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@34:02d605c68bf3, 2017-08-29 (annotated)

Committer:
echo_piyo
Date:
Tue Aug 29 11:30:28 2017 +0000
Revision:
34:02d605c68bf3
Parent:
33:64fd1bd83bac
Child:
35:5e1ad00f26fb
(?)8/29????????????????

Who changed what in which revision?

UserRevisionLine numberNew contents of line
echo_piyo 0:bf96e953cdb8 1 #include "mbed.h"
echo_piyo 4:a6cc2f03e69b 2 #include "math.h"
echo_piyo 0:bf96e953cdb8 3 #include "bit_test.h"
echo_piyo 0:bf96e953cdb8 4 #include "RS422_put.h"
echo_piyo 0:bf96e953cdb8 5 #include "sbdbt.h"
echo_piyo 0:bf96e953cdb8 6 #include "mecanum.h"
echo_piyo 0:bf96e953cdb8 7 #include "bno055_lib.h"
echo_piyo 0:bf96e953cdb8 8 #include "bno055_use.h"
echo_piyo 0:bf96e953cdb8 9 #include "pid.h"
echo_piyo 0:bf96e953cdb8 10 #include "limit.h"
echo_piyo 4:a6cc2f03e69b 11 #include "accelerator.h"
echo_piyo 10:04f2a82cfd89 12 #include "encorder.h"
echo_piyo 14:aac2f18f6779 13 #include "cyclic.h"
echo_piyo 14:aac2f18f6779 14 #include "cyclic_IO.h"
echo_piyo 15:0fdf483769bf 15 #include "cylinder.h"
echo_piyo 28:72b9af7e1700 16 #include "Servo.h"
echo_piyo 13:dfae731e239f 17 //#include "QEI.h"
echo_piyo 0:bf96e953cdb8 18
echo_piyo 0:bf96e953cdb8 19 #define pc_baud 460800
echo_piyo 0:bf96e953cdb8 20 #define sbdbt_tx p13
echo_piyo 0:bf96e953cdb8 21 #define sbdbt_rx p14
echo_piyo 0:bf96e953cdb8 22 #define sbdbt_baud 115200
echo_piyo 0:bf96e953cdb8 23 #define rs422_tx p28
echo_piyo 0:bf96e953cdb8 24 #define rs422_rx p27
echo_piyo 0:bf96e953cdb8 25 #define rs422_baud 115200
echo_piyo 3:9ef929639c4a 26 #define output_period 0.015
echo_piyo 28:72b9af7e1700 27 #define nucleo_num 6
echo_piyo 0:bf96e953cdb8 28 #define pi 3.141592
echo_piyo 0:bf96e953cdb8 29 #define n1_id 3
echo_piyo 0:bf96e953cdb8 30 #define n2_id 4
echo_piyo 10:04f2a82cfd89 31 #define n3_id 5
echo_piyo 14:aac2f18f6779 32 #define n4_id 6
echo_piyo 14:aac2f18f6779 33 #define n5_id 7
echo_piyo 28:72b9af7e1700 34 #define n6_id 8
echo_piyo 5:6efda58ff71b 35 #define yaw_Kp 0.01
echo_piyo 5:6efda58ff71b 36 #define yaw_Ki 0.01
echo_piyo 5:6efda58ff71b 37 #define yaw_Kd 0.01
echo_piyo 10:04f2a82cfd89 38 #define acceleration 25
echo_piyo 10:04f2a82cfd89 39 #define pin_cylinder_on p17
echo_piyo 10:04f2a82cfd89 40 #define pin_cylinder_off p18
echo_piyo 31:285c9898da03 41 #define pin_interrupt_cylinder_min p23
echo_piyo 12:1fec80ae8a2c 42 #define encoder_A p25
echo_piyo 12:1fec80ae8a2c 43 #define encoder_B p26
echo_piyo 33:64fd1bd83bac 44 #define enc_Kp 0.005
echo_piyo 33:64fd1bd83bac 45 #define enc_Ki 0.0001
echo_piyo 33:64fd1bd83bac 46 #define enc_Kd 0.0003
echo_piyo 34:02d605c68bf3 47 #define mecanum_power 1.0
echo_piyo 33:64fd1bd83bac 48 #define sword_power 0.8
echo_piyo 33:64fd1bd83bac 49 #define sholder_power 0.8
echo_piyo 33:64fd1bd83bac 50 //#define pin_servo_reload p29 //
echo_piyo 33:64fd1bd83bac 51 //#define pin_interrupt_reload p30 //
echo_piyo 33:64fd1bd83bac 52 #define pin_interrupt_sholderright_max p21
echo_piyo 33:64fd1bd83bac 53 #define pin_interrupt_sholderright_min 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 0:bf96e953cdb8 56
echo_piyo 13:dfae731e239f 57 DigitalOut led1(LED1);
echo_piyo 15:0fdf483769bf 58 //DigitalOut led2(LED2);
echo_piyo 15:0fdf483769bf 59 DigitalOut led3(LED3);
echo_piyo 15:0fdf483769bf 60 //DigitalOut led4(LED4);
echo_piyo 31:285c9898da03 61 DigitalIn interrupt_cylinder_min(pin_interrupt_cylinder_min);
echo_piyo 0:bf96e953cdb8 62 Serial pc(USBTX,USBRX);
echo_piyo 0:bf96e953cdb8 63 RS422 rs422(rs422_tx, rs422_rx);
echo_piyo 0:bf96e953cdb8 64 Sbdbt sbdbt(sbdbt_tx, sbdbt_rx);
echo_piyo 0:bf96e953cdb8 65 Ticker output_timer;
echo_piyo 0:bf96e953cdb8 66 Mecanum mecanum;
echo_piyo 0:bf96e953cdb8 67 Bno055 bno055;
echo_piyo 2:d5b8f8e62923 68 Position_pid yaw_pid;
echo_piyo 4:a6cc2f03e69b 69 Accel v1;
echo_piyo 4:a6cc2f03e69b 70 Accel v2;
echo_piyo 4:a6cc2f03e69b 71 Accel v3;
echo_piyo 4:a6cc2f03e69b 72 Accel v4;
echo_piyo 15:0fdf483769bf 73 Cylinder cylinder(pin_cylinder_on,pin_cylinder_off);
echo_piyo 26:3280d0300b04 74 Cyclic sword;
echo_piyo 31:285c9898da03 75 Cyclic cyclic_cylinder_position;
echo_piyo 31:285c9898da03 76 DigitalIn interrupt_sholderright_min(pin_interrupt_sholderright_min);
echo_piyo 31:285c9898da03 77 DigitalIn interrupt_sholderright_max(pin_interrupt_sholderright_max);
echo_piyo 31:285c9898da03 78 DigitalIn interrupt_sholderleft_min(pin_interrupt_sholderleft_min);
echo_piyo 31:285c9898da03 79 DigitalIn interrupt_sholderleft_max(pin_interrupt_sholderleft_max);
echo_piyo 31:285c9898da03 80
echo_piyo 31:285c9898da03 81
echo_piyo 12:1fec80ae8a2c 82 //追加点
echo_piyo 13:dfae731e239f 83 Encoder enc_cylinder(encoder_A,encoder_B);
echo_piyo 13:dfae731e239f 84 //QEI wheel(encoder_A, encoder_B, NC, 624);
echo_piyo 33:64fd1bd83bac 85 //Servo servo_reload(pin_servo_reload);
echo_piyo 33:64fd1bd83bac 86 //DigitalIn interrupt_reload(pin_interrupt_reload);
echo_piyo 9:6486f4b3ac50 87
echo_piyo 0:bf96e953cdb8 88 void setup();
echo_piyo 0:bf96e953cdb8 89 void output();
echo_piyo 15:0fdf483769bf 90 void motor_cal();
echo_piyo 16:e49df474e4c6 91 void cylinder_cal();
echo_piyo 10:04f2a82cfd89 92 void boost();
echo_piyo 12:1fec80ae8a2c 93 void cylinder_origin();
echo_piyo 26:3280d0300b04 94 void sword_cal();
echo_piyo 31:285c9898da03 95 float shoulder_right_cal();
echo_piyo 31:285c9898da03 96 float shoulder_left_cal();
echo_piyo 30:57061e222f10 97 int reload_magazine_flag;
echo_piyo 2:d5b8f8e62923 98 float yaw, target_yaw;
echo_piyo 0:bf96e953cdb8 99
echo_piyo 31:285c9898da03 100 //riseEventそのうちClassにしたい
echo_piyo 31:285c9898da03 101 short state;
echo_piyo 31:285c9898da03 102 int riseEvent(int input)
echo_piyo 31:285c9898da03 103 {
echo_piyo 31:285c9898da03 104 state = ((state<<1)|input)&3;
echo_piyo 31:285c9898da03 105 if(state == 1) {
echo_piyo 31:285c9898da03 106 return 1;
echo_piyo 31:285c9898da03 107 } else {
echo_piyo 31:285c9898da03 108 return 0;
echo_piyo 31:285c9898da03 109 }
echo_piyo 31:285c9898da03 110 }
echo_piyo 31:285c9898da03 111
echo_piyo 0:bf96e953cdb8 112 int main()
echo_piyo 0:bf96e953cdb8 113 {
echo_piyo 0:bf96e953cdb8 114 setup();
echo_piyo 2:d5b8f8e62923 115 while(1) {
echo_piyo 31:285c9898da03 116 //pc.printf("Pulses is: %lo\tdeg :%f\r\n",enc_cylinder.pulse(),enc_cylinder.deg());
echo_piyo 31:285c9898da03 117 //pc.printf("rise state : %d\r\n",riseEvent(sbdbt.right));
echo_piyo 0:bf96e953cdb8 118 }
echo_piyo 0:bf96e953cdb8 119 }
echo_piyo 0:bf96e953cdb8 120
echo_piyo 0:bf96e953cdb8 121 void setup()
echo_piyo 0:bf96e953cdb8 122 {
echo_piyo 1:2d878962e6ea 123 wait(1);
echo_piyo 19:76a387e4bcf6 124 bno055.begin();
echo_piyo 0:bf96e953cdb8 125 wait(1);
echo_piyo 19:76a387e4bcf6 126 bno055.firstRead();
echo_piyo 0:bf96e953cdb8 127 pc.baud(pc_baud);
echo_piyo 0:bf96e953cdb8 128 sbdbt.begin(sbdbt_baud);
echo_piyo 0:bf96e953cdb8 129 rs422.begin(rs422_baud);
echo_piyo 19:76a387e4bcf6 130 cylinder_origin();
echo_piyo 0:bf96e953cdb8 131 output_timer.attach(&output, output_period);
echo_piyo 2:d5b8f8e62923 132 yaw_pid.setup(yaw_Kp, yaw_Ki, yaw_Kd);
echo_piyo 10:04f2a82cfd89 133 mecanum.setupdeg(bno055.getYawRad()+180.0);
echo_piyo 4:a6cc2f03e69b 134 v1.setup(acceleration,output_period);
echo_piyo 4:a6cc2f03e69b 135 v2.setup(acceleration,output_period);
echo_piyo 4:a6cc2f03e69b 136 v3.setup(acceleration,output_period);
echo_piyo 4:a6cc2f03e69b 137 v4.setup(acceleration,output_period);
echo_piyo 12:1fec80ae8a2c 138
echo_piyo 12:1fec80ae8a2c 139 //追加点
echo_piyo 31:285c9898da03 140 enc_cylinder.setup(100);
echo_piyo 13:dfae731e239f 141 enc_cylinder.set_parameter(enc_Kp,enc_Ki,enc_Kd);
echo_piyo 12:1fec80ae8a2c 142 }
echo_piyo 12:1fec80ae8a2c 143
echo_piyo 15:0fdf483769bf 144 void output()
echo_piyo 15:0fdf483769bf 145 {
echo_piyo 15:0fdf483769bf 146 motor_cal();
echo_piyo 16:e49df474e4c6 147 cylinder_cal();
echo_piyo 26:3280d0300b04 148 sword_cal();
echo_piyo 18:ae4d97945b83 149 //boost();
echo_piyo 33:64fd1bd83bac 150
echo_piyo 33:64fd1bd83bac 151 if(interrupt_cylinder_min==0){
echo_piyo 33:64fd1bd83bac 152 enc_cylinder.origin();
echo_piyo 33:64fd1bd83bac 153 }
echo_piyo 33:64fd1bd83bac 154 if(sbdbt.left){
echo_piyo 33:64fd1bd83bac 155 cylinder_origin();
echo_piyo 33:64fd1bd83bac 156 }
echo_piyo 15:0fdf483769bf 157
echo_piyo 15:0fdf483769bf 158 static int counter;
echo_piyo 28:72b9af7e1700 159 int id[nucleo_num] = {n1_id, n2_id, n3_id, n4_id, n5_id, n6_id};
echo_piyo 15:0fdf483769bf 160
echo_piyo 15:0fdf483769bf 161 switch (counter) {
echo_piyo 15:0fdf483769bf 162 case 0:
echo_piyo 33:64fd1bd83bac 163 rs422.put(id[counter], v1.duty(mecanum.v1()*mecanum_power), v3.duty(mecanum.v3()*mecanum_power));
echo_piyo 15:0fdf483769bf 164 counter++;
echo_piyo 15:0fdf483769bf 165 break;
echo_piyo 15:0fdf483769bf 166 case 1:
echo_piyo 33:64fd1bd83bac 167 rs422.put(id[counter], v2.duty(mecanum.v2()*mecanum_power), v4.duty(mecanum.v4()*mecanum_power));
echo_piyo 15:0fdf483769bf 168 counter ++;
echo_piyo 15:0fdf483769bf 169 break;
echo_piyo 15:0fdf483769bf 170 case 2:
echo_piyo 32:f535ace7c529 171 rs422.put(id[counter], enc_cylinder.duty()*-1, 0.0);
echo_piyo 17:5c4718c603dc 172 counter ++;
echo_piyo 17:5c4718c603dc 173 break;
echo_piyo 17:5c4718c603dc 174 case 3:
echo_piyo 34:02d605c68bf3 175 rs422.put(id[counter], shoulder_right_cal()*sholder_power,-1*shoulder_right_cal()*sholder_power);
echo_piyo 20:347daec6c9a3 176 counter ++;
echo_piyo 20:347daec6c9a3 177 break;
echo_piyo 20:347daec6c9a3 178 case 4:
echo_piyo 33:64fd1bd83bac 179 rs422.put(id[counter], ((float)sword.getState()*sword_power),0.0);
echo_piyo 15:0fdf483769bf 180 counter = 0;
echo_piyo 15:0fdf483769bf 181 break;
echo_piyo 15:0fdf483769bf 182 default:
echo_piyo 15:0fdf483769bf 183 break;
echo_piyo 15:0fdf483769bf 184 };
echo_piyo 15:0fdf483769bf 185 }
echo_piyo 15:0fdf483769bf 186
echo_piyo 31:285c9898da03 187 float shoulder_right_cal(){
echo_piyo 33:64fd1bd83bac 188 if(interrupt_sholderright_max==0&&sbdbt.sankaku){
echo_piyo 31:285c9898da03 189 return 0.0;
echo_piyo 31:285c9898da03 190 }
echo_piyo 33:64fd1bd83bac 191 if(interrupt_sholderright_min==0&&sbdbt.batu){
echo_piyo 33:64fd1bd83bac 192 return 0.0;
echo_piyo 31:285c9898da03 193 }
echo_piyo 31:285c9898da03 194 return (-sbdbt.sankaku*0.8+sbdbt.batu*0.8);
echo_piyo 31:285c9898da03 195 }
echo_piyo 31:285c9898da03 196
echo_piyo 31:285c9898da03 197 float shoulder_left_cal(){
echo_piyo 33:64fd1bd83bac 198 if(interrupt_sholderleft_max==0&&sbdbt.up==1){
echo_piyo 31:285c9898da03 199 return 0.0;
echo_piyo 31:285c9898da03 200 }
echo_piyo 33:64fd1bd83bac 201 if(interrupt_sholderleft_min==0&&sbdbt.down==1){
echo_piyo 31:285c9898da03 202 return 0.0;
echo_piyo 31:285c9898da03 203 }
echo_piyo 31:285c9898da03 204 return (sbdbt.up*0.8-sbdbt.down*0.8);
echo_piyo 31:285c9898da03 205 }
echo_piyo 31:285c9898da03 206
echo_piyo 31:285c9898da03 207 void sword_cal()
echo_piyo 31:285c9898da03 208 {
echo_piyo 26:3280d0300b04 209 sword.cyclic(sbdbt.maru);
echo_piyo 17:5c4718c603dc 210 }
echo_piyo 15:0fdf483769bf 211
echo_piyo 31:285c9898da03 212 void cylinder_origin()
echo_piyo 31:285c9898da03 213 {
echo_piyo 31:285c9898da03 214 while(interrupt_cylinder_min == 1) {
echo_piyo 14:aac2f18f6779 215 led1 = 1;
echo_piyo 31:285c9898da03 216 rs422.put(5, -0.2, 0.0);
echo_piyo 12:1fec80ae8a2c 217 }
echo_piyo 14:aac2f18f6779 218 led1 = 0;
echo_piyo 31:285c9898da03 219 enc_cylinder.origin();
echo_piyo 0:bf96e953cdb8 220 }
echo_piyo 0:bf96e953cdb8 221
echo_piyo 28:72b9af7e1700 222 //追記(動作未確認)
echo_piyo 31:285c9898da03 223 float cylinder_pwm;
echo_piyo 31:285c9898da03 224 int cylinder_pos_num = 0;
echo_piyo 32:f535ace7c529 225 float cylinder_pos[3] = {0.0,180.0,360.0};
echo_piyo 19:76a387e4bcf6 226 void cylinder_cal()
echo_piyo 31:285c9898da03 227 {
echo_piyo 31:285c9898da03 228 cylinder.cyclic(sbdbt.shikaku); //cylinder ON/OFF
echo_piyo 31:285c9898da03 229
echo_piyo 31:285c9898da03 230 if(riseEvent(sbdbt.right)){ //cylinder degset
echo_piyo 31:285c9898da03 231 cylinder_pos_num++;
echo_piyo 31:285c9898da03 232 if(cylinder_pos_num >= 3){
echo_piyo 31:285c9898da03 233 cylinder_pos_num = 0;
echo_piyo 31:285c9898da03 234 }
echo_piyo 31:285c9898da03 235 }
echo_piyo 31:285c9898da03 236 enc_cylinder.cal((float)cylinder_pos[cylinder_pos_num],output_period); //コントローラで数値設定
echo_piyo 31:285c9898da03 237
echo_piyo 33:64fd1bd83bac 238 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 28:72b9af7e1700 239
echo_piyo 31:285c9898da03 240 //リロード機構完成後
echo_piyo 31:285c9898da03 241 /*
echo_piyo 31:285c9898da03 242 if(cylinder.getInState() == 1){
echo_piyo 31:285c9898da03 243 if(interrupt_cylinder_min)servo_reload = 1.0;
echo_piyo 31:285c9898da03 244 }else{
echo_piyo 31:285c9898da03 245 servo_reload = 0.0;
echo_piyo 31:285c9898da03 246 reload_magazine_flag = 1;
echo_piyo 31:285c9898da03 247 }
echo_piyo 31:285c9898da03 248
echo_piyo 31:285c9898da03 249 if(reload_magazine_flag == 1){
echo_piyo 31:285c9898da03 250 rs422.put(n6_id, 0.8, 0.0);
echo_piyo 31:285c9898da03 251 if(interrupt_reload == 1)reload_magazine_flag = 0;
echo_piyo 31:285c9898da03 252 }
echo_piyo 31:285c9898da03 253 */
echo_piyo 19:76a387e4bcf6 254 }
echo_piyo 19:76a387e4bcf6 255
echo_piyo 31:285c9898da03 256 void boost()
echo_piyo 31:285c9898da03 257 {
echo_piyo 31:285c9898da03 258 if(sbdbt.r2) {
echo_piyo 10:04f2a82cfd89 259 mecanum.boost_forward();
echo_piyo 10:04f2a82cfd89 260 }
echo_piyo 31:285c9898da03 261 if(sbdbt.l2) {
echo_piyo 10:04f2a82cfd89 262 mecanum.boost_back();
echo_piyo 10:04f2a82cfd89 263 }
echo_piyo 26:3280d0300b04 264 /*
echo_piyo 10:04f2a82cfd89 265 if(sbdbt.shikaku) {
echo_piyo 10:04f2a82cfd89 266 mecanum.boost_left();
echo_piyo 10:04f2a82cfd89 267 }
echo_piyo 10:04f2a82cfd89 268 if(sbdbt.maru) {
echo_piyo 10:04f2a82cfd89 269 mecanum.boost_right();
echo_piyo 10:04f2a82cfd89 270 }
echo_piyo 26:3280d0300b04 271 */
echo_piyo 10:04f2a82cfd89 272 }
echo_piyo 10:04f2a82cfd89 273
echo_piyo 15:0fdf483769bf 274 void motor_cal()
echo_piyo 5:6efda58ff71b 275 {
echo_piyo 4:a6cc2f03e69b 276 yaw = bno055.getYawRad();
echo_piyo 4:a6cc2f03e69b 277 target_yaw = yaw;
echo_piyo 4:a6cc2f03e69b 278 yaw_pid.cal(target_yaw, yaw, output_period);
echo_piyo 4:a6cc2f03e69b 279 mecanum.sbdbt_cal(sbdbt.left_x, sbdbt.left_y, sbdbt.l1, sbdbt.r1, yaw_pid.duty(), bno055.getYawRad());
echo_piyo 5:6efda58ff71b 280 // 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 14:aac2f18f6779 281 }