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@1:aa9cc4250220, 2021-10-21 (annotated)

Committer:
hamohamo
Date:
Thu Oct 21 16:16:24 2021 +0000
Revision:
1:aa9cc4250220
Parent:
0:f80bb69e638e
Child:
2:4e7ec0816a91
sad

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 0:f80bb69e638e 7
hamohamo 0:f80bb69e638e 8 #include "mbed.h"
hamohamo 0:f80bb69e638e 9 #define POINTS 900
hamohamo 0:f80bb69e638e 10
hamohamo 0:f80bb69e638e 11
hamohamo 0:f80bb69e638e 12 /*--------------FUNCTION--------------*/
hamohamo 1:aa9cc4250220 13 bool init();
hamohamo 0:f80bb69e638e 14 void route_read();
hamohamo 0:f80bb69e638e 15 void getPoint(Position *p,int n);
hamohamo 0:f80bb69e638e 16 void getVelocity(double *v,int n);
hamohamo 0:f80bb69e638e 17 bool incircle(Position pos,Position target,double error);
hamohamo 0:f80bb69e638e 18 void gyroA(double theta);
hamohamo 0:f80bb69e638e 19 void gyroB(double theta);
hamohamo 0:f80bb69e638e 20 bool checkMOT12(int rx_data, int &tx_data);
hamohamo 0:f80bb69e638e 21 bool checkMOT34(int rx_data, int &tx_data);
hamohamo 0:f80bb69e638e 22
hamohamo 0:f80bb69e638e 23
hamohamo 0:f80bb69e638e 24 /*--------------VARIABLE--------------*/
hamohamo 0:f80bb69e638e 25
hamohamo 0:f80bb69e638e 26 std::vector<double> t_info,x_info,y_info,v_info,theta_info;
hamohamo 0:f80bb69e638e 27 Position pos,NextP,subP;
hamohamo 0:f80bb69e638e 28 int n=1;
hamohamo 0:f80bb69e638e 29 double v=0.0;
hamohamo 0:f80bb69e638e 30 double theta = 0.0;
hamohamo 0:f80bb69e638e 31 double gyro = 0.0;
hamohamo 0:f80bb69e638e 32 bool gyro_1 = false,gyro_2 = false;
hamohamo 0:f80bb69e638e 33 long long g_pulse;
hamohamo 0:f80bb69e638e 34 bool MOT12 = false,MOT34 = false;
hamohamo 0:f80bb69e638e 35
hamohamo 0:f80bb69e638e 36 BNO055 bno(PB_3, PB_10);
hamohamo 0:f80bb69e638e 37
hamohamo 0:f80bb69e638e 38 SDFileSystem sd(PB_15, PB_14, PB_13, PB_1,"sd");// mosi, miso, sclk, cs
hamohamo 0:f80bb69e638e 39 ScrpSlave scrp(PC_12,PD_2 ,PH_1 ,SERIAL_TX,SERIAL_RX,0x0807f800);
hamohamo 0:f80bb69e638e 40 Robot AKASHIKOSEN(50.8,25.4,322.5,259.75);
hamohamo 0:f80bb69e638e 41 Core RBT(&AKASHIKOSEN,&scrp,OMNI4,0.02);
hamohamo 0:f80bb69e638e 42
hamohamo 0:f80bb69e638e 43 int main(){
hamohamo 1:aa9cc4250220 44
hamohamo 1:aa9cc4250220 45 PwmOut ok(PC_6);
hamohamo 0:f80bb69e638e 46
hamohamo 0:f80bb69e638e 47 /*--------------SETUP--------------*/
hamohamo 1:aa9cc4250220 48 scrp.addCMD(7,checkMOT12);
hamohamo 1:aa9cc4250220 49 scrp.addCMD(8,checkMOT34);
hamohamo 0:f80bb69e638e 50 AKASHIKOSEN.setCWID(1,2,3,4);
hamohamo 0:f80bb69e638e 51 AKASHIKOSEN.setSWID(5,6,7,8);
hamohamo 0:f80bb69e638e 52
hamohamo 0:f80bb69e638e 53 RBT.addENC(PC_4,PA_13,512,4,1);
hamohamo 0:f80bb69e638e 54 RBT.addENC(PA_14,PA_15,512,4,2);
hamohamo 0:f80bb69e638e 55 RBT.addENC(PC_2,PC_3,512,4,3);
hamohamo 0:f80bb69e638e 56 RBT.addENC(PC_10,PC_11,512,4,4);
hamohamo 0:f80bb69e638e 57 RBT.addENC(PA_7,PA_6,512,4,5);
hamohamo 0:f80bb69e638e 58 RBT.addENC(PA_9,PA_8,512,4,6);
hamohamo 0:f80bb69e638e 59 RBT.addENC(PC_1,PC_0,512,4,7);
hamohamo 0:f80bb69e638e 60 RBT.addENC(PC_5,PA_12,512,4,8);
hamohamo 0:f80bb69e638e 61
hamohamo 0:f80bb69e638e 62 RBT.addPID(0.0048,0.001,0.00008,1)->setLimit(0.5,-0.5);
hamohamo 0:f80bb69e638e 63 RBT.addPID(0.0048,0.001,0.00008,2)->setLimit(0.5,-0.5);
hamohamo 0:f80bb69e638e 64 RBT.addPID(0.0048,0.001,0.00008,3)->setLimit(0.5,-0.5);
hamohamo 0:f80bb69e638e 65 RBT.addPID(0.0048,0.001,0.00008,4)->setLimit(0.5,-0.5);
hamohamo 1:aa9cc4250220 66 RBT.addPID(0.8,0.00,0.0,5)->setLimit(2.0*M_PI/8.0,-2.0*M_PI/8.0);
hamohamo 1:aa9cc4250220 67 //RBT.addPID(0.5,0.001,0.2,5)->setLimit(2.0*M_PI/8.0,-2.0*M_PI/8.0);
hamohamo 1:aa9cc4250220 68 /*
hamohamo 1:aa9cc4250220 69 RBT.addPID(0.0048,0.00,0.0000,1)->setLimit(0.5,-0.5);
hamohamo 1:aa9cc4250220 70 RBT.addPID(0.0048,0.00,0.0000,2)->setLimit(0.5,-0.5);
hamohamo 1:aa9cc4250220 71 RBT.addPID(0.0048,0.00,0.00,3)->setLimit(0.5,-0.5);
hamohamo 1:aa9cc4250220 72 RBT.addPID(0.0048,0.00,0.00,4)->setLimit(0.5,-0.5);
hamohamo 0:f80bb69e638e 73 RBT.addPID(0.5,0.001,0.2,5)->setLimit(2.0*M_PI/8.0,-2.0*M_PI/8.0);
hamohamo 1:aa9cc4250220 74 */
hamohamo 1:aa9cc4250220 75 MOT12 = false,MOT34 = false;
hamohamo 0:f80bb69e638e 76
hamohamo 1:aa9cc4250220 77 while(init());
hamohamo 1:aa9cc4250220 78 printf("SCRP_CHECKING MOT12:%d,MOT34:%d\n",MOT12,MOT34);
hamohamo 0:f80bb69e638e 79 route_read();
hamohamo 0:f80bb69e638e 80
hamohamo 0:f80bb69e638e 81 wait(1);
hamohamo 1:aa9cc4250220 82 ok = 1.0;
hamohamo 0:f80bb69e638e 83
hamohamo 0:f80bb69e638e 84 bool setup = false;
hamohamo 0:f80bb69e638e 85 if(!setup){
hamohamo 0:f80bb69e638e 86 bno.reset();
hamohamo 0:f80bb69e638e 87 bno.setmode(OPERATION_MODE_IMUPLUS);
hamohamo 0:f80bb69e638e 88 setup = true;
hamohamo 0:f80bb69e638e 89 }
hamohamo 0:f80bb69e638e 90
hamohamo 0:f80bb69e638e 91 RBT.START();
hamohamo 1:aa9cc4250220 92 RBT.setPosition(0.0,0.0,0.0);
hamohamo 0:f80bb69e638e 93 /*--------------LOOP--------------*/
hamohamo 0:f80bb69e638e 94 while(true){
hamohamo 1:aa9cc4250220 95 pos = RBT.getStatus(true);
hamohamo 0:f80bb69e638e 96
hamohamo 0:f80bb69e638e 97 bno.get_angles();
hamohamo 0:f80bb69e638e 98 gyro = 2.0*M_PI - bno.euler.yaw * (M_PI / 180.0);
hamohamo 0:f80bb69e638e 99 gyroA(gyro);
hamohamo 0:f80bb69e638e 100 gyroB(gyro);
hamohamo 0:f80bb69e638e 101
hamohamo 0:f80bb69e638e 102 theta = 2.0*M_PI*(int)(g_pulse/4.0);
hamohamo 0:f80bb69e638e 103 if(g_pulse > 0.0) theta += gyro;
hamohamo 0:f80bb69e638e 104 else if(g_pulse < 0.0) theta += gyro-2.0*M_PI;
hamohamo 0:f80bb69e638e 105 else if(g_pulse == 0 and gyro < M_PI/2.0) theta += gyro;
hamohamo 0:f80bb69e638e 106 else if(g_pulse == 0 and gyro > 3.0*M_PI/2.0) theta += gyro-2.0*M_PI;
hamohamo 0:f80bb69e638e 107
hamohamo 0:f80bb69e638e 108 RBT.setPosition(pos.x,pos.y,theta);
hamohamo 0:f80bb69e638e 109
hamohamo 0:f80bb69e638e 110 //RBT.setVelocity(0.0,0.0,0.0);
hamohamo 0:f80bb69e638e 111 if(n<POINTS and
hamohamo 1:aa9cc4250220 112 ( (incircle(pos,NextP,40.0) and n < POINTS and n != 1000) or
hamohamo 0:f80bb69e638e 113 ( incircle(pos,NextP,10.0) and n == 1000 ) or
hamohamo 0:f80bb69e638e 114 ( 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)
hamohamo 0:f80bb69e638e 115 )
hamohamo 0:f80bb69e638e 116 )
hamohamo 0:f80bb69e638e 117 {
hamohamo 0:f80bb69e638e 118 n++;
hamohamo 0:f80bb69e638e 119 getPoint(&NextP,n);
hamohamo 1:aa9cc4250220 120 NextP.theta -= M_PI/2.0;
hamohamo 0:f80bb69e638e 121 getVelocity(&v,n-1);
hamohamo 0:f80bb69e638e 122 if(n < POINTS)getPoint(&subP,n+1);
hamohamo 1:aa9cc4250220 123 if(v > 0.0) v *= 1.5;
hamohamo 0:f80bb69e638e 124 if(v >= 1400) v = 1400;
hamohamo 1:aa9cc4250220 125 //v = 20.0;
hamohamo 1:aa9cc4250220 126 if(n == POINTS) v = 20.0;
hamohamo 0:f80bb69e638e 127 printf("%d:pass\n",n);
hamohamo 0:f80bb69e638e 128 }
hamohamo 0:f80bb69e638e 129 if(n == POINTS and incircle(pos,NextP,1.0)) v = 0.0;
hamohamo 0:f80bb69e638e 130 double etheta = atan2(NextP.y-pos.y,NextP.x-pos.x);
hamohamo 1:aa9cc4250220 131 RBT.PIDs[5]->Update(pos.theta,NextP.theta,0.02,false);
hamohamo 1:aa9cc4250220 132 RBT.sendVelocity(v*cos(etheta),v*sin(etheta),RBT.PIDs[5]->getmv());
hamohamo 1:aa9cc4250220 133 //printf("%lf,%lf\n",pos.theta,NextP.theta);
hamohamo 1:aa9cc4250220 134 //RBT.sendVelocity(200.0,-200.0,0.0);
hamohamo 0:f80bb69e638e 135 printf("x:%lf,y:%lf,theta:%lf,n:%d\n",pos.x,pos.y,pos.theta,n);
hamohamo 0:f80bb69e638e 136 RBT.LOOP();
hamohamo 0:f80bb69e638e 137 }
hamohamo 0:f80bb69e638e 138 }
hamohamo 0:f80bb69e638e 139
hamohamo 0:f80bb69e638e 140 void route_read() {
hamohamo 0:f80bb69e638e 141 static double x, y, v, theta_;
hamohamo 0:f80bb69e638e 142 wait(1);
hamohamo 0:f80bb69e638e 143 printf("Hello World!\n");
hamohamo 0:f80bb69e638e 144 wait(0.1);
hamohamo 0:f80bb69e638e 145 FILE *fp;
hamohamo 0:f80bb69e638e 146 do {
hamohamo 0:f80bb69e638e 147 fp = fopen("/sd/route.txt", "r");
hamohamo 0:f80bb69e638e 148 wait(0.2);
hamohamo 0:f80bb69e638e 149 } while(fp==NULL);
hamohamo 0:f80bb69e638e 150 printf("Good!\n");
hamohamo 0:f80bb69e638e 151 while(fscanf(fp,"%lf %lf %lf %lf",&x, &y, &v, &theta_) != EOF) {
hamohamo 0:f80bb69e638e 152 printf("%lf %lf %lf %lf\n",x, y, v, theta_);
hamohamo 1:aa9cc4250220 153 x_info.push_back(x*2.0);
hamohamo 1:aa9cc4250220 154 y_info.push_back(y*1.5);
hamohamo 0:f80bb69e638e 155 v_info.push_back(v);
hamohamo 0:f80bb69e638e 156 theta_info.push_back(theta_);
hamohamo 0:f80bb69e638e 157 }
hamohamo 0:f80bb69e638e 158 printf("checking...\n");
hamohamo 0:f80bb69e638e 159 for(int k=0;k<x_info.size();k++){
hamohamo 0:f80bb69e638e 160 printf("%lf %lf %lf %lf\n",x_info[k],y_info[k],v_info[k],theta_info[k]);
hamohamo 0:f80bb69e638e 161 }
hamohamo 0:f80bb69e638e 162 fclose(fp);
hamohamo 0:f80bb69e638e 163 }
hamohamo 0:f80bb69e638e 164
hamohamo 0:f80bb69e638e 165 void getPoint(Position *p,int n){
hamohamo 0:f80bb69e638e 166 p->x = x_info[n];
hamohamo 0:f80bb69e638e 167 p->y = y_info[n];
hamohamo 0:f80bb69e638e 168 p->theta = theta_info[n];
hamohamo 0:f80bb69e638e 169 }
hamohamo 0:f80bb69e638e 170
hamohamo 0:f80bb69e638e 171 void getVelocity(double *v,int n){
hamohamo 0:f80bb69e638e 172 *v = v_info[n];
hamohamo 0:f80bb69e638e 173 }
hamohamo 0:f80bb69e638e 174
hamohamo 0:f80bb69e638e 175 bool incircle(Position pos,Position target,double error){
hamohamo 0:f80bb69e638e 176 return (sqrt( (target.x-pos.x)*(target.x-pos.x)+(target.y-pos.y)*(target.y-pos.y) ) < error);
hamohamo 0:f80bb69e638e 177 }
hamohamo 0:f80bb69e638e 178 void gyroA(double theta){
hamohamo 0:f80bb69e638e 179 static bool prev = false;
hamohamo 0:f80bb69e638e 180 if(0 <= theta and theta < M_PI) gyro_1 = false;
hamohamo 0:f80bb69e638e 181 else gyro_1 = true;
hamohamo 0:f80bb69e638e 182 if(gyro_1 and !prev){
hamohamo 0:f80bb69e638e 183 if(gyro_2) g_pulse++;
hamohamo 0:f80bb69e638e 184 else if(g_pulse != 0) g_pulse--;
hamohamo 0:f80bb69e638e 185 }
hamohamo 0:f80bb69e638e 186 else if(!gyro_1 and prev){
hamohamo 0:f80bb69e638e 187 if(gyro_2) g_pulse--;
hamohamo 0:f80bb69e638e 188 else if(g_pulse != 0)g_pulse++;
hamohamo 0:f80bb69e638e 189 }
hamohamo 0:f80bb69e638e 190 prev = gyro_1;
hamohamo 0:f80bb69e638e 191 }
hamohamo 0:f80bb69e638e 192 void gyroB(double theta){
hamohamo 0:f80bb69e638e 193 static bool prev = false;
hamohamo 0:f80bb69e638e 194 if((3.0*M_PI/2 <= theta and theta <= 2*M_PI) or (theta < M_PI/2.0)) gyro_2 = false;
hamohamo 0:f80bb69e638e 195 else gyro_2 = true;
hamohamo 0:f80bb69e638e 196 if(gyro_2 and !prev){
hamohamo 0:f80bb69e638e 197 if(gyro_1) g_pulse--;
hamohamo 0:f80bb69e638e 198 else g_pulse++;
hamohamo 0:f80bb69e638e 199 }
hamohamo 0:f80bb69e638e 200 else if(!gyro_2 and prev){
hamohamo 0:f80bb69e638e 201 if(gyro_1) g_pulse++;
hamohamo 0:f80bb69e638e 202 else g_pulse--;
hamohamo 0:f80bb69e638e 203 }
hamohamo 0:f80bb69e638e 204 prev = gyro_2;
hamohamo 0:f80bb69e638e 205 }
hamohamo 0:f80bb69e638e 206
hamohamo 0:f80bb69e638e 207 bool checkMOT12(int rx_data, int &tx_data){
hamohamo 0:f80bb69e638e 208 MOT12 = true;
hamohamo 0:f80bb69e638e 209 return true;
hamohamo 0:f80bb69e638e 210 }
hamohamo 0:f80bb69e638e 211 bool checkMOT34(int rx_data, int &tx_data){
hamohamo 0:f80bb69e638e 212 MOT34 = true;
hamohamo 0:f80bb69e638e 213 return true;
hamohamo 0:f80bb69e638e 214 }
hamohamo 0:f80bb69e638e 215
hamohamo 1:aa9cc4250220 216 bool init(){
hamohamo 1:aa9cc4250220 217 wait(0.25);
hamohamo 0:f80bb69e638e 218 scrp.send1(255,5,1);
hamohamo 1:aa9cc4250220 219 wait(0.25);
hamohamo 1:aa9cc4250220 220 scrp.send1(255,6,1);
hamohamo 1:aa9cc4250220 221 return (!MOT12 or !MOT34);
hamohamo 0:f80bb69e638e 222 }