albatross / Mbed 2 deprecated ControlYokutan2018

2018年度用翼端mbedプログラム

Dependencies:   Control_Yokutan_CANver1 XBusServo mbed mbed-rtos

Fork of ControlYokutan2017_2 by albatross

main.cpp@43:9a57cec43257, 2017-03-19 (annotated)

Committer:
YusukeWakuta
Date:
Sun Mar 19 15:18:39 2017 +0000
Branch:
mpu????????
Revision:
43:9a57cec43257
Parent:
42:bf98a29e81ac
Child:
44:624a4469ae21
???????????????

Who changed what in which revision?

UserRevisionLine numberNew contents of line
taurin 0:e052602db102 1 //翼端can program
taurin 0:e052602db102 2 #include "mbed.h"
tsumagari 22:b38bc18ec3a1 3 #include "MPU6050.h"
taurin 0:e052602db102 4 #include "INA226.hpp"
YusukeWakuta 42:bf98a29e81ac 5 #include "rtos.h"
YusukeWakuta 24:d416722b4aad 6 #include "XBusServo.h"
taurin 4:450cafd95ac3 7
tsumagari 22:b38bc18ec3a1 8 #define TO_SEND_DATAS_NUM 7
taurin 2:7fcb4f970a02 9 #define INIT_SERVO_PERIOD_MS 20
taurin 4:450cafd95ac3 10 #define WAIT_LOOP_TIME 0.02
tsumagari 23:d551db88df65 11 #define CONTROL_VALUES_NUM sizeof(float) + 1
taurin 0:e052602db102 12 #define TO_SEND_CAN_ID 100
taurin 4:450cafd95ac3 13 #define SEND_DATAS_LOOP_TIME 0.1
tsumagari 33:d075918d4846 14 #define RECEIVE_DATAS_LOOP_TIME 0.1
taurin 12:fd9d241843f4 15
YusukeWakuta 42:bf98a29e81ac 16 #define MPU_LOOP_TIME 0.01
YusukeWakuta 42:bf98a29e81ac 17 #define MPU_DELT_MIN 250
YusukeWakuta 42:bf98a29e81ac 18
YusukeWakuta 40:ad98da5da7bf 19 #define ERURON_MOVE_DEG_INI_R 1.0
YusukeWakuta 39:c6036315831a 20 #define DRUG_MOVE_DEG_INI_R 0.32
YusukeWakuta 32:b03557a08efa 21 #define ERURON_TRIM_INI_R 0
YusukeWakuta 39:c6036315831a 22 #define DRUG_TRIM_INI_R 0.62
taurin 12:fd9d241843f4 23
YusukeWakuta 43:9a57cec43257 24 #define ERURON_MOVE_DEG_INI_L 0.8
YusukeWakuta 39:c6036315831a 25 #define DRUG_MOVE_DEG_INI_L 0.32
YusukeWakuta 43:9a57cec43257 26 #define ERURON_TRIM_INI_L 0.3
YusukeWakuta 39:c6036315831a 27 #define DRUG_TRIM_INI_L 0.62
taurin 2:7fcb4f970a02 28
YusukeWakuta 43:9a57cec43257 29 #define ERURON_MOVE_RANGE 0.24
YusukeWakuta 43:9a57cec43257 30
YusukeWakuta 42:bf98a29e81ac 31 #define PHASE_NUM 6.0 //偶数にしてください。そしてメインコードと必ず同じ値にしてください
YusukeWakuta 42:bf98a29e81ac 32
YusukeWakuta 38:b492990e2b56 33 /*ドラッグラダー
YusukeWakuta 37:1f71ca1e5dd1 34 初期値 0.65
YusukeWakuta 37:1f71ca1e5dd1 35 最大角0.99
YusukeWakuta 36:ddf4aa818e88 36 */
YusukeWakuta 24:d416722b4aad 37
taurin 0:e052602db102 38 CAN can(p30,p29);
taurin 0:e052602db102 39 CANMessage recmsg;
taurin 0:e052602db102 40 Serial pc(USBTX,USBRX);
taurin 0:e052602db102 41 I2C ina226_i2c(p28,p27);
taurin 0:e052602db102 42 INA226 VCmonitor(ina226_i2c);
taurin 13:5e3b4120dbbf 43 PwmOut drugServo(p22);
tsumagari 33:d075918d4846 44 PwmOut eruronServo(p23);
taurin 1:9cc932a16d17 45 DigitalOut led1(LED1);
taurin 4:450cafd95ac3 46 AnalogIn drugAna(p20);
taurin 4:450cafd95ac3 47 AnalogIn eruronAna(p19);
YusukeWakuta 28:99686a3f0e86 48 DigitalIn LRstatePin(p11);
YusukeWakuta 28:99686a3f0e86 49 DigitalIn setTrimPin(p12);
YusukeWakuta 28:99686a3f0e86 50 DigitalIn EDstatePin(p14);
YusukeWakuta 28:99686a3f0e86 51 DigitalIn setMaxDegPin(p15);
taurin 4:450cafd95ac3 52 DigitalOut debugLED(LED2);
taurin 4:450cafd95ac3 53 DigitalOut led3(LED3);
taurin 4:450cafd95ac3 54 DigitalOut led4(LED4);
taurin 4:450cafd95ac3 55 Ticker sendDatasTicker;
tsumagari 22:b38bc18ec3a1 56 //Ticker toStringTicker;
taurin 16:82310bf7c326 57 Ticker receiveDatasTicker;
YusukeWakuta 42:bf98a29e81ac 58 MPU6050 mpu6050;
YusukeWakuta 42:bf98a29e81ac 59 Timer t;
YusukeWakuta 42:bf98a29e81ac 60
YusukeWakuta 42:bf98a29e81ac 61 //Set up I2C, (SDA,SCL)
YusukeWakuta 42:bf98a29e81ac 62 I2C i2c_mpu(p9,p10);
taurin 16:82310bf7c326 63
taurin 0:e052602db102 64 char toSendDatas[TO_SEND_DATAS_NUM];
tsumagari 33:d075918d4846 65 char controlValues[CONTROL_VALUES_NUM];//0~3:eruruon,4( sizeof(float)で指定してください ):drug
YusukeWakuta 42:bf98a29e81ac 66 char intvalues[sizeof(int)];
taurin 12:fd9d241843f4 67 float eruronTrim;
taurin 12:fd9d241843f4 68 float drugTrim;
taurin 12:fd9d241843f4 69 float eruronMoveDeg;
taurin 12:fd9d241843f4 70 float drugMoveDeg;
YusukeWakuta 42:bf98a29e81ac 71 int eruronint;
taurin 0:e052602db102 72 unsigned short ina_val;
taurin 0:e052602db102 73 double V,C;
taurin 0:e052602db102 74 bool SERVO_FLAG;
taurin 0:e052602db102 75 bool INA_FLAG;
tsumagari 22:b38bc18ec3a1 76 bool MPU_FLAG;
YusukeWakuta 31:5d22ebe5f705 77 uint16_t XbusValue;
YusukeWakuta 42:bf98a29e81ac 78 int gyroX;
YusukeWakuta 42:bf98a29e81ac 79 int gyroY;
YusukeWakuta 42:bf98a29e81ac 80 int gyroZ;
YusukeWakuta 42:bf98a29e81ac 81 float sum = 0;
YusukeWakuta 42:bf98a29e81ac 82 uint32_t sumCount = 0;
taurin 0:e052602db102 83
tsumagari 22:b38bc18ec3a1 84 char gyro_c[6] = {0,0,0,0,0,0};
taurin 4:450cafd95ac3 85
taurin 4:450cafd95ac3 86 void toString();
taurin 16:82310bf7c326 87 void receiveDatas();
taurin 16:82310bf7c326 88 void WriteServo();
YusukeWakuta 42:bf98a29e81ac 89 void MpuInit();
YusukeWakuta 42:bf98a29e81ac 90 void mpuProcessing(void const *arg);
taurin 0:e052602db102 91
YusukeWakuta 24:d416722b4aad 92 Ticker gTimer;
YusukeWakuta 24:d416722b4aad 93
YusukeWakuta 26:f14579683f98 94 bool servoInit()
YusukeWakuta 26:f14579683f98 95 {
taurin 4:450cafd95ac3 96 drugServo.period_ms(INIT_SERVO_PERIOD_MS);
taurin 0:e052602db102 97 return true;
taurin 0:e052602db102 98 }
taurin 0:e052602db102 99
YusukeWakuta 26:f14579683f98 100 void sendDatas()
YusukeWakuta 24:d416722b4aad 101 {
YusukeWakuta 26:f14579683f98 102 if(can.write(CANMessage(TO_SEND_CAN_ID, toSendDatas, TO_SEND_DATAS_NUM))) {
taurin 4:450cafd95ac3 103 }
taurin 4:450cafd95ac3 104 }
taurin 4:450cafd95ac3 105
YusukeWakuta 42:bf98a29e81ac 106 void MpuInit()
YusukeWakuta 42:bf98a29e81ac 107 {
YusukeWakuta 42:bf98a29e81ac 108 i2c_mpu.frequency(400000); // use fast (400 kHz) I2C
YusukeWakuta 42:bf98a29e81ac 109 t.start();
YusukeWakuta 42:bf98a29e81ac 110 uint8_t whoami = mpu6050.readByte(MPU6050_ADDRESS, WHO_AM_I_MPU6050); // Read WHO_AM_I register for MPU-6050
YusukeWakuta 42:bf98a29e81ac 111 if (whoami == 0x68) { // WHO_AM_I should always be 0x68
YusukeWakuta 42:bf98a29e81ac 112 Thread::wait(100);
YusukeWakuta 42:bf98a29e81ac 113 mpu6050.MPU6050SelfTest(SelfTest); // Start by performing self test and reporting values
YusukeWakuta 42:bf98a29e81ac 114 Thread::wait(100);
YusukeWakuta 42:bf98a29e81ac 115 if(SelfTest[0] < 1.0f && SelfTest[1] < 1.0f && SelfTest[2] < 1.0f && SelfTest[3] < 1.0f && SelfTest[4] < 1.0f && SelfTest[5] < 1.0f) {
YusukeWakuta 42:bf98a29e81ac 116 mpu6050.resetMPU6050(); // Reset registers to default in preparation for device calibration
YusukeWakuta 42:bf98a29e81ac 117 mpu6050.calibrateMPU6050(gyroBias, accelBias); // Calibrate gyro and accelerometers, load biases in bias registers
YusukeWakuta 42:bf98a29e81ac 118 mpu6050.initMPU6050(); //pc.printf("MPU6050 initialized for active data mode....\n\r"); // Initialize device for active mode read of acclerometer, gyroscope, and temperature
YusukeWakuta 42:bf98a29e81ac 119 Thread::wait(200);
YusukeWakuta 42:bf98a29e81ac 120 } else {
YusukeWakuta 42:bf98a29e81ac 121 }
YusukeWakuta 42:bf98a29e81ac 122 } else {
YusukeWakuta 42:bf98a29e81ac 123 //pc.printf("out\n\r"); // Loop forever if communication doesn't happen
YusukeWakuta 42:bf98a29e81ac 124 }
YusukeWakuta 42:bf98a29e81ac 125 }
YusukeWakuta 42:bf98a29e81ac 126
YusukeWakuta 42:bf98a29e81ac 127
YusukeWakuta 42:bf98a29e81ac 128 void mpuProcessing(void const *arg)
YusukeWakuta 42:bf98a29e81ac 129 {
YusukeWakuta 42:bf98a29e81ac 130 MpuInit();
YusukeWakuta 42:bf98a29e81ac 131 while(1) {
YusukeWakuta 42:bf98a29e81ac 132 if(mpu6050.readByte(MPU6050_ADDRESS, INT_STATUS) & 0x01) { // check if data ready interrupt
YusukeWakuta 42:bf98a29e81ac 133 mpu6050.readAccelData(accelCount); // Read the x/y/z adc values
YusukeWakuta 42:bf98a29e81ac 134 mpu6050.getAres();
YusukeWakuta 42:bf98a29e81ac 135 ax = (float)accelCount[0]*aRes - accelBias[0]; // get actual g value, this depends on scale being set
YusukeWakuta 42:bf98a29e81ac 136 ay = (float)accelCount[1]*aRes - accelBias[1];
YusukeWakuta 42:bf98a29e81ac 137 az = (float)accelCount[2]*aRes - accelBias[2];
YusukeWakuta 42:bf98a29e81ac 138 mpu6050.readGyroData(gyroCount); // Read the x/y/z adc values
YusukeWakuta 42:bf98a29e81ac 139 mpu6050.getGres();
YusukeWakuta 42:bf98a29e81ac 140 gx = (float)gyroCount[0]*gRes; // - gyroBias[0]; // get actual gyro value, this depends on scale being set
YusukeWakuta 42:bf98a29e81ac 141 gy = (float)gyroCount[1]*gRes; // - gyroBias[1];
YusukeWakuta 42:bf98a29e81ac 142 gz = (float)gyroCount[2]*gRes; // - gyroBias[2];
YusukeWakuta 42:bf98a29e81ac 143 tempCount = mpu6050.readTempData(); // Read the x/y/z adc values
YusukeWakuta 42:bf98a29e81ac 144 temperature = (tempCount) / 340. + 36.53; // Temperature in degrees Centigrade
YusukeWakuta 42:bf98a29e81ac 145 }
YusukeWakuta 42:bf98a29e81ac 146 Now = t.read_us();
YusukeWakuta 42:bf98a29e81ac 147 deltat = (float)((Now - lastUpdate)/1000000.0f) ; // set integration time by time elapsed since last filter update
YusukeWakuta 42:bf98a29e81ac 148 lastUpdate = Now;
YusukeWakuta 42:bf98a29e81ac 149 sum += deltat;
YusukeWakuta 42:bf98a29e81ac 150 sumCount++;
YusukeWakuta 42:bf98a29e81ac 151 if(lastUpdate - firstUpdate > 10000000.0f) {
YusukeWakuta 42:bf98a29e81ac 152 beta = 0.04; // decrease filter gain after stabilized
YusukeWakuta 42:bf98a29e81ac 153 zeta = 0.015; // increasey bias drift gain after stabilized
YusukeWakuta 42:bf98a29e81ac 154 }
YusukeWakuta 42:bf98a29e81ac 155 mpu6050.MadgwickQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f);
YusukeWakuta 42:bf98a29e81ac 156 delt_t = t.read_ms() - count;
YusukeWakuta 42:bf98a29e81ac 157 if (delt_t > MPU_DELT_MIN) {
YusukeWakuta 42:bf98a29e81ac 158 yaw = atan2(2.0f * (q[1] * q[2] + q[0] * q[3]), q[0] * q[0] + q[1] * q[1] - q[2] * q[2] - q[3] * q[3]);
YusukeWakuta 42:bf98a29e81ac 159 pitch = -asin(2.0f * (q[1] * q[3] - q[0] * q[2]));
YusukeWakuta 42:bf98a29e81ac 160 roll = atan2(2.0f * (q[0] * q[1] + q[2] * q[3]), q[0] * q[0] - q[1] * q[1] - q[2] * q[2] + q[3] * q[3]);
YusukeWakuta 42:bf98a29e81ac 161 pitch *= 180.0f / PI;
YusukeWakuta 42:bf98a29e81ac 162 yaw *= 180.0f / PI;
YusukeWakuta 42:bf98a29e81ac 163 roll *= 180.0f / PI;
YusukeWakuta 42:bf98a29e81ac 164 myled= !myled;
YusukeWakuta 42:bf98a29e81ac 165 count = t.read_ms();
YusukeWakuta 42:bf98a29e81ac 166 sum = 0;
YusukeWakuta 42:bf98a29e81ac 167 sumCount = 0;
YusukeWakuta 42:bf98a29e81ac 168 }
YusukeWakuta 42:bf98a29e81ac 169 Thread::wait(1);
YusukeWakuta 42:bf98a29e81ac 170 }//while(1)
YusukeWakuta 42:bf98a29e81ac 171 }
YusukeWakuta 42:bf98a29e81ac 172
YusukeWakuta 42:bf98a29e81ac 173
YusukeWakuta 26:f14579683f98 174 bool inaInit()
YusukeWakuta 26:f14579683f98 175 {
YusukeWakuta 26:f14579683f98 176 if(!VCmonitor.isExist()) {
taurin 0:e052602db102 177 pc.printf("VCmonitor NOT FOUND\n");
taurin 0:e052602db102 178 return false;
taurin 0:e052602db102 179 }
taurin 0:e052602db102 180 ina_val = 0;
YusukeWakuta 26:f14579683f98 181 if(VCmonitor.rawRead(0x00,&ina_val) != 0) {
taurin 0:e052602db102 182 pc.printf("VCmonitor READ ERROR\n");
taurin 0:e052602db102 183 return false;
taurin 0:e052602db102 184 }
taurin 0:e052602db102 185 VCmonitor.setCurrentCalibration();
taurin 0:e052602db102 186 return true;
taurin 0:e052602db102 187 }
taurin 0:e052602db102 188
YusukeWakuta 26:f14579683f98 189 void init()
YusukeWakuta 26:f14579683f98 190 {
YusukeWakuta 26:f14579683f98 191 if(!LRstatePin) {
taurin 13:5e3b4120dbbf 192 eruronTrim = ERURON_TRIM_INI_L;
taurin 13:5e3b4120dbbf 193 drugTrim = DRUG_TRIM_INI_L;
taurin 13:5e3b4120dbbf 194 eruronMoveDeg = ERURON_MOVE_DEG_INI_L;
taurin 13:5e3b4120dbbf 195 drugMoveDeg = DRUG_MOVE_DEG_INI_L;
YusukeWakuta 26:f14579683f98 196 } else {
taurin 12:fd9d241843f4 197 eruronTrim = ERURON_TRIM_INI_R;
taurin 12:fd9d241843f4 198 drugTrim = DRUG_TRIM_INI_R;
taurin 12:fd9d241843f4 199 eruronMoveDeg = ERURON_MOVE_DEG_INI_R;
taurin 13:5e3b4120dbbf 200 drugMoveDeg =DRUG_MOVE_DEG_INI_R;
taurin 12:fd9d241843f4 201 }
taurin 0:e052602db102 202 SERVO_FLAG = servoInit();
taurin 0:e052602db102 203 INA_FLAG = inaInit();
taurin 4:450cafd95ac3 204 sendDatasTicker.attach(&sendDatas,SEND_DATAS_LOOP_TIME);
taurin 16:82310bf7c326 205 // toStringTicker.attach(&toString,0.5);
taurin 16:82310bf7c326 206 receiveDatasTicker.attach(&receiveDatas,RECEIVE_DATAS_LOOP_TIME);
YusukeWakuta 24:d416722b4aad 207
YusukeWakuta 36:ddf4aa818e88 208 // initXBus();
taurin 0:e052602db102 209 }
taurin 0:e052602db102 210
YusukeWakuta 26:f14579683f98 211 void updateDatas()
YusukeWakuta 26:f14579683f98 212 {
YusukeWakuta 26:f14579683f98 213 if(INA_FLAG) {
taurin 0:e052602db102 214 int tmp = VCmonitor.getVoltage(&V);
taurin 0:e052602db102 215 tmp = VCmonitor.getCurrent(&C);
taurin 0:e052602db102 216 }
YusukeWakuta 42:bf98a29e81ac 217
YusukeWakuta 26:f14579683f98 218 for(int i = 0; i < TO_SEND_DATAS_NUM - 1; i++) {
tsumagari 22:b38bc18ec3a1 219 toSendDatas[i] = gyro_c[i];
tsumagari 22:b38bc18ec3a1 220 }
tsumagari 22:b38bc18ec3a1 221 // toSendDatas[TO_SEND_DATAS_NUM - 1] = (char)(V/100);
YusukeWakuta 40:ad98da5da7bf 222 toSendDatas[TO_SEND_DATAS_NUM - 1] = (char)V;
taurin 0:e052602db102 223 }
taurin 0:e052602db102 224
YusukeWakuta 26:f14579683f98 225 void receiveDatas()
YusukeWakuta 26:f14579683f98 226 {
YusukeWakuta 26:f14579683f98 227 if(can.read(recmsg)) {
YusukeWakuta 26:f14579683f98 228 for(int i = 0; i < CONTROL_VALUES_NUM; i++) {
YusukeWakuta 3:4417217b4f66 229 controlValues[i] = recmsg.data[i];
YusukeWakuta 42:bf98a29e81ac 230 if(i<sizeof(int)) intvalues[i] = controlValues[i];
taurin 0:e052602db102 231 }
YusukeWakuta 42:bf98a29e81ac 232 eruronint = *(const int *)intvalues;
taurin 1:9cc932a16d17 233 led1 = !led1;
taurin 0:e052602db102 234 }
taurin 0:e052602db102 235 }
taurin 0:e052602db102 236
YusukeWakuta 42:bf98a29e81ac 237 double calcPulse(float analog)
YusukeWakuta 26:f14579683f98 238 {
YusukeWakuta 42:bf98a29e81ac 239 return (0.0006+(analog)*(0.00240-0.00060));
YusukeWakuta 37:1f71ca1e5dd1 240 /*
YusukeWakuta 37:1f71ca1e5dd1 241 int start=510, end=2390;
YusukeWakuta 37:1f71ca1e5dd1 242 while(1) {
YusukeWakuta 37:1f71ca1e5dd1 243 // pc.printf("%f\n\r",(start + (double)(end - start) * analogIn.read()));
YusukeWakuta 37:1f71ca1e5dd1 244 pc.printf("%f\n\r",analogIn.read());
YusukeWakuta 37:1f71ca1e5dd1 245 pwm.pulsewidth_us(start + (double)(end - start) * analogIn.read());
YusukeWakuta 37:1f71ca1e5dd1 246 */
taurin 1:9cc932a16d17 247 }
taurin 1:9cc932a16d17 248
YusukeWakuta 29:516a5d383488 249 void WriteServo()
YusukeWakuta 26:f14579683f98 250 {
YusukeWakuta 38:b492990e2b56 251 drugServo.pulsewidth(calcPulse( drugTrim + drugMoveDeg *(float)controlValues[sizeof(float)] / 2.0));
YusukeWakuta 43:9a57cec43257 252 eruronServo.pulsewidth(calcPulse( eruronTrim + eruronMoveDeg * ((1.0/PHASE_NUM) * eruronint) * ERURON_MOVE_RANGE));
YusukeWakuta 42:bf98a29e81ac 253 pc.printf("WriteNum:%f ",calcPulse( eruronTrim + eruronMoveDeg * (1.0/PHASE_NUM) * eruronint));
YusukeWakuta 42:bf98a29e81ac 254 pc.printf("drValue::%f ef::%d\n\r",drugTrim + drugMoveDeg *(float)controlValues[sizeof(float)],eruronint);
YusukeWakuta 37:1f71ca1e5dd1 255 // pc.printf("raw:%f sampled:%f\n\r",eruronfloat /3.0,SampleFloat(eruronfloat / 3.0));
taurin 4:450cafd95ac3 256 }
taurin 4:450cafd95ac3 257
YusukeWakuta 26:f14579683f98 258 void setTrim()
YusukeWakuta 26:f14579683f98 259 {
taurin 4:450cafd95ac3 260 debugLED = 1;
YusukeWakuta 26:f14579683f98 261 if(EDstatePin) {
YusukeWakuta 26:f14579683f98 262 eruronTrim = eruronAna.read();
YusukeWakuta 26:f14579683f98 263 } else {
YusukeWakuta 37:1f71ca1e5dd1 264 drugTrim = drugAna.read();
YusukeWakuta 26:f14579683f98 265 drugServo.pulsewidth(calcPulse(drugTrim));
taurin 12:fd9d241843f4 266 }
YusukeWakuta 14:1f6dd929d7de 267 //pc.printf("eruronTrim:%f drugTrim:%f\n\r",eruronTrim,drugTrim);
YusukeWakuta 26:f14579683f98 268 pc.printf("eruronTrim:%f drugTrim:%f ",eruronTrim,drugTrim);
YusukeWakuta 42:bf98a29e81ac 269 pc.printf("eMD:%f dMD:%f ei:%d\n\r",eruronMoveDeg,drugMoveDeg,eruronint);
taurin 4:450cafd95ac3 270 }
taurin 4:450cafd95ac3 271
YusukeWakuta 26:f14579683f98 272 void setMaxDeg()
YusukeWakuta 26:f14579683f98 273 {
taurin 4:450cafd95ac3 274 led4 = 1;
YusukeWakuta 26:f14579683f98 275 float eruronTemp = eruronAna.read();
YusukeWakuta 37:1f71ca1e5dd1 276 float drugTemp = drugAna.read();
YusukeWakuta 26:f14579683f98 277 if(EDstatePin) {
YusukeWakuta 26:f14579683f98 278 eruronMoveDeg = eruronTemp-eruronTrim;
YusukeWakuta 26:f14579683f98 279 } else {
YusukeWakuta 26:f14579683f98 280 drugServo.pulsewidth(calcPulse(drugTemp));
YusukeWakuta 26:f14579683f98 281 drugMoveDeg = drugTemp-drugTrim;
taurin 12:fd9d241843f4 282 }
YusukeWakuta 14:1f6dd929d7de 283 pc.printf("eruronTrim:%f drugTrim:%f ",eruronTrim,drugTrim);
YusukeWakuta 42:bf98a29e81ac 284 pc.printf("eMD:%f dMD:%f ef:%d\n\r",eruronMoveDeg,drugMoveDeg,eruronint);
taurin 4:450cafd95ac3 285 wait_us(10);
taurin 1:9cc932a16d17 286 }
taurin 0:e052602db102 287
YusukeWakuta 26:f14579683f98 288 int main()
YusukeWakuta 26:f14579683f98 289 {
taurin 0:e052602db102 290 init();
YusukeWakuta 31:5d22ebe5f705 291
YusukeWakuta 30:00041540e23c 292 setTrimPin.mode(PullDown);
YusukeWakuta 30:00041540e23c 293 setMaxDegPin.mode(PullDown);
YusukeWakuta 30:00041540e23c 294 EDstatePin.mode(PullDown);
YusukeWakuta 30:00041540e23c 295 LRstatePin.mode(PullDown);
YusukeWakuta 42:bf98a29e81ac 296 Thread mpu_thread(&mpuProcessing);
YusukeWakuta 26:f14579683f98 297
YusukeWakuta 24:d416722b4aad 298 // start motion
tsumagari 33:d075918d4846 299 // gTimer.attach_us(&XbusIntervalHandler, 1000000 / kMotionInterval);
YusukeWakuta 26:f14579683f98 300
YusukeWakuta 26:f14579683f98 301 while(1) {
YusukeWakuta 26:f14579683f98 302 while(setTrimPin) {
taurin 4:450cafd95ac3 303 setTrim();
taurin 4:450cafd95ac3 304 }
YusukeWakuta 26:f14579683f98 305 while (setMaxDegPin) {
YusukeWakuta 29:516a5d383488 306 setMaxDeg();
taurin 4:450cafd95ac3 307 }
YusukeWakuta 42:bf98a29e81ac 308 // pc.printf("eruronTrim:%f drugTrim:%f ",eruronTrim,drugTrim);
YusukeWakuta 42:bf98a29e81ac 309 //// pc.printf("eMD:%f dMD:%f ",eruronMoveDeg,drugMoveDeg);
YusukeWakuta 42:bf98a29e81ac 310 // pc.printf("pitch:%d roll:%d yaw:%d\n\r",pitch,roll,yaw);
taurin 4:450cafd95ac3 311 led4 = 0;
taurin 4:450cafd95ac3 312 debugLED = 0;
taurin 16:82310bf7c326 313 //receiveDatas();
tsumagari 22:b38bc18ec3a1 314 // sendDatas();
taurin 1:9cc932a16d17 315 WriteServo();
taurin 4:450cafd95ac3 316 updateDatas();
tsumagari 22:b38bc18ec3a1 317 led3 = !led3;
taurin 2:7fcb4f970a02 318 wait(WAIT_LOOP_TIME);
taurin 0:e052602db102 319 }
taurin 0:e052602db102 320 }