岡本 陸 / Mbed 2 deprecated 0311

test

Dependencies:   mbed ros_lib_kinetic nhk19mr2_can_info splitData SerialHalfDuplex_HM

main.cpp@39:87dcdff27797, 2019-03-04 (annotated)

Committer:
shimizuta
Date:
Mon Mar 04 23:41:48 2019 +0000
Revision:
39:87dcdff27797
Parent:
38:e664b1c12da9
Child:
41:38d79b6513c0
made FourPoint at OVERCOME;

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 #include <math.h>
shimizuta 27:79b4b932a6dd 5 #include <stdio.h>
shimizuta 27:79b4b932a6dd 6 #else
yuto17320508 0:f000d896d188 7 #include "mbed.h"
shimizuta 9:905f93247688 8 #include "pinnames.h"
shimizuta 11:e81425872740 9 #include "KondoServo.h"
shimizuta 14:d7cb429946f4 10 #include "pi.h"
shimizuta 16:0069a56f11a3 11 #include "can.h"
shimizuta 27:79b4b932a6dd 12 #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 36:b0edccff7457 13 #define USE_ROS
shimizuta 34:89d701e15cdf 14 #include <ros.h>
shimizuta 34:89d701e15cdf 15 #include <geometry_msgs/Vector3.h>
shimizuta 27:79b4b932a6dd 16 #endif
shimizuta 27:79b4b932a6dd 17 //#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 18 #include "debug.h"
shimizuta 11:e81425872740 19 #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 20 #include "Walk.h" //歩き方に関するファイル
shimizuta 35:b4e1b8f25cd7 21 #include "OverCome.h"
shimizuta 35:b4e1b8f25cd7 22 #include "change_walk.h"
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 35:b4e1b8f25cd7 24 const int kServoSpan_ms = 6; //サーボの送信間隔
shimizuta 35:b4e1b8f25cd7 25 const float kBetweenServoHalf_m = 0.034 * 0.5; //サーボ間の距離の半分
shimizuta 35:b4e1b8f25cd7 26 float kLegLength1[2] = {0.15, 0.15};
shimizuta 35:b4e1b8f25cd7 27 float kLegLength2[2] = {0.33, 0.34};
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 35:b4e1b8f25cd7 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 35:b4e1b8f25cd7 34 (7300 - 3500) * kServoValToDegree,
shimizuta 35:b4e1b8f25cd7 35 (6995 - 3500) * kServoValToDegree + 180,
shimizuta 14:d7cb429946f4 36 },
shimizuta 14:d7cb429946f4 37 {
shimizuta 35:b4e1b8f25cd7 38 (7619 - 3500) * kServoValToDegree,
shimizuta 35:b4e1b8f25cd7 39 (7085 - 3500) * kServoValToDegree + 180,
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 34:89d701e15cdf 59
shimizuta 27:79b4b932a6dd 60 FILE *fp;
shimizuta 11:e81425872740 61 const float kRadToDegree = 180.0 / M_PI;
shimizuta 32:dc684a0b8448 62 int MoveOneCycle(Walk walkway, OneLeg leg[4]);
shimizuta 11:e81425872740 63 void MoveServo(OneLeg leg, int legnum, int servo_id);
shimizuta 27:79b4b932a6dd 64 void WaitStdin(char startchar);
shimizuta 27:79b4b932a6dd 65 int FileOpen();
shimizuta 27:79b4b932a6dd 66 ////////調整するべきパラメータ
shimizuta 27:79b4b932a6dd 67 enum WalkWay
shimizuta 27:79b4b932a6dd 68 {
shimizuta 27:79b4b932a6dd 69 STANDUP,
shimizuta 35:b4e1b8f25cd7 70 LRFPOSTURE,
shimizuta 39:87dcdff27797 71 OVERCOME,
shimizuta 35:b4e1b8f25cd7 72 FRONTLEG_ON_SANDDUNE, //前足かける
shimizuta 27:79b4b932a6dd 73 };
shimizuta 32:dc684a0b8448 74
shimizuta 35:b4e1b8f25cd7 75 float offset_x_m[4] = {-0.1, 0.1, -0.1, 0.1},
shimizuta 35:b4e1b8f25cd7 76 offset_y_m[4] = {0.35, 0.35, 0.35, 0.35};
shimizuta 35:b4e1b8f25cd7 77 //strideはLRFから変更するようにする
shimizuta 35:b4e1b8f25cd7 78 float stride_m[4] = {0.2, 0.2, 0.2, 0.2},
shimizuta 35:b4e1b8f25cd7 79 height_m[4] = {0.1, 0.1, 0.1, 0.1}, buffer_height_m = 0.05,
shimizuta 35:b4e1b8f25cd7 80 stridetime_s = 1, toptime_s = 0.4, buffer_time_s = 0.2;
shimizuta 35:b4e1b8f25cd7 81 /*
shimizuta 35:b4e1b8f25cd7 82 LineParam over_come_front[]{
shimizuta 35:b4e1b8f25cd7 83 {.time_s = 0, .x_m = -0.075, .y_m = 0.41},
shimizuta 35:b4e1b8f25cd7 84 {.time_s = 0.2, .x_m = -0.175, .y_m = 0.26},
shimizuta 35:b4e1b8f25cd7 85 {.time_s = 0.4, .x_m = 0.075, .y_m = 0.26},
shimizuta 35:b4e1b8f25cd7 86 {.time_s = 0.6, .x_m = 0.075, .y_m = 0.41},
shimizuta 35:b4e1b8f25cd7 87 {.time_s = 1.6, .x_m = -0.075, .y_m = 0.41},
shimizuta 35:b4e1b8f25cd7 88 };
shimizuta 35:b4e1b8f25cd7 89 */
shimizuta 35:b4e1b8f25cd7 90 float d_x_m = 0.1;
shimizuta 35:b4e1b8f25cd7 91 float start_y_m[4] = {0.41, 0.41, 0.41, 0.41};
shimizuta 35:b4e1b8f25cd7 92 float goal_y_m[4] = {0.41, 0.29, 0.41, 0.29};
shimizuta 35:b4e1b8f25cd7 93 float overcome_height_m[] = {0.1, 0.2, 0.1, 0.2};
shimizuta 35:b4e1b8f25cd7 94 float gravity_dist[] = {0.01, -0.01, 0.01, -0.01};
shimizuta 35:b4e1b8f25cd7 95 int SetWalk(Walk &walk, WalkWay way)
shimizuta 35:b4e1b8f25cd7 96 {
shimizuta 35:b4e1b8f25cd7 97 switch (way)
shimizuta 35:b4e1b8f25cd7 98 {
shimizuta 35:b4e1b8f25cd7 99 case STANDUP:
shimizuta 35:b4e1b8f25cd7 100 for (int i = 0; i < 4; i++)
shimizuta 35:b4e1b8f25cd7 101 SetOneLegStandParam(walk, i, offset_x_m[i], offset_y_m[i], 0.5);
shimizuta 35:b4e1b8f25cd7 102 break;
shimizuta 35:b4e1b8f25cd7 103 case LRFPOSTURE:
shimizuta 35:b4e1b8f25cd7 104 for (int i = 0; i < 4; i++)
shimizuta 35:b4e1b8f25cd7 105 SetOneLegTriangleParam(walk, i, offset_x_m[i], offset_y_m[i],
shimizuta 35:b4e1b8f25cd7 106 stride_m[i], height_m[i], buffer_height_m,
shimizuta 35:b4e1b8f25cd7 107 stridetime_s, toptime_s, buffer_time_s);
shimizuta 35:b4e1b8f25cd7 108 walk.SetOffsetTime(0, 0.5, 0.5, 0);
shimizuta 35:b4e1b8f25cd7 109 break;
shimizuta 39:87dcdff27797 110 case FRONTLEG_ON_SANDDUNE:
shimizuta 39:87dcdff27797 111 { //前足かける
shimizuta 39:87dcdff27797 112 /* for (int q = 0; q < 4; q++)
shimizuta 39:87dcdff27797 113 SetOneLegFreeLinesParam(walk, q, over_come_front, sizeof(over_come_front) / sizeof(over_come_front[0]));
shimizuta 39:87dcdff27797 114 walk.SetOffsetTime(0, 0.5, 0.5, 0); */
shimizuta 35:b4e1b8f25cd7 115 OverCome overcome(offset_x_m, start_y_m, d_x_m, goal_y_m, overcome_height_m, gravity_dist, walk.leg);
shimizuta 35:b4e1b8f25cd7 116 walk.Copy(overcome.walk);
shimizuta 39:87dcdff27797 117 }
shimizuta 39:87dcdff27797 118 break;
shimizuta 39:87dcdff27797 119 case OVERCOME: //4点歩行でトロットし続ける
shimizuta 39:87dcdff27797 120 for (int i = 0; i < 4; i++)
shimizuta 39:87dcdff27797 121 SetOneLegFourPointParam(walk, i, offset_x_m[i], offset_y_m[i],
shimizuta 39:87dcdff27797 122 stride_m[i], height_m[i], buffer_height_m,
shimizuta 39:87dcdff27797 123 stridetime_s, toptime_s, buffer_time_s);
shimizuta 39:87dcdff27797 124 walk.SetOffsetTime(0, 0.5, 0.5, 0);
shimizuta 35:b4e1b8f25cd7 125 break;
shimizuta 35:b4e1b8f25cd7 126 }
shimizuta 35:b4e1b8f25cd7 127 return walk.CheckOrbit();
yuto17320508 18:0033ef1814ba 128 }
shimizuta 35:b4e1b8f25cd7 129
shimizuta 9:905f93247688 130 int main()
yuto17320508 5:556d5a5e9d24 131 {
shimizuta 29:7d8b8011a88d 132 #ifdef VSCODE
shimizuta 27:79b4b932a6dd 133 if (FileOpen()) //csv fileに書き込み
shimizuta 27:79b4b932a6dd 134 return 1; //異常終了したら強制終了
shimizuta 29:7d8b8011a88d 135 #endif
shimizuta 39:87dcdff27797 136 OneLeg leg[4]; //各足の位置
shimizuta 35:b4e1b8f25cd7 137 for (int i = 0; i < 4; i++)
shimizuta 35:b4e1b8f25cd7 138 leg[i] = OneLeg(kBetweenServoHalf_m, kLegLength1, kLegLength2);
shimizuta 39:87dcdff27797 139 Walk walk(leg); //歩行法はここに入れていく
shimizuta 35:b4e1b8f25cd7 140 Walk::calctime_s_ = 0.03;
shimizuta 35:b4e1b8f25cd7 141 printf("Stand up?\r\n");
shimizuta 35:b4e1b8f25cd7 142 WaitStdin('y'); // ボタンを押したら立つ
shimizuta 39:87dcdff27797 143 if (SetWalk(walk, STANDUP) == 1)
shimizuta 27:79b4b932a6dd 144 {
shimizuta 35:b4e1b8f25cd7 145 printf("error: stand move\r\n");
shimizuta 34:89d701e15cdf 146 return 1; //強制終了.errorは内部の関数からprintfで知らせる
shimizuta 34:89d701e15cdf 147 }
shimizuta 39:87dcdff27797 148 MoveOneCycle(walk, leg);
shimizuta 29:7d8b8011a88d 149 printf("Move?\r\n");
shimizuta 27:79b4b932a6dd 150 WaitStdin('y'); // ボタンを押したらスタート
shimizuta 27:79b4b932a6dd 151 #ifdef USE_ROS
shimizuta 27:79b4b932a6dd 152 nh_mbed.getHardware()->setBaud(115200);
shimizuta 27:79b4b932a6dd 153 nh_mbed.initNode();
shimizuta 27:79b4b932a6dd 154 nh_mbed.subscribe(sub_vel);
shimizuta 39:87dcdff27797 155 while (1)
shimizuta 39:87dcdff27797 156 {
shimizuta 39:87dcdff27797 157 SetWalk(walk, LRFPOSTURE);
shimizuta 39:87dcdff27797 158 MoveOneCycle(walk, leg);
shimizuta 27:79b4b932a6dd 159 nh_mbed.spinOnce();
shimizuta 39:87dcdff27797 160 }
shimizuta 27:79b4b932a6dd 161 #else
shimizuta 39:87dcdff27797 162 if (SetWalk(walk, OVERCOME) == 1)
shimizuta 39:87dcdff27797 163 {
shimizuta 39:87dcdff27797 164 printf("error: OVERCOME\r\n");
shimizuta 39:87dcdff27797 165 return 1; //強制終了
shimizuta 39:87dcdff27797 166 }
shimizuta 39:87dcdff27797 167 for (int i = 0; i < 2; i++) //歩数
shimizuta 39:87dcdff27797 168 MoveOneCycle(walk, leg);
shimizuta 39:87dcdff27797 169 /*
shimizuta 39:87dcdff27797 170 if (SetWalk(walk, FRONTLEG_ON_SANDDUNE) == 1)
shimizuta 35:b4e1b8f25cd7 171 {
shimizuta 35:b4e1b8f25cd7 172 printf("error: triangle\r\n");
shimizuta 35:b4e1b8f25cd7 173 return 1; //強制終了.errorは内部の関数からprintfで知らせる
shimizuta 35:b4e1b8f25cd7 174 }
shimizuta 35:b4e1b8f25cd7 175 for (int i = 0; i < 2; i++)
shimizuta 39:87dcdff27797 176 MoveOneCycle(walk, leg);
shimizuta 39:87dcdff27797 177
shimizuta 35:b4e1b8f25cd7 178 offset_y_m[LEFT_F] = 0.29;
shimizuta 35:b4e1b8f25cd7 179 offset_y_m[RIGHT_F] = 0.29;
shimizuta 39:87dcdff27797 180 */
shimizuta 39:87dcdff27797 181 /*
shimizuta 39:87dcdff27797 182 if (SetWalk(walk, LRFPOSTURE) == 1)
shimizuta 35:b4e1b8f25cd7 183 {
shimizuta 35:b4e1b8f25cd7 184 printf("error: triangle\r\n");
shimizuta 35:b4e1b8f25cd7 185 return 1; //強制終了.errorは内部の関数からprintfで知らせる
shimizuta 35:b4e1b8f25cd7 186 }
shimizuta 39:87dcdff27797 187 for (int i = 0; i < 2; i++)
shimizuta 39:87dcdff27797 188 MoveOneCycle(walk, leg);
shimizuta 39:87dcdff27797 189 */
shimizuta 35:b4e1b8f25cd7 190
shimizuta 34:89d701e15cdf 191 printf("program end\r\n");
shimizuta 29:7d8b8011a88d 192 #ifdef VSCODE
shimizuta 27:79b4b932a6dd 193 fclose(fp);
shimizuta 27:79b4b932a6dd 194 #endif
shimizuta 29:7d8b8011a88d 195 #endif
shimizuta 2:a92568bdeb5c 196 }
shimizuta 32:dc684a0b8448 197 //一サイクル分進む.return 1:異常終了
shimizuta 32:dc684a0b8448 198 int MoveOneCycle(Walk walkway, OneLeg leg[4])
yuto17320508 5:556d5a5e9d24 199 {
shimizuta 27:79b4b932a6dd 200 #ifndef VSCODE
shimizuta 9:905f93247688 201 timer.reset();
shimizuta 9:905f93247688 202 timer.start();
shimizuta 27:79b4b932a6dd 203 #endif
shimizuta 35:b4e1b8f25cd7 204 int count = walkway.orbit[0].GetOneWalkTime() / walkway.calctime_s_;
shimizuta 27:79b4b932a6dd 205 for (int i = 0; i < count; i++)
yuto17320508 8:21b932c4e6c5 206 {
shimizuta 27:79b4b932a6dd 207 #ifndef VSCODE
shimizuta 9:905f93247688 208 float time_s = timer.read();
shimizuta 27:79b4b932a6dd 209 #endif
shimizuta 29:7d8b8011a88d 210 //4本の足それぞれの足先サーボ角度更新
shimizuta 29:7d8b8011a88d 211 if (walkway.Cal4LegsPosi(leg) == 1)
shimizuta 32:dc684a0b8448 212 {
shimizuta 29:7d8b8011a88d 213 printf("error: time = %f\r\n", i * walkway.calctime_s_);
shimizuta 32:dc684a0b8448 214 return 1;
shimizuta 32:dc684a0b8448 215 }
shimizuta 19:1adc7302cfd9 216 #ifdef USE_CAN
shimizuta 27:79b4b932a6dd 217 SendRad(leg[2], leg[3]); //slave_mbed分の足の目標位置を送信
shimizuta 19:1adc7302cfd9 218 #endif
shimizuta 9:905f93247688 219 //自身が動かす足のサーボを動かす
shimizuta 16:0069a56f11a3 220 MoveServo(leg[0], 0, 0);
shimizuta 11:e81425872740 221 MoveServo(leg[1], 1, 0);
shimizuta 27:79b4b932a6dd 222 #ifndef VSCODE
shimizuta 9:905f93247688 223 wait_ms(kServoSpan_ms);
shimizuta 27:79b4b932a6dd 224 #endif
shimizuta 16:0069a56f11a3 225 MoveServo(leg[0], 0, 1);
shimizuta 11:e81425872740 226 MoveServo(leg[1], 1, 1);
shimizuta 29:7d8b8011a88d 227 #ifdef VSCODE
shimizuta 27:79b4b932a6dd 228 //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 229 fprintf(fp, "%f", i * walkway.calctime_s_);
shimizuta 27:79b4b932a6dd 230 for (int i = 0; i < 4; i++)
shimizuta 27:79b4b932a6dd 231 fprintf(fp, ",%f,%f", leg[i].GetX_m(), leg[i].GetY_m());
shimizuta 27:79b4b932a6dd 232 fprintf(fp, "\r\n");
shimizuta 29:7d8b8011a88d 233 #else
shimizuta 27:79b4b932a6dd 234 //計算周期がwalkway.calctime_s_になるようwait
shimizuta 27:79b4b932a6dd 235 float rest_time_s = walkway.calctime_s_ - (timer.read() - time_s);
shimizuta 9:905f93247688 236 if (rest_time_s > 0)
shimizuta 9:905f93247688 237 wait(rest_time_s);
shimizuta 19:1adc7302cfd9 238 else
shimizuta 19:1adc7302cfd9 239 { //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 240 DEBUG("error: rest_time_s = %f in Move()\r\n", rest_time_s);
shimizuta 14:d7cb429946f4 241 led[0] = 1;
shimizuta 14:d7cb429946f4 242 }
shimizuta 27:79b4b932a6dd 243 #endif
shimizuta 9:905f93247688 244 }
shimizuta 32:dc684a0b8448 245 return 0;
yuto17320508 5:556d5a5e9d24 246 }
shimizuta 14:d7cb429946f4 247 void MoveServo(OneLeg leg, int serial_num, int servo_id)
yuto17320508 6:43708adf2e5d 248 {
shimizuta 27:79b4b932a6dd 249 #ifndef VSCODE
shimizuta 11:e81425872740 250 float degree = leg.GetRad(servo_id) * kRadToDegree;
shimizuta 14:d7cb429946f4 251 //サーボの座標系に変更
shimizuta 14:d7cb429946f4 252 float servo_degree = kServoSign[serial_num][servo_id] * degree + kOriginDegree[serial_num][servo_id];
shimizuta 27:79b4b932a6dd 253 // DEBUG("servo_degree[%d][%d],%f\r\n", serial_num, servo_id, servo_degree);
shimizuta 14:d7cb429946f4 254 servo[serial_num].set_degree(servo_id, servo_degree);
shimizuta 27:79b4b932a6dd 255 #endif
shimizuta 12:2ac37fe6c3bb 256 }
shimizuta 27:79b4b932a6dd 257 void WaitStdin(char startchar)
shimizuta 27:79b4b932a6dd 258 {
shimizuta 27:79b4b932a6dd 259 #ifndef USE_ROS
shimizuta 27:79b4b932a6dd 260 char str[255] = {};
shimizuta 27:79b4b932a6dd 261 do
shimizuta 27:79b4b932a6dd 262 {
shimizuta 27:79b4b932a6dd 263 printf("put '%c', then start\r\n", startchar);
shimizuta 27:79b4b932a6dd 264 scanf("%s", str);
shimizuta 27:79b4b932a6dd 265 } while (str[0] != startchar);
shimizuta 27:79b4b932a6dd 266 #endif
shimizuta 27:79b4b932a6dd 267 }
shimizuta 27:79b4b932a6dd 268 int FileOpen() //1:異常終了
shimizuta 27:79b4b932a6dd 269 {
shimizuta 27:79b4b932a6dd 270 if ((fp = fopen("data.csv", "w")) == NULL)
shimizuta 27:79b4b932a6dd 271 {
shimizuta 27:79b4b932a6dd 272 printf("error : FileSave()\r\n");
shimizuta 27:79b4b932a6dd 273 return 1;
shimizuta 27:79b4b932a6dd 274 }
shimizuta 27:79b4b932a6dd 275 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 276 return 0;
shimizuta 27:79b4b932a6dd 277 }
shimizuta 27:79b4b932a6dd 278 #ifdef USE_ROS
shimizuta 27:79b4b932a6dd 279 void callback(const geometry_msgs::Vector3 &cmd_vel)
shimizuta 27:79b4b932a6dd 280 {
shimizuta 27:79b4b932a6dd 281 float left_vel = cmd_vel.x;
shimizuta 27:79b4b932a6dd 282 float right_vel = cmd_vel.y;
shimizuta 39:87dcdff27797 283 // int state = cmd_vel.z;
shimizuta 27:79b4b932a6dd 284 //閾値は要検討
shimizuta 27:79b4b932a6dd 285 if (right_vel < left_vel)
shimizuta 35:b4e1b8f25cd7 286 {
shimizuta 35:b4e1b8f25cd7 287 stride_m[LEFT_F] = 0.2;
shimizuta 35:b4e1b8f25cd7 288 stride_m[RIGHT_F] = 0.2;
shimizuta 35:b4e1b8f25cd7 289 stride_m[LEFT_B] = 0.1;
shimizuta 35:b4e1b8f25cd7 290 stride_m[RIGHT_B] = 0.1;
shimizuta 35:b4e1b8f25cd7 291 }
shimizuta 27:79b4b932a6dd 292 else
shimizuta 35:b4e1b8f25cd7 293 {
shimizuta 35:b4e1b8f25cd7 294 stride_m[LEFT_F] = 0.1;
shimizuta 35:b4e1b8f25cd7 295 stride_m[RIGHT_F] = 0.1;
shimizuta 35:b4e1b8f25cd7 296 stride_m[LEFT_B] = 0.2;
shimizuta 35:b4e1b8f25cd7 297 stride_m[RIGHT_B] = 0.2;
shimizuta 35:b4e1b8f25cd7 298 }
shimizuta 27:79b4b932a6dd 299 }
shimizuta 35:b4e1b8f25cd7 300 #endif