yuto kawamura / Mbed 2 deprecated George_Slave_BOTHMOVE

right and left move at the same time

Dependencies:   mbed robot

main.cpp@10:2973cea54efd, 2019-05-08 (annotated)

Committer:
yuto17320508
Date:
Wed May 08 08:21:08 2019 +0000
Revision:
10:2973cea54efd
Parent:
9:ac95473a5d86
Child:
11:0522b336eb82
l

Who changed what in which revision?

UserRevisionLine numberNew contents of line
eri 0:411ab20ce87d 1 #include "mbed.h"
eri 0:411ab20ce87d 2 #include "pin.h"
shimizuta 9:ac95473a5d86 3 #include "debug.h"
shimizuta 9:ac95473a5d86 4 #include "robot.h"
shimizuta 9:ac95473a5d86 5 enum WALKMODE {
yuto17320508 7:c5c60192eb02 6 BACK,
yuto17320508 7:c5c60192eb02 7 STOP,
yuto17320508 7:c5c60192eb02 8 FORWARD,
yuto17320508 7:c5c60192eb02 9 };
shimizuta 9:ac95473a5d86 10 enum EVENT {
yuto17320508 7:c5c60192eb02 11 NORMAL,
yuto17320508 7:c5c60192eb02 12 GEREGE,
shimizuta 9:ac95473a5d86 13 GOAL,
yuto17320508 7:c5c60192eb02 14 };
kageyuta 1:34371ffd3dc0 15
yuto17320508 2:db2bc2ae4d20 16 float accel_max = 0.01; //これグローバルにしたのはごめん。set関数多すぎてめんどくなった。
yuto17320508 8:43c31d2afb9e 17 int hand_mode=NORMAL;
yuto17320508 2:db2bc2ae4d20 18
yuto17320508 2:db2bc2ae4d20 19 void setup();
yuto17320508 7:c5c60192eb02 20 void forward();
yuto17320508 7:c5c60192eb02 21 void stop();
yuto17320508 7:c5c60192eb02 22 void back();
yuto17320508 7:c5c60192eb02 23 void can_receive(int &mode, float &duty);
yuto17320508 2:db2bc2ae4d20 24 void reset();
eri 0:411ab20ce87d 25
yuto17320508 7:c5c60192eb02 26
yuto17320508 2:db2bc2ae4d20 27 //PIDcontroller, Motor, AirCylinderはOneLegのメンバクラスとして扱う
yuto17320508 2:db2bc2ae4d20 28 //しかし変更を多々行うためポインタ渡しにしてある
yuto17320508 2:db2bc2ae4d20 29 //文が長くなると困るため, PID係数の変更は直接PIDコントローラを介して行う
yuto17320508 2:db2bc2ae4d20 30 PIDcontroller pid_ro(0.01, 0.000, 0.000);
yuto17320508 2:db2bc2ae4d20 31 PIDcontroller pid_ri(0.01, 0.000, 0.000); //Kp.Ki,Kd
yuto17320508 2:db2bc2ae4d20 32 Motor motor_ro(&motor_ro_f, &motor_ro_b),
yuto17320508 7:c5c60192eb02 33 motor_ri(&motor_ri_f, &motor_ri_b); //forward,backのピンを代入
yuto17320508 2:db2bc2ae4d20 34 OneLeg leg_ro, leg_ri;
yuto17320508 2:db2bc2ae4d20 35 Robot robot;
eri 0:411ab20ce87d 36
yuto17320508 7:c5c60192eb02 37 int step_num_r = 0;
kageyuta 1:34371ffd3dc0 38 int main()
kageyuta 1:34371ffd3dc0 39 {
yuto17320508 2:db2bc2ae4d20 40 printf("standby ok\n\r");
eri 0:411ab20ce87d 41 setup();
yuto17320508 2:db2bc2ae4d20 42 pid_ro.setTolerance(10);
yuto17320508 2:db2bc2ae4d20 43 pid_ri.setTolerance(10);
yuto17320508 7:c5c60192eb02 44
yuto17320508 2:db2bc2ae4d20 45 motor_ro.setEncoder(&ec_ro);
yuto17320508 2:db2bc2ae4d20 46 motor_ro.setResolution(1000);
yuto17320508 2:db2bc2ae4d20 47 motor_ri.setEncoder(&ec_ri);
yuto17320508 2:db2bc2ae4d20 48 motor_ri.setResolution(1000);
yuto17320508 7:c5c60192eb02 49
yuto17320508 2:db2bc2ae4d20 50 leg_ro.setMotor(&motor_ro);
yuto17320508 2:db2bc2ae4d20 51 leg_ro.setPIDcontroller(&pid_ro);
yuto17320508 2:db2bc2ae4d20 52 leg_ri.setMotor(&motor_ri);
yuto17320508 2:db2bc2ae4d20 53 leg_ri.setPIDcontroller(&pid_ri);
yuto17320508 7:c5c60192eb02 54
yuto17320508 2:db2bc2ae4d20 55 robot.setLeg(&leg_ro, &leg_ri);
yuto17320508 2:db2bc2ae4d20 56 robot.setTickerTime(0.01); //モータ出力間隔 0.01
yuto17320508 7:c5c60192eb02 57
yuto17320508 6:2bc2950f32d8 58 motor_ro.setDutyLimit(0.5);
yuto17320508 6:2bc2950f32d8 59 motor_ri.setDutyLimit(0.5);
yuto17320508 7:c5c60192eb02 60
kageyuta 1:34371ffd3dc0 61 reset();
yuto17320508 10:2973cea54efd 62 for(int i=0; i<5; ++i)
yuto17320508 10:2973cea54efd 63 servo.set_degree(0,0);
yuto17320508 2:db2bc2ae4d20 64 bus_out = 1;
yuto17320508 2:db2bc2ae4d20 65 printf("start\n\r");
yuto17320508 7:c5c60192eb02 66 int mode = -1;
yuto17320508 7:c5c60192eb02 67 air_hand = 1;
shimizuta 9:ac95473a5d86 68
shimizuta 9:ac95473a5d86 69 while(1) {
yuto17320508 7:c5c60192eb02 70 float duty = 0.0;
yuto17320508 7:c5c60192eb02 71 can_receive(mode,duty);
yuto17320508 7:c5c60192eb02 72 printf("mode:%d duty:%.3f\n\r", mode, duty);
yuto17320508 7:c5c60192eb02 73 motor_ro.setDutyLimit(duty);
yuto17320508 7:c5c60192eb02 74 motor_ri.setDutyLimit(duty);
shimizuta 9:ac95473a5d86 75 if(hand_mode == GEREGE) {
yuto17320508 7:c5c60192eb02 76 air_hand = 0;
yuto17320508 10:2973cea54efd 77
shimizuta 9:ac95473a5d86 78 } else if(hand_mode == GOAL) {
shimizuta 9:ac95473a5d86 79 for(int i=0; i<10; ++i)
shimizuta 9:ac95473a5d86 80 servo.set_degree(0,(7200 - 3500) * 270.0/(11500 - 3500));
yuto17320508 7:c5c60192eb02 81 }
yuto17320508 7:c5c60192eb02 82 bus_out = 0;
yuto17320508 7:c5c60192eb02 83 //printf("target is %d\n\r",target_ro);
yuto17320508 7:c5c60192eb02 84 if(mode == FORWARD) forward();
yuto17320508 7:c5c60192eb02 85 else if(mode == STOP) stop();
yuto17320508 7:c5c60192eb02 86 else if(mode == BACK) back();
yuto17320508 2:db2bc2ae4d20 87 bus_out = 1;
eri 0:411ab20ce87d 88 }
yuto17320508 7:c5c60192eb02 89
eri 0:411ab20ce87d 90 }
eri 0:411ab20ce87d 91
yuto17320508 7:c5c60192eb02 92 void forward()
yuto17320508 4:db1640bd0e89 93 {
yuto17320508 7:c5c60192eb02 94 leg_ro.setTargetPose(360+step_num_r*180);
yuto17320508 7:c5c60192eb02 95 leg_ri.setTargetPose(180+step_num_r*180);
yuto17320508 7:c5c60192eb02 96 robot.run();
yuto17320508 7:c5c60192eb02 97 motor_ro_f.write(0);
yuto17320508 7:c5c60192eb02 98 motor_ro_b.write(0);
yuto17320508 7:c5c60192eb02 99 motor_ri_f.write(0);
yuto17320508 7:c5c60192eb02 100 motor_ri_b.write(0);
yuto17320508 7:c5c60192eb02 101 step_num_r++;
yuto17320508 7:c5c60192eb02 102 }
yuto17320508 7:c5c60192eb02 103 void stop()
yuto17320508 7:c5c60192eb02 104 {
yuto17320508 7:c5c60192eb02 105 leg_ro.setTargetPose(360+(step_num_r-1)*180);
yuto17320508 7:c5c60192eb02 106 leg_ri.setTargetPose(180+(step_num_r-1)*180);
yuto17320508 4:db1640bd0e89 107 robot.run();
yuto17320508 4:db1640bd0e89 108 motor_ro_f.write(0);
yuto17320508 4:db1640bd0e89 109 motor_ro_b.write(0);
yuto17320508 4:db1640bd0e89 110 motor_ri_f.write(0);
yuto17320508 4:db1640bd0e89 111 motor_ri_b.write(0);
yuto17320508 4:db1640bd0e89 112 }
yuto17320508 7:c5c60192eb02 113
yuto17320508 7:c5c60192eb02 114 void back()
yuto17320508 4:db1640bd0e89 115 {
yuto17320508 7:c5c60192eb02 116 leg_ro.setTargetPose(360+(step_num_r-2)*180);
yuto17320508 7:c5c60192eb02 117 leg_ri.setTargetPose(180+(step_num_r-2)*180);
yuto17320508 4:db1640bd0e89 118 robot.run();
yuto17320508 4:db1640bd0e89 119 motor_ro_f.write(0);
yuto17320508 4:db1640bd0e89 120 motor_ro_b.write(0);
yuto17320508 4:db1640bd0e89 121 motor_ri_f.write(0);
yuto17320508 4:db1640bd0e89 122 motor_ri_b.write(0);
yuto17320508 7:c5c60192eb02 123 step_num_r--;
yuto17320508 4:db1640bd0e89 124 }
eri 0:411ab20ce87d 125 //////////////////////////////////////////////
kageyuta 1:34371ffd3dc0 126 void setup()
kageyuta 1:34371ffd3dc0 127 {
eri 0:411ab20ce87d 128 can.frequency(1000000);
eri 0:411ab20ce87d 129 motor_ro_f.period_us(100);
eri 0:411ab20ce87d 130 motor_ro_b.period_us(100);
eri 0:411ab20ce87d 131 motor_ri_f.period_us(100);
eri 0:411ab20ce87d 132 motor_ri_b.period_us(100);
shimizuta 9:ac95473a5d86 133 air_hand = 1;//ゲレゲを離す手の形にしておく
kageyuta 1:34371ffd3dc0 134 switch_ro.mode(PullUp);
kageyuta 1:34371ffd3dc0 135 switch_ri.mode(PullUp);
eri 0:411ab20ce87d 136 servo.init();
yuto17320508 7:c5c60192eb02 137 wait(0.01);
shimizuta 9:ac95473a5d86 138 for(int i=0; i<5; ++i)
yuto17320508 7:c5c60192eb02 139 servo.set_degree(0,0);
yuto17320508 7:c5c60192eb02 140 //(7200 - 3500) * 270.0/(11500 - 3500)
eri 0:411ab20ce87d 141 }
eri 0:411ab20ce87d 142
kageyuta 1:34371ffd3dc0 143 void reset()
kageyuta 1:34371ffd3dc0 144 {
kageyuta 1:34371ffd3dc0 145 while(switch_ro.read()) {
kageyuta 3:29999b02e940 146 motor_ro.output(0.3);
kageyuta 1:34371ffd3dc0 147 }
yuto17320508 7:c5c60192eb02 148 ec_ro.reset();
yuto17320508 7:c5c60192eb02 149 motor_ro.output(0.0);
yuto17320508 7:c5c60192eb02 150 printf("ro OK\n\r");
kageyuta 3:29999b02e940 151 while(switch_ri.read()) {
kageyuta 3:29999b02e940 152 motor_ri.output(0.3);
kageyuta 3:29999b02e940 153 }
yuto17320508 7:c5c60192eb02 154
yuto17320508 7:c5c60192eb02 155 ec_ri.reset();
yuto17320508 7:c5c60192eb02 156 motor_ri.output(0.0);
yuto17320508 7:c5c60192eb02 157 printf("ri OK\n\r");
eri 0:411ab20ce87d 158 }
eri 0:411ab20ce87d 159
yuto17320508 7:c5c60192eb02 160 void can_receive(int &mode, float &duty)
kageyuta 1:34371ffd3dc0 161 {
eri 0:411ab20ce87d 162 CANMessage msg;
yuto17320508 7:c5c60192eb02 163 while(1) {
yuto17320508 7:c5c60192eb02 164 //printf("roop\r\n");
eri 0:411ab20ce87d 165 if(can.read(msg)) {
eri 0:411ab20ce87d 166 if(msg.id==0) {
yuto17320508 7:c5c60192eb02 167 mode= msg.data[0]*0.1;
yuto17320508 7:c5c60192eb02 168 duty = (msg.data[0]%10)*0.1;
yuto17320508 7:c5c60192eb02 169 hand_mode= msg.data[1];
eri 0:411ab20ce87d 170 break;
eri 0:411ab20ce87d 171 }
kageyuta 1:34371ffd3dc0 172 led2=1;
eri 0:411ab20ce87d 173 } else led2=0;
eri 0:411ab20ce87d 174 }
yuto17320508 7:c5c60192eb02 175 }