go-roboB / ashimawari_aa2_right

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Dependencies:   arrc_mbed

main.cpp@0:1c12315a0341, 2022-04-01 (annotated)

Committer:
darkumatar
Date:
Fri Apr 01 00:22:03 2022 +0000
Revision:
0:1c12315a0341
right

Who changed what in which revision?

UserRevisionLine numberNew contents of line
darkumatar 0:1c12315a0341 1 #include "mbed.h"
darkumatar 0:1c12315a0341 2 #include"scrp_slave.hpp"
darkumatar 0:1c12315a0341 3 #include "rotary_inc.hpp"
darkumatar 0:1c12315a0341 4 #include"cmath"
darkumatar 0:1c12315a0341 5 #include"gy521.hpp"
darkumatar 0:1c12315a0341 6 #include "neopixel.h"
darkumatar 0:1c12315a0341 7
darkumatar 0:1c12315a0341 8
darkumatar 0:1c12315a0341 9 #define goal_x 17700.0
darkumatar 0:1c12315a0341 10 #define goal_y -23800.0
darkumatar 0:1c12315a0341 11 #define goal_x2 8000000
darkumatar 0:1c12315a0341 12 #define goal_y2 -8000000
darkumatar 0:1c12315a0341 13 #define period_r 8000.0
darkumatar 0:1c12315a0341 14 NeoPixelOut npx(PB_4,7);-
darkumatar 0:1c12315a0341 15 I2C i2d(PB_3,PB_10);
darkumatar 0:1c12315a0341 16 GY521 gyro(i2d);
darkumatar 0:1c12315a0341 17 ScrpSlave slave(PC_12,PD_2 ,PH_1 ,SERIAL_TX,SERIAL_RX,0x0807f800);//srcslave設定
darkumatar 0:1c12315a0341 18 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 0:1c12315a0341 19 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 0:1c12315a0341 20 int target[4];//target変数　この変数の値を目指すように動く
darkumatar 0:1c12315a0341 21 int angler=90;
darkumatar 0:1c12315a0341 22 int speedr=1024;
darkumatar 0:1c12315a0341 23 bool auto_swich = false;
darkumatar 0:1c12315a0341 24 bool limit_switch = true;
darkumatar 0:1c12315a0341 25 int step=0;
darkumatar 0:1c12315a0341 26 int auto_mode=0;
darkumatar 0:1c12315a0341 27
darkumatar 0:1c12315a0341 28 int direct_xx=0;
darkumatar 0:1c12315a0341 29 int direct_yy=0;
darkumatar 0:1c12315a0341 30 int direct_turn=0;
darkumatar 0:1c12315a0341 31
darkumatar 0:1c12315a0341 32 DigitalOut Led1(PB_2);
darkumatar 0:1c12315a0341 33 DigitalOut Led2(PC_6);
darkumatar 0:1c12315a0341 34 DigitalOut Led3(PB_15);
darkumatar 0:1c12315a0341 35 DigitalOut Led4(PA_10);
darkumatar 0:1c12315a0341 36 int check_tepu=0;
darkumatar 0:1c12315a0341 37
darkumatar 0:1c12315a0341 38 bool limi=true;
darkumatar 0:1c12315a0341 39
darkumatar 0:1c12315a0341 40
darkumatar 0:1c12315a0341 41
darkumatar 0:1c12315a0341 42 DigitalIn limitB(PB_12,PullUp);
darkumatar 0:1c12315a0341 43
darkumatar 0:1c12315a0341 44
darkumatar 0:1c12315a0341 45
darkumatar 0:1c12315a0341 46 bool add(int id,int ppp){//速度を変えるやつ
darkumatar 0:1c12315a0341 47 Led4.write(0);
darkumatar 0:1c12315a0341 48 if(auto_swich==false&&limi==true){
darkumatar 0:1c12315a0341 49 target[id]=30*ppp;
darkumatar 0:1c12315a0341 50 }
darkumatar 0:1c12315a0341 51 return true;
darkumatar 0:1c12315a0341 52 }
darkumatar 0:1c12315a0341 53
darkumatar 0:1c12315a0341 54 bool anglez(int id,int ppp){//おまけで作ったやつ　アングルを決めてその方向へ走る
darkumatar 0:1c12315a0341 55 angler=ppp;
darkumatar 0:1c12315a0341 56 for(int i=0;i<4;i++){
darkumatar 0:1c12315a0341 57 //target[i]=(sin(M_PI/180.0*(angler+90*i))+cos(M_PI/180.0*(angler+90*i)))*speedr;
darkumatar 0:1c12315a0341 58
darkumatar 0:1c12315a0341 59 }
darkumatar 0:1c12315a0341 60 return true;
darkumatar 0:1c12315a0341 61 }
darkumatar 0:1c12315a0341 62
darkumatar 0:1c12315a0341 63 bool speedz(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 0:1c12315a0341 64 speedr=ppp;
darkumatar 0:1c12315a0341 65 for(int i=0;i<4;i++){
darkumatar 0:1c12315a0341 66 target[i]=(sin(M_PI/180.0*(angler+90*i))+cos(M_PI/180.0*(angler+90*i)))*speedr;
darkumatar 0:1c12315a0341 67
darkumatar 0:1c12315a0341 68 }
darkumatar 0:1c12315a0341 69 return true;
darkumatar 0:1c12315a0341 70 }
darkumatar 0:1c12315a0341 71
darkumatar 0:1c12315a0341 72 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 0:1c12315a0341 73 if(ppp==1){
darkumatar 0:1c12315a0341 74 auto_swich=true;
darkumatar 0:1c12315a0341 75 step=0;
darkumatar 0:1c12315a0341 76 }
darkumatar 0:1c12315a0341 77 return true;
darkumatar 0:1c12315a0341 78 }
darkumatar 0:1c12315a0341 79
darkumatar 0:1c12315a0341 80 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 0:1c12315a0341 81 if(ppp==1){
darkumatar 0:1c12315a0341 82 auto_swich=false;
darkumatar 0:1c12315a0341 83 step=0;
darkumatar 0:1c12315a0341 84 }
darkumatar 0:1c12315a0341 85 return true;
darkumatar 0:1c12315a0341 86 }
darkumatar 0:1c12315a0341 87
darkumatar 0:1c12315a0341 88 bool turn(int id,int ppp){//回転
darkumatar 0:1c12315a0341 89 for(int i=0;i<4;i++){
darkumatar 0:1c12315a0341 90 target[i]=ppp;
darkumatar 0:1c12315a0341 91 }
darkumatar 0:1c12315a0341 92 return true;
darkumatar 0:1c12315a0341 93 }
darkumatar 0:1c12315a0341 94
darkumatar 0:1c12315a0341 95 bool pro(int id,int ppp){ //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 0:1c12315a0341 96 int angle=ppp%1000;
darkumatar 0:1c12315a0341 97 int speed=ppp/1000;
darkumatar 0:1c12315a0341 98 for(int i=0;i<4;i++){
darkumatar 0:1c12315a0341 99 target[i]=(sin(M_PI/180.0*(angle+90*i))+cos(M_PI/180.0*(angle+90*i)))*speed*100.0;
darkumatar 0:1c12315a0341 100
darkumatar 0:1c12315a0341 101 }
darkumatar 0:1c12315a0341 102 return true;
darkumatar 0:1c12315a0341 103 }
darkumatar 0:1c12315a0341 104 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 0:1c12315a0341 105 double anglert=-135.000000000;
darkumatar 0:1c12315a0341 106 Led4.write(1);
darkumatar 0:1c12315a0341 107 for(int i=0;i<4;i++){
darkumatar 0:1c12315a0341 108 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 0:1c12315a0341 109
darkumatar 0:1c12315a0341 110 }
darkumatar 0:1c12315a0341 111 return true;
darkumatar 0:1c12315a0341 112 }
darkumatar 0:1c12315a0341 113 bool pro3(double goal_angle_ppp,int goal_x_speed,int goal_y_speed){
darkumatar 0:1c12315a0341 114 double anglert=-135.000000000;
darkumatar 0:1c12315a0341 115 for(int i=0;i<4;i++){
darkumatar 0:1c12315a0341 116 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 0:1c12315a0341 117
darkumatar 0:1c12315a0341 118 }
darkumatar 0:1c12315a0341 119 return true;
darkumatar 0:1c12315a0341 120 }
darkumatar 0:1c12315a0341 121 int test_limit(int test_limilimi){
darkumatar 0:1c12315a0341 122 test_limilimi=test_limilimi/100;
darkumatar 0:1c12315a0341 123 if(test_limilimi>64){
darkumatar 0:1c12315a0341 124 test_limilimi=64;
darkumatar 0:1c12315a0341 125 }
darkumatar 0:1c12315a0341 126 if(test_limilimi<-64){
darkumatar 0:1c12315a0341 127 test_limilimi=-64;
darkumatar 0:1c12315a0341 128 }
darkumatar 0:1c12315a0341 129 return test_limilimi;
darkumatar 0:1c12315a0341 130 }
darkumatar 0:1c12315a0341 131
darkumatar 0:1c12315a0341 132 double test_ang(double test_limilimi){
darkumatar 0:1c12315a0341 133 test_limilimi=test_limilimi*2;
darkumatar 0:1c12315a0341 134 if(test_limilimi>40){
darkumatar 0:1c12315a0341 135 test_limilimi=40;
darkumatar 0:1c12315a0341 136 }
darkumatar 0:1c12315a0341 137 if(test_limilimi<-40){
darkumatar 0:1c12315a0341 138 test_limilimi=-40;
darkumatar 0:1c12315a0341 139 }
darkumatar 0:1c12315a0341 140 return test_limilimi;
darkumatar 0:1c12315a0341 141 }
darkumatar 0:1c12315a0341 142
darkumatar 0:1c12315a0341 143 bool limit2(int id,int ppp){
darkumatar 0:1c12315a0341 144 if(ppp==1){
darkumatar 0:1c12315a0341 145 limit_switch=false;
darkumatar 0:1c12315a0341 146 }
darkumatar 0:1c12315a0341 147 return true;
darkumatar 0:1c12315a0341 148 }
darkumatar 0:1c12315a0341 149
darkumatar 0:1c12315a0341 150 bool direct_x(int id,int ppp){
darkumatar 0:1c12315a0341 151 direct_xx=ppp;
darkumatar 0:1c12315a0341 152 pro2();
darkumatar 0:1c12315a0341 153 return true;
darkumatar 0:1c12315a0341 154 }
darkumatar 0:1c12315a0341 155 bool direct_y(int id,int ppp){
darkumatar 0:1c12315a0341 156 direct_yy=ppp;
darkumatar 0:1c12315a0341 157 pro2();
darkumatar 0:1c12315a0341 158 return true;
darkumatar 0:1c12315a0341 159 }
darkumatar 0:1c12315a0341 160
darkumatar 0:1c12315a0341 161 bool direct_tu(int id,int ppp){
darkumatar 0:1c12315a0341 162 direct_turn=ppp;
darkumatar 0:1c12315a0341 163 pro2();
darkumatar 0:1c12315a0341 164 return true;
darkumatar 0:1c12315a0341 165 }
darkumatar 0:1c12315a0341 166
darkumatar 0:1c12315a0341 167 bool limit(int a,int &b){
darkumatar 0:1c12315a0341 168 return limit2(0,a);
darkumatar 0:1c12315a0341 169 }
darkumatar 0:1c12315a0341 170 bool abc1(int a,int &b){
darkumatar 0:1c12315a0341 171 check_tepu+=1;
darkumatar 0:1c12315a0341 172 return add(0,a);
darkumatar 0:1c12315a0341 173 }
darkumatar 0:1c12315a0341 174 bool abc2(int a,int &b){
darkumatar 0:1c12315a0341 175 check_tepu+=1;
darkumatar 0:1c12315a0341 176 return add(1,a);
darkumatar 0:1c12315a0341 177 }
darkumatar 0:1c12315a0341 178 bool abc3(int a,int &b){
darkumatar 0:1c12315a0341 179 check_tepu+=1;
darkumatar 0:1c12315a0341 180 return add(2,a);
darkumatar 0:1c12315a0341 181 }
darkumatar 0:1c12315a0341 182 bool abc4(int a,int &b){
darkumatar 0:1c12315a0341 183 check_tepu+=1;
darkumatar 0:1c12315a0341 184 return add(3,a);
darkumatar 0:1c12315a0341 185 }
darkumatar 0:1c12315a0341 186
darkumatar 0:1c12315a0341 187 bool abc5(int a,int &b){
darkumatar 0:1c12315a0341 188 return turn(0,a);
darkumatar 0:1c12315a0341 189 }
darkumatar 0:1c12315a0341 190 /*
darkumatar 0:1c12315a0341 191 bool abc6(int a,int &b){
darkumatar 0:1c12315a0341 192 return pro(0,a);
darkumatar 0:1c12315a0341 193 }
darkumatar 0:1c12315a0341 194 bool abc7(int a,int &b){
darkumatar 0:1c12315a0341 195 return anglez(0,a);
darkumatar 0:1c12315a0341 196 }
darkumatar 0:1c12315a0341 197 bool abc8(int a,int &b){
darkumatar 0:1c12315a0341 198 return speedz(0,a);
darkumatar 0:1c12315a0341 199 }
darkumatar 0:1c12315a0341 200 */
darkumatar 0:1c12315a0341 201 bool abc9(int a,int &b){
darkumatar 0:1c12315a0341 202 return auto_on(0,a);
darkumatar 0:1c12315a0341 203 }
darkumatar 0:1c12315a0341 204 bool abc10(int a,int &b){
darkumatar 0:1c12315a0341 205 return auto_off(0,a);
darkumatar 0:1c12315a0341 206 }
darkumatar 0:1c12315a0341 207 bool abc11(int a,int &b){
darkumatar 0:1c12315a0341 208 check_tepu+=1;
darkumatar 0:1c12315a0341 209 return direct_x(0,a);
darkumatar 0:1c12315a0341 210 }
darkumatar 0:1c12315a0341 211 bool abc12(int a,int &b){
darkumatar 0:1c12315a0341 212 check_tepu+=1;
darkumatar 0:1c12315a0341 213 return direct_y(0,a);
darkumatar 0:1c12315a0341 214 }
darkumatar 0:1c12315a0341 215 bool abc13(int a,int &b){
darkumatar 0:1c12315a0341 216 check_tepu+=1;
darkumatar 0:1c12315a0341 217 return direct_tu(0,a);
darkumatar 0:1c12315a0341 218 }
darkumatar 0:1c12315a0341 219
darkumatar 0:1c12315a0341 220
darkumatar 0:1c12315a0341 221 int main() {
darkumatar 0:1c12315a0341 222 Led1.write(1);
darkumatar 0:1c12315a0341 223 Led2.write(0);
darkumatar 0:1c12315a0341 224 slave.addCMD(1,limit);
darkumatar 0:1c12315a0341 225 slave.addCMD(2,abc1);
darkumatar 0:1c12315a0341 226 slave.addCMD(3,abc2);
darkumatar 0:1c12315a0341 227 slave.addCMD(4,abc3);
darkumatar 0:1c12315a0341 228 slave.addCMD(5,abc4);
darkumatar 0:1c12315a0341 229 slave.addCMD(12,abc9);
darkumatar 0:1c12315a0341 230 slave.addCMD(13,abc10);
darkumatar 0:1c12315a0341 231 slave.addCMD(31,abc11);
darkumatar 0:1c12315a0341 232 slave.addCMD(32,abc12);
darkumatar 0:1c12315a0341 233 slave.addCMD(33,abc13);
darkumatar 0:1c12315a0341 234
darkumatar 0:1c12315a0341 235 int i;
darkumatar 0:1c12315a0341 236 double x_period=0;
darkumatar 0:1c12315a0341 237 double y_period=0;
darkumatar 0:1c12315a0341 238 int after[4],before[4],before_parus[4],speed_pwm[4],after_pwm[4],before_pwm[4];
darkumatar 0:1c12315a0341 239 double ca[4],P[4],I[4],D[4],integral[4];
darkumatar 0:1c12315a0341 240 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 0:1c12315a0341 241 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 0:1c12315a0341 242 for(i=0;i<4;i++){
darkumatar 0:1c12315a0341 243 motor_p[i].period_us(2048);
darkumatar 0:1c12315a0341 244 motor_m[i].period_us(2048);
darkumatar 0:1c12315a0341 245 target[i]=0;
darkumatar 0:1c12315a0341 246 after[i]=0;
darkumatar 0:1c12315a0341 247 before[i]=0;
darkumatar 0:1c12315a0341 248 ca[i]=0;
darkumatar 0:1c12315a0341 249 P[i]=0;
darkumatar 0:1c12315a0341 250 I[i]=0;
darkumatar 0:1c12315a0341 251 D[i]=0;
darkumatar 0:1c12315a0341 252 before_parus[i]=0;
darkumatar 0:1c12315a0341 253 integral[i]=0;
darkumatar 0:1c12315a0341 254 speed_pwm[i]=0;
darkumatar 0:1c12315a0341 255 after_pwm[i]=0;
darkumatar 0:1c12315a0341 256 before_pwm[i]=0;
darkumatar 0:1c12315a0341 257 }
darkumatar 0:1c12315a0341 258 Timer name;
darkumatar 0:1c12315a0341 259 Timer limilimi;
darkumatar 0:1c12315a0341 260 limilimi.start();
darkumatar 0:1c12315a0341 261 name.start();
darkumatar 0:1c12315a0341 262 gyro.start();
darkumatar 0:1c12315a0341 263 double angle=0;
darkumatar 0:1c12315a0341 264 double goal_angle1=0;
darkumatar 0:1c12315a0341 265 double test_speed_auto=0;
darkumatar 0:1c12315a0341 266 Led1.write(1);
darkumatar 0:1c12315a0341 267 bool limilimi_swich=false;
darkumatar 0:1c12315a0341 268 while(limit_switch==true) {
darkumatar 0:1c12315a0341 269 angle=gyro.yaw-90.00000;
darkumatar 0:1c12315a0341 270 if(auto_swich==true){
darkumatar 0:1c12315a0341 271
darkumatar 0:1c12315a0341 272
darkumatar 0:1c12315a0341 273
darkumatar 0:1c12315a0341 274 /*
darkumatar 0:1c12315a0341 275
darkumatar 0:1c12315a0341 276 goal_angle1=-1.0*atan((goal_x-x_period)/(goal_y-y_period))/M_PI*180.0;
darkumatar 0:1c12315a0341 277 if(goal_angle1>0){
darkumatar 0:1c12315a0341 278 goal_angle1-=180.0;
darkumatar 0:1c12315a0341 279 }else{
darkumatar 0:1c12315a0341 280 goal_angle1+=180.0;
darkumatar 0:1c12315a0341 281 }
darkumatar 0:1c12315a0341 282 if(step==0&&((goal_angle1-gyro.yaw)>1||(goal_angle1-gyro.yaw)<-1)){
darkumatar 0:1c12315a0341 283 test_speed_auto=(goal_angle1-gyro.yaw)*-20.0;
darkumatar 0:1c12315a0341 284 if(test_speed_auto>2000){
darkumatar 0:1c12315a0341 285 test_speed_auto=2000;
darkumatar 0:1c12315a0341 286 }else if(test_speed_auto<-2000){
darkumatar 0:1c12315a0341 287 test_speed_auto=-2000;
darkumatar 0:1c12315a0341 288 }
darkumatar 0:1c12315a0341 289 turn(0,(test_speed_auto)*1);
darkumatar 0:1c12315a0341 290 }else if(step>=0&&step<3){
darkumatar 0:1c12315a0341 291 step+=1;
darkumatar 0:1c12315a0341 292 }else if(step==3&&((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 0:1c12315a0341 293 test_speed_auto=-1.0*(sqrt((goal_y-y_period)*(goal_y-y_period)+(goal_x-x_period)*(goal_x-x_period))-sqrt(period_r*period_r))/10.0;
darkumatar 0:1c12315a0341 294 if(test_speed_auto>1000){
darkumatar 0:1c12315a0341 295 test_speed_auto=1000;
darkumatar 0:1c12315a0341 296 }else if(test_speed_auto<-1000){
darkumatar 0:1c12315a0341 297 test_speed_auto=-1000;
darkumatar 0:1c12315a0341 298 }
darkumatar 0:1c12315a0341 299 speedz(0,(test_speed_auto)*1);
darkumatar 0:1c12315a0341 300
darkumatar 0:1c12315a0341 301 }else {
darkumatar 0:1c12315a0341 302 auto_swich=false;
darkumatar 0:1c12315a0341 303 }
darkumatar 0:1c12315a0341 304
darkumatar 0:1c12315a0341 305 */
darkumatar 0:1c12315a0341 306 goal_angle1=-1.0*atan((goal_x2-x_period)/(goal_y2-y_period))/M_PI*180.0;
darkumatar 0:1c12315a0341 307 /*
darkumatar 0:1c12315a0341 308 if(goal_angle1>0){
darkumatar 0:1c12315a0341 309 goal_angle1-=180.0;
darkumatar 0:1c12315a0341 310 }else{
darkumatar 0:1c12315a0341 311 goal_angle1+=180.0;
darkumatar 0:1c12315a0341 312 }
darkumatar 0:1c12315a0341 313
darkumatar 0:1c12315a0341 314 */
darkumatar 0:1c12315a0341 315
darkumatar 0:1c12315a0341 316 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 0:1c12315a0341 317 pro3(-test_ang(goal_angle1-gyro.yaw),test_limit(goal_x-x_period),test_limit(goal_y-y_period));
darkumatar 0:1c12315a0341 318 }else if(step>=0&&step<60){
darkumatar 0:1c12315a0341 319 for(i=0;i<4;i++){
darkumatar 0:1c12315a0341 320 target[i]=0;
darkumatar 0:1c12315a0341 321 motor_p[i]=0;
darkumatar 0:1c12315a0341 322 motor_m[i]=0;
darkumatar 0:1c12315a0341 323 }
darkumatar 0:1c12315a0341 324 pro3(-test_ang(goal_angle1-gyro.yaw),test_limit(goal_x-x_period),test_limit(goal_y-y_period));
darkumatar 0:1c12315a0341 325 }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 0:1c12315a0341 326
darkumatar 0:1c12315a0341 327
darkumatar 0:1c12315a0341 328 }else {
darkumatar 0:1c12315a0341 329 auto_swich=false;
darkumatar 0:1c12315a0341 330 }
darkumatar 0:1c12315a0341 331
darkumatar 0:1c12315a0341 332
darkumatar 0:1c12315a0341 333 }
darkumatar 0:1c12315a0341 334
darkumatar 0:1c12315a0341 335 /*
darkumatar 0:1c12315a0341 336 if(limitB){
darkumatar 0:1c12315a0341 337 limi=true;
darkumatar 0:1c12315a0341 338 limilimi_swich=false;
darkumatar 0:1c12315a0341 339 }else{
darkumatar 0:1c12315a0341 340 int arc=0;
darkumatar 0:1c12315a0341 341 for(i=0;i<4;i++){
darkumatar 0:1c12315a0341 342 arc+=target[i]*sin((45.0+90.0*i)/90.0*M_PI);
darkumatar 0:1c12315a0341 343 }
darkumatar 0:1c12315a0341 344 if(arc>0){
darkumatar 0:1c12315a0341 345 }
darkumatar 0:1c12315a0341 346 if(limilimi_swich==false){
darkumatar 0:1c12315a0341 347 limilimi_swich=true;
darkumatar 0:1c12315a0341 348 limilimi.reset();
darkumatar 0:1c12315a0341 349 }
darkumatar 0:1c12315a0341 350 }
darkumatar 0:1c12315a0341 351 if(limilimi.read_ms()<500&&!limitB){
darkumatar 0:1c12315a0341 352 limi=false;
darkumatar 0:1c12315a0341 353 for(i=0;i<4;i++){
darkumatar 0:1c12315a0341 354 target[i] =0;
darkumatar 0:1c12315a0341 355 }
darkumatar 0:1c12315a0341 356 }else {
darkumatar 0:1c12315a0341 357 limi=true;
darkumatar 0:1c12315a0341 358 }
darkumatar 0:1c12315a0341 359
darkumatar 0:1c12315a0341 360 */
darkumatar 0:1c12315a0341 361 for(i=0;i<4;i++){
darkumatar 0:1c12315a0341 362 after_pwm[i]=rote[i].get();
darkumatar 0:1c12315a0341 363 after[i]=v[i].get();//ロリコンから値読み取り
darkumatar 0:1c12315a0341 364 integral[i]+= (((((target[i]/10.0-(after[i]-before[i]))+ before_parus[i])*0.1)/2.0)/102.40);//積分の所
darkumatar 0:1c12315a0341 365 P[i]=0.05*(target[i]/10.0-(after[i]-before[i]))/102.40;//比例
darkumatar 0:1c12315a0341 366 D[i]=0.0001*((((target[i]/10.0-(after[i]-before[i]))- before_parus[i])/0.1)/102.40);//微分
darkumatar 0:1c12315a0341 367 I[i]=0.0001*integral[i];//積分
darkumatar 0:1c12315a0341 368 ca[i]=ca[i]+P[i]+I[i]+D[i];//足し合わせる
darkumatar 0:1c12315a0341 369 if(ca[i]>0.4){ca[i]=0.4;}
darkumatar 0:1c12315a0341 370 if(ca[i]<-0.4){ca[i]=-0.4;}
darkumatar 0:1c12315a0341 371 if(0.015>ca[i]&&ca[i]>-0.015){ca[i]=0;}
darkumatar 0:1c12315a0341 372 motor_p[i]=ca[i];
darkumatar 0:1c12315a0341 373 motor_m[i]=ca[i]*-1.0;
darkumatar 0:1c12315a0341 374 speed_pwm[i]=after_pwm[i]-before_pwm[i];
darkumatar 0:1c12315a0341 375 before_parus[i]=target[i]/10.0-(after[i]-before[i]);
darkumatar 0:1c12315a0341 376 before[i]=after[i];
darkumatar 0:1c12315a0341 377 before_pwm[i]=after_pwm[i];
darkumatar 0:1c12315a0341 378 }
darkumatar 0:1c12315a0341 379 /*
darkumatar 0:1c12315a0341 380 for(i=0;i<4;i++){
darkumatar 0:1c12315a0341 381 x_period+=speed_pwm[i]*cos(M_PI/180.0*(angle + 90.0*i));
darkumatar 0:1c12315a0341 382 y_period+=speed_pwm[i]*sin(M_PI/180.0*(angle + 90.0*i));
darkumatar 0:1c12315a0341 383 }
darkumatar 0:1c12315a0341 384 */
darkumatar 0:1c12315a0341 385 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 0:1c12315a0341 386 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 0:1c12315a0341 387 slave.port2.printf("%d\n",1);
darkumatar 0:1c12315a0341 388 while(name.read_ms()<30){}
darkumatar 0:1c12315a0341 389 slave.send1(255,16,x_period*1);
darkumatar 0:1c12315a0341 390 while(name.read_ms()<60){}
darkumatar 0:1c12315a0341 391 slave.send1(255,17,y_period*1);
darkumatar 0:1c12315a0341 392 while(name.read_ms()<100){}
darkumatar 0:1c12315a0341 393 slave.send1(255,18,gyro.yaw*1);
darkumatar 0:1c12315a0341 394 for(i = 0; i < 4; i++){
darkumatar 0:1c12315a0341 395 npx.global_scale = 0.05f;
darkumatar 0:1c12315a0341 396 npx.normalize = false;
darkumatar 0:1c12315a0341 397 if(check_tepu>0){
darkumatar 0:1c12315a0341 398 npx.setPixelColor(i,0xFF0000);
darkumatar 0:1c12315a0341 399 }else {
darkumatar 0:1c12315a0341 400 npx.setPixelColor(i,0x0000FF);
darkumatar 0:1c12315a0341 401 }
darkumatar 0:1c12315a0341 402 }
darkumatar 0:1c12315a0341 403 for(i = 4; i < 7; i++){
darkumatar 0:1c12315a0341 404 npx.global_scale = 0.05f;
darkumatar 0:1c12315a0341 405 npx.normalize = false;
darkumatar 0:1c12315a0341 406 if(auto_swich){
darkumatar 0:1c12315a0341 407 npx.setPixelColor(i,0xFFFFFF);
darkumatar 0:1c12315a0341 408 }else {
darkumatar 0:1c12315a0341 409 npx.setPixelColor(i,0x00FF00);
darkumatar 0:1c12315a0341 410 }
darkumatar 0:1c12315a0341 411 }
darkumatar 0:1c12315a0341 412 npx.show();
darkumatar 0:1c12315a0341 413 if(check_tepu==0){
darkumatar 0:1c12315a0341 414 auto_mode+=1;
darkumatar 0:1c12315a0341 415 Led2.write(1);
darkumatar 0:1c12315a0341 416 }else {
darkumatar 0:1c12315a0341 417 auto_mode=0;
darkumatar 0:1c12315a0341 418 Led2.write(0);
darkumatar 0:1c12315a0341 419 }
darkumatar 0:1c12315a0341 420 if(auto_mode>1){
darkumatar 0:1c12315a0341 421 limit_switch=false;
darkumatar 0:1c12315a0341 422 }
darkumatar 0:1c12315a0341 423 check_tepu=0;
darkumatar 0:1c12315a0341 424 gyro.update();
darkumatar 0:1c12315a0341 425 name.reset();
darkumatar 0:1c12315a0341 426 }
darkumatar 0:1c12315a0341 427 while(1){
darkumatar 0:1c12315a0341 428 Led3.write(1);
darkumatar 0:1c12315a0341 429 for(i=0;i<4;i++){
darkumatar 0:1c12315a0341 430 target[i]=0;
darkumatar 0:1c12315a0341 431 motor_p[i]=0;
darkumatar 0:1c12315a0341 432 motor_m[i]=0;
darkumatar 0:1c12315a0341 433 npx.global_scale = 0.05f;
darkumatar 0:1c12315a0341 434 npx.normalize = false;
darkumatar 0:1c12315a0341 435 npx.setPixelColor(i,0x00FFFF);
darkumatar 0:1c12315a0341 436 }
darkumatar 0:1c12315a0341 437 npx.show();
darkumatar 0:1c12315a0341 438 }
darkumatar 0:1c12315a0341 439 }