test
Dependencies: mbed ros_lib_kinetic nhk19mr2_can_info splitData SerialHalfDuplex_HM
main.cpp@42:982064594ba6, 2019-03-05 (annotated)
- Committer:
- shimizuta
- Date:
- Tue Mar 05 09:08:40 2019 +0000
- Revision:
- 42:982064594ba6
- Parent:
- 41:38d79b6513c0
- Child:
- 43:2ed84f3558c1
overcome 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. |
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 | 42:982064594ba6 | 13 | #define USE_ROS |
shimizuta | 34:89d701e15cdf | 14 | #include <ros.h> |
shimizuta | 34:89d701e15cdf | 15 | #include <geometry_msgs/Vector3.h> |
shimizuta | 42:982064594ba6 | 16 | #include <std_msgs/Int16.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 |
shimizuta | 35:b4e1b8f25cd7 | 22 | #include "OverCome.h" |
shimizuta | 35:b4e1b8f25cd7 | 23 | #include "change_walk.h" |
shimizuta | 27:79b4b932a6dd | 24 | ////////////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 | 25 | const int kServoSpan_ms = 6; //サーボの送信間隔 |
shimizuta | 35:b4e1b8f25cd7 | 26 | const float kBetweenServoHalf_m = 0.034 * 0.5; //サーボ間の距離の半分 |
shimizuta | 35:b4e1b8f25cd7 | 27 | float kLegLength1[2] = {0.15, 0.15}; |
shimizuta | 35:b4e1b8f25cd7 | 28 | float kLegLength2[2] = {0.33, 0.34}; |
shimizuta | 14:d7cb429946f4 | 29 | //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 | 30 | const int kServoSign[2][2] = {{-1, -1}, {-1, -1}}; |
shimizuta | 14:d7cb429946f4 | 31 | //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 | 32 | const double kServoValToDegree = 270.0 / (11500 - 3500); //ICSの値を度に変換 |
shimizuta | 14:d7cb429946f4 | 33 | const double kOriginDegree[2][2] = { |
shimizuta | 14:d7cb429946f4 | 34 | { |
shimizuta | 42:982064594ba6 | 35 | (7268 - 3500) * kServoValToDegree, |
shimizuta | 42:982064594ba6 | 36 | (7768 - 3500) * kServoValToDegree + 180, |
shimizuta | 14:d7cb429946f4 | 37 | }, |
shimizuta | 14:d7cb429946f4 | 38 | { |
shimizuta | 42:982064594ba6 | 39 | (7914 - 3500) * kServoValToDegree, |
shimizuta | 42:982064594ba6 | 40 | (7543 - 3500) * kServoValToDegree + 180, |
shimizuta | 14:d7cb429946f4 | 41 | }, |
shimizuta | 14:d7cb429946f4 | 42 | }; |
shimizuta | 9:905f93247688 | 43 | /////////////// |
shimizuta | 27:79b4b932a6dd | 44 | #ifndef VSCODE |
shimizuta | 9:905f93247688 | 45 | Timer timer; |
shimizuta | 11:e81425872740 | 46 | KondoServo servo[2] = { |
shimizuta | 11:e81425872740 | 47 | KondoServo(pin_serial_servo_tx[0], pin_serial_servo_rx[0]), |
shimizuta | 11:e81425872740 | 48 | KondoServo(pin_serial_servo_tx[1], pin_serial_servo_rx[1]), |
shimizuta | 11:e81425872740 | 49 | }; |
shimizuta | 27:79b4b932a6dd | 50 | DigitalOut led[4] = {DigitalOut(LED1), DigitalOut(LED2), DigitalOut(LED3), DigitalOut(LED4)}; |
shimizuta | 27:79b4b932a6dd | 51 | #endif |
shimizuta | 27:79b4b932a6dd | 52 | #ifdef USE_ROS |
shimizuta | 27:79b4b932a6dd | 53 | ros::NodeHandle nh_mbed; |
shimizuta | 27:79b4b932a6dd | 54 | //ROSからのコールバック関数 |
shimizuta | 27:79b4b932a6dd | 55 | void callback(const geometry_msgs::Vector3 &cmd_vel); |
shimizuta | 42:982064594ba6 | 56 | void callback_state(const std_msgs::Int16 &cmd_vel); |
shimizuta | 27:79b4b932a6dd | 57 | //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 | 58 | //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 | 59 | ros::Subscriber<geometry_msgs::Vector3> sub_vel("/cmd_vel", &callback); |
shimizuta | 42:982064594ba6 | 60 | ros::Subscriber<std_msgs::Int16> sub_state("/state", &callback_state); |
shimizuta | 42:982064594ba6 | 61 | // ros::Publisher<geometry_msgs::Vector3> pub_vel("/callback_vel"); |
shimizuta | 27:79b4b932a6dd | 62 | #endif |
shimizuta | 34:89d701e15cdf | 63 | |
shimizuta | 42:982064594ba6 | 64 | FILE *fp; |
shimizuta | 11:e81425872740 | 65 | const float kRadToDegree = 180.0 / M_PI; |
shimizuta | 32:dc684a0b8448 | 66 | int MoveOneCycle(Walk walkway, OneLeg leg[4]); |
shimizuta | 11:e81425872740 | 67 | void MoveServo(OneLeg leg, int legnum, int servo_id); |
shimizuta | 27:79b4b932a6dd | 68 | void WaitStdin(char startchar); |
shimizuta | 27:79b4b932a6dd | 69 | int FileOpen(); |
shimizuta | 27:79b4b932a6dd | 70 | ////////調整するべきパラメータ |
shimizuta | 27:79b4b932a6dd | 71 | enum WalkWay |
shimizuta | 27:79b4b932a6dd | 72 | { |
shimizuta | 27:79b4b932a6dd | 73 | STANDUP, |
shimizuta | 42:982064594ba6 | 74 | LRFPOSTURE, //LRF用 |
shimizuta | 42:982064594ba6 | 75 | FRONTLEG_ON_SANDDUNE, //前足を段差にかける |
shimizuta | 42:982064594ba6 | 76 | OVERCOME, //前足が乗った状態で進む |
shimizuta | 42:982064594ba6 | 77 | BACKLEG_ON_SANDDUNE, //後ろ脚を段差に載せる |
shimizuta | 42:982064594ba6 | 78 | OVERCOME2, //後ろ脚が乗った状態で進む |
shimizuta | 42:982064594ba6 | 79 | CHECK, //check用に最後に置いておく |
shimizuta | 27:79b4b932a6dd | 80 | }; |
shimizuta | 42:982064594ba6 | 81 | //LRFPOSTUREだけspinOnceで変更するためグローバルで |
shimizuta | 42:982064594ba6 | 82 | float offset_x_m[4] = {-0.15, 0.15, -0.15, 0.15}, |
shimizuta | 35:b4e1b8f25cd7 | 83 | offset_y_m[4] = {0.35, 0.35, 0.35, 0.35}; |
shimizuta | 35:b4e1b8f25cd7 | 84 | float stride_m[4] = {0.2, 0.2, 0.2, 0.2}, |
shimizuta | 42:982064594ba6 | 85 | height_m[4] = {0.1, 0.1, 0.1, 0.1}, buffer_height_m = 0.05, |
shimizuta | 42:982064594ba6 | 86 | stridetime_s = 1, toptime_s = 0.2, buffer_time_s = 0.2; |
shimizuta | 42:982064594ba6 | 87 | |
shimizuta | 42:982064594ba6 | 88 | int state_from_ros = 0; // |
shimizuta | 42:982064594ba6 | 89 | enum ROS_STATE |
shimizuta | 42:982064594ba6 | 90 | { |
shimizuta | 42:982064594ba6 | 91 | RUN, |
shimizuta | 42:982064594ba6 | 92 | SANDDUNE, |
shimizuta | 42:982064594ba6 | 93 | ROPE |
shimizuta | 42:982064594ba6 | 94 | }; |
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 | 42:982064594ba6 | 99 | case STANDUP: //LRF用に変数はグローバルにある |
shimizuta | 35:b4e1b8f25cd7 | 100 | for (int i = 0; i < 4; i++) |
shimizuta | 42:982064594ba6 | 101 | SetOneLegStandParam(walk, i, offset_x_m[i], offset_y_m[i], 10); |
shimizuta | 35:b4e1b8f25cd7 | 102 | break; |
shimizuta | 42:982064594ba6 | 103 | case LRFPOSTURE: //LRF用に変数はグローバルにある |
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 | 42:982064594ba6 | 110 | case FRONTLEG_ON_SANDDUNE: //前足を段差にかける |
shimizuta | 42:982064594ba6 | 111 | { |
shimizuta | 42:982064594ba6 | 112 | float d_x_m = 0.1; |
shimizuta | 42:982064594ba6 | 113 | float start_y_m[4] = {0.41, 0.41, 0.41, 0.41}; |
shimizuta | 42:982064594ba6 | 114 | float goal_y_m[4] = {0.41, 0.29, 0.41, 0.29}; |
shimizuta | 42:982064594ba6 | 115 | float overcome_height_m[] = {0.1, 0.2, 0.1, 0.2}; |
shimizuta | 42:982064594ba6 | 116 | float gravity_dist[] = {0.05, 0, 0.05, -0.05}; |
shimizuta | 35:b4e1b8f25cd7 | 117 | OverCome overcome(offset_x_m, start_y_m, d_x_m, goal_y_m, overcome_height_m, gravity_dist, walk.leg); |
shimizuta | 35:b4e1b8f25cd7 | 118 | walk.Copy(overcome.walk); |
shimizuta | 42:982064594ba6 | 119 | break; |
shimizuta | 39:87dcdff27797 | 120 | } |
shimizuta | 42:982064594ba6 | 121 | case BACKLEG_ON_SANDDUNE: //後ろ脚を乗せる |
shimizuta | 42:982064594ba6 | 122 | { |
shimizuta | 42:982064594ba6 | 123 | float d_x_m = 0.1; |
shimizuta | 42:982064594ba6 | 124 | float start_x_m[4] = {0, -0.08, 0, -0.08}; |
shimizuta | 42:982064594ba6 | 125 | float start_y_m[4] = {0.41, 0.41, 0.41, 0.41}; |
shimizuta | 42:982064594ba6 | 126 | float goal_y_m[4] = {0.29, 0.41, 0.29, 0.41}; |
shimizuta | 42:982064594ba6 | 127 | float overcome_height_m[] = {0.2, 0.1, 0.2, 0.1}; |
shimizuta | 42:982064594ba6 | 128 | float gravity_dist[] = {0.15, 0, 0.05, -0.05}; |
shimizuta | 42:982064594ba6 | 129 | OverCome overcome(start_x_m, start_y_m, d_x_m, goal_y_m, overcome_height_m, gravity_dist, walk.leg); |
shimizuta | 42:982064594ba6 | 130 | walk.Copy(overcome.walk); |
shimizuta | 42:982064594ba6 | 131 | break; |
shimizuta | 42:982064594ba6 | 132 | } |
shimizuta | 42:982064594ba6 | 133 | case OVERCOME: //前足が乗った状態で進む |
shimizuta | 42:982064594ba6 | 134 | { |
shimizuta | 42:982064594ba6 | 135 | float offset_x_m[4] = {-0.15, 0.15, -0.15, 0.15}, |
shimizuta | 42:982064594ba6 | 136 | offset_y_m[4] = {0.35, 0.35, 0.35, 0.35}; |
shimizuta | 42:982064594ba6 | 137 | float stride_m[4] = {0.2, 0.2, 0.2, 0.2}, |
shimizuta | 42:982064594ba6 | 138 | height_m[4] = {0.1, 0.1, 0.1, 0.1}, buffer_height_m = 0.05, |
shimizuta | 42:982064594ba6 | 139 | stridetime_s = 1, toptime_s = 0.2, buffer_time_s = 0.2; |
shimizuta | 39:87dcdff27797 | 140 | for (int i = 0; i < 4; i++) |
shimizuta | 39:87dcdff27797 | 141 | SetOneLegFourPointParam(walk, i, offset_x_m[i], offset_y_m[i], |
shimizuta | 39:87dcdff27797 | 142 | stride_m[i], height_m[i], buffer_height_m, |
shimizuta | 39:87dcdff27797 | 143 | stridetime_s, toptime_s, buffer_time_s); |
shimizuta | 39:87dcdff27797 | 144 | walk.SetOffsetTime(0, 0.5, 0.5, 0); |
shimizuta | 35:b4e1b8f25cd7 | 145 | break; |
shimizuta | 35:b4e1b8f25cd7 | 146 | } |
shimizuta | 42:982064594ba6 | 147 | case OVERCOME2: //後ろ脚が乗った状態で進む |
shimizuta | 42:982064594ba6 | 148 | { |
shimizuta | 42:982064594ba6 | 149 | float offset_x_m[4] = {}, |
shimizuta | 42:982064594ba6 | 150 | offset_y_m[4] = {0.35, 0.35, 0.35, 0.35}; |
shimizuta | 42:982064594ba6 | 151 | float stride_m[4] = {0.2, 0.2, 0.2, 0.2}, |
shimizuta | 42:982064594ba6 | 152 | height_m[4] = {0.1, 0.1, 0.1, 0.1}, buffer_height_m = 0.05, |
shimizuta | 42:982064594ba6 | 153 | stridetime_s = 1, toptime_s = 0.2, buffer_time_s = 0.2; |
shimizuta | 42:982064594ba6 | 154 | for (int i = 0; i < 4; i++) |
shimizuta | 42:982064594ba6 | 155 | SetOneLegFourPointParam(walk, i, offset_x_m[i], offset_y_m[i], |
shimizuta | 42:982064594ba6 | 156 | stride_m[i], height_m[i], buffer_height_m, |
shimizuta | 42:982064594ba6 | 157 | stridetime_s, toptime_s, buffer_time_s); |
shimizuta | 42:982064594ba6 | 158 | walk.SetOffsetTime(0, 0.5, 0.5, 0); |
shimizuta | 42:982064594ba6 | 159 | break; |
shimizuta | 42:982064594ba6 | 160 | } |
shimizuta | 42:982064594ba6 | 161 | default: |
shimizuta | 42:982064594ba6 | 162 | printf("error: there is no WalkWay\r\n"); |
shimizuta | 42:982064594ba6 | 163 | return 1; |
shimizuta | 42:982064594ba6 | 164 | } |
shimizuta | 42:982064594ba6 | 165 | |
shimizuta | 35:b4e1b8f25cd7 | 166 | return walk.CheckOrbit(); |
yuto17320508 | 18:0033ef1814ba | 167 | } |
shimizuta | 35:b4e1b8f25cd7 | 168 | |
shimizuta | 9:905f93247688 | 169 | int main() |
yuto17320508 | 5:556d5a5e9d24 | 170 | { |
shimizuta | 29:7d8b8011a88d | 171 | #ifdef VSCODE |
shimizuta | 27:79b4b932a6dd | 172 | if (FileOpen()) //csv fileに書き込み |
shimizuta | 27:79b4b932a6dd | 173 | return 1; //異常終了したら強制終了 |
shimizuta | 29:7d8b8011a88d | 174 | #endif |
shimizuta | 39:87dcdff27797 | 175 | OneLeg leg[4]; //各足の位置 |
shimizuta | 35:b4e1b8f25cd7 | 176 | for (int i = 0; i < 4; i++) |
shimizuta | 35:b4e1b8f25cd7 | 177 | leg[i] = OneLeg(kBetweenServoHalf_m, kLegLength1, kLegLength2); |
shimizuta | 39:87dcdff27797 | 178 | Walk walk(leg); //歩行法はここに入れていく |
shimizuta | 35:b4e1b8f25cd7 | 179 | Walk::calctime_s_ = 0.03; |
shimizuta | 42:982064594ba6 | 180 | for (int i = 0; i < CHECK; i++) |
shimizuta | 42:982064594ba6 | 181 | { |
shimizuta | 42:982064594ba6 | 182 | if (SetWalk(walk, (WalkWay)i) == 1) |
shimizuta | 42:982064594ba6 | 183 | { |
shimizuta | 42:982064594ba6 | 184 | printf("error: move %d\r\n", i); |
shimizuta | 42:982064594ba6 | 185 | return 1; //強制終了.errorは内部の関数からprintfで知らせる |
shimizuta | 42:982064594ba6 | 186 | } |
shimizuta | 42:982064594ba6 | 187 | } |
shimizuta | 35:b4e1b8f25cd7 | 188 | printf("Stand up?\r\n"); |
shimizuta | 35:b4e1b8f25cd7 | 189 | WaitStdin('y'); // ボタンを押したら立つ |
shimizuta | 39:87dcdff27797 | 190 | if (SetWalk(walk, STANDUP) == 1) |
shimizuta | 27:79b4b932a6dd | 191 | { |
shimizuta | 35:b4e1b8f25cd7 | 192 | printf("error: stand move\r\n"); |
shimizuta | 34:89d701e15cdf | 193 | return 1; //強制終了.errorは内部の関数からprintfで知らせる |
shimizuta | 34:89d701e15cdf | 194 | } |
shimizuta | 39:87dcdff27797 | 195 | MoveOneCycle(walk, leg); |
shimizuta | 29:7d8b8011a88d | 196 | printf("Move?\r\n"); |
shimizuta | 27:79b4b932a6dd | 197 | WaitStdin('y'); // ボタンを押したらスタート |
shimizuta | 27:79b4b932a6dd | 198 | #ifdef USE_ROS |
shimizuta | 27:79b4b932a6dd | 199 | nh_mbed.getHardware()->setBaud(115200); |
shimizuta | 27:79b4b932a6dd | 200 | nh_mbed.initNode(); |
shimizuta | 27:79b4b932a6dd | 201 | nh_mbed.subscribe(sub_vel); |
shimizuta | 42:982064594ba6 | 202 | nh_mbed.subscribe(sub_state); |
shimizuta | 42:982064594ba6 | 203 | nh_mbed.spinOnce(); //一度受信 |
shimizuta | 39:87dcdff27797 | 204 | while (1) |
shimizuta | 39:87dcdff27797 | 205 | { |
shimizuta | 42:982064594ba6 | 206 | |
shimizuta | 39:87dcdff27797 | 207 | SetWalk(walk, LRFPOSTURE); |
shimizuta | 39:87dcdff27797 | 208 | MoveOneCycle(walk, leg); |
shimizuta | 27:79b4b932a6dd | 209 | nh_mbed.spinOnce(); |
shimizuta | 42:982064594ba6 | 210 | if (state_from_ros = SANDDUNE) |
shimizuta | 42:982064594ba6 | 211 | { |
shimizuta | 42:982064594ba6 | 212 | #endif |
shimizuta | 42:982064594ba6 | 213 | //前足を段差にかける |
shimizuta | 42:982064594ba6 | 214 | if (SetWalk(walk, FRONTLEG_ON_SANDDUNE) == 1) |
shimizuta | 42:982064594ba6 | 215 | { |
shimizuta | 42:982064594ba6 | 216 | printf("error: triangle\r\n"); |
shimizuta | 42:982064594ba6 | 217 | return 1; //強制終了. |
shimizuta | 42:982064594ba6 | 218 | } |
shimizuta | 42:982064594ba6 | 219 | for (int i = 0; i < 1; i++) |
shimizuta | 42:982064594ba6 | 220 | MoveOneCycle(walk, leg); |
shimizuta | 42:982064594ba6 | 221 | //前足が段差に乗った状態で進む |
shimizuta | 42:982064594ba6 | 222 | if (SetWalk(walk, OVERCOME) == 1) |
shimizuta | 42:982064594ba6 | 223 | { |
shimizuta | 42:982064594ba6 | 224 | printf("error: triangle\r\n"); |
shimizuta | 42:982064594ba6 | 225 | return 1; //強制終了. |
shimizuta | 42:982064594ba6 | 226 | } |
shimizuta | 42:982064594ba6 | 227 | for (int i = 0; i < 5; i++) |
shimizuta | 42:982064594ba6 | 228 | MoveOneCycle(walk, leg); |
shimizuta | 42:982064594ba6 | 229 | //後ろ脚載せる |
shimizuta | 42:982064594ba6 | 230 | if (SetWalk(walk, BACKLEG_ON_SANDDUNE) == 1) |
shimizuta | 42:982064594ba6 | 231 | { |
shimizuta | 42:982064594ba6 | 232 | printf("error: triangle\r\n"); |
shimizuta | 42:982064594ba6 | 233 | return 1; //強制終了. |
shimizuta | 42:982064594ba6 | 234 | } |
shimizuta | 42:982064594ba6 | 235 | for (int i = 0; i < 1; i++) |
shimizuta | 42:982064594ba6 | 236 | MoveOneCycle(walk, leg); |
shimizuta | 42:982064594ba6 | 237 | //後ろ脚乗った状態で進む |
shimizuta | 42:982064594ba6 | 238 | if (SetWalk(walk, OVERCOME2) == 1) |
shimizuta | 42:982064594ba6 | 239 | { |
shimizuta | 42:982064594ba6 | 240 | printf("error: triangle\r\n"); |
shimizuta | 42:982064594ba6 | 241 | return 1; //強制終了. |
shimizuta | 42:982064594ba6 | 242 | } |
shimizuta | 42:982064594ba6 | 243 | for (int i = 0; i < 5; i++) |
shimizuta | 42:982064594ba6 | 244 | MoveOneCycle(walk, leg); |
shimizuta | 42:982064594ba6 | 245 | #ifdef USE_ROS |
shimizuta | 42:982064594ba6 | 246 | } |
yuto17320508 | 41:38d79b6513c0 | 247 | } |
shimizuta | 42:982064594ba6 | 248 | #endif |
shimizuta | 34:89d701e15cdf | 249 | printf("program end\r\n"); |
shimizuta | 29:7d8b8011a88d | 250 | #ifdef VSCODE |
shimizuta | 27:79b4b932a6dd | 251 | fclose(fp); |
shimizuta | 27:79b4b932a6dd | 252 | #endif |
shimizuta | 2:a92568bdeb5c | 253 | } |
shimizuta | 32:dc684a0b8448 | 254 | //一サイクル分進む.return 1:異常終了 |
shimizuta | 32:dc684a0b8448 | 255 | int MoveOneCycle(Walk walkway, OneLeg leg[4]) |
yuto17320508 | 5:556d5a5e9d24 | 256 | { |
shimizuta | 27:79b4b932a6dd | 257 | #ifndef VSCODE |
shimizuta | 9:905f93247688 | 258 | timer.reset(); |
shimizuta | 9:905f93247688 | 259 | timer.start(); |
shimizuta | 27:79b4b932a6dd | 260 | #endif |
shimizuta | 35:b4e1b8f25cd7 | 261 | int count = walkway.orbit[0].GetOneWalkTime() / walkway.calctime_s_; |
shimizuta | 27:79b4b932a6dd | 262 | for (int i = 0; i < count; i++) |
yuto17320508 | 8:21b932c4e6c5 | 263 | { |
shimizuta | 27:79b4b932a6dd | 264 | #ifndef VSCODE |
shimizuta | 9:905f93247688 | 265 | float time_s = timer.read(); |
shimizuta | 27:79b4b932a6dd | 266 | #endif |
shimizuta | 29:7d8b8011a88d | 267 | //4本の足それぞれの足先サーボ角度更新 |
shimizuta | 29:7d8b8011a88d | 268 | if (walkway.Cal4LegsPosi(leg) == 1) |
shimizuta | 32:dc684a0b8448 | 269 | { |
shimizuta | 29:7d8b8011a88d | 270 | printf("error: time = %f\r\n", i * walkway.calctime_s_); |
shimizuta | 32:dc684a0b8448 | 271 | return 1; |
shimizuta | 32:dc684a0b8448 | 272 | } |
shimizuta | 19:1adc7302cfd9 | 273 | #ifdef USE_CAN |
shimizuta | 27:79b4b932a6dd | 274 | SendRad(leg[2], leg[3]); //slave_mbed分の足の目標位置を送信 |
shimizuta | 19:1adc7302cfd9 | 275 | #endif |
shimizuta | 9:905f93247688 | 276 | //自身が動かす足のサーボを動かす |
shimizuta | 16:0069a56f11a3 | 277 | MoveServo(leg[0], 0, 0); |
shimizuta | 11:e81425872740 | 278 | MoveServo(leg[1], 1, 0); |
shimizuta | 27:79b4b932a6dd | 279 | #ifndef VSCODE |
shimizuta | 9:905f93247688 | 280 | wait_ms(kServoSpan_ms); |
shimizuta | 27:79b4b932a6dd | 281 | #endif |
shimizuta | 16:0069a56f11a3 | 282 | MoveServo(leg[0], 0, 1); |
shimizuta | 11:e81425872740 | 283 | MoveServo(leg[1], 1, 1); |
shimizuta | 29:7d8b8011a88d | 284 | #ifdef VSCODE |
shimizuta | 27:79b4b932a6dd | 285 | //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 | 286 | fprintf(fp, "%f", i * walkway.calctime_s_); |
shimizuta | 27:79b4b932a6dd | 287 | for (int i = 0; i < 4; i++) |
shimizuta | 27:79b4b932a6dd | 288 | fprintf(fp, ",%f,%f", leg[i].GetX_m(), leg[i].GetY_m()); |
shimizuta | 27:79b4b932a6dd | 289 | fprintf(fp, "\r\n"); |
shimizuta | 29:7d8b8011a88d | 290 | #else |
shimizuta | 27:79b4b932a6dd | 291 | //計算周期がwalkway.calctime_s_になるようwait |
shimizuta | 27:79b4b932a6dd | 292 | float rest_time_s = walkway.calctime_s_ - (timer.read() - time_s); |
shimizuta | 9:905f93247688 | 293 | if (rest_time_s > 0) |
shimizuta | 9:905f93247688 | 294 | wait(rest_time_s); |
shimizuta | 19:1adc7302cfd9 | 295 | else |
shimizuta | 19:1adc7302cfd9 | 296 | { //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 | 297 | DEBUG("error: rest_time_s = %f in Move()\r\n", rest_time_s); |
shimizuta | 14:d7cb429946f4 | 298 | led[0] = 1; |
shimizuta | 14:d7cb429946f4 | 299 | } |
shimizuta | 27:79b4b932a6dd | 300 | #endif |
shimizuta | 9:905f93247688 | 301 | } |
shimizuta | 32:dc684a0b8448 | 302 | return 0; |
yuto17320508 | 5:556d5a5e9d24 | 303 | } |
shimizuta | 14:d7cb429946f4 | 304 | void MoveServo(OneLeg leg, int serial_num, int servo_id) |
yuto17320508 | 6:43708adf2e5d | 305 | { |
shimizuta | 27:79b4b932a6dd | 306 | #ifndef VSCODE |
shimizuta | 11:e81425872740 | 307 | float degree = leg.GetRad(servo_id) * kRadToDegree; |
shimizuta | 14:d7cb429946f4 | 308 | //サーボの座標系に変更 |
shimizuta | 14:d7cb429946f4 | 309 | float servo_degree = kServoSign[serial_num][servo_id] * degree + kOriginDegree[serial_num][servo_id]; |
shimizuta | 27:79b4b932a6dd | 310 | // DEBUG("servo_degree[%d][%d],%f\r\n", serial_num, servo_id, servo_degree); |
shimizuta | 14:d7cb429946f4 | 311 | servo[serial_num].set_degree(servo_id, servo_degree); |
shimizuta | 27:79b4b932a6dd | 312 | #endif |
shimizuta | 12:2ac37fe6c3bb | 313 | } |
shimizuta | 27:79b4b932a6dd | 314 | void WaitStdin(char startchar) |
shimizuta | 27:79b4b932a6dd | 315 | { |
shimizuta | 27:79b4b932a6dd | 316 | #ifndef USE_ROS |
shimizuta | 27:79b4b932a6dd | 317 | char str[255] = {}; |
shimizuta | 27:79b4b932a6dd | 318 | do |
shimizuta | 27:79b4b932a6dd | 319 | { |
shimizuta | 27:79b4b932a6dd | 320 | printf("put '%c', then start\r\n", startchar); |
shimizuta | 27:79b4b932a6dd | 321 | scanf("%s", str); |
shimizuta | 27:79b4b932a6dd | 322 | } while (str[0] != startchar); |
shimizuta | 27:79b4b932a6dd | 323 | #endif |
shimizuta | 27:79b4b932a6dd | 324 | } |
shimizuta | 27:79b4b932a6dd | 325 | int FileOpen() //1:異常終了 |
shimizuta | 27:79b4b932a6dd | 326 | { |
shimizuta | 27:79b4b932a6dd | 327 | if ((fp = fopen("data.csv", "w")) == NULL) |
shimizuta | 27:79b4b932a6dd | 328 | { |
shimizuta | 27:79b4b932a6dd | 329 | printf("error : FileSave()\r\n"); |
shimizuta | 27:79b4b932a6dd | 330 | return 1; |
shimizuta | 27:79b4b932a6dd | 331 | } |
shimizuta | 27:79b4b932a6dd | 332 | 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 | 333 | return 0; |
shimizuta | 27:79b4b932a6dd | 334 | } |
shimizuta | 27:79b4b932a6dd | 335 | #ifdef USE_ROS |
shimizuta | 27:79b4b932a6dd | 336 | void callback(const geometry_msgs::Vector3 &cmd_vel) |
shimizuta | 27:79b4b932a6dd | 337 | { |
shimizuta | 42:982064594ba6 | 338 | stride_m[LEFT_F] = cmd_vel.x; |
shimizuta | 42:982064594ba6 | 339 | stride_m[LEFT_B] = cmd_vel.x; |
shimizuta | 42:982064594ba6 | 340 | stride_m[RIGHT_F] = cmd_vel.y; |
shimizuta | 42:982064594ba6 | 341 | stride_m[RIGHT_B] = cmd_vel.y; |
shimizuta | 42:982064594ba6 | 342 | } |
shimizuta | 42:982064594ba6 | 343 | void callback_state(const std_msgs::Int16 &cmd_vel) |
shimizuta | 42:982064594ba6 | 344 | { |
shimizuta | 42:982064594ba6 | 345 | state_from_ros = cmd_vel.data; |
shimizuta | 27:79b4b932a6dd | 346 | } |
shimizuta | 35:b4e1b8f25cd7 | 347 | #endif |