Diff: locate.cpp

Revision:

0:265d8ad19d2a

Child:

1:3513a2fbd81f

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/locate.cpp	Fri Sep 02 12:40:36 2016 +0000
@@ -0,0 +1,91 @@
+#include <math.h>
+#include "mbed.h"
+#include "Encoder.h"
+#include "locate.h"
+
+
+/********以下グローバル変数宣言**************/
+
+TIM_Encoder_InitTypeDef encoder1, encoder2;     //Encoderライブラリで使う
+TIM_HandleTypeDef  timer1,  timer2;             //Encoderライブラリで使う
+uint16_t count1=0,  count2=0;                   //Encoderライブラリで使う
+int8_t   dir1, dir2;                            //Encoderライブラリで使う
+
+Serial pc(SERIAL_TX, SERIAL_RX);    //pcと通信
+DigitalOut enc_v(PC_7);             //エンコーダの電源
+
+int      r, l;                  //現在の回転数
+int      pr = 0, pl = 0;        //前回のステップ数
+short    v = 0;                 //ステップ速度
+float    x = 0, y = 0;          //xy方向に進んだ距離(m換算なし)
+float    theta = 0;             //機体角度、x軸正の向きを0とする
+float    d_theta = 0;           //erase()関数を使って、そのときのthetaをコピー
+
+/*************変数宣言終了******************/
+
+
+void  update ()
+//位置情報を更新する。r,lはエンコーダから
+{
+    count1=__HAL_TIM_GET_COUNTER(&timer1);
+    dir1 = __HAL_TIM_IS_TIM_COUNTING_DOWN(&timer1);
+    count2=__HAL_TIM_GET_COUNTER(&timer2);
+    dir2 = __HAL_TIM_IS_TIM_COUNTING_DOWN(&timer2);   
+    
+    r = -convert_enc_count(count1, dir1);
+    l = convert_enc_count(count2, dir2);
+        
+    theta = (r - l) * ROUND - d_theta;
+    v = (r - pr + l - pl);
+
+    x += v * cos(theta);
+    y += v * sin(theta);
+
+    pr = r;
+    pl = l;
+    //pc.printf("count1:%d%s  count2:%d%s\r\n", count1, dir1==0 ? "+":"-",count2, dir2==0 ? "+":"-");
+    pc.printf("right:%d     left:%d     x:%d    y:%d    t:%f\n\r", r, l, coordinateX(), coordinateY(), coordinateTheta());
+}
+
+void  setup()
+{
+    enc_v = 1;
+    
+    //counting on both A&B inputs, 4 ticks per cycle,  16-bit count
+    //use PB6 PB7 = Nucleo D7 D8
+    EncoderInit(&encoder1, &timer1, TIM4, 0xffff, TIM_ENCODERMODE_TI12);
+
+    //counting on both A&B inputs, 4 ticks per cycle,  16-bit count
+    //use PA0 PA1 = Nucleo A0 A1
+    EncoderInit(&encoder2, &timer2, TIM2, 0xffff, TIM_ENCODERMODE_TI12);
+}
+
+short coordinateX()
+{
+    return x * LOCATE_STEP / 2;
+}
+
+short coordinateY()
+{
+    return y * LOCATE_STEP / 2;
+}
+
+float coordinateTheta()
+{
+    return theta;
+}
+
+int convert_enc_count(int16_t pulse, int8_t direction)
+{
+    if(direction == 0)
+        pulse = pulse - 0xffff -1;
+    
+    return pulse;
+}
+
+void erase()
+{
+    x = 0;
+    y = 0;
+    d_theta = theta;
+}