Diff: servo_and_movefunc.cpp

Revision:

43:2ed84f3558c1

Child:

50:36741e8ab197

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/servo_and_movefunc.cpp	Wed Mar 06 12:13:46 2019 +0000
@@ -0,0 +1,116 @@
+#include "servo_and_movefunc.h"
+#include "pi.h"
+#include "math.h"
+#include "debug.h"
+#ifndef VSCODE
+#include "KondoServo.h"
+#include "pinnames.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
+#endif
+FILE *fp;
+const float kRadToDegree = 180.0 / M_PI;
+//サーボの送信間隔
+const int kServoSpan_ms = 6;
+//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,
+    },
+    {
+        (7467 - 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
+//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)
+{
+    char str[255] = {};
+    do
+    {
+        printf("put '%c', then start\r\n", startchar);
+        scanf("%s", str);
+    } while (str[0] != startchar);
+}
+
+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;
+}