nakashima Kohei / take_mbed

足回り動かすためのライブラリ

使用例

#include "scrp_slave.hpp"
#include "core.hpp"

#include "mbed.h"

ScrpSlave sendpwm(PC_12,PD_2 ,PH_1 ,SERIAL_TX,SERIAL_RX,0x0807f800);
Robot AKASHIKOSEN(50.8,25.4,322.5,259.75);
Core RBT(&AKASHIKOSEN,OMNI4,0.02);

int main(){

/*--------------SETUP--------------*/
AKASHIKOSEN.setCWID(0,1,2,3);
AKASHIKOSEN.setSWID(4,5,6,7);
    
RBT.addENC(PC_4,PA_13,512,4,0);
RBT.addENC(PA_14,PA_15,512,4,1);
RBT.addENC(PC_2,PC_3,512,4,2);
RBT.addENC(PC_10,PC_11,512,4,3);
RBT.addENC(PA_7,PA_6,512,4,4);
RBT.addENC(PA_9,PA_8,512,4,5);
RBT.addENC(PC_1,PC_0,512,4,6);
RBT.addENC(PC_5,PA_12,512,4,7);

RBT.START();
/*--------------LOOP--------------*/
Position pos;
while(true){
    pos = RBT.getStatus();
    printf("x:%lf,y:%lf,theta:%lf\n",pos.x,pos.y,pos.theta);
    RBT.LOOP();
}
}

core.cpp@3:3f42230ca4ec, 2021-10-13 (annotated)

Committer:
hamohamo
Date:
Wed Oct 13 08:47:03 2021 +0000
Revision:
3:3f42230ca4ec
Parent:
2:d88ff6dda390
Child:
4:2425cd08e0c2
pe

Who changed what in which revision?

UserRevisionLine numberNew contents of line
hamohamo 0:0a9ce35078a3 1 #include "core.hpp"
hamohamo 0:0a9ce35078a3 2
hamohamo 3:3f42230ca4ec 3 Core::Core(Robot* robot,int mode,double dt):rbt(robot),mode(mode),dt(dt),Mots(5),Encs(9),PIDs(6){}
hamohamo 2:d88ff6dda390 4 Motor* Core::addMOT(PinName plus,PinName minus,int period,int id){
hamohamo 2:d88ff6dda390 5 Mots.at(id) = new Motor(plus,minus,period,id);
hamohamo 2:d88ff6dda390 6 return Mots.at(id);
hamohamo 2:d88ff6dda390 7 }
hamohamo 0:0a9ce35078a3 8 void Core::addENC(PinName plus,PinName minus,int resolution,int mode,int id){Encs.at(id) = new Encoder(plus,minus,resolution,mode,id);}
hamohamo 2:d88ff6dda390 9 PID* Core::addPID(double Kp,double Ki,double Kd,int id){
hamohamo 2:d88ff6dda390 10 PIDs.at(id) = new PID(Kp,Ki,Kd,id);
hamohamo 2:d88ff6dda390 11 return PIDs.at(id);
hamohamo 0:0a9ce35078a3 12 }
hamohamo 2:d88ff6dda390 13 void Core::setPWM(double pwm,int id){Mots[id]->setPWM(pwm);}
hamohamo 2:d88ff6dda390 14
hamohamo 0:0a9ce35078a3 15 void Core::START(){timer.start();}
hamohamo 0:0a9ce35078a3 16 bool Core::LOOP(){
hamohamo 0:0a9ce35078a3 17 bool ret = true;
hamohamo 0:0a9ce35078a3 18 long long int temp;
hamohamo 0:0a9ce35078a3 19 while(temp <= dt*1000.0*1000.0){
hamohamo 0:0a9ce35078a3 20 temp = timer.read_us()-t;
hamohamo 0:0a9ce35078a3 21 if(temp < 0.0){
hamohamo 0:0a9ce35078a3 22 ret = false;
hamohamo 0:0a9ce35078a3 23 printf("WARN!:Out of cycle:%lld(us)\n",temp);
hamohamo 0:0a9ce35078a3 24 }
hamohamo 0:0a9ce35078a3 25 }
hamohamo 0:0a9ce35078a3 26 t = timer.read_us();
hamohamo 0:0a9ce35078a3 27 return ret;
hamohamo 0:0a9ce35078a3 28 }
hamohamo 0:0a9ce35078a3 29 void Core::WAIT(double wt){while(timer.read_us()-t <= wt*1000.0*1000.0);}
hamohamo 2:d88ff6dda390 30 void Core::setPosition(double x,double y,double theta){
hamohamo 2:d88ff6dda390 31 pos.x = x;
hamohamo 2:d88ff6dda390 32 pos.y = y;
hamohamo 2:d88ff6dda390 33 pos.theta = theta;
hamohamo 2:d88ff6dda390 34 }
hamohamo 0:0a9ce35078a3 35 void Core::setVelocity(double Vx,double Vy,double Vw){
hamohamo 0:0a9ce35078a3 36 double w1,w2,w3,w4;
hamohamo 0:0a9ce35078a3 37 double k = sqrt(2.0)/2.0;
hamohamo 0:0a9ce35078a3 38 switch(mode){
hamohamo 0:0a9ce35078a3 39 case OMNI4:
hamohamo 0:0a9ce35078a3 40 w1 = -Vx*k*(sin(pos.theta)+cos(pos.theta)) - Vy*k*(sin(pos.theta)-cos(pos.theta)) + rbt->C2CD*Vw;
hamohamo 0:0a9ce35078a3 41 w2 = -Vx*k*(sin(pos.theta)-cos(pos.theta)) + Vy*k*(sin(pos.theta)+cos(pos.theta)) + rbt->C2CD*Vw;
hamohamo 0:0a9ce35078a3 42 w3 = Vx*k*(sin(pos.theta)+cos(pos.theta)) + Vy*k*(sin(pos.theta)-cos(pos.theta)) + rbt->C2CD*Vw;
hamohamo 0:0a9ce35078a3 43 w4 = Vx*k*(sin(pos.theta)-cos(pos.theta)) - Vy*k*(sin(pos.theta)+cos(pos.theta)) + rbt->C2CD*Vw;
hamohamo 0:0a9ce35078a3 44 break;
hamohamo 0:0a9ce35078a3 45 case OMNI3:
hamohamo 0:0a9ce35078a3 46 w1 = 0.0;
hamohamo 0:0a9ce35078a3 47 w2 = 0.0;
hamohamo 0:0a9ce35078a3 48 w3 = 0.0;
hamohamo 0:0a9ce35078a3 49 w4 = 0.0;
hamohamo 0:0a9ce35078a3 50 break;
hamohamo 0:0a9ce35078a3 51 case MECANUM:
hamohamo 0:0a9ce35078a3 52 w1 = 0.0;
hamohamo 0:0a9ce35078a3 53 w2 = 0.0;
hamohamo 0:0a9ce35078a3 54 w3 = 0.0;
hamohamo 0:0a9ce35078a3 55 w4 = 0.0;
hamohamo 0:0a9ce35078a3 56 break;
hamohamo 0:0a9ce35078a3 57 }
hamohamo 0:0a9ce35078a3 58 Encs[rbt->RF]->Update(dt);
hamohamo 0:0a9ce35078a3 59 Encs[rbt->RB]->Update(dt);
hamohamo 0:0a9ce35078a3 60 Encs[rbt->LB]->Update(dt);
hamohamo 0:0a9ce35078a3 61 Encs[rbt->LF]->Update(dt);
hamohamo 0:0a9ce35078a3 62 PIDs[rbt->RF]->Update(Encs[rbt->RF]->get_Omega(),w1/rbt->CWR,dt);
hamohamo 0:0a9ce35078a3 63 PIDs[rbt->RB]->Update(Encs[rbt->RB]->get_Omega(),w2/rbt->CWR,dt);
hamohamo 0:0a9ce35078a3 64 PIDs[rbt->LB]->Update(Encs[rbt->LB]->get_Omega(),w3/rbt->CWR,dt);
hamohamo 0:0a9ce35078a3 65 PIDs[rbt->LF]->Update(Encs[rbt->LF]->get_Omega(),w4/rbt->CWR,dt);
hamohamo 2:d88ff6dda390 66 setPWM(PIDs[rbt->RF]->getGain(),rbt->RF);
hamohamo 2:d88ff6dda390 67 setPWM(PIDs[rbt->RB]->getGain(),rbt->RB);
hamohamo 2:d88ff6dda390 68 setPWM(PIDs[rbt->LB]->getGain(),rbt->LB);
hamohamo 2:d88ff6dda390 69 setPWM(PIDs[rbt->LF]->getGain(),rbt->LF);
hamohamo 0:0a9ce35078a3 70 }
hamohamo 0:0a9ce35078a3 71 Position Core::getStatus(){
hamohamo 0:0a9ce35078a3 72 double vx,vy,vw;
hamohamo 0:0a9ce35078a3 73 double vX,vY;
hamohamo 0:0a9ce35078a3 74 double Rw1,Rw2,Rw3,Rw4;
hamohamo 0:0a9ce35078a3 75 Encs[rbt->F]->Update(dt);
hamohamo 0:0a9ce35078a3 76 Encs[rbt->R]->Update(dt);
hamohamo 0:0a9ce35078a3 77 Encs[rbt->B]->Update(dt);
hamohamo 0:0a9ce35078a3 78 Encs[rbt->L]->Update(dt);
hamohamo 2:d88ff6dda390 79
hamohamo 0:0a9ce35078a3 80 Rw1 = Encs[rbt->F]->get_Omega()*(rbt->SWR);
hamohamo 0:0a9ce35078a3 81 Rw2 = Encs[rbt->R]->get_Omega()*(rbt->SWR);
hamohamo 0:0a9ce35078a3 82 Rw3 = Encs[rbt->B]->get_Omega()*(rbt->SWR);
hamohamo 0:0a9ce35078a3 83 Rw4 = Encs[rbt->L]->get_Omega()*(rbt->SWR);
hamohamo 2:d88ff6dda390 84
hamohamo 0:0a9ce35078a3 85 vx = (-1*Rw1 + Rw3)/2.0;
hamohamo 0:0a9ce35078a3 86 vy = (Rw2 + -1*Rw4)/2.0;
hamohamo 0:0a9ce35078a3 87 vw = (Rw1 + Rw2 + Rw3 + Rw4)/(rbt->C2SD)/4.0;
hamohamo 0:0a9ce35078a3 88 vX = cos(pos.theta)*vx - sin(pos.theta)*vy;
hamohamo 0:0a9ce35078a3 89 vY = sin(pos.theta)*vx + cos(pos.theta)*vy;
hamohamo 2:d88ff6dda390 90
hamohamo 0:0a9ce35078a3 91 pos.x += (vel.x+vX)*dt/2.0;
hamohamo 0:0a9ce35078a3 92 pos.y += (vel.y+vY)*dt/2.0;
hamohamo 0:0a9ce35078a3 93 pos.theta += (vel.theta+vw)*dt/2.0;
hamohamo 0:0a9ce35078a3 94 vel.x = vX;
hamohamo 0:0a9ce35078a3 95 vel.y = vY;
hamohamo 0:0a9ce35078a3 96 vel.theta = vw;
hamohamo 0:0a9ce35078a3 97 return pos;
hamohamo 2:d88ff6dda390 98 }
hamohamo 2:d88ff6dda390 99 Core::Core(Robot* robot,ScrpSlave* scrp,int mode,double dt):rbt(robot),scrp(scrp),mode(mode),dt(dt),Mots(4),Encs(8),PIDs(5){}
hamohamo 2:d88ff6dda390 100 void Core::sendPWM(double pwm,int id){scrp->send1(255, id ,(pwm * 100));}
hamohamo 2:d88ff6dda390 101 void Core::sendVelocity(double Vx,double Vy,double Vw){
hamohamo 2:d88ff6dda390 102 double w1,w2,w3,w4;
hamohamo 2:d88ff6dda390 103 double k = sqrt(2.0)/2.0;
hamohamo 2:d88ff6dda390 104 switch(mode){
hamohamo 2:d88ff6dda390 105 case OMNI4:
hamohamo 2:d88ff6dda390 106 w1 = -Vx*k*(sin(pos.theta)+cos(pos.theta)) - Vy*k*(sin(pos.theta)-cos(pos.theta)) + rbt->C2CD*Vw;
hamohamo 2:d88ff6dda390 107 w2 = -Vx*k*(sin(pos.theta)-cos(pos.theta)) + Vy*k*(sin(pos.theta)+cos(pos.theta)) + rbt->C2CD*Vw;
hamohamo 2:d88ff6dda390 108 w3 = Vx*k*(sin(pos.theta)+cos(pos.theta)) + Vy*k*(sin(pos.theta)-cos(pos.theta)) + rbt->C2CD*Vw;
hamohamo 2:d88ff6dda390 109 w4 = Vx*k*(sin(pos.theta)-cos(pos.theta)) - Vy*k*(sin(pos.theta)+cos(pos.theta)) + rbt->C2CD*Vw;
hamohamo 2:d88ff6dda390 110 break;
hamohamo 2:d88ff6dda390 111 case OMNI3:
hamohamo 2:d88ff6dda390 112 w1 = 0.0;
hamohamo 2:d88ff6dda390 113 w2 = 0.0;
hamohamo 2:d88ff6dda390 114 w3 = 0.0;
hamohamo 2:d88ff6dda390 115 w4 = 0.0;
hamohamo 2:d88ff6dda390 116 break;
hamohamo 2:d88ff6dda390 117 case MECANUM:
hamohamo 2:d88ff6dda390 118 w1 = 0.0;
hamohamo 2:d88ff6dda390 119 w2 = 0.0;
hamohamo 2:d88ff6dda390 120 w3 = 0.0;
hamohamo 2:d88ff6dda390 121 w4 = 0.0;
hamohamo 2:d88ff6dda390 122 break;
hamohamo 2:d88ff6dda390 123 }
hamohamo 2:d88ff6dda390 124 Encs[rbt->RF]->Update(dt);
hamohamo 2:d88ff6dda390 125 Encs[rbt->RB]->Update(dt);
hamohamo 2:d88ff6dda390 126 Encs[rbt->LB]->Update(dt);
hamohamo 2:d88ff6dda390 127 Encs[rbt->LF]->Update(dt);
hamohamo 2:d88ff6dda390 128 PIDs[rbt->RF]->Update(Encs[rbt->RF]->get_Omega(),w1/rbt->CWR,dt);
hamohamo 2:d88ff6dda390 129 PIDs[rbt->RB]->Update(Encs[rbt->RB]->get_Omega(),w2/rbt->CWR,dt);
hamohamo 2:d88ff6dda390 130 PIDs[rbt->LB]->Update(Encs[rbt->LB]->get_Omega(),w3/rbt->CWR,dt);
hamohamo 2:d88ff6dda390 131 PIDs[rbt->LF]->Update(Encs[rbt->LF]->get_Omega(),w4/rbt->CWR,dt);
hamohamo 2:d88ff6dda390 132 //printf("%lf,%lf\n",Encs[rbt->LF]->get_Omega(),w4/rbt->CWR);
hamohamo 2:d88ff6dda390 133 WAIT(0.01);
hamohamo 3:3f42230ca4ec 134 sendPWM(PIDs[rbt->RF]->getGain(),rbt->RF);
hamohamo 2:d88ff6dda390 135 WAIT(0.0125);
hamohamo 3:3f42230ca4ec 136 sendPWM(PIDs[rbt->RB]->getGain(),rbt->RB);
hamohamo 2:d88ff6dda390 137 WAIT(0.015);
hamohamo 3:3f42230ca4ec 138 sendPWM(PIDs[rbt->LB]->getGain(),rbt->LB);
hamohamo 2:d88ff6dda390 139 WAIT(0.0175);
hamohamo 3:3f42230ca4ec 140 sendPWM(PIDs[rbt->LF]->getGain(),rbt->LF);
hamohamo 0:0a9ce35078a3 141 }