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lknds
Dependencies: mbed TrapezoidControl Pulse QEI
System/Process/Process.cpp
- Committer:
- Ryosei
- Date:
- 2019-09-27
- Revision:
- 25:d367d1e7a153
- Parent:
- 24:370616a56815
File content as of revision 25:d367d1e7a153:
/////////////////////////////////////////////////////////////////////// /* 三浦先輩へ 主に変えたところ ・超音波センサーの値取得の関数化 ・PulseInOutライブラリを導入 ・LedOut()関数を追加 の3つです。他にも変えたところがあるかもしれないので、確認お願いします。 また、ソレノイドハブとの通信は書いていません。洗濯ばさみの電磁弁はNRPの時の例のアレで動かしています。 普通にピン数が足りないため、ソレノイドハブでプログラムを動かすことを強く望みます。 Process.hの確認もよくお願いします。 LedOutですが、現在は LedOut(0)=金色光りっぱなし LedOut(1)=旧式の光り方 LedOut(2)=ゾーン色で光りっぱなし LedOut(3)=ゾーン色でふわんふわん となっています。希望があれば追加します。無ければ適当に引数が増えるごとに光り方をうざくしていきます。 温度センサーですが、調子が悪いため、直で温度の変数を設定してください。 //////////////////////////////////////////////////////////////////////////////////////// */ //////////////////////////////// /* 2019/09/24 Process.cpp Auther:Miyagawa Ryosei */ //////////////////////////////// #include "mbed.h" #include "Process.h" #include "Pulse.h"////////////こいつ #include "../../CommonLibraries/PID/PID.h" #include "../../Communication/RS485/ActuatorHub/ActuatorHub.h" #include "../../Communication/RS485/LineHub/LineHub.h" #include "../../Communication/Controller/Controller.h" #include "../../Input/ExternalInt/ExternalInt.h" #include "../../Input/Switch/Switch.h" #include "../../Input/Encoder/Encoder.h" //#include "../../Input/Ultrasonic/Ultrasonic.h" #include "../../LED/LED.h" #include "../../Safty/Safty.h" #include "../Using.h" using namespace SWITCH; using namespace PID_SPACE; using namespace ENCODER; //using namespace ULTRSONIC; using namespace LINEHUB; static CONTROLLER::ControllerData *controller; ACTUATORHUB::MOTOR::MotorStatus motor[MOUNTING_MOTOR_NUM]; ACTUATORHUB::SOLENOID::SolenoidStatus solenoid; static bool lock; static bool processChangeComp; static int current; static void AllActuatorReset(); #ifdef USE_SUBPROCESS static void (*Process[USE_PROCESS_NUM])(void); #endif #pragma region USER-DEFINED_VARIABLES_AND_PROTOTYPE /*Replace here with the definition code of your variables.*/ /* USS ultrasonic[] = { USS(ECHO_0,TRIG_0,TEMP), USS(ECHO_1,TRIG_1,TEMP), }; */ Serial pc(USBTX, USBRX); //**************Buzzer**************** //DigitalOut buzzer(BUZZER_PIN); void BuzzerTimer_func(); Ticker BuzzerTimer; bool EMGflag = false; PwmOut buzzer(BUZZER_PIN); //**************Buzzer**************** //************TapeLed***************** void TapeLedEms_func(); TapeLedData tapeLED; TapeLedData sendLedData; TapeLED_Mode ledMode = Normal; Ticker tapeLedTimer; //************TapaLed***************** //*************** lift *************** #define LOWER 1 #define MIDDLRE 2 #define UPPER 3 uint8_t liftState = LOWER; bool moving = false; bool switchFlag_LB = false; bool switchFlag_RB = false; //*************** lift *************** //*************tire************* PID rotaconPID[] = { PID(0.0001,-1,1,0.05,0,0), //LF PID(0.0001,-1,1,0.05,0,0), //LB PID(0.0001,-1,1,0.05,0,0), //RB PID(0.0001,-1,1,0.05,0,0), //RF }; #define FL 0 #define BL 1 #define BR 2 #define FR 3 #define PI 3.141592 const float tireR = 101.6; //タイヤの半径 const float ucR = 420.0; //中心からのタイヤの距離 typedef struct { float Vx; //X方向の速度 float Vy; //Y方向の速度 float Va; //角速度 } Vvector; Vvector move; //進む速度 Vvector correction_LT; //ライントレースの補正速度 Vvector synthetic; //合成速度 float sita = 0; bool PIDflag = false; int linePara[8]; int linePara_U; int linePara_B; int linePara_L; int linePara_R; #define FL 0 #define BL 1 #define BR 2 #define FR 3 float tireProcessRPM[4]; float tireTargetMaxRPM[4]; float tireTargetRPM[4]; float tirePWM[4]; float timePV[4]; float timeCV[4]; float pulsePV[4]; float pulseCV[4]; void tirePID(); int lineCast(char k); Timer rotaconSampling; Ticker rotaconPIDtimer; bool countFlag; //*************tire**************// // ************* Line ************** // float pw = 0; int lineFase = 0; bool lineCheck = false; int linePWM; int adj_F; int adj_B; int mode = 0; int lineCount = 0; // ************* Line ************** // const int omni[15][15] = { { 0, 5, 21, 47, 83, 130, 187, 255, 255, 255, 255, 255, 255, 255, 255 }, { -5, 0, 5, 21, 47, 83, 130, 187, 193, 208, 234, 255, 255, 255, 255 }, { -21, -5, 0, 5, 21, 47, 83, 130, 135, 151, 177, 213, 255, 255, 255 }, { -47, -21, 5, 0, 5, 21, 47, 83, 88, 104, 130, 167, 213, 255, 255 }, { -83, -47, -21, 5, 0, 5, 21, 47, 52, 68, 94, 130, 177, 234, 255 }, { -130, -83, -47, -21, 5, 0, 5, 21, 26, 42, 68, 104, 151, 208, 255 }, { -187, -130, -83, -47, -21, -5, 0, 5, 10, 26, 52, 88, 135, 193, 255 }, { -255, -187, -130, -83, -47, -21, -5, 0, 5, 21, 47, 83, 130, 187, 255 }, { -255, -193, -135, -88, -52, -26, -10, -5, 0, 5, 21, 47, 83, 130, 187 }, { -255, -208, -151, -104, -68, -42, -26, -21, -5, 0, 5, 21, 47, 83, 130 }, { -255, -234, -177, -130, -94, -68, -52, -47, -21, -7, 0, 7, 21, 47, 83 }, { -255, -255, -213, -167, -130, -104, -88, -83, -47, -21, -5, 0, 5, 21, 47 }, { -255, -255, -255, -213, -177, -151, -135, -130, -83, -47, -21, -5, 0, 5, 21 }, { -255, -255, -255, -255, -234, -208, -193, -187, -130, -83, -47, -21, -5, 0, 5 }, { -255, -255, -255, -255, -255, -255, -255, -255, -187, -130, -83, -47, -21, -5, 0 } }; const int curve[15] = { -204, -150, -104, -66, -38, -17, -4, 0, 4, 17, 38, 66, 104, 150, 204 }; uint8_t SetStatus(int); uint8_t SetStatus(int pwmVal) { if (pwmVal < 0) return BACK; else if (pwmVal > 0) return FOR; else if (pwmVal == 0) return BRAKE; else return BRAKE; } uint8_t SetPWM(int); uint8_t SetPWM(int pwmVal) { if (pwmVal == 0 || pwmVal > 255 || pwmVal < -255) return 255; else return abs(pwmVal); } //*********Ultra-Sound sensor*************** AnalogIn Temp(TEMP); //double temp=( Temp.read()* 3.3 - 0.6) / 0.01; PulseInOut Echo0(ECHO_0); PulseInOut Echo1(ECHO_1); PulseInOut Trig0(TRIG_0); PulseInOut Trig1(TRIG_1); double UltraRead(int num) { double Distance=0; double Duration=0; double temp=21;////////////////////////////////////////////////温度 if(num==0) { Trig0.write_us(1,10); Duration=Echo0.read_high_us(5000); } else if(num==1) { Trig1.write_us(1,10); Duration=Echo1.read_high_us(5000); } if(Duration>0) { Duration=Duration/2; double sspead=331.5+0.6*temp; Distance=Duration*sspead*100/1000000; } else { return 0; } return Distance; } //*********Ultra-Sound sensor*************** //*********Tape LED************************** DigitalOut select1(SELECT_1); DigitalOut select2(SELECT_2); DigitalOut select3(SELECT_3); void LedOut(int num) { int selectnum[8][3]= { {0,0,0}, {0,0,1}, {0,1,0}, {0,1,1}, {1,0,0}, {1,0,1}, {1,1,0}, {1,1,1} }; select1=selectnum[num][0]; select2=selectnum[num][1]; select3=selectnum[num][2]; } //*********Tape LED************************** #pragma endregion USER-DEFINED_VARIABLES_AND_PROTOTYPE #ifdef USE_SUBPROCESS #if USE_PROCESS_NUM>0 static void Process0(void); #endif #if USE_PROCESS_NUM>1 static void Process1(void); #endif #if USE_PROCESS_NUM>2 static void Process2(void); #endif #if USE_PROCESS_NUM>3 static void Process3(void); #endif #if USE_PROCESS_NUM>4 static void Process4(void); #endif #if USE_PROCESS_NUM>5 static void Process5(void); #endif #if USE_PROCESS_NUM>6 static void Process6(void); #endif #if USE_PROCESS_NUM>7 static void Process7(void); #endif #if USE_PROCESS_NUM>8 static void Process8(void); #endif #if USE_PROCESS_NUM>9 static void Process9(void); #endif #endif void SystemProcessInitialize() { #pragma region USER-DEFINED_VARIABLE_INIT /*Replace here with the initialization code of your variables.*/ rotaconPIDtimer.attach(tirePID,0.1); #pragma endregion USER-DEFINED_VARIABLE_INIT lock = true; processChangeComp = true; current = DEFAULT_PROCESS; #ifdef USE_SUBPROCESS #if USE_PROCESS_NUM>0 Process[0] = Process0; #endif #if USE_PROCESS_NUM>1 Process[1] = Process1; #endif #if USE_PROCESS_NUM>2 Process[2] = Process2; #endif #if USE_PROCESS_NUM>3 Process[3] = Process3; #endif #if USE_PROCESS_NUM>4 Process[4] = Process4; #endif #if USE_PROCESS_NUM>5 Process[5] = Process5; #endif #if USE_PROCESS_NUM>6 Process[6] = Process6; #endif #if USE_PROCESS_NUM>7 Process[7] = Process7; #endif #if USE_PROCESS_NUM>8 Process[8] = Process8; #endif #if USE_PROCESS_NUM>9 Process[9] = Process9; #endif #endif } static void SystemProcessUpdate() { #ifdef USE_SUBPROCESS if(controller->Button.HOME) lock = false; if(controller->Button.START && processChangeComp) { current++; if (USE_PROCESS_NUM < current) current = USE_PROCESS_NUM; processChangeComp = false; } else if(controller->Button.SELECT && processChangeComp) { current--; if (current < 0) current = 0; processChangeComp = false; } else if(!controller->Button.SELECT && !controller->Button.START) processChangeComp = true; #endif #ifdef USE_MOTOR ACTUATORHUB::MOTOR::Motor::Update(motor); #endif #ifdef USE_SOLENOID ACTUATORHUB::SOLENOID::Solenoid::Update(solenoid); #endif #ifdef USE_RS485 ACTUATORHUB::ActuatorHub::Update(); //LINEHUB::LineHub::Update(); #endif } double Ult_left=UltraRead(0);///////////////////////////////////////////left sensor double Ult_right=UltraRead(1);//////////////////////////////////////////right sensor void SystemProcess() { SystemProcessInitialize(); while(1) { int g[8]; for(int i = 0; i < 8; i++) { g[i] = lineCast(LineHub::GetPara(i)); } Ult_left=UltraRead(0);//////////////////////////////////////////left sensor Ult_right=UltraRead(1);//////////////////////////////////////////right sensor // pc.printf("1:%d 2:%d 3:%d 4:%d 5:%d 6:%d 7:%d 8:%d ULTRA0:%lf ULTRA1:%lf 1-2:%lf:\n\r",g[0],g[1],g[2],g[3],g[4],g[5],g[6],g[7],Ult_left,Ult_right,Ult_left-Ult_right); //float a = ultrasonic[0].ReadDis(); //pc.printf("%f\n\r",a); //int ppap = encoder[0].getPulses(); //pc.printf("%d\n\r",ppap); buzzer.period(1.0/800); #ifdef USE_MU controller = CONTROLLER::Controller::GetData(); #endif #ifdef USE_ERRORCHECK if(SAFTY::ErrorCheck::Check() & SAFTY::Error::ControllerLost) { CONTROLLER::Controller::DataReset(); AllActuatorReset(); lock = true; } else #endif { #ifdef USE_SUBPROCESS if(!lock) { Process[current](); } else #endif { //ロック時の処理 } } //Emergency! /* if(!EMG_0 && !EMG_1 && !EMGflag){ buzzer = 0; BuzzerTimer.attach(BuzzerTimer_func, 1); EMGflag = true; LED_DEBUG0 = 1; } if(EMG_0 && EMG_1 && EMGflag){ buzzer = 1; BuzzerTimer.detach(); EMGflag = false; } */ SystemProcessUpdate(); } } #pragma region PROCESS #ifdef USE_SUBPROCESS #if USE_PROCESS_NUM>0 static void Process0() { AllActuatorReset(); } #endif DigitalOut CLOTHESPIN(PB_9); #if USE_PROCESS_NUM>1 static void Process1() { LedOut(1); PIDflag = false; if(controller->Button.ZR) { CLOTHESPIN = 1; } else { CLOTHESPIN=0; } if(controller->Button.UP) { motor[LIFT_LB].dir = FOR; motor[LIFT_LB].pwm = 190; motor[LIFT_RB].dir = BACK; motor[LIFT_RB].pwm = 180; } else if(controller->Button.DOWN) { motor[LIFT_LB].dir = BACK; motor[LIFT_LB].pwm = 180; motor[LIFT_RB].dir = FOR; motor[LIFT_RB].pwm = 190; } else if(controller->Button.LEFT) { motor[LIFT_LB].dir = FOR; motor[LIFT_LB].pwm = 180; } else if(controller->Button.RIGHT) { motor[LIFT_RB].dir = BACK; motor[LIFT_RB].pwm = 180; } else { motor[LIFT_LB].dir = FREE; motor[LIFT_LB].pwm = 255; motor[LIFT_RB].dir = BACK; motor[LIFT_RB].pwm = 10; } if(controller->Button.X) { motor[LIFT_U].dir = FOR; motor[LIFT_U].pwm = 180; } else if(controller->Button.Y) { motor[LIFT_U].dir = BACK; motor[LIFT_U].pwm = 180; } else { motor[LIFT_U].dir = BRAKE; motor[LIFT_U].pwm = 180; } if(!(controller->AnalogL.Y == 7) || !(controller->AnalogL.X == 7)) { motor[TIRE_FR].dir = SetStatus(-omni[controller->AnalogL.Y][14-controller->AnalogL.X] ); motor[TIRE_FL].dir = SetStatus(omni[controller->AnalogL.Y][controller->AnalogL.X] ); motor[TIRE_BR].dir = SetStatus(-omni[14-controller->AnalogL.X][14-controller->AnalogL.Y] ); motor[TIRE_BL].dir = SetStatus(omni[controller->AnalogL.X][14-controller->AnalogL.Y] ); motor[TIRE_FR].pwm = SetPWM(omni[controller->AnalogL.Y][14-controller->AnalogL.X] * 0.2) ; motor[TIRE_FL].pwm = SetPWM(omni[controller->AnalogL.Y][controller->AnalogL.X] * 0.2) ; motor[TIRE_BR].pwm = SetPWM(omni[14-controller->AnalogL.X][14-controller->AnalogL.Y] * 0.2) ; motor[TIRE_BL].pwm = SetPWM(omni[controller->AnalogL.X][14-controller->AnalogL.Y] * 0.2) ; } else { motor[TIRE_BL].dir = SetStatus(curve[controller->AnalogR.X]); motor[TIRE_FL].dir = SetStatus(curve[controller->AnalogR.X]); motor[TIRE_BR].dir = SetStatus(curve[controller->AnalogR.X]); motor[TIRE_FR].dir = SetStatus(curve[controller->AnalogR.X]); motor[TIRE_FR].pwm = SetPWM(curve[controller->AnalogR.X]); motor[TIRE_FL].pwm = SetPWM(curve[controller->AnalogR.X]); motor[TIRE_BR].pwm = SetPWM(curve[controller->AnalogR.X]); motor[TIRE_BL].pwm = SetPWM(curve[controller->AnalogR.X]); } } #endif #if USE_PROCESS_NUM>2 static void Process2() { static int phase=0;//system phase static int StartFlag=0;//if start switch is pressed,the valiable sets "1". pc.printf("phase:%d,air:%d\r\n",phase,CLOTHESPIN); Timer FlagTimer;//調整中に超音波センサーが変な動きをした時のためのタイマー Timer AirTimer;//エアーのタイマー int RedOrBlue=LimitSw::IsPressed(RED_OR_BLUE); // solenoid.solenoid0=1; if(LimitSw::IsPressed(STARTSW)) { CLOTHESPIN=0; StartFlag=1; } if(controller->Button.ZL) { CLOTHESPIN=0; motor[TIRE_FL].dir=FOR; motor[TIRE_FR].dir=FOR; motor[TIRE_BL].dir=FOR; motor[TIRE_BR].dir=FOR; motor[TIRE_FL].pwm=15; motor[TIRE_FR].pwm=15; motor[TIRE_BL].pwm=15; motor[TIRE_BR].pwm=15; } else { CLOTHESPIN=0; } if((controller->Button.A)||(StartFlag==1)) { if(phase==0) { //位置調整 //(P制御) CLOTHESPIN=0; LedOut(4); if((Ult_left>0)&&(Ult_right>0)) {//データを受け取っているとき if((Ult_left<16)&&(Ult_left>14)&&(Ult_right<16)&&(Ult_right>14)) { //合った場合 motor[TIRE_FL].dir=BRAKE; motor[TIRE_FR].dir=BRAKE; motor[TIRE_BL].dir=BRAKE; motor[TIRE_BR].dir=BRAKE; motor[TIRE_FL].pwm=100; motor[TIRE_FR].pwm=100; motor[TIRE_BL].pwm=100; motor[TIRE_BR].pwm=100; phase=1;//system phase increasing } else if((Ult_left<16)&&(Ult_left>14)) { //Ult_leftのみあった場合 if(Ult_right>16) { //Ult_rightが遠い場合 motor[TIRE_FL].dir=FOR; motor[TIRE_FR].dir=BACK; motor[TIRE_BL].dir=FOR; motor[TIRE_BR].dir=BACK; motor[TIRE_FL].pwm=0; motor[TIRE_FR].pwm=15; motor[TIRE_BL].pwm=0; motor[TIRE_BR].pwm=15; } else if(Ult_right<14) { //Ult_rightが近い場合 motor[TIRE_FL].dir=BACK; motor[TIRE_FR].dir=FOR; motor[TIRE_BL].dir=BACK; motor[TIRE_BR].dir=FOR; motor[TIRE_FL].pwm=0; motor[TIRE_FR].pwm=15; motor[TIRE_BL].pwm=0; motor[TIRE_BR].pwm=15; } } else if((Ult_right<16)&&(Ult_right>14)) { //Ult_rightのみあった場合 if(Ult_left>16) { //Ult_leftが遠い場合 motor[TIRE_FL].dir=FOR; motor[TIRE_FR].dir=BACK; motor[TIRE_BL].dir=FOR; motor[TIRE_BR].dir=BACK; motor[TIRE_FL].pwm=15; motor[TIRE_FR].pwm=0; motor[TIRE_BL].pwm=15; motor[TIRE_BR].pwm=0; } else if(Ult_left<14) { //Ult_leftが近い場合 motor[TIRE_FL].dir=BACK; motor[TIRE_FR].dir=FOR; motor[TIRE_BL].dir=BACK; motor[TIRE_BR].dir=FOR; motor[TIRE_FL].pwm=15; motor[TIRE_FR].pwm=0; motor[TIRE_BL].pwm=15; motor[TIRE_BR].pwm=0; } } else { //どっちもあってない場合 if( (Ult_left+Ult_right)<=25||(Ult_left+Ult_right)>=35) {//離れすぎているor近すぎるとき if((Ult_left-Ult_right)>10||((Ult_left-Ult_right)<-10) ) { //傾きが大きいとき if((Ult_left-Ult_right)>0) { //Ult_leftの方が後ろに来ているとき motor[TIRE_FL].dir=FOR; motor[TIRE_FR].dir=FOR; motor[TIRE_BL].dir=FOR; motor[TIRE_BR].dir=FOR; motor[TIRE_FL].pwm=15; motor[TIRE_FR].pwm=15; motor[TIRE_BL].pwm=15; motor[TIRE_BR].pwm=15; } else if((Ult_left-Ult_right)<=0) { //Ult_rightの方が後ろに来ているとき motor[TIRE_FL].dir=BACK; motor[TIRE_FR].dir=BACK; motor[TIRE_BL].dir=BACK; motor[TIRE_BR].dir=BACK; motor[TIRE_FL].pwm=15; motor[TIRE_FR].pwm=15; motor[TIRE_BL].pwm=15; motor[TIRE_BR].pwm=15; } } else { //傾きが大きくなくて離れているとき if((Ult_right+Ult_left)<=25) { //近すぎるとき motor[TIRE_FL].dir=BACK; motor[TIRE_FR].dir=FOR; motor[TIRE_BL].dir=BACK; motor[TIRE_BR].dir=FOR; motor[TIRE_FL].pwm=20; motor[TIRE_FR].pwm=20; motor[TIRE_BL].pwm=20; motor[TIRE_BR].pwm=20; } else if((Ult_right+Ult_left)>=35) { //離れているとき motor[TIRE_FL].dir=FOR; motor[TIRE_FR].dir=BACK; motor[TIRE_BL].dir=FOR; motor[TIRE_BR].dir=BACK; motor[TIRE_FL].pwm=20; motor[TIRE_FR].pwm=20; motor[TIRE_BL].pwm=20; motor[TIRE_BR].pwm=20; } } } else { //さほど離れてはいないが傾きが大きいとき if((Ult_left-Ult_right)>0) { //Ult_leftの方が後ろに来ているとき motor[TIRE_FL].dir=FOR; motor[TIRE_FR].dir=FOR; motor[TIRE_BL].dir=FOR; motor[TIRE_BR].dir=FOR; motor[TIRE_FL].pwm=15; motor[TIRE_FR].pwm=15; motor[TIRE_BL].pwm=15; motor[TIRE_BR].pwm=15; } else if((Ult_left-Ult_right)<=0) { //Ult_rightの方が後ろに来ているとき motor[TIRE_FL].dir=BACK; motor[TIRE_FR].dir=BACK; motor[TIRE_BL].dir=BACK; motor[TIRE_BR].dir=BACK; motor[TIRE_FL].pwm=15; motor[TIRE_FR].pwm=15; motor[TIRE_BL].pwm=15; motor[TIRE_BR].pwm=15; } } } } else {//データを受け取ってないとき motor[TIRE_FL].dir=BRAKE; motor[TIRE_FR].dir=BRAKE; motor[TIRE_BL].dir=BRAKE; motor[TIRE_BR].dir=BRAKE; motor[TIRE_FL].pwm=100; motor[TIRE_FR].pwm=100; motor[TIRE_BL].pwm=100; motor[TIRE_BR].pwm=100; } } else if(phase==1) { phase=2; //待機&phase1に戻る } else if(phase==2) { CLOTHESPIN=SOLENOID_OFF; LedOut(1); //リミットスイッチに当てる static int count2=0; if(count2==0) { if((Ult_left>0)&&(Ult_right>0)) {//データを受け取っているとき if( (Ult_left+Ult_right)<=25||(Ult_left+Ult_right)>=35) { if(((Ult_left-Ult_right)>=5)||((Ult_left-Ult_right)<=-5)) { if(Ult_left-Ult_right<=0) { motor[TIRE_FL].dir=BACK; motor[TIRE_FR].dir=BACK; motor[TIRE_BL].dir=FOR; motor[TIRE_BR].dir=FOR; motor[TIRE_FL].pwm=25+(-1*(Ult_left-Ult_right)); motor[TIRE_FR].pwm=25+(-1*(Ult_left-Ult_right)); motor[TIRE_BL].pwm=25; motor[TIRE_BR].pwm=25; } else if(Ult_left-Ult_right>0) { motor[TIRE_FL].dir=BACK; motor[TIRE_FR].dir=BACK; motor[TIRE_BL].dir=FOR; motor[TIRE_BR].dir=FOR; motor[TIRE_BL].pwm=25+(1*(Ult_left-Ult_right)); motor[TIRE_BR].pwm=25+(1*(Ult_left-Ult_right)); motor[TIRE_FL].pwm=25; motor[TIRE_FR].pwm=25; } } else if((Ult_left+Ult_right)<=25) { motor[TIRE_FL].dir=BACK; motor[TIRE_FR].dir=BACK; motor[TIRE_BL].dir=FOR; motor[TIRE_BR].dir=FOR; motor[TIRE_FL].pwm=25; motor[TIRE_FR].pwm=0; motor[TIRE_BL].pwm=0; motor[TIRE_BR].pwm=25; } else if((Ult_left+Ult_right)>=35) { motor[TIRE_FL].dir=BACK; motor[TIRE_FR].dir=BACK; motor[TIRE_BL].dir=FOR; motor[TIRE_BR].dir=FOR; motor[TIRE_FL].pwm=0; motor[TIRE_FR].pwm=25; motor[TIRE_BL].pwm=25; motor[TIRE_BR].pwm=0; } } else { if(Ult_left-Ult_right<=0) { motor[TIRE_FL].dir=BACK; motor[TIRE_FR].dir=BACK; motor[TIRE_BL].dir=FOR; motor[TIRE_BR].dir=FOR; motor[TIRE_FL].pwm=25+(-1*(Ult_left-Ult_right)); motor[TIRE_FR].pwm=25+(-1*(Ult_left-Ult_right)); motor[TIRE_BL].pwm=25; motor[TIRE_BR].pwm=25; } else if(Ult_left-Ult_right>0) { motor[TIRE_FL].dir=BACK; motor[TIRE_FR].dir=BACK; motor[TIRE_BL].dir=FOR; motor[TIRE_BR].dir=FOR; motor[TIRE_BL].pwm=25+(1*(Ult_left-Ult_right)); motor[TIRE_BR].pwm=25+(1*(Ult_left-Ult_right)); motor[TIRE_FL].pwm=25; motor[TIRE_FR].pwm=25; } } } else { motor[TIRE_FL].dir=BRAKE; motor[TIRE_FR].dir=BRAKE; motor[TIRE_BL].dir=BRAKE; motor[TIRE_BR].dir=BRAKE; motor[TIRE_FL].pwm=100; motor[TIRE_FR].pwm=100; motor[TIRE_BL].pwm=100; motor[TIRE_BR].pwm=100; } if(LimitSw::IsPressed(LEFTlim)) { count2=1; } } else if(count2==1) { motor[TIRE_FL].dir=BRAKE; motor[TIRE_FR].dir=BRAKE; motor[TIRE_BL].dir=BRAKE; motor[TIRE_BR].dir=BRAKE; motor[TIRE_FL].pwm=255; motor[TIRE_FR].pwm=255; motor[TIRE_BL].pwm=255; motor[TIRE_BR].pwm=255; phase=10; } } else if(phase==3) { //洗濯ばさみを止める&戻す static int count3=0; static int loop=0; pc.printf("%d\r\n",loop); CLOTHESPIN=1; if(count3==0) { loop++; if(loop==60) { count3=1; } } else if(count3==1) { CLOTHESPIN=0; phase=4; } } else if(phase==4) { //シーツをかける LedOut(3); CLOTHESPIN=0; if(!(LimitSw::IsPressed(RIGHTlim))) { //超音波 if(Ult_right>0) { if(Ult_right<15) { motor[TIRE_FL].dir=FOR; motor[TIRE_FR].dir=FOR; motor[TIRE_BL].dir=BACK; motor[TIRE_BR].dir=BACK; motor[TIRE_FL].pwm=25; motor[TIRE_FR].pwm=25+(15-Ult_right); motor[TIRE_BL].pwm=25+(15-Ult_right); motor[TIRE_BR].pwm=25; } else if(Ult_right>=15) { motor[TIRE_FL].dir=FOR; motor[TIRE_FR].dir=FOR; motor[TIRE_BL].dir=BACK; motor[TIRE_BR].dir=BACK; motor[TIRE_FL].pwm=25+(Ult_right-15); motor[TIRE_FR].pwm=25; motor[TIRE_BL].pwm=25; motor[TIRE_BR].pwm=25+(Ult_right-15); } } else { motor[TIRE_FL].dir=FOR; motor[TIRE_FR].dir=FOR; motor[TIRE_BL].dir=BACK; motor[TIRE_BR].dir=BACK; motor[TIRE_FL].pwm=25; motor[TIRE_FR].pwm=25; motor[TIRE_BL].pwm=25; motor[TIRE_BR].pwm=25; } /* if((Ult_left>0)&&(Ult_right>0)) {//データを受け取っているとき if( (Ult_left+Ult_right)<=25||(Ult_left+Ult_right)>=35) { if(((Ult_left-Ult_right)>=5)||((Ult_left-Ult_right)<=-5)) { if(Ult_left-Ult_right<=0) { motor[TIRE_FL].dir=FOR; motor[TIRE_FR].dir=FOR; motor[TIRE_BL].dir=BACK; motor[TIRE_BR].dir=BACK; motor[TIRE_BL].pwm=25+(-1*(Ult_left-Ult_right)); motor[TIRE_BR].pwm=25+(-1*(Ult_left-Ult_right)); motor[TIRE_FL].pwm=25; motor[TIRE_FR].pwm=25; } else if(Ult_left-Ult_right>0) { motor[TIRE_FL].dir=FOR; motor[TIRE_FR].dir=FOR; motor[TIRE_BL].dir=BACK; motor[TIRE_BR].dir=BACK; motor[TIRE_FL].pwm=25+(1*(Ult_left-Ult_right)); motor[TIRE_FR].pwm=25+(1*(Ult_left-Ult_right)); motor[TIRE_BL].pwm=25; motor[TIRE_BR].pwm=25; } } else if((Ult_left+Ult_right)<=25) { motor[TIRE_FL].dir=FOR; motor[TIRE_FR].dir=FOR; motor[TIRE_BL].dir=BACK; motor[TIRE_BR].dir=BACK; motor[TIRE_FL].pwm=0; motor[TIRE_FR].pwm=25; motor[TIRE_BL].pwm=25; motor[TIRE_BR].pwm=0; } else if((Ult_left+Ult_right)>=35) { motor[TIRE_FL].dir=FOR; motor[TIRE_FR].dir=FOR; motor[TIRE_BL].dir=BACK; motor[TIRE_BR].dir=BACK; motor[TIRE_FL].pwm=25; motor[TIRE_FR].pwm=0; motor[TIRE_BL].pwm=0; motor[TIRE_BR].pwm=25; } } else { if(Ult_left-Ult_right<=0) { motor[TIRE_FL].dir=FOR; motor[TIRE_FR].dir=FOR; motor[TIRE_BL].dir=BACK; motor[TIRE_BR].dir=BACK; motor[TIRE_BL].pwm=25+(-1*(Ult_left-Ult_right)); motor[TIRE_BR].pwm=25+(-1*(Ult_left-Ult_right)); motor[TIRE_FL].pwm=25; motor[TIRE_FR].pwm=25; } else if(Ult_left-Ult_right>0) { motor[TIRE_FL].pwm=25+(1*(Ult_left-Ult_right)); motor[TIRE_FR].pwm=25+(1*(Ult_left-Ult_right)); motor[TIRE_BL].pwm=25; motor[TIRE_BR].pwm=25; } } } else { motor[TIRE_FL].dir=BRAKE; motor[TIRE_FR].dir=BRAKE; motor[TIRE_BL].dir=BRAKE; motor[TIRE_BR].dir=BRAKE; motor[TIRE_FL].pwm=100; motor[TIRE_FR].pwm=100; motor[TIRE_BL].pwm=100; motor[TIRE_BR].pwm=100; } */ } else { motor[TIRE_FL].dir=BRAKE; motor[TIRE_FR].dir=BRAKE; motor[TIRE_BL].dir=BRAKE; motor[TIRE_BR].dir=BRAKE; motor[TIRE_FL].pwm=100; motor[TIRE_FR].pwm=100; motor[TIRE_BL].pwm=100; motor[TIRE_BR].pwm=100; phase=5; } } else if(phase==5) { motor[TIRE_FL].dir=BACK; motor[TIRE_FR].dir=BRAKE; motor[TIRE_BL].dir=BRAKE; motor[TIRE_BR].dir=BACK; motor[TIRE_FL].pwm=30; motor[TIRE_FR].pwm=100; motor[TIRE_BL].pwm=100; motor[TIRE_BR].pwm=30; //斜め後ろに下がる } else if(phase==10) { if((Ult_left>0)&&(Ult_right>0)) {//データを受け取っているとき if((Ult_left<16)&&(Ult_left>14)&&(Ult_right<16)&&(Ult_right>14)) { //合った場合 motor[TIRE_FL].dir=BRAKE; motor[TIRE_FR].dir=BRAKE; motor[TIRE_BL].dir=BRAKE; motor[TIRE_BR].dir=BRAKE; motor[TIRE_FL].pwm=255; motor[TIRE_FR].pwm=255; motor[TIRE_BL].pwm=255; motor[TIRE_BR].pwm=255; phase=3;//system phase increasing } else if((Ult_left<16)&&(Ult_left>14)) { //Ult_leftのみあった場合 if(Ult_right>16) { //Ult_rightが遠い場合 motor[TIRE_FL].dir=FOR; motor[TIRE_FR].dir=BACK; motor[TIRE_BL].dir=FOR; motor[TIRE_BR].dir=BACK; motor[TIRE_FL].pwm=0; motor[TIRE_FR].pwm=13; motor[TIRE_BL].pwm=0; motor[TIRE_BR].pwm=13; } else if(Ult_right<14) { //Ult_rightが近い場合 motor[TIRE_FL].dir=BACK; motor[TIRE_FR].dir=FOR; motor[TIRE_BL].dir=BACK; motor[TIRE_BR].dir=FOR; motor[TIRE_FL].pwm=0; motor[TIRE_FR].pwm=13; motor[TIRE_BL].pwm=0; motor[TIRE_BR].pwm=13; } } else if((Ult_right<16)&&(Ult_right>14)) { //Ult_rightのみあった場合 if(Ult_left>16) { //Ult_leftが遠い場合 motor[TIRE_FL].dir=FOR; motor[TIRE_FR].dir=BACK; motor[TIRE_BL].dir=FOR; motor[TIRE_BR].dir=BACK; motor[TIRE_FL].pwm=13; motor[TIRE_FR].pwm=0; motor[TIRE_BL].pwm=13; motor[TIRE_BR].pwm=0; } else if(Ult_left<14) { //Ult_leftが近い場合 motor[TIRE_FL].dir=BACK; motor[TIRE_FR].dir=FOR; motor[TIRE_BL].dir=BACK; motor[TIRE_BR].dir=FOR; motor[TIRE_FL].pwm=13; motor[TIRE_FR].pwm=0; motor[TIRE_BL].pwm=13; motor[TIRE_BR].pwm=0; } } else { //どっちもあってない場合 if( (Ult_left+Ult_right)<=25||(Ult_left+Ult_right)>=35) {//離れすぎているor近すぎるとき if((Ult_left-Ult_right)>0||((Ult_left-Ult_right)<0) ) { //傾きが大きいとき if((Ult_left-Ult_right)>0) { //Ult_leftの方が後ろに来ているとき motor[TIRE_FL].dir=FOR; motor[TIRE_FR].dir=FOR; motor[TIRE_BL].dir=FOR; motor[TIRE_BR].dir=FOR; motor[TIRE_FL].pwm=10*Ult_left-Ult_right; motor[TIRE_FR].pwm=10*Ult_left-Ult_right; motor[TIRE_BL].pwm=10*Ult_left-Ult_right; motor[TIRE_BR].pwm=10*Ult_left-Ult_right; } else if((Ult_left-Ult_right)<=0) { //Ult_rightの方が後ろに来ているとき motor[TIRE_FL].dir=BACK; motor[TIRE_FR].dir=BACK; motor[TIRE_BL].dir=BACK; motor[TIRE_BR].dir=BACK; motor[TIRE_FL].pwm=10*Ult_left-Ult_right; motor[TIRE_FR].pwm=10*Ult_left-Ult_right; motor[TIRE_BL].pwm=10*Ult_left-Ult_right; motor[TIRE_BR].pwm=10*Ult_left-Ult_right; } } } else { //さほど離れてはいないが傾きが大きいとき if((Ult_left-Ult_right)>0) { //Ult_leftの方が後ろに来ているとき motor[TIRE_FL].dir=FOR; motor[TIRE_FR].dir=FOR; motor[TIRE_BL].dir=FOR; motor[TIRE_BR].dir=FOR; motor[TIRE_FL].pwm=10*Ult_left-Ult_right; motor[TIRE_FR].pwm=10*Ult_left-Ult_right; motor[TIRE_BL].pwm=10*Ult_left-Ult_right; motor[TIRE_BR].pwm=10*Ult_left-Ult_right; } else if((Ult_left-Ult_right)<=0) { //Ult_rightの方が後ろに来ているとき motor[TIRE_FL].dir=BACK; motor[TIRE_FR].dir=BACK; motor[TIRE_BL].dir=BACK; motor[TIRE_BR].dir=BACK; motor[TIRE_FL].pwm=10*Ult_left-Ult_right; motor[TIRE_FR].pwm=10*Ult_left-Ult_right; motor[TIRE_BL].pwm=10*Ult_left-Ult_right; motor[TIRE_BR].pwm=10*Ult_left-Ult_right; } } } } else {//データを受け取ってないとき motor[TIRE_FL].dir=BRAKE; motor[TIRE_FR].dir=BRAKE; motor[TIRE_BL].dir=BRAKE; motor[TIRE_BR].dir=BRAKE; motor[TIRE_FL].pwm=100; motor[TIRE_FR].pwm=100; motor[TIRE_BL].pwm=100; motor[TIRE_BR].pwm=100; } } else { //一応 motor[TIRE_FL].dir=BRAKE; motor[TIRE_FR].dir=BRAKE; motor[TIRE_BL].dir=BRAKE; motor[TIRE_BR].dir=BRAKE; motor[TIRE_FL].pwm=100; motor[TIRE_FR].pwm=100; motor[TIRE_BL].pwm=100; motor[TIRE_BR].pwm=100; } } else { motor[TIRE_FL].dir=BRAKE; motor[TIRE_FR].dir=BRAKE; motor[TIRE_BL].dir=BRAKE; motor[TIRE_BR].dir=BRAKE; motor[TIRE_FL].pwm=100; motor[TIRE_FR].pwm=100; motor[TIRE_BL].pwm=100; motor[TIRE_BR].pwm=100; } } #endif #if USE_PROCESS_NUM>3 static void Process3() { AllActuatorReset(); lineFase = 0; } #endif #if USE_PROCESS_NUM>4 static void Process4() { static int x,y; static int count = 0; linePara_U = lineCast(LineHub::GetPara(0)); linePara_B = lineCast(LineHub::GetPara(2)); linePara_L = lineCast(LineHub::GetPara(3)); linePara_R = lineCast(LineHub::GetPara(4)); if(linePara_B == 'A' && count == 0) { lineFase = 1; } if(lineFase == 0) { pw = 0.5; switch(linePara_U) { case -2: x = 5; y = 3; break; case -3: x = 5; y = 3; break; case -1: x = 6; y = 3; break; case 0: x = 7; y = 3; break; case 1: x = 8; y = 3; break; case 3: x = 9; y = 3; break; case 2: x = 9; y = 3; break; case 'A': lineCheck = true; x = x; y = y; break; case 'N': x = 7; y = 7; break; x = 7; y = 7; default: x = 9; y = 9; } if(lineCheck == true && (!(linePara_U) == 'A')) { count++; } } else if(lineFase == 1) { pw = 0.3; x = 7; y = 9; if(linePara_R == 0) { lineFase = 2; x = 7; y = 7; } } else if(lineFase == 2) { x = 7; y = 7; } else { x = 7; y = 7; } int t = 0; if((linePara_U + linePara_B) > 3) t = 1; if(controller->Button.A) { motor[TIRE_BL].dir = SetStatus(-omni[y][14-x] ); motor[TIRE_FL].dir = SetStatus(omni[y][x]); motor[TIRE_BR].dir = SetStatus(-omni[14-x][14-y]); motor[TIRE_FR].dir = SetStatus(omni[x][14-y]); motor[TIRE_FR].pwm = SetPWM((omni[y][14-x])) * pw; motor[TIRE_FL].pwm = SetPWM((omni[y][x])) * pw; motor[TIRE_BR].pwm = SetPWM((omni[14-x][14-y])) * pw; motor[TIRE_BL].pwm = SetPWM((omni[x][14-y])) * pw; } else { motor[TIRE_BL].dir = SetStatus(0); motor[TIRE_FL].dir = SetStatus(0); motor[TIRE_BR].dir = SetStatus(0); motor[TIRE_FR].dir = SetStatus(0); motor[TIRE_FR].pwm = SetPWM(0); motor[TIRE_FL].pwm = SetPWM(0); motor[TIRE_BR].pwm = SetPWM(0); motor[TIRE_BL].pwm = SetPWM(0); } } #endif #if USE_PROCESS_NUM>5 static void Process5() { lineFase = 0; lineCheck = true; } #endif #if USE_PROCESS_NUM>6 static void Process6() { for(int i = 0; i < 8; i++) { linePara[i] = lineCast(LineHub::GetPara(i)); } static int count = 100000; count++; if(count < 10000) { lineCheck = false; } else { lineCheck = true; } if(lineFase == 0) { // 前進 switch(linePara[0]) { motor[TIRE_FL].dir = FOR; motor[TIRE_BL].dir = BRAKE; motor[TIRE_BR].dir = BACK; motor[TIRE_FR].dir = BRAKE; motor[TIRE_FL].pwm = 30; motor[TIRE_FR].pwm = 0; motor[TIRE_BR].pwm = 30; motor[TIRE_BL].pwm = 0; break; case -3: motor[TIRE_FL].dir = FOR; motor[TIRE_BL].dir = BACK; motor[TIRE_BR].dir = BACK; motor[TIRE_FR].dir = FOR; motor[TIRE_FL].pwm = 30; motor[TIRE_FR].pwm = 10; motor[TIRE_BR].pwm = 30; motor[TIRE_BL].pwm = 10; break; case -1: motor[TIRE_FL].dir = FOR; motor[TIRE_BL].dir = BACK; motor[TIRE_BR].dir = BACK; motor[TIRE_FR].dir = FOR; motor[TIRE_FL].pwm = 30; motor[TIRE_FR].pwm = 20; motor[TIRE_BR].pwm = 30; motor[TIRE_BL].pwm = 20; break; case 0: motor[TIRE_FL].dir = FOR; motor[TIRE_BL].dir = BACK; motor[TIRE_BR].dir = BACK; motor[TIRE_FR].dir = FOR; motor[TIRE_FL].pwm = 30; motor[TIRE_FR].pwm = 30; motor[TIRE_BR].pwm = 30; motor[TIRE_BL].pwm = 30; break; case 1: motor[TIRE_FL].dir = FOR; motor[TIRE_BL].dir = BACK; motor[TIRE_BR].dir = BACK; motor[TIRE_FR].dir = FOR; motor[TIRE_FL].pwm = 20; motor[TIRE_FR].pwm = 30; motor[TIRE_BR].pwm = 20; motor[TIRE_BL].pwm = 30; break; case 3: motor[TIRE_FL].dir = FOR; motor[TIRE_BL].dir = FOR; motor[TIRE_BR].dir = BACK; motor[TIRE_FR].dir = BACK; motor[TIRE_FL].pwm = 10; motor[TIRE_FR].pwm = 30; motor[TIRE_BR].pwm = 10; motor[TIRE_BL].pwm = 30; break; case 2: motor[TIRE_FL].dir = BRAKE; motor[TIRE_BL].dir = FOR; motor[TIRE_BR].dir = BRAKE; motor[TIRE_FR].dir = BACK; motor[TIRE_FL].pwm = 0; motor[TIRE_FR].pwm = 30; motor[TIRE_BR].pwm = 0; motor[TIRE_BL].pwm = 30; break; case 'A': motor[TIRE_FL].dir = FOR; motor[TIRE_BL].dir = BACK; motor[TIRE_BR].dir = BACK; motor[TIRE_FR].dir = FOR; motor[TIRE_FL].pwm = 30; motor[TIRE_FR].pwm = 30; motor[TIRE_BR].pwm = 30; motor[TIRE_BL].pwm = 30; if(lineCheck == true) { lineCount++; count = 0; } default: motor[TIRE_FL].dir = BRAKE; motor[TIRE_BL].dir = BRAKE; motor[TIRE_BR].dir = BRAKE; motor[TIRE_FR].dir = BRAKE; motor[TIRE_FL].pwm = 30; motor[TIRE_FR].pwm = 30; motor[TIRE_BR].pwm = 30; motor[TIRE_BL].pwm = 30; } if(lineCount == 1) { lineFase = 1; } } else if(lineFase == 1) { // 前進 低速 motor[TIRE_FL].dir = FOR; motor[TIRE_BL].dir = FOR; motor[TIRE_BR].dir = BACK; motor[TIRE_FR].dir = BACK; motor[TIRE_FL].pwm = 15; motor[TIRE_FR].pwm = 15; motor[TIRE_BR].pwm = 15; motor[TIRE_BL].pwm = 15; if(linePara[4] == 0) { lineFase = 2; motor[TIRE_FL].dir = BRAKE; motor[TIRE_BL].dir = BRAKE; motor[TIRE_BR].dir = BRAKE; motor[TIRE_FR].dir = BRAKE; motor[TIRE_FL].pwm = 30; motor[TIRE_FR].pwm = 30; motor[TIRE_BR].pwm = 30; motor[TIRE_BL].pwm = 30; } } else if(lineFase == 2) { // 位置調整 lineFase = 3; } else if(lineFase == 3) { // 右 直進 motor[TIRE_FL].dir = BRAKE; motor[TIRE_BL].dir = BRAKE; motor[TIRE_BR].dir = BRAKE; motor[TIRE_FR].dir = BRAKE; motor[TIRE_FL].pwm = 30; motor[TIRE_FR].pwm = 30; motor[TIRE_BR].pwm = 30; motor[TIRE_BL].pwm = 30; } } #endif Timer samp; #if USE_PROCESS_NUM>7 static void Process7() { ; static int flag=0; static int FL_PWM=0; static int FR_PWM=0; static int BL_PWM=0; static int BR_PWM=0; int targetpulse=1000; if(flag==0) { samp.start(); flag=1; } else { int pulseFL = -encoder[FL].getPulses()/samp.read(); int pulseBL = -encoder[BL].getPulses()/samp.read(); int pulseBR = -encoder[BR].getPulses()/samp.read(); int pulseFR = -encoder[FR].getPulses()/samp.read(); pc.printf("%f ,pulseFL:%d\r\n",samp.read(),pulseFL); FL_PWM=FL_PWM+=0.01*(targetpulse-pulseFL); FR_PWM=FR_PWM+=0.01*(targetpulse-pulseFR); BL_PWM=BL_PWM+=0.01*(targetpulse-pulseBL); BR_PWM=BR_PWM+=0.01*(targetpulse-pulseBR); motor[TIRE_FL].dir = FOR; motor[TIRE_BL].dir = FOR; motor[TIRE_BR].dir = FOR; motor[TIRE_FR].dir = FOR; motor[TIRE_FL].pwm = FL_PWM; motor[TIRE_FR].pwm = FR_PWM; motor[TIRE_BR].pwm = BR_PWM; motor[TIRE_BL].pwm = BL_PWM; } } #endif #if USE_PROCESS_NUM>8 static void Process8() { if(controller->Button.A) { rotaconSampling.start(); PIDflag = true; //linePara_U = LineHub::GetPara(0); //linePara_B = LineHub::GetPara(3); pulsePV[FL] = encoder[FL].getPulses(); pulsePV[BL] = encoder[BL].getPulses(); pulsePV[BR] = encoder[BR].getPulses(); pulsePV[FR] = encoder[FR].getPulses(); for (int i = 0; i < 4; i++) { timeCV[i] = timePV[i]; timePV[i] = rotaconSampling.read(); tireProcessRPM[i] = (pulsePV[i] - pulseCV[i])/ (float)(256 * 2) / (timePV[i] - timeCV[i]) * 60; pulseCV[i] = pulsePV[i]; } move.Vx = 0.5; move.Vy = 0.5; move.Va = 0; correction_LT.Vx = 0; //0.1 * linePara_U; correction_LT.Vy = 0; correction_LT.Va = 0; synthetic.Vx = move.Vx + correction_LT.Vx; synthetic.Vy = move.Vy + correction_LT.Vy; synthetic.Va = move.Va + correction_LT.Va; sita = 0; //タイヤの目標速度算出 float sinR = 0.7071f * (float)sin(sita); float cosR = 0.7071f * (float)cos(sita); float nv = (60 * 1000) / ( 2.00 * PI * tireR); tireTargetRPM[FL] = ((+ synthetic.Vx * (sinR - cosR)) - (synthetic.Vy * (sinR + cosR)) + (ucR * synthetic.Va)) * nv; tireTargetRPM[BL] = ((+ synthetic.Vx * (sinR + cosR)) + (synthetic.Vy * (sinR - cosR)) + (ucR * synthetic.Va)) * nv; tireTargetRPM[BR] = ((- synthetic.Vx * (sinR - cosR)) + (synthetic.Vy * (sinR + cosR)) + (ucR * synthetic.Va)) * nv; tireTargetRPM[FR] = ((- synthetic.Vx * (sinR + cosR)) - (synthetic.Vy * (sinR - cosR)) + (ucR * synthetic.Va)) * nv; //pc.printf("process : %f target : %f\n\r",tireProcessRPM[0],tireTargetRPM[0]); //PIDによるPWM算出 //モータの駆動 for (int i = 0; i < 4; i++) { if (tirePWM[i] > 255) { tirePWM[i] = 255; } else if (tirePWM[i] < -255) { tirePWM[i] = -255; } } for(int i = 0; i < 4; i++) { motor[i].dir = SetStatus(tirePWM[i]); motor[i].pwm = SetPWM(tirePWM[i]); } } else { PIDflag = false; rotaconSampling.stop(); rotaconSampling.reset(); for(int i = 0; i < 4; i++) { encoder[i].reset(); pulsePV[i] = 0; pulseCV[i] = 0; timePV[i] = 0; timeCV[i] = 0; tirePWM[i] = 0; motor[i].dir = SetStatus(tirePWM[i]); motor[i].pwm = SetPWM(tirePWM[i]); } } } #endif #if USE_PROCESS_NUM>9 static void Process9() { } #endif #endif #pragma endregion PROCESS static void AllActuatorReset() { #ifdef USE_SOLENOID solenoid.all = ALL_SOLENOID_OFF; #endif #ifdef USE_MOTOR for (uint8_t i = 0; i < MOUNTING_MOTOR_NUM; i++) { motor[i].dir = FREE; motor[i].pwm = 0; } #endif } void BuzzerTimer_func() { buzzer = !buzzer; //LED_DEBUG0 = !LED_DEBUG0; } void TapeLedEms_func() { sendLedData.code = sendLedData.code == (uint32_t)Red ? (uint32_t)Black : (uint32_t)Red; } #pragma region USER-DEFINED-FUNCTIONS void tirePID() { if(PIDflag == true) { //加算するPID値の算出 rotaconPID[0].SetPV(tireProcessRPM[FL],tireTargetRPM[FL]); rotaconPID[1].SetPV(tireProcessRPM[BL],tireTargetRPM[BL]); rotaconPID[2].SetPV(tireProcessRPM[FR],tireTargetRPM[FR]); rotaconPID[3].SetPV(tireProcessRPM[BR],tireTargetRPM[BR]); //PID値の加算 tirePWM[FL] += rotaconPID[0].GetMV(); tirePWM[BL] += rotaconPID[1].GetMV(); tirePWM[FR] += rotaconPID[2].GetMV(); tirePWM[BR] += rotaconPID[3].GetMV(); } } int lineCast(char k) { int l; switch(k) { case 255: l = -1; break; case 254: l = -2; break; case 253: l = -3; break; default: l = k; } return l; } #pragma endregion