広田 勇斗 / Mbed 2 deprecated BETA_A

BETA_A

Dependencies:   DataPool MD_PID mbed

2017_3_h/2017_3_h.cpp@10:123f2ce59545, 2017-09-14 (annotated)

Committer:
hirotayamato
Date:
Thu Sep 14 05:53:41 2017 +0000
Revision:
10:123f2ce59545
Parent:
6:22fed7630a18 
BETA_A

Who changed what in which revision?

UserRevisionLine numberNew contents of line
hirotayamato 0:b8fa7a019f5d 1 #include "2017_3_h.h"
hirotayamato 0:b8fa7a019f5d 2 #include "mbed.h"
hirotayamato 0:b8fa7a019f5d 3 #include <math.h>
hirotayamato 0:b8fa7a019f5d 4
hirotayamato 0:b8fa7a019f5d 5 Omni_3::Omni_3(PinName pin_pwm_F, PinName pin_dere_F, PinName pin_channelA_F, PinName pin_channelB_F,
hirotayamato 0:b8fa7a019f5d 6 PinName pin_pwm_L, PinName pin_dere_L, PinName pin_channelA_L, PinName pin_channelB_L,
hirotayamato 0:b8fa7a019f5d 7 PinName pin_pwm_R, PinName pin_dere_R, PinName pin_channelA_R, PinName pin_channelB_R,
hirotayamato 0:b8fa7a019f5d 8 int arg_rev)
hirotayamato 0:b8fa7a019f5d 9 {
hirotayamato 6:22fed7630a18 10 md_f = Create_MD_PID(pin_channelA_F, pin_channelB_F, NC, 500, QEI::X4_ENCODING,
hirotayamato 6:22fed7630a18 11 0.095 * 2, 0, 0.002 * 4, 500,
hirotayamato 0:b8fa7a019f5d 12 pin_pwm_F, pin_dere_F);
hirotayamato 0:b8fa7a019f5d 13
hirotayamato 0:b8fa7a019f5d 14 md_l = Create_MD_PID(pin_channelA_L, pin_channelB_L, NC, 500, QEI::X4_ENCODING,
hirotayamato 0:b8fa7a019f5d 15 0.095 * 2, 0, 0.002 * 4, 500,
hirotayamato 0:b8fa7a019f5d 16 pin_pwm_L, pin_dere_L);
hirotayamato 0:b8fa7a019f5d 17
hirotayamato 0:b8fa7a019f5d 18 md_r = Create_MD_PID(pin_channelA_R, pin_channelB_R, NC, 500, QEI::X4_ENCODING,
hirotayamato 0:b8fa7a019f5d 19 0.095 * 2, 0, 0.002 * 4, 500,
hirotayamato 0:b8fa7a019f5d 20 pin_pwm_R, pin_dere_R);
hirotayamato 0:b8fa7a019f5d 21
hirotayamato 0:b8fa7a019f5d 22 rev = arg_rev;
hirotayamato 0:b8fa7a019f5d 23 }
hirotayamato 0:b8fa7a019f5d 24
hirotayamato 0:b8fa7a019f5d 25 void Omni_3::Drive( double arg_x, double arg_y, double arg_rota)
hirotayamato 0:b8fa7a019f5d 26 {
hirotayamato 0:b8fa7a019f5d 27 double dere, sp;
hirotayamato 0:b8fa7a019f5d 28 double duty[3];
hirotayamato 0:b8fa7a019f5d 29 double speed[3];
hirotayamato 0:b8fa7a019f5d 30
hirotayamato 0:b8fa7a019f5d 31 dere = atan2(arg_y, arg_x);
hirotayamato 5:93abe8105833 32 sp = pow(arg_x * arg_x + arg_y * arg_y, 0.60);
hirotayamato 0:b8fa7a019f5d 33
hirotayamato 0:b8fa7a019f5d 34 speed[0] = cos(dere) * sp; // vx
hirotayamato 0:b8fa7a019f5d 35 speed[1] = sin(dere) * sp; // vy
hirotayamato 0:b8fa7a019f5d 36 speed[2] = arg_rota; // omega
hirotayamato 0:b8fa7a019f5d 37
hirotayamato 0:b8fa7a019f5d 38 Matrix(speed, duty);
hirotayamato 0:b8fa7a019f5d 39 for(int i = 0; i < 3; i++){
hirotayamato 0:b8fa7a019f5d 40 if(fabs(duty[i]) > 1.0){
hirotayamato 0:b8fa7a019f5d 41 int inv = fabs(duty[i]);
hirotayamato 0:b8fa7a019f5d 42 for(int j = 0; j < 3; j++){
hirotayamato 0:b8fa7a019f5d 43 duty[j] *= 1.0 / (double)inv;
hirotayamato 0:b8fa7a019f5d 44 }
hirotayamato 0:b8fa7a019f5d 45 }
hirotayamato 0:b8fa7a019f5d 46 }
hirotayamato 0:b8fa7a019f5d 47 md_f->Drive(duty[0], 100);
hirotayamato 0:b8fa7a019f5d 48 md_l->Drive(duty[1], 100);
hirotayamato 0:b8fa7a019f5d 49 md_r->Drive(duty[2], 100);
hirotayamato 0:b8fa7a019f5d 50 }
hirotayamato 0:b8fa7a019f5d 51
hirotayamato 0:b8fa7a019f5d 52 void Omni_3::Matrix(double speed[3], double duty[3])
hirotayamato 0:b8fa7a019f5d 53 {
hirotayamato 0:b8fa7a019f5d 54 double keisu[3][3];
hirotayamato 0:b8fa7a019f5d 55 keisu[0][0] = 1.0;
hirotayamato 0:b8fa7a019f5d 56 keisu[0][1] = 0.0;
hirotayamato 0:b8fa7a019f5d 57 keisu[0][2] = 1.0;
hirotayamato 10:123f2ce59545 58 keisu[1][0] = -1.0 / 2.0;
hirotayamato 0:b8fa7a019f5d 59 keisu[1][1] = sqrt(3.0) / 2.0;
hirotayamato 0:b8fa7a019f5d 60 keisu[1][2] = 1.0;
hirotayamato 10:123f2ce59545 61 keisu[2][0] = -1.0 / 2.0;
hirotayamato 0:b8fa7a019f5d 62 keisu[2][1] = -sqrt(3.0) / 2.0;
hirotayamato 0:b8fa7a019f5d 63 keisu[2][2] = 1.0;
hirotayamato 0:b8fa7a019f5d 64
hirotayamato 0:b8fa7a019f5d 65 for(int i = 0; i < 3; i++){
hirotayamato 0:b8fa7a019f5d 66 duty[i] = 0.0;
hirotayamato 0:b8fa7a019f5d 67 for(int j = 0; j < 3; j++){
hirotayamato 0:b8fa7a019f5d 68 duty[i] += keisu[i][j] * speed[j] * rev;
hirotayamato 0:b8fa7a019f5d 69 }
hirotayamato 0:b8fa7a019f5d 70 }
hirotayamato 0:b8fa7a019f5d 71 }