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@9:6486f4b3ac50, 2017-07-11 (annotated)

Committer:
echo_piyo
Date:
Tue Jul 11 09:39:40 2017 +0000
Revision:
9:6486f4b3ac50
Parent:
8:3b7530174f8a
Child:
10:04f2a82cfd89
Child:
11:bbd999225791
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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 0:bf96e953cdb8 12
echo_piyo 0:bf96e953cdb8 13 #define pc_baud 460800
echo_piyo 0:bf96e953cdb8 14 #define sbdbt_tx p13
echo_piyo 0:bf96e953cdb8 15 #define sbdbt_rx p14
echo_piyo 0:bf96e953cdb8 16 #define sbdbt_baud 115200
echo_piyo 0:bf96e953cdb8 17 #define rs422_tx p28
echo_piyo 0:bf96e953cdb8 18 #define rs422_rx p27
echo_piyo 0:bf96e953cdb8 19 #define rs422_baud 115200
echo_piyo 3:9ef929639c4a 20 #define output_period 0.015
echo_piyo 0:bf96e953cdb8 21 #define nucleo_num 3
echo_piyo 0:bf96e953cdb8 22 #define pi 3.141592
echo_piyo 0:bf96e953cdb8 23 #define n1_id 3
echo_piyo 0:bf96e953cdb8 24 #define n2_id 4
echo_piyo 0:bf96e953cdb8 25 #define n3_id 0
echo_piyo 5:6efda58ff71b 26 #define yaw_Kp 0.01
echo_piyo 5:6efda58ff71b 27 #define yaw_Ki 0.01
echo_piyo 5:6efda58ff71b 28 #define yaw_Kd 0.01
echo_piyo 4:a6cc2f03e69b 29 #define acceleration 5
echo_piyo 0:bf96e953cdb8 30
echo_piyo 0:bf96e953cdb8 31 DigitalOut led(LED1);
echo_piyo 0:bf96e953cdb8 32 Serial pc(USBTX,USBRX);
echo_piyo 0:bf96e953cdb8 33 RS422 rs422(rs422_tx, rs422_rx);
echo_piyo 0:bf96e953cdb8 34 Sbdbt sbdbt(sbdbt_tx, sbdbt_rx);
echo_piyo 0:bf96e953cdb8 35 Ticker output_timer;
echo_piyo 0:bf96e953cdb8 36 Mecanum mecanum;
echo_piyo 0:bf96e953cdb8 37 Bno055 bno055;
echo_piyo 2:d5b8f8e62923 38 Position_pid yaw_pid;
echo_piyo 4:a6cc2f03e69b 39 Accel v1;
echo_piyo 4:a6cc2f03e69b 40 Accel v2;
echo_piyo 4:a6cc2f03e69b 41 Accel v3;
echo_piyo 4:a6cc2f03e69b 42 Accel v4;
echo_piyo 0:bf96e953cdb8 43
echo_piyo 9:6486f4b3ac50 44
echo_piyo 0:bf96e953cdb8 45 void setup();
echo_piyo 0:bf96e953cdb8 46 void output();
echo_piyo 0:bf96e953cdb8 47 void put_output();
echo_piyo 2:d5b8f8e62923 48 float yaw, target_yaw;
echo_piyo 0:bf96e953cdb8 49
echo_piyo 0:bf96e953cdb8 50 int main()
echo_piyo 0:bf96e953cdb8 51 {
echo_piyo 0:bf96e953cdb8 52 setup();
echo_piyo 2:d5b8f8e62923 53 while(1) {
echo_piyo 0:bf96e953cdb8 54 }
echo_piyo 0:bf96e953cdb8 55 }
echo_piyo 0:bf96e953cdb8 56
echo_piyo 0:bf96e953cdb8 57 void setup()
echo_piyo 0:bf96e953cdb8 58 {
echo_piyo 1:2d878962e6ea 59 wait(1);
echo_piyo 0:bf96e953cdb8 60 bno055.begin();
echo_piyo 0:bf96e953cdb8 61 wait(1);
echo_piyo 0:bf96e953cdb8 62 bno055.firstRead();
echo_piyo 0:bf96e953cdb8 63 pc.baud(pc_baud);
echo_piyo 0:bf96e953cdb8 64 sbdbt.begin(sbdbt_baud);
echo_piyo 0:bf96e953cdb8 65 rs422.begin(rs422_baud);
echo_piyo 0:bf96e953cdb8 66 output_timer.attach(&output, output_period);
echo_piyo 2:d5b8f8e62923 67 yaw_pid.setup(yaw_Kp, yaw_Ki, yaw_Kd);
echo_piyo 0:bf96e953cdb8 68 mecanum.setupdeg(bno055.getYawRad());
echo_piyo 4:a6cc2f03e69b 69 v1.setup(acceleration,output_period);
echo_piyo 4:a6cc2f03e69b 70 v2.setup(acceleration,output_period);
echo_piyo 4:a6cc2f03e69b 71 v3.setup(acceleration,output_period);
echo_piyo 4:a6cc2f03e69b 72 v4.setup(acceleration,output_period);
echo_piyo 0:bf96e953cdb8 73 }
echo_piyo 0:bf96e953cdb8 74
echo_piyo 5:6efda58ff71b 75 void put_output()
echo_piyo 5:6efda58ff71b 76 {
echo_piyo 4:a6cc2f03e69b 77 yaw = bno055.getYawRad();
echo_piyo 4:a6cc2f03e69b 78 target_yaw = yaw;
echo_piyo 4:a6cc2f03e69b 79 yaw_pid.cal(target_yaw, yaw, output_period);
echo_piyo 4:a6cc2f03e69b 80 mecanum.sbdbt_cal(sbdbt.left_x, sbdbt.left_y, sbdbt.l1, sbdbt.r1, yaw_pid.duty(), bno055.getYawRad());
echo_piyo 5:6efda58ff71b 81 // 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 82 }
echo_piyo 0:bf96e953cdb8 83
echo_piyo 0:bf96e953cdb8 84 void output()
echo_piyo 0:bf96e953cdb8 85 {
echo_piyo 4:a6cc2f03e69b 86 put_output();
echo_piyo 4:a6cc2f03e69b 87
echo_piyo 0:bf96e953cdb8 88 static int counter;
echo_piyo 0:bf96e953cdb8 89 int id[nucleo_num] = {n1_id, n2_id, n3_id};
echo_piyo 0:bf96e953cdb8 90
echo_piyo 5:6efda58ff71b 91 if(sbdbt.batu) {
echo_piyo 5:6efda58ff71b 92 mecanum.boost();
echo_piyo 5:6efda58ff71b 93 }
echo_piyo 5:6efda58ff71b 94
echo_piyo 0:bf96e953cdb8 95 switch (counter) {
echo_piyo 0:bf96e953cdb8 96 case 0:
echo_piyo 4:a6cc2f03e69b 97 rs422.put(id[counter], v1.duty(mecanum.v1()), v3.duty(mecanum.v3()));
echo_piyo 0:bf96e953cdb8 98 counter++;
echo_piyo 0:bf96e953cdb8 99 break;
echo_piyo 0:bf96e953cdb8 100 case 1:
echo_piyo 4:a6cc2f03e69b 101 rs422.put(id[counter], v2.duty(mecanum.v2()), v4.duty(mecanum.v4()));
echo_piyo 0:bf96e953cdb8 102 counter ++;
echo_piyo 0:bf96e953cdb8 103 break;
echo_piyo 0:bf96e953cdb8 104 case 2:
echo_piyo 0:bf96e953cdb8 105 rs422.put(id[counter], 0.0, 0.0);
echo_piyo 0:bf96e953cdb8 106 counter = 0;
echo_piyo 0:bf96e953cdb8 107 break;
echo_piyo 0:bf96e953cdb8 108 default:
echo_piyo 0:bf96e953cdb8 109 break;
echo_piyo 0:bf96e953cdb8 110 };
echo_piyo 5:6efda58ff71b 111 }
echo_piyo 5:6efda58ff71b 112