test
Dependencies: mbed ros_lib_kinetic nhk19mr2_can_info splitData SerialHalfDuplex_HM
Diff: main.cpp
- Revision:
- 32:dc684a0b8448
- Parent:
- 31:86eb746eaed4
- Child:
- 33:945d634d4c9b
--- a/main.cpp Thu Feb 28 03:52:09 2019 +0000 +++ b/main.cpp Thu Feb 28 08:48:21 2019 +0000 @@ -66,7 +66,7 @@ }; FILE *fp; const float kRadToDegree = 180.0 / M_PI; -void MoveOneCycle(Walk walkway, OneLeg leg[4]); +int MoveOneCycle(Walk walkway, OneLeg leg[4]); void MoveServo(OneLeg leg, int legnum, int servo_id); void WaitStdin(char startchar); int FileOpen(); @@ -100,71 +100,94 @@ leg[i] = OneLeg(kBetweenServoHalf_m, kLegLength1, kLegLength2); walks[STANDUP].SetAllLegStandParam(0, 0.2, 0.5); //x,y,time_s.一括で設定できる - //STRAIGT 論文通りのとき、start_y_mは <=0.32 - float start_x_m = 0.075, start_y_m = 0.2, stride_m = 0.15, height_m = 0.03, buffer_height_m = 0.01, + //STRAIGT 論文通りのとき、offset_y_mは <=0.32 + float offset_x_m = -0.05, offset_y_m = 0.20, stride_m = 0.12, height_m = 0.05, buffer_height_m = 0.01, stridetime_s = 0.3, toptime_s = 0.07, buffer_time_s = 0.03; walks[STRAIGHT].SetAllLegTriangleParam // 4足を取り敢えず一括で設定してから - (start_x_m, start_y_m, stride_m, height_m, buffer_height_m, stridetime_s, toptime_s, buffer_time_s); + (offset_x_m, offset_y_m, stride_m, height_m, buffer_height_m, stridetime_s, toptime_s, buffer_time_s); + walks[STRAIGHT].ChangeOneParam(LEFT_F, OFFSET_X_M, 0); + walks[STRAIGHT].ChangeOneParam(RIGHT_F, OFFSET_X_M, 0); + walks[STRAIGHT].ChangeOneParam(LEFT_F, OFFSET_Y_M, 0.2); + walks[STRAIGHT].ChangeOneParam(RIGHT_F, OFFSET_Y_M, 0.2); walks[STRAIGHT].SetOffsetTime(0, 0.5, 0.5, 0); -/* + //TURNLEFTのparam - float stride_short_m = 0.2, stride_long_m = 0.1, start_x_short_m = 0.1, start_x_long_m = 0.051; - stridetime_s = 0.2, toptime_s = 0.07, buffer_time_s = 0.03, - start_y_m = 0.2, height_m = 0.03, buffer_height_m = 0.01; + float stride_short_m = 0.05, stride_long_m = 0.25; + stridetime_s = 0.3, toptime_s = 0.07, buffer_time_s = 0.03, + offset_x_m=0, offset_y_m = 0.2, height_m = 0.03, buffer_height_m = 0.01; walks[TURNLEFT].SetAllLegTriangleParam // 4足を取り敢えず一括で設定してから - (start_x_short_m, start_y_m, stride_short_m, height_m, buffer_height_m, stridetime_s, toptime_s, buffer_time_s); - walks[TURNLEFT].ChangeOneParam(LEFT_F, STRIDE_M, stride_long_m); //一部のパラメータを変更 - walks[TURNLEFT].ChangeOneParam(LEFT_B, STRIDE_M, stride_long_m); - walks[TURNLEFT].ChangeOneParam(LEFT_F, STRAT_X_M, start_x_long_m); //一部のパラメータを変更 - walks[TURNLEFT].ChangeOneParam(LEFT_B, STRAT_X_M, start_x_long_m); + (offset_x_m, offset_y_m, stride_long_m, height_m, buffer_height_m, stridetime_s, toptime_s, buffer_time_s); + walks[TURNLEFT].ChangeOneParam(LEFT_F, STRIDE_M, stride_short_m); //一部のパラメータを変更 + walks[TURNLEFT].ChangeOneParam(LEFT_B, STRIDE_M, stride_short_m); walks[TURNLEFT].SetOffsetTime(0, 0.5, 0.5, 0); //位相ずれの程度(値域[0..1]) //TURNRIGHT1のparam walks[TURNRIGHT].SetAllLegTriangleParam // 4足を取り敢えず一括で設定してから - (start_x_short_m, start_y_m, stride_short_m, height_m, buffer_height_m, stridetime_s, toptime_s, buffer_time_s); - walks[TURNRIGHT].ChangeOneParam(RIGHT_F, STRIDE_M, stride_long_m); //一部のパラメータを変更 - walks[TURNRIGHT].ChangeOneParam(RIGHT_B, STRIDE_M, stride_long_m); - walks[TURNLEFT].ChangeOneParam(RIGHT_F, STRAT_X_M, start_x_long_m); //一部のパラメータを変更 - walks[TURNLEFT].ChangeOneParam(RIGHT_B, STRAT_X_M, start_x_long_m); + (offset_x_m, offset_y_m, stride_long_m, height_m, buffer_height_m, stridetime_s, toptime_s, buffer_time_s); + walks[TURNRIGHT].ChangeOneParam(RIGHT_F, STRIDE_M, stride_short_m); //一部のパラメータを変更 + walks[TURNRIGHT].ChangeOneParam(RIGHT_B, STRIDE_M, stride_short_m); walks[TURNRIGHT].SetOffsetTime(0, 0.5, 0.5, 0); //位相ずれの程度(値域[0..1]) // UP, //足を伸ばして立つ + LineParam up[] = { + {.time_s = 1, .x_m = 0, .y_m = 0.3}, + {.time_s = 0, .x_m = 0, .y_m = 0.3}}; walks[UP].SetAllLegStandParam(0, 0.3, 1.2); //x,y,time_s.一括で設定できる // OVERCOME 前足を乗せる - LineParam over_come_front[] = { - {.time_s = 0.6, .x_m = -0.1, .y_m = 0.3}, - {.time_s = 0.2, .x_m = -0.1, .y_m = 0.3}, - {.time_s = 0.2, .x_m = -0.13, .y_m = 0.16}, - {.time_s = 0.2, .x_m = 0.08, .y_m = 0.16}, - {.time_s = 0.6, .x_m = 0.08, .y_m = 0.2}, - {.time_s = 0, .x_m = 0.08, .y_m = 0.2}}; - walks[OVERCOME].SetAllLegFreeLinesParam(over_come_front, sizeof(over_come_front)/sizeof(over_come_front[0])); //前足設定 - walks[OVERCOME].SetOneLegStandParam(LEFT_B, 0, 0.3, frontleg.GetOneWalkTime()); - walks[OVERCOME].SetOneLegStandParam(RIGHT_B, 0, 0.3, frontleg.GetOneWalkTime()); - walks[OVERCOME].SetOffsetTime(0, 0.5, 0, 0); + + LineParam over_come_front_r[] = { + {.time_s = 0.6, .x_m = -0, .y_m = 0.32}, + {.time_s = 0.2, .x_m = -0, .y_m = 0.32}, + {.time_s = 0.2, .x_m = -0.13, .y_m = 0.15}, + {.time_s = 0.2, .x_m = 0.12, .y_m = 0.15}, + {.time_s = 0.6, .x_m = 0.12, .y_m = 0.15}, + {.time_s = 0, .x_m = 0.12, .y_m = 0.2}}; + LineParam over_come_front_l[] = { + {.time_s = 0.6, .x_m = -0, .y_m = 0.32}, + {.time_s = 0.6, .x_m = -0, .y_m = 0.32}, + {.time_s = 0.2, .x_m = -0, .y_m = 0.32}, + {.time_s = 0.2, .x_m = -0.13, .y_m = 0.15}, + {.time_s = 0.2, .x_m = 0.2, .y_m = 0.15}, + {.time_s = 0, .x_m = 0.2, .y_m = 0.2}}; + LineParam over_come_back[] = { + {.time_s = 0.6, .x_m = 0, .y_m = 0.3}, + {.time_s = 0.2, .x_m = 0, .y_m = 0.3}, + {.time_s = 1, .x_m = -0.1,.y_m = 0.3}, + {.time_s = 0, .x_m = -0.1,.y_m = 0.3}, + }; + walks[OVERCOME].SetOneLegFreeLinesParam(RIGHT_F, over_come_front_r, sizeof(over_come_front_r)/ sizeof(over_come_front_r[0])); + walks[OVERCOME].SetOneLegFreeLinesParam(LEFT_F, over_come_front_l, sizeof(over_come_front_l)/sizeof(over_come_front_l[0])); + walks[OVERCOME].SetOneLegFreeLinesParam(LEFT_B, over_come_back, sizeof(over_come_back)/sizeof(over_come_back[0])); + walks[OVERCOME].SetOneLegFreeLinesParam(RIGHT_B, over_come_back, sizeof(over_come_back)/sizeof(over_come_back[0])); // SANDDUNE, //前足だけがsandduneに乗った状態で進む - start_x_m = 0.02, start_y_m = 0.3, stride_m = 0.1, height_m = 0.03, buffer_height_m = 0.01, + offset_x_m = -0.03, offset_y_m = 0.3, stride_m = 0.1, height_m = 0.03, buffer_height_m = 0.01, stridetime_s = 0.2, toptime_s = 0.07, buffer_time_s = 0.03; walks[SANDDUNE].SetAllLegTriangleParam // 4足一括で設定 - (start_x_m, start_y_m, stride_m, height_m, buffer_height_m, stridetime_s, toptime_s, buffer_time_s); + (offset_x_m, offset_y_m, stride_m, height_m, buffer_height_m, stridetime_s, toptime_s, buffer_time_s); + walks[SANDDUNE].ChangeOneParam(LEFT_F, OFFSET_X_M, 0); + walks[SANDDUNE].ChangeOneParam(RIGHT_F, OFFSET_X_M, 0); + walks[SANDDUNE].ChangeOneParam(LEFT_F, OFFSET_Y_M, offset_y_m - 0.1); + walks[SANDDUNE].ChangeOneParam(RIGHT_F, OFFSET_Y_M, offset_y_m - 0.1); walks[SANDDUNE].SetOffsetTime(0, 0.5, 0.5, 0); //位相ずれの程度(値域[0..1]) // OVERCOME_BACK, //後ろ足を乗せる float offset_x_back = -0.05; - Lineparam overcomebackParams[6] = { - {.time_s = 0.8, .x_m = -0.05 + offset_x_back, .y_m = 0.3}, - {.time_s = 0.2, .x_m = -0.05 + offset_x_back, .y_m = 0.3}, - {.time_s = 0.2, .x_m = -0.1 + offset_x_back, .y_m = 0.16}, - {.time_s = 0.2, .x_m = 0.1 + offset_x_back, .y_m = 0.16}, - {.time_s = 0.2, .x_m = 0.1 + offset_x_back, .y_m = 0.2}, - {.time_s = 0.6, .x_m = 0.05 + offset_x_back, .y_m = 0.2}, + LineParam overcomebackParams[] = { + {.time_s = 0.8, .x_m = -0.05f + offset_x_back, .y_m = 0.3}, + {.time_s = 0.2, .x_m = -0.05f + offset_x_back, .y_m = 0.3}, + {.time_s = 0.2, .x_m = -0.1f + offset_x_back, .y_m = 0.16}, + {.time_s = 0.2, .x_m = 0.1f + offset_x_back, .y_m = 0.16}, + {.time_s = 0.2, .x_m = 0.1f + offset_x_back, .y_m = 0.2}, + {.time_s = 0.8, .x_m = 0.05f + offset_x_back, .y_m = 0.2}, + {.time_s = 0, .x_m = 0.05f + offset_x_back, .y_m = 0.2}, }; - Lineparam standbackParams[3] = { - {.time_s = 0.6, .x_m = 0.0 + offset_x_back, .y_m = 0.2}, - {.time_s = 0.2, .x_m = 0.0 + offset_x_back, .y_m = 0.2}, - {.time_s = 0.6, .x_m = -0.05 + offset_x_back, .y_m = 0.2}, + LineParam standbackParams[] = { + {.time_s = 0.6, .x_m = 0.0f + offset_x_back, .y_m = 0.2}, + {.time_s = 0.2, .x_m = 0.0f + offset_x_back, .y_m = 0.2}, + {.time_s = 0.6, .x_m = -0.05f + offset_x_back, .y_m = 0.2}, + {.time_s = 0, .x_m = -0.05f + offset_x_back, .y_m = 0.2}, }; walks[OVERCOME_BACK].SetOneLegFreeLinesParam(LEFT_F, standbackParams, sizeof(standbackParams) / sizeof(standbackParams[0])); walks[OVERCOME_BACK].SetOneLegFreeLinesParam(RIGHT_F, standbackParams, sizeof(standbackParams) / sizeof(standbackParams[0])); @@ -173,35 +196,33 @@ walks[OVERCOME_BACK].SetOffsetTime(0, 0, 0.5, 0); // STRAIGHT_W, //両足がsandduneに乗った状態で進む - start_x_m = -0.04, start_y_m = 0.2, stride_m = 0.1, height_m = 0.03, buffer_height_m = 0.01, + offset_x_m = -0.09, offset_y_m = 0.2, stride_m = 0.1, height_m = 0.03, buffer_height_m = 0.01, stridetime_s = 0.2, toptime_s = 0.07, buffer_time_s = 0.03; walks[STRAIGHT_W].SetAllLegTriangleParam // 4足一括で設定 - (start_x_m, start_y_m, stride_m, height_m, buffer_height_m, stridetime_s, toptime_s, buffer_time_s); - walks[STRAIGHT_W].ChangeOneParam(LEFT_F, STRAT_X_M, 0.05); - walks[STRAIGHT_W].ChangeOneParam(RIGHT_F, STRAT_X_M, 0.05); + (offset_x_m, offset_y_m, stride_m, height_m, buffer_height_m, stridetime_s, toptime_s, buffer_time_s); + walks[STRAIGHT_W].ChangeOneParam(LEFT_F, OFFSET_X_M, 0); + walks[STRAIGHT_W].ChangeOneParam(RIGHT_F, OFFSET_X_M, 0); walks[STRAIGHT_W].SetOffsetTime(0, 0.5, 0.5, 0); - // ROPE_F, //ropeをまたぐ(前足) - float start_x_front_m = 0.05; //前足のstart_x - start_x_m = .72, start_y_m = 0.3, stride_m = .15, height_m = 0.03, buffer_height_m = 0.01, + // ROPE_F, //ropeをまたぐ(前足) + offset_x_m = 0, offset_y_m = 0.3, stride_m = .15, height_m = 0.03, buffer_height_m = 0.01, stridetime_s = 1, toptime_s = 0.35, buffer_time_s = 0.05; walks[ROPE_F].SetAllLegTriangleParam // 4足一括で設定 - (start_x_m, start_y_m, stride_m, height_m, buffer_height_m, stridetime_s, toptime_s, buffer_time_s); + (offset_x_m, offset_y_m, stride_m, height_m, buffer_height_m, stridetime_s, toptime_s, buffer_time_s); walks[ROPE_F].ChangeOneParam(LEFT_F, HEIGHT_M, 0.15); //前足だけ足を延ばす walks[ROPE_F].ChangeOneParam(RIGHT_F, HEIGHT_M, 0.15); walks[ROPE_F].SetOffsetTime(0, 0.5, 0.5, 0); //位相ずれの程度(値域[0..1]) // ROPE_B, //ropeをまたぐ(後ろ足) - start_x_m = 0, start_y_m = 0.3, stride_m = .15, height_m = 0.03, buffer_height_m = 0.01, + offset_x_m = -0.05, offset_y_m = 0.3, stride_m = .1, height_m = 0.03, buffer_height_m = 0.01, stridetime_s = 1, toptime_s = 0.35, buffer_time_s = 0.05; walks[ROPE_B].SetAllLegTriangleParam // 4足一括で設定 - (start_x_m, start_y_m, stride_m, height_m, buffer_height_m, stridetime_s, toptime_s, buffer_time_s); + (offset_x_m, offset_y_m, stride_m, height_m, buffer_height_m, stridetime_s, toptime_s, buffer_time_s); walks[ROPE_B].ChangeOneParam(LEFT_B, HEIGHT_M, 0.15); //後ろ足だけ足を延ばす walks[ROPE_B].ChangeOneParam(RIGHT_B, HEIGHT_M, 0.15); - walks[ROPE_B].ChangeOneParam(LEFT_B, STRAT_X_M, -0.02); - walks[ROPE_B].ChangeOneParam(RIGHT_B, STRAT_X_M, -0.02); + walks[ROPE_B].ChangeOneParam(LEFT_B, OFFSET_X_M, -0.07); + walks[ROPE_B].ChangeOneParam(RIGHT_B, OFFSET_X_M, -0.07); walks[ROPE_B].SetOffsetTime(0, 0.5, 0.5, 0); //位相ずれの程度(値域[0..1]) - */ } Walk walks[END]; //歩行法 int main() @@ -216,7 +237,7 @@ { if (walks[i].CheckOrbit(leg[0]) == 1) //軌道が定義外なら { - printf("error: move pattern %d", i); + printf("error: move pattern %d\r\n", i); return 1; //強制終了.errorは内部の関数からprintfで知らせる } } @@ -232,21 +253,36 @@ while (1) nh_mbed.spinOnce(); #else + + for(int k=0;k<5;k++)MoveOneCycle(walks[STRAIGHT], leg); + for(int k=0;k<1;k++)MoveOneCycle(walks[UP], leg); + for(int k=0;k<1;k++)MoveOneCycle(walks[OVERCOME],leg); + for(int k=0;k<5;k++) MoveOneCycle(walks[SANDDUNE],leg); + for(int k=0;k<1;k++)MoveOneCycle(walks[OVERCOME_BACK],leg); + for(int k=0;k<3;k++)MoveOneCycle(walks[STRAIGHT_W], leg); +// for(int k=0;k<5;k++)Move(*straight_w2, leg,(*straight_w2).GetTheta(0.1)); +// for(int k=0;k<3;k++)Move(*straight, leg); +/* for (int i = 1; i < END; i++) //ENDになるまでWalkWayの順に動作 { - DEBUG("Move %d\r\n", i); - for (int j = 0; j < 50; j++) //debug用に2歩進む - MoveOneCycle(walks[i], leg); + printf("Move %d\r\n", i); + for (int j = 0; j < 20; j++) //debug用に2歩進む + { + if(MoveOneCycle(walks[i], leg) == 1) + printf("error:In MoveOneCycle. WalkWay %d\r\n",i); + } } + MoveOneCycle(walks[STANDUP], leg); //最後はLRFを保護するためSTANDUPの状態で終わる - printf("program end\r\n"); + + */ printf("program end\r\n"); #ifdef VSCODE fclose(fp); #endif #endif } -//一サイクル分進む -void MoveOneCycle(Walk walkway, OneLeg leg[4]) +//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(); @@ -260,7 +296,10 @@ #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 @@ -290,6 +329,7 @@ } #endif } + return 0; } void MoveServo(OneLeg leg, int serial_num, int servo_id) {