![](/media/cache/img/default_profile.jpg.50x50_q85.jpg)
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@72:7d6177047823, 2017-09-27 (annotated)
- Committer:
- echo_piyo
- Date:
- Wed Sep 27 08:30:19 2017 +0000
- Revision:
- 72:7d6177047823
- Parent:
- 71:7d684ff43ddd
- Child:
- 74:98bad67fde39
(?)??????????????; ????????????????
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 | 68:18cd96c13fa1 | 4 | #include "bit_test.h" |
echo_piyo | 66:1664ee92539d | 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 | 66:1664ee92539d | 13 | #include "pid_encoder.h" |
echo_piyo | 66:1664ee92539d | 14 | #include "cyclic_var.h" |
echo_piyo | 66:1664ee92539d | 15 | #include "cyclic_io.h" |
echo_piyo | 15:0fdf483769bf | 16 | #include "cylinder.h" |
echo_piyo | 66:1664ee92539d | 17 | #include "event_var.h" |
echo_piyo | 69:b2c8a0c5662c | 18 | |
echo_piyo | 56:a7bd860b85b6 | 19 | //index_define |
echo_piyo | 71:7d684ff43ddd | 20 | #define SBDBT_TX p13 |
echo_piyo | 71:7d684ff43ddd | 21 | #define SBDBT_RX p14 |
echo_piyo | 71:7d684ff43ddd | 22 | #define SBDBT_STO p12 |
echo_piyo | 71:7d684ff43ddd | 23 | #define RS422_TX p28 |
echo_piyo | 71:7d684ff43ddd | 24 | #define RS422_RX p27 |
echo_piyo | 71:7d684ff43ddd | 25 | #define CONTROL_INDICATOR p11 |
echo_piyo | 71:7d684ff43ddd | 26 | |
echo_piyo | 72:7d6177047823 | 27 | #define SHOT_CYLINDER_ON p18 |
echo_piyo | 72:7d6177047823 | 28 | #define SHOT_CYLINDER_OFF p17 |
echo_piyo | 72:7d6177047823 | 29 | #define SHOT_INTERRUPT p29 |
echo_piyo | 72:7d6177047823 | 30 | #define SHOT_ENCODER_A p21 |
echo_piyo | 72:7d6177047823 | 31 | #define SHOT_ENCODER_B p22 |
echo_piyo | 72:7d6177047823 | 32 | #define RELOAD_CYLINDER p15 |
echo_piyo | 72:7d6177047823 | 33 | |
echo_piyo | 72:7d6177047823 | 34 | #define SHOULDER_RIGHT_INTERRUPT_MAX p19 |
echo_piyo | 72:7d6177047823 | 35 | #define SHOULDER_RIGHT_INTERRUPT_MIN p20 |
echo_piyo | 72:7d6177047823 | 36 | #define SHOULDER_LEFT_INTERRUPT_MAX p7 |
echo_piyo | 72:7d6177047823 | 37 | #define SHOULDER_LEFT_INTERRUPT_MIN p8 |
echo_piyo | 72:7d6177047823 | 38 | |
echo_piyo | 72:7d6177047823 | 39 | #define nucleo_num 6 |
echo_piyo | 72:7d6177047823 | 40 | #define n1_id 3 |
echo_piyo | 72:7d6177047823 | 41 | #define n2_id 4 |
echo_piyo | 72:7d6177047823 | 42 | #define n3_id 5 |
echo_piyo | 72:7d6177047823 | 43 | #define n4_id 6 |
echo_piyo | 72:7d6177047823 | 44 | #define n5_id 7 |
echo_piyo | 72:7d6177047823 | 45 | #define n6_id 8 |
echo_piyo | 72:7d6177047823 | 46 | |
echo_piyo | 72:7d6177047823 | 47 | //index_namespace_const_variable |
echo_piyo | 71:7d684ff43ddd | 48 | namespace BAUD { |
echo_piyo | 71:7d684ff43ddd | 49 | const int PC = 460800; |
echo_piyo | 71:7d684ff43ddd | 50 | const int SBDBT = 115200; |
echo_piyo | 71:7d684ff43ddd | 51 | const int RS422 = 115200; |
echo_piyo | 71:7d684ff43ddd | 52 | } |
echo_piyo | 71:7d684ff43ddd | 53 | |
echo_piyo | 71:7d684ff43ddd | 54 | namespace CYCLE { |
echo_piyo | 71:7d684ff43ddd | 55 | const float OUTPUT = 0.015; |
echo_piyo | 71:7d684ff43ddd | 56 | } |
echo_piyo | 71:7d684ff43ddd | 57 | |
echo_piyo | 71:7d684ff43ddd | 58 | namespace MECANUM { |
echo_piyo | 71:7d684ff43ddd | 59 | const float ACCELERATION = 15; |
echo_piyo | 71:7d684ff43ddd | 60 | } |
echo_piyo | 71:7d684ff43ddd | 61 | |
echo_piyo | 71:7d684ff43ddd | 62 | namespace YAW { |
echo_piyo | 71:7d684ff43ddd | 63 | const float KP = 0.01; |
echo_piyo | 71:7d684ff43ddd | 64 | const float KI = 0.01; |
echo_piyo | 71:7d684ff43ddd | 65 | const float KD = 0.01; |
echo_piyo | 71:7d684ff43ddd | 66 | } |
echo_piyo | 71:7d684ff43ddd | 67 | |
echo_piyo | 71:7d684ff43ddd | 68 | namespace SHOT { |
echo_piyo | 71:7d684ff43ddd | 69 | const float ENCORDER_KP = 0.0400; |
echo_piyo | 71:7d684ff43ddd | 70 | const float ENCORDER_KI = 0.0001; |
echo_piyo | 71:7d684ff43ddd | 71 | const float ENCORDER_KD = 0.0003; |
echo_piyo | 71:7d684ff43ddd | 72 | const int CYLINDER_POSITION_MAX = 6; |
echo_piyo | 71:7d684ff43ddd | 73 | } |
echo_piyo | 71:7d684ff43ddd | 74 | |
echo_piyo | 72:7d6177047823 | 75 | namespace POWER { |
echo_piyo | 72:7d6177047823 | 76 | const float MECANUM = 1.0; |
echo_piyo | 72:7d6177047823 | 77 | const float SWORD = 1.0; |
echo_piyo | 72:7d6177047823 | 78 | const float SHOLDER = 1.0; |
echo_piyo | 72:7d6177047823 | 79 | } |
echo_piyo | 71:7d684ff43ddd | 80 | |
echo_piyo | 72:7d6177047823 | 81 | //index_namespace_variable |
echo_piyo | 72:7d6177047823 | 82 | namespace yaw{ |
echo_piyo | 72:7d6177047823 | 83 | float now; |
echo_piyo | 72:7d6177047823 | 84 | float target; |
echo_piyo | 72:7d6177047823 | 85 | } |
echo_piyo | 71:7d684ff43ddd | 86 | |
echo_piyo | 72:7d6177047823 | 87 | namespace shot{ |
echo_piyo | 72:7d6177047823 | 88 | int cylinderOriginFlag = 0; |
echo_piyo | 72:7d6177047823 | 89 | int cylinderPosNum = 0; |
echo_piyo | 72:7d6177047823 | 90 | float cylinderPos[SHOT::CYLINDER_POSITION_MAX] = {0.0,90.0,325.0,450.0,580.0,700.0}; |
echo_piyo | 72:7d6177047823 | 91 | float cylinderPwm = 0; |
echo_piyo | 72:7d6177047823 | 92 | float cylinderPower = 0.0; |
echo_piyo | 72:7d6177047823 | 93 | } |
echo_piyo | 71:7d684ff43ddd | 94 | |
echo_piyo | 72:7d6177047823 | 95 | //index_Function |
echo_piyo | 72:7d6177047823 | 96 | void setup(); |
echo_piyo | 72:7d6177047823 | 97 | void output(); |
echo_piyo | 72:7d6177047823 | 98 | void motorCalculation(); |
echo_piyo | 72:7d6177047823 | 99 | //void motorBoost(); |
echo_piyo | 72:7d6177047823 | 100 | float shotCylinderPowerCalclation(); |
echo_piyo | 72:7d6177047823 | 101 | void shotCylinderCalculation(); |
echo_piyo | 72:7d6177047823 | 102 | void firstMotion(); |
echo_piyo | 72:7d6177047823 | 103 | void swordCalculation(); |
echo_piyo | 72:7d6177047823 | 104 | float shoulderRightCalclation(); |
echo_piyo | 72:7d6177047823 | 105 | float shoulderLeftCalclation(); |
echo_piyo | 72:7d6177047823 | 106 | void shoulderInterruptIndicator(); |
echo_piyo | 57:68df771fd8a1 | 107 | |
echo_piyo | 56:a7bd860b85b6 | 108 | //index_setupPin |
echo_piyo | 72:7d6177047823 | 109 | DigitalOut led1(LED1); |
echo_piyo | 72:7d6177047823 | 110 | DigitalOut led2(LED2); |
echo_piyo | 72:7d6177047823 | 111 | DigitalOut led3(LED3); |
echo_piyo | 72:7d6177047823 | 112 | DigitalOut led4(LED4); |
echo_piyo | 72:7d6177047823 | 113 | Serial pc(USBTX,USBRX); |
echo_piyo | 72:7d6177047823 | 114 | Rs422 rs422(RS422_TX, RS422_RX); |
echo_piyo | 72:7d6177047823 | 115 | Sbdbt sbdbt(SBDBT_TX, SBDBT_RX, SBDBT_STO); |
echo_piyo | 72:7d6177047823 | 116 | Ticker outputTimer; |
echo_piyo | 72:7d6177047823 | 117 | Mecanum mecanum; |
echo_piyo | 72:7d6177047823 | 118 | Bno055 bno055; |
echo_piyo | 72:7d6177047823 | 119 | PositionPid yawPid; |
echo_piyo | 66:1664ee92539d | 120 | Accelerator v1; |
echo_piyo | 66:1664ee92539d | 121 | Accelerator v2; |
echo_piyo | 66:1664ee92539d | 122 | Accelerator v3; |
echo_piyo | 66:1664ee92539d | 123 | Accelerator v4; |
echo_piyo | 72:7d6177047823 | 124 | eventVar shotCylinderEvent; |
echo_piyo | 72:7d6177047823 | 125 | CyclicVar shotPositionCyclic; |
echo_piyo | 72:7d6177047823 | 126 | DigitalIn shotInterrupt(SHOT_INTERRUPT); |
echo_piyo | 72:7d6177047823 | 127 | DigitalOut shotCylinderOn(SHOT_CYLINDER_ON); |
echo_piyo | 72:7d6177047823 | 128 | DigitalOut shotCylinderOff(SHOT_CYLINDER_OFF); |
echo_piyo | 72:7d6177047823 | 129 | Encoder shotEncoder(SHOT_ENCODER_A,SHOT_ENCODER_B); |
echo_piyo | 72:7d6177047823 | 130 | DigitalIn shoulderRightInterruptMin(SHOULDER_RIGHT_INTERRUPT_MIN); |
echo_piyo | 72:7d6177047823 | 131 | DigitalIn shoulderRightInterruptMax(SHOULDER_RIGHT_INTERRUPT_MAX); |
echo_piyo | 72:7d6177047823 | 132 | DigitalIn shoulderLeftInterruptMin(SHOULDER_LEFT_INTERRUPT_MIN); |
echo_piyo | 72:7d6177047823 | 133 | DigitalIn shoulderLeftInterruptMax(SHOULDER_LEFT_INTERRUPT_MAX); |
echo_piyo | 72:7d6177047823 | 134 | CyclicVar swordSwingCyclic; |
echo_piyo | 72:7d6177047823 | 135 | CyclicIo reloadCylinder(RELOAD_CYLINDER); |
echo_piyo | 72:7d6177047823 | 136 | DigitalOut controlIndigator(CONTROL_INDICATOR); |
echo_piyo | 67:b094d88583be | 137 | |
echo_piyo | 0:bf96e953cdb8 | 138 | |
echo_piyo | 0:bf96e953cdb8 | 139 | int main() |
echo_piyo | 0:bf96e953cdb8 | 140 | { |
echo_piyo | 0:bf96e953cdb8 | 141 | setup(); |
echo_piyo | 2:d5b8f8e62923 | 142 | while(1) { |
echo_piyo | 72:7d6177047823 | 143 | //pc.printf("cylinder pos : %f\r\n",shotEncoder.deg()); |
echo_piyo | 55:2dd2f161ebaf | 144 | //pc.printf("riseState %d : fallState %d\r\n",event.getRise(),event.getFall()); |
echo_piyo | 0:bf96e953cdb8 | 145 | } |
echo_piyo | 0:bf96e953cdb8 | 146 | } |
echo_piyo | 0:bf96e953cdb8 | 147 | |
echo_piyo | 0:bf96e953cdb8 | 148 | void setup() |
echo_piyo | 0:bf96e953cdb8 | 149 | { |
echo_piyo | 72:7d6177047823 | 150 | wait(1.0); |
echo_piyo | 65:5e4c2e5494ae | 151 | bno055.begin(); |
echo_piyo | 40:2d6888448ab2 | 152 | wait(1.0); |
echo_piyo | 65:5e4c2e5494ae | 153 | bno055.firstRead(); |
echo_piyo | 71:7d684ff43ddd | 154 | pc.baud(BAUD::PC); |
echo_piyo | 71:7d684ff43ddd | 155 | sbdbt.begin(BAUD::SBDBT); |
echo_piyo | 71:7d684ff43ddd | 156 | rs422.begin(BAUD::RS422); |
echo_piyo | 72:7d6177047823 | 157 | firstMotion(); |
echo_piyo | 72:7d6177047823 | 158 | shot::cylinderPosNum = 1; //セットアップタイムでの初期装填のため |
echo_piyo | 72:7d6177047823 | 159 | outputTimer.attach(&output, CYCLE::OUTPUT); |
echo_piyo | 72:7d6177047823 | 160 | yawPid.setup(YAW::KP, YAW::KI, YAW::KD, CYCLE::OUTPUT); |
echo_piyo | 72:7d6177047823 | 161 | mecanum.setupdeg(bno055.getYawRad()); //基盤が前後逆の場合+180 |
echo_piyo | 71:7d684ff43ddd | 162 | v1.setup(MECANUM::ACCELERATION, CYCLE::OUTPUT); |
echo_piyo | 71:7d684ff43ddd | 163 | v2.setup(MECANUM::ACCELERATION, CYCLE::OUTPUT); |
echo_piyo | 71:7d684ff43ddd | 164 | v3.setup(MECANUM::ACCELERATION, CYCLE::OUTPUT); |
echo_piyo | 71:7d684ff43ddd | 165 | v4.setup(MECANUM::ACCELERATION, CYCLE::OUTPUT); |
echo_piyo | 72:7d6177047823 | 166 | shotEncoder.setPpr(100); |
echo_piyo | 72:7d6177047823 | 167 | shotEncoder.setup(SHOT::ENCORDER_KP, SHOT::ENCORDER_KI, SHOT::ENCORDER_KD, CYCLE::OUTPUT); |
echo_piyo | 72:7d6177047823 | 168 | } |
echo_piyo | 72:7d6177047823 | 169 | |
echo_piyo | 72:7d6177047823 | 170 | //index_sword |
echo_piyo | 72:7d6177047823 | 171 | void shoulderInterruptIndicator(){ |
echo_piyo | 72:7d6177047823 | 172 | led1 = shoulderLeftInterruptMax; |
echo_piyo | 72:7d6177047823 | 173 | led2 = shoulderLeftInterruptMin; |
echo_piyo | 72:7d6177047823 | 174 | led3 = shoulderRightInterruptMax; |
echo_piyo | 72:7d6177047823 | 175 | led4 = shoulderRightInterruptMin; |
echo_piyo | 12:1fec80ae8a2c | 176 | } |
echo_piyo | 12:1fec80ae8a2c | 177 | |
echo_piyo | 72:7d6177047823 | 178 | float shoulderRightCalclation(){ |
echo_piyo | 72:7d6177047823 | 179 | if(shoulderRightInterruptMax==0&&sbdbt.sankaku==1) { |
echo_piyo | 72:7d6177047823 | 180 | return 0.0; |
echo_piyo | 72:7d6177047823 | 181 | } |
echo_piyo | 72:7d6177047823 | 182 | if(shoulderRightInterruptMin==0&&sbdbt.batu==1) { |
echo_piyo | 31:285c9898da03 | 183 | return 0.0; |
echo_piyo | 31:285c9898da03 | 184 | } |
echo_piyo | 72:7d6177047823 | 185 | return (-sbdbt.sankaku*0.8+sbdbt.batu*0.8); |
echo_piyo | 72:7d6177047823 | 186 | } |
echo_piyo | 72:7d6177047823 | 187 | |
echo_piyo | 72:7d6177047823 | 188 | float shoulderLeftCalclation(){ |
echo_piyo | 72:7d6177047823 | 189 | if(shoulderLeftInterruptMax==0&&sbdbt.sankaku==1) { |
echo_piyo | 72:7d6177047823 | 190 | return 0.0; |
echo_piyo | 72:7d6177047823 | 191 | } |
echo_piyo | 72:7d6177047823 | 192 | if(shoulderLeftInterruptMin==0&&sbdbt.batu==1) { |
echo_piyo | 33:64fd1bd83bac | 193 | return 0.0; |
echo_piyo | 31:285c9898da03 | 194 | } |
echo_piyo | 31:285c9898da03 | 195 | return (-sbdbt.sankaku*0.8+sbdbt.batu*0.8); |
echo_piyo | 31:285c9898da03 | 196 | } |
echo_piyo | 31:285c9898da03 | 197 | |
echo_piyo | 72:7d6177047823 | 198 | void swordCalculation(){ |
echo_piyo | 72:7d6177047823 | 199 | swordSwingCyclic.cyclic(sbdbt.maru); |
echo_piyo | 17:5c4718c603dc | 200 | } |
echo_piyo | 15:0fdf483769bf | 201 | |
echo_piyo | 72:7d6177047823 | 202 | //index_shot |
echo_piyo | 72:7d6177047823 | 203 | void firstMotion(){ |
echo_piyo | 72:7d6177047823 | 204 | float cylinder = 0.0; |
echo_piyo | 72:7d6177047823 | 205 | float sholderL = 0.0; |
echo_piyo | 72:7d6177047823 | 206 | float sholderR = 0.0; |
echo_piyo | 72:7d6177047823 | 207 | while(shotInterrupt == 1 || shoulderLeftInterruptMax == 1 || shoulderRightInterruptMax == 1){ |
echo_piyo | 72:7d6177047823 | 208 | if(shotInterrupt == 1){ |
echo_piyo | 53:701dc7886fff | 209 | cylinder = 2.0; |
echo_piyo | 53:701dc7886fff | 210 | }else{ |
echo_piyo | 53:701dc7886fff | 211 | cylinder = 0.0; |
echo_piyo | 53:701dc7886fff | 212 | } |
echo_piyo | 72:7d6177047823 | 213 | if(shoulderRightInterruptMax == 1){ |
echo_piyo | 53:701dc7886fff | 214 | sholderR = -2.0; |
echo_piyo | 53:701dc7886fff | 215 | }else{ |
echo_piyo | 53:701dc7886fff | 216 | sholderR = 0.0; |
echo_piyo | 53:701dc7886fff | 217 | } |
echo_piyo | 72:7d6177047823 | 218 | if(shoulderLeftInterruptMax == 1){ |
echo_piyo | 53:701dc7886fff | 219 | sholderL = 2.0; |
echo_piyo | 53:701dc7886fff | 220 | }else{ |
echo_piyo | 53:701dc7886fff | 221 | sholderL = 0.0; |
echo_piyo | 53:701dc7886fff | 222 | } |
echo_piyo | 72:7d6177047823 | 223 | rs422.put(5, cylinder, 0.0); |
echo_piyo | 72:7d6177047823 | 224 | rs422.put(6, sholderR, sholderL); |
echo_piyo | 12:1fec80ae8a2c | 225 | } |
echo_piyo | 72:7d6177047823 | 226 | shotEncoder.origin(); |
echo_piyo | 0:bf96e953cdb8 | 227 | } |
echo_piyo | 38:b071512af5ca | 228 | |
echo_piyo | 72:7d6177047823 | 229 | //cylinderOriginFlagを1にすることで動作する |
echo_piyo | 72:7d6177047823 | 230 | float shotCylinderPowerCalclation(){ |
echo_piyo | 72:7d6177047823 | 231 | if(shotInterrupt == 0&&shot::cylinderOriginFlag == 1) { |
echo_piyo | 72:7d6177047823 | 232 | shot::cylinderOriginFlag = 0; |
echo_piyo | 72:7d6177047823 | 233 | shotEncoder.origin(); |
echo_piyo | 72:7d6177047823 | 234 | shot::cylinderPosNum = 0; |
echo_piyo | 72:7d6177047823 | 235 | shot::cylinderPower = -0.0; |
echo_piyo | 72:7d6177047823 | 236 | return 0.0; |
echo_piyo | 72:7d6177047823 | 237 | }else if(shot::cylinderOriginFlag == 1){ |
echo_piyo | 72:7d6177047823 | 238 | return -0.8; |
echo_piyo | 72:7d6177047823 | 239 | }else{ |
echo_piyo | 72:7d6177047823 | 240 | return -1*shotEncoder.duty_enableWidth(-10.0,10.0); |
echo_piyo | 72:7d6177047823 | 241 | } |
echo_piyo | 71:7d684ff43ddd | 242 | } |
echo_piyo | 71:7d684ff43ddd | 243 | |
echo_piyo | 72:7d6177047823 | 244 | void shotCylinderCalculation(){ |
echo_piyo | 58:6cd46488f59b | 245 | //cylinder ON/OFF |
echo_piyo | 58:6cd46488f59b | 246 | if(sbdbt.shikaku){ |
echo_piyo | 72:7d6177047823 | 247 | shotCylinderOn = 1; |
echo_piyo | 72:7d6177047823 | 248 | shotCylinderOff = 0; |
echo_piyo | 58:6cd46488f59b | 249 | }else{ |
echo_piyo | 72:7d6177047823 | 250 | shotCylinderOn = 0; |
echo_piyo | 72:7d6177047823 | 251 | shotCylinderOff = 1; |
echo_piyo | 58:6cd46488f59b | 252 | } |
echo_piyo | 72:7d6177047823 | 253 | shotCylinderEvent.input(sbdbt.right); |
echo_piyo | 72:7d6177047823 | 254 | if(shotCylinderEvent.getRise()) { //cylinder degset |
echo_piyo | 72:7d6177047823 | 255 | shot::cylinderPosNum++; |
echo_piyo | 72:7d6177047823 | 256 | if(shot::cylinderPosNum >= SHOT::CYLINDER_POSITION_MAX) { |
echo_piyo | 72:7d6177047823 | 257 | //shot::cylinderPosNum = 0; |
echo_piyo | 72:7d6177047823 | 258 | shot::cylinderOriginFlag=1; |
echo_piyo | 31:285c9898da03 | 259 | } |
echo_piyo | 31:285c9898da03 | 260 | } |
echo_piyo | 72:7d6177047823 | 261 | shotEncoder.cal((float)shot::cylinderPos[shot::cylinderPosNum],CYCLE::OUTPUT); //set cylinder_tergetPos |
echo_piyo | 72:7d6177047823 | 262 | //pc.printf("target\t%f\tnow_deg\t%f\tnow_pulse\t%d\tpwm\t%f\r\n",shot::cylinderPos[shot::cylinderPosNum],shotEncoder.deg(),shotEncoder.pulse(),shotEncoder.duty()); |
echo_piyo | 19:76a387e4bcf6 | 263 | } |
echo_piyo | 38:b071512af5ca | 264 | |
echo_piyo | 64:41dcec6c20bc | 265 | //functionBoost |
echo_piyo | 72:7d6177047823 | 266 | void motorBoost(){ |
echo_piyo | 31:285c9898da03 | 267 | if(sbdbt.r2) { |
echo_piyo | 10:04f2a82cfd89 | 268 | mecanum.boost_forward(); |
echo_piyo | 10:04f2a82cfd89 | 269 | } |
echo_piyo | 31:285c9898da03 | 270 | if(sbdbt.l2) { |
echo_piyo | 10:04f2a82cfd89 | 271 | mecanum.boost_back(); |
echo_piyo | 10:04f2a82cfd89 | 272 | } |
echo_piyo | 26:3280d0300b04 | 273 | /* |
echo_piyo | 10:04f2a82cfd89 | 274 | if(sbdbt.shikaku) { |
echo_piyo | 10:04f2a82cfd89 | 275 | mecanum.boost_left(); |
echo_piyo | 10:04f2a82cfd89 | 276 | } |
echo_piyo | 10:04f2a82cfd89 | 277 | if(sbdbt.maru) { |
echo_piyo | 10:04f2a82cfd89 | 278 | mecanum.boost_right(); |
echo_piyo | 10:04f2a82cfd89 | 279 | } |
echo_piyo | 26:3280d0300b04 | 280 | */ |
echo_piyo | 10:04f2a82cfd89 | 281 | } |
echo_piyo | 10:04f2a82cfd89 | 282 | |
echo_piyo | 72:7d6177047823 | 283 | //index_mecanum |
echo_piyo | 72:7d6177047823 | 284 | void motorCalculation(){ |
echo_piyo | 56:a7bd860b85b6 | 285 | static float out_right_x; |
echo_piyo | 72:7d6177047823 | 286 | yaw::now = bno055.getYawRad(); |
echo_piyo | 72:7d6177047823 | 287 | yaw::target = yaw::now; |
echo_piyo | 72:7d6177047823 | 288 | yawPid.calculate(yaw::target, yaw::now); |
echo_piyo | 56:a7bd860b85b6 | 289 | |
echo_piyo | 56:a7bd860b85b6 | 290 | //後進時に方向が逆転するため |
echo_piyo | 56:a7bd860b85b6 | 291 | if(sbdbt.right_y < 0.0){ |
echo_piyo | 56:a7bd860b85b6 | 292 | out_right_x = -1.0*sbdbt.right_x; |
echo_piyo | 56:a7bd860b85b6 | 293 | }else{ |
echo_piyo | 56:a7bd860b85b6 | 294 | out_right_x = sbdbt.right_x; |
echo_piyo | 56:a7bd860b85b6 | 295 | } |
echo_piyo | 56:a7bd860b85b6 | 296 | mecanum.sbdbt_cal(sbdbt.left_x, sbdbt.left_y, sbdbt.l1, sbdbt.r1, out_right_x, bno055.getYawRad()); |
echo_piyo | 5:6efda58ff71b | 297 | // 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 | 298 | } |
echo_piyo | 72:7d6177047823 | 299 | |
echo_piyo | 72:7d6177047823 | 300 | //index_output |
echo_piyo | 35:5e1ad00f26fb | 301 | void output() |
echo_piyo | 35:5e1ad00f26fb | 302 | { |
echo_piyo | 72:7d6177047823 | 303 | motorCalculation(); |
echo_piyo | 72:7d6177047823 | 304 | shotCylinderCalculation(); |
echo_piyo | 72:7d6177047823 | 305 | swordCalculation(); |
echo_piyo | 64:41dcec6c20bc | 306 | //servo_out(); |
echo_piyo | 72:7d6177047823 | 307 | //motorBoost(); |
echo_piyo | 72:7d6177047823 | 308 | controlIndigator = sbdbt.get_pairingState(); |
echo_piyo | 48:96b5f5ebdfb0 | 309 | //led1 = sbdbt.get_pairingState(); |
echo_piyo | 72:7d6177047823 | 310 | shoulderInterruptIndicator(); |
echo_piyo | 72:7d6177047823 | 311 | if(sbdbt.up)shot::cylinderOriginFlag = 1; |
echo_piyo | 49:b041c815c063 | 312 | if(sbdbt.left)bno055.yaw_origin(); |
echo_piyo | 72:7d6177047823 | 313 | reloadCylinder.cyclic(sbdbt.down); |
echo_piyo | 72:7d6177047823 | 314 | |
echo_piyo | 35:5e1ad00f26fb | 315 | static int counter; |
echo_piyo | 35:5e1ad00f26fb | 316 | int id[nucleo_num] = {n1_id, n2_id, n3_id, n4_id, n5_id, n6_id}; |
echo_piyo | 45:a32e8091901b | 317 | |
echo_piyo | 45:a32e8091901b | 318 | //sbdbtがpairingしている場合のみ動作 |
echo_piyo | 45:a32e8091901b | 319 | if(sbdbt.get_pairingState()) { |
echo_piyo | 45:a32e8091901b | 320 | switch (counter) { |
echo_piyo | 45:a32e8091901b | 321 | case 0: |
echo_piyo | 72:7d6177047823 | 322 | rs422.put(id[counter], v1.duty(limitf(((mecanum.v1()*POWER::MECANUM)+(sbdbt.right_y*0.8)),1.0,-1.0)), v3.duty(limitf(((mecanum.v3()*POWER::MECANUM)+(sbdbt.right_y*0.8)),1.0,-1.0))); |
echo_piyo | 45:a32e8091901b | 323 | counter++; |
echo_piyo | 45:a32e8091901b | 324 | break; |
echo_piyo | 45:a32e8091901b | 325 | case 1: |
echo_piyo | 72:7d6177047823 | 326 | //.duty(<cal>*<powerControle>+(<motorBoost>*0.5)) |
echo_piyo | 72:7d6177047823 | 327 | rs422.put(id[counter], v2.duty(limitf(((mecanum.v2()*POWER::MECANUM)-(sbdbt.right_y*0.8)),1.0,-1.0)), v4.duty(limitf(((mecanum.v4()*POWER::MECANUM)-(sbdbt.right_y*0.8)),1.0,-1.0))); |
echo_piyo | 45:a32e8091901b | 328 | counter ++; |
echo_piyo | 45:a32e8091901b | 329 | break; |
echo_piyo | 45:a32e8091901b | 330 | case 2: |
echo_piyo | 55:2dd2f161ebaf | 331 | //rs422.put(id[counter], sbdbt.right_y, 0.0); |
echo_piyo | 72:7d6177047823 | 332 | rs422.put(id[counter], limitf(shotCylinderPowerCalclation(),1.0,-1.0), 0.0); |
echo_piyo | 45:a32e8091901b | 333 | counter ++; |
echo_piyo | 45:a32e8091901b | 334 | break; |
echo_piyo | 45:a32e8091901b | 335 | case 3: |
echo_piyo | 72:7d6177047823 | 336 | rs422.put(id[counter], limitf((-1*shoulderRightCalclation()*POWER::SHOLDER),1.0,-1.0), limitf((shoulderLeftCalclation()*POWER::SHOLDER),1.0,-1.0)); |
echo_piyo | 45:a32e8091901b | 337 | counter ++; |
echo_piyo | 45:a32e8091901b | 338 | break; |
echo_piyo | 45:a32e8091901b | 339 | case 4: |
echo_piyo | 72:7d6177047823 | 340 | rs422.put(id[counter], limitf(((float)swordSwingCyclic.getState()*POWER::SWORD),1.0,-1.0),0.0); |
echo_piyo | 45:a32e8091901b | 341 | counter = 0; |
echo_piyo | 45:a32e8091901b | 342 | break; |
echo_piyo | 45:a32e8091901b | 343 | default: |
echo_piyo | 45:a32e8091901b | 344 | break; |
echo_piyo | 48:96b5f5ebdfb0 | 345 | } |
echo_piyo | 45:a32e8091901b | 346 | }else{ |
echo_piyo | 48:96b5f5ebdfb0 | 347 | switch (counter) { |
echo_piyo | 48:96b5f5ebdfb0 | 348 | case 0: |
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 1: |
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 2: |
echo_piyo | 48:96b5f5ebdfb0 | 357 | rs422.put(id[counter],0.0,0.0); |
echo_piyo | 48:96b5f5ebdfb0 | 358 | counter ++; |
echo_piyo | 48:96b5f5ebdfb0 | 359 | break; |
echo_piyo | 48:96b5f5ebdfb0 | 360 | case 3: |
echo_piyo | 48:96b5f5ebdfb0 | 361 | rs422.put(id[counter],0.0,0.0); |
echo_piyo | 48:96b5f5ebdfb0 | 362 | counter ++; |
echo_piyo | 48:96b5f5ebdfb0 | 363 | break; |
echo_piyo | 48:96b5f5ebdfb0 | 364 | case 4: |
echo_piyo | 48:96b5f5ebdfb0 | 365 | rs422.put(id[counter],0.0,0.0); |
echo_piyo | 48:96b5f5ebdfb0 | 366 | counter = 0; |
echo_piyo | 48:96b5f5ebdfb0 | 367 | break; |
echo_piyo | 48:96b5f5ebdfb0 | 368 | default: |
echo_piyo | 48:96b5f5ebdfb0 | 369 | break; |
echo_piyo | 45:a32e8091901b | 370 | } |
echo_piyo | 45:a32e8091901b | 371 | } |
echo_piyo | 14:aac2f18f6779 | 372 | } |