![](/media/cache/img/default_profile.jpg.50x50_q85.jpg)
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
main.cpp@71:7d684ff43ddd, 2017-09-26 (annotated)
- Committer:
- echo_piyo
- Date:
- Tue Sep 26 08:39:55 2017 +0000
- Revision:
- 71:7d684ff43ddd
- Parent:
- 69:b2c8a0c5662c
- Child:
- 72:7d6177047823
(?)cylinder_power_cal()???????????????????????????
Who changed what in which revision?
User | Revision | Line number | New 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 | 71:7d684ff43ddd | 18 | //#include "servo.h" |
echo_piyo | 0:bf96e953cdb8 | 19 | |
echo_piyo | 69:b2c8a0c5662c | 20 | |
echo_piyo | 56:a7bd860b85b6 | 21 | //index_define |
echo_piyo | 71:7d684ff43ddd | 22 | #define SBDBT_TX p13 |
echo_piyo | 71:7d684ff43ddd | 23 | #define SBDBT_RX p14 |
echo_piyo | 71:7d684ff43ddd | 24 | #define SBDBT_STO p12 |
echo_piyo | 71:7d684ff43ddd | 25 | #define RS422_TX p28 |
echo_piyo | 71:7d684ff43ddd | 26 | #define RS422_RX p27 |
echo_piyo | 71:7d684ff43ddd | 27 | #define CONTROL_INDICATOR p11 |
echo_piyo | 71:7d684ff43ddd | 28 | |
echo_piyo | 71:7d684ff43ddd | 29 | namespace BAUD { |
echo_piyo | 71:7d684ff43ddd | 30 | const int PC = 460800; |
echo_piyo | 71:7d684ff43ddd | 31 | const int SBDBT = 115200; |
echo_piyo | 71:7d684ff43ddd | 32 | const int RS422 = 115200; |
echo_piyo | 71:7d684ff43ddd | 33 | } |
echo_piyo | 71:7d684ff43ddd | 34 | |
echo_piyo | 71:7d684ff43ddd | 35 | namespace CYCLE { |
echo_piyo | 71:7d684ff43ddd | 36 | const float OUTPUT = 0.015; |
echo_piyo | 71:7d684ff43ddd | 37 | } |
echo_piyo | 71:7d684ff43ddd | 38 | |
echo_piyo | 71:7d684ff43ddd | 39 | namespace MECANUM { |
echo_piyo | 71:7d684ff43ddd | 40 | const float ACCELERATION = 15; |
echo_piyo | 71:7d684ff43ddd | 41 | } |
echo_piyo | 71:7d684ff43ddd | 42 | |
echo_piyo | 71:7d684ff43ddd | 43 | namespace YAW { |
echo_piyo | 71:7d684ff43ddd | 44 | const float KP = 0.01; |
echo_piyo | 71:7d684ff43ddd | 45 | const float KI = 0.01; |
echo_piyo | 71:7d684ff43ddd | 46 | const float KD = 0.01; |
echo_piyo | 71:7d684ff43ddd | 47 | } |
echo_piyo | 71:7d684ff43ddd | 48 | |
echo_piyo | 71:7d684ff43ddd | 49 | namespace SHOT { |
echo_piyo | 71:7d684ff43ddd | 50 | const float ENCORDER_KP = 0.0400; |
echo_piyo | 71:7d684ff43ddd | 51 | const float ENCORDER_KI = 0.0001; |
echo_piyo | 71:7d684ff43ddd | 52 | const float ENCORDER_KD = 0.0003; |
echo_piyo | 71:7d684ff43ddd | 53 | const int CYLINDER_POSITION_MAX = 6; |
echo_piyo | 71:7d684ff43ddd | 54 | } |
echo_piyo | 71:7d684ff43ddd | 55 | |
echo_piyo | 71:7d684ff43ddd | 56 | |
echo_piyo | 28:72b9af7e1700 | 57 | #define nucleo_num 6 |
echo_piyo | 0:bf96e953cdb8 | 58 | #define n1_id 3 |
echo_piyo | 0:bf96e953cdb8 | 59 | #define n2_id 4 |
echo_piyo | 10:04f2a82cfd89 | 60 | #define n3_id 5 |
echo_piyo | 14:aac2f18f6779 | 61 | #define n4_id 6 |
echo_piyo | 14:aac2f18f6779 | 62 | #define n5_id 7 |
echo_piyo | 28:72b9af7e1700 | 63 | #define n6_id 8 |
echo_piyo | 71:7d684ff43ddd | 64 | |
echo_piyo | 71:7d684ff43ddd | 65 | #define SHOT_CYLINDER_ON p18 |
echo_piyo | 71:7d684ff43ddd | 66 | #define SHOT_CYLINDER_OFF p17 |
echo_piyo | 71:7d684ff43ddd | 67 | #define SHOT_INTERRUPT p29 |
echo_piyo | 71:7d684ff43ddd | 68 | #define SHOT_ENCODER_A p21 |
echo_piyo | 71:7d684ff43ddd | 69 | #define SHOT_ENCODER_B p22 |
echo_piyo | 71:7d684ff43ddd | 70 | #define RELOAD_CYLINDER p15 |
echo_piyo | 71:7d684ff43ddd | 71 | |
echo_piyo | 34:02d605c68bf3 | 72 | #define mecanum_power 1.0 |
echo_piyo | 52:f5ae47e683fa | 73 | #define sword_power 1.0 |
echo_piyo | 52:f5ae47e683fa | 74 | #define sholder_power 1.0 |
echo_piyo | 71:7d684ff43ddd | 75 | #define SHOULDER_RIGHT_INTERRUPT_MAX p19 //p21 |
echo_piyo | 71:7d684ff43ddd | 76 | #define SHOULDER_RIGHT_INTERRUPT_MIN p20 //p22 |
echo_piyo | 71:7d684ff43ddd | 77 | #define SHOULDER_LEFT_INTERRUPT_MAX p7 |
echo_piyo | 71:7d684ff43ddd | 78 | #define SHOULDER_LEFT_INTERRUPT_MIN p8 |
echo_piyo | 64:41dcec6c20bc | 79 | //#define pin_servo p21 |
echo_piyo | 71:7d684ff43ddd | 80 | //#define servo_reload_time 1.0 |
echo_piyo | 0:bf96e953cdb8 | 81 | |
echo_piyo | 57:68df771fd8a1 | 82 | |
echo_piyo | 56:a7bd860b85b6 | 83 | //index_setupPin |
echo_piyo | 45:a32e8091901b | 84 | DigitalOut led1(LED1); |
echo_piyo | 48:96b5f5ebdfb0 | 85 | DigitalOut led2(LED2); |
echo_piyo | 48:96b5f5ebdfb0 | 86 | DigitalOut led3(LED3); |
echo_piyo | 48:96b5f5ebdfb0 | 87 | DigitalOut led4(LED4); |
echo_piyo | 71:7d684ff43ddd | 88 | DigitalIn interrupt_cylinder_min(SHOT_INTERRUPT); |
echo_piyo | 0:bf96e953cdb8 | 89 | Serial pc(USBTX,USBRX); |
echo_piyo | 71:7d684ff43ddd | 90 | Rs422 rs422(RS422_TX, RS422_RX); |
echo_piyo | 71:7d684ff43ddd | 91 | Sbdbt sbdbt(SBDBT_TX, SBDBT_RX, SBDBT_STO); |
echo_piyo | 0:bf96e953cdb8 | 92 | Ticker output_timer; |
echo_piyo | 0:bf96e953cdb8 | 93 | Mecanum mecanum; |
echo_piyo | 0:bf96e953cdb8 | 94 | Bno055 bno055; |
echo_piyo | 66:1664ee92539d | 95 | PositionPid yaw_pid; |
echo_piyo | 66:1664ee92539d | 96 | Accelerator v1; |
echo_piyo | 66:1664ee92539d | 97 | Accelerator v2; |
echo_piyo | 66:1664ee92539d | 98 | Accelerator v3; |
echo_piyo | 66:1664ee92539d | 99 | Accelerator v4; |
echo_piyo | 71:7d684ff43ddd | 100 | DigitalOut cylinder_on(SHOT_CYLINDER_ON); |
echo_piyo | 71:7d684ff43ddd | 101 | DigitalOut cylinder_off(SHOT_CYLINDER_OFF); |
echo_piyo | 66:1664ee92539d | 102 | CyclicVar sword; |
echo_piyo | 66:1664ee92539d | 103 | CyclicVar cyclic_cylinder_position; |
echo_piyo | 71:7d684ff43ddd | 104 | DigitalIn interrupt_sholderright_min(SHOULDER_RIGHT_INTERRUPT_MIN); |
echo_piyo | 71:7d684ff43ddd | 105 | DigitalIn interrupt_sholderright_max(SHOULDER_RIGHT_INTERRUPT_MAX); |
echo_piyo | 71:7d684ff43ddd | 106 | DigitalIn interrupt_sholderleft_min(SHOULDER_LEFT_INTERRUPT_MIN); |
echo_piyo | 71:7d684ff43ddd | 107 | DigitalIn interrupt_sholderleft_max(SHOULDER_LEFT_INTERRUPT_MAX); |
echo_piyo | 71:7d684ff43ddd | 108 | Encoder enc_cylinder(SHOT_ENCODER_A,SHOT_ENCODER_B); |
echo_piyo | 66:1664ee92539d | 109 | CyclicVar cyclic_servo; |
echo_piyo | 71:7d684ff43ddd | 110 | CyclicIo cylinder_reload(RELOAD_CYLINDER); |
echo_piyo | 64:41dcec6c20bc | 111 | //PwmOut servo(pin_servo); |
echo_piyo | 71:7d684ff43ddd | 112 | DigitalOut sbdbt_indigator(CONTROL_INDICATOR); |
echo_piyo | 66:1664ee92539d | 113 | eventVar cylinder_event; |
echo_piyo | 9:6486f4b3ac50 | 114 | |
echo_piyo | 67:b094d88583be | 115 | |
echo_piyo | 56:a7bd860b85b6 | 116 | //index_setupFunction |
echo_piyo | 0:bf96e953cdb8 | 117 | void setup(); |
echo_piyo | 0:bf96e953cdb8 | 118 | void output(); |
echo_piyo | 15:0fdf483769bf | 119 | void motor_cal(); |
echo_piyo | 16:e49df474e4c6 | 120 | void cylinder_cal(); |
echo_piyo | 10:04f2a82cfd89 | 121 | void boost(); |
echo_piyo | 12:1fec80ae8a2c | 122 | void cylinder_origin(); |
echo_piyo | 53:701dc7886fff | 123 | void firstmotion(); |
echo_piyo | 26:3280d0300b04 | 124 | void sword_cal(); |
echo_piyo | 35:5e1ad00f26fb | 125 | void servo_origin(); |
echo_piyo | 31:285c9898da03 | 126 | float shoulder_right_cal(); |
echo_piyo | 31:285c9898da03 | 127 | float shoulder_left_cal(); |
echo_piyo | 42:63aedf71f4d1 | 128 | |
echo_piyo | 56:a7bd860b85b6 | 129 | //index_setupVariable |
echo_piyo | 39:6735743ac0f1 | 130 | //output |
echo_piyo | 2:d5b8f8e62923 | 131 | float yaw, target_yaw; |
echo_piyo | 39:6735743ac0f1 | 132 | //cylinder_origin |
echo_piyo | 38:b071512af5ca | 133 | int cylinder_origin_flag = 0; |
echo_piyo | 39:6735743ac0f1 | 134 | //cylinder |
echo_piyo | 39:6735743ac0f1 | 135 | float cylinder_pwm; |
echo_piyo | 39:6735743ac0f1 | 136 | int cylinder_pos_num = 0; |
echo_piyo | 71:7d684ff43ddd | 137 | float cylinder_pos[SHOT::CYLINDER_POSITION_MAX] = {0.0,90.0,325.0,450.0,580.0,700.0}; |
echo_piyo | 71:7d684ff43ddd | 138 | float cylinder_power = 0.0; |
echo_piyo | 0:bf96e953cdb8 | 139 | |
echo_piyo | 0:bf96e953cdb8 | 140 | int main() |
echo_piyo | 0:bf96e953cdb8 | 141 | { |
echo_piyo | 0:bf96e953cdb8 | 142 | setup(); |
echo_piyo | 2:d5b8f8e62923 | 143 | while(1) { |
echo_piyo | 48:96b5f5ebdfb0 | 144 | led1 = interrupt_sholderleft_max; |
echo_piyo | 48:96b5f5ebdfb0 | 145 | led2 = interrupt_sholderleft_min; |
echo_piyo | 48:96b5f5ebdfb0 | 146 | led3 = interrupt_sholderright_max; |
echo_piyo | 48:96b5f5ebdfb0 | 147 | led4 = interrupt_sholderright_min; |
echo_piyo | 50:e4e1f38d1bd5 | 148 | |
echo_piyo | 64:41dcec6c20bc | 149 | //pc.printf("cylinder pos : %f\r\n",enc_cylinder.deg()); |
echo_piyo | 55:2dd2f161ebaf | 150 | //pc.printf("riseState %d : fallState %d\r\n",event.getRise(),event.getFall()); |
echo_piyo | 0:bf96e953cdb8 | 151 | } |
echo_piyo | 0:bf96e953cdb8 | 152 | } |
echo_piyo | 0:bf96e953cdb8 | 153 | |
echo_piyo | 0:bf96e953cdb8 | 154 | void setup() |
echo_piyo | 0:bf96e953cdb8 | 155 | { |
echo_piyo | 40:2d6888448ab2 | 156 | wait(2.0); |
echo_piyo | 65:5e4c2e5494ae | 157 | bno055.begin(); |
echo_piyo | 40:2d6888448ab2 | 158 | wait(1.0); |
echo_piyo | 65:5e4c2e5494ae | 159 | bno055.firstRead(); |
echo_piyo | 71:7d684ff43ddd | 160 | pc.baud(BAUD::PC); |
echo_piyo | 71:7d684ff43ddd | 161 | sbdbt.begin(BAUD::SBDBT); |
echo_piyo | 71:7d684ff43ddd | 162 | rs422.begin(BAUD::RS422); |
echo_piyo | 53:701dc7886fff | 163 | firstmotion(); |
echo_piyo | 49:b041c815c063 | 164 | cylinder_pos_num = 2; //セットアップタイムでの初期装填のため |
echo_piyo | 71:7d684ff43ddd | 165 | output_timer.attach(&output, CYCLE::OUTPUT); |
echo_piyo | 71:7d684ff43ddd | 166 | yaw_pid.setup(YAW::KP, YAW::KI, YAW::KD, CYCLE::OUTPUT); |
echo_piyo | 39:6735743ac0f1 | 167 | mecanum.setupdeg(bno055.getYawRad()); //基盤が前後逆の場合+180 |
echo_piyo | 71:7d684ff43ddd | 168 | v1.setup(MECANUM::ACCELERATION, CYCLE::OUTPUT); |
echo_piyo | 71:7d684ff43ddd | 169 | v2.setup(MECANUM::ACCELERATION, CYCLE::OUTPUT); |
echo_piyo | 71:7d684ff43ddd | 170 | v3.setup(MECANUM::ACCELERATION, CYCLE::OUTPUT); |
echo_piyo | 71:7d684ff43ddd | 171 | v4.setup(MECANUM::ACCELERATION, CYCLE::OUTPUT); |
echo_piyo | 66:1664ee92539d | 172 | enc_cylinder.setPpr(100); |
echo_piyo | 71:7d684ff43ddd | 173 | enc_cylinder.setup(SHOT::ENCORDER_KP, SHOT::ENCORDER_KI, SHOT::ENCORDER_KD, CYCLE::OUTPUT); |
echo_piyo | 64:41dcec6c20bc | 174 | //servo.period(0.020); |
echo_piyo | 12:1fec80ae8a2c | 175 | } |
echo_piyo | 12:1fec80ae8a2c | 176 | |
echo_piyo | 36:dca1081c19b3 | 177 | //Sword |
echo_piyo | 35:5e1ad00f26fb | 178 | float shoulder_right_cal() |
echo_piyo | 15:0fdf483769bf | 179 | { |
echo_piyo | 40:2d6888448ab2 | 180 | if(interrupt_sholderright_max==0&&sbdbt.sankaku==1) { |
echo_piyo | 31:285c9898da03 | 181 | return 0.0; |
echo_piyo | 31:285c9898da03 | 182 | } |
echo_piyo | 40:2d6888448ab2 | 183 | if(interrupt_sholderright_min==0&&sbdbt.batu==1) { |
echo_piyo | 33:64fd1bd83bac | 184 | return 0.0; |
echo_piyo | 31:285c9898da03 | 185 | } |
echo_piyo | 31:285c9898da03 | 186 | return (-sbdbt.sankaku*0.8+sbdbt.batu*0.8); |
echo_piyo | 31:285c9898da03 | 187 | } |
echo_piyo | 31:285c9898da03 | 188 | |
echo_piyo | 35:5e1ad00f26fb | 189 | float shoulder_left_cal() |
echo_piyo | 35:5e1ad00f26fb | 190 | { |
echo_piyo | 40:2d6888448ab2 | 191 | if(interrupt_sholderleft_max==0&&sbdbt.sankaku==1) { |
echo_piyo | 31:285c9898da03 | 192 | return 0.0; |
echo_piyo | 31:285c9898da03 | 193 | } |
echo_piyo | 40:2d6888448ab2 | 194 | if(interrupt_sholderleft_min==0&&sbdbt.batu==1) { |
echo_piyo | 35:5e1ad00f26fb | 195 | return 0.0; |
echo_piyo | 31:285c9898da03 | 196 | } |
echo_piyo | 40:2d6888448ab2 | 197 | return (-sbdbt.sankaku*0.8+sbdbt.batu*0.8); |
echo_piyo | 31:285c9898da03 | 198 | } |
echo_piyo | 31:285c9898da03 | 199 | void sword_cal() |
echo_piyo | 31:285c9898da03 | 200 | { |
echo_piyo | 26:3280d0300b04 | 201 | sword.cyclic(sbdbt.maru); |
echo_piyo | 17:5c4718c603dc | 202 | } |
echo_piyo | 15:0fdf483769bf | 203 | |
echo_piyo | 36:dca1081c19b3 | 204 | //cylinder |
echo_piyo | 53:701dc7886fff | 205 | void firstmotion() |
echo_piyo | 31:285c9898da03 | 206 | { |
echo_piyo | 53:701dc7886fff | 207 | float cylinder = 0.0; |
echo_piyo | 53:701dc7886fff | 208 | float sholderL = 0.0; |
echo_piyo | 53:701dc7886fff | 209 | float sholderR = 0.0; |
echo_piyo | 65:5e4c2e5494ae | 210 | while(interrupt_cylinder_min == 1 || interrupt_sholderleft_max == 1 || interrupt_sholderright_max == 1){ |
echo_piyo | 53:701dc7886fff | 211 | if(interrupt_cylinder_min == 1){ |
echo_piyo | 53:701dc7886fff | 212 | cylinder = 2.0; |
echo_piyo | 53:701dc7886fff | 213 | }else{ |
echo_piyo | 53:701dc7886fff | 214 | cylinder = 0.0; |
echo_piyo | 53:701dc7886fff | 215 | } |
echo_piyo | 53:701dc7886fff | 216 | if(interrupt_sholderright_max == 1){ |
echo_piyo | 53:701dc7886fff | 217 | sholderR = -2.0; |
echo_piyo | 53:701dc7886fff | 218 | }else{ |
echo_piyo | 53:701dc7886fff | 219 | sholderR = 0.0; |
echo_piyo | 53:701dc7886fff | 220 | } |
echo_piyo | 53:701dc7886fff | 221 | if(interrupt_sholderleft_max == 1){ |
echo_piyo | 53:701dc7886fff | 222 | sholderL = 2.0; |
echo_piyo | 53:701dc7886fff | 223 | }else{ |
echo_piyo | 53:701dc7886fff | 224 | sholderL = 0.0; |
echo_piyo | 53:701dc7886fff | 225 | } |
echo_piyo | 53:701dc7886fff | 226 | rs422.put(5, cylinder, 0.0); |
echo_piyo | 53:701dc7886fff | 227 | rs422.put(6, sholderR, sholderL); |
echo_piyo | 12:1fec80ae8a2c | 228 | } |
echo_piyo | 31:285c9898da03 | 229 | enc_cylinder.origin(); |
echo_piyo | 0:bf96e953cdb8 | 230 | } |
echo_piyo | 38:b071512af5ca | 231 | |
echo_piyo | 42:63aedf71f4d1 | 232 | //cylinder_origin_flagを1にすることで動作する |
echo_piyo | 38:b071512af5ca | 233 | void cylinder_origin() |
echo_piyo | 38:b071512af5ca | 234 | { |
echo_piyo | 38:b071512af5ca | 235 | } |
echo_piyo | 71:7d684ff43ddd | 236 | float cylinder_power_cal(){ |
echo_piyo | 71:7d684ff43ddd | 237 | if(interrupt_cylinder_min == 0&&cylinder_origin_flag == 1) { |
echo_piyo | 71:7d684ff43ddd | 238 | cylinder_origin_flag = 0; |
echo_piyo | 71:7d684ff43ddd | 239 | enc_cylinder.origin(); |
echo_piyo | 71:7d684ff43ddd | 240 | cylinder_pos_num = 0; |
echo_piyo | 71:7d684ff43ddd | 241 | cylinder_power = -0.0; |
echo_piyo | 71:7d684ff43ddd | 242 | }else if(cylinder_origin_flag == 1){ |
echo_piyo | 71:7d684ff43ddd | 243 | return -0.8; |
echo_piyo | 71:7d684ff43ddd | 244 | }else{ |
echo_piyo | 71:7d684ff43ddd | 245 | return -1*enc_cylinder.duty_enableWidth(-10.0,10.0); |
echo_piyo | 71:7d684ff43ddd | 246 | } |
echo_piyo | 71:7d684ff43ddd | 247 | } |
echo_piyo | 71:7d684ff43ddd | 248 | |
echo_piyo | 19:76a387e4bcf6 | 249 | void cylinder_cal() |
echo_piyo | 31:285c9898da03 | 250 | { |
echo_piyo | 58:6cd46488f59b | 251 | //cylinder ON/OFF |
echo_piyo | 58:6cd46488f59b | 252 | if(sbdbt.shikaku){ |
echo_piyo | 58:6cd46488f59b | 253 | cylinder_on = 1; |
echo_piyo | 58:6cd46488f59b | 254 | cylinder_off = 0; |
echo_piyo | 58:6cd46488f59b | 255 | }else{ |
echo_piyo | 58:6cd46488f59b | 256 | cylinder_on = 0; |
echo_piyo | 58:6cd46488f59b | 257 | cylinder_off = 1; |
echo_piyo | 58:6cd46488f59b | 258 | } |
echo_piyo | 51:70d45b959d6b | 259 | |
echo_piyo | 51:70d45b959d6b | 260 | cylinder_event.input(sbdbt.right); |
echo_piyo | 51:70d45b959d6b | 261 | if(cylinder_event.getRise()) { //cylinder degset |
echo_piyo | 31:285c9898da03 | 262 | cylinder_pos_num++; |
echo_piyo | 71:7d684ff43ddd | 263 | if(cylinder_pos_num >= SHOT::CYLINDER_POSITION_MAX) { |
echo_piyo | 42:63aedf71f4d1 | 264 | //cylinder_pos_num = 0; |
echo_piyo | 42:63aedf71f4d1 | 265 | cylinder_origin_flag=1; |
echo_piyo | 31:285c9898da03 | 266 | } |
echo_piyo | 31:285c9898da03 | 267 | } |
echo_piyo | 71:7d684ff43ddd | 268 | enc_cylinder.cal((float)cylinder_pos[cylinder_pos_num],CYCLE::OUTPUT); //set cylinder_tergetPos |
echo_piyo | 35:5e1ad00f26fb | 269 | |
echo_piyo | 64:41dcec6c20bc | 270 | 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 | 271 | } |
echo_piyo | 38:b071512af5ca | 272 | |
echo_piyo | 64:41dcec6c20bc | 273 | //function |
echo_piyo | 64:41dcec6c20bc | 274 | /*void servo_max() |
echo_piyo | 45:a32e8091901b | 275 | { |
echo_piyo | 45:a32e8091901b | 276 | servo.pulsewidth(0.0022); |
echo_piyo | 35:5e1ad00f26fb | 277 | } |
echo_piyo | 38:b071512af5ca | 278 | void servo_min() |
echo_piyo | 35:5e1ad00f26fb | 279 | { |
echo_piyo | 35:5e1ad00f26fb | 280 | servo.pulsewidth(0.0010); |
echo_piyo | 38:b071512af5ca | 281 | } |
echo_piyo | 45:a32e8091901b | 282 | void servo_out() |
echo_piyo | 45:a32e8091901b | 283 | { |
echo_piyo | 39:6735743ac0f1 | 284 | cyclic_servo.cyclic(sbdbt.down); //setServoControl |
echo_piyo | 45:a32e8091901b | 285 | if(cyclic_servo.getState()==0) { |
echo_piyo | 39:6735743ac0f1 | 286 | servo_min(); |
echo_piyo | 45:a32e8091901b | 287 | } else if(cyclic_servo.getState()==1) { |
echo_piyo | 39:6735743ac0f1 | 288 | servo_max(); |
echo_piyo | 38:b071512af5ca | 289 | } |
echo_piyo | 64:41dcec6c20bc | 290 | }*/ |
echo_piyo | 35:5e1ad00f26fb | 291 | |
echo_piyo | 36:dca1081c19b3 | 292 | |
echo_piyo | 64:41dcec6c20bc | 293 | //functionBoost |
echo_piyo | 31:285c9898da03 | 294 | void boost() |
echo_piyo | 31:285c9898da03 | 295 | { |
echo_piyo | 31:285c9898da03 | 296 | if(sbdbt.r2) { |
echo_piyo | 10:04f2a82cfd89 | 297 | mecanum.boost_forward(); |
echo_piyo | 10:04f2a82cfd89 | 298 | } |
echo_piyo | 31:285c9898da03 | 299 | if(sbdbt.l2) { |
echo_piyo | 10:04f2a82cfd89 | 300 | mecanum.boost_back(); |
echo_piyo | 10:04f2a82cfd89 | 301 | } |
echo_piyo | 26:3280d0300b04 | 302 | /* |
echo_piyo | 10:04f2a82cfd89 | 303 | if(sbdbt.shikaku) { |
echo_piyo | 10:04f2a82cfd89 | 304 | mecanum.boost_left(); |
echo_piyo | 10:04f2a82cfd89 | 305 | } |
echo_piyo | 10:04f2a82cfd89 | 306 | if(sbdbt.maru) { |
echo_piyo | 10:04f2a82cfd89 | 307 | mecanum.boost_right(); |
echo_piyo | 10:04f2a82cfd89 | 308 | } |
echo_piyo | 26:3280d0300b04 | 309 | */ |
echo_piyo | 10:04f2a82cfd89 | 310 | } |
echo_piyo | 10:04f2a82cfd89 | 311 | |
echo_piyo | 64:41dcec6c20bc | 312 | //functionMecanum |
echo_piyo | 15:0fdf483769bf | 313 | void motor_cal() |
echo_piyo | 5:6efda58ff71b | 314 | { |
echo_piyo | 56:a7bd860b85b6 | 315 | static float out_right_x; |
echo_piyo | 4:a6cc2f03e69b | 316 | yaw = bno055.getYawRad(); |
echo_piyo | 4:a6cc2f03e69b | 317 | target_yaw = yaw; |
echo_piyo | 66:1664ee92539d | 318 | yaw_pid.calculate(target_yaw, yaw); |
echo_piyo | 56:a7bd860b85b6 | 319 | |
echo_piyo | 56:a7bd860b85b6 | 320 | //後進時に方向が逆転するため |
echo_piyo | 56:a7bd860b85b6 | 321 | if(sbdbt.right_y < 0.0){ |
echo_piyo | 56:a7bd860b85b6 | 322 | out_right_x = -1.0*sbdbt.right_x; |
echo_piyo | 56:a7bd860b85b6 | 323 | }else{ |
echo_piyo | 56:a7bd860b85b6 | 324 | out_right_x = sbdbt.right_x; |
echo_piyo | 56:a7bd860b85b6 | 325 | } |
echo_piyo | 56:a7bd860b85b6 | 326 | mecanum.sbdbt_cal(sbdbt.left_x, sbdbt.left_y, sbdbt.l1, sbdbt.r1, out_right_x, bno055.getYawRad()); |
echo_piyo | 5:6efda58ff71b | 327 | // 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 | 328 | } |
echo_piyo | 35:5e1ad00f26fb | 329 | void output() |
echo_piyo | 35:5e1ad00f26fb | 330 | { |
echo_piyo | 35:5e1ad00f26fb | 331 | motor_cal(); |
echo_piyo | 35:5e1ad00f26fb | 332 | cylinder_cal(); |
echo_piyo | 35:5e1ad00f26fb | 333 | sword_cal(); |
echo_piyo | 64:41dcec6c20bc | 334 | //servo_out(); |
echo_piyo | 38:b071512af5ca | 335 | cylinder_origin(); |
echo_piyo | 35:5e1ad00f26fb | 336 | //boost(); |
echo_piyo | 56:a7bd860b85b6 | 337 | sbdbt_indigator = sbdbt.get_pairingState(); |
echo_piyo | 48:96b5f5ebdfb0 | 338 | //led1 = sbdbt.get_pairingState(); |
echo_piyo | 49:b041c815c063 | 339 | if(sbdbt.up)cylinder_origin_flag = 1; |
echo_piyo | 49:b041c815c063 | 340 | if(sbdbt.left)bno055.yaw_origin(); |
echo_piyo | 49:b041c815c063 | 341 | cylinder_reload.cyclic(sbdbt.down); |
echo_piyo | 45:a32e8091901b | 342 | |
echo_piyo | 35:5e1ad00f26fb | 343 | static int counter; |
echo_piyo | 53:701dc7886fff | 344 | static float mecanumV1, mecanumV2, mecanumV3, mecanumV4; |
echo_piyo | 35:5e1ad00f26fb | 345 | int id[nucleo_num] = {n1_id, n2_id, n3_id, n4_id, n5_id, n6_id}; |
echo_piyo | 45:a32e8091901b | 346 | |
echo_piyo | 45:a32e8091901b | 347 | //sbdbtがpairingしている場合のみ動作 |
echo_piyo | 45:a32e8091901b | 348 | if(sbdbt.get_pairingState()) { |
echo_piyo | 45:a32e8091901b | 349 | switch (counter) { |
echo_piyo | 45:a32e8091901b | 350 | case 0: |
echo_piyo | 53:701dc7886fff | 351 | 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 | 352 | counter++; |
echo_piyo | 45:a32e8091901b | 353 | break; |
echo_piyo | 45:a32e8091901b | 354 | case 1: |
echo_piyo | 45:a32e8091901b | 355 | //.duty(<cal>*<powerControle>+(<boost>*0.5)) |
echo_piyo | 53:701dc7886fff | 356 | 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 | 357 | counter ++; |
echo_piyo | 45:a32e8091901b | 358 | break; |
echo_piyo | 45:a32e8091901b | 359 | case 2: |
echo_piyo | 55:2dd2f161ebaf | 360 | //rs422.put(id[counter], sbdbt.right_y, 0.0); |
echo_piyo | 71:7d684ff43ddd | 361 | rs422.put(id[counter], limitf(cylinder_power_cal(),1.0,-1.0), 0.0); |
echo_piyo | 45:a32e8091901b | 362 | counter ++; |
echo_piyo | 45:a32e8091901b | 363 | break; |
echo_piyo | 45:a32e8091901b | 364 | case 3: |
echo_piyo | 53:701dc7886fff | 365 | 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 | 366 | counter ++; |
echo_piyo | 45:a32e8091901b | 367 | break; |
echo_piyo | 45:a32e8091901b | 368 | case 4: |
echo_piyo | 53:701dc7886fff | 369 | rs422.put(id[counter], limitf(((float)sword.getState()*sword_power),1.0,-1.0),0.0); |
echo_piyo | 45:a32e8091901b | 370 | counter = 0; |
echo_piyo | 45:a32e8091901b | 371 | break; |
echo_piyo | 45:a32e8091901b | 372 | default: |
echo_piyo | 45:a32e8091901b | 373 | break; |
echo_piyo | 48:96b5f5ebdfb0 | 374 | } |
echo_piyo | 45:a32e8091901b | 375 | }else{ |
echo_piyo | 48:96b5f5ebdfb0 | 376 | switch (counter) { |
echo_piyo | 48:96b5f5ebdfb0 | 377 | case 0: |
echo_piyo | 48:96b5f5ebdfb0 | 378 | rs422.put(id[counter],0.0,0.0); |
echo_piyo | 48:96b5f5ebdfb0 | 379 | counter++; |
echo_piyo | 48:96b5f5ebdfb0 | 380 | break; |
echo_piyo | 48:96b5f5ebdfb0 | 381 | case 1: |
echo_piyo | 48:96b5f5ebdfb0 | 382 | rs422.put(id[counter],0.0,0.0); |
echo_piyo | 48:96b5f5ebdfb0 | 383 | counter ++; |
echo_piyo | 48:96b5f5ebdfb0 | 384 | break; |
echo_piyo | 48:96b5f5ebdfb0 | 385 | case 2: |
echo_piyo | 48:96b5f5ebdfb0 | 386 | rs422.put(id[counter],0.0,0.0); |
echo_piyo | 48:96b5f5ebdfb0 | 387 | counter ++; |
echo_piyo | 48:96b5f5ebdfb0 | 388 | break; |
echo_piyo | 48:96b5f5ebdfb0 | 389 | case 3: |
echo_piyo | 48:96b5f5ebdfb0 | 390 | rs422.put(id[counter],0.0,0.0); |
echo_piyo | 48:96b5f5ebdfb0 | 391 | counter ++; |
echo_piyo | 48:96b5f5ebdfb0 | 392 | break; |
echo_piyo | 48:96b5f5ebdfb0 | 393 | case 4: |
echo_piyo | 48:96b5f5ebdfb0 | 394 | rs422.put(id[counter],0.0,0.0); |
echo_piyo | 48:96b5f5ebdfb0 | 395 | counter = 0; |
echo_piyo | 48:96b5f5ebdfb0 | 396 | break; |
echo_piyo | 48:96b5f5ebdfb0 | 397 | default: |
echo_piyo | 48:96b5f5ebdfb0 | 398 | break; |
echo_piyo | 45:a32e8091901b | 399 | } |
echo_piyo | 45:a32e8091901b | 400 | } |
echo_piyo | 14:aac2f18f6779 | 401 | } |