Takushima Yukimasa
/
R19_ManuTakukAHWGeo
a
main.cpp@9:64fcbcc182d9, 2019-08-27 (annotated)
- Committer:
- Tom0108
- Date:
- Tue Aug 27 10:59:38 2019 +0000
- Revision:
- 9:64fcbcc182d9
- Parent:
- 8:b79d21c8178b
- Child:
- 10:7c73e1577742
08/27 Speed gain change
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 | 8:b79d21c8178b | 4 | //ゾーン対応 |
Tom0108 | 8:b79d21c8178b | 5 | #define _RED_ZONE_ |
Tom0108 | 8:b79d21c8178b | 6 | #ifdef _RED_ZONE_ |
Tom0108 | 8:b79d21c8178b | 7 | const int def_val=0; |
Tom0108 | 8:b79d21c8178b | 8 | #else |
Tom0108 | 8:b79d21c8178b | 9 | const int def_val=180; |
Tom0108 | 8:b79d21c8178b | 10 | #endif |
Tom0108 | 0:761a63c6d020 | 11 | |
Tom0108 | 0:761a63c6d020 | 12 | /* 関数宣言 ------------------------------------------------------------------*/ |
Tom0108 | 0:761a63c6d020 | 13 | |
Tom0108 | 0:761a63c6d020 | 14 | /* 変数宣言 ------------------------------------------------------------------*/ |
Tom0108 | 1:199c4a71da88 | 15 | //かご回転用 |
Tom0108 | 3:1063aa133b62 | 16 | int kago=0, kago_f=0; |
Tom0108 | 1:199c4a71da88 | 17 | |
Tom0108 | 1:199c4a71da88 | 18 | //コントローラーの状態を保存するため |
Tom0108 | 1:199c4a71da88 | 19 | int once=0; |
Tom0108 | 1:199c4a71da88 | 20 | |
Tom0108 | 1:199c4a71da88 | 21 | //タオル引く用 |
Tom0108 | 3:1063aa133b62 | 22 | int pull=0, pull_f=0; |
Tom0108 | 1:199c4a71da88 | 23 | |
Tom0108 | 4:236e5c58e8ee | 24 | //タオル掴む用 |
Tom0108 | 8:b79d21c8178b | 25 | //spull_f: 中央のリミットでつかむ |
Tom0108 | 8:b79d21c8178b | 26 | //back_f: 真ん中目で下がるとき |
Tom0108 | 8:b79d21c8178b | 27 | int grab=0, grab_f=0, spull_f=0; |
Tom0108 | 8:b79d21c8178b | 28 | int back_f=0; |
Tom0108 | 3:1063aa133b62 | 29 | |
Tom0108 | 4:236e5c58e8ee | 30 | //タオル横展開用 |
Tom0108 | 3:1063aa133b62 | 31 | int unfold_f=0; |
Tom0108 | 3:1063aa133b62 | 32 | |
Tom0108 | 6:040d001acb12 | 33 | //y_deg: ジャイロの生の値 |
Tom0108 | 6:040d001acb12 | 34 | //yaw: 実際に使う角度 |
Tom0108 | 8:b79d21c8178b | 35 | double y_deg[2], yaw=def_val; |
Tom0108 | 1:199c4a71da88 | 36 | |
Tom0108 | 6:040d001acb12 | 37 | //ジャイロさんぷりんぐ用 |
Tom0108 | 5:fcc79e507610 | 38 | double sum=0, ave=0; |
Tom0108 | 5:fcc79e507610 | 39 | int offset_cnt=0; |
Tom0108 | 3:1063aa133b62 | 40 | |
Tom0108 | 3:1063aa133b62 | 41 | //Turn_val: 補正の目標値 |
Tom0108 | 3:1063aa133b62 | 42 | //dif_val: 補正値との差 |
Tom0108 | 8:b79d21c8178b | 43 | double Turn_val=def_val, dif_val; |
Tom0108 | 3:1063aa133b62 | 44 | |
Tom0108 | 3:1063aa133b62 | 45 | //short_lim: 腕中央 |
Tom0108 | 3:1063aa133b62 | 46 | //max_lim: 腕奥側 |
Tom0108 | 3:1063aa133b62 | 47 | //short_lim: 腕手前側 |
Tom0108 | 3:1063aa133b62 | 48 | int short_lim, max_lim, start_lim; |
Tom0108 | 8:b79d21c8178b | 49 | int short_f=0; |
Tom0108 | 1:199c4a71da88 | 50 | |
Tom0108 | 6:040d001acb12 | 51 | //足回りのpwm値 |
Tom0108 | 6:040d001acb12 | 52 | int duty[4]; |
Tom0108 | 4:236e5c58e8ee | 53 | |
Tom0108 | 6:040d001acb12 | 54 | // 足回り |
Tom0108 | 6:040d001acb12 | 55 | int lx,ly,rx; |
Tom0108 | 0:761a63c6d020 | 56 | |
Tom0108 | 6:040d001acb12 | 57 | int limit_up,limit_down; // リミットスイッチ |
Tom0108 | 6:040d001acb12 | 58 | int slide_start,slide_stop; //かごのリミット |
Tom0108 | 0:761a63c6d020 | 59 | |
Tom0108 | 0:761a63c6d020 | 60 | int as=0; |
Tom0108 | 0:761a63c6d020 | 61 | |
Tom0108 | 0:761a63c6d020 | 62 | /*----------------------------------- main -----------------------------------*/ |
Tom0108 | 0:761a63c6d020 | 63 | int main() |
Tom0108 | 0:761a63c6d020 | 64 | { |
Tom0108 | 0:761a63c6d020 | 65 | //flipper1.attach(&flip1, 0.001); // 割り込み |
Tom0108 | 5:fcc79e507610 | 66 | |
Tom0108 | 0:761a63c6d020 | 67 | while(1) { |
Tom0108 | 1:199c4a71da88 | 68 | //自動系のタイマースタート |
Tom0108 | 1:199c4a71da88 | 69 | tim.start(); |
Tom0108 | 6:040d001acb12 | 70 | drift_tim.start(); |
Tom0108 | 0:761a63c6d020 | 71 | mpu.loop(); |
Tom0108 | 0:761a63c6d020 | 72 | |
Tom0108 | 6:040d001acb12 | 73 | //ジャイロから値を取得 |
Tom0108 | 5:fcc79e507610 | 74 | y_deg[1] = y_deg[0]; |
Tom0108 | 5:fcc79e507610 | 75 | y_deg[0] = (double)mpu.ypr[0] * 180 / M_PI; |
Tom0108 | 6:040d001acb12 | 76 | |
Tom0108 | 5:fcc79e507610 | 77 | //180~-180をまたいだ時 |
Tom0108 | 5:fcc79e507610 | 78 | if(y_deg[1]<-90 && y_deg[0]>90) y_deg[1]+=360; |
Tom0108 | 5:fcc79e507610 | 79 | else if(y_deg[1]>90 && y_deg[0]<-90) y_deg[1]-=360; |
Tom0108 | 0:761a63c6d020 | 80 | |
Tom0108 | 5:fcc79e507610 | 81 | if(sbdbt.State_check()) { |
Tom0108 | 5:fcc79e507610 | 82 | for(int i=0; i<7; i++) i2c.In(In_Data,i); |
Tom0108 | 6:040d001acb12 | 83 | |
Tom0108 | 5:fcc79e507610 | 84 | //誤差をさんぷりんぐ |
Tom0108 | 5:fcc79e507610 | 85 | if(offset_cnt<1000) { |
Tom0108 | 8:b79d21c8178b | 86 | PALETTE(YELLOW); |
Tom0108 | 5:fcc79e507610 | 87 | if(offset_cnt!=0) { |
Tom0108 | 5:fcc79e507610 | 88 | sum+=(y_deg[0]-y_deg[1]); |
Tom0108 | 5:fcc79e507610 | 89 | ave=sum/offset_cnt; |
Tom0108 | 5:fcc79e507610 | 90 | } |
Tom0108 | 5:fcc79e507610 | 91 | offset_cnt++; |
Tom0108 | 6:040d001acb12 | 92 | } else { |
Tom0108 | 8:b79d21c8178b | 93 | //ゾーン対応 |
Tom0108 | 8:b79d21c8178b | 94 | #ifdef _RED_ZONE_ |
Tom0108 | 8:b79d21c8178b | 95 | PALETTE(RED); |
Tom0108 | 8:b79d21c8178b | 96 | #else |
Tom0108 | 8:b79d21c8178b | 97 | PALETTE(BLUE); |
Tom0108 | 8:b79d21c8178b | 98 | #endif |
Tom0108 | 6:040d001acb12 | 99 | yaw -= (y_deg[0]-y_deg[1])-ave; |
Tom0108 | 6:040d001acb12 | 100 | } |
Tom0108 | 6:040d001acb12 | 101 | |
Tom0108 | 6:040d001acb12 | 102 | dif_val = yaw-Turn_val; |
Tom0108 | 6:040d001acb12 | 103 | //制限 |
Tom0108 | 6:040d001acb12 | 104 | if(dif_val>=30) dif_val=30; |
Tom0108 | 6:040d001acb12 | 105 | else if(dif_val<=-30) dif_val=-30; |
Tom0108 | 0:761a63c6d020 | 106 | |
Tom0108 | 0:761a63c6d020 | 107 | 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 | 108 | ly = ((64-sbdbt.LY)*100.0/64)*cos(yaw*M_PI/180)-((sbdbt.LX-64)*100.0/64)*sin(yaw*M_PI/180); |
Tom0108 | 8:b79d21c8178b | 109 | rx = (sbdbt.RX - 64)*60/64; |
Tom0108 | 8:b79d21c8178b | 110 | |
Tom0108 | 8:b79d21c8178b | 111 | //R1で停止 |
Tom0108 | 8:b79d21c8178b | 112 | if(sbdbt.R1==0) { |
Tom0108 | 8:b79d21c8178b | 113 | //メカナム基本動作 |
Tom0108 | 8:b79d21c8178b | 114 | mecanum_Move(lx, ly, rx); |
Tom0108 | 0:761a63c6d020 | 115 | |
Tom0108 | 8:b79d21c8178b | 116 | //旋回している間タイマーをリセット |
Tom0108 | 8:b79d21c8178b | 117 | if(sbdbt.RX != 64) drift_tim.reset(); |
Tom0108 | 8:b79d21c8178b | 118 | |
Tom0108 | 8:b79d21c8178b | 119 | //旋回して慣性で動いた後の角度に補正する |
Tom0108 | 8:b79d21c8178b | 120 | if(drift_tim.read_ms()<500) Turn_val=yaw; |
Tom0108 | 0:761a63c6d020 | 121 | |
Tom0108 | 8:b79d21c8178b | 122 | //角度補正 |
Tom0108 | 8:b79d21c8178b | 123 | AngleCorrection(yaw, Turn_val); |
Tom0108 | 8:b79d21c8178b | 124 | |
Tom0108 | 8:b79d21c8178b | 125 | /*---ハンガーかけるやつ----------------------------------------------*/ |
Tom0108 | 8:b79d21c8178b | 126 | if(sbdbt.SELECT)as=1;//selectキー |
Tom0108 | 3:1063aa133b62 | 127 | |
Tom0108 | 8:b79d21c8178b | 128 | if(as==1 && limit_up == 0) { |
Tom0108 | 8:b79d21c8178b | 129 | MD_SET_DRIVE(MD_Data, 5,MD_REVERSE); |
Tom0108 | 8:b79d21c8178b | 130 | MD_SET_PWM(MD_Data, 5,100); |
Tom0108 | 8:b79d21c8178b | 131 | } else if(UPkey && limit_up == 0) { |
Tom0108 | 8:b79d21c8178b | 132 | as=0; |
Tom0108 | 8:b79d21c8178b | 133 | MD_SET_DRIVE(MD_Data, 5,MD_REVERSE); |
Tom0108 | 8:b79d21c8178b | 134 | MD_SET_PWM(MD_Data, 5,100); |
Tom0108 | 8:b79d21c8178b | 135 | } else if(as==1 && limit_up == 1) { |
Tom0108 | 8:b79d21c8178b | 136 | as=0; |
Tom0108 | 8:b79d21c8178b | 137 | MD_SET_PWM(MD_Data,5,0); |
Tom0108 | 8:b79d21c8178b | 138 | MD_SET_DRIVE(MD_Data, 5,MD_BRAKE); |
Tom0108 | 8:b79d21c8178b | 139 | } else if(DOWNkey && limit_down == 0) { |
Tom0108 | 8:b79d21c8178b | 140 | MD_SET_DRIVE(MD_Data, 5,MD_FORWARD); |
Tom0108 | 8:b79d21c8178b | 141 | MD_SET_PWM(MD_Data, 5,100); |
Tom0108 | 8:b79d21c8178b | 142 | } else { |
Tom0108 | 8:b79d21c8178b | 143 | MD_SET_PWM(MD_Data,5,0); |
Tom0108 | 8:b79d21c8178b | 144 | MD_SET_DRIVE(MD_Data, 5,MD_BRAKE); |
Tom0108 | 8:b79d21c8178b | 145 | } |
Tom0108 | 6:040d001acb12 | 146 | |
Tom0108 | 8:b79d21c8178b | 147 | //タオルつかむ 四角 |
Tom0108 | 8:b79d21c8178b | 148 | if(grab_f || spull_f) { |
Tom0108 | 8:b79d21c8178b | 149 | PALETTE(GREEN); |
Tom0108 | 9:64fcbcc182d9 | 150 | |
Tom0108 | 9:64fcbcc182d9 | 151 | //真ん中で止まる用s |
Tom0108 | 8:b79d21c8178b | 152 | short_f=1; |
Tom0108 | 8:b79d21c8178b | 153 | switch(grab) { |
Tom0108 | 8:b79d21c8178b | 154 | //腕を前に動かす |
Tom0108 | 8:b79d21c8178b | 155 | case 0: |
Tom0108 | 8:b79d21c8178b | 156 | //爪開く |
Tom0108 | 8:b79d21c8178b | 157 | i2c.Out_Set(Out_Data,1,1); |
Tom0108 | 0:761a63c6d020 | 158 | |
Tom0108 | 8:b79d21c8178b | 159 | if(back_f) MD_SET_DRIVE(MD_Data,4,MD_FORWARD); |
Tom0108 | 8:b79d21c8178b | 160 | else MD_SET_DRIVE(MD_Data,4,MD_REVERSE); |
Tom0108 | 9:64fcbcc182d9 | 161 | MD_SET_PWM (MD_Data,4,60); |
Tom0108 | 0:761a63c6d020 | 162 | |
Tom0108 | 8:b79d21c8178b | 163 | if(spull_f) { |
Tom0108 | 8:b79d21c8178b | 164 | if(short_lim==1) { |
Tom0108 | 8:b79d21c8178b | 165 | grab++; |
Tom0108 | 8:b79d21c8178b | 166 | back_f=0; |
Tom0108 | 8:b79d21c8178b | 167 | tim.reset(); |
Tom0108 | 8:b79d21c8178b | 168 | } else if(max_lim) back_f=1; |
Tom0108 | 8:b79d21c8178b | 169 | } else { |
Tom0108 | 8:b79d21c8178b | 170 | if(max_lim==1) { |
Tom0108 | 8:b79d21c8178b | 171 | grab++; |
Tom0108 | 8:b79d21c8178b | 172 | back_f=0; |
Tom0108 | 8:b79d21c8178b | 173 | tim.reset(); |
Tom0108 | 8:b79d21c8178b | 174 | } |
Tom0108 | 8:b79d21c8178b | 175 | } |
Tom0108 | 8:b79d21c8178b | 176 | break; |
Tom0108 | 8:b79d21c8178b | 177 | |
Tom0108 | 8:b79d21c8178b | 178 | case 1: |
Tom0108 | 8:b79d21c8178b | 179 | //腕停止 |
Tom0108 | 8:b79d21c8178b | 180 | MD_SET_DRIVE(MD_Data,4,MD_BRAKE); |
Tom0108 | 8:b79d21c8178b | 181 | MD_SET_PWM(MD_Data,4,0); |
Tom0108 | 8:b79d21c8178b | 182 | |
Tom0108 | 8:b79d21c8178b | 183 | //腕おろす |
Tom0108 | 8:b79d21c8178b | 184 | i2c.Out_Set(Out_Data,0,1); |
Tom0108 | 9:64fcbcc182d9 | 185 | if(tim.read_ms()>200) { |
Tom0108 | 8:b79d21c8178b | 186 | grab++; |
Tom0108 | 8:b79d21c8178b | 187 | tim.reset(); |
Tom0108 | 8:b79d21c8178b | 188 | } |
Tom0108 | 8:b79d21c8178b | 189 | break; |
Tom0108 | 0:761a63c6d020 | 190 | |
Tom0108 | 8:b79d21c8178b | 191 | case 2: |
Tom0108 | 8:b79d21c8178b | 192 | //爪閉じる |
Tom0108 | 8:b79d21c8178b | 193 | i2c.Out_Set(Out_Data,1,0); |
Tom0108 | 9:64fcbcc182d9 | 194 | if(tim.read_ms()>0) { |
Tom0108 | 8:b79d21c8178b | 195 | grab++; |
Tom0108 | 8:b79d21c8178b | 196 | tim.reset(); |
Tom0108 | 8:b79d21c8178b | 197 | } |
Tom0108 | 8:b79d21c8178b | 198 | break; |
Tom0108 | 8:b79d21c8178b | 199 | |
Tom0108 | 8:b79d21c8178b | 200 | case 3: |
Tom0108 | 8:b79d21c8178b | 201 | //腕上げる |
Tom0108 | 8:b79d21c8178b | 202 | i2c.Out_Set(Out_Data,0,0); |
Tom0108 | 9:64fcbcc182d9 | 203 | if(tim.read_ms()>0) { |
Tom0108 | 8:b79d21c8178b | 204 | grab++; |
Tom0108 | 8:b79d21c8178b | 205 | tim.reset(); |
Tom0108 | 8:b79d21c8178b | 206 | } |
Tom0108 | 8:b79d21c8178b | 207 | break; |
Tom0108 | 8:b79d21c8178b | 208 | |
Tom0108 | 8:b79d21c8178b | 209 | //腕戻す |
Tom0108 | 8:b79d21c8178b | 210 | case 4: |
Tom0108 | 8:b79d21c8178b | 211 | MD_SET_DRIVE(MD_Data,4,MD_FORWARD); |
Tom0108 | 9:64fcbcc182d9 | 212 | MD_SET_PWM (MD_Data,4,60); |
Tom0108 | 8:b79d21c8178b | 213 | if(start_lim==1) { |
Tom0108 | 8:b79d21c8178b | 214 | grab_f=0; |
Tom0108 | 8:b79d21c8178b | 215 | spull_f=0; |
Tom0108 | 8:b79d21c8178b | 216 | tim.reset(); |
Tom0108 | 8:b79d21c8178b | 217 | } |
Tom0108 | 8:b79d21c8178b | 218 | break; |
Tom0108 | 8:b79d21c8178b | 219 | } |
Tom0108 | 8:b79d21c8178b | 220 | } //if(grab_f) |
Tom0108 | 0:761a63c6d020 | 221 | |
Tom0108 | 8:b79d21c8178b | 222 | //タオル引く 丸 |
Tom0108 | 8:b79d21c8178b | 223 | else if(pull_f) { |
Tom0108 | 8:b79d21c8178b | 224 | PALETTE(CYAN); |
Tom0108 | 8:b79d21c8178b | 225 | short_f=1; |
Tom0108 | 8:b79d21c8178b | 226 | switch(pull) { |
Tom0108 | 8:b79d21c8178b | 227 | //腕を前に動かす |
Tom0108 | 8:b79d21c8178b | 228 | case 0: |
Tom0108 | 8:b79d21c8178b | 229 | //爪閉じる |
Tom0108 | 8:b79d21c8178b | 230 | i2c.Out_Set(Out_Data,1,0); |
Tom0108 | 8:b79d21c8178b | 231 | |
Tom0108 | 8:b79d21c8178b | 232 | MD_SET_DRIVE(MD_Data,4,MD_REVERSE); |
Tom0108 | 9:64fcbcc182d9 | 233 | MD_SET_PWM (MD_Data,4,60); |
Tom0108 | 8:b79d21c8178b | 234 | |
Tom0108 | 8:b79d21c8178b | 235 | if(max_lim==1) { |
Tom0108 | 8:b79d21c8178b | 236 | pull++; |
Tom0108 | 8:b79d21c8178b | 237 | back_f=0; |
Tom0108 | 8:b79d21c8178b | 238 | tim.reset(); |
Tom0108 | 8:b79d21c8178b | 239 | } |
Tom0108 | 8:b79d21c8178b | 240 | break; |
Tom0108 | 8:b79d21c8178b | 241 | |
Tom0108 | 8:b79d21c8178b | 242 | case 1: |
Tom0108 | 8:b79d21c8178b | 243 | //腕停止 |
Tom0108 | 8:b79d21c8178b | 244 | MD_SET_DRIVE(MD_Data,4,MD_BRAKE); |
Tom0108 | 8:b79d21c8178b | 245 | MD_SET_PWM (MD_Data,4,0); |
Tom0108 | 2:47954f05d32d | 246 | |
Tom0108 | 8:b79d21c8178b | 247 | //腕おろす |
Tom0108 | 8:b79d21c8178b | 248 | i2c.Out_Set(Out_Data,0,1); |
Tom0108 | 9:64fcbcc182d9 | 249 | if(tim.read_ms()>100) { |
Tom0108 | 8:b79d21c8178b | 250 | pull++; |
Tom0108 | 8:b79d21c8178b | 251 | tim.reset(); |
Tom0108 | 8:b79d21c8178b | 252 | } |
Tom0108 | 8:b79d21c8178b | 253 | break; |
Tom0108 | 8:b79d21c8178b | 254 | |
Tom0108 | 9:64fcbcc182d9 | 255 | //停止 |
Tom0108 | 8:b79d21c8178b | 256 | case 2: |
Tom0108 | 9:64fcbcc182d9 | 257 | if(tim.read_ms()>0) { |
Tom0108 | 8:b79d21c8178b | 258 | pull++; |
Tom0108 | 8:b79d21c8178b | 259 | tim.reset(); |
Tom0108 | 8:b79d21c8178b | 260 | } |
Tom0108 | 8:b79d21c8178b | 261 | break; |
Tom0108 | 0:761a63c6d020 | 262 | |
Tom0108 | 8:b79d21c8178b | 263 | case 3: |
Tom0108 | 8:b79d21c8178b | 264 | MD_SET_DRIVE(MD_Data,4,MD_FORWARD); |
Tom0108 | 9:64fcbcc182d9 | 265 | MD_SET_PWM (MD_Data,4,60); |
Tom0108 | 8:b79d21c8178b | 266 | if(start_lim==1) { |
Tom0108 | 8:b79d21c8178b | 267 | pull_f=0; |
Tom0108 | 8:b79d21c8178b | 268 | tim.reset(); |
Tom0108 | 8:b79d21c8178b | 269 | } |
Tom0108 | 8:b79d21c8178b | 270 | break; |
Tom0108 | 8:b79d21c8178b | 271 | } |
Tom0108 | 8:b79d21c8178b | 272 | } //if(pull_f) |
Tom0108 | 8:b79d21c8178b | 273 | |
Tom0108 | 8:b79d21c8178b | 274 | //かごを倒す |
Tom0108 | 8:b79d21c8178b | 275 | else if(kago_f) { |
Tom0108 | 8:b79d21c8178b | 276 | PALETTE(MAGENTA); |
Tom0108 | 8:b79d21c8178b | 277 | short_f=1; |
Tom0108 | 8:b79d21c8178b | 278 | //腕の先を閉じておく |
Tom0108 | 8:b79d21c8178b | 279 | i2c.Out_Set(Out_Data,1,0); |
Tom0108 | 1:199c4a71da88 | 280 | |
Tom0108 | 8:b79d21c8178b | 281 | switch(kago) { |
Tom0108 | 8:b79d21c8178b | 282 | //腕を前に動かす |
Tom0108 | 8:b79d21c8178b | 283 | case 0: |
Tom0108 | 8:b79d21c8178b | 284 | MD_SET_DRIVE(MD_Data,4,MD_REVERSE); |
Tom0108 | 9:64fcbcc182d9 | 285 | MD_SET_PWM (MD_Data,4,60); |
Tom0108 | 8:b79d21c8178b | 286 | if(max_lim==1) { |
Tom0108 | 8:b79d21c8178b | 287 | kago++; |
Tom0108 | 8:b79d21c8178b | 288 | tim.reset(); |
Tom0108 | 8:b79d21c8178b | 289 | } |
Tom0108 | 8:b79d21c8178b | 290 | break; |
Tom0108 | 8:b79d21c8178b | 291 | |
Tom0108 | 8:b79d21c8178b | 292 | case 1: |
Tom0108 | 8:b79d21c8178b | 293 | //腕停止 |
Tom0108 | 8:b79d21c8178b | 294 | MD_SET_DRIVE(MD_Data,4,MD_BRAKE); |
Tom0108 | 8:b79d21c8178b | 295 | MD_SET_PWM (MD_Data,4,0); |
Tom0108 | 8:b79d21c8178b | 296 | |
Tom0108 | 8:b79d21c8178b | 297 | //かご回転 |
Tom0108 | 8:b79d21c8178b | 298 | MD_SET_DRIVE(MD_Data,6,MD_FORWARD); |
Tom0108 | 9:64fcbcc182d9 | 299 | MD_SET_PWM (MD_Data,6,100); |
Tom0108 | 8:b79d21c8178b | 300 | if(slide_stop==1) { |
Tom0108 | 8:b79d21c8178b | 301 | kago++; |
Tom0108 | 8:b79d21c8178b | 302 | tim.reset(); |
Tom0108 | 8:b79d21c8178b | 303 | MD_SET_DRIVE(MD_Data,6,MD_BRAKE); |
Tom0108 | 8:b79d21c8178b | 304 | MD_SET_PWM (MD_Data,6,0); |
Tom0108 | 8:b79d21c8178b | 305 | } |
Tom0108 | 8:b79d21c8178b | 306 | break; |
Tom0108 | 3:1063aa133b62 | 307 | |
Tom0108 | 8:b79d21c8178b | 308 | case 2: |
Tom0108 | 8:b79d21c8178b | 309 | if(tim.read_ms()>0) { |
Tom0108 | 8:b79d21c8178b | 310 | kago++; |
Tom0108 | 8:b79d21c8178b | 311 | tim.reset(); |
Tom0108 | 8:b79d21c8178b | 312 | } |
Tom0108 | 8:b79d21c8178b | 313 | break; |
Tom0108 | 8:b79d21c8178b | 314 | |
Tom0108 | 8:b79d21c8178b | 315 | case 3: |
Tom0108 | 8:b79d21c8178b | 316 | MD_SET_DRIVE(MD_Data,6,MD_REVERSE); |
Tom0108 | 9:64fcbcc182d9 | 317 | MD_SET_PWM (MD_Data,6,100); |
Tom0108 | 8:b79d21c8178b | 318 | if(slide_start==1) kago++; |
Tom0108 | 8:b79d21c8178b | 319 | break; |
Tom0108 | 3:1063aa133b62 | 320 | |
Tom0108 | 8:b79d21c8178b | 321 | case 4: |
Tom0108 | 8:b79d21c8178b | 322 | MD_SET_DRIVE(MD_Data,4,MD_FORWARD); |
Tom0108 | 9:64fcbcc182d9 | 323 | MD_SET_PWM (MD_Data,4,60); |
Tom0108 | 8:b79d21c8178b | 324 | if(start_lim==1) { |
Tom0108 | 8:b79d21c8178b | 325 | kago_f=0; |
Tom0108 | 8:b79d21c8178b | 326 | tim.reset(); |
Tom0108 | 8:b79d21c8178b | 327 | } |
Tom0108 | 8:b79d21c8178b | 328 | break; |
Tom0108 | 8:b79d21c8178b | 329 | } |
Tom0108 | 8:b79d21c8178b | 330 | } else { |
Tom0108 | 8:b79d21c8178b | 331 | //爪開く |
Tom0108 | 8:b79d21c8178b | 332 | i2c.Out_Set(Out_Data,1,1); |
Tom0108 | 8:b79d21c8178b | 333 | //腕上げる |
Tom0108 | 8:b79d21c8178b | 334 | i2c.Out_Set(Out_Data,0,0); |
Tom0108 | 8:b79d21c8178b | 335 | |
Tom0108 | 8:b79d21c8178b | 336 | //腕真ん中で停止 |
Tom0108 | 8:b79d21c8178b | 337 | if(short_f) { |
Tom0108 | 9:64fcbcc182d9 | 338 | if(short_lim==1) { |
Tom0108 | 9:64fcbcc182d9 | 339 | short_f=0; |
Tom0108 | 9:64fcbcc182d9 | 340 | back_f=0; |
Tom0108 | 9:64fcbcc182d9 | 341 | } |
Tom0108 | 9:64fcbcc182d9 | 342 | //奥のリミットに当たったら逆回転 |
Tom0108 | 9:64fcbcc182d9 | 343 | if(max_lim==1) back_f=1; |
Tom0108 | 9:64fcbcc182d9 | 344 | //手前のリミットに当たったら正回転 |
Tom0108 | 9:64fcbcc182d9 | 345 | else if(start_lim==1) back_f=0; |
Tom0108 | 9:64fcbcc182d9 | 346 | |
Tom0108 | 9:64fcbcc182d9 | 347 | if(back_f) MD_SET_DRIVE(MD_Data,4,MD_FORWARD); |
Tom0108 | 9:64fcbcc182d9 | 348 | else MD_SET_DRIVE(MD_Data,4,MD_REVERSE); |
Tom0108 | 9:64fcbcc182d9 | 349 | MD_SET_PWM (MD_Data,4,30); |
Tom0108 | 8:b79d21c8178b | 350 | } else { |
Tom0108 | 2:47954f05d32d | 351 | MD_SET_DRIVE(MD_Data,4,MD_BRAKE); |
Tom0108 | 2:47954f05d32d | 352 | MD_SET_PWM (MD_Data,4,0); |
Tom0108 | 8:b79d21c8178b | 353 | } |
Tom0108 | 8:b79d21c8178b | 354 | //かご停止 |
Tom0108 | 8:b79d21c8178b | 355 | MD_SET_DRIVE(MD_Data,6,MD_BRAKE); |
Tom0108 | 8:b79d21c8178b | 356 | MD_SET_PWM (MD_Data,6,0); |
Tom0108 | 1:199c4a71da88 | 357 | |
Tom0108 | 8:b79d21c8178b | 358 | kago=0; |
Tom0108 | 8:b79d21c8178b | 359 | pull=0; |
Tom0108 | 8:b79d21c8178b | 360 | grab=0; |
Tom0108 | 0:761a63c6d020 | 361 | |
Tom0108 | 8:b79d21c8178b | 362 | tim.reset(); |
Tom0108 | 0:761a63c6d020 | 363 | } |
Tom0108 | 8:b79d21c8178b | 364 | } |
Tom0108 | 8:b79d21c8178b | 365 | //非常停止 |
Tom0108 | 8:b79d21c8178b | 366 | else { |
Tom0108 | 8:b79d21c8178b | 367 | for(int i=0; i<8; i++) { |
Tom0108 | 8:b79d21c8178b | 368 | MD_SET_DRIVE(MD_Data,i,MD_BRAKE); |
Tom0108 | 8:b79d21c8178b | 369 | MD_SET_PWM (MD_Data,i,0); |
Tom0108 | 8:b79d21c8178b | 370 | } |
Tom0108 | 0:761a63c6d020 | 371 | } |
Tom0108 | 0:761a63c6d020 | 372 | |
Tom0108 | 3:1063aa133b62 | 373 | //-------------- 出力 --------------// |
Tom0108 | 3:1063aa133b62 | 374 | //第二引数には使う最大の個数 |
Tom0108 | 8:b79d21c8178b | 375 | i2c.Out(Out_Data,8); |
Tom0108 | 3:1063aa133b62 | 376 | |
Tom0108 | 3:1063aa133b62 | 377 | //モータ出力 |
Tom0108 | 3:1063aa133b62 | 378 | for(int i=0; i<8; i++) i2c.MD_I2C(MD_Data,i); |
Tom0108 | 3:1063aa133b62 | 379 | |
Tom0108 | 3:1063aa133b62 | 380 | /* ----------- りみっと --------------- */ |
Tom0108 | 3:1063aa133b62 | 381 | limit_up = (In_Data+4)->in_data; |
Tom0108 | 3:1063aa133b62 | 382 | limit_down = (In_Data+5)->in_data; |
Tom0108 | 3:1063aa133b62 | 383 | max_lim = (In_Data+1)->in_data; |
Tom0108 | 3:1063aa133b62 | 384 | start_lim =(In_Data+2)->in_data; |
Tom0108 | 3:1063aa133b62 | 385 | short_lim = (In_Data+6)->in_data; |
Tom0108 | 3:1063aa133b62 | 386 | slide_start = (In_Data+3)->in_data; |
Tom0108 | 3:1063aa133b62 | 387 | slide_stop = (In_Data+0)->in_data; |
Tom0108 | 3:1063aa133b62 | 388 | |
Tom0108 | 3:1063aa133b62 | 389 | //半自動のデバック |
Tom0108 | 3:1063aa133b62 | 390 | // pc.printf("pull %2d%2d ",pull,pull_f); |
Tom0108 | 3:1063aa133b62 | 391 | // pc.printf("grab %2d%2d ",grab,grab_f); |
Tom0108 | 3:1063aa133b62 | 392 | // pc.printf("kago %2d%2d ",kago,kago_f); |
Tom0108 | 6:040d001acb12 | 393 | // pc.printf("yaw:%.1f dif:%.1f",yaw,dif_val); |
Tom0108 | 6:040d001acb12 | 394 | pc.printf("0:%.1f 1:%.1f yaw:%.1f dif:%.1f",y_deg[0],y_deg[1],yaw,dif_val); |
Tom0108 | 4:236e5c58e8ee | 395 | // pc.printf("%2d ",dir); |
Tom0108 | 3:1063aa133b62 | 396 | pc.printf("\n\r"); |
Tom0108 | 3:1063aa133b62 | 397 | |
Tom0108 | 3:1063aa133b62 | 398 | |
Tom0108 | 3:1063aa133b62 | 399 | /* --------------電磁弁系-------------------- */ |
Tom0108 | 0:761a63c6d020 | 400 | /*タオル掛け*/ |
Tom0108 | 0:761a63c6d020 | 401 | if(sbdbt.L2)i2c.Out_Set(Out_Data,2,1); |
Tom0108 | 0:761a63c6d020 | 402 | else i2c.Out_Set(Out_Data,2,0); |
Tom0108 | 3:1063aa133b62 | 403 | |
Tom0108 | 0:761a63c6d020 | 404 | /*タオルを引っ張るやつ*/ |
Tom0108 | 1:199c4a71da88 | 405 | if(sbdbt.R2)i2c.Out_Set(Out_Data,4,1); |
Tom0108 | 1:199c4a71da88 | 406 | else i2c.Out_Set(Out_Data,4,0); |
Tom0108 | 0:761a63c6d020 | 407 | |
Tom0108 | 3:1063aa133b62 | 408 | if(unfold_f)i2c.Out_Set(Out_Data,3,1); |
Tom0108 | 3:1063aa133b62 | 409 | else i2c.Out_Set(Out_Data,3,0); |
Tom0108 | 0:761a63c6d020 | 410 | |
Tom0108 | 0:761a63c6d020 | 411 | |
Tom0108 | 3:1063aa133b62 | 412 | /* ----------------ボタン系--------------- */ |
Tom0108 | 6:040d001acb12 | 413 | //角度リセット |
Tom0108 | 2:47954f05d32d | 414 | if(sbdbt.L1) { |
Tom0108 | 8:b79d21c8178b | 415 | yaw=def_val; |
Tom0108 | 8:b79d21c8178b | 416 | Turn_val=def_val; |
Tom0108 | 2:47954f05d32d | 417 | } |
Tom0108 | 3:1063aa133b62 | 418 | //かごを倒す |
Tom0108 | 6:040d001acb12 | 419 | if(CROSS) { |
Tom0108 | 1:199c4a71da88 | 420 | if(once==0) { |
Tom0108 | 3:1063aa133b62 | 421 | kago_f++; |
Tom0108 | 3:1063aa133b62 | 422 | kago_f%=2; |
Tom0108 | 1:199c4a71da88 | 423 | once++; |
Tom0108 | 1:199c4a71da88 | 424 | } |
Tom0108 | 3:1063aa133b62 | 425 | } |
Tom0108 | 3:1063aa133b62 | 426 | //タオルを掴んで動かす |
Tom0108 | 3:1063aa133b62 | 427 | else if(SQUARE) { |
Tom0108 | 1:199c4a71da88 | 428 | if(once==0) { |
Tom0108 | 3:1063aa133b62 | 429 | grab_f++; |
Tom0108 | 3:1063aa133b62 | 430 | grab_f%=2; |
Tom0108 | 1:199c4a71da88 | 431 | once++; |
Tom0108 | 1:199c4a71da88 | 432 | } |
Tom0108 | 4:236e5c58e8ee | 433 | } else if(TRIANGLE) { |
Tom0108 | 4:236e5c58e8ee | 434 | if(once==0) { |
Tom0108 | 8:b79d21c8178b | 435 | spull_f++; |
Tom0108 | 8:b79d21c8178b | 436 | spull_f%=2; |
Tom0108 | 4:236e5c58e8ee | 437 | once++; |
Tom0108 | 4:236e5c58e8ee | 438 | } |
Tom0108 | 3:1063aa133b62 | 439 | } |
Tom0108 | 3:1063aa133b62 | 440 | //倒すを引いて動かす |
Tom0108 | 3:1063aa133b62 | 441 | else if(CIRCLE) { |
Tom0108 | 1:199c4a71da88 | 442 | if(once==0) { |
Tom0108 | 3:1063aa133b62 | 443 | pull_f++; |
Tom0108 | 3:1063aa133b62 | 444 | pull_f%=2; |
Tom0108 | 3:1063aa133b62 | 445 | once++; |
Tom0108 | 3:1063aa133b62 | 446 | } |
Tom0108 | 3:1063aa133b62 | 447 | } |
Tom0108 | 3:1063aa133b62 | 448 | //タオル展開用 |
Tom0108 | 3:1063aa133b62 | 449 | else if(sbdbt.START) { |
Tom0108 | 3:1063aa133b62 | 450 | if(once==0) { |
Tom0108 | 3:1063aa133b62 | 451 | unfold_f++; |
Tom0108 | 3:1063aa133b62 | 452 | unfold_f%=2; |
Tom0108 | 1:199c4a71da88 | 453 | once++; |
Tom0108 | 1:199c4a71da88 | 454 | } |
Tom0108 | 1:199c4a71da88 | 455 | } else once=0; |
Tom0108 | 1:199c4a71da88 | 456 | |
Tom0108 | 1:199c4a71da88 | 457 | |
Tom0108 | 0:761a63c6d020 | 458 | } // if(sbdbt.State_check()) |
Tom0108 | 0:761a63c6d020 | 459 | } // while(1) |
Tom0108 | 0:761a63c6d020 | 460 | } // int main() |
Tom0108 | 0:761a63c6d020 | 461 | |
Tom0108 | 0:761a63c6d020 | 462 | /* メカナムの基本移動 */ |
Tom0108 | 6:040d001acb12 | 463 | void mecanum_Move(int lx, int ly, int rx) |
Tom0108 | 0:761a63c6d020 | 464 | { |
Tom0108 | 6:040d001acb12 | 465 | duty[0]=lx+ly; |
Tom0108 | 6:040d001acb12 | 466 | duty[1]=-(-lx+ly); |
Tom0108 | 6:040d001acb12 | 467 | duty[2]=-lx+ly; |
Tom0108 | 6:040d001acb12 | 468 | duty[3]=-(lx+ly); |
Tom0108 | 0:761a63c6d020 | 469 | |
Tom0108 | 0:761a63c6d020 | 470 | for(int i=0; i<4; i++) { |
Tom0108 | 8:b79d21c8178b | 471 | //旋回 |
Tom0108 | 6:040d001acb12 | 472 | duty[i]+=rx; |
Tom0108 | 8:b79d21c8178b | 473 | |
Tom0108 | 8:b79d21c8178b | 474 | //制限 |
Tom0108 | 8:b79d21c8178b | 475 | if(duty[i]>=99) duty[i]=99; |
Tom0108 | 8:b79d21c8178b | 476 | else if(duty[i]<=-99) duty[i]=-99; |
Tom0108 | 6:040d001acb12 | 477 | MD_SET_DRIVE(MD_Data, i, duty[i]==0? MD_BRAKE: (duty[i]>0? MD_FORWARD: MD_REVERSE)); |
Tom0108 | 6:040d001acb12 | 478 | MD_SET_PWM(MD_Data, i, abs(duty[i])); |
Tom0108 | 0:761a63c6d020 | 479 | } |
Tom0108 | 0:761a63c6d020 | 480 | } |
Tom0108 | 0:761a63c6d020 | 481 | |
Tom0108 | 6:040d001acb12 | 482 | void AngleCorrection(double n_angle, double t_angle) |
Tom0108 | 0:761a63c6d020 | 483 | { |
Tom0108 | 6:040d001acb12 | 484 | double dif=-(t_angle-n_angle); |
Tom0108 | 6:040d001acb12 | 485 | |
Tom0108 | 6:040d001acb12 | 486 | if(dif>=30) dif=30; |
Tom0108 | 6:040d001acb12 | 487 | else if(dif<=-30) dif=-30; |
Tom0108 | 6:040d001acb12 | 488 | |
Tom0108 | 0:761a63c6d020 | 489 | for(int i=0; i<4; i++) { |
Tom0108 | 6:040d001acb12 | 490 | duty[i]+=dif; |
Tom0108 | 6:040d001acb12 | 491 | MD_SET_DRIVE(MD_Data, i, duty[i]==0? MD_BRAKE: (duty[i]>0? MD_FORWARD: MD_REVERSE)); |
Tom0108 | 6:040d001acb12 | 492 | MD_SET_PWM(MD_Data, i, abs(duty[i])); |
Tom0108 | 0:761a63c6d020 | 493 | } |
Tom0108 | 6:040d001acb12 | 494 | |
Tom0108 | 0:761a63c6d020 | 495 | } |
Tom0108 | 0:761a63c6d020 | 496 | |
Tom0108 | 0:761a63c6d020 | 497 | /*操作法*/ |
Tom0108 | 0:761a63c6d020 | 498 | /* |
Tom0108 | 0:761a63c6d020 | 499 | 〇 ボタン == 回収(引きずる) |
Tom0108 | 0:761a63c6d020 | 500 | ? ボタン == 籠 |
Tom0108 | 0:761a63c6d020 | 501 | △ ボタン == 回収(シーツ兼シャツ) |
Tom0108 | 0:761a63c6d020 | 502 | □ ボタン == 回収(タオル) |
Tom0108 | 0:761a63c6d020 | 503 | 上 ボタン == ハンガーかけ機構 上昇 |
Tom0108 | 0:761a63c6d020 | 504 | 下 ボタン == ハンガーかけ機構 下降 |
Tom0108 | 0:761a63c6d020 | 505 | L1 ボタン == リセット(足回り) |
Tom0108 | 0:761a63c6d020 | 506 | L2 ボタン == タオル掛け |
Tom0108 | 6:040d001acb12 | 507 | R2 ボタン == タオル真ん中掴む |
Tom0108 | 0:761a63c6d020 | 508 | select == ハンガー掛け 最大まで上昇 |
Tom0108 | 0:761a63c6d020 | 509 | start == ハンガー展開 |
Tom0108 | 0:761a63c6d020 | 510 | */ |
Tom0108 | 0:761a63c6d020 | 511 | /*その他注意点*/ |
Tom0108 | 0:761a63c6d020 | 512 | /* |
Tom0108 | 6:040d001acb12 | 513 | 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 | 514 | 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 | 515 | あまり急発進をさせない(たまに暴走) |
Tom0108 | 0:761a63c6d020 | 516 | 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 | 517 | 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 | 518 | */ |