岡本 陸 / Mbed 2 deprecated 0311

test

Dependencies:   mbed ros_lib_kinetic nhk19mr2_can_info splitData SerialHalfDuplex_HM

main.cpp@35:b4e1b8f25cd7, 2019-03-04 (annotated)

Committer:
shimizuta
Date:
Mon Mar 04 09:54:47 2019 +0000
Revision:
35:b4e1b8f25cd7
Parent:
34:89d701e15cdf
Child:
36:b0edccff7457
new MR2;

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 29:7d8b8011a88d 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 35:b4e1b8f25cd7 71 FRONTLEG_ON_SANDDUNE, //前足かける
shimizuta 35:b4e1b8f25cd7 72 TURNLEFT,
shimizuta 35:b4e1b8f25cd7 73 TURNRIGHT,
shimizuta 35:b4e1b8f25cd7 74 // MOVE_FRONTLEG_ON_SANDDUNE,
shimizuta 27:79b4b932a6dd 75 };
shimizuta 32:dc684a0b8448 76
shimizuta 35:b4e1b8f25cd7 77 float offset_x_m[4] = {-0.1, 0.1, -0.1, 0.1},
shimizuta 35:b4e1b8f25cd7 78 offset_y_m[4] = {0.35, 0.35, 0.35, 0.35};
shimizuta 35:b4e1b8f25cd7 79 //strideはLRFから変更するようにする
shimizuta 35:b4e1b8f25cd7 80 float stride_m[4] = {0.2, 0.2, 0.2, 0.2},
shimizuta 35:b4e1b8f25cd7 81 height_m[4] = {0.1, 0.1, 0.1, 0.1}, buffer_height_m = 0.05,
shimizuta 35:b4e1b8f25cd7 82 stridetime_s = 1, toptime_s = 0.4, buffer_time_s = 0.2;
shimizuta 35:b4e1b8f25cd7 83 /*
shimizuta 35:b4e1b8f25cd7 84 LineParam over_come_front[]{
shimizuta 35:b4e1b8f25cd7 85 {.time_s = 0, .x_m = -0.075, .y_m = 0.41},
shimizuta 35:b4e1b8f25cd7 86 {.time_s = 0.2, .x_m = -0.175, .y_m = 0.26},
shimizuta 35:b4e1b8f25cd7 87 {.time_s = 0.4, .x_m = 0.075, .y_m = 0.26},
shimizuta 35:b4e1b8f25cd7 88 {.time_s = 0.6, .x_m = 0.075, .y_m = 0.41},
shimizuta 35:b4e1b8f25cd7 89 {.time_s = 1.6, .x_m = -0.075, .y_m = 0.41},
shimizuta 35:b4e1b8f25cd7 90 };
shimizuta 35:b4e1b8f25cd7 91 */
shimizuta 35:b4e1b8f25cd7 92 float d_x_m = 0.1;
shimizuta 35:b4e1b8f25cd7 93 float start_y_m[4] = {0.41, 0.41, 0.41, 0.41};
shimizuta 35:b4e1b8f25cd7 94 float goal_y_m[4] = {0.41, 0.29, 0.41, 0.29};
shimizuta 35:b4e1b8f25cd7 95 float overcome_height_m[] = {0.1, 0.2, 0.1, 0.2};
shimizuta 35:b4e1b8f25cd7 96 float gravity_dist[] = {0.01, -0.01, 0.01, -0.01};
shimizuta 35:b4e1b8f25cd7 97 int SetWalk(Walk &walk, WalkWay way)
shimizuta 35:b4e1b8f25cd7 98 {
shimizuta 35:b4e1b8f25cd7 99 switch (way)
shimizuta 35:b4e1b8f25cd7 100 {
shimizuta 35:b4e1b8f25cd7 101 case STANDUP:
shimizuta 35:b4e1b8f25cd7 102 for (int i = 0; i < 4; i++)
shimizuta 35:b4e1b8f25cd7 103 SetOneLegStandParam(walk, i, offset_x_m[i], offset_y_m[i], 0.5);
shimizuta 35:b4e1b8f25cd7 104 break;
shimizuta 35:b4e1b8f25cd7 105 case LRFPOSTURE:
shimizuta 35:b4e1b8f25cd7 106 for (int i = 0; i < 4; i++)
shimizuta 35:b4e1b8f25cd7 107 SetOneLegTriangleParam(walk, i, offset_x_m[i], offset_y_m[i],
shimizuta 35:b4e1b8f25cd7 108 stride_m[i], height_m[i], buffer_height_m,
shimizuta 35:b4e1b8f25cd7 109 stridetime_s, toptime_s, buffer_time_s);
shimizuta 35:b4e1b8f25cd7 110 walk.SetOffsetTime(0, 0.5, 0.5, 0);
shimizuta 35:b4e1b8f25cd7 111 break;
shimizuta 31:86eb746eaed4 112
shimizuta 35:b4e1b8f25cd7 113 case FRONTLEG_ON_SANDDUNE: //前足かける
shimizuta 35:b4e1b8f25cd7 114 // for(int q = 0; q < 4; q++)
shimizuta 35:b4e1b8f25cd7 115 // SetOneLegFreeLinesParam(walk, q, over_come_front, sizeof(over_come_front) / sizeof(over_come_front[0]));
shimizuta 35:b4e1b8f25cd7 116 // walk.SetOffsetTime(0, 0.5, 0.5, 0);
shimizuta 35:b4e1b8f25cd7 117
shimizuta 35:b4e1b8f25cd7 118 OverCome overcome(offset_x_m, start_y_m, d_x_m, goal_y_m, overcome_height_m, gravity_dist, walk.leg);
shimizuta 35:b4e1b8f25cd7 119 walk.Copy(overcome.walk);
shimizuta 35:b4e1b8f25cd7 120 break;
shimizuta 35:b4e1b8f25cd7 121 case TURNLEFT:
shimizuta 35:b4e1b8f25cd7 122 for (int i = 0; i < 4; i++)
shimizuta 35:b4e1b8f25cd7 123 SetOneLegStandParam(walk, i, offset_x_m[i], offset_y_m[i], 0.5);
shimizuta 35:b4e1b8f25cd7 124 break;
shimizuta 35:b4e1b8f25cd7 125 case TURNRIGHT:
shimizuta 35:b4e1b8f25cd7 126 for (int i = 0; i < 4; i++)
shimizuta 35:b4e1b8f25cd7 127 SetOneLegStandParam(walk, i, offset_x_m[i], offset_y_m[i], 0.5);
shimizuta 35:b4e1b8f25cd7 128 break;
shimizuta 35:b4e1b8f25cd7 129 }
shimizuta 35:b4e1b8f25cd7 130 return walk.CheckOrbit();
yuto17320508 18:0033ef1814ba 131 }
shimizuta 35:b4e1b8f25cd7 132
shimizuta 9:905f93247688 133 int main()
yuto17320508 5:556d5a5e9d24 134 {
shimizuta 29:7d8b8011a88d 135 #ifdef VSCODE
shimizuta 27:79b4b932a6dd 136 if (FileOpen()) //csv fileに書き込み
shimizuta 27:79b4b932a6dd 137 return 1; //異常終了したら強制終了
shimizuta 29:7d8b8011a88d 138 #endif
shimizuta 35:b4e1b8f25cd7 139 OneLeg leg[4]; //各足の位置
shimizuta 35:b4e1b8f25cd7 140 for (int i = 0; i < 4; i++)
shimizuta 35:b4e1b8f25cd7 141 leg[i] = OneLeg(kBetweenServoHalf_m, kLegLength1, kLegLength2);
shimizuta 35:b4e1b8f25cd7 142 Walk walk(leg); //歩行法はここに入れていく
shimizuta 35:b4e1b8f25cd7 143 Walk::calctime_s_ = 0.03;
shimizuta 35:b4e1b8f25cd7 144 printf("Stand up?\r\n");
shimizuta 35:b4e1b8f25cd7 145 WaitStdin('y'); // ボタンを押したら立つ
shimizuta 35:b4e1b8f25cd7 146 if (SetWalk(walk, STANDUP) == 1)
shimizuta 27:79b4b932a6dd 147 {
shimizuta 35:b4e1b8f25cd7 148 printf("error: stand move\r\n");
shimizuta 34:89d701e15cdf 149 return 1; //強制終了.errorは内部の関数からprintfで知らせる
shimizuta 34:89d701e15cdf 150 }
shimizuta 35:b4e1b8f25cd7 151 if (MoveOneCycle(walk, leg) == 1)
shimizuta 34:89d701e15cdf 152 {
shimizuta 35:b4e1b8f25cd7 153 printf("error: stand move\r\n");
shimizuta 34:89d701e15cdf 154 return 1; //強制終了.errorは内部の関数からprintfで知らせる
shimizuta 34:89d701e15cdf 155 }
shimizuta 29:7d8b8011a88d 156 printf("Move?\r\n");
shimizuta 27:79b4b932a6dd 157 WaitStdin('y'); // ボタンを押したらスタート
shimizuta 27:79b4b932a6dd 158 #ifdef USE_ROS
shimizuta 27:79b4b932a6dd 159 nh_mbed.getHardware()->setBaud(115200);
shimizuta 27:79b4b932a6dd 160 nh_mbed.initNode();
shimizuta 27:79b4b932a6dd 161 nh_mbed.subscribe(sub_vel);
shimizuta 27:79b4b932a6dd 162 while (1)
shimizuta 27:79b4b932a6dd 163 nh_mbed.spinOnce();
shimizuta 27:79b4b932a6dd 164 #else
shimizuta 34:89d701e15cdf 165
shimizuta 35:b4e1b8f25cd7 166 if (SetWalk(walk, FRONTLEG_ON_SANDDUNE) == 1)
shimizuta 35:b4e1b8f25cd7 167 {
shimizuta 35:b4e1b8f25cd7 168 printf("error: triangle\r\n");
shimizuta 35:b4e1b8f25cd7 169 return 1; //強制終了.errorは内部の関数からprintfで知らせる
shimizuta 35:b4e1b8f25cd7 170 }
shimizuta 35:b4e1b8f25cd7 171
shimizuta 35:b4e1b8f25cd7 172 for (int i = 0; i < 2; i++)
shimizuta 35:b4e1b8f25cd7 173 {
shimizuta 35:b4e1b8f25cd7 174 if (MoveOneCycle(walk, leg) == 1)
shimizuta 35:b4e1b8f25cd7 175 {
shimizuta 35:b4e1b8f25cd7 176 printf("error: triangle move\r\n");
shimizuta 35:b4e1b8f25cd7 177 return 1; //強制終了.errorは内部の関数からprintfで知らせる
shimizuta 35:b4e1b8f25cd7 178 }
shimizuta 35:b4e1b8f25cd7 179 }
shimizuta 35:b4e1b8f25cd7 180 offset_y_m[LEFT_F] = 0.29;
shimizuta 35:b4e1b8f25cd7 181 offset_y_m[RIGHT_F] = 0.29;
shimizuta 35:b4e1b8f25cd7 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 35:b4e1b8f25cd7 187
shimizuta 35:b4e1b8f25cd7 188 for (int i = 0; i < 20; i++)
shimizuta 35:b4e1b8f25cd7 189 {
shimizuta 35:b4e1b8f25cd7 190 if (MoveOneCycle(walk, leg) == 1)
shimizuta 35:b4e1b8f25cd7 191 {
shimizuta 35:b4e1b8f25cd7 192 printf("error: triangle move\r\n");
shimizuta 35:b4e1b8f25cd7 193 return 1; //強制終了.errorは内部の関数からprintfで知らせる
shimizuta 35:b4e1b8f25cd7 194 }
shimizuta 35:b4e1b8f25cd7 195 }
shimizuta 35:b4e1b8f25cd7 196
shimizuta 34:89d701e15cdf 197 printf("program end\r\n");
shimizuta 29:7d8b8011a88d 198 #ifdef VSCODE
shimizuta 27:79b4b932a6dd 199 fclose(fp);
shimizuta 27:79b4b932a6dd 200 #endif
shimizuta 29:7d8b8011a88d 201 #endif
shimizuta 2:a92568bdeb5c 202 }
shimizuta 32:dc684a0b8448 203 //一サイクル分進む.return 1:異常終了
shimizuta 32:dc684a0b8448 204 int MoveOneCycle(Walk walkway, OneLeg leg[4])
yuto17320508 5:556d5a5e9d24 205 {
shimizuta 27:79b4b932a6dd 206 #ifndef VSCODE
shimizuta 9:905f93247688 207 timer.reset();
shimizuta 9:905f93247688 208 timer.start();
shimizuta 27:79b4b932a6dd 209 #endif
shimizuta 35:b4e1b8f25cd7 210 int count = walkway.orbit[0].GetOneWalkTime() / walkway.calctime_s_;
shimizuta 27:79b4b932a6dd 211 for (int i = 0; i < count; i++)
yuto17320508 8:21b932c4e6c5 212 {
shimizuta 27:79b4b932a6dd 213 #ifndef VSCODE
shimizuta 9:905f93247688 214 float time_s = timer.read();
shimizuta 27:79b4b932a6dd 215 #endif
shimizuta 29:7d8b8011a88d 216 //4本の足それぞれの足先サーボ角度更新
shimizuta 29:7d8b8011a88d 217 if (walkway.Cal4LegsPosi(leg) == 1)
shimizuta 32:dc684a0b8448 218 {
shimizuta 29:7d8b8011a88d 219 printf("error: time = %f\r\n", i * walkway.calctime_s_);
shimizuta 32:dc684a0b8448 220 return 1;
shimizuta 32:dc684a0b8448 221 }
shimizuta 19:1adc7302cfd9 222 #ifdef USE_CAN
shimizuta 27:79b4b932a6dd 223 SendRad(leg[2], leg[3]); //slave_mbed分の足の目標位置を送信
shimizuta 19:1adc7302cfd9 224 #endif
shimizuta 9:905f93247688 225 //自身が動かす足のサーボを動かす
shimizuta 16:0069a56f11a3 226 MoveServo(leg[0], 0, 0);
shimizuta 11:e81425872740 227 MoveServo(leg[1], 1, 0);
shimizuta 27:79b4b932a6dd 228 #ifndef VSCODE
shimizuta 9:905f93247688 229 wait_ms(kServoSpan_ms);
shimizuta 27:79b4b932a6dd 230 #endif
shimizuta 16:0069a56f11a3 231 MoveServo(leg[0], 0, 1);
shimizuta 11:e81425872740 232 MoveServo(leg[1], 1, 1);
shimizuta 29:7d8b8011a88d 233 #ifdef VSCODE
shimizuta 27:79b4b932a6dd 234 //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 235 fprintf(fp, "%f", i * walkway.calctime_s_);
shimizuta 27:79b4b932a6dd 236 for (int i = 0; i < 4; i++)
shimizuta 27:79b4b932a6dd 237 fprintf(fp, ",%f,%f", leg[i].GetX_m(), leg[i].GetY_m());
shimizuta 27:79b4b932a6dd 238 fprintf(fp, "\r\n");
shimizuta 29:7d8b8011a88d 239 #else
shimizuta 27:79b4b932a6dd 240 //計算周期がwalkway.calctime_s_になるようwait
shimizuta 27:79b4b932a6dd 241 float rest_time_s = walkway.calctime_s_ - (timer.read() - time_s);
shimizuta 9:905f93247688 242 if (rest_time_s > 0)
shimizuta 9:905f93247688 243 wait(rest_time_s);
shimizuta 19:1adc7302cfd9 244 else
shimizuta 19:1adc7302cfd9 245 { //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 246 DEBUG("error: rest_time_s = %f in Move()\r\n", rest_time_s);
shimizuta 14:d7cb429946f4 247 led[0] = 1;
shimizuta 14:d7cb429946f4 248 }
shimizuta 27:79b4b932a6dd 249 #endif
shimizuta 9:905f93247688 250 }
shimizuta 32:dc684a0b8448 251 return 0;
yuto17320508 5:556d5a5e9d24 252 }
shimizuta 14:d7cb429946f4 253 void MoveServo(OneLeg leg, int serial_num, int servo_id)
yuto17320508 6:43708adf2e5d 254 {
shimizuta 27:79b4b932a6dd 255 #ifndef VSCODE
shimizuta 11:e81425872740 256 float degree = leg.GetRad(servo_id) * kRadToDegree;
shimizuta 14:d7cb429946f4 257 //サーボの座標系に変更
shimizuta 14:d7cb429946f4 258 float servo_degree = kServoSign[serial_num][servo_id] * degree + kOriginDegree[serial_num][servo_id];
shimizuta 27:79b4b932a6dd 259 // DEBUG("servo_degree[%d][%d],%f\r\n", serial_num, servo_id, servo_degree);
shimizuta 14:d7cb429946f4 260 servo[serial_num].set_degree(servo_id, servo_degree);
shimizuta 27:79b4b932a6dd 261 #endif
shimizuta 12:2ac37fe6c3bb 262 }
shimizuta 27:79b4b932a6dd 263 void WaitStdin(char startchar)
shimizuta 27:79b4b932a6dd 264 {
shimizuta 27:79b4b932a6dd 265 #ifndef USE_ROS
shimizuta 27:79b4b932a6dd 266 char str[255] = {};
shimizuta 27:79b4b932a6dd 267 do
shimizuta 27:79b4b932a6dd 268 {
shimizuta 27:79b4b932a6dd 269 printf("put '%c', then start\r\n", startchar);
shimizuta 27:79b4b932a6dd 270 scanf("%s", str);
shimizuta 27:79b4b932a6dd 271 } while (str[0] != startchar);
shimizuta 27:79b4b932a6dd 272 #endif
shimizuta 27:79b4b932a6dd 273 }
shimizuta 27:79b4b932a6dd 274 int FileOpen() //1:異常終了
shimizuta 27:79b4b932a6dd 275 {
shimizuta 27:79b4b932a6dd 276 if ((fp = fopen("data.csv", "w")) == NULL)
shimizuta 27:79b4b932a6dd 277 {
shimizuta 27:79b4b932a6dd 278 printf("error : FileSave()\r\n");
shimizuta 27:79b4b932a6dd 279 return 1;
shimizuta 27:79b4b932a6dd 280 }
shimizuta 27:79b4b932a6dd 281 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 282 return 0;
shimizuta 27:79b4b932a6dd 283 }
shimizuta 27:79b4b932a6dd 284 #ifdef USE_ROS
shimizuta 27:79b4b932a6dd 285 void callback(const geometry_msgs::Vector3 &cmd_vel)
shimizuta 27:79b4b932a6dd 286 {
shimizuta 27:79b4b932a6dd 287 float left_vel = cmd_vel.x;
shimizuta 27:79b4b932a6dd 288 float right_vel = cmd_vel.y;
shimizuta 34:89d701e15cdf 289 int state = cmd_vel.z;
shimizuta 27:79b4b932a6dd 290 //閾値は要検討
shimizuta 27:79b4b932a6dd 291 if (right_vel < left_vel)
shimizuta 35:b4e1b8f25cd7 292 {
shimizuta 35:b4e1b8f25cd7 293 stride_m[LEFT_F] = 0.2;
shimizuta 35:b4e1b8f25cd7 294 stride_m[RIGHT_F] = 0.2;
shimizuta 35:b4e1b8f25cd7 295 stride_m[LEFT_B] = 0.1;
shimizuta 35:b4e1b8f25cd7 296 stride_m[RIGHT_B] = 0.1;
shimizuta 35:b4e1b8f25cd7 297 }
shimizuta 27:79b4b932a6dd 298 else
shimizuta 35:b4e1b8f25cd7 299 {
shimizuta 35:b4e1b8f25cd7 300 stride_m[LEFT_F] = 0.1;
shimizuta 35:b4e1b8f25cd7 301 stride_m[RIGHT_F] = 0.1;
shimizuta 35:b4e1b8f25cd7 302 stride_m[LEFT_B] = 0.2;
shimizuta 35:b4e1b8f25cd7 303 stride_m[RIGHT_B] = 0.2;
shimizuta 35:b4e1b8f25cd7 304 }
shimizuta 35:b4e1b8f25cd7 305 SetWalk(walk, LRFPOSTURE);
shimizuta 35:b4e1b8f25cd7 306 MoveOneCycle(walk, leg);
shimizuta 27:79b4b932a6dd 307 }
shimizuta 35:b4e1b8f25cd7 308 #endif