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@50:b3a8f8e88c50, 2017-03-29 (annotated)

Committer:
YusukeWakuta
Date:
Wed Mar 29 04:52:00 2017 +0000
Branch:
mpu????????
Revision:
50:b3a8f8e88c50
Parent:
49:8522856fe0cd
Child:
51:eafff055a3f4
calcPulse???????????????????

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
YusukeWakuta 47:5e3a836deaba 11 #define CONTROL_VALUES_NUM 7
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 49:8522856fe0cd 19 #define ERURON_MOVE_DEG_INI_R 0.45
YusukeWakuta 48:0bd406fa4a7f 20 #define DRUG_MOVE_DEG_INI_R -0.07
YusukeWakuta 49:8522856fe0cd 21 #define ERURON_TRIM_INI_R 0.41
YusukeWakuta 47:5e3a836deaba 22 #define DRUG_TRIM_INI_R 0.62
taurin 12:fd9d241843f4 23
YusukeWakuta 49:8522856fe0cd 24 #define ERURON_MOVE_DEG_INI_L 0.35
YusukeWakuta 48:0bd406fa4a7f 25 #define DRUG_MOVE_DEG_INI_L -0.10
YusukeWakuta 44:624a4469ae21 26 #define ERURON_TRIM_INI_L 0.4
YusukeWakuta 47:5e3a836deaba 27 #define DRUG_TRIM_INI_L 0.68//値を小さくすると開く側
taurin 2:7fcb4f970a02 28
YusukeWakuta 49:8522856fe0cd 29 #define PHASE_NUM 12.0 //奇数にしてください。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 30
YusukeWakuta 38:b492990e2b56 31 /*ドラッグラダー
YusukeWakuta 37:1f71ca1e5dd1 32 初期値 0.65
YusukeWakuta 37:1f71ca1e5dd1 33 最大角0.99
YusukeWakuta 36:ddf4aa818e88 34 */
YusukeWakuta 24:d416722b4aad 35
taurin 0:e052602db102 36 CAN can(p30,p29);
taurin 0:e052602db102 37 CANMessage recmsg;
taurin 0:e052602db102 38 Serial pc(USBTX,USBRX);
taurin 0:e052602db102 39 I2C ina226_i2c(p28,p27);
taurin 0:e052602db102 40 INA226 VCmonitor(ina226_i2c);
taurin 13:5e3b4120dbbf 41 PwmOut drugServo(p22);
tsumagari 33:d075918d4846 42 PwmOut eruronServo(p23);
taurin 1:9cc932a16d17 43 DigitalOut led1(LED1);
taurin 4:450cafd95ac3 44 AnalogIn drugAna(p20);
taurin 4:450cafd95ac3 45 AnalogIn eruronAna(p19);
YusukeWakuta 48:0bd406fa4a7f 46 DigitalIn IsRPin(p11);
YusukeWakuta 28:99686a3f0e86 47 DigitalIn setTrimPin(p12);
YusukeWakuta 28:99686a3f0e86 48 DigitalIn EDstatePin(p14);
YusukeWakuta 28:99686a3f0e86 49 DigitalIn setMaxDegPin(p15);
YusukeWakuta 44:624a4469ae21 50 DigitalOut led2(LED2);
taurin 4:450cafd95ac3 51 DigitalOut led3(LED3);
taurin 4:450cafd95ac3 52 DigitalOut led4(LED4);
taurin 4:450cafd95ac3 53 Ticker sendDatasTicker;
tsumagari 22:b38bc18ec3a1 54 //Ticker toStringTicker;
taurin 16:82310bf7c326 55 Ticker receiveDatasTicker;
YusukeWakuta 42:bf98a29e81ac 56 MPU6050 mpu6050;
YusukeWakuta 42:bf98a29e81ac 57 Timer t;
YusukeWakuta 42:bf98a29e81ac 58
YusukeWakuta 42:bf98a29e81ac 59 //Set up I2C, (SDA,SCL)
YusukeWakuta 42:bf98a29e81ac 60 I2C i2c_mpu(p9,p10);
taurin 16:82310bf7c326 61
taurin 0:e052602db102 62 char toSendDatas[TO_SEND_DATAS_NUM];
YusukeWakuta 45:e3df49d7b912 63 char controlValues[sizeof(int) +3];//0~3:eruruon,4( sizeof(float)で指定してください ):drug
YusukeWakuta 42:bf98a29e81ac 64 char intvalues[sizeof(int)];
taurin 12:fd9d241843f4 65 float eruronTrim;
taurin 12:fd9d241843f4 66 float drugTrim;
taurin 12:fd9d241843f4 67 float eruronMoveDeg;
taurin 12:fd9d241843f4 68 float drugMoveDeg;
YusukeWakuta 44:624a4469ae21 69 int eruronint = 1;
taurin 0:e052602db102 70 unsigned short ina_val;
taurin 0:e052602db102 71 double V,C;
taurin 0:e052602db102 72 bool SERVO_FLAG;
taurin 0:e052602db102 73 bool INA_FLAG;
tsumagari 22:b38bc18ec3a1 74 bool MPU_FLAG;
YusukeWakuta 31:5d22ebe5f705 75 uint16_t XbusValue;
YusukeWakuta 42:bf98a29e81ac 76 int gyroX;
YusukeWakuta 42:bf98a29e81ac 77 int gyroY;
YusukeWakuta 42:bf98a29e81ac 78 int gyroZ;
YusukeWakuta 42:bf98a29e81ac 79 float sum = 0;
YusukeWakuta 42:bf98a29e81ac 80 uint32_t sumCount = 0;
taurin 0:e052602db102 81
tsumagari 22:b38bc18ec3a1 82 char gyro_c[6] = {0,0,0,0,0,0};
taurin 4:450cafd95ac3 83
taurin 4:450cafd95ac3 84 void toString();
taurin 16:82310bf7c326 85 void receiveDatas();
taurin 16:82310bf7c326 86 void WriteServo();
YusukeWakuta 42:bf98a29e81ac 87 void MpuInit();
YusukeWakuta 42:bf98a29e81ac 88 void mpuProcessing(void const *arg);
taurin 0:e052602db102 89
YusukeWakuta 24:d416722b4aad 90 Ticker gTimer;
YusukeWakuta 24:d416722b4aad 91
YusukeWakuta 26:f14579683f98 92 bool servoInit()
YusukeWakuta 26:f14579683f98 93 {
taurin 4:450cafd95ac3 94 drugServo.period_ms(INIT_SERVO_PERIOD_MS);
taurin 0:e052602db102 95 return true;
taurin 0:e052602db102 96 }
taurin 0:e052602db102 97
YusukeWakuta 26:f14579683f98 98 void sendDatas()
YusukeWakuta 24:d416722b4aad 99 {
YusukeWakuta 26:f14579683f98 100 if(can.write(CANMessage(TO_SEND_CAN_ID, toSendDatas, TO_SEND_DATAS_NUM))) {
taurin 4:450cafd95ac3 101 }
taurin 4:450cafd95ac3 102 }
taurin 4:450cafd95ac3 103
YusukeWakuta 42:bf98a29e81ac 104 void MpuInit()
YusukeWakuta 42:bf98a29e81ac 105 {
YusukeWakuta 42:bf98a29e81ac 106 i2c_mpu.frequency(400000); // use fast (400 kHz) I2C
YusukeWakuta 42:bf98a29e81ac 107 t.start();
YusukeWakuta 42:bf98a29e81ac 108 uint8_t whoami = mpu6050.readByte(MPU6050_ADDRESS, WHO_AM_I_MPU6050); // Read WHO_AM_I register for MPU-6050
YusukeWakuta 42:bf98a29e81ac 109 if (whoami == 0x68) { // WHO_AM_I should always be 0x68
YusukeWakuta 42:bf98a29e81ac 110 Thread::wait(100);
YusukeWakuta 42:bf98a29e81ac 111 mpu6050.MPU6050SelfTest(SelfTest); // Start by performing self test and reporting values
YusukeWakuta 42:bf98a29e81ac 112 Thread::wait(100);
YusukeWakuta 42:bf98a29e81ac 113 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 114 mpu6050.resetMPU6050(); // Reset registers to default in preparation for device calibration
YusukeWakuta 42:bf98a29e81ac 115 mpu6050.calibrateMPU6050(gyroBias, accelBias); // Calibrate gyro and accelerometers, load biases in bias registers
YusukeWakuta 42:bf98a29e81ac 116 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 117 Thread::wait(200);
YusukeWakuta 42:bf98a29e81ac 118 } else {
YusukeWakuta 42:bf98a29e81ac 119 }
YusukeWakuta 42:bf98a29e81ac 120 } else {
YusukeWakuta 42:bf98a29e81ac 121 //pc.printf("out\n\r"); // Loop forever if communication doesn't happen
YusukeWakuta 42:bf98a29e81ac 122 }
YusukeWakuta 42:bf98a29e81ac 123 }
YusukeWakuta 42:bf98a29e81ac 124
YusukeWakuta 42:bf98a29e81ac 125
YusukeWakuta 42:bf98a29e81ac 126 void mpuProcessing(void const *arg)
YusukeWakuta 42:bf98a29e81ac 127 {
YusukeWakuta 42:bf98a29e81ac 128 MpuInit();
YusukeWakuta 42:bf98a29e81ac 129 while(1) {
YusukeWakuta 42:bf98a29e81ac 130 if(mpu6050.readByte(MPU6050_ADDRESS, INT_STATUS) & 0x01) { // check if data ready interrupt
YusukeWakuta 42:bf98a29e81ac 131 mpu6050.readAccelData(accelCount); // Read the x/y/z adc values
YusukeWakuta 42:bf98a29e81ac 132 mpu6050.getAres();
YusukeWakuta 42:bf98a29e81ac 133 ax = (float)accelCount[0]*aRes - accelBias[0]; // get actual g value, this depends on scale being set
YusukeWakuta 42:bf98a29e81ac 134 ay = (float)accelCount[1]*aRes - accelBias[1];
YusukeWakuta 42:bf98a29e81ac 135 az = (float)accelCount[2]*aRes - accelBias[2];
YusukeWakuta 42:bf98a29e81ac 136 mpu6050.readGyroData(gyroCount); // Read the x/y/z adc values
YusukeWakuta 42:bf98a29e81ac 137 mpu6050.getGres();
YusukeWakuta 42:bf98a29e81ac 138 gx = (float)gyroCount[0]*gRes; // - gyroBias[0]; // get actual gyro value, this depends on scale being set
YusukeWakuta 42:bf98a29e81ac 139 gy = (float)gyroCount[1]*gRes; // - gyroBias[1];
YusukeWakuta 42:bf98a29e81ac 140 gz = (float)gyroCount[2]*gRes; // - gyroBias[2];
YusukeWakuta 42:bf98a29e81ac 141 tempCount = mpu6050.readTempData(); // Read the x/y/z adc values
YusukeWakuta 42:bf98a29e81ac 142 temperature = (tempCount) / 340. + 36.53; // Temperature in degrees Centigrade
YusukeWakuta 42:bf98a29e81ac 143 }
YusukeWakuta 42:bf98a29e81ac 144 Now = t.read_us();
YusukeWakuta 42:bf98a29e81ac 145 deltat = (float)((Now - lastUpdate)/1000000.0f) ; // set integration time by time elapsed since last filter update
YusukeWakuta 42:bf98a29e81ac 146 lastUpdate = Now;
YusukeWakuta 42:bf98a29e81ac 147 sum += deltat;
YusukeWakuta 42:bf98a29e81ac 148 sumCount++;
YusukeWakuta 42:bf98a29e81ac 149 if(lastUpdate - firstUpdate > 10000000.0f) {
YusukeWakuta 42:bf98a29e81ac 150 beta = 0.04; // decrease filter gain after stabilized
YusukeWakuta 42:bf98a29e81ac 151 zeta = 0.015; // increasey bias drift gain after stabilized
YusukeWakuta 42:bf98a29e81ac 152 }
YusukeWakuta 42:bf98a29e81ac 153 mpu6050.MadgwickQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f);
YusukeWakuta 42:bf98a29e81ac 154 delt_t = t.read_ms() - count;
YusukeWakuta 42:bf98a29e81ac 155 if (delt_t > MPU_DELT_MIN) {
YusukeWakuta 42:bf98a29e81ac 156 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 157 pitch = -asin(2.0f * (q[1] * q[3] - q[0] * q[2]));
YusukeWakuta 42:bf98a29e81ac 158 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 159 pitch *= 180.0f / PI;
YusukeWakuta 42:bf98a29e81ac 160 yaw *= 180.0f / PI;
YusukeWakuta 42:bf98a29e81ac 161 roll *= 180.0f / PI;
YusukeWakuta 48:0bd406fa4a7f 162 // myled= !myled;
YusukeWakuta 42:bf98a29e81ac 163 count = t.read_ms();
YusukeWakuta 42:bf98a29e81ac 164 sum = 0;
YusukeWakuta 42:bf98a29e81ac 165 sumCount = 0;
YusukeWakuta 42:bf98a29e81ac 166 }
YusukeWakuta 42:bf98a29e81ac 167 Thread::wait(1);
YusukeWakuta 42:bf98a29e81ac 168 }//while(1)
YusukeWakuta 42:bf98a29e81ac 169 }
YusukeWakuta 42:bf98a29e81ac 170
YusukeWakuta 42:bf98a29e81ac 171
YusukeWakuta 26:f14579683f98 172 bool inaInit()
YusukeWakuta 26:f14579683f98 173 {
YusukeWakuta 26:f14579683f98 174 if(!VCmonitor.isExist()) {
taurin 0:e052602db102 175 pc.printf("VCmonitor NOT FOUND\n");
taurin 0:e052602db102 176 return false;
taurin 0:e052602db102 177 }
taurin 0:e052602db102 178 ina_val = 0;
YusukeWakuta 26:f14579683f98 179 if(VCmonitor.rawRead(0x00,&ina_val) != 0) {
taurin 0:e052602db102 180 pc.printf("VCmonitor READ ERROR\n");
taurin 0:e052602db102 181 return false;
taurin 0:e052602db102 182 }
taurin 0:e052602db102 183 VCmonitor.setCurrentCalibration();
taurin 0:e052602db102 184 return true;
taurin 0:e052602db102 185 }
taurin 0:e052602db102 186
YusukeWakuta 26:f14579683f98 187 void init()
YusukeWakuta 26:f14579683f98 188 {
YusukeWakuta 48:0bd406fa4a7f 189 if(IsRPin) {
YusukeWakuta 48:0bd406fa4a7f 190 eruronTrim = ERURON_TRIM_INI_R;
YusukeWakuta 48:0bd406fa4a7f 191 drugTrim = DRUG_TRIM_INI_R;
YusukeWakuta 48:0bd406fa4a7f 192 eruronMoveDeg = ERURON_MOVE_DEG_INI_R;
YusukeWakuta 48:0bd406fa4a7f 193 drugMoveDeg =DRUG_MOVE_DEG_INI_R;
YusukeWakuta 48:0bd406fa4a7f 194 } else {
taurin 13:5e3b4120dbbf 195 eruronTrim = ERURON_TRIM_INI_L;
taurin 13:5e3b4120dbbf 196 drugTrim = DRUG_TRIM_INI_L;
taurin 13:5e3b4120dbbf 197 eruronMoveDeg = ERURON_MOVE_DEG_INI_L;
taurin 13:5e3b4120dbbf 198 drugMoveDeg = DRUG_MOVE_DEG_INI_L;
taurin 12:fd9d241843f4 199 }
taurin 0:e052602db102 200 SERVO_FLAG = servoInit();
taurin 0:e052602db102 201 INA_FLAG = inaInit();
taurin 4:450cafd95ac3 202 sendDatasTicker.attach(&sendDatas,SEND_DATAS_LOOP_TIME);
taurin 16:82310bf7c326 203 // toStringTicker.attach(&toString,0.5);
taurin 16:82310bf7c326 204 receiveDatasTicker.attach(&receiveDatas,RECEIVE_DATAS_LOOP_TIME);
YusukeWakuta 24:d416722b4aad 205
YusukeWakuta 36:ddf4aa818e88 206 // initXBus();
taurin 0:e052602db102 207 }
taurin 0:e052602db102 208
YusukeWakuta 26:f14579683f98 209 void updateDatas()
YusukeWakuta 26:f14579683f98 210 {
YusukeWakuta 26:f14579683f98 211 if(INA_FLAG) {
taurin 0:e052602db102 212 int tmp = VCmonitor.getVoltage(&V);
taurin 0:e052602db102 213 tmp = VCmonitor.getCurrent(&C);
taurin 0:e052602db102 214 }
YusukeWakuta 42:bf98a29e81ac 215
YusukeWakuta 26:f14579683f98 216 for(int i = 0; i < TO_SEND_DATAS_NUM - 1; i++) {
tsumagari 22:b38bc18ec3a1 217 toSendDatas[i] = gyro_c[i];
tsumagari 22:b38bc18ec3a1 218 }
tsumagari 22:b38bc18ec3a1 219 // toSendDatas[TO_SEND_DATAS_NUM - 1] = (char)(V/100);
YusukeWakuta 40:ad98da5da7bf 220 toSendDatas[TO_SEND_DATAS_NUM - 1] = (char)V;
taurin 0:e052602db102 221 }
taurin 0:e052602db102 222
YusukeWakuta 26:f14579683f98 223 void receiveDatas()
YusukeWakuta 26:f14579683f98 224 {
YusukeWakuta 26:f14579683f98 225 if(can.read(recmsg)) {
YusukeWakuta 26:f14579683f98 226 for(int i = 0; i < CONTROL_VALUES_NUM; i++) {
YusukeWakuta 3:4417217b4f66 227 controlValues[i] = recmsg.data[i];
YusukeWakuta 42:bf98a29e81ac 228 if(i<sizeof(int)) intvalues[i] = controlValues[i];
taurin 0:e052602db102 229 }
YusukeWakuta 44:624a4469ae21 230 // intvalues[0] = controlValues[0];
YusukeWakuta 42:bf98a29e81ac 231 eruronint = *(const int *)intvalues;
taurin 1:9cc932a16d17 232 led1 = !led1;
taurin 0:e052602db102 233 }
taurin 0:e052602db102 234 }
taurin 0:e052602db102 235
YusukeWakuta 42:bf98a29e81ac 236 double calcPulse(float analog)
YusukeWakuta 26:f14579683f98 237 {
YusukeWakuta 50:b3a8f8e88c50 238 double min = 0.0006;
YusukeWakuta 50:b3a8f8e88c50 239 double max = 0.00240;
YusukeWakuta 50:b3a8f8e88c50 240 if(analog >= max)
YusukeWakuta 50:b3a8f8e88c50 241 analog = max;
YusukeWakuta 50:b3a8f8e88c50 242 else if(analog <= min)
YusukeWakuta 50:b3a8f8e88c50 243 analog = min;
YusukeWakuta 50:b3a8f8e88c50 244
YusukeWakuta 50:b3a8f8e88c50 245 return (min+(analog)*(max-min));
YusukeWakuta 37:1f71ca1e5dd1 246 /*
YusukeWakuta 37:1f71ca1e5dd1 247 int start=510, end=2390;
YusukeWakuta 37:1f71ca1e5dd1 248 while(1) {
YusukeWakuta 37:1f71ca1e5dd1 249 // pc.printf("%f\n\r",(start + (double)(end - start) * analogIn.read()));
YusukeWakuta 37:1f71ca1e5dd1 250 pc.printf("%f\n\r",analogIn.read());
YusukeWakuta 37:1f71ca1e5dd1 251 pwm.pulsewidth_us(start + (double)(end - start) * analogIn.read());
YusukeWakuta 37:1f71ca1e5dd1 252 */
taurin 1:9cc932a16d17 253 }
taurin 1:9cc932a16d17 254
YusukeWakuta 29:516a5d383488 255 void WriteServo()
YusukeWakuta 26:f14579683f98 256 {
YusukeWakuta 45:e3df49d7b912 257 drugServo.pulsewidth(calcPulse(drugTrim + drugMoveDeg *(float)controlValues[sizeof(int) + 2]));
YusukeWakuta 49:8522856fe0cd 258 eruronServo.pulsewidth(calcPulse( eruronTrim + eruronMoveDeg * (1.0/PHASE_NUM) * (eruronint - 6.0)));
YusukeWakuta 48:0bd406fa4a7f 259 pc.printf("WriteNum:%f ",calcPulse( eruronTrim + eruronMoveDeg * (1.0/PHASE_NUM) * eruronint));
YusukeWakuta 49:8522856fe0cd 260 pc.printf("drValue::%f ef::%f\n\r",drugTrim + drugMoveDeg *(float)controlValues[sizeof(int) + 2],eruronTrim + eruronMoveDeg * (1.0/PHASE_NUM) * (eruronint - 6.0));
YusukeWakuta 37:1f71ca1e5dd1 261 // pc.printf("raw:%f sampled:%f\n\r",eruronfloat /3.0,SampleFloat(eruronfloat / 3.0));
taurin 4:450cafd95ac3 262 }
taurin 4:450cafd95ac3 263
YusukeWakuta 26:f14579683f98 264 void setTrim()
YusukeWakuta 26:f14579683f98 265 {
YusukeWakuta 44:624a4469ae21 266 led2 = 1;
YusukeWakuta 26:f14579683f98 267 if(EDstatePin) {
YusukeWakuta 26:f14579683f98 268 eruronTrim = eruronAna.read();
YusukeWakuta 50:b3a8f8e88c50 269 eruronServo.pulsewidth(calcPulse(eruronTrim));
YusukeWakuta 26:f14579683f98 270 } else {
YusukeWakuta 37:1f71ca1e5dd1 271 drugTrim = drugAna.read();
YusukeWakuta 26:f14579683f98 272 drugServo.pulsewidth(calcPulse(drugTrim));
taurin 12:fd9d241843f4 273 }
YusukeWakuta 14:1f6dd929d7de 274 //pc.printf("eruronTrim:%f drugTrim:%f\n\r",eruronTrim,drugTrim);
YusukeWakuta 26:f14579683f98 275 pc.printf("eruronTrim:%f drugTrim:%f ",eruronTrim,drugTrim);
YusukeWakuta 42:bf98a29e81ac 276 pc.printf("eMD:%f dMD:%f ei:%d\n\r",eruronMoveDeg,drugMoveDeg,eruronint);
taurin 4:450cafd95ac3 277 }
taurin 4:450cafd95ac3 278
YusukeWakuta 26:f14579683f98 279 void setMaxDeg()
YusukeWakuta 26:f14579683f98 280 {
taurin 4:450cafd95ac3 281 led4 = 1;
YusukeWakuta 26:f14579683f98 282 float eruronTemp = eruronAna.read();
YusukeWakuta 37:1f71ca1e5dd1 283 float drugTemp = drugAna.read();
YusukeWakuta 26:f14579683f98 284 if(EDstatePin) {
YusukeWakuta 26:f14579683f98 285 eruronMoveDeg = eruronTemp-eruronTrim;
YusukeWakuta 49:8522856fe0cd 286 eruronServo.pulsewidth(calcPulse(eruronTemp));
YusukeWakuta 26:f14579683f98 287 } else {
YusukeWakuta 26:f14579683f98 288 drugServo.pulsewidth(calcPulse(drugTemp));
YusukeWakuta 26:f14579683f98 289 drugMoveDeg = drugTemp-drugTrim;
taurin 12:fd9d241843f4 290 }
YusukeWakuta 14:1f6dd929d7de 291 pc.printf("eruronTrim:%f drugTrim:%f ",eruronTrim,drugTrim);
YusukeWakuta 42:bf98a29e81ac 292 pc.printf("eMD:%f dMD:%f ef:%d\n\r",eruronMoveDeg,drugMoveDeg,eruronint);
taurin 4:450cafd95ac3 293 wait_us(10);
taurin 1:9cc932a16d17 294 }
taurin 0:e052602db102 295
YusukeWakuta 26:f14579683f98 296 int main()
YusukeWakuta 26:f14579683f98 297 {
taurin 0:e052602db102 298 init();
YusukeWakuta 31:5d22ebe5f705 299
YusukeWakuta 30:00041540e23c 300 setTrimPin.mode(PullDown);
YusukeWakuta 30:00041540e23c 301 setMaxDegPin.mode(PullDown);
YusukeWakuta 30:00041540e23c 302 EDstatePin.mode(PullDown);
YusukeWakuta 48:0bd406fa4a7f 303 IsRPin.mode(PullDown);
YusukeWakuta 42:bf98a29e81ac 304 Thread mpu_thread(&mpuProcessing);
YusukeWakuta 26:f14579683f98 305
YusukeWakuta 24:d416722b4aad 306 // start motion
tsumagari 33:d075918d4846 307 // gTimer.attach_us(&XbusIntervalHandler, 1000000 / kMotionInterval);
YusukeWakuta 26:f14579683f98 308
YusukeWakuta 26:f14579683f98 309 while(1) {
YusukeWakuta 26:f14579683f98 310 while(setTrimPin) {
taurin 4:450cafd95ac3 311 setTrim();
taurin 4:450cafd95ac3 312 }
YusukeWakuta 26:f14579683f98 313 while (setMaxDegPin) {
YusukeWakuta 29:516a5d383488 314 setMaxDeg();
taurin 4:450cafd95ac3 315 }
YusukeWakuta 42:bf98a29e81ac 316 // pc.printf("eruronTrim:%f drugTrim:%f ",eruronTrim,drugTrim);
YusukeWakuta 42:bf98a29e81ac 317 //// pc.printf("eMD:%f dMD:%f ",eruronMoveDeg,drugMoveDeg);
YusukeWakuta 42:bf98a29e81ac 318 // pc.printf("pitch:%d roll:%d yaw:%d\n\r",pitch,roll,yaw);
taurin 4:450cafd95ac3 319 led4 = 0;
YusukeWakuta 44:624a4469ae21 320 led2 = 0;
taurin 16:82310bf7c326 321 //receiveDatas();
tsumagari 22:b38bc18ec3a1 322 // sendDatas();
taurin 1:9cc932a16d17 323 WriteServo();
taurin 4:450cafd95ac3 324 updateDatas();
tsumagari 22:b38bc18ec3a1 325 led3 = !led3;
taurin 2:7fcb4f970a02 326 wait(WAIT_LOOP_TIME);
taurin 0:e052602db102 327 }
taurin 0:e052602db102 328 }