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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
main.cpp@57:68df771fd8a1, 2017-09-19 (annotated)
- Committer:
- echo_piyo
- Date:
- Tue Sep 19 04:20:34 2017 +0000
- Revision:
- 57:68df771fd8a1
- Parent:
- 56:a7bd860b85b6
- Child:
- 58:6cd46488f59b
(??)??????????On/Off???
Who changed what in which revision?
User | Revision | Line number | New 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 | 0:bf96e953cdb8 | 4 | #include "bit_test.h" |
echo_piyo | 0:bf96e953cdb8 | 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 | 10:04f2a82cfd89 | 13 | #include "encorder.h" |
echo_piyo | 14:aac2f18f6779 | 14 | #include "cyclic.h" |
echo_piyo | 14:aac2f18f6779 | 15 | #include "cyclic_IO.h" |
echo_piyo | 15:0fdf483769bf | 16 | #include "cylinder.h" |
echo_piyo | 50:e4e1f38d1bd5 | 17 | #include "varEvent.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 | 10:04f2a82cfd89 | 40 | #define pin_cylinder_on p17 |
echo_piyo | 10:04f2a82cfd89 | 41 | #define pin_cylinder_off p18 |
echo_piyo | 31:285c9898da03 | 42 | #define pin_interrupt_cylinder_min p23 |
echo_piyo | 12:1fec80ae8a2c | 43 | #define encoder_A p25 |
echo_piyo | 12:1fec80ae8a2c | 44 | #define encoder_B p26 |
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 | 37:fa738e34c4d3 | 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 | 0:bf96e953cdb8 | 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 | 2:d5b8f8e62923 | 75 | Position_pid yaw_pid; |
echo_piyo | 4:a6cc2f03e69b | 76 | Accel v1; |
echo_piyo | 4:a6cc2f03e69b | 77 | Accel v2; |
echo_piyo | 4:a6cc2f03e69b | 78 | Accel v3; |
echo_piyo | 4:a6cc2f03e69b | 79 | Accel v4; |
echo_piyo | 15:0fdf483769bf | 80 | Cylinder cylinder(pin_cylinder_on,pin_cylinder_off); |
echo_piyo | 26:3280d0300b04 | 81 | Cyclic sword; |
echo_piyo | 31:285c9898da03 | 82 | Cyclic cyclic_cylinder_position; |
echo_piyo | 31:285c9898da03 | 83 | DigitalIn interrupt_sholderright_min(pin_interrupt_sholderright_min); |
echo_piyo | 31:285c9898da03 | 84 | DigitalIn interrupt_sholderright_max(pin_interrupt_sholderright_max); |
echo_piyo | 31:285c9898da03 | 85 | DigitalIn interrupt_sholderleft_min(pin_interrupt_sholderleft_min); |
echo_piyo | 31:285c9898da03 | 86 | DigitalIn interrupt_sholderleft_max(pin_interrupt_sholderleft_max); |
echo_piyo | 35:5e1ad00f26fb | 87 | Encoder enc_cylinder(encoder_A,encoder_B); |
echo_piyo | 38:b071512af5ca | 88 | Cyclic cyclic_servo; |
echo_piyo | 42:63aedf71f4d1 | 89 | Cyclic_IO cylinder_reload(pin_cylinder_reload); |
echo_piyo | 35:5e1ad00f26fb | 90 | PwmOut servo(pin_servo); |
echo_piyo | 45:a32e8091901b | 91 | DigitalOut sbdbt_indigator(pin_sbdbt_indicator); |
echo_piyo | 51:70d45b959d6b | 92 | varEvent cylinder_event; |
echo_piyo | 9:6486f4b3ac50 | 93 | |
echo_piyo | 56:a7bd860b85b6 | 94 | //index_setupFunction |
echo_piyo | 0:bf96e953cdb8 | 95 | void setup(); |
echo_piyo | 0:bf96e953cdb8 | 96 | void output(); |
echo_piyo | 15:0fdf483769bf | 97 | void motor_cal(); |
echo_piyo | 16:e49df474e4c6 | 98 | void cylinder_cal(); |
echo_piyo | 10:04f2a82cfd89 | 99 | void boost(); |
echo_piyo | 12:1fec80ae8a2c | 100 | void cylinder_origin(); |
echo_piyo | 53:701dc7886fff | 101 | void firstmotion(); |
echo_piyo | 26:3280d0300b04 | 102 | void sword_cal(); |
echo_piyo | 35:5e1ad00f26fb | 103 | void servo_origin(); |
echo_piyo | 31:285c9898da03 | 104 | float shoulder_right_cal(); |
echo_piyo | 31:285c9898da03 | 105 | float shoulder_left_cal(); |
echo_piyo | 42:63aedf71f4d1 | 106 | |
echo_piyo | 56:a7bd860b85b6 | 107 | //index_setupVariable |
echo_piyo | 39:6735743ac0f1 | 108 | //output |
echo_piyo | 2:d5b8f8e62923 | 109 | float yaw, target_yaw; |
echo_piyo | 39:6735743ac0f1 | 110 | //cylinder_origin |
echo_piyo | 38:b071512af5ca | 111 | int cylinder_origin_flag = 0; |
echo_piyo | 39:6735743ac0f1 | 112 | //cylinder |
echo_piyo | 39:6735743ac0f1 | 113 | float cylinder_pwm; |
echo_piyo | 39:6735743ac0f1 | 114 | int cylinder_pos_num = 0; |
echo_piyo | 56:a7bd860b85b6 | 115 | float cylinder_pos[cylinder_pos_max] = {0.0,90.0,325.0,450.0,580.0,700.0}; |
echo_piyo | 0:bf96e953cdb8 | 116 | |
echo_piyo | 0:bf96e953cdb8 | 117 | int main() |
echo_piyo | 0:bf96e953cdb8 | 118 | { |
echo_piyo | 0:bf96e953cdb8 | 119 | setup(); |
echo_piyo | 2:d5b8f8e62923 | 120 | while(1) { |
echo_piyo | 48:96b5f5ebdfb0 | 121 | led1 = interrupt_sholderleft_max; |
echo_piyo | 48:96b5f5ebdfb0 | 122 | led2 = interrupt_sholderleft_min; |
echo_piyo | 48:96b5f5ebdfb0 | 123 | led3 = interrupt_sholderright_max; |
echo_piyo | 48:96b5f5ebdfb0 | 124 | led4 = interrupt_sholderright_min; |
echo_piyo | 50:e4e1f38d1bd5 | 125 | |
echo_piyo | 55:2dd2f161ebaf | 126 | pc.printf("cylinder pos : %f\r\n",enc_cylinder.deg()); |
echo_piyo | 55:2dd2f161ebaf | 127 | //pc.printf("riseState %d : fallState %d\r\n",event.getRise(),event.getFall()); |
echo_piyo | 0:bf96e953cdb8 | 128 | } |
echo_piyo | 0:bf96e953cdb8 | 129 | } |
echo_piyo | 0:bf96e953cdb8 | 130 | |
echo_piyo | 0:bf96e953cdb8 | 131 | void setup() |
echo_piyo | 0:bf96e953cdb8 | 132 | { |
echo_piyo | 40:2d6888448ab2 | 133 | wait(2.0); |
echo_piyo | 19:76a387e4bcf6 | 134 | bno055.begin(); |
echo_piyo | 40:2d6888448ab2 | 135 | wait(1.0); |
echo_piyo | 19:76a387e4bcf6 | 136 | bno055.firstRead(); |
echo_piyo | 0:bf96e953cdb8 | 137 | pc.baud(pc_baud); |
echo_piyo | 0:bf96e953cdb8 | 138 | sbdbt.begin(sbdbt_baud); |
echo_piyo | 0:bf96e953cdb8 | 139 | rs422.begin(rs422_baud); |
echo_piyo | 53:701dc7886fff | 140 | firstmotion(); |
echo_piyo | 49:b041c815c063 | 141 | 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 | 142 | output_timer.attach(&output, output_period); |
echo_piyo | 2:d5b8f8e62923 | 143 | yaw_pid.setup(yaw_Kp, yaw_Ki, yaw_Kd); |
echo_piyo | 39:6735743ac0f1 | 144 | mecanum.setupdeg(bno055.getYawRad()); //基盤が前後逆の場合+180 |
echo_piyo | 4:a6cc2f03e69b | 145 | v1.setup(acceleration,output_period); |
echo_piyo | 4:a6cc2f03e69b | 146 | v2.setup(acceleration,output_period); |
echo_piyo | 4:a6cc2f03e69b | 147 | v3.setup(acceleration,output_period); |
echo_piyo | 4:a6cc2f03e69b | 148 | v4.setup(acceleration,output_period); |
echo_piyo | 31:285c9898da03 | 149 | enc_cylinder.setup(100); |
echo_piyo | 13:dfae731e239f | 150 | enc_cylinder.set_parameter(enc_Kp,enc_Ki,enc_Kd); |
echo_piyo | 35:5e1ad00f26fb | 151 | servo.period(0.020); |
echo_piyo | 12:1fec80ae8a2c | 152 | } |
echo_piyo | 12:1fec80ae8a2c | 153 | |
echo_piyo | 36:dca1081c19b3 | 154 | //Sword |
echo_piyo | 35:5e1ad00f26fb | 155 | float shoulder_right_cal() |
echo_piyo | 15:0fdf483769bf | 156 | { |
echo_piyo | 40:2d6888448ab2 | 157 | if(interrupt_sholderright_max==0&&sbdbt.sankaku==1) { |
echo_piyo | 31:285c9898da03 | 158 | return 0.0; |
echo_piyo | 31:285c9898da03 | 159 | } |
echo_piyo | 40:2d6888448ab2 | 160 | if(interrupt_sholderright_min==0&&sbdbt.batu==1) { |
echo_piyo | 33:64fd1bd83bac | 161 | return 0.0; |
echo_piyo | 31:285c9898da03 | 162 | } |
echo_piyo | 31:285c9898da03 | 163 | return (-sbdbt.sankaku*0.8+sbdbt.batu*0.8); |
echo_piyo | 31:285c9898da03 | 164 | } |
echo_piyo | 31:285c9898da03 | 165 | |
echo_piyo | 35:5e1ad00f26fb | 166 | float shoulder_left_cal() |
echo_piyo | 35:5e1ad00f26fb | 167 | { |
echo_piyo | 40:2d6888448ab2 | 168 | if(interrupt_sholderleft_max==0&&sbdbt.sankaku==1) { |
echo_piyo | 31:285c9898da03 | 169 | return 0.0; |
echo_piyo | 31:285c9898da03 | 170 | } |
echo_piyo | 40:2d6888448ab2 | 171 | if(interrupt_sholderleft_min==0&&sbdbt.batu==1) { |
echo_piyo | 35:5e1ad00f26fb | 172 | return 0.0; |
echo_piyo | 31:285c9898da03 | 173 | } |
echo_piyo | 40:2d6888448ab2 | 174 | return (-sbdbt.sankaku*0.8+sbdbt.batu*0.8); |
echo_piyo | 31:285c9898da03 | 175 | } |
echo_piyo | 31:285c9898da03 | 176 | void sword_cal() |
echo_piyo | 31:285c9898da03 | 177 | { |
echo_piyo | 26:3280d0300b04 | 178 | sword.cyclic(sbdbt.maru); |
echo_piyo | 17:5c4718c603dc | 179 | } |
echo_piyo | 15:0fdf483769bf | 180 | |
echo_piyo | 36:dca1081c19b3 | 181 | //cylinder |
echo_piyo | 53:701dc7886fff | 182 | void firstmotion() |
echo_piyo | 31:285c9898da03 | 183 | { |
echo_piyo | 53:701dc7886fff | 184 | while(interrupt_cylinder_min == 1 || interrupt_sholderleft_max == 1 || interrupt_sholderright_max == 1){ |
echo_piyo | 53:701dc7886fff | 185 | float cylinder = 0.0; |
echo_piyo | 53:701dc7886fff | 186 | float sholderL = 0.0; |
echo_piyo | 53:701dc7886fff | 187 | float sholderR = 0.0; |
echo_piyo | 53:701dc7886fff | 188 | if(interrupt_cylinder_min == 1){ |
echo_piyo | 53:701dc7886fff | 189 | cylinder = 2.0; |
echo_piyo | 53:701dc7886fff | 190 | }else{ |
echo_piyo | 53:701dc7886fff | 191 | cylinder = 0.0; |
echo_piyo | 53:701dc7886fff | 192 | } |
echo_piyo | 53:701dc7886fff | 193 | if(interrupt_sholderright_max == 1){ |
echo_piyo | 53:701dc7886fff | 194 | sholderR = -2.0; |
echo_piyo | 53:701dc7886fff | 195 | }else{ |
echo_piyo | 53:701dc7886fff | 196 | sholderR = 0.0; |
echo_piyo | 53:701dc7886fff | 197 | } |
echo_piyo | 53:701dc7886fff | 198 | if(interrupt_sholderleft_max == 1){ |
echo_piyo | 53:701dc7886fff | 199 | sholderL = 2.0; |
echo_piyo | 53:701dc7886fff | 200 | }else{ |
echo_piyo | 53:701dc7886fff | 201 | sholderL = 0.0; |
echo_piyo | 53:701dc7886fff | 202 | } |
echo_piyo | 53:701dc7886fff | 203 | rs422.put(5, cylinder, 0.0); |
echo_piyo | 53:701dc7886fff | 204 | rs422.put(6, sholderR, sholderL); |
echo_piyo | 12:1fec80ae8a2c | 205 | } |
echo_piyo | 31:285c9898da03 | 206 | enc_cylinder.origin(); |
echo_piyo | 0:bf96e953cdb8 | 207 | } |
echo_piyo | 38:b071512af5ca | 208 | |
echo_piyo | 42:63aedf71f4d1 | 209 | //cylinder_origin_flagを1にすることで動作する |
echo_piyo | 38:b071512af5ca | 210 | void cylinder_origin() |
echo_piyo | 38:b071512af5ca | 211 | { |
echo_piyo | 45:a32e8091901b | 212 | if(interrupt_cylinder_min == 0&&cylinder_origin_flag == 1) { |
echo_piyo | 39:6735743ac0f1 | 213 | cylinder_origin_flag = 0; |
echo_piyo | 39:6735743ac0f1 | 214 | enc_cylinder.origin(); |
echo_piyo | 39:6735743ac0f1 | 215 | cylinder_pos_num = 0; |
echo_piyo | 45:a32e8091901b | 216 | } else if(cylinder_origin_flag == 1) { |
echo_piyo | 42:63aedf71f4d1 | 217 | rs422.put(5, -0.8, 0.0); |
echo_piyo | 38:b071512af5ca | 218 | } |
echo_piyo | 38:b071512af5ca | 219 | } |
echo_piyo | 19:76a387e4bcf6 | 220 | void cylinder_cal() |
echo_piyo | 31:285c9898da03 | 221 | { |
echo_piyo | 31:285c9898da03 | 222 | cylinder.cyclic(sbdbt.shikaku); //cylinder ON/OFF |
echo_piyo | 51:70d45b959d6b | 223 | |
echo_piyo | 51:70d45b959d6b | 224 | cylinder_event.input(sbdbt.right); |
echo_piyo | 51:70d45b959d6b | 225 | if(cylinder_event.getRise()) { //cylinder degset |
echo_piyo | 31:285c9898da03 | 226 | cylinder_pos_num++; |
echo_piyo | 55:2dd2f161ebaf | 227 | if(cylinder_pos_num >= cylinder_pos_max) { |
echo_piyo | 42:63aedf71f4d1 | 228 | //cylinder_pos_num = 0; |
echo_piyo | 42:63aedf71f4d1 | 229 | cylinder_origin_flag=1; |
echo_piyo | 31:285c9898da03 | 230 | } |
echo_piyo | 31:285c9898da03 | 231 | } |
echo_piyo | 50:e4e1f38d1bd5 | 232 | enc_cylinder.cal((float)cylinder_pos[cylinder_pos_num],output_period); //set cylinder_tergetPos |
echo_piyo | 35:5e1ad00f26fb | 233 | |
echo_piyo | 38:b071512af5ca | 234 | //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 | 235 | } |
echo_piyo | 38:b071512af5ca | 236 | |
echo_piyo | 45:a32e8091901b | 237 | void servo_max() |
echo_piyo | 45:a32e8091901b | 238 | { |
echo_piyo | 45:a32e8091901b | 239 | servo.pulsewidth(0.0022); |
echo_piyo | 35:5e1ad00f26fb | 240 | } |
echo_piyo | 38:b071512af5ca | 241 | void servo_min() |
echo_piyo | 35:5e1ad00f26fb | 242 | { |
echo_piyo | 35:5e1ad00f26fb | 243 | servo.pulsewidth(0.0010); |
echo_piyo | 38:b071512af5ca | 244 | } |
echo_piyo | 45:a32e8091901b | 245 | void servo_out() |
echo_piyo | 45:a32e8091901b | 246 | { |
echo_piyo | 39:6735743ac0f1 | 247 | cyclic_servo.cyclic(sbdbt.down); //setServoControl |
echo_piyo | 45:a32e8091901b | 248 | if(cyclic_servo.getState()==0) { |
echo_piyo | 39:6735743ac0f1 | 249 | servo_min(); |
echo_piyo | 45:a32e8091901b | 250 | } else if(cyclic_servo.getState()==1) { |
echo_piyo | 39:6735743ac0f1 | 251 | servo_max(); |
echo_piyo | 38:b071512af5ca | 252 | } |
echo_piyo | 35:5e1ad00f26fb | 253 | } |
echo_piyo | 35:5e1ad00f26fb | 254 | |
echo_piyo | 36:dca1081c19b3 | 255 | |
echo_piyo | 36:dca1081c19b3 | 256 | //boost |
echo_piyo | 31:285c9898da03 | 257 | void boost() |
echo_piyo | 31:285c9898da03 | 258 | { |
echo_piyo | 31:285c9898da03 | 259 | if(sbdbt.r2) { |
echo_piyo | 10:04f2a82cfd89 | 260 | mecanum.boost_forward(); |
echo_piyo | 10:04f2a82cfd89 | 261 | } |
echo_piyo | 31:285c9898da03 | 262 | if(sbdbt.l2) { |
echo_piyo | 10:04f2a82cfd89 | 263 | mecanum.boost_back(); |
echo_piyo | 10:04f2a82cfd89 | 264 | } |
echo_piyo | 26:3280d0300b04 | 265 | /* |
echo_piyo | 10:04f2a82cfd89 | 266 | if(sbdbt.shikaku) { |
echo_piyo | 10:04f2a82cfd89 | 267 | mecanum.boost_left(); |
echo_piyo | 10:04f2a82cfd89 | 268 | } |
echo_piyo | 10:04f2a82cfd89 | 269 | if(sbdbt.maru) { |
echo_piyo | 10:04f2a82cfd89 | 270 | mecanum.boost_right(); |
echo_piyo | 10:04f2a82cfd89 | 271 | } |
echo_piyo | 26:3280d0300b04 | 272 | */ |
echo_piyo | 10:04f2a82cfd89 | 273 | } |
echo_piyo | 10:04f2a82cfd89 | 274 | |
echo_piyo | 36:dca1081c19b3 | 275 | //mecanum |
echo_piyo | 15:0fdf483769bf | 276 | void motor_cal() |
echo_piyo | 5:6efda58ff71b | 277 | { |
echo_piyo | 56:a7bd860b85b6 | 278 | static float out_right_x; |
echo_piyo | 4:a6cc2f03e69b | 279 | yaw = bno055.getYawRad(); |
echo_piyo | 4:a6cc2f03e69b | 280 | target_yaw = yaw; |
echo_piyo | 56:a7bd860b85b6 | 281 | yaw_pid.cal(target_yaw, yaw, output_period); |
echo_piyo | 56:a7bd860b85b6 | 282 | |
echo_piyo | 56:a7bd860b85b6 | 283 | //後進時に方向が逆転するため |
echo_piyo | 56:a7bd860b85b6 | 284 | if(sbdbt.right_y < 0.0){ |
echo_piyo | 56:a7bd860b85b6 | 285 | out_right_x = -1.0*sbdbt.right_x; |
echo_piyo | 56:a7bd860b85b6 | 286 | }else{ |
echo_piyo | 56:a7bd860b85b6 | 287 | out_right_x = sbdbt.right_x; |
echo_piyo | 56:a7bd860b85b6 | 288 | } |
echo_piyo | 56:a7bd860b85b6 | 289 | mecanum.sbdbt_cal(sbdbt.left_x, sbdbt.left_y, sbdbt.l1, sbdbt.r1, out_right_x, bno055.getYawRad()); |
echo_piyo | 5:6efda58ff71b | 290 | // 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 | 291 | } |
echo_piyo | 35:5e1ad00f26fb | 292 | void output() |
echo_piyo | 35:5e1ad00f26fb | 293 | { |
echo_piyo | 35:5e1ad00f26fb | 294 | motor_cal(); |
echo_piyo | 35:5e1ad00f26fb | 295 | cylinder_cal(); |
echo_piyo | 35:5e1ad00f26fb | 296 | sword_cal(); |
echo_piyo | 38:b071512af5ca | 297 | servo_out(); |
echo_piyo | 38:b071512af5ca | 298 | cylinder_origin(); |
echo_piyo | 35:5e1ad00f26fb | 299 | //boost(); |
echo_piyo | 56:a7bd860b85b6 | 300 | sbdbt_indigator = sbdbt.get_pairingState(); |
echo_piyo | 48:96b5f5ebdfb0 | 301 | //led1 = sbdbt.get_pairingState(); |
echo_piyo | 49:b041c815c063 | 302 | if(sbdbt.up)cylinder_origin_flag = 1; |
echo_piyo | 49:b041c815c063 | 303 | if(sbdbt.left)bno055.yaw_origin(); |
echo_piyo | 49:b041c815c063 | 304 | cylinder_reload.cyclic(sbdbt.down); |
echo_piyo | 45:a32e8091901b | 305 | |
echo_piyo | 35:5e1ad00f26fb | 306 | static int counter; |
echo_piyo | 53:701dc7886fff | 307 | static float mecanumV1, mecanumV2, mecanumV3, mecanumV4; |
echo_piyo | 35:5e1ad00f26fb | 308 | int id[nucleo_num] = {n1_id, n2_id, n3_id, n4_id, n5_id, n6_id}; |
echo_piyo | 45:a32e8091901b | 309 | |
echo_piyo | 45:a32e8091901b | 310 | //sbdbtがpairingしている場合のみ動作 |
echo_piyo | 45:a32e8091901b | 311 | if(sbdbt.get_pairingState()) { |
echo_piyo | 45:a32e8091901b | 312 | switch (counter) { |
echo_piyo | 45:a32e8091901b | 313 | case 0: |
echo_piyo | 53:701dc7886fff | 314 | 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 | 315 | counter++; |
echo_piyo | 45:a32e8091901b | 316 | break; |
echo_piyo | 45:a32e8091901b | 317 | case 1: |
echo_piyo | 45:a32e8091901b | 318 | //.duty(<cal>*<powerControle>+(<boost>*0.5)) |
echo_piyo | 53:701dc7886fff | 319 | 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 | 320 | counter ++; |
echo_piyo | 45:a32e8091901b | 321 | break; |
echo_piyo | 45:a32e8091901b | 322 | case 2: |
echo_piyo | 55:2dd2f161ebaf | 323 | //rs422.put(id[counter], sbdbt.right_y, 0.0); |
echo_piyo | 53:701dc7886fff | 324 | rs422.put(id[counter], limitf((-1*enc_cylinder.duty_enableWidth(-5.0,5.0)),1.0,-1.0), 0.0); |
echo_piyo | 45:a32e8091901b | 325 | counter ++; |
echo_piyo | 45:a32e8091901b | 326 | break; |
echo_piyo | 45:a32e8091901b | 327 | case 3: |
echo_piyo | 53:701dc7886fff | 328 | 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 | 329 | counter ++; |
echo_piyo | 45:a32e8091901b | 330 | break; |
echo_piyo | 45:a32e8091901b | 331 | case 4: |
echo_piyo | 53:701dc7886fff | 332 | rs422.put(id[counter], limitf(((float)sword.getState()*sword_power),1.0,-1.0),0.0); |
echo_piyo | 45:a32e8091901b | 333 | counter = 0; |
echo_piyo | 45:a32e8091901b | 334 | break; |
echo_piyo | 45:a32e8091901b | 335 | default: |
echo_piyo | 45:a32e8091901b | 336 | break; |
echo_piyo | 48:96b5f5ebdfb0 | 337 | } |
echo_piyo | 45:a32e8091901b | 338 | }else{ |
echo_piyo | 48:96b5f5ebdfb0 | 339 | switch (counter) { |
echo_piyo | 48:96b5f5ebdfb0 | 340 | case 0: |
echo_piyo | 48:96b5f5ebdfb0 | 341 | rs422.put(id[counter],0.0,0.0); |
echo_piyo | 48:96b5f5ebdfb0 | 342 | counter++; |
echo_piyo | 48:96b5f5ebdfb0 | 343 | break; |
echo_piyo | 48:96b5f5ebdfb0 | 344 | case 1: |
echo_piyo | 48:96b5f5ebdfb0 | 345 | rs422.put(id[counter],0.0,0.0); |
echo_piyo | 48:96b5f5ebdfb0 | 346 | counter ++; |
echo_piyo | 48:96b5f5ebdfb0 | 347 | break; |
echo_piyo | 48:96b5f5ebdfb0 | 348 | case 2: |
echo_piyo | 48:96b5f5ebdfb0 | 349 | rs422.put(id[counter],0.0,0.0); |
echo_piyo | 48:96b5f5ebdfb0 | 350 | counter ++; |
echo_piyo | 48:96b5f5ebdfb0 | 351 | break; |
echo_piyo | 48:96b5f5ebdfb0 | 352 | case 3: |
echo_piyo | 48:96b5f5ebdfb0 | 353 | rs422.put(id[counter],0.0,0.0); |
echo_piyo | 48:96b5f5ebdfb0 | 354 | counter ++; |
echo_piyo | 48:96b5f5ebdfb0 | 355 | break; |
echo_piyo | 48:96b5f5ebdfb0 | 356 | case 4: |
echo_piyo | 48:96b5f5ebdfb0 | 357 | rs422.put(id[counter],0.0,0.0); |
echo_piyo | 48:96b5f5ebdfb0 | 358 | counter = 0; |
echo_piyo | 48:96b5f5ebdfb0 | 359 | break; |
echo_piyo | 48:96b5f5ebdfb0 | 360 | default: |
echo_piyo | 48:96b5f5ebdfb0 | 361 | break; |
echo_piyo | 45:a32e8091901b | 362 | } |
echo_piyo | 45:a32e8091901b | 363 | } |
echo_piyo | 14:aac2f18f6779 | 364 | } |