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
mecanum.h@5:6efda58ff71b, 2017-06-30 (annotated)
- Committer:
- echo_piyo
- Date:
- Fri Jun 30 05:40:02 2017 +0000
- Revision:
- 5:6efda58ff71b
- Parent:
- 0:bf96e953cdb8
- Child:
- 10:04f2a82cfd89
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Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
echo_piyo | 0:bf96e953cdb8 | 1 | /* |
echo_piyo | 0:bf96e953cdb8 | 2 | Mecanum mecanum |
echo_piyo | 0:bf96e953cdb8 | 3 | |
echo_piyo | 5:6efda58ff71b | 4 | Sbdbtの入力 +y↑ -y↓ +x→ -x← |
echo_piyo | 0:bf96e953cdb8 | 5 | .setupdeg([float]Deg) //角度センサの初期値設定 |
echo_piyo | 0:bf96e953cdb8 | 6 | .sbdbt_cal([float]Vx, [float]Vy, [int]con_rl, [int]con_l1, [float]w, [float]angle) //使わない部分は0を代入 |
echo_piyo | 0:bf96e953cdb8 | 7 | .xy_cal([float]Vx, [float]Vy) //xyの代入値(-1.0 ~ 1.0) |
echo_piyo | 0:bf96e953cdb8 | 8 | |
echo_piyo | 0:bf96e953cdb8 | 9 | .v1 //(返り値[float] -1.0 ~ 1.0) モータ1用出力 |
echo_piyo | 0:bf96e953cdb8 | 10 | .v2 //(返り値[float] -1.0 ~ 1.0) モータ2用出力 |
echo_piyo | 0:bf96e953cdb8 | 11 | .v3 //(返り値[float] -1.0 ~ 1.0) モータ3用出力 |
echo_piyo | 0:bf96e953cdb8 | 12 | .v4 //(返り値[float] -1.0 ~ 1.0) モータ4用出力 |
echo_piyo | 0:bf96e953cdb8 | 13 | |
echo_piyo | 0:bf96e953cdb8 | 14 | メカナム設置図 |
echo_piyo | 5:6efda58ff71b | 15 | ↑→ →↓ |
echo_piyo | 0:bf96e953cdb8 | 16 | O---O |
echo_piyo | 0:bf96e953cdb8 | 17 | O---O |
echo_piyo | 5:6efda58ff71b | 18 | ←↑ ↓← |
echo_piyo | 0:bf96e953cdb8 | 19 | |
echo_piyo | 0:bf96e953cdb8 | 20 | |
echo_piyo | 0:bf96e953cdb8 | 21 | */ |
echo_piyo | 0:bf96e953cdb8 | 22 | |
echo_piyo | 0:bf96e953cdb8 | 23 | #define rotaPower 0.3 |
echo_piyo | 5:6efda58ff71b | 24 | #define boost_K 0.5 |
echo_piyo | 0:bf96e953cdb8 | 25 | #define PI 3.141592 |
echo_piyo | 0:bf96e953cdb8 | 26 | |
echo_piyo | 0:bf96e953cdb8 | 27 | class Mecanum{ |
echo_piyo | 0:bf96e953cdb8 | 28 | public: |
echo_piyo | 0:bf96e953cdb8 | 29 | void setupdeg(float Deg){ |
echo_piyo | 0:bf96e953cdb8 | 30 | first_deg = Deg; |
echo_piyo | 0:bf96e953cdb8 | 31 | } |
echo_piyo | 0:bf96e953cdb8 | 32 | |
echo_piyo | 0:bf96e953cdb8 | 33 | void sbdbt_cal(float Vx, float Vy, int r1, int l1,float w, float angle){ |
echo_piyo | 0:bf96e953cdb8 | 34 | rad = (angle - first_deg)/180*PI; |
echo_piyo | 0:bf96e953cdb8 | 35 | |
echo_piyo | 0:bf96e953cdb8 | 36 | vx = Vx / 2 * cos(rad) - Vy / 2 * sin(rad); |
echo_piyo | 0:bf96e953cdb8 | 37 | vy = Vx / 2 * sin(rad) + Vy / 2 * cos(rad); |
echo_piyo | 0:bf96e953cdb8 | 38 | |
echo_piyo | 0:bf96e953cdb8 | 39 | V1 = -vx + vy + rotaPower * (l1 - r1) + w; |
echo_piyo | 0:bf96e953cdb8 | 40 | V2 = vx - vy + rotaPower * (l1 - r1) + w; |
echo_piyo | 0:bf96e953cdb8 | 41 | V3 = vx + vy + rotaPower * (l1 - r1) + w; |
echo_piyo | 0:bf96e953cdb8 | 42 | V4 = -vx - vy + rotaPower * (l1 - r1) + w; |
echo_piyo | 0:bf96e953cdb8 | 43 | |
echo_piyo | 0:bf96e953cdb8 | 44 | } |
echo_piyo | 0:bf96e953cdb8 | 45 | |
echo_piyo | 5:6efda58ff71b | 46 | void boost(){ |
echo_piyo | 5:6efda58ff71b | 47 | if(vy > 0.4){ |
echo_piyo | 5:6efda58ff71b | 48 | V1 += boost_K; |
echo_piyo | 5:6efda58ff71b | 49 | V2 += -boost_K; |
echo_piyo | 5:6efda58ff71b | 50 | V3 += boost_K; |
echo_piyo | 5:6efda58ff71b | 51 | V4 += -boost_K; |
echo_piyo | 5:6efda58ff71b | 52 | }else if(vy < -0.4){ |
echo_piyo | 5:6efda58ff71b | 53 | V1 += -boost_K; |
echo_piyo | 5:6efda58ff71b | 54 | V2 += boost_K; |
echo_piyo | 5:6efda58ff71b | 55 | V3 += -boost_K; |
echo_piyo | 5:6efda58ff71b | 56 | V4 += boost_K; |
echo_piyo | 5:6efda58ff71b | 57 | } |
echo_piyo | 5:6efda58ff71b | 58 | } |
echo_piyo | 5:6efda58ff71b | 59 | |
echo_piyo | 0:bf96e953cdb8 | 60 | void xy_cal(float Vx, float Vy){ |
echo_piyo | 0:bf96e953cdb8 | 61 | V1 = Vx / 2 + Vy / 2; |
echo_piyo | 0:bf96e953cdb8 | 62 | V2 = Vx / 2 - Vy / 2; |
echo_piyo | 0:bf96e953cdb8 | 63 | V3 = -Vx / 2 + Vy / 2; |
echo_piyo | 0:bf96e953cdb8 | 64 | V4 = -Vx / 2 - Vy / 2; |
echo_piyo | 0:bf96e953cdb8 | 65 | } |
echo_piyo | 0:bf96e953cdb8 | 66 | |
echo_piyo | 0:bf96e953cdb8 | 67 | float v1(){ |
echo_piyo | 0:bf96e953cdb8 | 68 | return V1; |
echo_piyo | 0:bf96e953cdb8 | 69 | } |
echo_piyo | 0:bf96e953cdb8 | 70 | |
echo_piyo | 0:bf96e953cdb8 | 71 | float v2(){ |
echo_piyo | 0:bf96e953cdb8 | 72 | return V2; |
echo_piyo | 0:bf96e953cdb8 | 73 | } |
echo_piyo | 0:bf96e953cdb8 | 74 | |
echo_piyo | 0:bf96e953cdb8 | 75 | float v3(){ |
echo_piyo | 0:bf96e953cdb8 | 76 | return V3; |
echo_piyo | 0:bf96e953cdb8 | 77 | } |
echo_piyo | 0:bf96e953cdb8 | 78 | |
echo_piyo | 0:bf96e953cdb8 | 79 | float v4(){ |
echo_piyo | 0:bf96e953cdb8 | 80 | return V4; |
echo_piyo | 0:bf96e953cdb8 | 81 | } |
echo_piyo | 0:bf96e953cdb8 | 82 | |
echo_piyo | 0:bf96e953cdb8 | 83 | float VX(){ |
echo_piyo | 0:bf96e953cdb8 | 84 | return vx; |
echo_piyo | 0:bf96e953cdb8 | 85 | } |
echo_piyo | 0:bf96e953cdb8 | 86 | |
echo_piyo | 0:bf96e953cdb8 | 87 | float VY(){ |
echo_piyo | 0:bf96e953cdb8 | 88 | return vy; |
echo_piyo | 0:bf96e953cdb8 | 89 | } |
echo_piyo | 0:bf96e953cdb8 | 90 | |
echo_piyo | 0:bf96e953cdb8 | 91 | |
echo_piyo | 0:bf96e953cdb8 | 92 | private: |
echo_piyo | 0:bf96e953cdb8 | 93 | float V1, V2, V3, V4, vx, vy; |
echo_piyo | 0:bf96e953cdb8 | 94 | float first_deg, rad; |
echo_piyo | 0:bf96e953cdb8 | 95 | }; |