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();
}
}

Diff: core.cpp

Revision:
0:0a9ce35078a3
Child:
2:d88ff6dda390
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/core.cpp	Tue Sep 21 06:16:58 2021 +0000
@@ -0,0 +1,88 @@
+#include "core.hpp"
+
+Core::Core(Robot* robot,int mode,double dt):rbt(robot),mode(mode),dt(dt),Mots(4),Encs(8),PIDs(5){}
+void Core::addMOT(PinName plus,PinName minus,int period,int id){Mots.at(id) = new Motor(plus,minus,period,id);}
+void Core::addENC(PinName plus,PinName minus,int resolution,int mode,int id){Encs.at(id) = new Encoder(plus,minus,resolution,mode,id);}
+void Core::addPID(double Kp,double Ki,double Kd,int id){PIDs.at(id) = new PID(Kp,Ki,Kd,id);}
+void Core::setLIM(double MOT_max,double MOT_min,double PID_max,double PID_min){
+    Mots[rbt->RF]->setLimit(MOT_max,MOT_min);
+    Mots[rbt->RB]->setLimit(MOT_max,MOT_min);
+    Mots[rbt->LB]->setLimit(MOT_max,MOT_min);
+    Mots[rbt->LF]->setLimit(MOT_max,MOT_min);
+    PIDs[rbt->RF]->setLimit(PID_max,PID_min);
+    PIDs[rbt->RB]->setLimit(PID_max,PID_min);
+    PIDs[rbt->LB]->setLimit(PID_max,PID_min);
+    PIDs[rbt->LF]->setLimit(PID_max,PID_min);
+}
+void Core::START(){timer.start();}
+bool Core::LOOP(){
+    bool ret = true;
+    long long int temp;
+    while(temp <= dt*1000.0*1000.0){
+        temp = timer.read_us()-t;
+        if(temp < 0.0){
+            ret = false;
+            printf("WARN!:Out of cycle:%lld(us)\n",temp);
+        }
+    }
+    t = timer.read_us();
+    return ret;
+}
+void Core::WAIT(double wt){while(timer.read_us()-t <= wt*1000.0*1000.0);}
+void Core::setVelocity(double Vx,double Vy,double Vw){
+    double w1,w2,w3,w4;
+    double k = sqrt(2.0)/2.0;
+    switch(mode){
+        case OMNI4:
+            w1 = -Vx*k*(sin(pos.theta)+cos(pos.theta)) - Vy*k*(sin(pos.theta)-cos(pos.theta)) + rbt->C2CD*Vw;
+            w2 = -Vx*k*(sin(pos.theta)-cos(pos.theta)) + Vy*k*(sin(pos.theta)+cos(pos.theta)) + rbt->C2CD*Vw;
+            w3 =  Vx*k*(sin(pos.theta)+cos(pos.theta)) + Vy*k*(sin(pos.theta)-cos(pos.theta)) + rbt->C2CD*Vw;
+            w4 =  Vx*k*(sin(pos.theta)-cos(pos.theta)) - Vy*k*(sin(pos.theta)+cos(pos.theta)) + rbt->C2CD*Vw;
+            break;
+        case OMNI3:
+            w1 = 0.0;
+            w2 = 0.0;
+            w3 = 0.0;
+            w4 = 0.0;
+            break;
+        case MECANUM:
+            w1 = 0.0;
+            w2 = 0.0;
+            w3 = 0.0;
+            w4 = 0.0;
+            break;
+    }
+    Encs[rbt->RF]->Update(dt);
+    Encs[rbt->RB]->Update(dt);
+    Encs[rbt->LB]->Update(dt);
+    Encs[rbt->LF]->Update(dt);
+    PIDs[rbt->RF]->Update(Encs[rbt->RF]->get_Omega(),w1/rbt->CWR,dt);
+    PIDs[rbt->RB]->Update(Encs[rbt->RB]->get_Omega(),w2/rbt->CWR,dt);
+    PIDs[rbt->LB]->Update(Encs[rbt->LB]->get_Omega(),w3/rbt->CWR,dt);
+    PIDs[rbt->LF]->Update(Encs[rbt->LF]->get_Omega(),w4/rbt->CWR,dt);
+}
+Position Core::getStatus(){
+    double vx,vy,vw;
+    double vX,vY;
+    double Rw1,Rw2,Rw3,Rw4;
+    Encs[rbt->F]->Update(dt);
+    Encs[rbt->R]->Update(dt);
+    Encs[rbt->B]->Update(dt);
+    Encs[rbt->L]->Update(dt);
+    Rw1 = Encs[rbt->F]->get_Omega()*(rbt->SWR);
+    Rw2 = Encs[rbt->R]->get_Omega()*(rbt->SWR);
+    Rw3 = Encs[rbt->B]->get_Omega()*(rbt->SWR);
+    Rw4 = Encs[rbt->L]->get_Omega()*(rbt->SWR);
+    vx = (-1*Rw1 + Rw3)/2.0;
+    vy = (Rw2 + -1*Rw4)/2.0;
+    vw = (Rw1 + Rw2 + Rw3 + Rw4)/(rbt->C2SD)/4.0;
+    vX = cos(pos.theta)*vx - sin(pos.theta)*vy;
+    vY = sin(pos.theta)*vx + cos(pos.theta)*vy;
+    pos.x += (vel.x+vX)*dt/2.0;
+    pos.y += (vel.y+vY)*dt/2.0;
+    pos.theta += (vel.theta+vw)*dt/2.0;
+    vel.x = vX;
+    vel.y = vY;
+    vel.theta = vw;
+    return pos;
+}
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