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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
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main.cpp
- Committer:
- echo_piyo
- Date:
- 2017-09-26
- Revision:
- 71:7d684ff43ddd
- Parent:
- 69:b2c8a0c5662c
- Child:
- 72:7d6177047823
File content as of revision 71:7d684ff43ddd:
//index_include #include "mbed.h" #include "math.h" #include "bit_test.h" #include "rs422_put.h" #include "sbdbt.h" #include "mecanum.h" #include "bno055_lib.h" #include "bno055_use.h" #include "pid.h" #include "limit.h" #include "accelerator.h" #include "pid_encoder.h" #include "cyclic_var.h" #include "cyclic_io.h" #include "cylinder.h" #include "event_var.h" //#include "servo.h" //index_define #define SBDBT_TX p13 #define SBDBT_RX p14 #define SBDBT_STO p12 #define RS422_TX p28 #define RS422_RX p27 #define CONTROL_INDICATOR p11 namespace BAUD { const int PC = 460800; const int SBDBT = 115200; const int RS422 = 115200; } namespace CYCLE { const float OUTPUT = 0.015; } namespace MECANUM { const float ACCELERATION = 15; } namespace YAW { const float KP = 0.01; const float KI = 0.01; const float KD = 0.01; } namespace SHOT { const float ENCORDER_KP = 0.0400; const float ENCORDER_KI = 0.0001; const float ENCORDER_KD = 0.0003; const int CYLINDER_POSITION_MAX = 6; } #define nucleo_num 6 #define n1_id 3 #define n2_id 4 #define n3_id 5 #define n4_id 6 #define n5_id 7 #define n6_id 8 #define SHOT_CYLINDER_ON p18 #define SHOT_CYLINDER_OFF p17 #define SHOT_INTERRUPT p29 #define SHOT_ENCODER_A p21 #define SHOT_ENCODER_B p22 #define RELOAD_CYLINDER p15 #define mecanum_power 1.0 #define sword_power 1.0 #define sholder_power 1.0 #define SHOULDER_RIGHT_INTERRUPT_MAX p19 //p21 #define SHOULDER_RIGHT_INTERRUPT_MIN p20 //p22 #define SHOULDER_LEFT_INTERRUPT_MAX p7 #define SHOULDER_LEFT_INTERRUPT_MIN p8 //#define pin_servo p21 //#define servo_reload_time 1.0 //index_setupPin DigitalOut led1(LED1); DigitalOut led2(LED2); DigitalOut led3(LED3); DigitalOut led4(LED4); DigitalIn interrupt_cylinder_min(SHOT_INTERRUPT); Serial pc(USBTX,USBRX); Rs422 rs422(RS422_TX, RS422_RX); Sbdbt sbdbt(SBDBT_TX, SBDBT_RX, SBDBT_STO); Ticker output_timer; Mecanum mecanum; Bno055 bno055; PositionPid yaw_pid; Accelerator v1; Accelerator v2; Accelerator v3; Accelerator v4; DigitalOut cylinder_on(SHOT_CYLINDER_ON); DigitalOut cylinder_off(SHOT_CYLINDER_OFF); CyclicVar sword; CyclicVar cyclic_cylinder_position; DigitalIn interrupt_sholderright_min(SHOULDER_RIGHT_INTERRUPT_MIN); DigitalIn interrupt_sholderright_max(SHOULDER_RIGHT_INTERRUPT_MAX); DigitalIn interrupt_sholderleft_min(SHOULDER_LEFT_INTERRUPT_MIN); DigitalIn interrupt_sholderleft_max(SHOULDER_LEFT_INTERRUPT_MAX); Encoder enc_cylinder(SHOT_ENCODER_A,SHOT_ENCODER_B); CyclicVar cyclic_servo; CyclicIo cylinder_reload(RELOAD_CYLINDER); //PwmOut servo(pin_servo); DigitalOut sbdbt_indigator(CONTROL_INDICATOR); eventVar cylinder_event; //index_setupFunction void setup(); void output(); void motor_cal(); void cylinder_cal(); void boost(); void cylinder_origin(); void firstmotion(); void sword_cal(); void servo_origin(); float shoulder_right_cal(); float shoulder_left_cal(); //index_setupVariable //output float yaw, target_yaw; //cylinder_origin int cylinder_origin_flag = 0; //cylinder float cylinder_pwm; int cylinder_pos_num = 0; float cylinder_pos[SHOT::CYLINDER_POSITION_MAX] = {0.0,90.0,325.0,450.0,580.0,700.0}; float cylinder_power = 0.0; int main() { setup(); while(1) { led1 = interrupt_sholderleft_max; led2 = interrupt_sholderleft_min; led3 = interrupt_sholderright_max; led4 = interrupt_sholderright_min; //pc.printf("cylinder pos : %f\r\n",enc_cylinder.deg()); //pc.printf("riseState %d : fallState %d\r\n",event.getRise(),event.getFall()); } } void setup() { wait(2.0); bno055.begin(); wait(1.0); bno055.firstRead(); pc.baud(BAUD::PC); sbdbt.begin(BAUD::SBDBT); rs422.begin(BAUD::RS422); firstmotion(); cylinder_pos_num = 2; //セットアップタイムでの初期装填のため output_timer.attach(&output, CYCLE::OUTPUT); yaw_pid.setup(YAW::KP, YAW::KI, YAW::KD, CYCLE::OUTPUT); mecanum.setupdeg(bno055.getYawRad()); //基盤が前後逆の場合+180 v1.setup(MECANUM::ACCELERATION, CYCLE::OUTPUT); v2.setup(MECANUM::ACCELERATION, CYCLE::OUTPUT); v3.setup(MECANUM::ACCELERATION, CYCLE::OUTPUT); v4.setup(MECANUM::ACCELERATION, CYCLE::OUTPUT); enc_cylinder.setPpr(100); enc_cylinder.setup(SHOT::ENCORDER_KP, SHOT::ENCORDER_KI, SHOT::ENCORDER_KD, CYCLE::OUTPUT); //servo.period(0.020); } //Sword float shoulder_right_cal() { if(interrupt_sholderright_max==0&&sbdbt.sankaku==1) { return 0.0; } if(interrupt_sholderright_min==0&&sbdbt.batu==1) { return 0.0; } return (-sbdbt.sankaku*0.8+sbdbt.batu*0.8); } float shoulder_left_cal() { if(interrupt_sholderleft_max==0&&sbdbt.sankaku==1) { return 0.0; } if(interrupt_sholderleft_min==0&&sbdbt.batu==1) { return 0.0; } return (-sbdbt.sankaku*0.8+sbdbt.batu*0.8); } void sword_cal() { sword.cyclic(sbdbt.maru); } //cylinder void firstmotion() { float cylinder = 0.0; float sholderL = 0.0; float sholderR = 0.0; while(interrupt_cylinder_min == 1 || interrupt_sholderleft_max == 1 || interrupt_sholderright_max == 1){ if(interrupt_cylinder_min == 1){ cylinder = 2.0; }else{ cylinder = 0.0; } if(interrupt_sholderright_max == 1){ sholderR = -2.0; }else{ sholderR = 0.0; } if(interrupt_sholderleft_max == 1){ sholderL = 2.0; }else{ sholderL = 0.0; } rs422.put(5, cylinder, 0.0); rs422.put(6, sholderR, sholderL); } enc_cylinder.origin(); } //cylinder_origin_flagを1にすることで動作する void cylinder_origin() { } float cylinder_power_cal(){ if(interrupt_cylinder_min == 0&&cylinder_origin_flag == 1) { cylinder_origin_flag = 0; enc_cylinder.origin(); cylinder_pos_num = 0; cylinder_power = -0.0; }else if(cylinder_origin_flag == 1){ return -0.8; }else{ return -1*enc_cylinder.duty_enableWidth(-10.0,10.0); } } void cylinder_cal() { //cylinder ON/OFF if(sbdbt.shikaku){ cylinder_on = 1; cylinder_off = 0; }else{ cylinder_on = 0; cylinder_off = 1; } cylinder_event.input(sbdbt.right); if(cylinder_event.getRise()) { //cylinder degset cylinder_pos_num++; if(cylinder_pos_num >= SHOT::CYLINDER_POSITION_MAX) { //cylinder_pos_num = 0; cylinder_origin_flag=1; } } enc_cylinder.cal((float)cylinder_pos[cylinder_pos_num],CYCLE::OUTPUT); //set cylinder_tergetPos 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()); } //function /*void servo_max() { servo.pulsewidth(0.0022); } void servo_min() { servo.pulsewidth(0.0010); } void servo_out() { cyclic_servo.cyclic(sbdbt.down); //setServoControl if(cyclic_servo.getState()==0) { servo_min(); } else if(cyclic_servo.getState()==1) { servo_max(); } }*/ //functionBoost void boost() { if(sbdbt.r2) { mecanum.boost_forward(); } if(sbdbt.l2) { mecanum.boost_back(); } /* if(sbdbt.shikaku) { mecanum.boost_left(); } if(sbdbt.maru) { mecanum.boost_right(); } */ } //functionMecanum void motor_cal() { static float out_right_x; yaw = bno055.getYawRad(); target_yaw = yaw; yaw_pid.calculate(target_yaw, yaw); //後進時に方向が逆転するため if(sbdbt.right_y < 0.0){ out_right_x = -1.0*sbdbt.right_x; }else{ out_right_x = sbdbt.right_x; } mecanum.sbdbt_cal(sbdbt.left_x, sbdbt.left_y, sbdbt.l1, sbdbt.r1, out_right_x, bno055.getYawRad()); // 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()); } void output() { motor_cal(); cylinder_cal(); sword_cal(); //servo_out(); cylinder_origin(); //boost(); sbdbt_indigator = sbdbt.get_pairingState(); //led1 = sbdbt.get_pairingState(); if(sbdbt.up)cylinder_origin_flag = 1; if(sbdbt.left)bno055.yaw_origin(); cylinder_reload.cyclic(sbdbt.down); static int counter; static float mecanumV1, mecanumV2, mecanumV3, mecanumV4; int id[nucleo_num] = {n1_id, n2_id, n3_id, n4_id, n5_id, n6_id}; //sbdbtがpairingしている場合のみ動作 if(sbdbt.get_pairingState()) { switch (counter) { case 0: 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))); counter++; break; case 1: //.duty(<cal>*<powerControle>+(<boost>*0.5)) 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))); counter ++; break; case 2: //rs422.put(id[counter], sbdbt.right_y, 0.0); rs422.put(id[counter], limitf(cylinder_power_cal(),1.0,-1.0), 0.0); counter ++; break; case 3: 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)); counter ++; break; case 4: rs422.put(id[counter], limitf(((float)sword.getState()*sword_power),1.0,-1.0),0.0); counter = 0; break; default: break; } }else{ switch (counter) { case 0: rs422.put(id[counter],0.0,0.0); counter++; break; case 1: rs422.put(id[counter],0.0,0.0); counter ++; break; case 2: rs422.put(id[counter],0.0,0.0); counter ++; break; case 3: rs422.put(id[counter],0.0,0.0); counter ++; break; case 4: rs422.put(id[counter],0.0,0.0); counter = 0; break; default: break; } } }