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sampleProgram
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_fuzi by
main.cpp@3:9ef929639c4a, 2017-06-30 (annotated)
- Committer:
- echo_piyo
- Date:
- Fri Jun 30 00:55:12 2017 +0000
- Revision:
- 3:9ef929639c4a
- Parent:
- 2:d5b8f8e62923
- Child:
- 4:a6cc2f03e69b
accelerator.h?main.cpp??????
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 | 3:9ef929639c4a | 18 | #define output_period 0.015 |
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 | 2:d5b8f8e62923 | 24 | #define yaw_Kp 0.07 |
echo_piyo | 2:d5b8f8e62923 | 25 | #define yaw_Ki 0 |
echo_piyo | 2:d5b8f8e62923 | 26 | #define yaw_Kd 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 | 2:d5b8f8e62923 | 35 | Position_pid yaw_pid; |
echo_piyo | 2:d5b8f8e62923 | 36 | |
echo_piyo | 0:bf96e953cdb8 | 37 | |
echo_piyo | 0:bf96e953cdb8 | 38 | void setup(); |
echo_piyo | 0:bf96e953cdb8 | 39 | void output(); |
echo_piyo | 0:bf96e953cdb8 | 40 | void put_output(); |
echo_piyo | 0:bf96e953cdb8 | 41 | float m1, m2, m3, m4; |
echo_piyo | 0:bf96e953cdb8 | 42 | float a; |
echo_piyo | 2:d5b8f8e62923 | 43 | float yaw, target_yaw; |
echo_piyo | 0:bf96e953cdb8 | 44 | |
echo_piyo | 0:bf96e953cdb8 | 45 | int main() |
echo_piyo | 0:bf96e953cdb8 | 46 | { |
echo_piyo | 0:bf96e953cdb8 | 47 | setup(); |
echo_piyo | 2:d5b8f8e62923 | 48 | while(1) { |
echo_piyo | 2:d5b8f8e62923 | 49 | yaw = bno055.getYawRad(); |
echo_piyo | 2:d5b8f8e62923 | 50 | target_yaw = yaw; |
echo_piyo | 2:d5b8f8e62923 | 51 | yaw_pid.cal(target_yaw, yaw, output_period); |
echo_piyo | 2:d5b8f8e62923 | 52 | mecanum.sbdbt_cal(sbdbt.left_x, sbdbt.left_y, sbdbt.l1, sbdbt.r1, yaw_pid.duty(), bno055.getYawRad()); |
echo_piyo | 0:bf96e953cdb8 | 53 | 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 | 54 | put_output(); |
echo_piyo | 0:bf96e953cdb8 | 55 | } |
echo_piyo | 0:bf96e953cdb8 | 56 | } |
echo_piyo | 0:bf96e953cdb8 | 57 | |
echo_piyo | 0:bf96e953cdb8 | 58 | void setup() |
echo_piyo | 0:bf96e953cdb8 | 59 | { |
echo_piyo | 1:2d878962e6ea | 60 | wait(1); |
echo_piyo | 0:bf96e953cdb8 | 61 | bno055.begin(); |
echo_piyo | 0:bf96e953cdb8 | 62 | wait(1); |
echo_piyo | 0:bf96e953cdb8 | 63 | bno055.firstRead(); |
echo_piyo | 0:bf96e953cdb8 | 64 | pc.baud(pc_baud); |
echo_piyo | 0:bf96e953cdb8 | 65 | sbdbt.begin(sbdbt_baud); |
echo_piyo | 0:bf96e953cdb8 | 66 | rs422.begin(rs422_baud); |
echo_piyo | 0:bf96e953cdb8 | 67 | output_timer.attach(&output, output_period); |
echo_piyo | 2:d5b8f8e62923 | 68 | yaw_pid.setup(yaw_Kp, yaw_Ki, yaw_Kd); |
echo_piyo | 0:bf96e953cdb8 | 69 | mecanum.setupdeg(bno055.getYawRad()); |
echo_piyo | 0:bf96e953cdb8 | 70 | } |
echo_piyo | 0:bf96e953cdb8 | 71 | |
echo_piyo | 0:bf96e953cdb8 | 72 | void put_output(){ |
echo_piyo | 0:bf96e953cdb8 | 73 | m1 = mecanum.v1(); |
echo_piyo | 0:bf96e953cdb8 | 74 | m2 = mecanum.v2(); |
echo_piyo | 0:bf96e953cdb8 | 75 | m3 = mecanum.v3(); |
echo_piyo | 0:bf96e953cdb8 | 76 | m4 = mecanum.v4(); |
echo_piyo | 0:bf96e953cdb8 | 77 | } |
echo_piyo | 0:bf96e953cdb8 | 78 | |
echo_piyo | 0:bf96e953cdb8 | 79 | void output() |
echo_piyo | 0:bf96e953cdb8 | 80 | { |
echo_piyo | 0:bf96e953cdb8 | 81 | static int counter; |
echo_piyo | 0:bf96e953cdb8 | 82 | int id[nucleo_num] = {n1_id, n2_id, n3_id}; |
echo_piyo | 0:bf96e953cdb8 | 83 | |
echo_piyo | 0:bf96e953cdb8 | 84 | switch (counter) { |
echo_piyo | 0:bf96e953cdb8 | 85 | case 0: |
echo_piyo | 0:bf96e953cdb8 | 86 | rs422.put(id[counter],m1 ,m3); |
echo_piyo | 0:bf96e953cdb8 | 87 | counter++; |
echo_piyo | 0:bf96e953cdb8 | 88 | break; |
echo_piyo | 0:bf96e953cdb8 | 89 | case 1: |
echo_piyo | 0:bf96e953cdb8 | 90 | rs422.put(id[counter],m2 ,m4); |
echo_piyo | 0:bf96e953cdb8 | 91 | counter ++; |
echo_piyo | 0:bf96e953cdb8 | 92 | break; |
echo_piyo | 0:bf96e953cdb8 | 93 | case 2: |
echo_piyo | 0:bf96e953cdb8 | 94 | rs422.put(id[counter], 0.0, 0.0); |
echo_piyo | 0:bf96e953cdb8 | 95 | counter = 0; |
echo_piyo | 0:bf96e953cdb8 | 96 | break; |
echo_piyo | 0:bf96e953cdb8 | 97 | default: |
echo_piyo | 0:bf96e953cdb8 | 98 | break; |
echo_piyo | 0:bf96e953cdb8 | 99 | }; |
echo_piyo | 0:bf96e953cdb8 | 100 | } |