kourobo
Dependencies: omuni_power ikarashiMDC PS3
main.cpp@0:bb6a0c792b11, 2019-03-06 (annotated)
- Committer:
- THtakahiro702286
- Date:
- Wed Mar 06 12:03:00 2019 +0000
- Revision:
- 0:bb6a0c792b11
kourobo;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
THtakahiro702286 | 0:bb6a0c792b11 | 1 | #include "mbed.h" |
THtakahiro702286 | 0:bb6a0c792b11 | 2 | #include "ikarashiMDC.h" |
THtakahiro702286 | 0:bb6a0c792b11 | 3 | #include "PS3.h" |
THtakahiro702286 | 0:bb6a0c792b11 | 4 | #include "wheel.h" |
THtakahiro702286 | 0:bb6a0c792b11 | 5 | Serial serial(PC_6,PC_7); |
THtakahiro702286 | 0:bb6a0c792b11 | 6 | DigitalOut serialcontrol(D2); |
THtakahiro702286 | 0:bb6a0c792b11 | 7 | DigitalOut stop(PB_12,PB_2); |
THtakahiro702286 | 0:bb6a0c792b11 | 8 | |
THtakahiro702286 | 0:bb6a0c792b11 | 9 | ikarashiMDC ikarashi[] { |
THtakahiro702286 | 0:bb6a0c792b11 | 10 | ikarashiMDC(&serialcontrol,2,0,SM,&serial), |
THtakahiro702286 | 0:bb6a0c792b11 | 11 | ikarashiMDC(&serialcontrol,2,1,SM,&serial), |
THtakahiro702286 | 0:bb6a0c792b11 | 12 | ikarashiMDC(&serialcontrol,2,2,SM,&serial), |
THtakahiro702286 | 0:bb6a0c792b11 | 13 | ikarashiMDC(&serialcontrol,2,3,SM,&serial) |
THtakahiro702286 | 0:bb6a0c792b11 | 14 | }; |
THtakahiro702286 | 0:bb6a0c792b11 | 15 | |
THtakahiro702286 | 0:bb6a0c792b11 | 16 | PS3 ps3(PC_10, PC_11); |
THtakahiro702286 | 0:bb6a0c792b11 | 17 | Serial pc(USBTX,USBRX,115200); |
THtakahiro702286 | 0:bb6a0c792b11 | 18 | |
THtakahiro702286 | 0:bb6a0c792b11 | 19 | int main() |
THtakahiro702286 | 0:bb6a0c792b11 | 20 | { |
THtakahiro702286 | 0:bb6a0c792b11 | 21 | serial.baud(115200); |
THtakahiro702286 | 0:bb6a0c792b11 | 22 | ikarashi[0].braking = true; |
THtakahiro702286 | 0:bb6a0c792b11 | 23 | int b[12], stick[4], trigger[2],neutral[4],count = 0; |
THtakahiro702286 | 0:bb6a0c792b11 | 24 | double X,Y,acc[5],power; |
THtakahiro702286 | 0:bb6a0c792b11 | 25 | /*ジョイスティック ニュートラル設定*/ |
THtakahiro702286 | 0:bb6a0c792b11 | 26 | do{ |
THtakahiro702286 | 0:bb6a0c792b11 | 27 | for(int i = 0; i < 4; i++) { |
THtakahiro702286 | 0:bb6a0c792b11 | 28 | neutral[i] = ps3.getStick(i); |
THtakahiro702286 | 0:bb6a0c792b11 | 29 | } |
THtakahiro702286 | 0:bb6a0c792b11 | 30 | count++; |
THtakahiro702286 | 0:bb6a0c792b11 | 31 | } while(count <= 1152000); |
THtakahiro702286 | 0:bb6a0c792b11 | 32 | for(int i = 0; i < 4; i++) { |
THtakahiro702286 | 0:bb6a0c792b11 | 33 | neutral[i] = ps3.getStick(i); |
THtakahiro702286 | 0:bb6a0c792b11 | 34 | } |
THtakahiro702286 | 0:bb6a0c792b11 | 35 | while(1){ |
THtakahiro702286 | 0:bb6a0c792b11 | 36 | stop = 1; |
THtakahiro702286 | 0:bb6a0c792b11 | 37 | /*ボタン0=上 1=下 2=左 3=右 4=L1 5=R1 6=△ 7=× 8=□ 9=〇 10=L3 11=R3*/ |
THtakahiro702286 | 0:bb6a0c792b11 | 38 | for(int i = 0; i < 12; i++) { |
THtakahiro702286 | 0:bb6a0c792b11 | 39 | b[i] = ps3.getButton(i); |
THtakahiro702286 | 0:bb6a0c792b11 | 40 | } |
THtakahiro702286 | 0:bb6a0c792b11 | 41 | /*ジョイスティック*/ |
THtakahiro702286 | 0:bb6a0c792b11 | 42 | for(int i = 0; i < 4; i++) { |
THtakahiro702286 | 0:bb6a0c792b11 | 43 | stick[i] = ps3.getStick(i); |
THtakahiro702286 | 0:bb6a0c792b11 | 44 | } |
THtakahiro702286 | 0:bb6a0c792b11 | 45 | /*トリガースイッチ*/ |
THtakahiro702286 | 0:bb6a0c792b11 | 46 | for(int i = 0; i < 2; i++) { |
THtakahiro702286 | 0:bb6a0c792b11 | 47 | trigger[i] = ps3.getTrigger(i); |
THtakahiro702286 | 0:bb6a0c792b11 | 48 | } |
THtakahiro702286 | 0:bb6a0c792b11 | 49 | X = stick[0] - neutral[0]; |
THtakahiro702286 | 0:bb6a0c792b11 | 50 | Y = neutral[1] - stick[1]; |
THtakahiro702286 | 0:bb6a0c792b11 | 51 | if(abs(X) <= 20){ |
THtakahiro702286 | 0:bb6a0c792b11 | 52 | X = 0; |
THtakahiro702286 | 0:bb6a0c792b11 | 53 | } |
THtakahiro702286 | 0:bb6a0c792b11 | 54 | if(abs(Y) <= 20) { |
THtakahiro702286 | 0:bb6a0c792b11 | 55 | Y = 0; |
THtakahiro702286 | 0:bb6a0c792b11 | 56 | } |
THtakahiro702286 | 0:bb6a0c792b11 | 57 | /*微調整用コマンド*/ |
THtakahiro702286 | 0:bb6a0c792b11 | 58 | power = 1; |
THtakahiro702286 | 0:bb6a0c792b11 | 59 | if(b[0] == 1 && b[1] == 0 && b[2] == 0 && b[3] == 0 && X == 0 && Y == 0) { |
THtakahiro702286 | 0:bb6a0c792b11 | 60 | X = 0; |
THtakahiro702286 | 0:bb6a0c792b11 | 61 | Y = 128; |
THtakahiro702286 | 0:bb6a0c792b11 | 62 | } |
THtakahiro702286 | 0:bb6a0c792b11 | 63 | if(b[0] == 0 && b[1] == 1 && b[2] == 0 && b[3] == 0 && X == 0 && Y == 0) { |
THtakahiro702286 | 0:bb6a0c792b11 | 64 | X = 0; |
THtakahiro702286 | 0:bb6a0c792b11 | 65 | Y = -128; |
THtakahiro702286 | 0:bb6a0c792b11 | 66 | } |
THtakahiro702286 | 0:bb6a0c792b11 | 67 | if(b[0] == 0 && b[1] == 0 && b[2] == 1 && b[3] == 0 && X == 0 && Y == 0) { |
THtakahiro702286 | 0:bb6a0c792b11 | 68 | X = -128; |
THtakahiro702286 | 0:bb6a0c792b11 | 69 | Y = 0; |
THtakahiro702286 | 0:bb6a0c792b11 | 70 | } |
THtakahiro702286 | 0:bb6a0c792b11 | 71 | if(b[0] == 0 && b[1] == 0 && b[2] == 0 && b[3] == 1 && X == 0 && Y == 0) { |
THtakahiro702286 | 0:bb6a0c792b11 | 72 | X = 128; |
THtakahiro702286 | 0:bb6a0c792b11 | 73 | Y = 0; |
THtakahiro702286 | 0:bb6a0c792b11 | 74 | } |
THtakahiro702286 | 0:bb6a0c792b11 | 75 | /*オムニ制御*/ |
THtakahiro702286 | 0:bb6a0c792b11 | 76 | if((stick[0] == 0 && stick[1] == 0 && stick[2] == 0 && stick [3] == 0) || (X == 0 && Y == 0)) { |
THtakahiro702286 | 0:bb6a0c792b11 | 77 | acc[0] = 0; |
THtakahiro702286 | 0:bb6a0c792b11 | 78 | acc[1] = 0; |
THtakahiro702286 | 0:bb6a0c792b11 | 79 | acc[2] = 0; |
THtakahiro702286 | 0:bb6a0c792b11 | 80 | } else { |
THtakahiro702286 | 0:bb6a0c792b11 | 81 | acc[0] = omuni_speed(X,Y,PI * 1 / 6) * power; |
THtakahiro702286 | 0:bb6a0c792b11 | 82 | acc[1] = omuni_speed(X,Y,PI * 9 / 6) * power; |
THtakahiro702286 | 0:bb6a0c792b11 | 83 | acc[2] = omuni_speed(X,Y,PI * 5 / 6) * power; |
THtakahiro702286 | 0:bb6a0c792b11 | 84 | } |
THtakahiro702286 | 0:bb6a0c792b11 | 85 | if((trigger[0] <= 200 && trigger[1] >= 200) && (X == 0 && Y == 0)) { |
THtakahiro702286 | 0:bb6a0c792b11 | 86 | acc[0] = -0.5; |
THtakahiro702286 | 0:bb6a0c792b11 | 87 | acc[1] = -0.5; |
THtakahiro702286 | 0:bb6a0c792b11 | 88 | acc[2] = -0.5; |
THtakahiro702286 | 0:bb6a0c792b11 | 89 | } |
THtakahiro702286 | 0:bb6a0c792b11 | 90 | if((trigger[1] <= 200 && trigger[0] >= 200) && (X == 0 && Y == 0)) { |
THtakahiro702286 | 0:bb6a0c792b11 | 91 | acc[0] = 0.5; |
THtakahiro702286 | 0:bb6a0c792b11 | 92 | acc[1] = 0.5; |
THtakahiro702286 | 0:bb6a0c792b11 | 93 | acc[2] = 0.5; |
THtakahiro702286 | 0:bb6a0c792b11 | 94 | } |
THtakahiro702286 | 0:bb6a0c792b11 | 95 | /*機構制御*/ |
THtakahiro702286 | 0:bb6a0c792b11 | 96 | if(b[4] == 1 && b[5] == 0){ |
THtakahiro702286 | 0:bb6a0c792b11 | 97 | acc[3] = 0.4; |
THtakahiro702286 | 0:bb6a0c792b11 | 98 | } |
THtakahiro702286 | 0:bb6a0c792b11 | 99 | if(b[4] == 0 && b[5] == 1){ |
THtakahiro702286 | 0:bb6a0c792b11 | 100 | acc[3] = -0.4; |
THtakahiro702286 | 0:bb6a0c792b11 | 101 | } |
THtakahiro702286 | 0:bb6a0c792b11 | 102 | if(b[4] == 0 && b[5] == 0){ |
THtakahiro702286 | 0:bb6a0c792b11 | 103 | acc[3] = 0; |
THtakahiro702286 | 0:bb6a0c792b11 | 104 | } |
THtakahiro702286 | 0:bb6a0c792b11 | 105 | /*速度制限*/ |
THtakahiro702286 | 0:bb6a0c792b11 | 106 | if (b[7] == 1) { |
THtakahiro702286 | 0:bb6a0c792b11 | 107 | for(int i = 0;i < 4;i++) { |
THtakahiro702286 | 0:bb6a0c792b11 | 108 | if(acc[i] >= 0.5){ |
THtakahiro702286 | 0:bb6a0c792b11 | 109 | acc[i] = 0.5; |
THtakahiro702286 | 0:bb6a0c792b11 | 110 | } |
THtakahiro702286 | 0:bb6a0c792b11 | 111 | if(acc[i] <= -0.5) { |
THtakahiro702286 | 0:bb6a0c792b11 | 112 | acc[i] = -0.5; |
THtakahiro702286 | 0:bb6a0c792b11 | 113 | } |
THtakahiro702286 | 0:bb6a0c792b11 | 114 | } |
THtakahiro702286 | 0:bb6a0c792b11 | 115 | } |
THtakahiro702286 | 0:bb6a0c792b11 | 116 | /*タイムアウト制御*/ |
THtakahiro702286 | 0:bb6a0c792b11 | 117 | if((ps3.status == false) || (b[10] == 1 && b[11] == 1)) { |
THtakahiro702286 | 0:bb6a0c792b11 | 118 | acc[0] = 0; |
THtakahiro702286 | 0:bb6a0c792b11 | 119 | acc[1] = 0; |
THtakahiro702286 | 0:bb6a0c792b11 | 120 | acc[2] = 0; |
THtakahiro702286 | 0:bb6a0c792b11 | 121 | } |
THtakahiro702286 | 0:bb6a0c792b11 | 122 | ikarashi[0].setSpeed(acc[0]); |
THtakahiro702286 | 0:bb6a0c792b11 | 123 | ikarashi[1].setSpeed(acc[1]); |
THtakahiro702286 | 0:bb6a0c792b11 | 124 | ikarashi[2].setSpeed(acc[2]); |
THtakahiro702286 | 0:bb6a0c792b11 | 125 | ikarashi[3].setSpeed(acc[3]); |
THtakahiro702286 | 0:bb6a0c792b11 | 126 | } |
THtakahiro702286 | 0:bb6a0c792b11 | 127 | } |