test
Dependencies: mbed ros_lib_kinetic nhk19mr2_can_info splitData SerialHalfDuplex_HM
servo_and_movefunc.cpp
- Committer:
- shimizuta
- Date:
- 2019-03-06
- Revision:
- 43:2ed84f3558c1
- Child:
- 50:36741e8ab197
File content as of revision 43:2ed84f3558c1:
#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; }