ken fuji
/
omuni_a
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Fork of
omuni
by 
gaku takasawa
Revision 2:fe76af2dff4d, committed 2017-10-13
- Comitter:
- fujikenac
- Date:
- Fri Oct 13 10:10:32 2017 +0000
- Parent:
- 0:c0f3e14f1ed1
- Child:
- 3:51f47bf405a0
- Commit message:
- add advanced acceleration
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/P_motor.lib Fri Oct 13 10:10:32 2017 +0000 @@ -0,0 +1,1 @@ +http://os.mbed.com/users/fujikenac/code/P_motor/#2431c324e36d
--- a/omuni.cpp Tue Oct 10 12:50:39 2017 +0000
+++ b/omuni.cpp Fri Oct 13 10:10:32 2017 +0000
@@ -1,62 +1,74 @@
#include "omuni.h"
- int8_t omuni::map(int8_t in, int8_t inMin, int8_t inMax, int8_t outMin, int8_t outMax) {
- // check it's within the range
- if (inMin<inMax) {
- if (in <= inMin)
- return outMin;
- if (in >= inMax)
- return outMax;
- } else { // cope with input range being backwards.
- if (in >= inMin)
- return outMin;
- if (in <= inMax)
- return outMax;
- }
- // calculate how far into the range we are
- float scale = float(in-inMin)/float(inMax-inMin);
- // calculate the output.
- return int8_t(outMin + scale*float(outMax-outMin));
- }
-
-
- omuni::omuni(I2C* i2c_,int8_t addr1,int8_t addr2,int8_t addr3)
- :i2c(i2c_),m1(i2c_,addr1),m2(i2c_,addr2),m3(i2c_,addr3)
- {
- RXData[0] = 'H';
- RXData[1] = 0 ;
- RXData[2] = 0 ;
- RXData[3] = 0 ;
- RXData[4] = 0 ;
- }
- void omuni::out(char rxdata[dataNum],float L)
- {
- signed char x1 = map(rxdata[1],-90,90,-100,100);
- signed char y1 = map(rxdata[2],-90,90,-100,100);
- signed char x2 = map(rxdata[3],-90,90,-100,100);
- signed char y2 = map(rxdata[4],-90,90,-100,100);
- float r1 = pow(x1*x1+y1*y1,0.5)/100;
- float r2 = pow(x2*x2+y2*y2,0.5)/100;
- float sieta1 = atan2(double(x1),double(y1));
- float sieta2 = atan2(double(x2),double(y2));
- if(r2 < 0.1F)r2 = 0;
- float alpha = PI/2;
- float x_2 = cos(sieta2);
- float y_2 = sin(sieta2);
- float w = 0;
- if(r1 > 0.1F){
- if(sieta1 > PI/3 && sieta1 < PI*2/3.0)
- w = PI/4;
- if((sieta1 < -PI/3 && sieta1 > -2*PI/3.0))
- w = -PI/4;
- }
- float s1 = r2*float(sin(alpha)*-x2*0.01) + float(L*w);
- float s2 = r2*float(sin(alpha+4.0/3*PI)*-x2 - cos(alpha+4.0/3*PI)*y2)*0.01 + float(L*w);
- float s3 = r2*float(sin(alpha+2.0/3*PI)*-x2 - cos(alpha+2.0/3*PI)*y2)*0.01 + float(L*w);
- m1 = s1;
- m2 = s2;
- m3 = s3;
- //printf("%5.2f : %5.2f : %5.2f : %5.2f",(float)x2,(float)y2,sieta1*180/PI,r1);
- //printf("\n");
- }
\ No newline at end of file
+int8_t omuni::map(int8_t in, int8_t inMin, int8_t inMax, int8_t outMin, int8_t outMax)
+{
+ // check it's within the range
+ if (inMin<inMax) {
+ if (in <= inMin)
+ return outMin;
+ if (in >= inMax)
+ return outMax;
+ } else { // cope with input range being backwards.
+ if (in >= inMin)
+ return outMin;
+ if (in <= inMax)
+ return outMax;
+ }
+ // calculate how far into the range we are
+ float scale = float(in-inMin)/float(inMax-inMin);
+ // calculate the output.
+ return int8_t(outMin + scale*float(outMax-outMin));
+}
+
+
+omuni::omuni(I2C* i2c_,int8_t addr1,int8_t addr2,int8_t addr3, double delta)
+ :i2c(i2c_),m1(i2c_,addr1, delta),m2(i2c_,addr2, delta),m3(i2c_,addr3, delta)
+{
+ RXData[0] = 'H';
+ RXData[1] = 0 ;
+ RXData[2] = 0 ;
+ RXData[3] = 0 ;
+ RXData[4] = 0 ;
+ tick.attach(callback(this, &omuni::compute_task), delta);
+}
+void omuni::out(char rxdata[dataNum],float L)
+{
+ signed char x1 = map(rxdata[1],-90,90,-100,100);
+ signed char y1 = map(rxdata[2],-90,90,-100,100);
+ signed char x2 = map(rxdata[3],-90,90,-100,100);
+ signed char y2 = map(rxdata[4],-90,90,-100,100);
+ float r1 = pow(x1*x1+y1*y1,0.5)/100;
+ float r2 = pow(x2*x2+y2*y2,0.5)/100;
+ float sieta1 = atan2(double(x1),double(y1));
+ float sieta2 = atan2(double(x2),double(y2));
+ if(r2 < 0.1F)r2 = 0;
+ float alpha = PI/2;
+ float x_2 = cos(sieta2);
+ float y_2 = sin(sieta2);
+ float w = 0;
+ if(r1 > 0.1F) {
+ if(sieta1 > PI/3 && sieta1 < PI*2/3.0)
+ w = PI/4;
+ if((sieta1 < -PI/3 && sieta1 > -2*PI/3.0))
+ w = -PI/4;
+ }
+ float s1 = r2*float(sin(alpha)*-x2*0.01) + float(L*w);
+ float s2 = r2*float(sin(alpha+4.0/3*PI)*-x2 - cos(alpha+4.0/3*PI)*y2)*0.01 + float(L*w);
+ float s3 = r2*float(sin(alpha+2.0/3*PI)*-x2 - cos(alpha+2.0/3*PI)*y2)*0.01 + float(L*w);
+ m1 = s1;
+ m2 = s2;
+ m3 = s3;
+ //printf("%5.2f : %5.2f : %5.2f : %5.2f",(float)x2,(float)y2,sieta1*180/PI,r1);
+ //printf("\n");
+}
+
+void omuni::compute_task()
+{
+ m1.compute();
+ m2.compute();
+ m3.compute();
+ m1.run();
+ m2.run();
+ m3.run();
+}
\ No newline at end of file
--- a/omuni.h Tue Oct 10 12:50:39 2017 +0000
+++ b/omuni.h Fri Oct 13 10:10:32 2017 +0000
@@ -1,6 +1,7 @@
#ifndef omuni_H
#define omuni_H
#include "T_motor.h"
+#include "P_motor.h"
#include "mbed.h"
#define PI 3.14159265359
@@ -9,13 +10,15 @@
class omuni{
private:
I2C *i2c;
- T_motor m1,m2,m3;
+ Ticker tick;
+ P_motor m1,m2,m3;
char RXData[dataNum];
int8_t map(int8_t in, int8_t inMin, int8_t inMax, int8_t outMin, int8_t outMax);
public:
- omuni(I2C* i2c_,int8_t addr1,int8_t addr2,int8_t addr3);
+ omuni(I2C* i2c_,int8_t addr1,int8_t addr2,int8_t addr3, double delta = 0.1);
void out(char rxdata[dataNum],float L = 0.275);
+ void compute_task();
};
#endif
\ No newline at end of file