Revision 0:6da7d0e457a2, committed 2017-08-17

Comitter:

sawai

Date:

Thu Aug 17 03:49:34 2017 +0000

Commit message:

omuni

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Thu Aug 17 03:49:34 2017 +0000
@@ -0,0 +1,96 @@
+#include "mbed.h"
+#include "omuni.hpp"
+
+int addr[] = {0x10, 0x12, 0x14};
+int armAddr[] = {0x16, 0x18};
+bool arm = false;
+
+Serial p(USBTX, USBRX);
+Serial pc(PA_11, PA_12);
+I2C i2cMaster(D14, D15);
+// archan
+omuni omuni(&i2cMaster, TIM1, TIM2, TIM3, 800, 2.0f, addr, 0.25f, 0.1f);
+
+float vx, vy, ome;
+bool f, pre_f;
+char recv[3] = {0};
+
+void pc_rx()
+{
+    char rtemp = pc.getc();
+    
+    if((rtemp & 0b11000000) == 0b00000000)         recv[0] = rtemp;
+    else if((rtemp & 0b11000000) == 0b01000000)    recv[1] = rtemp;
+    else if((rtemp & 0b11000000) == 0b10000000)    recv[2] = rtemp;
+    
+    float direc = (recv[0] & 0x0f) * 3.141592 / 8.0;
+    float speed = 0.8 * ((recv[0] & 0b00110000) >> 4);
+    vx = speed * cos(direc) * -1;
+    vy = speed * sin(direc) * -1;
+    
+    if(recv[2] & 0b1)
+    {
+        arm = true;
+    }
+    else
+    {
+        arm = false;
+    }
+    
+    if(recv[1] & 0b11000)
+    {
+        f = false;
+        ome = ((recv[1] & 0b11000) >> 3) * 3.141592 / 2.0;
+        if(recv[1] & 0b100000)  ome *= -1;
+    }
+    else
+    {
+        if(recv[1] & 0b11)
+        {
+            f = true;
+//            if(pre_f == false)  omuni.reset_theta();
+        }
+        else
+        {
+            f = false;
+        }
+        ome = (recv[1] & 0b11) * 3.141592 / 2.0;
+        if((recv[1] & 0b100))   ome *= -1;
+    }
+    pre_f = f;
+}
+
+int main()
+{
+    p.baud(115200);
+    pc.baud(9600);
+    pc.printf("Hello!\n");
+    pc.attach(pc_rx, Serial::RxIrq);
+    omuni.set_speed(0.0f, 0.0f);
+    // archan
+    omuni.set_pid(0, 3.0f, 0.07f, 0.05f);
+    omuni.set_pid(1, 3.0f, 0.07f, 0.05f);
+    omuni.set_pid(2, 3.0f, 0.07f, 0.05f);
+    
+    while(1)
+    {
+        wait(0.001);
+        omuni.set_speed(vx, vy, ome, f);
+        omuni.drive();
+        
+        if(arm)
+        {
+            char send = -127;
+            i2cMaster.write(armAddr[0], &send, 1);
+            i2cMaster.write(armAddr[1], &send, 1);
+        }
+        else
+        {
+            char send = 0;
+            i2cMaster.write(armAddr[0], &send, 1);
+            i2cMaster.write(armAddr[1], &send, 1);
+        }
+        
+        p.printf("%f\n", omuni.get_theta());
+    }
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Thu Aug 17 03:49:34 2017 +0000
@@ -0,0 +1,1 @@
+https://mbed.org/users/mbed_official/code/mbed/builds/f9eeca106725
\ No newline at end of file

--- /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;
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/omuni/omuni.hpp	Thu Aug 17 03:49:34 2017 +0000
@@ -0,0 +1,36 @@
+#ifndef _omuni_
+#define _omuni_
+
+#include "speed_control.hpp"
+
+#define THETA_ADDJUST   0.69f
+
+class omuni
+{
+private:
+    I2C *i2c;
+    speed_control *o[3];
+    Timer time, t;
+    float tvx, tvy, tomega; 
+    float vx, vy, omega, theta;
+    float R, d;
+    int addr[3];
+    float v[3];
+    bool f;
+public:
+    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);
+    void set_pid(int n, float _kp, float _ki, float _kd);
+    void set_speed(float vx, float vy);
+    void set_speed(float vx, float vy, float omega);
+    void set_speed(float _vx, float _vy, float _omega, bool _f);
+    void renew_theta();
+    bool renew_speed();
+    void _set_speed();
+    void drive();
+    void reset_theta();
+    float get_theta();
+    float get_vx();
+    float get_vy();
+};
+
+#endif

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/omuni/speed_control/nucleo_rotary_encoder.lib	Thu Aug 17 03:49:34 2017 +0000
@@ -0,0 +1,1 @@
+http://developer.mbed.org/users/inst/code/nucleo_rotary_encoder/#684e1604e5ea

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/omuni/speed_control/speed_control.cpp	Thu Aug 17 03:49:34 2017 +0000
@@ -0,0 +1,97 @@
+#include "mbed.h"
+#include "speed_control.hpp"
+#include "rotary_encoder_ab_phase.hpp"
+
+speed_control::speed_control(TIM_TypeDef *timer_type, float _pulse_per_revol, float _cy_ms)
+{
+    e = new rotary_encoder_ab_phase(timer_type, _pulse_per_revol);
+    pulse_per_revol = _pulse_per_revol;
+    cy_ms = _cy_ms;
+    f1 = f2 = 0;
+    target_value = 0.0f;
+    
+    e->start();
+    t.start();
+}
+
+void speed_control::set_speed(float _target_value)
+{
+    target_value = _target_value;
+}
+
+void speed_control::set_pid(float _kp, float _ki, float _kd)
+{
+    kp = _kp; ki = _ki; kd = _kd;
+    f1 = kp + ki / 2.0f + kd;
+    f2 = -1.0f * kp + ki / 2.0f - 2.0f * kd;
+    
+    e->reset();
+    t.reset();
+    time_counter = 0;
+    pre_counts = 0;
+}
+
+bool speed_control::check_get_speed()
+{
+    if(t.read_ms() > time_counter)
+    {
+        time_counter += cy_ms;
+        
+        for(int i = 9; i > 0; i--)
+        {
+            e_value[i] = e_value[i-1];
+        }
+        int32_t ec = e->get_counts();
+        e_value[0] = ec - pre_counts;
+        if(ec > 20000 || ec < -20000)
+        {
+            e->reset();
+            pre_counts = pre_counts - ec;
+        }
+        else
+        {
+            pre_counts = ec;
+        }
+        int32_t esum = 0;
+        for(int i = 0; i < 10; i++)
+        {
+            esum += e_value[i];
+        }
+        sensor_value = esum / pulse_per_revol / (10.0f * cy_ms) * 1000;
+        
+        return true;
+    }
+    else
+    {
+        return false;
+    }
+}
+
+char speed_control::get_duty()
+{
+    if(t.read() > 1800)
+    {
+        t.reset();
+        time_counter = 0;
+    }
+    if(check_get_speed())
+    {
+        diff[0] = sensor_value - target_value;
+        dm = f1 * diff[0] + j;
+        m = m + dm;
+        
+        int m_int = (int)m * -1;
+        if(m_int <= -126)   m_int = -126;
+        if(m_int >=  126)   m_int =  126;
+        duty = m_int;
+        
+        j = f2 * diff[0] + kd * diff[1];
+        diff[1] = diff[0];
+    }
+    return duty;
+}
+
+float speed_control::get_speed()
+{
+    return sensor_value;
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/omuni/speed_control/speed_control.hpp	Thu Aug 17 03:49:34 2017 +0000
@@ -0,0 +1,29 @@
+#ifndef __SPEED_CONTROL__
+#define __SPEED_CONTROL__
+
+#include "mbed.h"
+#include "rotary_encoder_ab_phase.hpp"
+
+class speed_control
+{
+private:
+    rotary_encoder_ab_phase *e;
+    Timer t;
+    float kp, ki, kd;
+    float f1, f2, diff[2], m, dm, j;
+    float pulse_per_revol, cy_ms;
+    float target_value, sensor_value;
+    unsigned long time_counter;
+    int32_t e_value[10], pre_counts;
+    char duty;
+    
+public:
+    speed_control(TIM_TypeDef *timer_type, float _pulse_per_revol, float _cy_ms);
+    void set_speed(float _target_value);
+    void set_pid(float _kp, float _ki, float _kd);
+    bool check_get_speed();
+    char get_duty();
+    float get_speed();
+};
+
+#endif
\ No newline at end of file