File content as of revision 2:f856cbeb5940:

#include "mbed.h"
#include "ikarashiMDC.h"
#include "pinconfig.h"
#include "omni_wheel.h"
#include "Servo.h"
#include "math.h"
#include "SerialMultiByte.h"
#include "PID.h"
#include "R1370.h"
#include "OmniPosition.h"
#include "FEP_RX22.h"
#include "cmath"

#define PI 3.141592653589
#define maxSpeed 0.4

DigitalIn userButton(USER_BUTTON);
AnalogIn VOLUME(A0);


FEP_RX22 mycon(fepTX, fepRX, fepad);
Serial pc(pcTX, pcRX, 115200);
Serial RS485(mdcTX,mdcRX,115200);


DigitalOut stop(em_stop);
 
SerialMultiByte rcv(sub2TX,sub2RX);

ikarashiMDC motor[] = {
    ikarashiMDC(0,0,SM,&RS485), //asi
    ikarashiMDC(0,1,SM,&RS485), //asi
    ikarashiMDC(0,2,SM,&RS485), //asi
    ikarashiMDC(0,3,SM,&RS485), //asi
    ikarashiMDC(1,0,SM,&RS485), //全体昇降1
    ikarashiMDC(1,1,SM,&RS485), //全体昇降2
    ikarashiMDC(1,2,SM,&RS485), //フジモン機構
    ikarashiMDC(1,3,SM,&RS485), //フジモン機構
    ikarashiMDC(2,0,SM,&RS485), //井上左昇降
    ikarashiMDC(2,1,SM,&RS485), //井上右昇降
    ikarashiMDC(2,2,SM,&RS485), //井上左前後
    ikarashiMDC(2,3,SM,&RS485), //井上右前後
};

Servo pwm_imput1(BLDC1);//ブラシレス宣言
Servo pwm_imput2(BLDC2);
Servo pwm_imput3(BLDC3);

////abe 足回り
//double engine[4];
//double spin_power;
//double posiX , posiY , posiTheta;
//int TargetAngle = 0;
//int StartAngle = 0;

//OmniWheel omni(4);
//OmniPosition posi(sub1TX, sub1RX);
//
//PID angle(10.0, 5.0, 0.0000005, 0.01);

////プロトタイプ宣言
//void chassis();         //足回りの制御・ジャイロ・テラターム
//void spin(double ang);  //PID
//int  pm(double num);    //正負判定

Timer t;

int16_t trigger[4];
uint8_t b[16];
int16_t stick[4];
uint8_t data[128];
int pw;

double speed[12] = {0};

int main() 
{
    t.start();

    int16_t volume[3];
    uint8_t toggle[4];
    uint8_t timeout;
    
    double bldcspeed = 0.6;
    
    rcv.setHeaders(0xff,0xff);
    rcv.startReceive(4); //SerialMultiByte受信
    
    mycon.StartReceive(); //コントローラー受信・宣言
    
　  
//    //足回り宣言
//    omni.wheel[0].setRadian(PI * 1.0 / 4.0);
//    omni.wheel[1].setRadian(PI * 3.0 / 4.0);
//    omni.wheel[2].setRadian(PI * 5.0 / 4.0);
//    omni.wheel[3].setRadian(PI * 7.0 / 4.0);
//
//    angle.setInputLimits(-180,180);
//    angle.setOutputLimits(-0.4,0.4);
//    angle.setBias(0);
//    angle.setMode(1);
//    angle.setSetPoint(0);

    
    int16_t angle[4] = {0};//エンコーダ受信格納
    uint8_t pulse[8] = {0};
    
    while(1)
        {
        stop = toggle[0];
        
        mycon.getData(data);//コントローラー受信
        for (int i=0, tmp=1; i<8; i++) {
            pw = pow((float)2,i);
            b[i] = (int)((data[0] & tmp)/pw);
//            pc.printf("%d ", b[i]);
            tmp *= 2;
        }
        for (int i=8, tmp=1, j=0; i<16; i++, j++) {
            pw = pow((float)2,j);
            b[i] = (int)((data[1] & tmp)/pw);
//            pc.printf("%d ", b[i]);
            tmp *= 2;
        }
//        pc.printf(" | ");
        for (int i=0; i<4; i++) {
            stick[i] = data[i+2];
//            pc.printf("%3d ", stick[i]);
        }
//        pc.printf(" | ");
        for (int i=0; i<2; i++) {
            trigger[i] = data[i+6];
//            pc.printf("%3d ", trigger[i]);
        }
//        pc.printf(" | ");
        for (int i=0; i<3; i++) {
            volume[i] = data[i+9];
//            pc.printf("%3d ", volume[i]);
        }
        pc.printf(" | ");
        for (int i=0; i<4; i++) {
            toggle[i] = data[i+12];
//            pc.printf("%3d ", toggle[i]);
        }
//        pc.printf(" | ");
        timeout = data[8];
        pc.printf("%3d ", timeout);
//        pc.printf(" | ");
        if (mycon.getStatus()) pc.printf("receive");
        else{pc.printf("anything error..."); 
                for( int i=0; i<12; i++){
                motor[i].setSpeed(0);
            }
        }
        
        
//        /*阿部君の素晴らしい天才的な足回り関数*/
//        chassis();
        
        rcv.getData(pulse); //エンコーダ受信
        for(int i=0,j=0;i<4;i++,j+=2){
            angle[i] = pulse[j] << 8 | pulse[j+1];  
        }
        pc.printf("| ENC1:%d | ENC2:%d | ENC3:%d | ENC4:%d |",angle[0],angle[1],angle[2],angle[3]);            
        pc.printf("\r\n");

        //ブラシレスモーター
        pwm_imput1 = ((double)volume[0]/255.0)*bldcspeed*toggle[1];

        pwm_imput2 = ((double)volume[1]/255.0)*bldcspeed*toggle[2];

        pwm_imput3 = ((double)volume[2]/255.0)*bldcspeed*toggle[3];
//        pc.printf("servo:%.2f | servo2:%.2f | servo3:%.2f\r\n",
//                  ((double)volume[0]/255.0)*bldcspeed,((double)volume[1]/255.0)*bldcspeed,((double)volume[2]/255.0)*bldcspeed);
        
        /*井上機構ON,OFF*/
        if(toggle[1]){
            speed[10] = -0.9;
        }else{
            speed[10] = 0;
        }
        if(toggle[1] && b[15]){
            speed[10] = 0.4;
        }
        
        if(toggle[3]){
            speed[11] = -0.9;
        }else{
            speed[11] = 0;
        }
        if(toggle[3] && b[15]){
            speed[11] = 0.4;
        }
        
        /*フジモン機構*/
        if(toggle[2]){
            speed[6] = 0.6;
            speed[7] = 0.6;   
        }else{
            speed[6] = 0;
            speed[7] = 0;            
        }
        
        /*展開昇降*/
        if(b[5] != 0){
            speed[4] = 0.5;
            speed[5] = 0.5;
        }else if(b[4] != 0){
            speed[4] = -0.35;
            speed[5] = -0.35;
        }else{
            speed[4] = 0;
            speed[5] = 0;
        }
        //機構昇降
        if(b[9]){
            speed[8] = -0.32;
        }else
        if(b[13]){    
            speed[8] = 0.4;
        }
        if(b[11]){
            speed[9] = -0.32;
        }else
        if(b[14]){    
            speed[9] = 0.4;
        }
        if((b[9]!=1) && (b[13]!=1)){
            speed[8]=0;
        }
        if((b[11]!=1) && (b[14]!=1)){
            speed[9]=0;
        }
        for(int i=0; i<12; i++) pc.printf("%.2f ",speed[i]);
        for(int i=4; i<12; i++) motor[i].setSpeed(speed[i]);
    }
        
}        

//void chassis(){
//    
//        mycon.getData(data);
//        for (int i=0; i<4; i++) {
//            stick[i] = data[i+2];
//        }
//
//        /*ジャイロ読み取り*/
//        posiX = posi.getX();
//        posiY = posi.getY();
//        posiTheta = posi.getTheta()*(180.0/M_PI);//OmniPositionライブラリが弧度法で角度をつけていたため60分法に変換
//        pc.printf("x:%5.2f Y:%5.2f theta:%0.3f | ",posiX, posiY,posiTheta);
//
//        if(abs(stick[2]) < 10){
//            if(fabs(TargetAngle-posiTheta)>8){
//                TargetAngle += 15*pm(posiTheta-TargetAngle);
//                if(abs(TargetAngle)==195){//abs(TargetAngle)==180だと永遠にこのif文に捕らわれてしまいそう。
//                    TargetAngle += -360*pm(TargetAngle);
//                }
//            }
//            spin(TargetAngle);
//        }
//
//        /*全方位*/
//        for(int i=0; i<4; i++){
//            if(abs(stick[i]) > 10){
//                if(trigger[1]<10) trigger[1] = 0;
//                engine[i] = maxSpeed*(stick[i]/128.0)*(trigger[1]/255.0);
//            }else if(b[i]%2){
//                if(trigger[1]<10) trigger[1] = 0;
//                //b[1]のとき左向き（負）b[3]のとき右向き（正）
//                engine[0] = maxSpeed*pm(i-2)*(trigger[1]/255.0);
//                engine[1] = 0;
//            }else if(b[i]%2==0){
//                if(trigger[1]<10) trigger[1] = 0;
//                //b[0]のとき上向き（正）b[2]のとき下向き（負）
//                engine[1] = -maxSpeed*pm(i-1)*(trigger[1]/255.0);
//                engine[0] = 0;
//            }else{
//                engine[i] = 0;
//                }
//        }
//        /*旋回*/
//        if(abs(stick[2]) > 10){
//            spin_power = engine[2];
//        }else{
//            spin_power = angle.compute();
//        }
//        
//        omni.computeXY(engine[0],engine[1],-spin_power);
//        for(int i = 0; i < 4; i++) speed[i] = omni.wheel[i];
//        for(int i=0; i<4; i++) motor[i].setSpeed(speed[i]);
//        
//}
//
//
//void spin(double ang)
//{
//    angle.setSetPoint(ang);
//    posiTheta = posi.getTheta()*(180.0/M_PI);
//    angle.setProcessValue(posiTheta);
//    pc.printf("ang:%.2f pid:%.2f    posi:%.2f T-p:%.2f\r\n",ang,-angle.compute(),posiTheta,TargetAngle-posiTheta);
//    //for(int i=4; i<12; i++) motor[i].setSpeed(0);射出機構とかのモーターが出てきたときに[//]を消す    
//}
//
//
//int pm(double num){
//    return((num>0)-(num<0));
//}