fs
Dependents: ARAI45th 3servotest 1stcomp 3rdcompfixstart ... more
Diff: locate.cpp
- Revision:
- 6:27d0384052d2
- Parent:
- 4:ecbb45e84c08
--- a/locate.cpp Wed Sep 07 07:36:42 2016 +0000 +++ b/locate.cpp Sat Sep 10 12:16:57 2016 +0000 @@ -14,13 +14,16 @@ 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 xcount = 0, ycount = 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 - +int r, l; //現在の回転数 +int pr = 0, pl = 0; //前回のステップ数 +int v = 0; //ステップ速度 +float xcount = 0, ycount = 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 +float virtual_xcount = 0 ,virtual_ycount = 0; +int *virtual_v; +float virtual_theta = 0; +float virtual_ptheta = 0; /*************変数宣言終了******************/ @@ -29,7 +32,7 @@ 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); @@ -42,7 +45,7 @@ void setup(int tx, int ty) { enc_v = 1; - + xcount = tx / (LOCATE_STEP / 2); ycount = ty / (LOCATE_STEP / 2); @@ -55,18 +58,19 @@ EncoderInit(&encoder2, &timer2, TIM2, 0xffff, TIM_ENCODERMODE_TI12); } -void update () +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); - + 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; + + theta = (r - l) * ROUND; + //theta = (r - l) * ROUND - d_theta; v = (r - pr + l - pl); xcount += v * cos(theta); @@ -83,11 +87,11 @@ 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); - + 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); @@ -117,7 +121,7 @@ { if(direction == 0) pulse = pulse - 0xffff -1; - + return pulse; } @@ -127,3 +131,37 @@ ycount = 0; d_theta = theta; } + +void virtual_setup() +{ + virtual_xcount = 0; + virtual_ycount = 0; + + virtual_v = &v; + + virtual_theta = 0; + virtual_ptheta = coordinateTheta(); +} + +void virtual_update() +{ + virtual_theta = coordinateTheta() - virtual_ptheta; + + virtual_xcount += *virtual_v * cos(virtual_theta); + virtual_ycount += *virtual_v * sin(virtual_theta); +} + +int virtual_coordinateX() +{ + return virtual_xcount * LOCATE_STEP / 2; +} + +int virtual_coordinateY() +{ + return virtual_ycount * LOCATE_STEP / 2; +} + +float virtual_coordinateTheta() +{ + return virtual_theta; +} \ No newline at end of file