Hiroki Tanaka / Mbed 2 deprecated foot_F446RE_nomal

STM32足回りプログラム

Dependencies:   mbed ros_lib_kinetic

main.cpp@0:a202e1bc38a1, 2019-06-17 (annotated)

Committer:
TanakaRobo
Date:
Mon Jun 17 13:41:24 2019 +0000
Revision:
0:a202e1bc38a1
Child:
1:7b0db5ea0ab7
STM32 foot;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
TanakaRobo 0:a202e1bc38a1 1 #include "mbed.h"
TanakaRobo 0:a202e1bc38a1 2 #include "ros.h"
TanakaRobo 0:a202e1bc38a1 3 #include "std_msgs/Float32MultiArray.h"
TanakaRobo 0:a202e1bc38a1 4 #include "library/ScrpSlave.hpp"
TanakaRobo 0:a202e1bc38a1 5 #include "library/RotaryInc.hpp"
TanakaRobo 0:a202e1bc38a1 6 #include "library/GY521.hpp"
TanakaRobo 0:a202e1bc38a1 7
TanakaRobo 0:a202e1bc38a1 8 #define MAXPWM 250
TanakaRobo 0:a202e1bc38a1 9 #define PERIOD 2048
TanakaRobo 0:a202e1bc38a1 10 #define Moter_NUM 4
TanakaRobo 0:a202e1bc38a1 11
TanakaRobo 0:a202e1bc38a1 12 #define PI2_3 2.0943951023931954923084289221863
TanakaRobo 0:a202e1bc38a1 13 #define PI_3 1.0471975511965977461542144610932
TanakaRobo 0:a202e1bc38a1 14 #define Moter_L 100
TanakaRobo 0:a202e1bc38a1 15 #define Rotary_L 100
TanakaRobo 0:a202e1bc38a1 16
TanakaRobo 0:a202e1bc38a1 17 #define Kp 0.048
TanakaRobo 0:a202e1bc38a1 18 #define Ki 1.6
TanakaRobo 0:a202e1bc38a1 19 #define Kd 0.00008
TanakaRobo 0:a202e1bc38a1 20
TanakaRobo 0:a202e1bc38a1 21 const PinName pwm_pin[7][3] = {
TanakaRobo 0:a202e1bc38a1 22 {PB_1 ,PA_11,PC_6 },
TanakaRobo 0:a202e1bc38a1 23 {PB_13,PB_14,PB_2 },
TanakaRobo 0:a202e1bc38a1 24 {PB_4 ,PB_5 ,PB_15},
TanakaRobo 0:a202e1bc38a1 25 {PC_8 ,PC_9 ,PA_10},
TanakaRobo 0:a202e1bc38a1 26 {PB_6 ,PB_7 ,PB_12},
TanakaRobo 0:a202e1bc38a1 27 {PB_8 ,PB_9 ,PC_7 },
TanakaRobo 0:a202e1bc38a1 28 {PA_0 ,PA_1 ,PB_0 }
TanakaRobo 0:a202e1bc38a1 29 };
TanakaRobo 0:a202e1bc38a1 30
TanakaRobo 0:a202e1bc38a1 31 const PinName rotary_pin[8][2] = {
TanakaRobo 0:a202e1bc38a1 32 {PC_10,PC_11},
TanakaRobo 0:a202e1bc38a1 33 {PC_4 ,PA_13},
TanakaRobo 0:a202e1bc38a1 34 {PA_14,PA_15},
TanakaRobo 0:a202e1bc38a1 35 {PC_2 ,PC_3 },
TanakaRobo 0:a202e1bc38a1 36 {PA_12,PC_5 },
TanakaRobo 0:a202e1bc38a1 37 {PC_0 ,PC_1 },
TanakaRobo 0:a202e1bc38a1 38 {PA_6 ,PA_7 },
TanakaRobo 0:a202e1bc38a1 39 {PA_8 ,PA_9 }
TanakaRobo 0:a202e1bc38a1 40 };
TanakaRobo 0:a202e1bc38a1 41
TanakaRobo 0:a202e1bc38a1 42 ScrpSlave slave(PC_12,PD_2,PH_1,0x0807ffff);
TanakaRobo 0:a202e1bc38a1 43
TanakaRobo 0:a202e1bc38a1 44 DigitalOut led(PA_5);
TanakaRobo 0:a202e1bc38a1 45 DigitalIn button(PC_13);
TanakaRobo 0:a202e1bc38a1 46 Timer motertimer;
TanakaRobo 0:a202e1bc38a1 47
TanakaRobo 0:a202e1bc38a1 48 PwmOut* Moter[Moter_NUM][2];
TanakaRobo 0:a202e1bc38a1 49 DigitalOut* Led[Moter_NUM];
TanakaRobo 0:a202e1bc38a1 50 RotaryInc* Speed[Moter_NUM];
TanakaRobo 0:a202e1bc38a1 51 RotaryInc* Place[Moter_NUM];
TanakaRobo 0:a202e1bc38a1 52 GY521 *gy;
TanakaRobo 0:a202e1bc38a1 53 bool Ok = false;
TanakaRobo 0:a202e1bc38a1 54 double X = 0,Y = 0,T = 0,Yaw = 0;//オドメトリ
TanakaRobo 0:a202e1bc38a1 55 double Vx,Vy,Omega;//速度
TanakaRobo 0:a202e1bc38a1 56 double driveS[Moter_NUM];
TanakaRobo 0:a202e1bc38a1 57
TanakaRobo 0:a202e1bc38a1 58 ros::NodeHandle nh;
TanakaRobo 0:a202e1bc38a1 59
TanakaRobo 0:a202e1bc38a1 60 void safe(){
TanakaRobo 0:a202e1bc38a1 61 Vx = 0;
TanakaRobo 0:a202e1bc38a1 62 Vy = 0;
TanakaRobo 0:a202e1bc38a1 63 Omega = 0;
TanakaRobo 0:a202e1bc38a1 64 for(int i = 0;i < Moter_NUM;i++){
TanakaRobo 0:a202e1bc38a1 65 Moter[i][0]->write(0);
TanakaRobo 0:a202e1bc38a1 66 Moter[i][1]->write(0);
TanakaRobo 0:a202e1bc38a1 67 Led[i]->write(0);
TanakaRobo 0:a202e1bc38a1 68 }
TanakaRobo 0:a202e1bc38a1 69 }
TanakaRobo 0:a202e1bc38a1 70
TanakaRobo 0:a202e1bc38a1 71 void Reset(){
TanakaRobo 0:a202e1bc38a1 72 if(!Ok){
TanakaRobo 0:a202e1bc38a1 73 Ok = true;
TanakaRobo 0:a202e1bc38a1 74 }else{
TanakaRobo 0:a202e1bc38a1 75 led.write(0);
TanakaRobo 0:a202e1bc38a1 76 safe();
TanakaRobo 0:a202e1bc38a1 77 gy->reset(0);
TanakaRobo 0:a202e1bc38a1 78 X = 0;
TanakaRobo 0:a202e1bc38a1 79 Y = 0;
TanakaRobo 0:a202e1bc38a1 80 T = 0;
TanakaRobo 0:a202e1bc38a1 81 led.write(1);
TanakaRobo 0:a202e1bc38a1 82 }
TanakaRobo 0:a202e1bc38a1 83 }
TanakaRobo 0:a202e1bc38a1 84
TanakaRobo 0:a202e1bc38a1 85 inline bool Drive(int id,int pwm){//モーターを回す
TanakaRobo 0:a202e1bc38a1 86 pwm = min(max(-MAXPWM,pwm),MAXPWM);
TanakaRobo 0:a202e1bc38a1 87 if(!pwm){
TanakaRobo 0:a202e1bc38a1 88 Moter[id][0]->write(0);
TanakaRobo 0:a202e1bc38a1 89 Moter[id][1]->write(0);
TanakaRobo 0:a202e1bc38a1 90 Led[id]->write(0);
TanakaRobo 0:a202e1bc38a1 91 }else if(0 < pwm){
TanakaRobo 0:a202e1bc38a1 92 Moter[id][0]->write(pwm/255);
TanakaRobo 0:a202e1bc38a1 93 Moter[id][1]->write(0);
TanakaRobo 0:a202e1bc38a1 94 Led[id]->write(1);
TanakaRobo 0:a202e1bc38a1 95 }else{
TanakaRobo 0:a202e1bc38a1 96 Moter[id][0]->write(0);
TanakaRobo 0:a202e1bc38a1 97 Moter[id][1]->write(-pwm/255);
TanakaRobo 0:a202e1bc38a1 98 Led[id]->write(1);
TanakaRobo 0:a202e1bc38a1 99 }
TanakaRobo 0:a202e1bc38a1 100 return true;
TanakaRobo 0:a202e1bc38a1 101 }
TanakaRobo 0:a202e1bc38a1 102
TanakaRobo 0:a202e1bc38a1 103 inline void move(){
TanakaRobo 0:a202e1bc38a1 104 static double diff[Moter_NUM],errer[Moter_NUM],nowV[Moter_NUM],diffV[Moter_NUM],lastV[Moter_NUM],now_t;
TanakaRobo 0:a202e1bc38a1 105 static int j;
TanakaRobo 0:a202e1bc38a1 106 #if Moter_NUM == 3
TanakaRobo 0:a202e1bc38a1 107 driveS[0] = Vx*cos(Yaw) + Vy*sin(Yaw) + Omega*Moter_L;
TanakaRobo 0:a202e1bc38a1 108 driveS[1] = Vx*cos(Yaw + PI2_3) + Vy*sin(Yaw + PI2_3) + Omega*Moter_L;
TanakaRobo 0:a202e1bc38a1 109 driveS[2] = Vx*cos(Yaw - PI2_3) + Vy*sin(Yaw - PI2_3) + Omega*Moter_L;
TanakaRobo 0:a202e1bc38a1 110 #elif Moter_NUM == 4
TanakaRobo 0:a202e1bc38a1 111 driveS[0] = Vx*cos(Yaw) + Vy*sin(Yaw) + Omega*Moter_L;
TanakaRobo 0:a202e1bc38a1 112 driveS[1] = -Vx*sin(Yaw) + Vy*cos(Yaw) + Omega*Moter_L;
TanakaRobo 0:a202e1bc38a1 113 driveS[2] = -Vx*cos(Yaw) - Vy*sin(Yaw) + Omega*Moter_L;
TanakaRobo 0:a202e1bc38a1 114 driveS[3] = Vx*sin(Yaw) - Vy*cos(Yaw) + Omega*Moter_L;
TanakaRobo 0:a202e1bc38a1 115 #endif
TanakaRobo 0:a202e1bc38a1 116 now_t = motertimer.read();
TanakaRobo 0:a202e1bc38a1 117 motertimer.reset();
TanakaRobo 0:a202e1bc38a1 118 for(j = 0;j < Moter_NUM;j++){
TanakaRobo 0:a202e1bc38a1 119 nowV[j] = Speed[j]->getSpeed();
TanakaRobo 0:a202e1bc38a1 120 diff[j] = driveS[j] - nowV[j];
TanakaRobo 0:a202e1bc38a1 121 if(nowV[j] == 0 && driveS[j] == 0 && errer[j] != 0){
TanakaRobo 0:a202e1bc38a1 122 errer[j] = 0;
TanakaRobo 0:a202e1bc38a1 123 }
TanakaRobo 0:a202e1bc38a1 124 errer[j] += diff[j] * now_t;
TanakaRobo 0:a202e1bc38a1 125 diffV[j] = (nowV[j] - lastV[j]) / now_t;
TanakaRobo 0:a202e1bc38a1 126 lastV[j] = nowV[j];
TanakaRobo 0:a202e1bc38a1 127 Drive(j,0.08 * driveS[j] + diff[j] * Kp + errer[j] * Ki - diffV[j] * Kp);
TanakaRobo 0:a202e1bc38a1 128 }
TanakaRobo 0:a202e1bc38a1 129 }
TanakaRobo 0:a202e1bc38a1 130
TanakaRobo 0:a202e1bc38a1 131 void getData(const std_msgs::Float32MultiArray &msgs){
TanakaRobo 0:a202e1bc38a1 132 switch((int)msgs.data[0]){
TanakaRobo 0:a202e1bc38a1 133 case -1:
TanakaRobo 0:a202e1bc38a1 134 Reset();
TanakaRobo 0:a202e1bc38a1 135 break;
TanakaRobo 0:a202e1bc38a1 136 case 0:
TanakaRobo 0:a202e1bc38a1 137 Vx = msgs.data[1];
TanakaRobo 0:a202e1bc38a1 138 Vy = msgs.data[2];
TanakaRobo 0:a202e1bc38a1 139 Omega = msgs.data[3];
TanakaRobo 0:a202e1bc38a1 140 break;
TanakaRobo 0:a202e1bc38a1 141 case 1:
TanakaRobo 0:a202e1bc38a1 142 safe();
TanakaRobo 0:a202e1bc38a1 143 break;
TanakaRobo 0:a202e1bc38a1 144 }
TanakaRobo 0:a202e1bc38a1 145 }
TanakaRobo 0:a202e1bc38a1 146
TanakaRobo 0:a202e1bc38a1 147 std_msgs::Float32MultiArray now;
TanakaRobo 0:a202e1bc38a1 148 ros::Publisher place("place",&now);
TanakaRobo 0:a202e1bc38a1 149 ros::Subscriber<std_msgs::Float32MultiArray> sub("moter",&getData);
TanakaRobo 0:a202e1bc38a1 150
TanakaRobo 0:a202e1bc38a1 151 int main(){
TanakaRobo 0:a202e1bc38a1 152 nh.getHardware()->setBaud(115200);
TanakaRobo 0:a202e1bc38a1 153 nh.initNode();
TanakaRobo 0:a202e1bc38a1 154 nh.advertise(place);
TanakaRobo 0:a202e1bc38a1 155 nh.subscribe(sub);
TanakaRobo 0:a202e1bc38a1 156 now.data_length = 7;
TanakaRobo 0:a202e1bc38a1 157 now.data = (float*)malloc(sizeof(float)*now.data_length);
TanakaRobo 0:a202e1bc38a1 158 int i;
TanakaRobo 0:a202e1bc38a1 159 bool flag = false;
TanakaRobo 0:a202e1bc38a1 160 double diff[Moter_NUM],Pspeed[Moter_NUM];
TanakaRobo 0:a202e1bc38a1 161 double nowVx,nowVy,nowVt;
TanakaRobo 0:a202e1bc38a1 162 double cos_yaw_2,sin_yaw_2;
TanakaRobo 0:a202e1bc38a1 163 for(i = 0;i < Moter_NUM;i++){
TanakaRobo 0:a202e1bc38a1 164 Led[i] = new DigitalOut(pwm_pin[i][2]);
TanakaRobo 0:a202e1bc38a1 165 Moter[i][0] = new PwmOut(pwm_pin[i][0]);
TanakaRobo 0:a202e1bc38a1 166 Moter[i][1] = new PwmOut(pwm_pin[i][1]);
TanakaRobo 0:a202e1bc38a1 167 Moter[i][0]->period_us(PERIOD);
TanakaRobo 0:a202e1bc38a1 168 Moter[i][1]->period_us(PERIOD);
TanakaRobo 0:a202e1bc38a1 169 Speed[i] = new RotaryInc(rotary_pin[i][0],rotary_pin[i][1],2*50.8*M_PI,256,2);
TanakaRobo 0:a202e1bc38a1 170 Place[i] = new RotaryInc(rotary_pin[i+Moter_NUM][0],rotary_pin[i+Moter_NUM][1],2*50.8*M_PI,256,2);
TanakaRobo 0:a202e1bc38a1 171 }
TanakaRobo 0:a202e1bc38a1 172 Timer loop;
TanakaRobo 0:a202e1bc38a1 173 loop.start();
TanakaRobo 0:a202e1bc38a1 174 while(!button && !Ok){
TanakaRobo 0:a202e1bc38a1 175 nh.spinOnce();
TanakaRobo 0:a202e1bc38a1 176 if(loop.read_ms() > 250){
TanakaRobo 0:a202e1bc38a1 177 led = !led;
TanakaRobo 0:a202e1bc38a1 178 loop.reset();
TanakaRobo 0:a202e1bc38a1 179 }
TanakaRobo 0:a202e1bc38a1 180 }
TanakaRobo 0:a202e1bc38a1 181 I2C i2c(PB_3,PB_10);
TanakaRobo 0:a202e1bc38a1 182 GY521 gyro(i2c);
TanakaRobo 0:a202e1bc38a1 183 gy = &gyro;
TanakaRobo 0:a202e1bc38a1 184 while(true){
TanakaRobo 0:a202e1bc38a1 185 nh.spinOnce();
TanakaRobo 0:a202e1bc38a1 186 gyro.updata();
TanakaRobo 0:a202e1bc38a1 187 Yaw = gyro.yaw;
TanakaRobo 0:a202e1bc38a1 188 if(loop.read_ms() > 20){//50msごとに通信する
TanakaRobo 0:a202e1bc38a1 189 //データ送信
TanakaRobo 0:a202e1bc38a1 190 now.data[0] = X;
TanakaRobo 0:a202e1bc38a1 191 now.data[1] = Y;
TanakaRobo 0:a202e1bc38a1 192 now.data[2] = T;
TanakaRobo 0:a202e1bc38a1 193 now.data[3] = Yaw;
TanakaRobo 0:a202e1bc38a1 194 now.data[4] = nowVx;
TanakaRobo 0:a202e1bc38a1 195 now.data[5] = nowVy;
TanakaRobo 0:a202e1bc38a1 196 now.data[6] = nowVt;
TanakaRobo 0:a202e1bc38a1 197 place.publish(&now);
TanakaRobo 0:a202e1bc38a1 198 loop.reset();
TanakaRobo 0:a202e1bc38a1 199 }
TanakaRobo 0:a202e1bc38a1 200 Yaw *= 0.01745329251994329576923690768489;//PI/180
TanakaRobo 0:a202e1bc38a1 201 for(i = 0;i<Moter_NUM;++i){
TanakaRobo 0:a202e1bc38a1 202 diff[i] = Place[i]->diff();
TanakaRobo 0:a202e1bc38a1 203 Pspeed[i] = Speed[i]->getSpeed();
TanakaRobo 0:a202e1bc38a1 204 }
TanakaRobo 0:a202e1bc38a1 205 //オドメトリ計算
TanakaRobo 0:a202e1bc38a1 206 #if Moter_NUM == 3
TanakaRobo 0:a202e1bc38a1 207 X += -2.0/3.0*diff[0]*cos(Yaw) + 2.0/3.0*diff[1]*cos(Yaw-PI_3) + 2.0/3.0*diff[2]*cos(Yaw+PI_3);
TanakaRobo 0:a202e1bc38a1 208 Y += -2.0/3.0*diff[0]*sin(Yaw) + 2.0/3.0*diff[1]*sin(Yaw-PI_3) + 2.0/3.0*diff[2]*sin(Yaw+PI_3);
TanakaRobo 0:a202e1bc38a1 209 T += diff[0]/Rotary_L/3 + diff[1]/Rotary_L/3 + diff[2]/Rotary_L/3;
TanakaRobo 0:a202e1bc38a1 210 nowVx = -2.0/3.0*Pspeed[0]*cos(Yaw) + 2.0/3.0*Pspeed[1]*cos(Yaw-PI_3) + 2.0/3.0*Pspeed[2]*cos(Yaw+PI_3);
TanakaRobo 0:a202e1bc38a1 211 nowVy = -2.0/3.0*Pspeed[0]*sin(Yaw) + 2.0/3.0*Pspeed[1]*sin(Yaw-PI_3) + 2.0/3.0*Pspeed[2]*sin(Yaw+PI_3);
TanakaRobo 0:a202e1bc38a1 212 nowVt = Pspeed[0]/Rotary_L/3 + Pspeed[1]/Rotary_L/3 + Pspeed[2]/Rotary_L/3;
TanakaRobo 0:a202e1bc38a1 213 #elif Moter_NUM == 4
TanakaRobo 0:a202e1bc38a1 214 cos_yaw_2 = cos(Yaw)/2.0;
TanakaRobo 0:a202e1bc38a1 215 sin_yaw_2 = sin(Yaw)/2.0;
TanakaRobo 0:a202e1bc38a1 216 X += diff[0]*cos_yaw_2 - diff[1]*sin_yaw_2 - diff[2]*cos_yaw_2 + diff[3]*sin_yaw_2;
TanakaRobo 0:a202e1bc38a1 217 Y += diff[0]*sin_yaw_2 + diff[1]*cos_yaw_2 - diff[2]*sin_yaw_2 - diff[3]*cos_yaw_2;
TanakaRobo 0:a202e1bc38a1 218 T += diff[0]/Rotary_L/4 + diff[1]/Rotary_L/4 + diff[2]/Rotary_L/4 + diff[3]/Rotary_L/4;
TanakaRobo 0:a202e1bc38a1 219 nowVx = Pspeed[0]*cos_yaw_2 - Pspeed[1]*sin_yaw_2 - Pspeed[2]*cos_yaw_2 + Pspeed[3]*sin_yaw_2;
TanakaRobo 0:a202e1bc38a1 220 nowVy = Pspeed[0]*sin_yaw_2 + Pspeed[1]*cos_yaw_2 - Pspeed[2]*sin_yaw_2 - Pspeed[3]*cos_yaw_2;
TanakaRobo 0:a202e1bc38a1 221 nowVt = Pspeed[0]/Rotary_L/4 + Pspeed[1]/Rotary_L/4 + Pspeed[2]/Rotary_L/4 + Pspeed[3]/Rotary_L/4;
TanakaRobo 0:a202e1bc38a1 222 #endif
TanakaRobo 0:a202e1bc38a1 223 move();
TanakaRobo 0:a202e1bc38a1 224 if(button && !flag){
TanakaRobo 0:a202e1bc38a1 225 flag = true;
TanakaRobo 0:a202e1bc38a1 226 Reset();
TanakaRobo 0:a202e1bc38a1 227 }else if(!button && flag){
TanakaRobo 0:a202e1bc38a1 228 flag = false;
TanakaRobo 0:a202e1bc38a1 229 }
TanakaRobo 0:a202e1bc38a1 230 }
TanakaRobo 0:a202e1bc38a1 231 }