File content as of revision 0:d46cb1df87f1:

#include "mbed.h"
#include "QEI.h"
#define SB_ADRS_A 129
#define SB_ADRS_B 132

#define INT_TIME 0.02
#define RESOLUTION 48

#define ON 1
#define OFF 0

#define HIGH 0
#define FALL 1
#define RISE 2
#define LOW 3

#define GEAR_RATE 1.0
#define PULL_RATE 1.0
#define MULTIPLU 4.0

Ticker timer;
Timer T;

QEI Enc1(p12,p11,NC,RESOLUTION,&T,QEI::X4_ENCODING);
QEI Enc2(p7,p8,NC,RESOLUTION,&T,QEI::X4_ENCODING);//B
QEI Enc3(p5,p6,NC,RESOLUTION,&T,QEI::X4_ENCODING);//B

Filter velfilter(INT_TIME);//B

DigitalIn sw1(p26);//こっち

DigitalIn limit1(p15);//shagai把持
DigitalIn limit2(p16);//初期位置合わせ

DigitalIn sensor1(p18);//光電センサ
DigitalIn sensor2(p17);

DigitalOut fet1(p21);//shagai把持の電磁弁

DigitalOut fet2(p22);//shagai押し出し用

Serial Saber(p13,p14);
Serial pc(USBTX,USBRX);

int mode = 8;//スイッチを押したときのモード

int cmd2 = 0;
int cmd3 = 0;

float spd2=0;
float spd3=0;

float spd_err2=0;
float spd_err3=0;

int tmp2;//加速度の上限指定
int tmp3;

double filtered_ref_spd;//B

int cmd,A;//Aはairの表示のためA
int SA1,B_SA1,LIM1,LIM2;//SA1はsA1の仮スイッチを入れる関数 B_SA1はbefore sA1の略
int S1,S2;//光電センサ

float angle,pre_angle,SOKUDO,e_D,pre_e_D,ed_D,ei_D,e_V,ed_V,pre_e_V,bcmd;
float goal_D=0,Kp=5,Ki=0.01,Kd=0.1;

float encount,b_encount;//初期位置合わせの際に用いる初期位置合わせるための角度

int Button() {
    int button_in = sw1.read();
    static int pre_button = 1;
    static int sw_state = LOW;
    
    if(button_in && pre_button)sw_state = HIGH;
    if(!button_in && !pre_button)sw_state = LOW;
    if(button_in && !pre_button)sw_state = FALL;
    if(!button_in && pre_button)sw_state = RISE;
    
    pre_button = button_in;
    
    return sw_state;
}

void timer_warikomi()
{   
    LIM1=!limit1.read();//pullupなので逆
    LIM2=!limit2.read();//pullupなので逆
    S1=SENS1.read();//光電センサ
    S2=SENS2.read();
    encount=Enc.getPulses()-b_encount;//初期位置を合わせるために進んだ距離を引いている
    
    angle=(float)(encount)*G_rate*(360.0/48.0)/4.0;   
    SOKUDO=(angle-pre_angle)/INT_TIME;//角度を一回微分で角速度に

    e_D=(goal_D-angle);//距離のPID制御の差
    ed_D=(e_D-pre_e_D)/INT_TIME;//距離のPID制御
    ei_D+=(e_D+pre_e_D)*INT_TIME/2.0;
    
    cmd=(int)((e_D*Kp)+(ed_D*Kd)+(ei_D*Ki));

    if(cmd>20) cmd=20;//速度の最大値をcmd=20とする      
    if(cmd<-15)cmd=-15;
    
    int F=1,FF=0;//向き
    
    float Ksp2 = 7.0, Ksd2 = 0.4; //モータ2用の速度パラメータ 
    float Ksp3 = 7.0, Ksd3 = 0.4; //モータ3用の速度パラメータ
    
    float ppr = 1.0;//射出の速度測定に使っているが要検討
    
    static float pre_spd2 = 0.0;
    static float pre_spd3 = 0.0;
    
    static float pre_err2 = 0.0;
    static float pre_err3 = 0.0;
    
    static float ref_spd = 0.0;//目標速度
    
    static int lim_cmd2 = 80;//cmdの上限
    static int lim_cmd3 = 92;//cmdの上限
    
    int sw_point = Button();//スイッチの関数からリターン   
    
    int sw_point = Button();
        
    int encount2 = Enc2.getPulses();
    int encount3 = Enc3.getPulses();
    
    encount_ang = Enc1.getPulses()- pre_encount;
    if (encount2 > encount3) encount_rot = encount2;
    else encount_rot = encount3;
    
    float angle = encount_ang * GEAR_RATE * (360.0/48.0) / 4.0;   
    float ang_spd =(angle - pre_angle)/INT_TIME;
    
    float rot_sp = (float)encount_rot/MULTIPLU/ppr*PULL_RATE; 
    float spd = (rot_sp - pre_spd)/INT_TIME(RESOLUTION*MULTIPLU);
    
    float angle_P = (ref_angle - angle);
    float angle_D=(angle_P - pre_angleE)/INT_TIME;
    angle_I += (angle_P + pre_angleE)*INT_TIME/2.0;
    
    cmd_ang = (int)(angle_P * Kp + angle_D * Kd + angle_I * Ki);
    
    float spd_e = ref_spd - spd;
    float spd_D = (spd_e - pre_spdE)/INT_TIME;
    cmd_spd += (int)(spd_e * Ksp + spd_D * Ksd);
    
    if (cmd_ang > lim_cmdA) cmd_ang = lim_cmdA;
    if (-cmd_ang < -lim_cmdA) cmd_ang = -lim_cmdA;
    
    if (cmd_spd > lim_cmdS) cmd_spd = lim_cmdS;
    if (-cmd_spd < -lim_cmdS) cmd_spd = -lim_cmdS;
    
    if (sw_point != HIGH) switch (mode) {//スイッチを押したモード
        case 0:
              goal_D=0;
                if(sw_point == 2)mode=1;
                break;
          case 1:
              cmd=-15;//向きが逆だからマイナス
                //goal_D=30; //リミットスイッチを押さずに止まるように使う
                if(sw_point == 2)mode=2;
                if(LIM2==1){
                        cmd=0;
                        //これって目標値固定のままcmd＝0しちゃっていいのか ゴールを現在のangleにする？
                        b_encount=Enc.getPulses();
                        }
                        break;
            case 2:
                goal_D=120;
                 if(sw_point == 2)mode=3;
                 break;
               
            case 3:
                if(sw_point == 2)mode=4;
                if(S1==0&&S2==0){
                air=1;
                A=1;
                }
                break;
                
            case 4:
                goal_D=0;
                    if(sw_point == 2){
                    cmd=0;
                    b_encount=Enc.getPulses();
                    mode=5;
                }
                break;
            case 5:
                air=0;
                A=0;
                if(sw_point == 2)mode=6;
                break;    
            
        case(6)://速度を上げる    
        ref_spd = 26.0;
        if (sw_point == 2) mode = 7;
        break;
        
        case(7)://airでshagaiを発射位置まで押し上げる
        fet2 = ON;
        if (sw_point == 2) mode = 8;
        break;
        
        case(8)://モータ停止と押し上げ機構の降下
        ref_spd = 0.0;
        fet2 = OFF;
        if (sw_point == 2) mode = 0;
        break;
        }
        
        if(filtered_ref_spd>=25.5&&mode==0){//投てきの目標値上昇
            filtered_ref_spd=26;
        }else if(filtered_ref_spd>=25.5&&mode==1){
            filtered_ref_spd=26;
        }else if(filtered_ref_spd<=0.5&&mode==2){
            filtered_ref_spd=0;
        }else{
            filtered_ref_spd = velfilter.SecondOrderLag((double)ref_spd);
        }
        
    float encount2 = Enc2.getPulses();//[pulse]
    float encount3 = Enc3.getPulses();
    
    float rot_sp2 = encount2/MULTIPLU/ppr*PULL_RATE; //[rev]    // encount2/(resolution*4)  //[rev]
    spd2 = (rot_sp2 - pre_spd2)/INT_TIME/(48*4);                // (crr-prev)/INT_TIME  //[rps]
    float rot_sp3 = encount3/MULTIPLU/ppr*PULL_RATE; 
    spd3 = (rot_sp3 - pre_spd3)/INT_TIME/(48*4);
    
    spd_err2 = filtered_ref_spd - spd2;//徐々に速度が上がるようにした
    float spd_d2 = (spd_err2 - pre_err2)/INT_TIME;
    tmp2 = (int)((spd_err2 * Ksp2) + (spd_d2 * Ksd2));
    if(tmp2>=127)tmp2=127;//加速度の制限
    if(tmp2<=-127)tmp2=-127;
    cmd2 += tmp2;
    
    spd_err3 = filtered_ref_spd - spd3;
    float spd_d3 = (spd_err3 - pre_err3)/INT_TIME;
    tmp3 = (int)((spd_err3 * Ksp3) + (spd_d3 * Ksd3));
    if(tmp3>=127)tmp3=127;//加速度の制限
    if(tmp3<=-127)tmp3=-127;
    cmd3 += tmp3;
    
    if (cmd2 > lim_cmd2) cmd2 = lim_cmd2;//上限指定
    if (cmd2 < -lim_cmd2) cmd2 = -lim_cmd2;
    
    if (cmd3 > lim_cmd3) cmd3 = lim_cmd3;//上限指定
    if (cmd3 < -lim_cmd3) cmd3 = -lim_cmd3;
    
    if (cmd2 > 0) {
        Saber.putc(SB_ADRS);
        Saber.putc(4);
        Saber.putc(cmd2);
        Saber.putc((SB_ADRS + 4 + cmd2) & 0b01111111);
        }
    else {
        Saber.putc(SB_ADRS);
        Saber.putc(5);
        Saber.putc(abs(cmd2));
        Saber.putc((SB_ADRS + 5 + abs(cmd2)) & 0b01111111);
        }
        
    if (cmd3 > 0) {
        Saber.putc(SB_ADRS);
        Saber.putc(0);
        Saber.putc(cmd3);
        Saber.putc((SB_ADRS + 0 + cmd3) & 0b01111111);
        }
    else {
        Saber.putc(SB_ADRS);
        Saber.putc(1);
        Saber.putc(abs(cmd3));
        Saber.putc((SB_ADRS + 1 + abs(cmd3)) & 0b01111111);
        }
        
        pre_spd2 = rot_sp2;
        pre_err2 = spd_err2;
        pre_spd3 = rot_sp3;
        pre_err3 = spd_err3;
    }

        
    if (!sw2.read()) {
        cmd_spd = 0;
        cmd_ang = 0;
        }
        
    if (cmd_ang >= 0) {
        Saber.putc(SB_ADRS_A);
        Saber.putc(1);
        Saber.putc(cmd_ang);
        Saber.putc((SB_ADRS_A + 1 + cmd_ang) & 0b01111111);
        } 
    else {
        Saber.putc(SB_ADRS_A);
        Saber.putc(0);
        Saber.putc(abs(cmd_ang));
        Saber.putc((SB_ADRS_A + 0 + abs(cmd_ang)) & 0b01111111);
        }
        
    if (cmd_spd >= 0) {
        Saber.putc(SB_ADRS_B);
        Saber.putc(1);
        Saber.putc(cmd_spd);
        Saber.putc((SB_ADRS_B + 1 + cmd_spd) & 0b01111111);
        }
    else {
        Saber.putc(SB_ADRS_B);
        Saber.putc(0);
        Saber.putc(abs(cmd_spd));
        Saber.putc((SB_ADRS_B + 0 + abs(cmd_spd)) & 0b01111111);
        }
        
        pre_spd = spd;
        pre_spdE = spd_e;
        pre_angle = angle;
        pre_angleE = angle_P;
}

int main() {
    Saber.baud(115200);
    pc.baud(9600);
    timer.attach(timer_warikomi,INT_TIME);
    
    while(1) {
    }
}