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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@0:bf96e953cdb8, 2017-06-26 (annotated)
- Committer:
- echo_piyo
- Date:
- Mon Jun 26 09:59:14 2017 +0000
- Revision:
- 0:bf96e953cdb8
- Child:
- 1:2d878962e6ea
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Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
echo_piyo | 0:bf96e953cdb8 | 1 | #include "mbed.h" |
echo_piyo | 0:bf96e953cdb8 | 2 | #include "bit_test.h" |
echo_piyo | 0:bf96e953cdb8 | 3 | #include "RS422_put.h" |
echo_piyo | 0:bf96e953cdb8 | 4 | #include "sbdbt.h" |
echo_piyo | 0:bf96e953cdb8 | 5 | #include "mecanum.h" |
echo_piyo | 0:bf96e953cdb8 | 6 | #include "bno055_lib.h" |
echo_piyo | 0:bf96e953cdb8 | 7 | #include "bno055_use.h" |
echo_piyo | 0:bf96e953cdb8 | 8 | #include "pid.h" |
echo_piyo | 0:bf96e953cdb8 | 9 | #include "limit.h" |
echo_piyo | 0:bf96e953cdb8 | 10 | |
echo_piyo | 0:bf96e953cdb8 | 11 | #define pc_baud 460800 |
echo_piyo | 0:bf96e953cdb8 | 12 | #define sbdbt_tx p13 |
echo_piyo | 0:bf96e953cdb8 | 13 | #define sbdbt_rx p14 |
echo_piyo | 0:bf96e953cdb8 | 14 | #define sbdbt_baud 115200 |
echo_piyo | 0:bf96e953cdb8 | 15 | #define rs422_tx p28 |
echo_piyo | 0:bf96e953cdb8 | 16 | #define rs422_rx p27 |
echo_piyo | 0:bf96e953cdb8 | 17 | #define rs422_baud 115200 |
echo_piyo | 0:bf96e953cdb8 | 18 | #define output_period 0.005 |
echo_piyo | 0:bf96e953cdb8 | 19 | #define nucleo_num 3 |
echo_piyo | 0:bf96e953cdb8 | 20 | #define pi 3.141592 |
echo_piyo | 0:bf96e953cdb8 | 21 | #define n1_id 3 |
echo_piyo | 0:bf96e953cdb8 | 22 | #define n2_id 4 |
echo_piyo | 0:bf96e953cdb8 | 23 | #define n3_id 0 |
echo_piyo | 0:bf96e953cdb8 | 24 | #define Kp 0.0 |
echo_piyo | 0:bf96e953cdb8 | 25 | #define Ki 0.0 |
echo_piyo | 0:bf96e953cdb8 | 26 | #define Kd 0.0 |
echo_piyo | 0:bf96e953cdb8 | 27 | |
echo_piyo | 0:bf96e953cdb8 | 28 | DigitalOut led(LED1); |
echo_piyo | 0:bf96e953cdb8 | 29 | Serial pc(USBTX,USBRX); |
echo_piyo | 0:bf96e953cdb8 | 30 | RS422 rs422(rs422_tx, rs422_rx); |
echo_piyo | 0:bf96e953cdb8 | 31 | Sbdbt sbdbt(sbdbt_tx, sbdbt_rx); |
echo_piyo | 0:bf96e953cdb8 | 32 | Ticker output_timer; |
echo_piyo | 0:bf96e953cdb8 | 33 | Mecanum mecanum; |
echo_piyo | 0:bf96e953cdb8 | 34 | Bno055 bno055; |
echo_piyo | 0:bf96e953cdb8 | 35 | |
echo_piyo | 0:bf96e953cdb8 | 36 | void setup(); |
echo_piyo | 0:bf96e953cdb8 | 37 | void output(); |
echo_piyo | 0:bf96e953cdb8 | 38 | void put_output(); |
echo_piyo | 0:bf96e953cdb8 | 39 | float m1, m2, m3, m4; |
echo_piyo | 0:bf96e953cdb8 | 40 | float a; |
echo_piyo | 0:bf96e953cdb8 | 41 | |
echo_piyo | 0:bf96e953cdb8 | 42 | int main() |
echo_piyo | 0:bf96e953cdb8 | 43 | { |
echo_piyo | 0:bf96e953cdb8 | 44 | setup(); |
echo_piyo | 0:bf96e953cdb8 | 45 | while(1) { |
echo_piyo | 0:bf96e953cdb8 | 46 | mecanum.sbdbt_cal(sbdbt.left_x, sbdbt.left_y, sbdbt.l1, sbdbt.r1, 0, bno055.getYawRad()); |
echo_piyo | 0:bf96e953cdb8 | 47 | 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 | 0:bf96e953cdb8 | 48 | put_output(); |
echo_piyo | 0:bf96e953cdb8 | 49 | } |
echo_piyo | 0:bf96e953cdb8 | 50 | } |
echo_piyo | 0:bf96e953cdb8 | 51 | |
echo_piyo | 0:bf96e953cdb8 | 52 | void setup() |
echo_piyo | 0:bf96e953cdb8 | 53 | { |
echo_piyo | 0:bf96e953cdb8 | 54 | bno055.begin(); |
echo_piyo | 0:bf96e953cdb8 | 55 | wait(1); |
echo_piyo | 0:bf96e953cdb8 | 56 | bno055.firstRead(); |
echo_piyo | 0:bf96e953cdb8 | 57 | pc.baud(pc_baud); |
echo_piyo | 0:bf96e953cdb8 | 58 | sbdbt.begin(sbdbt_baud); |
echo_piyo | 0:bf96e953cdb8 | 59 | rs422.begin(rs422_baud); |
echo_piyo | 0:bf96e953cdb8 | 60 | output_timer.attach(&output, output_period); |
echo_piyo | 0:bf96e953cdb8 | 61 | mecanum.setupdeg(bno055.getYawRad()); |
echo_piyo | 0:bf96e953cdb8 | 62 | } |
echo_piyo | 0:bf96e953cdb8 | 63 | |
echo_piyo | 0:bf96e953cdb8 | 64 | void put_output(){ |
echo_piyo | 0:bf96e953cdb8 | 65 | m1 = mecanum.v1(); |
echo_piyo | 0:bf96e953cdb8 | 66 | m2 = mecanum.v2(); |
echo_piyo | 0:bf96e953cdb8 | 67 | m3 = mecanum.v3(); |
echo_piyo | 0:bf96e953cdb8 | 68 | m4 = mecanum.v4(); |
echo_piyo | 0:bf96e953cdb8 | 69 | } |
echo_piyo | 0:bf96e953cdb8 | 70 | |
echo_piyo | 0:bf96e953cdb8 | 71 | void output() |
echo_piyo | 0:bf96e953cdb8 | 72 | { |
echo_piyo | 0:bf96e953cdb8 | 73 | static int counter; |
echo_piyo | 0:bf96e953cdb8 | 74 | int id[nucleo_num] = {n1_id, n2_id, n3_id}; |
echo_piyo | 0:bf96e953cdb8 | 75 | |
echo_piyo | 0:bf96e953cdb8 | 76 | switch (counter) { |
echo_piyo | 0:bf96e953cdb8 | 77 | case 0: |
echo_piyo | 0:bf96e953cdb8 | 78 | rs422.put(id[counter],m1 ,m3); |
echo_piyo | 0:bf96e953cdb8 | 79 | counter++; |
echo_piyo | 0:bf96e953cdb8 | 80 | break; |
echo_piyo | 0:bf96e953cdb8 | 81 | case 1: |
echo_piyo | 0:bf96e953cdb8 | 82 | rs422.put(id[counter],m2 ,m4); |
echo_piyo | 0:bf96e953cdb8 | 83 | counter ++; |
echo_piyo | 0:bf96e953cdb8 | 84 | break; |
echo_piyo | 0:bf96e953cdb8 | 85 | case 2: |
echo_piyo | 0:bf96e953cdb8 | 86 | rs422.put(id[counter], 0.0, 0.0); |
echo_piyo | 0:bf96e953cdb8 | 87 | counter = 0; |
echo_piyo | 0:bf96e953cdb8 | 88 | break; |
echo_piyo | 0:bf96e953cdb8 | 89 | default: |
echo_piyo | 0:bf96e953cdb8 | 90 | break; |
echo_piyo | 0:bf96e953cdb8 | 91 | }; |
echo_piyo | 0:bf96e953cdb8 | 92 | } |