Revision 10:94527f9ac652, committed 2017-09-27

Comitter:

hirotayamato

Date:

Wed Sep 27 06:50:34 2017 +0000

Parent:

9:ad7803030f2d

Commit message:

2017_Bteam_alpha_master_ashi

Changed in this revision

--- a/2017_4/2017_4.cpp	Thu Sep 21 05:21:14 2017 +0000
+++ b/2017_4/2017_4.cpp	Wed Sep 27 06:50:34 2017 +0000
@@ -9,26 +9,25 @@
                        int arg_rev)
 {
     md_fr = Create_MD_PID(pin_channelA_FR, pin_channelB_FR, NC, 500, QEI::X4_ENCODING,
-                         0.095 * 0.5, 0, 0.0005 * 4, 500,
+                         0.0475 * 0.25, 0, 0.00025 * 2, 500,
                          pin_pwm_FR, pin_dere_FR);
 
     md_fl = Create_MD_PID(pin_channelA_FL, pin_channelB_FL, NC, 500, QEI::X4_ENCODING,
-    					 0.095 * 0.5, 0, 0.0005 * 4, 500,
+    					 0.0475 * 0.25, 0, 0.00025 * 2, 500,
     					 pin_pwm_FL, pin_dere_FL);
 
     md_br = Create_MD_PID(pin_channelA_BR, pin_channelB_BR, NC, 500, QEI::X4_ENCODING,
-    					 0.095 * 0.5, 0, 0.0005 * 4, 500,
+    					 0.0475 * 0.25, 0, 0.00025 * 2, 500,
     					 pin_pwm_BR, pin_dere_BR);
 
     md_bl = Create_MD_PID(pin_channelA_BL, pin_channelB_BL, NC, 500, QEI::X4_ENCODING,
-    					 0.095 * 0.5, 0, 0.0005 * 4, 500,
+    					 0.0475 * 0.25, 0, 0.00025 * 2, 500,
     					 pin_pwm_BL, pin_dere_BL);
 
     rev = arg_rev;
 }
 
-void Mecanamu_4::Drive( double arg_x, double arg_y, double arg_rota,
-						double F_Gain, double B_Gain, double R_Gain, double L_Gain)
+void Mecanamu_4::Drive( int arg_a, double arg_x, double arg_y, double arg_rota)
 {
     double dere, sp;
     double duty[4];
@@ -50,11 +49,20 @@
             }
         }
     }
-        
-    md_fr->Drive(duty[0] * F_Gain, 100);
-    md_fl->Drive(duty[1] * B_Gain, 100);
-    md_br->Drive(duty[2] * R_Gain, 100);
-    md_bl->Drive(duty[3] * L_Gain, 100);
+     
+    printf("%f, %f, %f, %f\r\n", duty[0], duty[1], duty[2], duty[3]);
+    
+    //if(arg_a){
+    	md_fr->Drive(arg_a, duty[0], 100);
+    	md_fl->Drive(arg_a, duty[1], 100);
+    	md_br->Drive(arg_a, duty[2], 100);
+    	md_bl->Drive(arg_a, duty[3], 100);
+    /*}else{
+    	md_fr->Drive(arg_a, duty[0], 100);
+    	md_fl->Drive(arg_a, duty[1], 100);
+    	md_br->Drive(arg_a, duty[2], 100);
+    	md_bl->Drive(arg_a, duty[3], 100);
+    }*/
 }
 
 void Mecanamu_4::Matrix(double speed[3], double duty[4])

--- a/2017_4/2017_4.h	Thu Sep 21 05:21:14 2017 +0000
+++ b/2017_4/2017_4.h	Wed Sep 27 06:50:34 2017 +0000
@@ -11,8 +11,7 @@
                PinName pin_pwm_BR, PinName pin_dere_BR, PinName pin_channelA_BR, PinName pin_channelB_BR,
                PinName pin_pwm_BL, PinName pin_dere_BL, PinName pin_channelA_BL, PinName pin_channelB_BL,
                int rev = 1);
-    void Drive( double arg_x, double arg_y, double arg_rota,
-    			double F_Gain = 1.0, double B_Gain = 1.0, double R_Gain = 1.0, double L_Gain = 1.0);
+    void Drive( int arg_a, double arg_x, double arg_y, double arg_rota);
 private:
     void Matrix(double speed[3], double duty[4]);
     int rev;

--- a/DataCaller.lib	Thu Sep 21 05:21:14 2017 +0000
+++ b/DataCaller.lib	Wed Sep 27 06:50:34 2017 +0000
@@ -1,1 +1,1 @@
-https://os.mbed.com/users/hirotayamato/code/DataCaller/#ba94b0b83542
+https://os.mbed.com/users/hirotayamato/code/DataCaller/#09321a407a82

--- a/MD_PID.lib	Thu Sep 21 05:21:14 2017 +0000
+++ b/MD_PID.lib	Wed Sep 27 06:50:34 2017 +0000
@@ -1,1 +1,1 @@
-https://developer.mbed.org/users/hirotayamato/code/MD_PID/#b621815834c1
+https://developer.mbed.org/users/hirotayamato/code/MD_PID/#d930cbffd2c9

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/angle.lib	Wed Sep 27 06:50:34 2017 +0000
@@ -0,0 +1,1 @@
+http://os.mbed.com/users/Komazawa_sun/code/angle/#3e9f5fcfc775

--- a/main.cpp	Thu Sep 21 05:21:14 2017 +0000
+++ b/main.cpp	Wed Sep 27 06:50:34 2017 +0000
@@ -6,28 +6,36 @@
 
 #include "ArrowShooter.h"
 
+#include "ShooterAngle.h"
+
 #include "2017_4.h"
 
 #define SDA PB_7
 #define SCL PB_6
 
+
 I2C *master;
 DataPool *alpha;
 
 Mecanamu_4 Mecanamu(PA_8, PB_0, PA_12, PA_7, PA_11, PB_1, PA_6, PA_5, PB_5, PF_0, PA_4, PA_3, PB_4, PF_1, PA_1, PA_0, 1);
+
 Serial pc(USBTX, USBRX);
 
 double fire_work_time;
 int fire_work_allow = 0;
 
+const int angle_max = 57;
+const int angle_min = 22;
+
 int main()
 {
     master = new I2C(SDA, SCL);
     alpha = new AlphaTransporter(master);
     ArrowShooter shooter(master);
+    ShooterAngle angle(master, angle_max, angle_min);
     
-    Mecanamu.Drive(0, 0, 0);
-    float x, y, t;
+    Mecanamu.Drive(0, 0, 0, 0);
+    float a, x, y, t;
     while(1)
     {
         alpha->set();
@@ -44,12 +52,15 @@
         if(fire_work_time >= 3.7)
             fire_work_allow = 0;
         
+        a = alpha->read(3);
         x = alpha->read(0) / 128.00;
         y = alpha->read(1) / 128.00;
         t = alpha->read(2) / 128.00;
-        Mecanamu.Drive(x, y, t);
+        
+        Mecanamu.Drive(1, x, y, t);
+        
         wait(0.01);
-        
+        angle.setAngle(alpha->read(17));
         //printf("%lf, %lf, %lf\r\n", x, y, t);
     }
 }