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@10:886268a42090, 2022-10-11 (annotated)
- Committer:
- me33004m
- Date:
- Tue Oct 11 08:25:15 2022 +0000
- Revision:
- 10:886268a42090
- Parent:
- 9:8dd49bc48d59
- Child:
- 11:10d3dc96c469
teraterm change
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 | 0:5d4705b2893c | 3 | #include "pinconfig.h" |
me33004m | 0:5d4705b2893c | 4 | #include "omni_wheel.h" |
me33004m | 7:778eaeae8128 | 5 | #include "Servo.h" |
me33004m | 0:5d4705b2893c | 6 | #include "math.h" |
me33004m | 7:778eaeae8128 | 7 | #include "SerialMultiByte.h" |
me33004m | 7:778eaeae8128 | 8 | #include "PID.h" |
me33004m | 7:778eaeae8128 | 9 | #include "R1370.h" |
me33004m | 0:5d4705b2893c | 10 | #include "OmniPosition.h" |
me33004m | 7:778eaeae8128 | 11 | #include "FEP_RX22.h" |
me33004m | 7:778eaeae8128 | 12 | #include "cmath" |
me33004m | 1:5132f966db08 | 13 | |
me33004m | 0:5d4705b2893c | 14 | #define PI 3.141592653589 |
me33004m | 3:4c0c8046c3a7 | 15 | #define maxSpeed 0.4 |
me33004m | 1:5132f966db08 | 16 | |
me33004m | 7:778eaeae8128 | 17 | DigitalIn userButton(USER_BUTTON); |
me33004m | 7:778eaeae8128 | 18 | AnalogIn VOLUME(A0); |
me33004m | 7:778eaeae8128 | 19 | |
me33004m | 7:778eaeae8128 | 20 | |
me33004m | 2:d84346eaa720 | 21 | FEP_RX22 mycon(fepTX, fepRX, fepad); |
me33004m | 0:5d4705b2893c | 22 | Serial pc(pcTX, pcRX, 115200); |
me33004m | 7:778eaeae8128 | 23 | Serial RS485(mdcTX,mdcRX,115200); |
me33004m | 1:5132f966db08 | 24 | |
me33004m | 1:5132f966db08 | 25 | |
me33004m | 7:778eaeae8128 | 26 | DigitalOut stop(em_stop); |
me33004m | 7:778eaeae8128 | 27 | |
me33004m | 7:778eaeae8128 | 28 | SerialMultiByte rcv(sub2TX,sub2RX); |
me33004m | 7:778eaeae8128 | 29 | |
me33004m | 7:778eaeae8128 | 30 | ikarashiMDC motor[] = { |
me33004m | 7:778eaeae8128 | 31 | ikarashiMDC(0,0,SM,&RS485), //asi |
me33004m | 7:778eaeae8128 | 32 | ikarashiMDC(0,1,SM,&RS485), //asi |
me33004m | 7:778eaeae8128 | 33 | ikarashiMDC(0,2,SM,&RS485), //asi |
me33004m | 7:778eaeae8128 | 34 | ikarashiMDC(0,3,SM,&RS485), //asi |
me33004m | 7:778eaeae8128 | 35 | ikarashiMDC(1,0,SM,&RS485), //全体昇降1 |
me33004m | 7:778eaeae8128 | 36 | ikarashiMDC(1,1,SM,&RS485), //全体昇降2 |
me33004m | 7:778eaeae8128 | 37 | ikarashiMDC(1,2,SM,&RS485), //フジモン機構 |
me33004m | 7:778eaeae8128 | 38 | ikarashiMDC(1,3,SM,&RS485), //フジモン機構 |
me33004m | 7:778eaeae8128 | 39 | ikarashiMDC(2,0,SM,&RS485), //井上左昇降 |
me33004m | 7:778eaeae8128 | 40 | ikarashiMDC(2,1,SM,&RS485), //井上右昇降 |
me33004m | 7:778eaeae8128 | 41 | ikarashiMDC(2,2,SM,&RS485), //井上左前後 |
me33004m | 7:778eaeae8128 | 42 | ikarashiMDC(2,3,SM,&RS485), //井上右前後 |
me33004m | 7:778eaeae8128 | 43 | }; |
me33004m | 7:778eaeae8128 | 44 | |
me33004m | 7:778eaeae8128 | 45 | Servo pwm_imput1(BLDC1);//ブラシレス宣言 |
me33004m | 7:778eaeae8128 | 46 | Servo pwm_imput2(BLDC2); |
me33004m | 7:778eaeae8128 | 47 | Servo pwm_imput3(BLDC3); |
me33004m | 8:f40325f2d182 | 48 | // angとanglとangleの変数とクラス名がある。気をつけよう*********************重要重要*********************** |
me33004m | 3:4c0c8046c3a7 | 49 | uint8_t b[16]; |
me33004m | 0:5d4705b2893c | 50 | int16_t stick[4]; |
me33004m | 2:d84346eaa720 | 51 | int16_t trigger[4]; |
me33004m | 6:d4b82ba4836a | 52 | int16_t volume[3]; |
me33004m | 6:d4b82ba4836a | 53 | uint8_t toggle[4]; |
me33004m | 6:d4b82ba4836a | 54 | uint8_t timeout; |
me33004m | 6:d4b82ba4836a | 55 | uint8_t data[128]; |
me33004m | 6:d4b82ba4836a | 56 | int pw; |
me33004m | 7:778eaeae8128 | 57 | |
me33004m | 7:778eaeae8128 | 58 | double speed[12]; |
me33004m | 0:5d4705b2893c | 59 | double engine[4]; |
me33004m | 0:5d4705b2893c | 60 | double spin_power; |
me33004m | 0:5d4705b2893c | 61 | double posiX , posiY , posiTheta; |
me33004m | 7:778eaeae8128 | 62 | |
me33004m | 6:d4b82ba4836a | 63 | int TargetAngle = 0; |
me33004m | 7:778eaeae8128 | 64 | |
me33004m | 10:886268a42090 | 65 | int sum_1 = 0; |
me33004m | 10:886268a42090 | 66 | int sum_2 = 0; |
me33004m | 10:886268a42090 | 67 | |
me33004m | 7:778eaeae8128 | 68 | double bldcspeed = 0.8; |
me33004m | 7:778eaeae8128 | 69 | |
me33004m | 7:778eaeae8128 | 70 | int16_t angle[4] = {0};//エンコーダ受信格納 |
me33004m | 7:778eaeae8128 | 71 | uint8_t pulse[8] = {0}; |
me33004m | 1:5132f966db08 | 72 | |
me33004m | 0:5d4705b2893c | 73 | OmniWheel omni(4); |
me33004m | 7:778eaeae8128 | 74 | OmniPosition posi(sub1TX, sub1RX); |
me33004m | 1:5132f966db08 | 75 | |
me33004m | 7:778eaeae8128 | 76 | PID angl(10.0, 5.0, 0.0000005, 0.01); |
me33004m | 1:5132f966db08 | 77 | |
me33004m | 7:778eaeae8128 | 78 | //プロトタイプ宣言 |
me33004m | 10:886268a42090 | 79 | void chassis(); //機体自体の制御 |
me33004m | 3:4c0c8046c3a7 | 80 | void spin(double ang); //PID |
me33004m | 3:4c0c8046c3a7 | 81 | int pm(double num); //正負判定 |
me33004m | 1:5132f966db08 | 82 | |
me33004m | 7:778eaeae8128 | 83 | Timer t; |
me33004m | 7:778eaeae8128 | 84 | |
me33004m | 0:5d4705b2893c | 85 | int main(void){ |
me33004m | 7:778eaeae8128 | 86 | t.start(); |
me33004m | 7:778eaeae8128 | 87 | |
me33004m | 7:778eaeae8128 | 88 | rcv.setHeaders(0xff,0xff); |
me33004m | 7:778eaeae8128 | 89 | rcv.startReceive(4); //SerialMultiByte受信 |
me33004m | 7:778eaeae8128 | 90 | |
me33004m | 7:778eaeae8128 | 91 | mycon.StartReceive(); //コントローラー受信・宣言 |
me33004m | 1:5132f966db08 | 92 | |
me33004m | 0:5d4705b2893c | 93 | omni.wheel[0].setRadian(PI * 1.0 / 4.0); |
me33004m | 0:5d4705b2893c | 94 | omni.wheel[1].setRadian(PI * 3.0 / 4.0); |
me33004m | 0:5d4705b2893c | 95 | omni.wheel[2].setRadian(PI * 5.0 / 4.0); |
me33004m | 0:5d4705b2893c | 96 | omni.wheel[3].setRadian(PI * 7.0 / 4.0); |
me33004m | 0:5d4705b2893c | 97 | |
me33004m | 7:778eaeae8128 | 98 | angl.setInputLimits(-180,180); |
me33004m | 7:778eaeae8128 | 99 | angl.setOutputLimits(-0.4,0.4); |
me33004m | 7:778eaeae8128 | 100 | angl.setBias(0); |
me33004m | 7:778eaeae8128 | 101 | angl.setMode(1); |
me33004m | 7:778eaeae8128 | 102 | angl.setSetPoint(0); |
me33004m | 0:5d4705b2893c | 103 | while(1){ |
me33004m | 6:d4b82ba4836a | 104 | stop = toggle[0]; |
me33004m | 0:5d4705b2893c | 105 | chassis(); |
me33004m | 0:5d4705b2893c | 106 | } |
me33004m | 0:5d4705b2893c | 107 | |
me33004m | 0:5d4705b2893c | 108 | } |
me33004m | 1:5132f966db08 | 109 | |
me33004m | 0:5d4705b2893c | 110 | void chassis(){ |
me33004m | 3:4c0c8046c3a7 | 111 | |
me33004m | 7:778eaeae8128 | 112 | #if ControllerMode |
me33004m | 7:778eaeae8128 | 113 | for (int i=0; i<16; i++) b[i] = mycon.getButton(i); |
me33004m | 7:778eaeae8128 | 114 | for (int i=0; i<4; i++) stick[i] = mycon.getStick(i); |
me33004m | 7:778eaeae8128 | 115 | for (int i=0; i<2; i++) trigger[i] = mycon.getTrigger(i); |
me33004m | 7:778eaeae8128 | 116 | |
me33004m | 7:778eaeae8128 | 117 | // for (int i=0; i<16; i++) pc.printf("%d ", b[i]); |
me33004m | 7:778eaeae8128 | 118 | // pc.printf(" | "); |
me33004m | 7:778eaeae8128 | 119 | // for (int i=0; i<4; i++) pc.printf("%3d ", stick[i]); |
me33004m | 7:778eaeae8128 | 120 | // pc.printf(" | "); |
me33004m | 7:778eaeae8128 | 121 | // for (int i=0; i<2; i++) pc.printf("%3d ", trigger[i]); |
me33004m | 7:778eaeae8128 | 122 | // pc.printf(" | "); |
me33004m | 7:778eaeae8128 | 123 | #else |
me33004m | 7:778eaeae8128 | 124 | |
me33004m | 0:5d4705b2893c | 125 | /*ジャイロ読み取り*/ |
me33004m | 8:f40325f2d182 | 126 | /*足回りのXY座標は多分使わないので無くてもよし。*/ |
me33004m | 0:5d4705b2893c | 127 | posiX = posi.getX(); |
me33004m | 0:5d4705b2893c | 128 | posiY = posi.getY(); |
me33004m | 0:5d4705b2893c | 129 | 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 | 130 | pc.printf("x:%5.2f Y:%5.2f theta:%0.3f | ",posiX, posiY,posiTheta); |
me33004m | 7:778eaeae8128 | 131 | |
me33004m | 6:d4b82ba4836a | 132 | mycon.getData(data); |
me33004m | 10:886268a42090 | 133 | /* for (int i=0, tmp=1; i<8; i++) { |
me33004m | 6:d4b82ba4836a | 134 | pw = pow((float)2,i); |
me33004m | 6:d4b82ba4836a | 135 | b[i] = (int)((data[0] & tmp)/pw); |
me33004m | 6:d4b82ba4836a | 136 | pc.printf("%d ", b[i]); |
me33004m | 6:d4b82ba4836a | 137 | tmp *= 2; |
me33004m | 6:d4b82ba4836a | 138 | } |
me33004m | 6:d4b82ba4836a | 139 | for (int i=8, tmp=1, j=0; i<16; i++, j++) { |
me33004m | 6:d4b82ba4836a | 140 | pw = pow((float)2,j); |
me33004m | 6:d4b82ba4836a | 141 | b[i] = (int)((data[1] & tmp)/pw); |
me33004m | 6:d4b82ba4836a | 142 | pc.printf("%d ", b[i]); |
me33004m | 6:d4b82ba4836a | 143 | tmp *= 2; |
me33004m | 6:d4b82ba4836a | 144 | } |
me33004m | 10:886268a42090 | 145 | */ |
me33004m | 10:886268a42090 | 146 | for (int i=0, tmp=1; i<8; i++) { |
me33004m | 10:886268a42090 | 147 | pw = pow((float)2,i); |
me33004m | 10:886268a42090 | 148 | b[i] = (int)((data[0] & tmp)/pw); |
me33004m | 10:886268a42090 | 149 | // 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 |
me33004m | 10:886268a42090 | 150 | sum_1 += b[i]*pow((float)2,i+1); |
me33004m | 10:886268a42090 | 151 | tmp *= 2; |
me33004m | 10:886268a42090 | 152 | } |
me33004m | 10:886268a42090 | 153 | pc.printf("%3d ",sum_1); |
me33004m | 10:886268a42090 | 154 | /*初期化*/ |
me33004m | 10:886268a42090 | 155 | sum_1 = 0; |
me33004m | 10:886268a42090 | 156 | |
me33004m | 10:886268a42090 | 157 | for (int i=8, tmp=1, j=0; i<16; i++, j++) { |
me33004m | 10:886268a42090 | 158 | pw = pow((float)2,j); |
me33004m | 10:886268a42090 | 159 | b[i] = (int)((data[1] & tmp)/pw); |
me33004m | 10:886268a42090 | 160 | // pc.printf("%d ", b[i]); |
me33004m | 10:886268a42090 | 161 | sum_2 += b[i]*pow((float)2,i-7); |
me33004m | 10:886268a42090 | 162 | tmp *= 2; |
me33004m | 10:886268a42090 | 163 | } |
me33004m | 10:886268a42090 | 164 | pc.printf("%3d ",sum_2); |
me33004m | 10:886268a42090 | 165 | /*初期化*/ |
me33004m | 10:886268a42090 | 166 | sum_2 = 0; |
me33004m | 6:d4b82ba4836a | 167 | pc.printf(" | "); |
me33004m | 6:d4b82ba4836a | 168 | |
me33004m | 6:d4b82ba4836a | 169 | for (int i=0; i<4; i++) { |
me33004m | 7:778eaeae8128 | 170 | stick[i] = (data[i+2] - 128)*(-1); |
me33004m | 6:d4b82ba4836a | 171 | pc.printf("%3d ", stick[i]); |
me33004m | 2:d84346eaa720 | 172 | } |
me33004m | 6:d4b82ba4836a | 173 | pc.printf(" | "); |
me33004m | 6:d4b82ba4836a | 174 | |
me33004m | 6:d4b82ba4836a | 175 | for (int i=0; i<2; i++) { |
me33004m | 6:d4b82ba4836a | 176 | trigger[i] = data[i+6]; |
me33004m | 6:d4b82ba4836a | 177 | pc.printf("%3d ", trigger[i]); |
me33004m | 6:d4b82ba4836a | 178 | } |
me33004m | 0:5d4705b2893c | 179 | pc.printf(" | "); |
me33004m | 6:d4b82ba4836a | 180 | |
me33004m | 6:d4b82ba4836a | 181 | for (int i=0; i<3; i++) { |
me33004m | 6:d4b82ba4836a | 182 | volume[i] = data[i+9]; |
me33004m | 6:d4b82ba4836a | 183 | pc.printf("%3d ", volume[i]); |
me33004m | 6:d4b82ba4836a | 184 | } |
me33004m | 0:5d4705b2893c | 185 | pc.printf(" | "); |
me33004m | 6:d4b82ba4836a | 186 | |
me33004m | 6:d4b82ba4836a | 187 | for (int i=0; i<4; i++) { |
me33004m | 6:d4b82ba4836a | 188 | toggle[i] = data[i+12]; |
me33004m | 7:778eaeae8128 | 189 | pc.printf("%3d ", toggle[i]); |
me33004m | 6:d4b82ba4836a | 190 | } |
me33004m | 6:d4b82ba4836a | 191 | pc.printf(" | "); |
me33004m | 6:d4b82ba4836a | 192 | |
me33004m | 6:d4b82ba4836a | 193 | timeout = data[8]; |
me33004m | 6:d4b82ba4836a | 194 | pc.printf("%3d ", timeout); |
me33004m | 6:d4b82ba4836a | 195 | pc.printf(" | "); |
me33004m | 6:d4b82ba4836a | 196 | |
me33004m | 7:778eaeae8128 | 197 | |
me33004m | 7:778eaeae8128 | 198 | #endif |
me33004m | 7:778eaeae8128 | 199 | if (mycon.getStatus()) pc.printf("receive"); |
me33004m | 7:778eaeae8128 | 200 | else pc.printf("anything error..."); |
me33004m | 7:778eaeae8128 | 201 | |
me33004m | 7:778eaeae8128 | 202 | rcv.getData(pulse); //エンコーダ受信 |
me33004m | 7:778eaeae8128 | 203 | for(int i=0,j=0;i<4;i++,j+=2){ |
me33004m | 7:778eaeae8128 | 204 | angle[i] = pulse[j] << 8 | pulse[j+1]; |
me33004m | 7:778eaeae8128 | 205 | } |
me33004m | 10:886268a42090 | 206 | pc.printf("| ENC1:%d | ENC2:%d | ENC3:%d | ENC4:%d |",angle[0],angle[1],angle[2],angle[3]); |
me33004m | 10:886268a42090 | 207 | if(abs(stick[2])<10){ |
me33004m | 10:886268a42090 | 208 | pc.printf("TA:%.2f pid:%.2f T-p:%.2f",TargetAngle,-angl.compute(),TargetAngle-posiTheta); |
me33004m | 10:886268a42090 | 209 | } |
me33004m | 7:778eaeae8128 | 210 | pc.printf("\r\n"); |
me33004m | 7:778eaeae8128 | 211 | |
me33004m | 7:778eaeae8128 | 212 | //ブラシレスモーター |
me33004m | 7:778eaeae8128 | 213 | pwm_imput1 = ((double)volume[0]/255.0)*bldcspeed*toggle[1]; |
me33004m | 7:778eaeae8128 | 214 | |
me33004m | 7:778eaeae8128 | 215 | pwm_imput2 = ((double)volume[1]/255.0)*bldcspeed*toggle[2]; |
me33004m | 7:778eaeae8128 | 216 | |
me33004m | 7:778eaeae8128 | 217 | pwm_imput3 = ((double)volume[2]/255.0)*bldcspeed*toggle[3]; |
me33004m | 7:778eaeae8128 | 218 | // pc.printf("servo:%.2f | servo2:%.2f | servo3:%.2f\r\n", |
me33004m | 7:778eaeae8128 | 219 | // ((double)volume[0]/255.0)*bldcspeed,((double)volume[1]/255.0)*bldcspeed,((double)volume[2]/255.0)*bldcspeed); |
me33004m | 7:778eaeae8128 | 220 | |
me33004m | 7:778eaeae8128 | 221 | /*井上機構ON,OFF*/ |
me33004m | 7:778eaeae8128 | 222 | if(toggle[1]){ |
me33004m | 7:778eaeae8128 | 223 | speed[10] = -0.9; |
me33004m | 7:778eaeae8128 | 224 | }else{ |
me33004m | 7:778eaeae8128 | 225 | speed[10] = 0; |
me33004m | 7:778eaeae8128 | 226 | } |
me33004m | 7:778eaeae8128 | 227 | if(toggle[1] && b[15]){ |
me33004m | 7:778eaeae8128 | 228 | speed[10] = 0.4; |
me33004m | 7:778eaeae8128 | 229 | } |
me33004m | 7:778eaeae8128 | 230 | |
me33004m | 7:778eaeae8128 | 231 | if(toggle[3]){ |
me33004m | 7:778eaeae8128 | 232 | speed[11] = -0.9; |
me33004m | 7:778eaeae8128 | 233 | }else{ |
me33004m | 7:778eaeae8128 | 234 | speed[11] = 0; |
me33004m | 7:778eaeae8128 | 235 | } |
me33004m | 7:778eaeae8128 | 236 | if(toggle[3] && b[15]){ |
me33004m | 7:778eaeae8128 | 237 | speed[11] = 0.4; |
me33004m | 0:5d4705b2893c | 238 | } |
me33004m | 7:778eaeae8128 | 239 | |
me33004m | 7:778eaeae8128 | 240 | /*フジモン機構*/ |
me33004m | 7:778eaeae8128 | 241 | if(toggle[2]){ |
me33004m | 7:778eaeae8128 | 242 | speed[6] = 0.6; |
me33004m | 7:778eaeae8128 | 243 | speed[7] = 0.6; |
me33004m | 7:778eaeae8128 | 244 | }else{ |
me33004m | 7:778eaeae8128 | 245 | speed[6] = 0; |
me33004m | 7:778eaeae8128 | 246 | speed[7] = 0; |
me33004m | 7:778eaeae8128 | 247 | } |
me33004m | 7:778eaeae8128 | 248 | |
me33004m | 7:778eaeae8128 | 249 | /*展開昇降*/ |
me33004m | 7:778eaeae8128 | 250 | if(b[5] != 0){ |
me33004m | 7:778eaeae8128 | 251 | speed[4] = 0.5; |
me33004m | 7:778eaeae8128 | 252 | speed[5] = 0.5; |
me33004m | 7:778eaeae8128 | 253 | }else if(b[4] != 0){ |
me33004m | 7:778eaeae8128 | 254 | speed[4] = -0.35; |
me33004m | 7:778eaeae8128 | 255 | speed[5] = -0.35; |
me33004m | 7:778eaeae8128 | 256 | }else{ |
me33004m | 7:778eaeae8128 | 257 | speed[4] = 0; |
me33004m | 7:778eaeae8128 | 258 | speed[5] = 0; |
me33004m | 0:5d4705b2893c | 259 | } |
me33004m | 7:778eaeae8128 | 260 | //機構昇降 |
me33004m | 7:778eaeae8128 | 261 | if(b[9]){ |
me33004m | 7:778eaeae8128 | 262 | speed[8] = -0.35; |
me33004m | 7:778eaeae8128 | 263 | }else |
me33004m | 7:778eaeae8128 | 264 | if(b[13]){ |
me33004m | 7:778eaeae8128 | 265 | speed[8] = 0.4; |
me33004m | 7:778eaeae8128 | 266 | } |
me33004m | 7:778eaeae8128 | 267 | if(b[11]){ |
me33004m | 7:778eaeae8128 | 268 | speed[9] = -0.35; |
me33004m | 7:778eaeae8128 | 269 | }else |
me33004m | 7:778eaeae8128 | 270 | if(b[14]){ |
me33004m | 7:778eaeae8128 | 271 | speed[9] = 0.4; |
me33004m | 7:778eaeae8128 | 272 | } |
me33004m | 7:778eaeae8128 | 273 | if((b[9]!=1) && (b[13]!=1)){ |
me33004m | 7:778eaeae8128 | 274 | speed[8]=0; |
me33004m | 7:778eaeae8128 | 275 | } |
me33004m | 7:778eaeae8128 | 276 | if((b[11]!=1) && (b[14]!=1)){ |
me33004m | 7:778eaeae8128 | 277 | speed[9]=0; |
me33004m | 7:778eaeae8128 | 278 | } |
me33004m | 7:778eaeae8128 | 279 | |
me33004m | 0:5d4705b2893c | 280 | /*PID*/ |
me33004m | 7:778eaeae8128 | 281 | if(abs(stick[2]) < 10){ |
me33004m | 2:d84346eaa720 | 282 | if(fabs(TargetAngle-posiTheta)>8){ |
me33004m | 2:d84346eaa720 | 283 | TargetAngle += 15*pm(posiTheta-TargetAngle); |
me33004m | 5:885bffdceaa2 | 284 | 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。 |
me33004m | 2:d84346eaa720 | 285 | TargetAngle += -360*pm(TargetAngle); |
me33004m | 2:d84346eaa720 | 286 | } |
me33004m | 2:d84346eaa720 | 287 | } |
me33004m | 6:d4b82ba4836a | 288 | spin(TargetAngle); |
me33004m | 0:5d4705b2893c | 289 | } |
me33004m | 6:d4b82ba4836a | 290 | /*全方位*/ |
me33004m | 6:d4b82ba4836a | 291 | for(int i=0; i<4; i++){ |
me33004m | 6:d4b82ba4836a | 292 | if(abs(stick[i]) > 10){ |
me33004m | 7:778eaeae8128 | 293 | engine[i] = maxSpeed*(stick[i]/128.0); |
me33004m | 7:778eaeae8128 | 294 | }else if(b[0]){ |
me33004m | 7:778eaeae8128 | 295 | engine[1] = maxSpeed*(trigger[1]/225.0); |
me33004m | 7:778eaeae8128 | 296 | engine[0] = 0; |
me33004m | 7:778eaeae8128 | 297 | }else if(b[1]){ |
me33004m | 7:778eaeae8128 | 298 | engine[0] = -maxSpeed*(trigger[1]/225.0); |
me33004m | 6:d4b82ba4836a | 299 | engine[1] = 0; |
me33004m | 7:778eaeae8128 | 300 | }else if(b[2]){ |
me33004m | 7:778eaeae8128 | 301 | engine[1] = -maxSpeed*(trigger[1]/225.0); |
me33004m | 6:d4b82ba4836a | 302 | engine[0] = 0; |
me33004m | 7:778eaeae8128 | 303 | }else if(b[3]){ |
me33004m | 7:778eaeae8128 | 304 | engine[0] = maxSpeed*(trigger[1]/255.0); |
me33004m | 7:778eaeae8128 | 305 | engine[1] = 0; |
me33004m | 6:d4b82ba4836a | 306 | }else{ |
me33004m | 6:d4b82ba4836a | 307 | engine[i] = 0; |
me33004m | 7:778eaeae8128 | 308 | } |
me33004m | 6:d4b82ba4836a | 309 | } |
me33004m | 1:5132f966db08 | 310 | /*旋回*/ |
me33004m | 1:5132f966db08 | 311 | if(abs(stick[2]) > 10){ |
me33004m | 1:5132f966db08 | 312 | spin_power = engine[2]; |
me33004m | 1:5132f966db08 | 313 | }else{ |
me33004m | 7:778eaeae8128 | 314 | spin_power = angl.compute(); |
me33004m | 1:5132f966db08 | 315 | } |
me33004m | 1:5132f966db08 | 316 | |
me33004m | 1:5132f966db08 | 317 | omni.computeXY(engine[0],engine[1],-spin_power); |
me33004m | 1:5132f966db08 | 318 | for(int i = 0; i < 4; i++) speed[i] = omni.wheel[i]; |
me33004m | 1:5132f966db08 | 319 | |
me33004m | 1:5132f966db08 | 320 | |
me33004m | 7:778eaeae8128 | 321 | for(int i=0; i<12; i++) motor[i].setSpeed(speed[i]); |
me33004m | 1:5132f966db08 | 322 | |
me33004m | 0:5d4705b2893c | 323 | } |
me33004m | 0:5d4705b2893c | 324 | void spin(double ang) |
me33004m | 0:5d4705b2893c | 325 | { |
me33004m | 7:778eaeae8128 | 326 | angl.setSetPoint(ang); |
me33004m | 2:d84346eaa720 | 327 | posiTheta = posi.getTheta()*(180.0/M_PI); |
me33004m | 7:778eaeae8128 | 328 | angl.setProcessValue(posiTheta); |
me33004m | 9:8dd49bc48d59 | 329 | //for(int i=4; i<12; i++) motor[i].setSpeed(0);旋回時以外はPID判定なのでsetSpeed(0)だと機構が動かなくなるので多分このコードいらないです。 |
me33004m | 10:886268a42090 | 330 | //pc.printf("ang:%.2f pid:%.2f posi:%.2f T-p:%.2f\r\n",ang,-angl.compute(),posiTheta,TargetAngle-posiTheta); |
me33004m | 7:778eaeae8128 | 331 | |
me33004m | 2:d84346eaa720 | 332 | } |
me33004m | 2:d84346eaa720 | 333 | int pm(double num){ |
me33004m | 2:d84346eaa720 | 334 | return((num>0)-(num<0)); |
me33004m | 7:778eaeae8128 | 335 | } |
me33004m | 7:778eaeae8128 | 336 |