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:
- 2017-07-16
- Revision:
- 11:bbd999225791
- Parent:
- 9:6486f4b3ac50
File content as of revision 11:bbd999225791:
#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" #define pc_baud 460800 #define sbdbt_tx p13 #define sbdbt_rx p14 #define sbdbt_baud 115200 #define rs422_tx p28 #define rs422_rx p27 #define rs422_baud 115200 #define output_period 0.015 #define nucleo_num 3 #define pi 3.141592 #define n1_id 3 #define n2_id 4 #define n3_id 0 #define yaw_Kp 0.01 #define yaw_Ki 0.01 #define yaw_Kd 0.01 #define acceleration 5 DigitalOut led(LED1); Serial pc(USBTX,USBRX); RS422 rs422(rs422_tx, rs422_rx); Sbdbt sbdbt(sbdbt_tx, sbdbt_rx); Ticker output_timer; Mecanum mecanum; Bno055 bno055; Position_pid yaw_pid; Accel v1; Accel v2; Accel v3; Accel v4; void setup(); void output(); void put_output(); float yaw, target_yaw; int main() { setup(); while(1) { } } void setup() { wait(1); bno055.begin(); wait(1); bno055.firstRead(); pc.baud(pc_baud); sbdbt.begin(sbdbt_baud); rs422.begin(rs422_baud); output_timer.attach(&output, output_period); yaw_pid.setup(yaw_Kp, yaw_Ki, yaw_Kd); mecanum.setupdeg(bno055.getYawRad()+180); v1.setup(acceleration,output_period); v2.setup(acceleration,output_period); v3.setup(acceleration,output_period); v4.setup(acceleration,output_period); } void put_output() { yaw = bno055.getYawRad(); target_yaw = yaw; yaw_pid.cal(target_yaw, yaw, output_period); mecanum.sbdbt_cal(sbdbt.left_x, sbdbt.left_y, sbdbt.l1, sbdbt.r1, yaw_pid.duty(), 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() { put_output(); static int counter; int id[nucleo_num] = {n1_id, n2_id, n3_id}; if(sbdbt.batu) { mecanum.boost(); } switch (counter) { case 0: rs422.put(id[counter], v1.duty(mecanum.v1()), v3.duty(mecanum.v3())); counter++; break; case 1: rs422.put(id[counter], v2.duty(mecanum.v2()), v4.duty(mecanum.v4())); counter ++; break; case 2: rs422.put(id[counter], 0.0, 0.0); counter = 0; break; default: break; }; }