test
Dependencies: mbed BufferedSerial LS7366LIB2 FastPWM
Position.h
- Committer:
- lsh2205
- Date:
- 2020-04-23
- Revision:
- 0:e12eb40b9fef
File content as of revision 0:e12eb40b9fef:
#ifndef _POSITION_H_ #define _POSITION_H_ double taget_position[6]={0,}; double oder_position[6]={0,}; double now_degree[6]={0,}; double error_degree[6]={0,}; double gear[6]={1.5,1.5,1.5,1.5,1.5,1.5}; double boot_cnt=0; int boot_cnt_max=15000; void taget_position_read() { taget_position[0]=first_degree; taget_position[1]=second_degree; taget_position[2]=third_degree; taget_position[3]=-four_degree; taget_position[4]=five_degree; taget_position[5]=six_degree; for(int i = 0; i < 3; i++) { if(taget_position[i] > 160) taget_position[i] = 160; if(taget_position[i] < 0) taget_position[i] = 0; } if(taget_position[3] > 0) taget_position[3] = 0; if(taget_position[3] < -152) taget_position[3] = -152; for(int i = 4; i < 6; i++) { if(taget_position[i] > 110) taget_position[i] = 110; if(taget_position[i] < 5) taget_position[i] = 5; } } void input_filter() { for(int i=0;i<6;i++) oder_position[i] = oder_position[i]*(1-Position_input_filter[i]*(boot_cnt/boot_cnt_max)) + taget_position[i]*Position_input_filter[i]*(boot_cnt/boot_cnt_max); } void cal_error() { for(int i=0;i<6;i++) error_degree[i] = oder_position[i]-now_degree[i]; } void cal_degree() { for(int i=0;i<6;i++) now_degree[i] = -(((double)encoder_data[i]/100)/1024)*90 * gear[i]; } void Position_P() { for(int i=0;i<6;i++) taget_speed[i]=-error_degree[i]*position_Pgain[i]; } void Position_PID() { boot_cnt++; if(boot_cnt>boot_cnt_max) boot_cnt=boot_cnt_max; taget_position_read(); input_filter(); cal_degree(); cal_error(); Position_P(); } #endif