自己位置推定機能を追加
Dependencies: SBDBT arrc_mbed BNO055
main.cpp@7:a0b9b6e71e41, 2022-02-23 (annotated)
- Committer:
- kazumayamanaka
- Date:
- Wed Feb 23 03:03:36 2022 +0000
- Revision:
- 7:a0b9b6e71e41
- Parent:
- 2:e189d55ef292
- Child:
- 8:f2407caf81ba
automatic and manual control of wheels
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
kazumayamanaka | 0:a1238c4cd105 | 1 | #include "mbed.h" |
kazumayamanaka | 0:a1238c4cd105 | 2 | #include "rotary_inc.hpp" |
kazumayamanaka | 0:a1238c4cd105 | 3 | #include "PIDco.hpp" |
kazumayamanaka | 0:a1238c4cd105 | 4 | #include "TARGETco.hpp" |
kazumayamanaka | 0:a1238c4cd105 | 5 | #include "DUALSHOCKco.hpp" |
kazumayamanaka | 2:e189d55ef292 | 6 | #include "Odmetry.hpp" |
kazumayamanaka | 0:a1238c4cd105 | 7 | #include "sbdbt.hpp" |
kazumayamanaka | 0:a1238c4cd105 | 8 | #include "BNO055.h" |
kazumayamanaka | 0:a1238c4cd105 | 9 | #define SDA D3 |
kazumayamanaka | 0:a1238c4cd105 | 10 | #define SCL D6 |
kazumayamanaka | 0:a1238c4cd105 | 11 | #define PI 3.1415926535897 |
kazumayamanaka | 0:a1238c4cd105 | 12 | |
kazumayamanaka | 0:a1238c4cd105 | 13 | Serial pc(USBTX,USBRX); |
kazumayamanaka | 0:a1238c4cd105 | 14 | |
kazumayamanaka | 0:a1238c4cd105 | 15 | RotaryInc data_1(PA_14,PA_15,0); |
kazumayamanaka | 0:a1238c4cd105 | 16 | RotaryInc data_2(PA_12,PC_5,0); |
kazumayamanaka | 0:a1238c4cd105 | 17 | RotaryInc data_3(PC_0,PC_1,0); |
kazumayamanaka | 0:a1238c4cd105 | 18 | RotaryInc data_4(PC_2,PC_3,0); |
kazumayamanaka | 0:a1238c4cd105 | 19 | |
kazumayamanaka | 2:e189d55ef292 | 20 | RotaryInc MW_1(PA_13,PC_4,0); |
kazumayamanaka | 2:e189d55ef292 | 21 | RotaryInc MW_2(PC_10,PC_11,0); |
kazumayamanaka | 2:e189d55ef292 | 22 | RotaryInc MW_3(PA_7,PA_6,0); |
kazumayamanaka | 2:e189d55ef292 | 23 | RotaryInc MW_4(PA_8,PA_9,0); |
kazumayamanaka | 2:e189d55ef292 | 24 | |
kazumayamanaka | 0:a1238c4cd105 | 25 | PIDco pid_1; |
kazumayamanaka | 0:a1238c4cd105 | 26 | PIDco pid_2; |
kazumayamanaka | 0:a1238c4cd105 | 27 | PIDco pid_3; |
kazumayamanaka | 0:a1238c4cd105 | 28 | PIDco pid_4; |
kazumayamanaka | 0:a1238c4cd105 | 29 | |
kazumayamanaka | 0:a1238c4cd105 | 30 | TARGETco TG; |
kazumayamanaka | 0:a1238c4cd105 | 31 | BNO055 bno(SDA,SCL); |
kazumayamanaka | 0:a1238c4cd105 | 32 | DUALSHOCKco DS; |
kazumayamanaka | 2:e189d55ef292 | 33 | Odmetry odmetry; |
kazumayamanaka | 0:a1238c4cd105 | 34 | sbdbt sb(PA_0,PA_1); |
kazumayamanaka | 0:a1238c4cd105 | 35 | |
kazumayamanaka | 0:a1238c4cd105 | 36 | Timer Time; |
kazumayamanaka | 7:a0b9b6e71e41 | 37 | bool mode=false; |
kazumayamanaka | 0:a1238c4cd105 | 38 | double timer; |
kazumayamanaka | 0:a1238c4cd105 | 39 | double theta; |
kazumayamanaka | 7:a0b9b6e71e41 | 40 | double automaticsX(double PosX); |
kazumayamanaka | 7:a0b9b6e71e41 | 41 | double automaticsY(double PosY); |
kazumayamanaka | 7:a0b9b6e71e41 | 42 | double automaticsTHETA(double THETA); |
kazumayamanaka | 7:a0b9b6e71e41 | 43 | void automatics(); |
kazumayamanaka | 0:a1238c4cd105 | 44 | |
kazumayamanaka | 0:a1238c4cd105 | 45 | int main(){ |
kazumayamanaka | 0:a1238c4cd105 | 46 | Time.start(); |
kazumayamanaka | 7:a0b9b6e71e41 | 47 | bno.reset(); |
kazumayamanaka | 2:e189d55ef292 | 48 | |
kazumayamanaka | 0:a1238c4cd105 | 49 | while(1){ |
kazumayamanaka | 0:a1238c4cd105 | 50 | timer = Time.read_us(); |
kazumayamanaka | 0:a1238c4cd105 | 51 | bno.setmode(OPERATION_MODE_IMUPLUS); |
kazumayamanaka | 0:a1238c4cd105 | 52 | bno.get_angles(); |
kazumayamanaka | 1:ea880e226e5a | 53 | |
kazumayamanaka | 7:a0b9b6e71e41 | 54 | if(sb.circle()!=0){ |
kazumayamanaka | 7:a0b9b6e71e41 | 55 | mode = true; |
kazumayamanaka | 7:a0b9b6e71e41 | 56 | } |
kazumayamanaka | 7:a0b9b6e71e41 | 57 | if(sb.square()!=0){ |
kazumayamanaka | 7:a0b9b6e71e41 | 58 | mode = false; |
kazumayamanaka | 7:a0b9b6e71e41 | 59 | } |
kazumayamanaka | 7:a0b9b6e71e41 | 60 | |
kazumayamanaka | 1:ea880e226e5a | 61 | theta = bno.euler.yaw * (PI / 180); |
kazumayamanaka | 1:ea880e226e5a | 62 | |
kazumayamanaka | 0:a1238c4cd105 | 63 | if(theta > PI){ |
kazumayamanaka | 1:ea880e226e5a | 64 | theta = -(2 * PI - theta); |
kazumayamanaka | 0:a1238c4cd105 | 65 | } |
kazumayamanaka | 0:a1238c4cd105 | 66 | |
kazumayamanaka | 2:e189d55ef292 | 67 | theta = theta - PI / 4; |
kazumayamanaka | 2:e189d55ef292 | 68 | |
kazumayamanaka | 7:a0b9b6e71e41 | 69 | if(mode == false){ |
kazumayamanaka | 7:a0b9b6e71e41 | 70 | DS.pass_val(sb.rsx(),sb.rsy(),sb.r2An(),sb.l2An()); |
kazumayamanaka | 0:a1238c4cd105 | 71 | |
kazumayamanaka | 7:a0b9b6e71e41 | 72 | if(DS.cal_input() == true){ |
kazumayamanaka | 7:a0b9b6e71e41 | 73 | TG.pass_val(DS.obt_X(),DS.obt_Y(),theta); |
kazumayamanaka | 7:a0b9b6e71e41 | 74 | } |
kazumayamanaka | 7:a0b9b6e71e41 | 75 | else{ |
kazumayamanaka | 7:a0b9b6e71e41 | 76 | TG.pass_target(DS.obt_X()); |
kazumayamanaka | 7:a0b9b6e71e41 | 77 | } |
kazumayamanaka | 0:a1238c4cd105 | 78 | } |
kazumayamanaka | 0:a1238c4cd105 | 79 | else{ |
kazumayamanaka | 7:a0b9b6e71e41 | 80 | automatics(); |
kazumayamanaka | 0:a1238c4cd105 | 81 | } |
kazumayamanaka | 0:a1238c4cd105 | 82 | |
kazumayamanaka | 0:a1238c4cd105 | 83 | pid_1.pass_val(data_1.get(),TG.obt_target1()); |
kazumayamanaka | 0:a1238c4cd105 | 84 | pid_2.pass_val(data_2.get(),TG.obt_target2()); |
kazumayamanaka | 0:a1238c4cd105 | 85 | pid_3.pass_val(data_3.get(),TG.obt_target3()); |
kazumayamanaka | 0:a1238c4cd105 | 86 | pid_4.pass_val(data_4.get(),TG.obt_target4()); |
kazumayamanaka | 0:a1238c4cd105 | 87 | |
kazumayamanaka | 1:ea880e226e5a | 88 | pid_1.wheel_ctl(PC_9,PC_8); |
kazumayamanaka | 0:a1238c4cd105 | 89 | pid_2.wheel_ctl(PB_14,PB_13); |
kazumayamanaka | 0:a1238c4cd105 | 90 | pid_3.wheel_ctl(PB_5,PB_4); |
kazumayamanaka | 0:a1238c4cd105 | 91 | pid_4.wheel_ctl(PB_7,PB_6); |
kazumayamanaka | 0:a1238c4cd105 | 92 | |
kazumayamanaka | 2:e189d55ef292 | 93 | odmetry.pass_pulse(MW_1.get(),MW_2.get(),MW_3.get(),MW_4.get()); |
kazumayamanaka | 2:e189d55ef292 | 94 | odmetry.pass_angle(theta); |
kazumayamanaka | 2:e189d55ef292 | 95 | odmetry.print_Pos(); |
kazumayamanaka | 2:e189d55ef292 | 96 | //pc.printf("%lf,%lf,%lf,%lf,%lf,%lf,%lf,%lf\n",TG.obt_target1(),TG.obt_target2(),TG.obt_target3(),TG.obt_target4(),pid_1.obt_spd(),pid_2.obt_spd(),pid_3.obt_spd(),pid_4.obt_spd()); |
kazumayamanaka | 0:a1238c4cd105 | 97 | while(Time.read_us() - timer <= 50 * 1000); |
kazumayamanaka | 0:a1238c4cd105 | 98 | } |
kazumayamanaka | 7:a0b9b6e71e41 | 99 | automatics(); |
kazumayamanaka | 0:a1238c4cd105 | 100 | } |
kazumayamanaka | 0:a1238c4cd105 | 101 | |
kazumayamanaka | 7:a0b9b6e71e41 | 102 | double automaticsX(double PosX){ |
kazumayamanaka | 7:a0b9b6e71e41 | 103 | if(PosX > 0){ |
kazumayamanaka | 7:a0b9b6e71e41 | 104 | if(PosX <= odmetry.obt_CurrentPosX())return 0; |
kazumayamanaka | 7:a0b9b6e71e41 | 105 | else return 100; |
kazumayamanaka | 7:a0b9b6e71e41 | 106 | } |
kazumayamanaka | 7:a0b9b6e71e41 | 107 | else{ |
kazumayamanaka | 7:a0b9b6e71e41 | 108 | if(PosX >= odmetry.obt_CurrentPosX())return 0; |
kazumayamanaka | 7:a0b9b6e71e41 | 109 | else return -100; |
kazumayamanaka | 7:a0b9b6e71e41 | 110 | } |
kazumayamanaka | 7:a0b9b6e71e41 | 111 | } |
kazumayamanaka | 7:a0b9b6e71e41 | 112 | double automaticsY(double PosY){ |
kazumayamanaka | 7:a0b9b6e71e41 | 113 | if(PosY > 0){ |
kazumayamanaka | 7:a0b9b6e71e41 | 114 | if(PosY <= odmetry.obt_CurrentPosY())return 0; |
kazumayamanaka | 7:a0b9b6e71e41 | 115 | else return -100; |
kazumayamanaka | 7:a0b9b6e71e41 | 116 | } |
kazumayamanaka | 7:a0b9b6e71e41 | 117 | else{ |
kazumayamanaka | 7:a0b9b6e71e41 | 118 | if(PosY >= odmetry.obt_CurrentPosY())return 0; |
kazumayamanaka | 7:a0b9b6e71e41 | 119 | else return 100; |
kazumayamanaka | 7:a0b9b6e71e41 | 120 | } |
kazumayamanaka | 7:a0b9b6e71e41 | 121 | } |
kazumayamanaka | 7:a0b9b6e71e41 | 122 | double automaticsTHETA(double THETA){ |
kazumayamanaka | 7:a0b9b6e71e41 | 123 | if(THETA > 0){ |
kazumayamanaka | 7:a0b9b6e71e41 | 124 | if(THETA <= odmetry.obt_CurrentTheta())return 0; |
kazumayamanaka | 7:a0b9b6e71e41 | 125 | else return -70; |
kazumayamanaka | 7:a0b9b6e71e41 | 126 | } |
kazumayamanaka | 7:a0b9b6e71e41 | 127 | else{ |
kazumayamanaka | 7:a0b9b6e71e41 | 128 | if(THETA >= odmetry.obt_CurrentTheta())return 0; |
kazumayamanaka | 7:a0b9b6e71e41 | 129 | else return 70; |
kazumayamanaka | 7:a0b9b6e71e41 | 130 | } |
kazumayamanaka | 7:a0b9b6e71e41 | 131 | } |
kazumayamanaka | 7:a0b9b6e71e41 | 132 | void automatics(){ |
kazumayamanaka | 7:a0b9b6e71e41 | 133 | if(automaticsY(100) != 0 || automaticsX(500) !=0){ |
kazumayamanaka | 7:a0b9b6e71e41 | 134 | TG.pass_val(automaticsY(100),automaticsX(500),theta); |
kazumayamanaka | 7:a0b9b6e71e41 | 135 | } |
kazumayamanaka | 7:a0b9b6e71e41 | 136 | else{ |
kazumayamanaka | 7:a0b9b6e71e41 | 137 | TG.pass_target(automaticsTHETA(PI / 4)); |
kazumayamanaka | 7:a0b9b6e71e41 | 138 | } |
kazumayamanaka | 7:a0b9b6e71e41 | 139 | } |
kazumayamanaka | 7:a0b9b6e71e41 | 140 | |
kazumayamanaka | 7:a0b9b6e71e41 | 141 | |
kazumayamanaka | 0:a1238c4cd105 | 142 | //BNOのピン(PB_3,PB_10) |
kazumayamanaka | 0:a1238c4cd105 | 143 | |
kazumayamanaka | 0:a1238c4cd105 | 144 | |
kazumayamanaka | 0:a1238c4cd105 | 145 |