ジャイロを用いて、フィールド座標でのコントローラー情報を機体座標に変換し、足回りに送信
Dependencies: BNO055 CalPID Encoder MotorController mbed
syudouki_sensor.cpp@1:3f932e0f693b, 2022-09-15 (annotated)
- Committer:
- c0735080-d3e7-40b8-b1d2-9f5b80c21345
- Date:
- Thu Sep 15 06:34:11 2022 +0000
- Revision:
- 1:3f932e0f693b
- Parent:
- 0:cf1fd72e0070
- Child:
- 3:73a1daf5ed2b
a;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 1 | //R2自動機用 3輪オムニ 測定輪差120[deg] |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 2 | #include "mbed.h" |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 3 | #include "math.h" |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 4 | #include "EC.h" |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 5 | #include "MotorController.h" |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 6 | #include "CalPID.h" |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 7 | #include "BNO055.h" |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 8 | |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 9 | #define RESOLUTION 2048 //AMT102の分解能は2048 |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 1:3f932e0f693b | 10 | #define AIMTHETA_MAX 120 |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 11 | const float Dimameter_sokuteiWheel = 47.15; //測定輪直径[mm] |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 12 | const int Teibai = 4; //エンコーダの逓倍 |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 13 | // const double r_sokuteiWheel = 40.0; //機体回転中心から測定輪の車軸までの長さ[mm] |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 14 | const double Phi_sokuteiWheel = 30; //y軸からの取り付け角度[deg](0<Phi<90) |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 15 | //角速度を計算する間隔 303k8では0.01以上下げるとうまくいかなかった |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 16 | #define DELTA_T 0.01 |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 17 | //自己位置を格納する配列の要素数 |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 18 | #define NUM_DATA 500 |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 19 | //機体の移動速度,角度と機体の移動速度,回転速度を保存する変数と関数 |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 20 | float fvx_fvy_theta_saved[3][NUM_DATA]= {}; |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 21 | float vx_vy_aimtheta_saved[3][NUM_DATA]= {}; |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 22 | |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 23 | int data_count=0; |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 24 | int save_count; |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 25 | #define SAVE_COUNT_THRESHOLD 100 //100回ごとに自己位置を配列に格納 |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 26 | |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 27 | BNO055 BNO055(p28,p27); //ジャイロ(SDA,SCL) |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 28 | //ジャイロからフィールド座標に対する機体の回転[rad]を求める |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 29 | double getGyroYaw(){ |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 30 | //BNO055(yaw 時計回りに0~360[degree]) |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 31 | double Y_ = BNO055.euler.yaw; |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 32 | if(Y_>180) Y_-=360; |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 33 | return Y_; //-180~180[degree] |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 34 | } |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 35 | //割り込みタイマー |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 36 | Ticker ticker; |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 37 | |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 38 | //機体の回転速度のPID 前3つが係数なのでこれを調整 P→D→Iの順 |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 39 | CalPID aimtheta_pid(0.0,0.0,0.0,DELTA_T,AIMTHETA_MAX); |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 40 | |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 41 | //機体のフィールド座標系での移動速度の目標 |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 42 | double f_vx = 0; |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 43 | double f_vy = 0; |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 44 | //機体の角度 |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 45 | double theta = 0; |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 46 | //機体の回転角度の目標 |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 47 | double target_theta=0; |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 48 | //機体の機体座標系での移動速度の目標 |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 49 | double vx = 0; |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 50 | double vy = 0; |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 51 | //機体の回転速度[degree/s] 時計回りが正 |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 52 | double aimtheta = 0; |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 53 | |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 54 | void saveData(); |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 55 | void timercallback(); |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 56 | void displayData(); |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 57 | //機体の移動速度をフィールド座標系から機体座標系に変換 |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 58 | void field_kitai(); |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 59 | |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 60 | int main () |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 61 | { |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 62 | //waitしている間に緊急停止スイッチ回す |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 63 | printf("\r\n"); |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 64 | wait(3); |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 65 | //STARTが書かれた時点で開始する |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 66 | printf("START\r\n"); |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 67 | //機体のフィールド座標系での移動速度を設定 |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 68 | f_vx = 0; |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 69 | f_vy = 0; |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 70 | //機体の回転角度の目標を設定 |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 71 | target_theta=0; |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 72 | //割り込みタイマーをオンにする |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 73 | ticker.attach(&timercallback,DELTA_T); |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 74 | wait(10); |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 75 | ticker.detach(); |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 76 | displayData(); |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 77 | printf("\r\n"); |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 78 | } |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 79 | |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 80 | void saveData() |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 81 | { |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 82 | if(data_count<NUM_DATA) { |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 83 | fvx_fvy_theta_saved[0][data_count]=f_vx; |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 84 | fvx_fvy_theta_saved[1][data_count]=f_vy; |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 85 | fvx_fvy_theta_saved[2][data_count]=theta; |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 86 | vx_vy_aimtheta_saved[0][data_count]=vx; |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 87 | vx_vy_aimtheta_saved[1][data_count]=vy; |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 88 | vx_vy_aimtheta_saved[2][data_count]=aimtheta; |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 89 | data_count++; |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 90 | } |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 91 | } |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 92 | void timercallback() //自己位置を取得し,一定の間隔で配列に保存 |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 93 | { |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 94 | theta = getGyroYaw(); //初期状態の角度からのずれを計算 [rad] |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 95 | |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 96 | field_kitai(); |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 97 | |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 98 | double rotate = target_theta-theta; |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 99 | double aimtheta = aimtheta_pid.calPID(rotate); |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 100 | if(save_count>=SAVE_COUNT_THRESHOLD) { |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 101 | saveData(); |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 102 | save_count=0; |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 103 | } |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 104 | } |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 105 | void displayData() |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 106 | { |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 107 | printf("fvx\r\n"); |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 108 | for(int i=0; i<data_count; i++) { |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 109 | printf("%f,",fvx_fvy_theta_saved[0][i]); |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 110 | wait(0.05);//printf重いのでマイコンが落ちないように |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 111 | } |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 112 | printf("\r\nfvy\r\n"); |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 113 | for(int i=0; i<data_count; i++) { |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 114 | printf("%f,",fvx_fvy_theta_saved[1][i]); |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 115 | wait(0.05);//printf重いのでマイコンが落ちないように |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 116 | } |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 117 | printf("\r\ntheta\r\n"); |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 118 | for(int i=0; i<data_count; i++) { |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 119 | printf("%f,",fvx_fvy_theta_saved[2][i]); |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 120 | wait(0.05);//printf重いのでマイコンが落ちないように |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 121 | } |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 122 | printf("\r\nvx\r\n"); |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 123 | for(int i=0; i<data_count; i++) { |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 124 | printf("%f,",vx_vy_aimtheta_saved[0][i]); |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 125 | wait(0.05);//printf重いのでマイコンが落ちないように |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 126 | } |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 127 | printf("\r\nvy\r\n"); |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 128 | for(int i=0; i<data_count; i++) { |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 129 | printf("%f,",vx_vy_aimtheta_saved[1][i]); |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 130 | wait(0.05);//printf重いのでマイコンが落ちないように |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 131 | } |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 132 | printf("\r\naimtheta\r\n"); |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 133 | for(int i=0; i<data_count; i++) { |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 134 | printf("%f,",vx_vy_aimtheta_saved[2][i]); |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 135 | wait(0.05);//printf重いのでマイコンが落ちないように |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 136 | } |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 137 | data_count=0; |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 138 | } |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 139 | void field_kitai() |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 140 | { |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 141 | vx = f_vx*cos(theta) - f_vy*sin(theta); |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 142 | vy = f_vx*sin(theta) + f_vy*cos(theta); |
c0735080-d3e7-40b8-b1d2-9f5b80c21345 | 0:cf1fd72e0070 | 143 | } |