Kiko Ishimoto
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robocon2017mbed_nedoControl_L
nedo用 未検証
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main.cpp
00001 #include "mbed.h" 00002 #define R 0 00003 #define L 1 00004 00005 #define DEBUG 0 00006 #define DEBUG_R 1 00007 #define CALIB 0 00008 00009 #define SetupCMD 'A' 00010 #define Respons 'S' 00011 DigitalOut debugLed1(D6); 00012 DigitalOut debugLed2(D7); 00013 bool send = false; 00014 union floatInByte 00015 { 00016 uint16_t si; 00017 unsigned char c[2]; 00018 }; 00019 class AnalogInLPF : public AnalogIn 00020 { 00021 private: 00022 float alpha; 00023 float prevAnalog; 00024 float nowAnalog; 00025 public : AnalogInLPF(PinName pin,float alpha_) : AnalogIn(pin) 00026 { 00027 alpha = alpha_; 00028 prevAnalog = 0.0; 00029 } 00030 float read(){ 00031 nowAnalog = AnalogIn::read(); 00032 nowAnalog = nowAnalog*alpha + (1-alpha)*prevAnalog; 00033 prevAnalog = nowAnalog; 00034 return nowAnalog; 00035 } 00036 short read_u16(){ 00037 nowAnalog = AnalogIn::read(); 00038 nowAnalog = nowAnalog*alpha + (1-alpha)*prevAnalog; 00039 nowAnalog = float(short(nowAnalog*0xFFFF)&0xFF00)/0xFFFF; 00040 prevAnalog = nowAnalog; 00041 return short(nowAnalog*0xFFFF); 00042 } 00043 }; 00044 class InLPF 00045 { 00046 private: 00047 float alpha; 00048 float prevAnalog; 00049 float nowAnalog; 00050 public : InLPF(float alpha_ = 0.2) 00051 { 00052 alpha = alpha_; 00053 prevAnalog = 0.0; 00054 } 00055 float read(float in){ 00056 nowAnalog = in; 00057 nowAnalog = nowAnalog*alpha + (1-alpha)*prevAnalog; 00058 prevAnalog = nowAnalog; 00059 return nowAnalog; 00060 } 00061 short read_u16(float in){ 00062 nowAnalog = in; 00063 nowAnalog = nowAnalog*alpha + (1-alpha)*prevAnalog; 00064 prevAnalog = nowAnalog; 00065 return short(nowAnalog*0xFFFF)&0xFF00; 00066 } 00067 }; 00068 uint16_t map(uint16_t in, uint16_t inMin, uint16_t inMax, uint16_t outMin, uint16_t outMax); 00069 #define LP 0.30 00070 AnalogInLPF ArmSense[4] = {AnalogInLPF(A6,LP-0.018),AnalogInLPF(A5,LP),AnalogInLPF(A4,LP),AnalogInLPF(A3,LP)}; 00071 InLPF ArmSense2[4] = {InLPF(LP),InLPF(LP),InLPF(LP),InLPF(LP)}; 00072 #if !CALIB 00073 //1号機 00074 /* 00075 uint16_t MinimumRangeR[4] = {12800,41414,26368,11776}; 00076 uint16_t MaxmumRangeR[4] = {36608,52242,55552,38144}; 00077 uint16_t MinimumRangeL[4] = {23040,24832,24576,32256}; 00078 uint16_t MaxmumRangeL[4] = {44312,47296,59392,58624}; 00079 00080 bool ReverseL[4] = {false,true,true,false}; 00081 bool ReverseR[4] = {true,false,true,false}; 00082 */ 00083 /* 00084 uint16_t MinimumRangeR[4] = {14592,41414,16128,12288}; 00085 uint16_t MaxmumRangeR[4] = {41216,52242,61952,38144}; 00086 uint16_t MinimumRangeL[4] = {23040,18176,11008,34303}; 00087 uint16_t MaxmumRangeL[4] = {44312,47296,60106,58368}; 00088 00089 bool ReverseL[4] = {false,true,true,false}; 00090 bool ReverseR[4] = {true,false,true,false}; 00091 */ 00092 /* 00093 uint16_t MinimumRangeR[4] = {1280,42240,36096,17152}; 00094 uint16_t MaxmumRangeR[4] = {45312,52992,58624,41216}; 00095 uint16_t MinimumRangeL[4] = {23040,18432,24576,58112}; 00096 uint16_t MaxmumRangeL[4] = {45312,58112,59392,30976}; 00097 */ 00098 //2号機 00099 //17468 23308 00100 00101 uint16_t MinimumRangeR[4] = {19900,41216,45056,13002}; 00102 uint16_t MaxmumRangeR[4] = {42544,53248,60676,38312}; 00103 uint16_t MinimumRangeL[4] = {21500,19432,10190,55588}; 00104 uint16_t MaxmumRangeL[4] = {43520,43300,43264,30208}; 00105 00106 bool ReverseL[4] = {false,true,true,true}; 00107 bool ReverseR[4] = {true,false,true,false}; 00108 00109 #endif 00110 #if CALIB 00111 uint16_t MinimumRangeR[4] = {0,0,0,0}; 00112 uint16_t MaxmumRangeR[4] = {0xffff,0xffff,0xffff,0xffff}; 00113 uint16_t MinimumRangeL[4] = {0,0,0,0}; 00114 uint16_t MaxmumRangeL[4] = {0xffff,0xffff,0xffff,0xffff}; 00115 #endif 00116 //uint16_t MinimumRangeL[4] = {19000,35000,35600,21000}; 00117 //uint16_t MaxmumRangeL[4] = {49000,57000,43000,42000 }; 00118 //AnalogIn ArmSense[4] = {AnalogIn(A6),AnalogIn(A5),AnalogIn(A4),AnalogIn(A3)}; 00119 Serial dev(D1,D0); 00120 Serial sbdbt(D13,D12); 00121 #define dataNum 12 00122 void waitTime(float ti){ 00123 Timer t; 00124 t.start(); 00125 while(ti > t.read()); 00126 t.stop(); 00127 return; 00128 } 00129 Timer timer; 00130 char *tmp[2]; 00131 char RXData[dataNum] = {'0'}; 00132 void RX(){ 00133 if(dev.getc() == '0'){ 00134 timer.reset(); 00135 debugLed1 = true; 00136 for(int i = 1 ; i < dataNum;i++){ 00137 RXData[i] = dev.getc(); 00138 } 00139 //if(DEBUG && !DEBUG_R)sbdbt.printf("L:"); 00140 for(int i = 0 ;i < 4 ; i++){ 00141 floatInByte in;//( (uint16_t)tmp[R][5 + i*2] << 8 ) | (uint16_t)tmp[R][4 + i*2]; 00142 in.c[0] = RXData[4 + i*2];//tmp[R][5 + i*2]; 00143 in.c[1] = RXData[5 + i*2];//tmp[R][4 + i*2]; 00144 uint16_t in_ = ArmSense2[i].read_u16(float(in.si)/0xffff); 00145 //uint16_t intt = map(in_,ReverseL[i] == true ? 0xffff - MaxmumRangeL[i] : MinimumRangeL[i],ReverseL[i] == true ? 0xffff - MinimumRangeL[i] : MaxmumRangeL[i],0,65535); 00146 uint16_t intt = map(in_,MinimumRangeL[i],MaxmumRangeL[i],0,65535); 00147 #if !CALIB 00148 intt = ReverseL[i] == true ? 0xffff - intt : intt; 00149 #endif 00150 floatInByte intt_; 00151 intt_.si = intt; 00152 //if(DEBUG && !DEBUG_R)sbdbt.printf(" %5d ",intt); 00153 //uint16_t intt = map(in_,13107,52428,0,65535); 00154 RXData[4 + i*2] = 0;//intt_.c[0];//uint8_t(intt>>8);//マスター片腕 00155 RXData[5 + i*2] = intt_.c[1];//uint8_t(intt&0xff); //マスター片腕 00156 }//if(DEBUG && !DEBUG_R)sbdbt.printf("\n"); 00157 00158 timer.reset(); 00159 send = true; 00160 } 00161 } 00162 void print(int N,char RXdata[12]){ 00163 floatInByte data; 00164 for(int i = 0 ; i < 2 ; i ++){ 00165 data.c[i] = RXdata[N+i]; 00166 } 00167 sbdbt.printf("%d ",data.si); 00168 } 00169 double offset[4] = {0,0,0,-132}; 00170 double range[4] = {120,120,90,240}; 00171 double range2[4] = {120,120,90,9}; 00172 int main() { 00173 00174 dev.baud(115200); 00175 00176 sbdbt.baud(115200); 00177 for(int i = 0 ; i < 2; i++) 00178 { 00179 tmp[i] = new char[dataNum]; 00180 } 00181 debugLed1 = true; 00182 for(int i = 0 ; i < 10 ; i ++ ){ 00183 debugLed2 = !debugLed2; 00184 wait(0.01); 00185 } 00186 wait(0.5); 00187 dev.attach(RX, Serial::RxIrq); 00188 dev.putc('L'); 00189 timer.start(); 00190 int count = 0; 00191 while(1) { 00192 //送信データ格納 00193 tmp[R][0] = 'H'; 00194 tmp[R][1] = 0; 00195 tmp[R][2] = 0; 00196 tmp[R][3] = 0; 00197 00198 for(int i = 0 ;i < 4 ; i++){ 00199 floatInByte intt_; 00200 uint16_t in = ArmSense[i].read_u16(); 00201 uint16_t intt = map(in, MinimumRangeR[i],MaxmumRangeR[i],0,65535); 00202 #if !CALIB 00203 intt = ReverseR[i] == true ? 0xffff - intt : intt; 00204 #endif 00205 intt_.si = intt; 00206 tmp[R][4 + i*2] = 0;//intt_.c[0];//uint8_t(intt>>8);//マスター片腕 00207 tmp[R][5 + i*2] = intt_.c[1];//uint8_t(intt&0xff); //マスター片腕 00208 } 00209 //if(DEBUG && DEBUG_R)sbdbt.printf("\n"); 00210 tmp[L] = RXData; 00211 char** SerialData = tmp; 00212 00213 //送信データを送る 00214 //SerialData = tmp; 00215 if(count > 20 && send == true){ 00216 #if CALIB 00217 sbdbt.printf("R:"); 00218 for(int i = 4 ; i < 12 ; i+=2)print(i,SerialData[R]); 00219 sbdbt.printf("L:"); 00220 for(int i = 4 ; i < 12 ; i+=2)print(i,SerialData[L]); 00221 #endif 00222 for(int j = 0; j < 2 ; j++){ 00223 for(int i = 0 ; i < dataNum ; i++){ 00224 //sbdbt.printf("%3d ",int8_t(SerialData[j][i])); 00225 #if !CALIB 00226 if(!DEBUG)sbdbt.putc(SerialData[j][i]); 00227 #endif 00228 } 00229 } 00230 count = 0; 00231 if(!DEBUG)sbdbt.printf("\n"); 00232 } 00233 dev.putc('L'); 00234 send = false; 00235 while(timer.read_ms() >= 2000){ 00236 debugLed2 = true; 00237 waitTime(0.1); 00238 debugLed2 = false; 00239 waitTime(0.1); 00240 } 00241 debugLed1 = false; 00242 waitTime(1.0/1000); 00243 count ++; 00244 } 00245 } 00246 uint16_t map(uint16_t in, uint16_t inMin, uint16_t inMax, uint16_t outMin, uint16_t outMax) { 00247 // check it's within the range 00248 if (inMin<inMax) { 00249 if (in <= inMin) 00250 return outMin; 00251 if (in >= inMax) 00252 return outMax; 00253 } else { // cope with input range being backwards. 00254 if (in >= inMin) 00255 return outMin; 00256 if (in <= inMax) 00257 return outMax; 00258 } 00259 // calculate how far into the range we are 00260 float scale = float(in-inMin)/float(inMax-inMin); 00261 // calculate the output. 00262 return uint16_t(outMin + scale*float(outMax-outMin)); 00263 }
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