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GifuRobo B term
Dependencies: FastPWM cal_PID mbed omuni
Fork of omuni_speed_pid by
main.cpp
- Committer:
- Akito914
- Date:
- 2017-08-28
- Revision:
- 3:6223efea43fe
- Parent:
- 2:c9de02d6d154
- Child:
- 4:5591d3c8a761
File content as of revision 3:6223efea43fe:
#include "mbed.h" #include "omuni.hpp" #include "cal_PID.hpp" #include "timeBaseTrapezoidalMotionCal.h" const float omuni_speed[4] = {0, 1.0, 1.7, 3.0}; const float omega_max = 0.7 * 2 * 3.14159265f; const float wrap_radius = 1.0f; const float wrap_speed = 1.7f; const int8_t armDuty[] = {-50, -50}; const signed int spearDuty = 127; const int32_t lift_preset_min = 420; const int32_t lift_preset_max = 1800; const int32_t lift_preset[4] = { lift_preset_min, (lift_preset_max - lift_preset_min) / 3.0 + lift_preset_min, (lift_preset_max - lift_preset_min) * 2.0 / 3.0 + lift_preset_min, lift_preset_max, }; // 12bit 0 ~ 4095 const int32_t lift_max = lift_preset_max; const int32_t lift_min = lift_preset_min; const int32_t lift_up_speed = 30; const int32_t lift_down_speed = 30; const int omuniAddr[] = {0x10, 0x12, 0x14}; // 0000 , 1000 , 0100 const int armAddr[] = {0x16, 0x18}; // 1100 , 0010 const int spearAddr = 0x1a; // 1010 const int liftAddr = 0x1c; // 0110 int drive_motor(int address,signed int duty); void emergencyStop(); bool ems = false; bool arm = false; bool spear = false; int lift_targ = lift_preset[0]; int lift_stepTarg; bool lift_stepMoving = false; bool first_receive = true; int past_lift_gray = 0b00; int lift_inc = 0; //DigitalIn button(USER_BUTTON); DigitalOut led(LED1); Serial p(USBTX, USBRX); Serial pc(PA_11, PA_12); I2C i2cMaster(D14, D15); omuni omuni(&i2cMaster, TIM1, TIM2, TIM3, 533, 2.0f, omuniAddr, 0.4704f, 0.1f); AnalogIn lift_meter(PC_0); DigitalIn spear_sensor(PC_3); Timer mesPeriod; cal_pid lift_pid; float speed_x, speed_y, omega; bool f; typedef union{ struct{ unsigned angle :4; unsigned speed :2; unsigned byteNum0:2; }; struct{ unsigned wrap_R :1; unsigned wrap_L :1; unsigned coorSys :1; unsigned omega :2; unsigned dir :1; unsigned byteNum1 :2; }; struct{ unsigned lift_down :1; unsigned lift_up :1; unsigned lift_gray :2; unsigned spear :1; unsigned arm :1; unsigned byteNum2 :2; }; struct{ unsigned reserved2 :1; unsigned emo :1; unsigned reserved3 :4; unsigned byteNum3 :2; }; struct{ unsigned control :6; unsigned byteNum :2; }; struct{ unsigned bit0:1; unsigned bit1:1; unsigned bit2:1; unsigned bit3:1; unsigned bit4:1; unsigned bit5:1; unsigned bit6:1; unsigned bit7:1; }; int8_t data; }comData_t; comData_t RCData[4] = {0}; int grayDiffer2bit(int gray, int origin){ switch(origin){ case 0b00: switch(gray){ case 0b01: return 1; case 0b10: return -1; default : return 0; } case 0b01: switch(gray){ case 0b11: return 1; case 0b00: return -1; default : return 0; } case 0b11: switch(gray){ case 0b10: return 1; case 0b01: return -1; default : return 0; } case 0b10: switch(gray){ case 0b00: return 1; case 0b11: return -1; default : return 0; } } return 0; } void pc_rx() { char temp = pc.getc(); comData_t rcTemp; rcTemp.data = temp; float rad, speed; int lift_nearest_num = 0; RCData[rcTemp.byteNum] = rcTemp; /* p.printf("%d",rcTemp.bit7); p.printf("%d",rcTemp.bit6); p.printf("%d",rcTemp.bit5); p.printf("%d",rcTemp.bit4); p.printf("%d",rcTemp.bit3); p.printf("%d",rcTemp.bit2); p.printf("%d",rcTemp.bit1); p.printf("%d",rcTemp.bit0); p.printf("\n"); */ //p.printf("%d\n", rcTemp.byteNum); //p.printf("speed = %d, angle = %d\n",rcTemp.speed, rcTemp.angle); switch(temp >> 6){ case 0: //p.printf("speed = %d, angle = %d\n",rcTemp.speed, rcTemp.angle); break; case 1: //p.printf("dir = %d, omega = %d, coorSys = %d\n", rcTemp.dir, rcTemp.omega, rcTemp.coorSys); break; case 2: //p.printf("arm = %d, spear = %d, lift_gray = %d, lift_up = %d, lift_down = %d\n",rcTemp.arm, rcTemp.spear, rcTemp.lift_gray, rcTemp.lift_up, rcTemp.lift_down); break; case 3: break; } if(rcTemp.byteNum == 3){ // データは揃った led = !led; ems = RCData[3].emo != 0; rad = RCData[0].angle * 3.141592 / 8.0; speed = omuni_speed[RCData[0].speed]; if(RCData[0].speed == 0)speed = 0; speed_x = speed * cos(rad) * -1; speed_y = speed * sin(rad) * -1; f = RCData[1].coorSys; omega = RCData[1].omega * omega_max / 3.0f; omega *= RCData[1].dir ? 1 : -1; if(RCData[1].wrap_R || RCData[1].wrap_L){ speed_x = wrap_speed; speed_y = 0; f = 0; omega = wrap_speed / wrap_radius; speed_x *= RCData[1].wrap_L ? 1 : -1; omega *= RCData[1].wrap_L ? 1 : -1; } arm = RCData[2].arm != 0; spear = RCData[2].spear != 0; if(first_receive){ past_lift_gray = RCData[2].lift_gray; first_receive = false; } if(RCData[2].lift_gray != past_lift_gray){ // 段階移動 int lift_currentTarg; int lift_diff = 0; int lift_nearest = 10000; int lift_nextTarg; lift_currentTarg = lift_targ; if(lift_stepMoving){ lift_nextTarg = lift_stepTarg; } else{ lift_nextTarg = lift_currentTarg; } lift_diff = grayDiffer2bit(RCData[2].lift_gray, past_lift_gray); for(int num = 0; num < 4; num++){ // 最寄りの段階 if(lift_nearest > abs(lift_preset[num] - lift_currentTarg)){ lift_nearest_num = num; lift_nearest = abs(lift_preset[num] - lift_currentTarg); } } if(lift_diff != 0){ if(lift_diff == 1){ if(lift_preset[lift_nearest_num] >= lift_currentTarg){p.printf("$$"); if(lift_nearest_num < 3)lift_nextTarg = lift_preset[lift_nearest_num + 1]; } else{ lift_nextTarg = lift_preset[lift_nearest_num]; } } else if(lift_diff == -1){ if(lift_preset[lift_nearest_num] <= lift_currentTarg){ if(lift_nearest_num > 0)lift_nextTarg = lift_preset[lift_nearest_num - 1]; } else{ lift_nextTarg = lift_preset[lift_nearest_num]; } } lift_stepTarg = lift_nextTarg; lift_stepMoving = true; } } past_lift_gray = RCData[2].lift_gray; if(RCData[2].lift_down != 0)lift_inc = -2; else if(RCData[2].lift_up != 0)lift_inc = 2; else lift_inc = 0; } // すっきりした // してない } void arm_control(){ char armData[2] = {0}; armData[0] = arm? armDuty[0] : 0 ; armData[1] = arm? armDuty[1] : 0 ; i2cMaster.write(armAddr[0], &armData[0], 1); i2cMaster.write(armAddr[1], &armData[1], 1); } void lift_control(){ int32_t meter = 0; signed int duty = 0; int32_t error = 0; error = lift_stepTarg - lift_targ; if(lift_stepMoving){ if(error > lift_up_speed){ lift_targ += lift_up_speed; } else if(error < lift_down_speed * -1){ lift_targ -= lift_down_speed; } else{ lift_targ = lift_stepTarg; lift_stepMoving = false; } } else{ if(lift_inc < 0){ if(lift_min < lift_targ + lift_inc)lift_targ += lift_inc; } else if(lift_inc > 0){ if(lift_max > lift_targ + lift_inc)lift_targ += lift_inc; } } meter = lift_meter.read_u16() >> 4; duty = lift_pid.get_pid(meter, lift_targ, -1); drive_motor(liftAddr, duty); } void spear_control(){ static int spear_state = 0; signed int duty = 0; int sensor = spear_sensor; // リミット時に1 switch(spear_state){ case 0 : // 待ち if(spear){ spear_state = 1; } else{ if(sensor == 0){ duty = spearDuty * -1; } } break; case 1 : // 初期位置から抜け出す duty = spearDuty; if(sensor == 0){ spear_state = 2; } break; case 2 : // 到達位置まで動かす if(sensor == 0){ duty = spearDuty; } else{ spear_state = 3; } break; case 3 : // 到達位置から抜け出す duty = spearDuty * -1; if(sensor == 0){ spear_state = 4; } break; case 4 : // 初期位置まで戻る if(sensor == 0){ duty = spearDuty * -1; } else{ spear_state = 0; } break; default : break; } drive_motor(spearAddr, duty); } void control(){ arm_control(); lift_control(); spear_control(); } int main() { int period_us = 0; int count = 0; p.baud(115200); pc.baud(9600); p.printf("Hello!\n"); pc.attach(pc_rx, Serial::RxIrq); i2cMaster.frequency(400000); omuni.set_speed(0.0f, 0.0f); omuni.set_pid(0, 3.0f, 0.07f, 0.05f); omuni.set_pid(1, 3.0f, 0.07f, 0.05f); omuni.set_pid(2, 3.0f, 0.07f, 0.05f); lift_pid.param(0.4, 0.0, 0.0); lift_pid.period(0.001); lift_pid.output(-127, 127); //control_loop.attach_us(&control, 1000); led = 0; //mesPeriod.start(); while(1) { wait(0.001); omuni.set_speed(speed_x, speed_y, omega, f); omuni.drive(); control(); if(ems){ emergencyStop(); } } } int drive_motor(int address,signed int duty){ /* アドレスを指定してモータを駆動 */ char send_data; int ack; if((duty>127)||(duty<-128))return -1; /* 範囲外なら送信しない */ send_data=duty; ack=i2cMaster.write(address,&send_data,1); return ack; } void emergencyStop(){ drive_motor(omuniAddr[0], 0); drive_motor(omuniAddr[1], 0); drive_motor(omuniAddr[2], 0); drive_motor(armAddr[0], 0); drive_motor(armAddr[1], 0); drive_motor(liftAddr, 0); drive_motor(spearAddr, 0); while(1); }