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@25:124aee8a7742, 2017-08-07 (annotated)

Committer:
echo_piyo
Date:
Mon Aug 07 08:48:15 2017 +0000
Revision:
25:124aee8a7742
Parent:
24:da0fc94add43
Child:
26:3280d0300b04
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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 13:dfae731e239f 16 //#include "QEI.h"
echo_piyo 0:bf96e953cdb8 17
echo_piyo 0:bf96e953cdb8 18 #define pc_baud 460800
echo_piyo 0:bf96e953cdb8 19 #define sbdbt_tx p13
echo_piyo 0:bf96e953cdb8 20 #define sbdbt_rx p14
echo_piyo 0:bf96e953cdb8 21 #define sbdbt_baud 115200
echo_piyo 0:bf96e953cdb8 22 #define rs422_tx p28
echo_piyo 0:bf96e953cdb8 23 #define rs422_rx p27
echo_piyo 0:bf96e953cdb8 24 #define rs422_baud 115200
echo_piyo 3:9ef929639c4a 25 #define output_period 0.015
echo_piyo 23:aeff5fd36ae1 26 #define nucleo_num 5
echo_piyo 0:bf96e953cdb8 27 #define pi 3.141592
echo_piyo 0:bf96e953cdb8 28 #define n1_id 3
echo_piyo 0:bf96e953cdb8 29 #define n2_id 4
echo_piyo 10:04f2a82cfd89 30 #define n3_id 5
echo_piyo 14:aac2f18f6779 31 #define n4_id 6
echo_piyo 14:aac2f18f6779 32 #define n5_id 7
echo_piyo 5:6efda58ff71b 33 #define yaw_Kp 0.01
echo_piyo 5:6efda58ff71b 34 #define yaw_Ki 0.01
echo_piyo 5:6efda58ff71b 35 #define yaw_Kd 0.01
echo_piyo 10:04f2a82cfd89 36 #define acceleration 25
echo_piyo 10:04f2a82cfd89 37 #define pin_cylinder_on p17
echo_piyo 10:04f2a82cfd89 38 #define pin_cylinder_off p18
echo_piyo 13:dfae731e239f 39 #define pin_interrupt p23
echo_piyo 12:1fec80ae8a2c 40 #define encoder_A p25
echo_piyo 12:1fec80ae8a2c 41 #define encoder_B p26
echo_piyo 10:04f2a82cfd89 42 #define enc_Kp 0.01
echo_piyo 10:04f2a82cfd89 43 #define enc_Ki 0.01
echo_piyo 10:04f2a82cfd89 44 #define enc_Kd 0.01
echo_piyo 24:da0fc94add43 45 #define powerdown 0.6
echo_piyo 0:bf96e953cdb8 46
echo_piyo 13:dfae731e239f 47 DigitalOut led1(LED1);
echo_piyo 15:0fdf483769bf 48 //DigitalOut led2(LED2);
echo_piyo 15:0fdf483769bf 49 DigitalOut led3(LED3);
echo_piyo 15:0fdf483769bf 50 //DigitalOut led4(LED4);
echo_piyo 13:dfae731e239f 51 DigitalIn interrupt(pin_interrupt);
echo_piyo 0:bf96e953cdb8 52 Serial pc(USBTX,USBRX);
echo_piyo 0:bf96e953cdb8 53 RS422 rs422(rs422_tx, rs422_rx);
echo_piyo 0:bf96e953cdb8 54 Sbdbt sbdbt(sbdbt_tx, sbdbt_rx);
echo_piyo 0:bf96e953cdb8 55 Ticker output_timer;
echo_piyo 0:bf96e953cdb8 56 Mecanum mecanum;
echo_piyo 0:bf96e953cdb8 57 Bno055 bno055;
echo_piyo 2:d5b8f8e62923 58 Position_pid yaw_pid;
echo_piyo 4:a6cc2f03e69b 59 Accel v1;
echo_piyo 4:a6cc2f03e69b 60 Accel v2;
echo_piyo 4:a6cc2f03e69b 61 Accel v3;
echo_piyo 4:a6cc2f03e69b 62 Accel v4;
echo_piyo 15:0fdf483769bf 63 Cylinder cylinder(pin_cylinder_on,pin_cylinder_off);
echo_piyo 17:5c4718c603dc 64 Cyclic sword_left;
echo_piyo 20:347daec6c9a3 65 Cyclic sword_right;
echo_piyo 12:1fec80ae8a2c 66
echo_piyo 12:1fec80ae8a2c 67 //追加点
echo_piyo 13:dfae731e239f 68 Encoder enc_cylinder(encoder_A,encoder_B);
echo_piyo 13:dfae731e239f 69 //QEI wheel(encoder_A, encoder_B, NC, 624);
echo_piyo 9:6486f4b3ac50 70
echo_piyo 0:bf96e953cdb8 71 void setup();
echo_piyo 0:bf96e953cdb8 72 void output();
echo_piyo 15:0fdf483769bf 73 void motor_cal();
echo_piyo 16:e49df474e4c6 74 void cylinder_cal();
echo_piyo 10:04f2a82cfd89 75 void boost();
echo_piyo 12:1fec80ae8a2c 76 void cylinder_origin();
echo_piyo 17:5c4718c603dc 77 void sword_left_cal();
echo_piyo 21:6568c3587003 78 void sword_right_cal();
echo_piyo 2:d5b8f8e62923 79 float yaw, target_yaw;
echo_piyo 0:bf96e953cdb8 80
echo_piyo 21:6568c3587003 81
echo_piyo 0:bf96e953cdb8 82 int main()
echo_piyo 0:bf96e953cdb8 83 {
echo_piyo 0:bf96e953cdb8 84 setup();
echo_piyo 2:d5b8f8e62923 85 while(1) {
echo_piyo 17:5c4718c603dc 86 //pc.printf("Pulses is: %i\r\n",sbdbt.down);
echo_piyo 0:bf96e953cdb8 87 }
echo_piyo 0:bf96e953cdb8 88 }
echo_piyo 0:bf96e953cdb8 89
echo_piyo 0:bf96e953cdb8 90 void setup()
echo_piyo 0:bf96e953cdb8 91 {
echo_piyo 1:2d878962e6ea 92 wait(1);
echo_piyo 19:76a387e4bcf6 93 bno055.begin();
echo_piyo 0:bf96e953cdb8 94 wait(1);
echo_piyo 19:76a387e4bcf6 95 bno055.firstRead();
echo_piyo 0:bf96e953cdb8 96 pc.baud(pc_baud);
echo_piyo 0:bf96e953cdb8 97 sbdbt.begin(sbdbt_baud);
echo_piyo 0:bf96e953cdb8 98 rs422.begin(rs422_baud);
echo_piyo 19:76a387e4bcf6 99 cylinder_origin();
echo_piyo 0:bf96e953cdb8 100 output_timer.attach(&output, output_period);
echo_piyo 2:d5b8f8e62923 101 yaw_pid.setup(yaw_Kp, yaw_Ki, yaw_Kd);
echo_piyo 10:04f2a82cfd89 102 mecanum.setupdeg(bno055.getYawRad()+180.0);
echo_piyo 4:a6cc2f03e69b 103 v1.setup(acceleration,output_period);
echo_piyo 4:a6cc2f03e69b 104 v2.setup(acceleration,output_period);
echo_piyo 4:a6cc2f03e69b 105 v3.setup(acceleration,output_period);
echo_piyo 4:a6cc2f03e69b 106 v4.setup(acceleration,output_period);
echo_piyo 12:1fec80ae8a2c 107
echo_piyo 12:1fec80ae8a2c 108 //追加点
echo_piyo 13:dfae731e239f 109 enc_cylinder.setup(1200);
echo_piyo 13:dfae731e239f 110 enc_cylinder.set_parameter(enc_Kp,enc_Ki,enc_Kd);
echo_piyo 12:1fec80ae8a2c 111 }
echo_piyo 12:1fec80ae8a2c 112
echo_piyo 15:0fdf483769bf 113 void output()
echo_piyo 15:0fdf483769bf 114 {
echo_piyo 15:0fdf483769bf 115 motor_cal();
echo_piyo 16:e49df474e4c6 116 cylinder_cal();
echo_piyo 17:5c4718c603dc 117 sword_left_cal();
echo_piyo 21:6568c3587003 118 sword_right_cal();
echo_piyo 18:ae4d97945b83 119 //boost();
echo_piyo 15:0fdf483769bf 120
echo_piyo 15:0fdf483769bf 121 static int counter;
echo_piyo 23:aeff5fd36ae1 122 int id[nucleo_num] = {n1_id, n2_id, n3_id, n4_id, n5_id};
echo_piyo 15:0fdf483769bf 123
echo_piyo 15:0fdf483769bf 124 switch (counter) {
echo_piyo 15:0fdf483769bf 125 case 0:
echo_piyo 24:da0fc94add43 126 rs422.put(id[counter], v1.duty(mecanum.v1()*powerdown), v3.duty(mecanum.v3()*powerdown));
echo_piyo 15:0fdf483769bf 127 counter++;
echo_piyo 15:0fdf483769bf 128 break;
echo_piyo 15:0fdf483769bf 129 case 1:
echo_piyo 24:da0fc94add43 130 rs422.put(id[counter], v2.duty(mecanum.v2()*powerdown), v4.duty(mecanum.v4()*powerdown));
echo_piyo 15:0fdf483769bf 131 counter ++;
echo_piyo 15:0fdf483769bf 132 break;
echo_piyo 15:0fdf483769bf 133 case 2:
echo_piyo 19:76a387e4bcf6 134 rs422.put(id[counter], sbdbt.right_y, 0.0);
echo_piyo 17:5c4718c603dc 135 counter ++;
echo_piyo 17:5c4718c603dc 136 break;
echo_piyo 17:5c4718c603dc 137 case 3:
echo_piyo 24:da0fc94add43 138 rs422.put(id[counter], (-sbdbt.sankaku*0.8+sbdbt.batu*0.8), (sbdbt.up*0.8-sbdbt.down*0.8));
echo_piyo 20:347daec6c9a3 139 counter ++;
echo_piyo 20:347daec6c9a3 140 break;
echo_piyo 20:347daec6c9a3 141 case 4:
echo_piyo 24:da0fc94add43 142 rs422.put(id[counter], ((float)sword_right.getState()*0.8),((float)sword_left.getState()*0.8));
echo_piyo 15:0fdf483769bf 143 counter = 0;
echo_piyo 15:0fdf483769bf 144 break;
echo_piyo 15:0fdf483769bf 145 default:
echo_piyo 15:0fdf483769bf 146 break;
echo_piyo 15:0fdf483769bf 147 };
echo_piyo 15:0fdf483769bf 148 }
echo_piyo 15:0fdf483769bf 149
echo_piyo 17:5c4718c603dc 150 void sword_left_cal(){
echo_piyo 20:347daec6c9a3 151 sword_left.cyclic(sbdbt.left);
echo_piyo 20:347daec6c9a3 152 }
echo_piyo 25:124aee8a7742 153
echo_piyo 20:347daec6c9a3 154 void sword_right_cal(){
echo_piyo 20:347daec6c9a3 155 sword_right.cyclic(sbdbt.maru);
echo_piyo 17:5c4718c603dc 156 }
echo_piyo 15:0fdf483769bf 157
echo_piyo 12:1fec80ae8a2c 158 void cylinder_origin(){
echo_piyo 12:1fec80ae8a2c 159 while(interrupt){
echo_piyo 14:aac2f18f6779 160 led1 = 1;
echo_piyo 12:1fec80ae8a2c 161 rs422.put(5, -0.8, 0.0);
echo_piyo 12:1fec80ae8a2c 162 }
echo_piyo 14:aac2f18f6779 163 led1 = 0;
echo_piyo 0:bf96e953cdb8 164 }
echo_piyo 0:bf96e953cdb8 165
echo_piyo 19:76a387e4bcf6 166 void cylinder_cal()
echo_piyo 19:76a387e4bcf6 167 {
echo_piyo 20:347daec6c9a3 168 cylinder.cyclic(sbdbt.right);
echo_piyo 19:76a387e4bcf6 169 }
echo_piyo 19:76a387e4bcf6 170
echo_piyo 10:04f2a82cfd89 171 void boost(){
echo_piyo 10:04f2a82cfd89 172 if(sbdbt.sankaku) {
echo_piyo 10:04f2a82cfd89 173 mecanum.boost_forward();
echo_piyo 10:04f2a82cfd89 174 }
echo_piyo 10:04f2a82cfd89 175 if(sbdbt.batu) {
echo_piyo 10:04f2a82cfd89 176 mecanum.boost_back();
echo_piyo 10:04f2a82cfd89 177 }
echo_piyo 10:04f2a82cfd89 178 if(sbdbt.shikaku) {
echo_piyo 10:04f2a82cfd89 179 mecanum.boost_left();
echo_piyo 10:04f2a82cfd89 180 }
echo_piyo 10:04f2a82cfd89 181 if(sbdbt.maru) {
echo_piyo 10:04f2a82cfd89 182 mecanum.boost_right();
echo_piyo 10:04f2a82cfd89 183 }
echo_piyo 10:04f2a82cfd89 184 }
echo_piyo 10:04f2a82cfd89 185
echo_piyo 15:0fdf483769bf 186 void motor_cal()
echo_piyo 5:6efda58ff71b 187 {
echo_piyo 4:a6cc2f03e69b 188 yaw = bno055.getYawRad();
echo_piyo 4:a6cc2f03e69b 189 target_yaw = yaw;
echo_piyo 4:a6cc2f03e69b 190 yaw_pid.cal(target_yaw, yaw, output_period);
echo_piyo 4:a6cc2f03e69b 191 mecanum.sbdbt_cal(sbdbt.left_x, sbdbt.left_y, sbdbt.l1, sbdbt.r1, yaw_pid.duty(), bno055.getYawRad());
echo_piyo 5:6efda58ff71b 192 // 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 193 }