NHK2022Aチームの足回りと機構のセット メインプログラム
Dependencies: FEP_RX22 OmniPosition PID R1370 SerialMultiByte Servo ikarashiMDC_2byte_ver omni_wheel
main.cpp@4:82bc689e183e, 2022-10-09 (annotated)
- Committer:
- me33004m
- Date:
- Sun Oct 09 05:43:36 2022 +0000
- Revision:
- 4:82bc689e183e
- Parent:
- 3:4c0c8046c3a7
- Child:
- 5:885bffdceaa2
add tenkey.; I don't know if this works.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
me33004m | 0:5d4705b2893c | 1 | #include "mbed.h" |
me33004m | 0:5d4705b2893c | 2 | #include "ikarashiMDC.h" |
me33004m | 2:d84346eaa720 | 3 | #include "FEP_RX22.h" |
me33004m | 0:5d4705b2893c | 4 | #include "pinconfig.h" |
me33004m | 0:5d4705b2893c | 5 | #include "omni_wheel.h" |
me33004m | 0:5d4705b2893c | 6 | #include "math.h" |
me33004m | 0:5d4705b2893c | 7 | #include "OmniPosition.h" |
me33004m | 0:5d4705b2893c | 8 | #include "PID.h" |
me33004m | 1:5132f966db08 | 9 | |
me33004m | 0:5d4705b2893c | 10 | #define PI 3.141592653589 |
me33004m | 3:4c0c8046c3a7 | 11 | #define maxSpeed 0.4 |
me33004m | 1:5132f966db08 | 12 | |
me33004m | 2:d84346eaa720 | 13 | FEP_RX22 mycon(fepTX, fepRX, fepad); |
me33004m | 0:5d4705b2893c | 14 | Serial pc(pcTX, pcRX, 115200); |
me33004m | 0:5d4705b2893c | 15 | Serial RS485(PC_10,PC_11,115200); |
me33004m | 1:5132f966db08 | 16 | |
me33004m | 1:5132f966db08 | 17 | |
me33004m | 3:4c0c8046c3a7 | 18 | uint8_t b[16]; |
me33004m | 0:5d4705b2893c | 19 | int16_t stick[4]; |
me33004m | 2:d84346eaa720 | 20 | int16_t trigger[4]; |
me33004m | 0:5d4705b2893c | 21 | double engine[4]; |
me33004m | 0:5d4705b2893c | 22 | double speed[6]; |
me33004m | 0:5d4705b2893c | 23 | double spin_power; |
me33004m | 0:5d4705b2893c | 24 | double posiX , posiY , posiTheta; |
me33004m | 1:5132f966db08 | 25 | |
me33004m | 0:5d4705b2893c | 26 | DigitalOut stop(A3); |
me33004m | 0:5d4705b2893c | 27 | ikarashiMDC motor[] = { |
me33004m | 0:5d4705b2893c | 28 | ikarashiMDC(0,0,SM,&RS485), |
me33004m | 0:5d4705b2893c | 29 | ikarashiMDC(0,1,SM,&RS485), |
me33004m | 0:5d4705b2893c | 30 | ikarashiMDC(0,2,SM,&RS485), |
me33004m | 0:5d4705b2893c | 31 | ikarashiMDC(0,3,SM,&RS485), |
me33004m | 0:5d4705b2893c | 32 | }; |
me33004m | 1:5132f966db08 | 33 | |
me33004m | 0:5d4705b2893c | 34 | OmniWheel omni(4); |
me33004m | 0:5d4705b2893c | 35 | OmniPosition posi(mwTX, mwRX); |
me33004m | 1:5132f966db08 | 36 | |
me33004m | 0:5d4705b2893c | 37 | PID angle(10.0, 5.0, 0.0000005, 0.01);//値はhttps://controlabo.com/pid-gain/で調整しよう! |
me33004m | 1:5132f966db08 | 38 | |
me33004m | 0:5d4705b2893c | 39 | /*プロトタイプ宣言*/ |
me33004m | 3:4c0c8046c3a7 | 40 | void chassis(); //足回りの制御・ジャイロ・テラターム |
me33004m | 3:4c0c8046c3a7 | 41 | void spin(double ang); //PID |
me33004m | 3:4c0c8046c3a7 | 42 | int pm(double num); //正負判定 |
me33004m | 1:5132f966db08 | 43 | |
me33004m | 0:5d4705b2893c | 44 | int main(void){ |
me33004m | 0:5d4705b2893c | 45 | mycon.StartReceive(); |
me33004m | 1:5132f966db08 | 46 | |
me33004m | 0:5d4705b2893c | 47 | omni.wheel[0].setRadian(PI * 1.0 / 4.0); |
me33004m | 0:5d4705b2893c | 48 | omni.wheel[1].setRadian(PI * 3.0 / 4.0); |
me33004m | 0:5d4705b2893c | 49 | omni.wheel[2].setRadian(PI * 5.0 / 4.0); |
me33004m | 0:5d4705b2893c | 50 | omni.wheel[3].setRadian(PI * 7.0 / 4.0); |
me33004m | 0:5d4705b2893c | 51 | |
me33004m | 0:5d4705b2893c | 52 | angle.setInputLimits(-180,180); |
me33004m | 0:5d4705b2893c | 53 | angle.setOutputLimits(-0.4,0.4); |
me33004m | 0:5d4705b2893c | 54 | angle.setBias(0); |
me33004m | 0:5d4705b2893c | 55 | angle.setMode(1); |
me33004m | 0:5d4705b2893c | 56 | angle.setSetPoint(0); |
me33004m | 0:5d4705b2893c | 57 | while(1){ |
me33004m | 0:5d4705b2893c | 58 | stop = 1; |
me33004m | 0:5d4705b2893c | 59 | chassis(); |
me33004m | 0:5d4705b2893c | 60 | } |
me33004m | 0:5d4705b2893c | 61 | |
me33004m | 0:5d4705b2893c | 62 | } |
me33004m | 1:5132f966db08 | 63 | |
me33004m | 0:5d4705b2893c | 64 | void chassis(){ |
me33004m | 3:4c0c8046c3a7 | 65 | |
me33004m | 2:d84346eaa720 | 66 | int TargetAngle = 0; |
me33004m | 1:5132f966db08 | 67 | |
me33004m | 0:5d4705b2893c | 68 | /*ジャイロ読み取り*/ |
me33004m | 0:5d4705b2893c | 69 | posiX = posi.getX(); |
me33004m | 0:5d4705b2893c | 70 | posiY = posi.getY(); |
me33004m | 0:5d4705b2893c | 71 | 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 |
me33004m | 0:5d4705b2893c | 72 | pc.printf("x:%5.2f Y:%5.2f theta:%0.3f | ",posiX, posiY,posiTheta); |
me33004m | 0:5d4705b2893c | 73 | /*コントローラー受信*/ |
me33004m | 3:4c0c8046c3a7 | 74 | for (int i=0; i<16; i++) b[i] = mycon.getButton(i); |
me33004m | 2:d84346eaa720 | 75 | for (int i=0; i<4; i++){ |
me33004m | 2:d84346eaa720 | 76 | stick[i] = mycon.getStick(i); |
me33004m | 2:d84346eaa720 | 77 | trigger[i] = mycon.getTrigger(i); |
me33004m | 2:d84346eaa720 | 78 | } |
me33004m | 0:5d4705b2893c | 79 | for (int i=0; i<8; i++) pc.printf("%d ", b[i]); |
me33004m | 0:5d4705b2893c | 80 | pc.printf(" | "); |
me33004m | 0:5d4705b2893c | 81 | for (int i=0; i<4; i++) pc.printf("%3d ", stick[i]); |
me33004m | 0:5d4705b2893c | 82 | pc.printf(" | "); |
me33004m | 2:d84346eaa720 | 83 | for (int i=0; i<4; i++) pc.printf("%3d ", trigger[i]); |
me33004m | 2:d84346eaa720 | 84 | if(mycon.getStatus()) pc.printf("received\r\n"); |
me33004m | 1:5132f966db08 | 85 | else{ pc.printf("anything error...\r\n"); |
me33004m | 1:5132f966db08 | 86 | for( int i=0; i<4; i++){ |
me33004m | 1:5132f966db08 | 87 | motor[i].setSpeed(0); |
me33004m | 1:5132f966db08 | 88 | } |
me33004m | 0:5d4705b2893c | 89 | } |
me33004m | 0:5d4705b2893c | 90 | |
me33004m | 0:5d4705b2893c | 91 | /*全方位*/ |
me33004m | 0:5d4705b2893c | 92 | for(int i=0; i<4; i++){ |
me33004m | 0:5d4705b2893c | 93 | if(abs(stick[i]) > 10){ |
me33004m | 3:4c0c8046c3a7 | 94 | if(trigger[1]<10) trigger[1] = 0; |
me33004m | 4:82bc689e183e | 95 | engine[i] = maxSpeed*(stick[i]/128.0)*(trigger[1]/255.0); |
me33004m | 3:4c0c8046c3a7 | 96 | }else if(b[i]%2){ |
me33004m | 4:82bc689e183e | 97 | //b[1]のとき左向き(負)b[3]のとき右向き(正) |
me33004m | 4:82bc689e183e | 98 | engine[0] = maxSpeed*pm(i-2)*(trigger[1]/255.0); |
me33004m | 3:4c0c8046c3a7 | 99 | }else if(b[i]%2==0){ |
me33004m | 4:82bc689e183e | 100 | //b[0]のとき上向き(正)b[2]のとき下向き(負) |
me33004m | 4:82bc689e183e | 101 | engine[1] = -maxSpeed*pm(i-1)*(trigger[1]/255.0); |
me33004m | 0:5d4705b2893c | 102 | }else{ |
me33004m | 0:5d4705b2893c | 103 | engine[i] = 0; |
me33004m | 0:5d4705b2893c | 104 | } |
me33004m | 0:5d4705b2893c | 105 | } |
me33004m | 0:5d4705b2893c | 106 | /*PID*/ |
me33004m | 0:5d4705b2893c | 107 | /*スパゲッティコードで申し訳ないです...*/ |
me33004m | 2:d84346eaa720 | 108 | if(abs(stick[2]) < 10){/* |
me33004m | 0:5d4705b2893c | 109 | if((fabs(posiTheta)<7.5)&&(fabs(posiTheta)>1)){ |
me33004m | 0:5d4705b2893c | 110 | spin(0); |
me33004m | 1:5132f966db08 | 111 | pc.printf("a"); |
me33004m | 0:5d4705b2893c | 112 | }else if(((posiTheta>=7.5)&&(posiTheta<22.5))&&((posiTheta>16)||(posiTheta<14))){ |
me33004m | 0:5d4705b2893c | 113 | spin(15); |
me33004m | 1:5132f966db08 | 114 | pc.printf("b"); |
me33004m | 0:5d4705b2893c | 115 | }else if(((posiTheta>=22.5)&&(posiTheta<37.5))&&((posiTheta>31)||(posiTheta<29))){ |
me33004m | 0:5d4705b2893c | 116 | spin(30); |
me33004m | 0:5d4705b2893c | 117 | }else if(((posiTheta>=37.5)&&(posiTheta<52.5))&&((posiTheta>46)||(posiTheta<44))){ |
me33004m | 0:5d4705b2893c | 118 | spin(45); |
me33004m | 0:5d4705b2893c | 119 | }else if(((posiTheta>=52.5)&&(posiTheta<67.5))&&((posiTheta>61)||(posiTheta<59))){ |
me33004m | 0:5d4705b2893c | 120 | spin(60); |
me33004m | 0:5d4705b2893c | 121 | }else if(((posiTheta>=67.5)&&(posiTheta<82.5))&&((posiTheta>76)||(posiTheta<74))){ |
me33004m | 0:5d4705b2893c | 122 | spin(75); |
me33004m | 0:5d4705b2893c | 123 | }else if(((posiTheta>=82.5)&&(posiTheta<97.5))&&((posiTheta>91)||(posiTheta<89))){ |
me33004m | 0:5d4705b2893c | 124 | spin(90); |
me33004m | 0:5d4705b2893c | 125 | }else if(((posiTheta>=97.5)&&(posiTheta<112.5))&&((posiTheta>106)||(posiTheta<104))){ |
me33004m | 0:5d4705b2893c | 126 | spin(105); |
me33004m | 0:5d4705b2893c | 127 | }else if(((posiTheta>=112.5)&&(posiTheta<127.5))&&((posiTheta>121)||(posiTheta<119))){ |
me33004m | 0:5d4705b2893c | 128 | spin(120); |
me33004m | 0:5d4705b2893c | 129 | }else if(((posiTheta>=127.5)&&(posiTheta<142.5))&&((posiTheta>136)||(posiTheta<134))){ |
me33004m | 0:5d4705b2893c | 130 | spin(135); |
me33004m | 0:5d4705b2893c | 131 | }else if(((posiTheta>=142.5)&&(posiTheta<157.5))&&((posiTheta>151)||(posiTheta<149))){ |
me33004m | 0:5d4705b2893c | 132 | spin(150); |
me33004m | 0:5d4705b2893c | 133 | }else if(((posiTheta>=157.5)&&(posiTheta<172.5))&&((posiTheta>166)||(posiTheta<164))){ |
me33004m | 0:5d4705b2893c | 134 | spin(165); |
me33004m | 0:5d4705b2893c | 135 | }else if(((posiTheta>=172.5)&&(posiTheta<=179))||((posiTheta<=-172.5)&&(posiTheta>=-179))){ |
me33004m | 0:5d4705b2893c | 136 | spin(180); |
me33004m | 0:5d4705b2893c | 137 | }else if(((posiTheta<=-157.5)&&(posiTheta>-172.5))&&((posiTheta>-164)||(posiTheta<-166))){ |
me33004m | 0:5d4705b2893c | 138 | spin(-165); |
me33004m | 0:5d4705b2893c | 139 | }else if(((posiTheta<=-142.5)&&(posiTheta>-157.5))&&((posiTheta>-149)||(posiTheta<-151))){ |
me33004m | 0:5d4705b2893c | 140 | spin(-150); |
me33004m | 0:5d4705b2893c | 141 | }else if(((posiTheta<=-127.5)&&(posiTheta>-142.5))&&((posiTheta>-134)||(posiTheta<-136))){ |
me33004m | 0:5d4705b2893c | 142 | spin(-135); |
me33004m | 0:5d4705b2893c | 143 | }else if(((posiTheta<=-112.5)&&(posiTheta>-127.5))&&((posiTheta>-119)||(posiTheta<-121))){ |
me33004m | 0:5d4705b2893c | 144 | spin(-120); |
me33004m | 0:5d4705b2893c | 145 | }else if(((posiTheta<=-97.5)&&(posiTheta>-112.5))&&((posiTheta>-104)||(posiTheta<-106))){ |
me33004m | 0:5d4705b2893c | 146 | spin(-105); |
me33004m | 0:5d4705b2893c | 147 | }else if(((posiTheta<=-82.5)&&(posiTheta>-90.5))&&((posiTheta>-89)||(posiTheta<-91))){ |
me33004m | 0:5d4705b2893c | 148 | spin(-90); |
me33004m | 0:5d4705b2893c | 149 | }else if(((posiTheta<=-67.5)&&(posiTheta>-82.5))&&((posiTheta>-74)||(posiTheta<-76))){ |
me33004m | 0:5d4705b2893c | 150 | spin(-75); |
me33004m | 0:5d4705b2893c | 151 | }else if(((posiTheta<=-52.5)&&(posiTheta>-67.5))&&((posiTheta>-59)||(posiTheta<-61))){ |
me33004m | 0:5d4705b2893c | 152 | spin(-60); |
me33004m | 0:5d4705b2893c | 153 | }else if(((posiTheta<=-37.5)&&(posiTheta>-52.5))&&((posiTheta>-44)||(posiTheta<-46))){ |
me33004m | 0:5d4705b2893c | 154 | spin(-45); |
me33004m | 0:5d4705b2893c | 155 | }else if(((posiTheta<=-22.5)&&(posiTheta>-37.5))&&((posiTheta>-29)||(posiTheta<-30))){ |
me33004m | 0:5d4705b2893c | 156 | spin(-30); |
me33004m | 0:5d4705b2893c | 157 | }else if(((posiTheta<=-7.5)&&(posiTheta>-22.5))&&((posiTheta>-14)||(posiTheta<-16))){ |
me33004m | 0:5d4705b2893c | 158 | spin(-15); |
me33004m | 0:5d4705b2893c | 159 | }else{ |
me33004m | 2:d84346eaa720 | 160 | }*/ |
me33004m | 2:d84346eaa720 | 161 | /*for(int i=-180;i<=180;i+=15){ |
me33004m | 2:d84346eaa720 | 162 | if(((posiTheta>=i-7.5)&&(posiTheta<i+7.5))&&((posiTheta>i+1)||(posiTheta<i-1))){ |
me33004m | 2:d84346eaa720 | 163 | spin(i); |
me33004m | 2:d84346eaa720 | 164 | } |
me33004m | 2:d84346eaa720 | 165 | else if((posiTheta == i) ||(posiTheta == i+1) ||(posiTheta == i-1)){ |
me33004m | 2:d84346eaa720 | 166 | } |
me33004m | 2:d84346eaa720 | 167 | }*/ |
me33004m | 2:d84346eaa720 | 168 | if(fabs(TargetAngle-posiTheta)>8){ |
me33004m | 2:d84346eaa720 | 169 | TargetAngle += 15*pm(posiTheta-TargetAngle); |
me33004m | 2:d84346eaa720 | 170 | spin(TargetAngle); |
me33004m | 2:d84346eaa720 | 171 | if(abs(TargetAngle)==180){ |
me33004m | 2:d84346eaa720 | 172 | TargetAngle += -360*pm(TargetAngle); |
me33004m | 2:d84346eaa720 | 173 | } |
me33004m | 2:d84346eaa720 | 174 | } |
me33004m | 0:5d4705b2893c | 175 | } |
me33004m | 1:5132f966db08 | 176 | |
me33004m | 1:5132f966db08 | 177 | /*旋回*/ |
me33004m | 1:5132f966db08 | 178 | if(abs(stick[2]) > 10){ |
me33004m | 1:5132f966db08 | 179 | spin_power = engine[2]; |
me33004m | 1:5132f966db08 | 180 | }else{ |
me33004m | 1:5132f966db08 | 181 | spin_power = angle.compute(); |
me33004m | 1:5132f966db08 | 182 | } |
me33004m | 1:5132f966db08 | 183 | |
me33004m | 1:5132f966db08 | 184 | omni.computeXY(engine[0],engine[1],-spin_power); |
me33004m | 1:5132f966db08 | 185 | for(int i = 0; i < 4; i++) speed[i] = omni.wheel[i]; |
me33004m | 1:5132f966db08 | 186 | |
me33004m | 1:5132f966db08 | 187 | |
me33004m | 1:5132f966db08 | 188 | for(int i=0; i<4; i++) motor[i].setSpeed(speed[i]); |
me33004m | 1:5132f966db08 | 189 | |
me33004m | 0:5d4705b2893c | 190 | } |
me33004m | 0:5d4705b2893c | 191 | void spin(double ang) |
me33004m | 0:5d4705b2893c | 192 | { |
me33004m | 0:5d4705b2893c | 193 | angle.setSetPoint(ang); |
me33004m | 2:d84346eaa720 | 194 | posiTheta = posi.getTheta()*(180.0/M_PI); |
me33004m | 2:d84346eaa720 | 195 | angle.setProcessValue(posiTheta); |
me33004m | 3:4c0c8046c3a7 | 196 | pc.printf("ang:%.2f pid:%.2f posi:%.2f\r\n",ang,-angle.compute(),posiTheta); |
me33004m | 2:d84346eaa720 | 197 | //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 |
me33004m | 2:d84346eaa720 | 198 | } |
me33004m | 2:d84346eaa720 | 199 | int pm(double num){ |
me33004m | 2:d84346eaa720 | 200 | return((num>0)-(num<0)); |
me33004m | 0:5d4705b2893c | 201 | } |