コウスケ スズキ
/
koubousatttttttttttttttttoooo1
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Dependencies: mbed Servo LPS25HB_I2C MPU6050 SDFileSystem
Revision 5:e4fe216f01ad, committed 2022-03-04
- Comitter:
- kosukesuzuki
- Date:
- Fri Mar 04 07:53:32 2022 +0000
- Parent:
- 4:ec40fbfb90f6
- Commit message:
- a
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/main.cpp Mon Feb 28 09:45:43 2022 +0000
+++ b/main.cpp Fri Mar 04 07:53:32 2022 +0000
@@ -1,7 +1,8 @@
//｢変更｣と書かれている場所の数値は、自分で決めて変える。（主にセンサー数値の補正）
+//気圧は基盤のミスのため、今回は使わない
#include "mbed.h"
#include "MPU6050.h"
-#include "LPS.h"
+//#include "LPS.h"
#include "SDFileSystem.h"
#include "Servo.h"
@@ -11,16 +12,17 @@
const double Ki =7; //変更
const double Kd =5; //変更
-const double k =0.25; //プロペラの定数(適当に置いたやつ)
+//const double k =0.25; //プロペラのための定数(今回使わない)
const double mc = 3000; //最大トルク(変更)
-const double T = 0; //目標角度°(変更)
+const double T1 = 90; //目標角度°(変更)
+const double T2 = -90; //目標角度°(変更)
DigitalOut led[]={LED1,LED2,LED3,LED4};
-I2C i2c(p28,p27);
-LPS ps(i2c);
+//I2C i2c(p28,p27);
+//LPS ps(i2c);
MPU6050 mpu(p9,p10);
SDFileSystem sd(p5, p6, p7, p8, "sd");
Serial xbee(p13,p14);
@@ -45,6 +47,7 @@
int main() {
xbee.printf("motor start\r\n");
led[0]=1;
+
//モーター準備開始(一時待つ事が必要)
myservo1 = myservo2 = myservo3 = myservo4 = 0.0;
wait(0.5);
@@ -71,14 +74,16 @@
count = 0;
GX = 0,GY = 0,GZ = 0;
Tgx = 0,Tgy = 0,Tgz = 0;
-
+
+ /*
if (!ps.init()){
pc.printf("Failed to autodetect pressure sensor!\r\n");
while (1);
}
ps.enableDefault();
-
+ */
+
mkdir("/sd/test1", 0777);
FILE *fp = fopen("/sd/test1/sdtest1.txt", "w");
@@ -93,11 +98,11 @@
//角度算出
mpu.readGyroData(gyro);
- int gx = gyro[0]+3656-3505-50-1850+2223-24; //変更
- int gy = gyro[1]-30+710-140-300+375-50-420+255; //変更
- int gz = gyro[2]+5+195-453+300-244-20-10+95+72; //変更
+ int gx = gyro[0]+420; //変更
+ int gy = gyro[1]-1424+185+26-34+53; //変更
+ int gz = gyro[2]; //変更
//printf("%d %d %d\r\n",gx,gy,gz);
-
+
double gX = gx*0.02562; //0.0128114995(測定レンジ±500) //変更
double gY = gy*0.02562; //0.02562299(±250) //変更
double gZ = gz*0.02562; //変更
@@ -143,7 +148,7 @@
}
Tgz = 0;
}
-
+ printf("%.2f %.2f %.2f\r\n",GX,GY,GZ);
//加速度算出
mpu.readAccelData(accel);
@@ -153,65 +158,90 @@
float AX = ax*0.000597964111328125; //変更
float AY = ay*0.000597964111328125; //変更
float AZ = az*0.000597964111328125; //変更
- double ad = AX*AX+AY*AY+AZ*AZ-95.982071137936;
-
-
+ double a = AX*AX+AY*AY+AZ*AZ-95.982071137936;
+
+ /*
//気圧・標高・温度算出
float pres = ps.readPressureMillibars();
float altit = ps.pressureToAltitudeMeters(pres);
float tempe = ps.readTemperatureC();
-
+ */
//PID開始
//必要なトルクを算出
- double c1,c2;
- double f1,f2;
- f1 = T - GX;
- f2 = T - GY;
-
+ double c1,c2,c3,c4;
+ double f1,f2,f3,f4;
+
+ //GX
+ f1 = T1 - GX;
+ f2 = T2 - GX;
+ //GY
+ f3 = T1 - GY;
+ f4 = T2 - GY;
+
+ //GX
c1 = Kp*f1+Ki*f1*dt-Kd*gX1; //トルク
- c2 = Kp*f2+Ki*f2*dt-Kd*gY1;
- //printf("%.2f %.2f\r\n",c1,c2); //トルク
+ c2 = Kp*f2+Ki*f2*dt-Kd*gX1;
+ //GY
+ c3 = Kp*f3+Ki*f3*dt-Kd*gY1;
+ c4 = Kp*f4+Ki*f4*dt-Kd*gY1;
+ //printf("%.2f %.2f %.2f %.2f\r\n",c1,c2,c3,c4); //トルク
//回転トルク→duty比を算出
- double d1,d2;
+ double d1,d2,d3,d4;
d1 = c1/mc;
d2 = c2/mc;
-
+ d3 = c3/mc;
+ d4 = c4/mc;
- //
- if(d1 > 0.9){ //変更
- d1 = 0.9; //変更
+ //出力の限界
+ if(d1 > 0.8){ //変更
+ d1 = 0.8; //変更
+ }
+ if(d2 > 0.8){ //変更
+ d2 = 0.8; //変更
}
- if(d2 > 0.9){ //変更
- d2 = 0.9; //変更
+ if(d3 > 0.8){ //変更
+ d3 = 0.8; //変更
}
- printf("%.2f %.2f\r\n",d1,d2); //duty比
+ if(d4 > 0.8){ //変更
+ d4 = 0.8; //変更
+ }
+
+ //printf("%.2f %.2f %.2f %.2f\r\n",d1,d2,d3,d4); //duty比
//試行回数
count = count + 1;
//duty比からmotorを動かす。
+ myservo1 = abs(d1);
+ myservo2 = abs(d2);
+ myservo3 = abs(d3);
+ myservo4 = abs(d4);
+
+
+ /* duty比が２つだけのとき(定数kを使用)
if(GX > 0){
myservo1 = abs(d1);
- myservo2 = abs(d1)*k;
+ myservo2 = abs(d2);//abs(d1)*k;;
}else if(GX < 0){
- myservo2 = abs(d1);
- myservo1 = abs(d1)*k;
+ myservo2 = abs(d2);
+ myservo1 = ; abs(d1); //abs(d1)*k;; //abs(d1)*k;
}else{
- myservo1 = myservo2 = 0.025;
+ myservo1 = myservo2 = ;
}
if(GY > 0){
- myservo3 = abs(d2);
- myservo4 = abs(d2)*k;
+ myservo3 = abs(d2)+0.025;
+ myservo4 = 0.025; //abs(d2)*k; //abs(d2)*k;
}else if(GY < 0){
- myservo4 = abs(d2);
- myservo3 = abs(d2)*k;
+ myservo4 = abs(d2)+0.025;
+ myservo3 = 0.025; //abs(d2)*k;
}else{
myservo3 = myservo4 = 0.025;
}
-
+ */
+
/*主なセンサー表示
pc.printf("T %.2f\r\n",ti.read());
pc.printf("c %d\r\n",count);
@@ -220,14 +250,14 @@
pc.printf("p%.2f alt%.2f t%.2f\r\n",pres,altit,tempe);
*/
- //pc.printf("c%d, T%.2f, ax%.2f,ay%.2f,az%.2f,|a|%.2f, gx%.2f,gy%.2f,gz%.2f, p%.2f,al%.2f,t%.2f\r\n",count,ti.read(),AX,AY,AZ,a,GX,GY,GZ,pres,altit,tempe);
- //xbee.printf("%.2f,%.2f,%.2f,%.2f,%.2f,%.2f,%.2f,%.2f,%.2f,%.2f\r\n",AX,AY,AZ,a,GX,GY,GZ,pres,altit,tempe);
- //fprintf(fp, "%d %.2f %.2f %.2f %.2f %.2f %.2f %.2f %.2f %.2f %.2f %.2f %.2f %.2f %.2f %.2f\r\n",count,ti.read(),AX,AY,AZ,a,GX,GY,GZ,pres,altit,tempe,c1,c2,d1,d2);
+ pc.printf("c%d, T%.2f, ax%.2f,ay%.2f,az%.2f,|a|%.2f, gx%.2f,gy%.2f,gz%.2f\r\n",count,ti.read(),AX,AY,AZ,a,GX,GY,GZ);
+ xbee.printf("%.2f,%.2f,%.2f,%.2f,%.2f,%.2f,%.2f\r\n",AX,AY,AZ,a,GX,GY,GZ);
+ fprintf(fp, "%d %.2f %.2f %.2f %.2f %.2f %.2f %.2f %.2f %.2f %.2f %.2f %.2f\r\n",count,ti.read(),AX,AY,AZ,a,GX,GY,GZ,c1,c2,d1,d2);
//fprintf(fp,"%.2f %.2f %.2f %.2f %.2f\r\n",ti.read(),c1,c2,d1,d2); //調整用
wait(dt);
-/* if(AZ > 9 && AZ < 11 && a > 8 && a < 11 && 5 < ti.read()){
+ if(AZ > 9 && AZ < 11 && a > 8 && a < 11 && 5 < ti.read()){
fprintf(fp,"end\r\n");
fclose(fp); //注意：ここまで行わないと、SDカードに保存されない
xbee.printf("end\r\n");
@@ -236,7 +266,7 @@
myservo1 = myservo2 = myservo3 = myservo4 = 0.0;
led[2]=1;
break;}
-*/
+
}
//led[1]=0;