勇紀 有岡 / Mbed 2 deprecated NHK2020-main

ver2

Dependencies:   uw_28015 mbed move4wheel2 EC CruizCore_R6093U CruizCore_R1370P

movement/movement.cpp@1:26fc1b2f1c42, 2019-11-16 (annotated)

Committer:
yuki0701
Date:
Sat Nov 16 06:26:57 2019 +0000
Revision:
1:26fc1b2f1c42
Parent:
0:b87fd8dd4322
Child:
2:820dcd23c8e3
a;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
la00noix 0:b87fd8dd4322 1 #include "EC.h"
la00noix 0:b87fd8dd4322 2 #include "R1370P.h"
la00noix 0:b87fd8dd4322 3 #include "move4wheel.h"
la00noix 0:b87fd8dd4322 4 #include "mbed.h"
la00noix 0:b87fd8dd4322 5 #include "math.h"
la00noix 0:b87fd8dd4322 6 #include "PathFollowing.h"
la00noix 0:b87fd8dd4322 7 #include "movement.h"
la00noix 0:b87fd8dd4322 8 #include "manual.h"
la00noix 0:b87fd8dd4322 9 #include "can.h"
yuki0701 1:26fc1b2f1c42 10 #include "R6093U.h"
la00noix 0:b87fd8dd4322 11
la00noix 0:b87fd8dd4322 12 #define PI 3.141592
la00noix 0:b87fd8dd4322 13
la00noix 0:b87fd8dd4322 14 char can_ashileddata[2]= {0};
yuki0701 1:26fc1b2f1c42 15 char can_ashileddata2[8]= {0};
yuki0701 1:26fc1b2f1c42 16 //char can_ashileddata3[2]= {0};
yuki0701 1:26fc1b2f1c42 17 //char can_ashileddata4[2]= {0};
yuki0701 1:26fc1b2f1c42 18 //char can_ashileddata5[2]= {0};
yuki0701 1:26fc1b2f1c42 19
la00noix 0:b87fd8dd4322 20 int can_ashileddata0_0,can_ashileddata0_1,can_ashileddata0_2,can_ashileddata0_3;
la00noix 0:b87fd8dd4322 21
yuki0701 1:26fc1b2f1c42 22 Ec EC2(p16,p15,NC,2048,0.05);
yuki0701 1:26fc1b2f1c42 23 Ec EC1(p18,p17,NC,500,0.05);
la00noix 0:b87fd8dd4322 24
la00noix 0:b87fd8dd4322 25 Ticker ec_ticker; //ec角速度計算用ticker
la00noix 0:b87fd8dd4322 26
yuki0701 1:26fc1b2f1c42 27 //R1370P gyro(p9,p10);
yuki0701 1:26fc1b2f1c42 28
yuki0701 1:26fc1b2f1c42 29 R6093U gyro(p9,p10);
la00noix 0:b87fd8dd4322 30
la00noix 0:b87fd8dd4322 31 double new_dist1=0,new_dist2=0;
la00noix 0:b87fd8dd4322 32 double old_dist1=0,old_dist2=0;
la00noix 0:b87fd8dd4322 33 double d_dist1=0,d_dist2=0; //座標計算用関数
la00noix 0:b87fd8dd4322 34 double d_x,d_y;
la00noix 0:b87fd8dd4322 35 //現在地X,y座標、現在角度については、PathFollowingでnow_x,now_y,now_angleを定義済
la00noix 0:b87fd8dd4322 36 double start_x=0,start_y=0; //スタート位置
la00noix 0:b87fd8dd4322 37 double x_out,y_out,r_out; //出力値
la00noix 0:b87fd8dd4322 38
la00noix 0:b87fd8dd4322 39 int16_t m1=0, m2=0, m3=0, m4=0; //int16bit = int2byte
la00noix 0:b87fd8dd4322 40
la00noix 0:b87fd8dd4322 41 double xy_type,pm_typeX,pm_typeY,x_base,y_base;
la00noix 0:b87fd8dd4322 42
la00noix 0:b87fd8dd4322 43 int flag;
la00noix 0:b87fd8dd4322 44
yuki0701 1:26fc1b2f1c42 45 int RL_mode;
yuki0701 1:26fc1b2f1c42 46
la00noix 0:b87fd8dd4322 47 ///////////////////機体情報をメンバとする構造体"robo_data"と構造体型変数info(←この変数に各センサーにより求めた機体情報(機体位置/機体角度)を格納する)の宣言/////////////////
la00noix 0:b87fd8dd4322 48
la00noix 0:b87fd8dd4322 49 /*「info.(機体情報の種類).(使用センサーの種類)」に各情報を格納する
la00noix 0:b87fd8dd4322 50 *状況に応じて、どのセンサーにより算出した情報を信用するかを選択し、その都度now_angle,now_x,now_yに代入する。（何種類かのセンサーの情報を混ぜて使用することも可能）
la00noix 0:b87fd8dd4322 51 *(ex)
la00noix 0:b87fd8dd4322 52 *info.nowX.enc → エンコーダにより算出した機体位置のx座標
la00noix 0:b87fd8dd4322 53 *info.nowY.usw → 超音波センサーにより求めた機体位置のy座標
la00noix 0:b87fd8dd4322 54 */
la00noix 0:b87fd8dd4322 55
la00noix 0:b87fd8dd4322 56 typedef struct { //使用センサーの種類
la00noix 0:b87fd8dd4322 57 double usw; //超音波センサー
la00noix 0:b87fd8dd4322 58 double enc; //エンコーダ
la00noix 0:b87fd8dd4322 59 double gyro; //ジャイロ
la00noix 0:b87fd8dd4322 60 //double line;//ラインセンサー
la00noix 0:b87fd8dd4322 61 } robo_sensor;
la00noix 0:b87fd8dd4322 62
la00noix 0:b87fd8dd4322 63 typedef struct { //機体情報の種類
la00noix 0:b87fd8dd4322 64 robo_sensor angle; //←機体角度は超音波センサーやラインセンサーからも算出可能なので一応格納先を用意したが、ジャイロの値を完全に信用してもいいかも
la00noix 0:b87fd8dd4322 65 robo_sensor nowX;
la00noix 0:b87fd8dd4322 66 robo_sensor nowY;
la00noix 0:b87fd8dd4322 67 } robo_data;
la00noix 0:b87fd8dd4322 68
la00noix 0:b87fd8dd4322 69 robo_data info= {{0,0,0},{0,0,0},{0,0,0}}; //全てのデータを0に初期化
la00noix 0:b87fd8dd4322 70
la00noix 0:b87fd8dd4322 71 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
la00noix 0:b87fd8dd4322 72
la00noix 0:b87fd8dd4322 73 void UserLoopSetting_sensor()
la00noix 0:b87fd8dd4322 74 {
la00noix 0:b87fd8dd4322 75
la00noix 0:b87fd8dd4322 76 gyro.initialize();
la00noix 0:b87fd8dd4322 77 ec_ticker.attach(&calOmega,0.05); //0.05秒間隔で角速度を計算
yuki0701 1:26fc1b2f1c42 78 EC1.setDiameter_mm(70);
yuki0701 1:26fc1b2f1c42 79 EC2.setDiameter_mm(70); //測定輪半径//後で測定
yuki0701 1:26fc1b2f1c42 80 info.nowX.enc = 0; //初期位置の設定
yuki0701 1:26fc1b2f1c42 81 info.nowY.enc = 0;
yuki0701 1:26fc1b2f1c42 82 }
yuki0701 1:26fc1b2f1c42 83
yuki0701 1:26fc1b2f1c42 84 void UserLoopSetting_enc_right()
yuki0701 1:26fc1b2f1c42 85 {
yuki0701 1:26fc1b2f1c42 86 info.nowX.enc = 3112; //エンコーダの初期位置の設定(右側フィールド)
la00noix 0:b87fd8dd4322 87 info.nowY.enc = 3500;
yuki0701 1:26fc1b2f1c42 88 RL_mode = 0;
yuki0701 1:26fc1b2f1c42 89 }
yuki0701 1:26fc1b2f1c42 90
yuki0701 1:26fc1b2f1c42 91 void UserLoopSetting_enc_left()
yuki0701 1:26fc1b2f1c42 92 {
yuki0701 1:26fc1b2f1c42 93 info.nowX.enc = -3112; //エンコーダの初期位置の設定(左側フィールド)
yuki0701 1:26fc1b2f1c42 94 info.nowY.enc = 3500;
yuki0701 1:26fc1b2f1c42 95 RL_mode = 1;
la00noix 0:b87fd8dd4322 96 }
la00noix 0:b87fd8dd4322 97
la00noix 0:b87fd8dd4322 98 void calOmega() //角速度計算関数
la00noix 0:b87fd8dd4322 99 {
la00noix 0:b87fd8dd4322 100 EC1.CalOmega();
la00noix 0:b87fd8dd4322 101 EC2.CalOmega();
la00noix 0:b87fd8dd4322 102 }
la00noix 0:b87fd8dd4322 103
la00noix 0:b87fd8dd4322 104 void output(double FL,double BL,double BR,double FR)
la00noix 0:b87fd8dd4322 105 {
la00noix 0:b87fd8dd4322 106 m1=FL;
la00noix 0:b87fd8dd4322 107 m2=BL;
la00noix 0:b87fd8dd4322 108 m3=BR;
la00noix 0:b87fd8dd4322 109 m4=FR;
la00noix 0:b87fd8dd4322 110 }
la00noix 0:b87fd8dd4322 111
la00noix 0:b87fd8dd4322 112 void base(double FL,double BL,double BR,double FR,double Max)
la00noix 0:b87fd8dd4322 113 //いろんな加算をしても最大OR最小がMaxになるような補正//絶対値が一番でかいやつで除算
la00noix 0:b87fd8dd4322 114 //DCモーターならMax=1、マクソンは-4095～4095だからMax=4095にする
la00noix 0:b87fd8dd4322 115 {
la00noix 0:b87fd8dd4322 116 if(fabs(FL)>=Max||fabs(BL)>=Max||fabs(BR)>=Max||fabs(FR)>=Max) {
la00noix 0:b87fd8dd4322 117
la00noix 0:b87fd8dd4322 118 if (fabs(FL)>=fabs(BL)&&fabs(FL)>=fabs(BR)&&fabs(FL)>=fabs(FR))output(Max*FL/fabs(FL),Max*BL/fabs(FL),Max*BR/fabs(FL),Max*FR/fabs(FL));
la00noix 0:b87fd8dd4322 119 else if(fabs(BL)>=fabs(FL)&&fabs(BL)>=fabs(BR)&&fabs(BL)>=fabs(FR))output(Max*FL/fabs(BL),Max*BL/fabs(BL),Max*BR/fabs(BL),Max*FR/fabs(BL));
la00noix 0:b87fd8dd4322 120 else if(fabs(BR)>=fabs(FL)&&fabs(BR)>=fabs(BL)&&fabs(BR)>=fabs(FR))output(Max*FL/fabs(BR),Max*BL/fabs(BR),Max*BR/fabs(BR),Max*FR/fabs(BR));
la00noix 0:b87fd8dd4322 121 else output(Max*FL/fabs(FR),Max*BL/fabs(FR),Max*BR/fabs(FR),Max*FR/fabs(FR));
la00noix 0:b87fd8dd4322 122 } else {
la00noix 0:b87fd8dd4322 123 output(FL,BL,BR,FR);
la00noix 0:b87fd8dd4322 124 }
la00noix 0:b87fd8dd4322 125 }
la00noix 0:b87fd8dd4322 126
la00noix 0:b87fd8dd4322 127 void ashi_led()
la00noix 0:b87fd8dd4322 128 {
la00noix 0:b87fd8dd4322 129 if(now_angle > -1 && now_angle < 1) {
la00noix 0:b87fd8dd4322 130 can_ashileddata0_0 = 1;
la00noix 0:b87fd8dd4322 131 } else {
la00noix 0:b87fd8dd4322 132 can_ashileddata0_0 = 0;
la00noix 0:b87fd8dd4322 133 }
la00noix 0:b87fd8dd4322 134
la00noix 0:b87fd8dd4322 135 if(now_angle > 350) {
la00noix 0:b87fd8dd4322 136 can_ashileddata0_1 = 1;
la00noix 0:b87fd8dd4322 137 } else {
la00noix 0:b87fd8dd4322 138 can_ashileddata0_1 = 0;
la00noix 0:b87fd8dd4322 139 }
la00noix 0:b87fd8dd4322 140
yuki0701 1:26fc1b2f1c42 141 if(RL_mode == 0) {
yuki0701 1:26fc1b2f1c42 142 if(now_x > 3110 && now_x < 3114) {
yuki0701 1:26fc1b2f1c42 143 can_ashileddata0_2 = 1;
yuki0701 1:26fc1b2f1c42 144 } else {
yuki0701 1:26fc1b2f1c42 145 can_ashileddata0_2 = 0;
yuki0701 1:26fc1b2f1c42 146 }
la00noix 0:b87fd8dd4322 147
yuki0701 1:26fc1b2f1c42 148 if(now_y > 3498 && now_y < 3502) {
yuki0701 1:26fc1b2f1c42 149 can_ashileddata0_3 = 1;
yuki0701 1:26fc1b2f1c42 150 } else {
yuki0701 1:26fc1b2f1c42 151 can_ashileddata0_3 = 0;
yuki0701 1:26fc1b2f1c42 152 }
yuki0701 1:26fc1b2f1c42 153 } else if(RL_mode == 1) {
yuki0701 1:26fc1b2f1c42 154 if(now_x > -3114 && now_x < -3110) {
yuki0701 1:26fc1b2f1c42 155 can_ashileddata0_2 = 1;
yuki0701 1:26fc1b2f1c42 156 } else {
yuki0701 1:26fc1b2f1c42 157 can_ashileddata0_2 = 0;
yuki0701 1:26fc1b2f1c42 158 }
yuki0701 1:26fc1b2f1c42 159
yuki0701 1:26fc1b2f1c42 160 if(now_y > 3498 && now_y < 3502) {
yuki0701 1:26fc1b2f1c42 161 can_ashileddata0_3 = 1;
yuki0701 1:26fc1b2f1c42 162 } else {
yuki0701 1:26fc1b2f1c42 163 can_ashileddata0_3 = 0;
yuki0701 1:26fc1b2f1c42 164 }
la00noix 0:b87fd8dd4322 165 }
la00noix 0:b87fd8dd4322 166
la00noix 0:b87fd8dd4322 167 can_ashileddata[0] = (can_ashileddata0_0<<7 | can_ashileddata0_1<<6 | can_ashileddata0_2<<5 | can_ashileddata0_3<<4);
la00noix 0:b87fd8dd4322 168 }
la00noix 0:b87fd8dd4322 169
la00noix 0:b87fd8dd4322 170 void calc_gyro()
la00noix 0:b87fd8dd4322 171 {
yuki0701 1:26fc1b2f1c42 172 //now_angle=gyro.getAngle(); //ジャイロの値読み込み
yuki0701 1:26fc1b2f1c42 173 now_angle = -gyro.getZ_Angle();
yuki0701 1:26fc1b2f1c42 174 }
yuki0701 1:26fc1b2f1c42 175
yuki0701 1:26fc1b2f1c42 176 void print_gyro()
yuki0701 1:26fc1b2f1c42 177 {
yuki0701 1:26fc1b2f1c42 178 while(1) {
yuki0701 1:26fc1b2f1c42 179 //printf("now_gyro = %f\n\r",-gyro.getAngle());
yuki0701 1:26fc1b2f1c42 180 }
yuki0701 1:26fc1b2f1c42 181
la00noix 0:b87fd8dd4322 182 }
la00noix 0:b87fd8dd4322 183
la00noix 0:b87fd8dd4322 184 void calc_xy_enc() //エンコーダ&ジャイロによる座標計算
la00noix 0:b87fd8dd4322 185 {
yuki0701 1:26fc1b2f1c42 186 //now_angle=gyro.getAngle(); //ジャイロの値読み込み
yuki0701 1:26fc1b2f1c42 187 now_angle = -gyro.getZ_Angle();
la00noix 0:b87fd8dd4322 188
la00noix 0:b87fd8dd4322 189 new_dist1=EC1.getDistance_mm();
la00noix 0:b87fd8dd4322 190 new_dist2=EC2.getDistance_mm();
la00noix 0:b87fd8dd4322 191 d_dist1=new_dist1-old_dist1;
la00noix 0:b87fd8dd4322 192 d_dist2=new_dist2-old_dist2;
la00noix 0:b87fd8dd4322 193 old_dist1=new_dist1;
la00noix 0:b87fd8dd4322 194 old_dist2=new_dist2; //微小時間当たりのエンコーダ読み込み
la00noix 0:b87fd8dd4322 195
la00noix 0:b87fd8dd4322 196 d_x=d_dist2*sin(now_angle*PI/180)-d_dist1*cos(now_angle*PI/180);
la00noix 0:b87fd8dd4322 197 d_y=d_dist2*cos(now_angle*PI/180)+d_dist1*sin(now_angle*PI/180); //微小時間毎の座標変化
la00noix 0:b87fd8dd4322 198 info.nowX.enc = info.nowX.enc + d_x;
la00noix 0:b87fd8dd4322 199 info.nowY.enc = info.nowY.enc - d_y; //微小時間毎に座標に加算
la00noix 0:b87fd8dd4322 200 }
la00noix 0:b87fd8dd4322 201
la00noix 0:b87fd8dd4322 202 void set_cond(int t, int px, double bx, int py, double by) //超音波センサーを使用するときの条件設定関数
la00noix 0:b87fd8dd4322 203 {
la00noix 0:b87fd8dd4322 204 //引数の詳細は関数"calc_xy_usw"参照
la00noix 0:b87fd8dd4322 205
la00noix 0:b87fd8dd4322 206 xy_type = t;
la00noix 0:b87fd8dd4322 207
la00noix 0:b87fd8dd4322 208 pm_typeX = px;
la00noix 0:b87fd8dd4322 209 x_base = bx;
la00noix 0:b87fd8dd4322 210
la00noix 0:b87fd8dd4322 211 pm_typeY = py;
la00noix 0:b87fd8dd4322 212 y_base = by;
la00noix 0:b87fd8dd4322 213 }
la00noix 0:b87fd8dd4322 214
la00noix 0:b87fd8dd4322 215 void calc_xy_usw(double tgt_angle) //超音波センサーによる座標計算（機体が旋回する場合はこの方法による座標計算は出来ない）
la00noix 0:b87fd8dd4322 216 {
la00noix 0:b87fd8dd4322 217 //tgt_angle:機体の目標角度（運動初期角度と同じ/今大会では0,90,180のみ）
la00noix 0:b87fd8dd4322 218 //xy_type:（0:Y軸平行の壁を読む/1:X軸平行の壁を読む/2:X,Y軸平行の壁を共に読む）
la00noix 0:b87fd8dd4322 219 //pm_typeX,pm_typeY:（0:各軸正方向側の壁を読む/1:各軸負方向側の壁を読む）
la00noix 0:b87fd8dd4322 220 //x_base,y_base:超音波センサーで読む壁の座標(y軸並行の壁のx座標/x軸平行の壁のy座標)
la00noix 0:b87fd8dd4322 221
la00noix 0:b87fd8dd4322 222 double R1=240,R2=240,R3=240,R4=240; //機体の中心から各超音波センサーが付いている面までの距離
la00noix 0:b87fd8dd4322 223 double D1=30,D2=0,D3=0,D4=0; //各超音波センサーが付いている面の中心から各超音波センサーまでの距離（時計回りを正とする）
la00noix 0:b87fd8dd4322 224
yuki0701 1:26fc1b2f1c42 225 // now_angle=gyro.getAngle(); //ジャイロの値読み込み
yuki0701 1:26fc1b2f1c42 226 now_angle = -gyro.getZ_Angle();
la00noix 0:b87fd8dd4322 227
la00noix 0:b87fd8dd4322 228 if(tgt_angle==0) {
la00noix 0:b87fd8dd4322 229 if((xy_type==0 || xy_type==2) && pm_typeX==0) {
la00noix 0:b87fd8dd4322 230
la00noix 0:b87fd8dd4322 231 info.nowX.usw = x_base - (usw_data4 + R4*cos(now_angle*PI/180) + D4*sin(now_angle*PI/180));
la00noix 0:b87fd8dd4322 232
la00noix 0:b87fd8dd4322 233 } else if((xy_type==0 || xy_type==2) && pm_typeX==1) {
la00noix 0:b87fd8dd4322 234
la00noix 0:b87fd8dd4322 235 info.nowX.usw = x_base + (usw_data3 + R3*cos(now_angle*PI/180) + D3*sin(now_angle*PI/180));
la00noix 0:b87fd8dd4322 236
la00noix 0:b87fd8dd4322 237 }
la00noix 0:b87fd8dd4322 238 if((xy_type==1 || xy_type==2) && pm_typeY==0) {
la00noix 0:b87fd8dd4322 239
la00noix 0:b87fd8dd4322 240 info.nowY.usw = y_base - (usw_data2 + R2*cos(now_angle*PI/180) + D2*sin(now_angle*PI/180));
la00noix 0:b87fd8dd4322 241
la00noix 0:b87fd8dd4322 242 } else if((xy_type==1 || xy_type==2) && pm_typeY==1) {
la00noix 0:b87fd8dd4322 243
la00noix 0:b87fd8dd4322 244 info.nowY.usw = y_base + (usw_data1 + R1*cos(now_angle*PI/180) + D1*sin(now_angle*PI/180));
la00noix 0:b87fd8dd4322 245
la00noix 0:b87fd8dd4322 246 }
la00noix 0:b87fd8dd4322 247
la00noix 0:b87fd8dd4322 248 } else if(tgt_angle==90) {
la00noix 0:b87fd8dd4322 249 if((xy_type==0 || xy_type==2) && pm_typeX==0) {
la00noix 0:b87fd8dd4322 250
la00noix 0:b87fd8dd4322 251 info.nowX.usw = x_base - (usw_data1 + R1*cos((now_angle-tgt_angle)*PI/180) + D1*sin(now_angle*PI/180));
la00noix 0:b87fd8dd4322 252
la00noix 0:b87fd8dd4322 253 } else if((xy_type==0 || xy_type==2) && pm_typeX==1) {
la00noix 0:b87fd8dd4322 254
la00noix 0:b87fd8dd4322 255 info.nowX.usw = x_base + (usw_data2 + R2*cos((now_angle-tgt_angle)*PI/180) + D2*sin(now_angle*PI/180));
la00noix 0:b87fd8dd4322 256
la00noix 0:b87fd8dd4322 257 }
la00noix 0:b87fd8dd4322 258 if((xy_type==1 || xy_type==2) && pm_typeY==0) {
la00noix 0:b87fd8dd4322 259
la00noix 0:b87fd8dd4322 260 info.nowY.usw = y_base - (usw_data4 + R4*cos((now_angle-tgt_angle)*PI/180) + D4*sin(now_angle*PI/180));
la00noix 0:b87fd8dd4322 261
la00noix 0:b87fd8dd4322 262 } else if((xy_type==1 || xy_type==2) && pm_typeY==1) {
la00noix 0:b87fd8dd4322 263
la00noix 0:b87fd8dd4322 264 info.nowY.usw = y_base + (usw_data3 + R3*cos((now_angle-tgt_angle)*PI/180) + D3*sin(now_angle*PI/180));
la00noix 0:b87fd8dd4322 265
la00noix 0:b87fd8dd4322 266 }
la00noix 0:b87fd8dd4322 267
la00noix 0:b87fd8dd4322 268 } else if(tgt_angle==180 || tgt_angle==-180) {
la00noix 0:b87fd8dd4322 269 if((xy_type==0 || xy_type==2) && pm_typeX==0) {
la00noix 0:b87fd8dd4322 270
la00noix 0:b87fd8dd4322 271 info.nowX.usw = x_base - (usw_data3 + R3*cos((now_angle-tgt_angle)*PI/180) + D3*sin(now_angle*PI/180));
la00noix 0:b87fd8dd4322 272
la00noix 0:b87fd8dd4322 273 } else if((xy_type==0 || xy_type==2) && pm_typeX==1) {
la00noix 0:b87fd8dd4322 274
la00noix 0:b87fd8dd4322 275 info.nowX.usw = x_base + (usw_data4 + R4*cos((now_angle-tgt_angle)*PI/180) + D4*sin(now_angle*PI/180));
la00noix 0:b87fd8dd4322 276
la00noix 0:b87fd8dd4322 277 }
la00noix 0:b87fd8dd4322 278 if((xy_type==1 || xy_type==2) && pm_typeY==0) {
la00noix 0:b87fd8dd4322 279
la00noix 0:b87fd8dd4322 280 info.nowY.usw = y_base - (usw_data1+ R1*cos((now_angle-tgt_angle)*PI/180) + D1*sin(now_angle*PI/180));
la00noix 0:b87fd8dd4322 281
la00noix 0:b87fd8dd4322 282 } else if((xy_type==1 || xy_type==2) && pm_typeY==1) {
la00noix 0:b87fd8dd4322 283
la00noix 0:b87fd8dd4322 284 info.nowY.usw = y_base + (usw_data2 + R2*cos((now_angle-tgt_angle)*PI/180) + D2*sin(now_angle*PI/180));
la00noix 0:b87fd8dd4322 285
la00noix 0:b87fd8dd4322 286 }
la00noix 0:b87fd8dd4322 287 } else if(tgt_angle==-90) {
la00noix 0:b87fd8dd4322 288 if((xy_type==0 || xy_type==2) && pm_typeX==0) {
la00noix 0:b87fd8dd4322 289
la00noix 0:b87fd8dd4322 290 info.nowX.usw = x_base - (usw_data2 + R2*cos((now_angle-tgt_angle)*PI/180) + D2*sin(now_angle*PI/180));
la00noix 0:b87fd8dd4322 291
la00noix 0:b87fd8dd4322 292 } else if((xy_type==0 || xy_type==2) && pm_typeX==1) {
la00noix 0:b87fd8dd4322 293
la00noix 0:b87fd8dd4322 294 info.nowX.usw = x_base + (usw_data1 + R1*cos((now_angle-tgt_angle)*PI/180) + D1*sin(now_angle*PI/180));
la00noix 0:b87fd8dd4322 295
la00noix 0:b87fd8dd4322 296 }
la00noix 0:b87fd8dd4322 297 if((xy_type==1 || xy_type==2) && pm_typeY==0) {
la00noix 0:b87fd8dd4322 298
la00noix 0:b87fd8dd4322 299 info.nowY.usw = y_base - (usw_data3 + R3*cos((now_angle-tgt_angle)*PI/180) + D3*sin(now_angle*PI/180));
la00noix 0:b87fd8dd4322 300
la00noix 0:b87fd8dd4322 301 } else if((xy_type==1 || xy_type==2) && pm_typeY==1) {
la00noix 0:b87fd8dd4322 302
la00noix 0:b87fd8dd4322 303 info.nowY.usw = y_base + (usw_data4 + R4*cos((now_angle-tgt_angle)*PI/180) + D4*sin(now_angle*PI/180));
la00noix 0:b87fd8dd4322 304
la00noix 0:b87fd8dd4322 305 }
la00noix 0:b87fd8dd4322 306 }
la00noix 0:b87fd8dd4322 307 }
la00noix 0:b87fd8dd4322 308
la00noix 0:b87fd8dd4322 309 void calc_xy(double target_angle, double u,double v)
la00noix 0:b87fd8dd4322 310 {
la00noix 0:b87fd8dd4322 311 //エンコーダにより求めた機体の座標と超音波センサーにより求めた機体の座標を(エンコーダ : 超音波 = u : 1-u / v : 1-v)の割合で混ぜて now_x,now_y に代入する
la00noix 0:b87fd8dd4322 312
la00noix 0:b87fd8dd4322 313 calc_xy_enc();
la00noix 0:b87fd8dd4322 314
la00noix 0:b87fd8dd4322 315 if(u != 1 || v != 1) {
la00noix 0:b87fd8dd4322 316 calc_xy_usw(target_angle); //エンコーダの値しか使用しない場合は超音波センサーによる座標計算は行わずに計算量を減らす。
la00noix 0:b87fd8dd4322 317 }
la00noix 0:b87fd8dd4322 318
la00noix 0:b87fd8dd4322 319 now_x = u * info.nowX.enc + (1-u) * info.nowX.usw;
la00noix 0:b87fd8dd4322 320 now_y = v * info.nowY.enc + (1-v) * info.nowY.usw;
la00noix 0:b87fd8dd4322 321
la00noix 0:b87fd8dd4322 322 /*if(now_x >-1 && now_x <1 && now_y >-1 && now_y <1){ //スタート時の0合わせ用
la00noix 0:b87fd8dd4322 323 ec_led = 1;
la00noix 0:b87fd8dd4322 324 }else{
la00noix 0:b87fd8dd4322 325 ec_led = 0;
la00noix 0:b87fd8dd4322 326 }
la00noix 0:b87fd8dd4322 327
la00noix 0:b87fd8dd4322 328 if(now_angle >-0.5 && now_angle <0.5){
la00noix 0:b87fd8dd4322 329 gyro_led = 1;
la00noix 0:b87fd8dd4322 330 }else{
la00noix 0:b87fd8dd4322 331 gyro_led = 0;
la00noix 0:b87fd8dd4322 332 }*/
la00noix 0:b87fd8dd4322 333 }
la00noix 0:b87fd8dd4322 334
la00noix 0:b87fd8dd4322 335 void enc_correction(int x_select,int y_select) //エンコーダの座標を超音波センサの座標で上書き
la00noix 0:b87fd8dd4322 336 {
la00noix 0:b87fd8dd4322 337 //x_select,y_select → (0:上書きしない/1:上書きする)
la00noix 0:b87fd8dd4322 338
la00noix 0:b87fd8dd4322 339 if(x_select == 1) {
la00noix 0:b87fd8dd4322 340 info.nowX.enc = info.nowX.usw;
la00noix 0:b87fd8dd4322 341 }
la00noix 0:b87fd8dd4322 342 if(y_select == 1) {
la00noix 0:b87fd8dd4322 343 info.nowY.enc = info.nowY.usw;
la00noix 0:b87fd8dd4322 344 }
la00noix 0:b87fd8dd4322 345
la00noix 0:b87fd8dd4322 346 }
la00noix 0:b87fd8dd4322 347
la00noix 0:b87fd8dd4322 348 //ここからそれぞれのプログラム/////////////////////////////////////////////////////////////////////////////////////////////////////////////////
la00noix 0:b87fd8dd4322 349 //now_x(現在のx座標),now_y(現在のy座標),now_angle(機体角度(ラジアンではない)(0~360や-180~180とは限らない))(反時計回りが正)
la00noix 0:b87fd8dd4322 350 //ジャイロの出力は角度だが三角関数はラジアンとして計算する
la00noix 0:b87fd8dd4322 351 //通常の移動＋座標のずれ補正＋機体の角度補正(＋必要に応じさらに別補正)
la00noix 0:b87fd8dd4322 352 //ジャイロの仕様上、角度補正をするときに計算式内で角度はそのままよりsinをとったほうがいいかもね
la00noix 0:b87fd8dd4322 353
la00noix 0:b87fd8dd4322 354 void purecurve(int type,double u,double v, //正面を変えずに円弧or楕円を描いて曲がる
la00noix 0:b87fd8dd4322 355 double point_x1,double point_y1,
la00noix 0:b87fd8dd4322 356 double point_x2,double point_y2,
la00noix 0:b87fd8dd4322 357 int theta,
la00noix 0:b87fd8dd4322 358 double speed,
la00noix 0:b87fd8dd4322 359 double q_p,double q_d,
la00noix 0:b87fd8dd4322 360 double r_p,double r_d,
la00noix 0:b87fd8dd4322 361 double r_out_max,
la00noix 0:b87fd8dd4322 362 double target_angle)
la00noix 0:b87fd8dd4322 363 //type:動きの種類（8パターン) point_x1,point_y1=出発地点の座標 point_x2,point_x2=目標地点の座標 theta=plotの間隔(0～90°) speed=速度
la00noix 0:b87fd8dd4322 364 {
la00noix 0:b87fd8dd4322 365 //-----PathFollowingのパラメーター設定-----//
la00noix 0:b87fd8dd4322 366 q_setPDparam(q_p,q_d); //ベクトルABに垂直な方向の誤差を埋めるPD制御のパラメータ設定関数
la00noix 0:b87fd8dd4322 367 r_setPDparam(r_p,r_d); //機体角度と目標角度の誤差を埋めるPD制御のパラメータ設定関数
la00noix 0:b87fd8dd4322 368 set_r_out(r_out_max); //旋回時の最大出力値設定関数
la00noix 0:b87fd8dd4322 369 set_target_angle(target_angle); //機体目標角度設定関数
la00noix 0:b87fd8dd4322 370
la00noix 0:b87fd8dd4322 371 int s;
la00noix 0:b87fd8dd4322 372 int t = 0;
la00noix 0:b87fd8dd4322 373 double X,Y;//X=楕円の中心座標、Y=楕円の中心座標
la00noix 0:b87fd8dd4322 374 double a,b; //a=楕円のx軸方向の幅の半分,b=楕円のy軸方向の幅の半分
la00noix 0:b87fd8dd4322 375 double plotx[(90/theta)+1]; //楕円にとるplotのx座標
la00noix 0:b87fd8dd4322 376 double ploty[(90/theta)+1];
la00noix 0:b87fd8dd4322 377
la00noix 0:b87fd8dd4322 378 double x_out,y_out,r_out;
la00noix 0:b87fd8dd4322 379
la00noix 0:b87fd8dd4322 380 a=fabs(point_x1-point_x2);
la00noix 0:b87fd8dd4322 381 b=fabs(point_y1-point_y2);
la00noix 0:b87fd8dd4322 382
la00noix 0:b87fd8dd4322 383 switch(type) {
la00noix 0:b87fd8dd4322 384
la00noix 0:b87fd8dd4322 385 case 1://→↑移動
la00noix 0:b87fd8dd4322 386 X=point_x1;
la00noix 0:b87fd8dd4322 387 Y=point_y2;
la00noix 0:b87fd8dd4322 388
la00noix 0:b87fd8dd4322 389 for(s=0; s<((90/theta)+1); s++) {
la00noix 0:b87fd8dd4322 390 plotx[s] = X + a * cos(-PI/2 + s * (PI*theta/180));
la00noix 0:b87fd8dd4322 391 ploty[s] = Y + b * sin(-PI/2 + s * (PI*theta/180));
la00noix 0:b87fd8dd4322 392 //debug_printf("plotx[%d]=%f ploty[%d]=%f\n\r",s,plotx[s],s,ploty[s]);
la00noix 0:b87fd8dd4322 393 }
la00noix 0:b87fd8dd4322 394 break;
la00noix 0:b87fd8dd4322 395
la00noix 0:b87fd8dd4322 396 case 2://↑→移動
la00noix 0:b87fd8dd4322 397 X=point_x2;
la00noix 0:b87fd8dd4322 398 Y=point_y1;
la00noix 0:b87fd8dd4322 399
la00noix 0:b87fd8dd4322 400 for(s=0; s<((90/theta)+1); s++) {
la00noix 0:b87fd8dd4322 401 plotx[s] = X + a * cos(PI - s * (PI*theta/180));
la00noix 0:b87fd8dd4322 402 ploty[s] = Y + b * sin(PI - s * (PI*theta/180));
la00noix 0:b87fd8dd4322 403 //debug_printf("plotx[%d]=%f ploty[%d]=%f\n\r",s,plotx[s],s,ploty[s]);
la00noix 0:b87fd8dd4322 404 }
la00noix 0:b87fd8dd4322 405 break;
la00noix 0:b87fd8dd4322 406
la00noix 0:b87fd8dd4322 407 case 3://↑←移動
la00noix 0:b87fd8dd4322 408 X=point_x2;
la00noix 0:b87fd8dd4322 409 Y=point_y1;
la00noix 0:b87fd8dd4322 410
la00noix 0:b87fd8dd4322 411 for(s=0; s<((90/theta)+1); s++) {
la00noix 0:b87fd8dd4322 412 plotx[s] = X + a * cos(s * (PI*theta/180));
la00noix 0:b87fd8dd4322 413 ploty[s] = Y + b * sin(s * (PI*theta/180));
la00noix 0:b87fd8dd4322 414 //debug_printf("plotx[%d]=%f ploty[%d]=%f\n\r",s,plotx[s],s,ploty[s]);
la00noix 0:b87fd8dd4322 415 }
la00noix 0:b87fd8dd4322 416 break;
la00noix 0:b87fd8dd4322 417
la00noix 0:b87fd8dd4322 418 case 4://←↑移動
la00noix 0:b87fd8dd4322 419 X=point_x1;
la00noix 0:b87fd8dd4322 420 Y=point_y2;
la00noix 0:b87fd8dd4322 421
la00noix 0:b87fd8dd4322 422 for(s=0; s<((90/theta)+1); s++) {
la00noix 0:b87fd8dd4322 423 plotx[s] = X + a * cos(-PI/2 - s * (PI*theta/180));
la00noix 0:b87fd8dd4322 424 ploty[s] = Y + b * sin(-PI/2 - s * (PI*theta/180));
la00noix 0:b87fd8dd4322 425 //debug_printf("plotx[%d]=%f ploty[%d]=%f\n\r",s,plotx[s],s,ploty[s]);
la00noix 0:b87fd8dd4322 426 }
la00noix 0:b87fd8dd4322 427 break;
la00noix 0:b87fd8dd4322 428
la00noix 0:b87fd8dd4322 429 case 5://←↓移動
la00noix 0:b87fd8dd4322 430 X=point_x1;
la00noix 0:b87fd8dd4322 431 Y=point_y2;
la00noix 0:b87fd8dd4322 432
la00noix 0:b87fd8dd4322 433 for(s=0; s<((90/theta)+1); s++) {
la00noix 0:b87fd8dd4322 434 plotx[s] = X + a * cos(PI/2 + s * (PI*theta/180));
la00noix 0:b87fd8dd4322 435 ploty[s] = Y + b * sin(PI/2 + s * (PI*theta/180));
la00noix 0:b87fd8dd4322 436 //debug_printf("plotx[%d]=%f ploty[%d]=%f\n\r",s,plotx[s],s,ploty[s]);
la00noix 0:b87fd8dd4322 437 }
la00noix 0:b87fd8dd4322 438 break;
la00noix 0:b87fd8dd4322 439
la00noix 0:b87fd8dd4322 440 case 6://↓←移動
la00noix 0:b87fd8dd4322 441 X=point_x2;
la00noix 0:b87fd8dd4322 442 Y=point_y1;
la00noix 0:b87fd8dd4322 443
la00noix 0:b87fd8dd4322 444 for(s=0; s<((90/theta)+1); s++) {
la00noix 0:b87fd8dd4322 445 plotx[s] = X + a * cos(-s * (PI*theta/180));
la00noix 0:b87fd8dd4322 446 ploty[s] = Y + b * sin(-s * (PI*theta/180));
la00noix 0:b87fd8dd4322 447 //debug_printf("plotx[%d]=%f ploty[%d]=%f\n\r",s,plotx[s],s,ploty[s]);
la00noix 0:b87fd8dd4322 448 }
la00noix 0:b87fd8dd4322 449 break;
la00noix 0:b87fd8dd4322 450
la00noix 0:b87fd8dd4322 451 case 7://↓→移動
la00noix 0:b87fd8dd4322 452 X=point_x2;
la00noix 0:b87fd8dd4322 453 Y=point_y1;
la00noix 0:b87fd8dd4322 454
la00noix 0:b87fd8dd4322 455 for(s=0; s<((90/theta)+1); s++) {
la00noix 0:b87fd8dd4322 456 plotx[s] = X + a * cos(PI + s * (PI*theta/180));
la00noix 0:b87fd8dd4322 457 ploty[s] = Y + b * sin(PI + s * (PI*theta/180));
la00noix 0:b87fd8dd4322 458 //debug_printf("plotx[%d]=%f ploty[%d]=%f\n\r",s,plotx[s],s,ploty[s]);
la00noix 0:b87fd8dd4322 459 }
la00noix 0:b87fd8dd4322 460 break;
la00noix 0:b87fd8dd4322 461
la00noix 0:b87fd8dd4322 462 case 8://→↓移動
la00noix 0:b87fd8dd4322 463 X=point_x1;
la00noix 0:b87fd8dd4322 464 Y=point_y2;
la00noix 0:b87fd8dd4322 465
la00noix 0:b87fd8dd4322 466 for(s=0; s<((90/theta)+1); s++) {
la00noix 0:b87fd8dd4322 467 plotx[s] = X + a * cos(PI/2 - s * (PI*theta/180));
la00noix 0:b87fd8dd4322 468 ploty[s] = Y + b * sin(PI/2 - s * (PI*theta/180));
la00noix 0:b87fd8dd4322 469 //debug_printf("plotx[%d]=%f ploty[%d]=%f\n\r",s,plotx[s],s,ploty[s]);
la00noix 0:b87fd8dd4322 470 }
la00noix 0:b87fd8dd4322 471 break;
la00noix 0:b87fd8dd4322 472 }
la00noix 0:b87fd8dd4322 473
la00noix 0:b87fd8dd4322 474 while(1) {
la00noix 0:b87fd8dd4322 475
la00noix 0:b87fd8dd4322 476 if(id1_value[0] != 1)break;
la00noix 0:b87fd8dd4322 477 if(id1_value[6] != flag)break;
la00noix 0:b87fd8dd4322 478
la00noix 0:b87fd8dd4322 479 calc_xy(target_angle,u,v);
la00noix 0:b87fd8dd4322 480
la00noix 0:b87fd8dd4322 481 XYRmotorout(plotx[t],ploty[t],plotx[t+1],ploty[t+1],&x_out,&y_out,&r_out,speed,speed);
la00noix 0:b87fd8dd4322 482 CalMotorOut(x_out,y_out,r_out);
la00noix 0:b87fd8dd4322 483 //debug_printf("t=%d now_x=%f now_y=%f x_out=%f y_out=%f\n\r",t,now_x,now_y,x_out,y_out);
la00noix 0:b87fd8dd4322 484
la00noix 0:b87fd8dd4322 485 base(GetMotorOut(0),GetMotorOut(1),GetMotorOut(2),GetMotorOut(3),4095); //m1～m4に代入
la00noix 0:b87fd8dd4322 486 //debug_printf("t=%d (0)=%f (1)=%f (2)=%f (3)=%f\n\r",t,GetMotorOut(0),GetMotorOut(1),GetMotorOut(2),GetMotorOut(3));
la00noix 0:b87fd8dd4322 487
la00noix 0:b87fd8dd4322 488 if(((plotx[t+1] - now_x)*(plotx[t+1] - plotx[t]) + (ploty[t+1] - now_y)*(ploty[t+1] - ploty[t])) < 0)t++;
la00noix 0:b87fd8dd4322 489
yuki0701 1:26fc1b2f1c42 490 // MaxonControl(m1,m2,m3,m4); //出力
yuki0701 1:26fc1b2f1c42 491 // debug_printf("t=%d m1=%d m2=%d m3=%d m4=%d x=%f y=%f angle=%f\n\r",t,m1,m2,m3,m4,now_x,now_y,now_angle);
la00noix 0:b87fd8dd4322 492
la00noix 0:b87fd8dd4322 493 if(t == (90/theta))break;
la00noix 0:b87fd8dd4322 494 }
la00noix 0:b87fd8dd4322 495 }
la00noix 0:b87fd8dd4322 496
la00noix 0:b87fd8dd4322 497 void gogo_straight(double u,double v, //直線運動プログラム
la00noix 0:b87fd8dd4322 498 double x1_point,double y1_point,
la00noix 0:b87fd8dd4322 499 double x2_point,double y2_point,
la00noix 0:b87fd8dd4322 500 double speed1,double speed2,
la00noix 0:b87fd8dd4322 501 double q_p,double q_d,
la00noix 0:b87fd8dd4322 502 double r_p,double r_d,
la00noix 0:b87fd8dd4322 503 double r_out_max,
la00noix 0:b87fd8dd4322 504 double target_angle)
la00noix 0:b87fd8dd4322 505 //引数:出発地点の座標（x,y）、目標地点の座標(x,y)、初速度（speed1）、目標速度（speed2）//speed1=speed2 のとき等速運動
la00noix 0:b87fd8dd4322 506 {
la00noix 0:b87fd8dd4322 507 //-----PathFollowingのパラメーター設定-----//
la00noix 0:b87fd8dd4322 508 q_setPDparam(q_p,q_d); //ベクトルABに垂直な方向の誤差を埋めるPD制御のパラメータ設定関数
la00noix 0:b87fd8dd4322 509 r_setPDparam(r_p,r_d); //機体角度と目標角度の誤差を埋めるPD制御のパラメータ設定関数
la00noix 0:b87fd8dd4322 510 set_r_out(r_out_max); //旋回時の最大出力値設定関数
la00noix 0:b87fd8dd4322 511 set_target_angle(target_angle); //機体目標角度設定関数
la00noix 0:b87fd8dd4322 512
la00noix 0:b87fd8dd4322 513 while (1) {
la00noix 0:b87fd8dd4322 514
la00noix 0:b87fd8dd4322 515 if(id1_value[0] != 1)break;
la00noix 0:b87fd8dd4322 516 if(id1_value[6] != flag)break;
la00noix 0:b87fd8dd4322 517
la00noix 0:b87fd8dd4322 518 calc_xy(target_angle,u,v);
la00noix 0:b87fd8dd4322 519
la00noix 0:b87fd8dd4322 520 XYRmotorout(x1_point,y1_point,x2_point,y2_point,&x_out,&y_out,&r_out,speed1,speed2);
yuki0701 1:26fc1b2f1c42 521 //printf("n_x = %f, n_y = %f,n_angle = %f, t_x = %f, t_y = %f, t_angle = %f, x_out=%lf, y_out=%lf, r_out=%lf\n\r",now_x,now_y,now_angle,x2_point,y2_point,target_angle,x_out, y_out,r_out);
la00noix 0:b87fd8dd4322 522
la00noix 0:b87fd8dd4322 523 CalMotorOut(x_out,y_out,r_out);
la00noix 0:b87fd8dd4322 524 //printf("out1=%lf, out2=%lf, out3=%lf, out4=%lf\n",GetMotorOut(0),GetMotorOut(1),GetMotorOut(2),GetMotorOut(3));
la00noix 0:b87fd8dd4322 525
la00noix 0:b87fd8dd4322 526 base(GetMotorOut(0),GetMotorOut(1),GetMotorOut(2),GetMotorOut(3),4095);
la00noix 0:b87fd8dd4322 527 //printf("m1=%d, m2=%d, m3=%d, m4=%d\r\n",m_1,m_2,m_3,m_4);
la00noix 0:b87fd8dd4322 528
yuki0701 1:26fc1b2f1c42 529 // MaxonControl(m1,m2,m3,m4);
yuki0701 1:26fc1b2f1c42 530 // debug_printf("m1=%d m2=%d m3=%d m4=%d x=%f y=%f angle=%f\n\r",m1,m2,m3,m4,now_x,now_y,now_angle);
yuki0701 1:26fc1b2f1c42 531 printf("m1=%d m2=%d m3=%d m4=%d x=%f y=%f angle=%f\n\r",m1,m2,m3,m4,now_x,now_y,now_angle);
la00noix 0:b87fd8dd4322 532
la00noix 0:b87fd8dd4322 533 if(((x2_point - now_x)*(x2_point - x1_point) + (y2_point - now_y)*(y2_point - y1_point)) < 0)break;
la00noix 0:b87fd8dd4322 534 }
la00noix 0:b87fd8dd4322 535 }
la00noix 0:b87fd8dd4322 536
la00noix 0:b87fd8dd4322 537 /*void pos_correction(double tgt_x, double tgt_y, double tgt_angle, double u, double v) //位置補正(使用前にMaxonControl(0,0,0,0)を入れる)
la00noix 0:b87fd8dd4322 538 {
la00noix 0:b87fd8dd4322 539
la00noix 0:b87fd8dd4322 540 double r, R=10; // r:一回補正が入るごとの機体の位置と目標位置の距離(ズレ) R:補正終了とみなす目標位置からの機体の位置のズレ
la00noix 0:b87fd8dd4322 541 double out;
la00noix 0:b87fd8dd4322 542
la00noix 0:b87fd8dd4322 543 calc_xy(tgt_angle, u, v);
la00noix 0:b87fd8dd4322 544
la00noix 0:b87fd8dd4322 545 while(1) { //機体の位置を目標領域（目標座標＋許容誤差）に収める
la00noix 0:b87fd8dd4322 546 gogo_straight(u,v,now_x,now_y,tgt_x,tgt_y,200,50,5,0.1,10,0.1,500,tgt_angle);
la00noix 0:b87fd8dd4322 547 MaxonControl(0,0,0,0);
la00noix 0:b87fd8dd4322 548
la00noix 0:b87fd8dd4322 549 calc_xy(tgt_angle, u, v);
la00noix 0:b87fd8dd4322 550
la00noix 0:b87fd8dd4322 551 r=hypot(now_x - tgt_x, now_y - tgt_y);
la00noix 0:b87fd8dd4322 552
la00noix 0:b87fd8dd4322 553 if(r < R) break;
la00noix 0:b87fd8dd4322 554 if(id1_value[0] != 1)break;
la00noix 0:b87fd8dd4322 555 }
la00noix 0:b87fd8dd4322 556
la00noix 0:b87fd8dd4322 557 while(1) {
la00noix 0:b87fd8dd4322 558
la00noix 0:b87fd8dd4322 559 calc_gyro();
la00noix 0:b87fd8dd4322 560
la00noix 0:b87fd8dd4322 561 out = 10 * (tgt_angle - now_angle);
la00noix 0:b87fd8dd4322 562
la00noix 0:b87fd8dd4322 563 if(out > 300) { //0～179°のときは時計回りに回転
la00noix 0:b87fd8dd4322 564 MaxonControl(300,300,300,300);
la00noix 0:b87fd8dd4322 565 } else if(out < -300) {
la00noix 0:b87fd8dd4322 566 MaxonControl(-300,-300,-300,-300);
la00noix 0:b87fd8dd4322 567 } else if(out <= 300 && out > -300) {
la00noix 0:b87fd8dd4322 568 MaxonControl(out,out,out,out);
la00noix 0:b87fd8dd4322 569 }
la00noix 0:b87fd8dd4322 570
la00noix 0:b87fd8dd4322 571 if(tgt_angle - 0.5 < now_angle && now_angle < tgt_angle + 0.5) break; //目標角度からの許容誤差内に機体の角度が収まった時、補正終了
la00noix 0:b87fd8dd4322 572 if(id1_value[0] != 1)break;
la00noix 0:b87fd8dd4322 573 }
la00noix 0:b87fd8dd4322 574 MaxonControl(0,0,0,0);
la00noix 0:b87fd8dd4322 575 }*/
la00noix 0:b87fd8dd4322 576
la00noix 0:b87fd8dd4322 577 void pos_correction(double tgt_x, double tgt_y, double tgt_angle, double u, double v) //改良版 位置補正(使用前にMaxonControl(0,0,0,0)を入れる)
la00noix 0:b87fd8dd4322 578 {
la00noix 0:b87fd8dd4322 579 //距離に比例させて補正初速度を増加させる。（最大速度を設定しそれ以上は出ないようにする）
la00noix 0:b87fd8dd4322 580
yuki0701 1:26fc1b2f1c42 581 double first_speed, first_speed50 = 10, last_speed = 10, Max_speed = 500;
la00noix 0:b87fd8dd4322 582 double r, R=10; // r:一回補正が入るごとの機体の位置と目標位置の距離(ズレ) R:補正終了とみなす目標位置からの機体の位置のズレ
la00noix 0:b87fd8dd4322 583 double out;
la00noix 0:b87fd8dd4322 584
la00noix 0:b87fd8dd4322 585 calc_xy(tgt_angle, u, v);
la00noix 0:b87fd8dd4322 586
la00noix 0:b87fd8dd4322 587 //r = hypot(now_x - tgt_x, now_y - tgt_y);
la00noix 0:b87fd8dd4322 588
la00noix 0:b87fd8dd4322 589 while(1) { //機体の位置を目標領域（目標座標＋許容誤差）に収める
yuki0701 1:26fc1b2f1c42 590 //printf("col\n\n\n");
la00noix 0:b87fd8dd4322 591 if(id1_value[0] != 1)break;
la00noix 0:b87fd8dd4322 592 if(id1_value[6] != flag)break;
la00noix 0:b87fd8dd4322 593
la00noix 0:b87fd8dd4322 594 //first_speed = first_speed50 * r / 50;
la00noix 0:b87fd8dd4322 595
la00noix 0:b87fd8dd4322 596 /*if(first_speed > Max_speed){
la00noix 0:b87fd8dd4322 597 gogo_straight(u,v,now_x,now_y,tgt_x,tgt_y,Max_speed,Max_speed,5,0.1,10,0.1,500,tgt_angle);
la00noix 0:b87fd8dd4322 598 }else{
la00noix 0:b87fd8dd4322 599 gogo_straight(u,v,now_x,now_y,tgt_x,tgt_y,first_speed,last_speed,5,0.1,10,0.1,500,tgt_angle);
la00noix 0:b87fd8dd4322 600 }*/
la00noix 0:b87fd8dd4322 601
yuki0701 1:26fc1b2f1c42 602 //gogo_straight(u,v,now_x,now_y,tgt_x,tgt_y,first_speed50,last_speed,5,0.1,10,0.1,500,tgt_angle);
yuki0701 1:26fc1b2f1c42 603 gogo_straight(u,v,now_x,now_y,tgt_x,tgt_y,10,10,5,0.1,10,0.1,50,tgt_angle);
yuki0701 1:26fc1b2f1c42 604 //gogo_straight(1,1,0,0,200,0,50,500,5,0.1,10,0.1,50,0);
yuki0701 1:26fc1b2f1c42 605 //gogo_straight(u,v,now_x,now_y,0,100,first_speed50,last_speed,5,0.1,10,0.1,500,tgt_angle);
la00noix 0:b87fd8dd4322 606
yuki0701 1:26fc1b2f1c42 607 // MaxonControl(0,0,0,0);
yuki0701 1:26fc1b2f1c42 608 m1 = 0;
yuki0701 1:26fc1b2f1c42 609 m2 = 0;
yuki0701 1:26fc1b2f1c42 610 m3 = 0;
yuki0701 1:26fc1b2f1c42 611 m4 = 0;
la00noix 0:b87fd8dd4322 612
la00noix 0:b87fd8dd4322 613 calc_xy(tgt_angle, u, v);
la00noix 0:b87fd8dd4322 614
la00noix 0:b87fd8dd4322 615 r=hypot(now_x - tgt_x, now_y - tgt_y);
la00noix 0:b87fd8dd4322 616
la00noix 0:b87fd8dd4322 617 if(r < R) break;
la00noix 0:b87fd8dd4322 618 }
la00noix 0:b87fd8dd4322 619
la00noix 0:b87fd8dd4322 620 while(1) {
la00noix 0:b87fd8dd4322 621
la00noix 0:b87fd8dd4322 622 if(id1_value[0] != 1)break;
la00noix 0:b87fd8dd4322 623 if(id1_value[6] != flag)break;
la00noix 0:b87fd8dd4322 624
la00noix 0:b87fd8dd4322 625 //calc_gyro();
yuki0701 1:26fc1b2f1c42 626 // now_angle=gyro.getAngle();
yuki0701 1:26fc1b2f1c42 627 now_angle = -gyro.getZ_Angle();
la00noix 0:b87fd8dd4322 628 printf("angle = %f\n\r",now_angle);
la00noix 0:b87fd8dd4322 629
la00noix 0:b87fd8dd4322 630 out = 10 * (tgt_angle - now_angle);
la00noix 0:b87fd8dd4322 631
la00noix 0:b87fd8dd4322 632 if(out > 300) { //0～179°のときは時計回りに回転
yuki0701 1:26fc1b2f1c42 633 // MaxonControl(-300,-300,-300,-300);
yuki0701 1:26fc1b2f1c42 634 m1 = -300;
yuki0701 1:26fc1b2f1c42 635 m2 = -300;
yuki0701 1:26fc1b2f1c42 636 m3 = -300;
yuki0701 1:26fc1b2f1c42 637 m4 = -300;
yuki0701 1:26fc1b2f1c42 638
la00noix 0:b87fd8dd4322 639 } else if(out < -300) {
yuki0701 1:26fc1b2f1c42 640 // MaxonControl(300,300,300,300);
yuki0701 1:26fc1b2f1c42 641 m1 = 300;
yuki0701 1:26fc1b2f1c42 642 m2 = 300;
yuki0701 1:26fc1b2f1c42 643 m3 = 300;
yuki0701 1:26fc1b2f1c42 644 m4 = 300;
la00noix 0:b87fd8dd4322 645 } else if(out <= 300 && out > -300) {
yuki0701 1:26fc1b2f1c42 646 // MaxonControl(-out,-out,-out,-out);
yuki0701 1:26fc1b2f1c42 647 m1 = -out;
yuki0701 1:26fc1b2f1c42 648 m2 = -out;
yuki0701 1:26fc1b2f1c42 649 m3 = -out;
yuki0701 1:26fc1b2f1c42 650 m4 = -out;
la00noix 0:b87fd8dd4322 651 }
la00noix 0:b87fd8dd4322 652
la00noix 0:b87fd8dd4322 653 if(tgt_angle - 1 < now_angle && now_angle < tgt_angle + 1) break; //目標角度からの許容誤差内に機体の角度が収まった時、補正終了
la00noix 0:b87fd8dd4322 654 }
yuki0701 1:26fc1b2f1c42 655 // MaxonControl(0,0,0,0);
yuki0701 1:26fc1b2f1c42 656 m1 = 0;
yuki0701 1:26fc1b2f1c42 657 m2 = 0;
yuki0701 1:26fc1b2f1c42 658 m3 = 0;
yuki0701 1:26fc1b2f1c42 659 m4 = 0;
yuki0701 1:26fc1b2f1c42 660 }
yuki0701 1:26fc1b2f1c42 661
yuki0701 1:26fc1b2f1c42 662 void mt_stop()
yuki0701 1:26fc1b2f1c42 663 {
yuki0701 1:26fc1b2f1c42 664 m1 = 0;
yuki0701 1:26fc1b2f1c42 665 m2 = 0;
yuki0701 1:26fc1b2f1c42 666 m3 = 0;
yuki0701 1:26fc1b2f1c42 667 m4 = 0;
yuki0701 1:26fc1b2f1c42 668 printf("motor stop\n\r");
la00noix 0:b87fd8dd4322 669 }