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
diff -r 8dec5e011b3c -r 87fd489a9801 core.cpp --- 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); } \ No newline at end of file