test
Dependencies: mbed ros_lib_kinetic nhk19mr2_can_info splitData SerialHalfDuplex_HM
main.cpp@37:e4b37af4d8c7, 2019-03-04 (annotated)
- Committer:
- shimizuta
- Date:
- Mon Mar 04 10:02:45 2019 +0000
- Revision:
- 37:e4b37af4d8c7
- Parent:
- 36:b0edccff7457
- Child:
- 38:e664b1c12da9
for ROS
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
shimizuta | 11:e81425872740 | 1 | //NHK2019MR2 馬型機構プログラム. |
shimizuta | 28:8e1cbeffe6c2 | 2 | //#define VSCODE |
shimizuta | 27:79b4b932a6dd | 3 | #ifdef VSCODE |
shimizuta | 27:79b4b932a6dd | 4 | #include <math.h> |
shimizuta | 27:79b4b932a6dd | 5 | #include <stdio.h> |
shimizuta | 27:79b4b932a6dd | 6 | #else |
yuto17320508 | 0:f000d896d188 | 7 | #include "mbed.h" |
shimizuta | 9:905f93247688 | 8 | #include "pinnames.h" |
shimizuta | 11:e81425872740 | 9 | #include "KondoServo.h" |
shimizuta | 14:d7cb429946f4 | 10 | #include "pi.h" |
shimizuta | 16:0069a56f11a3 | 11 | #include "can.h" |
shimizuta | 27:79b4b932a6dd | 12 | #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 |
shimizuta | 36:b0edccff7457 | 13 | #define USE_ROS |
shimizuta | 34:89d701e15cdf | 14 | #include <ros.h> |
shimizuta | 34:89d701e15cdf | 15 | #include <geometry_msgs/Vector3.h> |
shimizuta | 27:79b4b932a6dd | 16 | #endif |
shimizuta | 27:79b4b932a6dd | 17 | //#define DEBUG_ON //デバッグ用。使わないときはコメントアウト |
shimizuta | 27:79b4b932a6dd | 18 | #include "debug.h" |
shimizuta | 11:e81425872740 | 19 | #include "OneLeg.h" ///足先の座標を保存するクラス。x,yやサーボの角度の保存、サーボの駆動も行う。他の足を考慮した処理は別のクラスに任せる。 |
shimizuta | 11:e81425872740 | 20 | #include "Walk.h" //歩き方に関するファイル |
shimizuta | 35:b4e1b8f25cd7 | 21 | #include "OverCome.h" |
shimizuta | 35:b4e1b8f25cd7 | 22 | #include "change_walk.h" |
shimizuta | 27:79b4b932a6dd | 23 | ////////////あまり変化させないパラメータ。この他は全てmainの上(ParamSetup())にある。 |
shimizuta | 35:b4e1b8f25cd7 | 24 | const int kServoSpan_ms = 6; //サーボの送信間隔 |
shimizuta | 35:b4e1b8f25cd7 | 25 | const float kBetweenServoHalf_m = 0.034 * 0.5; //サーボ間の距離の半分 |
shimizuta | 35:b4e1b8f25cd7 | 26 | float kLegLength1[2] = {0.15, 0.15}; |
shimizuta | 35:b4e1b8f25cd7 | 27 | float kLegLength2[2] = {0.33, 0.34}; |
shimizuta | 14:d7cb429946f4 | 28 | //サーボの正負と座標系の正負の補正.足で一セット。 |
shimizuta | 35:b4e1b8f25cd7 | 29 | const int kServoSign[2][2] = {{-1, -1}, {-1, -1}}; |
shimizuta | 14:d7cb429946f4 | 30 | //欲しい座標系0度でのサーボのICSマネージャーの値 |
shimizuta | 27:79b4b932a6dd | 31 | const double kServoValToDegree = 270.0 / (11500 - 3500); //ICSの値を度に変換 |
shimizuta | 14:d7cb429946f4 | 32 | const double kOriginDegree[2][2] = { |
shimizuta | 14:d7cb429946f4 | 33 | { |
shimizuta | 35:b4e1b8f25cd7 | 34 | (7300 - 3500) * kServoValToDegree, |
shimizuta | 35:b4e1b8f25cd7 | 35 | (6995 - 3500) * kServoValToDegree + 180, |
shimizuta | 14:d7cb429946f4 | 36 | }, |
shimizuta | 14:d7cb429946f4 | 37 | { |
shimizuta | 35:b4e1b8f25cd7 | 38 | (7619 - 3500) * kServoValToDegree, |
shimizuta | 35:b4e1b8f25cd7 | 39 | (7085 - 3500) * kServoValToDegree + 180, |
shimizuta | 14:d7cb429946f4 | 40 | }, |
shimizuta | 14:d7cb429946f4 | 41 | }; |
shimizuta | 9:905f93247688 | 42 | /////////////// |
shimizuta | 27:79b4b932a6dd | 43 | #ifndef VSCODE |
shimizuta | 9:905f93247688 | 44 | Timer timer; |
shimizuta | 11:e81425872740 | 45 | KondoServo servo[2] = { |
shimizuta | 11:e81425872740 | 46 | KondoServo(pin_serial_servo_tx[0], pin_serial_servo_rx[0]), |
shimizuta | 11:e81425872740 | 47 | KondoServo(pin_serial_servo_tx[1], pin_serial_servo_rx[1]), |
shimizuta | 11:e81425872740 | 48 | }; |
shimizuta | 27:79b4b932a6dd | 49 | DigitalOut led[4] = {DigitalOut(LED1), DigitalOut(LED2), DigitalOut(LED3), DigitalOut(LED4)}; |
shimizuta | 27:79b4b932a6dd | 50 | #endif |
shimizuta | 27:79b4b932a6dd | 51 | #ifdef USE_ROS |
shimizuta | 27:79b4b932a6dd | 52 | ros::NodeHandle nh_mbed; |
shimizuta | 27:79b4b932a6dd | 53 | //ROSからのコールバック関数 |
shimizuta | 27:79b4b932a6dd | 54 | void callback(const geometry_msgs::Vector3 &cmd_vel); |
shimizuta | 27:79b4b932a6dd | 55 | //LPからの左右速度比を受けとり、それをもとに歩行パターンを決定する |
shimizuta | 27:79b4b932a6dd | 56 | //1サイクルの間、通信は遮断され、サイクル終了後に通信を受け付ける |
shimizuta | 27:79b4b932a6dd | 57 | ros::Subscriber<geometry_msgs::Vector3> sub_vel("/cmd_vel", &callback); |
shimizuta | 27:79b4b932a6dd | 58 | #endif |
shimizuta | 34:89d701e15cdf | 59 | |
shimizuta | 27:79b4b932a6dd | 60 | FILE *fp; |
shimizuta | 11:e81425872740 | 61 | const float kRadToDegree = 180.0 / M_PI; |
shimizuta | 32:dc684a0b8448 | 62 | int MoveOneCycle(Walk walkway, OneLeg leg[4]); |
shimizuta | 11:e81425872740 | 63 | void MoveServo(OneLeg leg, int legnum, int servo_id); |
shimizuta | 27:79b4b932a6dd | 64 | void WaitStdin(char startchar); |
shimizuta | 27:79b4b932a6dd | 65 | int FileOpen(); |
shimizuta | 27:79b4b932a6dd | 66 | ////////調整するべきパラメータ |
shimizuta | 27:79b4b932a6dd | 67 | enum WalkWay |
shimizuta | 27:79b4b932a6dd | 68 | { |
shimizuta | 27:79b4b932a6dd | 69 | STANDUP, |
shimizuta | 35:b4e1b8f25cd7 | 70 | LRFPOSTURE, |
shimizuta | 35:b4e1b8f25cd7 | 71 | FRONTLEG_ON_SANDDUNE, //前足かける |
shimizuta | 27:79b4b932a6dd | 72 | }; |
shimizuta | 32:dc684a0b8448 | 73 | |
shimizuta | 35:b4e1b8f25cd7 | 74 | float offset_x_m[4] = {-0.1, 0.1, -0.1, 0.1}, |
shimizuta | 35:b4e1b8f25cd7 | 75 | offset_y_m[4] = {0.35, 0.35, 0.35, 0.35}; |
shimizuta | 35:b4e1b8f25cd7 | 76 | //strideはLRFから変更するようにする |
shimizuta | 35:b4e1b8f25cd7 | 77 | float stride_m[4] = {0.2, 0.2, 0.2, 0.2}, |
shimizuta | 35:b4e1b8f25cd7 | 78 | height_m[4] = {0.1, 0.1, 0.1, 0.1}, buffer_height_m = 0.05, |
shimizuta | 35:b4e1b8f25cd7 | 79 | stridetime_s = 1, toptime_s = 0.4, buffer_time_s = 0.2; |
shimizuta | 35:b4e1b8f25cd7 | 80 | /* |
shimizuta | 35:b4e1b8f25cd7 | 81 | LineParam over_come_front[]{ |
shimizuta | 35:b4e1b8f25cd7 | 82 | {.time_s = 0, .x_m = -0.075, .y_m = 0.41}, |
shimizuta | 35:b4e1b8f25cd7 | 83 | {.time_s = 0.2, .x_m = -0.175, .y_m = 0.26}, |
shimizuta | 35:b4e1b8f25cd7 | 84 | {.time_s = 0.4, .x_m = 0.075, .y_m = 0.26}, |
shimizuta | 35:b4e1b8f25cd7 | 85 | {.time_s = 0.6, .x_m = 0.075, .y_m = 0.41}, |
shimizuta | 35:b4e1b8f25cd7 | 86 | {.time_s = 1.6, .x_m = -0.075, .y_m = 0.41}, |
shimizuta | 35:b4e1b8f25cd7 | 87 | }; |
shimizuta | 35:b4e1b8f25cd7 | 88 | */ |
shimizuta | 35:b4e1b8f25cd7 | 89 | float d_x_m = 0.1; |
shimizuta | 35:b4e1b8f25cd7 | 90 | float start_y_m[4] = {0.41, 0.41, 0.41, 0.41}; |
shimizuta | 35:b4e1b8f25cd7 | 91 | float goal_y_m[4] = {0.41, 0.29, 0.41, 0.29}; |
shimizuta | 35:b4e1b8f25cd7 | 92 | float overcome_height_m[] = {0.1, 0.2, 0.1, 0.2}; |
shimizuta | 35:b4e1b8f25cd7 | 93 | float gravity_dist[] = {0.01, -0.01, 0.01, -0.01}; |
shimizuta | 35:b4e1b8f25cd7 | 94 | int SetWalk(Walk &walk, WalkWay way) |
shimizuta | 35:b4e1b8f25cd7 | 95 | { |
shimizuta | 35:b4e1b8f25cd7 | 96 | switch (way) |
shimizuta | 35:b4e1b8f25cd7 | 97 | { |
shimizuta | 35:b4e1b8f25cd7 | 98 | case STANDUP: |
shimizuta | 35:b4e1b8f25cd7 | 99 | for (int i = 0; i < 4; i++) |
shimizuta | 35:b4e1b8f25cd7 | 100 | SetOneLegStandParam(walk, i, offset_x_m[i], offset_y_m[i], 0.5); |
shimizuta | 35:b4e1b8f25cd7 | 101 | break; |
shimizuta | 35:b4e1b8f25cd7 | 102 | case LRFPOSTURE: |
shimizuta | 35:b4e1b8f25cd7 | 103 | for (int i = 0; i < 4; i++) |
shimizuta | 35:b4e1b8f25cd7 | 104 | SetOneLegTriangleParam(walk, i, offset_x_m[i], offset_y_m[i], |
shimizuta | 35:b4e1b8f25cd7 | 105 | stride_m[i], height_m[i], buffer_height_m, |
shimizuta | 35:b4e1b8f25cd7 | 106 | stridetime_s, toptime_s, buffer_time_s); |
shimizuta | 35:b4e1b8f25cd7 | 107 | walk.SetOffsetTime(0, 0.5, 0.5, 0); |
shimizuta | 35:b4e1b8f25cd7 | 108 | break; |
shimizuta | 31:86eb746eaed4 | 109 | |
shimizuta | 35:b4e1b8f25cd7 | 110 | case FRONTLEG_ON_SANDDUNE: //前足かける |
shimizuta | 35:b4e1b8f25cd7 | 111 | // for(int q = 0; q < 4; q++) |
shimizuta | 35:b4e1b8f25cd7 | 112 | // SetOneLegFreeLinesParam(walk, q, over_come_front, sizeof(over_come_front) / sizeof(over_come_front[0])); |
shimizuta | 35:b4e1b8f25cd7 | 113 | // walk.SetOffsetTime(0, 0.5, 0.5, 0); |
shimizuta | 35:b4e1b8f25cd7 | 114 | |
shimizuta | 35:b4e1b8f25cd7 | 115 | OverCome overcome(offset_x_m, start_y_m, d_x_m, goal_y_m, overcome_height_m, gravity_dist, walk.leg); |
shimizuta | 35:b4e1b8f25cd7 | 116 | walk.Copy(overcome.walk); |
shimizuta | 35:b4e1b8f25cd7 | 117 | break; |
shimizuta | 35:b4e1b8f25cd7 | 118 | } |
shimizuta | 35:b4e1b8f25cd7 | 119 | return walk.CheckOrbit(); |
yuto17320508 | 18:0033ef1814ba | 120 | } |
shimizuta | 35:b4e1b8f25cd7 | 121 | |
shimizuta | 9:905f93247688 | 122 | int main() |
yuto17320508 | 5:556d5a5e9d24 | 123 | { |
shimizuta | 29:7d8b8011a88d | 124 | #ifdef VSCODE |
shimizuta | 27:79b4b932a6dd | 125 | if (FileOpen()) //csv fileに書き込み |
shimizuta | 27:79b4b932a6dd | 126 | return 1; //異常終了したら強制終了 |
shimizuta | 29:7d8b8011a88d | 127 | #endif |
shimizuta | 35:b4e1b8f25cd7 | 128 | OneLeg leg[4]; //各足の位置 |
shimizuta | 35:b4e1b8f25cd7 | 129 | for (int i = 0; i < 4; i++) |
shimizuta | 35:b4e1b8f25cd7 | 130 | leg[i] = OneLeg(kBetweenServoHalf_m, kLegLength1, kLegLength2); |
shimizuta | 35:b4e1b8f25cd7 | 131 | Walk walk(leg); //歩行法はここに入れていく |
shimizuta | 35:b4e1b8f25cd7 | 132 | Walk::calctime_s_ = 0.03; |
shimizuta | 35:b4e1b8f25cd7 | 133 | printf("Stand up?\r\n"); |
shimizuta | 35:b4e1b8f25cd7 | 134 | WaitStdin('y'); // ボタンを押したら立つ |
shimizuta | 35:b4e1b8f25cd7 | 135 | if (SetWalk(walk, STANDUP) == 1) |
shimizuta | 27:79b4b932a6dd | 136 | { |
shimizuta | 35:b4e1b8f25cd7 | 137 | printf("error: stand move\r\n"); |
shimizuta | 34:89d701e15cdf | 138 | return 1; //強制終了.errorは内部の関数からprintfで知らせる |
shimizuta | 34:89d701e15cdf | 139 | } |
shimizuta | 35:b4e1b8f25cd7 | 140 | if (MoveOneCycle(walk, leg) == 1) |
shimizuta | 34:89d701e15cdf | 141 | { |
shimizuta | 35:b4e1b8f25cd7 | 142 | printf("error: stand move\r\n"); |
shimizuta | 34:89d701e15cdf | 143 | return 1; //強制終了.errorは内部の関数からprintfで知らせる |
shimizuta | 34:89d701e15cdf | 144 | } |
shimizuta | 29:7d8b8011a88d | 145 | printf("Move?\r\n"); |
shimizuta | 27:79b4b932a6dd | 146 | WaitStdin('y'); // ボタンを押したらスタート |
shimizuta | 27:79b4b932a6dd | 147 | #ifdef USE_ROS |
shimizuta | 27:79b4b932a6dd | 148 | nh_mbed.getHardware()->setBaud(115200); |
shimizuta | 27:79b4b932a6dd | 149 | nh_mbed.initNode(); |
shimizuta | 27:79b4b932a6dd | 150 | nh_mbed.subscribe(sub_vel); |
shimizuta | 36:b0edccff7457 | 151 | while (1){ |
shimizuta | 27:79b4b932a6dd | 152 | nh_mbed.spinOnce(); |
shimizuta | 36:b0edccff7457 | 153 | SetWalk(walk, LRFPOSTURE); |
shimizuta | 36:b0edccff7457 | 154 | MoveOneCycle(walk, leg); |
shimizuta | 36:b0edccff7457 | 155 | } |
shimizuta | 27:79b4b932a6dd | 156 | #else |
shimizuta | 34:89d701e15cdf | 157 | |
shimizuta | 35:b4e1b8f25cd7 | 158 | if (SetWalk(walk, FRONTLEG_ON_SANDDUNE) == 1) |
shimizuta | 35:b4e1b8f25cd7 | 159 | { |
shimizuta | 35:b4e1b8f25cd7 | 160 | printf("error: triangle\r\n"); |
shimizuta | 35:b4e1b8f25cd7 | 161 | return 1; //強制終了.errorは内部の関数からprintfで知らせる |
shimizuta | 35:b4e1b8f25cd7 | 162 | } |
shimizuta | 35:b4e1b8f25cd7 | 163 | |
shimizuta | 35:b4e1b8f25cd7 | 164 | for (int i = 0; i < 2; i++) |
shimizuta | 35:b4e1b8f25cd7 | 165 | { |
shimizuta | 35:b4e1b8f25cd7 | 166 | if (MoveOneCycle(walk, leg) == 1) |
shimizuta | 35:b4e1b8f25cd7 | 167 | { |
shimizuta | 35:b4e1b8f25cd7 | 168 | printf("error: triangle move\r\n"); |
shimizuta | 35:b4e1b8f25cd7 | 169 | return 1; //強制終了.errorは内部の関数からprintfで知らせる |
shimizuta | 35:b4e1b8f25cd7 | 170 | } |
shimizuta | 35:b4e1b8f25cd7 | 171 | } |
shimizuta | 35:b4e1b8f25cd7 | 172 | offset_y_m[LEFT_F] = 0.29; |
shimizuta | 35:b4e1b8f25cd7 | 173 | offset_y_m[RIGHT_F] = 0.29; |
shimizuta | 35:b4e1b8f25cd7 | 174 | if (SetWalk(walk, LRFPOSTURE) == 1) |
shimizuta | 35:b4e1b8f25cd7 | 175 | { |
shimizuta | 35:b4e1b8f25cd7 | 176 | printf("error: triangle\r\n"); |
shimizuta | 35:b4e1b8f25cd7 | 177 | return 1; //強制終了.errorは内部の関数からprintfで知らせる |
shimizuta | 35:b4e1b8f25cd7 | 178 | } |
shimizuta | 35:b4e1b8f25cd7 | 179 | |
shimizuta | 35:b4e1b8f25cd7 | 180 | for (int i = 0; i < 20; i++) |
shimizuta | 35:b4e1b8f25cd7 | 181 | { |
shimizuta | 35:b4e1b8f25cd7 | 182 | if (MoveOneCycle(walk, leg) == 1) |
shimizuta | 35:b4e1b8f25cd7 | 183 | { |
shimizuta | 35:b4e1b8f25cd7 | 184 | printf("error: triangle move\r\n"); |
shimizuta | 35:b4e1b8f25cd7 | 185 | return 1; //強制終了.errorは内部の関数からprintfで知らせる |
shimizuta | 35:b4e1b8f25cd7 | 186 | } |
shimizuta | 35:b4e1b8f25cd7 | 187 | } |
shimizuta | 35:b4e1b8f25cd7 | 188 | |
shimizuta | 34:89d701e15cdf | 189 | printf("program end\r\n"); |
shimizuta | 29:7d8b8011a88d | 190 | #ifdef VSCODE |
shimizuta | 27:79b4b932a6dd | 191 | fclose(fp); |
shimizuta | 27:79b4b932a6dd | 192 | #endif |
shimizuta | 29:7d8b8011a88d | 193 | #endif |
shimizuta | 2:a92568bdeb5c | 194 | } |
shimizuta | 32:dc684a0b8448 | 195 | //一サイクル分進む.return 1:異常終了 |
shimizuta | 32:dc684a0b8448 | 196 | int MoveOneCycle(Walk walkway, OneLeg leg[4]) |
yuto17320508 | 5:556d5a5e9d24 | 197 | { |
shimizuta | 27:79b4b932a6dd | 198 | #ifndef VSCODE |
shimizuta | 9:905f93247688 | 199 | timer.reset(); |
shimizuta | 9:905f93247688 | 200 | timer.start(); |
shimizuta | 27:79b4b932a6dd | 201 | #endif |
shimizuta | 35:b4e1b8f25cd7 | 202 | int count = walkway.orbit[0].GetOneWalkTime() / walkway.calctime_s_; |
shimizuta | 27:79b4b932a6dd | 203 | for (int i = 0; i < count; i++) |
yuto17320508 | 8:21b932c4e6c5 | 204 | { |
shimizuta | 27:79b4b932a6dd | 205 | #ifndef VSCODE |
shimizuta | 9:905f93247688 | 206 | float time_s = timer.read(); |
shimizuta | 27:79b4b932a6dd | 207 | #endif |
shimizuta | 29:7d8b8011a88d | 208 | //4本の足それぞれの足先サーボ角度更新 |
shimizuta | 29:7d8b8011a88d | 209 | if (walkway.Cal4LegsPosi(leg) == 1) |
shimizuta | 32:dc684a0b8448 | 210 | { |
shimizuta | 29:7d8b8011a88d | 211 | printf("error: time = %f\r\n", i * walkway.calctime_s_); |
shimizuta | 32:dc684a0b8448 | 212 | return 1; |
shimizuta | 32:dc684a0b8448 | 213 | } |
shimizuta | 19:1adc7302cfd9 | 214 | #ifdef USE_CAN |
shimizuta | 27:79b4b932a6dd | 215 | SendRad(leg[2], leg[3]); //slave_mbed分の足の目標位置を送信 |
shimizuta | 19:1adc7302cfd9 | 216 | #endif |
shimizuta | 9:905f93247688 | 217 | //自身が動かす足のサーボを動かす |
shimizuta | 16:0069a56f11a3 | 218 | MoveServo(leg[0], 0, 0); |
shimizuta | 11:e81425872740 | 219 | MoveServo(leg[1], 1, 0); |
shimizuta | 27:79b4b932a6dd | 220 | #ifndef VSCODE |
shimizuta | 9:905f93247688 | 221 | wait_ms(kServoSpan_ms); |
shimizuta | 27:79b4b932a6dd | 222 | #endif |
shimizuta | 16:0069a56f11a3 | 223 | MoveServo(leg[0], 0, 1); |
shimizuta | 11:e81425872740 | 224 | MoveServo(leg[1], 1, 1); |
shimizuta | 29:7d8b8011a88d | 225 | #ifdef VSCODE |
shimizuta | 27:79b4b932a6dd | 226 | //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 |
shimizuta | 27:79b4b932a6dd | 227 | fprintf(fp, "%f", i * walkway.calctime_s_); |
shimizuta | 27:79b4b932a6dd | 228 | for (int i = 0; i < 4; i++) |
shimizuta | 27:79b4b932a6dd | 229 | fprintf(fp, ",%f,%f", leg[i].GetX_m(), leg[i].GetY_m()); |
shimizuta | 27:79b4b932a6dd | 230 | fprintf(fp, "\r\n"); |
shimizuta | 29:7d8b8011a88d | 231 | #else |
shimizuta | 27:79b4b932a6dd | 232 | //計算周期がwalkway.calctime_s_になるようwait |
shimizuta | 27:79b4b932a6dd | 233 | float rest_time_s = walkway.calctime_s_ - (timer.read() - time_s); |
shimizuta | 9:905f93247688 | 234 | if (rest_time_s > 0) |
shimizuta | 9:905f93247688 | 235 | wait(rest_time_s); |
shimizuta | 19:1adc7302cfd9 | 236 | else |
shimizuta | 19:1adc7302cfd9 | 237 | { //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。 |
shimizuta | 19:1adc7302cfd9 | 238 | DEBUG("error: rest_time_s = %f in Move()\r\n", rest_time_s); |
shimizuta | 14:d7cb429946f4 | 239 | led[0] = 1; |
shimizuta | 14:d7cb429946f4 | 240 | } |
shimizuta | 27:79b4b932a6dd | 241 | #endif |
shimizuta | 9:905f93247688 | 242 | } |
shimizuta | 32:dc684a0b8448 | 243 | return 0; |
yuto17320508 | 5:556d5a5e9d24 | 244 | } |
shimizuta | 14:d7cb429946f4 | 245 | void MoveServo(OneLeg leg, int serial_num, int servo_id) |
yuto17320508 | 6:43708adf2e5d | 246 | { |
shimizuta | 27:79b4b932a6dd | 247 | #ifndef VSCODE |
shimizuta | 11:e81425872740 | 248 | float degree = leg.GetRad(servo_id) * kRadToDegree; |
shimizuta | 14:d7cb429946f4 | 249 | //サーボの座標系に変更 |
shimizuta | 14:d7cb429946f4 | 250 | float servo_degree = kServoSign[serial_num][servo_id] * degree + kOriginDegree[serial_num][servo_id]; |
shimizuta | 27:79b4b932a6dd | 251 | // DEBUG("servo_degree[%d][%d],%f\r\n", serial_num, servo_id, servo_degree); |
shimizuta | 14:d7cb429946f4 | 252 | servo[serial_num].set_degree(servo_id, servo_degree); |
shimizuta | 27:79b4b932a6dd | 253 | #endif |
shimizuta | 12:2ac37fe6c3bb | 254 | } |
shimizuta | 27:79b4b932a6dd | 255 | void WaitStdin(char startchar) |
shimizuta | 27:79b4b932a6dd | 256 | { |
shimizuta | 27:79b4b932a6dd | 257 | #ifndef USE_ROS |
shimizuta | 27:79b4b932a6dd | 258 | char str[255] = {}; |
shimizuta | 27:79b4b932a6dd | 259 | do |
shimizuta | 27:79b4b932a6dd | 260 | { |
shimizuta | 27:79b4b932a6dd | 261 | printf("put '%c', then start\r\n", startchar); |
shimizuta | 27:79b4b932a6dd | 262 | scanf("%s", str); |
shimizuta | 27:79b4b932a6dd | 263 | } while (str[0] != startchar); |
shimizuta | 27:79b4b932a6dd | 264 | #endif |
shimizuta | 27:79b4b932a6dd | 265 | } |
shimizuta | 27:79b4b932a6dd | 266 | int FileOpen() //1:異常終了 |
shimizuta | 27:79b4b932a6dd | 267 | { |
shimizuta | 27:79b4b932a6dd | 268 | if ((fp = fopen("data.csv", "w")) == NULL) |
shimizuta | 27:79b4b932a6dd | 269 | { |
shimizuta | 27:79b4b932a6dd | 270 | printf("error : FileSave()\r\n"); |
shimizuta | 27:79b4b932a6dd | 271 | return 1; |
shimizuta | 27:79b4b932a6dd | 272 | } |
shimizuta | 27:79b4b932a6dd | 273 | fprintf(fp, "time[s],x[0],y[0],x[1],y[1],x[2],y[2],x[3],y[3]\r\n"); |
shimizuta | 27:79b4b932a6dd | 274 | return 0; |
shimizuta | 27:79b4b932a6dd | 275 | } |
shimizuta | 27:79b4b932a6dd | 276 | #ifdef USE_ROS |
shimizuta | 27:79b4b932a6dd | 277 | void callback(const geometry_msgs::Vector3 &cmd_vel) |
shimizuta | 27:79b4b932a6dd | 278 | { |
shimizuta | 27:79b4b932a6dd | 279 | float left_vel = cmd_vel.x; |
shimizuta | 27:79b4b932a6dd | 280 | float right_vel = cmd_vel.y; |
shimizuta | 34:89d701e15cdf | 281 | int state = cmd_vel.z; |
shimizuta | 27:79b4b932a6dd | 282 | //閾値は要検討 |
shimizuta | 27:79b4b932a6dd | 283 | if (right_vel < left_vel) |
shimizuta | 35:b4e1b8f25cd7 | 284 | { |
shimizuta | 35:b4e1b8f25cd7 | 285 | stride_m[LEFT_F] = 0.2; |
shimizuta | 35:b4e1b8f25cd7 | 286 | stride_m[RIGHT_F] = 0.2; |
shimizuta | 35:b4e1b8f25cd7 | 287 | stride_m[LEFT_B] = 0.1; |
shimizuta | 35:b4e1b8f25cd7 | 288 | stride_m[RIGHT_B] = 0.1; |
shimizuta | 35:b4e1b8f25cd7 | 289 | } |
shimizuta | 27:79b4b932a6dd | 290 | else |
shimizuta | 35:b4e1b8f25cd7 | 291 | { |
shimizuta | 35:b4e1b8f25cd7 | 292 | stride_m[LEFT_F] = 0.1; |
shimizuta | 35:b4e1b8f25cd7 | 293 | stride_m[RIGHT_F] = 0.1; |
shimizuta | 35:b4e1b8f25cd7 | 294 | stride_m[LEFT_B] = 0.2; |
shimizuta | 35:b4e1b8f25cd7 | 295 | stride_m[RIGHT_B] = 0.2; |
shimizuta | 35:b4e1b8f25cd7 | 296 | } |
shimizuta | 36:b0edccff7457 | 297 | |
shimizuta | 27:79b4b932a6dd | 298 | } |
shimizuta | 35:b4e1b8f25cd7 | 299 | #endif |