File content as of revision 0:424b608bab8c:

#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);
        }
    }
}