test
Dependencies: mbed ros_lib_kinetic nhk19mr2_can_info splitData SerialHalfDuplex_HM
main.cpp@5:556d5a5e9d24, 2019-02-10 (annotated)
- Committer:
- yuto17320508
- Date:
- Sun Feb 10 06:07:02 2019 +0000
- Revision:
- 5:556d5a5e9d24
- Parent:
- 4:fffdb273836e
- Child:
- 6:43708adf2e5d
make born
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
yuto17320508 | 3:bcae0bb64b81 | 1 | //mbed間の同期を、master-slaveで行いたい。 |
yuto17320508 | 4:fffdb273836e | 2 | //masetrで4つの脚の動きをすべて決定, |
yuto17320508 | 4:fffdb273836e | 3 | //その動きをslaveに送る。 |
yuto17320508 | 3:bcae0bb64b81 | 4 | |
yuto17320508 | 0:f000d896d188 | 5 | #include "mbed.h" |
yuto17320508 | 0:f000d896d188 | 6 | #include "KondoServo.h" |
yuto17320508 | 5:556d5a5e9d24 | 7 | #define Mastar ; |
yuto17320508 | 3:bcae0bb64b81 | 8 | //#define Slave; |
yuto17320508 | 4:fffdb273836e | 9 | |
yuto17320508 | 4:fffdb273836e | 10 | //定義 |
yuto17320508 | 3:bcae0bb64b81 | 11 | namespace Quadruped |
shimizuta | 2:a92568bdeb5c | 12 | { |
yuto17320508 | 5:556d5a5e9d24 | 13 | const float Pi = 3.141592; |
yuto17320508 | 5:556d5a5e9d24 | 14 | const float kRadToDegree = 180.0 / Pi; |
yuto17320508 | 5:556d5a5e9d24 | 15 | const float tickerTime = 0.006f; //Ticker間隔 |
yuto17320508 | 5:556d5a5e9d24 | 16 | |
yuto17320508 | 5:556d5a5e9d24 | 17 | const float omega = 3.1415f * 2.5f; //角速度 |
yuto17320508 | 5:556d5a5e9d24 | 18 | const float offsetDegree = 0.0f; |
yuto17320508 | 5:556d5a5e9d24 | 19 | const float offsetY = 0.15f; |
yuto17320508 | 5:556d5a5e9d24 | 20 | |
yuto17320508 | 5:556d5a5e9d24 | 21 | float Stride_time_s = 1.0f;//床についている時間 |
yuto17320508 | 5:556d5a5e9d24 | 22 | float Stride_length_m = 0.1f;//歩幅 |
yuto17320508 | 5:556d5a5e9d24 | 23 | void SetStrideMotion(float stride_time_s, float stride_length_m); |
yuto17320508 | 5:556d5a5e9d24 | 24 | float Rising_time_s = 0.2f;//脚を上げている時間 |
yuto17320508 | 5:556d5a5e9d24 | 25 | float Width_m = 0.03f;//脚を上げる高さ |
yuto17320508 | 5:556d5a5e9d24 | 26 | void SetRisiongMotion(float rising_time_s, float width_m); |
yuto17320508 | 5:556d5a5e9d24 | 27 | //ROSから送られてきたLRFのデータをもとに現在すべき動作を定義する。 |
yuto17320508 | 5:556d5a5e9d24 | 28 | int WalkMode = 0; |
yuto17320508 | 5:556d5a5e9d24 | 29 | static const int straight = 0; |
yuto17320508 | 5:556d5a5e9d24 | 30 | static const int turnleft = 1; |
yuto17320508 | 5:556d5a5e9d24 | 31 | static const int turnright = 2; |
yuto17320508 | 5:556d5a5e9d24 | 32 | static const int climb = 3; |
yuto17320508 | 5:556d5a5e9d24 | 33 | static const int overcoming = 4; |
yuto17320508 | 5:556d5a5e9d24 | 34 | void SetWalkMode(int mode); |
yuto17320508 | 5:556d5a5e9d24 | 35 | //4つの脚のtargetを保存する Legクラスで後で使えるようにしておく |
yuto17320508 | 5:556d5a5e9d24 | 36 | float targetX[4]; |
yuto17320508 | 5:556d5a5e9d24 | 37 | float targetY[4]; |
yuto17320508 | 5:556d5a5e9d24 | 38 | //脚の定義 位置を入力するとその方向にサーボが動く |
yuto17320508 | 5:556d5a5e9d24 | 39 | class Leg; |
yuto17320508 | 5:556d5a5e9d24 | 40 | //脚ごとのモーション これを組み合わせる |
yuto17320508 | 5:556d5a5e9d24 | 41 | namespace Motion{} |
yuto17320508 | 5:556d5a5e9d24 | 42 | //モーションを組み合わせて歩行パターンを形成する |
yuto17320508 | 5:556d5a5e9d24 | 43 | //前進、旋回など |
yuto17320508 | 5:556d5a5e9d24 | 44 | namespace WalkingPattern{} |
yuto17320508 | 5:556d5a5e9d24 | 45 | //パターン関数を呼び出す 一つの関数でいいようにswitchする |
yuto17320508 | 5:556d5a5e9d24 | 46 | void CalcWalk(int legNum, Leg leg); |
yuto17320508 | 5:556d5a5e9d24 | 47 | } // namespace Quadruped |
yuto17320508 | 4:fffdb273836e | 48 | |
yuto17320508 | 4:fffdb273836e | 49 | namespace CanConnector |
yuto17320508 | 4:fffdb273836e | 50 | { |
yuto17320508 | 5:556d5a5e9d24 | 51 | //class Mastar; |
yuto17320508 | 5:556d5a5e9d24 | 52 | //class Slave; |
yuto17320508 | 4:fffdb273836e | 53 | } |
yuto17320508 | 4:fffdb273836e | 54 | |
yuto17320508 | 4:fffdb273836e | 55 | //実装 |
yuto17320508 | 4:fffdb273836e | 56 | namespace Quadruped |
yuto17320508 | 4:fffdb273836e | 57 | { |
yuto17320508 | 5:556d5a5e9d24 | 58 | //脚の定義 |
yuto17320508 | 5:556d5a5e9d24 | 59 | class Leg |
yuto17320508 | 5:556d5a5e9d24 | 60 | { |
yuto17320508 | 5:556d5a5e9d24 | 61 | float rad_[2]; |
yuto17320508 | 5:556d5a5e9d24 | 62 | int id_[2]; |
yuto17320508 | 5:556d5a5e9d24 | 63 | //パラメータ。実際の機体に合わせていじる |
yuto17320508 | 5:556d5a5e9d24 | 64 | static const float dist_between_servo_half_m_ = 0.06f * 0.5; |
yuto17320508 | 5:556d5a5e9d24 | 65 | static const float LegLength1 = 0.1f; |
yuto17320508 | 5:556d5a5e9d24 | 66 | static const float LegLength2 = 0.2f; |
yuto17320508 | 5:556d5a5e9d24 | 67 | KondoServo servo_; |
yuto17320508 | 3:bcae0bb64b81 | 68 | |
yuto17320508 | 5:556d5a5e9d24 | 69 | public: |
yuto17320508 | 5:556d5a5e9d24 | 70 | Leg(PinName pin_serial_tx, PinName pin_serial_rx); |
yuto17320508 | 5:556d5a5e9d24 | 71 | void MoveServo(int servo_num); |
yuto17320508 | 5:556d5a5e9d24 | 72 | void CalServoRad(float x_m, float y_m); |
yuto17320508 | 5:556d5a5e9d24 | 73 | void SetRad(float rad, int servo_num); |
yuto17320508 | 5:556d5a5e9d24 | 74 | float GetRad(int servo_num); |
yuto17320508 | 5:556d5a5e9d24 | 75 | }; |
yuto17320508 | 5:556d5a5e9d24 | 76 | |
yuto17320508 | 5:556d5a5e9d24 | 77 | namespace Motion |
yuto17320508 | 5:556d5a5e9d24 | 78 | { |
yuto17320508 | 5:556d5a5e9d24 | 79 | void Stride(float time_s,float stride_length_m,float &targetX, float &targetY); //引数に歩幅 |
yuto17320508 | 5:556d5a5e9d24 | 80 | void Rising(float time_s,float width_m,float &targetX, float &targetY); //引数に上げる高さ |
yuto17320508 | 5:556d5a5e9d24 | 81 | } // namespace Motion |
yuto17320508 | 5:556d5a5e9d24 | 82 | |
yuto17320508 | 5:556d5a5e9d24 | 83 | namespace WalkingPattern |
yuto17320508 | 5:556d5a5e9d24 | 84 | { |
yuto17320508 | 5:556d5a5e9d24 | 85 | using namespace Motion; |
yuto17320508 | 5:556d5a5e9d24 | 86 | void Straight(); |
yuto17320508 | 5:556d5a5e9d24 | 87 | void TurnLeft(); |
yuto17320508 | 5:556d5a5e9d24 | 88 | void TurnRight(); |
yuto17320508 | 5:556d5a5e9d24 | 89 | void Climb(); |
yuto17320508 | 5:556d5a5e9d24 | 90 | void Overcoming(); //段差、紐乗り越え動作 |
yuto17320508 | 5:556d5a5e9d24 | 91 | } // namespace WalkingPattern |
yuto17320508 | 3:bcae0bb64b81 | 92 | |
yuto17320508 | 5:556d5a5e9d24 | 93 | Leg::Leg(PinName pin_serial_tx, PinName pin_serial_rx) : servo_(pin_serial_tx, pin_serial_rx) |
yuto17320508 | 5:556d5a5e9d24 | 94 | { |
yuto17320508 | 5:556d5a5e9d24 | 95 | |
yuto17320508 | 5:556d5a5e9d24 | 96 | rad_[0] = 0; |
yuto17320508 | 5:556d5a5e9d24 | 97 | rad_[1] = Pi; |
yuto17320508 | 5:556d5a5e9d24 | 98 | }; |
yuto17320508 | 5:556d5a5e9d24 | 99 | void Leg::MoveServo(int servo_num) |
yuto17320508 | 5:556d5a5e9d24 | 100 | { |
yuto17320508 | 5:556d5a5e9d24 | 101 | float degree = GetRad(servo_num) * kRadToDegree; |
yuto17320508 | 5:556d5a5e9d24 | 102 | //servo1は反転させる |
yuto17320508 | 5:556d5a5e9d24 | 103 | if (servo_num == 0) |
yuto17320508 | 5:556d5a5e9d24 | 104 | degree += 90; |
yuto17320508 | 5:556d5a5e9d24 | 105 | else |
yuto17320508 | 5:556d5a5e9d24 | 106 | degree = 270 - degree; |
yuto17320508 | 5:556d5a5e9d24 | 107 | servo_.set_degree(servo_num, degree); |
yuto17320508 | 5:556d5a5e9d24 | 108 | } |
yuto17320508 | 5:556d5a5e9d24 | 109 | void Leg::CalServoRad(float x_m, float y_m) |
yuto17320508 | 5:556d5a5e9d24 | 110 | { |
yuto17320508 | 5:556d5a5e9d24 | 111 | //処理を軽くするために共通部分は先に計算 |
yuto17320508 | 5:556d5a5e9d24 | 112 | float temp_x[] = {x_m + dist_between_servo_half_m_, |
yuto17320508 | 5:556d5a5e9d24 | 113 | x_m - dist_between_servo_half_m_}; |
yuto17320508 | 5:556d5a5e9d24 | 114 | float temp_y2 = y_m * y_m; |
yuto17320508 | 5:556d5a5e9d24 | 115 | float temp_L = LegLength1 * LegLength1 - LegLength2 * LegLength2; |
yuto17320508 | 4:fffdb273836e | 116 | |
yuto17320508 | 5:556d5a5e9d24 | 117 | float r1 = sqrt((temp_x[1]) * (temp_x[1]) + temp_y2); |
yuto17320508 | 5:556d5a5e9d24 | 118 | float r2 = sqrt((temp_x[0]) * (temp_x[0]) + temp_y2); |
yuto17320508 | 5:556d5a5e9d24 | 119 | float targetTheta[] = {atan2(y_m, temp_x[1]) - acos((temp_L + r1 * r1) / (2.0f * r1 * LegLength1)), |
yuto17320508 | 5:556d5a5e9d24 | 120 | atan2(y_m, temp_x[0]) + acos((temp_L + r2 * r2) / (2.0f * r2 * LegLength1))}; |
yuto17320508 | 5:556d5a5e9d24 | 121 | for (size_t i = 0; i < 2; i++) |
yuto17320508 | 5:556d5a5e9d24 | 122 | SetRad(targetTheta[i], i); |
yuto17320508 | 5:556d5a5e9d24 | 123 | } |
yuto17320508 | 5:556d5a5e9d24 | 124 | void Leg::SetRad(float rad, int servo_num) |
yuto17320508 | 5:556d5a5e9d24 | 125 | { |
yuto17320508 | 5:556d5a5e9d24 | 126 | rad_[servo_num] = rad; |
yuto17320508 | 5:556d5a5e9d24 | 127 | } |
yuto17320508 | 5:556d5a5e9d24 | 128 | float Leg::GetRad(int servo_num) |
yuto17320508 | 5:556d5a5e9d24 | 129 | { |
yuto17320508 | 5:556d5a5e9d24 | 130 | return rad_[servo_num]; |
shimizuta | 2:a92568bdeb5c | 131 | } |
shimizuta | 2:a92568bdeb5c | 132 | |
yuto17320508 | 3:bcae0bb64b81 | 133 | |
yuto17320508 | 5:556d5a5e9d24 | 134 | void Motion::Stride(float time_s,float stride_length_m,float &targetX, float &targetY) |
yuto17320508 | 5:556d5a5e9d24 | 135 | { |
yuto17320508 | 5:556d5a5e9d24 | 136 | |
yuto17320508 | 5:556d5a5e9d24 | 137 | } |
yuto17320508 | 5:556d5a5e9d24 | 138 | |
yuto17320508 | 5:556d5a5e9d24 | 139 | void Motion::Rising(float time_s,float width_m,float &targetX, float &targetY) |
yuto17320508 | 5:556d5a5e9d24 | 140 | { |
yuto17320508 | 5:556d5a5e9d24 | 141 | |
yuto17320508 | 5:556d5a5e9d24 | 142 | } |
yuto17320508 | 5:556d5a5e9d24 | 143 | |
yuto17320508 | 5:556d5a5e9d24 | 144 | void WalkingPattern::Straight() |
yuto17320508 | 5:556d5a5e9d24 | 145 | { |
yuto17320508 | 5:556d5a5e9d24 | 146 | static float time_s = 0.0f; |
yuto17320508 | 5:556d5a5e9d24 | 147 | float walkPeriod = Stride_time_s+Rising_time_s; |
yuto17320508 | 5:556d5a5e9d24 | 148 | float offsetTime[4] = {0.0f, walkPeriod/2.0f, 0.0f, walkPeriod/2.0f}; |
yuto17320508 | 5:556d5a5e9d24 | 149 | for(int i=0;i<4;++i) |
yuto17320508 | 5:556d5a5e9d24 | 150 | { |
yuto17320508 | 5:556d5a5e9d24 | 151 | float thisLegTime = time_s + offsetTime[i]; |
yuto17320508 | 5:556d5a5e9d24 | 152 | if(thisLegTime <= Stride_time_s) Motion::Stride(thisLegTime, Stride_length_m, targetX[i],targetY[i]); |
yuto17320508 | 5:556d5a5e9d24 | 153 | else if(thisLegTime <= walkPeriod) Motion::Rising(thisLegTime-Stride_time_s, Width_m,targetX[i],targetY[i]); |
yuto17320508 | 5:556d5a5e9d24 | 154 | else Motion::Stride(thisLegTime-walkPeriod, Stride_length_m,targetX[i],targetY[i]); |
yuto17320508 | 5:556d5a5e9d24 | 155 | } |
yuto17320508 | 5:556d5a5e9d24 | 156 | time_s += tickerTime*2.0f; |
yuto17320508 | 5:556d5a5e9d24 | 157 | if(time_s >= walkPeriod) time_s == 0.0f; |
yuto17320508 | 5:556d5a5e9d24 | 158 | |
yuto17320508 | 5:556d5a5e9d24 | 159 | } |
yuto17320508 | 5:556d5a5e9d24 | 160 | void WalkingPattern::TurnLeft() |
yuto17320508 | 5:556d5a5e9d24 | 161 | { |
yuto17320508 | 5:556d5a5e9d24 | 162 | static float time_s = 0.0f; |
yuto17320508 | 5:556d5a5e9d24 | 163 | |
yuto17320508 | 5:556d5a5e9d24 | 164 | } |
yuto17320508 | 5:556d5a5e9d24 | 165 | void WalkingPattern::TurnRight() |
yuto17320508 | 5:556d5a5e9d24 | 166 | { |
yuto17320508 | 5:556d5a5e9d24 | 167 | static float time_s = 0.0f; |
yuto17320508 | 5:556d5a5e9d24 | 168 | |
yuto17320508 | 5:556d5a5e9d24 | 169 | } |
yuto17320508 | 5:556d5a5e9d24 | 170 | void WalkingPattern::Climb() |
yuto17320508 | 5:556d5a5e9d24 | 171 | { |
yuto17320508 | 5:556d5a5e9d24 | 172 | static float time_s = 0.0f; |
yuto17320508 | 5:556d5a5e9d24 | 173 | |
yuto17320508 | 5:556d5a5e9d24 | 174 | } |
yuto17320508 | 5:556d5a5e9d24 | 175 | void WalkingPattern::Overcoming() |
yuto17320508 | 5:556d5a5e9d24 | 176 | { |
yuto17320508 | 5:556d5a5e9d24 | 177 | static float time_s = 0.0f; |
yuto17320508 | 5:556d5a5e9d24 | 178 | |
yuto17320508 | 5:556d5a5e9d24 | 179 | } |
yuto17320508 | 5:556d5a5e9d24 | 180 | |
yuto17320508 | 5:556d5a5e9d24 | 181 | void CalcWalk() |
yuto17320508 | 5:556d5a5e9d24 | 182 | { |
yuto17320508 | 5:556d5a5e9d24 | 183 | switch(WalkMode) |
yuto17320508 | 5:556d5a5e9d24 | 184 | { |
yuto17320508 | 5:556d5a5e9d24 | 185 | case straight: |
yuto17320508 | 5:556d5a5e9d24 | 186 | WalkingPattern::Straight(); |
yuto17320508 | 5:556d5a5e9d24 | 187 | break; |
yuto17320508 | 5:556d5a5e9d24 | 188 | case turnleft: |
yuto17320508 | 5:556d5a5e9d24 | 189 | WalkingPattern::TurnLeft(); |
yuto17320508 | 5:556d5a5e9d24 | 190 | break; |
yuto17320508 | 5:556d5a5e9d24 | 191 | case turnright: |
yuto17320508 | 5:556d5a5e9d24 | 192 | WalkingPattern::TurnRight(); |
yuto17320508 | 5:556d5a5e9d24 | 193 | break; |
yuto17320508 | 5:556d5a5e9d24 | 194 | case climb: |
yuto17320508 | 5:556d5a5e9d24 | 195 | WalkingPattern::Climb(); |
yuto17320508 | 5:556d5a5e9d24 | 196 | break; |
yuto17320508 | 5:556d5a5e9d24 | 197 | case overcoming: |
yuto17320508 | 5:556d5a5e9d24 | 198 | WalkingPattern::Overcoming(); |
yuto17320508 | 5:556d5a5e9d24 | 199 | break; |
yuto17320508 | 5:556d5a5e9d24 | 200 | } |
yuto17320508 | 5:556d5a5e9d24 | 201 | } |
yuto17320508 | 5:556d5a5e9d24 | 202 | } // namespace Quadruped |
shimizuta | 2:a92568bdeb5c | 203 | |
yuto17320508 | 3:bcae0bb64b81 | 204 | //////////////////////////////////////////////////////////////以上が4脚ロボットに関する記述 |
yuto17320508 | 3:bcae0bb64b81 | 205 | using namespace Quadruped; |
yuto17320508 | 3:bcae0bb64b81 | 206 | Leg leg1(p9, p10); |
yuto17320508 | 5:556d5a5e9d24 | 207 | Leg leg2(p28, p27); |
yuto17320508 | 5:556d5a5e9d24 | 208 | CAN can1(p30, p29); |
shimizuta | 2:a92568bdeb5c | 209 | Ticker fliper; |
shimizuta | 2:a92568bdeb5c | 210 | |
yuto17320508 | 5:556d5a5e9d24 | 211 | |
yuto17320508 | 0:f000d896d188 | 212 | |
yuto17320508 | 0:f000d896d188 | 213 | void F_t(float t, float &tarX, float &tarY) |
yuto17320508 | 0:f000d896d188 | 214 | { |
yuto17320508 | 0:f000d896d188 | 215 | float theta = -omega * t + offsetDegree; |
yuto17320508 | 0:f000d896d188 | 216 | if (sin(theta) <= 0.0f) |
yuto17320508 | 0:f000d896d188 | 217 | { |
yuto17320508 | 3:bcae0bb64b81 | 218 | tarX = 0.1f * cos(theta); //0.1 |
yuto17320508 | 3:bcae0bb64b81 | 219 | tarY = 0.03f * sin(theta); //0.03 |
yuto17320508 | 0:f000d896d188 | 220 | } |
yuto17320508 | 0:f000d896d188 | 221 | else |
yuto17320508 | 0:f000d896d188 | 222 | { |
yuto17320508 | 3:bcae0bb64b81 | 223 | tarX = 0.1f * cos(theta); |
yuto17320508 | 3:bcae0bb64b81 | 224 | tarY = 0.0f * sin(theta); |
yuto17320508 | 0:f000d896d188 | 225 | } |
yuto17320508 | 0:f000d896d188 | 226 | } |
yuto17320508 | 0:f000d896d188 | 227 | void cb_timer() |
yuto17320508 | 0:f000d896d188 | 228 | { |
shimizuta | 2:a92568bdeb5c | 229 | static int servo_num = 0; |
shimizuta | 2:a92568bdeb5c | 230 | static float time_s = 0.0f; |
shimizuta | 2:a92568bdeb5c | 231 | float target_x_m = 0; |
shimizuta | 2:a92568bdeb5c | 232 | float target_y_m = 0; |
shimizuta | 2:a92568bdeb5c | 233 | //出力。片サーボずつ |
yuto17320508 | 3:bcae0bb64b81 | 234 | leg1.MoveServo(servo_num); |
yuto17320508 | 3:bcae0bb64b81 | 235 | leg2.MoveServo(servo_num); |
shimizuta | 2:a92568bdeb5c | 236 | ++servo_num; |
yuto17320508 | 5:556d5a5e9d24 | 237 | |
shimizuta | 2:a92568bdeb5c | 238 | if (servo_num > 1) //両サーボ出力したら |
yuto17320508 | 0:f000d896d188 | 239 | { |
shimizuta | 2:a92568bdeb5c | 240 | //目標角の更新 |
shimizuta | 2:a92568bdeb5c | 241 | F_t(time_s, target_x_m, target_y_m); |
yuto17320508 | 3:bcae0bb64b81 | 242 | leg1.CalServoRad(target_x_m, target_y_m + offsetY); |
yuto17320508 | 3:bcae0bb64b81 | 243 | leg2.CalServoRad(target_x_m, target_y_m + offsetY); |
shimizuta | 2:a92568bdeb5c | 244 | servo_num = 0; |
yuto17320508 | 0:f000d896d188 | 245 | } |
shimizuta | 2:a92568bdeb5c | 246 | time_s += tickerTime; |
yuto17320508 | 5:556d5a5e9d24 | 247 | |
yuto17320508 | 0:f000d896d188 | 248 | } |
shimizuta | 2:a92568bdeb5c | 249 | int main() |
yuto17320508 | 0:f000d896d188 | 250 | { |
yuto17320508 | 3:bcae0bb64b81 | 251 | float target_x_m = 0; |
shimizuta | 2:a92568bdeb5c | 252 | float target_y_m = 0; |
shimizuta | 2:a92568bdeb5c | 253 | F_t(0, target_x_m, target_y_m); |
yuto17320508 | 3:bcae0bb64b81 | 254 | leg1.CalServoRad(target_x_m, target_y_m + offsetY); |
yuto17320508 | 3:bcae0bb64b81 | 255 | leg2.CalServoRad(target_x_m, target_y_m + offsetY); |
yuto17320508 | 0:f000d896d188 | 256 | fliper.attach(&cb_timer, tickerTime); |
yuto17320508 | 0:f000d896d188 | 257 | } |