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@72:aef1ec8c66c7, 2017-10-27 (annotated)

Committer:
tsumagari
Date:
Fri Oct 27 09:51:52 2017 +0000
Branch:
mpu????????
Revision:
72:aef1ec8c66c7
Parent:
71:a00561d455d1
Child:
73:05feda5b0f98
pin????

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"
YusukeWakuta 57:d7b709dd1c4f 7 #include "math.h"
taurin 4:450cafd95ac3 8
tsumagari 22:b38bc18ec3a1 9 #define TO_SEND_DATAS_NUM 7
taurin 2:7fcb4f970a02 10 #define INIT_SERVO_PERIOD_MS 20
taurin 4:450cafd95ac3 11 #define WAIT_LOOP_TIME 0.02
YusukeWakuta 47:5e3a836deaba 12 #define CONTROL_VALUES_NUM 7
taurin 0:e052602db102 13 #define TO_SEND_CAN_ID 100
taurin 4:450cafd95ac3 14 #define SEND_DATAS_LOOP_TIME 0.1
tsumagari 33:d075918d4846 15 #define RECEIVE_DATAS_LOOP_TIME 0.1
taurin 12:fd9d241843f4 16
YusukeWakuta 42:bf98a29e81ac 17 #define MPU_LOOP_TIME 0.01
YusukeWakuta 42:bf98a29e81ac 18 #define MPU_DELT_MIN 250
YusukeWakuta 42:bf98a29e81ac 19
tsumagari 67:94fe2180f39a 20 #define ERURON_MOVE_DEG_INI_R 14.4*0.8//18.0 //degree
tsumagari 67:94fe2180f39a 21 #define DRUG_MOVE_DEG_INI_R 0.49
tsumagari 66:2d1a7f270e27 22 #define ERURON_TRIM_INI_R 0.39633 //値lowerすると頭上げ 0.37で後縁一致
YusukeWakuta 58:f84bd22fd586 23 #define DRUG_TRIM_INI_R 0.37
taurin 12:fd9d241843f4 24
tsumagari 64:9d7582920f50 25 #define ERURON_MOVE_DEG_INI_L -15.52//-19.4 //degree
YusukeWakuta 63:52b882a5968c 26 #define DRUG_MOVE_DEG_INI_L -0.52
tsumagari 67:94fe2180f39a 27 #define ERURON_TRIM_INI_L 0.41567 // 値を大きくすると頭上げ
YusukeWakuta 58:f84bd22fd586 28 #define DRUG_TRIM_INI_L 0.73//値を小さくすると開く側
taurin 2:7fcb4f970a02 29
tsumagari 67:94fe2180f39a 30
tsumagari 67:94fe2180f39a 31 #define debug pc.printf
tsumagari 72:aef1ec8c66c7 32 #define debugMPU pc.printf
tsumagari 67:94fe2180f39a 33
tsumagari 67:94fe2180f39a 34 const char *configfilename = "/local/CONFIG.csv";
tsumagari 67:94fe2180f39a 35
YusukeWakuta 38:b492990e2b56 36 /*ドラッグラダー
YusukeWakuta 37:1f71ca1e5dd1 37 初期値 0.65
YusukeWakuta 37:1f71ca1e5dd1 38 最大角0.99
YusukeWakuta 36:ddf4aa818e88 39 */
YusukeWakuta 24:d416722b4aad 40
taurin 0:e052602db102 41 CAN can(p30,p29);
taurin 0:e052602db102 42 CANMessage recmsg;
taurin 0:e052602db102 43 Serial pc(USBTX,USBRX);
taurin 0:e052602db102 44 I2C ina226_i2c(p28,p27);
taurin 0:e052602db102 45 INA226 VCmonitor(ina226_i2c);
tsumagari 70:7da315abec17 46 PwmOut drugServo(p23);
tsumagari 71:a00561d455d1 47 PwmOut eruronServo(p25);
taurin 1:9cc932a16d17 48 DigitalOut led1(LED1);
tsumagari 69:073116d31a56 49 AnalogIn setDeg10(p20);
tsumagari 69:073116d31a56 50 AnalogIn setDeg1(p19);
tsumagari 71:a00561d455d1 51 DigitalIn IsRPin(p13,PullDown);
tsumagari 71:a00561d455d1 52 DigitalIn InSetModePin(p14,PullDown);
tsumagari 71:a00561d455d1 53 DigitalIn EDstatePin(p15,PullDown);
tsumagari 71:a00561d455d1 54 DigitalIn TrimMaxDegPin(p16,PullDown);
tsumagari 71:a00561d455d1 55 DigitalOut servoOff(p17);
YusukeWakuta 44:624a4469ae21 56 DigitalOut led2(LED2);
taurin 4:450cafd95ac3 57 DigitalOut led3(LED3);
taurin 4:450cafd95ac3 58 DigitalOut led4(LED4);
taurin 4:450cafd95ac3 59 Ticker sendDatasTicker;
tsumagari 22:b38bc18ec3a1 60 //Ticker toStringTicker;
taurin 16:82310bf7c326 61 Ticker receiveDatasTicker;
YusukeWakuta 42:bf98a29e81ac 62 MPU6050 mpu6050;
YusukeWakuta 42:bf98a29e81ac 63 Timer t;
YusukeWakuta 42:bf98a29e81ac 64
tsumagari 67:94fe2180f39a 65 LocalFileSystem local("local");
tsumagari 67:94fe2180f39a 66
taurin 0:e052602db102 67 char toSendDatas[TO_SEND_DATAS_NUM];
YusukeWakuta 60:a45dc19a6001 68 char floatValues[10];
taurin 12:fd9d241843f4 69 float eruronTrim;
taurin 12:fd9d241843f4 70 float drugTrim;
taurin 12:fd9d241843f4 71 float eruronMoveDeg;
taurin 12:fd9d241843f4 72 float drugMoveDeg;
YusukeWakuta 59:f007e543f8c9 73 float eruronfloat = 0.0;
taurin 0:e052602db102 74 unsigned short ina_val;
taurin 0:e052602db102 75 double V,C;
taurin 0:e052602db102 76 bool SERVO_FLAG;
taurin 0:e052602db102 77 bool INA_FLAG;
tsumagari 22:b38bc18ec3a1 78 bool MPU_FLAG;
YusukeWakuta 42:bf98a29e81ac 79 int gyroX;
YusukeWakuta 42:bf98a29e81ac 80 int gyroY;
YusukeWakuta 42:bf98a29e81ac 81 int gyroZ;
YusukeWakuta 42:bf98a29e81ac 82 float sum = 0;
YusukeWakuta 61:988e3f4280ac 83 float drugInput = 0.0;
YusukeWakuta 42:bf98a29e81ac 84 uint32_t sumCount = 0;
taurin 0:e052602db102 85
tsumagari 22:b38bc18ec3a1 86 char gyro_c[6] = {0,0,0,0,0,0};
taurin 4:450cafd95ac3 87
taurin 4:450cafd95ac3 88 void toString();
taurin 16:82310bf7c326 89 void receiveDatas();
taurin 16:82310bf7c326 90 void WriteServo();
YusukeWakuta 42:bf98a29e81ac 91 void MpuInit();
YusukeWakuta 42:bf98a29e81ac 92 void mpuProcessing(void const *arg);
taurin 0:e052602db102 93
YusukeWakuta 24:d416722b4aad 94 Ticker gTimer;
YusukeWakuta 24:d416722b4aad 95
YusukeWakuta 26:f14579683f98 96 bool servoInit()
YusukeWakuta 26:f14579683f98 97 {
taurin 4:450cafd95ac3 98 drugServo.period_ms(INIT_SERVO_PERIOD_MS);
taurin 0:e052602db102 99 return true;
taurin 0:e052602db102 100 }
taurin 0:e052602db102 101
YusukeWakuta 26:f14579683f98 102 void sendDatas()
YusukeWakuta 24:d416722b4aad 103 {
YusukeWakuta 26:f14579683f98 104 if(can.write(CANMessage(TO_SEND_CAN_ID, toSendDatas, TO_SEND_DATAS_NUM))) {
taurin 4:450cafd95ac3 105 }
taurin 4:450cafd95ac3 106 }
taurin 4:450cafd95ac3 107
YusukeWakuta 42:bf98a29e81ac 108 void MpuInit()
YusukeWakuta 42:bf98a29e81ac 109 {
tsumagari 72:aef1ec8c66c7 110 i2c.frequency(400000); // use fast (400 kHz) I2C
YusukeWakuta 42:bf98a29e81ac 111 t.start();
YusukeWakuta 42:bf98a29e81ac 112 uint8_t whoami = mpu6050.readByte(MPU6050_ADDRESS, WHO_AM_I_MPU6050); // Read WHO_AM_I register for MPU-6050
YusukeWakuta 42:bf98a29e81ac 113 if (whoami == 0x68) { // WHO_AM_I should always be 0x68
YusukeWakuta 42:bf98a29e81ac 114 Thread::wait(100);
YusukeWakuta 42:bf98a29e81ac 115 mpu6050.MPU6050SelfTest(SelfTest); // Start by performing self test and reporting values
YusukeWakuta 42:bf98a29e81ac 116 Thread::wait(100);
YusukeWakuta 42:bf98a29e81ac 117 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 118 mpu6050.resetMPU6050(); // Reset registers to default in preparation for device calibration
YusukeWakuta 42:bf98a29e81ac 119 mpu6050.calibrateMPU6050(gyroBias, accelBias); // Calibrate gyro and accelerometers, load biases in bias registers
YusukeWakuta 42:bf98a29e81ac 120 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 121 Thread::wait(200);
YusukeWakuta 42:bf98a29e81ac 122 } else {
YusukeWakuta 42:bf98a29e81ac 123 }
YusukeWakuta 42:bf98a29e81ac 124 } else {
YusukeWakuta 42:bf98a29e81ac 125 //pc.printf("out\n\r"); // Loop forever if communication doesn't happen
YusukeWakuta 42:bf98a29e81ac 126 }
YusukeWakuta 42:bf98a29e81ac 127 }
YusukeWakuta 42:bf98a29e81ac 128
YusukeWakuta 42:bf98a29e81ac 129
YusukeWakuta 42:bf98a29e81ac 130 void mpuProcessing(void const *arg)
YusukeWakuta 42:bf98a29e81ac 131 {
YusukeWakuta 42:bf98a29e81ac 132 MpuInit();
YusukeWakuta 42:bf98a29e81ac 133 while(1) {
YusukeWakuta 42:bf98a29e81ac 134 if(mpu6050.readByte(MPU6050_ADDRESS, INT_STATUS) & 0x01) { // check if data ready interrupt
YusukeWakuta 42:bf98a29e81ac 135 mpu6050.readAccelData(accelCount); // Read the x/y/z adc values
YusukeWakuta 42:bf98a29e81ac 136 mpu6050.getAres();
YusukeWakuta 42:bf98a29e81ac 137 ax = (float)accelCount[0]*aRes - accelBias[0]; // get actual g value, this depends on scale being set
YusukeWakuta 42:bf98a29e81ac 138 ay = (float)accelCount[1]*aRes - accelBias[1];
YusukeWakuta 42:bf98a29e81ac 139 az = (float)accelCount[2]*aRes - accelBias[2];
YusukeWakuta 42:bf98a29e81ac 140 mpu6050.readGyroData(gyroCount); // Read the x/y/z adc values
YusukeWakuta 42:bf98a29e81ac 141 mpu6050.getGres();
YusukeWakuta 42:bf98a29e81ac 142 gx = (float)gyroCount[0]*gRes; // - gyroBias[0]; // get actual gyro value, this depends on scale being set
YusukeWakuta 42:bf98a29e81ac 143 gy = (float)gyroCount[1]*gRes; // - gyroBias[1];
YusukeWakuta 42:bf98a29e81ac 144 gz = (float)gyroCount[2]*gRes; // - gyroBias[2];
YusukeWakuta 42:bf98a29e81ac 145 tempCount = mpu6050.readTempData(); // Read the x/y/z adc values
YusukeWakuta 42:bf98a29e81ac 146 temperature = (tempCount) / 340. + 36.53; // Temperature in degrees Centigrade
YusukeWakuta 42:bf98a29e81ac 147 }
YusukeWakuta 42:bf98a29e81ac 148 Now = t.read_us();
YusukeWakuta 42:bf98a29e81ac 149 deltat = (float)((Now - lastUpdate)/1000000.0f) ; // set integration time by time elapsed since last filter update
YusukeWakuta 42:bf98a29e81ac 150 lastUpdate = Now;
YusukeWakuta 42:bf98a29e81ac 151 sum += deltat;
YusukeWakuta 42:bf98a29e81ac 152 sumCount++;
YusukeWakuta 42:bf98a29e81ac 153 if(lastUpdate - firstUpdate > 10000000.0f) {
YusukeWakuta 42:bf98a29e81ac 154 beta = 0.04; // decrease filter gain after stabilized
YusukeWakuta 42:bf98a29e81ac 155 zeta = 0.015; // increasey bias drift gain after stabilized
YusukeWakuta 42:bf98a29e81ac 156 }
YusukeWakuta 42:bf98a29e81ac 157 mpu6050.MadgwickQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f);
YusukeWakuta 42:bf98a29e81ac 158 delt_t = t.read_ms() - count;
YusukeWakuta 42:bf98a29e81ac 159 if (delt_t > MPU_DELT_MIN) {
YusukeWakuta 42:bf98a29e81ac 160 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 161 pitch = -asin(2.0f * (q[1] * q[3] - q[0] * q[2]));
YusukeWakuta 42:bf98a29e81ac 162 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 163 pitch *= 180.0f / PI;
YusukeWakuta 42:bf98a29e81ac 164 yaw *= 180.0f / PI;
YusukeWakuta 42:bf98a29e81ac 165 roll *= 180.0f / PI;
YusukeWakuta 48:0bd406fa4a7f 166 // myled= !myled;
YusukeWakuta 42:bf98a29e81ac 167 count = t.read_ms();
YusukeWakuta 42:bf98a29e81ac 168 sum = 0;
YusukeWakuta 42:bf98a29e81ac 169 sumCount = 0;
YusukeWakuta 42:bf98a29e81ac 170 }
tsumagari 64:9d7582920f50 171 gyro_c[0]=(char)((int)pitch);
tsumagari 64:9d7582920f50 172 gyro_c[1]=(char)(int)((pitch - (int)pitch)*100);
tsumagari 64:9d7582920f50 173 gyro_c[2]=(char)((int)roll);
tsumagari 64:9d7582920f50 174 gyro_c[3]=(char)(int)((roll - (int)roll)*100);
tsumagari 64:9d7582920f50 175 gyro_c[4]=(char)((int)yaw);
tsumagari 64:9d7582920f50 176 gyro_c[5]=(char)(int)((yaw - (int)yaw)*100);
tsumagari 67:94fe2180f39a 177 debugMPU("p:%f,r:%f,y:%f\n\r",pitch,roll,yaw);
YusukeWakuta 42:bf98a29e81ac 178 Thread::wait(1);
YusukeWakuta 42:bf98a29e81ac 179 }//while(1)
YusukeWakuta 42:bf98a29e81ac 180 }
YusukeWakuta 42:bf98a29e81ac 181
YusukeWakuta 42:bf98a29e81ac 182
YusukeWakuta 26:f14579683f98 183 bool inaInit()
YusukeWakuta 26:f14579683f98 184 {
YusukeWakuta 26:f14579683f98 185 if(!VCmonitor.isExist()) {
taurin 0:e052602db102 186 pc.printf("VCmonitor NOT FOUND\n");
taurin 0:e052602db102 187 return false;
taurin 0:e052602db102 188 }
taurin 0:e052602db102 189 ina_val = 0;
YusukeWakuta 26:f14579683f98 190 if(VCmonitor.rawRead(0x00,&ina_val) != 0) {
taurin 0:e052602db102 191 pc.printf("VCmonitor READ ERROR\n");
taurin 0:e052602db102 192 return false;
taurin 0:e052602db102 193 }
taurin 0:e052602db102 194 VCmonitor.setCurrentCalibration();
taurin 0:e052602db102 195 return true;
taurin 0:e052602db102 196 }
taurin 0:e052602db102 197
YusukeWakuta 57:d7b709dd1c4f 198 //動かしたいエレボンの角度から、動かしたいサーボホーンの角度を得る。
YusukeWakuta 57:d7b709dd1c4f 199 double ConvertDeg(double servo)
YusukeWakuta 57:d7b709dd1c4f 200 {
YusukeWakuta 62:1db967d29809 201 return 0.0011 * pow(servo,3) + 0.017 * pow(servo,2) + 2.3019 * servo - 0.2269;
YusukeWakuta 62:1db967d29809 202 //return 0.0003*pow(servo,3)+0.0039*pow(servo,2)+1.746*servo - 0.0105;
YusukeWakuta 57:d7b709dd1c4f 203 }
YusukeWakuta 57:d7b709dd1c4f 204
YusukeWakuta 57:d7b709dd1c4f 205 //ホーンを動かしたい角度から、変化させるアナログ値の幅を得る。3度変化
YusukeWakuta 57:d7b709dd1c4f 206 double GetValueByHorn(double deg)
YusukeWakuta 57:d7b709dd1c4f 207 {
YusukeWakuta 57:d7b709dd1c4f 208 return deg*(0.10/25.7);
YusukeWakuta 57:d7b709dd1c4f 209 }
YusukeWakuta 57:d7b709dd1c4f 210
YusukeWakuta 57:d7b709dd1c4f 211 double GetFloatByErebon(double erebonDeg)
YusukeWakuta 57:d7b709dd1c4f 212 {
YusukeWakuta 57:d7b709dd1c4f 213 double servoDeg = ConvertDeg(erebonDeg);
YusukeWakuta 61:988e3f4280ac 214 return GetValueByHorn(servoDeg);
YusukeWakuta 57:d7b709dd1c4f 215 }
tsumagari 67:94fe2180f39a 216 // configファイル作成
tsumagari 67:94fe2180f39a 217 int makeConfigFile() {
tsumagari 67:94fe2180f39a 218 FILE *fp;
tsumagari 67:94fe2180f39a 219 if((fp = fopen(configfilename, "w")) == NULL) {
tsumagari 67:94fe2180f39a 220 pc.printf("can't open %s\n", configfilename);
tsumagari 67:94fe2180f39a 221 return -1;
tsumagari 67:94fe2180f39a 222 }
tsumagari 67:94fe2180f39a 223 fprintf(fp, "// This is Yokutan %s.\n", IsRPin ? "R" : "L");
tsumagari 67:94fe2180f39a 224 fprintf(fp, "eruronTrim,drugTrim,eruronMoveDeg,drugMoveDeg\n");
tsumagari 67:94fe2180f39a 225 fclose(fp);
tsumagari 67:94fe2180f39a 226 return 0;
tsumagari 67:94fe2180f39a 227 }
tsumagari 67:94fe2180f39a 228
tsumagari 67:94fe2180f39a 229 // config内容をファイルに追記
tsumagari 67:94fe2180f39a 230 int writeConfig() {
tsumagari 67:94fe2180f39a 231 FILE *fp;
tsumagari 67:94fe2180f39a 232 if((fp = fopen(configfilename, "a")) == NULL) {
tsumagari 67:94fe2180f39a 233 pc.printf("can't open %s\n", configfilename);
tsumagari 67:94fe2180f39a 234 return -1;
tsumagari 67:94fe2180f39a 235 }
tsumagari 67:94fe2180f39a 236 fprintf(fp, "%f,%f,%f,%f\n", eruronTrim, drugTrim, eruronMoveDeg, drugMoveDeg);
tsumagari 67:94fe2180f39a 237 fclose(fp);
tsumagari 67:94fe2180f39a 238 return 0;
tsumagari 67:94fe2180f39a 239 }
tsumagari 67:94fe2180f39a 240 // configの最新情報を読み込み
tsumagari 67:94fe2180f39a 241 int readConfig() {
tsumagari 67:94fe2180f39a 242 FILE *fp;
tsumagari 67:94fe2180f39a 243 char s[256];
tsumagari 67:94fe2180f39a 244 if((fp = fopen(configfilename, "r")) == NULL) {
tsumagari 67:94fe2180f39a 245 return -1;
tsumagari 67:94fe2180f39a 246 }
tsumagari 67:94fe2180f39a 247 while(fgets(s, 255, fp) != NULL) {
tsumagari 67:94fe2180f39a 248 sscanf(s, "%f,%f,%f,%f\n", &eruronTrim, &drugTrim, &eruronMoveDeg, &drugMoveDeg);
tsumagari 67:94fe2180f39a 249 }
tsumagari 67:94fe2180f39a 250 fclose(fp);
tsumagari 67:94fe2180f39a 251 debug("eruronTrim:%f,drugtrim:%f,eMD:%f,dMD:%f\n\r",eruronTrim,drugTrim,eruronMoveDeg,drugMoveDeg);
tsumagari 67:94fe2180f39a 252 return 0;
tsumagari 67:94fe2180f39a 253 }
YusukeWakuta 57:d7b709dd1c4f 254
YusukeWakuta 26:f14579683f98 255 void init()
YusukeWakuta 26:f14579683f98 256 {
tsumagari 67:94fe2180f39a 257 if(readConfig() == -1) {
tsumagari 67:94fe2180f39a 258 makeConfigFile();
tsumagari 67:94fe2180f39a 259 if(IsRPin) {
tsumagari 67:94fe2180f39a 260 eruronTrim = ERURON_TRIM_INI_R;
tsumagari 67:94fe2180f39a 261 drugTrim = DRUG_TRIM_INI_R;
tsumagari 67:94fe2180f39a 262 eruronMoveDeg =GetFloatByErebon(ERURON_MOVE_DEG_INI_R);
tsumagari 67:94fe2180f39a 263 drugMoveDeg =DRUG_MOVE_DEG_INI_R;
tsumagari 67:94fe2180f39a 264 } else {
tsumagari 67:94fe2180f39a 265 eruronTrim = ERURON_TRIM_INI_L;
tsumagari 67:94fe2180f39a 266 drugTrim = DRUG_TRIM_INI_L;
tsumagari 67:94fe2180f39a 267 eruronMoveDeg = GetFloatByErebon(ERURON_MOVE_DEG_INI_L);
tsumagari 67:94fe2180f39a 268 drugMoveDeg = DRUG_MOVE_DEG_INI_L;
tsumagari 67:94fe2180f39a 269 }
taurin 12:fd9d241843f4 270 }
taurin 0:e052602db102 271 SERVO_FLAG = servoInit();
taurin 0:e052602db102 272 INA_FLAG = inaInit();
taurin 4:450cafd95ac3 273 sendDatasTicker.attach(&sendDatas,SEND_DATAS_LOOP_TIME);
taurin 16:82310bf7c326 274 // toStringTicker.attach(&toString,0.5);
taurin 16:82310bf7c326 275 receiveDatasTicker.attach(&receiveDatas,RECEIVE_DATAS_LOOP_TIME);
taurin 0:e052602db102 276 }
taurin 0:e052602db102 277
YusukeWakuta 26:f14579683f98 278 void updateDatas()
YusukeWakuta 26:f14579683f98 279 {
YusukeWakuta 26:f14579683f98 280 if(INA_FLAG) {
taurin 0:e052602db102 281 int tmp = VCmonitor.getVoltage(&V);
taurin 0:e052602db102 282 tmp = VCmonitor.getCurrent(&C);
taurin 0:e052602db102 283 }
YusukeWakuta 42:bf98a29e81ac 284
YusukeWakuta 26:f14579683f98 285 for(int i = 0; i < TO_SEND_DATAS_NUM - 1; i++) {
tsumagari 22:b38bc18ec3a1 286 toSendDatas[i] = gyro_c[i];
tsumagari 22:b38bc18ec3a1 287 }
tsumagari 22:b38bc18ec3a1 288 // toSendDatas[TO_SEND_DATAS_NUM - 1] = (char)(V/100);
YusukeWakuta 40:ad98da5da7bf 289 toSendDatas[TO_SEND_DATAS_NUM - 1] = (char)V;
tsumagari 72:aef1ec8c66c7 290 pc.printf("servoV:%f\n\r",V);
taurin 0:e052602db102 291 }
taurin 0:e052602db102 292
YusukeWakuta 26:f14579683f98 293 void receiveDatas()
YusukeWakuta 26:f14579683f98 294 {
YusukeWakuta 61:988e3f4280ac 295 if(can.read(recmsg)) { //ここの中でpc.printfすると重すぎて固まるので注意
tsumagari 71:a00561d455d1 296 for(int i = 0; i < CONTROL_VALUES_NUM; i++) {
YusukeWakuta 60:a45dc19a6001 297 floatValues[i] = recmsg.data[i];
taurin 0:e052602db102 298 }
YusukeWakuta 61:988e3f4280ac 299 drugInput = recmsg.data[5]- '0';
tsumagari 71:a00561d455d1 300 servoOff = recmsg.data[6]-'0';
YusukeWakuta 60:a45dc19a6001 301 eruronfloat = atof(floatValues);
taurin 1:9cc932a16d17 302 led1 = !led1;
taurin 0:e052602db102 303 }
taurin 0:e052602db102 304 }
taurin 0:e052602db102 305
YusukeWakuta 42:bf98a29e81ac 306 double calcPulse(float analog)
YusukeWakuta 26:f14579683f98 307 {
tsumagari 53:3eeaafa49707 308 return (0.0006 + (analog)*(0.00240-0.00060) );
taurin 1:9cc932a16d17 309 }
taurin 1:9cc932a16d17 310
YusukeWakuta 29:516a5d383488 311 void WriteServo()
YusukeWakuta 26:f14579683f98 312 {
YusukeWakuta 62:1db967d29809 313 // for(int i = 0; i< 10; i++) {
YusukeWakuta 61:988e3f4280ac 314 // pc.printf("%c",floatValues[i]);
YusukeWakuta 61:988e3f4280ac 315 // }
YusukeWakuta 61:988e3f4280ac 316 // pc.printf(" : %f",eruronfloat);
YusukeWakuta 61:988e3f4280ac 317 // pc.printf("\n\r");
YusukeWakuta 61:988e3f4280ac 318 drugServo.pulsewidth(calcPulse(drugTrim + drugMoveDeg *drugInput));
YusukeWakuta 59:f007e543f8c9 319 eruronServo.pulsewidth(calcPulse( eruronTrim + eruronMoveDeg * eruronfloat));
tsumagari 68:ae3c3500074c 320 pc.printf("ef:%10f %5f\n\r",eruronfloat,drugInput);
taurin 4:450cafd95ac3 321 }
taurin 4:450cafd95ac3 322
YusukeWakuta 26:f14579683f98 323 void setTrim()
YusukeWakuta 26:f14579683f98 324 {
YusukeWakuta 44:624a4469ae21 325 led2 = 1;
YusukeWakuta 26:f14579683f98 326 if(EDstatePin) {
tsumagari 69:073116d31a56 327 eruronTrim = (int)(setDeg10.read()*9)/10.0 + setDeg1.read()/10;
YusukeWakuta 50:b3a8f8e88c50 328 eruronServo.pulsewidth(calcPulse(eruronTrim));
YusukeWakuta 26:f14579683f98 329 } else {
tsumagari 69:073116d31a56 330 drugTrim = (int)(setDeg10.read()*9)/10.0 + setDeg1.read()/10;
YusukeWakuta 26:f14579683f98 331 drugServo.pulsewidth(calcPulse(drugTrim));
taurin 12:fd9d241843f4 332 }
YusukeWakuta 14:1f6dd929d7de 333 //pc.printf("eruronTrim:%f drugTrim:%f\n\r",eruronTrim,drugTrim);
YusukeWakuta 26:f14579683f98 334 pc.printf("eruronTrim:%f drugTrim:%f ",eruronTrim,drugTrim);
YusukeWakuta 59:f007e543f8c9 335 pc.printf("eMD:%f dMD:%f ei:%d\n\r",eruronMoveDeg,drugMoveDeg,eruronfloat);
taurin 4:450cafd95ac3 336 }
taurin 4:450cafd95ac3 337
YusukeWakuta 26:f14579683f98 338 void setMaxDeg()
YusukeWakuta 26:f14579683f98 339 {
taurin 4:450cafd95ac3 340 led4 = 1;
tsumagari 69:073116d31a56 341 float eruronTemp = (int)(setDeg10.read()*9)/10.0 + setDeg1.read()/10;
tsumagari 69:073116d31a56 342 float drugTemp = (int)(setDeg10.read()*9)/10.0 + setDeg1.read()/10;
YusukeWakuta 26:f14579683f98 343 if(EDstatePin) {
YusukeWakuta 26:f14579683f98 344 eruronMoveDeg = eruronTemp-eruronTrim;
YusukeWakuta 49:8522856fe0cd 345 eruronServo.pulsewidth(calcPulse(eruronTemp));
YusukeWakuta 26:f14579683f98 346 } else {
tsumagari 68:ae3c3500074c 347 drugMoveDeg = drugTemp-drugTrim;
YusukeWakuta 26:f14579683f98 348 drugServo.pulsewidth(calcPulse(drugTemp));
taurin 12:fd9d241843f4 349 }
YusukeWakuta 14:1f6dd929d7de 350 pc.printf("eruronTrim:%f drugTrim:%f ",eruronTrim,drugTrim);
YusukeWakuta 59:f007e543f8c9 351 pc.printf("eMD:%f dMD:%f ef:%d\n\r",eruronMoveDeg,drugMoveDeg,eruronfloat);
taurin 4:450cafd95ac3 352 wait_us(10);
taurin 1:9cc932a16d17 353 }
taurin 0:e052602db102 354
YusukeWakuta 26:f14579683f98 355 int main()
YusukeWakuta 26:f14579683f98 356 {
taurin 0:e052602db102 357 init();
YusukeWakuta 42:bf98a29e81ac 358 Thread mpu_thread(&mpuProcessing);
YusukeWakuta 26:f14579683f98 359
YusukeWakuta 24:d416722b4aad 360 // start motion
tsumagari 33:d075918d4846 361 // gTimer.attach_us(&XbusIntervalHandler, 1000000 / kMotionInterval);
YusukeWakuta 26:f14579683f98 362
YusukeWakuta 26:f14579683f98 363 while(1) {
tsumagari 68:ae3c3500074c 364 if(InSetModePin){
tsumagari 68:ae3c3500074c 365 do{
tsumagari 68:ae3c3500074c 366 if(TrimMaxDegPin)
tsumagari 68:ae3c3500074c 367 setTrim();
tsumagari 68:ae3c3500074c 368 else
tsumagari 68:ae3c3500074c 369 setMaxDeg();
tsumagari 68:ae3c3500074c 370 }while(InSetModePin);
tsumagari 67:94fe2180f39a 371 writeConfig();
taurin 4:450cafd95ac3 372 }
taurin 4:450cafd95ac3 373 led4 = 0;
YusukeWakuta 44:624a4469ae21 374 led2 = 0;
tsumagari 68:ae3c3500074c 375 receiveDatas();
tsumagari 71:a00561d455d1 376 sendDatas();
tsumagari 71:a00561d455d1 377 pc.printf("V:%f\n\r",V);
taurin 1:9cc932a16d17 378 WriteServo();
taurin 4:450cafd95ac3 379 updateDatas();
tsumagari 22:b38bc18ec3a1 380 led3 = !led3;
taurin 2:7fcb4f970a02 381 wait(WAIT_LOOP_TIME);
taurin 0:e052602db102 382 }
taurin 0:e052602db102 383 }