102 | 101 | return true; |
taurin | 0:e052602db102 | 102 | } |
taurin | 0:e052602db102 | 103 | |
YusukeWakuta | 26:f14579683f98 | 104 | void sendDatas() |
YusukeWakuta | 24:d416722b4aad | 105 | { |
YusukeWakuta | 26:f14579683f98 | 106 | if(can.write(CANMessage(TO_SEND_CAN_ID, toSendDatas, TO_SEND_DATAS_NUM))) { |
taurin | 4:450cafd95ac3 | 107 | } |
taurin | 4:450cafd95ac3 | 108 | } |
taurin | 4:450cafd95ac3 | 109 | |
YusukeWakuta | 42:bf98a29e81ac | 110 | void MpuInit() |
YusukeWakuta | 42:bf98a29e81ac | 111 | { |
YusukeWakuta | 42:bf98a29e81ac | 112 | i2c_mpu.frequency(400000); // use fast (400 kHz) I2C |
YusukeWakuta | 42:bf98a29e81ac | 113 | t.start(); |
YusukeWakuta | 42:bf98a29e81ac | 114 | uint8_t whoami = mpu6050.readByte(MPU6050_ADDRESS, WHO_AM_I_MPU6050); // Read WHO_AM_I register for MPU-6050 |
YusukeWakuta | 42:bf98a29e81ac | 115 | if (whoami == 0x68) { // WHO_AM_I should always be 0x68 |
YusukeWakuta | 42:bf98a29e81ac | 116 | Thread::wait(100); |
YusukeWakuta | 42:bf98a29e81ac | 117 | mpu6050.MPU6050SelfTest(SelfTest); // Start by performing self test and reporting values |
YusukeWakuta | 42:bf98a29e81ac | 118 | Thread::wait(100); |
YusukeWakuta | 42:bf98a29e81ac | 119 | 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 | 120 | mpu6050.resetMPU6050(); // Reset registers to default in preparation for device calibration |
YusukeWakuta | 42:bf98a29e81ac | 121 | mpu6050.calibrateMPU6050(gyroBias, accelBias); // Calibrate gyro and accelerometers, load biases in bias registers |
YusukeWakuta | 42:bf98a29e81ac | 122 | 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 | 123 | Thread::wait(200); |
YusukeWakuta | 42:bf98a29e81ac | 124 | } else { |
YusukeWakuta | 42:bf98a29e81ac | 125 | } |
YusukeWakuta | 42:bf98a29e81ac | 126 | } else { |
YusukeWakuta | 42:bf98a29e81ac | 127 | //pc.printf("out\n\r"); // Loop forever if communication doesn't happen |
YusukeWakuta | 42:bf98a29e81ac | 128 | } |
YusukeWakuta | 42:bf98a29e81ac | 129 | } |
YusukeWakuta | 42:bf98a29e81ac | 130 | |
YusukeWakuta | 42:bf98a29e81ac | 131 | |
YusukeWakuta | 42:bf98a29e81ac | 132 | void mpuProcessing(void const *arg) |
YusukeWakuta | 42:bf98a29e81ac | 133 | { |
YusukeWakuta | 42:bf98a29e81ac | 134 | MpuInit(); |
YusukeWakuta | 42:bf98a29e81ac | 135 | while(1) { |
YusukeWakuta | 42:bf98a29e81ac | 136 | if(mpu6050.readByte(MPU6050_ADDRESS, INT_STATUS) & 0x01) { // check if data ready interrupt |
YusukeWakuta | 42:bf98a29e81ac | 137 | mpu6050.readAccelData(accelCount); // Read the x/y/z adc values |
YusukeWakuta | 42:bf98a29e81ac | 138 | mpu6050.getAres(); |
YusukeWakuta | 42:bf98a29e81ac | 139 | ax = (float)accelCount[0]*aRes - accelBias[0]; // get actual g value, this depends on scale being set |
YusukeWakuta | 42:bf98a29e81ac | 140 | ay = (float)accelCount[1]*aRes - accelBias[1]; |
YusukeWakuta | 42:bf98a29e81ac | 141 | az = (float)accelCount[2]*aRes - accelBias[2]; |
YusukeWakuta | 42:bf98a29e81ac | 142 | mpu6050.readGyroData(gyroCount); // Read the x/y/z adc values |
YusukeWakuta | 42:bf98a29e81ac | 143 | mpu6050.getGres(); |
YusukeWakuta | 42:bf98a29e81ac | 144 | gx = (float)gyroCount[0]*gRes; // - gyroBias[0]; // get actual gyro value, this depends on scale being set |
YusukeWakuta | 42:bf98a29e81ac | 145 | gy = (float)gyroCount[1]*gRes; // - gyroBias[1]; |
YusukeWakuta | 42:bf98a29e81ac | 146 | gz = (float)gyroCount[2]*gRes; // - gyroBias[2]; |
YusukeWakuta | 42:bf98a29e81ac | 147 | tempCount = mpu6050.readTempData(); // Read the x/y/z adc values |
YusukeWakuta | 42:bf98a29e81ac | 148 | temperature = (tempCount) / 340. + 36.53; // Temperature in degrees Centigrade |
YusukeWakuta | 42:bf98a29e81ac | 149 | } |
YusukeWakuta | 42:bf98a29e81ac | 150 | Now = t.read_us(); |
YusukeWakuta | 42:bf98a29e81ac | 151 | deltat = (float)((Now - lastUpdate)/1000000.0f) ; // set integration time by time elapsed since last filter update |
YusukeWakuta | 42:bf98a29e81ac | 152 | lastUpdate = Now; |
YusukeWakuta | 42:bf98a29e81ac | 153 | sum += deltat; |
YusukeWakuta | 42:bf98a29e81ac | 154 | sumCount++; |
YusukeWakuta | 42:bf98a29e81ac | 155 | if(lastUpdate - firstUpdate > 10000000.0f) { |
YusukeWakuta | 42:bf98a29e81ac | 156 | beta = 0.04; // decrease filter gain after stabilized |
YusukeWakuta | 42:bf98a29e81ac | 157 | zeta = 0.015; // increasey bias drift gain after stabilized |
YusukeWakuta | 42:bf98a29e81ac | 158 | } |
YusukeWakuta | 42:bf98a29e81ac | 159 | mpu6050.MadgwickQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f); |
YusukeWakuta | 42:bf98a29e81ac | 160 | delt_t = t.read_ms() - count; |
YusukeWakuta | 42:bf98a29e81ac | 161 | if (delt_t > MPU_DELT_MIN) { |
YusukeWakuta | 42:bf98a29e81ac | 162 | 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 | 163 | pitch = -asin(2.0f * (q[1] * q[3] - q[0] * q[2])); |
YusukeWakuta | 42:bf98a29e81ac | 164 | 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 | 165 | pitch *= 180.0f / PI; |
YusukeWakuta | 42:bf98a29e81ac | 166 | yaw *= 180.0f / PI; |
YusukeWakuta | 42:bf98a29e81ac | 167 | roll *= 180.0f / PI; |
YusukeWakuta | 48:0bd406fa4a7f | 168 | // myled= !myled; |
YusukeWakuta | 42:bf98a29e81ac | 169 | count = t.read_ms(); |
YusukeWakuta | 42:bf98a29e81ac | 170 | sum = 0; |
YusukeWakuta | 42:bf98a29e81ac | 171 | sumCount = 0; |
YusukeWakuta | 42:bf98a29e81ac | 172 | } |
tsumagari | 64:9d7582920f50 | 173 | gyro_c[0]=(char)((int)pitch); |
tsumagari | 64:9d7582920f50 | 174 | gyro_c[1]=(char)(int)((pitch - (int)pitch)*100); |
tsumagari | 64:9d7582920f50 | 175 | gyro_c[2]=(char)((int)roll); |
tsumagari | 64:9d7582920f50 | 176 | gyro_c[3]=(char)(int)((roll - (int)roll)*100); |
tsumagari | 64:9d7582920f50 | 177 | gyro_c[4]=(char)((int)yaw); |
tsumagari | 64:9d7582920f50 | 178 | gyro_c[5]=(char)(int)((yaw - (int)yaw)*100); |
tsumagari | 67:94fe2180f39a | 179 | debugMPU("p:%f,r:%f,y:%f\n\r",pitch,roll,yaw); |
YusukeWakuta | 42:bf98a29e81ac | 180 | Thread::wait(1); |
YusukeWakuta | 42:bf98a29e81ac | 181 | }//while(1) |
YusukeWakuta | 42:bf98a29e81ac | 182 | } |
YusukeWakuta | 42:bf98a29e81ac | 183 | |
YusukeWakuta | 42:bf98a29e81ac | 184 | |
YusukeWakuta | 26:f14579683f98 | 185 | bool inaInit() |
YusukeWakuta | 26:f14579683f98 | 186 | { |
YusukeWakuta | 26:f14579683f98 | 187 | if(!VCmonitor.isExist()) { |
taurin | 0:e052602db102 | 188 | pc.printf("VCmonitor NOT FOUND\n"); |
taurin | 0:e052602db102 | 189 | return false; |
taurin | 0:e052602db102 | 190 | } |
taurin | 0:e052602db102 | 191 | ina_val = 0; |
YusukeWakuta | 26:f14579683f98 | 192 | if(VCmonitor.rawRead(0x00,&ina_val) != 0) { |
taurin | 0:e052602db102 | 193 | pc.printf("VCmonitor READ ERROR\n"); |
taurin | 0:e052602db102 | 194 | return false; |
taurin | 0:e052602db102 | 195 | } |
taurin | 0:e052602db102 | 196 | VCmonitor.setCurrentCalibration(); |
taurin | 0:e052602db102 | 197 | return true; |
taurin | 0:e052602db102 | 198 | } |
taurin | 0:e052602db102 | 199 | |
YusukeWakuta | 57:d7b709dd1c4f | 200 | //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 | 201 | double ConvertDeg(double servo) |
YusukeWakuta | 57:d7b709dd1c4f | 202 | { |
YusukeWakuta | 62:1db967d29809 | 203 | return 0.0011 * pow(servo,3) + 0.017 * pow(servo,2) + 2.3019 * servo - 0.2269; |
YusukeWakuta | 62:1db967d29809 | 204 | //return 0.0003*pow(servo,3)+0.0039*pow(servo,2)+1.746*servo - 0.0105; |
YusukeWakuta | 57:d7b709dd1c4f | 205 | } |
YusukeWakuta | 57:d7b709dd1c4f | 206 | |
YusukeWakuta | 57:d7b709dd1c4f | 207 | //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 | 208 | double GetValueByHorn(double deg) |
YusukeWakuta | 57:d7b709dd1c4f | 209 | { |
YusukeWakuta | 57:d7b709dd1c4f | 210 | return deg*(0.10/25.7); |
YusukeWakuta | 57:d7b709dd1c4f | 211 | } |
YusukeWakuta | 57:d7b709dd1c4f | 212 | |
YusukeWakuta | 57:d7b709dd1c4f | 213 | double GetFloatByErebon(double erebonDeg) |
YusukeWakuta | 57:d7b709dd1c4f | 214 | { |
YusukeWakuta | 57:d7b709dd1c4f | 215 | double servoDeg = ConvertDeg(erebonDeg); |
YusukeWakuta | 61:988e3f4280ac | 216 | return GetValueByHorn(servoDeg); |
YusukeWakuta | 57:d7b709dd1c4f | 217 | } |
tsumagari | 67:94fe2180f39a | 218 | // configファイル作成 |
tsumagari | 67:94fe2180f39a | 219 | int makeConfigFile() { |
tsumagari | 67:94fe2180f39a | 220 | FILE *fp; |
tsumagari | 67:94fe2180f39a | 221 | if((fp = fopen(configfilename, "w")) == NULL) { |
tsumagari | 67:94fe2180f39a | 222 | pc.printf("can't open %s\n", configfilename); |
tsumagari | 67:94fe2180f39a | 223 | return -1; |
tsumagari | 67:94fe2180f39a | 224 | } |
tsumagari | 67:94fe2180f39a | 225 | fprintf(fp, "// This is Yokutan %s.\n", IsRPin ? "R" : "L"); |
tsumagari | 67:94fe2180f39a | 226 | fprintf(fp, "eruronTrim,drugTrim,eruronMoveDeg,drugMoveDeg\n"); |
tsumagari | 67:94fe2180f39a | 227 | fclose(fp); |
tsumagari | 67:94fe2180f39a | 228 | return 0; |
tsumagari | 67:94fe2180f39a | 229 | } |
tsumagari | 67:94fe2180f39a | 230 | |
tsumagari | 67:94fe2180f39a | 231 | // config内容をファイルに追記 |
tsumagari | 67:94fe2180f39a | 232 | int writeConfig() { |
tsumagari | 67:94fe2180f39a | 233 | FILE *fp; |
tsumagari | 67:94fe2180f39a | 234 | if((fp = fopen(configfilename, "a")) == NULL) { |
tsumagari | 67:94fe2180f39a | 235 | pc.printf("can't open %s\n", configfilename); |
tsumagari | 67:94fe2180f39a | 236 | return -1; |
tsumagari | 67:94fe2180f39a | 237 | } |
tsumagari | 67:94fe2180f39a | 238 | fprintf(fp, "%f,%f,%f,%f\n", eruronTrim, drugTrim, eruronMoveDeg, drugMoveDeg); |
tsumagari | 67:94fe2180f39a | 239 | fclose(fp); |
tsumagari | 67:94fe2180f39a | 240 | return 0; |
tsumagari | 67:94fe2180f39a | 241 | } |
tsumagari | 67:94fe2180f39a | 242 | // configの最新情報を読み込み |
tsumagari | 67:94fe2180f39a | 243 | int readConfig() { |
tsumagari | 67:94fe2180f39a | 244 | FILE *fp; |
tsumagari | 67:94fe2180f39a | 245 | char s[256]; |
tsumagari | 67:94fe2180f39a | 246 | if((fp = fopen(configfilename, "r")) == NULL) { |
tsumagari | 67:94fe2180f39a | 247 | return -1; |
tsumagari | 67:94fe2180f39a | 248 | } |
tsumagari | 67:94fe2180f39a | 249 | while(fgets(s, 255, fp) != NULL) { |
tsumagari | 67:94fe2180f39a | 250 | sscanf(s, "%f,%f,%f,%f\n", &eruronTrim, &drugTrim, &eruronMoveDeg, &drugMoveDeg); |
tsumagari | 67:94fe2180f39a | 251 | } |
tsumagari | 67:94fe2180f39a | 252 | fclose(fp); |
tsumagari | 67:94fe2180f39a | 253 | debug("eruronTrim:%f,drugtrim:%f,eMD:%f,dMD:%f\n\r",eruronTrim,drugTrim,eruronMoveDeg,drugMoveDeg); |
tsumagari | 67:94fe2180f39a | 254 | return 0; |
tsumagari | 67:94fe2180f39a | 255 | } |
YusukeWakuta | 57:d7b709dd1c4f | 256 | |
YusukeWakuta | 26:f14579683f98 | 257 | void init() |
YusukeWakuta | 26:f14579683f98 | 258 | { |
tsumagari | 67:94fe2180f39a | 259 | if(readConfig() == -1) { |
tsumagari | 67:94fe2180f39a | 260 | makeConfigFile(); |
tsumagari | 67:94fe2180f39a | 261 | if(IsRPin) { |
tsumagari | 67:94fe2180f39a | 262 | eruronTrim = ERURON_TRIM_INI_R; |
tsumagari | 67:94fe2180f39a | 263 | drugTrim = DRUG_TRIM_INI_R; |
tsumagari | 67:94fe2180f39a | 264 | eruronMoveDeg =GetFloatByErebon(ERURON_MOVE_DEG_INI_R); |
tsumagari | 67:94fe2180f39a | 265 | drugMoveDeg =DRUG_MOVE_DEG_INI_R; |
tsumagari | 67:94fe2180f39a | 266 | } else { |
tsumagari | 67:94fe2180f39a | 267 | eruronTrim = ERURON_TRIM_INI_L; |
tsumagari | 67:94fe2180f39a | 268 | drugTrim = DRUG_TRIM_INI_L; |
tsumagari | 67:94fe2180f39a | 269 | eruronMoveDeg = GetFloatByErebon(ERURON_MOVE_DEG_INI_L); |
tsumagari | 67:94fe2180f39a | 270 | drugMoveDeg = DRUG_MOVE_DEG_INI_L; |
tsumagari | 67:94fe2180f39a | 271 | } |
taurin | 12:fd9d241843f4 | 272 | } |
taurin | 0:e052602db102 | 273 | SERVO_FLAG = servoInit(); |
taurin | 0:e052602db102 | 274 | INA_FLAG = inaInit(); |
taurin | 4:450cafd95ac3 | 275 | sendDatasTicker.attach(&sendDatas,SEND_DATAS_LOOP_TIME); |
taurin | 16:82310bf7c326 | 276 | // toStringTicker.attach(&toString,0.5); |
taurin | 16:82310bf7c326 | 277 | receiveDatasTicker.attach(&receiveDatas,RECEIVE_DATAS_LOOP_TIME); |
taurin | 0:e052602db102 | 278 | } |
taurin | 0:e052602db102 | 279 | |
YusukeWakuta | 26:f14579683f98 | 280 | void updateDatas() |
YusukeWakuta | 26:f14579683f98 | 281 | { |
YusukeWakuta | 26:f14579683f98 | 282 | if(INA_FLAG) { |
taurin | 0:e052602db102 | 283 | int tmp = VCmonitor.getVoltage(&V); |
taurin | 0:e052602db102 | 284 | tmp = VCmonitor.getCurrent(&C); |
taurin | 0:e052602db102 | 285 | } |
YusukeWakuta | 42:bf98a29e81ac | 286 | |
YusukeWakuta | 26:f14579683f98 | 287 | for(int i = 0; i < TO_SEND_DATAS_NUM - 1; i++) { |
tsumagari | 22:b38bc18ec3a1 | 288 | toSendDatas[i] = gyro_c[i]; |
tsumagari | 22:b38bc18ec3a1 | 289 | } |
tsumagari | 22:b38bc18ec3a1 | 290 | // toSendDatas[TO_SEND_DATAS_NUM - 1] = (char)(V/100); |
YusukeWakuta | 40:ad98da5da7bf | 291 | toSendDatas[TO_SEND_DATAS_NUM - 1] = (char)V; |
taurin | 0:e052602db102 | 292 | } |
taurin | 0:e052602db102 | 293 | |
YusukeWakuta | 26:f14579683f98 | 294 | void receiveDatas() |
YusukeWakuta | 26:f14579683f98 | 295 | { |
YusukeWakuta | 61:988e3f4280ac | 296 | 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 | 297 | for(int i = 0; i < 5; i++) { |
YusukeWakuta | 60:a45dc19a6001 | 298 | floatValues[i] = recmsg.data[i]; |
taurin | 0:e052602db102 | 299 | } |
YusukeWakuta | 61:988e3f4280ac | 300 | drugInput = recmsg.data[5]- '0'; |
YusukeWakuta | 60:a45dc19a6001 | 301 | eruronfloat = atof(floatValues); |
taurin | 1:9cc932a16d17 | 302 | led1 = !led1; |
taurin | 0:e052602db102 | 303 | } |
taurin | 0:e052602db102 | 304 | } |
taurin | 0:e052602db102 | 305 | |
YusukeWakuta | 42:bf98a29e81ac | 306 | double calcPulse(float analog) |
YusukeWakuta | 26:f14579683f98 | 307 | { |
tsumagari | 53:3eeaafa49707 | 308 | return (0.0006 + (analog)*(0.00240-0.00060) ); |
taurin | 1:9cc932a16d17 | 309 | } |
taurin | 1:9cc932a16d17 | 310 | |
YusukeWakuta | 29:516a5d383488 | 311 | void WriteServo() |
YusukeWakuta | 26:f14579683f98 | 312 | { |
YusukeWakuta | 62:1db967d29809 | 313 | // for(int i = 0; i< 10; i++) { |
YusukeWakuta | 61:988e3f4280ac | 314 | // pc.printf("%c",floatValues[i]); |
YusukeWakuta | 61:988e3f4280ac | 315 | // } |
YusukeWakuta | 61:988e3f4280ac | 316 | // pc.printf(" : %f",eruronfloat); |
YusukeWakuta | 61:988e3f4280ac | 317 | // pc.printf("\n\r"); |
YusukeWakuta | 61:988e3f4280ac | 318 | drugServo.pulsewidth(calcPulse(drugTrim + drugMoveDeg *drugInput)); |
YusukeWakuta | 59:f007e543f8c9 | 319 | eruronServo.pulsewidth(calcPulse( eruronTrim + eruronMoveDeg * eruronfloat)); |
tsumagari | 68:ae3c3500074c | 320 | pc.printf("ef:%10f %5f\n\r",eruronfloat,drugInput); |
taurin | 4:450cafd95ac3 | 321 | } |
taurin | 4:450cafd95ac3 | 322 | |
YusukeWakuta | 26:f14579683f98 | 323 | void setTrim() |
YusukeWakuta | 26:f14579683f98 | 324 | { |
YusukeWakuta | 44:624a4469ae21 | 325 | led2 = 1; |
YusukeWakuta | 26:f14579683f98 | 326 | if(EDstatePin) { |
YusukeWakuta | 26:f14579683f98 | 327 | eruronTrim = eruronAna.read(); |
YusukeWakuta | 50:b3a8f8e88c50 | 328 | eruronServo.pulsewidth(calcPulse(eruronTrim)); |
YusukeWakuta | 26:f14579683f98 | 329 | } else { |
YusukeWakuta | 37:1f71ca1e5dd1 | 330 | drugTrim = drugAna.read(); |
YusukeWakuta | 26:f14579683f98 | 331 | drugServo.pulsewidth(calcPulse(drugTrim)); |
taurin | 12:fd9d241843f4 | 332 | } |
YusukeWakuta | 14:1f6dd929d7de | 333 | //pc.printf("eruronTrim:%f drugTrim:%f\n\r",eruronTrim,drugTrim); |
YusukeWakuta | 26:f14579683f98 | 334 | pc.printf("eruronTrim:%f drugTrim:%f ",eruronTrim,drugTrim); |
YusukeWakuta | 59:f007e543f8c9 | 335 | pc.printf("eMD:%f dMD:%f ei:%d\n\r",eruronMoveDeg,drugMoveDeg,eruronfloat); |
taurin | 4:450cafd95ac3 | 336 | } |
taurin | 4:450cafd95ac3 | 337 | |
YusukeWakuta | 26:f14579683f98 | 338 | void setMaxDeg() |
YusukeWakuta | 26:f14579683f98 | 339 | { |
taurin | 4:450cafd95ac3 | 340 | led4 = 1; |
YusukeWakuta | 26:f14579683f98 | 341 | float eruronTemp = eruronAna.read(); |
YusukeWakuta | 37:1f71ca1e5dd1 | 342 | float drugTemp = drugAna.read(); |
YusukeWakuta | 26:f14579683f98 | 343 | if(EDstatePin) { |
YusukeWakuta | 26:f14579683f98 | 344 | eruronMoveDeg = eruronTemp-eruronTrim; |
YusukeWakuta | 49:8522856fe0cd | 345 | eruronServo.pulsewidth(calcPulse(eruronTemp)); |
YusukeWakuta | 26:f14579683f98 | 346 | } else { |
tsumagari | 68:ae3c3500074c | 347 | drugMoveDeg = drugTemp-drugTrim; |
YusukeWakuta | 26:f14579683f98 | 348 | drugServo.pulsewidth(calcPulse(drugTemp)); |
taurin | 12:fd9d241843f4 | 349 | } |
YusukeWakuta | 14:1f6dd929d7de | 350 | pc.printf("eruronTrim:%f drugTrim:%f ",eruronTrim,drugTrim); |
YusukeWakuta | 59:f007e543f8c9 | 351 | pc.printf("eMD:%f dMD:%f ef:%d\n\r",eruronMoveDeg,drugMoveDeg,eruronfloat); |
taurin | 4:450cafd95ac3 | 352 | wait_us(10); |
taurin | 1:9cc932a16d17 | 353 | } |
taurin | 0:e052602db102 | 354 | |
YusukeWakuta | 26:f14579683f98 | 355 | int main() |
YusukeWakuta | 26:f14579683f98 | 356 | { |
taurin | 0:e052602db102 | 357 | init(); |
YusukeWakuta | 42:bf98a29e81ac | 358 | Thread mpu_thread(&mpuProcessing); |
YusukeWakuta | 26:f14579683f98 | 359 | |
YusukeWakuta | 24:d416722b4aad | 360 | // start motion |
tsumagari | 33:d075918d4846 | 361 | // gTimer.attach_us(&XbusIntervalHandler, 1000000 / kMotionInterval); |
YusukeWakuta | 26:f14579683f98 | 362 | |
YusukeWakuta | 26:f14579683f98 | 363 | while(1) { |
tsumagari | 68:ae3c3500074c | 364 | if(InSetModePin){ |
tsumagari | 68:ae3c3500074c | 365 | do{ |
tsumagari | 68:ae3c3500074c | 366 | if(TrimMaxDegPin) |
tsumagari | 68:ae3c3500074c | 367 | setTrim(); |
tsumagari | 68:ae3c3500074c | 368 | else |
tsumagari | 68:ae3c3500074c | 369 | setMaxDeg(); |
tsumagari | 68:ae3c3500074c | 370 | }while(InSetModePin); |
tsumagari | 67:94fe2180f39a | 371 | writeConfig(); |
taurin | 4:450cafd95ac3 | 372 | } |
taurin | 4:450cafd95ac3 | 373 | led4 = 0; |
YusukeWakuta | 44:624a4469ae21 | 374 | led2 = 0; |
tsumagari | 68:ae3c3500074c | 375 | receiveDatas(); |
tsumagari | 22:b38bc18ec3a1 | 376 | // sendDatas(); |
taurin | 1:9cc932a16d17 | 377 | WriteServo(); |
taurin | 4:450cafd95ac3 | 378 | updateDatas(); |
tsumagari | 22:b38bc18ec3a1 | 379 | led3 = !led3; |
taurin | 2:7fcb4f970a02 | 380 | wait(WAIT_LOOP_TIME); |
taurin | 0:e052602db102 | 381 | } |
taurin | 0:e052602db102 | 382 | } |