test
Dependencies: mbed ros_lib_kinetic nhk19mr2_can_info splitData SerialHalfDuplex_HM
main.cpp@49:198030e84936, 2019-03-11 (annotated)
- Committer:
- shimizuta
- Date:
- Mon Mar 11 06:36:56 2019 +0000
- Revision:
- 49:198030e84936
- Parent:
- 48:1aad3cc386e8
- Child:
- 50:36741e8ab197
from start to sanddune, 40s (if you use restart)
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
shimizuta | 44:4aac39b8670b | 1 | /* NHK2019MR2 馬型機構プログラム. |
shimizuta | 44:4aac39b8670b | 2 | //基本プログラム |
shimizuta | 44:4aac39b8670b | 3 | SetWalk(walk, 歩行パターン);//歩行パターン設定 |
shimizuta | 44:4aac39b8670b | 4 | MoveOneCycle(walk, leg);//1回呼び出すと一サイクル分進む。2歩以上進みたいときはforで回して回数分呼び出す |
shimizuta | 44:4aac39b8670b | 5 | |
shimizuta | 44:4aac39b8670b | 6 | で動く。 |
shimizuta | 44:4aac39b8670b | 7 | SetWalkの引数はenum WalkWayの定数。SetWalk内でswitchしている。SetWalk内ではchange_walk.hの関数で軌道を設定。 |
shimizuta | 44:4aac39b8670b | 8 | ROSありだと、ROSからのstateに従いswitchで切り替えている。 |
shimizuta | 44:4aac39b8670b | 9 | */ |
shimizuta | 43:2ed84f3558c1 | 10 | #include "pi.h" |
shimizuta | 27:79b4b932a6dd | 11 | #include <math.h> |
shimizuta | 27:79b4b932a6dd | 12 | #include <stdio.h> |
shimizuta | 43:2ed84f3558c1 | 13 | #ifndef VSCODE |
yuto17320508 | 0:f000d896d188 | 14 | #include "mbed.h" |
shimizuta | 9:905f93247688 | 15 | #include "pinnames.h" |
shimizuta | 16:0069a56f11a3 | 16 | #include "can.h" |
shimizuta | 49:198030e84936 | 17 | //#define USE_ROS //ROSを使うときはコメントアウトを外す |
shimizuta | 43:2ed84f3558c1 | 18 | #include "ros.h" |
shimizuta | 43:2ed84f3558c1 | 19 | #include "geometry_msgs/Vector3.h" |
shimizuta | 43:2ed84f3558c1 | 20 | #include "std_msgs/Int16.h" |
shimizuta | 27:79b4b932a6dd | 21 | #endif |
shimizuta | 27:79b4b932a6dd | 22 | //#define DEBUG_ON //デバッグ用。使わないときはコメントアウト |
shimizuta | 27:79b4b932a6dd | 23 | #include "debug.h" |
shimizuta | 11:e81425872740 | 24 | #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 | 25 | #include "Walk.h" //歩き方に関するファイル |
shimizuta | 35:b4e1b8f25cd7 | 26 | #include "OverCome.h" |
shimizuta | 35:b4e1b8f25cd7 | 27 | #include "change_walk.h" |
shimizuta | 43:2ed84f3558c1 | 28 | #include "servo_and_movefunc.h" |
shimizuta | 43:2ed84f3558c1 | 29 | enum ROS_STATE |
shimizuta | 43:2ed84f3558c1 | 30 | { |
shimizuta | 43:2ed84f3558c1 | 31 | STOP, |
shimizuta | 46:621ea6492dea | 32 | AREA1_LRFWALK_STATE, |
shimizuta | 43:2ed84f3558c1 | 33 | SANDDUNE, |
shimizuta | 46:621ea6492dea | 34 | AREA2_LRFWALK_STATE, |
shimizuta | 45:0654364226c9 | 35 | ROPE_STATE, |
shimizuta | 45:0654364226c9 | 36 | SLOPE_STATE, |
shimizuta | 46:621ea6492dea | 37 | TURNRIGHT_STATE, |
shimizuta | 46:621ea6492dea | 38 | TRUNLEFT_STATE, |
shimizuta | 43:2ed84f3558c1 | 39 | }; |
shimizuta | 46:621ea6492dea | 40 | ROS_STATE state_from_ros = STOP; //ここを変えると動く方法が変わる |
shimizuta | 43:2ed84f3558c1 | 41 | #ifdef USE_ROS |
shimizuta | 43:2ed84f3558c1 | 42 | ros::NodeHandle nh_mbed; |
shimizuta | 43:2ed84f3558c1 | 43 | void callback(const geometry_msgs::Vector3 &cmd_vel); |
shimizuta | 43:2ed84f3558c1 | 44 | void callback_state(const std_msgs::Int16 &cmd_vel); |
shimizuta | 44:4aac39b8670b | 45 | geometry_msgs::Vector3 back_vel; |
shimizuta | 43:2ed84f3558c1 | 46 | ros::Subscriber<geometry_msgs::Vector3> sub_vel("/cmd_vel", &callback); |
shimizuta | 43:2ed84f3558c1 | 47 | ros::Subscriber<std_msgs::Int16> sub_state("/state", &callback_state); |
shimizuta | 44:4aac39b8670b | 48 | ros::Publisher pub_vel("/back_vel", &back_vel); |
shimizuta | 43:2ed84f3558c1 | 49 | #endif |
shimizuta | 43:2ed84f3558c1 | 50 | ////////////あまり変化させないパラメーター |
shimizuta | 35:b4e1b8f25cd7 | 51 | const float kBetweenServoHalf_m = 0.034 * 0.5; //サーボ間の距離の半分 |
shimizuta | 35:b4e1b8f25cd7 | 52 | float kLegLength1[2] = {0.15, 0.15}; |
shimizuta | 35:b4e1b8f25cd7 | 53 | float kLegLength2[2] = {0.33, 0.34}; |
shimizuta | 9:905f93247688 | 54 | /////////////// |
shimizuta | 27:79b4b932a6dd | 55 | ////////調整するべきパラメータ |
shimizuta | 44:4aac39b8670b | 56 | enum WalkWay //歩行軌道 |
shimizuta | 27:79b4b932a6dd | 57 | { |
shimizuta | 43:2ed84f3558c1 | 58 | STANDUP, //受け渡し用に待つ |
shimizuta | 46:621ea6492dea | 59 | AREA1_LRFWALK, //段差までLRFありで歩く.元LRFPOSTURE |
shimizuta | 46:621ea6492dea | 60 | AREA2_LRFWALK, //段差後からLRFありで歩く |
shimizuta | 43:2ed84f3558c1 | 61 | STANDUP_SANDDUNE, //段差前で立つ |
shimizuta | 42:982064594ba6 | 62 | FRONTLEG_ON_SANDDUNE, //前足を段差にかける |
shimizuta | 42:982064594ba6 | 63 | OVERCOME, //前足が乗った状態で進む |
shimizuta | 49:198030e84936 | 64 | FALL_FRONTLEG, //前足を段差から降ろす |
shimizuta | 42:982064594ba6 | 65 | BACKLEG_ON_SANDDUNE, //後ろ脚を段差に載せる |
shimizuta | 42:982064594ba6 | 66 | OVERCOME2, //後ろ脚が乗った状態で進む |
shimizuta | 45:0654364226c9 | 67 | AFTER_OVERCOME, //段差を終了したら座って指示まち |
shimizuta | 43:2ed84f3558c1 | 68 | ROPE, //rope前足超える |
shimizuta | 43:2ed84f3558c1 | 69 | ROPE_BACK, //rope後ろ足超える |
shimizuta | 43:2ed84f3558c1 | 70 | ROPE_DOWN, //rope機体高さをLRF用に落とす |
shimizuta | 43:2ed84f3558c1 | 71 | SLOPE, |
shimizuta | 45:0654364226c9 | 72 | TRUNRIGHT, |
shimizuta | 45:0654364226c9 | 73 | TRUNLEFT, |
shimizuta | 43:2ed84f3558c1 | 74 | CHECK, //check用に最後に置いておく |
shimizuta | 27:79b4b932a6dd | 75 | }; |
shimizuta | 46:621ea6492dea | 76 | //LRF使うやつだけだけspinOnceで変更するためグローバルで |
shimizuta | 43:2ed84f3558c1 | 77 | float stride_m[4] = {0.2, 0.2, 0.2, 0.2}; //ropeのときは0.15だった |
shimizuta | 44:4aac39b8670b | 78 | //各歩行軌道のパラメータ設定。switchで羅列している。新規に歩行パターンを増やすときはcaseを増やす。 |
shimizuta | 44:4aac39b8670b | 79 | //param walk:結果を入れる箱。way:歩行軌道を指定するWalkWayの定数。 |
shimizuta | 44:4aac39b8670b | 80 | int SetWalk(Walk &walk, WalkWay way) |
shimizuta | 42:982064594ba6 | 81 | { |
shimizuta | 46:621ea6492dea | 82 | //複数歩行に共有するパラメータはここに書く。それ以外はcase内に入れる。 |
shimizuta | 46:621ea6492dea | 83 | //LRFを使って歩行する際のパラメータ.stride_mだけグローバルにある。 |
shimizuta | 49:198030e84936 | 84 | float area1_offset_y_m[4] = {0.3, 0.3, 0.3, 0.3}; |
yuto17320508 | 47:c2c579909787 | 85 | float area2_offset_y_m[4] = {0.27, 0.27, 0.27, 0.27}; |
shimizuta | 49:198030e84936 | 86 | float offset_x_m[4] = {0, 0, 0, 0}; |
shimizuta | 46:621ea6492dea | 87 | float height_m[4] = {0.05, 0.05, 0.05, 0.05}, buffer_height_m = 0.02, |
shimizuta | 49:198030e84936 | 88 | stridetime_s = 0.45, toptime_s = 0.2, buffer_time_s = 0.1; |
shimizuta | 46:621ea6492dea | 89 | |
shimizuta | 46:621ea6492dea | 90 | //段差 |
shimizuta | 49:198030e84936 | 91 | float overcome_start_y_m[] = {0.38, 0.38, 0.38, 0.38}; |
shimizuta | 49:198030e84936 | 92 | float flontleg_sand_goal_y_m[4] = {0.38, 0.27, 0.38, 0.27}; |
shimizuta | 49:198030e84936 | 93 | float backleg_sand_goal_y_m[4] = {0.27, 0.38, 0.27, 0.38}; |
shimizuta | 46:621ea6492dea | 94 | //旋回 |
shimizuta | 45:0654364226c9 | 95 | float turn_start_x_m = 0, turn_start_y_m = 0.275, |
shimizuta | 45:0654364226c9 | 96 | turn_stride_m = 0.05, turn_height_m = 0.05, |
shimizuta | 45:0654364226c9 | 97 | turn_stridetime_s = 0.6, turn_risetime_s = 0.3; |
shimizuta | 35:b4e1b8f25cd7 | 98 | switch (way) |
shimizuta | 35:b4e1b8f25cd7 | 99 | { |
shimizuta | 43:2ed84f3558c1 | 100 | case STANDUP: |
shimizuta | 43:2ed84f3558c1 | 101 | { //受け渡し用に待つ |
shimizuta | 43:2ed84f3558c1 | 102 | float offset_x_m[4] = {}, |
shimizuta | 48:1aad3cc386e8 | 103 | offset_y_m[4] = {0.3, 0.3, 0.3, 0.3}; |
shimizuta | 35:b4e1b8f25cd7 | 104 | for (int i = 0; i < 4; i++) |
shimizuta | 43:2ed84f3558c1 | 105 | SetOneLegStandParam(walk, i, offset_x_m[i], offset_y_m[i], 0.5); |
shimizuta | 43:2ed84f3558c1 | 106 | walk.SetOffsetTime(0, 0, 0, 0); |
shimizuta | 35:b4e1b8f25cd7 | 107 | break; |
shimizuta | 43:2ed84f3558c1 | 108 | } |
shimizuta | 46:621ea6492dea | 109 | case AREA1_LRFWALK: //LRF用に変数はグローバルにある |
shimizuta | 35:b4e1b8f25cd7 | 110 | for (int i = 0; i < 4; i++) |
shimizuta | 49:198030e84936 | 111 | SetOneLegFourPointParam(walk, i, offset_x_m[i], area1_offset_y_m[i], |
shimizuta | 49:198030e84936 | 112 | stride_m[i], height_m[i], buffer_height_m, |
shimizuta | 49:198030e84936 | 113 | stridetime_s, toptime_s, buffer_time_s); |
shimizuta | 46:621ea6492dea | 114 | walk.SetOffsetTime(0, 0.5, 0.5, 0); |
shimizuta | 46:621ea6492dea | 115 | break; |
shimizuta | 46:621ea6492dea | 116 | case AREA2_LRFWALK: |
shimizuta | 46:621ea6492dea | 117 | for (int i = 0; i < 4; i++) |
shimizuta | 46:621ea6492dea | 118 | SetOneLegTriangleParam(walk, i, offset_x_m[i], area2_offset_y_m[i], |
shimizuta | 35:b4e1b8f25cd7 | 119 | stride_m[i], height_m[i], buffer_height_m, |
shimizuta | 35:b4e1b8f25cd7 | 120 | stridetime_s, toptime_s, buffer_time_s); |
shimizuta | 35:b4e1b8f25cd7 | 121 | walk.SetOffsetTime(0, 0.5, 0.5, 0); |
shimizuta | 35:b4e1b8f25cd7 | 122 | break; |
shimizuta | 43:2ed84f3558c1 | 123 | case STANDUP_SANDDUNE: |
shimizuta | 42:982064594ba6 | 124 | { |
shimizuta | 43:2ed84f3558c1 | 125 | for (int i = 0; i < 4; i++) |
shimizuta | 43:2ed84f3558c1 | 126 | { |
shimizuta | 43:2ed84f3558c1 | 127 | LineParam lines[] = { |
shimizuta | 43:2ed84f3558c1 | 128 | {.time_s = 0, .x_m = walk.leg[i].GetX_m(), .y_m = walk.leg[i].GetY_m(), .is_point_to_point = 0}, |
shimizuta | 49:198030e84936 | 129 | {.time_s = 0.5, .x_m = offset_x_m[i], .y_m = overcome_start_y_m[i], .is_point_to_point = 0}, |
shimizuta | 49:198030e84936 | 130 | {.time_s = 1.5, .x_m = offset_x_m[i], .y_m = overcome_start_y_m[i], .is_point_to_point = 0}, |
shimizuta | 43:2ed84f3558c1 | 131 | }; |
shimizuta | 43:2ed84f3558c1 | 132 | SetOneLegFreeLinesParam(walk, i, lines, sizeof(lines) / sizeof(lines[0])); |
shimizuta | 43:2ed84f3558c1 | 133 | } |
shimizuta | 43:2ed84f3558c1 | 134 | walk.SetOffsetTime(0, 0, 0, 0); |
shimizuta | 44:4aac39b8670b | 135 | break; |
shimizuta | 43:2ed84f3558c1 | 136 | } |
shimizuta | 43:2ed84f3558c1 | 137 | case FRONTLEG_ON_SANDDUNE: |
shimizuta | 43:2ed84f3558c1 | 138 | { //前足を段差にかける |
shimizuta | 42:982064594ba6 | 139 | float d_x_m = 0.1; |
shimizuta | 43:2ed84f3558c1 | 140 | float raise_offset_x_m[4] = {0, -0.02, 0, 0}; |
shimizuta | 49:198030e84936 | 141 | float overcome_height_m[] = {0.05, 0.15, 0.05, 0.15}; |
shimizuta | 42:982064594ba6 | 142 | float gravity_dist[] = {0.05, 0, 0.05, -0.05}; |
shimizuta | 49:198030e84936 | 143 | OverCome overcome(offset_x_m, overcome_start_y_m, d_x_m, flontleg_sand_goal_y_m, |
shimizuta | 49:198030e84936 | 144 | overcome_height_m, gravity_dist, walk.leg, raise_offset_x_m); |
shimizuta | 49:198030e84936 | 145 | walk.Copy(overcome.walk); |
shimizuta | 49:198030e84936 | 146 | break; |
shimizuta | 49:198030e84936 | 147 | } |
shimizuta | 49:198030e84936 | 148 | case OVERCOME: |
shimizuta | 49:198030e84936 | 149 | { //前足が乗った状態で進む |
shimizuta | 49:198030e84936 | 150 | float stride_m[4] = {0.07, 0.07, 0.07, 0.07}; |
shimizuta | 49:198030e84936 | 151 | for (int i = 0; i < 4; i++) |
shimizuta | 49:198030e84936 | 152 | SetOneLegFourPointParam(walk, i, offset_x_m[i], flontleg_sand_goal_y_m[i], |
shimizuta | 49:198030e84936 | 153 | stride_m[i], height_m[i], buffer_height_m, |
shimizuta | 49:198030e84936 | 154 | stridetime_s, toptime_s, buffer_time_s); |
shimizuta | 49:198030e84936 | 155 | walk.SetOffsetTime(0, 0.5, 0.5, 0); |
shimizuta | 49:198030e84936 | 156 | break; |
shimizuta | 49:198030e84936 | 157 | } |
shimizuta | 49:198030e84936 | 158 | case FALL_FRONTLEG: //前足を段差から降ろす |
shimizuta | 49:198030e84936 | 159 | { |
shimizuta | 49:198030e84936 | 160 | float d_x_m = 0.15; |
shimizuta | 49:198030e84936 | 161 | float start_x_m[4] = {0, 0, 0, 0}; |
shimizuta | 49:198030e84936 | 162 | float raise_offset_x_m[4] = {}; |
shimizuta | 49:198030e84936 | 163 | float overcome_height_m[] = {0.05, 0.05, 0.05, 0.05}; |
shimizuta | 49:198030e84936 | 164 | float gravity_dist[] = {0.1, 0, 0.1, 0}; |
shimizuta | 49:198030e84936 | 165 | OverCome overcome(start_x_m, flontleg_sand_goal_y_m, d_x_m, overcome_start_y_m, |
shimizuta | 43:2ed84f3558c1 | 166 | overcome_height_m, gravity_dist, walk.leg, raise_offset_x_m); |
shimizuta | 35:b4e1b8f25cd7 | 167 | walk.Copy(overcome.walk); |
shimizuta | 42:982064594ba6 | 168 | break; |
shimizuta | 39:87dcdff27797 | 169 | } |
shimizuta | 43:2ed84f3558c1 | 170 | case BACKLEG_ON_SANDDUNE: |
shimizuta | 43:2ed84f3558c1 | 171 | { //後ろ脚を乗せる |
shimizuta | 49:198030e84936 | 172 | float d_x_m = 0.15; |
shimizuta | 43:2ed84f3558c1 | 173 | float start_x_m[4] = {0, 0, 0, 0}; |
shimizuta | 42:982064594ba6 | 174 | float start_y_m[4] = {0.41, 0.41, 0.41, 0.41}; |
shimizuta | 49:198030e84936 | 175 | |
shimizuta | 43:2ed84f3558c1 | 176 | float raise_offset_x_m[4] = {}; |
shimizuta | 42:982064594ba6 | 177 | float overcome_height_m[] = {0.2, 0.1, 0.2, 0.1}; |
shimizuta | 43:2ed84f3558c1 | 178 | float gravity_dist[] = {0.1, 0, 0.1, 0}; |
shimizuta | 49:198030e84936 | 179 | OverCome overcome(start_x_m, start_y_m, d_x_m, backleg_sand_goal_y_m, |
shimizuta | 43:2ed84f3558c1 | 180 | overcome_height_m, gravity_dist, walk.leg, raise_offset_x_m); |
shimizuta | 42:982064594ba6 | 181 | walk.Copy(overcome.walk); |
shimizuta | 42:982064594ba6 | 182 | break; |
shimizuta | 42:982064594ba6 | 183 | } |
shimizuta | 43:2ed84f3558c1 | 184 | case OVERCOME2: |
shimizuta | 43:2ed84f3558c1 | 185 | { //後ろ脚が乗った状態で進む |
shimizuta | 49:198030e84936 | 186 | float offset_x_m[4] = {0.1,0,0.1,0}; |
shimizuta | 49:198030e84936 | 187 | float offset_y_m[4] = {0.27, 0.33, 0.27, 0.33}; |
shimizuta | 42:982064594ba6 | 188 | float stride_m[4] = {0.2, 0.2, 0.2, 0.2}, |
shimizuta | 42:982064594ba6 | 189 | height_m[4] = {0.1, 0.1, 0.1, 0.1}, buffer_height_m = 0.05, |
shimizuta | 42:982064594ba6 | 190 | stridetime_s = 1, toptime_s = 0.2, buffer_time_s = 0.2; |
shimizuta | 42:982064594ba6 | 191 | for (int i = 0; i < 4; i++) |
shimizuta | 42:982064594ba6 | 192 | SetOneLegFourPointParam(walk, i, offset_x_m[i], offset_y_m[i], |
shimizuta | 42:982064594ba6 | 193 | stride_m[i], height_m[i], buffer_height_m, |
shimizuta | 42:982064594ba6 | 194 | stridetime_s, toptime_s, buffer_time_s); |
shimizuta | 42:982064594ba6 | 195 | walk.SetOffsetTime(0, 0.5, 0.5, 0); |
shimizuta | 42:982064594ba6 | 196 | break; |
shimizuta | 42:982064594ba6 | 197 | } |
shimizuta | 44:4aac39b8670b | 198 | case AFTER_OVERCOME: |
shimizuta | 43:2ed84f3558c1 | 199 | { |
shimizuta | 44:4aac39b8670b | 200 | for (int i = 0; i < 4; i++) |
shimizuta | 46:621ea6492dea | 201 | SetOneLegStandParam(walk, i, offset_x_m[i], area1_offset_y_m[i], 0.5); |
shimizuta | 44:4aac39b8670b | 202 | walk.SetOffsetTime(0, 0, 0, 0); |
shimizuta | 44:4aac39b8670b | 203 | break; |
shimizuta | 44:4aac39b8670b | 204 | } |
shimizuta | 45:0654364226c9 | 205 | case ROPE: |
shimizuta | 44:4aac39b8670b | 206 | { |
shimizuta | 43:2ed84f3558c1 | 207 | float offset_x_m[4] = {-0.05, 0, -0.05, 0}; |
shimizuta | 43:2ed84f3558c1 | 208 | float d_x_m = 0.2; |
shimizuta | 43:2ed84f3558c1 | 209 | float start_y_m[4] = {0.41, 0.41, 0.41, 0.41}; |
shimizuta | 43:2ed84f3558c1 | 210 | float goal_y_m[4] = {0.41, 0.41, 0.41, 0.41}; |
shimizuta | 43:2ed84f3558c1 | 211 | float raise_offset_x_m[] = {0, -0.08, 0, -0.08}; |
shimizuta | 43:2ed84f3558c1 | 212 | float overcome_height_m[] = {0.05, 0.2, 0.05, 0.2}; |
shimizuta | 43:2ed84f3558c1 | 213 | float gravity_dist[] = {0.05, -0.05, 0.05, -0.05}; |
shimizuta | 43:2ed84f3558c1 | 214 | OverCome overcome(offset_x_m, start_y_m, d_x_m, goal_y_m, |
shimizuta | 43:2ed84f3558c1 | 215 | overcome_height_m, gravity_dist, walk.leg, raise_offset_x_m); |
shimizuta | 43:2ed84f3558c1 | 216 | walk.Copy(overcome.walk); |
shimizuta | 44:4aac39b8670b | 217 | break; |
shimizuta | 43:2ed84f3558c1 | 218 | } |
shimizuta | 43:2ed84f3558c1 | 219 | case ROPE_BACK: |
shimizuta | 43:2ed84f3558c1 | 220 | { |
shimizuta | 43:2ed84f3558c1 | 221 | float offset_x_m[4] = {}; |
shimizuta | 43:2ed84f3558c1 | 222 | float d_x_m = 0.15; |
shimizuta | 43:2ed84f3558c1 | 223 | float start_y_m[4] = {0.41, 0.41, 0.41, 0.41}; |
shimizuta | 43:2ed84f3558c1 | 224 | float goal_y_m[4] = {0.41, 0.41, 0.41, 0.41}; |
shimizuta | 43:2ed84f3558c1 | 225 | float raise_offset_x_m[] = {-0.03, 0, -0.03, 0}; |
shimizuta | 43:2ed84f3558c1 | 226 | float overcome_height_m[] = {0.2, 0.05, 0.2, 0.05}; |
shimizuta | 43:2ed84f3558c1 | 227 | float gravity_dist[] = {0.08, 0, 0.08, 0}; |
shimizuta | 43:2ed84f3558c1 | 228 | OverCome overcome(offset_x_m, start_y_m, d_x_m, goal_y_m, |
shimizuta | 43:2ed84f3558c1 | 229 | overcome_height_m, gravity_dist, walk.leg, raise_offset_x_m); |
shimizuta | 43:2ed84f3558c1 | 230 | walk.Copy(overcome.walk); |
shimizuta | 44:4aac39b8670b | 231 | break; |
shimizuta | 43:2ed84f3558c1 | 232 | } |
shimizuta | 43:2ed84f3558c1 | 233 | case ROPE_DOWN: |
shimizuta | 43:2ed84f3558c1 | 234 | { |
shimizuta | 43:2ed84f3558c1 | 235 | for (int i = 0; i < 4; i++) |
shimizuta | 43:2ed84f3558c1 | 236 | { |
shimizuta | 43:2ed84f3558c1 | 237 | LineParam lines[] = { |
shimizuta | 43:2ed84f3558c1 | 238 | {.time_s = 0, .x_m = walk.leg[i].GetX_m(), .y_m = walk.leg[i].GetY_m(), .is_point_to_point = 0}, |
shimizuta | 46:621ea6492dea | 239 | {.time_s = 0.5, .x_m = offset_x_m[i], .y_m = area1_offset_y_m[i], .is_point_to_point = 0}, |
shimizuta | 43:2ed84f3558c1 | 240 | }; |
shimizuta | 43:2ed84f3558c1 | 241 | SetOneLegFreeLinesParam(walk, i, lines, sizeof(lines) / sizeof(lines[0])); |
shimizuta | 43:2ed84f3558c1 | 242 | } |
shimizuta | 43:2ed84f3558c1 | 243 | walk.SetOffsetTime(0, 0, 0, 0); |
shimizuta | 44:4aac39b8670b | 244 | break; |
shimizuta | 43:2ed84f3558c1 | 245 | } |
shimizuta | 43:2ed84f3558c1 | 246 | case SLOPE: |
shimizuta | 43:2ed84f3558c1 | 247 | { |
shimizuta | 43:2ed84f3558c1 | 248 | float offset_x_m[4] = {-0.15, 0.15, -0.15, 0.15}, |
shimizuta | 43:2ed84f3558c1 | 249 | offset_y_m[4] = {0.32, 0.22, 0.32, 0.22}; |
shimizuta | 43:2ed84f3558c1 | 250 | float stride_m[4] = {0.18, 0.18, 0.2, 0.2}; //ropeのときは0.15 |
shimizuta | 43:2ed84f3558c1 | 251 | float height_m[4] = {0.05, 0.05, 0.05, 0.05}, buffer_height_m = 0.02, |
shimizuta | 49:198030e84936 | 252 | stridetime_s = 1, toptime_s = 0.15, buffer_time_s = 0.05; |
shimizuta | 43:2ed84f3558c1 | 253 | for (int i = 0; i < 4; i++) |
shimizuta | 43:2ed84f3558c1 | 254 | SetOneLegTriangleParam(walk, i, offset_x_m[i], offset_y_m[i], |
shimizuta | 43:2ed84f3558c1 | 255 | stride_m[i], height_m[i], buffer_height_m, |
shimizuta | 43:2ed84f3558c1 | 256 | stridetime_s, toptime_s, buffer_time_s); |
shimizuta | 43:2ed84f3558c1 | 257 | walk.SetOffsetTime(0, 0.5, 0.5, 0); |
shimizuta | 44:4aac39b8670b | 258 | break; |
shimizuta | 43:2ed84f3558c1 | 259 | } |
shimizuta | 45:0654364226c9 | 260 | case TRUNRIGHT: |
shimizuta | 45:0654364226c9 | 261 | Turn(walk, 1, turn_start_x_m, turn_start_y_m, turn_stride_m, |
shimizuta | 45:0654364226c9 | 262 | turn_height_m, turn_stridetime_s, turn_risetime_s); |
shimizuta | 45:0654364226c9 | 263 | break; |
shimizuta | 45:0654364226c9 | 264 | case TRUNLEFT: |
shimizuta | 45:0654364226c9 | 265 | Turn(walk, 0, turn_start_x_m, turn_start_y_m, turn_stride_m, |
shimizuta | 45:0654364226c9 | 266 | turn_height_m, turn_stridetime_s, turn_risetime_s); |
shimizuta | 45:0654364226c9 | 267 | break; |
shimizuta | 42:982064594ba6 | 268 | default: |
shimizuta | 42:982064594ba6 | 269 | printf("error: there is no WalkWay\r\n"); |
shimizuta | 44:4aac39b8670b | 270 | return 1; //以上終了 |
shimizuta | 42:982064594ba6 | 271 | } |
shimizuta | 44:4aac39b8670b | 272 | walk.ResetPhase(); |
shimizuta | 44:4aac39b8670b | 273 | return 0; //正常終了 |
yuto17320508 | 18:0033ef1814ba | 274 | } |
shimizuta | 48:1aad3cc386e8 | 275 | void SmoothChange(Walk &walk, OneLeg leg[4], WalkWay nextway, float time_s); |
shimizuta | 9:905f93247688 | 276 | int main() |
yuto17320508 | 5:556d5a5e9d24 | 277 | { |
shimizuta | 44:4aac39b8670b | 278 | printf("program start\r\n"); |
shimizuta | 29:7d8b8011a88d | 279 | #ifdef VSCODE |
shimizuta | 27:79b4b932a6dd | 280 | if (FileOpen()) //csv fileに書き込み |
shimizuta | 44:4aac39b8670b | 281 | return 1; //異常なら強制終了 |
shimizuta | 29:7d8b8011a88d | 282 | #endif |
shimizuta | 46:621ea6492dea | 283 | |
shimizuta | 44:4aac39b8670b | 284 | /////足の長さ、計算周期の設定 |
shimizuta | 39:87dcdff27797 | 285 | OneLeg leg[4]; //各足の位置 |
shimizuta | 35:b4e1b8f25cd7 | 286 | for (int i = 0; i < 4; i++) |
shimizuta | 35:b4e1b8f25cd7 | 287 | leg[i] = OneLeg(kBetweenServoHalf_m, kLegLength1, kLegLength2); |
shimizuta | 39:87dcdff27797 | 288 | Walk walk(leg); //歩行法はここに入れていく |
shimizuta | 35:b4e1b8f25cd7 | 289 | Walk::calctime_s_ = 0.03; |
shimizuta | 44:4aac39b8670b | 290 | /////事前に軌道を全チェック |
shimizuta | 42:982064594ba6 | 291 | for (int i = 0; i < CHECK; i++) |
shimizuta | 42:982064594ba6 | 292 | { |
shimizuta | 44:4aac39b8670b | 293 | SetWalk(walk, (WalkWay)i); |
shimizuta | 44:4aac39b8670b | 294 | if (walk.CheckOrbit() == 1) |
shimizuta | 42:982064594ba6 | 295 | { |
shimizuta | 42:982064594ba6 | 296 | printf("error: move %d\r\n", i); |
shimizuta | 42:982064594ba6 | 297 | return 1; //強制終了.errorは内部の関数からprintfで知らせる |
shimizuta | 42:982064594ba6 | 298 | } |
shimizuta | 42:982064594ba6 | 299 | } |
shimizuta | 46:621ea6492dea | 300 | //軌道チェックしてからROS完全起動 |
shimizuta | 46:621ea6492dea | 301 | #ifdef USE_ROS |
shimizuta | 46:621ea6492dea | 302 | nh_mbed.getHardware()->setBaud(115200); |
shimizuta | 46:621ea6492dea | 303 | nh_mbed.initNode(); |
shimizuta | 46:621ea6492dea | 304 | nh_mbed.subscribe(sub_vel); |
shimizuta | 46:621ea6492dea | 305 | nh_mbed.subscribe(sub_state); |
shimizuta | 46:621ea6492dea | 306 | nh_mbed.advertise(pub_vel); |
shimizuta | 46:621ea6492dea | 307 | nh_mbed.spinOnce(); //一度受信 |
shimizuta | 43:2ed84f3558c1 | 308 | #endif |
shimizuta | 49:198030e84936 | 309 | ROS_STATE old_state = STOP; |
shimizuta | 44:4aac39b8670b | 310 | /////立つ |
shimizuta | 43:2ed84f3558c1 | 311 | #ifndef USE_ROS |
shimizuta | 46:621ea6492dea | 312 | state_from_ros = SANDDUNE; //遠してやらないならやりたいSTATEに変更 |
shimizuta | 46:621ea6492dea | 313 | #endif |
shimizuta | 46:621ea6492dea | 314 | //プログラムの最初のほうにあるstate_from_rosで動かすものを切り替える.caseはenum ROS_STATEで分ける |
shimizuta | 49:198030e84936 | 315 | // while (1) |
shimizuta | 49:198030e84936 | 316 | // { |
shimizuta | 49:198030e84936 | 317 | switch (state_from_ros) |
shimizuta | 39:87dcdff27797 | 318 | { |
shimizuta | 49:198030e84936 | 319 | case STOP: |
shimizuta | 49:198030e84936 | 320 | break; |
shimizuta | 49:198030e84936 | 321 | case AREA1_LRFWALK_STATE: |
shimizuta | 49:198030e84936 | 322 | printf("Stand up?\r\n"); |
shimizuta | 49:198030e84936 | 323 | WaitStdin('y'); // キーボード入力されるまでまで待つ |
shimizuta | 49:198030e84936 | 324 | SetWalk(walk, STANDUP); |
shimizuta | 49:198030e84936 | 325 | MoveOneCycle(walk, leg); |
shimizuta | 49:198030e84936 | 326 | printf("Move?\r\n"); |
shimizuta | 49:198030e84936 | 327 | WaitStdin('y'); //キーボード入力されるまでまで待つ |
shimizuta | 49:198030e84936 | 328 | SmoothChange(walk, leg, AREA1_LRFWALK, 0.5); //切り替え |
shimizuta | 49:198030e84936 | 329 | for (int i = 0; i < 20; i++) |
shimizuta | 46:621ea6492dea | 330 | MoveOneCycle(walk, leg); |
shimizuta | 49:198030e84936 | 331 | state_from_ros = STOP; |
shimizuta | 49:198030e84936 | 332 | break; |
shimizuta | 49:198030e84936 | 333 | case AREA2_LRFWALK_STATE: |
shimizuta | 49:198030e84936 | 334 | if (old_state != state_from_ros) |
shimizuta | 49:198030e84936 | 335 | SmoothChange(walk, leg, AREA2_LRFWALK, 0.5); //切り替え |
shimizuta | 49:198030e84936 | 336 | else |
shimizuta | 49:198030e84936 | 337 | SetWalk(walk, AREA2_LRFWALK); |
shimizuta | 49:198030e84936 | 338 | MoveOneCycle(walk, leg); |
shimizuta | 49:198030e84936 | 339 | break; |
shimizuta | 49:198030e84936 | 340 | case SANDDUNE: |
shimizuta | 49:198030e84936 | 341 | //前足を段差にかける |
shimizuta | 49:198030e84936 | 342 | printf("Stand up?\r\n"); |
shimizuta | 49:198030e84936 | 343 | WaitStdin('y'); // キーボード入力されるまでまで待つ |
shimizuta | 49:198030e84936 | 344 | SetWalk(walk, STANDUP_SANDDUNE); |
shimizuta | 49:198030e84936 | 345 | MoveOneCycle(walk, leg); |
shimizuta | 49:198030e84936 | 346 | printf("Move?\r\n"); |
shimizuta | 49:198030e84936 | 347 | WaitStdin('y'); //キーボード入力されるまでまで待つ |
shimizuta | 49:198030e84936 | 348 | SmoothChange(walk, leg, FRONTLEG_ON_SANDDUNE, 0.5); //切り替えスムーズ |
shimizuta | 49:198030e84936 | 349 | MoveOneCycle(walk, leg); |
shimizuta | 49:198030e84936 | 350 | //前足が段差に乗った状態で進む |
shimizuta | 49:198030e84936 | 351 | SmoothChange(walk, leg, OVERCOME, 0.5); //切り替えスムーズ |
shimizuta | 49:198030e84936 | 352 | for (int i = 0; i < 2; i++) |
shimizuta | 44:4aac39b8670b | 353 | MoveOneCycle(walk, leg); |
shimizuta | 49:198030e84936 | 354 | //前足を降ろす |
shimizuta | 49:198030e84936 | 355 | SmoothChange(walk, leg, FALL_FRONTLEG, 0.5); |
shimizuta | 49:198030e84936 | 356 | MoveOneCycle(walk, leg); |
shimizuta | 49:198030e84936 | 357 | //またいだ状態で歩く |
shimizuta | 49:198030e84936 | 358 | SmoothChange(walk, leg, AREA1_LRFWALK, 0.5); |
shimizuta | 49:198030e84936 | 359 | MoveOneCycle(walk, leg); |
shimizuta | 49:198030e84936 | 360 | |
shimizuta | 49:198030e84936 | 361 | //後ろ脚載せる |
shimizuta | 49:198030e84936 | 362 | SmoothChange(walk, leg, BACKLEG_ON_SANDDUNE, 0.5); //切り替えスムーズ |
shimizuta | 49:198030e84936 | 363 | MoveOneCycle(walk, leg); |
shimizuta | 49:198030e84936 | 364 | //後ろ脚乗った状態で進む |
shimizuta | 49:198030e84936 | 365 | // SmoothChange(walk, leg, OVERCOME2, 0.5); //切り替えスムーズ |
shimizuta | 49:198030e84936 | 366 | SetWalk(walk, OVERCOME2); |
shimizuta | 49:198030e84936 | 367 | for (int i = 0; i < 3; i++) |
shimizuta | 45:0654364226c9 | 368 | MoveOneCycle(walk, leg); |
shimizuta | 49:198030e84936 | 369 | //普通に進む |
shimizuta | 49:198030e84936 | 370 | SetWalk(walk, AREA1_LRFWALK); |
shimizuta | 49:198030e84936 | 371 | for (int i = 0; i < 4; i++) |
shimizuta | 49:198030e84936 | 372 | MoveOneCycle(walk, leg); |
shimizuta | 49:198030e84936 | 373 | /* //数歩左に曲がる |
shimizuta | 49:198030e84936 | 374 | SmoothChange(walk, leg, TRUNLEFT, 0.5); //切り替えスムーズ |
shimizuta | 49:198030e84936 | 375 | for (int i = 0; i < 2; i++) |
shimizuta | 45:0654364226c9 | 376 | MoveOneCycle(walk, leg); |
shimizuta | 49:198030e84936 | 377 | */ |
shimizuta | 49:198030e84936 | 378 | state_from_ros = AREA2_LRFWALK_STATE; |
shimizuta | 49:198030e84936 | 379 | break; |
shimizuta | 49:198030e84936 | 380 | case ROPE_STATE: |
shimizuta | 49:198030e84936 | 381 | //前足だけ紐越え |
shimizuta | 49:198030e84936 | 382 | SmoothChange(walk, leg, ROPE, 0.5); |
shimizuta | 49:198030e84936 | 383 | MoveOneCycle(walk, leg); |
shimizuta | 49:198030e84936 | 384 | //LRFが取れる高さで歩行 |
shimizuta | 49:198030e84936 | 385 | SmoothChange(walk, leg, AREA1_LRFWALK, 0.5); |
shimizuta | 49:198030e84936 | 386 | for (int i = 0; i < 3; i++) |
shimizuta | 49:198030e84936 | 387 | MoveOneCycle(walk, leg); |
shimizuta | 49:198030e84936 | 388 | //後ろ足越え |
shimizuta | 49:198030e84936 | 389 | SmoothChange(walk, leg, ROPE_BACK, 0.5); |
shimizuta | 49:198030e84936 | 390 | MoveOneCycle(walk, leg); |
shimizuta | 49:198030e84936 | 391 | state_from_ros = AREA2_LRFWALK_STATE; |
shimizuta | 49:198030e84936 | 392 | break; |
shimizuta | 49:198030e84936 | 393 | case SLOPE_STATE: |
shimizuta | 49:198030e84936 | 394 | SmoothChange(walk, leg, SLOPE, 0.5); |
shimizuta | 49:198030e84936 | 395 | for (int i = 0; i < 30; i++) |
shimizuta | 49:198030e84936 | 396 | MoveOneCycle(walk, leg); |
shimizuta | 49:198030e84936 | 397 | state_from_ros = STOP; |
shimizuta | 49:198030e84936 | 398 | break; |
shimizuta | 49:198030e84936 | 399 | case TURNRIGHT_STATE: |
shimizuta | 49:198030e84936 | 400 | SmoothChange(walk, leg, TRUNRIGHT, 0.5); |
shimizuta | 49:198030e84936 | 401 | for (int i = 0; i < 5; i++) |
shimizuta | 49:198030e84936 | 402 | MoveOneCycle(walk, leg); |
shimizuta | 49:198030e84936 | 403 | state_from_ros = AREA2_LRFWALK_STATE; |
shimizuta | 49:198030e84936 | 404 | break; |
shimizuta | 49:198030e84936 | 405 | case TRUNLEFT_STATE: |
shimizuta | 49:198030e84936 | 406 | SmoothChange(walk, leg, TRUNLEFT, 0.5); |
shimizuta | 49:198030e84936 | 407 | for (int i = 0; i < 5; i++) |
shimizuta | 49:198030e84936 | 408 | MoveOneCycle(walk, leg); |
shimizuta | 49:198030e84936 | 409 | state_from_ros = AREA2_LRFWALK_STATE; |
shimizuta | 49:198030e84936 | 410 | break; |
shimizuta | 49:198030e84936 | 411 | } |
shimizuta | 49:198030e84936 | 412 | // old_state = state_from_ros; |
shimizuta | 46:621ea6492dea | 413 | #ifdef USE_ROS |
shimizuta | 49:198030e84936 | 414 | nh_mbed.spinOnce(); |
shimizuta | 46:621ea6492dea | 415 | #endif |
shimizuta | 34:89d701e15cdf | 416 | printf("program end\r\n"); |
shimizuta | 29:7d8b8011a88d | 417 | #ifdef VSCODE |
shimizuta | 27:79b4b932a6dd | 418 | fclose(fp); |
shimizuta | 27:79b4b932a6dd | 419 | #endif |
shimizuta | 2:a92568bdeb5c | 420 | } |
shimizuta | 27:79b4b932a6dd | 421 | #ifdef USE_ROS |
shimizuta | 27:79b4b932a6dd | 422 | void callback(const geometry_msgs::Vector3 &cmd_vel) |
shimizuta | 27:79b4b932a6dd | 423 | { |
shimizuta | 46:621ea6492dea | 424 | if (state_from_ros == STOP) |
shimizuta | 46:621ea6492dea | 425 | state_from_ros = AREA1_LRFWALK_STATE; |
shimizuta | 42:982064594ba6 | 426 | stride_m[LEFT_F] = cmd_vel.x; |
shimizuta | 42:982064594ba6 | 427 | stride_m[LEFT_B] = cmd_vel.x; |
shimizuta | 42:982064594ba6 | 428 | stride_m[RIGHT_F] = cmd_vel.y; |
shimizuta | 42:982064594ba6 | 429 | stride_m[RIGHT_B] = cmd_vel.y; |
shimizuta | 44:4aac39b8670b | 430 | back_vel = cmd_vel; |
shimizuta | 44:4aac39b8670b | 431 | pub_vel.publish(&back_vel); |
shimizuta | 42:982064594ba6 | 432 | } |
shimizuta | 43:2ed84f3558c1 | 433 | void callback_state(const std_msgs::Int16 &cmd) |
shimizuta | 42:982064594ba6 | 434 | { |
yuto17320508 | 47:c2c579909787 | 435 | state_from_ros = (ROS_STATE)cmd.data; |
yuto17320508 | 47:c2c579909787 | 436 | led[state_from_ros % 4] = 1; |
shimizuta | 27:79b4b932a6dd | 437 | } |
shimizuta | 48:1aad3cc386e8 | 438 | #endif |
shimizuta | 48:1aad3cc386e8 | 439 | void SmoothChange(Walk &walk, OneLeg leg[4], WalkWay nextway, float time_s) |
shimizuta | 48:1aad3cc386e8 | 440 | { |
shimizuta | 48:1aad3cc386e8 | 441 | LineParam lines[4][2]; |
shimizuta | 48:1aad3cc386e8 | 442 | //前回位置を保存 |
shimizuta | 48:1aad3cc386e8 | 443 | for (size_t i = 0; i < sizeof(lines) / sizeof(lines[0]); i++) |
shimizuta | 48:1aad3cc386e8 | 444 | { |
shimizuta | 48:1aad3cc386e8 | 445 | lines[i][0].time_s = 0; |
shimizuta | 48:1aad3cc386e8 | 446 | lines[i][0].x_m = leg[i].GetX_m(); |
shimizuta | 48:1aad3cc386e8 | 447 | lines[i][0].y_m = leg[i].GetY_m(); |
shimizuta | 48:1aad3cc386e8 | 448 | } |
shimizuta | 48:1aad3cc386e8 | 449 | Walk tempwalk(leg); |
shimizuta | 48:1aad3cc386e8 | 450 | SetWalk(tempwalk, nextway); |
shimizuta | 48:1aad3cc386e8 | 451 | tempwalk.Cal4LegsPosi(tempwalk.leg); //次の一歩目をwalk.legに書き込む |
shimizuta | 48:1aad3cc386e8 | 452 | for (size_t i = 0; i < sizeof(lines) / sizeof(lines[0]); i++) |
shimizuta | 48:1aad3cc386e8 | 453 | { |
shimizuta | 48:1aad3cc386e8 | 454 | lines[i][1].time_s = time_s; |
shimizuta | 48:1aad3cc386e8 | 455 | lines[i][1].x_m = tempwalk.leg[i].GetX_m(); |
shimizuta | 48:1aad3cc386e8 | 456 | lines[i][1].y_m = tempwalk.leg[i].GetY_m(); |
shimizuta | 48:1aad3cc386e8 | 457 | lines[i][1].is_point_to_point = 0; |
shimizuta | 48:1aad3cc386e8 | 458 | } |
shimizuta | 48:1aad3cc386e8 | 459 | //前回終点から次回始点まで直線移動 |
shimizuta | 48:1aad3cc386e8 | 460 | for (int i = 0; i < 4; i++) |
shimizuta | 48:1aad3cc386e8 | 461 | SetOneLegFreeLinesParam(tempwalk, i, lines[i], sizeof(lines[i]) / sizeof(lines[i][0])); |
shimizuta | 48:1aad3cc386e8 | 462 | tempwalk.ResetPhase(); |
shimizuta | 48:1aad3cc386e8 | 463 | MoveOneCycle(tempwalk, leg); |
shimizuta | 48:1aad3cc386e8 | 464 | SetWalk(walk, nextway); |
shimizuta | 48:1aad3cc386e8 | 465 | }; |