kusano kiyoshige / Mbed 2 deprecated 17robo_fuzi

ライブラリ化を行った後

Dependencies:   QEI accelerator bit_test cyclic_io cyclic_var cylinder event_var limit mbed mecanum motor_drive pid pid_encoder rs422_put sbdbt servo

Fork of 17robo_Practice1 by kusano kiyoshige

main.cpp@68:18cd96c13fa1, 2017-09-24 (annotated)

Committer:
echo_piyo
Date:
Sun Sep 24 06:19:45 2017 +0000
Revision:
68:18cd96c13fa1
Parent:
67:b094d88583be
Child:
69:b2c8a0c5662c
(??)???????????????

Who changed what in which revision?

UserRevisionLine numberNew contents of line
echo_piyo 56:a7bd860b85b6 1 //index_include
echo_piyo 0:bf96e953cdb8 2 #include "mbed.h"
echo_piyo 4:a6cc2f03e69b 3 #include "math.h"
echo_piyo 68:18cd96c13fa1 4 #include "bit_test.h"
echo_piyo 66:1664ee92539d 5 #include "rs422_put.h"
echo_piyo 0:bf96e953cdb8 6 #include "sbdbt.h"
echo_piyo 0:bf96e953cdb8 7 #include "mecanum.h"
echo_piyo 0:bf96e953cdb8 8 #include "bno055_lib.h"
echo_piyo 0:bf96e953cdb8 9 #include "bno055_use.h"
echo_piyo 0:bf96e953cdb8 10 #include "pid.h"
echo_piyo 0:bf96e953cdb8 11 #include "limit.h"
echo_piyo 4:a6cc2f03e69b 12 #include "accelerator.h"
echo_piyo 66:1664ee92539d 13 #include "pid_encoder.h"
echo_piyo 66:1664ee92539d 14 #include "cyclic_var.h"
echo_piyo 66:1664ee92539d 15 #include "cyclic_io.h"
echo_piyo 15:0fdf483769bf 16 #include "cylinder.h"
echo_piyo 66:1664ee92539d 17 #include "event_var.h"
echo_piyo 68:18cd96c13fa1 18 #include "servo.h"
echo_piyo 0:bf96e953cdb8 19
echo_piyo 56:a7bd860b85b6 20 //index_define
echo_piyo 0:bf96e953cdb8 21 #define pc_baud 460800
echo_piyo 0:bf96e953cdb8 22 #define sbdbt_tx p13
echo_piyo 0:bf96e953cdb8 23 #define sbdbt_rx p14
echo_piyo 0:bf96e953cdb8 24 #define sbdbt_baud 115200
echo_piyo 0:bf96e953cdb8 25 #define rs422_tx p28
echo_piyo 0:bf96e953cdb8 26 #define rs422_rx p27
echo_piyo 0:bf96e953cdb8 27 #define rs422_baud 115200
echo_piyo 3:9ef929639c4a 28 #define output_period 0.015
echo_piyo 28:72b9af7e1700 29 #define nucleo_num 6
echo_piyo 0:bf96e953cdb8 30 #define pi 3.141592
echo_piyo 0:bf96e953cdb8 31 #define n1_id 3
echo_piyo 0:bf96e953cdb8 32 #define n2_id 4
echo_piyo 10:04f2a82cfd89 33 #define n3_id 5
echo_piyo 14:aac2f18f6779 34 #define n4_id 6
echo_piyo 14:aac2f18f6779 35 #define n5_id 7
echo_piyo 28:72b9af7e1700 36 #define n6_id 8
echo_piyo 5:6efda58ff71b 37 #define yaw_Kp 0.01
echo_piyo 5:6efda58ff71b 38 #define yaw_Ki 0.01
echo_piyo 5:6efda58ff71b 39 #define yaw_Kd 0.01
echo_piyo 54:a88208d9bc1d 40 #define acceleration 15 //25
echo_piyo 59:68a73b9d27f5 41 #define pin_cylinder_on p18
echo_piyo 59:68a73b9d27f5 42 #define pin_cylinder_off p17
echo_piyo 64:41dcec6c20bc 43 #define pin_interrupt_cylinder_min p29
echo_piyo 64:41dcec6c20bc 44 #define encoder_A p21
echo_piyo 64:41dcec6c20bc 45 #define encoder_B p22
echo_piyo 40:2d6888448ab2 46 #define enc_Kp 0.0400
echo_piyo 33:64fd1bd83bac 47 #define enc_Ki 0.0001
echo_piyo 33:64fd1bd83bac 48 #define enc_Kd 0.0003
echo_piyo 34:02d605c68bf3 49 #define mecanum_power 1.0
echo_piyo 52:f5ae47e683fa 50 #define sword_power 1.0
echo_piyo 52:f5ae47e683fa 51 #define sholder_power 1.0
echo_piyo 47:6ea046767494 52 #define pin_interrupt_sholderright_max p19 //p21
echo_piyo 47:6ea046767494 53 #define pin_interrupt_sholderright_min p20 //p22
echo_piyo 33:64fd1bd83bac 54 #define pin_interrupt_sholderleft_max p7
echo_piyo 33:64fd1bd83bac 55 #define pin_interrupt_sholderleft_min p8
echo_piyo 64:41dcec6c20bc 56 //#define pin_servo p21
echo_piyo 35:5e1ad00f26fb 57 #define servo_reload_time 1.0
echo_piyo 43:605e5b0b9106 58 #define pin_cylinder_reload p15
echo_piyo 45:a32e8091901b 59 #define pin_sbdbt_pairing p12
echo_piyo 45:a32e8091901b 60 #define pin_sbdbt_indicator p11
echo_piyo 56:a7bd860b85b6 61 #define cylinder_pos_max 6
echo_piyo 0:bf96e953cdb8 62
echo_piyo 57:68df771fd8a1 63
echo_piyo 56:a7bd860b85b6 64 //index_setupPin
echo_piyo 45:a32e8091901b 65 DigitalOut led1(LED1);
echo_piyo 48:96b5f5ebdfb0 66 DigitalOut led2(LED2);
echo_piyo 48:96b5f5ebdfb0 67 DigitalOut led3(LED3);
echo_piyo 48:96b5f5ebdfb0 68 DigitalOut led4(LED4);
echo_piyo 31:285c9898da03 69 DigitalIn interrupt_cylinder_min(pin_interrupt_cylinder_min);
echo_piyo 0:bf96e953cdb8 70 Serial pc(USBTX,USBRX);
echo_piyo 66:1664ee92539d 71 Rs422 rs422(rs422_tx, rs422_rx);
echo_piyo 45:a32e8091901b 72 Sbdbt sbdbt(sbdbt_tx, sbdbt_rx, pin_sbdbt_pairing);
echo_piyo 0:bf96e953cdb8 73 Ticker output_timer;
echo_piyo 0:bf96e953cdb8 74 Mecanum mecanum;
echo_piyo 0:bf96e953cdb8 75 Bno055 bno055;
echo_piyo 66:1664ee92539d 76 PositionPid yaw_pid;
echo_piyo 66:1664ee92539d 77 Accelerator v1;
echo_piyo 66:1664ee92539d 78 Accelerator v2;
echo_piyo 66:1664ee92539d 79 Accelerator v3;
echo_piyo 66:1664ee92539d 80 Accelerator v4;
echo_piyo 58:6cd46488f59b 81 DigitalOut cylinder_on(pin_cylinder_on);
echo_piyo 58:6cd46488f59b 82 DigitalOut cylinder_off(pin_cylinder_off);
echo_piyo 66:1664ee92539d 83 CyclicVar sword;
echo_piyo 66:1664ee92539d 84 CyclicVar cyclic_cylinder_position;
echo_piyo 31:285c9898da03 85 DigitalIn interrupt_sholderright_min(pin_interrupt_sholderright_min);
echo_piyo 31:285c9898da03 86 DigitalIn interrupt_sholderright_max(pin_interrupt_sholderright_max);
echo_piyo 31:285c9898da03 87 DigitalIn interrupt_sholderleft_min(pin_interrupt_sholderleft_min);
echo_piyo 31:285c9898da03 88 DigitalIn interrupt_sholderleft_max(pin_interrupt_sholderleft_max);
echo_piyo 35:5e1ad00f26fb 89 Encoder enc_cylinder(encoder_A,encoder_B);
echo_piyo 66:1664ee92539d 90 CyclicVar cyclic_servo;
echo_piyo 66:1664ee92539d 91 CyclicIo cylinder_reload(pin_cylinder_reload);
echo_piyo 64:41dcec6c20bc 92 //PwmOut servo(pin_servo);
echo_piyo 45:a32e8091901b 93 DigitalOut sbdbt_indigator(pin_sbdbt_indicator);
echo_piyo 66:1664ee92539d 94 eventVar cylinder_event;
echo_piyo 9:6486f4b3ac50 95
echo_piyo 67:b094d88583be 96
echo_piyo 56:a7bd860b85b6 97 //index_setupFunction
echo_piyo 0:bf96e953cdb8 98 void setup();
echo_piyo 0:bf96e953cdb8 99 void output();
echo_piyo 15:0fdf483769bf 100 void motor_cal();
echo_piyo 16:e49df474e4c6 101 void cylinder_cal();
echo_piyo 10:04f2a82cfd89 102 void boost();
echo_piyo 12:1fec80ae8a2c 103 void cylinder_origin();
echo_piyo 53:701dc7886fff 104 void firstmotion();
echo_piyo 26:3280d0300b04 105 void sword_cal();
echo_piyo 35:5e1ad00f26fb 106 void servo_origin();
echo_piyo 31:285c9898da03 107 float shoulder_right_cal();
echo_piyo 31:285c9898da03 108 float shoulder_left_cal();
echo_piyo 42:63aedf71f4d1 109
echo_piyo 56:a7bd860b85b6 110 //index_setupVariable
echo_piyo 39:6735743ac0f1 111 //output
echo_piyo 2:d5b8f8e62923 112 float yaw, target_yaw;
echo_piyo 39:6735743ac0f1 113 //cylinder_origin
echo_piyo 38:b071512af5ca 114 int cylinder_origin_flag = 0;
echo_piyo 39:6735743ac0f1 115 //cylinder
echo_piyo 39:6735743ac0f1 116 float cylinder_pwm;
echo_piyo 39:6735743ac0f1 117 int cylinder_pos_num = 0;
echo_piyo 56:a7bd860b85b6 118 float cylinder_pos[cylinder_pos_max] = {0.0,90.0,325.0,450.0,580.0,700.0};
echo_piyo 0:bf96e953cdb8 119
echo_piyo 0:bf96e953cdb8 120 int main()
echo_piyo 0:bf96e953cdb8 121 {
echo_piyo 0:bf96e953cdb8 122 setup();
echo_piyo 2:d5b8f8e62923 123 while(1) {
echo_piyo 48:96b5f5ebdfb0 124 led1 = interrupt_sholderleft_max;
echo_piyo 48:96b5f5ebdfb0 125 led2 = interrupt_sholderleft_min;
echo_piyo 48:96b5f5ebdfb0 126 led3 = interrupt_sholderright_max;
echo_piyo 48:96b5f5ebdfb0 127 led4 = interrupt_sholderright_min;
echo_piyo 50:e4e1f38d1bd5 128
echo_piyo 64:41dcec6c20bc 129 //pc.printf("cylinder pos : %f\r\n",enc_cylinder.deg());
echo_piyo 55:2dd2f161ebaf 130 //pc.printf("riseState %d : fallState %d\r\n",event.getRise(),event.getFall());
echo_piyo 0:bf96e953cdb8 131 }
echo_piyo 0:bf96e953cdb8 132 }
echo_piyo 0:bf96e953cdb8 133
echo_piyo 0:bf96e953cdb8 134 void setup()
echo_piyo 0:bf96e953cdb8 135 {
echo_piyo 40:2d6888448ab2 136 wait(2.0);
echo_piyo 65:5e4c2e5494ae 137 bno055.begin();
echo_piyo 40:2d6888448ab2 138 wait(1.0);
echo_piyo 65:5e4c2e5494ae 139 bno055.firstRead();
echo_piyo 0:bf96e953cdb8 140 pc.baud(pc_baud);
echo_piyo 0:bf96e953cdb8 141 sbdbt.begin(sbdbt_baud);
echo_piyo 0:bf96e953cdb8 142 rs422.begin(rs422_baud);
echo_piyo 53:701dc7886fff 143 firstmotion();
echo_piyo 49:b041c815c063 144 cylinder_pos_num = 2; //セットアップタイムでの初期装填のため
echo_piyo 0:bf96e953cdb8 145 output_timer.attach(&output, output_period);
echo_piyo 66:1664ee92539d 146 yaw_pid.setup(yaw_Kp, yaw_Ki, yaw_Kd,output_period);
echo_piyo 39:6735743ac0f1 147 mecanum.setupdeg(bno055.getYawRad()); //基盤が前後逆の場合+180
echo_piyo 4:a6cc2f03e69b 148 v1.setup(acceleration,output_period);
echo_piyo 4:a6cc2f03e69b 149 v2.setup(acceleration,output_period);
echo_piyo 4:a6cc2f03e69b 150 v3.setup(acceleration,output_period);
echo_piyo 4:a6cc2f03e69b 151 v4.setup(acceleration,output_period);
echo_piyo 66:1664ee92539d 152 enc_cylinder.setPpr(100);
echo_piyo 66:1664ee92539d 153 enc_cylinder.setup(enc_Kp,enc_Ki,enc_Kd,output_period);
echo_piyo 64:41dcec6c20bc 154 //servo.period(0.020);
echo_piyo 12:1fec80ae8a2c 155 }
echo_piyo 12:1fec80ae8a2c 156
echo_piyo 36:dca1081c19b3 157 //Sword
echo_piyo 35:5e1ad00f26fb 158 float shoulder_right_cal()
echo_piyo 15:0fdf483769bf 159 {
echo_piyo 40:2d6888448ab2 160 if(interrupt_sholderright_max==0&&sbdbt.sankaku==1) {
echo_piyo 31:285c9898da03 161 return 0.0;
echo_piyo 31:285c9898da03 162 }
echo_piyo 40:2d6888448ab2 163 if(interrupt_sholderright_min==0&&sbdbt.batu==1) {
echo_piyo 33:64fd1bd83bac 164 return 0.0;
echo_piyo 31:285c9898da03 165 }
echo_piyo 31:285c9898da03 166 return (-sbdbt.sankaku*0.8+sbdbt.batu*0.8);
echo_piyo 31:285c9898da03 167 }
echo_piyo 31:285c9898da03 168
echo_piyo 35:5e1ad00f26fb 169 float shoulder_left_cal()
echo_piyo 35:5e1ad00f26fb 170 {
echo_piyo 40:2d6888448ab2 171 if(interrupt_sholderleft_max==0&&sbdbt.sankaku==1) {
echo_piyo 31:285c9898da03 172 return 0.0;
echo_piyo 31:285c9898da03 173 }
echo_piyo 40:2d6888448ab2 174 if(interrupt_sholderleft_min==0&&sbdbt.batu==1) {
echo_piyo 35:5e1ad00f26fb 175 return 0.0;
echo_piyo 31:285c9898da03 176 }
echo_piyo 40:2d6888448ab2 177 return (-sbdbt.sankaku*0.8+sbdbt.batu*0.8);
echo_piyo 31:285c9898da03 178 }
echo_piyo 31:285c9898da03 179 void sword_cal()
echo_piyo 31:285c9898da03 180 {
echo_piyo 26:3280d0300b04 181 sword.cyclic(sbdbt.maru);
echo_piyo 17:5c4718c603dc 182 }
echo_piyo 15:0fdf483769bf 183
echo_piyo 36:dca1081c19b3 184 //cylinder
echo_piyo 53:701dc7886fff 185 void firstmotion()
echo_piyo 31:285c9898da03 186 {
echo_piyo 53:701dc7886fff 187 float cylinder = 0.0;
echo_piyo 53:701dc7886fff 188 float sholderL = 0.0;
echo_piyo 53:701dc7886fff 189 float sholderR = 0.0;
echo_piyo 65:5e4c2e5494ae 190 while(interrupt_cylinder_min == 1 || interrupt_sholderleft_max == 1 || interrupt_sholderright_max == 1){
echo_piyo 53:701dc7886fff 191 if(interrupt_cylinder_min == 1){
echo_piyo 53:701dc7886fff 192 cylinder = 2.0;
echo_piyo 53:701dc7886fff 193 }else{
echo_piyo 53:701dc7886fff 194 cylinder = 0.0;
echo_piyo 53:701dc7886fff 195 }
echo_piyo 53:701dc7886fff 196 if(interrupt_sholderright_max == 1){
echo_piyo 53:701dc7886fff 197 sholderR = -2.0;
echo_piyo 53:701dc7886fff 198 }else{
echo_piyo 53:701dc7886fff 199 sholderR = 0.0;
echo_piyo 53:701dc7886fff 200 }
echo_piyo 53:701dc7886fff 201 if(interrupt_sholderleft_max == 1){
echo_piyo 53:701dc7886fff 202 sholderL = 2.0;
echo_piyo 53:701dc7886fff 203 }else{
echo_piyo 53:701dc7886fff 204 sholderL = 0.0;
echo_piyo 53:701dc7886fff 205 }
echo_piyo 53:701dc7886fff 206 rs422.put(5, cylinder, 0.0);
echo_piyo 53:701dc7886fff 207 rs422.put(6, sholderR, sholderL);
echo_piyo 12:1fec80ae8a2c 208 }
echo_piyo 31:285c9898da03 209 enc_cylinder.origin();
echo_piyo 0:bf96e953cdb8 210 }
echo_piyo 38:b071512af5ca 211
echo_piyo 42:63aedf71f4d1 212 //cylinder_origin_flagを1にすることで動作する
echo_piyo 38:b071512af5ca 213 void cylinder_origin()
echo_piyo 38:b071512af5ca 214 {
echo_piyo 45:a32e8091901b 215 if(interrupt_cylinder_min == 0&&cylinder_origin_flag == 1) {
echo_piyo 39:6735743ac0f1 216 cylinder_origin_flag = 0;
echo_piyo 39:6735743ac0f1 217 enc_cylinder.origin();
echo_piyo 39:6735743ac0f1 218 cylinder_pos_num = 0;
echo_piyo 45:a32e8091901b 219 } else if(cylinder_origin_flag == 1) {
echo_piyo 42:63aedf71f4d1 220 rs422.put(5, -0.8, 0.0);
echo_piyo 38:b071512af5ca 221 }
echo_piyo 38:b071512af5ca 222 }
echo_piyo 19:76a387e4bcf6 223 void cylinder_cal()
echo_piyo 31:285c9898da03 224 {
echo_piyo 58:6cd46488f59b 225 //cylinder ON/OFF
echo_piyo 58:6cd46488f59b 226 if(sbdbt.shikaku){
echo_piyo 58:6cd46488f59b 227 cylinder_on = 1;
echo_piyo 58:6cd46488f59b 228 cylinder_off = 0;
echo_piyo 58:6cd46488f59b 229 }else{
echo_piyo 58:6cd46488f59b 230 cylinder_on = 0;
echo_piyo 58:6cd46488f59b 231 cylinder_off = 1;
echo_piyo 58:6cd46488f59b 232 }
echo_piyo 51:70d45b959d6b 233
echo_piyo 51:70d45b959d6b 234 cylinder_event.input(sbdbt.right);
echo_piyo 51:70d45b959d6b 235 if(cylinder_event.getRise()) { //cylinder degset
echo_piyo 31:285c9898da03 236 cylinder_pos_num++;
echo_piyo 55:2dd2f161ebaf 237 if(cylinder_pos_num >= cylinder_pos_max) {
echo_piyo 42:63aedf71f4d1 238 //cylinder_pos_num = 0;
echo_piyo 42:63aedf71f4d1 239 cylinder_origin_flag=1;
echo_piyo 31:285c9898da03 240 }
echo_piyo 31:285c9898da03 241 }
echo_piyo 50:e4e1f38d1bd5 242 enc_cylinder.cal((float)cylinder_pos[cylinder_pos_num],output_period); //set cylinder_tergetPos
echo_piyo 35:5e1ad00f26fb 243
echo_piyo 64:41dcec6c20bc 244 pc.printf("terget\t%f\tnow_deg\t%f\tnow_pulse\t%d\tpwm\t%f\r\n",cylinder_pos[cylinder_pos_num],enc_cylinder.deg(),enc_cylinder.pulse(),enc_cylinder.duty());
echo_piyo 19:76a387e4bcf6 245 }
echo_piyo 38:b071512af5ca 246
echo_piyo 64:41dcec6c20bc 247 //function
echo_piyo 64:41dcec6c20bc 248 /*void servo_max()
echo_piyo 45:a32e8091901b 249 {
echo_piyo 45:a32e8091901b 250 servo.pulsewidth(0.0022);
echo_piyo 35:5e1ad00f26fb 251 }
echo_piyo 38:b071512af5ca 252 void servo_min()
echo_piyo 35:5e1ad00f26fb 253 {
echo_piyo 35:5e1ad00f26fb 254 servo.pulsewidth(0.0010);
echo_piyo 38:b071512af5ca 255 }
echo_piyo 45:a32e8091901b 256 void servo_out()
echo_piyo 45:a32e8091901b 257 {
echo_piyo 39:6735743ac0f1 258 cyclic_servo.cyclic(sbdbt.down); //setServoControl
echo_piyo 45:a32e8091901b 259 if(cyclic_servo.getState()==0) {
echo_piyo 39:6735743ac0f1 260 servo_min();
echo_piyo 45:a32e8091901b 261 } else if(cyclic_servo.getState()==1) {
echo_piyo 39:6735743ac0f1 262 servo_max();
echo_piyo 38:b071512af5ca 263 }
echo_piyo 64:41dcec6c20bc 264 }*/
echo_piyo 35:5e1ad00f26fb 265
echo_piyo 36:dca1081c19b3 266
echo_piyo 64:41dcec6c20bc 267 //functionBoost
echo_piyo 31:285c9898da03 268 void boost()
echo_piyo 31:285c9898da03 269 {
echo_piyo 31:285c9898da03 270 if(sbdbt.r2) {
echo_piyo 10:04f2a82cfd89 271 mecanum.boost_forward();
echo_piyo 10:04f2a82cfd89 272 }
echo_piyo 31:285c9898da03 273 if(sbdbt.l2) {
echo_piyo 10:04f2a82cfd89 274 mecanum.boost_back();
echo_piyo 10:04f2a82cfd89 275 }
echo_piyo 26:3280d0300b04 276 /*
echo_piyo 10:04f2a82cfd89 277 if(sbdbt.shikaku) {
echo_piyo 10:04f2a82cfd89 278 mecanum.boost_left();
echo_piyo 10:04f2a82cfd89 279 }
echo_piyo 10:04f2a82cfd89 280 if(sbdbt.maru) {
echo_piyo 10:04f2a82cfd89 281 mecanum.boost_right();
echo_piyo 10:04f2a82cfd89 282 }
echo_piyo 26:3280d0300b04 283 */
echo_piyo 10:04f2a82cfd89 284 }
echo_piyo 10:04f2a82cfd89 285
echo_piyo 64:41dcec6c20bc 286 //functionMecanum
echo_piyo 15:0fdf483769bf 287 void motor_cal()
echo_piyo 5:6efda58ff71b 288 {
echo_piyo 56:a7bd860b85b6 289 static float out_right_x;
echo_piyo 4:a6cc2f03e69b 290 yaw = bno055.getYawRad();
echo_piyo 4:a6cc2f03e69b 291 target_yaw = yaw;
echo_piyo 66:1664ee92539d 292 yaw_pid.calculate(target_yaw, yaw);
echo_piyo 56:a7bd860b85b6 293
echo_piyo 56:a7bd860b85b6 294 //後進時に方向が逆転するため
echo_piyo 56:a7bd860b85b6 295 if(sbdbt.right_y < 0.0){
echo_piyo 56:a7bd860b85b6 296 out_right_x = -1.0*sbdbt.right_x;
echo_piyo 56:a7bd860b85b6 297 }else{
echo_piyo 56:a7bd860b85b6 298 out_right_x = sbdbt.right_x;
echo_piyo 56:a7bd860b85b6 299 }
echo_piyo 56:a7bd860b85b6 300 mecanum.sbdbt_cal(sbdbt.left_x, sbdbt.left_y, sbdbt.l1, sbdbt.r1, out_right_x, bno055.getYawRad());
echo_piyo 5:6efda58ff71b 301 // pc.printf("%f\t data %f\t %f\t %f\t %f\t\r\n", bno055.getYawRad(), sbdbt.left_x, sbdbt.left_y, mecanum.VX(), mecanum.VY());
echo_piyo 35:5e1ad00f26fb 302 }
echo_piyo 35:5e1ad00f26fb 303 void output()
echo_piyo 35:5e1ad00f26fb 304 {
echo_piyo 35:5e1ad00f26fb 305 motor_cal();
echo_piyo 35:5e1ad00f26fb 306 cylinder_cal();
echo_piyo 35:5e1ad00f26fb 307 sword_cal();
echo_piyo 64:41dcec6c20bc 308 //servo_out();
echo_piyo 38:b071512af5ca 309 cylinder_origin();
echo_piyo 35:5e1ad00f26fb 310 //boost();
echo_piyo 56:a7bd860b85b6 311 sbdbt_indigator = sbdbt.get_pairingState();
echo_piyo 48:96b5f5ebdfb0 312 //led1 = sbdbt.get_pairingState();
echo_piyo 49:b041c815c063 313 if(sbdbt.up)cylinder_origin_flag = 1;
echo_piyo 49:b041c815c063 314 if(sbdbt.left)bno055.yaw_origin();
echo_piyo 49:b041c815c063 315 cylinder_reload.cyclic(sbdbt.down);
echo_piyo 45:a32e8091901b 316
echo_piyo 35:5e1ad00f26fb 317 static int counter;
echo_piyo 53:701dc7886fff 318 static float mecanumV1, mecanumV2, mecanumV3, mecanumV4;
echo_piyo 35:5e1ad00f26fb 319 int id[nucleo_num] = {n1_id, n2_id, n3_id, n4_id, n5_id, n6_id};
echo_piyo 45:a32e8091901b 320
echo_piyo 45:a32e8091901b 321 //sbdbtがpairingしている場合のみ動作
echo_piyo 45:a32e8091901b 322 if(sbdbt.get_pairingState()) {
echo_piyo 45:a32e8091901b 323 switch (counter) {
echo_piyo 45:a32e8091901b 324 case 0:
echo_piyo 53:701dc7886fff 325 rs422.put(id[counter], v1.duty(limitf(((mecanum.v1()*mecanum_power)+(sbdbt.right_y*0.8)),1.0,-1.0)), v3.duty(limitf(((mecanum.v3()*mecanum_power)+(sbdbt.right_y*0.8)),1.0,-1.0)));
echo_piyo 45:a32e8091901b 326 counter++;
echo_piyo 45:a32e8091901b 327 break;
echo_piyo 45:a32e8091901b 328 case 1:
echo_piyo 45:a32e8091901b 329 //.duty(<cal>*<powerControle>+(<boost>*0.5))
echo_piyo 53:701dc7886fff 330 rs422.put(id[counter], v2.duty(limitf(((mecanum.v2()*mecanum_power)-(sbdbt.right_y*0.8)),1.0,-1.0)), v4.duty(limitf(((mecanum.v4()*mecanum_power)-(sbdbt.right_y*0.8)),1.0,-1.0)));
echo_piyo 45:a32e8091901b 331 counter ++;
echo_piyo 45:a32e8091901b 332 break;
echo_piyo 45:a32e8091901b 333 case 2:
echo_piyo 55:2dd2f161ebaf 334 //rs422.put(id[counter], sbdbt.right_y, 0.0);
echo_piyo 65:5e4c2e5494ae 335 rs422.put(id[counter], limitf((-1*enc_cylinder.duty_enableWidth(-10.0,10.0)),1.0,-1.0), 0.0);
echo_piyo 45:a32e8091901b 336 counter ++;
echo_piyo 45:a32e8091901b 337 break;
echo_piyo 45:a32e8091901b 338 case 3:
echo_piyo 53:701dc7886fff 339 rs422.put(id[counter], limitf((-1*shoulder_right_cal()*sholder_power),1.0,-1.0), limitf((shoulder_left_cal()*sholder_power),1.0,-1.0));
echo_piyo 45:a32e8091901b 340 counter ++;
echo_piyo 45:a32e8091901b 341 break;
echo_piyo 45:a32e8091901b 342 case 4:
echo_piyo 53:701dc7886fff 343 rs422.put(id[counter], limitf(((float)sword.getState()*sword_power),1.0,-1.0),0.0);
echo_piyo 45:a32e8091901b 344 counter = 0;
echo_piyo 45:a32e8091901b 345 break;
echo_piyo 45:a32e8091901b 346 default:
echo_piyo 45:a32e8091901b 347 break;
echo_piyo 48:96b5f5ebdfb0 348 }
echo_piyo 45:a32e8091901b 349 }else{
echo_piyo 48:96b5f5ebdfb0 350 switch (counter) {
echo_piyo 48:96b5f5ebdfb0 351 case 0:
echo_piyo 48:96b5f5ebdfb0 352 rs422.put(id[counter],0.0,0.0);
echo_piyo 48:96b5f5ebdfb0 353 counter++;
echo_piyo 48:96b5f5ebdfb0 354 break;
echo_piyo 48:96b5f5ebdfb0 355 case 1:
echo_piyo 48:96b5f5ebdfb0 356 rs422.put(id[counter],0.0,0.0);
echo_piyo 48:96b5f5ebdfb0 357 counter ++;
echo_piyo 48:96b5f5ebdfb0 358 break;
echo_piyo 48:96b5f5ebdfb0 359 case 2:
echo_piyo 48:96b5f5ebdfb0 360 rs422.put(id[counter],0.0,0.0);
echo_piyo 48:96b5f5ebdfb0 361 counter ++;
echo_piyo 48:96b5f5ebdfb0 362 break;
echo_piyo 48:96b5f5ebdfb0 363 case 3:
echo_piyo 48:96b5f5ebdfb0 364 rs422.put(id[counter],0.0,0.0);
echo_piyo 48:96b5f5ebdfb0 365 counter ++;
echo_piyo 48:96b5f5ebdfb0 366 break;
echo_piyo 48:96b5f5ebdfb0 367 case 4:
echo_piyo 48:96b5f5ebdfb0 368 rs422.put(id[counter],0.0,0.0);
echo_piyo 48:96b5f5ebdfb0 369 counter = 0;
echo_piyo 48:96b5f5ebdfb0 370 break;
echo_piyo 48:96b5f5ebdfb0 371 default:
echo_piyo 48:96b5f5ebdfb0 372 break;
echo_piyo 45:a32e8091901b 373 }
echo_piyo 45:a32e8091901b 374 }
echo_piyo 14:aac2f18f6779 375 }