Kiko Ishimoto
/
robocon2017mbed_nedoControl_R
nedo用 未検証
main.cpp@0:306e2b77804f, 2017-11-10 (annotated)
- Committer:
- kikoaac
- Date:
- Fri Nov 10 14:34:26 2017 +0000
- Revision:
- 0:306e2b77804f
nedo?
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
kikoaac | 0:306e2b77804f | 1 | #include "mbed.h" |
kikoaac | 0:306e2b77804f | 2 | #define R 0 |
kikoaac | 0:306e2b77804f | 3 | #define L 1 |
kikoaac | 0:306e2b77804f | 4 | #define SHOULDER 0 |
kikoaac | 0:306e2b77804f | 5 | #define ELBOW 1 |
kikoaac | 0:306e2b77804f | 6 | #define WRIST 2 |
kikoaac | 0:306e2b77804f | 7 | #define ARMPIT 3 |
kikoaac | 0:306e2b77804f | 8 | DigitalOut nReset(dp26); |
kikoaac | 0:306e2b77804f | 9 | #if 0 |
kikoaac | 0:306e2b77804f | 10 | DigitalOut debugLED1(dp24); |
kikoaac | 0:306e2b77804f | 11 | DigitalOut debugLED2(dp18); |
kikoaac | 0:306e2b77804f | 12 | #else |
kikoaac | 0:306e2b77804f | 13 | DigitalOut debugLED1(dp1); |
kikoaac | 0:306e2b77804f | 14 | DigitalOut debugLED2(dp2); |
kikoaac | 0:306e2b77804f | 15 | #endif |
kikoaac | 0:306e2b77804f | 16 | Timer timer; |
kikoaac | 0:306e2b77804f | 17 | class AnalogInLPF; |
kikoaac | 0:306e2b77804f | 18 | class AnalogInLPF : public AnalogIn |
kikoaac | 0:306e2b77804f | 19 | { |
kikoaac | 0:306e2b77804f | 20 | private: |
kikoaac | 0:306e2b77804f | 21 | float alpha; |
kikoaac | 0:306e2b77804f | 22 | float prevAnalog; |
kikoaac | 0:306e2b77804f | 23 | float nowAnalog; |
kikoaac | 0:306e2b77804f | 24 | public : AnalogInLPF(PinName pin,float alpha_ = 0.1) : AnalogIn(pin) |
kikoaac | 0:306e2b77804f | 25 | { |
kikoaac | 0:306e2b77804f | 26 | alpha = alpha_; |
kikoaac | 0:306e2b77804f | 27 | prevAnalog = 0.0; |
kikoaac | 0:306e2b77804f | 28 | } |
kikoaac | 0:306e2b77804f | 29 | float read(){ |
kikoaac | 0:306e2b77804f | 30 | nowAnalog = AnalogIn::read(); |
kikoaac | 0:306e2b77804f | 31 | nowAnalog = nowAnalog*alpha + (1-alpha)*prevAnalog; |
kikoaac | 0:306e2b77804f | 32 | prevAnalog = nowAnalog; |
kikoaac | 0:306e2b77804f | 33 | return nowAnalog; |
kikoaac | 0:306e2b77804f | 34 | } |
kikoaac | 0:306e2b77804f | 35 | short read_u16(){ |
kikoaac | 0:306e2b77804f | 36 | nowAnalog = AnalogIn::read(); |
kikoaac | 0:306e2b77804f | 37 | nowAnalog = nowAnalog*alpha + (1-alpha)*prevAnalog; |
kikoaac | 0:306e2b77804f | 38 | prevAnalog = nowAnalog; |
kikoaac | 0:306e2b77804f | 39 | return short(nowAnalog*0xFFFF); |
kikoaac | 0:306e2b77804f | 40 | } |
kikoaac | 0:306e2b77804f | 41 | }; |
kikoaac | 0:306e2b77804f | 42 | uint16_t map(uint16_t in, uint16_t inMin, uint16_t inMax, uint16_t outMin, uint16_t outMax); |
kikoaac | 0:306e2b77804f | 43 | AnalogIn ArmSense[4] = {AnalogIn(dp10),AnalogIn(dp9),AnalogIn(dp11),AnalogIn(dp13)}; |
kikoaac | 0:306e2b77804f | 44 | void waitTime(float ti){ |
kikoaac | 0:306e2b77804f | 45 | Timer t; |
kikoaac | 0:306e2b77804f | 46 | t.start(); |
kikoaac | 0:306e2b77804f | 47 | while(ti > t.read()); |
kikoaac | 0:306e2b77804f | 48 | t.stop(); |
kikoaac | 0:306e2b77804f | 49 | return; |
kikoaac | 0:306e2b77804f | 50 | } |
kikoaac | 0:306e2b77804f | 51 | //AnalogInLPF ArmSense[4] = {AnalogInLPF(dp10),AnalogInLPF(dp9),AnalogInLPF(dp11),AnalogInLPF(dp13)}; |
kikoaac | 0:306e2b77804f | 52 | Serial dev(dp16,dp15); |
kikoaac | 0:306e2b77804f | 53 | #define dataNum 12 |
kikoaac | 0:306e2b77804f | 54 | union floatInByte |
kikoaac | 0:306e2b77804f | 55 | { |
kikoaac | 0:306e2b77804f | 56 | uint16_t si; |
kikoaac | 0:306e2b77804f | 57 | unsigned char c[2]; |
kikoaac | 0:306e2b77804f | 58 | }; |
kikoaac | 0:306e2b77804f | 59 | char *tmp; |
kikoaac | 0:306e2b77804f | 60 | void RX(){ |
kikoaac | 0:306e2b77804f | 61 | if(dev.getc() == 'L'){ |
kikoaac | 0:306e2b77804f | 62 | timer.reset(); |
kikoaac | 0:306e2b77804f | 63 | } |
kikoaac | 0:306e2b77804f | 64 | } |
kikoaac | 0:306e2b77804f | 65 | void reset(){ |
kikoaac | 0:306e2b77804f | 66 | nReset = 0; |
kikoaac | 0:306e2b77804f | 67 | waitTime(0.001); |
kikoaac | 0:306e2b77804f | 68 | nReset = 1; |
kikoaac | 0:306e2b77804f | 69 | } |
kikoaac | 0:306e2b77804f | 70 | int main() { |
kikoaac | 0:306e2b77804f | 71 | nReset = true; |
kikoaac | 0:306e2b77804f | 72 | tmp = new char[dataNum]; |
kikoaac | 0:306e2b77804f | 73 | debugLED1 = 1; |
kikoaac | 0:306e2b77804f | 74 | debugLED2 = 0; |
kikoaac | 0:306e2b77804f | 75 | for(int i = 0 ; i < 50; i++){ |
kikoaac | 0:306e2b77804f | 76 | debugLED2 = !debugLED2; |
kikoaac | 0:306e2b77804f | 77 | waitTime(0.1); |
kikoaac | 0:306e2b77804f | 78 | } |
kikoaac | 0:306e2b77804f | 79 | dev.baud(115200); |
kikoaac | 0:306e2b77804f | 80 | dev.attach(RX,Serial::RxIrq); |
kikoaac | 0:306e2b77804f | 81 | timer.start(); |
kikoaac | 0:306e2b77804f | 82 | while(1) { |
kikoaac | 0:306e2b77804f | 83 | //送信データ格納 |
kikoaac | 0:306e2b77804f | 84 | debugLED1 = 1; |
kikoaac | 0:306e2b77804f | 85 | tmp[0] = '0'; |
kikoaac | 0:306e2b77804f | 86 | tmp[1] = 0; |
kikoaac | 0:306e2b77804f | 87 | tmp[2] = 0; |
kikoaac | 0:306e2b77804f | 88 | tmp[3] = 0; |
kikoaac | 0:306e2b77804f | 89 | for(int i = 0 ;i < 4 ; i++){ |
kikoaac | 0:306e2b77804f | 90 | uint16_t in = ArmSense[i].read_u16(); |
kikoaac | 0:306e2b77804f | 91 | floatInByte temp; |
kikoaac | 0:306e2b77804f | 92 | temp.si = in; |
kikoaac | 0:306e2b77804f | 93 | tmp[4 + i*2] = temp.c[0];//マスター片腕 |
kikoaac | 0:306e2b77804f | 94 | tmp[5 + i*2] = temp.c[1]; //マスター片腕 |
kikoaac | 0:306e2b77804f | 95 | } |
kikoaac | 0:306e2b77804f | 96 | //送信データを送る |
kikoaac | 0:306e2b77804f | 97 | char *SerialData = tmp; |
kikoaac | 0:306e2b77804f | 98 | for(int i = 0 ; i < dataNum ; i++){ |
kikoaac | 0:306e2b77804f | 99 | dev.putc(SerialData[i]); |
kikoaac | 0:306e2b77804f | 100 | } |
kikoaac | 0:306e2b77804f | 101 | while(timer.read_ms() > 1000){ |
kikoaac | 0:306e2b77804f | 102 | if(timer.read_ms() > 3000){ |
kikoaac | 0:306e2b77804f | 103 | reset(); |
kikoaac | 0:306e2b77804f | 104 | break; |
kikoaac | 0:306e2b77804f | 105 | } |
kikoaac | 0:306e2b77804f | 106 | } |
kikoaac | 0:306e2b77804f | 107 | debugLED1 = 0; |
kikoaac | 0:306e2b77804f | 108 | wait_ms(15); |
kikoaac | 0:306e2b77804f | 109 | //delete SerialData; |
kikoaac | 0:306e2b77804f | 110 | } |
kikoaac | 0:306e2b77804f | 111 | |
kikoaac | 0:306e2b77804f | 112 | delete tmp; |
kikoaac | 0:306e2b77804f | 113 | } |
kikoaac | 0:306e2b77804f | 114 | uint16_t map(uint16_t in, uint16_t inMin, uint16_t inMax, uint16_t outMin, uint16_t outMax) { |
kikoaac | 0:306e2b77804f | 115 | // check it's within the range |
kikoaac | 0:306e2b77804f | 116 | if (inMin<inMax) { |
kikoaac | 0:306e2b77804f | 117 | if (in <= inMin) |
kikoaac | 0:306e2b77804f | 118 | return outMin; |
kikoaac | 0:306e2b77804f | 119 | if (in >= inMax) |
kikoaac | 0:306e2b77804f | 120 | return outMax; |
kikoaac | 0:306e2b77804f | 121 | } else { // cope with input range being backwards. |
kikoaac | 0:306e2b77804f | 122 | if (in >= inMin) |
kikoaac | 0:306e2b77804f | 123 | return outMin; |
kikoaac | 0:306e2b77804f | 124 | if (in <= inMax) |
kikoaac | 0:306e2b77804f | 125 | return outMax; |
kikoaac | 0:306e2b77804f | 126 | } |
kikoaac | 0:306e2b77804f | 127 | // calculate how far into the range we are |
kikoaac | 0:306e2b77804f | 128 | float scale = float(in-inMin)/float(inMax-inMin); |
kikoaac | 0:306e2b77804f | 129 | // calculate the output. |
kikoaac | 0:306e2b77804f | 130 | return uint16_t(outMin + scale*(outMax-outMin)); |
kikoaac | 0:306e2b77804f | 131 | } |