kusano kiyoshige / Mbed 2 deprecated 17robo_tokyo_kaede

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 kusano kiyoshige

main.cpp@67:b094d88583be, 2017-09-24 (annotated)

Committer:
echo_piyo
Date:
Sun Sep 24 05:28:43 2017 +0000
Revision:
67:b094d88583be
Parent:
66:1664ee92539d
Child:
68:18cd96c13fa1
(??)??????bno055????????????; ???????????????????????

Who changed what in which revision?

UserRevisionLine numberNew contents of line
echo_piyo 56:a7bd860b85b6 1 //index_include
echo_piyo 0:bf96e953cdb8 2 #include "mbed.h"
echo_piyo 4:a6cc2f03e69b 3 #include "math.h"
echo_piyo 66:1664ee92539d 4 //#include "bit_test.h"
echo_piyo 66:1664ee92539d 5 #include "rs422_put.h"
echo_piyo 0:bf96e953cdb8 6 #include "sbdbt.h"
echo_piyo 0:bf96e953cdb8 7 #include "mecanum.h"
echo_piyo 0:bf96e953cdb8 8 #include "bno055_lib.h"
echo_piyo 0:bf96e953cdb8 9 #include "bno055_use.h"
echo_piyo 0:bf96e953cdb8 10 #include "pid.h"
echo_piyo 0:bf96e953cdb8 11 #include "limit.h"
echo_piyo 4:a6cc2f03e69b 12 #include "accelerator.h"
echo_piyo 66:1664ee92539d 13 #include "pid_encoder.h"
echo_piyo 66:1664ee92539d 14 #include "cyclic_var.h"
echo_piyo 66:1664ee92539d 15 #include "cyclic_io.h"
echo_piyo 15:0fdf483769bf 16 #include "cylinder.h"
echo_piyo 66:1664ee92539d 17 #include "event_var.h"
echo_piyo 0:bf96e953cdb8 18
echo_piyo 56:a7bd860b85b6 19 //index_define
echo_piyo 0:bf96e953cdb8 20 #define pc_baud 460800
echo_piyo 0:bf96e953cdb8 21 #define sbdbt_tx p13
echo_piyo 0:bf96e953cdb8 22 #define sbdbt_rx p14
echo_piyo 0:bf96e953cdb8 23 #define sbdbt_baud 115200
echo_piyo 0:bf96e953cdb8 24 #define rs422_tx p28
echo_piyo 0:bf96e953cdb8 25 #define rs422_rx p27
echo_piyo 0:bf96e953cdb8 26 #define rs422_baud 115200
echo_piyo 3:9ef929639c4a 27 #define output_period 0.015
echo_piyo 28:72b9af7e1700 28 #define nucleo_num 6
echo_piyo 0:bf96e953cdb8 29 #define pi 3.141592
echo_piyo 0:bf96e953cdb8 30 #define n1_id 3
echo_piyo 0:bf96e953cdb8 31 #define n2_id 4
echo_piyo 10:04f2a82cfd89 32 #define n3_id 5
echo_piyo 14:aac2f18f6779 33 #define n4_id 6
echo_piyo 14:aac2f18f6779 34 #define n5_id 7
echo_piyo 28:72b9af7e1700 35 #define n6_id 8
echo_piyo 5:6efda58ff71b 36 #define yaw_Kp 0.01
echo_piyo 5:6efda58ff71b 37 #define yaw_Ki 0.01
echo_piyo 5:6efda58ff71b 38 #define yaw_Kd 0.01
echo_piyo 54:a88208d9bc1d 39 #define acceleration 15 //25
echo_piyo 59:68a73b9d27f5 40 #define pin_cylinder_on p18
echo_piyo 59:68a73b9d27f5 41 #define pin_cylinder_off p17
echo_piyo 64:41dcec6c20bc 42 #define pin_interrupt_cylinder_min p29
echo_piyo 64:41dcec6c20bc 43 #define encoder_A p21
echo_piyo 64:41dcec6c20bc 44 #define encoder_B p22
echo_piyo 40:2d6888448ab2 45 #define enc_Kp 0.0400
echo_piyo 33:64fd1bd83bac 46 #define enc_Ki 0.0001
echo_piyo 33:64fd1bd83bac 47 #define enc_Kd 0.0003
echo_piyo 34:02d605c68bf3 48 #define mecanum_power 1.0
echo_piyo 52:f5ae47e683fa 49 #define sword_power 1.0
echo_piyo 52:f5ae47e683fa 50 #define sholder_power 1.0
echo_piyo 47:6ea046767494 51 #define pin_interrupt_sholderright_max p19 //p21
echo_piyo 47:6ea046767494 52 #define pin_interrupt_sholderright_min p20 //p22
echo_piyo 33:64fd1bd83bac 53 #define pin_interrupt_sholderleft_max p7
echo_piyo 33:64fd1bd83bac 54 #define pin_interrupt_sholderleft_min p8
echo_piyo 64:41dcec6c20bc 55 //#define pin_servo p21
echo_piyo 35:5e1ad00f26fb 56 #define servo_reload_time 1.0
echo_piyo 43:605e5b0b9106 57 #define pin_cylinder_reload p15
echo_piyo 45:a32e8091901b 58 #define pin_sbdbt_pairing p12
echo_piyo 45:a32e8091901b 59 #define pin_sbdbt_indicator p11
echo_piyo 56:a7bd860b85b6 60 #define cylinder_pos_max 6
echo_piyo 0:bf96e953cdb8 61
echo_piyo 57:68df771fd8a1 62
echo_piyo 56:a7bd860b85b6 63 //index_setupPin
echo_piyo 45:a32e8091901b 64 DigitalOut led1(LED1);
echo_piyo 48:96b5f5ebdfb0 65 DigitalOut led2(LED2);
echo_piyo 48:96b5f5ebdfb0 66 DigitalOut led3(LED3);
echo_piyo 48:96b5f5ebdfb0 67 DigitalOut led4(LED4);
echo_piyo 31:285c9898da03 68 DigitalIn interrupt_cylinder_min(pin_interrupt_cylinder_min);
echo_piyo 0:bf96e953cdb8 69 Serial pc(USBTX,USBRX);
echo_piyo 66:1664ee92539d 70 Rs422 rs422(rs422_tx, rs422_rx);
echo_piyo 45:a32e8091901b 71 Sbdbt sbdbt(sbdbt_tx, sbdbt_rx, pin_sbdbt_pairing);
echo_piyo 0:bf96e953cdb8 72 Ticker output_timer;
echo_piyo 0:bf96e953cdb8 73 Mecanum mecanum;
echo_piyo 0:bf96e953cdb8 74 Bno055 bno055;
echo_piyo 66:1664ee92539d 75 PositionPid yaw_pid;
echo_piyo 66:1664ee92539d 76 Accelerator v1;
echo_piyo 66:1664ee92539d 77 Accelerator v2;
echo_piyo 66:1664ee92539d 78 Accelerator v3;
echo_piyo 66:1664ee92539d 79 Accelerator v4;
echo_piyo 58:6cd46488f59b 80 DigitalOut cylinder_on(pin_cylinder_on);
echo_piyo 58:6cd46488f59b 81 DigitalOut cylinder_off(pin_cylinder_off);
echo_piyo 66:1664ee92539d 82 CyclicVar sword;
echo_piyo 66:1664ee92539d 83 CyclicVar cyclic_cylinder_position;
echo_piyo 31:285c9898da03 84 DigitalIn interrupt_sholderright_min(pin_interrupt_sholderright_min);
echo_piyo 31:285c9898da03 85 DigitalIn interrupt_sholderright_max(pin_interrupt_sholderright_max);
echo_piyo 31:285c9898da03 86 DigitalIn interrupt_sholderleft_min(pin_interrupt_sholderleft_min);
echo_piyo 31:285c9898da03 87 DigitalIn interrupt_sholderleft_max(pin_interrupt_sholderleft_max);
echo_piyo 35:5e1ad00f26fb 88 Encoder enc_cylinder(encoder_A,encoder_B);
echo_piyo 66:1664ee92539d 89 CyclicVar cyclic_servo;
echo_piyo 66:1664ee92539d 90 CyclicIo cylinder_reload(pin_cylinder_reload);
echo_piyo 64:41dcec6c20bc 91 //PwmOut servo(pin_servo);
echo_piyo 45:a32e8091901b 92 DigitalOut sbdbt_indigator(pin_sbdbt_indicator);
echo_piyo 66:1664ee92539d 93 eventVar cylinder_event;
echo_piyo 9:6486f4b3ac50 94
echo_piyo 67:b094d88583be 95
echo_piyo 56:a7bd860b85b6 96 //index_setupFunction
echo_piyo 0:bf96e953cdb8 97 void setup();
echo_piyo 0:bf96e953cdb8 98 void output();
echo_piyo 15:0fdf483769bf 99 void motor_cal();
echo_piyo 16:e49df474e4c6 100 void cylinder_cal();
echo_piyo 10:04f2a82cfd89 101 void boost();
echo_piyo 12:1fec80ae8a2c 102 void cylinder_origin();
echo_piyo 53:701dc7886fff 103 void firstmotion();
echo_piyo 26:3280d0300b04 104 void sword_cal();
echo_piyo 35:5e1ad00f26fb 105 void servo_origin();
echo_piyo 31:285c9898da03 106 float shoulder_right_cal();
echo_piyo 31:285c9898da03 107 float shoulder_left_cal();
echo_piyo 42:63aedf71f4d1 108
echo_piyo 56:a7bd860b85b6 109 //index_setupVariable
echo_piyo 39:6735743ac0f1 110 //output
echo_piyo 2:d5b8f8e62923 111 float yaw, target_yaw;
echo_piyo 39:6735743ac0f1 112 //cylinder_origin
echo_piyo 38:b071512af5ca 113 int cylinder_origin_flag = 0;
echo_piyo 39:6735743ac0f1 114 //cylinder
echo_piyo 39:6735743ac0f1 115 float cylinder_pwm;
echo_piyo 39:6735743ac0f1 116 int cylinder_pos_num = 0;
echo_piyo 56:a7bd860b85b6 117 float cylinder_pos[cylinder_pos_max] = {0.0,90.0,325.0,450.0,580.0,700.0};
echo_piyo 0:bf96e953cdb8 118
echo_piyo 0:bf96e953cdb8 119 int main()
echo_piyo 0:bf96e953cdb8 120 {
echo_piyo 0:bf96e953cdb8 121 setup();
echo_piyo 2:d5b8f8e62923 122 while(1) {
echo_piyo 48:96b5f5ebdfb0 123 led1 = interrupt_sholderleft_max;
echo_piyo 48:96b5f5ebdfb0 124 led2 = interrupt_sholderleft_min;
echo_piyo 48:96b5f5ebdfb0 125 led3 = interrupt_sholderright_max;
echo_piyo 48:96b5f5ebdfb0 126 led4 = interrupt_sholderright_min;
echo_piyo 50:e4e1f38d1bd5 127
echo_piyo 64:41dcec6c20bc 128 //pc.printf("cylinder pos : %f\r\n",enc_cylinder.deg());
echo_piyo 55:2dd2f161ebaf 129 //pc.printf("riseState %d : fallState %d\r\n",event.getRise(),event.getFall());
echo_piyo 0:bf96e953cdb8 130 }
echo_piyo 0:bf96e953cdb8 131 }
echo_piyo 0:bf96e953cdb8 132
echo_piyo 0:bf96e953cdb8 133 void setup()
echo_piyo 0:bf96e953cdb8 134 {
echo_piyo 40:2d6888448ab2 135 wait(2.0);
echo_piyo 65:5e4c2e5494ae 136 bno055.begin();
echo_piyo 40:2d6888448ab2 137 wait(1.0);
echo_piyo 65:5e4c2e5494ae 138 bno055.firstRead();
echo_piyo 0:bf96e953cdb8 139 pc.baud(pc_baud);
echo_piyo 0:bf96e953cdb8 140 sbdbt.begin(sbdbt_baud);
echo_piyo 0:bf96e953cdb8 141 rs422.begin(rs422_baud);
echo_piyo 53:701dc7886fff 142 firstmotion();
echo_piyo 49:b041c815c063 143 cylinder_pos_num = 2; //セットアップタイムでの初期装填のため
echo_piyo 0:bf96e953cdb8 144 output_timer.attach(&output, output_period);
echo_piyo 66:1664ee92539d 145 yaw_pid.setup(yaw_Kp, yaw_Ki, yaw_Kd,output_period);
echo_piyo 39:6735743ac0f1 146 mecanum.setupdeg(bno055.getYawRad()); //基盤が前後逆の場合+180
echo_piyo 4:a6cc2f03e69b 147 v1.setup(acceleration,output_period);
echo_piyo 4:a6cc2f03e69b 148 v2.setup(acceleration,output_period);
echo_piyo 4:a6cc2f03e69b 149 v3.setup(acceleration,output_period);
echo_piyo 4:a6cc2f03e69b 150 v4.setup(acceleration,output_period);
echo_piyo 66:1664ee92539d 151 enc_cylinder.setPpr(100);
echo_piyo 66:1664ee92539d 152 enc_cylinder.setup(enc_Kp,enc_Ki,enc_Kd,output_period);
echo_piyo 64:41dcec6c20bc 153 //servo.period(0.020);
echo_piyo 12:1fec80ae8a2c 154 }
echo_piyo 12:1fec80ae8a2c 155
echo_piyo 36:dca1081c19b3 156 //Sword
echo_piyo 35:5e1ad00f26fb 157 float shoulder_right_cal()
echo_piyo 15:0fdf483769bf 158 {
echo_piyo 40:2d6888448ab2 159 if(interrupt_sholderright_max==0&&sbdbt.sankaku==1) {
echo_piyo 31:285c9898da03 160 return 0.0;
echo_piyo 31:285c9898da03 161 }
echo_piyo 40:2d6888448ab2 162 if(interrupt_sholderright_min==0&&sbdbt.batu==1) {
echo_piyo 33:64fd1bd83bac 163 return 0.0;
echo_piyo 31:285c9898da03 164 }
echo_piyo 31:285c9898da03 165 return (-sbdbt.sankaku*0.8+sbdbt.batu*0.8);
echo_piyo 31:285c9898da03 166 }
echo_piyo 31:285c9898da03 167
echo_piyo 35:5e1ad00f26fb 168 float shoulder_left_cal()
echo_piyo 35:5e1ad00f26fb 169 {
echo_piyo 40:2d6888448ab2 170 if(interrupt_sholderleft_max==0&&sbdbt.sankaku==1) {
echo_piyo 31:285c9898da03 171 return 0.0;
echo_piyo 31:285c9898da03 172 }
echo_piyo 40:2d6888448ab2 173 if(interrupt_sholderleft_min==0&&sbdbt.batu==1) {
echo_piyo 35:5e1ad00f26fb 174 return 0.0;
echo_piyo 31:285c9898da03 175 }
echo_piyo 40:2d6888448ab2 176 return (-sbdbt.sankaku*0.8+sbdbt.batu*0.8);
echo_piyo 31:285c9898da03 177 }
echo_piyo 31:285c9898da03 178 void sword_cal()
echo_piyo 31:285c9898da03 179 {
echo_piyo 26:3280d0300b04 180 sword.cyclic(sbdbt.maru);
echo_piyo 17:5c4718c603dc 181 }
echo_piyo 15:0fdf483769bf 182
echo_piyo 36:dca1081c19b3 183 //cylinder
echo_piyo 53:701dc7886fff 184 void firstmotion()
echo_piyo 31:285c9898da03 185 {
echo_piyo 53:701dc7886fff 186 float cylinder = 0.0;
echo_piyo 53:701dc7886fff 187 float sholderL = 0.0;
echo_piyo 53:701dc7886fff 188 float sholderR = 0.0;
echo_piyo 65:5e4c2e5494ae 189 while(interrupt_cylinder_min == 1 || interrupt_sholderleft_max == 1 || interrupt_sholderright_max == 1){
echo_piyo 53:701dc7886fff 190 if(interrupt_cylinder_min == 1){
echo_piyo 53:701dc7886fff 191 cylinder = 2.0;
echo_piyo 53:701dc7886fff 192 }else{
echo_piyo 53:701dc7886fff 193 cylinder = 0.0;
echo_piyo 53:701dc7886fff 194 }
echo_piyo 53:701dc7886fff 195 if(interrupt_sholderright_max == 1){
echo_piyo 53:701dc7886fff 196 sholderR = -2.0;
echo_piyo 53:701dc7886fff 197 }else{
echo_piyo 53:701dc7886fff 198 sholderR = 0.0;
echo_piyo 53:701dc7886fff 199 }
echo_piyo 53:701dc7886fff 200 if(interrupt_sholderleft_max == 1){
echo_piyo 53:701dc7886fff 201 sholderL = 2.0;
echo_piyo 53:701dc7886fff 202 }else{
echo_piyo 53:701dc7886fff 203 sholderL = 0.0;
echo_piyo 53:701dc7886fff 204 }
echo_piyo 53:701dc7886fff 205 rs422.put(5, cylinder, 0.0);
echo_piyo 53:701dc7886fff 206 rs422.put(6, sholderR, sholderL);
echo_piyo 12:1fec80ae8a2c 207 }
echo_piyo 31:285c9898da03 208 enc_cylinder.origin();
echo_piyo 0:bf96e953cdb8 209 }
echo_piyo 38:b071512af5ca 210
echo_piyo 42:63aedf71f4d1 211 //cylinder_origin_flagを1にすることで動作する
echo_piyo 38:b071512af5ca 212 void cylinder_origin()
echo_piyo 38:b071512af5ca 213 {
echo_piyo 45:a32e8091901b 214 if(interrupt_cylinder_min == 0&&cylinder_origin_flag == 1) {
echo_piyo 39:6735743ac0f1 215 cylinder_origin_flag = 0;
echo_piyo 39:6735743ac0f1 216 enc_cylinder.origin();
echo_piyo 39:6735743ac0f1 217 cylinder_pos_num = 0;
echo_piyo 45:a32e8091901b 218 } else if(cylinder_origin_flag == 1) {
echo_piyo 42:63aedf71f4d1 219 rs422.put(5, -0.8, 0.0);
echo_piyo 38:b071512af5ca 220 }
echo_piyo 38:b071512af5ca 221 }
echo_piyo 19:76a387e4bcf6 222 void cylinder_cal()
echo_piyo 31:285c9898da03 223 {
echo_piyo 58:6cd46488f59b 224 //cylinder ON/OFF
echo_piyo 58:6cd46488f59b 225 if(sbdbt.shikaku){
echo_piyo 58:6cd46488f59b 226 cylinder_on = 1;
echo_piyo 58:6cd46488f59b 227 cylinder_off = 0;
echo_piyo 58:6cd46488f59b 228 }else{
echo_piyo 58:6cd46488f59b 229 cylinder_on = 0;
echo_piyo 58:6cd46488f59b 230 cylinder_off = 1;
echo_piyo 58:6cd46488f59b 231 }
echo_piyo 51:70d45b959d6b 232
echo_piyo 51:70d45b959d6b 233 cylinder_event.input(sbdbt.right);
echo_piyo 51:70d45b959d6b 234 if(cylinder_event.getRise()) { //cylinder degset
echo_piyo 31:285c9898da03 235 cylinder_pos_num++;
echo_piyo 55:2dd2f161ebaf 236 if(cylinder_pos_num >= cylinder_pos_max) {
echo_piyo 42:63aedf71f4d1 237 //cylinder_pos_num = 0;
echo_piyo 42:63aedf71f4d1 238 cylinder_origin_flag=1;
echo_piyo 31:285c9898da03 239 }
echo_piyo 31:285c9898da03 240 }
echo_piyo 50:e4e1f38d1bd5 241 enc_cylinder.cal((float)cylinder_pos[cylinder_pos_num],output_period); //set cylinder_tergetPos
echo_piyo 35:5e1ad00f26fb 242
echo_piyo 64:41dcec6c20bc 243 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 19:76a387e4bcf6 244 }
echo_piyo 38:b071512af5ca 245
echo_piyo 64:41dcec6c20bc 246 //function
echo_piyo 64:41dcec6c20bc 247 /*void servo_max()
echo_piyo 45:a32e8091901b 248 {
echo_piyo 45:a32e8091901b 249 servo.pulsewidth(0.0022);
echo_piyo 35:5e1ad00f26fb 250 }
echo_piyo 38:b071512af5ca 251 void servo_min()
echo_piyo 35:5e1ad00f26fb 252 {
echo_piyo 35:5e1ad00f26fb 253 servo.pulsewidth(0.0010);
echo_piyo 38:b071512af5ca 254 }
echo_piyo 45:a32e8091901b 255 void servo_out()
echo_piyo 45:a32e8091901b 256 {
echo_piyo 39:6735743ac0f1 257 cyclic_servo.cyclic(sbdbt.down); //setServoControl
echo_piyo 45:a32e8091901b 258 if(cyclic_servo.getState()==0) {
echo_piyo 39:6735743ac0f1 259 servo_min();
echo_piyo 45:a32e8091901b 260 } else if(cyclic_servo.getState()==1) {
echo_piyo 39:6735743ac0f1 261 servo_max();
echo_piyo 38:b071512af5ca 262 }
echo_piyo 64:41dcec6c20bc 263 }*/
echo_piyo 35:5e1ad00f26fb 264
echo_piyo 36:dca1081c19b3 265
echo_piyo 64:41dcec6c20bc 266 //functionBoost
echo_piyo 31:285c9898da03 267 void boost()
echo_piyo 31:285c9898da03 268 {
echo_piyo 31:285c9898da03 269 if(sbdbt.r2) {
echo_piyo 10:04f2a82cfd89 270 mecanum.boost_forward();
echo_piyo 10:04f2a82cfd89 271 }
echo_piyo 31:285c9898da03 272 if(sbdbt.l2) {
echo_piyo 10:04f2a82cfd89 273 mecanum.boost_back();
echo_piyo 10:04f2a82cfd89 274 }
echo_piyo 26:3280d0300b04 275 /*
echo_piyo 10:04f2a82cfd89 276 if(sbdbt.shikaku) {
echo_piyo 10:04f2a82cfd89 277 mecanum.boost_left();
echo_piyo 10:04f2a82cfd89 278 }
echo_piyo 10:04f2a82cfd89 279 if(sbdbt.maru) {
echo_piyo 10:04f2a82cfd89 280 mecanum.boost_right();
echo_piyo 10:04f2a82cfd89 281 }
echo_piyo 26:3280d0300b04 282 */
echo_piyo 10:04f2a82cfd89 283 }
echo_piyo 10:04f2a82cfd89 284
echo_piyo 64:41dcec6c20bc 285 //functionMecanum
echo_piyo 15:0fdf483769bf 286 void motor_cal()
echo_piyo 5:6efda58ff71b 287 {
echo_piyo 56:a7bd860b85b6 288 static float out_right_x;
echo_piyo 4:a6cc2f03e69b 289 yaw = bno055.getYawRad();
echo_piyo 4:a6cc2f03e69b 290 target_yaw = yaw;
echo_piyo 66:1664ee92539d 291 yaw_pid.calculate(target_yaw, yaw);
echo_piyo 56:a7bd860b85b6 292
echo_piyo 56:a7bd860b85b6 293 //後進時に方向が逆転するため
echo_piyo 56:a7bd860b85b6 294 if(sbdbt.right_y < 0.0){
echo_piyo 56:a7bd860b85b6 295 out_right_x = -1.0*sbdbt.right_x;
echo_piyo 56:a7bd860b85b6 296 }else{
echo_piyo 56:a7bd860b85b6 297 out_right_x = sbdbt.right_x;
echo_piyo 56:a7bd860b85b6 298 }
echo_piyo 56:a7bd860b85b6 299 mecanum.sbdbt_cal(sbdbt.left_x, sbdbt.left_y, sbdbt.l1, sbdbt.r1, out_right_x, bno055.getYawRad());
echo_piyo 5:6efda58ff71b 300 // 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 35:5e1ad00f26fb 301 }
echo_piyo 35:5e1ad00f26fb 302 void output()
echo_piyo 35:5e1ad00f26fb 303 {
echo_piyo 35:5e1ad00f26fb 304 motor_cal();
echo_piyo 35:5e1ad00f26fb 305 cylinder_cal();
echo_piyo 35:5e1ad00f26fb 306 sword_cal();
echo_piyo 64:41dcec6c20bc 307 //servo_out();
echo_piyo 38:b071512af5ca 308 cylinder_origin();
echo_piyo 35:5e1ad00f26fb 309 //boost();
echo_piyo 56:a7bd860b85b6 310 sbdbt_indigator = sbdbt.get_pairingState();
echo_piyo 48:96b5f5ebdfb0 311 //led1 = sbdbt.get_pairingState();
echo_piyo 49:b041c815c063 312 if(sbdbt.up)cylinder_origin_flag = 1;
echo_piyo 49:b041c815c063 313 if(sbdbt.left)bno055.yaw_origin();
echo_piyo 49:b041c815c063 314 cylinder_reload.cyclic(sbdbt.down);
echo_piyo 45:a32e8091901b 315
echo_piyo 35:5e1ad00f26fb 316 static int counter;
echo_piyo 53:701dc7886fff 317 static float mecanumV1, mecanumV2, mecanumV3, mecanumV4;
echo_piyo 35:5e1ad00f26fb 318 int id[nucleo_num] = {n1_id, n2_id, n3_id, n4_id, n5_id, n6_id};
echo_piyo 45:a32e8091901b 319
echo_piyo 45:a32e8091901b 320 //sbdbtがpairingしている場合のみ動作
echo_piyo 45:a32e8091901b 321 if(sbdbt.get_pairingState()) {
echo_piyo 45:a32e8091901b 322 switch (counter) {
echo_piyo 45:a32e8091901b 323 case 0:
echo_piyo 53:701dc7886fff 324 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)));
echo_piyo 45:a32e8091901b 325 counter++;
echo_piyo 45:a32e8091901b 326 break;
echo_piyo 45:a32e8091901b 327 case 1:
echo_piyo 45:a32e8091901b 328 //.duty(<cal>*<powerControle>+(<boost>*0.5))
echo_piyo 53:701dc7886fff 329 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)));
echo_piyo 45:a32e8091901b 330 counter ++;
echo_piyo 45:a32e8091901b 331 break;
echo_piyo 45:a32e8091901b 332 case 2:
echo_piyo 55:2dd2f161ebaf 333 //rs422.put(id[counter], sbdbt.right_y, 0.0);
echo_piyo 65:5e4c2e5494ae 334 rs422.put(id[counter], limitf((-1*enc_cylinder.duty_enableWidth(-10.0,10.0)),1.0,-1.0), 0.0);
echo_piyo 45:a32e8091901b 335 counter ++;
echo_piyo 45:a32e8091901b 336 break;
echo_piyo 45:a32e8091901b 337 case 3:
echo_piyo 53:701dc7886fff 338 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));
echo_piyo 45:a32e8091901b 339 counter ++;
echo_piyo 45:a32e8091901b 340 break;
echo_piyo 45:a32e8091901b 341 case 4:
echo_piyo 53:701dc7886fff 342 rs422.put(id[counter], limitf(((float)sword.getState()*sword_power),1.0,-1.0),0.0);
echo_piyo 45:a32e8091901b 343 counter = 0;
echo_piyo 45:a32e8091901b 344 break;
echo_piyo 45:a32e8091901b 345 default:
echo_piyo 45:a32e8091901b 346 break;
echo_piyo 48:96b5f5ebdfb0 347 }
echo_piyo 45:a32e8091901b 348 }else{
echo_piyo 48:96b5f5ebdfb0 349 switch (counter) {
echo_piyo 48:96b5f5ebdfb0 350 case 0:
echo_piyo 48:96b5f5ebdfb0 351 rs422.put(id[counter],0.0,0.0);
echo_piyo 48:96b5f5ebdfb0 352 counter++;
echo_piyo 48:96b5f5ebdfb0 353 break;
echo_piyo 48:96b5f5ebdfb0 354 case 1:
echo_piyo 48:96b5f5ebdfb0 355 rs422.put(id[counter],0.0,0.0);
echo_piyo 48:96b5f5ebdfb0 356 counter ++;
echo_piyo 48:96b5f5ebdfb0 357 break;
echo_piyo 48:96b5f5ebdfb0 358 case 2:
echo_piyo 48:96b5f5ebdfb0 359 rs422.put(id[counter],0.0,0.0);
echo_piyo 48:96b5f5ebdfb0 360 counter ++;
echo_piyo 48:96b5f5ebdfb0 361 break;
echo_piyo 48:96b5f5ebdfb0 362 case 3:
echo_piyo 48:96b5f5ebdfb0 363 rs422.put(id[counter],0.0,0.0);
echo_piyo 48:96b5f5ebdfb0 364 counter ++;
echo_piyo 48:96b5f5ebdfb0 365 break;
echo_piyo 48:96b5f5ebdfb0 366 case 4:
echo_piyo 48:96b5f5ebdfb0 367 rs422.put(id[counter],0.0,0.0);
echo_piyo 48:96b5f5ebdfb0 368 counter = 0;
echo_piyo 48:96b5f5ebdfb0 369 break;
echo_piyo 48:96b5f5ebdfb0 370 default:
echo_piyo 48:96b5f5ebdfb0 371 break;
echo_piyo 45:a32e8091901b 372 }
echo_piyo 45:a32e8091901b 373 }
echo_piyo 14:aac2f18f6779 374 }