岡本 陸
test
Dependencies: mbed ros_lib_kinetic nhk19mr2_can_info splitData SerialHalfDuplex_HM
Diff: main.cpp
- Revision:
- 43:2ed84f3558c1
- Parent:
- 42:982064594ba6
- Child:
- 44:4aac39b8670b
--- a/main.cpp Tue Mar 05 09:08:40 2019 +0000
+++ b/main.cpp Wed Mar 06 12:13:46 2019 +0000
@@ -1,19 +1,15 @@
//NHK2019MR2 馬型機構プログラム.
-//#define VSCODE
-#ifdef VSCODE
+#include "pi.h"
#include <math.h>
#include <stdio.h>
-#else
+#ifndef VSCODE
#include "mbed.h"
#include "pinnames.h"
-#include "KondoServo.h"
-#include "pi.h"
#include "can.h"
-#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
-#define USE_ROS
-#include <ros.h>
-#include <geometry_msgs/Vector3.h>
-#include <std_msgs/Int16.h>
+//#define USE_ROS //ROSを使うときはコメントアウトを外す
+#include "ros.h"
+#include "geometry_msgs/Vector3.h"
+#include "std_msgs/Int16.h"
#endif
//#define DEBUG_ON //デバッグ用。使わないときはコメントアウト
#include "debug.h"
@@ -21,85 +17,64 @@
#include "Walk.h" //歩き方に関するファイル
#include "OverCome.h"
#include "change_walk.h"
-////////////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。
-const int kServoSpan_ms = 6; //サーボの送信間隔
+#include "servo_and_movefunc.h"
+enum ROS_STATE
+{
+ STOP,
+ RUN,
+ SANDDUNE,
+ ROPE_STATE
+};
+int state_from_ros = 0;
+#ifdef USE_ROS
+ros::NodeHandle nh_mbed;
+void callback(const geometry_msgs::Vector3 &cmd_vel);
+void callback_state(const std_msgs::Int16 &cmd_vel);
+ros::Subscriber<geometry_msgs::Vector3> sub_vel("/cmd_vel", &callback);
+ros::Subscriber<std_msgs::Int16> sub_state("/state", &callback_state);
+#endif
+////////////あまり変化させないパラメーター
const float kBetweenServoHalf_m = 0.034 * 0.5; //サーボ間の距離の半分
float kLegLength1[2] = {0.15, 0.15};
float kLegLength2[2] = {0.33, 0.34};
-//サーボの正負と座標系の正負の補正.足で一セット。
-const int kServoSign[2][2] = {{-1, -1}, {-1, -1}};
-//欲しい座標系0度でのサーボのICSマネージャーの値
-const double kServoValToDegree = 270.0 / (11500 - 3500); //ICSの値を度に変換
-const double kOriginDegree[2][2] = {
- {
- (7268 - 3500) * kServoValToDegree,
- (7768 - 3500) * kServoValToDegree + 180,
- },
- {
- (7914 - 3500) * kServoValToDegree,
- (7543 - 3500) * kServoValToDegree + 180,
- },
-};
///////////////
-#ifndef VSCODE
-Timer timer;
-KondoServo servo[2] = {
- KondoServo(pin_serial_servo_tx[0], pin_serial_servo_rx[0]),
- KondoServo(pin_serial_servo_tx[1], pin_serial_servo_rx[1]),
-};
-DigitalOut led[4] = {DigitalOut(LED1), DigitalOut(LED2), DigitalOut(LED3), DigitalOut(LED4)};
-#endif
-#ifdef USE_ROS
-ros::NodeHandle nh_mbed;
-//ROSからのコールバック関数
-void callback(const geometry_msgs::Vector3 &cmd_vel);
-void callback_state(const std_msgs::Int16 &cmd_vel);
-//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
-//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
-ros::Subscriber<geometry_msgs::Vector3> sub_vel("/cmd_vel", &callback);
-ros::Subscriber<std_msgs::Int16> sub_state("/state", &callback_state);
-// ros::Publisher<geometry_msgs::Vector3> pub_vel("/callback_vel");
-#endif
-
- FILE *fp;
-const float kRadToDegree = 180.0 / M_PI;
-int MoveOneCycle(Walk walkway, OneLeg leg[4]);
-void MoveServo(OneLeg leg, int legnum, int servo_id);
-void WaitStdin(char startchar);
-int FileOpen();
////////調整するべきパラメータ
enum WalkWay
{
- STANDUP,
+ STANDUP, //受け渡し用に待つ
LRFPOSTURE, //LRF用
+ STANDUP_SANDDUNE, //段差前で立つ
+ BEFORE_SANDDUNE, //段差に壁当て
FRONTLEG_ON_SANDDUNE, //前足を段差にかける
OVERCOME, //前足が乗った状態で進む
BACKLEG_ON_SANDDUNE, //後ろ脚を段差に載せる
OVERCOME2, //後ろ脚が乗った状態で進む
- CHECK, //check用に最後に置いておく
+ ROPE, //rope前足超える
+ ROPE_BACK, //rope後ろ足超える
+ ROPE_DOWN, //rope機体高さをLRF用に落とす
+ SLOPE,
+ CHECK, //check用に最後に置いておく
};
//LRFPOSTUREだけspinOnceで変更するためグローバルで
float offset_x_m[4] = {-0.15, 0.15, -0.15, 0.15},
- offset_y_m[4] = {0.35, 0.35, 0.35, 0.35};
-float stride_m[4] = {0.2, 0.2, 0.2, 0.2},
- height_m[4] = {0.1, 0.1, 0.1, 0.1}, buffer_height_m = 0.05,
- stridetime_s = 1, toptime_s = 0.2, buffer_time_s = 0.2;
-
-int state_from_ros = 0; //
-enum ROS_STATE
+ offset_y_m[4] = {0.27, 0.27, 0.27, 0.27};
+float stride_m[4] = {0.2, 0.2, 0.2, 0.2}; //ropeのときは0.15だった
+float height_m[4] = {0.05, 0.05, 0.05, 0.05}, buffer_height_m = 0.02,
+ stridetime_s = 1, toptime_s = 0.2, buffer_time_s = 0.1;
+int SetWalk(Walk &walk, WalkWay way) //歩行パラメータの事前セット
{
- RUN,
- SANDDUNE,
- ROPE
-};
-int SetWalk(Walk &walk, WalkWay way)
-{
+ float overcome_start_y_m[] = {0.41, 0.41, 0.41, 0.41};
switch (way)
{
- case STANDUP: //LRF用に変数はグローバルにある
+ case STANDUP:
+ { //受け渡し用に待つ
+ float offset_x_m[4] = {},
+ offset_y_m[4] = {0.3, 0.3, 0.3, 0.3};
for (int i = 0; i < 4; i++)
- SetOneLegStandParam(walk, i, offset_x_m[i], offset_y_m[i], 10);
+ SetOneLegStandParam(walk, i, offset_x_m[i], offset_y_m[i], 0.5);
+ walk.SetOffsetTime(0, 0, 0, 0);
break;
+ }
case LRFPOSTURE: //LRF用に変数はグローバルにある
for (int i = 0; i < 4; i++)
SetOneLegTriangleParam(walk, i, offset_x_m[i], offset_y_m[i],
@@ -107,33 +82,61 @@
stridetime_s, toptime_s, buffer_time_s);
walk.SetOffsetTime(0, 0.5, 0.5, 0);
break;
- case FRONTLEG_ON_SANDDUNE: //前足を段差にかける
+ case BEFORE_SANDDUNE:
+ {
+ float stride_short_m[] = {0.1, 0.1, 0.1, 0.1};
+ for (int i = 0; i < 4; i++)
+ SetOneLegTriangleParam(walk, i, offset_x_m[i], overcome_start_y_m[i],
+ stride_short_m[i], height_m[i], buffer_height_m,
+ stridetime_s, toptime_s, buffer_time_s);
+ walk.SetOffsetTime(0, 0.5, 0.5, 0);
+ }
+ break;
+ case STANDUP_SANDDUNE:
{
+ float start_y_m[4] = {0.41, 0.41, 0.41, 0.41};
+ for (int i = 0; i < 4; i++)
+ {
+ LineParam lines[] = {
+ {.time_s = 0, .x_m = walk.leg[i].GetX_m(), .y_m = walk.leg[i].GetY_m(), .is_point_to_point = 0},
+ {.time_s = 0.5, .x_m = offset_x_m[i], .y_m = start_y_m[i], .is_point_to_point = 0},
+ {.time_s = 1.5, .x_m = offset_x_m[i], .y_m = start_y_m[i], .is_point_to_point = 0},
+ };
+ SetOneLegFreeLinesParam(walk, i, lines, sizeof(lines) / sizeof(lines[0]));
+ }
+ walk.SetOffsetTime(0, 0, 0, 0);
+ }
+ break;
+ case FRONTLEG_ON_SANDDUNE:
+ { //前足を段差にかける
float d_x_m = 0.1;
- float start_y_m[4] = {0.41, 0.41, 0.41, 0.41};
float goal_y_m[4] = {0.41, 0.29, 0.41, 0.29};
+ float raise_offset_x_m[4] = {0, -0.02, 0, 0};
float overcome_height_m[] = {0.1, 0.2, 0.1, 0.2};
float gravity_dist[] = {0.05, 0, 0.05, -0.05};
- OverCome overcome(offset_x_m, start_y_m, d_x_m, goal_y_m, overcome_height_m, gravity_dist, walk.leg);
+ OverCome overcome(offset_x_m, overcome_start_y_m, d_x_m, goal_y_m,
+ overcome_height_m, gravity_dist, walk.leg, raise_offset_x_m);
walk.Copy(overcome.walk);
break;
}
- case BACKLEG_ON_SANDDUNE: //後ろ脚を乗せる
- {
+ case BACKLEG_ON_SANDDUNE:
+ { //後ろ脚を乗せる
float d_x_m = 0.1;
- float start_x_m[4] = {0, -0.08, 0, -0.08};
+ float start_x_m[4] = {0, 0, 0, 0};
float start_y_m[4] = {0.41, 0.41, 0.41, 0.41};
float goal_y_m[4] = {0.29, 0.41, 0.29, 0.41};
+ float raise_offset_x_m[4] = {};
float overcome_height_m[] = {0.2, 0.1, 0.2, 0.1};
- float gravity_dist[] = {0.15, 0, 0.05, -0.05};
- OverCome overcome(start_x_m, start_y_m, d_x_m, goal_y_m, overcome_height_m, gravity_dist, walk.leg);
+ float gravity_dist[] = {0.1, 0, 0.1, 0};
+ OverCome overcome(start_x_m, start_y_m, d_x_m, goal_y_m,
+ overcome_height_m, gravity_dist, walk.leg, raise_offset_x_m);
walk.Copy(overcome.walk);
break;
}
- case OVERCOME: //前足が乗った状態で進む
- {
+ case OVERCOME:
+ { //前足が乗った状態で進む
float offset_x_m[4] = {-0.15, 0.15, -0.15, 0.15},
- offset_y_m[4] = {0.35, 0.35, 0.35, 0.35};
+ offset_y_m[4] = {0.38, 0.35, 0.38, 0.35};
float stride_m[4] = {0.2, 0.2, 0.2, 0.2},
height_m[4] = {0.1, 0.1, 0.1, 0.1}, buffer_height_m = 0.05,
stridetime_s = 1, toptime_s = 0.2, buffer_time_s = 0.2;
@@ -144,8 +147,8 @@
walk.SetOffsetTime(0, 0.5, 0.5, 0);
break;
}
- case OVERCOME2: //後ろ脚が乗った状態で進む
- {
+ case OVERCOME2:
+ { //後ろ脚が乗った状態で進む
float offset_x_m[4] = {},
offset_y_m[4] = {0.35, 0.35, 0.35, 0.35};
float stride_m[4] = {0.2, 0.2, 0.2, 0.2},
@@ -158,14 +161,91 @@
walk.SetOffsetTime(0, 0.5, 0.5, 0);
break;
}
+ case ROPE:
+ {
+ /*
+ float offset_x_m[4] = {-0.10, -0.10, -0.10, -0.10},
+ offset_y_m[4] = {0.45, 0.45, 0.45, 0.45},
+ stride_m[4] = {0.1, 0.1, 0.1, 0.1},
+ height_m[4] = {0.17, 0.17, 0.17, 0.17}, buffer_height_m = 0.15,
+ stridetime_s = 1, toptime_s = 0.2, buffer_time_s = 0.2;
+ for (int i = 0; i < 4; i++)
+ SetOneLegFourPointParam(walk, i, offset_x_m[i], offset_y_m[i],
+ stride_m[i], height_m[i], buffer_height_m,
+ stridetime_s, toptime_s, buffer_time_s);
+ walk.SetOffsetTime(0, 0.5, 0.5, 0);*/
+ /*
+ LineParam over_come_front[] = {
+ {.time_s = 0, .x_m = -0.05, .y_m = 0.45, .is_point_to_point = 0},
+ {.time_s = 0.5, .x_m = -0.15, .y_m = 0.45, .is_point_to_point = 0},
+ {.time_s = 1, .x_m = -0.2366, .y_m = 0.3, .is_point_to_point = 0},
+ {.time_s = 1.5, .x_m = -0.037, .y_m = 0.3, .is_point_to_point = 1},
+ {.time_s = 2, .x_m = -0.05, .y_m = 0.45, .is_point_to_point = 0},
+ };
+ for (int i = 0; i < 4; i++)
+ SetOneLegFreeLinesParam(walk, i, over_come_front, sizeof(over_come_front) / sizeof(over_come_front[0]));
+ walk.SetOffsetTime(0, 0.5, 0.5, 0);
+ */
+ float offset_x_m[4] = {-0.05, 0, -0.05, 0};
+ float d_x_m = 0.2;
+ float start_y_m[4] = {0.41, 0.41, 0.41, 0.41};
+ float goal_y_m[4] = {0.41, 0.41, 0.41, 0.41};
+ float raise_offset_x_m[] = {0, -0.08, 0, -0.08};
+ float overcome_height_m[] = {0.05, 0.2, 0.05, 0.2};
+ float gravity_dist[] = {0.05, -0.05, 0.05, -0.05};
+ OverCome overcome(offset_x_m, start_y_m, d_x_m, goal_y_m,
+ overcome_height_m, gravity_dist, walk.leg, raise_offset_x_m);
+ walk.Copy(overcome.walk);
+ }
+ break;
+ case ROPE_BACK:
+ {
+
+ float offset_x_m[4] = {};
+ float d_x_m = 0.15;
+ float start_y_m[4] = {0.41, 0.41, 0.41, 0.41};
+ float goal_y_m[4] = {0.41, 0.41, 0.41, 0.41};
+ float raise_offset_x_m[] = {-0.03, 0, -0.03, 0};
+ float overcome_height_m[] = {0.2, 0.05, 0.2, 0.05};
+ float gravity_dist[] = {0.08, 0, 0.08, 0};
+ OverCome overcome(offset_x_m, start_y_m, d_x_m, goal_y_m,
+ overcome_height_m, gravity_dist, walk.leg, raise_offset_x_m);
+ walk.Copy(overcome.walk);
+ }
+ break;
+ case ROPE_DOWN:
+ {
+ for (int i = 0; i < 4; i++)
+ {
+ LineParam lines[] = {
+ {.time_s = 0, .x_m = walk.leg[i].GetX_m(), .y_m = walk.leg[i].GetY_m(), .is_point_to_point = 0},
+ {.time_s = 0.5, .x_m = offset_x_m[i], .y_m = offset_y_m[i], .is_point_to_point = 0},
+ };
+ SetOneLegFreeLinesParam(walk, i, lines, sizeof(lines) / sizeof(lines[0]));
+ }
+ walk.SetOffsetTime(0, 0, 0, 0);
+ }
+ break;
+ case SLOPE:
+ {
+ float offset_x_m[4] = {-0.15, 0.15, -0.15, 0.15},
+ offset_y_m[4] = {0.32, 0.22, 0.32, 0.22};
+ float stride_m[4] = {0.18, 0.18, 0.2, 0.2}; //ropeのときは0.15
+ float height_m[4] = {0.05, 0.05, 0.05, 0.05}, buffer_height_m = 0.02,
+ stridetime_s = 1, toptime_s = 0.2, buffer_time_s = 0.1;
+ for (int i = 0; i < 4; i++)
+ SetOneLegTriangleParam(walk, i, offset_x_m[i], offset_y_m[i],
+ stride_m[i], height_m[i], buffer_height_m,
+ stridetime_s, toptime_s, buffer_time_s);
+ walk.SetOffsetTime(0, 0.5, 0.5, 0);
+ }
+ break;
default:
printf("error: there is no WalkWay\r\n");
return 1;
}
-
return walk.CheckOrbit();
}
-
int main()
{
#ifdef VSCODE
@@ -185,31 +265,82 @@
return 1; //強制終了.errorは内部の関数からprintfで知らせる
}
}
+ // SetWalk(walk, STANDUP);
+ SetWalk(walk, STANDUP_SANDDUNE);
+#ifndef USE_ROS
printf("Stand up?\r\n");
WaitStdin('y'); // ボタンを押したら立つ
- if (SetWalk(walk, STANDUP) == 1)
+#endif
+ MoveOneCycle(walk, leg);
+#ifndef USE_ROS
+ printf("Move?\r\n");
+ WaitStdin('y'); // ボタンを押したら立つ
+#endif
+/*
+
+ WaitStdin('y'); // ボタンを押したらスタート
+ if (SetWalk(walk, SLOPE) == 1)
{
- printf("error: stand move\r\n");
- return 1; //強制終了.errorは内部の関数からprintfで知らせる
+ printf("error: LRFPOSTURE\r\n");
+ return 1; //強制終了.
}
- MoveOneCycle(walk, leg);
- printf("Move?\r\n");
- WaitStdin('y'); // ボタンを押したらスタート
+ for (int i = 0; i < 30; i++)
+ MoveOneCycle(walk, leg);
+*/
+/*
+ /////////////ROPEを試す
+ if (SetWalk(walk, ROPE) == 1)
+ {
+ printf("error: ROPE\r\n");
+ return 1; //強制終了.
+ }
+ MoveOneCycle(walk, leg);
+ if (SetWalk(walk, ROPE_DOWN) == 1)
+ {
+ printf("error: ROPE_DOWN\r\n");
+ return 1; //強制終了.
+ }
+ MoveOneCycle(walk, leg);
+ if (SetWalk(walk, LRFPOSTURE) == 1)
+ {
+ printf("error: LRFPOSTURE\r\n");
+ return 1; //強制終了.
+ }
+ for (int i = 0; i < 3; i++)
+ MoveOneCycle(walk, leg);
+
+ if (SetWalk(walk, ROPE_BACK) == 1)
+ {
+ printf("error:ROPE_BACK \r\n");
+ return 1; //強制終了.
+ }
+ MoveOneCycle(walk, leg);
+ */
#ifdef USE_ROS
nh_mbed.getHardware()->setBaud(115200);
nh_mbed.initNode();
nh_mbed.subscribe(sub_vel);
nh_mbed.subscribe(sub_state);
nh_mbed.spinOnce(); //一度受信
+ SetWalk(walk, LRFPOSTURE);
while (1)
{
-
- SetWalk(walk, LRFPOSTURE);
- MoveOneCycle(walk, leg);
- nh_mbed.spinOnce();
- if (state_from_ros = SANDDUNE)
+ switch (state_from_ros)
{
+ case STOP:
+ break;
+ case RUN:
+ for (int i = 0; i < 4; i++)
+ SetOneLegTriangleParam(walk, i, offset_x_m[i], offset_y_m[i],
+ stride_m[i], height_m[i], buffer_height_m,
+ stridetime_s, toptime_s, buffer_time_s);
+ MoveOneCycle(walk, leg);
+ break;
+ case SANDDUNE:
#endif
+ //2歩進んで当て処理
+ // for (int i = 0; i < 2; i++)
+ // MoveOneCycle(walk, leg);
//前足を段差にかける
if (SetWalk(walk, FRONTLEG_ON_SANDDUNE) == 1)
{
@@ -240,10 +371,12 @@
printf("error: triangle\r\n");
return 1; //強制終了.
}
- for (int i = 0; i < 5; i++)
+ for (int i = 0; i < 3; i++)
MoveOneCycle(walk, leg);
#ifdef USE_ROS
+ break;
}
+ nh_mbed.spinOnce();
}
#endif
printf("program end\r\n");
@@ -251,97 +384,20 @@
fclose(fp);
#endif
}
-//一サイクル分進む.return 1:異常終了
-int MoveOneCycle(Walk walkway, OneLeg leg[4])
-{
-#ifndef VSCODE
- timer.reset();
- timer.start();
-#endif
- int count = walkway.orbit[0].GetOneWalkTime() / walkway.calctime_s_;
- for (int i = 0; i < count; i++)
- {
-#ifndef VSCODE
- float time_s = timer.read();
-#endif
- //4本の足それぞれの足先サーボ角度更新
- if (walkway.Cal4LegsPosi(leg) == 1)
- {
- printf("error: time = %f\r\n", i * walkway.calctime_s_);
- return 1;
- }
-#ifdef USE_CAN
- SendRad(leg[2], leg[3]); //slave_mbed分の足の目標位置を送信
-#endif
- //自身が動かす足のサーボを動かす
- MoveServo(leg[0], 0, 0);
- MoveServo(leg[1], 1, 0);
-#ifndef VSCODE
- wait_ms(kServoSpan_ms);
-#endif
- MoveServo(leg[0], 0, 1);
- MoveServo(leg[1], 1, 1);
-#ifdef VSCODE
- //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
- fprintf(fp, "%f", i * walkway.calctime_s_);
- for (int i = 0; i < 4; i++)
- fprintf(fp, ",%f,%f", leg[i].GetX_m(), leg[i].GetY_m());
- fprintf(fp, "\r\n");
-#else
- //計算周期がwalkway.calctime_s_になるようwait
- float rest_time_s = walkway.calctime_s_ - (timer.read() - time_s);
- if (rest_time_s > 0)
- wait(rest_time_s);
- else
- { //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。
- DEBUG("error: rest_time_s = %f in Move()\r\n", rest_time_s);
- led[0] = 1;
- }
-#endif
- }
- return 0;
-}
-void MoveServo(OneLeg leg, int serial_num, int servo_id)
-{
-#ifndef VSCODE
- float degree = leg.GetRad(servo_id) * kRadToDegree;
- //サーボの座標系に変更
- float servo_degree = kServoSign[serial_num][servo_id] * degree + kOriginDegree[serial_num][servo_id];
- // DEBUG("servo_degree[%d][%d],%f\r\n", serial_num, servo_id, servo_degree);
- servo[serial_num].set_degree(servo_id, servo_degree);
-#endif
-}
-void WaitStdin(char startchar)
-{
-#ifndef USE_ROS
- char str[255] = {};
- do
- {
- printf("put '%c', then start\r\n", startchar);
- scanf("%s", str);
- } while (str[0] != startchar);
-#endif
-}
-int FileOpen() //1:異常終了
-{
- if ((fp = fopen("data.csv", "w")) == NULL)
- {
- printf("error : FileSave()\r\n");
- return 1;
- }
- fprintf(fp, "time[s],x[0],y[0],x[1],y[1],x[2],y[2],x[3],y[3]\r\n");
- return 0;
-}
#ifdef USE_ROS
void callback(const geometry_msgs::Vector3 &cmd_vel)
{
+ // pub_vel.publish(&cmd_vel);
+ if (state_from_ros == 0)
+ state_from_ros = 1;
stride_m[LEFT_F] = cmd_vel.x;
stride_m[LEFT_B] = cmd_vel.x;
stride_m[RIGHT_F] = cmd_vel.y;
stride_m[RIGHT_B] = cmd_vel.y;
}
-void callback_state(const std_msgs::Int16 &cmd_vel)
+void callback_state(const std_msgs::Int16 &cmd)
{
- state_from_ros = cmd_vel.data;
+ state_from_ros = cmd.data;
+ led[state_from_ros] = 1;
}
#endif
\ No newline at end of file