lpc1768 aa
Dependencies: mbed Servo LPS25HB_I2C MPU6050 SDFileSystem
main.cpp@3:14b178724982, 2022-02-25 (annotated)
- Committer:
- kosukesuzuki
- Date:
- Fri Feb 25 06:06:57 2022 +0000
- Revision:
- 3:14b178724982
- Parent:
- 2:194e00108f75
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Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
kosukesuzuki | 3:14b178724982 | 1 | //「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) |
mbed_official | 0:bdbd3d6fc5d5 | 2 | #include "mbed.h" |
kosukesuzuki | 2:194e00108f75 | 3 | #include "MPU6050.h" |
kosukesuzuki | 2:194e00108f75 | 4 | #include "LPS.h" |
mbed_official | 0:bdbd3d6fc5d5 | 5 | #include "SDFileSystem.h" |
kosukesuzuki | 3:14b178724982 | 6 | #include "Servo.h" |
kosukesuzuki | 3:14b178724982 | 7 | |
kosukesuzuki | 3:14b178724982 | 8 | const double dt = 0.01; //微小時間(変更) |
kosukesuzuki | 3:14b178724982 | 9 | |
kosukesuzuki | 3:14b178724982 | 10 | const double Kp =5; //変更 |
kosukesuzuki | 3:14b178724982 | 11 | const double Ki =3; //変更 |
kosukesuzuki | 3:14b178724982 | 12 | const double Kd =3; //変更 |
kosukesuzuki | 3:14b178724982 | 13 | |
kosukesuzuki | 3:14b178724982 | 14 | const double mc = 1995; //最大トルク(変更) |
kosukesuzuki | 3:14b178724982 | 15 | |
kosukesuzuki | 3:14b178724982 | 16 | const double T =0; //目標角度°(変更) |
kosukesuzuki | 2:194e00108f75 | 17 | |
kosukesuzuki | 2:194e00108f75 | 18 | I2C i2c(p28,p27); |
kosukesuzuki | 2:194e00108f75 | 19 | LPS ps(i2c); |
kosukesuzuki | 2:194e00108f75 | 20 | MPU6050 mpu(p9,p10); |
kosukesuzuki | 2:194e00108f75 | 21 | SDFileSystem sd(p5, p6, p7, p8, "sd"); |
kosukesuzuki | 2:194e00108f75 | 22 | Serial xbee(p13,p14); |
kosukesuzuki | 2:194e00108f75 | 23 | Serial pc(USBTX,USBRX); |
kosukesuzuki | 2:194e00108f75 | 24 | |
kosukesuzuki | 3:14b178724982 | 25 | Servo motor1(p21); |
kosukesuzuki | 3:14b178724982 | 26 | Servo motor2(p22); |
kosukesuzuki | 3:14b178724982 | 27 | Servo motor3(p23); |
kosukesuzuki | 3:14b178724982 | 28 | Servo motor4(p24); |
kosukesuzuki | 3:14b178724982 | 29 | |
kosukesuzuki | 3:14b178724982 | 30 | Timer ti; |
kosukesuzuki | 3:14b178724982 | 31 | |
kosukesuzuki | 3:14b178724982 | 32 | int cmd = xbee.getc(); |
kosukesuzuki | 3:14b178724982 | 33 | |
kosukesuzuki | 2:194e00108f75 | 34 | int gyro[3]; |
kosukesuzuki | 2:194e00108f75 | 35 | int accel[3]; |
kosukesuzuki | 2:194e00108f75 | 36 | |
kosukesuzuki | 3:14b178724982 | 37 | int count; |
kosukesuzuki | 2:194e00108f75 | 38 | double GX,GY,GZ; |
kosukesuzuki | 2:194e00108f75 | 39 | double Tgx,Tgy,Tgz; |
kosukesuzuki | 2:194e00108f75 | 40 | |
kosukesuzuki | 3:14b178724982 | 41 | |
kosukesuzuki | 3:14b178724982 | 42 | |
mbed_official | 0:bdbd3d6fc5d5 | 43 | int main() { |
kosukesuzuki | 3:14b178724982 | 44 | //モーター準備開始(一時待つ事が必要) |
kosukesuzuki | 3:14b178724982 | 45 | motor1 = motor2 = motor3 = motor4 = 0.0; |
kosukesuzuki | 3:14b178724982 | 46 | wait(0.5); |
kosukesuzuki | 3:14b178724982 | 47 | motor1 = motor2 = motor3 = motor4 = 1.0; |
kosukesuzuki | 3:14b178724982 | 48 | wait(8); |
kosukesuzuki | 3:14b178724982 | 49 | motor1 = motor2 = motor3 = motor4 = 0.0; |
kosukesuzuki | 3:14b178724982 | 50 | wait(8); |
kosukesuzuki | 3:14b178724982 | 51 | //モーター準備終了 |
kosukesuzuki | 2:194e00108f75 | 52 | |
kosukesuzuki | 3:14b178724982 | 53 | //pcのxbeeからのコマンド「c」で開始 |
kosukesuzuki | 3:14b178724982 | 54 | if(cmd = 'c'){ |
kosukesuzuki | 2:194e00108f75 | 55 | |
kosukesuzuki | 3:14b178724982 | 56 | xbee.printf("start\r\n"); |
kosukesuzuki | 3:14b178724982 | 57 | pc.printf("start\r\n"); |
kosukesuzuki | 2:194e00108f75 | 58 | |
kosukesuzuki | 3:14b178724982 | 59 | count = 0; |
kosukesuzuki | 3:14b178724982 | 60 | GX = 0,GY = 0,GZ = 0; |
kosukesuzuki | 3:14b178724982 | 61 | Tgx = 0,Tgy = 0,Tgz = 0; |
kosukesuzuki | 2:194e00108f75 | 62 | |
kosukesuzuki | 3:14b178724982 | 63 | if (!ps.init()){ |
kosukesuzuki | 3:14b178724982 | 64 | pc.printf("Failed to autodetect pressure sensor!\r\n"); |
kosukesuzuki | 3:14b178724982 | 65 | while (1); |
kosukesuzuki | 3:14b178724982 | 66 | } |
kosukesuzuki | 3:14b178724982 | 67 | |
kosukesuzuki | 3:14b178724982 | 68 | ps.enableDefault(); |
kosukesuzuki | 2:194e00108f75 | 69 | |
kosukesuzuki | 3:14b178724982 | 70 | mkdir("/sd/test1", 0777); |
kosukesuzuki | 3:14b178724982 | 71 | FILE *fp = fopen("/sd/test1/sdtest1.txt", "w"); |
mbed_official | 0:bdbd3d6fc5d5 | 72 | |
kosukesuzuki | 3:14b178724982 | 73 | fprintf(fp,"start\r\n"); |
kosukesuzuki | 3:14b178724982 | 74 | |
kosukesuzuki | 3:14b178724982 | 75 | ti.start(); |
kosukesuzuki | 3:14b178724982 | 76 | while(1){ |
kosukesuzuki | 2:194e00108f75 | 77 | |
kosukesuzuki | 3:14b178724982 | 78 | if(fp == NULL) { |
kosukesuzuki | 3:14b178724982 | 79 | error("Could not open file for write\n"); |
kosukesuzuki | 3:14b178724982 | 80 | } |
kosukesuzuki | 2:194e00108f75 | 81 | |
kosukesuzuki | 3:14b178724982 | 82 | |
kosukesuzuki | 3:14b178724982 | 83 | //角度算出 |
kosukesuzuki | 3:14b178724982 | 84 | mpu.readGyroData(gyro); |
kosukesuzuki | 3:14b178724982 | 85 | int gx = gyro[0]+3656-3505-50-1850+2223-24; //変更 |
kosukesuzuki | 3:14b178724982 | 86 | int gy = gyro[1]-30+710-140-300+375-50; //変更 |
kosukesuzuki | 3:14b178724982 | 87 | int gz = gyro[2]+5+195-453+300-244-20-10; //変更 |
kosukesuzuki | 3:14b178724982 | 88 | //printf("%d %d %d\r\n",gx,gy,gz); |
kosukesuzuki | 2:194e00108f75 | 89 | |
kosukesuzuki | 3:14b178724982 | 90 | double gX = gx*0.02562; //0.0128114995(測定レンジ±500) //変更 |
kosukesuzuki | 3:14b178724982 | 91 | double gY = gy*0.02562; //0.02562299(±250) //変更 |
kosukesuzuki | 3:14b178724982 | 92 | double gZ = gz*0.02562; //変更 |
kosukesuzuki | 2:194e00108f75 | 93 | |
kosukesuzuki | 3:14b178724982 | 94 | int gX1 = gX; |
kosukesuzuki | 3:14b178724982 | 95 | int gY1 = gY; |
kosukesuzuki | 3:14b178724982 | 96 | int gZ1 = gZ; |
kosukesuzuki | 2:194e00108f75 | 97 | |
kosukesuzuki | 3:14b178724982 | 98 | double gX2 = gX1*dt; |
kosukesuzuki | 3:14b178724982 | 99 | double gY2 = gY1*dt; |
kosukesuzuki | 3:14b178724982 | 100 | double gZ2 = gZ1*dt; |
kosukesuzuki | 2:194e00108f75 | 101 | |
kosukesuzuki | 3:14b178724982 | 102 | GX = GX + gX2; |
kosukesuzuki | 3:14b178724982 | 103 | GY = GY + gY2; |
kosukesuzuki | 3:14b178724982 | 104 | GZ = GZ + gZ2; |
kosukesuzuki | 2:194e00108f75 | 105 | |
kosukesuzuki | 3:14b178724982 | 106 | Tgx = Tgx + abs(gX2); |
kosukesuzuki | 3:14b178724982 | 107 | Tgy = Tgy + abs(gY2); |
kosukesuzuki | 3:14b178724982 | 108 | Tgz = Tgz + abs(gZ2); |
kosukesuzuki | 2:194e00108f75 | 109 | |
kosukesuzuki | 3:14b178724982 | 110 | //和の補正(精度はよくない) |
kosukesuzuki | 3:14b178724982 | 111 | if(Tgx > 3){ |
kosukesuzuki | 3:14b178724982 | 112 | if(GX > 0){ |
kosukesuzuki | 3:14b178724982 | 113 | GX = GX - 0.3;//変更 |
kosukesuzuki | 3:14b178724982 | 114 | }else{ |
kosukesuzuki | 3:14b178724982 | 115 | GX = GX + 0.3;//変更 |
kosukesuzuki | 3:14b178724982 | 116 | } |
kosukesuzuki | 3:14b178724982 | 117 | Tgx = 0; |
kosukesuzuki | 2:194e00108f75 | 118 | } |
kosukesuzuki | 3:14b178724982 | 119 | if(Tgy > 3){ |
kosukesuzuki | 3:14b178724982 | 120 | if(GY >0){ |
kosukesuzuki | 3:14b178724982 | 121 | GY = GY - 0.3;//変更 |
kosukesuzuki | 3:14b178724982 | 122 | }else{ |
kosukesuzuki | 3:14b178724982 | 123 | GY = GY + 0.3;//変更 |
kosukesuzuki | 3:14b178724982 | 124 | } |
kosukesuzuki | 3:14b178724982 | 125 | Tgy = 0; |
kosukesuzuki | 3:14b178724982 | 126 | } |
kosukesuzuki | 3:14b178724982 | 127 | if(Tgz > 3){ |
kosukesuzuki | 3:14b178724982 | 128 | if(GZ >0){ |
kosukesuzuki | 3:14b178724982 | 129 | GZ = GZ - 0.3;//変更 |
kosukesuzuki | 3:14b178724982 | 130 | }else{ |
kosukesuzuki | 3:14b178724982 | 131 | GZ = GZ + 0.3;//変更 |
kosukesuzuki | 3:14b178724982 | 132 | } |
kosukesuzuki | 3:14b178724982 | 133 | Tgz = 0; |
kosukesuzuki | 3:14b178724982 | 134 | } |
kosukesuzuki | 2:194e00108f75 | 135 | |
kosukesuzuki | 3:14b178724982 | 136 | |
kosukesuzuki | 3:14b178724982 | 137 | //加速度算出 |
kosukesuzuki | 3:14b178724982 | 138 | mpu.readAccelData(accel); |
kosukesuzuki | 3:14b178724982 | 139 | int ax = accel[0]-123; //変更 |
kosukesuzuki | 3:14b178724982 | 140 | int ay = accel[1]+60; //変更 |
kosukesuzuki | 3:14b178724982 | 141 | int az = accel[2]+1110 ; //変更 |
kosukesuzuki | 3:14b178724982 | 142 | float AX = ax*0.000597964111328125; //変更 |
kosukesuzuki | 3:14b178724982 | 143 | float AY = ay*0.000597964111328125; //変更 |
kosukesuzuki | 3:14b178724982 | 144 | float AZ = az*0.000597964111328125; //変更 |
kosukesuzuki | 3:14b178724982 | 145 | double a = AX*AX+AY*AY+AZ*AZ-95.982071137936; |
kosukesuzuki | 3:14b178724982 | 146 | |
kosukesuzuki | 3:14b178724982 | 147 | |
kosukesuzuki | 3:14b178724982 | 148 | //気圧・標高・温度算出 |
kosukesuzuki | 3:14b178724982 | 149 | float pres = ps.readPressureMillibars(); |
kosukesuzuki | 3:14b178724982 | 150 | float altit = ps.pressureToAltitudeMeters(pres); |
kosukesuzuki | 3:14b178724982 | 151 | float tempe = ps.readTemperatureC(); |
kosukesuzuki | 3:14b178724982 | 152 | |
kosukesuzuki | 2:194e00108f75 | 153 | |
kosukesuzuki | 3:14b178724982 | 154 | //PID開始 |
kosukesuzuki | 3:14b178724982 | 155 | //必要なトルクを算出 |
kosukesuzuki | 3:14b178724982 | 156 | double c1,c2; |
kosukesuzuki | 3:14b178724982 | 157 | double f1,f2; |
kosukesuzuki | 3:14b178724982 | 158 | f1 = T - GX; |
kosukesuzuki | 3:14b178724982 | 159 | f2 = T - GY; |
kosukesuzuki | 3:14b178724982 | 160 | |
kosukesuzuki | 3:14b178724982 | 161 | c1 = Kp*f1+Ki*f1*dt+Kd*gX1; //トルク |
kosukesuzuki | 3:14b178724982 | 162 | c2 = Kp*f2+Ki*f2*dt+Kd*gY1; |
kosukesuzuki | 3:14b178724982 | 163 | //printf("%.2f %.2f\r\n",c1,c2); //トルク |
kosukesuzuki | 3:14b178724982 | 164 | |
kosukesuzuki | 3:14b178724982 | 165 | //回転トルク→duty比を算出 |
kosukesuzuki | 3:14b178724982 | 166 | double d1,d2; |
kosukesuzuki | 3:14b178724982 | 167 | d1 = c1/mc; |
kosukesuzuki | 3:14b178724982 | 168 | d2 = c2/mc; |
kosukesuzuki | 3:14b178724982 | 169 | |
kosukesuzuki | 3:14b178724982 | 170 | if(d1 > 0.9){ //変更 |
kosukesuzuki | 3:14b178724982 | 171 | d1 = 0.9; //変更 |
kosukesuzuki | 3:14b178724982 | 172 | } |
kosukesuzuki | 3:14b178724982 | 173 | if(d2 > 0.9){ //変更 |
kosukesuzuki | 3:14b178724982 | 174 | d2 = 0.9; //変更 |
kosukesuzuki | 3:14b178724982 | 175 | } |
kosukesuzuki | 3:14b178724982 | 176 | //printf("%.2f %.2f\r\n",d1,d2); //duty比 |
kosukesuzuki | 3:14b178724982 | 177 | |
kosukesuzuki | 3:14b178724982 | 178 | |
kosukesuzuki | 3:14b178724982 | 179 | //試行回数 |
kosukesuzuki | 3:14b178724982 | 180 | count = count + 1; |
kosukesuzuki | 2:194e00108f75 | 181 | |
kosukesuzuki | 3:14b178724982 | 182 | //duty比からmotorを動かす。 |
kosukesuzuki | 3:14b178724982 | 183 | if(GX > 0){ |
kosukesuzuki | 3:14b178724982 | 184 | motor1 = abs(d1); |
kosukesuzuki | 3:14b178724982 | 185 | motor2 = 0.5-abs(d1)/2; //変更 |
kosukesuzuki | 3:14b178724982 | 186 | }else if(c1 < 0){ |
kosukesuzuki | 3:14b178724982 | 187 | motor2 = abs(d1); |
kosukesuzuki | 3:14b178724982 | 188 | motor1 = 0.5-abs(d1)/2; //変更 |
kosukesuzuki | 3:14b178724982 | 189 | }else{ |
kosukesuzuki | 3:14b178724982 | 190 | motor1 = motor2 = 0; |
kosukesuzuki | 3:14b178724982 | 191 | } |
kosukesuzuki | 3:14b178724982 | 192 | |
kosukesuzuki | 3:14b178724982 | 193 | if(GX > 0){ |
kosukesuzuki | 3:14b178724982 | 194 | motor3 = abs(d2); |
kosukesuzuki | 3:14b178724982 | 195 | motor4 = 0.5-abs(d2)/2; //変更 |
kosukesuzuki | 3:14b178724982 | 196 | }else if(c2 < 0){ |
kosukesuzuki | 3:14b178724982 | 197 | motor4 = abs(d2); |
kosukesuzuki | 3:14b178724982 | 198 | motor3 = 0.5-abs(d2)/2; //変更 |
kosukesuzuki | 3:14b178724982 | 199 | }else{ |
kosukesuzuki | 3:14b178724982 | 200 | motor3 = motor4 = 0; |
kosukesuzuki | 3:14b178724982 | 201 | } |
kosukesuzuki | 2:194e00108f75 | 202 | |
kosukesuzuki | 3:14b178724982 | 203 | /*主なセンサー表示 |
kosukesuzuki | 3:14b178724982 | 204 | pc.printf("T %.2f\r\n",ti.read()); |
kosukesuzuki | 3:14b178724982 | 205 | pc.printf("c %d\r\n",count); |
kosukesuzuki | 3:14b178724982 | 206 | pc.printf("ax%.2f ay%.2f az%.2f |a|%.2f\r\n",AX,AY,AZ,a); |
kosukesuzuki | 3:14b178724982 | 207 | pc.printf("gx%.2f gy%.2f gz%.2f\r\n",GX,GY,GZ); |
kosukesuzuki | 3:14b178724982 | 208 | pc.printf("p%.2f alt%.2f t%.2f\r\n",pres,altit,tempe); |
kosukesuzuki | 3:14b178724982 | 209 | */ |
kosukesuzuki | 3:14b178724982 | 210 | |
kosukesuzuki | 3:14b178724982 | 211 | 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); |
kosukesuzuki | 3:14b178724982 | 212 | xbee.printf("%.2f,%.2f,%.2f,%.2f,%.2f,%.2f,%.2f,%.2f,%.2f,%.2f\r\n",AX,AY,AZ,a,GX,GY,GZ,pres,altit,tempe); |
kosukesuzuki | 3:14b178724982 | 213 | 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); |
kosukesuzuki | 3:14b178724982 | 214 | //fprintf(fp,"%.2f %.2f %.2f %.2f %.2f\r\n",ti.read(),c1,c2,d1,d2); //調整用 |
kosukesuzuki | 3:14b178724982 | 215 | |
kosukesuzuki | 3:14b178724982 | 216 | wait(dt); |
kosukesuzuki | 3:14b178724982 | 217 | |
kosukesuzuki | 3:14b178724982 | 218 | if(AZ > 9 && AZ < 11 && a > 8 && a < 11 && 3 < ti.read()){ |
kosukesuzuki | 3:14b178724982 | 219 | fprintf(fp,"end\r\n"); |
kosukesuzuki | 3:14b178724982 | 220 | fclose(fp); //注意:ここまで行わないと、SDカードに保存されない |
kosukesuzuki | 3:14b178724982 | 221 | xbee.printf("end\r\n"); |
kosukesuzuki | 3:14b178724982 | 222 | pc.printf("end\r\n"); |
kosukesuzuki | 3:14b178724982 | 223 | ti.stop(); |
kosukesuzuki | 3:14b178724982 | 224 | return 0; |
kosukesuzuki | 3:14b178724982 | 225 | } |
kosukesuzuki | 3:14b178724982 | 226 | |
kosukesuzuki | 3:14b178724982 | 227 | } |
kosukesuzuki | 2:194e00108f75 | 228 | } |
kosukesuzuki | 2:194e00108f75 | 229 | } |