File content as of revision 31:285c9898da03:

#include "mbed.h"
#include "math.h"
#include "bit_test.h"
#include "RS422_put.h"
#include "sbdbt.h"
#include "mecanum.h"
#include "bno055_lib.h"
#include "bno055_use.h"
#include "pid.h"
#include "limit.h"
#include "accelerator.h"
#include "encorder.h"
#include "cyclic.h"
#include "cyclic_IO.h"
#include "cylinder.h"
#include "Servo.h"
//#include "QEI.h"

#define pc_baud     460800
#define sbdbt_tx    p13
#define sbdbt_rx    p14
#define sbdbt_baud  115200
#define rs422_tx    p28
#define rs422_rx    p27
#define rs422_baud  115200
#define output_period   0.015
#define nucleo_num  6
#define pi          3.141592
#define n1_id       3
#define n2_id       4
#define n3_id       5
#define n4_id       6
#define n5_id       7
#define n6_id       8
#define yaw_Kp      0.01
#define yaw_Ki      0.01
#define yaw_Kd      0.01
#define acceleration    25
#define pin_cylinder_on     p17
#define pin_cylinder_off    p18
#define pin_interrupt_cylinder_min       p23
#define encoder_A       p25
#define encoder_B       p26
#define enc_Kp      0.01
#define enc_Ki      0.01
#define enc_Kd      0.01
#define powerdown   0.6
#define pin_servo_reload p21 //
#define pin_interrupt_reload p22 //
#define pin_interrupt_sholderright_max  p23
#define pin_interrupt_sholderright_min  p24
#define pin_interrupt_sholderleft_max   p29
#define pin_interrupt_sholderleft_min   p30

DigitalOut led1(LED1);
//DigitalOut led2(LED2);
DigitalOut led3(LED3);
//DigitalOut led4(LED4);
DigitalIn interrupt_cylinder_min(pin_interrupt_cylinder_min);
Serial pc(USBTX,USBRX);
RS422 rs422(rs422_tx, rs422_rx);
Sbdbt sbdbt(sbdbt_tx, sbdbt_rx);
Ticker output_timer;
Mecanum mecanum;
Bno055 bno055;
Position_pid yaw_pid;
Accel v1;
Accel v2;
Accel v3;
Accel v4;
Cylinder cylinder(pin_cylinder_on,pin_cylinder_off);
Cyclic sword;
Cyclic cyclic_cylinder_position;
DigitalIn interrupt_sholderright_min(pin_interrupt_sholderright_min);
DigitalIn interrupt_sholderright_max(pin_interrupt_sholderright_max);
DigitalIn interrupt_sholderleft_min(pin_interrupt_sholderleft_min);
DigitalIn interrupt_sholderleft_max(pin_interrupt_sholderleft_max);


//追加点
Encoder enc_cylinder(encoder_A,encoder_B);
//QEI wheel(encoder_A, encoder_B, NC, 624);
Servo servo_reload(pin_servo_reload);
DigitalIn interrupt_reload(pin_interrupt_reload);

void setup();
void output();
void motor_cal();
void cylinder_cal();
void boost();
void cylinder_origin();
void sword_cal();
float shoulder_right_cal();
float shoulder_left_cal();
int reload_magazine_flag;
float yaw, target_yaw;

//riseEventそのうちClassにしたい
short state;
int riseEvent(int input)
{
    state = ((state<<1)|input)&3;
    if(state == 1) {
        return 1;
    } else {
        return 0;
    }
}

int main()
{
    setup();
    while(1) {
        //pc.printf("Pulses is: %lo\tdeg :%f\r\n",enc_cylinder.pulse(),enc_cylinder.deg());
        //pc.printf("rise state : %d\r\n",riseEvent(sbdbt.right));
    }
}

void setup()
{
    wait(1);
    bno055.begin();
    wait(1);
    bno055.firstRead();
    pc.baud(pc_baud);
    sbdbt.begin(sbdbt_baud);
    rs422.begin(rs422_baud);
    cylinder_origin();
    output_timer.attach(&output, output_period);
    yaw_pid.setup(yaw_Kp, yaw_Ki, yaw_Kd);
    mecanum.setupdeg(bno055.getYawRad()+180.0);
    v1.setup(acceleration,output_period);
    v2.setup(acceleration,output_period);
    v3.setup(acceleration,output_period);
    v4.setup(acceleration,output_period);

//追加点
    enc_cylinder.setup(100);
    enc_cylinder.set_parameter(enc_Kp,enc_Ki,enc_Kd);
}

void output()
{
    motor_cal();
    cylinder_cal();
    sword_cal();
    //boost();

    static int counter;
    int id[nucleo_num] = {n1_id, n2_id, n3_id, n4_id, n5_id, n6_id};

    switch (counter) {
        case 0:
            rs422.put(id[counter], v1.duty(mecanum.v1()*powerdown), v3.duty(mecanum.v3()*powerdown));
            counter++;
            break;
        case 1:
            rs422.put(id[counter], v2.duty(mecanum.v2()*powerdown), v4.duty(mecanum.v4()*powerdown));
            counter ++;
            break;
        case 2:
            rs422.put(id[counter], sbdbt.right_y, 0.0);
            counter ++;
            break;
        case 3:
            rs422.put(id[counter], shoulder_right_cal(),shoulder_right_cal());
            counter ++;
            break;
        case 4:
            rs422.put(id[counter], ((float)sword.getState()*0.8),0.0);
            counter = 0;
            break;
        default:
            break;
    };
}

float shoulder_right_cal(){
    if(interrupt_sholderright_max==1&&sbdbt.batu==1){
        return 0.0;
    }
    if(interrupt_sholderright_min==1&&sbdbt.sankaku==1){
        return 0.0;   
    }
    return (-sbdbt.sankaku*0.8+sbdbt.batu*0.8);
}

float shoulder_left_cal(){
    if(interrupt_sholderright_max==1&&sbdbt.up==1){
        return 0.0;
    }
    if(interrupt_sholderright_min==1&&sbdbt.down==1){
        return 0.0;   
    }
    return (sbdbt.up*0.8-sbdbt.down*0.8);   
}

void sword_cal()
{
    sword.cyclic(sbdbt.maru);
}

void cylinder_origin()
{
    while(interrupt_cylinder_min == 1) {
        led1 = 1;
        rs422.put(5, -0.2, 0.0);
    }
    led1 = 0;
    enc_cylinder.origin();
}

//追記(動作未確認)
float cylinder_pwm;
int cylinder_pos_num = 0;
float cylinder_pos[3] = {0.0,50.0,75.0};
void cylinder_cal()
{
    cylinder.cyclic(sbdbt.shikaku);     //cylinder ON/OFF
    
    if(riseEvent(sbdbt.right)){         //cylinder degset
        cylinder_pos_num++;
        if(cylinder_pos_num >= 3){
            cylinder_pos_num = 0;
        }
    }
    enc_cylinder.cal((float)cylinder_pos[cylinder_pos_num],output_period); //コントローラで数値設定
    
    pc.printf("terget\t%f\tnow_pulse\t%lo\tnow_rad\t%f\tpwm\t%f\r\n",cylinder_pos[cylinder_pos_num],enc_cylinder.pulse(),enc_cylinder.deg(),enc_cylinder.duty());

//リロード機構完成後
    /*
        if(cylinder.getInState() == 1){
            if(interrupt_cylinder_min)servo_reload = 1.0;
        }else{
            servo_reload = 0.0;
            reload_magazine_flag = 1;
        }

        if(reload_magazine_flag == 1){
            rs422.put(n6_id, 0.8, 0.0);
            if(interrupt_reload == 1)reload_magazine_flag = 0;
        }
    */
}

void boost()
{
    if(sbdbt.r2) {
        mecanum.boost_forward();
    }
    if(sbdbt.l2) {
        mecanum.boost_back();
    }
    /*
    if(sbdbt.shikaku) {
        mecanum.boost_left();
    }
    if(sbdbt.maru) {
        mecanum.boost_right();
    }
    */
}

void motor_cal()
{
    yaw = bno055.getYawRad();
    target_yaw = yaw;
    yaw_pid.cal(target_yaw, yaw, output_period);
    mecanum.sbdbt_cal(sbdbt.left_x, sbdbt.left_y, sbdbt.l1, sbdbt.r1, yaw_pid.duty(), bno055.getYawRad());
//    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());
}