hirromu takaki / states

手動bのほぼ全部

Dependents:   kobayashi_rei 2019BSyudo Bsyudo 2019Bsyudo

states.cpp@8:8ff6db217a17, 2019-10-04 (annotated)

Committer:
THtakahiro702286
Date:
Fri Oct 04 08:15:43 2019 +0000
Revision:
8:8ff6db217a17
Parent:
6:3cb78320d4db 
states;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
THtakahiro702286 0:8d012d469eb4 1 #include "states.h"
THtakahiro702286 0:8d012d469eb4 2
THtakahiro702286 0:8d012d469eb4 3 States::States():
THtakahiro702286 0:8d012d469eb4 4 anglePID(KP, KI, KD,0.001),
THtakahiro702286 4:eafd5a0c3351 5 pad(padTX,padRX),
THtakahiro702286 0:8d012d469eb4 6 gyro(GYROTX,GYRORX),
THtakahiro702286 0:8d012d469eb4 7 serial(MDTX,MDRX,MDBAUD),
THtakahiro702286 4:eafd5a0c3351 8 emStop(STOP),
THtakahiro702286 4:eafd5a0c3351 9 mechanism(&serial)
THtakahiro702286 0:8d012d469eb4 10 {
THtakahiro702286 0:8d012d469eb4 11 anglePID.setMode(AUTO_MODE);
THtakahiro702286 0:8d012d469eb4 12 anglePID.setInputLimits(-360, 360);
THtakahiro702286 0:8d012d469eb4 13 anglePID.setOutputLimits(minLimit, maxLimit);
THtakahiro702286 0:8d012d469eb4 14 anglePID.setSetPoint(0.0);
THtakahiro702286 0:8d012d469eb4 15 anglePID.setBias(0.0);
THtakahiro702286 0:8d012d469eb4 16 state = 400;
THtakahiro702286 3:2b909340be04 17 emStop = false;
THtakahiro702286 0:8d012d469eb4 18 }
THtakahiro702286 0:8d012d469eb4 19
THtakahiro702286 0:8d012d469eb4 20 void States::tellAngle(){
THtakahiro702286 0:8d012d469eb4 21 gyro.update();
THtakahiro702286 0:8d012d469eb4 22 nowAngle = gyro.getAngle();
THtakahiro702286 0:8d012d469eb4 23 deviation = nowAngle - idealAngle;
THtakahiro702286 0:8d012d469eb4 24 if(deviation > 180) deviation -= 360;
THtakahiro702286 0:8d012d469eb4 25 if(deviation < -180) deviation += 360;
THtakahiro702286 0:8d012d469eb4 26 anglePID.setProcessValue(deviation);
THtakahiro702286 0:8d012d469eb4 27 }
THtakahiro702286 0:8d012d469eb4 28
THtakahiro702286 0:8d012d469eb4 29 void States::tellPad(){
THtakahiro702286 6:3cb78320d4db 30 for(int i=0; i<12; i++){
THtakahiro702286 4:eafd5a0c3351 31 b[i] = pad.getButton(i);
THtakahiro702286 0:8d012d469eb4 32 b3[i] = b2[i] - b[i];
THtakahiro702286 6:3cb78320d4db 33 b2[i] = b[i];
THtakahiro702286 0:8d012d469eb4 34 }
THtakahiro702286 4:eafd5a0c3351 35 for(int i=0; i<4; i++) stick[i] = pad.getStick(i);
THtakahiro702286 6:3cb78320d4db 36 stick[0] -= 128;
THtakahiro702286 6:3cb78320d4db 37 stick[1] = 128-stick[1];
THtakahiro702286 6:3cb78320d4db 38 norm[0] = hypotf(stick[0],stick[1]);
THtakahiro702286 8:8ff6db217a17 39 if(norm[0] < 50) norm[0] = 0;
THtakahiro702286 4:eafd5a0c3351 40 for(int i=0; i<2; i++) trigger[i] = pad.getTrigger(i);
THtakahiro702286 6:3cb78320d4db 41 mechanism.setBrake(trigger[0]);
THtakahiro702286 6:3cb78320d4db 42
THtakahiro702286 4:eafd5a0c3351 43 mechanism.getTrigger(trigger[1]);
THtakahiro702286 6:3cb78320d4db 44 if(b3[5] == 1) state++;
THtakahiro702286 6:3cb78320d4db 45 if(b3[4] == 1) state--;
THtakahiro702286 0:8d012d469eb4 46 /*
THtakahiro702286 6:3cb78320d4db 47 *ロボの方角
THtakahiro702286 0:8d012d469eb4 48 * "front" or 0 　で前
THtakahiro702286 0:8d012d469eb4 49 * "right" or 90　で右
THtakahiro702286 0:8d012d469eb4 50 * "back" or 180 で後ろ
THtakahiro702286 0:8d012d469eb4 51 * "left" or -90 で左
THtakahiro702286 0:8d012d469eb4 52 */
THtakahiro702286 0:8d012d469eb4 53 switch(state % 4){
THtakahiro702286 0:8d012d469eb4 54 case 1: idealAngle = right; break;
THtakahiro702286 0:8d012d469eb4 55 case 2: idealAngle = back; break;
THtakahiro702286 0:8d012d469eb4 56 case 3: idealAngle = left; break;
THtakahiro702286 0:8d012d469eb4 57 default: idealAngle = front; break;
THtakahiro702286 4:eafd5a0c3351 58 }
THtakahiro702286 0:8d012d469eb4 59 }
THtakahiro702286 0:8d012d469eb4 60
THtakahiro702286 0:8d012d469eb4 61 void States::move()
THtakahiro702286 0:8d012d469eb4 62 {
THtakahiro702286 6:3cb78320d4db 63 while(1){
THtakahiro702286 6:3cb78320d4db 64 tellPad();
THtakahiro702286 0:8d012d469eb4 65 tellAngle();
THtakahiro702286 6:3cb78320d4db 66 if(b[10]) emStop = true;
THtakahiro702286 6:3cb78320d4db 67 if(b[11]) emStop = false;
THtakahiro702286 6:3cb78320d4db 68 if(!pad.status){
THtakahiro702286 6:3cb78320d4db 69 /*mechanism.stop()は止める*/
THtakahiro702286 6:3cb78320d4db 70 mechanism.stop();
THtakahiro702286 6:3cb78320d4db 71 emStop = false;
THtakahiro702286 6:3cb78320d4db 72 }else{
THtakahiro702286 6:3cb78320d4db 73 turnPower = anglePID.compute();
THtakahiro702286 8:8ff6db217a17 74 //if(norm[0] < 70) mechanism.move(0,0,-turnPower,nowAngle, 0);
THtakahiro702286 8:8ff6db217a17 75 /*else*/ mechanism.move(stick[0], stick[1], -turnPower, nowAngle, norm[0]);
THtakahiro702286 6:3cb78320d4db 76 /*昇降機構*/
THtakahiro702286 6:3cb78320d4db 77 if(b[0]) {mechanism.up();}
THtakahiro702286 6:3cb78320d4db 78 else if(b[1]) {mechanism.down();}
THtakahiro702286 6:3cb78320d4db 79 /*回収機構*/
THtakahiro702286 6:3cb78320d4db 80 else if(b[6]) {mechanism.collect();}
THtakahiro702286 6:3cb78320d4db 81 /*つり上げ機構*/
THtakahiro702286 6:3cb78320d4db 82 else if(b[7]) {mechanism.lift();}
THtakahiro702286 6:3cb78320d4db 83 /*装填機構*/
THtakahiro702286 6:3cb78320d4db 84 else if(b[2]) {mechanism.loadRight();}
THtakahiro702286 6:3cb78320d4db 85 else if(b[3]) {mechanism.loadLeft();}
THtakahiro702286 6:3cb78320d4db 86 /*かけ機構*/
THtakahiro702286 6:3cb78320d4db 87 else if(b[9]) {mechanism.hookRight();}
THtakahiro702286 6:3cb78320d4db 88 else if(b[8]) {mechanism.hookLeft();}
THtakahiro702286 6:3cb78320d4db 89
THtakahiro702286 6:3cb78320d4db 90 else mechanism.noAct();
THtakahiro702286 6:3cb78320d4db 91 }
THtakahiro702286 0:8d012d469eb4 92 }
THtakahiro702286 4:eafd5a0c3351 93 }