Miya Miyagawa
The last version programs
Dependencies: mbed TrapezoidControl Pulse QEI
Diff: System/Process/Process.cpp
- Revision:
- 7:e88c5d47a3be
- Parent:
- 6:10e22bc327ce
- Child:
- 8:6fb3723f7747
--- a/System/Process/Process.cpp Mon Oct 01 14:01:03 2018 +0000
+++ b/System/Process/Process.cpp Mon Oct 01 14:45:50 2018 +0000
@@ -59,13 +59,20 @@
return result;
}
-#define TIRE_FR 0 //足回り前右
-#define TIRE_FL 1 //足回り前左
+#define TIRE_FR 4 //足回り前右
+#define TIRE_FL 5 //足回り前左
#define TIRE_BR 2 //足回り後右
#define TIRE_BL 3 //足回り後左
-#define Angul_R 4 //角度調節右
-#define Angul_L 5 //角度調節左
+#define Angle_R 0 //角度調節右
+#define Angle_L 1 //角度調節左
+
+#define Lim_AR 3 //角度調節右
+#define Lim_AL 4 //角度調節左
+#define Lim_R 0 //センター右
+#define Lim_L 1 //センター左
+
+//************メカナム********************
const int mecanum[15][15]=
{
@@ -100,17 +107,25 @@
else return abs(pwmVal);
}
+//************メカナム********************
+
+//************カラーセンサ********************
+
int Color_A[3]; //[赤,緑,青]
int Color_B[3];
int Color_C[3];
int Color_D[3];
int intergration = 50;
+void ColorDetection();
+
+//************カラーセンサ********************
+
//************ライントレース変数*******************
- int Point[3] = {234, 466, 590};//赤，緑，青
+int Point[3] = {234, 466, 590};//赤，緑，青
- int startP = 35;
- int downP = 5;
+int startP = 35;
+int downP = 5;
//************ライントレース変数*******************
//ROタコン
QEI wheel(RT11_PIN, RT12_PIN, NC, ROTATE_PER_REVOLUTIONS, QEI::X2_ENCODING);
@@ -122,22 +137,21 @@
PID startup = PID(0.03, -255, 255, 0.3, 0, 0);
-//
+
+
-int averageR_A;
-int averageG_A;
-int averageB_A;
-int averageR_B;
-int averageG_B;
-int averageB_B;
-int averageR_C;
-int averageG_C;
-int averageB_C;
-int averageR_D;
-int averageG_D;
-int averageB_D;
+//************ジャイロ*******************
+float Angle;
+PID gyro = PID(0.03, -150 , 150 , 8 , 0.03, 0);
+bool Angle_flagX = false;
+bool Angle_flagY = false;
+bool Angle_flagI = false;
+float rotateY;
+int AngletargetX = 50;
+int AngletargetY = -50;
+int Angle_I = -5;
+//************ジャイロ*******************
-void ColorDetection();
#pragma endregion USER-DEFINED_VARIABLES_AND_PROTOTYPE
@@ -325,11 +339,40 @@
#if USE_PROCESS_NUM>0
static void Process0()
{
- ColorDetection();
- pc.printf("Red_0=%d , Green_0=%d , Blue_0=%d \r\n",Color_A[0],Color_A[1],Color_A[2]);
- pc.printf("Red_1=%d , Green_1=%d , Blue_1=%d \r\n",Color_B[0],Color_B[1],Color_B[2]);
- pc.printf("Red_2=%d , Green_2=%d , Blue_2=%d \r\n",Color_C[0],Color_C[1],Color_C[2]);
- pc.printf("Red_3=%d , Green_3=%d , Blue_3=%d \r\n",Color_D[0],Color_D[1],Color_D[2]);
+ if(LimitSw::IsPressed(Lim_AR) && motor[Angle_R].dir == FOR && motor[Angle_L].dir == BACK){
+ motor[Angle_R].dir = BRAKE;
+ motor[Angle_L].dir = BRAKE;
+ motor[Angle_R].pwm = 255;
+ motor[Angle_L].pwm = 255;
+ }else if(LimitSw::IsPressed(Lim_AL) && motor[Angle_L].dir == BACK && motor[Angle_L].dir == FOR){
+ motor[Angle_R].dir = BRAKE;
+ motor[Angle_L].dir = BRAKE;
+ motor[Angle_R].pwm = 255;
+ motor[Angle_L].pwm = 255;
+ }
+ for(int i = 0;i<20;i++){
+ float y = 0;
+ y = acc[1]*1000;
+ float rotateY = (y - 305)/2.21 - 90;
+ Angle += rotateY;
+ }
+ Angle = Angle /20;
+ int gyropwm = gyro.SetPV(Angle,Angle_I);
+
+ if(controller->Button.A){
+ Angle_flagI = true;
+ }
+ if (Angle_flagI){
+ motor[Angle_R].dir = SetStatus(gyropwm);
+ motor[Angle_L].dir = SetStatus(-gyropwm);
+ motor[Angle_R].pwm = SetPWM(gyropwm);
+ motor[Angle_L].pwm = SetPWM(gyropwm);
+ if(Angle_I - 2 < Angle && Angle < Angle_I + 2){
+ motor[Angle_R].dir = BRAKE;
+ motor[Angle_L].dir = BRAKE;
+ Angle_flagI = false;
+ }
+ }
}
#endif
@@ -343,14 +386,14 @@
motor[TIRE_BR].dir = SetStatus(-mecanum[14-controller->AnalogL.X][14-controller->AnalogL.Y] + curve[controller->AnalogR.X]);
motor[TIRE_BL].dir = SetStatus(mecanum[controller->AnalogL.X][14-controller->AnalogL.Y] + curve[controller->AnalogR.X]);
- motor[TIRE_FR].pwm = SetPWM(mecanum[controller->AnalogL.Y][14-controller->AnalogL.X]);
- motor[TIRE_FL].pwm = SetPWM(mecanum[controller->AnalogL.Y][controller->AnalogL.X]);
- motor[TIRE_BR].pwm = SetPWM(mecanum[14-controller->AnalogL.X][14-controller->AnalogL.Y]);
- motor[TIRE_BL].pwm = SetPWM(mecanum[controller->AnalogL.X][14-controller->AnalogL.Y]);
+ motor[TIRE_FR].pwm = SetPWM(mecanum[controller->AnalogL.Y][14-controller->AnalogL.X]) *0.8;
+ motor[TIRE_FL].pwm = SetPWM(mecanum[controller->AnalogL.Y][controller->AnalogL.X]) *0.8;
+ motor[TIRE_BR].pwm = SetPWM(mecanum[14-controller->AnalogL.X][14-controller->AnalogL.Y]) *0.8;
+ motor[TIRE_BL].pwm = SetPWM(mecanum[controller->AnalogL.X][14-controller->AnalogL.Y]) *0.8;
if (abs(controller->AnalogL.X-7) <= 4 && controller->AnalogL.X!=7 && controller->AnalogL.Y!=7 && controller->AnalogR.X==7){
- motor[TIRE_FR].pwm = motor[0].pwm * 1.3;
- motor[TIRE_FL].pwm = motor[1].pwm * 1.3;
+ motor[TIRE_FR].pwm = motor[TIRE_FR].pwm * 1.3;
+ motor[TIRE_FL].pwm = motor[TIRE_FL].pwm * 1.3;
}
@@ -468,7 +511,7 @@
if(!traceon && yokofla && !boxslip)
{
- if(LimitSw::IsPressed(3) && LimitSw::IsPressed(4))
+ if(LimitSw::IsPressed(Lim_R) && LimitSw::IsPressed(Lim_L))
{
motor[TIRE_FR].dir = BRAKE;
motor[TIRE_FL].dir = BRAKE;
@@ -544,7 +587,7 @@
if(!traceon && !yokofla && boxslip)
{
- if(LimitSw::IsPressed(3) && LimitSw::IsPressed(4))
+ if(LimitSw::IsPressed(Lim_R) && LimitSw::IsPressed(Lim_L))
{
motor[TIRE_FR].dir = FOR;
motor[TIRE_FL].dir = FOR;
@@ -556,7 +599,7 @@
motor[TIRE_BR].pwm = startP;
motor[TIRE_BL].pwm = startP;
}
- else if(!LimitSw::IsPressed(3) && !LimitSw::IsPressed(4))
+ else if(!LimitSw::IsPressed(Lim_R) && !LimitSw::IsPressed(Lim_L))
{
motor[TIRE_FR].dir = BRAKE;
motor[TIRE_FL].dir = BRAKE;
@@ -593,32 +636,32 @@
static void Process3()
{
if(controller->Button.R){
- motor[Angul_R].dir = FOR;
- motor[Angul_L].dir = BACK;
- motor[Angul_R].pwm = 150;
- motor[Angul_L].pwm = 150;
+ motor[Angle_R].dir = FOR;
+ motor[Angle_L].dir = BACK;
+ motor[Angle_R].pwm = 150;
+ motor[Angle_L].pwm = 150;
}else if(controller->Button.L){
- motor[Angul_R].dir = BACK;
- motor[Angul_L].dir = FOR;
- motor[Angul_R].pwm = 150;
- motor[Angul_L].pwm = 150;
+ motor[Angle_R].dir = BACK;
+ motor[Angle_L].dir = FOR;
+ motor[Angle_R].pwm = 150;
+ motor[Angle_L].pwm = 150;
}else{
- motor[Angul_R].dir = BRAKE;
- motor[Angul_L].dir = BRAKE;
+ motor[Angle_R].dir = BRAKE;
+ motor[Angle_L].dir = BRAKE;
}
- if(LimitSw::IsPressed(0) && motor[4].dir == FOR && motor[5].dir == BACK){
- motor[Angul_R].dir = BRAKE;
- motor[Angul_L].dir = BRAKE;
+ if(LimitSw::IsPressed(Lim_AR) && motor[Angle_R].dir == FOR && motor[Angle_L].dir == BACK){
+ motor[Angle_R].dir = BRAKE;
+ motor[Angle_L].dir = BRAKE;
- motor[Angul_R].pwm = 255;
- motor[Angul_L].pwm = 255;
- }else if(LimitSw::IsPressed(1) && motor[4].dir == BACK && motor[5].dir == FOR){
- motor[Angul_R].dir = BRAKE;
- motor[Angul_L].dir = BRAKE;
+ motor[Angle_R].pwm = 255;
+ motor[Angle_L].pwm = 255;
+ }else if(LimitSw::IsPressed(Lim_AL) && motor[Angle_R].dir == BACK && motor[Angle_L].dir == FOR){
+ motor[Angle_R].dir = BRAKE;
+ motor[Angle_L].dir = BRAKE;
- motor[Angul_R].pwm = 255;
- motor[Angul_L].pwm = 255;
+ motor[Angle_R].pwm = 255;
+ motor[Angle_L].pwm = 255;
}
}
#endif
@@ -627,40 +670,94 @@
static void Process4()
{
+ if(LimitSw::IsPressed(Lim_AR) && motor[Angle_R].dir == FOR && motor[Angle_L].dir == BACK){
+ motor[Angle_R].dir = BRAKE;
+ motor[Angle_L].dir = BRAKE;
+ motor[Angle_R].pwm = 255;
+ motor[Angle_L].pwm = 255;
+ }else if(LimitSw::IsPressed(Lim_AL) && motor[Angle_R].dir == BACK && motor[Angle_L].dir == FOR){
+ motor[Angle_R].dir = BRAKE;
+ motor[Angle_L].dir = BRAKE;
+ motor[Angle_R].pwm = 255;
+ motor[Angle_L].pwm = 255;
+ }
+ for(int i = 0;i<20;i++){
+ float y = 0;
+ y = acc[1]*1000;
+ float rotateY = (y - 305)/2.21 - 90;
+ Angle += rotateY;
+ }
+ Angle = Angle /20;
+ int gyropwmX = gyro.SetPV(Angle,AngletargetX);
+ int gyropwmY = gyro.SetPV(Angle,AngletargetY);
+
+ if(controller->Button.X){
+ Angle_flagX = true;
+ }
+ if(controller->Button.Y){
+ Angle_flagY = true;
+ }
+
+ if (Angle_flagX){
+ motor[Angle_R].dir = SetStatus(gyropwmX);
+ motor[Angle_L].dir = SetStatus(-gyropwmX);
+ motor[Angle_R].pwm = SetPWM(gyropwmX);
+ motor[Angle_L].pwm = SetPWM(gyropwmX);
+ if(AngletargetX - 2 < Angle && Angle < AngletargetX + 2){
+ motor[Angle_R].dir = BRAKE;
+ motor[Angle_L].dir = BRAKE;
+ Angle_flagX = false;
+ }
+ }
+
+ if (Angle_flagY){
+ motor[Angle_R].dir = SetStatus(gyropwmY);
+ motor[Angle_L].dir = SetStatus(-gyropwmY);
+ motor[Angle_R].pwm = SetPWM(gyropwmY);
+ motor[Angle_L].pwm = SetPWM(gyropwmY);
+ if(AngletargetY - 2 < Angle && Angle < AngletargetY + 2){
+ motor[Angle_R].dir = BRAKE;
+ motor[Angle_L].dir = BRAKE;
+ Angle_flagY = false;
+ }
+ }
+ /*float y = 0;
+ y = acc[1]*1000;
+ float rotateY = (y - 305)/2.21 - 90;
+ int gyropwm = gyro.SetPV(rotateY , Angletarget);
+
+ if(controller->Button.X){
+ Angle_flag = true;
+ }
+ if (Angle_flag){
+ motor[Angle_R].dir = SetStatus(gyropwm);
+ motor[Angle_L].dir = SetStatus(-gyropwm);
+ motor[Angle_R].pwm = SetPWM(gyropwm);
+ motor[Angle_L].pwm = SetPWM(gyropwm);
+ if(Angletarget - 2 < rotateY && rotateY < Angletarget + 2){
+ motor[Angle_R].dir = BRAKE;
+ motor[Angle_L].dir = BRAKE;
+ Angle_flag = false;
+ }
+ }*/
+ else{
+ motor[Angle_R].dir = BRAKE;
+ motor[Angle_L].dir = BRAKE;
+ }
}
#endif
#if USE_PROCESS_NUM>5
static void Process5()
{
- pc.printf("X:1.3% , Y:1.3%f , Z:1.3%f \r\n",acc[0].read(),acc[1].read(),acc[2].read());
- //int rotateX = (acc[0].read()-)/ -90;
- //int rotateY = (acc[1].read()-)/ -90;
- //pc.printf("X:%d ,Y:%d", rotateX, rotateY);
- wait_ms(50);
+
}
#endif
#if USE_PROCESS_NUM>6
static void Process6()
{
- float x = 0, y= 0, z = 0;
-
- pc.printf("X:%1.3f , Y:%1.3f , Z:%1.3f \r\n",acc[0].read(),acc[1].read(),acc[2].read());
-
- x = acc[0]*1000;
- y = acc[1]*1000;
- z = acc[2]*1000;
-
- pc.printf("X:%3.1f , Y:%3.1f , Z:%3.1f \r\n",x,y,z);
-
- float rotateX = (x - 306)/2.22 - 90;
- float rotateY = (y - 305)/2.21 - 90;
- pc.printf("X:%3.1f , Y:%3.1f \r\n" , rotateX , rotateY);
- wait_ms(50);
-
- /*void Anglecontrol(){
- if(rotateX>) && */
+
}
#endif