Takushima Yukimasa
/
R19_ManuTakukAHWGeo
a
main.cpp@6:040d001acb12, 2019-08-24 (annotated)
- Committer:
- Tom0108
- Date:
- Sat Aug 24 06:06:36 2019 +0000
- Revision:
- 6:040d001acb12
- Parent:
- 5:fcc79e507610
- Child:
- 8:b79d21c8178b
Positive control
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Tom0108 | 0:761a63c6d020 | 1 | #include "main.h" |
Tom0108 | 0:761a63c6d020 | 2 | |
Tom0108 | 0:761a63c6d020 | 3 | /* 型定義 --------------------------------------------------------------------*/ |
Tom0108 | 0:761a63c6d020 | 4 | |
Tom0108 | 0:761a63c6d020 | 5 | /* 関数宣言 ------------------------------------------------------------------*/ |
Tom0108 | 0:761a63c6d020 | 6 | |
Tom0108 | 0:761a63c6d020 | 7 | /* 変数宣言 ------------------------------------------------------------------*/ |
Tom0108 | 1:199c4a71da88 | 8 | //かご回転用 |
Tom0108 | 3:1063aa133b62 | 9 | int kago=0, kago_f=0; |
Tom0108 | 1:199c4a71da88 | 10 | |
Tom0108 | 1:199c4a71da88 | 11 | //コントローラーの状態を保存するため |
Tom0108 | 1:199c4a71da88 | 12 | int once=0; |
Tom0108 | 1:199c4a71da88 | 13 | |
Tom0108 | 1:199c4a71da88 | 14 | //タオル引く用 |
Tom0108 | 3:1063aa133b62 | 15 | int pull=0, pull_f=0; |
Tom0108 | 1:199c4a71da88 | 16 | |
Tom0108 | 4:236e5c58e8ee | 17 | //タオル掴む用 |
Tom0108 | 4:236e5c58e8ee | 18 | //sgrab_f: 中央のリミットでつかむ |
Tom0108 | 4:236e5c58e8ee | 19 | int grab=0, grab_f=0, sgrab_f=0; |
Tom0108 | 3:1063aa133b62 | 20 | |
Tom0108 | 4:236e5c58e8ee | 21 | //タオル横展開用 |
Tom0108 | 3:1063aa133b62 | 22 | int unfold_f=0; |
Tom0108 | 3:1063aa133b62 | 23 | |
Tom0108 | 6:040d001acb12 | 24 | //y_deg: ジャイロの生の値 |
Tom0108 | 6:040d001acb12 | 25 | //yaw: 実際に使う角度 |
Tom0108 | 6:040d001acb12 | 26 | double y_deg[2], yaw=0;; |
Tom0108 | 1:199c4a71da88 | 27 | |
Tom0108 | 6:040d001acb12 | 28 | //ジャイロさんぷりんぐ用 |
Tom0108 | 5:fcc79e507610 | 29 | double sum=0, ave=0; |
Tom0108 | 5:fcc79e507610 | 30 | int offset_cnt=0; |
Tom0108 | 3:1063aa133b62 | 31 | |
Tom0108 | 3:1063aa133b62 | 32 | //Turn_val: 補正の目標値 |
Tom0108 | 3:1063aa133b62 | 33 | //dif_val: 補正値との差 |
Tom0108 | 3:1063aa133b62 | 34 | double Turn_val, dif_val; |
Tom0108 | 3:1063aa133b62 | 35 | |
Tom0108 | 3:1063aa133b62 | 36 | //short_lim: 腕中央 |
Tom0108 | 3:1063aa133b62 | 37 | //max_lim: 腕奥側 |
Tom0108 | 3:1063aa133b62 | 38 | //short_lim: 腕手前側 |
Tom0108 | 3:1063aa133b62 | 39 | int short_lim, max_lim, start_lim; |
Tom0108 | 1:199c4a71da88 | 40 | |
Tom0108 | 6:040d001acb12 | 41 | //足回りのpwm値 |
Tom0108 | 6:040d001acb12 | 42 | int duty[4]; |
Tom0108 | 4:236e5c58e8ee | 43 | |
Tom0108 | 6:040d001acb12 | 44 | // 足回り |
Tom0108 | 6:040d001acb12 | 45 | int lx,ly,rx; |
Tom0108 | 0:761a63c6d020 | 46 | |
Tom0108 | 6:040d001acb12 | 47 | int limit_up,limit_down; // リミットスイッチ |
Tom0108 | 6:040d001acb12 | 48 | int slide_start,slide_stop; //かごのリミット |
Tom0108 | 0:761a63c6d020 | 49 | |
Tom0108 | 0:761a63c6d020 | 50 | int as=0; |
Tom0108 | 0:761a63c6d020 | 51 | |
Tom0108 | 0:761a63c6d020 | 52 | /*----------------------------------- main -----------------------------------*/ |
Tom0108 | 0:761a63c6d020 | 53 | int main() |
Tom0108 | 0:761a63c6d020 | 54 | { |
Tom0108 | 0:761a63c6d020 | 55 | //flipper1.attach(&flip1, 0.001); // 割り込み |
Tom0108 | 5:fcc79e507610 | 56 | |
Tom0108 | 0:761a63c6d020 | 57 | while(1) { |
Tom0108 | 1:199c4a71da88 | 58 | //自動系のタイマースタート |
Tom0108 | 1:199c4a71da88 | 59 | tim.start(); |
Tom0108 | 6:040d001acb12 | 60 | drift_tim.start(); |
Tom0108 | 0:761a63c6d020 | 61 | mpu.loop(); |
Tom0108 | 0:761a63c6d020 | 62 | |
Tom0108 | 6:040d001acb12 | 63 | //ジャイロから値を取得 |
Tom0108 | 5:fcc79e507610 | 64 | y_deg[1] = y_deg[0]; |
Tom0108 | 5:fcc79e507610 | 65 | y_deg[0] = (double)mpu.ypr[0] * 180 / M_PI; |
Tom0108 | 6:040d001acb12 | 66 | |
Tom0108 | 5:fcc79e507610 | 67 | //180~-180をまたいだ時 |
Tom0108 | 5:fcc79e507610 | 68 | if(y_deg[1]<-90 && y_deg[0]>90) y_deg[1]+=360; |
Tom0108 | 5:fcc79e507610 | 69 | else if(y_deg[1]>90 && y_deg[0]<-90) y_deg[1]-=360; |
Tom0108 | 0:761a63c6d020 | 70 | |
Tom0108 | 5:fcc79e507610 | 71 | if(sbdbt.State_check()) { |
Tom0108 | 5:fcc79e507610 | 72 | for(int i=0; i<7; i++) i2c.In(In_Data,i); |
Tom0108 | 6:040d001acb12 | 73 | |
Tom0108 | 5:fcc79e507610 | 74 | //誤差をさんぷりんぐ |
Tom0108 | 5:fcc79e507610 | 75 | if(offset_cnt<1000) { |
Tom0108 | 6:040d001acb12 | 76 | PALETTE(RED); |
Tom0108 | 5:fcc79e507610 | 77 | if(offset_cnt!=0) { |
Tom0108 | 5:fcc79e507610 | 78 | sum+=(y_deg[0]-y_deg[1]); |
Tom0108 | 5:fcc79e507610 | 79 | ave=sum/offset_cnt; |
Tom0108 | 5:fcc79e507610 | 80 | } |
Tom0108 | 5:fcc79e507610 | 81 | offset_cnt++; |
Tom0108 | 6:040d001acb12 | 82 | } else { |
Tom0108 | 6:040d001acb12 | 83 | PALETTE(GREEN); |
Tom0108 | 6:040d001acb12 | 84 | yaw -= (y_deg[0]-y_deg[1])-ave; |
Tom0108 | 6:040d001acb12 | 85 | } |
Tom0108 | 6:040d001acb12 | 86 | |
Tom0108 | 6:040d001acb12 | 87 | dif_val = yaw-Turn_val; |
Tom0108 | 6:040d001acb12 | 88 | //制限 |
Tom0108 | 6:040d001acb12 | 89 | if(dif_val>=30) dif_val=30; |
Tom0108 | 6:040d001acb12 | 90 | else if(dif_val<=-30) dif_val=-30; |
Tom0108 | 0:761a63c6d020 | 91 | |
Tom0108 | 0:761a63c6d020 | 92 | lx = ((64-sbdbt.LY)*100.0/64)*sin(yaw*M_PI/180)+((sbdbt.LX-64)*100.0/64)*cos(yaw*M_PI/180); |
Tom0108 | 0:761a63c6d020 | 93 | ly = ((64-sbdbt.LY)*100.0/64)*cos(yaw*M_PI/180)-((sbdbt.LX-64)*100.0/64)*sin(yaw*M_PI/180); |
Tom0108 | 6:040d001acb12 | 94 | rx = (sbdbt.RX - 64)*30/64; |
Tom0108 | 0:761a63c6d020 | 95 | |
Tom0108 | 6:040d001acb12 | 96 | //メカナム基本動作 |
Tom0108 | 6:040d001acb12 | 97 | mecanum_Move(lx, ly, rx); |
Tom0108 | 0:761a63c6d020 | 98 | |
Tom0108 | 6:040d001acb12 | 99 | //旋回している間タイマーをリセット |
Tom0108 | 6:040d001acb12 | 100 | if(sbdbt.RX != 64) drift_tim.reset(); |
Tom0108 | 3:1063aa133b62 | 101 | |
Tom0108 | 6:040d001acb12 | 102 | //旋回して慣性で動いた後の角度に補正する |
Tom0108 | 6:040d001acb12 | 103 | if(drift_tim.read_ms()<500) Turn_val=yaw; |
Tom0108 | 6:040d001acb12 | 104 | |
Tom0108 | 6:040d001acb12 | 105 | //角度補正 |
Tom0108 | 6:040d001acb12 | 106 | AngleCorrection(yaw, Turn_val); |
Tom0108 | 0:761a63c6d020 | 107 | |
Tom0108 | 3:1063aa133b62 | 108 | /*---ハンガーかけるやつ----------------------------------------------*/ |
Tom0108 | 1:199c4a71da88 | 109 | if(sbdbt.SELECT)as=1;//selectキー |
Tom0108 | 0:761a63c6d020 | 110 | |
Tom0108 | 0:761a63c6d020 | 111 | if(as==1 && limit_up == 0) { |
Tom0108 | 0:761a63c6d020 | 112 | MD_SET_DRIVE(MD_Data, 5,MD_REVERSE); |
Tom0108 | 0:761a63c6d020 | 113 | MD_SET_PWM(MD_Data, 5,50); |
Tom0108 | 0:761a63c6d020 | 114 | } else if(UPkey && limit_up == 0) { |
Tom0108 | 0:761a63c6d020 | 115 | as=0; |
Tom0108 | 0:761a63c6d020 | 116 | MD_SET_DRIVE(MD_Data, 5,MD_REVERSE); |
Tom0108 | 0:761a63c6d020 | 117 | MD_SET_PWM(MD_Data, 5,50); |
Tom0108 | 0:761a63c6d020 | 118 | } else if(as==1 && limit_up == 1) { |
Tom0108 | 0:761a63c6d020 | 119 | as=0; |
Tom0108 | 0:761a63c6d020 | 120 | MD_SET_PWM(MD_Data,5,0); |
Tom0108 | 0:761a63c6d020 | 121 | MD_SET_DRIVE(MD_Data, 5,MD_BRAKE); |
Tom0108 | 0:761a63c6d020 | 122 | } else if(DOWNkey && limit_down == 0) { |
Tom0108 | 0:761a63c6d020 | 123 | MD_SET_DRIVE(MD_Data, 5,MD_FORWARD); |
Tom0108 | 0:761a63c6d020 | 124 | MD_SET_PWM(MD_Data, 5,50); |
Tom0108 | 0:761a63c6d020 | 125 | } else { |
Tom0108 | 0:761a63c6d020 | 126 | MD_SET_PWM(MD_Data,5,0); |
Tom0108 | 0:761a63c6d020 | 127 | MD_SET_DRIVE(MD_Data, 5,MD_BRAKE); |
Tom0108 | 0:761a63c6d020 | 128 | } |
Tom0108 | 0:761a63c6d020 | 129 | |
Tom0108 | 1:199c4a71da88 | 130 | //タオルつかむ 四角 |
Tom0108 | 4:236e5c58e8ee | 131 | if(grab_f || sgrab_f) { |
Tom0108 | 6:040d001acb12 | 132 | PALETTE(BLUE); |
Tom0108 | 1:199c4a71da88 | 133 | switch(grab) { |
Tom0108 | 1:199c4a71da88 | 134 | //腕を前に動かす |
Tom0108 | 1:199c4a71da88 | 135 | case 0: |
Tom0108 | 1:199c4a71da88 | 136 | //爪開く |
Tom0108 | 1:199c4a71da88 | 137 | i2c.Out_Set(Out_Data,1,1); |
Tom0108 | 1:199c4a71da88 | 138 | MD_SET_DRIVE(MD_Data,4,MD_REVERSE); |
Tom0108 | 4:236e5c58e8ee | 139 | MD_SET_PWM(MD_Data,4,40); |
Tom0108 | 6:040d001acb12 | 140 | //sgrab_fは途中のリミットで止まる |
Tom0108 | 4:236e5c58e8ee | 141 | if((sgrab_f && short_lim) || max_lim==1) { |
Tom0108 | 1:199c4a71da88 | 142 | grab++; |
Tom0108 | 1:199c4a71da88 | 143 | tim.reset(); |
Tom0108 | 1:199c4a71da88 | 144 | } |
Tom0108 | 1:199c4a71da88 | 145 | break; |
Tom0108 | 0:761a63c6d020 | 146 | |
Tom0108 | 1:199c4a71da88 | 147 | case 1: |
Tom0108 | 2:47954f05d32d | 148 | //腕停止 |
Tom0108 | 2:47954f05d32d | 149 | MD_SET_DRIVE(MD_Data,4,MD_BRAKE); |
Tom0108 | 3:1063aa133b62 | 150 | MD_SET_PWM(MD_Data,4,0); |
Tom0108 | 2:47954f05d32d | 151 | |
Tom0108 | 1:199c4a71da88 | 152 | //腕おろす |
Tom0108 | 0:761a63c6d020 | 153 | i2c.Out_Set(Out_Data,0,1); |
Tom0108 | 3:1063aa133b62 | 154 | if(tim.read_ms()>300) { |
Tom0108 | 1:199c4a71da88 | 155 | grab++; |
Tom0108 | 1:199c4a71da88 | 156 | tim.reset(); |
Tom0108 | 1:199c4a71da88 | 157 | } |
Tom0108 | 1:199c4a71da88 | 158 | break; |
Tom0108 | 0:761a63c6d020 | 159 | |
Tom0108 | 1:199c4a71da88 | 160 | case 2: |
Tom0108 | 1:199c4a71da88 | 161 | //爪閉じる |
Tom0108 | 1:199c4a71da88 | 162 | i2c.Out_Set(Out_Data,1,0); |
Tom0108 | 3:1063aa133b62 | 163 | if(tim.read_ms()>100) { |
Tom0108 | 1:199c4a71da88 | 164 | grab++; |
Tom0108 | 0:761a63c6d020 | 165 | tim.reset(); |
Tom0108 | 0:761a63c6d020 | 166 | } |
Tom0108 | 1:199c4a71da88 | 167 | break; |
Tom0108 | 1:199c4a71da88 | 168 | |
Tom0108 | 1:199c4a71da88 | 169 | case 3: |
Tom0108 | 1:199c4a71da88 | 170 | //腕上げる |
Tom0108 | 1:199c4a71da88 | 171 | i2c.Out_Set(Out_Data,0,0); |
Tom0108 | 3:1063aa133b62 | 172 | if(tim.read_ms()>300) { |
Tom0108 | 3:1063aa133b62 | 173 | grab++; |
Tom0108 | 3:1063aa133b62 | 174 | tim.reset(); |
Tom0108 | 3:1063aa133b62 | 175 | } |
Tom0108 | 3:1063aa133b62 | 176 | break; |
Tom0108 | 3:1063aa133b62 | 177 | |
Tom0108 | 3:1063aa133b62 | 178 | case 4: |
Tom0108 | 1:199c4a71da88 | 179 | MD_SET_DRIVE(MD_Data,4,MD_FORWARD); |
Tom0108 | 3:1063aa133b62 | 180 | MD_SET_PWM (MD_Data,4,60); |
Tom0108 | 4:236e5c58e8ee | 181 | if(start_lim==1) { |
Tom0108 | 4:236e5c58e8ee | 182 | grab_f=0; |
Tom0108 | 4:236e5c58e8ee | 183 | sgrab_f=0; |
Tom0108 | 4:236e5c58e8ee | 184 | } |
Tom0108 | 1:199c4a71da88 | 185 | break; |
Tom0108 | 0:761a63c6d020 | 186 | } |
Tom0108 | 3:1063aa133b62 | 187 | } //if(grab_f) |
Tom0108 | 3:1063aa133b62 | 188 | |
Tom0108 | 2:47954f05d32d | 189 | //タオル引く 丸 |
Tom0108 | 3:1063aa133b62 | 190 | else if(pull_f) { |
Tom0108 | 6:040d001acb12 | 191 | PALETTE(CYAN); |
Tom0108 | 1:199c4a71da88 | 192 | switch(pull) { |
Tom0108 | 1:199c4a71da88 | 193 | //腕を前に動かす |
Tom0108 | 1:199c4a71da88 | 194 | case 0: |
Tom0108 | 1:199c4a71da88 | 195 | //爪閉じる |
Tom0108 | 1:199c4a71da88 | 196 | i2c.Out_Set(Out_Data,1,0); |
Tom0108 | 0:761a63c6d020 | 197 | MD_SET_DRIVE(MD_Data,4,MD_REVERSE); |
Tom0108 | 3:1063aa133b62 | 198 | MD_SET_PWM (MD_Data,4,60); |
Tom0108 | 1:199c4a71da88 | 199 | if(max_lim==1) { |
Tom0108 | 1:199c4a71da88 | 200 | pull++; |
Tom0108 | 1:199c4a71da88 | 201 | tim.reset(); |
Tom0108 | 1:199c4a71da88 | 202 | } |
Tom0108 | 1:199c4a71da88 | 203 | break; |
Tom0108 | 0:761a63c6d020 | 204 | |
Tom0108 | 1:199c4a71da88 | 205 | case 1: |
Tom0108 | 2:47954f05d32d | 206 | //腕停止 |
Tom0108 | 2:47954f05d32d | 207 | MD_SET_DRIVE(MD_Data,4,MD_BRAKE); |
Tom0108 | 2:47954f05d32d | 208 | MD_SET_PWM (MD_Data,4,0); |
Tom0108 | 2:47954f05d32d | 209 | |
Tom0108 | 1:199c4a71da88 | 210 | //腕おろす |
Tom0108 | 0:761a63c6d020 | 211 | i2c.Out_Set(Out_Data,0,1); |
Tom0108 | 3:1063aa133b62 | 212 | if(tim.read_ms()>300) { |
Tom0108 | 1:199c4a71da88 | 213 | pull++; |
Tom0108 | 1:199c4a71da88 | 214 | tim.reset(); |
Tom0108 | 0:761a63c6d020 | 215 | } |
Tom0108 | 1:199c4a71da88 | 216 | break; |
Tom0108 | 1:199c4a71da88 | 217 | |
Tom0108 | 1:199c4a71da88 | 218 | case 2: |
Tom0108 | 3:1063aa133b62 | 219 | if(tim.read_ms()>300) { |
Tom0108 | 1:199c4a71da88 | 220 | pull++; |
Tom0108 | 0:761a63c6d020 | 221 | tim.reset(); |
Tom0108 | 0:761a63c6d020 | 222 | } |
Tom0108 | 1:199c4a71da88 | 223 | break; |
Tom0108 | 1:199c4a71da88 | 224 | |
Tom0108 | 1:199c4a71da88 | 225 | case 3: |
Tom0108 | 1:199c4a71da88 | 226 | MD_SET_DRIVE(MD_Data,4,MD_FORWARD); |
Tom0108 | 3:1063aa133b62 | 227 | MD_SET_PWM (MD_Data,4,60); |
Tom0108 | 3:1063aa133b62 | 228 | if(start_lim==1) pull_f=0; |
Tom0108 | 1:199c4a71da88 | 229 | break; |
Tom0108 | 0:761a63c6d020 | 230 | } |
Tom0108 | 3:1063aa133b62 | 231 | } //if(pull_f) |
Tom0108 | 3:1063aa133b62 | 232 | |
Tom0108 | 3:1063aa133b62 | 233 | //かごを倒す |
Tom0108 | 3:1063aa133b62 | 234 | else if(kago_f) { |
Tom0108 | 6:040d001acb12 | 235 | PALETTE(MAGENTA); |
Tom0108 | 1:199c4a71da88 | 236 | //腕の先を閉じておく |
Tom0108 | 1:199c4a71da88 | 237 | i2c.Out_Set(Out_Data,1,0); |
Tom0108 | 0:761a63c6d020 | 238 | |
Tom0108 | 1:199c4a71da88 | 239 | switch(kago) { |
Tom0108 | 1:199c4a71da88 | 240 | //腕を前に動かす |
Tom0108 | 1:199c4a71da88 | 241 | case 0: |
Tom0108 | 0:761a63c6d020 | 242 | MD_SET_DRIVE(MD_Data,4,MD_REVERSE); |
Tom0108 | 3:1063aa133b62 | 243 | MD_SET_PWM (MD_Data,4,60); |
Tom0108 | 2:47954f05d32d | 244 | if(max_lim==1) { |
Tom0108 | 2:47954f05d32d | 245 | kago++; |
Tom0108 | 2:47954f05d32d | 246 | tim.reset(); |
Tom0108 | 2:47954f05d32d | 247 | } |
Tom0108 | 1:199c4a71da88 | 248 | break; |
Tom0108 | 1:199c4a71da88 | 249 | |
Tom0108 | 1:199c4a71da88 | 250 | case 1: |
Tom0108 | 1:199c4a71da88 | 251 | //腕停止 |
Tom0108 | 0:761a63c6d020 | 252 | MD_SET_DRIVE(MD_Data,4,MD_BRAKE); |
Tom0108 | 1:199c4a71da88 | 253 | MD_SET_PWM (MD_Data,4,0); |
Tom0108 | 0:761a63c6d020 | 254 | |
Tom0108 | 1:199c4a71da88 | 255 | //かご回転 |
Tom0108 | 1:199c4a71da88 | 256 | MD_SET_DRIVE(MD_Data,6,MD_FORWARD); |
Tom0108 | 3:1063aa133b62 | 257 | MD_SET_PWM (MD_Data,6,80); |
Tom0108 | 2:47954f05d32d | 258 | if(slide_stop==1 || tim.read_ms()>3000) { |
Tom0108 | 1:199c4a71da88 | 259 | kago++; |
Tom0108 | 2:47954f05d32d | 260 | tim.reset(); |
Tom0108 | 1:199c4a71da88 | 261 | MD_SET_DRIVE(MD_Data,6,MD_BRAKE); |
Tom0108 | 1:199c4a71da88 | 262 | MD_SET_PWM (MD_Data,6,0); |
Tom0108 | 1:199c4a71da88 | 263 | } |
Tom0108 | 1:199c4a71da88 | 264 | break; |
Tom0108 | 0:761a63c6d020 | 265 | |
Tom0108 | 1:199c4a71da88 | 266 | case 2: |
Tom0108 | 3:1063aa133b62 | 267 | if(tim.read_ms()>1000) { |
Tom0108 | 2:47954f05d32d | 268 | kago++; |
Tom0108 | 2:47954f05d32d | 269 | tim.reset(); |
Tom0108 | 2:47954f05d32d | 270 | } |
Tom0108 | 1:199c4a71da88 | 271 | break; |
Tom0108 | 1:199c4a71da88 | 272 | |
Tom0108 | 1:199c4a71da88 | 273 | case 3: |
Tom0108 | 1:199c4a71da88 | 274 | MD_SET_DRIVE(MD_Data,6,MD_REVERSE); |
Tom0108 | 3:1063aa133b62 | 275 | MD_SET_PWM (MD_Data,6,80); |
Tom0108 | 2:47954f05d32d | 276 | if(slide_start==1 || tim.read_ms()>3000) kago++; |
Tom0108 | 1:199c4a71da88 | 277 | break; |
Tom0108 | 1:199c4a71da88 | 278 | |
Tom0108 | 1:199c4a71da88 | 279 | case 4: |
Tom0108 | 1:199c4a71da88 | 280 | MD_SET_DRIVE(MD_Data,4,MD_FORWARD); |
Tom0108 | 3:1063aa133b62 | 281 | MD_SET_PWM (MD_Data,4,60); |
Tom0108 | 3:1063aa133b62 | 282 | if(start_lim==1) kago_f=0; |
Tom0108 | 1:199c4a71da88 | 283 | break; |
Tom0108 | 0:761a63c6d020 | 284 | } |
Tom0108 | 0:761a63c6d020 | 285 | } else { |
Tom0108 | 3:1063aa133b62 | 286 | //かごと腕を停止 |
Tom0108 | 0:761a63c6d020 | 287 | MD_SET_DRIVE(MD_Data,4,MD_BRAKE); |
Tom0108 | 1:199c4a71da88 | 288 | MD_SET_PWM (MD_Data,4,0); |
Tom0108 | 1:199c4a71da88 | 289 | MD_SET_DRIVE(MD_Data,6,MD_BRAKE); |
Tom0108 | 1:199c4a71da88 | 290 | MD_SET_PWM (MD_Data,6,0); |
Tom0108 | 3:1063aa133b62 | 291 | |
Tom0108 | 1:199c4a71da88 | 292 | //爪開く |
Tom0108 | 2:47954f05d32d | 293 | i2c.Out_Set(Out_Data,1,1); |
Tom0108 | 1:199c4a71da88 | 294 | //腕上げる |
Tom0108 | 2:47954f05d32d | 295 | i2c.Out_Set(Out_Data,0,0); |
Tom0108 | 2:47954f05d32d | 296 | |
Tom0108 | 1:199c4a71da88 | 297 | kago=0; |
Tom0108 | 1:199c4a71da88 | 298 | pull=0; |
Tom0108 | 1:199c4a71da88 | 299 | grab=0; |
Tom0108 | 3:1063aa133b62 | 300 | |
Tom0108 | 2:47954f05d32d | 301 | tim.reset(); |
Tom0108 | 0:761a63c6d020 | 302 | } |
Tom0108 | 0:761a63c6d020 | 303 | |
Tom0108 | 3:1063aa133b62 | 304 | //-------------- 出力 --------------// |
Tom0108 | 3:1063aa133b62 | 305 | //第二引数には使う最大の個数 |
Tom0108 | 3:1063aa133b62 | 306 | i2c.Out(Out_Data,5); |
Tom0108 | 3:1063aa133b62 | 307 | |
Tom0108 | 3:1063aa133b62 | 308 | //モータ出力 |
Tom0108 | 3:1063aa133b62 | 309 | for(int i=0; i<8; i++) i2c.MD_I2C(MD_Data,i); |
Tom0108 | 3:1063aa133b62 | 310 | |
Tom0108 | 3:1063aa133b62 | 311 | /* ----------- りみっと --------------- */ |
Tom0108 | 3:1063aa133b62 | 312 | limit_up = (In_Data+4)->in_data; |
Tom0108 | 3:1063aa133b62 | 313 | limit_down = (In_Data+5)->in_data; |
Tom0108 | 3:1063aa133b62 | 314 | max_lim = (In_Data+1)->in_data; |
Tom0108 | 3:1063aa133b62 | 315 | start_lim =(In_Data+2)->in_data; |
Tom0108 | 3:1063aa133b62 | 316 | short_lim = (In_Data+6)->in_data; |
Tom0108 | 3:1063aa133b62 | 317 | slide_start = (In_Data+3)->in_data; |
Tom0108 | 3:1063aa133b62 | 318 | slide_stop = (In_Data+0)->in_data; |
Tom0108 | 3:1063aa133b62 | 319 | |
Tom0108 | 3:1063aa133b62 | 320 | //半自動のデバック |
Tom0108 | 3:1063aa133b62 | 321 | // pc.printf("pull %2d%2d ",pull,pull_f); |
Tom0108 | 3:1063aa133b62 | 322 | // pc.printf("grab %2d%2d ",grab,grab_f); |
Tom0108 | 3:1063aa133b62 | 323 | // pc.printf("kago %2d%2d ",kago,kago_f); |
Tom0108 | 6:040d001acb12 | 324 | // pc.printf("yaw:%.1f dif:%.1f",yaw,dif_val); |
Tom0108 | 6:040d001acb12 | 325 | pc.printf("0:%.1f 1:%.1f yaw:%.1f dif:%.1f",y_deg[0],y_deg[1],yaw,dif_val); |
Tom0108 | 4:236e5c58e8ee | 326 | // pc.printf("%2d ",dir); |
Tom0108 | 3:1063aa133b62 | 327 | pc.printf("\n\r"); |
Tom0108 | 3:1063aa133b62 | 328 | |
Tom0108 | 3:1063aa133b62 | 329 | |
Tom0108 | 3:1063aa133b62 | 330 | /* --------------電磁弁系-------------------- */ |
Tom0108 | 0:761a63c6d020 | 331 | /*タオル掛け*/ |
Tom0108 | 0:761a63c6d020 | 332 | if(sbdbt.L2)i2c.Out_Set(Out_Data,2,1); |
Tom0108 | 0:761a63c6d020 | 333 | else i2c.Out_Set(Out_Data,2,0); |
Tom0108 | 3:1063aa133b62 | 334 | |
Tom0108 | 0:761a63c6d020 | 335 | /*タオルを引っ張るやつ*/ |
Tom0108 | 1:199c4a71da88 | 336 | if(sbdbt.R2)i2c.Out_Set(Out_Data,4,1); |
Tom0108 | 1:199c4a71da88 | 337 | else i2c.Out_Set(Out_Data,4,0); |
Tom0108 | 0:761a63c6d020 | 338 | |
Tom0108 | 3:1063aa133b62 | 339 | if(unfold_f)i2c.Out_Set(Out_Data,3,1); |
Tom0108 | 3:1063aa133b62 | 340 | else i2c.Out_Set(Out_Data,3,0); |
Tom0108 | 0:761a63c6d020 | 341 | |
Tom0108 | 0:761a63c6d020 | 342 | |
Tom0108 | 3:1063aa133b62 | 343 | /* ----------------ボタン系--------------- */ |
Tom0108 | 6:040d001acb12 | 344 | //角度リセット |
Tom0108 | 2:47954f05d32d | 345 | if(sbdbt.L1) { |
Tom0108 | 6:040d001acb12 | 346 | yaw=0; |
Tom0108 | 6:040d001acb12 | 347 | Turn_val=0; |
Tom0108 | 2:47954f05d32d | 348 | } |
Tom0108 | 3:1063aa133b62 | 349 | //かごを倒す |
Tom0108 | 6:040d001acb12 | 350 | if(CROSS) { |
Tom0108 | 1:199c4a71da88 | 351 | if(once==0) { |
Tom0108 | 3:1063aa133b62 | 352 | kago_f++; |
Tom0108 | 3:1063aa133b62 | 353 | kago_f%=2; |
Tom0108 | 1:199c4a71da88 | 354 | once++; |
Tom0108 | 1:199c4a71da88 | 355 | } |
Tom0108 | 3:1063aa133b62 | 356 | } |
Tom0108 | 3:1063aa133b62 | 357 | //タオルを掴んで動かす |
Tom0108 | 3:1063aa133b62 | 358 | else if(SQUARE) { |
Tom0108 | 1:199c4a71da88 | 359 | if(once==0) { |
Tom0108 | 3:1063aa133b62 | 360 | grab_f++; |
Tom0108 | 3:1063aa133b62 | 361 | grab_f%=2; |
Tom0108 | 1:199c4a71da88 | 362 | once++; |
Tom0108 | 1:199c4a71da88 | 363 | } |
Tom0108 | 4:236e5c58e8ee | 364 | } else if(TRIANGLE) { |
Tom0108 | 4:236e5c58e8ee | 365 | if(once==0) { |
Tom0108 | 4:236e5c58e8ee | 366 | sgrab_f++; |
Tom0108 | 4:236e5c58e8ee | 367 | sgrab_f%=2; |
Tom0108 | 4:236e5c58e8ee | 368 | once++; |
Tom0108 | 4:236e5c58e8ee | 369 | } |
Tom0108 | 3:1063aa133b62 | 370 | } |
Tom0108 | 3:1063aa133b62 | 371 | //倒すを引いて動かす |
Tom0108 | 3:1063aa133b62 | 372 | else if(CIRCLE) { |
Tom0108 | 1:199c4a71da88 | 373 | if(once==0) { |
Tom0108 | 3:1063aa133b62 | 374 | pull_f++; |
Tom0108 | 3:1063aa133b62 | 375 | pull_f%=2; |
Tom0108 | 3:1063aa133b62 | 376 | once++; |
Tom0108 | 3:1063aa133b62 | 377 | } |
Tom0108 | 3:1063aa133b62 | 378 | } |
Tom0108 | 3:1063aa133b62 | 379 | //タオル展開用 |
Tom0108 | 3:1063aa133b62 | 380 | else if(sbdbt.START) { |
Tom0108 | 3:1063aa133b62 | 381 | if(once==0) { |
Tom0108 | 3:1063aa133b62 | 382 | unfold_f++; |
Tom0108 | 3:1063aa133b62 | 383 | unfold_f%=2; |
Tom0108 | 1:199c4a71da88 | 384 | once++; |
Tom0108 | 1:199c4a71da88 | 385 | } |
Tom0108 | 1:199c4a71da88 | 386 | } else once=0; |
Tom0108 | 1:199c4a71da88 | 387 | |
Tom0108 | 1:199c4a71da88 | 388 | |
Tom0108 | 0:761a63c6d020 | 389 | } // if(sbdbt.State_check()) |
Tom0108 | 0:761a63c6d020 | 390 | } // while(1) |
Tom0108 | 0:761a63c6d020 | 391 | } // int main() |
Tom0108 | 0:761a63c6d020 | 392 | |
Tom0108 | 0:761a63c6d020 | 393 | /* メカナムの基本移動 */ |
Tom0108 | 6:040d001acb12 | 394 | void mecanum_Move(int lx, int ly, int rx) |
Tom0108 | 0:761a63c6d020 | 395 | { |
Tom0108 | 6:040d001acb12 | 396 | duty[0]=lx+ly; |
Tom0108 | 6:040d001acb12 | 397 | duty[1]=-(-lx+ly); |
Tom0108 | 6:040d001acb12 | 398 | duty[2]=-lx+ly; |
Tom0108 | 6:040d001acb12 | 399 | duty[3]=-(lx+ly); |
Tom0108 | 0:761a63c6d020 | 400 | |
Tom0108 | 0:761a63c6d020 | 401 | for(int i=0; i<4; i++) { |
Tom0108 | 6:040d001acb12 | 402 | duty[i]+=rx; |
Tom0108 | 6:040d001acb12 | 403 | MD_SET_DRIVE(MD_Data, i, duty[i]==0? MD_BRAKE: (duty[i]>0? MD_FORWARD: MD_REVERSE)); |
Tom0108 | 6:040d001acb12 | 404 | MD_SET_PWM(MD_Data, i, abs(duty[i])); |
Tom0108 | 0:761a63c6d020 | 405 | } |
Tom0108 | 0:761a63c6d020 | 406 | } |
Tom0108 | 0:761a63c6d020 | 407 | |
Tom0108 | 6:040d001acb12 | 408 | void AngleCorrection(double n_angle, double t_angle) |
Tom0108 | 0:761a63c6d020 | 409 | { |
Tom0108 | 6:040d001acb12 | 410 | double dif=-(t_angle-n_angle); |
Tom0108 | 6:040d001acb12 | 411 | |
Tom0108 | 6:040d001acb12 | 412 | if(dif>=30) dif=30; |
Tom0108 | 6:040d001acb12 | 413 | else if(dif<=-30) dif=-30; |
Tom0108 | 6:040d001acb12 | 414 | |
Tom0108 | 0:761a63c6d020 | 415 | for(int i=0; i<4; i++) { |
Tom0108 | 6:040d001acb12 | 416 | duty[i]+=dif; |
Tom0108 | 6:040d001acb12 | 417 | MD_SET_DRIVE(MD_Data, i, duty[i]==0? MD_BRAKE: (duty[i]>0? MD_FORWARD: MD_REVERSE)); |
Tom0108 | 6:040d001acb12 | 418 | MD_SET_PWM(MD_Data, i, abs(duty[i])); |
Tom0108 | 0:761a63c6d020 | 419 | } |
Tom0108 | 6:040d001acb12 | 420 | |
Tom0108 | 0:761a63c6d020 | 421 | } |
Tom0108 | 0:761a63c6d020 | 422 | |
Tom0108 | 0:761a63c6d020 | 423 | /*操作法*/ |
Tom0108 | 0:761a63c6d020 | 424 | /* |
Tom0108 | 0:761a63c6d020 | 425 | 〇 ボタン == 回収(引きずる) |
Tom0108 | 0:761a63c6d020 | 426 | ? ボタン == 籠 |
Tom0108 | 0:761a63c6d020 | 427 | △ ボタン == 回収(シーツ兼シャツ) |
Tom0108 | 0:761a63c6d020 | 428 | □ ボタン == 回収(タオル) |
Tom0108 | 0:761a63c6d020 | 429 | 上 ボタン == ハンガーかけ機構 上昇 |
Tom0108 | 0:761a63c6d020 | 430 | 下 ボタン == ハンガーかけ機構 下降 |
Tom0108 | 0:761a63c6d020 | 431 | L1 ボタン == リセット(足回り) |
Tom0108 | 0:761a63c6d020 | 432 | L2 ボタン == タオル掛け |
Tom0108 | 6:040d001acb12 | 433 | R2 ボタン == タオル真ん中掴む |
Tom0108 | 0:761a63c6d020 | 434 | select == ハンガー掛け 最大まで上昇 |
Tom0108 | 0:761a63c6d020 | 435 | start == ハンガー展開 |
Tom0108 | 0:761a63c6d020 | 436 | */ |
Tom0108 | 0:761a63c6d020 | 437 | /*その他注意点*/ |
Tom0108 | 0:761a63c6d020 | 438 | /* |
Tom0108 | 6:040d001acb12 | 439 | 動かすときはジャイロの値を安定させるためLEDが赤から緑になるまで待つ |
Tom0108 | 0:761a63c6d020 | 440 | メカナムは振動が大きいせいかナット等が外れやすいため、定期的に確認をする(特に足回り) |
Tom0108 | 0:761a63c6d020 | 441 | あまり急発進をさせない(たまに暴走) |
Tom0108 | 0:761a63c6d020 | 442 | 暴走したときはコントローラーを動かしたら治るはず |
Tom0108 | 0:761a63c6d020 | 443 | コントローラー接続が切れたらSTMの黒い奴を押す(わからないときは近くの回路班へ) |
Tom0108 | 0:761a63c6d020 | 444 | */ |