ryo seki
/
ver1_2_2
test
main.cpp@0:74bf4953c0d1, 2013-03-09 (annotated)
- Committer:
- akudohune
- Date:
- Sat Mar 09 10:11:06 2013 +0000
- Revision:
- 0:74bf4953c0d1
ver1_2_2;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
akudohune | 0:74bf4953c0d1 | 1 | #include <math.h> |
akudohune | 0:74bf4953c0d1 | 2 | #include <sstream> |
akudohune | 0:74bf4953c0d1 | 3 | #include "mbed.h" |
akudohune | 0:74bf4953c0d1 | 4 | #include "HMC6352.h" |
akudohune | 0:74bf4953c0d1 | 5 | #include "PID.h" |
akudohune | 0:74bf4953c0d1 | 6 | #include "main.h" |
akudohune | 0:74bf4953c0d1 | 7 | |
akudohune | 0:74bf4953c0d1 | 8 | |
akudohune | 0:74bf4953c0d1 | 9 | /*********** Serial interrupt ***********/ |
akudohune | 0:74bf4953c0d1 | 10 | |
akudohune | 0:74bf4953c0d1 | 11 | void Tx_interrupt() |
akudohune | 0:74bf4953c0d1 | 12 | { |
akudohune | 0:74bf4953c0d1 | 13 | array(speed[0],speed[1],speed[2],speed[3]); |
akudohune | 0:74bf4953c0d1 | 14 | driver.printf("%s",StringFIN.c_str()); |
akudohune | 0:74bf4953c0d1 | 15 | //pc.printf("%s",StringFIN.c_str()); |
akudohune | 0:74bf4953c0d1 | 16 | //pc.printf("compass.sample = %f\n",compass.sample() / 1.0); |
akudohune | 0:74bf4953c0d1 | 17 | } |
akudohune | 0:74bf4953c0d1 | 18 | /* |
akudohune | 0:74bf4953c0d1 | 19 | void Rx_interrupt() |
akudohune | 0:74bf4953c0d1 | 20 | { |
akudohune | 0:74bf4953c0d1 | 21 | if(driver.readable()){ |
akudohune | 0:74bf4953c0d1 | 22 | //pc.printf("%d\n",driver.getc()); |
akudohune | 0:74bf4953c0d1 | 23 | } |
akudohune | 0:74bf4953c0d1 | 24 | }*/ |
akudohune | 0:74bf4953c0d1 | 25 | |
akudohune | 0:74bf4953c0d1 | 26 | |
akudohune | 0:74bf4953c0d1 | 27 | /*********** Serial interrupt end **********/ |
akudohune | 0:74bf4953c0d1 | 28 | |
akudohune | 0:74bf4953c0d1 | 29 | void PidUpdata() |
akudohune | 0:74bf4953c0d1 | 30 | { |
akudohune | 0:74bf4953c0d1 | 31 | |
akudohune | 0:74bf4953c0d1 | 32 | if(standard < 180.0){ |
akudohune | 0:74bf4953c0d1 | 33 | if((compass.sample() / 10.0) < standard){ |
akudohune | 0:74bf4953c0d1 | 34 | inputPID = 180.0 -(standard - (compass.sample() / 10.0)); |
akudohune | 0:74bf4953c0d1 | 35 | }else if((compass.sample() / 10.0) < 180.0 + standard){ |
akudohune | 0:74bf4953c0d1 | 36 | inputPID = 180.0 +((compass.sample() / 10.0) - standard); |
akudohune | 0:74bf4953c0d1 | 37 | }else{ |
akudohune | 0:74bf4953c0d1 | 38 | inputPID = 180.0 - ((360.0 - (compass.sample() / 10.0)) + standard); |
akudohune | 0:74bf4953c0d1 | 39 | } |
akudohune | 0:74bf4953c0d1 | 40 | }else if(standard > 180.0){ |
akudohune | 0:74bf4953c0d1 | 41 | if((compass.sample() / 10.0) > standard){ |
akudohune | 0:74bf4953c0d1 | 42 | inputPID = 180.0 +((compass.sample() / 10.0) - standard); |
akudohune | 0:74bf4953c0d1 | 43 | }else if((compass.sample() / 10.0) > standard - 180.0){ |
akudohune | 0:74bf4953c0d1 | 44 | inputPID = 180.0 -(standard - (compass.sample() / 10.0)); |
akudohune | 0:74bf4953c0d1 | 45 | }else{ |
akudohune | 0:74bf4953c0d1 | 46 | inputPID = 180.0 + ((compass.sample() / 10.0) + (360.0 - standard)); |
akudohune | 0:74bf4953c0d1 | 47 | } |
akudohune | 0:74bf4953c0d1 | 48 | }else{ |
akudohune | 0:74bf4953c0d1 | 49 | inputPID = compass.sample() / 10.0; |
akudohune | 0:74bf4953c0d1 | 50 | } |
akudohune | 0:74bf4953c0d1 | 51 | |
akudohune | 0:74bf4953c0d1 | 52 | if(inputPID < 0){ |
akudohune | 0:74bf4953c0d1 | 53 | inputPID *= -1; |
akudohune | 0:74bf4953c0d1 | 54 | } |
akudohune | 0:74bf4953c0d1 | 55 | |
akudohune | 0:74bf4953c0d1 | 56 | //pc.printf("%f\n",timer1.read()); |
akudohune | 0:74bf4953c0d1 | 57 | pid.setProcessValue(inputPID); |
akudohune | 0:74bf4953c0d1 | 58 | //timer1.reset(); |
akudohune | 0:74bf4953c0d1 | 59 | |
akudohune | 0:74bf4953c0d1 | 60 | compassPID = -(pid.compute()); |
akudohune | 0:74bf4953c0d1 | 61 | |
akudohune | 0:74bf4953c0d1 | 62 | //pc.printf("%f\n",compassPID); |
akudohune | 0:74bf4953c0d1 | 63 | |
akudohune | 0:74bf4953c0d1 | 64 | } |
akudohune | 0:74bf4953c0d1 | 65 | |
akudohune | 0:74bf4953c0d1 | 66 | |
akudohune | 0:74bf4953c0d1 | 67 | |
akudohune | 0:74bf4953c0d1 | 68 | void move(int vx, int vy, int vs) |
akudohune | 0:74bf4953c0d1 | 69 | { |
akudohune | 0:74bf4953c0d1 | 70 | double motVal[MOT_NUM] = {0}; |
akudohune | 0:74bf4953c0d1 | 71 | |
akudohune | 0:74bf4953c0d1 | 72 | motVal[0] = (double)(((0.5 * vx) + ((sqrt(3.0) / 2.0) * vy) + (Long * -vs)) * MOT1); |
akudohune | 0:74bf4953c0d1 | 73 | motVal[1] = (double)(((-0.5 * vx) + ((sqrt(3.0) / 2.0) * vy) + (Long * vs)) * MOT2); |
akudohune | 0:74bf4953c0d1 | 74 | motVal[2] = (double)(((-0.5 * vx) + ((sqrt(3.0) / 2.0) * vy) + (Long * -vs)) * MOT3); |
akudohune | 0:74bf4953c0d1 | 75 | motVal[3] = (double)(((0.5 * vx) + ((sqrt(3.0) / 2.0) * vy) + (Long * vs)) * MOT4); |
akudohune | 0:74bf4953c0d1 | 76 | |
akudohune | 0:74bf4953c0d1 | 77 | for(uint8_t i = 0;i < MOT_NUM;i++){ |
akudohune | 0:74bf4953c0d1 | 78 | if(motVal[i] > 100)motVal[i] = 100; |
akudohune | 0:74bf4953c0d1 | 79 | else if(motVal[i] < -100)motVal[i] = -100; |
akudohune | 0:74bf4953c0d1 | 80 | speed[i] = motVal[i]; |
akudohune | 0:74bf4953c0d1 | 81 | } |
akudohune | 0:74bf4953c0d1 | 82 | /* |
akudohune | 0:74bf4953c0d1 | 83 | pc.printf("speed1 = %d\n",speed[0]); |
akudohune | 0:74bf4953c0d1 | 84 | pc.printf("speed2 = %d\n",speed[1]); |
akudohune | 0:74bf4953c0d1 | 85 | pc.printf("speed3 = %d\n",speed[2]); |
akudohune | 0:74bf4953c0d1 | 86 | pc.printf("speed4 = %d\n\n",speed[3]); |
akudohune | 0:74bf4953c0d1 | 87 | */ |
akudohune | 0:74bf4953c0d1 | 88 | ////pc.printf("%s",StringFIN.c_str()); |
akudohune | 0:74bf4953c0d1 | 89 | } |
akudohune | 0:74bf4953c0d1 | 90 | |
akudohune | 0:74bf4953c0d1 | 91 | void init() |
akudohune | 0:74bf4953c0d1 | 92 | { |
akudohune | 0:74bf4953c0d1 | 93 | |
akudohune | 0:74bf4953c0d1 | 94 | compass.setOpMode(HMC6352_CONTINUOUS, 1, 20); |
akudohune | 0:74bf4953c0d1 | 95 | StartButton.mode(PullUp); |
akudohune | 0:74bf4953c0d1 | 96 | CalibEnterButton.mode(PullUp); |
akudohune | 0:74bf4953c0d1 | 97 | CalibExitButton.mode(PullUp); |
akudohune | 0:74bf4953c0d1 | 98 | driver.baud(BAUD_RATE); |
akudohune | 0:74bf4953c0d1 | 99 | wait_ms(MOTDRIVER_WAIT); |
akudohune | 0:74bf4953c0d1 | 100 | driver.printf("1F0002F0003F0004F000\r\n"); |
akudohune | 0:74bf4953c0d1 | 101 | |
akudohune | 0:74bf4953c0d1 | 102 | led1 = ON; |
akudohune | 0:74bf4953c0d1 | 103 | |
akudohune | 0:74bf4953c0d1 | 104 | while(StartButton){ |
akudohune | 0:74bf4953c0d1 | 105 | if(!CalibEnterButton){ |
akudohune | 0:74bf4953c0d1 | 106 | led1 = OFF; |
akudohune | 0:74bf4953c0d1 | 107 | led2 = ON; |
akudohune | 0:74bf4953c0d1 | 108 | compass.setCalibrationMode(ENTER); |
akudohune | 0:74bf4953c0d1 | 109 | while(CalibExitButton); |
akudohune | 0:74bf4953c0d1 | 110 | compass.setCalibrationMode(EXIT); |
akudohune | 0:74bf4953c0d1 | 111 | led2 = OFF; |
akudohune | 0:74bf4953c0d1 | 112 | led3 = ON; |
akudohune | 0:74bf4953c0d1 | 113 | } |
akudohune | 0:74bf4953c0d1 | 114 | } |
akudohune | 0:74bf4953c0d1 | 115 | |
akudohune | 0:74bf4953c0d1 | 116 | standard = compass.sample() / 10.0; |
akudohune | 0:74bf4953c0d1 | 117 | led1 = OFF; |
akudohune | 0:74bf4953c0d1 | 118 | led3 = OFF; |
akudohune | 0:74bf4953c0d1 | 119 | |
akudohune | 0:74bf4953c0d1 | 120 | pid.setInputLimits(0.0, 360.0); |
akudohune | 0:74bf4953c0d1 | 121 | pid.setOutputLimits(-OUT_LIMIT, OUT_LIMIT); |
akudohune | 0:74bf4953c0d1 | 122 | pid.setBias(0.0); |
akudohune | 0:74bf4953c0d1 | 123 | pid.setMode(AUTO_MODE); |
akudohune | 0:74bf4953c0d1 | 124 | pid.setSetPoint(180.0); |
akudohune | 0:74bf4953c0d1 | 125 | |
akudohune | 0:74bf4953c0d1 | 126 | pidUpdata.attach(&PidUpdata, 0.06); |
akudohune | 0:74bf4953c0d1 | 127 | wait(1); |
akudohune | 0:74bf4953c0d1 | 128 | IR.attach(&IR_Position,0.04); |
akudohune | 0:74bf4953c0d1 | 129 | ultrasonic.attach(&Ultrasonic, 0.05); |
akudohune | 0:74bf4953c0d1 | 130 | driver.attach(&Tx_interrupt, Serial::TxIrq); |
akudohune | 0:74bf4953c0d1 | 131 | //driver.attach(&Rx_interrupt, Serial::RxIrq); |
akudohune | 0:74bf4953c0d1 | 132 | |
akudohune | 0:74bf4953c0d1 | 133 | timer1.start(); |
akudohune | 0:74bf4953c0d1 | 134 | timer2.start(); |
akudohune | 0:74bf4953c0d1 | 135 | } |
akudohune | 0:74bf4953c0d1 | 136 | |
akudohune | 0:74bf4953c0d1 | 137 | int main() |
akudohune | 0:74bf4953c0d1 | 138 | { |
akudohune | 0:74bf4953c0d1 | 139 | int vx=0,vy=0,vs=0; |
akudohune | 0:74bf4953c0d1 | 140 | int state = HOME_WAIT; |
akudohune | 0:74bf4953c0d1 | 141 | |
akudohune | 0:74bf4953c0d1 | 142 | init(); |
akudohune | 0:74bf4953c0d1 | 143 | |
akudohune | 0:74bf4953c0d1 | 144 | while(1) { |
akudohune | 0:74bf4953c0d1 | 145 | |
akudohune | 0:74bf4953c0d1 | 146 | vs = compassPID; |
akudohune | 0:74bf4953c0d1 | 147 | //vx = 15; |
akudohune | 0:74bf4953c0d1 | 148 | //vy = 10; |
akudohune | 0:74bf4953c0d1 | 149 | /* |
akudohune | 0:74bf4953c0d1 | 150 | if(IR_found){ |
akudohune | 0:74bf4953c0d1 | 151 | if((direction == 4) || (direction == 12)||(direction == 3) || (direction == 5) || (direction ==11) || (direction == 13)){ |
akudohune | 0:74bf4953c0d1 | 152 | vx = (int)(20*ball_sankaku[direction][0]); |
akudohune | 0:74bf4953c0d1 | 153 | vy = (int)(20*ball_sankaku[direction][1]); |
akudohune | 0:74bf4953c0d1 | 154 | }else{ |
akudohune | 0:74bf4953c0d1 | 155 | vx = (int)(10*ball_sankaku[direction][0]); |
akudohune | 0:74bf4953c0d1 | 156 | vy = (int)(10*ball_sankaku[direction][1]); |
akudohune | 0:74bf4953c0d1 | 157 | } |
akudohune | 0:74bf4953c0d1 | 158 | |
akudohune | 0:74bf4953c0d1 | 159 | if(Distance <= 10){ |
akudohune | 0:74bf4953c0d1 | 160 | vx *= -1; |
akudohune | 0:74bf4953c0d1 | 161 | vy *= -1; |
akudohune | 0:74bf4953c0d1 | 162 | } |
akudohune | 0:74bf4953c0d1 | 163 | }else{ |
akudohune | 0:74bf4953c0d1 | 164 | vx = 0; |
akudohune | 0:74bf4953c0d1 | 165 | vy = 0; |
akudohune | 0:74bf4953c0d1 | 166 | } |
akudohune | 0:74bf4953c0d1 | 167 | */ |
akudohune | 0:74bf4953c0d1 | 168 | /* |
akudohune | 0:74bf4953c0d1 | 169 | if((ultrasonicVal[2] < 700) && (inputPID < 190) && (inputPID > 170))vx = -15; |
akudohune | 0:74bf4953c0d1 | 170 | else vx = 0; |
akudohune | 0:74bf4953c0d1 | 171 | */ |
akudohune | 0:74bf4953c0d1 | 172 | /* |
akudohune | 0:74bf4953c0d1 | 173 | if(IR_found)state = DIFFENCE; |
akudohune | 0:74bf4953c0d1 | 174 | else state = HOME_WAIT; |
akudohune | 0:74bf4953c0d1 | 175 | |
akudohune | 0:74bf4953c0d1 | 176 | |
akudohune | 0:74bf4953c0d1 | 177 | if(state == HOME_WAIT){ |
akudohune | 0:74bf4953c0d1 | 178 | if((ultrasonicVal[0] + ultrasonicVal[2]) < 6000){ |
akudohune | 0:74bf4953c0d1 | 179 | if(ultrasonicVal[0] > 3200){ |
akudohune | 0:74bf4953c0d1 | 180 | vx = 15; |
akudohune | 0:74bf4953c0d1 | 181 | vy = 0; |
akudohune | 0:74bf4953c0d1 | 182 | }else if(ultrasonicVal[2] > 3200){ |
akudohune | 0:74bf4953c0d1 | 183 | vx = -15; |
akudohune | 0:74bf4953c0d1 | 184 | vy = 0; |
akudohune | 0:74bf4953c0d1 | 185 | }else{ |
akudohune | 0:74bf4953c0d1 | 186 | if(ultrasonicVal[1] > 700){ |
akudohune | 0:74bf4953c0d1 | 187 | vx = 0; |
akudohune | 0:74bf4953c0d1 | 188 | vy = -15; |
akudohune | 0:74bf4953c0d1 | 189 | }else{ |
akudohune | 0:74bf4953c0d1 | 190 | vx = 0; |
akudohune | 0:74bf4953c0d1 | 191 | vy = 0; |
akudohune | 0:74bf4953c0d1 | 192 | } |
akudohune | 0:74bf4953c0d1 | 193 | } |
akudohune | 0:74bf4953c0d1 | 194 | }else{ |
akudohune | 0:74bf4953c0d1 | 195 | vx = 0; |
akudohune | 0:74bf4953c0d1 | 196 | vy = 0; |
akudohune | 0:74bf4953c0d1 | 197 | } |
akudohune | 0:74bf4953c0d1 | 198 | }else if(state == DIFFENCE){ |
akudohune | 0:74bf4953c0d1 | 199 | if((direction == 1) || (direction == 2) || (direction == 3) || (direction == 4) || (direction == 5) || (direction == 6) || (direction == 7)){ |
akudohune | 0:74bf4953c0d1 | 200 | vx = 15; |
akudohune | 0:74bf4953c0d1 | 201 | |
akudohune | 0:74bf4953c0d1 | 202 | }else if((direction == 9) || (direction == 10) || (direction == 11) || (direction == 12) || (direction == 13) || (direction == 14) || (direction == 15)){ |
akudohune | 0:74bf4953c0d1 | 203 | vx = -15; |
akudohune | 0:74bf4953c0d1 | 204 | |
akudohune | 0:74bf4953c0d1 | 205 | }else{ |
akudohune | 0:74bf4953c0d1 | 206 | vx = 0; |
akudohune | 0:74bf4953c0d1 | 207 | |
akudohune | 0:74bf4953c0d1 | 208 | } |
akudohune | 0:74bf4953c0d1 | 209 | } |
akudohune | 0:74bf4953c0d1 | 210 | */ |
akudohune | 0:74bf4953c0d1 | 211 | |
akudohune | 0:74bf4953c0d1 | 212 | move(vx,vy,vs); |
akudohune | 0:74bf4953c0d1 | 213 | } |
akudohune | 0:74bf4953c0d1 | 214 | } |