Diff: omuni/omuni.cpp

Revision:

0:6da7d0e457a2

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/omuni/omuni.cpp	Thu Aug 17 03:49:34 2017 +0000
@@ -0,0 +1,150 @@
+#include "mbed.h"
+#include "omuni.hpp"
+#include "speed_control.hpp"
+
+omuni::omuni(I2C *i, TIM_TypeDef *timer_type0, TIM_TypeDef *timer_type1, TIM_TypeDef *timer_type2, size_t pulse_per_revol, float _cy_ms, int a[3], float _R, float _d)
+{
+    i2c = i;
+    o[0] = new speed_control(timer_type0, pulse_per_revol, _cy_ms);
+    o[1] = new speed_control(timer_type1, pulse_per_revol, _cy_ms);
+    o[2] = new speed_control(timer_type2, pulse_per_revol, _cy_ms);
+    R = _R; d = _d;
+    vx = 0.0f; vy = 0.0f; omega = 0.0f;
+    for(int i = 0; i < 3; i++)
+    {
+        addr[i] = a[i];
+        v[i] = 0.0f;
+    }
+    time.start(); t.start();
+    f = false;
+}
+void omuni::set_pid(int n, float _kp, float _ki, float _kd)
+{
+    if(n >= 0 && n <= 2)
+    {
+        o[n]->set_pid(_kp, _ki, _kd);
+    }
+}
+
+
+void omuni::set_speed(float _vx, float _vy)
+{
+    tvx = _vx; tvy = _vy;
+}
+
+void omuni::set_speed(float _vx, float _vy, float _omega)
+{
+    set_speed(_vx, _vy);
+    omega = _omega;
+}
+
+void omuni::set_speed(float _vx, float _vy, float _omega, bool _f)
+{
+    set_speed(_vx, _vy, _omega);
+    f = _f;
+}
+
+void omuni::renew_theta()
+{
+    static float now_time, pre_time;
+    now_time = time.read();
+    
+    if(now_time - pre_time < 0.1f)
+    {
+        if(f == true)
+        {
+            theta += (omega * (now_time - pre_time)) * THETA_ADDJUST;
+        }
+        else
+        {
+            theta = 0.0f;
+        }
+    }
+    if(now_time > 1800)
+    {
+        time.reset();
+        pre_time = 0.0f;
+    }
+    pre_time = now_time;
+}
+
+bool omuni::renew_speed()
+{
+    const double a = 10;
+    static float now_time, pre_time;
+    now_time = time.read();
+    if(now_time - pre_time > 0.01f)
+    {
+        pre_time = now_time;
+        
+        if(tvx - vx <= a * 0.01 && tvx - vx >= -1 * a * 0.01 && tvy - vy <= a * 0.01 && tvy - vy >= -1 * a * 0.01)
+        {
+            vx = tvx; vy = tvy;
+        }
+        else
+        {
+            float x, y;
+            x = tvx - vx;
+            y = tvy - vy;
+            vx += a * 0.01 * x / sqrt(x * x + y * y);
+            vy += a * 0.01 * y / sqrt(x * x + y * y);
+        }
+        return true;
+    }
+    return false;
+}
+
+void omuni::_set_speed()
+{
+    //if(renew_speed())
+    {
+        float _vx, _vy;
+        _vx =      tvx * cos(theta) + tvy * sin(theta);
+        _vy = -1 * tvx * sin(theta) + tvy * cos(theta);
+        v[0] = (-1.0f * _vx              ) / (3.1416f * d);
+        v[1] = ( 0.5f * _vx - 0.866f * _vy) / (3.1416f * d);
+        v[2] = ( 0.5f * _vx + 0.866f * _vy) / (3.1416f * d);
+        v[0] += (R * omega) / (3.1416f * d);
+        v[1] += (R * omega) / (3.1416f * d);
+        v[2] += (R * omega) / (3.1416f * d);
+        
+        
+        for(int i = 0; i < 3; i++)
+        {
+            o[i]->set_speed(v[i]);
+        }
+    }
+}
+
+void omuni::drive()
+{
+    renew_theta();
+    
+    _set_speed();
+    
+    for(int i = 0; i < 3; i++)
+    {
+        char duty = o[i]->get_duty();
+        i2c->write(addr[i], &duty, 1);
+    }
+}
+
+void omuni::reset_theta()
+{
+    theta = 0.0f;
+}
+
+float omuni::get_theta()
+{
+    return theta;
+}
+
+float omuni::get_vx()
+{
+    return vx;
+}
+
+float omuni::get_vy()
+{
+    return vy;
+}
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