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@27:2ffbc5587399, 2017-08-24 (annotated)

Committer:
echo_piyo
Date:
Thu Aug 24 16:40:04 2017 +0000
Revision:
27:2ffbc5587399
Parent:
26:3280d0300b04
Child:
28:72b9af7e1700
sechack365 3?????

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 26:3280d0300b04 64 Cyclic sword;
echo_piyo 12:1fec80ae8a2c 65
echo_piyo 12:1fec80ae8a2c 66 //追加点
echo_piyo 13:dfae731e239f 67 Encoder enc_cylinder(encoder_A,encoder_B);
echo_piyo 13:dfae731e239f 68 //QEI wheel(encoder_A, encoder_B, NC, 624);
echo_piyo 9:6486f4b3ac50 69
echo_piyo 0:bf96e953cdb8 70 void setup();
echo_piyo 0:bf96e953cdb8 71 void output();
echo_piyo 15:0fdf483769bf 72 void motor_cal();
echo_piyo 16:e49df474e4c6 73 void cylinder_cal();
echo_piyo 10:04f2a82cfd89 74 void boost();
echo_piyo 12:1fec80ae8a2c 75 void cylinder_origin();
echo_piyo 26:3280d0300b04 76 void sword_cal();
echo_piyo 2:d5b8f8e62923 77 float yaw, target_yaw;
echo_piyo 0:bf96e953cdb8 78
echo_piyo 21:6568c3587003 79
echo_piyo 0:bf96e953cdb8 80 int main()
echo_piyo 0:bf96e953cdb8 81 {
echo_piyo 0:bf96e953cdb8 82 setup();
echo_piyo 2:d5b8f8e62923 83 while(1) {
echo_piyo 27:2ffbc5587399 84 pc.printf("Pulses is: %lo\tdeg :%f\r\n",enc_cylinder.pulse(),enc_cylinder.deg());
echo_piyo 0:bf96e953cdb8 85 }
echo_piyo 0:bf96e953cdb8 86 }
echo_piyo 0:bf96e953cdb8 87
echo_piyo 0:bf96e953cdb8 88 void setup()
echo_piyo 0:bf96e953cdb8 89 {
echo_piyo 1:2d878962e6ea 90 wait(1);
echo_piyo 19:76a387e4bcf6 91 bno055.begin();
echo_piyo 0:bf96e953cdb8 92 wait(1);
echo_piyo 19:76a387e4bcf6 93 bno055.firstRead();
echo_piyo 0:bf96e953cdb8 94 pc.baud(pc_baud);
echo_piyo 0:bf96e953cdb8 95 sbdbt.begin(sbdbt_baud);
echo_piyo 0:bf96e953cdb8 96 rs422.begin(rs422_baud);
echo_piyo 19:76a387e4bcf6 97 cylinder_origin();
echo_piyo 0:bf96e953cdb8 98 output_timer.attach(&output, output_period);
echo_piyo 2:d5b8f8e62923 99 yaw_pid.setup(yaw_Kp, yaw_Ki, yaw_Kd);
echo_piyo 10:04f2a82cfd89 100 mecanum.setupdeg(bno055.getYawRad()+180.0);
echo_piyo 4:a6cc2f03e69b 101 v1.setup(acceleration,output_period);
echo_piyo 4:a6cc2f03e69b 102 v2.setup(acceleration,output_period);
echo_piyo 4:a6cc2f03e69b 103 v3.setup(acceleration,output_period);
echo_piyo 4:a6cc2f03e69b 104 v4.setup(acceleration,output_period);
echo_piyo 12:1fec80ae8a2c 105
echo_piyo 12:1fec80ae8a2c 106 //追加点
echo_piyo 13:dfae731e239f 107 enc_cylinder.setup(1200);
echo_piyo 13:dfae731e239f 108 enc_cylinder.set_parameter(enc_Kp,enc_Ki,enc_Kd);
echo_piyo 12:1fec80ae8a2c 109 }
echo_piyo 12:1fec80ae8a2c 110
echo_piyo 15:0fdf483769bf 111 void output()
echo_piyo 15:0fdf483769bf 112 {
echo_piyo 15:0fdf483769bf 113 motor_cal();
echo_piyo 16:e49df474e4c6 114 cylinder_cal();
echo_piyo 26:3280d0300b04 115 sword_cal();
echo_piyo 18:ae4d97945b83 116 //boost();
echo_piyo 15:0fdf483769bf 117
echo_piyo 15:0fdf483769bf 118 static int counter;
echo_piyo 23:aeff5fd36ae1 119 int id[nucleo_num] = {n1_id, n2_id, n3_id, n4_id, n5_id};
echo_piyo 15:0fdf483769bf 120
echo_piyo 15:0fdf483769bf 121 switch (counter) {
echo_piyo 15:0fdf483769bf 122 case 0:
echo_piyo 24:da0fc94add43 123 rs422.put(id[counter], v1.duty(mecanum.v1()*powerdown), v3.duty(mecanum.v3()*powerdown));
echo_piyo 15:0fdf483769bf 124 counter++;
echo_piyo 15:0fdf483769bf 125 break;
echo_piyo 15:0fdf483769bf 126 case 1:
echo_piyo 24:da0fc94add43 127 rs422.put(id[counter], v2.duty(mecanum.v2()*powerdown), v4.duty(mecanum.v4()*powerdown));
echo_piyo 15:0fdf483769bf 128 counter ++;
echo_piyo 15:0fdf483769bf 129 break;
echo_piyo 15:0fdf483769bf 130 case 2:
echo_piyo 19:76a387e4bcf6 131 rs422.put(id[counter], sbdbt.right_y, 0.0);
echo_piyo 17:5c4718c603dc 132 counter ++;
echo_piyo 17:5c4718c603dc 133 break;
echo_piyo 17:5c4718c603dc 134 case 3:
echo_piyo 24:da0fc94add43 135 rs422.put(id[counter], (-sbdbt.sankaku*0.8+sbdbt.batu*0.8), (sbdbt.up*0.8-sbdbt.down*0.8));
echo_piyo 20:347daec6c9a3 136 counter ++;
echo_piyo 20:347daec6c9a3 137 break;
echo_piyo 20:347daec6c9a3 138 case 4:
echo_piyo 26:3280d0300b04 139 rs422.put(id[counter], ((float)sword.getState()*0.8),0.0);
echo_piyo 15:0fdf483769bf 140 counter = 0;
echo_piyo 15:0fdf483769bf 141 break;
echo_piyo 15:0fdf483769bf 142 default:
echo_piyo 15:0fdf483769bf 143 break;
echo_piyo 15:0fdf483769bf 144 };
echo_piyo 15:0fdf483769bf 145 }
echo_piyo 15:0fdf483769bf 146
echo_piyo 26:3280d0300b04 147 void sword_cal(){
echo_piyo 26:3280d0300b04 148 sword.cyclic(sbdbt.maru);
echo_piyo 17:5c4718c603dc 149 }
echo_piyo 15:0fdf483769bf 150
echo_piyo 12:1fec80ae8a2c 151 void cylinder_origin(){
echo_piyo 12:1fec80ae8a2c 152 while(interrupt){
echo_piyo 14:aac2f18f6779 153 led1 = 1;
echo_piyo 12:1fec80ae8a2c 154 rs422.put(5, -0.8, 0.0);
echo_piyo 12:1fec80ae8a2c 155 }
echo_piyo 14:aac2f18f6779 156 led1 = 0;
echo_piyo 0:bf96e953cdb8 157 }
echo_piyo 0:bf96e953cdb8 158
echo_piyo 19:76a387e4bcf6 159 void cylinder_cal()
echo_piyo 19:76a387e4bcf6 160 {
echo_piyo 26:3280d0300b04 161 cylinder.cyclic(sbdbt.shikaku);
echo_piyo 27:2ffbc5587399 162 enc_cylinder.deg_cylinder_cal();
echo_piyo 19:76a387e4bcf6 163 }
echo_piyo 19:76a387e4bcf6 164
echo_piyo 10:04f2a82cfd89 165 void boost(){
echo_piyo 26:3280d0300b04 166 if(sbdbt.r2){
echo_piyo 10:04f2a82cfd89 167 mecanum.boost_forward();
echo_piyo 10:04f2a82cfd89 168 }
echo_piyo 26:3280d0300b04 169 if(sbdbt.l2){
echo_piyo 10:04f2a82cfd89 170 mecanum.boost_back();
echo_piyo 10:04f2a82cfd89 171 }
echo_piyo 26:3280d0300b04 172 /*
echo_piyo 10:04f2a82cfd89 173 if(sbdbt.shikaku) {
echo_piyo 10:04f2a82cfd89 174 mecanum.boost_left();
echo_piyo 10:04f2a82cfd89 175 }
echo_piyo 10:04f2a82cfd89 176 if(sbdbt.maru) {
echo_piyo 10:04f2a82cfd89 177 mecanum.boost_right();
echo_piyo 10:04f2a82cfd89 178 }
echo_piyo 26:3280d0300b04 179 */
echo_piyo 10:04f2a82cfd89 180 }
echo_piyo 10:04f2a82cfd89 181
echo_piyo 15:0fdf483769bf 182 void motor_cal()
echo_piyo 5:6efda58ff71b 183 {
echo_piyo 4:a6cc2f03e69b 184 yaw = bno055.getYawRad();
echo_piyo 4:a6cc2f03e69b 185 target_yaw = yaw;
echo_piyo 4:a6cc2f03e69b 186 yaw_pid.cal(target_yaw, yaw, output_period);
echo_piyo 4:a6cc2f03e69b 187 mecanum.sbdbt_cal(sbdbt.left_x, sbdbt.left_y, sbdbt.l1, sbdbt.r1, yaw_pid.duty(), bno055.getYawRad());
echo_piyo 5:6efda58ff71b 188 // 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 189 }