nakashima Kohei / Mbed 2 deprecated SHIPBOT_LATEST

2021年地区大会船ロボット「明石工船」 import時ライブラリの更新をしないでください

Dependencies:   mbed arrc_mbed BNO055 take_mbed_old SDFileSystem ros_lib_melodic_buffer_increase

main.cpp@7:2e578dbe3a81, 2021-10-26 (annotated)

Committer:
hamohamo
Date:
Tue Oct 26 15:55:52 2021 +0000
Revision:
7:2e578dbe3a81
Parent:
6:e7b9b1d46852
Child:
8:49f527ad271c
ad

Who changed what in which revision?

UserRevisionLine numberNew contents of line
hamohamo 0:f80bb69e638e 1 #define USESCRP
hamohamo 0:f80bb69e638e 2 #include "core.hpp"
hamohamo 0:f80bb69e638e 3 #include "SDFileSystem.h"
hamohamo 0:f80bb69e638e 4 #include "BNO055.h"
hamohamo 0:f80bb69e638e 5 #include <cmath>
hamohamo 0:f80bb69e638e 6 #include <vector>
hamohamo 4:0038da6cdc9a 7 #include <ros.h>
hamohamo 4:0038da6cdc9a 8 #include <std_msgs/Int16.h>
hamohamo 0:f80bb69e638e 9
hamohamo 0:f80bb69e638e 10 #include "mbed.h"
hamohamo 0:f80bb69e638e 11 #define POINTS 900
hamohamo 7:2e578dbe3a81 12 #define ISLAND 10
hamohamo 0:f80bb69e638e 13
hamohamo 0:f80bb69e638e 14
hamohamo 0:f80bb69e638e 15 /*--------------FUNCTION--------------*/
hamohamo 1:aa9cc4250220 16 bool init();
hamohamo 0:f80bb69e638e 17 void route_read();
hamohamo 4:0038da6cdc9a 18 void spinonce();
hamohamo 0:f80bb69e638e 19 void getPoint(Position *p,int n);
hamohamo 0:f80bb69e638e 20 void getVelocity(double *v,int n);
hamohamo 0:f80bb69e638e 21 bool incircle(Position pos,Position target,double error);
hamohamo 0:f80bb69e638e 22 void gyroA(double theta);
hamohamo 0:f80bb69e638e 23 void gyroB(double theta);
hamohamo 0:f80bb69e638e 24 bool checkMOT12(int rx_data, int &tx_data);
hamohamo 0:f80bb69e638e 25 bool checkMOT34(int rx_data, int &tx_data);
hamohamo 4:0038da6cdc9a 26 void getPixel(const std_msgs::Int16& pix);
hamohamo 0:f80bb69e638e 27
hamohamo 0:f80bb69e638e 28
hamohamo 0:f80bb69e638e 29 /*--------------VARIABLE--------------*/
hamohamo 0:f80bb69e638e 30
hamohamo 0:f80bb69e638e 31 std::vector<double> t_info,x_info,y_info,v_info,theta_info;
hamohamo 4:0038da6cdc9a 32 Position pos,vel,NextP,subP;
hamohamo 0:f80bb69e638e 33 int n=1;
hamohamo 7:2e578dbe3a81 34 int cnt = 0;
hamohamo 0:f80bb69e638e 35 double v=0.0;
hamohamo 0:f80bb69e638e 36 double theta = 0.0;
hamohamo 0:f80bb69e638e 37 double gyro = 0.0;
hamohamo 4:0038da6cdc9a 38 int pixel = 0.0;
hamohamo 0:f80bb69e638e 39 bool gyro_1 = false,gyro_2 = false;
hamohamo 0:f80bb69e638e 40 long long g_pulse;
hamohamo 0:f80bb69e638e 41 bool MOT12 = false,MOT34 = false;
hamohamo 0:f80bb69e638e 42
hamohamo 0:f80bb69e638e 43 BNO055 bno(PB_3, PB_10);
hamohamo 0:f80bb69e638e 44
hamohamo 4:0038da6cdc9a 45 ros::NodeHandle nh;
hamohamo 4:0038da6cdc9a 46 Ticker rosspin;
hamohamo 4:0038da6cdc9a 47
hamohamo 0:f80bb69e638e 48 SDFileSystem sd(PB_15, PB_14, PB_13, PB_1,"sd");// mosi, miso, sclk, cs
minamikawa 5:aee4416b0d4f 49 //ScrpSlave scrp(PC_12,PD_2 ,PH_1 ,SERIAL_TX,SERIAL_RX,0x0807f800);
minamikawa 5:aee4416b0d4f 50 ScrpSlave scrp(PC_12,PD_2 ,PH_1 ,0x0807f800);
hamohamo 0:f80bb69e638e 51 Robot AKASHIKOSEN(50.8,25.4,322.5,259.75);
hamohamo 0:f80bb69e638e 52 Core RBT(&AKASHIKOSEN,&scrp,OMNI4,0.02);
hamohamo 0:f80bb69e638e 53
minamikawa 5:aee4416b0d4f 54 ros::Subscriber<std_msgs::Int16> sub("unti", &getPixel);
minamikawa 5:aee4416b0d4f 55
minamikawa 5:aee4416b0d4f 56 int x=1;
hamohamo 4:0038da6cdc9a 57
hamohamo 0:f80bb69e638e 58 int main(){
minamikawa 5:aee4416b0d4f 59
minamikawa 5:aee4416b0d4f 60 DigitalOut hoge(PB_2);
minamikawa 5:aee4416b0d4f 61 hoge = x;
minamikawa 5:aee4416b0d4f 62
hamohamo 7:2e578dbe3a81 63 PwmOut servo(PA_0);
hamohamo 4:0038da6cdc9a 64 PwmOut ok(PC_6);
hamohamo 0:f80bb69e638e 65
hamohamo 0:f80bb69e638e 66 /*--------------SETUP--------------*/
hamohamo 4:0038da6cdc9a 67
hamohamo 7:2e578dbe3a81 68 servo.period_ms(2048);
hamohamo 7:2e578dbe3a81 69 servo.pulsewidth_us(1500);
hamohamo 7:2e578dbe3a81 70
hamohamo 4:0038da6cdc9a 71 nh.getHardware()->setBaud(115200);
hamohamo 4:0038da6cdc9a 72 nh.initNode();
hamohamo 4:0038da6cdc9a 73 nh.subscribe(sub);
minamikawa 5:aee4416b0d4f 74 rosspin.attach_us(&spinonce,1000);
hamohamo 4:0038da6cdc9a 75
hamohamo 4:0038da6cdc9a 76 scrp.addCMD(7,checkMOT12);
hamohamo 4:0038da6cdc9a 77 scrp.addCMD(8,checkMOT34);
hamohamo 4:0038da6cdc9a 78 AKASHIKOSEN.setCWID(1,2,3,4);
hamohamo 4:0038da6cdc9a 79 AKASHIKOSEN.setSWID(5,6,7,8);
hamohamo 4:0038da6cdc9a 80
hamohamo 4:0038da6cdc9a 81 RBT.addENC(PC_4,PA_13,512,4,1);
hamohamo 4:0038da6cdc9a 82 RBT.addENC(PA_14,PA_15,512,4,2);
hamohamo 4:0038da6cdc9a 83 RBT.addENC(PC_2,PC_3,512,4,3);
hamohamo 4:0038da6cdc9a 84 RBT.addENC(PC_10,PC_11,512,4,4);
hamohamo 4:0038da6cdc9a 85 RBT.addENC(PA_7,PA_6,512,4,5);
hamohamo 4:0038da6cdc9a 86 RBT.addENC(PA_9,PA_8,512,4,6);
hamohamo 4:0038da6cdc9a 87 RBT.addENC(PC_1,PC_0,512,4,7);
hamohamo 4:0038da6cdc9a 88 RBT.addENC(PC_5,PA_12,512,4,8);
hamohamo 0:f80bb69e638e 89
hamohamo 4:0038da6cdc9a 90 RBT.addPID(0.0048,0.001,0.00008,1)->setLimit(0.5,-0.5);
hamohamo 4:0038da6cdc9a 91 RBT.addPID(0.0048,0.001,0.00008,2)->setLimit(0.5,-0.5);
hamohamo 4:0038da6cdc9a 92 RBT.addPID(0.0048,0.001,0.00008,3)->setLimit(0.5,-0.5);
hamohamo 4:0038da6cdc9a 93 RBT.addPID(0.0048,0.001,0.00008,4)->setLimit(0.5,-0.5);
hamohamo 4:0038da6cdc9a 94 RBT.addPID(0.8,0.00,0.0,5)->setLimit(2.0*M_PI/8.0,-2.0*M_PI/8.0);
hamohamo 6:e7b9b1d46852 95 RBT.addPID(0.008,0.00,0.0,0)->setLimit(2.0*M_PI/8.0,-2.0*M_PI/8.0);
hamohamo 4:0038da6cdc9a 96 //RBT.addPID(0.5,0.001,0.2,5)->setLimit(2.0*M_PI/8.0,-2.0*M_PI/8.0);
hamohamo 4:0038da6cdc9a 97 /*
hamohamo 4:0038da6cdc9a 98 RBT.addPID(0.0048,0.00,0.0000,1)->setLimit(0.5,-0.5);
hamohamo 4:0038da6cdc9a 99 RBT.addPID(0.0048,0.00,0.0000,2)->setLimit(0.5,-0.5);
hamohamo 4:0038da6cdc9a 100 RBT.addPID(0.0048,0.00,0.00,3)->setLimit(0.5,-0.5);
hamohamo 4:0038da6cdc9a 101 RBT.addPID(0.0048,0.00,0.00,4)->setLimit(0.5,-0.5);
hamohamo 4:0038da6cdc9a 102 RBT.addPID(0.5,0.001,0.2,5)->setLimit(2.0*M_PI/8.0,-2.0*M_PI/8.0);
hamohamo 4:0038da6cdc9a 103 */
hamohamo 4:0038da6cdc9a 104 MOT12 = false,MOT34 = false;
hamohamo 4:0038da6cdc9a 105
hamohamo 4:0038da6cdc9a 106 while(init());
hamohamo 4:0038da6cdc9a 107 printf("SCRP_CHECKING MOT12:%d,MOT34:%d\n",MOT12,MOT34);
hamohamo 4:0038da6cdc9a 108 route_read();
hamohamo 4:0038da6cdc9a 109
hamohamo 4:0038da6cdc9a 110 wait(1);
hamohamo 4:0038da6cdc9a 111 ok = 1.0;
hamohamo 0:f80bb69e638e 112
hamohamo 4:0038da6cdc9a 113 bool setup = false;
minamikawa 5:aee4416b0d4f 114 bool once = false;
hamohamo 4:0038da6cdc9a 115 if(!setup){
hamohamo 4:0038da6cdc9a 116 bno.reset();
hamohamo 4:0038da6cdc9a 117 bno.setmode(OPERATION_MODE_IMUPLUS);
hamohamo 4:0038da6cdc9a 118 setup = true;
hamohamo 0:f80bb69e638e 119 }
hamohamo 4:0038da6cdc9a 120
hamohamo 4:0038da6cdc9a 121 RBT.START();
hamohamo 4:0038da6cdc9a 122 RBT.setPosition(0.0,0.0,0.0);
hamohamo 4:0038da6cdc9a 123 /*--------------LOOP--------------*/
hamohamo 4:0038da6cdc9a 124 while(true){
minamikawa 5:aee4416b0d4f 125 hoge = x;
hamohamo 6:e7b9b1d46852 126 pos = RBT.getStatus(false);
hamohamo 4:0038da6cdc9a 127 bno.get_angles();
hamohamo 4:0038da6cdc9a 128 gyro = 2.0*M_PI - bno.euler.yaw * (M_PI / 180.0);
hamohamo 4:0038da6cdc9a 129 gyroA(gyro);
hamohamo 4:0038da6cdc9a 130 gyroB(gyro);
hamohamo 4:0038da6cdc9a 131
hamohamo 4:0038da6cdc9a 132 theta = 2.0*M_PI*(int)(g_pulse/4.0);
hamohamo 4:0038da6cdc9a 133 if(g_pulse > 0.0) theta += gyro;
hamohamo 4:0038da6cdc9a 134 else if(g_pulse < 0.0) theta += gyro-2.0*M_PI;
hamohamo 4:0038da6cdc9a 135 else if(g_pulse == 0 and gyro < M_PI/2.0) theta += gyro;
hamohamo 4:0038da6cdc9a 136 else if(g_pulse == 0 and gyro > 3.0*M_PI/2.0) theta += gyro-2.0*M_PI;
hamohamo 6:e7b9b1d46852 137 if(!once and pos.x != 0.0 and pos.y != 0.0) {
minamikawa 5:aee4416b0d4f 138 RBT.setPosition(0.0,0.0,0.0);
minamikawa 5:aee4416b0d4f 139 once = true;
minamikawa 5:aee4416b0d4f 140 }
hamohamo 6:e7b9b1d46852 141 //RBT.setPosition(pos.x,pos.y,theta);
hamohamo 4:0038da6cdc9a 142
hamohamo 4:0038da6cdc9a 143 //RBT.setVelocity(0.0,0.0,0.0);
hamohamo 4:0038da6cdc9a 144 if(n<POINTS and
hamohamo 4:0038da6cdc9a 145 ( (incircle(pos,NextP,40.0) and n < POINTS and n != 1000 and n != ISLAND) or
hamohamo 4:0038da6cdc9a 146 ( incircle(pos,NextP,10.0) and n == 1000 ) or
minamikawa 5:aee4416b0d4f 147 ( sqrt( (NextP.x-pos.x)*(NextP.x-pos.x)+(NextP.y-pos.y)*(NextP.y-pos.y) ) > sqrt( (subP.x-pos.x)*(subP.x-pos.x)+(subP.y-pos.y)*(subP.y-pos.y) ) and n < POINTS and n != ISLAND)
hamohamo 4:0038da6cdc9a 148 )
hamohamo 4:0038da6cdc9a 149 )
hamohamo 4:0038da6cdc9a 150 {
hamohamo 4:0038da6cdc9a 151 n++;
hamohamo 4:0038da6cdc9a 152 getPoint(&NextP,n);
hamohamo 4:0038da6cdc9a 153 NextP.theta -= M_PI/2.0;
hamohamo 4:0038da6cdc9a 154 getVelocity(&v,n-1);
hamohamo 4:0038da6cdc9a 155 if(n < POINTS)getPoint(&subP,n+1);
hamohamo 4:0038da6cdc9a 156 if(v > 0.0) v *= 1.5;
hamohamo 4:0038da6cdc9a 157 if(v >= 1400) v = 1400;
hamohamo 4:0038da6cdc9a 158 //v = 20.0;
hamohamo 4:0038da6cdc9a 159 if(n == POINTS) v = 20.0;
hamohamo 4:0038da6cdc9a 160 printf("%d:pass\n",n);
hamohamo 4:0038da6cdc9a 161 }
hamohamo 4:0038da6cdc9a 162
hamohamo 4:0038da6cdc9a 163 double etheta = atan2(NextP.y-pos.y,NextP.x-pos.x);
hamohamo 4:0038da6cdc9a 164 RBT.PIDs[5]->Update(pos.theta,NextP.theta,0.02,false);
hamohamo 4:0038da6cdc9a 165 vel.theta = RBT.PIDs[5]->getmv();
hamohamo 4:0038da6cdc9a 166
hamohamo 7:2e578dbe3a81 167
hamohamo 7:2e578dbe3a81 168 if(n == ISLAND and incircle(pos,NextP,40.0) and abs(pixel) > 40){
hamohamo 4:0038da6cdc9a 169 RBT.PIDs[0]->Update(pixel,0,0.02,false);
minamikawa 5:aee4416b0d4f 170 v = 0.0;
hamohamo 4:0038da6cdc9a 171 vel.theta = RBT.PIDs[0]->getmv();
hamohamo 7:2e578dbe3a81 172 servo.pulsewidth_us(1500);
hamohamo 7:2e578dbe3a81 173 cnt = 0;
hamohamo 4:0038da6cdc9a 174 }
hamohamo 7:2e578dbe3a81 175 else if(n == ISLAND and incircle(pos,NextP,40.0)){cnt++;v = 0.0;vel.theta = 0.0;if((double)cnt > 3.0/0.02) servo.pulsewidth_us(1200);}
hamohamo 4:0038da6cdc9a 176
hamohamo 4:0038da6cdc9a 177 if(n == POINTS and incircle(pos,NextP,1.0)) v = 0.0;
hamohamo 4:0038da6cdc9a 178 if(n == POINTS and fabs(NextP.theta - pos.theta) < 0.1) vel.theta = 0.0;
hamohamo 4:0038da6cdc9a 179
hamohamo 4:0038da6cdc9a 180 vel.x = v*cos(etheta);
hamohamo 4:0038da6cdc9a 181 vel.y = v*sin(etheta);
hamohamo 4:0038da6cdc9a 182
hamohamo 4:0038da6cdc9a 183 RBT.sendVelocity(vel.x,vel.y,vel.theta);
hamohamo 4:0038da6cdc9a 184 printf("x:%lf,y:%lf,theta:%lf,n:%d\n",pos.x,pos.y,pos.theta,n);
minamikawa 5:aee4416b0d4f 185 nh.spinOnce();
hamohamo 4:0038da6cdc9a 186 RBT.LOOP();
hamohamo 4:0038da6cdc9a 187 }
hamohamo 0:f80bb69e638e 188 }
hamohamo 0:f80bb69e638e 189
hamohamo 0:f80bb69e638e 190 void route_read() {
hamohamo 0:f80bb69e638e 191 static double x, y, v, theta_;
hamohamo 0:f80bb69e638e 192 wait(1);
hamohamo 0:f80bb69e638e 193 printf("Hello World!\n");
hamohamo 0:f80bb69e638e 194 wait(0.1);
hamohamo 0:f80bb69e638e 195 FILE *fp;
hamohamo 0:f80bb69e638e 196 do {
hamohamo 0:f80bb69e638e 197 fp = fopen("/sd/route.txt", "r");
hamohamo 0:f80bb69e638e 198 wait(0.2);
hamohamo 0:f80bb69e638e 199 } while(fp==NULL);
hamohamo 0:f80bb69e638e 200 printf("Good!\n");
hamohamo 0:f80bb69e638e 201 while(fscanf(fp,"%lf %lf %lf %lf",&x, &y, &v, &theta_) != EOF) {
hamohamo 0:f80bb69e638e 202 printf("%lf %lf %lf %lf\n",x, y, v, theta_);
hamohamo 1:aa9cc4250220 203 x_info.push_back(x*2.0);
hamohamo 1:aa9cc4250220 204 y_info.push_back(y*1.5);
hamohamo 0:f80bb69e638e 205 v_info.push_back(v);
hamohamo 0:f80bb69e638e 206 theta_info.push_back(theta_);
hamohamo 0:f80bb69e638e 207 }
hamohamo 0:f80bb69e638e 208 printf("checking...\n");
hamohamo 0:f80bb69e638e 209 for(int k=0;k<x_info.size();k++){
hamohamo 0:f80bb69e638e 210 printf("%lf %lf %lf %lf\n",x_info[k],y_info[k],v_info[k],theta_info[k]);
hamohamo 0:f80bb69e638e 211 }
hamohamo 0:f80bb69e638e 212 fclose(fp);
hamohamo 0:f80bb69e638e 213 }
hamohamo 0:f80bb69e638e 214
hamohamo 0:f80bb69e638e 215 void getPoint(Position *p,int n){
hamohamo 0:f80bb69e638e 216 p->x = x_info[n];
hamohamo 0:f80bb69e638e 217 p->y = y_info[n];
hamohamo 0:f80bb69e638e 218 p->theta = theta_info[n];
hamohamo 0:f80bb69e638e 219 }
hamohamo 0:f80bb69e638e 220
hamohamo 0:f80bb69e638e 221 void getVelocity(double *v,int n){
hamohamo 0:f80bb69e638e 222 *v = v_info[n];
hamohamo 0:f80bb69e638e 223 }
hamohamo 0:f80bb69e638e 224
hamohamo 0:f80bb69e638e 225 bool incircle(Position pos,Position target,double error){
hamohamo 0:f80bb69e638e 226 return (sqrt( (target.x-pos.x)*(target.x-pos.x)+(target.y-pos.y)*(target.y-pos.y) ) < error);
hamohamo 0:f80bb69e638e 227 }
hamohamo 0:f80bb69e638e 228 void gyroA(double theta){
hamohamo 0:f80bb69e638e 229 static bool prev = false;
hamohamo 0:f80bb69e638e 230 if(0 <= theta and theta < M_PI) gyro_1 = false;
hamohamo 0:f80bb69e638e 231 else gyro_1 = true;
hamohamo 0:f80bb69e638e 232 if(gyro_1 and !prev){
hamohamo 0:f80bb69e638e 233 if(gyro_2) g_pulse++;
hamohamo 0:f80bb69e638e 234 else if(g_pulse != 0) g_pulse--;
hamohamo 0:f80bb69e638e 235 }
hamohamo 0:f80bb69e638e 236 else if(!gyro_1 and prev){
hamohamo 0:f80bb69e638e 237 if(gyro_2) g_pulse--;
hamohamo 0:f80bb69e638e 238 else if(g_pulse != 0)g_pulse++;
hamohamo 0:f80bb69e638e 239 }
hamohamo 0:f80bb69e638e 240 prev = gyro_1;
hamohamo 0:f80bb69e638e 241 }
hamohamo 0:f80bb69e638e 242 void gyroB(double theta){
hamohamo 0:f80bb69e638e 243 static bool prev = false;
hamohamo 0:f80bb69e638e 244 if((3.0*M_PI/2 <= theta and theta <= 2*M_PI) or (theta < M_PI/2.0)) gyro_2 = false;
hamohamo 0:f80bb69e638e 245 else gyro_2 = true;
hamohamo 0:f80bb69e638e 246 if(gyro_2 and !prev){
hamohamo 0:f80bb69e638e 247 if(gyro_1) g_pulse--;
hamohamo 0:f80bb69e638e 248 else g_pulse++;
hamohamo 0:f80bb69e638e 249 }
hamohamo 0:f80bb69e638e 250 else if(!gyro_2 and prev){
hamohamo 0:f80bb69e638e 251 if(gyro_1) g_pulse++;
hamohamo 0:f80bb69e638e 252 else g_pulse--;
hamohamo 0:f80bb69e638e 253 }
hamohamo 0:f80bb69e638e 254 prev = gyro_2;
hamohamo 0:f80bb69e638e 255 }
hamohamo 0:f80bb69e638e 256
hamohamo 0:f80bb69e638e 257 bool checkMOT12(int rx_data, int &tx_data){
hamohamo 0:f80bb69e638e 258 MOT12 = true;
hamohamo 0:f80bb69e638e 259 return true;
hamohamo 0:f80bb69e638e 260 }
hamohamo 0:f80bb69e638e 261 bool checkMOT34(int rx_data, int &tx_data){
hamohamo 0:f80bb69e638e 262 MOT34 = true;
hamohamo 0:f80bb69e638e 263 return true;
hamohamo 0:f80bb69e638e 264 }
hamohamo 0:f80bb69e638e 265
hamohamo 1:aa9cc4250220 266 bool init(){
hamohamo 1:aa9cc4250220 267 wait(0.25);
hamohamo 0:f80bb69e638e 268 scrp.send1(255,5,1);
hamohamo 1:aa9cc4250220 269 wait(0.25);
hamohamo 1:aa9cc4250220 270 scrp.send1(255,6,1);
minamikawa 5:aee4416b0d4f 271 printf("aaaa");
hamohamo 1:aa9cc4250220 272 return (!MOT12 or !MOT34);
hamohamo 4:0038da6cdc9a 273 }
hamohamo 4:0038da6cdc9a 274 void spinonce()
hamohamo 4:0038da6cdc9a 275 {
hamohamo 4:0038da6cdc9a 276 nh.spinOnce();
hamohamo 4:0038da6cdc9a 277 }
hamohamo 4:0038da6cdc9a 278
hamohamo 4:0038da6cdc9a 279 void getPixel(const std_msgs::Int16& pix){
hamohamo 4:0038da6cdc9a 280 pixel = pix.data;
minamikawa 5:aee4416b0d4f 281 if (pixel > 0){
minamikawa 5:aee4416b0d4f 282 x = 0;
minamikawa 5:aee4416b0d4f 283 } else {
minamikawa 5:aee4416b0d4f 284 x = 1;
hamohamo 4:0038da6cdc9a 285 }
minamikawa 5:aee4416b0d4f 286 }