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@11:80800fd9f4af, 2021-10-29 (annotated)

Committer:
hamohamo
Date:
Fri Oct 29 09:20:31 2021 +0000
Revision:
11:80800fd9f4af
Parent:
10:f434b6848059 
asd

Who changed what in which revision?

UserRevisionLine numberNew contents of line
hamohamo 0:0a9ce35078a3 1 #include "core.hpp"
hamohamo 0:0a9ce35078a3 2
hamohamo 11:80800fd9f4af 3 Core::Core(Robot* robot,int mode,double dt):rbt(robot),mode(mode),dt(dt),Mots(5),Encs(9),PIDs(6),IMCs(6){
hamohamo 9:489046c1e624 4 pos.x = 0.0;
hamohamo 9:489046c1e624 5 pos.y = 0.0;
hamohamo 9:489046c1e624 6 pos.theta = 0.0;
hamohamo 9:489046c1e624 7 vel.x = 0.0;
hamohamo 9:489046c1e624 8 vel.y = 0.0;
hamohamo 9:489046c1e624 9 vel.theta = 0.0;}
hamohamo 2:d88ff6dda390 10 Motor* Core::addMOT(PinName plus,PinName minus,int period,int id){
hamohamo 2:d88ff6dda390 11 Mots.at(id) = new Motor(plus,minus,period,id);
hamohamo 2:d88ff6dda390 12 return Mots.at(id);
hamohamo 2:d88ff6dda390 13 }
hamohamo 0:0a9ce35078a3 14 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 15 PID* Core::addPID(double Kp,double Ki,double Kd,int id){
hamohamo 2:d88ff6dda390 16 PIDs.at(id) = new PID(Kp,Ki,Kd,id);
hamohamo 2:d88ff6dda390 17 return PIDs.at(id);
hamohamo 0:0a9ce35078a3 18 }
hamohamo 10:f434b6848059 19 IMC* Core::addIMC(double K,double T,int id){
hamohamo 11:80800fd9f4af 20 printf("%d\n",id);
hamohamo 10:f434b6848059 21 IMCs.at(id) = new IMC(K,T,id);
hamohamo 10:f434b6848059 22 return IMCs.at(id);
hamohamo 10:f434b6848059 23 }
hamohamo 2:d88ff6dda390 24 void Core::setPWM(double pwm,int id){Mots[id]->setPWM(pwm);}
hamohamo 2:d88ff6dda390 25
hamohamo 0:0a9ce35078a3 26 void Core::START(){timer.start();}
hamohamo 0:0a9ce35078a3 27 bool Core::LOOP(){
hamohamo 0:0a9ce35078a3 28 bool ret = true;
hamohamo 0:0a9ce35078a3 29 long long int temp;
hamohamo 0:0a9ce35078a3 30 while(temp <= dt*1000.0*1000.0){
hamohamo 0:0a9ce35078a3 31 temp = timer.read_us()-t;
hamohamo 0:0a9ce35078a3 32 if(temp < 0.0){
hamohamo 0:0a9ce35078a3 33 ret = false;
hamohamo 0:0a9ce35078a3 34 printf("WARN!:Out of cycle:%lld(us)\n",temp);
hamohamo 0:0a9ce35078a3 35 }
hamohamo 0:0a9ce35078a3 36 }
hamohamo 0:0a9ce35078a3 37 t = timer.read_us();
hamohamo 0:0a9ce35078a3 38 return ret;
hamohamo 0:0a9ce35078a3 39 }
hamohamo 0:0a9ce35078a3 40 void Core::WAIT(double wt){while(timer.read_us()-t <= wt*1000.0*1000.0);}
hamohamo 2:d88ff6dda390 41 void Core::setPosition(double x,double y,double theta){
hamohamo 2:d88ff6dda390 42 pos.x = x;
hamohamo 2:d88ff6dda390 43 pos.y = y;
hamohamo 2:d88ff6dda390 44 pos.theta = theta;
hamohamo 2:d88ff6dda390 45 }
hamohamo 0:0a9ce35078a3 46 void Core::setVelocity(double Vx,double Vy,double Vw){
hamohamo 0:0a9ce35078a3 47 double w1,w2,w3,w4;
hamohamo 7:c0b6afbccd97 48 double vx,vy;
hamohamo 7:c0b6afbccd97 49 vx = cos(pos.theta-M_PI/4.0)*Vx + sin(pos.theta-M_PI/4.0)*Vy;
hamohamo 7:c0b6afbccd97 50 vy = - sin(pos.theta-M_PI/4.0)*Vx + cos(pos.theta-M_PI/4.0)*Vy;
hamohamo 0:0a9ce35078a3 51 switch(mode){
hamohamo 0:0a9ce35078a3 52 case OMNI4:
hamohamo 7:c0b6afbccd97 53 w1 = -vx + rbt->C2CD*Vw;
hamohamo 7:c0b6afbccd97 54 w2 = vy + rbt->C2CD*Vw;
hamohamo 7:c0b6afbccd97 55 w3 = vx + rbt->C2CD*Vw;
hamohamo 7:c0b6afbccd97 56 w4 = -vy + rbt->C2CD*Vw;
hamohamo 0:0a9ce35078a3 57 break;
hamohamo 0:0a9ce35078a3 58 case OMNI3:
hamohamo 0:0a9ce35078a3 59 w1 = 0.0;
hamohamo 0:0a9ce35078a3 60 w2 = 0.0;
hamohamo 0:0a9ce35078a3 61 w3 = 0.0;
hamohamo 0:0a9ce35078a3 62 w4 = 0.0;
hamohamo 0:0a9ce35078a3 63 break;
hamohamo 0:0a9ce35078a3 64 case MECANUM:
hamohamo 0:0a9ce35078a3 65 w1 = 0.0;
hamohamo 0:0a9ce35078a3 66 w2 = 0.0;
hamohamo 0:0a9ce35078a3 67 w3 = 0.0;
hamohamo 0:0a9ce35078a3 68 w4 = 0.0;
hamohamo 0:0a9ce35078a3 69 break;
hamohamo 8:475c17b23944 70 }/*
hamohamo 0:0a9ce35078a3 71 Encs[rbt->RF]->Update(dt);
hamohamo 0:0a9ce35078a3 72 Encs[rbt->RB]->Update(dt);
hamohamo 0:0a9ce35078a3 73 Encs[rbt->LB]->Update(dt);
hamohamo 8:475c17b23944 74 Encs[rbt->LF]->Update(dt);*/
hamohamo 0:0a9ce35078a3 75 PIDs[rbt->RF]->Update(Encs[rbt->RF]->get_Omega(),w1/rbt->CWR,dt);
hamohamo 0:0a9ce35078a3 76 PIDs[rbt->RB]->Update(Encs[rbt->RB]->get_Omega(),w2/rbt->CWR,dt);
hamohamo 0:0a9ce35078a3 77 PIDs[rbt->LB]->Update(Encs[rbt->LB]->get_Omega(),w3/rbt->CWR,dt);
hamohamo 0:0a9ce35078a3 78 PIDs[rbt->LF]->Update(Encs[rbt->LF]->get_Omega(),w4/rbt->CWR,dt);
hamohamo 8:475c17b23944 79
hamohamo 6:87fd489a9801 80 setPWM(PIDs[rbt->RF]->getmv(),rbt->RF);
hamohamo 6:87fd489a9801 81 setPWM(PIDs[rbt->RB]->getmv(),rbt->RB);
hamohamo 6:87fd489a9801 82 setPWM(PIDs[rbt->LB]->getmv(),rbt->LB);
hamohamo 6:87fd489a9801 83 setPWM(PIDs[rbt->LF]->getmv(),rbt->LF);
hamohamo 0:0a9ce35078a3 84 }
hamohamo 6:87fd489a9801 85 Position Core::getStatus(bool onground){
hamohamo 0:0a9ce35078a3 86 double vx,vy,vw;
hamohamo 0:0a9ce35078a3 87 double vX,vY;
hamohamo 0:0a9ce35078a3 88 double Rw1,Rw2,Rw3,Rw4;
hamohamo 8:475c17b23944 89 Encs[rbt->F]->Update(dt);
hamohamo 8:475c17b23944 90 Encs[rbt->R]->Update(dt);
hamohamo 8:475c17b23944 91 Encs[rbt->B]->Update(dt);
hamohamo 8:475c17b23944 92 Encs[rbt->L]->Update(dt);
hamohamo 8:475c17b23944 93 Encs[rbt->RF]->Update(dt);
hamohamo 8:475c17b23944 94 Encs[rbt->RB]->Update(dt);
hamohamo 8:475c17b23944 95 Encs[rbt->LB]->Update(dt);
hamohamo 8:475c17b23944 96 Encs[rbt->LF]->Update(dt);
hamohamo 6:87fd489a9801 97 if(onground){
hamohamo 6:87fd489a9801 98
hamohamo 6:87fd489a9801 99 Rw1 = Encs[rbt->F]->get_Omega()*(rbt->SWR);
hamohamo 6:87fd489a9801 100 Rw2 = Encs[rbt->R]->get_Omega()*(rbt->SWR);
hamohamo 6:87fd489a9801 101 Rw3 = Encs[rbt->B]->get_Omega()*(rbt->SWR);
hamohamo 6:87fd489a9801 102 Rw4 = Encs[rbt->L]->get_Omega()*(rbt->SWR);
hamohamo 6:87fd489a9801 103 }
hamohamo 6:87fd489a9801 104 else {
hamohamo 6:87fd489a9801 105
hamohamo 6:87fd489a9801 106 Rw1 = Encs[rbt->RF]->get_Omega()*(rbt->SWR);
hamohamo 6:87fd489a9801 107 Rw2 = Encs[rbt->RB]->get_Omega()*(rbt->SWR);
hamohamo 6:87fd489a9801 108 Rw3 = Encs[rbt->LB]->get_Omega()*(rbt->SWR);
hamohamo 6:87fd489a9801 109 Rw4 = Encs[rbt->LF]->get_Omega()*(rbt->SWR);
hamohamo 6:87fd489a9801 110 }
hamohamo 0:0a9ce35078a3 111 vx = (-1*Rw1 + Rw3)/2.0;
hamohamo 0:0a9ce35078a3 112 vy = (Rw2 + -1*Rw4)/2.0;
hamohamo 0:0a9ce35078a3 113 vw = (Rw1 + Rw2 + Rw3 + Rw4)/(rbt->C2SD)/4.0;
hamohamo 6:87fd489a9801 114 if(onground){
hamohamo 6:87fd489a9801 115 vX = cos(pos.theta)*vx - sin(pos.theta)*vy;
hamohamo 6:87fd489a9801 116 vY = sin(pos.theta)*vx + cos(pos.theta)*vy;
hamohamo 6:87fd489a9801 117 }
hamohamo 6:87fd489a9801 118 else {
hamohamo 7:c0b6afbccd97 119 vX = cos(pos.theta-M_PI/4.0)*vx - sin(pos.theta-M_PI/4.0)*vy;
hamohamo 7:c0b6afbccd97 120 vY = sin(pos.theta-M_PI/4.0)*vx + cos(pos.theta-M_PI/4.0)*vy;
hamohamo 6:87fd489a9801 121 }
hamohamo 2:d88ff6dda390 122
hamohamo 0:0a9ce35078a3 123 pos.x += (vel.x+vX)*dt/2.0;
hamohamo 0:0a9ce35078a3 124 pos.y += (vel.y+vY)*dt/2.0;
hamohamo 0:0a9ce35078a3 125 pos.theta += (vel.theta+vw)*dt/2.0;
hamohamo 0:0a9ce35078a3 126 vel.x = vX;
hamohamo 0:0a9ce35078a3 127 vel.y = vY;
hamohamo 0:0a9ce35078a3 128 vel.theta = vw;
hamohamo 0:0a9ce35078a3 129 return pos;
hamohamo 2:d88ff6dda390 130 }
hamohamo 11:80800fd9f4af 131 Core::Core(Robot* robot,ScrpSlave* scrp,int mode,double dt):rbt(robot),scrp(scrp),mode(mode),dt(dt),Mots(5),Encs(9),PIDs(6),IMCs(6){}
hamohamo 5:8dec5e011b3c 132 void Core::sendPWM(double pwm,int id){scrp->send1(255, id ,(pwm * 100.0));}
hamohamo 2:d88ff6dda390 133 void Core::sendVelocity(double Vx,double Vy,double Vw){
hamohamo 2:d88ff6dda390 134 double w1,w2,w3,w4;
hamohamo 7:c0b6afbccd97 135 double vx,vy;
hamohamo 7:c0b6afbccd97 136 vx = cos(pos.theta-M_PI/4.0)*Vx + sin(pos.theta-M_PI/4.0)*Vy;
hamohamo 7:c0b6afbccd97 137 vy = - sin(pos.theta-M_PI/4.0)*Vx + cos(pos.theta-M_PI/4.0)*Vy;
hamohamo 2:d88ff6dda390 138 switch(mode){
hamohamo 2:d88ff6dda390 139 case OMNI4:
hamohamo 7:c0b6afbccd97 140 w1 = -vx + rbt->C2CD*Vw;
hamohamo 7:c0b6afbccd97 141 w2 = vy + rbt->C2CD*Vw;
hamohamo 7:c0b6afbccd97 142 w3 = vx + rbt->C2CD*Vw;
hamohamo 7:c0b6afbccd97 143 w4 = -vy + rbt->C2CD*Vw;
hamohamo 2:d88ff6dda390 144 break;
hamohamo 2:d88ff6dda390 145 case OMNI3:
hamohamo 2:d88ff6dda390 146 w1 = 0.0;
hamohamo 2:d88ff6dda390 147 w2 = 0.0;
hamohamo 2:d88ff6dda390 148 w3 = 0.0;
hamohamo 2:d88ff6dda390 149 w4 = 0.0;
hamohamo 2:d88ff6dda390 150 break;
hamohamo 2:d88ff6dda390 151 case MECANUM:
hamohamo 2:d88ff6dda390 152 w1 = 0.0;
hamohamo 2:d88ff6dda390 153 w2 = 0.0;
hamohamo 2:d88ff6dda390 154 w3 = 0.0;
hamohamo 2:d88ff6dda390 155 w4 = 0.0;
hamohamo 2:d88ff6dda390 156 break;
hamohamo 8:475c17b23944 157 }/*
hamohamo 2:d88ff6dda390 158 Encs[rbt->RF]->Update(dt);
hamohamo 2:d88ff6dda390 159 Encs[rbt->RB]->Update(dt);
hamohamo 2:d88ff6dda390 160 Encs[rbt->LB]->Update(dt);
hamohamo 8:475c17b23944 161 Encs[rbt->LF]->Update(dt);*/
hamohamo 10:f434b6848059 162 /*
hamohamo 2:d88ff6dda390 163 PIDs[rbt->RF]->Update(Encs[rbt->RF]->get_Omega(),w1/rbt->CWR,dt);
hamohamo 2:d88ff6dda390 164 PIDs[rbt->RB]->Update(Encs[rbt->RB]->get_Omega(),w2/rbt->CWR,dt);
hamohamo 2:d88ff6dda390 165 PIDs[rbt->LB]->Update(Encs[rbt->LB]->get_Omega(),w3/rbt->CWR,dt);
hamohamo 10:f434b6848059 166 PIDs[rbt->LF]->Update(Encs[rbt->LF]->get_Omega(),w4/rbt->CWR,dt);*/
hamohamo 10:f434b6848059 167
hamohamo 10:f434b6848059 168 IMCs[rbt->RF]->Update(Encs[rbt->RF]->get_Omega(),w1/rbt->CWR,dt);
hamohamo 10:f434b6848059 169 IMCs[rbt->RB]->Update(Encs[rbt->RB]->get_Omega(),w2/rbt->CWR,dt);
hamohamo 10:f434b6848059 170 IMCs[rbt->LB]->Update(Encs[rbt->LB]->get_Omega(),w3/rbt->CWR,dt);
hamohamo 10:f434b6848059 171 IMCs[rbt->LF]->Update(Encs[rbt->LF]->get_Omega(),w4/rbt->CWR,dt);
hamohamo 10:f434b6848059 172
hamohamo 10:f434b6848059 173 printf("%lf,%lf,%lf\n",Encs[1]->get_Omega(),w1/rbt->CWR,IMCs[1]->getmv());
hamohamo 10:f434b6848059 174 /*
hamohamo 2:d88ff6dda390 175 WAIT(0.01);
hamohamo 6:87fd489a9801 176 sendPWM(PIDs[rbt->RF]->getmv(),rbt->RF);
hamohamo 2:d88ff6dda390 177 WAIT(0.0125);
hamohamo 6:87fd489a9801 178 sendPWM(PIDs[rbt->RB]->getmv(),rbt->RB);
hamohamo 2:d88ff6dda390 179 WAIT(0.015);
hamohamo 6:87fd489a9801 180 sendPWM(PIDs[rbt->LB]->getmv(),rbt->LB);
hamohamo 2:d88ff6dda390 181 WAIT(0.0175);
hamohamo 10:f434b6848059 182 sendPWM(PIDs[rbt->LF]->getmv(),rbt->LF);*/
hamohamo 10:f434b6848059 183
hamohamo 10:f434b6848059 184 WAIT(0.01);
hamohamo 10:f434b6848059 185 sendPWM(IMCs[rbt->RF]->getmv(),rbt->RF);
hamohamo 10:f434b6848059 186 WAIT(0.0125);
hamohamo 10:f434b6848059 187 sendPWM(IMCs[rbt->RB]->getmv(),rbt->RB);
hamohamo 10:f434b6848059 188 WAIT(0.015);
hamohamo 10:f434b6848059 189 sendPWM(IMCs[rbt->LB]->getmv(),rbt->LB);
hamohamo 10:f434b6848059 190 WAIT(0.0175);
hamohamo 10:f434b6848059 191 sendPWM(IMCs[rbt->LF]->getmv(),rbt->LF);
hamohamo 0:0a9ce35078a3 192 }