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@13:dfae731e239f, 2017-07-17 (annotated)

Committer:
echo_piyo
Date:
Mon Jul 17 04:55:49 2017 +0000
Revision:
13:dfae731e239f
Parent:
12:1fec80ae8a2c
Child:
14:aac2f18f6779
cyclick.h?????????????????

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