岡本 陸 / Mbed 2 deprecated 0311

test

Dependencies:   mbed ros_lib_kinetic nhk19mr2_can_info splitData SerialHalfDuplex_HM

main.cpp@29:7d8b8011a88d, 2019-02-27 (annotated)

Committer:
shimizuta
Date:
Wed Feb 27 12:16:18 2019 +0000
Revision:
29:7d8b8011a88d
Parent:
28:8e1cbeffe6c2
Child:
31:86eb746eaed4
can move triangle orbit

Who changed what in which revision?

UserRevisionLine numberNew contents of line
shimizuta 11:e81425872740 1 //NHK2019MR2 馬型機構プログラム.
shimizuta 28:8e1cbeffe6c2 2 //#define VSCODE
shimizuta 27:79b4b932a6dd 3 #ifdef VSCODE
shimizuta 27:79b4b932a6dd 4 #define _USE_MATH_DEFINES
shimizuta 27:79b4b932a6dd 5 #include <math.h>
shimizuta 27:79b4b932a6dd 6 #include <stdio.h>
shimizuta 27:79b4b932a6dd 7 #else
yuto17320508 0:f000d896d188 8 #include "mbed.h"
shimizuta 9:905f93247688 9 #include "pinnames.h"
shimizuta 11:e81425872740 10 #include "KondoServo.h"
shimizuta 14:d7cb429946f4 11 #include "pi.h"
shimizuta 16:0069a56f11a3 12 #include "can.h"
shimizuta 27:79b4b932a6dd 13 #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
shimizuta 29:7d8b8011a88d 14 //#define USE_ROS
shimizuta 27:79b4b932a6dd 15 #include <ros.h>
shimizuta 27:79b4b932a6dd 16 #include <geometry_msgs/Vector3.h>
shimizuta 27:79b4b932a6dd 17 #endif
shimizuta 27:79b4b932a6dd 18 //#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 19 #include "debug.h"
shimizuta 11:e81425872740 20 #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 21 #include "Walk.h" //歩き方に関するファイル
yuto17320508 4:fffdb273836e 22
shimizuta 27:79b4b932a6dd 23 ////////////あまり変化させないパラメータ。この他は全てmainの上(ParamSetup())にある。
shimizuta 27:79b4b932a6dd 24 const int kServoSpan_ms = 6; //サーボの送信間隔
shimizuta 19:1adc7302cfd9 25 const float kBetweenServoHalf_m = 0.03 * 0.5; //サーボ間の距離の半分
shimizuta 19:1adc7302cfd9 26 float kLegLength1[2] = {0.1, 0.1};
shimizuta 29:7d8b8011a88d 27 float kLegLength2[2] = {0.2452 + 0.0025, 0.23};
shimizuta 14:d7cb429946f4 28 //サーボの正負と座標系の正負の補正.足で一セット。
shimizuta 27:79b4b932a6dd 29 const int kServoSign[2][2] = {{1, -1}, {-1, 1}};
shimizuta 14:d7cb429946f4 30 //欲しい座標系0度でのサーボのICSマネージャーの値
shimizuta 27:79b4b932a6dd 31 const double kServoValToDegree = 270.0 / (11500 - 3500); //ICSの値を度に変換
shimizuta 14:d7cb429946f4 32 const double kOriginDegree[2][2] = {
shimizuta 14:d7cb429946f4 33 {
shimizuta 29:7d8b8011a88d 34 (8375 - 3500) * kServoValToDegree,
shimizuta 29:7d8b8011a88d 35 (5523 - 3500) * kServoValToDegree + 180,
shimizuta 14:d7cb429946f4 36 },
shimizuta 14:d7cb429946f4 37 {
yuto17320508 20:70cc6083e9c7 38 (6470 - 3500) * kServoValToDegree,
yuto17320508 20:70cc6083e9c7 39 (7419 - 3500) * kServoValToDegree - 180, //180度の時6657シータ負の方向に動かすと値は減るので、0度の位置は-180すれば出る
shimizuta 14:d7cb429946f4 40 },
shimizuta 14:d7cb429946f4 41 };
shimizuta 9:905f93247688 42 ///////////////
shimizuta 27:79b4b932a6dd 43 #ifndef VSCODE
shimizuta 9:905f93247688 44 Timer timer;
shimizuta 11:e81425872740 45 KondoServo servo[2] = {
shimizuta 11:e81425872740 46 KondoServo(pin_serial_servo_tx[0], pin_serial_servo_rx[0]),
shimizuta 11:e81425872740 47 KondoServo(pin_serial_servo_tx[1], pin_serial_servo_rx[1]),
shimizuta 11:e81425872740 48 };
shimizuta 27:79b4b932a6dd 49 DigitalOut led[4] = {DigitalOut(LED1), DigitalOut(LED2), DigitalOut(LED3), DigitalOut(LED4)};
shimizuta 27:79b4b932a6dd 50 #endif
shimizuta 27:79b4b932a6dd 51 #ifdef USE_ROS
shimizuta 27:79b4b932a6dd 52 ros::NodeHandle nh_mbed;
shimizuta 27:79b4b932a6dd 53 //ROSからのコールバック関数
shimizuta 27:79b4b932a6dd 54 void callback(const geometry_msgs::Vector3 &cmd_vel);
shimizuta 27:79b4b932a6dd 55 //LPからの左右速度比を受けとり、それをもとに歩行パターンを決定する
shimizuta 27:79b4b932a6dd 56 //1サイクルの間、通信は遮断され、サイクル終了後に通信を受け付ける
shimizuta 27:79b4b932a6dd 57 ros::Subscriber<geometry_msgs::Vector3> sub_vel("/cmd_vel", &callback);
shimizuta 27:79b4b932a6dd 58 #endif
shimizuta 27:79b4b932a6dd 59 OneLeg leg[4]; //各足の位置
shimizuta 27:79b4b932a6dd 60 enum LegNum //足とシリアルサーボの番号
shimizuta 27:79b4b932a6dd 61 {
shimizuta 27:79b4b932a6dd 62 RIGHT_B,
shimizuta 27:79b4b932a6dd 63 RIGHT_F,
shimizuta 27:79b4b932a6dd 64 LEFT_B,
shimizuta 27:79b4b932a6dd 65 LEFT_F,
shimizuta 9:905f93247688 66 };
shimizuta 27:79b4b932a6dd 67 FILE *fp;
shimizuta 11:e81425872740 68 const float kRadToDegree = 180.0 / M_PI;
shimizuta 27:79b4b932a6dd 69 void MoveOneCycle(Walk walkway, OneLeg leg[4]);
shimizuta 11:e81425872740 70 void MoveServo(OneLeg leg, int legnum, int servo_id);
shimizuta 27:79b4b932a6dd 71 void WaitStdin(char startchar);
shimizuta 27:79b4b932a6dd 72 int FileOpen();
shimizuta 27:79b4b932a6dd 73 int IsArrived(int count, int finish);
shimizuta 29:7d8b8011a88d 74 //段差があるときの機体角度を計算
shimizuta 29:7d8b8011a88d 75 //param back_height_on_step:段差の高さ。後ろにあるとする。前にあるときはマイナスを入れる
shimizuta 29:7d8b8011a88d 76 float GetSteepBodyRad(float back_height_on_step);
shimizuta 27:79b4b932a6dd 77
shimizuta 27:79b4b932a6dd 78 ////////調整するべきパラメータ
shimizuta 27:79b4b932a6dd 79 enum WalkWay
shimizuta 27:79b4b932a6dd 80 {
shimizuta 27:79b4b932a6dd 81 STANDUP,
shimizuta 27:79b4b932a6dd 82 STRAIGHT,
shimizuta 29:7d8b8011a88d 83 END,
shimizuta 27:79b4b932a6dd 84 TURNLEFT,
shimizuta 27:79b4b932a6dd 85 TURNRIGHT,
shimizuta 29:7d8b8011a88d 86 UP, //足を伸ばして立つ
shimizuta 29:7d8b8011a88d 87 OVERCOME, //前足を乗せる
shimizuta 29:7d8b8011a88d 88 SANDDUNE, //前足だけがsandduneに乗った状態で進む
shimizuta 29:7d8b8011a88d 89 OVERCOME_BACK, //後ろ足を乗せる
shimizuta 29:7d8b8011a88d 90 STRAIGHT_W, //両足がsandduneに乗った状態で進む
shimizuta 29:7d8b8011a88d 91 STRAIGHT_W2, //後足がsandduneに乗った状態で進む
shimizuta 29:7d8b8011a88d 92 ROPE_F, //ropeをまたぐ（前足)
shimizuta 29:7d8b8011a88d 93 ROPE_B, //ropeをまたぐ（後ろ足)
shimizuta 27:79b4b932a6dd 94 };
shimizuta 27:79b4b932a6dd 95 void ParamsSetup(Walk walks[END], OneLeg leg[4]) //各パラメータの設定。減らしていく必要あり
shimizuta 19:1adc7302cfd9 96 {
shimizuta 29:7d8b8011a88d 97
shimizuta 27:79b4b932a6dd 98 Walk::calctime_s_ = 0.03; //計算周期
shimizuta 27:79b4b932a6dd 99 //足の作成、サイズデータのみの足の骨組.4足同じにしている
shimizuta 27:79b4b932a6dd 100 for (int i = 0; i < 4; i++)
shimizuta 27:79b4b932a6dd 101 leg[i] = OneLeg(kBetweenServoHalf_m, kLegLength1, kLegLength2);
shimizuta 29:7d8b8011a88d 102 walks[STANDUP].SetAllLegStandParam(0, 0.2, 0.5); //x,y,time_s.一括で設定できる
shimizuta 27:79b4b932a6dd 103
shimizuta 29:7d8b8011a88d 104 //STRAIGT 論文通りのとき、start_y_mは <=0.32
shimizuta 29:7d8b8011a88d 105 float start_x_m = 0.06, start_y_m = 0.2, stride_m = 0.12, height_m = 0.03, buffer_height_m = 0.01,
shimizuta 29:7d8b8011a88d 106 stridetime_s = 0.55, toptime_s = 0.30, buffer_time_s = 0.15;
shimizuta 29:7d8b8011a88d 107 walks[STRAIGHT].SetAllLegTriangleParam(start_x_m, start_y_m, stride_m, height_m, buffer_height_m,
shimizuta 29:7d8b8011a88d 108 stridetime_s, toptime_s, buffer_time_s);
shimizuta 29:7d8b8011a88d 109 walks[STRAIGHT].SetOffsetTime(0, 0.5, 0.5, 0);
yuto17320508 18:0033ef1814ba 110 }
shimizuta 27:79b4b932a6dd 111 Walk walks[END]; //歩行法
shimizuta 9:905f93247688 112 int main()
yuto17320508 5:556d5a5e9d24 113 {
shimizuta 29:7d8b8011a88d 114 #ifdef VSCODE
shimizuta 27:79b4b932a6dd 115 if (FileOpen()) //csv fileに書き込み
shimizuta 27:79b4b932a6dd 116 return 1; //異常終了したら強制終了
shimizuta 29:7d8b8011a88d 117 #endif
shimizuta 27:79b4b932a6dd 118 DEBUG("param set start");
shimizuta 27:79b4b932a6dd 119 ParamsSetup(walks, leg); //各動きの際の足の軌道を設定。パラメータはこの関数内に打ち込む
shimizuta 27:79b4b932a6dd 120 for (int i = 0; i < END; i++) //軌道のチェック
shimizuta 27:79b4b932a6dd 121 {
shimizuta 27:79b4b932a6dd 122 if (walks[i].CheckOrbit(leg[0]) == 1) //軌道が定義外なら
shimizuta 29:7d8b8011a88d 123 {
shimizuta 29:7d8b8011a88d 124 printf("error: move pattern %d", i);
shimizuta 29:7d8b8011a88d 125 return 1; //強制終了.errorは内部の関数からprintfで知らせる
shimizuta 29:7d8b8011a88d 126 }
shimizuta 27:79b4b932a6dd 127 }
shimizuta 29:7d8b8011a88d 128 printf("Stand up?\r\n");
shimizuta 27:79b4b932a6dd 129 WaitStdin('y'); // ボタンを押したら立つ
shimizuta 27:79b4b932a6dd 130 MoveOneCycle(walks[STANDUP], leg);
shimizuta 29:7d8b8011a88d 131 printf("Move?\r\n");
shimizuta 27:79b4b932a6dd 132 WaitStdin('y'); // ボタンを押したらスタート
shimizuta 27:79b4b932a6dd 133 #ifdef USE_ROS
shimizuta 27:79b4b932a6dd 134 nh_mbed.getHardware()->setBaud(115200);
shimizuta 27:79b4b932a6dd 135 nh_mbed.initNode();
shimizuta 27:79b4b932a6dd 136 nh_mbed.subscribe(sub_vel);
shimizuta 27:79b4b932a6dd 137 while (1)
shimizuta 27:79b4b932a6dd 138 nh_mbed.spinOnce();
shimizuta 27:79b4b932a6dd 139 #else
shimizuta 27:79b4b932a6dd 140 for (int i = 1; i < END; i++) //ENDになるまでWalkWayの順に動作
shimizuta 27:79b4b932a6dd 141 {
shimizuta 27:79b4b932a6dd 142 DEBUG("Move %d\r\n", i);
shimizuta 27:79b4b932a6dd 143 for (int j = 0; j < 2; j++) //debug用に2歩進む
shimizuta 27:79b4b932a6dd 144 MoveOneCycle(walks[i], leg);
shimizuta 27:79b4b932a6dd 145 }
shimizuta 27:79b4b932a6dd 146 MoveOneCycle(walks[STANDUP], leg); //最後はLRFを保護するためSTANDUPの状態で終わる
shimizuta 27:79b4b932a6dd 147 printf("program end\r\n");
shimizuta 29:7d8b8011a88d 148 #ifdef VSCODE
shimizuta 27:79b4b932a6dd 149 fclose(fp);
shimizuta 27:79b4b932a6dd 150 #endif
shimizuta 29:7d8b8011a88d 151 #endif
shimizuta 2:a92568bdeb5c 152 }
shimizuta 27:79b4b932a6dd 153 //一サイクル分進む
shimizuta 27:79b4b932a6dd 154 void MoveOneCycle(Walk walkway, OneLeg leg[4])
yuto17320508 5:556d5a5e9d24 155 {
shimizuta 27:79b4b932a6dd 156 #ifndef VSCODE
shimizuta 9:905f93247688 157 timer.reset();
shimizuta 9:905f93247688 158 timer.start();
shimizuta 27:79b4b932a6dd 159 #endif
shimizuta 27:79b4b932a6dd 160 int count = walkway.GetOneWalkTime() / walkway.calctime_s_;
shimizuta 27:79b4b932a6dd 161 for (int i = 0; i < count; i++)
yuto17320508 8:21b932c4e6c5 162 {
shimizuta 27:79b4b932a6dd 163 #ifndef VSCODE
shimizuta 9:905f93247688 164 float time_s = timer.read();
shimizuta 27:79b4b932a6dd 165 #endif
shimizuta 29:7d8b8011a88d 166 //4本の足それぞれの足先サーボ角度更新
shimizuta 29:7d8b8011a88d 167 if (walkway.Cal4LegsPosi(leg) == 1)
shimizuta 29:7d8b8011a88d 168 printf("error: time = %f\r\n", i * walkway.calctime_s_);
shimizuta 19:1adc7302cfd9 169 #ifdef USE_CAN
shimizuta 27:79b4b932a6dd 170 SendRad(leg[2], leg[3]); //slave_mbed分の足の目標位置を送信
shimizuta 19:1adc7302cfd9 171 #endif
shimizuta 9:905f93247688 172 //自身が動かす足のサーボを動かす
shimizuta 16:0069a56f11a3 173 MoveServo(leg[0], 0, 0);
shimizuta 11:e81425872740 174 MoveServo(leg[1], 1, 0);
shimizuta 27:79b4b932a6dd 175 #ifndef VSCODE
shimizuta 9:905f93247688 176 wait_ms(kServoSpan_ms);
shimizuta 27:79b4b932a6dd 177 #endif
shimizuta 16:0069a56f11a3 178 MoveServo(leg[0], 0, 1);
shimizuta 11:e81425872740 179 MoveServo(leg[1], 1, 1);
shimizuta 29:7d8b8011a88d 180 #ifdef VSCODE
shimizuta 27:79b4b932a6dd 181 //ファイルに書き込み。time[s],x[0],y[0],x[1],y[1],x[2],y[2],x[3],y[3]の順
shimizuta 27:79b4b932a6dd 182 fprintf(fp, "%f", i * walkway.calctime_s_);
shimizuta 27:79b4b932a6dd 183 for (int i = 0; i < 4; i++)
shimizuta 27:79b4b932a6dd 184 fprintf(fp, ",%f,%f", leg[i].GetX_m(), leg[i].GetY_m());
shimizuta 27:79b4b932a6dd 185 fprintf(fp, "\r\n");
shimizuta 29:7d8b8011a88d 186 #else
shimizuta 27:79b4b932a6dd 187 //計算周期がwalkway.calctime_s_になるようwait
shimizuta 27:79b4b932a6dd 188 float rest_time_s = walkway.calctime_s_ - (timer.read() - time_s);
shimizuta 9:905f93247688 189 if (rest_time_s > 0)
shimizuta 9:905f93247688 190 wait(rest_time_s);
shimizuta 19:1adc7302cfd9 191 else
shimizuta 19:1adc7302cfd9 192 { //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 19:1adc7302cfd9 193 DEBUG("error: rest_time_s = %f in Move()\r\n", rest_time_s);
shimizuta 14:d7cb429946f4 194 led[0] = 1;
shimizuta 14:d7cb429946f4 195 }
shimizuta 27:79b4b932a6dd 196 #endif
shimizuta 9:905f93247688 197 }
yuto17320508 5:556d5a5e9d24 198 }
shimizuta 14:d7cb429946f4 199 void MoveServo(OneLeg leg, int serial_num, int servo_id)
yuto17320508 6:43708adf2e5d 200 {
shimizuta 27:79b4b932a6dd 201 #ifndef VSCODE
shimizuta 11:e81425872740 202 float degree = leg.GetRad(servo_id) * kRadToDegree;
shimizuta 14:d7cb429946f4 203 //サーボの座標系に変更
shimizuta 14:d7cb429946f4 204 float servo_degree = kServoSign[serial_num][servo_id] * degree + kOriginDegree[serial_num][servo_id];
shimizuta 27:79b4b932a6dd 205 // DEBUG("servo_degree[%d][%d],%f\r\n", serial_num, servo_id, servo_degree);
shimizuta 14:d7cb429946f4 206 servo[serial_num].set_degree(servo_id, servo_degree);
shimizuta 27:79b4b932a6dd 207 #endif
shimizuta 12:2ac37fe6c3bb 208 }
shimizuta 27:79b4b932a6dd 209 void WaitStdin(char startchar)
shimizuta 27:79b4b932a6dd 210 {
shimizuta 27:79b4b932a6dd 211 #ifndef USE_ROS
shimizuta 27:79b4b932a6dd 212 char str[255] = {};
shimizuta 27:79b4b932a6dd 213 do
shimizuta 27:79b4b932a6dd 214 {
shimizuta 27:79b4b932a6dd 215 printf("put '%c', then start\r\n", startchar);
shimizuta 27:79b4b932a6dd 216 scanf("%s", str);
shimizuta 27:79b4b932a6dd 217 } while (str[0] != startchar);
shimizuta 27:79b4b932a6dd 218 #endif
shimizuta 27:79b4b932a6dd 219 }
shimizuta 27:79b4b932a6dd 220 int FileOpen() //1:異常終了
shimizuta 27:79b4b932a6dd 221 {
shimizuta 27:79b4b932a6dd 222 if ((fp = fopen("data.csv", "w")) == NULL)
shimizuta 27:79b4b932a6dd 223 {
shimizuta 27:79b4b932a6dd 224 printf("error : FileSave()\r\n");
shimizuta 27:79b4b932a6dd 225 return 1;
shimizuta 27:79b4b932a6dd 226 }
shimizuta 27:79b4b932a6dd 227 fprintf(fp, "time[s],x[0],y[0],x[1],y[1],x[2],y[2],x[3],y[3]\r\n");
shimizuta 27:79b4b932a6dd 228 return 0;
shimizuta 27:79b4b932a6dd 229 }
shimizuta 27:79b4b932a6dd 230 #ifdef USE_ROS
shimizuta 27:79b4b932a6dd 231 void callback(const geometry_msgs::Vector3 &cmd_vel)
shimizuta 27:79b4b932a6dd 232 {
shimizuta 27:79b4b932a6dd 233 float left_vel = cmd_vel.x;
shimizuta 27:79b4b932a6dd 234 float right_vel = cmd_vel.y;
shimizuta 27:79b4b932a6dd 235 //閾値は要検討
shimizuta 27:79b4b932a6dd 236 if (right_vel < left_vel)
shimizuta 27:79b4b932a6dd 237 MoveOneCycle(walks[TURNRIGHT], leg);
shimizuta 27:79b4b932a6dd 238 else if (left_vel < right_vel)
shimizuta 27:79b4b932a6dd 239 MoveOneCycle(walks[TURNLEFT], leg);
shimizuta 27:79b4b932a6dd 240 else
shimizuta 27:79b4b932a6dd 241 MoveOneCycle(walks[STRAIGHT], leg);
shimizuta 27:79b4b932a6dd 242 }
shimizuta 27:79b4b932a6dd 243 #endif
shimizuta 29:7d8b8011a88d 244 //param back_height_on_step:段差の高さ。後ろにあるとする。前にあるときはマイナスを入れる
shimizuta 29:7d8b8011a88d 245 float GetSteepBodyRad(float back_height_on_step)
shimizuta 29:7d8b8011a88d 246 {
shimizuta 29:7d8b8011a88d 247 float offset_hight = back_height_on_step + leg[LEFT_B].GetY_m() - leg[LEFT_B].GetY_m();
shimizuta 29:7d8b8011a88d 248 float theta = atan2(offset_hight, (float)(sqrt(0.09 - offset_hight * offset_hight)));
shimizuta 29:7d8b8011a88d 249 return theta;
shimizuta 29:7d8b8011a88d 250 }