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:
6:87fd489a9801
Parent:
5:8dec5e011b3c
Child:
7:c0b6afbccd97
--- a/core.cpp	Mon Oct 18 08:15:39 2021 +0000
+++ b/core.cpp	Thu Oct 21 16:16:01 2021 +0000
@@ -63,31 +63,48 @@
     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);
-    printf("%lf,%lf",Encs[rbt->RF]->get_Omega(),w1/rbt->CWR);
-    setPWM(PIDs[rbt->RF]->getGain(),rbt->RF);
-    setPWM(PIDs[rbt->RB]->getGain(),rbt->RB);
-    setPWM(PIDs[rbt->LB]->getGain(),rbt->LB);
-    setPWM(PIDs[rbt->LF]->getGain(),rbt->LF);
+    setPWM(PIDs[rbt->RF]->getmv(),rbt->RF);
+    setPWM(PIDs[rbt->RB]->getmv(),rbt->RB);
+    setPWM(PIDs[rbt->LB]->getmv(),rbt->LB);
+    setPWM(PIDs[rbt->LF]->getmv(),rbt->LF);
 }
-Position Core::getStatus(){
+Position Core::getStatus(bool onground){
     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);
-    
+    if(onground){
+        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);
+    }
+    else {
+        Encs[rbt->RF]->Update(dt);
+        Encs[rbt->RB]->Update(dt);
+        Encs[rbt->LB]->Update(dt);
+        Encs[rbt->LF]->Update(dt);
+        
+        Rw1 = Encs[rbt->RF]->get_Omega()*(rbt->SWR);
+        Rw2 = Encs[rbt->RB]->get_Omega()*(rbt->SWR);
+        Rw3 = Encs[rbt->LB]->get_Omega()*(rbt->SWR);
+        Rw4 = Encs[rbt->LF]->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;
+    if(onground){
+        vX = cos(pos.theta)*vx - sin(pos.theta)*vy;
+        vY = sin(pos.theta)*vx + cos(pos.theta)*vy;
+    }
+    else {
+        vX = cos(pos.theta-M_PI/2.0)*vx - sin(pos.theta-M_PI/2.0)*vy;
+        vY = sin(pos.theta-M_PI/2.0)*vx + cos(pos.theta-M_PI/2.0)*vy;
+    }
     
     pos.x += (vel.x+vX)*dt/2.0;
     pos.y += (vel.y+vY)*dt/2.0;
@@ -130,13 +147,13 @@
     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);
-    //printf("%lf,%lf\n",Encs[rbt->LF]->get_Omega(),w4/rbt->CWR);
+    //printf("%lf,%lf,%lf\n",Encs[1]->get_Omega(),w1/rbt->CWR,PIDs[1]->getmv());
     WAIT(0.01);
-    sendPWM(PIDs[rbt->RF]->getGain(),rbt->RF);
+    sendPWM(PIDs[rbt->RF]->getmv(),rbt->RF);
     WAIT(0.0125);
-    sendPWM(PIDs[rbt->RB]->getGain(),rbt->RB);
+    sendPWM(PIDs[rbt->RB]->getmv(),rbt->RB);
     WAIT(0.015);
-    sendPWM(PIDs[rbt->LB]->getGain(),rbt->LB);
+    sendPWM(PIDs[rbt->LB]->getmv(),rbt->LB);
     WAIT(0.0175);
-    sendPWM(PIDs[rbt->LF]->getGain(),rbt->LF);
+    sendPWM(PIDs[rbt->LF]->getmv(),rbt->LF);
 }
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