Diff: hardwareConfig.h

Revision:

1:0f33a68d1390

Parent:

0:56a2c0ed99c5

--- a/hardwareConfig.h	Mon Oct 21 14:25:38 2019 +0000
+++ b/hardwareConfig.h	Sun Jan 12 08:12:42 2020 +0000
@@ -5,7 +5,6 @@
 #include "Mycan.h"
 #include "Odometer.h"
 #include "PID.h"
-#include "PID_VEL.h"
 #include "RotaryEncoder.h"
 #include "SplineCurve.h"
 #include "SBUS.h"
@@ -37,7 +36,7 @@
 //デバック用シリアル
 Serial pc(USBTX, USBRX);
 
-//メカナム逆運動学モデルのヤコビアン
+//逆運動学モデルのヤコビアン
 float jacobian[4][3] = {{ 0.7071, -0.7071, -1},
                         { 0.7071,  0.7071, -1},
                         {-0.7071,  0.7071, -1},
@@ -71,33 +70,29 @@
 } controller;
 
 //x軸補正用 PID
-//PID pidRobotX(0.8, 0.0, 0.085, PID_PERIOD, 0.50, &timer);
-//PID pidRobotX(0.95, 0.0, 0.082, PID_PERIOD, 0.40, &timer);
-PID pidRobotX(P_GAIN, 0, 0.23, PID_PERIOD, 0.3, &timer);
-float target_x = 0;
+//PID pidRobotX(0.8, 0.0, 0.085, PID_PERIOD, 0.50, 0.08, false, &timer);
+//PID pidRobotX(0.95, 0.0, 0.082, PID_PERIOD, 0.40, 0.08, false, &timer);
+PID pidRobotX(P_GAIN, 0, 0.23, PID_PERIOD, 0.3, 0.08, false, &timer);
 
 //y軸補正用 PID
-//PID pidRobotY(0.8, 0.0, 0.085, PID_PERIOD, 0.50, &timer);
-//PID pidRobotY(0.95, 0.0, 0.082, PID_PERIOD, 0.40, &timer);
-PID pidRobotY(P_GAIN, 0, 0.23, PID_PERIOD, 0.3, &timer);
-float target_y = 0;
+//PID pidRobotY(0.8, 0.0, 0.085, PID_PERIOD, 0.50, 0.08, false, &timer);
+//PID pidRobotY(0.95, 0.0, 0.082, PID_PERIOD, 0.40, 0.08, false, &timer);
+PID pidRobotY(P_GAIN, 0, 0.23, PID_PERIOD, 0.3, 0.08, false, &timer);
 
 //yaw角補正用 (Pgain, Igain, Dgain, 制御ループ時間[s], 計算出力100%定義)
-//PID pidRobotYaw(0.009, 0, 0.00015, PID_PERIOD, 0.12, &timer);
-PID pidRobotYaw(0.009, 0, 0.00015, PID_PERIOD, 0.12, &timer);
-float target_yaw = 0;
+//PID pidRobotYaw(0.009, 0, 0.00015, PID_PERIOD, 0.12, false, &timer);
+PID pidRobotYaw(0.009, 0, 0.00015, PID_PERIOD, 0.12, 4, false, &timer);
 
 //昇降機構PID
-PID pidLift(3.5, 0, 0.04, PID_PERIOD, 0.9, &timer);
+PID pidLift(3.5, 0, 0.04, PID_PERIOD, 0.9, 0.05, false, &timer);
+//PID pidVelLift(0, 0, 0, PID_PERIOD, 1.0, 0.5, true, &timer);
 float target_lift = 0;
 
 //幅可変機構PID
-PID pidWide(3.5, 0, 0.01, PID_PERIOD, 0.95, &timer);
-float target_wide = 0;
+PID pidWide(3.5, 0, 0.01, PID_PERIOD, 0.95, 0.075, false, &timer);
 
 //装填機構PID
-PID pidSupply(4.0, 0, 0, PID_PERIOD, 0.95, &timer);
-float target_supply = 0;
+PID pidSupply(4.0, 0, 0, PID_PERIOD, 0.95, 0.075, false, &timer);
 /*
 //ホイール速度MAX4.72[m/s]
 float wheel_rps[4], robot_max_sp = 1.18, robot_speed, wheel_speed[4], error_speed[4];