master
Dependencies: arrc_mbed
main.cpp@1:9f57d402ea10, 2022-04-12 (annotated)
- Committer:
- darkumatar
- Date:
- Tue Apr 12 10:42:14 2022 +0000
- Revision:
- 1:9f57d402ea10
- Parent:
- 0:55f25431e6d1
- Child:
- 2:2feb9be14c08
master
Who changed what in which revision?
User | Revision | Line number | New 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 | 0:55f25431e6d1 | 8 | double goal_x = -17700.0; |
darkumatar | 0:55f25431e6d1 | 9 | double goal_y = 28800.0; |
darkumatar | 0:55f25431e6d1 | 10 | |
darkumatar | 0:55f25431e6d1 | 11 | int goal_x2 = -8000000; |
darkumatar | 0:55f25431e6d1 | 12 | int goal_y2 = 10000000; |
darkumatar | 0:55f25431e6d1 | 13 | |
darkumatar | 0:55f25431e6d1 | 14 | #define goal_x_right -17700.0 |
darkumatar | 0:55f25431e6d1 | 15 | #define goal_y_right 28800.0//23800.0 |
darkumatar | 0:55f25431e6d1 | 16 | #define goal_x2_right -8000000 |
darkumatar | 0:55f25431e6d1 | 17 | #define goal_y2_right 10000000 |
darkumatar | 0:55f25431e6d1 | 18 | |
darkumatar | 0:55f25431e6d1 | 19 | #define goal_x_left -17700.0 |
darkumatar | 0:55f25431e6d1 | 20 | #define goal_y_left -23800.0 |
darkumatar | 0:55f25431e6d1 | 21 | #define goal_x2_left -8000000 |
darkumatar | 0:55f25431e6d1 | 22 | #define goal_y2_left -8000000 |
darkumatar | 0:55f25431e6d1 | 23 | |
darkumatar | 0:55f25431e6d1 | 24 | #define period_r 8000.0 |
darkumatar | 0:55f25431e6d1 | 25 | NeoPixelOut npx(PB_4,7); |
darkumatar | 0:55f25431e6d1 | 26 | I2C i2d(PB_3,PB_10); |
darkumatar | 0:55f25431e6d1 | 27 | GY521 gyro(i2d); |
darkumatar | 0:55f25431e6d1 | 28 | ScrpSlave slave(PC_12,PD_2 ,PH_1 ,SERIAL_TX,SERIAL_RX,0x0807f800);//srcslave設定 |
darkumatar | 0:55f25431e6d1 | 29 | 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 | 30 | 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 | 31 | int target[4];//target変数 この変数の値を目指すように動く |
darkumatar | 0:55f25431e6d1 | 32 | bool auto_swich = false; |
darkumatar | 0:55f25431e6d1 | 33 | bool limit_switch = true; |
darkumatar | 0:55f25431e6d1 | 34 | int step=0; |
darkumatar | 0:55f25431e6d1 | 35 | int auto_mode=0; |
darkumatar | 1:9f57d402ea10 | 36 | int side_change=0; |
darkumatar | 1:9f57d402ea10 | 37 | |
darkumatar | 1:9f57d402ea10 | 38 | |
darkumatar | 1:9f57d402ea10 | 39 | |
darkumatar | 1:9f57d402ea10 | 40 | |
darkumatar | 1:9f57d402ea10 | 41 | |
darkumatar | 1:9f57d402ea10 | 42 | |
darkumatar | 0:55f25431e6d1 | 43 | |
darkumatar | 0:55f25431e6d1 | 44 | int direct_xx=0; |
darkumatar | 0:55f25431e6d1 | 45 | int direct_yy=0; |
darkumatar | 0:55f25431e6d1 | 46 | int direct_turn=0; |
darkumatar | 0:55f25431e6d1 | 47 | |
darkumatar | 0:55f25431e6d1 | 48 | DigitalOut Led1(PB_2); |
darkumatar | 0:55f25431e6d1 | 49 | DigitalOut Led2(PC_6); |
darkumatar | 0:55f25431e6d1 | 50 | DigitalOut Led3(PB_15); |
darkumatar | 0:55f25431e6d1 | 51 | DigitalOut Led4(PA_10); |
darkumatar | 0:55f25431e6d1 | 52 | int check_tepu=0; |
darkumatar | 0:55f25431e6d1 | 53 | |
darkumatar | 0:55f25431e6d1 | 54 | bool limi=true; |
darkumatar | 0:55f25431e6d1 | 55 | bool liset_abc=false; |
darkumatar | 0:55f25431e6d1 | 56 | |
darkumatar | 0:55f25431e6d1 | 57 | |
darkumatar | 0:55f25431e6d1 | 58 | DigitalIn limitB(PB_12,PullUp); |
darkumatar | 0:55f25431e6d1 | 59 | |
darkumatar | 0:55f25431e6d1 | 60 | |
darkumatar | 0:55f25431e6d1 | 61 | |
darkumatar | 0:55f25431e6d1 | 62 | bool add(int id,int ppp){//速度を変えるやつ |
darkumatar | 0:55f25431e6d1 | 63 | Led4.write(0); |
darkumatar | 0:55f25431e6d1 | 64 | if(auto_swich==false&&limi==true){ |
darkumatar | 0:55f25431e6d1 | 65 | target[id]=30*ppp; |
darkumatar | 0:55f25431e6d1 | 66 | } |
darkumatar | 0:55f25431e6d1 | 67 | return true; |
darkumatar | 0:55f25431e6d1 | 68 | } |
darkumatar | 0:55f25431e6d1 | 69 | |
darkumatar | 0:55f25431e6d1 | 70 | 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 | 71 | if(ppp==1){ |
darkumatar | 0:55f25431e6d1 | 72 | auto_swich=true; |
darkumatar | 0:55f25431e6d1 | 73 | step=0; |
darkumatar | 0:55f25431e6d1 | 74 | } |
darkumatar | 0:55f25431e6d1 | 75 | return true; |
darkumatar | 0:55f25431e6d1 | 76 | } |
darkumatar | 0:55f25431e6d1 | 77 | |
darkumatar | 0:55f25431e6d1 | 78 | 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 | 79 | if(ppp==1){ |
darkumatar | 0:55f25431e6d1 | 80 | auto_swich=false; |
darkumatar | 0:55f25431e6d1 | 81 | step=0; |
darkumatar | 0:55f25431e6d1 | 82 | } |
darkumatar | 0:55f25431e6d1 | 83 | return true; |
darkumatar | 0:55f25431e6d1 | 84 | } |
darkumatar | 0:55f25431e6d1 | 85 | |
darkumatar | 0:55f25431e6d1 | 86 | 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 | 87 | double anglert=-135.000000000+180.0*side_change; |
darkumatar | 0:55f25431e6d1 | 88 | Led4.write(1); |
darkumatar | 0:55f25431e6d1 | 89 | for(int i=0;i<4;i++){ |
darkumatar | 0:55f25431e6d1 | 90 | 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 | 91 | |
darkumatar | 0:55f25431e6d1 | 92 | } |
darkumatar | 0:55f25431e6d1 | 93 | return true; |
darkumatar | 0:55f25431e6d1 | 94 | } |
darkumatar | 0:55f25431e6d1 | 95 | bool pro3(double goal_angle_ppp,int goal_x_speed,int goal_y_speed){ |
darkumatar | 0:55f25431e6d1 | 96 | double anglert=-135.000000000; |
darkumatar | 0:55f25431e6d1 | 97 | for(int i=0;i<4;i++){ |
darkumatar | 0:55f25431e6d1 | 98 | 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 | 99 | |
darkumatar | 0:55f25431e6d1 | 100 | } |
darkumatar | 0:55f25431e6d1 | 101 | return true; |
darkumatar | 0:55f25431e6d1 | 102 | } |
darkumatar | 0:55f25431e6d1 | 103 | int test_limit(int test_limilimi){ |
darkumatar | 0:55f25431e6d1 | 104 | test_limilimi=test_limilimi/100; |
darkumatar | 0:55f25431e6d1 | 105 | if(test_limilimi>64){ |
darkumatar | 0:55f25431e6d1 | 106 | test_limilimi=64; |
darkumatar | 0:55f25431e6d1 | 107 | } |
darkumatar | 0:55f25431e6d1 | 108 | if(test_limilimi<-64){ |
darkumatar | 0:55f25431e6d1 | 109 | test_limilimi=-64; |
darkumatar | 0:55f25431e6d1 | 110 | } |
darkumatar | 0:55f25431e6d1 | 111 | return test_limilimi; |
darkumatar | 0:55f25431e6d1 | 112 | } |
darkumatar | 0:55f25431e6d1 | 113 | |
darkumatar | 0:55f25431e6d1 | 114 | double test_ang(double test_limilimi){ |
darkumatar | 0:55f25431e6d1 | 115 | test_limilimi=test_limilimi*2; |
darkumatar | 0:55f25431e6d1 | 116 | if(test_limilimi>40){ |
darkumatar | 0:55f25431e6d1 | 117 | test_limilimi=40; |
darkumatar | 0:55f25431e6d1 | 118 | } |
darkumatar | 0:55f25431e6d1 | 119 | if(test_limilimi<-40){ |
darkumatar | 0:55f25431e6d1 | 120 | test_limilimi=-40; |
darkumatar | 0:55f25431e6d1 | 121 | } |
darkumatar | 0:55f25431e6d1 | 122 | return test_limilimi; |
darkumatar | 0:55f25431e6d1 | 123 | } |
darkumatar | 0:55f25431e6d1 | 124 | |
darkumatar | 0:55f25431e6d1 | 125 | bool limit2(int id,int ppp){ |
darkumatar | 0:55f25431e6d1 | 126 | if(ppp==1){ |
darkumatar | 0:55f25431e6d1 | 127 | limit_switch=false; |
darkumatar | 0:55f25431e6d1 | 128 | } |
darkumatar | 0:55f25431e6d1 | 129 | return true; |
darkumatar | 0:55f25431e6d1 | 130 | } |
darkumatar | 0:55f25431e6d1 | 131 | |
darkumatar | 0:55f25431e6d1 | 132 | bool direct_x(int id,int ppp){ |
darkumatar | 0:55f25431e6d1 | 133 | direct_xx=ppp; |
darkumatar | 0:55f25431e6d1 | 134 | pro2(); |
darkumatar | 0:55f25431e6d1 | 135 | return true; |
darkumatar | 0:55f25431e6d1 | 136 | } |
darkumatar | 0:55f25431e6d1 | 137 | bool direct_y(int id,int ppp){ |
darkumatar | 0:55f25431e6d1 | 138 | direct_yy=ppp; |
darkumatar | 0:55f25431e6d1 | 139 | pro2(); |
darkumatar | 0:55f25431e6d1 | 140 | return true; |
darkumatar | 0:55f25431e6d1 | 141 | } |
darkumatar | 0:55f25431e6d1 | 142 | |
darkumatar | 0:55f25431e6d1 | 143 | bool direct_tu(int id,int ppp){ |
darkumatar | 0:55f25431e6d1 | 144 | direct_turn=ppp; |
darkumatar | 0:55f25431e6d1 | 145 | pro2(); |
darkumatar | 0:55f25431e6d1 | 146 | return true; |
darkumatar | 0:55f25431e6d1 | 147 | } |
darkumatar | 0:55f25431e6d1 | 148 | |
darkumatar | 0:55f25431e6d1 | 149 | bool limit(int a,int &b){ |
darkumatar | 0:55f25431e6d1 | 150 | return limit2(0,a); |
darkumatar | 0:55f25431e6d1 | 151 | } |
darkumatar | 0:55f25431e6d1 | 152 | bool abc1(int a,int &b){ |
darkumatar | 0:55f25431e6d1 | 153 | check_tepu+=1; |
darkumatar | 0:55f25431e6d1 | 154 | return add(0,a); |
darkumatar | 0:55f25431e6d1 | 155 | } |
darkumatar | 0:55f25431e6d1 | 156 | bool abc2(int a,int &b){ |
darkumatar | 0:55f25431e6d1 | 157 | check_tepu+=1; |
darkumatar | 0:55f25431e6d1 | 158 | return add(1,a); |
darkumatar | 0:55f25431e6d1 | 159 | } |
darkumatar | 0:55f25431e6d1 | 160 | bool abc3(int a,int &b){ |
darkumatar | 0:55f25431e6d1 | 161 | check_tepu+=1; |
darkumatar | 0:55f25431e6d1 | 162 | return add(2,a); |
darkumatar | 0:55f25431e6d1 | 163 | } |
darkumatar | 0:55f25431e6d1 | 164 | bool abc4(int a,int &b){ |
darkumatar | 0:55f25431e6d1 | 165 | check_tepu+=1; |
darkumatar | 0:55f25431e6d1 | 166 | return add(3,a); |
darkumatar | 0:55f25431e6d1 | 167 | } |
darkumatar | 0:55f25431e6d1 | 168 | |
darkumatar | 0:55f25431e6d1 | 169 | bool abc9(int a,int &b){ |
darkumatar | 0:55f25431e6d1 | 170 | return auto_on(0,a); |
darkumatar | 0:55f25431e6d1 | 171 | } |
darkumatar | 0:55f25431e6d1 | 172 | bool abc10(int a,int &b){ |
darkumatar | 0:55f25431e6d1 | 173 | return auto_off(0,a); |
darkumatar | 0:55f25431e6d1 | 174 | } |
darkumatar | 0:55f25431e6d1 | 175 | bool abc11(int a,int &b){ |
darkumatar | 0:55f25431e6d1 | 176 | check_tepu+=1; |
darkumatar | 0:55f25431e6d1 | 177 | return direct_x(0,a); |
darkumatar | 0:55f25431e6d1 | 178 | } |
darkumatar | 0:55f25431e6d1 | 179 | bool abc12(int a,int &b){ |
darkumatar | 0:55f25431e6d1 | 180 | check_tepu+=1; |
darkumatar | 0:55f25431e6d1 | 181 | return direct_y(0,a); |
darkumatar | 0:55f25431e6d1 | 182 | } |
darkumatar | 0:55f25431e6d1 | 183 | bool abc13(int a,int &b){ |
darkumatar | 0:55f25431e6d1 | 184 | check_tepu+=1; |
darkumatar | 0:55f25431e6d1 | 185 | return direct_tu(0,a); |
darkumatar | 0:55f25431e6d1 | 186 | } |
darkumatar | 0:55f25431e6d1 | 187 | bool abc14(int a,int &b){ |
darkumatar | 0:55f25431e6d1 | 188 | if(a==1){ |
darkumatar | 0:55f25431e6d1 | 189 | liset_abc=true; |
darkumatar | 0:55f25431e6d1 | 190 | }else{ |
darkumatar | 0:55f25431e6d1 | 191 | liset_abc=false; |
darkumatar | 0:55f25431e6d1 | 192 | } |
darkumatar | 0:55f25431e6d1 | 193 | return true; |
darkumatar | 0:55f25431e6d1 | 194 | } |
darkumatar | 0:55f25431e6d1 | 195 | |
darkumatar | 0:55f25431e6d1 | 196 | |
darkumatar | 0:55f25431e6d1 | 197 | int main() { |
darkumatar | 0:55f25431e6d1 | 198 | Led1.write(1); |
darkumatar | 0:55f25431e6d1 | 199 | Led2.write(0); |
darkumatar | 0:55f25431e6d1 | 200 | slave.addCMD(1,limit); |
darkumatar | 0:55f25431e6d1 | 201 | slave.addCMD(2,abc1); |
darkumatar | 0:55f25431e6d1 | 202 | slave.addCMD(3,abc2); |
darkumatar | 0:55f25431e6d1 | 203 | slave.addCMD(4,abc3); |
darkumatar | 0:55f25431e6d1 | 204 | slave.addCMD(5,abc4); |
darkumatar | 0:55f25431e6d1 | 205 | slave.addCMD(12,abc9); |
darkumatar | 0:55f25431e6d1 | 206 | slave.addCMD(13,abc10); |
darkumatar | 0:55f25431e6d1 | 207 | slave.addCMD(31,abc11); |
darkumatar | 0:55f25431e6d1 | 208 | slave.addCMD(32,abc12); |
darkumatar | 0:55f25431e6d1 | 209 | slave.addCMD(33,abc13); |
darkumatar | 0:55f25431e6d1 | 210 | slave.addCMD(34,abc14); |
darkumatar | 1:9f57d402ea10 | 211 | side_change=0; |
darkumatar | 0:55f25431e6d1 | 212 | |
darkumatar | 0:55f25431e6d1 | 213 | goal_x=goal_x_right; |
darkumatar | 0:55f25431e6d1 | 214 | goal_y=goal_y_right; |
darkumatar | 0:55f25431e6d1 | 215 | goal_x2=goal_x2_right; |
darkumatar | 0:55f25431e6d1 | 216 | goal_y2=goal_y2_right; |
darkumatar | 0:55f25431e6d1 | 217 | |
darkumatar | 0:55f25431e6d1 | 218 | if(limitB){ |
darkumatar | 0:55f25431e6d1 | 219 | side_change=1; |
darkumatar | 0:55f25431e6d1 | 220 | goal_x=goal_x_left; |
darkumatar | 0:55f25431e6d1 | 221 | goal_y=goal_y_left; |
darkumatar | 0:55f25431e6d1 | 222 | goal_x2=goal_x2_left; |
darkumatar | 0:55f25431e6d1 | 223 | goal_y2=goal_y2_left; |
darkumatar | 0:55f25431e6d1 | 224 | } |
darkumatar | 0:55f25431e6d1 | 225 | |
darkumatar | 0:55f25431e6d1 | 226 | |
darkumatar | 0:55f25431e6d1 | 227 | |
darkumatar | 0:55f25431e6d1 | 228 | |
darkumatar | 0:55f25431e6d1 | 229 | int i; |
darkumatar | 0:55f25431e6d1 | 230 | double x_period=0; |
darkumatar | 0:55f25431e6d1 | 231 | double y_period=0; |
darkumatar | 0:55f25431e6d1 | 232 | int after[4],before[4],before_parus[4],speed_pwm[4],after_pwm[4],before_pwm[4]; |
darkumatar | 0:55f25431e6d1 | 233 | double ca[4],P[4],I[4],D[4],integral[4]; |
darkumatar | 0:55f25431e6d1 | 234 | 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 | 235 | 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 | 236 | for(i=0;i<4;i++){ |
darkumatar | 0:55f25431e6d1 | 237 | motor_p[i].period_us(2048); |
darkumatar | 0:55f25431e6d1 | 238 | motor_m[i].period_us(2048); |
darkumatar | 0:55f25431e6d1 | 239 | target[i]=0; |
darkumatar | 0:55f25431e6d1 | 240 | after[i]=0; |
darkumatar | 0:55f25431e6d1 | 241 | before[i]=0; |
darkumatar | 0:55f25431e6d1 | 242 | ca[i]=0; |
darkumatar | 0:55f25431e6d1 | 243 | P[i]=0; |
darkumatar | 0:55f25431e6d1 | 244 | I[i]=0; |
darkumatar | 0:55f25431e6d1 | 245 | D[i]=0; |
darkumatar | 0:55f25431e6d1 | 246 | before_parus[i]=0; |
darkumatar | 0:55f25431e6d1 | 247 | integral[i]=0; |
darkumatar | 0:55f25431e6d1 | 248 | speed_pwm[i]=0; |
darkumatar | 0:55f25431e6d1 | 249 | after_pwm[i]=0; |
darkumatar | 0:55f25431e6d1 | 250 | before_pwm[i]=0; |
darkumatar | 0:55f25431e6d1 | 251 | } |
darkumatar | 0:55f25431e6d1 | 252 | Timer name; |
darkumatar | 0:55f25431e6d1 | 253 | name.start(); |
darkumatar | 0:55f25431e6d1 | 254 | gyro.start(); |
darkumatar | 0:55f25431e6d1 | 255 | double angle=0; |
darkumatar | 0:55f25431e6d1 | 256 | double goal_angle1=0; |
darkumatar | 0:55f25431e6d1 | 257 | Led1.write(1); |
darkumatar | 0:55f25431e6d1 | 258 | while(limit_switch==true) { |
darkumatar | 0:55f25431e6d1 | 259 | angle=gyro.yaw-90.00000; |
darkumatar | 0:55f25431e6d1 | 260 | if(auto_swich==true){ |
darkumatar | 0:55f25431e6d1 | 261 | goal_angle1=-1.0*atan((goal_x2-x_period)/(goal_y2-y_period))/M_PI*180.0; |
darkumatar | 0:55f25431e6d1 | 262 | |
darkumatar | 0:55f25431e6d1 | 263 | if(side_change==0){ |
darkumatar | 0:55f25431e6d1 | 264 | if(goal_angle1>0){ |
darkumatar | 0:55f25431e6d1 | 265 | goal_angle1-=180.0; |
darkumatar | 0:55f25431e6d1 | 266 | }else{ |
darkumatar | 0:55f25431e6d1 | 267 | goal_angle1+=180.0; |
darkumatar | 0:55f25431e6d1 | 268 | } |
darkumatar | 0:55f25431e6d1 | 269 | } |
darkumatar | 0:55f25431e6d1 | 270 | |
darkumatar | 0:55f25431e6d1 | 271 | |
darkumatar | 0:55f25431e6d1 | 272 | 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 | 273 | pro3(-test_ang(goal_angle1-gyro.yaw),test_limit(goal_x-x_period),test_limit(goal_y-y_period)); |
darkumatar | 0:55f25431e6d1 | 274 | }else if(step>=0&&step<60){ |
darkumatar | 0:55f25431e6d1 | 275 | for(i=0;i<4;i++){ |
darkumatar | 0:55f25431e6d1 | 276 | target[i]=0; |
darkumatar | 0:55f25431e6d1 | 277 | motor_p[i]=0; |
darkumatar | 0:55f25431e6d1 | 278 | motor_m[i]=0; |
darkumatar | 0:55f25431e6d1 | 279 | } |
darkumatar | 0:55f25431e6d1 | 280 | pro3(-test_ang(goal_angle1-gyro.yaw),test_limit(goal_x-x_period),test_limit(goal_y-y_period)); |
darkumatar | 0:55f25431e6d1 | 281 | }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 | 282 | |
darkumatar | 0:55f25431e6d1 | 283 | |
darkumatar | 0:55f25431e6d1 | 284 | }else { |
darkumatar | 0:55f25431e6d1 | 285 | auto_swich=false; |
darkumatar | 0:55f25431e6d1 | 286 | } |
darkumatar | 0:55f25431e6d1 | 287 | |
darkumatar | 0:55f25431e6d1 | 288 | |
darkumatar | 0:55f25431e6d1 | 289 | } |
darkumatar | 0:55f25431e6d1 | 290 | |
darkumatar | 0:55f25431e6d1 | 291 | for(i=0;i<4;i++){ |
darkumatar | 0:55f25431e6d1 | 292 | after_pwm[i]=rote[i].get(); |
darkumatar | 0:55f25431e6d1 | 293 | after[i]=v[i].get();//ロリコンから値読み取り |
darkumatar | 0:55f25431e6d1 | 294 | 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 | 295 | P[i]=0.05*(target[i]/10.0-(after[i]-before[i]))/102.40;//比例 |
darkumatar | 0:55f25431e6d1 | 296 | D[i]=0.0001*((((target[i]/10.0-(after[i]-before[i]))- before_parus[i])/0.1)/102.40);//微分 |
darkumatar | 0:55f25431e6d1 | 297 | I[i]=0.0001*integral[i];//積分 |
darkumatar | 0:55f25431e6d1 | 298 | ca[i]=ca[i]+P[i]+I[i]+D[i];//足し合わせる |
darkumatar | 0:55f25431e6d1 | 299 | if(ca[i]>0.4){ca[i]=0.4;} |
darkumatar | 0:55f25431e6d1 | 300 | if(ca[i]<-0.4){ca[i]=-0.4;} |
darkumatar | 0:55f25431e6d1 | 301 | if(0.03>ca[i]&&ca[i]>-0.03){ca[i]=0;} |
darkumatar | 0:55f25431e6d1 | 302 | motor_p[i]=ca[i]; |
darkumatar | 0:55f25431e6d1 | 303 | motor_m[i]=ca[i]*-1.0; |
darkumatar | 0:55f25431e6d1 | 304 | speed_pwm[i]=after_pwm[i]-before_pwm[i]; |
darkumatar | 0:55f25431e6d1 | 305 | before_parus[i]=target[i]/10.0-(after[i]-before[i]); |
darkumatar | 0:55f25431e6d1 | 306 | before[i]=after[i]; |
darkumatar | 0:55f25431e6d1 | 307 | before_pwm[i]=after_pwm[i]; |
darkumatar | 0:55f25431e6d1 | 308 | } |
darkumatar | 0:55f25431e6d1 | 309 | 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 | 310 | 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 | 311 | |
darkumatar | 0:55f25431e6d1 | 312 | if(liset_abc==true){ |
darkumatar | 0:55f25431e6d1 | 313 | x_period=0; |
darkumatar | 0:55f25431e6d1 | 314 | y_period=0; |
darkumatar | 0:55f25431e6d1 | 315 | gyro.reset(0); |
darkumatar | 0:55f25431e6d1 | 316 | |
darkumatar | 0:55f25431e6d1 | 317 | } |
darkumatar | 0:55f25431e6d1 | 318 | |
darkumatar | 0:55f25431e6d1 | 319 | //slave.port2.printf("%d\n",1); |
darkumatar | 0:55f25431e6d1 | 320 | while(name.read_ms()<30){} |
darkumatar | 0:55f25431e6d1 | 321 | //slave.send1(255,16,x_period*1); |
darkumatar | 0:55f25431e6d1 | 322 | while(name.read_ms()<60){} |
darkumatar | 0:55f25431e6d1 | 323 | //slave.send1(255,17,y_period*1); |
darkumatar | 0:55f25431e6d1 | 324 | while(name.read_ms()<100){} |
darkumatar | 0:55f25431e6d1 | 325 | //slave.send1(255,18,gyro.yaw*1); |
darkumatar | 0:55f25431e6d1 | 326 | for(i = 0; i < 2; i++){ |
darkumatar | 0:55f25431e6d1 | 327 | npx.global_scale = 0.05f; |
darkumatar | 0:55f25431e6d1 | 328 | npx.normalize = false; |
darkumatar | 0:55f25431e6d1 | 329 | if(check_tepu>0){ |
darkumatar | 0:55f25431e6d1 | 330 | npx.setPixelColor(i,0xFF0000); |
darkumatar | 0:55f25431e6d1 | 331 | }else { |
darkumatar | 0:55f25431e6d1 | 332 | npx.setPixelColor(i,0x0000FF); |
darkumatar | 0:55f25431e6d1 | 333 | } |
darkumatar | 0:55f25431e6d1 | 334 | } |
darkumatar | 0:55f25431e6d1 | 335 | for(i = 2; i < 4; i++){ |
darkumatar | 0:55f25431e6d1 | 336 | npx.global_scale = 0.05f; |
darkumatar | 0:55f25431e6d1 | 337 | npx.normalize = false; |
darkumatar | 0:55f25431e6d1 | 338 | if(auto_swich){ |
darkumatar | 0:55f25431e6d1 | 339 | npx.setPixelColor(i,0xFFFFFF); |
darkumatar | 0:55f25431e6d1 | 340 | }else { |
darkumatar | 0:55f25431e6d1 | 341 | npx.setPixelColor(i,0x00FF00); |
darkumatar | 0:55f25431e6d1 | 342 | } |
darkumatar | 0:55f25431e6d1 | 343 | } |
darkumatar | 0:55f25431e6d1 | 344 | for(i = 4; i < 6; i++){ |
darkumatar | 0:55f25431e6d1 | 345 | npx.global_scale = 0.05f; |
darkumatar | 0:55f25431e6d1 | 346 | npx.normalize = false; |
darkumatar | 0:55f25431e6d1 | 347 | if(side_change==0){ |
darkumatar | 0:55f25431e6d1 | 348 | npx.setPixelColor(i,0xFF00FF); |
darkumatar | 0:55f25431e6d1 | 349 | }else { |
darkumatar | 0:55f25431e6d1 | 350 | npx.setPixelColor(i,0xFFFF00); |
darkumatar | 0:55f25431e6d1 | 351 | } |
darkumatar | 0:55f25431e6d1 | 352 | } |
darkumatar | 0:55f25431e6d1 | 353 | npx.show(); |
darkumatar | 0:55f25431e6d1 | 354 | |
darkumatar | 0:55f25431e6d1 | 355 | |
darkumatar | 0:55f25431e6d1 | 356 | if(check_tepu==0){ |
darkumatar | 0:55f25431e6d1 | 357 | auto_mode+=1; |
darkumatar | 0:55f25431e6d1 | 358 | Led2.write(1); |
darkumatar | 0:55f25431e6d1 | 359 | }else { |
darkumatar | 0:55f25431e6d1 | 360 | auto_mode=0; |
darkumatar | 0:55f25431e6d1 | 361 | Led2.write(0); |
darkumatar | 0:55f25431e6d1 | 362 | } |
darkumatar | 0:55f25431e6d1 | 363 | if(auto_mode>1){ |
darkumatar | 0:55f25431e6d1 | 364 | limit_switch=false; |
darkumatar | 0:55f25431e6d1 | 365 | } |
darkumatar | 0:55f25431e6d1 | 366 | check_tepu=0; |
darkumatar | 0:55f25431e6d1 | 367 | gyro.update(); |
darkumatar | 0:55f25431e6d1 | 368 | name.reset(); |
darkumatar | 0:55f25431e6d1 | 369 | } |
darkumatar | 0:55f25431e6d1 | 370 | while(1){ |
darkumatar | 0:55f25431e6d1 | 371 | Led3.write(1); |
darkumatar | 0:55f25431e6d1 | 372 | for(i=0;i<4;i++){ |
darkumatar | 0:55f25431e6d1 | 373 | target[i]=0; |
darkumatar | 0:55f25431e6d1 | 374 | motor_p[i]=0; |
darkumatar | 0:55f25431e6d1 | 375 | motor_m[i]=0; |
darkumatar | 0:55f25431e6d1 | 376 | npx.global_scale = 0.05f; |
darkumatar | 0:55f25431e6d1 | 377 | npx.normalize = false; |
darkumatar | 0:55f25431e6d1 | 378 | npx.setPixelColor(i,0x00FFFF); |
darkumatar | 0:55f25431e6d1 | 379 | } |
darkumatar | 0:55f25431e6d1 | 380 | npx.show(); |
darkumatar | 0:55f25431e6d1 | 381 | } |
darkumatar | 0:55f25431e6d1 | 382 | } |