大季 矢花
aa
System/Process/Process.cpp
- Committer:
- M_souta
- Date:
- 2019-09-17
- Revision:
- 22:7d93f79a3686
- Parent:
- 21:e3b58d675c1c
- Child:
- 23:c853372cf626
File content as of revision 22:7d93f79a3686:
#include "mbed.h"
#include "Process.h"
#include "../../CommonLibraries/PID/PID.h"
#include "../../Communication/RS485/ActuatorHub/ActuatorHub.h"
#include "../../Communication/RS485/LineHub/LineHub.h"
#include "../../Communication/Controller/Controller.h"
#include "../../Input/ExternalInt/ExternalInt.h"
#include "../../Input/Switch/Switch.h"
#include "../../Input/Encoder/Encoder.h"
#include "../../Input/Ultrasonic/Ultrasonic.h"
#include "../../LED/LED.h"
#include "../../Safty/Safty.h"
#include "../Using.h"
using namespace SWITCH;
using namespace PID_SPACE;
using namespace ENCODER;
using namespace ULTRASONIC;
using namespace LINEHUB;
static CONTROLLER::ControllerData *controller;
ACTUATORHUB::MOTOR::MotorStatus motor[MOUNTING_MOTOR_NUM];
ACTUATORHUB::SOLENOID::SolenoidStatus solenoid;
static bool lock;
static bool processChangeComp;
static int current;
static void AllActuatorReset();
#ifdef USE_SUBPROCESS
static void (*Process[USE_PROCESS_NUM])(void);
#endif
#pragma region USER-DEFINED_VARIABLES_AND_PROTOTYPE
/*Replace here with the definition code of your variables.*/
USS ultrasonic[] = {
USS(ECHO_0,TRIG_0,TEMP),
USS(ECHO_1,TRIG_1,TEMP),
};
Serial pc(USBTX, USBRX);
//**************Buzzer****************
//DigitalOut buzzer(BUZZER_PIN);
void BuzzerTimer_func();
Ticker BuzzerTimer;
bool EMGflag = false;
PwmOut buzzer(BUZZER_PIN);
//**************Buzzer****************
//************TapeLed*****************
void TapeLedEms_func();
TapeLedData tapeLED;
TapeLedData sendLedData;
TapeLED_Mode ledMode = Normal;
Ticker tapeLedTimer;
//************TapaLed*****************
//*************** lift ***************
#define LOWER 1
#define MIDDLRE 2
#define UPPER 3
uint8_t liftState = LOWER;
bool moving = false;
bool switchFlag_LB = false;
bool switchFlag_RB = false;
//*************** lift ***************
//*************tire*************
PID rotaconPID[] = {
PID(0.0001,-1,1,0.05,0,0), //LF
PID(0.0001,-1,1,0.05,0,0), //LB
PID(0.0001,-1,1,0.05,0,0), //RB
PID(0.0001,-1,1,0.05,0,0), //RF
};
#define FL 0
#define BL 1
#define BR 2
#define FR 3
#define PI 3.141592
const float tireR = 101.6; //タイヤの半径
const float ucR = 420.0; //中心からのタイヤの距離
typedef struct {
float Vx; //X方向の速度
float Vy; //Y方向の速度
float Va; //角速度
} Vvector;
Vvector move; //進む速度
Vvector correction_LT; //ライントレースの補正速度
Vvector synthetic; //合成速度
float sita = 0;
bool PIDflag = false;
int linePara[8];
int linePara_U;
int linePara_B;
int linePara_L;
int linePara_R;
#define FL 0
#define BL 1
#define BR 2
#define FR 3
float tireProcessRPM[4];
float tireTargetMaxRPM[4];
float tireTargetRPM[4];
float tirePWM[4];
float timePV[4];
float timeCV[4];
float pulsePV[4];
float pulseCV[4];
void tirePID();
int lineCast(char k);
Timer rotaconSampling;
Ticker rotaconPIDtimer;
bool countFlag;
//*************tire**************//
// ************* Line ************** //
float pw = 0;
int lineFase = 0;
bool lineCheck = false;
int linePWM;
int adj_F;
int adj_B;
int mode = 0;
int lineCount = 0;
// ************* Line ************** //
const int omni[15][15] =
{
{ 0, 5, 21, 47, 83, 130, 187, 255, 255, 255, 255, 255, 255, 255, 255 },
{ -5, 0, 5, 21, 47, 83, 130, 187, 193, 208, 234, 255, 255, 255, 255 },
{ -21, -5, 0, 5, 21, 47, 83, 130, 135, 151, 177, 213, 255, 255, 255 },
{ -47, -21, 5, 0, 5, 21, 47, 83, 88, 104, 130, 167, 213, 255, 255 },
{ -83, -47, -21, 5, 0, 5, 21, 47, 52, 68, 94, 130, 177, 234, 255 },
{ -130, -83, -47, -21, 5, 0, 5, 21, 26, 42, 68, 104, 151, 208, 255 },
{ -187, -130, -83, -47, -21, -5, 0, 5, 10, 26, 52, 88, 135, 193, 255 },
{ -255, -187, -130, -83, -47, -21, -5, 0, 5, 21, 47, 83, 130, 187, 255 },
{ -255, -193, -135, -88, -52, -26, -10, -5, 0, 5, 21, 47, 83, 130, 187 },
{ -255, -208, -151, -104, -68, -42, -26, -21, -5, 0, 5, 21, 47, 83, 130 },
{ -255, -234, -177, -130, -94, -68, -52, -47, -21, -7, 0, 7, 21, 47, 83 },
{ -255, -255, -213, -167, -130, -104, -88, -83, -47, -21, -5, 0, 5, 21, 47 },
{ -255, -255, -255, -213, -177, -151, -135, -130, -83, -47, -21, -5, 0, 5, 21 },
{ -255, -255, -255, -255, -234, -208, -193, -187, -130, -83, -47, -21, -5, 0, 5 },
{ -255, -255, -255, -255, -255, -255, -255, -255, -187, -130, -83, -47, -21, -5, 0 }
};
const int curve[15] = { -204, -150, -104, -66, -38, -17, -4, 0, 4, 17, 38, 66, 104, 150, 204 };
uint8_t SetStatus(int);
uint8_t SetStatus(int pwmVal) {
if (pwmVal < 0) return BACK;
else if (pwmVal > 0) return FOR;
else if (pwmVal == 0) return BRAKE;
else return BRAKE;
}
uint8_t SetPWM(int);
uint8_t SetPWM(int pwmVal) {
if (pwmVal == 0 || pwmVal > 255 || pwmVal < -255) return 255;
else return abs(pwmVal);
}
#pragma endregion USER-DEFINED_VARIABLES_AND_PROTOTYPE
#ifdef USE_SUBPROCESS
#if USE_PROCESS_NUM>0
static void Process0(void);
#endif
#if USE_PROCESS_NUM>1
static void Process1(void);
#endif
#if USE_PROCESS_NUM>2
static void Process2(void);
#endif
#if USE_PROCESS_NUM>3
static void Process3(void);
#endif
#if USE_PROCESS_NUM>4
static void Process4(void);
#endif
#if USE_PROCESS_NUM>5
static void Process5(void);
#endif
#if USE_PROCESS_NUM>6
static void Process6(void);
#endif
#if USE_PROCESS_NUM>7
static void Process7(void);
#endif
#if USE_PROCESS_NUM>8
static void Process8(void);
#endif
#if USE_PROCESS_NUM>9
static void Process9(void);
#endif
#endif
void SystemProcessInitialize()
{
#pragma region USER-DEFINED_VARIABLE_INIT
/*Replace here with the initialization code of your variables.*/
rotaconPIDtimer.attach(tirePID,0.1);
#pragma endregion USER-DEFINED_VARIABLE_INIT
lock = true;
processChangeComp = true;
current = DEFAULT_PROCESS;
#ifdef USE_SUBPROCESS
#if USE_PROCESS_NUM>0
Process[0] = Process0;
#endif
#if USE_PROCESS_NUM>1
Process[1] = Process1;
#endif
#if USE_PROCESS_NUM>2
Process[2] = Process2;
#endif
#if USE_PROCESS_NUM>3
Process[3] = Process3;
#endif
#if USE_PROCESS_NUM>4
Process[4] = Process4;
#endif
#if USE_PROCESS_NUM>5
Process[5] = Process5;
#endif
#if USE_PROCESS_NUM>6
Process[6] = Process6;
#endif
#if USE_PROCESS_NUM>7
Process[7] = Process7;
#endif
#if USE_PROCESS_NUM>8
Process[8] = Process8;
#endif
#if USE_PROCESS_NUM>9
Process[9] = Process9;
#endif
#endif
}
static void SystemProcessUpdate()
{
#ifdef USE_SUBPROCESS
if(controller->Button.HOME) lock = false;
if(controller->Button.START && processChangeComp)
{
current++;
if (USE_PROCESS_NUM < current) current = USE_PROCESS_NUM;
processChangeComp = false;
}
else if(controller->Button.SELECT && processChangeComp)
{
current--;
if (current < 0) current = 0;
processChangeComp = false;
}
else if(!controller->Button.SELECT && !controller->Button.START) processChangeComp = true;
#endif
#ifdef USE_MOTOR
ACTUATORHUB::MOTOR::Motor::Update(motor);
#endif
#ifdef USE_SOLENOID
ACTUATORHUB::SOLENOID::Solenoid::Update(solenoid);
#endif
#ifdef USE_RS485
ACTUATORHUB::ActuatorHub::Update();
//LINEHUB::LineHub::Update();
#endif
}
void SystemProcess()
{
SystemProcessInitialize();
while(1)
{
int g[8];
for(int i = 0; i < 8; i++){
g[i] = lineCast(LineHub::GetPara(i));
}
pc.printf("1:%d 2:%d 3:%d 4:%d 5:%d 6:%d 7:%d 8:%d\n\r",g[0],g[1],g[2],g[3],g[4],g[5],g[6],g[7]);
//float a = ultrasonic[0].ReadDis();
//pc.printf("%f\n\r",a);
//int ppap = encoder[0].getPulses();
//pc.printf("%d\n\r",ppap);
buzzer.period(1.0/800);
#ifdef USE_MU
controller = CONTROLLER::Controller::GetData();
#endif
#ifdef USE_ERRORCHECK
if(SAFTY::ErrorCheck::Check() & SAFTY::Error::ControllerLost)
{
CONTROLLER::Controller::DataReset();
AllActuatorReset();
lock = true;
}
else
#endif
{
#ifdef USE_SUBPROCESS
if(!lock)
{
Process[current]();
}
else
#endif
{
//ロック時の処理
}
}
//Emergency!
/*
if(!EMG_0 && !EMG_1 && !EMGflag){
buzzer = 0;
BuzzerTimer.attach(BuzzerTimer_func, 1);
EMGflag = true;
LED_DEBUG0 = 1;
}
if(EMG_0 && EMG_1 && EMGflag){
buzzer = 1;
BuzzerTimer.detach();
EMGflag = false;
}
*/
SystemProcessUpdate();
}
}
#pragma region PROCESS
#ifdef USE_SUBPROCESS
#if USE_PROCESS_NUM>0
static void Process0()
{
AllActuatorReset();
}
#endif
#if USE_PROCESS_NUM>1
static void Process1()
{
PIDflag = false;
if(controller->Button.UP) {
motor[LIFT_LB].dir = FOR;
motor[LIFT_LB].pwm = 180;
motor[LIFT_RB].dir = BACK;
motor[LIFT_RB].pwm = 180;
} else if(controller->Button.DOWN) {
motor[LIFT_LB].dir = BACK;
motor[LIFT_LB].pwm = 180;
motor[LIFT_RB].dir = FOR;
motor[LIFT_RB].pwm = 180;
} else {
motor[LIFT_LB].dir = BRAKE;
motor[LIFT_LB].pwm = 200;
motor[LIFT_RB].dir = BRAKE;
motor[LIFT_RB].pwm = 200;
}
if(controller->Button.X) {
motor[LIFT_U].dir = FOR;
motor[LIFT_U].pwm = 180;
} else if(controller->Button.Y) {
motor[LIFT_U].dir = BACK;
motor[LIFT_U].pwm = 180;
} else {
motor[LIFT_U].dir = BRAKE;
motor[LIFT_U].pwm = 180;
}
if(!(controller->AnalogL.Y == 7) || !(controller->AnalogL.X == 7)) {
motor[TIRE_BL].dir = SetStatus(-omni[controller->AnalogL.Y][14-controller->AnalogL.X] );
motor[TIRE_FL].dir = SetStatus(omni[controller->AnalogL.Y][controller->AnalogL.X] );
motor[TIRE_BR].dir = SetStatus(-omni[14-controller->AnalogL.X][14-controller->AnalogL.Y] );
motor[TIRE_FR].dir = SetStatus(omni[controller->AnalogL.X][14-controller->AnalogL.Y] );
motor[TIRE_FR].pwm = SetPWM(omni[controller->AnalogL.Y][14-controller->AnalogL.X] * 0.2) ;
motor[TIRE_FL].pwm = SetPWM(omni[controller->AnalogL.Y][controller->AnalogL.X] * 0.2) ;
motor[TIRE_BR].pwm = SetPWM(omni[14-controller->AnalogL.X][14-controller->AnalogL.Y] * 0.2) ;
motor[TIRE_BL].pwm = SetPWM(omni[controller->AnalogL.X][14-controller->AnalogL.Y] * 0.2) ;
} else {
motor[TIRE_BL].dir = SetStatus(curve[controller->AnalogR.X]);
motor[TIRE_FL].dir = SetStatus(curve[controller->AnalogR.X]);
motor[TIRE_BR].dir = SetStatus(curve[controller->AnalogR.X]);
motor[TIRE_FR].dir = SetStatus(curve[controller->AnalogR.X]);
motor[TIRE_FR].pwm = SetPWM(curve[controller->AnalogR.X]);
motor[TIRE_FL].pwm = SetPWM(curve[controller->AnalogR.X]);
motor[TIRE_BR].pwm = SetPWM(curve[controller->AnalogR.X]);
motor[TIRE_BL].pwm = SetPWM(curve[controller->AnalogR.X]);
}
}
#endif
#if USE_PROCESS_NUM>2
static void Process2()
{
/*
if(moving) {
if(LimiSw::IsPressed(LSW_LB)) {
if(switchFlag_LB) {
switchFlag_LB = false;
motor[LIFT_LB].dir = BRAKE;
motor[LIFT_LB].pwm = 200;
} else {
seitchFlag_LB = true;
}
}
if(LimiSw::IsPressed(LSW_RB)) {
if(switchFlag_RB) {
switchFlag_RB = false;
motor[LIFT_RB].dir = BRAKE;
motor[LIFT_RB].pwm = 200;
} else {
seitchFlag_RB = true;
}
}
if(motor[LIFT_LB].dir == BRAKE && motor[LIFT_RB].dir == BRAKE) moving = false;
} else {
if(controller->Button.UP) {
if(!(state == UPPER)) {
state++;
motor[LIFT_LB].dir = BACK;
motor[LIFT_RB].dir = FOR;
motor[LIFT_LB].pwm = 200;
motor[LIFT_RB].pwm = 200;
}
} else if(controller->Button.DOWN) {
if(!(state == LOWER)) {
state--;
moving = true;
motor[LIFT_LB].dir = FOR;
motor[LIFT_RB].dir = BACK;
motor[LIFT_LB].pwm = 200;
motor[LIFT_RB].pwm = 200;
}
} else {
motor[LIFT_LB].dir = BRAKE;
motor[LIFT_RB].dir = BRAKE;
motor[LIFT_LB].pwm = 200;
motor[LIFT_RB].pwm = 200;
}
}
*/
}
#endif
#if USE_PROCESS_NUM>3
static void Process3()
{
AllActuatorReset();
}
#endif
#if USE_PROCESS_NUM>4
static void Process4()
{
static int x,y;
static int count = 0;
linePara_U = lineCast(LineHub::GetPara(0));
linePara_B = lineCast(LineHub::GetPara(2));
linePara_L = lineCast(LineHub::GetPara(3));
linePara_R = lineCast(LineHub::GetPara(4));
if(linePara_U == 'A' && count == 0) {
lineFase = 1;
}
if(lineFase == 0) {
pw = 0.55;
switch(linePara_U) {
case -2:
x = 5;
y = 3;
break;
case -3:
x = 5;
y = 3;
break;
case -1:
x = 6;
y = 3;
break;
case 0:
x = 7;
y = 3;
break;
case 1:
x = 8;
y = 3;
break;
case 3:
x = 9;
y = 3;
break;
case 2:
x = 9;
y = 3;
break;
case 'A':
lineCheck = true;
x = x;
y = y;
break;
case 'N':
x = 7;
y = 7;
break;
x = 7;
y = 7;
default:
x = 9;
y = 9;
}
if(lineCheck == true && (!(linePara_U) == 'A')) {
count++;
}
} else if(lineFase == 1) {
pw = 0.4;
switch(linePara_B) {
case -2:
x = 5;
y = 3;
break;
case -3:
x = 5;
y = 3;
break;
case -1:
x = 6;
y = 3;
break;
case 0:
x = 7;
y = 3;
break;
case 1:
x = 8;
y = 3;
break;
case 3:
x = 9;
y = 3;
break;
case 2:
x = 9;
y = 3;
break;
case 'A':
x = 7;
y = 7;
break;
case 'N':
x = 7;
y = 7;
break;
x = 7;
y = 7;
default:
x = 9;
y = 9;
}
if(linePara_R == 0 && linePara_L == 0) {
lineFase = 2;
x = 7;
y = 7;
}
} else if(lineFase == 2) {
x = 7;
y = 7;
} else {
x = 7;
y = 7;
}
int t = 0;
if((linePara_U + linePara_B) > 3) t = 1;
if(controller->Button.A) {
motor[TIRE_BL].dir = SetStatus(-omni[y][14-x] );
motor[TIRE_FL].dir = SetStatus(omni[y][x]);
motor[TIRE_BR].dir = SetStatus(-omni[14-x][14-y]);
motor[TIRE_FR].dir = SetStatus(omni[x][14-y]);
motor[TIRE_FR].pwm = SetPWM((omni[y][14-x])) * pw;
motor[TIRE_FL].pwm = SetPWM((omni[y][x])) * pw;
motor[TIRE_BR].pwm = SetPWM((omni[14-x][14-y])) * pw;
motor[TIRE_BL].pwm = SetPWM((omni[x][14-y])) * pw;
} else {
motor[TIRE_BL].dir = SetStatus(0);
motor[TIRE_FL].dir = SetStatus(0);
motor[TIRE_BR].dir = SetStatus(0);
motor[TIRE_FR].dir = SetStatus(0);
motor[TIRE_FR].pwm = SetPWM(0);
motor[TIRE_FL].pwm = SetPWM(0);
motor[TIRE_BR].pwm = SetPWM(0);
motor[TIRE_BL].pwm = SetPWM(0);
}
}
#endif
#if USE_PROCESS_NUM>5
static void Process5()
{
lineFase = 0;
lineCheck = true;
}
#endif
#if USE_PROCESS_NUM>6
static void Process6()
{
for(int i = 0; i < 8; i++){
linePara[i] = lineCast(LineHub::GetPara(i));
}
static int count = 0;
count++;
if(count < 10000) {
lineCheck = false;
} else {
lineCheck = true;
}
if(lineFase == 0) { // 前進
switch(linePara[0]) {
motor[TIRE_FL].dir = FOR;
motor[TIRE_BL].dir = BRAKE;
motor[TIRE_BR].dir = BACK;
motor[TIRE_FR].dir = BRAKE;
motor[TIRE_FL].pwm = 30;
motor[TIRE_FR].pwm = 0;
motor[TIRE_BR].pwm = 30;
motor[TIRE_BL].pwm = 0;
break;
case -3:
motor[TIRE_FL].dir = FOR;
motor[TIRE_BL].dir = FOR;
motor[TIRE_BR].dir = BACK;
motor[TIRE_FR].dir = BACK;
motor[TIRE_FL].pwm = 30;
motor[TIRE_FR].pwm = 10;
motor[TIRE_BR].pwm = 30;
motor[TIRE_BL].pwm = 10;
break;
case -1:
motor[TIRE_FL].dir = FOR;
motor[TIRE_BL].dir = FOR;
motor[TIRE_BR].dir = BACK;
motor[TIRE_FR].dir = BACK;
motor[TIRE_FL].pwm = 30;
motor[TIRE_FR].pwm = 20;
motor[TIRE_BR].pwm = 30;
motor[TIRE_BL].pwm = 20;
break;
case 0:
motor[TIRE_FL].dir = FOR;
motor[TIRE_BL].dir = FOR;
motor[TIRE_BR].dir = BACK;
motor[TIRE_FR].dir = BACK;
motor[TIRE_FL].pwm = 30;
motor[TIRE_FR].pwm = 30;
motor[TIRE_BR].pwm = 30;
motor[TIRE_BL].pwm = 30;
break;
case 1:
motor[TIRE_FL].dir = FOR;
motor[TIRE_BL].dir = FOR;
motor[TIRE_BR].dir = BACK;
motor[TIRE_FR].dir = BACK;
motor[TIRE_FL].pwm = 20;
motor[TIRE_FR].pwm = 30;
motor[TIRE_BR].pwm = 20;
motor[TIRE_BL].pwm = 30;
break;
case 3:
motor[TIRE_FL].dir = FOR;
motor[TIRE_BL].dir = FOR;
motor[TIRE_BR].dir = BACK;
motor[TIRE_FR].dir = BACK;
motor[TIRE_FL].pwm = 10;
motor[TIRE_FR].pwm = 30;
motor[TIRE_BR].pwm = 10;
motor[TIRE_BL].pwm = 30;
break;
case 2:
motor[TIRE_FL].dir = BRAKE;
motor[TIRE_BL].dir = FOR;
motor[TIRE_BR].dir = BRAKE;
motor[TIRE_FR].dir = BACK;
motor[TIRE_FL].pwm = 0;
motor[TIRE_FR].pwm = 30;
motor[TIRE_BR].pwm = 0;
motor[TIRE_BL].pwm = 30;
break;
case 'A':
motor[TIRE_FL].dir = FOR;
motor[TIRE_BL].dir = FOR;
motor[TIRE_BR].dir = BACK;
motor[TIRE_FR].dir = BACK;
motor[TIRE_FL].pwm = 30;
motor[TIRE_FR].pwm = 30;
motor[TIRE_BR].pwm = 30;
motor[TIRE_BL].pwm = 30;
if(lineCheck == true) {
lineCount++;
count = 0;
}
default:
motor[TIRE_FL].dir = BRAKE;
motor[TIRE_BL].dir = BRAKE;
motor[TIRE_BR].dir = BRAKE;
motor[TIRE_FR].dir = BRAKE;
motor[TIRE_FL].pwm = 30;
motor[TIRE_FR].pwm = 30;
motor[TIRE_BR].pwm = 30;
motor[TIRE_BL].pwm = 30;
}
if(lineCount == 1) {
lineFase = 1;
}
} else if(lineFase == 1) { // 前進 低速
motor[TIRE_FL].dir = FOR;
motor[TIRE_BL].dir = FOR;
motor[TIRE_BR].dir = BACK;
motor[TIRE_FR].dir = BACK;
motor[TIRE_FL].pwm = 15;
motor[TIRE_FR].pwm = 15;
motor[TIRE_BR].pwm = 15;
motor[TIRE_BL].pwm = 15;
if(linePara[4] == 0) {
lineFase = 2;
motor[TIRE_FL].dir = BRAKE;
motor[TIRE_BL].dir = BRAKE;
motor[TIRE_BR].dir = BRAKE;
motor[TIRE_FR].dir = BRAKE;
motor[TIRE_FL].pwm = 30;
motor[TIRE_FR].pwm = 30;
motor[TIRE_BR].pwm = 30;
motor[TIRE_BL].pwm = 30;
}
} else if(lineFase == 2){ // 位置調整
lineFase = 3;
} else if(lineFase == 3){ // 右 直進
motor[TIRE_FL].dir = BRAKE;
motor[TIRE_BL].dir = BRAKE;
motor[TIRE_BR].dir = BRAKE;
motor[TIRE_FR].dir = BRAKE;
motor[TIRE_FL].pwm = 30;
motor[TIRE_FR].pwm = 30;
motor[TIRE_BR].pwm = 30;
motor[TIRE_BL].pwm = 30;
}
}
#endif
#if USE_PROCESS_NUM>7
static void Process7()
{
if(lineFase == 0) { // 前進
switch(linePara[0]) {
case -2: adj_F = 10;
break;
case -3: adj_F = 5;
break;
case -1: adj_F = 2;
break;
case 0: adj_F = 0;
break;
case 1: adj_F = -2;
break;
case 3: adj_F = -5;
break;
case 2: adj_F = -10;
break;
case 'A':
break;
case 'N':
break;
default:
}
switch(linePara[2]) {
case -2: adj_F = -10;
break;
case -3: adj_F = -5;
break;
case -1: adj_F = -2;
break;
case 0: adj_F = 0;
break;
case 1: adj_F = 2;
break;
case 3: adj_F = 5;
break;
case 2: adj_F = 10;
break;
case 'A': adj_F = 0;
break;
case 'N':
break;
default:
}
if(mode == 0) linePWM = 40;
else if (mode == 1) linePWM = 20;
else if (mode == 2) linePWM = 0;
else linePWM = 0;
motor[TIRE_FL].dir = SetStatus(linePWM - adj_F);
motor[TIRE_BL].dir = SetStatus(linePWM - adj_B);
motor[TIRE_BR].dir = SetStatus(-linePWM - adj_B);
motor[TIRE_FR].dir = SetStatus(-linePWM - adj_F);
motor[TIRE_FR].pwm = SetPWM(linePWM - adj_F);
motor[TIRE_FL].pwm = SetPWM(linePWM - adj_B);
motor[TIRE_BR].pwm = SetPWM(-linePWM - adj_B);
motor[TIRE_BL].pwm = SetPWM(-linePWM - adj_F);
}
}
#endif
#if USE_PROCESS_NUM>8
static void Process8()
{
if(controller->Button.A) {
rotaconSampling.start();
PIDflag = true;
//linePara_U = LineHub::GetPara(0);
//linePara_B = LineHub::GetPara(3);
pulsePV[FL] = encoder[FL].getPulses();
pulsePV[BL] = encoder[BL].getPulses();
pulsePV[BR] = encoder[BR].getPulses();
pulsePV[FR] = encoder[FR].getPulses();
for (int i = 0; i < 4; i++) {
timeCV[i] = timePV[i];
timePV[i] = rotaconSampling.read();
tireProcessRPM[i] = (pulsePV[i] - pulseCV[i])/ (float)(256 * 2) / (timePV[i] - timeCV[i]) * 60;
pulseCV[i] = pulsePV[i];
}
move.Vx = 0.5;
move.Vy = 0.5;
move.Va = 0;
correction_LT.Vx = 0; //0.1 * linePara_U;
correction_LT.Vy = 0;
correction_LT.Va = 0;
synthetic.Vx = move.Vx + correction_LT.Vx;
synthetic.Vy = move.Vy + correction_LT.Vy;
synthetic.Va = move.Va + correction_LT.Va;
sita = 0;
//タイヤの目標速度算出
float sinR = 0.7071 * (float)sin(sita);
float cosR = 0.7071 * (float)cos(sita);
float nv = (60 * 1000) / ( 2.00 * PI * tireR);
tireTargetRPM[FL] = ((+ synthetic.Vx * (sinR - cosR)) - (synthetic.Vy * (sinR + cosR)) + (ucR * synthetic.Va)) * nv;
tireTargetRPM[BL] = ((+ synthetic.Vx * (sinR + cosR)) + (synthetic.Vy * (sinR - cosR)) + (ucR * synthetic.Va)) * nv;
tireTargetRPM[BR] = ((- synthetic.Vx * (sinR - cosR)) + (synthetic.Vy * (sinR + cosR)) + (ucR * synthetic.Va)) * nv;
tireTargetRPM[FR] = ((- synthetic.Vx * (sinR + cosR)) - (synthetic.Vy * (sinR - cosR)) + (ucR * synthetic.Va)) * nv;
//pc.printf("process : %f target : %f\n\r",tireProcessRPM[0],tireTargetRPM[0]);
//PIDによるPWM算出
//モータの駆動
for (int i = 0; i < 4; i++) {
if (tirePWM[i] > 255){
tirePWM[i] = 255;
} else if (tirePWM[i] < -255) {
tirePWM[i] = -255;
}
}
for(int i = 0;i < 4;i++){
motor[i].dir = SetStatus(tirePWM[i]);
motor[i].pwm = SetPWM(tirePWM[i]);
}
} else {
PIDflag = false;
rotaconSampling.stop();
rotaconSampling.reset();
for(int i = 0;i < 4;i++){
encoder[i].reset();
pulsePV[i] = 0;
pulseCV[i] = 0;
timePV[i] = 0;
timeCV[i] = 0;
tirePWM[i] = 0;
motor[i].dir = SetStatus(tirePWM[i]);
motor[i].pwm = SetPWM(tirePWM[i]);
}
}
}
#endif
#if USE_PROCESS_NUM>9
static void Process9()
{
}
#endif
#endif
#pragma endregion PROCESS
static void AllActuatorReset()
{
#ifdef USE_SOLENOID
solenoid.all = ALL_SOLENOID_OFF;
#endif
#ifdef USE_MOTOR
for (uint8_t i = 0; i < MOUNTING_MOTOR_NUM; i++)
{
motor[i].dir = FREE;
motor[i].pwm = 0;
}
#endif
}
void BuzzerTimer_func(){
buzzer = !buzzer;
//LED_DEBUG0 = !LED_DEBUG0;
}
void TapeLedEms_func() {
sendLedData.code = sendLedData.code == (uint32_t)Red ? (uint32_t)Black : (uint32_t)Red;
}
#pragma region USER-DEFINED-FUNCTIONS
void tirePID() {
if(PIDflag == true) {
//加算するPID値の算出
rotaconPID[0].SetPV(tireProcessRPM[FL],tireTargetRPM[FL]);
rotaconPID[1].SetPV(tireProcessRPM[BL],tireTargetRPM[BL]);
rotaconPID[2].SetPV(tireProcessRPM[FR],tireTargetRPM[FR]);
rotaconPID[3].SetPV(tireProcessRPM[BR],tireTargetRPM[BR]);
//PID値の加算
tirePWM[FL] += rotaconPID[0].GetMV();
tirePWM[BL] += rotaconPID[1].GetMV();
tirePWM[FR] += rotaconPID[2].GetMV();
tirePWM[BR] += rotaconPID[3].GetMV();
}
}
int lineCast(char k) {
int l;
switch(k) {
case 255:
l = -1;
break;
case 254:
l = -2;
break;
case 253:
l = -3;
break;
default:
l = k;
}
return l;
}
#pragma endregion