riko-ten
f3rc
Dependencies: CruizCore_R1370P EC2 delta enc_1multi mbed
Fork of
F3RC
by 
ROBOSTEP_LIBRARY
Diff: F3rc.h
- Revision:
- 9:b172328cc975
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/F3rc.h Sat Nov 03 23:10:12 2018 +0000
@@ -0,0 +1,467 @@
+
+#include "mbed.h"
+#include "SpeedController.h"
+#include "EC.h"
+#include "R1370P.h"
+#include "enc_1multi.h"
+#define BASIC_SPEED 15 //モーターはこの角速度で駆動させる
+
+SpeedControl motorR(PB_13,PA_10,NC,500,0.05,PB_10,PB_1); //right enc migi ue
+SpeedControl motorL(PB_5,PB_3,NC,500,0.05,PA_5,PA_7); //left enc hidari sita //ok
+
+Ec EC1(PB_4,PA_8,NC,300,0.05); //center enc
+Ticker motor_tick; //角速度計算用ticker
+Ticker ticker;//for enc
+
+Serial pc(USBTX, USBRX); // tx, rx //PC USB
+R1370P gyro(PC_6,PC_7);
+
+
+void calOmega() //角速度計算関数
+{
+ motorR.CalOmega();
+ motorL.CalOmega();
+ EC1.CalOmega();
+}
+
+DigitalIn button(USER_BUTTON,PullUp);
+DigitalIn reset_f(PC_1,PullUp);
+DigitalIn reset_a(PA_4,PullUp);
+
+PwmOut servo(PB_7);//servo
+PwmOut motor_f(PC_9);
+PwmOut motor_b(PB_9);//arm
+DigitalOut denjiben(PC_0);//dennjibenn
+
+
+double new_dist=0;
+double old_dist=0;
+double d_dist=0;
+double x;
+double y;
+double asari_x=810;
+double asari_y=2674;//asariwo toru tekisetsuna zahyouwo kaeraremasu
+double goal_x=1020;
+double goal_y=1562;
+double start_x=185;
+double start_y=300;
+Timer t;
+int i=0;
+
+int kai=0;//printf kansuu
+double target_R=0,target_L=0;
+
+
+double angle; //変数宣言
+
+
+void tgt(double r,double l)//void de sika tsukawanaino ha mottainai kimosuru
+{
+ target_R=BASIC_SPEED*r;
+ target_L=BASIC_SPEED*l;
+}
+
+
+//printf wo dousa kakunin sidai kesou toha omotte imasu
+void susumu_y(double ay,double by,double goaly)//y zahyou wo motiita susumikata subete
+{
+//pc.printf("ay=%f by=%f y=%f goaly=%f\r\n",ay,by,y,goaly);
+ if(y<goaly-100&&ay>=0) {
+ t.start();
+ //pc.printf("R=%f L=%f\r\n",target_R,target_L);
+ if(t.read_ms()<150) {
+ pc.printf("t=%f",t.read());
+ tgt(ay/3,by/3);
+ } else if(t.read_ms()>=150&&t.read_ms()<300) {
+ pc.printf("t=%f",t.read());
+ tgt(ay*2/3,by*2/3);
+ } else {
+ tgt(ay,by);
+ t.stop();
+ //pc.printf("R=%f L=%f",target_R,target_L);
+ }
+ } else if(y<goaly&&y>=goaly-100&&ay>=0) {
+ tgt(ay/2,by/2);
+
+
+ } else if(y>goaly+100&&ay<0) {
+ t.start();
+ //pc.printf("R=%f L=%f\r\n",target_R,target_L);
+ if(t.read_ms()<150) {
+ pc.printf("t=%f",t.read());
+ tgt(ay/3,by/3);
+ } else if(t.read_ms()>=150&&t.read_ms()<300) {
+ pc.printf("t=%f",t.read());
+ tgt(ay*2/3,by*2/3);
+ } else {
+ tgt(ay,by);
+ t.stop();
+ //pc.printf("R=%f L=%f",target_R,target_L);
+ }
+ } else if(y>goaly&&y<=goaly+100&&ay<0) {
+ tgt(ay/2,by/2);
+ } else {
+ i++;
+ t.reset();
+ pc.printf("owari%d\r\n",i);
+ }
+}
+
+
+
+void susumu_xl(double axl,double bxl,double goalxl)//hidarikara mokuhyoutenn ni toutatsu surutameno dousa
+{
+
+ if(x<goalxl-100) {
+ t.start();
+ //pc.printf("R=%f L=%f\r\n",target_R,target_L);
+ if(t.read_ms()<150) {
+ pc.printf("t=%f",t.read());
+ tgt(axl/3,bxl/3);
+ } else if(t.read_ms()>=150&&t.read_ms()<300) {
+ pc.printf("t=%f",t.read());
+ tgt(axl*2/3,bxl*2/3);
+ } else {
+ tgt(axl,bxl);
+ t.stop();
+ ////pc.printf("R=%f L=%f",target_R,target_L);
+ }
+ } else if(x<goalxl&&x>=goalxl-100) {
+ tgt(axl/2,bxl/2);
+
+ } else {
+ t.reset();
+ i++;
+ pc.printf("owari\r\n");
+ }
+}
+
+void susumu_xr(double axr,double bxr,double goalxr)//migikara mokuhyoutenn ni toutatsu surutameno dousa
+{
+
+ if(x>goalxr+100) {
+ t.start();
+ //pc.printf("R=%f L=%f\r\n",target_R,target_L);
+ if(t.read_ms()<150) {
+ pc.printf("t=%f",t.read());
+ tgt(axr/3,bxr/3);
+ } else if(t.read_ms()>=150&&t.read_ms()<300) {
+ pc.printf("t=%f",t.read());
+ tgt(axr*2/3,bxr*2/3);
+ } else {
+ tgt(axr,bxr);
+ t.stop();
+ ////pc.printf("R=%f L=%f",target_R,target_L);
+ }
+ } else if(x>goalxr&&x<=goalxr+100) {
+ tgt(axr/2,bxr/2);
+
+ } else {
+ t.reset();
+ i++;
+ pc.printf("owari\r\n");
+ }
+}
+
+void susumu_ang(double a,double b,double goal)//kakudo
+{
+ if(goal-20>angle&&a<b) {//usetsu
+ t.start();
+ //pc.printf("R=%f L=%f\r\n",target_R,target_L);
+ if(t.read_ms()<100) {
+ pc.printf("t=%f",t.read());
+ tgt(a/3,b/3);
+ } else if(t.read_ms()>=100&&t.read_ms()<200) {
+ pc.printf("t=%f",t.read());
+ tgt(a*2/3,b*2/3);
+ } else {
+ tgt(a,b);
+ t.stop();
+ ////pc.printf("R=%f L=%f",target_R,target_L);
+ }
+ } else if(angle<goal&&angle>=goal-30&&a<b) {
+ tgt(a/2,b/2);
+
+ } else if(angle>goal+20&&a>b) { //sasetsu
+ t.start();
+ ////pc.printf("R=%f L=%f\r\n",target_R,target_L);
+ if(t.read_ms()<100) {
+ pc.printf("t=%f",t.read());
+ tgt(a/3,b/3);
+ } else if(t.read_ms()>=100&&t.read_ms()<200) {
+ pc.printf("t=%f",t.read());
+ tgt(a*2/3,b*2/3);
+ } else {
+ tgt(a,b);
+ t.stop();
+ ////pc.printf("R=%f L=%f",target_R,target_L);
+ }
+ } else if(angle>goal&&angle<=goal+20&&a>b) {
+ tgt(a/2,b/2);
+
+ } else {
+ i++;
+ t.reset();
+ pc.printf("reset\r\n");
+ }
+}
+
+
+
+/*
+
+int main(void)
+{
+
+ gyro.initialize(); //main関数の最初に一度だけ実行
+ gyro.acc_offset(); //やってもやらなくてもいい
+
+ printf("start\r\n");
+ motor_tick.attach(&calOmega,0.05);
+ motorR.setDOconstant(30);
+ motorL.setDOconstant(30);//c
+ motorR.setPDparam(0.2,0.1);
+ motorL.setPDparam(0.2,0.1);
+
+
+ EC1.setDiameter_mm(48);//sokuteirinnhannkei
+ double getDistance_mm();
+ //int EC1.getCount()=0;
+ void reset ();
+ EC1.reset();
+
+
+ //servo.period_ms(30);
+
+ motor_f.period_ms(30);
+ motor_b.period_ms(30);//arm
+ x=start_x;
+ y=start_y;//start point//keisann wo sinaosu hitsuyouga arimasu
+
+ while(1) {
+ //target_R=(-1)*BASIC_SPEED;
+ //target_L=(-1)*BASIC_SPEED;
+ // motorR.turnF(0.3);
+ //motorL.turnF(0.3);//for debug
+ //motorR.Sc(target_R);
+ //motorL.Sc(target_L);//target_R,target_Lの値を変えることで直進・後退・右回転・左回転を行う
+ angle=gyro.getAngle()*(-1); //角度の値を受け取る
+
+ EC1.getDistance_mm();
+ // EC1.CalOmega();
+
+ if(target_R==0) motorR.stop();
+ else motorR.Sc(target_R);
+ if(target_L==0) motorL.stop();
+ else motorL.Sc(target_L);
+ new_dist=EC1.getDistance_mm();
+ d_dist=new_dist-old_dist;
+ old_dist=new_dist;
+
+ double d_x=d_dist*sin(angle*3.1415926535/180);
+ double d_y=d_dist*cos(angle*3.1415926535/180);
+ x=x+d_x;
+ y=y+d_y;
+
+
+
+ if(kai>=3) {
+
+
+ //double d_x=d_dist*sin(angle);;
+ //double d_y=d_dist*cos(angle);;
+ //x=x+d_x;
+ //y=y+d_y;
+
+ pc.printf("R=%f L=%f",target_R,target_L);
+ pc.printf("omg_R=%f omg_L=%f \r\n",motorR.getOmega(),motorL.getOmega());
+ //pc.printf("i=%d\r\n",i);
+ pc.printf("EC1=%f",EC1.getDistance_mm(),EC1.getCount());
+ //pc.printf("x=%f y=%f",x,y);
+ //pc.printf("angle=%f\r\n",angle);
+ //機体の進む方向、右モーターの角速度、左モーターの角速度を表示
+ kai=0;
+ }
+ kai++;*/
+/* if(i==0) {
+ servo.pulsewidth_us(950);
+ if(reset_f.read()==0&&button.read()==0) {
+ wait(0.05);
+ if(reset_f.read()==0&&button.read()==0) {
+ denjiben=1;
+ i++;
+ }
+ }
+ if(reset_a.read()==0&&button.read()==0) {
+ wait(0.05);
+ if(reset_a.read()==0&&button.read()==0) {
+ denjiben=1;
+
+ x=180;
+ y=2674;
+
+ i=12;
+ }
+ }//x,y
+ }
+ if(i==1) {
+ servo.pulsewidth_us(950);
+ susumu_y(1,1,857);//x,x+178
+ }
+ if(i==2) {
+ susumu_ang(0,1,90);//x+155,x+471.5//219.2,65.8//534.2,730.8//180,576.6
+ }
+ if(i==3) {
+ susumu_xl(1,1,745);//728.5,1078.5
+ }
+ if(i==4) {
+ susumu_ang(1,0,0);//850,1372
+ }
+ if(i==5) {
+ susumu_y(1,1,2016);//850,1700
+ }
+ if(i==6) {
+ // motorR.stop();
+ //motorL.stop();
+ tgt(0,0);
+ wait(2);
+ t.start();
+ if(t<1) {
+ motor_f=0.82;
+ motor_b=0;
+
+ printf("motor");
+ } else {
+ motor_f=0;
+ motor_b=0;
+ printf("finish");
+ t.stop();
+ t.reset();
+ i++;
+ }
+ }//gatiasari
+
+
+ if(i==7) {
+ wait(2);
+ t.start();
+ if(t<2) {
+ motor_f=0;
+ motor_b=0.82;
+
+ printf("motor");
+ } else {
+ motor_f=0;
+ motor_b=0;
+ printf("finish");
+ t.stop();
+ t.reset();
+ i++;
+ }
+ if(angle>=-89) {
+ target_R=BASIC_SPEED/2;
+ target_L=BASIC_SPEED/(-2);
+ }
+ if(angle<=-91) {
+ target_R=BASIC_SPEED/(-2);
+ target_L=BASIC_SPEED/2;
+ }
+ if(angle>-91&angle<-89) {
+ motorR.stop();
+ motorL.stop();
+ wait(2);
+ if(angle>-91&angle<-89) {
+ i++;
+ }
+ }
+ }//kakudo tyousei
+ if(i==8) {
+ susumu_xr(1,1,555);//700,1700
+ }
+ if(i==9) {
+ susumu_ang(0,1,0);//390,2010
+ }
+ if(i==10) {
+ susumu_y(1,1,asari_y-155);//390,y-310
+ }
+ if(i==11) {
+ susumu_ang(0,1,90);//700,y
+ }
+ if(i==12) {
+ motorR.stop();
+ motorL.stop();
+ servo.pulsewidth_us(2100);
+ wait(1.5);
+ servo.pulsewidth_us(2400);
+ wait(2);
+ i++;
+ }
+ if(i==13) {
+ if(angle>=91) {
+ target_R=BASIC_SPEED/2;
+ target_L=BASIC_SPEED/(-2);
+ }
+ if(angle<=89) {
+ target_R=BASIC_SPEED/(-2);
+ target_L=BASIC_SPEED/2;
+ }
+ if(angle>89&angle<91) {
+ motorR.stop();
+ motorL.stop();
+ wait(2);
+ if(angle>89&angle<91) {
+ i++;
+ }
+ }
+ }
+ if(i==14) {
+ susumu_xl(1,1,asari_x);//x,y
+ }
+ if(i==15) {
+ motorR.stop();
+ motorL.stop();
+ tgt(0,0);
+ wait(2);
+ wait(0.5);
+ denjiben=0;
+ wait(0.5);
+ servo.pulsewidth_us(900);
+ wait(2);
+ i++;
+ }
+ if(i==16) {
+ susumu_xr(-1,-1,555);//700,y
+ }
+ if(i==17) {
+ susumu_ang(0,-1,0);//390,y-310
+ }
+ if(i==18) {
+ susumu_y(-1,-1,goal_y+155);//390,y+310
+ }
+ if(i==19) {
+ susumu_ang(0,-1,-90);//700,y
+ }
+ if(i==20) {
+ susumu_xl(-1,-1,goal_x);//x,y
+ }
+ if(i==21) {
+ motorR.stop();
+ motorL.stop();
+ wait(0.5);
+ denjiben=1;
+ wait(0.5);
+
+ break;
+ }
+ if(i==30) {
+ tgt(-1,-1);
+ }
+*/
+
+ // }//while
+ //tgt(0,0);
+// return 0;
+
+//}//intmain
+
+