岡本 陸
test
Dependencies: mbed ros_lib_kinetic nhk19mr2_can_info splitData SerialHalfDuplex_HM
Diff: main.cpp
- Revision:
- 35:b4e1b8f25cd7
- Parent:
- 34:89d701e15cdf
- Child:
- 36:b0edccff7457
diff -r 89d701e15cdf -r b4e1b8f25cd7 main.cpp
--- a/main.cpp Fri Mar 01 12:07:23 2019 +0000
+++ b/main.cpp Mon Mar 04 09:54:47 2019 +0000
@@ -1,7 +1,6 @@
//NHK2019MR2 馬型機構プログラム.
//#define VSCODE
#ifdef VSCODE
-#define _USE_MATH_DEFINES
#include <math.h>
#include <stdio.h>
#else
@@ -19,24 +18,25 @@
#include "debug.h"
#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。
#include "Walk.h" //歩き方に関するファイル
-#define USE_OVERCOME
+#include "OverCome.h"
+#include "change_walk.h"
////////////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。
-const int kServoSpan_ms = 6; //サーボの送信間隔
-const float kBetweenServoHalf_m = 0.03 * 0.5; //サーボ間の距離の半分
-float kLegLength1[2] = {0.1, 0.1};
-float kLegLength2[2] = {0.2452 + 0.0025, 0.23};
+const int kServoSpan_ms = 6; //サーボの送信間隔
+const float kBetweenServoHalf_m = 0.034 * 0.5; //サーボ間の距離の半分
+float kLegLength1[2] = {0.15, 0.15};
+float kLegLength2[2] = {0.33, 0.34};
//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}};
+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] = {
{
- (7639 - 3500) * kServoValToDegree,
- (7662 - 3500) * kServoValToDegree + 180,
+ (7300 - 3500) * kServoValToDegree,
+ (6995 - 3500) * kServoValToDegree + 180,
},
{
- (6431 - 3500) * kServoValToDegree,
- (8135 - 3500) * kServoValToDegree - 180,
+ (7619 - 3500) * kServoValToDegree,
+ (7085 - 3500) * kServoValToDegree + 180,
},
};
///////////////
@@ -56,7 +56,6 @@
//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
ros::Subscriber<geometry_msgs::Vector3> sub_vel("/cmd_vel", &callback);
#endif
-OneLeg leg[4]; //各足の位置
FILE *fp;
const float kRadToDegree = 180.0 / M_PI;
@@ -64,171 +63,96 @@
void MoveServo(OneLeg leg, int legnum, int servo_id);
void WaitStdin(char startchar);
int FileOpen();
-int IsArrived(int count, int finish);
-//段差があるときの機体角度を計算
-//param back_height_on_step:段差の高さ。後ろにあるとする。前にあるときはマイナスを入れる
-float GetSteepBodyRad(float back_height_on_step);
-
////////調整するべきパラメータ
enum WalkWay
{
STANDUP,
- // STRAIGHT,
- // TURNLEFT,
- // TURNRIGHT,
- UP, //足を伸ばして立つ
- END,
+ LRFPOSTURE,
+ FRONTLEG_ON_SANDDUNE, //前足かける
+ TURNLEFT,
+ TURNRIGHT,
+ // MOVE_FRONTLEG_ON_SANDDUNE,
};
-void ParamsSetup(Walk walks[END], OneLeg leg[4]) //各パラメータの設定。減らしていく必要あり
-{
- Walk::calctime_s_ = 0.03; //計算周期
- //足の作成、サイズデータのみの足の骨組.4足同じにしている
- for (int i = 0; i < 4; i++)
- 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、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 = 1, toptime_s = 0.1, 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
- (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 = 0.05, 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
- (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])
+float offset_x_m[4] = {-0.1, 0.1, -0.1, 0.1},
+ offset_y_m[4] = {0.35, 0.35, 0.35, 0.35};
+//strideはLRFから変更するようにする
+float stride_m[4] = {0.2, 0.2, 0.2, 0.2},
+ height_m[4] = {0.1, 0.1, 0.1, 0.1}, buffer_height_m = 0.05,
+ stridetime_s = 1, toptime_s = 0.4, buffer_time_s = 0.2;
+/*
+ LineParam over_come_front[]{
+ {.time_s = 0, .x_m = -0.075, .y_m = 0.41},
+ {.time_s = 0.2, .x_m = -0.175, .y_m = 0.26},
+ {.time_s = 0.4, .x_m = 0.075, .y_m = 0.26},
+ {.time_s = 0.6, .x_m = 0.075, .y_m = 0.41},
+ {.time_s = 1.6, .x_m = -0.075, .y_m = 0.41},
+ };
+*/
+float d_x_m = 0.1;
+float start_y_m[4] = {0.41, 0.41, 0.41, 0.41};
+float goal_y_m[4] = {0.41, 0.29, 0.41, 0.29};
+float overcome_height_m[] = {0.1, 0.2, 0.1, 0.2};
+float gravity_dist[] = {0.01, -0.01, 0.01, -0.01};
+int SetWalk(Walk &walk, WalkWay way)
+{
+ switch (way)
+ {
+ case STANDUP:
+ for (int i = 0; i < 4; i++)
+ SetOneLegStandParam(walk, i, offset_x_m[i], offset_y_m[i], 0.5);
+ break;
+ case LRFPOSTURE:
+ for (int i = 0; i < 4; i++)
+ SetOneLegTriangleParam(walk, i, offset_x_m[i], offset_y_m[i],
+ stride_m[i], height_m[i], buffer_height_m,
+ stridetime_s, toptime_s, buffer_time_s);
+ walk.SetOffsetTime(0, 0.5, 0.5, 0);
+ break;
- //TURNRIGHT1のparam
- walks[TURNRIGHT].SetAllLegTriangleParam // 4足を取り敢えず一括で設定してから
- (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
- walks[UP].SetAllLegStandParam(0, 0.30, 2); //x,y,time_s.一括で設定できる
- // walks[UP].SetOneLegStandParam(RIGHT_B, 0, 0.30, 2); //x,y,time_s
- // walks[UP].SetOneLegStandParam(RIGHT_F, 0, 0.30, 2); //x,y,time_s
- // walks[UP].SetOneLegStandParam(LEFT_B, 0, 0.30, 2); //x,y,time_s
- // walks[UP].SetOneLegStandParam(RIGHT_B, 0, 0.30, 2); //x,y,time_s
+ case FRONTLEG_ON_SANDDUNE: //前足かける
+ // for(int q = 0; q < 4; q++)
+ // SetOneLegFreeLinesParam(walk, q, over_come_front, sizeof(over_come_front) / sizeof(over_come_front[0]));
+ // walk.SetOffsetTime(0, 0.5, 0.5, 0);
+
+ OverCome overcome(offset_x_m, start_y_m, d_x_m, goal_y_m, overcome_height_m, gravity_dist, walk.leg);
+ walk.Copy(overcome.walk);
+ break;
+ case TURNLEFT:
+ for (int i = 0; i < 4; i++)
+ SetOneLegStandParam(walk, i, offset_x_m[i], offset_y_m[i], 0.5);
+ break;
+ case TURNRIGHT:
+ for (int i = 0; i < 4; i++)
+ SetOneLegStandParam(walk, i, offset_x_m[i], offset_y_m[i], 0.5);
+ break;
+ }
+ return walk.CheckOrbit();
}
-Walk walks[END]; //歩行法
+
int main()
{
-
- //足とシリアルサーボの番号
- // RIGHT_B, RIGHT_F, LEFT_B, LEFT_F,};
- //前足かける
- float start_x_m[4] = {-0, 0, -0, 0}; //足のoffset
- float start_y_m[4] = {.3, .3, .31, .3};
- float d_x_m = 0.15;
- float goal_y_m[4] = {.3, 0.2, .31, 0.2};
- float height_m[] = {0.03, 0.13, 0.03, 0.13};
- float gravity_dist[] = {0.075, 0, 0.075, 0};
- OverCome overcome(start_x_m, start_y_m, d_x_m, goal_y_m, height_m, gravity_dist);
- //そのまま進む
- float d_x_m2 = 0.075;
- float height1_m[] = {0.05, 0.05, 0.05, 0.05};
- OverCome overcome1(start_x_m, goal_y_m, d_x_m2, goal_y_m, height1_m, gravity_dist);
- //後ろ脚載せる
- float height2_m[] = {0.08, 0.08, 0.08, 0.08};
- float start2_y_m[] = {.25, .3, .25, .3};
- float goal2_y_m[] = {.2, .3, .2, .3};
- OverCome overcome2(start_x_m, start2_y_m, d_x_m2, goal2_y_m, height2_m, gravity_dist);
- //
- float height3_m[] = {0.05, 0.05, 0.05, 0.05};
- float start3_x_m[] = {0, 0, 0, 0.05};
- OverCome overcome3(start3_x_m, goal2_y_m, d_x_m2, goal2_y_m, height3_m, gravity_dist);
- //後ろ脚を落とす
- float d_x_m4 = 0.1;
- float goal4_y_m[] = {.3, .3, .3, .3};
- OverCome overcome4(start_x_m, goal2_y_m, d_x_m4, goal4_y_m, height3_m, gravity_dist);
- OverCome overcome5(start_x_m, goal4_y_m, d_x_m4, goal4_y_m, height3_m, gravity_dist);
-
-/*ROPEを超えた
- //足とシリアルサーボの番号
- // RIGHT_B, RIGHT_F, LEFT_B, LEFT_F,};
- //上手く行った
- float start_x_m[4] = {-0, 0, -0, 0};
- float start_y_m[4] = {.3, .28, .3, .28};
- float d_x_m = 0.1;
- float goal_y_m[4] = {.3, .28, .3, .28};
- float height_m = 0.13;
- float gravity_dist[] = {0.075, -0.03, 0.105, 0};
- OverCome rope[] = {
- OverCome(start_x_m, start_y_m, d_x_m, goal_y_m, height_m, gravity_dist),
- };
-*/
#ifdef VSCODE
if (FileOpen()) //csv fileに書き込み
return 1; //異常終了したら強制終了
#endif
- printf("param set start\r\n");
- ParamsSetup(walks, leg); //各動きの際の足の軌道を設定。パラメータはこの関数内に打ち込む
- for (int i = 0; i < END; i++) //軌道のチェック
+ OneLeg leg[4]; //各足の位置
+ for (int i = 0; i < 4; i++)
+ leg[i] = OneLeg(kBetweenServoHalf_m, kLegLength1, kLegLength2);
+ Walk walk(leg); //歩行法はここに入れていく
+ Walk::calctime_s_ = 0.03;
+ printf("Stand up?\r\n");
+ WaitStdin('y'); // ボタンを押したら立つ
+ if (SetWalk(walk, STANDUP) == 1)
{
- if (walks[i].CheckOrbit(leg[0]) == 1) //軌道が定義外なら
- {
- 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
- }
- }
- /*ROPEのチェック
- for (int i = 0; i < sizeof(rope) / sizeof(rope[0]); i++)
- {
- if (rope[i].walk.CheckOrbit(leg[0]) == 1) //軌道が定義外なら
- {
- printf("error: rope 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
- }
- }
-*/
- if (overcome.walk.CheckOrbit(leg[0]) == 1) //軌道が定義外なら
- {
- printf("error: move pattern overcome0\r\n");
+ printf("error: stand move\r\n");
return 1; //強制終了.errorは内部の関数からprintfで知らせる
}
- if (overcome1.walk.CheckOrbit(leg[0]) == 1) //軌道が定義外なら
+ if (MoveOneCycle(walk, leg) == 1)
{
- printf("error: move pattern overcome1\r\n");
- return 1; //強制終了.errorは内部の関数からprintfで知らせる
- }
-
- if (overcome2.walk.CheckOrbit(leg[0]) == 1) //軌道が定義外なら
- {
- printf("error: move pattern overcome 2\r\n");
- return 1; //強制終了.errorは内部の関数からprintfで知らせる
- }
- if (overcome3.walk.CheckOrbit(leg[0]) == 1) //軌道が定義外なら
- {
- printf("error: move pattern overcome 3\r\n");
+ printf("error: stand move\r\n");
return 1; //強制終了.errorは内部の関数からprintfで知らせる
}
-
- if (overcome4.walk.CheckOrbit(leg[0]) == 1) //軌道が定義外なら
- {
- printf("error: move pattern overcome 4\r\n");
- return 1; //強制終了.errorは内部の関数からprintfで知らせる
- }
-
- if (overcome5.walk.CheckOrbit(leg[0]) == 1) //軌道が定義外なら
- {
- printf("error: move pattern overcome 5\r\n");
- return 1; //強制終了.errorは内部の関数からprintfで知らせる
- }
- printf("Stand up?\r\n");
- WaitStdin('y'); // ボタンを押したら立つ
- MoveOneCycle(walks[STANDUP], leg);
printf("Move?\r\n");
WaitStdin('y'); // ボタンを押したらスタート
#ifdef USE_ROS
@@ -239,25 +163,37 @@
nh_mbed.spinOnce();
#else
- // for (int k = 0; k < 5; k++)//壁あて.機体保護のため抜いておく
- // MoveOneCycle(walks[STRAIGHT], leg);
- MoveOneCycle(walks[UP], leg); //立つ
- for (int k = 0; k < 1; k++) //前足かける
- MoveOneCycle(overcome.walk, leg);
- for (int k = 0; k < 5; k++) //そのまま進む
- MoveOneCycle(overcome1.walk, leg);
- for (int k = 0; k < 1; k++) //後ろ足載せる
- MoveOneCycle(overcome2.walk, leg);
- for (int k = 0; k < 3; k++) //そのまま進む
- MoveOneCycle(overcome3.walk, leg);
- for (int k = 0; k < 1; k++) //後ろ足を落とす
- MoveOneCycle(overcome4.walk, leg);
- for (int k = 0; k < 5; k++) //足上げたまま動く
- MoveOneCycle(overcome5.walk, leg);
- /*rope用
- for (int k = 0; k < 10; k++) //前足かける
- MoveOneCycle(rope[0].walk, leg);
-*/
+ if (SetWalk(walk, FRONTLEG_ON_SANDDUNE) == 1)
+ {
+ printf("error: triangle\r\n");
+ return 1; //強制終了.errorは内部の関数からprintfで知らせる
+ }
+
+ for (int i = 0; i < 2; i++)
+ {
+ if (MoveOneCycle(walk, leg) == 1)
+ {
+ printf("error: triangle move\r\n");
+ return 1; //強制終了.errorは内部の関数からprintfで知らせる
+ }
+ }
+ offset_y_m[LEFT_F] = 0.29;
+ offset_y_m[RIGHT_F] = 0.29;
+ if (SetWalk(walk, LRFPOSTURE) == 1)
+ {
+ printf("error: triangle\r\n");
+ return 1; //強制終了.errorは内部の関数からprintfで知らせる
+ }
+
+ for (int i = 0; i < 20; i++)
+ {
+ if (MoveOneCycle(walk, leg) == 1)
+ {
+ printf("error: triangle move\r\n");
+ return 1; //強制終了.errorは内部の関数からprintfで知らせる
+ }
+ }
+
printf("program end\r\n");
#ifdef VSCODE
fclose(fp);
@@ -271,7 +207,7 @@
timer.reset();
timer.start();
#endif
- int count = walkway.GetOneWalkTime() / walkway.calctime_s_;
+ int count = walkway.orbit[0].GetOneWalkTime() / walkway.calctime_s_;
for (int i = 0; i < count; i++)
{
#ifndef VSCODE
@@ -353,19 +289,20 @@
int state = cmd_vel.z;
//閾値は要検討
if (right_vel < left_vel)
- MoveOneCycle(walks[TURNRIGHT], leg);
- else if (left_vel < right_vel)
- MoveOneCycle(walks[TURNLEFT], leg);
+ {
+ stride_m[LEFT_F] = 0.2;
+ stride_m[RIGHT_F] = 0.2;
+ stride_m[LEFT_B] = 0.1;
+ stride_m[RIGHT_B] = 0.1;
+ }
else
- MoveOneCycle(walks[STRAIGHT], leg);
+ {
+ stride_m[LEFT_F] = 0.1;
+ stride_m[RIGHT_F] = 0.1;
+ stride_m[LEFT_B] = 0.2;
+ stride_m[RIGHT_B] = 0.2;
+ }
+ SetWalk(walk, LRFPOSTURE);
+ MoveOneCycle(walk, leg);
}
-#endif
-/*
-//param back_height_on_step:段差の高さ。後ろにあるとする。前にあるときはマイナスを入れる
-float GetSteepBodyRad(float back_height_on_step)
-{
- float offset_hight = back_height_on_step + leg[LEFT_B].GetY_m() - leg[LEFT_B].GetY_m();
- float theta = atan2(offset_hight, (float)(sqrt(0.09 - offset_hight * offset_hight)));
- return theta;
-}
-*/
\ No newline at end of file
+#endif
\ No newline at end of file