Kiko Ishimoto / Mbed 2 deprecated robocon2017mbed_contoroler_L2

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Dependencies:   MyLib4 mbed

main.cpp@5:5dee79116fab, 2017-10-24 (annotated)

Committer:
kikoaac
Date:
Tue Oct 24 13:59:53 2017 +0000
Revision:
5:5dee79116fab
Parent:
4:233974c864df
Child:
6:d692db086dd5
????

Who changed what in which revision?

UserRevisionLine numberNew contents of line
kikoaac 0:84122dbed53a 1 #include "mbed.h"
kikoaac 0:84122dbed53a 2 #include "Nunchuck.h"
kikoaac 0:84122dbed53a 3 #define R 0
kikoaac 0:84122dbed53a 4 #define L 1
kikoaac 0:84122dbed53a 5
kikoaac 0:84122dbed53a 6 #define DEBUG 0
kikoaac 0:84122dbed53a 7 #define DEBUG_R 1
kikoaac 0:84122dbed53a 8 #define CALIB 0
kikoaac 0:84122dbed53a 9
kikoaac 0:84122dbed53a 10 #define SetupCMD 'A'
kikoaac 0:84122dbed53a 11 #define Respons 'S'
kikoaac 0:84122dbed53a 12 DigitalOut debugLed1(D6);
kikoaac 0:84122dbed53a 13 DigitalOut debugLed2(D7);
kikoaac 0:84122dbed53a 14 bool send = false;
kikoaac 0:84122dbed53a 15 union floatInByte
kikoaac 0:84122dbed53a 16 {
kikoaac 0:84122dbed53a 17 uint16_t si;
kikoaac 0:84122dbed53a 18 unsigned char c[2];
kikoaac 0:84122dbed53a 19 };
kikoaac 0:84122dbed53a 20 class AnalogInLPF : public AnalogIn
kikoaac 0:84122dbed53a 21 {
kikoaac 0:84122dbed53a 22 private:
kikoaac 0:84122dbed53a 23 float alpha;
kikoaac 0:84122dbed53a 24 float prevAnalog;
kikoaac 0:84122dbed53a 25 float nowAnalog;
kikoaac 0:84122dbed53a 26 public : AnalogInLPF(PinName pin,float alpha_) : AnalogIn(pin)
kikoaac 0:84122dbed53a 27 {
kikoaac 0:84122dbed53a 28 alpha = alpha_;
kikoaac 0:84122dbed53a 29 prevAnalog = 0.0;
kikoaac 0:84122dbed53a 30 }
kikoaac 0:84122dbed53a 31 float read(){
kikoaac 0:84122dbed53a 32 nowAnalog = AnalogIn::read();
kikoaac 0:84122dbed53a 33 nowAnalog = nowAnalog*alpha + (1-alpha)*prevAnalog;
kikoaac 0:84122dbed53a 34 prevAnalog = nowAnalog;
kikoaac 0:84122dbed53a 35 return nowAnalog;
kikoaac 0:84122dbed53a 36 }
kikoaac 0:84122dbed53a 37 short read_u16(){
kikoaac 0:84122dbed53a 38 nowAnalog = AnalogIn::read();
kikoaac 0:84122dbed53a 39 nowAnalog = nowAnalog*alpha + (1-alpha)*prevAnalog;
kikoaac 2:5d86b09dd7d8 40 nowAnalog = float(short(nowAnalog*0xFFFF)&0xFF00)/0xFFFF;
kikoaac 0:84122dbed53a 41 prevAnalog = nowAnalog;
kikoaac 0:84122dbed53a 42 return short(nowAnalog*0xFFFF);
kikoaac 0:84122dbed53a 43 }
kikoaac 0:84122dbed53a 44 };
kikoaac 0:84122dbed53a 45 class InLPF
kikoaac 0:84122dbed53a 46 {
kikoaac 0:84122dbed53a 47 private:
kikoaac 0:84122dbed53a 48 float alpha;
kikoaac 0:84122dbed53a 49 float prevAnalog;
kikoaac 0:84122dbed53a 50 float nowAnalog;
kikoaac 0:84122dbed53a 51 public : InLPF(float alpha_ = 0.2)
kikoaac 0:84122dbed53a 52 {
kikoaac 0:84122dbed53a 53 alpha = alpha_;
kikoaac 0:84122dbed53a 54 prevAnalog = 0.0;
kikoaac 0:84122dbed53a 55 }
kikoaac 0:84122dbed53a 56 float read(float in){
kikoaac 0:84122dbed53a 57 nowAnalog = in;
kikoaac 0:84122dbed53a 58 nowAnalog = nowAnalog*alpha + (1-alpha)*prevAnalog;
kikoaac 0:84122dbed53a 59 prevAnalog = nowAnalog;
kikoaac 0:84122dbed53a 60 return nowAnalog;
kikoaac 0:84122dbed53a 61 }
kikoaac 0:84122dbed53a 62 short read_u16(float in){
kikoaac 0:84122dbed53a 63 nowAnalog = in;
kikoaac 0:84122dbed53a 64 nowAnalog = nowAnalog*alpha + (1-alpha)*prevAnalog;
kikoaac 0:84122dbed53a 65 prevAnalog = nowAnalog;
kikoaac 2:5d86b09dd7d8 66 return short(nowAnalog*0xFFFF)&0xFF00;
kikoaac 0:84122dbed53a 67 }
kikoaac 0:84122dbed53a 68 };
kikoaac 0:84122dbed53a 69 uint16_t map(uint16_t in, uint16_t inMin, uint16_t inMax, uint16_t outMin, uint16_t outMax);
kikoaac 2:5d86b09dd7d8 70 #define LP 0.30
kikoaac 5:5dee79116fab 71 AnalogInLPF ArmSense[4] = {AnalogInLPF(A6,LP-0.018),AnalogInLPF(A5,LP),AnalogInLPF(A4,LP),AnalogInLPF(A3,LP)};
kikoaac 0:84122dbed53a 72 InLPF ArmSense2[4] = {InLPF(LP),InLPF(LP),InLPF(LP),InLPF(LP)};
kikoaac 0:84122dbed53a 73 #if !CALIB
kikoaac 0:84122dbed53a 74 //1号機
kikoaac 5:5dee79116fab 75 /*
kikoaac 5:5dee79116fab 76 uint16_t MinimumRangeR[4] = {12800,41414,26368,11776};
kikoaac 5:5dee79116fab 77 uint16_t MaxmumRangeR[4] = {36608,52242,55552,38144};
kikoaac 5:5dee79116fab 78 uint16_t MinimumRangeL[4] = {23040,24832,24576,32256};
kikoaac 5:5dee79116fab 79 uint16_t MaxmumRangeL[4] = {44312,47296,59392,58624};
kikoaac 3:21fb6b67bb54 80
kikoaac 5:5dee79116fab 81 bool ReverseL[4] = {false,true,true,false};
kikoaac 5:5dee79116fab 82 bool ReverseR[4] = {true,false,true,false};
kikoaac 5:5dee79116fab 83 */
kikoaac 2:5d86b09dd7d8 84 /*
kikoaac 3:21fb6b67bb54 85 uint16_t MinimumRangeR[4] = {1280,42240,36096,17152};
kikoaac 3:21fb6b67bb54 86 uint16_t MaxmumRangeR[4] = {45312,52992,58624,41216};
kikoaac 3:21fb6b67bb54 87 uint16_t MinimumRangeL[4] = {23040,18432,24576,58112};
kikoaac 3:21fb6b67bb54 88 uint16_t MaxmumRangeL[4] = {45312,58112,59392,30976};
kikoaac 3:21fb6b67bb54 89 */
kikoaac 0:84122dbed53a 90 //2号機
kikoaac 5:5dee79116fab 91
kikoaac 5:5dee79116fab 92 uint16_t MinimumRangeR[4] = {19900,41216,38144,17152};
kikoaac 5:5dee79116fab 93 uint16_t MaxmumRangeR[4] = {43260,53248,61952,41216};
kikoaac 2:5d86b09dd7d8 94 uint16_t MinimumRangeL[4] = {21500,19400,8448,57088};
kikoaac 2:5d86b09dd7d8 95 uint16_t MaxmumRangeL[4] = {43520,38900,38400,30208};
kikoaac 5:5dee79116fab 96
kikoaac 5:5dee79116fab 97 bool ReverseL[4] = {false,true,true,true};
kikoaac 5:5dee79116fab 98 bool ReverseR[4] = {true,false,true,false};
kikoaac 5:5dee79116fab 99
kikoaac 0:84122dbed53a 100 #endif
kikoaac 0:84122dbed53a 101 #if CALIB
kikoaac 0:84122dbed53a 102 uint16_t MinimumRangeR[4] = {0,0,0,0};
kikoaac 0:84122dbed53a 103 uint16_t MaxmumRangeR[4] = {0xffff,0xffff,0xffff,0xffff};
kikoaac 0:84122dbed53a 104 uint16_t MinimumRangeL[4] = {0,0,0,0};
kikoaac 0:84122dbed53a 105 uint16_t MaxmumRangeL[4] = {0xffff,0xffff,0xffff,0xffff};
kikoaac 0:84122dbed53a 106 #endif
kikoaac 0:84122dbed53a 107 //uint16_t MinimumRangeL[4] = {19000,35000,35600,21000};
kikoaac 0:84122dbed53a 108 //uint16_t MaxmumRangeL[4] = {49000,57000,43000,42000 };
kikoaac 0:84122dbed53a 109 //AnalogIn ArmSense[4] = {AnalogIn(A6),AnalogIn(A5),AnalogIn(A4),AnalogIn(A3)};
kikoaac 0:84122dbed53a 110 Nunchuck ctrl(D4,D5);
kikoaac 0:84122dbed53a 111 Serial dev(D1,D0);
kikoaac 0:84122dbed53a 112 Serial sbdbt(D13,D12);
kikoaac 0:84122dbed53a 113 #define dataNum 12
kikoaac 0:84122dbed53a 114 void waitTime(float ti){
kikoaac 0:84122dbed53a 115 Timer t;
kikoaac 0:84122dbed53a 116 t.start();
kikoaac 0:84122dbed53a 117 while(ti > t.read());
kikoaac 0:84122dbed53a 118 t.stop();
kikoaac 0:84122dbed53a 119 return;
kikoaac 0:84122dbed53a 120 }
kikoaac 0:84122dbed53a 121 Timer timer;
kikoaac 0:84122dbed53a 122 char *tmp[2];
kikoaac 0:84122dbed53a 123 char RXData[dataNum] = {'0'};
kikoaac 0:84122dbed53a 124 void RX(){
kikoaac 0:84122dbed53a 125 if(dev.getc() == '0'){
kikoaac 0:84122dbed53a 126 timer.reset();
kikoaac 0:84122dbed53a 127 debugLed1 = true;
kikoaac 0:84122dbed53a 128 for(int i = 1 ; i < dataNum;i++){
kikoaac 0:84122dbed53a 129 RXData[i] = dev.getc();
kikoaac 0:84122dbed53a 130 }
kikoaac 0:84122dbed53a 131 //if(DEBUG && !DEBUG_R)sbdbt.printf("L:");
kikoaac 0:84122dbed53a 132 for(int i = 0 ;i < 4 ; i++){
kikoaac 0:84122dbed53a 133 floatInByte in;//( (uint16_t)tmp[R][5 + i*2] << 8 ) | (uint16_t)tmp[R][4 + i*2];
kikoaac 0:84122dbed53a 134 in.c[0] = RXData[4 + i*2];//tmp[R][5 + i*2];
kikoaac 0:84122dbed53a 135 in.c[1] = RXData[5 + i*2];//tmp[R][4 + i*2];
kikoaac 0:84122dbed53a 136 uint16_t in_ = ArmSense2[i].read_u16(float(in.si)/0xffff);
kikoaac 2:5d86b09dd7d8 137 //uint16_t intt = map(in_,ReverseL[i] == true ? 0xffff - MaxmumRangeL[i] : MinimumRangeL[i],ReverseL[i] == true ? 0xffff - MinimumRangeL[i] : MaxmumRangeL[i],0,65535);
kikoaac 2:5d86b09dd7d8 138 uint16_t intt = map(in_,MinimumRangeL[i],MaxmumRangeL[i],0,65535);
kikoaac 2:5d86b09dd7d8 139 #if !CALIB
kikoaac 0:84122dbed53a 140 intt = ReverseL[i] == true ? 0xffff - intt : intt;
kikoaac 2:5d86b09dd7d8 141 #endif
kikoaac 0:84122dbed53a 142 floatInByte intt_;
kikoaac 0:84122dbed53a 143 intt_.si = intt;
kikoaac 0:84122dbed53a 144 //if(DEBUG && !DEBUG_R)sbdbt.printf(" %5d ",intt);
kikoaac 0:84122dbed53a 145 //uint16_t intt = map(in_,13107,52428,0,65535);
kikoaac 0:84122dbed53a 146 RXData[4 + i*2] = 0;//intt_.c[0];//uint8_t(intt>>8);//マスター片腕
kikoaac 0:84122dbed53a 147 RXData[5 + i*2] = intt_.c[1];//uint8_t(intt&0xff); //マスター片腕
kikoaac 0:84122dbed53a 148 }//if(DEBUG && !DEBUG_R)sbdbt.printf("\n");
kikoaac 0:84122dbed53a 149
kikoaac 0:84122dbed53a 150 timer.reset();
kikoaac 0:84122dbed53a 151 send = true;
kikoaac 0:84122dbed53a 152 }
kikoaac 0:84122dbed53a 153 }
kikoaac 0:84122dbed53a 154 void print(int N,char RXdata[12]){
kikoaac 0:84122dbed53a 155 floatInByte data;
kikoaac 0:84122dbed53a 156 for(int i = 0 ; i < 2 ; i ++){
kikoaac 0:84122dbed53a 157 data.c[i] = RXdata[N+i];
kikoaac 0:84122dbed53a 158 }
kikoaac 0:84122dbed53a 159 sbdbt.printf("%d ",data.si);
kikoaac 0:84122dbed53a 160 }
kikoaac 0:84122dbed53a 161 double offset[4] = {0,0,0,-132};
kikoaac 0:84122dbed53a 162 double range[4] = {120,120,90,240};
kikoaac 0:84122dbed53a 163 double range2[4] = {120,120,90,9};
kikoaac 0:84122dbed53a 164 int main() {
kikoaac 0:84122dbed53a 165
kikoaac 0:84122dbed53a 166 dev.baud(115200);
kikoaac 0:84122dbed53a 167
kikoaac 0:84122dbed53a 168 sbdbt.baud(115200);
kikoaac 0:84122dbed53a 169 for(int i = 0 ; i < 2; i++)
kikoaac 0:84122dbed53a 170 {
kikoaac 0:84122dbed53a 171 tmp[i] = new char[dataNum];
kikoaac 0:84122dbed53a 172 }
kikoaac 0:84122dbed53a 173 debugLed1 = true;
kikoaac 5:5dee79116fab 174 for(int i = 0 ; i < 10 ; i ++ ){
kikoaac 0:84122dbed53a 175 debugLed2 = !debugLed2;
kikoaac 5:5dee79116fab 176 wait(0.01);
kikoaac 0:84122dbed53a 177 }
kikoaac 0:84122dbed53a 178 dev.attach(RX, Serial::RxIrq);
kikoaac 0:84122dbed53a 179 dev.putc('L');
kikoaac 0:84122dbed53a 180 timer.start();
kikoaac 5:5dee79116fab 181 ctrl.offset_();
kikoaac 0:84122dbed53a 182 int count = 0;
kikoaac 0:84122dbed53a 183 while(1) {
kikoaac 0:84122dbed53a 184 //送信データ格納
kikoaac 5:5dee79116fab 185 tmp[R][0] = 'H';
kikoaac 0:84122dbed53a 186 tmp[R][1] = ctrl.analogx();//ヌンチャクアナログX
kikoaac 0:84122dbed53a 187 tmp[R][2] = ctrl.analogy();//ヌンチャクアナログy
kikoaac 0:84122dbed53a 188 tmp[R][3] = (ctrl.buttonc()<<1)|(ctrl.buttonz());//ヌンチャクzボタンとCボタン
kikoaac 5:5dee79116fab 189
kikoaac 0:84122dbed53a 190 for(int i = 0 ;i < 4 ; i++){
kikoaac 0:84122dbed53a 191 floatInByte intt_;
kikoaac 0:84122dbed53a 192 uint16_t in = ArmSense[i].read_u16();
kikoaac 2:5d86b09dd7d8 193 uint16_t intt = map(in, MinimumRangeR[i],MaxmumRangeR[i],0,65535);
kikoaac 2:5d86b09dd7d8 194 #if !CALIB
kikoaac 0:84122dbed53a 195 intt = ReverseR[i] == true ? 0xffff - intt : intt;
kikoaac 2:5d86b09dd7d8 196 #endif
kikoaac 0:84122dbed53a 197 intt_.si = intt;
kikoaac 0:84122dbed53a 198 tmp[R][4 + i*2] = 0;//intt_.c[0];//uint8_t(intt>>8);//マスター片腕
kikoaac 0:84122dbed53a 199 tmp[R][5 + i*2] = intt_.c[1];//uint8_t(intt&0xff); //マスター片腕
kikoaac 0:84122dbed53a 200 }
kikoaac 0:84122dbed53a 201 //if(DEBUG && DEBUG_R)sbdbt.printf("\n");
kikoaac 0:84122dbed53a 202 tmp[L] = RXData;
kikoaac 0:84122dbed53a 203 char** SerialData = tmp;
kikoaac 0:84122dbed53a 204
kikoaac 0:84122dbed53a 205 //送信データを送る
kikoaac 0:84122dbed53a 206 //SerialData = tmp;
kikoaac 5:5dee79116fab 207 if(count > 20 && send == true){
kikoaac 5:5dee79116fab 208 ctrl.getdata();
kikoaac 5:5dee79116fab 209 #if CALIB
kikoaac 2:5d86b09dd7d8 210 sbdbt.printf("R:");
kikoaac 0:84122dbed53a 211 for(int i = 4 ; i < 12 ; i+=2)print(i,SerialData[R]);
kikoaac 0:84122dbed53a 212 sbdbt.printf("L:");
kikoaac 0:84122dbed53a 213 for(int i = 4 ; i < 12 ; i+=2)print(i,SerialData[L]);
kikoaac 5:5dee79116fab 214 #endif
kikoaac 0:84122dbed53a 215 for(int j = 0; j < 2 ; j++){
kikoaac 0:84122dbed53a 216 for(int i = 0 ; i < dataNum ; i++){
kikoaac 5:5dee79116fab 217 //sbdbt.printf("%3d ",int8_t(SerialData[j][i]));
kikoaac 4:233974c864df 218 if(!DEBUG)sbdbt.putc(SerialData[j][i]);
kikoaac 0:84122dbed53a 219 }
kikoaac 0:84122dbed53a 220 }
kikoaac 0:84122dbed53a 221 count = 0;
kikoaac 0:84122dbed53a 222 if(!DEBUG)sbdbt.printf("\n");
kikoaac 0:84122dbed53a 223 }
kikoaac 0:84122dbed53a 224 dev.putc('L');
kikoaac 0:84122dbed53a 225 send = false;
kikoaac 0:84122dbed53a 226 while(timer.read_ms() >= 2000){
kikoaac 0:84122dbed53a 227 debugLed2 = true;
kikoaac 0:84122dbed53a 228 waitTime(0.1);
kikoaac 0:84122dbed53a 229 debugLed2 = false;
kikoaac 0:84122dbed53a 230 waitTime(0.1);
kikoaac 0:84122dbed53a 231 }
kikoaac 0:84122dbed53a 232 debugLed1 = false;
kikoaac 5:5dee79116fab 233 waitTime(1.0/1000);
kikoaac 0:84122dbed53a 234 count ++;
kikoaac 0:84122dbed53a 235 }
kikoaac 0:84122dbed53a 236 }
kikoaac 0:84122dbed53a 237 uint16_t map(uint16_t in, uint16_t inMin, uint16_t inMax, uint16_t outMin, uint16_t outMax) {
kikoaac 0:84122dbed53a 238 // check it's within the range
kikoaac 0:84122dbed53a 239 if (inMin<inMax) {
kikoaac 0:84122dbed53a 240 if (in <= inMin)
kikoaac 0:84122dbed53a 241 return outMin;
kikoaac 0:84122dbed53a 242 if (in >= inMax)
kikoaac 0:84122dbed53a 243 return outMax;
kikoaac 0:84122dbed53a 244 } else { // cope with input range being backwards.
kikoaac 0:84122dbed53a 245 if (in >= inMin)
kikoaac 0:84122dbed53a 246 return outMin;
kikoaac 0:84122dbed53a 247 if (in <= inMax)
kikoaac 0:84122dbed53a 248 return outMax;
kikoaac 0:84122dbed53a 249 }
kikoaac 0:84122dbed53a 250 // calculate how far into the range we are
kikoaac 0:84122dbed53a 251 float scale = float(in-inMin)/float(inMax-inMin);
kikoaac 0:84122dbed53a 252 // calculate the output.
kikoaac 0:84122dbed53a 253 return uint16_t(outMin + scale*float(outMax-outMin));
kikoaac 0:84122dbed53a 254 }