test
Dependencies: mbed ros_lib_kinetic nhk19mr2_can_info splitData SerialHalfDuplex_HM
main.cpp@16:0069a56f11a3, 2019-02-13 (annotated)
- Committer:
- shimizuta
- Date:
- Wed Feb 13 06:43:05 2019 +0000
- Revision:
- 16:0069a56f11a3
- Parent:
- 14:d7cb429946f4
- Child:
- 17:ca18c5980a34
can is ok
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
shimizuta | 11:e81425872740 | 1 | //NHK2019MR2 馬型機構プログラム. |
yuto17320508 | 0:f000d896d188 | 2 | #include "mbed.h" |
shimizuta | 9:905f93247688 | 3 | #include "pinnames.h" |
shimizuta | 11:e81425872740 | 4 | #include "KondoServo.h" |
shimizuta | 14:d7cb429946f4 | 5 | #include "debug.h" |
shimizuta | 14:d7cb429946f4 | 6 | #include "pi.h" |
shimizuta | 16:0069a56f11a3 | 7 | #include "can.h" |
shimizuta | 11:e81425872740 | 8 | #include "OneLeg.h" ///足先の座標を保存するクラス。x,yやサーボの角度の保存、サーボの駆動も行う。他の足を考慮した処理は別のクラスに任せる。 |
shimizuta | 11:e81425872740 | 9 | #include "Walk.h" //歩き方に関するファイル |
shimizuta | 16:0069a56f11a3 | 10 | #define USE_CAN//can通信するならdefine.しないなら切らないとエラー出る |
yuto17320508 | 4:fffdb273836e | 11 | |
shimizuta | 9:905f93247688 | 12 | ////////////調整すべきパラメータ.全てここに集めた。 |
shimizuta | 14:d7cb429946f4 | 13 | const float kCycleTime_s = 0.03f; //計算周期 |
shimizuta | 14:d7cb429946f4 | 14 | const float kBetweenServoHalf_m = 0.03f * 0.5; //サーボ間の距離の半分 |
shimizuta | 9:905f93247688 | 15 | const float kLegLength1 = 0.1f; |
shimizuta | 9:905f93247688 | 16 | const float kLegLength2 = 0.2f; |
shimizuta | 16:0069a56f11a3 | 17 | //サーボの設定 |
shimizuta | 14:d7cb429946f4 | 18 | const int kServoSpan_ms = 10; //サーボの送信間隔 |
shimizuta | 14:d7cb429946f4 | 19 | const double kServoValToDegree = 270.0 / (11500 - 3500); |
shimizuta | 14:d7cb429946f4 | 20 | //サーボの正負と座標系の正負の補正.足で一セット。 |
shimizuta | 14:d7cb429946f4 | 21 | const int kServoSign[2][2] = {{ |
shimizuta | 14:d7cb429946f4 | 22 | 1, |
shimizuta | 14:d7cb429946f4 | 23 | -1, |
shimizuta | 14:d7cb429946f4 | 24 | }, |
shimizuta | 14:d7cb429946f4 | 25 | { |
shimizuta | 14:d7cb429946f4 | 26 | 1, |
shimizuta | 14:d7cb429946f4 | 27 | -1, |
shimizuta | 14:d7cb429946f4 | 28 | }}; |
shimizuta | 14:d7cb429946f4 | 29 | //欲しい座標系0度でのサーボのICSマネージャーの値 |
shimizuta | 14:d7cb429946f4 | 30 | const double kOriginDegree[2][2] = { |
shimizuta | 14:d7cb429946f4 | 31 | { |
shimizuta | 14:d7cb429946f4 | 32 | (4096 - 3500) * kServoValToDegree + 90, |
shimizuta | 14:d7cb429946f4 | 33 | (4724 - 3500) * kServoValToDegree + 270, |
shimizuta | 14:d7cb429946f4 | 34 | }, |
shimizuta | 14:d7cb429946f4 | 35 | { |
shimizuta | 14:d7cb429946f4 | 36 | (7384 - 3500) * kServoValToDegree , |
shimizuta | 14:d7cb429946f4 | 37 | (7523 - 3500) * kServoValToDegree+180, |
shimizuta | 14:d7cb429946f4 | 38 | }, |
shimizuta | 14:d7cb429946f4 | 39 | }; |
shimizuta | 9:905f93247688 | 40 | /////////////// |
shimizuta | 9:905f93247688 | 41 | Timer timer; |
shimizuta | 11:e81425872740 | 42 | KondoServo servo[2] = { |
shimizuta | 11:e81425872740 | 43 | KondoServo(pin_serial_servo_tx[0], pin_serial_servo_rx[0]), |
shimizuta | 11:e81425872740 | 44 | KondoServo(pin_serial_servo_tx[1], pin_serial_servo_rx[1]), |
shimizuta | 11:e81425872740 | 45 | }; |
shimizuta | 11:e81425872740 | 46 | OneLeg leg[4] = { |
shimizuta | 11:e81425872740 | 47 | OneLeg(kBetweenServoHalf_m, kLegLength1, kLegLength2), |
shimizuta | 11:e81425872740 | 48 | OneLeg(kBetweenServoHalf_m, kLegLength1, kLegLength2), |
shimizuta | 11:e81425872740 | 49 | OneLeg(kBetweenServoHalf_m, kLegLength1, kLegLength2), |
shimizuta | 11:e81425872740 | 50 | OneLeg(kBetweenServoHalf_m, kLegLength1, kLegLength2), |
shimizuta | 9:905f93247688 | 51 | }; |
shimizuta | 14:d7cb429946f4 | 52 | DigitalOut led[4] = {DigitalOut(LED1),DigitalOut(LED2),DigitalOut(LED3),DigitalOut(LED4)}; |
shimizuta | 14:d7cb429946f4 | 53 | |
shimizuta | 11:e81425872740 | 54 | const float kRadToDegree = 180.0 / M_PI; |
shimizuta | 11:e81425872740 | 55 | void Move(Walk WalkWay, OneLeg (&leg)[4], float dist_m); |
shimizuta | 11:e81425872740 | 56 | void MoveServo(OneLeg leg, int legnum, int servo_id); |
shimizuta | 12:2ac37fe6c3bb | 57 | |
shimizuta | 9:905f93247688 | 58 | int main() |
yuto17320508 | 5:556d5a5e9d24 | 59 | { |
shimizuta | 14:d7cb429946f4 | 60 | DEBUG("When you push any key, this robot starts.\r\n"); |
shimizuta | 11:e81425872740 | 61 | while (pc.readable() == 0) //キーボード押したらスタート |
shimizuta | 14:d7cb429946f4 | 62 | ; |
shimizuta | 14:d7cb429946f4 | 63 | DEBUG("move start\r\n"); |
shimizuta | 11:e81425872740 | 64 | //各足の軌道の設定.今回は全部同じにすることで直線を描く。 |
shimizuta | 14:d7cb429946f4 | 65 | float stridetime_s = 0.5, risetime_s = 0.15, stride_m = 0.2f, height_m = 0.05f, ground_m = 0.2f; |
shimizuta | 14:d7cb429946f4 | 66 | Orbit straightOrbit[4]; |
shimizuta | 14:d7cb429946f4 | 67 | Orbit default_orbit(ELLIPSE); |
shimizuta | 14:d7cb429946f4 | 68 | default_orbit.SetStraightParam(stridetime_s, risetime_s, stride_m, height_m, ground_m); |
shimizuta | 14:d7cb429946f4 | 69 | for (int i = 0; i < 4; i++) |
shimizuta | 14:d7cb429946f4 | 70 | straightOrbit[i] = default_orbit; |
shimizuta | 11:e81425872740 | 71 | //4足の軌道と位相ずれOffsetTime_sをまとめる |
shimizuta | 11:e81425872740 | 72 | float offset_time_s[4] = { |
shimizuta | 11:e81425872740 | 73 | 0, |
yuto17320508 | 13:e7ecdb20665a | 74 | straightOrbit[0].GetOneWalkTime() * 0.5, |
shimizuta | 11:e81425872740 | 75 | 0, |
yuto17320508 | 13:e7ecdb20665a | 76 | straightOrbit[0].GetOneWalkTime() * 0.5, |
shimizuta | 11:e81425872740 | 77 | }; |
yuto17320508 | 13:e7ecdb20665a | 78 | //4つの足のorbit, 位相を代入してstraightという歩行パターンを作成している |
yuto17320508 | 13:e7ecdb20665a | 79 | //このインスタンスはlegそれぞれの計算を行う役割を担う |
yuto17320508 | 13:e7ecdb20665a | 80 | //orbitはここでしか使わないあくまで鍵のような扱い |
yuto17320508 | 13:e7ecdb20665a | 81 | Walk straight(straightOrbit, offset_time_s, kCycleTime_s); |
shimizuta | 11:e81425872740 | 82 | //実際にWalkの指示通りに動かす |
shimizuta | 11:e81425872740 | 83 | float dist_m = 0.5f; |
shimizuta | 11:e81425872740 | 84 | Move(straight, leg, dist_m); |
shimizuta | 14:d7cb429946f4 | 85 | DEBUG("program end\r\n"); |
shimizuta | 2:a92568bdeb5c | 86 | } |
shimizuta | 2:a92568bdeb5c | 87 | |
yuto17320508 | 13:e7ecdb20665a | 88 | //到達判定が来ない間同じ歩行方法でループ |
shimizuta | 11:e81425872740 | 89 | void Move(Walk WalkWay, OneLeg (&leg)[4], float dist_m) |
yuto17320508 | 5:556d5a5e9d24 | 90 | { |
shimizuta | 9:905f93247688 | 91 | timer.reset(); |
shimizuta | 9:905f93247688 | 92 | timer.start(); |
shimizuta | 9:905f93247688 | 93 | int is_arrived = 0; |
shimizuta | 9:905f93247688 | 94 | while (is_arrived == 0) |
yuto17320508 | 8:21b932c4e6c5 | 95 | { |
shimizuta | 9:905f93247688 | 96 | float time_s = timer.read(); |
shimizuta | 9:905f93247688 | 97 | //注:未実装。到着したかの判定.LRFからのデータが必要? |
shimizuta | 14:d7cb429946f4 | 98 | //is_arrived = IsArrived(); |
shimizuta | 11:e81425872740 | 99 | //4本の足それぞれの足先サーボ角度更新 |
shimizuta | 11:e81425872740 | 100 | WalkWay.Cal4LegsPosi(leg); |
shimizuta | 16:0069a56f11a3 | 101 | #ifdef USE_CAN |
shimizuta | 16:0069a56f11a3 | 102 | //slave_mbed分の足の目標位置を送信 |
shimizuta | 16:0069a56f11a3 | 103 | SendRad(leg[2],leg[3]); |
shimizuta | 16:0069a56f11a3 | 104 | #endif |
shimizuta | 9:905f93247688 | 105 | //自身が動かす足のサーボを動かす |
shimizuta | 16:0069a56f11a3 | 106 | MoveServo(leg[0], 0, 0); |
shimizuta | 11:e81425872740 | 107 | MoveServo(leg[1], 1, 0); |
shimizuta | 9:905f93247688 | 108 | wait_ms(kServoSpan_ms); |
shimizuta | 16:0069a56f11a3 | 109 | MoveServo(leg[0], 0, 1); |
shimizuta | 11:e81425872740 | 110 | MoveServo(leg[1], 1, 1); |
shimizuta | 16:0069a56f11a3 | 111 | DEBUG("%f, %f, %f, %f\r\n",leg[2].GetRad(0),leg[2].GetRad(1),leg[3].GetRad(0),leg[3].GetRad(1)); |
shimizuta | 11:e81425872740 | 112 | //計算周期がWalkWay.cycletime_s_になるようwait |
shimizuta | 11:e81425872740 | 113 | float rest_time_s = WalkWay.cycletime_s_ - (timer.read() - time_s); |
shimizuta | 9:905f93247688 | 114 | if (rest_time_s > 0) |
shimizuta | 9:905f93247688 | 115 | wait(rest_time_s); |
shimizuta | 14:d7cb429946f4 | 116 | else {//計算周期が達成できないときはDEBUGで知らせるだけ。動きはする。 |
shimizuta | 9:905f93247688 | 117 | printf("error: rest_time_s = %f in Move()\r\n", rest_time_s); |
shimizuta | 14:d7cb429946f4 | 118 | led[0] = 1; |
shimizuta | 14:d7cb429946f4 | 119 | } |
shimizuta | 9:905f93247688 | 120 | } |
yuto17320508 | 5:556d5a5e9d24 | 121 | } |
yuto17320508 | 5:556d5a5e9d24 | 122 | |
shimizuta | 14:d7cb429946f4 | 123 | void MoveServo(OneLeg leg, int serial_num, int servo_id) |
yuto17320508 | 6:43708adf2e5d | 124 | { |
shimizuta | 11:e81425872740 | 125 | float degree = leg.GetRad(servo_id) * kRadToDegree; |
shimizuta | 14:d7cb429946f4 | 126 | //サーボの座標系に変更 |
shimizuta | 14:d7cb429946f4 | 127 | float servo_degree = kServoSign[serial_num][servo_id] * degree + kOriginDegree[serial_num][servo_id]; |
shimizuta | 16:0069a56f11a3 | 128 | //DEBUG("servo_degree[%d][%d],%f\r\n",serial_num,servo_id,servo_degree); |
shimizuta | 14:d7cb429946f4 | 129 | servo[serial_num].set_degree(servo_id, servo_degree); |
shimizuta | 12:2ac37fe6c3bb | 130 | } |