File content as of revision 0:b7dbdc0b19f3:

#include "mbed.h"
#include "ikarashiMDC.h"
#include "FEP_RX22.h"
#include "pinconfig.h"
#include "omni_wheel.h"
#include "math.h"
#include "OmniPosition.h"
#include "PID.h"
 
#define PI 3.141592653589
#define maxSpeed 0.4
 
FEP_RX22 mycon(fepTX, fepRX, fepad);
Serial pc(pcTX, pcRX, 115200);
Serial RS485(PC_10,PC_11,115200);
 
 
uint8_t b[16];
int16_t stick[4];
int16_t trigger[4];
int16_t volume[3];
uint8_t toggle[4];
uint8_t timeout;
uint8_t data[128];
int pw;

double speed[6];
double engine[4];
double spin_power;
double posiX , posiY , posiTheta;
int TargetAngle = 0;
int StartAngle = 0;
int sum_1 = 0;
int sum_2 = 0;
DigitalOut stop(PA_5);
ikarashiMDC motor[] = {
    ikarashiMDC(0,0,SM,&RS485),
    ikarashiMDC(0,1,SM,&RS485),
    ikarashiMDC(0,2,SM,&RS485),
    ikarashiMDC(0,3,SM,&RS485),
};
 
OmniWheel omni(4);
OmniPosition posi(mwTX, mwRX);
 
PID angle(10.0, 5.0, 0.0000005, 0.01);//値はhttps://controlabo.com/pid-gain/で調整しよう！
 
/*プロトタイプ宣言*/
void chassis();         //足回りの制御・ジャイロ・テラターム
void spin(double ang);  //PID
int  pm(double num);    //正負判定
 
int main(void){
    mycon.StartReceive();
 
    omni.wheel[0].setRadian(PI * 1.0 / 4.0);
    omni.wheel[1].setRadian(PI * 3.0 / 4.0);
    omni.wheel[2].setRadian(PI * 5.0 / 4.0);
    omni.wheel[3].setRadian(PI * 7.0 / 4.0);
    
    angle.setInputLimits(-180,180);
    angle.setOutputLimits(-0.4,0.4);
    angle.setBias(0);
    angle.setMode(1);
    angle.setSetPoint(0);
    while(1){
        stop = toggle[0];
        chassis();
    }
    
}
 
void chassis(){
        
 
        /*ジャイロ読み取り*/
        posiX = posi.getX();
        posiY = posi.getY();
        posiTheta = posi.getTheta()*(180.0/M_PI);//OmniPositionライブラリが弧度法で角度をつけていたため60分法に変換
        pc.printf("x:%5.2f Y:%5.2f theta:%0.3f | ",posiX, posiY,posiTheta);
        /*コントローラー受信*/
        mycon.getData(data);
        
        for (int i=0, tmp=1; i<8; i++) {
            pw = pow((float)2,i);
            b[i] = (int)((data[0] & tmp)/pw);
//          pc.printf("%d ", b[i]);          上のポインタの式が分からんので無理やり10進数に変える
            sum_1 += b[i]*pow((float)2,i+1);
            tmp *= 2;
        }
        pc.printf("%3d ",sum_1);
        /*初期化*/
        sum_1 = 0;
        
        for (int i=8, tmp=1, j=0; i<16; i++, j++) {
            pw = pow((float)2,j);
            b[i] = (int)((data[1] & tmp)/pw);
//          pc.printf("%d ", b[i]);             
            sum_2 += b[i]*pow((float)2,i-7);
            tmp *= 2;
        }
        pc.printf("%3d ",sum_2);
        pc.printf(" | ");
        /*初期化*/
        sum_2 = 0;
        pc.printf(" | ");
        
        for (int i=0; i<4; i++) {
            stick[i] = (data[i+2] - 128)*(-1);
            pc.printf("%3d ", stick[i]);
        }
        pc.printf(" | ");
        
        for (int i=0; i<2; i++) {
            trigger[i] = data[i+6];
            pc.printf("%3d ", trigger[i]);
        }
        pc.printf(" | ");
        
        for (int i=0; i<3; i++) {
            volume[i] = data[i+9];
            pc.printf("%3d ", volume[i]);
        }
        pc.printf(" | ");
        
        for (int i=0; i<4; i++) {
            toggle[i] = data[i+12];
            pc.printf("%d ", toggle[i]);
        }
        pc.printf(" | ");
        
        timeout = data[8];
        pc.printf("%3d ", timeout);
        pc.printf(" | ");
        
        if(mycon.getStatus()) pc.printf("received\r\n");
        else{ pc.printf("anything error...\r\n");
            for( int i=0; i<4; i++){
                motor[i].setSpeed(0);
            }
        }
 
        /*PID*/
        if(abs(stick[2]) < 10){
        /*for(int i=-180;i<=180;i+=15){
            if(((posiTheta>=i-7.5)&&(posiTheta<i+7.5))&&((posiTheta>i+1)||(posiTheta<i-1))){
            spin(i);
            }
            else if((posiTheta == i) ||(posiTheta == i+1) ||(posiTheta == i-1)){
            }
        }*/
            if(fabs(TargetAngle-posiTheta)>8){
                TargetAngle += 15*pm(posiTheta-TargetAngle);
                if(abs(TargetAngle)==195){//abs(TargetAngle)==180だと永遠にこのif文に捕らわれてしまいそう。
                    TargetAngle += -360*pm(TargetAngle);
                }
            }
            spin(TargetAngle);
        }
        /*全方位*/
        for(int i=0; i<4; i++){
                if(abs(stick[i]) > 10){
                    engine[i] = maxSpeed*(stick[i]/128.0);
                }else if(b[0]){
                    engine[1] = maxSpeed*(trigger[0]/225.0);
                    engine[0] = 0;
                }else if(b[1]){
                    engine[0] = -maxSpeed*(trigger[0]/225.0);
                    engine[1] = 0;
                }else if(b[2]){
                    engine[1] = -maxSpeed*(trigger[0]/225.0);
                    engine[0] = 0;
                }else if(b[3]){
                    engine[0] = maxSpeed*(trigger[0]/255.0);
                    engine[1] = 0;
                }else{
                    engine[i] = 0;
                }
        }
        /*旋回*/
        if(abs(stick[2]) > 10){
            spin_power = engine[2];
        }else{
            spin_power = angle.compute();
        }
        
        omni.computeXY(engine[0],engine[1],-spin_power);
        for(int i = 0; i < 4; i++) speed[i] = omni.wheel[i];
 
 
        for(int i=0; i<4; i++) motor[i].setSpeed(speed[i]);
        
}
void spin(double ang)
{
    angle.setSetPoint(ang);
    posiTheta = posi.getTheta()*(180.0/M_PI);
    angle.setProcessValue(posiTheta);
    //for(int i=4; i<12; i++) motor[i].setSpeed(0);射出機構とかのモーターが出てきたときに[//]を消す  
    pc.printf("ang:%.2f pid:%.2f    posi:%.2f T-p:%.2f\r\n",ang,-angle.compute(),posiTheta,TargetAngle-posiTheta);
  
}
int pm(double num){
    return((num>0)-(num<0));
}