Diff: main.cpp

Revision:

0:424b608bab8c

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Thu Jun 20 07:03:57 2019 +0000
@@ -0,0 +1,109 @@
+#include "mbed.h"           //wheel_test5
+#include "controller.h"
+#include "ikarashiMDC.h"
+#include "R1370.h"
+#include "omni_wheel.h"
+#include "PID.h"
+#define PI 3.1415926535897932384626
+
+PID pid1(5.0,0.2,0.000095,0.01);
+OmniWheel omni(4);
+Controller pad(PC_10, PC_11, 208);
+R1370 R1370(PB_6,PA_10);
+Serial pc(USBTX, USBRX, 115200);
+Serial serial(PC_6, PC_7, 115200);
+DigitalOut serialcontrol(D10);
+//DigitalOut reset(PC_9);
+
+
+ikarashiMDC motor[]=
+{
+    ikarashiMDC(&serialcontrol,2,0,SM,&serial),
+    ikarashiMDC(&serialcontrol,2,1,SM,&serial),
+    ikarashiMDC(&serialcontrol,2,2,SM,&serial),
+    ikarashiMDC(&serialcontrol,2,3,SM,&serial),
+};
+
+
+double sign(double a){
+    return(a>0)-(a<0);
+}
+
+int main()
+{
+//    reset = 1;
+    motor[0].braking = true;
+    int b[11], b2[11], b3[11], angle_state;
+    double rad[2], dis[2], value[3], X, Y, original_angle=0, now_angle, start_angle, zero=0, spin_power;
+    double deviation = 0.08;
+    /**
+     * now_angle      : 今の角度
+     * start_angle    : 素の角度
+     * original_angle : 0,-90,90,180
+     * deviation      : 差
+     * angle_state    : 90度毎
+     * zero           : 零点合わせ
+     */
+    pid1.setInputLimits(-180,180);
+    pid1.setOutputLimits(-0.3,0.3);
+    pid1.setBias(0);
+    pid1.setMode(1);
+    pid1.setSetPoint(0);////
+    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);
+    while(1){
+        if(pad.receiveState()){
+            for(int i = 0; i < 13; i++){
+                b[i] = 1 - pad.getButton1(i);
+            }
+            for(int i = 0; i < 2; i++){
+                rad[i] = pad.getRadian(i);
+                dis[i] = pad.getNorm(i);
+                rad[i] = PI - rad[i];
+            }
+            X = dis[0] * cos(rad[0]);
+            Y = dis[0] * sin(rad[0]);
+            R1370.update();
+            for (int i = 0; i < 11; i++) b3[i] = b2[i] - b[i];
+            /**
+             * ここまでテンプル
+             */
+            start_angle = R1370.getAngle();
+            
+            if ( b3[9] == 1) angle_state++;
+            if ( b3[7] == 1) angle_state--;
+            angle_state %= 4;
+            switch( ( angle_state + 8 ) % 4 ){
+                case 1: original_angle=180;
+                        break;
+                case 2: original_angle=-90;
+                        break;
+                case 3: original_angle=0;
+                        break;
+                default : original_angle=90;
+                        break;
+            }
+            if ( b[6] ) original_angle = start_angle;
+                                    
+            now_angle = start_angle - original_angle;
+            
+            if ( now_angle > 180 ) now_angle  = now_angle - 360;
+            if ( now_angle < -180 ) now_angle = now_angle + 360;
+            
+            pid1.setProcessValue(now_angle);
+            /**
+             * 定型文
+             */
+            spin_power = pid1.compute();
+            omni.computeXY(X,Y,-spin_power);
+            pc.printf("%.3f||%.3f||%.3f||%.3f||%.3f||%d\n\r",X, Y, start_angle, now_angle, spin_power, angle_state);
+            for(int i = 0; i < 4; i++)motor[i].setSpeed(omni.wheel[i]);
+            for (int i = 0; i < 11; i++) b2[i] = b[i];
+        }else{
+            pc.printf("error\n\r");
+            for (int i = 0; i < 4; i++)motor[i].setSpeed(0);
+        }
+    }
+}
\ No newline at end of file