test
Dependencies: mbed ros_lib_kinetic nhk19mr2_can_info splitData SerialHalfDuplex_HM
main.cpp@1:acaa3d7ede4c, 2019-02-08 (annotated)
- Committer:
- yuto17320508
- Date:
- Fri Feb 08 10:01:44 2019 +0000
- Revision:
- 1:acaa3d7ede4c
- Parent:
- 0:f000d896d188
- Child:
- 2:a92568bdeb5c
a
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
yuto17320508 | 0:f000d896d188 | 1 | #include "mbed.h" |
yuto17320508 | 0:f000d896d188 | 2 | #include "KondoServo.h" |
yuto17320508 | 0:f000d896d188 | 3 | |
yuto17320508 | 1:acaa3d7ede4c | 4 | |
yuto17320508 | 0:f000d896d188 | 5 | KondoServo servo(p9,p10); |
yuto17320508 | 0:f000d896d188 | 6 | Ticker fliper; |
yuto17320508 | 0:f000d896d188 | 7 | |
yuto17320508 | 1:acaa3d7ede4c | 8 | const float tickerTime = 0.006f;//Ticker間隔 |
yuto17320508 | 1:acaa3d7ede4c | 9 | |
yuto17320508 | 1:acaa3d7ede4c | 10 | class Leg |
yuto17320508 | 1:acaa3d7ede4c | 11 | { |
yuto17320508 | 1:acaa3d7ede4c | 12 | const float LegLength1 = 0.1f; |
yuto17320508 | 0:f000d896d188 | 13 | const float LegLength2 = 0.2f; |
yuto17320508 | 0:f000d896d188 | 14 | const float dist = 0.03f; |
yuto17320508 | 0:f000d896d188 | 15 | const float omega = 3.1415f * 2.5f;//角速度 |
yuto17320508 | 0:f000d896d188 | 16 | const float tickerTime = 0.006f;//Ticker間隔 |
yuto17320508 | 0:f000d896d188 | 17 | const float offsetDegree = 0.0f; |
yuto17320508 | 0:f000d896d188 | 18 | const float offsetY = 0.15f; |
yuto17320508 | 0:f000d896d188 | 19 | |
yuto17320508 | 1:acaa3d7ede4c | 20 | float TargetTheta1 ; |
yuto17320508 | 1:acaa3d7ede4c | 21 | float TargetTheta2 ; |
yuto17320508 | 1:acaa3d7ede4c | 22 | |
yuto17320508 | 1:acaa3d7ede4c | 23 | public: |
yuto17320508 | 1:acaa3d7ede4c | 24 | Leg() |
yuto17320508 | 1:acaa3d7ede4c | 25 | { |
yuto17320508 | 1:acaa3d7ede4c | 26 | TargetTheta1 = 0.00f; |
yuto17320508 | 1:acaa3d7ede4c | 27 | TargetTheta2 = 3.14f; |
yuto17320508 | 1:acaa3d7ede4c | 28 | } |
yuto17320508 | 1:acaa3d7ede4c | 29 | |
yuto17320508 | 0:f000d896d188 | 30 | |
yuto17320508 | 0:f000d896d188 | 31 | void F_t(float t, float &tarX, float &tarY) |
yuto17320508 | 0:f000d896d188 | 32 | { |
yuto17320508 | 0:f000d896d188 | 33 | float theta = -omega * t + offsetDegree; |
yuto17320508 | 0:f000d896d188 | 34 | if (sin(theta) <= 0.0f) |
yuto17320508 | 0:f000d896d188 | 35 | { |
yuto17320508 | 0:f000d896d188 | 36 | tarX = 0.5f * LegLength2 * cos(theta);//0.5 |
yuto17320508 | 0:f000d896d188 | 37 | tarY = 0.15f * LegLength2 * sin(theta);//0.15 |
yuto17320508 | 0:f000d896d188 | 38 | } |
yuto17320508 | 0:f000d896d188 | 39 | else |
yuto17320508 | 0:f000d896d188 | 40 | { |
yuto17320508 | 0:f000d896d188 | 41 | tarX = 0.5f * LegLength2 * cos(theta); |
yuto17320508 | 0:f000d896d188 | 42 | tarY = 0.0f * LegLength2 * sin(theta); |
yuto17320508 | 0:f000d896d188 | 43 | } |
yuto17320508 | 0:f000d896d188 | 44 | } |
yuto17320508 | 0:f000d896d188 | 45 | |
yuto17320508 | 1:acaa3d7ede4c | 46 | void PoseToAngles(float targetX, float targetY, float &targetTheta1, float &targetTheta2) |
yuto17320508 | 0:f000d896d188 | 47 | { |
yuto17320508 | 0:f000d896d188 | 48 | float r1 = sqrt((targetX - dist) * (targetX - dist) + targetY * targetY); |
yuto17320508 | 0:f000d896d188 | 49 | float r2 = sqrt((targetX + dist) * (targetX + dist) + targetY * targetY); |
yuto17320508 | 1:acaa3d7ede4c | 50 | targetTheta1 = atan2(targetY , targetX - dist) - acos((LegLength1 * LegLength1 - LegLength2 * LegLength2 + r1 * r1) / (2.0f * r1 * LegLength1)); |
yuto17320508 | 1:acaa3d7ede4c | 51 | targetTheta2 = atan2(targetY , targetX + dist) + acos((LegLength1 * LegLength1 - LegLength2 * LegLength2 + r2 * r2) / (2.0f * r2 * LegLength1)); |
yuto17320508 | 1:acaa3d7ede4c | 52 | |
yuto17320508 | 1:acaa3d7ede4c | 53 | |
yuto17320508 | 0:f000d896d188 | 54 | } |
yuto17320508 | 0:f000d896d188 | 55 | |
yuto17320508 | 0:f000d896d188 | 56 | double Theta1; |
yuto17320508 | 0:f000d896d188 | 57 | double Theta2; |
yuto17320508 | 0:f000d896d188 | 58 | int flagMotor; |
yuto17320508 | 0:f000d896d188 | 59 | |
yuto17320508 | 0:f000d896d188 | 60 | void MoveLeg(float theta1, float theta2) |
yuto17320508 | 0:f000d896d188 | 61 | { |
yuto17320508 | 0:f000d896d188 | 62 | Theta1 = ((double)theta1*180.0/3.14) + 90.0; |
yuto17320508 | 0:f000d896d188 | 63 | Theta2 = 270.0 - (double)theta2*180.0/3.14; |
yuto17320508 | 0:f000d896d188 | 64 | |
yuto17320508 | 0:f000d896d188 | 65 | /*printf("target theta1:%.3f ",Theta1); |
yuto17320508 | 0:f000d896d188 | 66 | printf("target theta2:%.3f \r\n",Theta2);*/ |
yuto17320508 | 0:f000d896d188 | 67 | } |
yuto17320508 | 0:f000d896d188 | 68 | |
yuto17320508 | 0:f000d896d188 | 69 | void InputPose(float X, float Y) |
yuto17320508 | 0:f000d896d188 | 70 | { |
yuto17320508 | 1:acaa3d7ede4c | 71 | PoseToAngles(X,Y, TargetTheta1,TargetTheta2); |
yuto17320508 | 0:f000d896d188 | 72 | MoveLeg(TargetTheta1,TargetTheta2); |
yuto17320508 | 0:f000d896d188 | 73 | } |
yuto17320508 | 0:f000d896d188 | 74 | |
yuto17320508 | 1:acaa3d7ede4c | 75 | }; |
yuto17320508 | 1:acaa3d7ede4c | 76 | |
yuto17320508 | 0:f000d896d188 | 77 | float t = 0.0f; |
yuto17320508 | 0:f000d896d188 | 78 | void cb_timer() |
yuto17320508 | 0:f000d896d188 | 79 | { |
yuto17320508 | 1:acaa3d7ede4c | 80 | /*float tX,tY; |
yuto17320508 | 0:f000d896d188 | 81 | if(flagMotor == 0) |
yuto17320508 | 0:f000d896d188 | 82 | { |
yuto17320508 | 0:f000d896d188 | 83 | servo.set_degree(1, Theta1); |
yuto17320508 | 0:f000d896d188 | 84 | F_t(t, tX, tY); |
yuto17320508 | 0:f000d896d188 | 85 | InputPose(tX,tY+offsetY); |
yuto17320508 | 0:f000d896d188 | 86 | t = t+ 2.0f*tickerTime; |
yuto17320508 | 0:f000d896d188 | 87 | flagMotor = 1; |
yuto17320508 | 0:f000d896d188 | 88 | } |
yuto17320508 | 0:f000d896d188 | 89 | else if(flagMotor == 1) |
yuto17320508 | 0:f000d896d188 | 90 | { |
yuto17320508 | 0:f000d896d188 | 91 | servo.set_degree(0, Theta2); |
yuto17320508 | 0:f000d896d188 | 92 | flagMotor = 0; |
yuto17320508 | 1:acaa3d7ede4c | 93 | }*/ |
yuto17320508 | 0:f000d896d188 | 94 | } |
yuto17320508 | 0:f000d896d188 | 95 | |
yuto17320508 | 0:f000d896d188 | 96 | int main() |
yuto17320508 | 0:f000d896d188 | 97 | { |
yuto17320508 | 0:f000d896d188 | 98 | fliper.attach(&cb_timer, tickerTime); |
yuto17320508 | 0:f000d896d188 | 99 | } |