test
Dependencies: mbed ros_lib_kinetic nhk19mr2_can_info splitData SerialHalfDuplex_HM
servo_and_movefunc.cpp
00001 #include "servo_and_movefunc.h" 00002 #include "pi.h" 00003 #include "math.h" 00004 #include "debug.h" 00005 #ifndef VSCODE 00006 #include "KondoServo.h" 00007 #include "pinnames.h" 00008 #include "can.h" 00009 #include "hcsr04.h" 00010 #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 00011 #endif 00012 FILE *fp; 00013 const float kRadToDegree = 180.0 / M_PI; 00014 //サーボの送信間隔 00015 const int kServoSpan_ms = 6; 00016 //サーボの正負と座標系の正負の補正.足で一セット。 00017 const int kServoSign[2][2] = {{-1, -1}, {-1, -1}}; 00018 //欲しい座標系0度でのサーボのICSマネージャーの値 00019 const double kServoValToDegree = 270.0 / (11500 - 3500); //ICSの値を度に変換 00020 const double kOriginDegree[2][2] = { 00021 { 00022 (7268 - 3500) * kServoValToDegree, 00023 (7768 - 3500) * kServoValToDegree + 180, 00024 }, 00025 { 00026 (7467 - 3500) * kServoValToDegree, 00027 (7543 - 3500) * kServoValToDegree + 180, 00028 }, 00029 }; 00030 #ifndef VSCODE 00031 Timer timer; 00032 KondoServo servo[2] = { 00033 KondoServo(pin_serial_servo_tx[0], pin_serial_servo_rx[0]), 00034 KondoServo(pin_serial_servo_tx[1], pin_serial_servo_rx[1]), 00035 }; 00036 DigitalOut led[4] = {DigitalOut(LED1), DigitalOut(LED2), DigitalOut(LED3), DigitalOut(LED4)}; 00037 HCSR04 usensor(p25, p24); // Trigger(DO), Echo(PWMIN) 00038 #endif 00039 //一サイクル分進む.return 1:異常終了 00040 int MoveOneCycle(Walk walkway, OneLeg leg[4]) 00041 { 00042 #ifndef VSCODE 00043 timer.reset(); 00044 timer.start(); 00045 #endif 00046 int count = walkway.orbit[0].GetOneWalkTime() / walkway.calctime_s_; 00047 for (int i = 0; i < count; i++) 00048 { 00049 #ifndef VSCODE 00050 float time_s = timer.read(); 00051 #endif 00052 //4本の足それぞれの足先サーボ角度更新 00053 if (walkway.Cal4LegsPosi(leg) == 1) 00054 { 00055 printf("error: time = %f\r\n", i * walkway.calctime_s_); 00056 return 1; 00057 } 00058 #ifdef USE_CAN 00059 SendRad(leg[2], leg[3]); //slave_mbed分の足の目標位置を送信 00060 #endif 00061 //自身が動かす足のサーボを動かす 00062 MoveServo(leg[0], 0, 0); 00063 MoveServo(leg[1], 1, 0); 00064 #ifndef VSCODE 00065 wait_ms(kServoSpan_ms); 00066 #endif 00067 MoveServo(leg[0], 0, 1); 00068 MoveServo(leg[1], 1, 1); 00069 #ifdef VSCODE 00070 //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 00071 fprintf(fp, "%f", i * walkway.calctime_s_); 00072 for (int i = 0; i < 4; i++) 00073 fprintf(fp, ",%f,%f", leg[i].GetX_m(), leg[i].GetY_m()); 00074 fprintf(fp, "\r\n"); 00075 #else 00076 //計算周期がwalkway.calctime_s_になるようwait 00077 float rest_time_s = walkway.calctime_s_ - (timer.read() - time_s); 00078 if (rest_time_s > 0) 00079 wait(rest_time_s); 00080 else 00081 { //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。 00082 DEBUG("error: rest_time_s = %f in Move()\r\n", rest_time_s); 00083 led[0] = 1; 00084 } 00085 #endif 00086 } 00087 return 0; 00088 } 00089 void MoveServo(OneLeg leg, int serial_num, int servo_id) 00090 { 00091 #ifndef VSCODE 00092 float degree = leg.GetRad(servo_id) * kRadToDegree; 00093 //サーボの座標系に変更 00094 float servo_degree = kServoSign[serial_num][servo_id] * degree + kOriginDegree[serial_num][servo_id]; 00095 // DEBUG("servo_degree[%d][%d],%f\r\n", serial_num, servo_id, servo_degree); 00096 servo[serial_num].set_degree(servo_id, servo_degree); 00097 #endif 00098 } 00099 void WaitStdin(char startchar) 00100 { 00101 char str[255] = {}; 00102 do 00103 { 00104 printf("put '%c', then start\r\n", startchar); 00105 scanf("%s", str); 00106 } while (str[0] != startchar); 00107 } 00108 00109 int FileOpen() //1:異常終了 00110 { 00111 if ((fp = fopen("data.csv", "w")) == NULL) 00112 { 00113 printf("error : FileSave()\r\n"); 00114 return 1; 00115 } 00116 fprintf(fp, "time[s],x[0],y[0],x[1],y[1],x[2],y[2],x[3],y[3]\r\n"); 00117 return 0; 00118 } 00119 unsigned int GetDist_cm() 00120 { 00121 usensor.start(); 00122 return usensor.get_dist_cm(); 00123 }
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