test
Dependencies: HMC6352 PID mbed
Fork of ver1_2_2 by
main.cpp@1:89408fff7cc9, 2013-03-10 (annotated)
- Committer:
- akudohune
- Date:
- Sun Mar 10 07:31:31 2013 +0000
- Revision:
- 1:89408fff7cc9
- Parent:
- 0:74bf4953c0d1
new_cup;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
akudohune | 0:74bf4953c0d1 | 1 | #include <math.h> |
akudohune | 0:74bf4953c0d1 | 2 | #include <sstream> |
akudohune | 0:74bf4953c0d1 | 3 | #include "mbed.h" |
akudohune | 0:74bf4953c0d1 | 4 | #include "HMC6352.h" |
akudohune | 0:74bf4953c0d1 | 5 | #include "PID.h" |
akudohune | 0:74bf4953c0d1 | 6 | #include "main.h" |
akudohune | 0:74bf4953c0d1 | 7 | |
akudohune | 0:74bf4953c0d1 | 8 | |
akudohune | 1:89408fff7cc9 | 9 | |
akudohune | 1:89408fff7cc9 | 10 | void PidUpdata() |
akudohune | 1:89408fff7cc9 | 11 | { |
akudohune | 1:89408fff7cc9 | 12 | inputPID = (((int)(compass.sample() - (standard * 10.0) + 5400.0) % 3600) / 10.0); |
akudohune | 1:89408fff7cc9 | 13 | |
akudohune | 1:89408fff7cc9 | 14 | //pc.printf("%f\n",timer1.read()); |
akudohune | 1:89408fff7cc9 | 15 | pid.setProcessValue(inputPID); |
akudohune | 1:89408fff7cc9 | 16 | //timer1.reset(); |
akudohune | 1:89408fff7cc9 | 17 | |
akudohune | 1:89408fff7cc9 | 18 | compassPID = -(pid.compute()); |
akudohune | 1:89408fff7cc9 | 19 | |
akudohune | 1:89408fff7cc9 | 20 | //pc.printf("%f\n",compassPID); |
akudohune | 1:89408fff7cc9 | 21 | |
akudohune | 1:89408fff7cc9 | 22 | } |
akudohune | 1:89408fff7cc9 | 23 | |
akudohune | 1:89408fff7cc9 | 24 | void move(int vxx, int vyy, int vss) |
akudohune | 1:89408fff7cc9 | 25 | { |
akudohune | 1:89408fff7cc9 | 26 | double motVal[MOT_NUM] = {0}; |
akudohune | 1:89408fff7cc9 | 27 | |
akudohune | 1:89408fff7cc9 | 28 | motVal[0] = (double)(((0.5 * vxx) + ((sqrt(3.0) / 2.0) * vyy) + (Long * -vss)) * MOT1); |
akudohune | 1:89408fff7cc9 | 29 | motVal[1] = (double)(((-0.5 * vxx) + ((sqrt(3.0) / 2.0) * vyy) + (Long * vss)) * MOT2); |
akudohune | 1:89408fff7cc9 | 30 | motVal[2] = (double)(((-0.5 * vxx) + ((sqrt(3.0) / 2.0) * vyy) + (Long * -vss)) * MOT3); |
akudohune | 1:89408fff7cc9 | 31 | motVal[3] = (double)(((0.5 * vxx) + ((sqrt(3.0) / 2.0) * vyy) + (Long * vss)) * MOT4); |
akudohune | 1:89408fff7cc9 | 32 | |
akudohune | 1:89408fff7cc9 | 33 | for(uint8_t i = 0 ; i < MOT_NUM ; i++){ |
akudohune | 1:89408fff7cc9 | 34 | if(motVal[i] > MAX_POW)motVal[i] = MAX_POW; |
akudohune | 1:89408fff7cc9 | 35 | else if(motVal[i] < MIN_POW)motVal[i] = MIN_POW; |
akudohune | 1:89408fff7cc9 | 36 | speed[i] = motVal[i]; |
akudohune | 1:89408fff7cc9 | 37 | } |
akudohune | 1:89408fff7cc9 | 38 | /* |
akudohune | 1:89408fff7cc9 | 39 | pc.printf("speed1 = %d\n",speed[0]); |
akudohune | 1:89408fff7cc9 | 40 | pc.printf("speed2 = %d\n",speed[1]); |
akudohune | 1:89408fff7cc9 | 41 | pc.printf("speed3 = %d\n",speed[2]); |
akudohune | 1:89408fff7cc9 | 42 | pc.printf("speed4 = %d\n\n",speed[3]); |
akudohune | 1:89408fff7cc9 | 43 | */ |
akudohune | 1:89408fff7cc9 | 44 | ////pc.printf("%s",StringFIN.c_str()); |
akudohune | 1:89408fff7cc9 | 45 | } |
akudohune | 1:89408fff7cc9 | 46 | |
akudohune | 0:74bf4953c0d1 | 47 | /*********** Serial interrupt ***********/ |
akudohune | 0:74bf4953c0d1 | 48 | |
akudohune | 0:74bf4953c0d1 | 49 | void Tx_interrupt() |
akudohune | 0:74bf4953c0d1 | 50 | { |
akudohune | 0:74bf4953c0d1 | 51 | array(speed[0],speed[1],speed[2],speed[3]); |
akudohune | 0:74bf4953c0d1 | 52 | driver.printf("%s",StringFIN.c_str()); |
akudohune | 0:74bf4953c0d1 | 53 | //pc.printf("%s",StringFIN.c_str()); |
akudohune | 0:74bf4953c0d1 | 54 | //pc.printf("compass.sample = %f\n",compass.sample() / 1.0); |
akudohune | 0:74bf4953c0d1 | 55 | } |
akudohune | 0:74bf4953c0d1 | 56 | /* |
akudohune | 0:74bf4953c0d1 | 57 | void Rx_interrupt() |
akudohune | 0:74bf4953c0d1 | 58 | { |
akudohune | 0:74bf4953c0d1 | 59 | if(driver.readable()){ |
akudohune | 0:74bf4953c0d1 | 60 | //pc.printf("%d\n",driver.getc()); |
akudohune | 0:74bf4953c0d1 | 61 | } |
akudohune | 0:74bf4953c0d1 | 62 | }*/ |
akudohune | 0:74bf4953c0d1 | 63 | |
akudohune | 0:74bf4953c0d1 | 64 | |
akudohune | 0:74bf4953c0d1 | 65 | /*********** Serial interrupt end **********/ |
akudohune | 0:74bf4953c0d1 | 66 | |
akudohune | 0:74bf4953c0d1 | 67 | |
akudohune | 0:74bf4953c0d1 | 68 | void init() |
akudohune | 0:74bf4953c0d1 | 69 | { |
akudohune | 0:74bf4953c0d1 | 70 | |
akudohune | 0:74bf4953c0d1 | 71 | compass.setOpMode(HMC6352_CONTINUOUS, 1, 20); |
akudohune | 0:74bf4953c0d1 | 72 | StartButton.mode(PullUp); |
akudohune | 0:74bf4953c0d1 | 73 | CalibEnterButton.mode(PullUp); |
akudohune | 0:74bf4953c0d1 | 74 | CalibExitButton.mode(PullUp); |
akudohune | 0:74bf4953c0d1 | 75 | driver.baud(BAUD_RATE); |
akudohune | 0:74bf4953c0d1 | 76 | wait_ms(MOTDRIVER_WAIT); |
akudohune | 0:74bf4953c0d1 | 77 | driver.printf("1F0002F0003F0004F000\r\n"); |
akudohune | 0:74bf4953c0d1 | 78 | |
akudohune | 0:74bf4953c0d1 | 79 | led1 = ON; |
akudohune | 0:74bf4953c0d1 | 80 | |
akudohune | 0:74bf4953c0d1 | 81 | while(StartButton){ |
akudohune | 0:74bf4953c0d1 | 82 | if(!CalibEnterButton){ |
akudohune | 0:74bf4953c0d1 | 83 | led1 = OFF; |
akudohune | 0:74bf4953c0d1 | 84 | led2 = ON; |
akudohune | 0:74bf4953c0d1 | 85 | compass.setCalibrationMode(ENTER); |
akudohune | 0:74bf4953c0d1 | 86 | while(CalibExitButton); |
akudohune | 0:74bf4953c0d1 | 87 | compass.setCalibrationMode(EXIT); |
akudohune | 0:74bf4953c0d1 | 88 | led2 = OFF; |
akudohune | 0:74bf4953c0d1 | 89 | led3 = ON; |
akudohune | 0:74bf4953c0d1 | 90 | } |
akudohune | 0:74bf4953c0d1 | 91 | } |
akudohune | 0:74bf4953c0d1 | 92 | |
akudohune | 0:74bf4953c0d1 | 93 | standard = compass.sample() / 10.0; |
akudohune | 1:89408fff7cc9 | 94 | |
akudohune | 0:74bf4953c0d1 | 95 | led1 = OFF; |
akudohune | 0:74bf4953c0d1 | 96 | led3 = OFF; |
akudohune | 0:74bf4953c0d1 | 97 | |
akudohune | 0:74bf4953c0d1 | 98 | pid.setInputLimits(0.0, 360.0); |
akudohune | 0:74bf4953c0d1 | 99 | pid.setOutputLimits(-OUT_LIMIT, OUT_LIMIT); |
akudohune | 0:74bf4953c0d1 | 100 | pid.setBias(0.0); |
akudohune | 0:74bf4953c0d1 | 101 | pid.setMode(AUTO_MODE); |
akudohune | 0:74bf4953c0d1 | 102 | pid.setSetPoint(180.0); |
akudohune | 0:74bf4953c0d1 | 103 | |
akudohune | 0:74bf4953c0d1 | 104 | pidUpdata.attach(&PidUpdata, 0.06); |
akudohune | 0:74bf4953c0d1 | 105 | wait(1); |
akudohune | 0:74bf4953c0d1 | 106 | IR.attach(&IR_Position,0.04); |
akudohune | 0:74bf4953c0d1 | 107 | ultrasonic.attach(&Ultrasonic, 0.05); |
akudohune | 0:74bf4953c0d1 | 108 | driver.attach(&Tx_interrupt, Serial::TxIrq); |
akudohune | 0:74bf4953c0d1 | 109 | //driver.attach(&Rx_interrupt, Serial::RxIrq); |
akudohune | 0:74bf4953c0d1 | 110 | |
akudohune | 0:74bf4953c0d1 | 111 | timer1.start(); |
akudohune | 0:74bf4953c0d1 | 112 | timer2.start(); |
akudohune | 0:74bf4953c0d1 | 113 | } |
akudohune | 0:74bf4953c0d1 | 114 | |
akudohune | 0:74bf4953c0d1 | 115 | int main() |
akudohune | 0:74bf4953c0d1 | 116 | { |
akudohune | 0:74bf4953c0d1 | 117 | int vx=0,vy=0,vs=0; |
akudohune | 0:74bf4953c0d1 | 118 | int state = HOME_WAIT; |
akudohune | 0:74bf4953c0d1 | 119 | |
akudohune | 0:74bf4953c0d1 | 120 | init(); |
akudohune | 0:74bf4953c0d1 | 121 | |
akudohune | 0:74bf4953c0d1 | 122 | while(1) { |
akudohune | 0:74bf4953c0d1 | 123 | |
akudohune | 0:74bf4953c0d1 | 124 | vs = compassPID; |
akudohune | 0:74bf4953c0d1 | 125 | //vx = 15; |
akudohune | 0:74bf4953c0d1 | 126 | //vy = 10; |
akudohune | 1:89408fff7cc9 | 127 | |
akudohune | 0:74bf4953c0d1 | 128 | /* |
akudohune | 0:74bf4953c0d1 | 129 | if(IR_found){ |
akudohune | 0:74bf4953c0d1 | 130 | if((direction == 4) || (direction == 12)||(direction == 3) || (direction == 5) || (direction ==11) || (direction == 13)){ |
akudohune | 1:89408fff7cc9 | 131 | vx = (int)(70*ball_sankaku[direction][0]); |
akudohune | 1:89408fff7cc9 | 132 | vy = (int)(70*ball_sankaku[direction][1]); |
akudohune | 0:74bf4953c0d1 | 133 | }else{ |
akudohune | 1:89408fff7cc9 | 134 | vx = (int)(70*ball_sankaku[direction][0]); |
akudohune | 1:89408fff7cc9 | 135 | vy = (int)(70*ball_sankaku[direction][1]); |
akudohune | 0:74bf4953c0d1 | 136 | } |
akudohune | 0:74bf4953c0d1 | 137 | }else{ |
akudohune | 0:74bf4953c0d1 | 138 | vx = 0; |
akudohune | 0:74bf4953c0d1 | 139 | vy = 0; |
akudohune | 0:74bf4953c0d1 | 140 | } |
akudohune | 0:74bf4953c0d1 | 141 | */ |
akudohune | 1:89408fff7cc9 | 142 | |
akudohune | 0:74bf4953c0d1 | 143 | /* |
akudohune | 0:74bf4953c0d1 | 144 | if(IR_found)state = DIFFENCE; |
akudohune | 0:74bf4953c0d1 | 145 | else state = HOME_WAIT; |
akudohune | 1:89408fff7cc9 | 146 | */ |
akudohune | 1:89408fff7cc9 | 147 | /* |
akudohune | 0:74bf4953c0d1 | 148 | if(state == HOME_WAIT){ |
akudohune | 0:74bf4953c0d1 | 149 | if((ultrasonicVal[0] + ultrasonicVal[2]) < 6000){ |
akudohune | 0:74bf4953c0d1 | 150 | if(ultrasonicVal[0] > 3200){ |
akudohune | 0:74bf4953c0d1 | 151 | vx = 15; |
akudohune | 0:74bf4953c0d1 | 152 | vy = 0; |
akudohune | 0:74bf4953c0d1 | 153 | }else if(ultrasonicVal[2] > 3200){ |
akudohune | 0:74bf4953c0d1 | 154 | vx = -15; |
akudohune | 0:74bf4953c0d1 | 155 | vy = 0; |
akudohune | 0:74bf4953c0d1 | 156 | }else{ |
akudohune | 1:89408fff7cc9 | 157 | if(ultrasonicVal[1] > 800){ |
akudohune | 0:74bf4953c0d1 | 158 | vx = 0; |
akudohune | 0:74bf4953c0d1 | 159 | vy = -15; |
akudohune | 0:74bf4953c0d1 | 160 | }else{ |
akudohune | 0:74bf4953c0d1 | 161 | vx = 0; |
akudohune | 0:74bf4953c0d1 | 162 | vy = 0; |
akudohune | 0:74bf4953c0d1 | 163 | } |
akudohune | 0:74bf4953c0d1 | 164 | } |
akudohune | 0:74bf4953c0d1 | 165 | }else{ |
akudohune | 0:74bf4953c0d1 | 166 | vx = 0; |
akudohune | 0:74bf4953c0d1 | 167 | vy = 0; |
akudohune | 0:74bf4953c0d1 | 168 | } |
akudohune | 0:74bf4953c0d1 | 169 | }else if(state == DIFFENCE){ |
akudohune | 1:89408fff7cc9 | 170 | if(ultrasonicVal[1] > 800){ |
akudohune | 1:89408fff7cc9 | 171 | vx = 0; |
akudohune | 1:89408fff7cc9 | 172 | vy = -15; |
akudohune | 1:89408fff7cc9 | 173 | }else{ |
akudohune | 1:89408fff7cc9 | 174 | if(distance <= 30){ |
akudohune | 1:89408fff7cc9 | 175 | |
akudohune | 1:89408fff7cc9 | 176 | if((direction == 1) || (direction == 2) || (direction == 3) || (direction == 4) || (direction == 5) || (direction == 6) || (direction == 7)){ |
akudohune | 1:89408fff7cc9 | 177 | vx = 15; |
akudohune | 0:74bf4953c0d1 | 178 | |
akudohune | 1:89408fff7cc9 | 179 | }else if((direction == 9) || (direction == 10) || (direction == 11) || (direction == 12) || (direction == 13) || (direction == 14) || (direction == 15)){ |
akudohune | 1:89408fff7cc9 | 180 | vx = -15; |
akudohune | 0:74bf4953c0d1 | 181 | |
akudohune | 1:89408fff7cc9 | 182 | }else{ |
akudohune | 1:89408fff7cc9 | 183 | vx = 0; |
akudohune | 1:89408fff7cc9 | 184 | } |
akudohune | 1:89408fff7cc9 | 185 | }else{ |
akudohune | 1:89408fff7cc9 | 186 | |
akudohune | 1:89408fff7cc9 | 187 | } |
akudohune | 1:89408fff7cc9 | 188 | } |
akudohune | 1:89408fff7cc9 | 189 | } |
akudohune | 1:89408fff7cc9 | 190 | */ |
akudohune | 1:89408fff7cc9 | 191 | /* |
akudohune | 1:89408fff7cc9 | 192 | if(state == HOME_WAIT){ |
akudohune | 1:89408fff7cc9 | 193 | |
akudohune | 1:89408fff7cc9 | 194 | }*/ |
akudohune | 1:89408fff7cc9 | 195 | |
akudohune | 1:89408fff7cc9 | 196 | if((ultrasonicVal[0] + ultrasonicVal[2]) < 1050.0){ |
akudohune | 1:89408fff7cc9 | 197 | if(ultrasonicVal[0] > 300.0){ |
akudohune | 1:89408fff7cc9 | 198 | vx = 15; |
akudohune | 1:89408fff7cc9 | 199 | led3 = ON; |
akudohune | 1:89408fff7cc9 | 200 | led4 = OFF; |
akudohune | 1:89408fff7cc9 | 201 | }else if(ultrasonicVal[2] > 300.0){ |
akudohune | 1:89408fff7cc9 | 202 | vx = -15; |
akudohune | 1:89408fff7cc9 | 203 | led3 = ON; |
akudohune | 1:89408fff7cc9 | 204 | led4 = OFF; |
akudohune | 1:89408fff7cc9 | 205 | }else{ |
akudohune | 1:89408fff7cc9 | 206 | led3 = OFF; |
akudohune | 1:89408fff7cc9 | 207 | led4 = ON; |
akudohune | 1:89408fff7cc9 | 208 | if(ultrasonicVal[1] > 200.0){ |
akudohune | 1:89408fff7cc9 | 209 | vy = -15; |
akudohune | 1:89408fff7cc9 | 210 | }else if(ultrasonicVal[1] < 100.0){ |
akudohune | 1:89408fff7cc9 | 211 | vy = 15; |
akudohune | 1:89408fff7cc9 | 212 | }else{ |
akudohune | 1:89408fff7cc9 | 213 | vy = 0; |
akudohune | 1:89408fff7cc9 | 214 | } |
akudohune | 1:89408fff7cc9 | 215 | } |
akudohune | 1:89408fff7cc9 | 216 | led2 = ON; |
akudohune | 0:74bf4953c0d1 | 217 | }else{ |
akudohune | 0:74bf4953c0d1 | 218 | vx = 0; |
akudohune | 1:89408fff7cc9 | 219 | vy = 0; |
akudohune | 1:89408fff7cc9 | 220 | led2 = OFF; |
akudohune | 0:74bf4953c0d1 | 221 | } |
akudohune | 1:89408fff7cc9 | 222 | |
akudohune | 1:89408fff7cc9 | 223 | //pc.printf("%f,%f,%f\n",ultrasonicVal[0],ultrasonicVal[1],ultrasonicVal[2]); |
akudohune | 1:89408fff7cc9 | 224 | |
akudohune | 0:74bf4953c0d1 | 225 | move(vx,vy,vs); |
akudohune | 0:74bf4953c0d1 | 226 | } |
akudohune | 0:74bf4953c0d1 | 227 | } |