go-roboB / aa2_master

master

Dependencies:   arrc_mbed

main.cpp@2:2feb9be14c08, 2022-04-13 (annotated)

Committer:
darkumatar
Date:
Wed Apr 13 09:22:18 2022 +0000
Revision:
2:2feb9be14c08
Parent:
1:9f57d402ea10
Child:
3:a35f7cab9de2
re

Who changed what in which revision?

UserRevisionLine numberNew contents of line
darkumatar 0:55f25431e6d1 1 #include "mbed.h"
darkumatar 0:55f25431e6d1 2 #include"scrp_slave.hpp"
darkumatar 0:55f25431e6d1 3 #include "rotary_inc.hpp"
darkumatar 0:55f25431e6d1 4 #include"cmath"
darkumatar 0:55f25431e6d1 5 #include"gy521.hpp"
darkumatar 0:55f25431e6d1 6 #include "neopixel.h"
darkumatar 0:55f25431e6d1 7
darkumatar 2:2feb9be14c08 8 bool the_left=false;
darkumatar 2:2feb9be14c08 9
darkumatar 2:2feb9be14c08 10
darkumatar 0:55f25431e6d1 11 double goal_x = -17700.0;
darkumatar 0:55f25431e6d1 12 double goal_y = 28800.0;
darkumatar 0:55f25431e6d1 13
darkumatar 0:55f25431e6d1 14 int goal_x2 = -8000000;
darkumatar 0:55f25431e6d1 15 int goal_y2 = 10000000;
darkumatar 0:55f25431e6d1 16
darkumatar 0:55f25431e6d1 17 #define goal_x_right -17700.0
darkumatar 0:55f25431e6d1 18 #define goal_y_right 28800.0//23800.0
darkumatar 0:55f25431e6d1 19 #define goal_x2_right -8000000
darkumatar 0:55f25431e6d1 20 #define goal_y2_right 10000000
darkumatar 0:55f25431e6d1 21
darkumatar 0:55f25431e6d1 22 #define goal_x_left -17700.0
darkumatar 0:55f25431e6d1 23 #define goal_y_left -23800.0
darkumatar 0:55f25431e6d1 24 #define goal_x2_left -8000000
darkumatar 0:55f25431e6d1 25 #define goal_y2_left -8000000
darkumatar 0:55f25431e6d1 26
darkumatar 0:55f25431e6d1 27 #define period_r 8000.0
darkumatar 2:2feb9be14c08 28 NeoPixelOut npx(PB_5,30);
darkumatar 0:55f25431e6d1 29 I2C i2d(PB_3,PB_10);
darkumatar 0:55f25431e6d1 30 GY521 gyro(i2d);
darkumatar 0:55f25431e6d1 31 ScrpSlave slave(PC_12,PD_2 ,PH_1 ,SERIAL_TX,SERIAL_RX,0x0807f800);//srcslave設定
darkumatar 0:55f25431e6d1 32 RotaryInc v[4]{RotaryInc(PC_5,PA_12,1,256,4),RotaryInc(PA_9,PA_8,1,256,4),RotaryInc(PC_3,PC_2,1,256,4),RotaryInc(PC_11,PC_10,1,256,4)};//ロリコンピン
darkumatar 0:55f25431e6d1 33 RotaryInc rote[4]{RotaryInc(PA_15,PA_14,1,256,4),RotaryInc(PA_7,PA_6,1,256,4),RotaryInc(PC_1,PC_0,1,256,4),RotaryInc(PA_13,PC_4,1,256,4)};//読み取り用ピン
darkumatar 0:55f25431e6d1 34 int target[4];//target変数　この変数の値を目指すように動く
darkumatar 0:55f25431e6d1 35 bool auto_swich = false;
darkumatar 0:55f25431e6d1 36 bool limit_switch = true;
darkumatar 0:55f25431e6d1 37 int step=0;
darkumatar 0:55f25431e6d1 38 int auto_mode=0;
darkumatar 1:9f57d402ea10 39 int side_change=0;
darkumatar 1:9f57d402ea10 40
darkumatar 2:2feb9be14c08 41 int ty=0;
darkumatar 1:9f57d402ea10 42
darkumatar 1:9f57d402ea10 43
darkumatar 1:9f57d402ea10 44
darkumatar 1:9f57d402ea10 45
darkumatar 0:55f25431e6d1 46
darkumatar 0:55f25431e6d1 47 int direct_xx=0;
darkumatar 0:55f25431e6d1 48 int direct_yy=0;
darkumatar 0:55f25431e6d1 49 int direct_turn=0;
darkumatar 0:55f25431e6d1 50
darkumatar 0:55f25431e6d1 51 DigitalOut Led1(PB_2);
darkumatar 0:55f25431e6d1 52 DigitalOut Led2(PC_6);
darkumatar 0:55f25431e6d1 53 DigitalOut Led3(PB_15);
darkumatar 0:55f25431e6d1 54 DigitalOut Led4(PA_10);
darkumatar 0:55f25431e6d1 55 int check_tepu=0;
darkumatar 0:55f25431e6d1 56
darkumatar 0:55f25431e6d1 57 bool limi=true;
darkumatar 0:55f25431e6d1 58 bool liset_abc=false;
darkumatar 0:55f25431e6d1 59
darkumatar 0:55f25431e6d1 60
darkumatar 0:55f25431e6d1 61 DigitalIn limitB(PB_12,PullUp);
darkumatar 0:55f25431e6d1 62
darkumatar 0:55f25431e6d1 63
darkumatar 0:55f25431e6d1 64
darkumatar 0:55f25431e6d1 65 bool add(int id,int ppp){//速度を変えるやつ
darkumatar 0:55f25431e6d1 66 Led4.write(0);
darkumatar 0:55f25431e6d1 67 if(auto_swich==false&&limi==true){
darkumatar 0:55f25431e6d1 68 target[id]=30*ppp;
darkumatar 0:55f25431e6d1 69 }
darkumatar 0:55f25431e6d1 70 return true;
darkumatar 0:55f25431e6d1 71 }
darkumatar 0:55f25431e6d1 72
darkumatar 0:55f25431e6d1 73 bool auto_on(int id,int ppp){//おまけで作ったやつ　スピードを決めてその方向へ走る
darkumatar 0:55f25431e6d1 74 if(ppp==1){
darkumatar 0:55f25431e6d1 75 auto_swich=true;
darkumatar 0:55f25431e6d1 76 step=0;
darkumatar 0:55f25431e6d1 77 }
darkumatar 0:55f25431e6d1 78 return true;
darkumatar 0:55f25431e6d1 79 }
darkumatar 0:55f25431e6d1 80
darkumatar 0:55f25431e6d1 81 bool auto_off(int id,int ppp){//おまけで作ったやつ　スピードを決めてその方向へ走る
darkumatar 0:55f25431e6d1 82 if(ppp==1){
darkumatar 0:55f25431e6d1 83 auto_swich=false;
darkumatar 0:55f25431e6d1 84 step=0;
darkumatar 0:55f25431e6d1 85 }
darkumatar 0:55f25431e6d1 86 return true;
darkumatar 0:55f25431e6d1 87 }
darkumatar 0:55f25431e6d1 88
darkumatar 0:55f25431e6d1 89 bool pro2(){ //アングルとスピードを同時に決める　下から3桁で角度を決める(0~360)　それ以外でスピードを決める　これなに？私もわからん
darkumatar 1:9f57d402ea10 90 double anglert=-135.000000000+180.0*side_change;
darkumatar 0:55f25431e6d1 91 Led4.write(1);
darkumatar 0:55f25431e6d1 92 for(int i=0;i<4;i++){
darkumatar 0:55f25431e6d1 93 target[i]=(direct_yy*sin(M_PI/180.0*(90*i - gyro.yaw - anglert))-direct_xx*cos(M_PI/180.0*(90*i - gyro.yaw - anglert))+direct_turn)*30.0;
darkumatar 0:55f25431e6d1 94
darkumatar 0:55f25431e6d1 95 }
darkumatar 0:55f25431e6d1 96 return true;
darkumatar 0:55f25431e6d1 97 }
darkumatar 0:55f25431e6d1 98 bool pro3(double goal_angle_ppp,int goal_x_speed,int goal_y_speed){
darkumatar 0:55f25431e6d1 99 double anglert=-135.000000000;
darkumatar 0:55f25431e6d1 100 for(int i=0;i<4;i++){
darkumatar 0:55f25431e6d1 101 target[i]=(goal_y_speed*sin(M_PI/180.0*(90*i - gyro.yaw - anglert))-goal_x_speed*cos(M_PI/180.0*(90*i - gyro.yaw - anglert))+goal_angle_ppp)*30.0;
darkumatar 0:55f25431e6d1 102
darkumatar 0:55f25431e6d1 103 }
darkumatar 0:55f25431e6d1 104 return true;
darkumatar 0:55f25431e6d1 105 }
darkumatar 0:55f25431e6d1 106 int test_limit(int test_limilimi){
darkumatar 0:55f25431e6d1 107 test_limilimi=test_limilimi/100;
darkumatar 0:55f25431e6d1 108 if(test_limilimi>64){
darkumatar 0:55f25431e6d1 109 test_limilimi=64;
darkumatar 0:55f25431e6d1 110 }
darkumatar 0:55f25431e6d1 111 if(test_limilimi<-64){
darkumatar 0:55f25431e6d1 112 test_limilimi=-64;
darkumatar 0:55f25431e6d1 113 }
darkumatar 0:55f25431e6d1 114 return test_limilimi;
darkumatar 0:55f25431e6d1 115 }
darkumatar 0:55f25431e6d1 116
darkumatar 0:55f25431e6d1 117 double test_ang(double test_limilimi){
darkumatar 0:55f25431e6d1 118 test_limilimi=test_limilimi*2;
darkumatar 0:55f25431e6d1 119 if(test_limilimi>40){
darkumatar 0:55f25431e6d1 120 test_limilimi=40;
darkumatar 0:55f25431e6d1 121 }
darkumatar 0:55f25431e6d1 122 if(test_limilimi<-40){
darkumatar 0:55f25431e6d1 123 test_limilimi=-40;
darkumatar 0:55f25431e6d1 124 }
darkumatar 0:55f25431e6d1 125 return test_limilimi;
darkumatar 0:55f25431e6d1 126 }
darkumatar 0:55f25431e6d1 127
darkumatar 0:55f25431e6d1 128 bool limit2(int id,int ppp){
darkumatar 0:55f25431e6d1 129 if(ppp==1){
darkumatar 0:55f25431e6d1 130 limit_switch=false;
darkumatar 0:55f25431e6d1 131 }
darkumatar 0:55f25431e6d1 132 return true;
darkumatar 0:55f25431e6d1 133 }
darkumatar 0:55f25431e6d1 134
darkumatar 0:55f25431e6d1 135 bool direct_x(int id,int ppp){
darkumatar 0:55f25431e6d1 136 direct_xx=ppp;
darkumatar 0:55f25431e6d1 137 pro2();
darkumatar 0:55f25431e6d1 138 return true;
darkumatar 0:55f25431e6d1 139 }
darkumatar 0:55f25431e6d1 140 bool direct_y(int id,int ppp){
darkumatar 0:55f25431e6d1 141 direct_yy=ppp;
darkumatar 0:55f25431e6d1 142 pro2();
darkumatar 0:55f25431e6d1 143 return true;
darkumatar 0:55f25431e6d1 144 }
darkumatar 0:55f25431e6d1 145
darkumatar 0:55f25431e6d1 146 bool direct_tu(int id,int ppp){
darkumatar 0:55f25431e6d1 147 direct_turn=ppp;
darkumatar 0:55f25431e6d1 148 pro2();
darkumatar 0:55f25431e6d1 149 return true;
darkumatar 0:55f25431e6d1 150 }
darkumatar 0:55f25431e6d1 151
darkumatar 0:55f25431e6d1 152 bool limit(int a,int &b){
darkumatar 0:55f25431e6d1 153 return limit2(0,a);
darkumatar 0:55f25431e6d1 154 }
darkumatar 0:55f25431e6d1 155 bool abc1(int a,int &b){
darkumatar 0:55f25431e6d1 156 check_tepu+=1;
darkumatar 2:2feb9be14c08 157 ty=0;
darkumatar 0:55f25431e6d1 158 return add(0,a);
darkumatar 0:55f25431e6d1 159 }
darkumatar 0:55f25431e6d1 160 bool abc2(int a,int &b){
darkumatar 0:55f25431e6d1 161 check_tepu+=1;
darkumatar 0:55f25431e6d1 162 return add(1,a);
darkumatar 0:55f25431e6d1 163 }
darkumatar 0:55f25431e6d1 164 bool abc3(int a,int &b){
darkumatar 0:55f25431e6d1 165 check_tepu+=1;
darkumatar 0:55f25431e6d1 166 return add(2,a);
darkumatar 0:55f25431e6d1 167 }
darkumatar 0:55f25431e6d1 168 bool abc4(int a,int &b){
darkumatar 0:55f25431e6d1 169 check_tepu+=1;
darkumatar 0:55f25431e6d1 170 return add(3,a);
darkumatar 0:55f25431e6d1 171 }
darkumatar 0:55f25431e6d1 172
darkumatar 0:55f25431e6d1 173 bool abc9(int a,int &b){
darkumatar 0:55f25431e6d1 174 return auto_on(0,a);
darkumatar 0:55f25431e6d1 175 }
darkumatar 0:55f25431e6d1 176 bool abc10(int a,int &b){
darkumatar 0:55f25431e6d1 177 return auto_off(0,a);
darkumatar 0:55f25431e6d1 178 }
darkumatar 0:55f25431e6d1 179 bool abc11(int a,int &b){
darkumatar 0:55f25431e6d1 180 check_tepu+=1;
darkumatar 0:55f25431e6d1 181 return direct_x(0,a);
darkumatar 0:55f25431e6d1 182 }
darkumatar 0:55f25431e6d1 183 bool abc12(int a,int &b){
darkumatar 0:55f25431e6d1 184 check_tepu+=1;
darkumatar 0:55f25431e6d1 185 return direct_y(0,a);
darkumatar 0:55f25431e6d1 186 }
darkumatar 0:55f25431e6d1 187 bool abc13(int a,int &b){
darkumatar 0:55f25431e6d1 188 check_tepu+=1;
darkumatar 2:2feb9be14c08 189 ty=1;
darkumatar 0:55f25431e6d1 190 return direct_tu(0,a);
darkumatar 0:55f25431e6d1 191 }
darkumatar 0:55f25431e6d1 192 bool abc14(int a,int &b){
darkumatar 0:55f25431e6d1 193 if(a==1){
darkumatar 0:55f25431e6d1 194 liset_abc=true;
darkumatar 0:55f25431e6d1 195 }else{
darkumatar 0:55f25431e6d1 196 liset_abc=false;
darkumatar 0:55f25431e6d1 197 }
darkumatar 0:55f25431e6d1 198 return true;
darkumatar 0:55f25431e6d1 199 }
darkumatar 0:55f25431e6d1 200
darkumatar 0:55f25431e6d1 201
darkumatar 0:55f25431e6d1 202 int main() {
darkumatar 0:55f25431e6d1 203 Led1.write(1);
darkumatar 0:55f25431e6d1 204 Led2.write(0);
darkumatar 0:55f25431e6d1 205 slave.addCMD(1,limit);
darkumatar 0:55f25431e6d1 206 slave.addCMD(2,abc1);
darkumatar 0:55f25431e6d1 207 slave.addCMD(3,abc2);
darkumatar 0:55f25431e6d1 208 slave.addCMD(4,abc3);
darkumatar 0:55f25431e6d1 209 slave.addCMD(5,abc4);
darkumatar 0:55f25431e6d1 210 slave.addCMD(12,abc9);
darkumatar 0:55f25431e6d1 211 slave.addCMD(13,abc10);
darkumatar 0:55f25431e6d1 212 slave.addCMD(31,abc11);
darkumatar 0:55f25431e6d1 213 slave.addCMD(32,abc12);
darkumatar 0:55f25431e6d1 214 slave.addCMD(33,abc13);
darkumatar 0:55f25431e6d1 215 slave.addCMD(34,abc14);
darkumatar 1:9f57d402ea10 216 side_change=0;
darkumatar 0:55f25431e6d1 217
darkumatar 0:55f25431e6d1 218 goal_x=goal_x_right;
darkumatar 0:55f25431e6d1 219 goal_y=goal_y_right;
darkumatar 0:55f25431e6d1 220 goal_x2=goal_x2_right;
darkumatar 0:55f25431e6d1 221 goal_y2=goal_y2_right;
darkumatar 0:55f25431e6d1 222
darkumatar 2:2feb9be14c08 223 if(the_left==true){
darkumatar 0:55f25431e6d1 224 side_change=1;
darkumatar 0:55f25431e6d1 225 goal_x=goal_x_left;
darkumatar 0:55f25431e6d1 226 goal_y=goal_y_left;
darkumatar 0:55f25431e6d1 227 goal_x2=goal_x2_left;
darkumatar 0:55f25431e6d1 228 goal_y2=goal_y2_left;
darkumatar 0:55f25431e6d1 229 }
darkumatar 0:55f25431e6d1 230
darkumatar 0:55f25431e6d1 231
darkumatar 0:55f25431e6d1 232
darkumatar 0:55f25431e6d1 233
darkumatar 0:55f25431e6d1 234 int i;
darkumatar 0:55f25431e6d1 235 double x_period=0;
darkumatar 0:55f25431e6d1 236 double y_period=0;
darkumatar 0:55f25431e6d1 237 int after[4],before[4],before_parus[4],speed_pwm[4],after_pwm[4],before_pwm[4];
darkumatar 0:55f25431e6d1 238 double ca[4],P[4],I[4],D[4],integral[4];
darkumatar 0:55f25431e6d1 239 PwmOut motor_p[4]{PwmOut(PB_1),PwmOut(PB_13),PwmOut(PC_9),PwmOut(PB_7)};//モーター宣言 PB_6 PC_8
darkumatar 0:55f25431e6d1 240 PwmOut motor_m[4]{PwmOut(PA_11),PwmOut(PB_14),PwmOut(PC_8),PwmOut(PB_6)};//モーター宣言 PB_7 PC_9
darkumatar 0:55f25431e6d1 241 for(i=0;i<4;i++){
darkumatar 0:55f25431e6d1 242 motor_p[i].period_us(2048);
darkumatar 0:55f25431e6d1 243 motor_m[i].period_us(2048);
darkumatar 0:55f25431e6d1 244 target[i]=0;
darkumatar 0:55f25431e6d1 245 after[i]=0;
darkumatar 0:55f25431e6d1 246 before[i]=0;
darkumatar 0:55f25431e6d1 247 ca[i]=0;
darkumatar 0:55f25431e6d1 248 P[i]=0;
darkumatar 0:55f25431e6d1 249 I[i]=0;
darkumatar 0:55f25431e6d1 250 D[i]=0;
darkumatar 0:55f25431e6d1 251 before_parus[i]=0;
darkumatar 0:55f25431e6d1 252 integral[i]=0;
darkumatar 0:55f25431e6d1 253 speed_pwm[i]=0;
darkumatar 0:55f25431e6d1 254 after_pwm[i]=0;
darkumatar 0:55f25431e6d1 255 before_pwm[i]=0;
darkumatar 0:55f25431e6d1 256 }
darkumatar 0:55f25431e6d1 257 Timer name;
darkumatar 0:55f25431e6d1 258 name.start();
darkumatar 0:55f25431e6d1 259 gyro.start();
darkumatar 0:55f25431e6d1 260 double angle=0;
darkumatar 0:55f25431e6d1 261 double goal_angle1=0;
darkumatar 0:55f25431e6d1 262 Led1.write(1);
darkumatar 0:55f25431e6d1 263 while(limit_switch==true) {
darkumatar 0:55f25431e6d1 264 angle=gyro.yaw-90.00000;
darkumatar 0:55f25431e6d1 265 if(auto_swich==true){
darkumatar 0:55f25431e6d1 266 goal_angle1=-1.0*atan((goal_x2-x_period)/(goal_y2-y_period))/M_PI*180.0;
darkumatar 0:55f25431e6d1 267
darkumatar 0:55f25431e6d1 268 if(side_change==0){
darkumatar 0:55f25431e6d1 269 if(goal_angle1>0){
darkumatar 0:55f25431e6d1 270 goal_angle1-=180.0;
darkumatar 0:55f25431e6d1 271 }else{
darkumatar 0:55f25431e6d1 272 goal_angle1+=180.0;
darkumatar 0:55f25431e6d1 273 }
darkumatar 0:55f25431e6d1 274 }
darkumatar 0:55f25431e6d1 275
darkumatar 0:55f25431e6d1 276
darkumatar 0:55f25431e6d1 277 if(step==0&&((sqrt((goal_y-y_period)*(goal_y-y_period)+(goal_x-x_period)*(goal_x-x_period))>1000)|| (sqrt((goal_y-y_period)*(goal_y-y_period)+(goal_x-x_period)*(goal_x-x_period))<-1000))){
darkumatar 0:55f25431e6d1 278 pro3(-test_ang(goal_angle1-gyro.yaw),test_limit(goal_x-x_period),test_limit(goal_y-y_period));
darkumatar 0:55f25431e6d1 279 }else if(step>=0&&step<60){
darkumatar 0:55f25431e6d1 280 for(i=0;i<4;i++){
darkumatar 0:55f25431e6d1 281 target[i]=0;
darkumatar 0:55f25431e6d1 282 motor_p[i]=0;
darkumatar 0:55f25431e6d1 283 motor_m[i]=0;
darkumatar 0:55f25431e6d1 284 }
darkumatar 2:2feb9be14c08 285
darkumatar 0:55f25431e6d1 286 pro3(-test_ang(goal_angle1-gyro.yaw),test_limit(goal_x-x_period),test_limit(goal_y-y_period));
darkumatar 0:55f25431e6d1 287 }else if(step==60&&((sqrt((goal_y-y_period)*(goal_y-y_period)+(goal_x-x_period)*(goal_x-x_period))-sqrt(period_r*period_r)>1000)|| (sqrt((goal_y-y_period)*(goal_y-y_period)+(goal_x-x_period)*(goal_x-x_period))-sqrt(period_r*period_r)<-1000))){
darkumatar 0:55f25431e6d1 288
darkumatar 0:55f25431e6d1 289
darkumatar 0:55f25431e6d1 290 }else {
darkumatar 0:55f25431e6d1 291 auto_swich=false;
darkumatar 0:55f25431e6d1 292 }
darkumatar 0:55f25431e6d1 293
darkumatar 0:55f25431e6d1 294
darkumatar 0:55f25431e6d1 295 }
darkumatar 0:55f25431e6d1 296
darkumatar 0:55f25431e6d1 297 for(i=0;i<4;i++){
darkumatar 0:55f25431e6d1 298 after_pwm[i]=rote[i].get();
darkumatar 0:55f25431e6d1 299 after[i]=v[i].get();//ロリコンから値読み取り
darkumatar 0:55f25431e6d1 300 integral[i]+= (((((target[i]/10.0-(after[i]-before[i]))+ before_parus[i])*0.1)/2.0)/102.40);//積分の所
darkumatar 0:55f25431e6d1 301 P[i]=0.05*(target[i]/10.0-(after[i]-before[i]))/102.40;//比例
darkumatar 0:55f25431e6d1 302 D[i]=0.0001*((((target[i]/10.0-(after[i]-before[i]))- before_parus[i])/0.1)/102.40);//微分
darkumatar 0:55f25431e6d1 303 I[i]=0.0001*integral[i];//積分
darkumatar 0:55f25431e6d1 304 ca[i]=ca[i]+P[i]+I[i]+D[i];//足し合わせる
darkumatar 0:55f25431e6d1 305 if(ca[i]>0.4){ca[i]=0.4;}
darkumatar 0:55f25431e6d1 306 if(ca[i]<-0.4){ca[i]=-0.4;}
darkumatar 0:55f25431e6d1 307 if(0.03>ca[i]&&ca[i]>-0.03){ca[i]=0;}
darkumatar 0:55f25431e6d1 308 motor_p[i]=ca[i];
darkumatar 0:55f25431e6d1 309 motor_m[i]=ca[i]*-1.0;
darkumatar 0:55f25431e6d1 310 speed_pwm[i]=after_pwm[i]-before_pwm[i];
darkumatar 0:55f25431e6d1 311 before_parus[i]=target[i]/10.0-(after[i]-before[i]);
darkumatar 0:55f25431e6d1 312 before[i]=after[i];
darkumatar 0:55f25431e6d1 313 before_pwm[i]=after_pwm[i];
darkumatar 0:55f25431e6d1 314 }
darkumatar 0:55f25431e6d1 315 x_period+=(((speed_pwm[0]-speed_pwm[2])*cos(M_PI/180.0*angle)+(speed_pwm[1]-speed_pwm[3])*cos(M_PI/180.0*(angle+90.0))*(-1.0))/2);
darkumatar 0:55f25431e6d1 316 y_period+=(((speed_pwm[0]-speed_pwm[2])*sin(M_PI/180.0*angle)+(speed_pwm[1]-speed_pwm[3])*sin(M_PI/180.0*(angle+90.0))*(-1.0))/2);
darkumatar 0:55f25431e6d1 317
darkumatar 0:55f25431e6d1 318 if(liset_abc==true){
darkumatar 0:55f25431e6d1 319 x_period=0;
darkumatar 0:55f25431e6d1 320 y_period=0;
darkumatar 0:55f25431e6d1 321 gyro.reset(0);
darkumatar 0:55f25431e6d1 322
darkumatar 0:55f25431e6d1 323 }
darkumatar 0:55f25431e6d1 324
darkumatar 0:55f25431e6d1 325 //slave.port2.printf("%d\n",1);
darkumatar 0:55f25431e6d1 326 while(name.read_ms()<30){}
darkumatar 0:55f25431e6d1 327 //slave.send1(255,16,x_period*1);
darkumatar 0:55f25431e6d1 328 while(name.read_ms()<60){}
darkumatar 0:55f25431e6d1 329 //slave.send1(255,17,y_period*1);
darkumatar 0:55f25431e6d1 330 while(name.read_ms()<100){}
darkumatar 0:55f25431e6d1 331 //slave.send1(255,18,gyro.yaw*1);
darkumatar 2:2feb9be14c08 332 for(i = 0; i < 10; i++){
darkumatar 0:55f25431e6d1 333 npx.global_scale = 0.05f;
darkumatar 0:55f25431e6d1 334 npx.normalize = false;
darkumatar 2:2feb9be14c08 335 if(ty==0){
darkumatar 0:55f25431e6d1 336 npx.setPixelColor(i,0xFF0000);
darkumatar 0:55f25431e6d1 337 }else {
darkumatar 0:55f25431e6d1 338 npx.setPixelColor(i,0x0000FF);
darkumatar 0:55f25431e6d1 339 }
darkumatar 0:55f25431e6d1 340 }
darkumatar 2:2feb9be14c08 341 for(i = 10; i < 20; i++){
darkumatar 0:55f25431e6d1 342 npx.global_scale = 0.05f;
darkumatar 0:55f25431e6d1 343 npx.normalize = false;
darkumatar 0:55f25431e6d1 344 if(auto_swich){
darkumatar 0:55f25431e6d1 345 npx.setPixelColor(i,0xFFFFFF);
darkumatar 0:55f25431e6d1 346 }else {
darkumatar 0:55f25431e6d1 347 npx.setPixelColor(i,0x00FF00);
darkumatar 0:55f25431e6d1 348 }
darkumatar 0:55f25431e6d1 349 }
darkumatar 2:2feb9be14c08 350 for(i = 20; i < 30; i++){
darkumatar 0:55f25431e6d1 351 npx.global_scale = 0.05f;
darkumatar 0:55f25431e6d1 352 npx.normalize = false;
darkumatar 0:55f25431e6d1 353 if(side_change==0){
darkumatar 0:55f25431e6d1 354 npx.setPixelColor(i,0xFF00FF);
darkumatar 0:55f25431e6d1 355 }else {
darkumatar 0:55f25431e6d1 356 npx.setPixelColor(i,0xFFFF00);
darkumatar 0:55f25431e6d1 357 }
darkumatar 0:55f25431e6d1 358 }
darkumatar 0:55f25431e6d1 359 npx.show();
darkumatar 0:55f25431e6d1 360
darkumatar 0:55f25431e6d1 361
darkumatar 0:55f25431e6d1 362 if(check_tepu==0){
darkumatar 0:55f25431e6d1 363 auto_mode+=1;
darkumatar 0:55f25431e6d1 364 Led2.write(1);
darkumatar 0:55f25431e6d1 365 }else {
darkumatar 0:55f25431e6d1 366 auto_mode=0;
darkumatar 0:55f25431e6d1 367 Led2.write(0);
darkumatar 0:55f25431e6d1 368 }
darkumatar 0:55f25431e6d1 369 if(auto_mode>1){
darkumatar 0:55f25431e6d1 370 limit_switch=false;
darkumatar 0:55f25431e6d1 371 }
darkumatar 0:55f25431e6d1 372 check_tepu=0;
darkumatar 0:55f25431e6d1 373 gyro.update();
darkumatar 0:55f25431e6d1 374 name.reset();
darkumatar 0:55f25431e6d1 375 }
darkumatar 0:55f25431e6d1 376 while(1){
darkumatar 0:55f25431e6d1 377 Led3.write(1);
darkumatar 0:55f25431e6d1 378 for(i=0;i<4;i++){
darkumatar 0:55f25431e6d1 379 target[i]=0;
darkumatar 0:55f25431e6d1 380 motor_p[i]=0;
darkumatar 0:55f25431e6d1 381 motor_m[i]=0;
darkumatar 0:55f25431e6d1 382 npx.global_scale = 0.05f;
darkumatar 0:55f25431e6d1 383 npx.normalize = false;
darkumatar 0:55f25431e6d1 384 npx.setPixelColor(i,0x00FFFF);
darkumatar 0:55f25431e6d1 385 }
darkumatar 2:2feb9be14c08 386 for(i=4;i<30;i++){
darkumatar 2:2feb9be14c08 387 npx.global_scale = 0.05f;
darkumatar 2:2feb9be14c08 388 npx.normalize = false;
darkumatar 2:2feb9be14c08 389 npx.setPixelColor(i,0x00FFFF);
darkumatar 2:2feb9be14c08 390 }
darkumatar 0:55f25431e6d1 391 npx.show();
darkumatar 0:55f25431e6d1 392 }
darkumatar 0:55f25431e6d1 393 }