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Dependencies: HMC6352 PID mbed
Revision 0:8215f0743d86, committed 2013-04-19
- Comitter:
- akudohune
- Date:
- Fri Apr 19 09:13:32 2013 +0000
- Commit message:
- to yusuke
Changed in this revision
diff -r 000000000000 -r 8215f0743d86 HMC6352.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/HMC6352.lib Fri Apr 19 09:13:32 2013 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/aberk/code/HMC6352/#83c0cb554099
diff -r 000000000000 -r 8215f0743d86 PID.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/PID.lib Fri Apr 19 09:13:32 2013 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/aberk/code/PID/#6e12a3e5af19
diff -r 000000000000 -r 8215f0743d86 main.cpp --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/main.cpp Fri Apr 19 09:13:32 2013 +0000 @@ -0,0 +1,490 @@ +#include <math.h> +#include <sstream> +#include "mbed.h" +#include "HMC6352.h" +#include "PID.h" +#include "main.h" + + + +void PidUpdata() +{ + inputPID = (((int)(compass.sample() - (standard * 10.0) + 5400.0) % 3600) / 10.0); + + //pc.printf("%f\n",timer1.read()); + pid.setProcessValue(inputPID); + //timer1.reset(); + + compassPID = -(pid.compute()); + //pc.printf("compass.sample = %f\n",compass.sample() / 1.0); + //pc.printf("%f\n",compassPID); +} + +void move(int vxx, int vyy, int vss) +{ + double motVal[MOT_NUM] = {0}; + + motVal[0] = (double)(((0.5 * vxx) + ((sqrt(3.0) / 2.0) * vyy) + (Long * -vss)) * MOT1); + motVal[1] = (double)(((-0.5 * vxx) + ((sqrt(3.0) / 2.0) * vyy) + (Long * vss)) * MOT2); + motVal[2] = (double)(((-0.5 * vxx) + ((sqrt(3.0) / 2.0) * vyy) + (Long * -vss)) * MOT3); + motVal[3] = (double)(((0.5 * vxx) + ((sqrt(3.0) / 2.0) * vyy) + (Long * vss)) * MOT4); + + for(uint8_t i = 0 ; i < MOT_NUM ; i++){ + if(motVal[i] > MAX_POW)motVal[i] = MAX_POW; + else if(motVal[i] < MIN_POW)motVal[i] = MIN_POW; + speed[i] = motVal[i]; + } + //pc.printf("%s",StringFIN.c_str()); +} + +/*********** Serial interrupt ***********/ + +void Tx_interrupt() +{ + array(speed[0],speed[1],speed[2],speed[3]); + driver.printf("%s",StringFIN.c_str()); + //pc.printf("%s",StringFIN.c_str()); + //pc.printf("compass.sample = %f\n",compass.sample() / 1.0); +} +/* +void Rx_interrupt() +{ + if(driver.readable()){ + //pc.printf("%d\n",driver.getc()); + } +}*/ + + +/*********** Serial interrupt end **********/ + + +void init() +{ + uint8_t initFlag = 0; + FILE *fp; + + compass.setOpMode(HMC6352_CONTINUOUS, 1, 20); + + StartButton.mode(PullUp); + CalibEnterButton.mode(PullUp); + CalibExitButton.mode(PullUp); + EEPROMButton.mode(PullUp); + + driver.baud(BAUD_RATE); + wait_ms(MOTDRIVER_WAIT); + driver.printf("1F0002F0003F0004F000\r\n"); + device2.printf("START"); + + device2.attach(&dev_rx,Serial::RxIrq); + device2.attach(&dev_tx,Serial::TxIrq); + + led1 = ON; + + while(StartButton){ + if(!CalibEnterButton){ + led1 = OFF; + led2 = ON; + compass.setCalibrationMode(ENTER); + while(CalibExitButton); + compass.setCalibrationMode(EXIT); + led2 = OFF; + led3 = ON; + } + if(!EEPROMButton){ + led3 = OFF; + led1 = OFF; + led4 = ON; + initFlag = 1; + fp = fopen("/local/out.txt", "r"); + fscanf(fp, "%lf",&standard); + fclose(fp); + } + } + + if(!initFlag){ + standard = compass.sample() / 10.0; + fp = fopen("/local/out.txt", "w"); + fprintf(fp, "%f",standard); + fclose(fp); + } + + led1 = OFF; + led3 = OFF; + led4 = OFF; + + pid.setInputLimits(0.0, 360.0); + pid.setOutputLimits(-OUT_LIMIT, OUT_LIMIT); + pid.setBias(0.0); + pid.setMode(AUTO_MODE); + pid.setSetPoint(180.0); + + pidUpdata.attach(&PidUpdata, 0.06); + wait_ms(500); //danger + driver.attach(&Tx_interrupt, Serial::TxIrq); + //driver.attach(&Rx_interrupt, Serial::RxIrq); + + //timer1.start(); +} + +int main() +{ + int vx=0,vy=0,vs=0; + uint8_t flag = 0; + uint8_t comp_flag6 = 0; + uint8_t comp_flag10 = 0; + + init(); + + while(1){ + //pc.printf("compass.sample = %f\n",compass.sample() / 1.0); + //wait(0.1); + //pc.printf("%d\t,%d\n",direction,Distance); + + //pc.printf("%d\n",distance); + + vx = 0; + vy = 0; + vs = compassPID; + + /*************** Change state **************************/ + + if((Distance <= 30) && (IR_found) && (!flag)){ + state = DIFFENCE; + }else{ + if((direction == 4) || (direction == 6)|| (direction == 8) || (direction == 10)|| (direction == 12)){ + state = DIFFENCE; + }else if((Distance <= 120) && (IR_found) && (!flag)){ + state = WARNING; + }else{ + state = HOME_WAIT; + } + } + + if((IR_found) && (!flag)){ + state = WARNING; + }else{ + state = HOME_WAIT; + } + + /*************** Change state **************************/ + + + if(state == HOME_WAIT){ + comp_flag6 = 0; + comp_flag10 = 0; + if(((RIGHT_SONIC + LEFT_SONIC) < 1050.0) && ((RIGHT_SONIC + LEFT_SONIC) > 600.0)){ + if((BACK_SONIC > 115.0) && (BACK_SONIC < 125.0)){ + vy = 0; + flag = 0; + }else if(BACK_SONIC <= 115.0){ + vy = 3; + }else if(BACK_SONIC == PING_ERROR){ + vy = 5; + }else{ + vy = (int)(0.05 * (120.0 - BACK_SONIC) - 4); + if(vy < -30)vy = -30; + } + + if((LEFT_SONIC > 450.0) && (RIGHT_SONIC > 450.0)){ + vx = 0; + }else if(RIGHT_SONIC < 450.0){ + vx = (int)((RIGHT_SONIC - 450.0) / 15.0 - 10.0); + if(vx < -30)vx = -30; + }else if(LEFT_SONIC < 450.0){ + vx = (int)((450.0 - LEFT_SONIC ) / 15.0 + 10.0); + if(vx > 30)vx = 30; + } + }else if((RIGHT_SONIC + LEFT_SONIC) <= 600.0){ + if(BACK_SONIC < 100.0){ + if(RIGHT_SONIC > LEFT_SONIC){ + vx = 5; + vy = 10; + }else{ + vx = -5; + vy = 10; + } + }else if(BACK_SONIC < 200.0){ + if(RIGHT_SONIC > LEFT_SONIC){ + vx = 20; + vy = 0; + }else{ + vx = -20; + vy = 0; + } + } + }else{ + if(BACK_SONIC > 500.0){ + if(RIGHT_SONIC > LEFT_SONIC){ + vx = 25; + vy = -10; + }else{ + vx = -25; + vy = -10; + } + } + } + }else if(state == DIFFENCE){ + if(direction == 6){ + comp_flag10 = 0; + if(comp_flag6){ + if(BACK_SONIC == PING_ERROR){ + + }else if(BACK_SONIC > 50.0){ + vy = -10; + }else{ + + } + + if(LEFT_SONIC < 500.0){ + vy = -20; + }else if(LEFT_SONIC == PING_ERROR){ + vx = 20; + }else{ + vx = 20; + vy = -20; + } + }else{ + if(BACK_SONIC < 110.0){ + vy = 5; + }else if(BACK_SONIC > 500.0){ + vy = -20; + }else if(BACK_SONIC > 300.0){ + vy = -10; + }else if(BACK_SONIC > 140.0){ + vy = -5; + }else{ + vy = 0; + } + + if(LEFT_SONIC < 700.0){ + vx = 20; + }else{ + if((RIGHT_SONIC < 150.0) || (RIGHT_SONIC == PING_ERROR)){ + comp_flag6 = 1; + }else{ + vx = 5; + vy = -15; + } + } + } + }else if(direction == 10){ + comp_flag6 = 0; + if(comp_flag10){ + if(BACK_SONIC == PING_ERROR){ + + }else if(BACK_SONIC > 50.0){ + vy = -10; + }else{ + + } + + if(RIGHT_SONIC < 500.0){ + vy = -20; + }else if(RIGHT_SONIC == PING_ERROR){ + vx = -20; + }else{ + vx = -20; + vy = -20; + } + }else{ + + if(BACK_SONIC < 110.0){ + vy = 5; + }else if(BACK_SONIC > 500.0){ + vy = -20; + }else if(BACK_SONIC > 300.0){ + vy = -10; + }else if(BACK_SONIC > 140.0){ + vy = -5; + }else{ + vy = 0; + } + + if(RIGHT_SONIC < 700.0){ + vx = -20; + }else{ + if((LEFT_SONIC < 150.0) || (LEFT_SONIC == PING_ERROR)){ + comp_flag10 = 1; + }else{ + vx = -5; + vy = -15; + } + } + } + + }else if(direction == 4){ + comp_flag10 = 0; + if(comp_flag6){ + if(BACK_SONIC == PING_ERROR){ + + }else if(BACK_SONIC > 50.0){ + vy = -10; + }else{ + + } + + if(LEFT_SONIC < 500.0){ + vy = -20; + }else if(LEFT_SONIC == PING_ERROR){ + vx = 20; + }else{ + vx = 20; + vy = -20; + } + }else{ + if(BACK_SONIC < 110.0){ + vy = 5; + }else if(BACK_SONIC > 500.0){ + vy = -20; + }else if(BACK_SONIC > 300.0){ + vy = -10; + }else if(BACK_SONIC > 140.0){ + vy = -5; + }else{ + vy = 0; + } + + if(LEFT_SONIC < 700.0){ + vx = 20; + }else{ + if((RIGHT_SONIC < 150.0) || (RIGHT_SONIC == PING_ERROR)){ + comp_flag6 = 1; + }else{ + vx = 5; + vy = -15; + } + } + } + }else if(direction == 12){ + comp_flag6 = 0; + if(comp_flag10){ + if(BACK_SONIC == PING_ERROR){ + + }else if(BACK_SONIC > 50.0){ + vy = -10; + }else{ + + } + + if(RIGHT_SONIC < 500.0){ + vy = -20; + }else if(RIGHT_SONIC == PING_ERROR){ + vx = -20; + }else{ + vx = -20; + vy = -20; + } + }else{ + if(BACK_SONIC < 110.0){ + vy = 5; + }else if(BACK_SONIC > 500.0){ + vy = -20; + }else if(BACK_SONIC > 300.0){ + vy = -10; + }else if(BACK_SONIC > 140.0){ + vy = -5; + }else{ + vy = 0; + } + + if(RIGHT_SONIC < 700.0){ + vx = -20; + }else{ + if((LEFT_SONIC < 150.0) || (LEFT_SONIC == PING_ERROR)){ + comp_flag10 = 1; + }else{ + vx = -5; + vy = -15; + } + } + } + }else if(direction == 8){ + if(comp_flag6){ + vx = -15; + vy = -20; + }else if(comp_flag10){ + vx = 15; + vy = -20; + }else{ + if(LEFT_SONIC > RIGHT_SONIC){ + vx = -15; + vy = -20; + }else{ + vx = 15; + vy = -20; + } + } + }else if((direction == 2) || (direction == 1)){ + comp_flag6 = 0; + comp_flag10 = 0; + if((RIGHT_SONIC > 700.0) && (!(RIGHT_SONIC == PING_ERROR))){ + vx = 30; + }else{ + vx = 20; + } + if(BACK_SONIC > 140.0){ + vy = -10; + }else if(BACK_SONIC < 110.0){ + vy = 5; + } + }else if((direction == 14) || (direction == 15)){ + comp_flag6 = 0; + comp_flag10 = 0; + if((LEFT_SONIC > 700.0) && (!(LEFT_SONIC == PING_ERROR))){ + vx = -30; + }else{ + vx = -20; + } + if(BACK_SONIC > 140.0){ + vy = -10; + }else if(BACK_SONIC < 110.0){ + vy = 5; + } + }else if(direction == 0){ + comp_flag6 = 0; + comp_flag10 = 0; + vx = 0; + vy = 20; + }else{ + comp_flag6 = 0; + comp_flag10 = 0; + vx = 0; + vy = 0; + } + }else if(state == WARNING){ + comp_flag6 = 0; + comp_flag10 = 0; + if(direction == 0){ + vx = 0; + }else if(direction == 1){ + vx = 15; + }else if(direction == 2){ + vx = 20; + }else if(direction == 14){ + vx = -20; + }else if(direction == 15){ + vx = -15; + } + + if((LEFT_SONIC > 320) && (RIGHT_SONIC > 320)){ + if(BACK_SONIC > 150.0){ + vy = -5; + }else if(BACK_SONIC < 110.0){ + vy = 5; + }else{ + vy = 0; + } + }else{ + if(BACK_SONIC > 110.0){ + vy = -5; + }else if(BACK_SONIC < 70.0){ + vy = 5; + }else{ + vy = 0; + } + } + } + move(vx,vy,vs); + + } +} \ No newline at end of file
diff -r 000000000000 -r 8215f0743d86 main.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/main.h Fri Apr 19 09:13:32 2013 +0000 @@ -0,0 +1,76 @@ + + +#define RATE 0.052 +#define Long 1.0 +#define ENTER 0 +#define EXIT 1 +#define MOT_NUM 4 +#define MOTDRIVER_WAIT 300 //ms +#define BAUD_RATE 115200 +#define ON 1 +#define OFF 0 + +#define PING_ERROR 0xFFFF + +#define MOT1 1.0 +#define MOT2 1.0 +#define MOT3 1.0 +#define MOT4 1.0 + +#define OUT_LIMIT 30.0 +#define MAX_POW 100 +#define MIN_POW -100 + +DigitalOut led1(LED1); +DigitalOut led2(LED2); +DigitalOut led3(LED3); +DigitalOut led4(LED4); +//BusOut mbedleds(LED4,LED3,LED2,LED1); +HMC6352 compass(p9, p10); +Serial driver(p28, p27); // tx, rx +Serial device2(p13, p14); // tx, rx +Serial pc(USBTX, USBRX); // tx, rx +DigitalIn StartButton(p21); +DigitalIn CalibEnterButton(p22); +DigitalIn CalibExitButton(p23); +DigitalIn EEPROMButton(p24); +PID pid(0.45, 1.0, 0.013, RATE); //battery is low power version 30.0 0.58 1.0 0.015 battery is high power version 30.0 0.42, 1.0, 0.013 +Ticker pidUpdata; +Timer timer1; +LocalFileSystem local("local"); // マウントポイントを定義(ディレクトリパスになる) + +enum{ + HOME_WAIT, + DIFFENCE, + WARNING +}; + + + +int speed[MOT_NUM] = {0}; +uint8_t state = HOME_WAIT; + +static float inputPID = 180.0; +static double standard; +static float compassPID = 0.0; + + +extern string StringFIN; + +extern uint8_t direction; +extern uint8_t Distance; +extern uint8_t IR_found; + +extern void PidUpdata(void); +extern void array(int,int,int,int); + +extern void dev_rx(void); +extern void dev_tx(void); + +extern float ultrasonicVal[4]; + +#define BACK_SONIC ultrasonicVal[2] +#define RIGHT_SONIC ultrasonicVal[1] +#define LEFT_SONIC ultrasonicVal[3] + +
diff -r 000000000000 -r 8215f0743d86 mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Fri Apr 19 09:13:32 2013 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/5e5da4a5990b \ No newline at end of file
diff -r 000000000000 -r 8215f0743d86 uart1.cpp --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/uart1.cpp Fri Apr 19 09:13:32 2013 +0000 @@ -0,0 +1,66 @@ + +#include "mbed.h" +#include "uart1.h" +#include "HMC6352.h" + +extern Serial device2; +extern HMC6352 compass; + +extern uint8_t state; + +float ultrasonicVal[4]; +uint8_t direction; +uint8_t Distance; +uint8_t IR_found; +uint8_t xbee; + +void dev_rx() +{ + static uint8_t count; + static uint8_t RecData[RECEIVE_DATA_NUM]; + + RecData[count] = device2.getc(); + + if(RecData[KEY] == KEYCODE){ + count++; + }else{ + count = 0; + } + if(count >= RECEIVE_DATA_NUM){ + if(RecData[CHECK] == CHECKCODE){ + //mbedleds = 1; + direction = RecData[DIRECTION]; + Distance = RecData[DISTANCE]; + ultrasonicVal[0] = (RecData[SONIC1_1] + (RecData[SONIC1_2] << 8)) / 10.0; + ultrasonicVal[1] = (RecData[SONIC2_1] + (RecData[SONIC2_2] << 8)) / 10.0; + ultrasonicVal[2] = (RecData[SONIC3_1] + (RecData[SONIC3_2] << 8)) / 10.0; + ultrasonicVal[3] = (RecData[SONIC4_1] + (RecData[SONIC4_2] << 8)) / 10.0; + xbee = RecData[XBEE]; + IR_found = xbee; + } + count = 0; + } +} + +void dev_tx() +{ + static uint8_t count2; + static uint8_t SendData[SEND_DATA_NUM]; + + //mbedleds = 2; + + if(count2 >= SEND_DATA_NUM){ + SendData[KEY2] = KEYCODE2; + SendData[DATA1] = ((int)(compass.sample())) >> 8 ; + SendData[DATA2] = (int)(compass.sample()); + SendData[DATA3] = state; + SendData[DATA4] = 1; + SendData[CHECK2] = CHECKCODE2; + + count2 = 0; + + } + device2.putc(SendData[count2]); + + count2++; +} \ No newline at end of file
diff -r 000000000000 -r 8215f0743d86 uart1.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/uart1.h Fri Apr 19 09:13:32 2013 +0000 @@ -0,0 +1,35 @@ + + + +#define RECEIVE_DATA_NUM 13 +#define SEND_DATA_NUM 6 + +#define KEYCODE 120 +#define CHECKCODE (RecData[DIRECTION] ^ RecData[DISTANCE] ^ RecData[SONIC1_1] ^ RecData[SONIC1_2] ^ RecData[SONIC2_1] ^ RecData[SONIC2_2] ^ RecData[SONIC3_1] ^ RecData[SONIC3_2] ^ RecData[SONIC4_1] ^ RecData[SONIC4_2] ^ RecData[XBEE]) +#define KEYCODE2 35 +#define CHECKCODE2 (SendData[DATA1] ^ SendData[DATA2] ^ SendData[DATA3] ^ SendData[DATA4]) + + +enum{ + KEY = 0, + DIRECTION, + DISTANCE, + SONIC1_1, + SONIC1_2, + SONIC2_1, + SONIC2_2, + SONIC3_1, + SONIC3_2, + SONIC4_1, + SONIC4_2, + XBEE, + CHECK, +}; +enum{ + KEY2 = 0, + DATA1, + DATA2, + DATA3, + DATA4, + CHECK2, +};
diff -r 000000000000 -r 8215f0743d86 wordString.cpp --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/wordString.cpp Fri Apr 19 09:13:32 2013 +0000 @@ -0,0 +1,71 @@ + +#include <sstream> +#include "mbed.h" + +string StringFIN; + +using namespace std; + + +extern Serial pc; // tx, rx + +string IntToString(int number) +{ + stringstream ss; + ss << number; + return ss.str(); +} + +void array(int power1,int power2,int power3,int power4) +{ + int input[4] = {power1,power2,power3,power4}; + int value = 0; + string StringA[4] = {"0","0","0","0"}; + + + string StringX = "0"; + string StringY = "0"; + string StringZ = "0"; + string String0 = "0"; + + StringFIN = "0"; + + for(uint8_t i = 0 ; i < 4; i++){ + + value = input[i]; + + StringX = IntToString(i+1); + + if( (value < 0) && (value >= -100) ){ + StringY = "R"; + value = abs(value); + StringZ = IntToString(value); + }else if( (value >= 0) && (value <= 100) ){ + StringY = "F"; + StringZ = IntToString(value); + }else{ + value = abs(value); + StringY = "F"; + StringZ = "000"; + } + + if(value < 10){ + String0 = "00"; + StringZ = String0 + StringZ; + }else if(value < 100) + { + String0 = "0"; + StringZ = String0 + StringZ; + }else{ + + } + + StringA[i] = (StringX + StringY + StringZ); + + if(i == 0)StringFIN = StringA[i]; + else StringFIN += StringA[i]; + + } + + StringFIN += "\r\n"; +} \ No newline at end of file