naoki tanabe / petbottle_Loading

装填機構ライブラリ

Dependents:  

petbottleLoading.cpp@0:890f901f4898, 2018-10-04 (annotated)

Committer:
tanabe2000
Date:
Thu Oct 04 11:43:22 2018 +0000
Revision:
0:890f901f4898
Child:
1:6cdfc10c7b1d
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Who changed what in which revision?

UserRevisionLine numberNew contents of line
tanabe2000 0:890f901f4898 1 #include "petbottleLoading.h"
tanabe2000 0:890f901f4898 2
tanabe2000 0:890f901f4898 3 petbottleLoading::petbottleLoading():
tanabe2000 0:890f901f4898 4 loadingPid(loadingKP, loadingKI, loadingKD, RATE),
tanabe2000 0:890f901f4898 5 loadingencoder(loadingencoder1_1, loadingencoder1_2 ,NC, 2048, QEI::X4_ENCODING),
tanabe2000 0:890f901f4898 6 RS485control(PA_4),
tanabe2000 0:890f901f4898 7 RS485(MDC_TX,MDC_RX,115200),
tanabe2000 0:890f901f4898 8 debug(USBTX, USBRX),
tanabe2000 0:890f901f4898 9 limitSW1_(limitswich1_1),
tanabe2000 0:890f901f4898 10 limitSW2_(limitswich1_2),
tanabe2000 0:890f901f4898 11 limitSW3_(limitswich1_3)
tanabe2000 0:890f901f4898 12 {
tanabe2000 0:890f901f4898 13 petbottledrop = new ikarashiMDC(&RS485control,1,0,SM,&RS485);
tanabe2000 0:890f901f4898 14 petbotleslider = new ikarashiMDC(&RS485control,1,1,SM,&RS485);
tanabe2000 0:890f901f4898 15 petbottleIn = new ikarashiMDC(&RS485control,1,2,SM,&RS485);
tanabe2000 0:890f901f4898 16 petbottledrop->braking = true;/*変更*/
tanabe2000 0:890f901f4898 17 petbotleslider->braking = true;/*変更*/
tanabe2000 0:890f901f4898 18 petbottleIn->braking = true;/*変更*/
tanabe2000 0:890f901f4898 19 limitSW1_.mode(PullUp);
tanabe2000 0:890f901f4898 20 limitSW2_.mode(PullUp);
tanabe2000 0:890f901f4898 21 limitSW3_.mode(PullUp);
tanabe2000 0:890f901f4898 22
tanabe2000 0:890f901f4898 23 loadingPid.setMode(AUTO_MODE);
tanabe2000 0:890f901f4898 24 loadingPid.setInputLimits(-10, 2200);
tanabe2000 0:890f901f4898 25 loadingPid.setOutputLimits(-0.9, 0.9);
tanabe2000 0:890f901f4898 26 loadingPid.setBias(0.0); // outputの変わり目
tanabe2000 0:890f901f4898 27 limitSwFlag[2] = 0;
tanabe2000 0:890f901f4898 28 limitSwFlag2[2] = 0;
tanabe2000 0:890f901f4898 29 limitSwFlag[0] = 0;
tanabe2000 0:890f901f4898 30 limitSwFlag2[0] = 0;
tanabe2000 0:890f901f4898 31 sw5flag = 0;
tanabe2000 0:890f901f4898 32 pt.start();
tanabe2000 0:890f901f4898 33
tanabe2000 0:890f901f4898 34 }
tanabe2000 0:890f901f4898 35
tanabe2000 0:890f901f4898 36
tanabe2000 0:890f901f4898 37 void petbottleLoading::petbottlemode(int loadingmode)
tanabe2000 0:890f901f4898 38 {
tanabe2000 0:890f901f4898 39 nowPals = loadingencoder.getPulses();
tanabe2000 0:890f901f4898 40 loadingPid.setSetPoint(loadingDistance);// 目標値
tanabe2000 0:890f901f4898 41 loadingPid.setProcessValue(nowPals);
tanabe2000 0:890f901f4898 42 Output_PID = -1.0*loadingPid.compute();
tanabe2000 0:890f901f4898 43 pdt = pt.read();
tanabe2000 0:890f901f4898 44 limitSW1 = limitSW1_.read();
tanabe2000 0:890f901f4898 45 limitSW2 = limitSW2_.read();
tanabe2000 0:890f901f4898 46 limitSW3 = limitSW3_.read();
tanabe2000 0:890f901f4898 47 // debug.printf("L1:<%d>, L2:<%d>, L3:<%d>\r\n", limitSW1, limitSW2, limitSW3);
tanabe2000 0:890f901f4898 48 debug.printf("nowPals<%d>\r\n", nowPals);
tanabe2000 0:890f901f4898 49
tanabe2000 0:890f901f4898 50 if(loadingmode == 0) {
tanabe2000 0:890f901f4898 51 loadingDistance = 0;
tanabe2000 0:890f901f4898 52 petbottledropPwm = 0.0;
tanabe2000 0:890f901f4898 53 petbottleInPwm = 0.0;
tanabe2000 0:890f901f4898 54 } else if(loadingmode == 1) {
tanabe2000 0:890f901f4898 55 limitSwFlag[2] = 0;
tanabe2000 0:890f901f4898 56 limitSwFlag2[2] = 0;
tanabe2000 0:890f901f4898 57 loadingDistance = 954;
tanabe2000 0:890f901f4898 58 if((nowPals - pullDistanceOfset) > 700) {
tanabe2000 0:890f901f4898 59 if(limitSW1 == 1 && limitSwFlag[0] == 0) {
tanabe2000 0:890f901f4898 60 limitSwFlag[0] = 1;
tanabe2000 0:890f901f4898 61 petbottledropPwm = 1.0;
tanabe2000 0:890f901f4898 62 }
tanabe2000 0:890f901f4898 63 if(limitSW1 == 0 && limitSwFlag[0] == 0 &&limitSwFlag2[0] == 0) {
tanabe2000 0:890f901f4898 64 limitSwFlag[0] = 1;
tanabe2000 0:890f901f4898 65 limitSwFlag2[0] = 1;
tanabe2000 0:890f901f4898 66 petbottledropPwm = 1.0;
tanabe2000 0:890f901f4898 67 }
tanabe2000 0:890f901f4898 68 if(limitSW1 ==0 && limitSwFlag[0] == 1) limitSwFlag2[0] = 1;
tanabe2000 0:890f901f4898 69 if((limitSwFlag[0] == 1) && (limitSwFlag2[0] == 1) && (limitSW1 == 1))petbottledropPwm = 0.0;
tanabe2000 0:890f901f4898 70 }
tanabe2000 0:890f901f4898 71 } else if(loadingmode == 2) {
tanabe2000 0:890f901f4898 72 limitSwFlag[2] = 0;
tanabe2000 0:890f901f4898 73 limitSwFlag2[2] = 0;
tanabe2000 0:890f901f4898 74 loadingDistance = 1854;
tanabe2000 0:890f901f4898 75 if((nowPals - pullDistanceOfset) > 700) {
tanabe2000 0:890f901f4898 76 if(limitSW1 == 1 && limitSwFlag[0] == 0) {
tanabe2000 0:890f901f4898 77 limitSwFlag[0] = 1;
tanabe2000 0:890f901f4898 78
tanabe2000 0:890f901f4898 79 petbottledropPwm = 1.0;
tanabe2000 0:890f901f4898 80 }
tanabe2000 0:890f901f4898 81 if(limitSW1 == 0 && limitSwFlag[0] == 0 &&limitSwFlag2[0] == 0) {
tanabe2000 0:890f901f4898 82 limitSwFlag[0] = 1;
tanabe2000 0:890f901f4898 83 limitSwFlag2[0] = 1;
tanabe2000 0:890f901f4898 84 petbottledropPwm = 1.0;
tanabe2000 0:890f901f4898 85 }
tanabe2000 0:890f901f4898 86 if(limitSW1 ==0 && limitSwFlag[0] == 1) limitSwFlag2[0] = 1;
tanabe2000 0:890f901f4898 87 if((limitSwFlag[0] == 1) && (limitSwFlag2[0] == 1) && (limitSW1 == 1))petbottledropPwm = 0.0;
tanabe2000 0:890f901f4898 88 }
tanabe2000 0:890f901f4898 89 } else if(loadingmode == 3) {
tanabe2000 0:890f901f4898 90 if(limitSW3 ==1 && limitSwFlag[2] == 0) limitSwFlag[2] = 1,limitSwFlag2[2] = 0 ;
tanabe2000 0:890f901f4898 91 if(limitSW3 ==0 && limitSwFlag[2] == 1) limitSwFlag2[2] = 1;
tanabe2000 0:890f901f4898 92 if(limitSwFlag[2] == 1 && limitSwFlag2[2] == 1) {
tanabe2000 0:890f901f4898 93 if(limitSW3 ==1) {
tanabe2000 0:890f901f4898 94 petbottleInPwm = 0.0;
tanabe2000 0:890f901f4898 95 loadingDistance = 0;
tanabe2000 0:890f901f4898 96 petbottleInPwm = 0.0;
tanabe2000 0:890f901f4898 97 if((nowPals - pullDistanceOfset) < 25) {
tanabe2000 0:890f901f4898 98 if(limitSW1 == 1 && limitSwFlag[0] == 1) {
tanabe2000 0:890f901f4898 99 limitSwFlag[0] = 0;
tanabe2000 0:890f901f4898 100 petbottledropPwm = 1.0;
tanabe2000 0:890f901f4898 101 }
tanabe2000 0:890f901f4898 102 if(limitSW1 == 0 && limitSwFlag[0] == 1 &&limitSwFlag2[0] == 1) {
tanabe2000 0:890f901f4898 103 limitSwFlag[0] = 0;
tanabe2000 0:890f901f4898 104 limitSwFlag2[0] = 0;
tanabe2000 0:890f901f4898 105 petbottledropPwm = 1.0;
tanabe2000 0:890f901f4898 106 }
tanabe2000 0:890f901f4898 107 if(limitSW1 ==0 && limitSwFlag[0] == 0) limitSwFlag2[0] = 0;
tanabe2000 0:890f901f4898 108 if((limitSwFlag[0] == 0) && (limitSwFlag2[0] == 0) && (limitSW1 == 1))petbottledropPwm = 0.0;
tanabe2000 0:890f901f4898 109 }
tanabe2000 0:890f901f4898 110 }
tanabe2000 0:890f901f4898 111 } else {
tanabe2000 0:890f901f4898 112 if((nowPals - pullDistanceOfset) > 700)petbottleInPwm = -1.0;
tanabe2000 0:890f901f4898 113 }
tanabe2000 0:890f901f4898 114 } else {
tanabe2000 0:890f901f4898 115 petbottledropPwm = 0.0;
tanabe2000 0:890f901f4898 116 petbottleInPwm = 0.0;
tanabe2000 0:890f901f4898 117 }
tanabe2000 0:890f901f4898 118 petbottledrop->setSpeed(petbottledropPwm);
tanabe2000 0:890f901f4898 119 petbotleslider->setSpeed(Output_PID);
tanabe2000 0:890f901f4898 120 petbottleIn->setSpeed(petbottleInPwm);
tanabe2000 0:890f901f4898 121 }
tanabe2000 0:890f901f4898 122
tanabe2000 0:890f901f4898 123 int petbottleLoading::LoadingEncoder(){
tanabe2000 0:890f901f4898 124 return nowPals - pullDistanceOfset;
tanabe2000 0:890f901f4898 125 }
tanabe2000 0:890f901f4898 126
tanabe2000 0:890f901f4898 127 int petbottleLoading::state()
tanabe2000 0:890f901f4898 128 {
tanabe2000 0:890f901f4898 129
tanabe2000 0:890f901f4898 130 }