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DRのPS3での操作用(アームの開閉をコントローラで制御可能)
Dependencies: mbed CalPID motorout ros_lib_melodic MotorController_AbsEC
main.cpp@10:c1ca3db7177c, 2021-07-20 (annotated)
- Committer:
- ayu13
- Date:
- Tue Jul 20 12:02:23 2021 +0000
- Revision:
- 10:c1ca3db7177c
- Parent:
- 9:95f6b9f54395
- Child:
- 11:df2acf22123e
OK;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
ayu13 | 0:83b2c6a67cce | 1 | ////c = center arm |
ayu13 | 0:83b2c6a67cce | 2 | #include "mbed.h" |
ayu13 | 0:83b2c6a67cce | 3 | #include "AMT21.h" |
ayu13 | 0:83b2c6a67cce | 4 | #include "CalPID.h" |
ayu13 | 0:83b2c6a67cce | 5 | #include "KondoServo.h" |
ayu13 | 0:83b2c6a67cce | 6 | #include "MotorController.h" |
ayu13 | 0:83b2c6a67cce | 7 | #include <stdlib.h> |
ayu13 | 0:83b2c6a67cce | 8 | #include <ros.h> |
ayu13 | 0:83b2c6a67cce | 9 | #include <std_msgs/String.h> |
ayu13 | 0:83b2c6a67cce | 10 | #include <geometry_msgs/Point.h> |
ayu13 | 0:83b2c6a67cce | 11 | |
ayu13 | 0:83b2c6a67cce | 12 | ///////////////// 宣言部分 ////////////////////// |
ayu13 | 0:83b2c6a67cce | 13 | #ifndef M_PI |
ayu13 | 0:83b2c6a67cce | 14 | #define M_PI 3.14159265359f |
ayu13 | 0:83b2c6a67cce | 15 | #endif |
ayu13 | 1:c0a3e4589a8f | 16 | #define DELTA_T 0.01 //制御周期 |
ayu13 | 1:c0a3e4589a8f | 17 | #define DUTY_MAX 0.07 //duty比の最大値 |
ayu13 | 6:e6b303ea6439 | 18 | #define OMEGA_MAX 0.25 //速度制御を利用した角度制御での角速度の最大値 |
ayu13 | 0:83b2c6a67cce | 19 | #define NUM_DATA 270 |
ayu13 | 0:83b2c6a67cce | 20 | |
ayu13 | 5:4fba3e91741f | 21 | int state = 0; |
ayu13 | 5:4fba3e91741f | 22 | |
ayu13 | 0:83b2c6a67cce | 23 | ////角度制御(アブソリュートエンコーダ)///// |
ayu13 | 0:83b2c6a67cce | 24 | Timer timer; |
ayu13 | 0:83b2c6a67cce | 25 | CalPID speed_pid(0.08,0,0.0008,DELTA_T,DUTY_MAX); //速度制御のPD計算 |
ayu13 | 3:78b608ba0286 | 26 | CalPID angle_duty_pid(0,0,0,DELTA_T,DUTY_MAX); //角度制御(duty式)のPD計算 |
ayu13 | 6:e6b303ea6439 | 27 | CalPID angle_omega_pid(5.0,0,0.0032,DELTA_T,OMEGA_MAX);//角度制御(速度式)のPD計算 |
ayu13 | 0:83b2c6a67cce | 28 | Amt21 amt(p9,p10,p8); //Amt21 (PinName tx,PinName rx,PinName mode):serial_(tx,rx),rs485_mode(mode) |
ayu13 | 0:83b2c6a67cce | 29 | MotorController motor(p26,p25,DELTA_T,amt,speed_pid,angle_duty_pid,angle_omega_pid); //MotorController(PinName motor_p_, PinName motor_n_,double dt, Amt21 &ec, CalPID &sc_, CalPID &ac_duty, CalPID &ac_omega) |
ayu13 | 5:4fba3e91741f | 30 | double degToRad(double x); |
ayu13 | 0:83b2c6a67cce | 31 | double target_rad=0; |
ayu13 | 0:83b2c6a67cce | 32 | double target_deg = 0; |
ayu13 | 7:038ea29c5a97 | 33 | double turn_deg = 0; |
ayu13 | 7:038ea29c5a97 | 34 | double turn_rad = 0; |
ayu13 | 9:95f6b9f54395 | 35 | DigitalIn toggle1(p16, PullUp); //トグルright(マイコン側) |
ayu13 | 9:95f6b9f54395 | 36 | DigitalIn toggle2(p20, PullUp); //トグルleft(外側) |
ayu13 | 0:83b2c6a67cce | 37 | |
ayu13 | 0:83b2c6a67cce | 38 | ////先端アーム(サーボ)///// |
ayu13 | 0:83b2c6a67cce | 39 | DigitalIn ts_c1(p6, PullUp); |
ayu13 | 0:83b2c6a67cce | 40 | DigitalIn ts_c2(p7, PullUp); |
ayu13 | 0:83b2c6a67cce | 41 | KondoServo servo_c(p13, p14); |
ayu13 | 0:83b2c6a67cce | 42 | double servoDeg(double servo_value); |
ayu13 | 10:c1ca3db7177c | 43 | void touchGrab(); //タッチセンサ反応したらサーボ掴む |
ayu13 | 6:e6b303ea6439 | 44 | float deg_c_grab = 10600; |
ayu13 | 6:e6b303ea6439 | 45 | float deg_c_open = 8300; |
ayu13 | 0:83b2c6a67cce | 46 | |
ayu13 | 9:95f6b9f54395 | 47 | ////データ記録関連///// |
ayu13 | 4:3abefa13c2e3 | 48 | double now_deg=0; |
ayu13 | 0:83b2c6a67cce | 49 | double now_count=0; |
ayu13 | 0:83b2c6a67cce | 50 | |
ayu13 | 2:b728a6564520 | 51 | ///////////////// ROS ///////////////// |
ayu13 | 9:95f6b9f54395 | 52 | DigitalOut myled1(LED1); |
ayu13 | 2:b728a6564520 | 53 | DigitalOut myled2(LED2); |
ayu13 | 2:b728a6564520 | 54 | DigitalOut myled3(LED3); |
ayu13 | 2:b728a6564520 | 55 | DigitalOut myled4(LED4); |
ayu13 | 7:038ea29c5a97 | 56 | float arm_turn=0,arm_deg=0,arm_rad=0; |
ayu13 | 2:b728a6564520 | 57 | void cArmCallback(const geometry_msgs::Point &arm_state) |
ayu13 | 2:b728a6564520 | 58 | { |
ayu13 | 10:c1ca3db7177c | 59 | arm_turn = arm_state.x; //左回転=1、右回転=2 |
ayu13 | 10:c1ca3db7177c | 60 | arm_deg = arm_state.y; //目標角度 |
ayu13 | 2:b728a6564520 | 61 | } |
ayu13 | 2:b728a6564520 | 62 | ros::NodeHandle nh; |
ayu13 | 2:b728a6564520 | 63 | ros::Subscriber<geometry_msgs::Point> sub("/arm",&cArmCallback); |
ayu13 | 2:b728a6564520 | 64 | |
ayu13 | 0:83b2c6a67cce | 65 | int main() |
ayu13 | 0:83b2c6a67cce | 66 | { |
ayu13 | 5:4fba3e91741f | 67 | myled1 = 0; //目標角度以上離れている:点灯 |
ayu13 | 5:4fba3e91741f | 68 | myled2 = 0; //通信で欲しい値が送られているとき:点灯 |
ayu13 | 8:9656790eea17 | 69 | myled3 = 0; //state2に入ったとき←基本不要 |
ayu13 | 5:4fba3e91741f | 70 | myled4 = 0; //サーボを掴む→点灯.離す→消灯 |
ayu13 | 5:4fba3e91741f | 71 | |
ayu13 | 0:83b2c6a67cce | 72 | ///////// ROS ///////// |
ayu13 | 1:c0a3e4589a8f | 73 | nh.getHardware()->setBaud(921600); |
ayu13 | 0:83b2c6a67cce | 74 | nh.initNode(); |
ayu13 | 0:83b2c6a67cce | 75 | nh.subscribe(sub); |
ayu13 | 0:83b2c6a67cce | 76 | |
ayu13 | 0:83b2c6a67cce | 77 | timer.reset(); |
ayu13 | 0:83b2c6a67cce | 78 | timer.start(); |
ayu13 | 0:83b2c6a67cce | 79 | |
ayu13 | 0:83b2c6a67cce | 80 | motor.setEquation(0.0523,0.0148,0.0459,-0.0341); //Excel"omega_controll"の図より |
ayu13 | 0:83b2c6a67cce | 81 | |
ayu13 | 0:83b2c6a67cce | 82 | while (1) { |
ayu13 | 8:9656790eea17 | 83 | nh.spinOnce(); //ROS |
ayu13 | 4:3abefa13c2e3 | 84 | |
ayu13 | 5:4fba3e91741f | 85 | if(timer.read()>DELTA_T) { |
ayu13 | 8:9656790eea17 | 86 | if(arm_turn==2&&arm_deg==-10) { //動作確認(通信)用 |
ayu13 | 5:4fba3e91741f | 87 | myled2 = 1; |
ayu13 | 0:83b2c6a67cce | 88 | } |
ayu13 | 5:4fba3e91741f | 89 | arm_rad = degToRad(arm_deg); |
ayu13 | 7:038ea29c5a97 | 90 | target_deg = arm_deg; |
ayu13 | 7:038ea29c5a97 | 91 | target_rad = arm_rad; |
ayu13 | 0:83b2c6a67cce | 92 | |
ayu13 | 10:c1ca3db7177c | 93 | if(state == 0) { //トグルスイッチONでstate=1へ. |
ayu13 | 8:9656790eea17 | 94 | ///トグルスイッチ1////マイコン方向 |
ayu13 | 10:c1ca3db7177c | 95 | if(toggle1 == 0) { //トグルスイッチ1(mbed側)ONで初start |
ayu13 | 6:e6b303ea6439 | 96 | wait_us(50); |
ayu13 | 6:e6b303ea6439 | 97 | if(toggle1 == 0) { |
ayu13 | 10:c1ca3db7177c | 98 | state++; |
ayu13 | 6:e6b303ea6439 | 99 | } |
ayu13 | 6:e6b303ea6439 | 100 | } |
ayu13 | 6:e6b303ea6439 | 101 | } |
ayu13 | 10:c1ca3db7177c | 102 | if(state == 1) { //回転方向の変数"arm_turn"に1か2が代入されたらstate=2へ. |
ayu13 | 7:038ea29c5a97 | 103 | if(arm_turn == 1) { |
ayu13 | 7:038ea29c5a97 | 104 | turn_deg = 90; |
ayu13 | 10:c1ca3db7177c | 105 | state++; |
ayu13 | 7:038ea29c5a97 | 106 | } else if(arm_turn == 2) { |
ayu13 | 7:038ea29c5a97 | 107 | turn_deg = -90; |
ayu13 | 10:c1ca3db7177c | 108 | state++; |
ayu13 | 7:038ea29c5a97 | 109 | } |
ayu13 | 7:038ea29c5a97 | 110 | turn_rad = degToRad(turn_deg); |
ayu13 | 10:c1ca3db7177c | 111 | } else if(state == 2) { //サーボを離してそのまますぐstate=3へ. |
ayu13 | 10:c1ca3db7177c | 112 | servo_c.set_degree(0,servoDeg(deg_c_open)); //servo_c離す |
ayu13 | 5:4fba3e91741f | 113 | state++; |
ayu13 | 10:c1ca3db7177c | 114 | } else if (state == 3) {//タッチセンサがハンドルに反応したらサーボで掴んでstate=4へ. |
ayu13 | 5:4fba3e91741f | 115 | myled3 = 1; |
ayu13 | 10:c1ca3db7177c | 116 | if(fabs(now_deg-turn_deg) > 0.5) { //現在角度と目標角度が0.5°以上離れている間回す |
ayu13 | 10:c1ca3db7177c | 117 | myled1 = 1; //LED1 点灯 |
ayu13 | 10:c1ca3db7177c | 118 | motor.AcOmega(turn_rad); //速度式角度制御 |
ayu13 | 5:4fba3e91741f | 119 | } else { //目標角度に達したら停止 |
ayu13 | 5:4fba3e91741f | 120 | myled1=0; //LED1 消灯 |
ayu13 | 5:4fba3e91741f | 121 | motor.stop(); |
ayu13 | 5:4fba3e91741f | 122 | } |
ayu13 | 10:c1ca3db7177c | 123 | touchGrab(); |
ayu13 | 10:c1ca3db7177c | 124 | } else if (state == 4) {//目標角度を設定してそのまますぐstate=5へ. |
ayu13 | 5:4fba3e91741f | 125 | myled3 = 0; |
ayu13 | 5:4fba3e91741f | 126 | target_rad = arm_rad; |
ayu13 | 5:4fba3e91741f | 127 | target_deg = arm_deg; |
ayu13 | 5:4fba3e91741f | 128 | state++; |
ayu13 | 10:c1ca3db7177c | 129 | } else if (state == 5) {//目標角度に近づいたら停止してサーボを離す. |
ayu13 | 10:c1ca3db7177c | 130 | if(fabs(now_deg-target_deg) > 0.5) { //現在角度と目標角度が0.5°以上離れている間回す |
ayu13 | 10:c1ca3db7177c | 131 | myled1 = 1; //LED1 点灯 |
ayu13 | 10:c1ca3db7177c | 132 | motor.AcOmega(target_rad); //速度式角度制御 |
ayu13 | 5:4fba3e91741f | 133 | } else { //目標角度に達したら停止 |
ayu13 | 10:c1ca3db7177c | 134 | myled1 = 0; //LED1 消灯 |
ayu13 | 5:4fba3e91741f | 135 | motor.stop(); |
ayu13 | 5:4fba3e91741f | 136 | servo_c.set_degree(0,servoDeg(deg_c_open)); //servo_c離す |
ayu13 | 5:4fba3e91741f | 137 | myled4 = 0; |
ayu13 | 10:c1ca3db7177c | 138 | // state = 0; /////////////////////連続して動かす時はここのコメントアウト外す. |
ayu13 | 3:78b608ba0286 | 139 | } |
ayu13 | 0:83b2c6a67cce | 140 | } |
ayu13 | 5:4fba3e91741f | 141 | |
ayu13 | 0:83b2c6a67cce | 142 | amt.rewriteCount(); |
ayu13 | 0:83b2c6a67cce | 143 | amt.calOmega(); |
ayu13 | 4:3abefa13c2e3 | 144 | now_deg = amt.getDeg(); |
ayu13 | 0:83b2c6a67cce | 145 | now_count=amt.getCount(); |
ayu13 | 0:83b2c6a67cce | 146 | |
ayu13 | 0:83b2c6a67cce | 147 | timer.reset(); |
ayu13 | 0:83b2c6a67cce | 148 | } |
ayu13 | 0:83b2c6a67cce | 149 | wait_us(10); |
ayu13 | 0:83b2c6a67cce | 150 | } |
ayu13 | 0:83b2c6a67cce | 151 | } |
ayu13 | 0:83b2c6a67cce | 152 | |
ayu13 | 0:83b2c6a67cce | 153 | ///////////////// 関数宣言部分 ////////////////////// |
ayu13 | 0:83b2c6a67cce | 154 | double servoDeg(double servo_value) |
ayu13 | 0:83b2c6a67cce | 155 | { |
ayu13 | 0:83b2c6a67cce | 156 | return (servo_value - 3500)*270/(11500 - 3500); |
ayu13 | 0:83b2c6a67cce | 157 | } |
ayu13 | 2:b728a6564520 | 158 | double degToRad(double x) |
ayu13 | 2:b728a6564520 | 159 | { |
ayu13 | 2:b728a6564520 | 160 | return x*M_PI/180; |
ayu13 | 5:4fba3e91741f | 161 | } |
ayu13 | 5:4fba3e91741f | 162 | void touchGrab() |
ayu13 | 5:4fba3e91741f | 163 | { |
ayu13 | 5:4fba3e91741f | 164 | if(ts_c1 == 0) { //タッチセンサ反応したらハンドルを掴む |
ayu13 | 5:4fba3e91741f | 165 | wait_us(50); |
ayu13 | 5:4fba3e91741f | 166 | if(ts_c1 == 0) { |
ayu13 | 5:4fba3e91741f | 167 | servo_c.set_degree(0,servoDeg(deg_c_grab)); //servo_c掴む |
ayu13 | 5:4fba3e91741f | 168 | state++; |
ayu13 | 5:4fba3e91741f | 169 | myled4=1; //LED4 点灯 |
ayu13 | 5:4fba3e91741f | 170 | } |
ayu13 | 5:4fba3e91741f | 171 | } |
ayu13 | 0:83b2c6a67cce | 172 | } |