//構造体変数の更新、回転角度の計算
float turn_angle_detection(turn_angle_structure *tas){
//rotation angle of right wheel
tas->old_angle = tas->current_angle;
tas->right_motor_old_angle = tas->right_motor_current_angle;
tas->right_motor_current_angle = ev3_motor_get_counts(DRIVE_R) - tas->original_right_motor_angle;
tas->right_motor_rotation_angle =
tas->right_motor_current_angle - tas->right_motor_old_angle;
//rotation angle of left wheel
tas->left_motor_old_angle = tas->left_motor_current_angle;
tas->left_motor_current_angle = ev3_motor_get_counts(DRIVE_L) - tas->original_left_motor_angle;
tas->left_motor_rotation_angle =
tas->left_motor_current_angle - tas->left_motor_old_angle;
//moving distance and turning angle
tas->turning_angle =
tas->wheel_across/2 * (tas->right_motor_rotation_angle - tas->left_motor_rotation_angle)
/ tas->between_wheels;
//updating of coordinates
tas->current_angle = tas->old_angle + tas->turning_angle;
return tas->current_angle;
}
static mrb_value
mrb_mruby_motor_getCount(mrb_state *mrb, mrb_value self)
{
motor_port_t port = mrb_fixnum(mrb_iv_get(mrb, self, mrb_intern_lit(mrb, "@port")));
mrb_int val = ev3_motor_get_counts(port);
return mrb_fixnum_value(val);
}
//回転角度検知用の構造体作成
turn_angle_structure *turn_angle_structure_make(void) {
turn_angle_structure *new_turn_angle_structure =
(turn_angle_structure*)malloc(sizeof(turn_angle_structure));
new_turn_angle_structure->right_motor_current_angle = ev3_motor_get_counts(DRIVE_R);
new_turn_angle_structure->left_motor_current_angle = ev3_motor_get_counts(DRIVE_L);
new_turn_angle_structure->right_motor_old_angle = 0;
new_turn_angle_structure->left_motor_old_angle = 0;
new_turn_angle_structure->right_motor_rotation_angle = 0;
new_turn_angle_structure->left_motor_rotation_angle = 0;
new_turn_angle_structure->wheel_across = 8.0;
new_turn_angle_structure->between_wheels = 12.0;
new_turn_angle_structure->moving_distance = 0;
new_turn_angle_structure->turning_angle = 0;
new_turn_angle_structure->old_angle = 0;
new_turn_angle_structure->current_angle = 0;
new_turn_angle_structure->original_right_motor_angle = 0;
new_turn_angle_structure->original_left_motor_angle = 0;
return new_turn_angle_structure;
}
void Tactics_TEST1(Tactics* tactics){
char str[20];
int i = 0;
switch(tactics->current_step) {
case 0:
Line_tracer_set_forward(line_tracer, 20);
Line_tracer_set_turn(line_tracer, 0);
line_tracer->run_counter = (ev3_motor_get_counts(DRIVE_L) + ev3_motor_get_counts(DRIVE_R))/2;
sprintf(str, "count:%d", line_tracer->run_counter);
ev3_lcd_draw_string(str, 0, 40);
if(line_tracer->run_counter < -300){
line_tracer->run_counter = 0;
tactics->current_step++;
}
break;
case 1:
Line_tracer_set_forward(line_tracer, 100);
Line_tracer_set_turn(line_tracer, 50);
line_tracer->run_counter = (ev3_motor_get_counts(DRIVE_L) + ev3_motor_get_counts(DRIVE_R))/2;
if(line_tracer->run_counter < -3000){
line_tracer->run_counter = 0;
tactics->current_step++;
}
break;
case 2:
tactics->finish_this_tactics = yes;
break;
default:
break;
}
}
//尻尾制御
static void tail_control(signed int angle)
{
float pwm = (float)(angle - ev3_motor_get_counts(tail_motor))*P_GAIN;
/* PWM出力飽和処理 */
if (pwm > PWM_ABS_MAX)
{
pwm = PWM_ABS_MAX;
}
else if (pwm < -PWM_ABS_MAX)
{
pwm = -PWM_ABS_MAX;
}
if (pwm == 0)
{
ev3_motor_stop(tail_motor, true);
}
else
{
ev3_motor_set_power(tail_motor, (signed char)pwm);
}
}
/* メインタスク */
void main_task(intptr_t unused)
{
signed char forward; /* 前後進命令 */
signed char turn; /* 旋回命令 */
signed char pwm_L, pwm_R; /* 左右モータPWM出力 */
/* LCD画面表示 */
ev3_lcd_fill_rect(0, 0, EV3_LCD_WIDTH, EV3_LCD_HEIGHT, EV3_LCD_WHITE);
ev3_lcd_draw_string("ミヤウチ", 0, CALIB_FONT_HEIGHT*1);
/* センサー入力ポートの設定 */
ev3_sensor_config(sonar_sensor, ULTRASONIC_SENSOR);
ev3_sensor_config(color_sensor, COLOR_SENSOR);
ev3_color_sensor_get_reflect(color_sensor); /* 反射率モード */
ev3_sensor_config(touch_sensor, TOUCH_SENSOR);
ev3_sensor_config(gyro_sensor, GYRO_SENSOR);
/* モーター出力ポートの設定 */
ev3_motor_config(left_motor, LARGE_MOTOR);
ev3_motor_config(right_motor, LARGE_MOTOR);
ev3_motor_config(tail_motor, LARGE_MOTOR);
ev3_motor_reset_counts(tail_motor);
//キャリブレイト 白取得
printf("Press the touch sensor to measure light intensity of WHITE.\n");
while(!ev3_touch_sensor_is_pressed(touch_sensor));
while(ev3_touch_sensor_is_pressed(touch_sensor));
int white = ev3_color_sensor_get_reflect(color_sensor);
printf("WHITE light intensity: %d.\n", white);
//キャリブレイト 黒取得
printf("Press the touch sensor to measure light intensity of BLACK.\n");
while(!ev3_touch_sensor_is_pressed(touch_sensor));
while(ev3_touch_sensor_is_pressed(touch_sensor));
int black = ev3_color_sensor_get_reflect(color_sensor);
printf("BLACK light intensity: %d.\n", black);
//PID制御
float lasterror = 0, integral = 0;
float midpoint = (white - black) / 2 + black;
/* Open Bluetooth file */
bt = ev3_serial_open_file(EV3_SERIAL_BT);
assert(bt != NULL);
/* Bluetooth通信タスクの起動 */
act_tsk(BT_TASK);
ev3_led_set_color(LED_ORANGE); /* 初期化完了通知 */
/* スタート待機 */
while(1)
{
//尻尾さげる
tail_control(TAIL_ANGLE_STAND_UP);
if (bt_cmd == 1)
{
//リモートスタート
break;
}
if (ev3_touch_sensor_is_pressed(touch_sensor) == 1)
{
//タッチセンサが押された
break;
}
tslp_tsk(1);
}
/* 走行モーターエンコーダーリセット */
ev3_motor_reset_counts(left_motor);
ev3_motor_reset_counts(right_motor);
/* ジャイロセンサーリセット */
ev3_gyro_sensor_reset(gyro_sensor);
balancer.init(GYRO_OFFSET); // <1>
/* スタート（LED緑色） */
ev3_led_set_color(LED_GREEN);
while(1)
{
int32_t motor_ang_l, motor_ang_r;
int gyro, volt;
if (ev3_button_is_pressed(BACK_BUTTON)) break;
tail_control(TAIL_ANGLE_DRIVE); /* バランス走行用角度に制御 */
forward = 30;
float error = midpoint - ev3_color_sensor_get_reflect(color_sensor);
integral = error + integral * 0.5;
turn = 0.07 * error + 0.3 * integral + 1 * (error - lasterror);
// float steer = 0.07 * error + 0.3 * integral + 1 * (error - lasterror);
// ev3_motor_steer(left_motor, right_motor, 10, steer);
lasterror = error;
tslp_tsk(1);
/* 倒立振子制御API に渡すパラメータを取得する */
motor_ang_l = ev3_motor_get_counts(left_motor);
motor_ang_r = ev3_motor_get_counts(right_motor);
gyro = ev3_gyro_sensor_get_rate(gyro_sensor);
volt = ev3_battery_voltage_mV();
/* 倒立振子制御APIを呼び出し、倒立走行するための */
/* 左右モータ出力値を得る */
balancer.setCommand(forward, turn); // <1>
balancer.update(gyro, motor_ang_r, motor_ang_l, volt); // <2>
pwm_L = balancer.getPwmRight(); // <3>
pwm_R = balancer.getPwmLeft(); // <3>
/* EV3ではモーター停止時のブレーキ設定が事前にできないため */
/* 出力0時に、その都度設定する */
if (pwm_L == 0)
{
ev3_motor_stop(left_motor, true);
}
else
{
ev3_motor_set_power(left_motor, (int)pwm_L);
}
if (pwm_R == 0)
{
ev3_motor_stop(right_motor, true);
}
else
{
ev3_motor_set_power(right_motor, (int)pwm_R);
}
tslp_tsk(4); /* 4msec周期起動 */
}
ev3_motor_stop(left_motor, false);
ev3_motor_stop(right_motor, false);
ter_tsk(BT_TASK);
fclose(bt);
ext_tsk();
}
void main_task(intptr_t unused) {
int grey = (BLACK+WHITE)/2;
int white_side = (BLACK+WHITE*2)/3;
int black_side = (BLACK*3+WHITE)/4;
int light = 0;
int count = 0;
unsigned int timeCounter = 1;
int flag = 0;
float turn_angle = 0.0;
int distace = 0;
int dflag = 0;
pid *my_pid = pid_make(4.0, 0.2, 0.1, grey); //default pid 1.0 0.02 0.0
pid *white_pid = pid_make(4.0, 0.2, 0.1, white_side);
pid *black_pid = pid_make(4.0, 0.2, 0.1, black_side);
turn_angle_structure *tas = turn_angle_constructor();
ev3_lcd_fill_rect(0, 0, EV3_LCD_WIDTH, EV3_LCD_HEIGHT, EV3_LCD_WHITE);
ev3_lcd_draw_string("EV3way ETRobcon 2015 KatLab", 0, CALIB_FONT_HEIGHT*1);
ev3_lcd_draw_string("Ver.20150508", 0, CALIB_FONT_HEIGHT*2);
ev3_lcd_draw_string("right side", 0, CALIB_FONT_HEIGHT*3);
// Configure motors
ev3_motor_config(STEER, LARGE_MOTOR);
ev3_motor_config(DRIVE_L, LARGE_MOTOR);
ev3_motor_config(DRIVE_R, LARGE_MOTOR);
// Configure sensors
ev3_sensor_config(IR, COLOR_SENSOR);
ev3_sensor_config(TOUCH, TOUCH_SENSOR);
ev3_sensor_config(GYRO, GYRO_SENSOR);
ev3_led_set_color(LED_GREEN);
ev3_motor_reset_counts(STEER);
ev3_motor_reset_counts(DRIVE_L);
ev3_motor_reset_counts(DRIVE_R);
ev3_motor_set_power(STEER,0);
ev3_gyro_sensor_reset(GYRO);
while(!ev3_touch_sensor_is_pressed(TOUCH)){
//tslp_tsk(500); /* 500msec wait */
}
while(!ev3_button_is_pressed(BACK_BUTTON)){
light = ev3_color_sensor_get_reflect(IR);
count = ev3_motor_get_counts(STEER);
switch(changeStyle){
case 0://始めのカーブ差し掛かりまで
count = ev3_motor_get_counts(STEER);
forward = 55;
pid_input(my_pid, ev3_color_sensor_get_reflect(IR));
turn = (signed char) pid_get_output(*my_pid);
if(turn > 100){
turn = 100;
}else if(turn < -100){
turn = -100;
}
turn = -turn;
if(count<MAX_STEERING_ANGLE && count>-MAX_STEERING_ANGLE)
{
ev3_motor_set_power(STEER, turn/2);
}else if(count<=-MAX_STEERING_ANGLE && turn>=0){
ev3_motor_set_power(STEER, turn/2);
}else if(count>=MAX_STEERING_ANGLE && turn<0){
ev3_motor_set_power(STEER, turn/2);
}else{
ev3_motor_stop(STEER, true);
}
if((ev3_motor_get_counts(DRIVE_L)+ev3_motor_get_counts(DRIVE_R))/2 < (-7300 + 2400)){
ev3_lcd_draw_string("changeStyle 1", 0, 70);
changeStyle = 1;
}
break;
case 1: //カーブ白より走行
count = ev3_motor_get_counts(STEER);
forward = 26;
pid_input(white_pid, ev3_color_sensor_get_reflect(IR));
turn = (signed char) pid_get_output(*white_pid);
if(turn > 0){
turn = turn*2;
}
if(turn > 100){
turn = 100;
}else if(turn < -100){
turn = -100;
}
turn = -turn;
if(count<MAX_STEERING_ANGLE && count>-MAX_STEERING_ANGLE)
{
ev3_motor_set_power(STEER, turn/2);
}else if(count<=-MAX_STEERING_ANGLE && turn>=0){
ev3_motor_set_power(STEER, turn/2);
}else if(count>=MAX_STEERING_ANGLE && turn<0){
ev3_motor_set_power(STEER, turn/2);
}else{
ev3_motor_stop(STEER, true);
}
if((ev3_motor_get_counts(DRIVE_L)+ev3_motor_get_counts(DRIVE_R))/2 < (-9200 + 2400)){
changeStyle = 2;
}
break;
case 2://段差検知まで 黒より走行
count = ev3_motor_get_counts(STEER);
forward = 30;
pid_input(black_pid, ev3_color_sensor_get_reflect(IR));
turn = (signed char) pid_get_output(*black_pid);
if(turn < 0){
turn = turn*2;
}
if(turn > 100){
turn = 100;
}else if(turn < -100){
turn = -100;
}
turn = -turn;
if(count<MAX_STEERING_ANGLE && count>-MAX_STEERING_ANGLE)
{
ev3_motor_set_power(STEER, turn/2);
}else if(count<=-MAX_STEERING_ANGLE && turn>=0){
ev3_motor_set_power(STEER, turn/2);
}else if(count>=MAX_STEERING_ANGLE && turn<0){
ev3_motor_set_power(STEER, turn/2);
}else{
ev3_motor_stop(STEER, true);
}
if(stepDetective(12)==1){
changeStyle = 3;
ev3_lcd_draw_string("changeStyle Now", 0, 70);
flag = 1;
}
break;
case 3://二本橋クリアする
if(bridge(timeCounter) == 1){
changeStyle = 13;
}
timeCounter++;
break;
case 4://止まる
if(ev3_color_sensor_get_color(IR) == 6 || ev3_color_sensor_get_color(IR) == 3){
ev3_motor_set_power(STEER,0);
ev3_motor_set_power(DRIVE_L,0);
ev3_motor_set_power(DRIVE_R,0);
}else{
ev3_motor_set_power(STEER,0);
ev3_motor_set_power(DRIVE_L,-20);
ev3_motor_set_power(DRIVE_R,-20);
}
break;
case 5://バーコード終了後ライントレース
count = ev3_motor_get_counts(STEER);
forward = 25;
pid_input(my_pid, ev3_color_sensor_get_reflect(IR));
turn = (signed char) pid_get_output(*my_pid);
if(turn > 100){
turn = 100;
}else if(turn < -100){
turn = -100;
}
turn = -turn;
if(count<MAX_STEERING_ANGLE && count>-MAX_STEERING_ANGLE)
{
ev3_motor_set_power(STEER, turn/2);
}else if(count<=-MAX_STEERING_ANGLE && turn>=0){
ev3_motor_set_power(STEER, turn/2);
}else if(count>=MAX_STEERING_ANGLE && turn<0){
ev3_motor_set_power(STEER, turn/2);
}else{
ev3_motor_stop(STEER, true);
}
if((ev3_motor_get_counts(DRIVE_L)+ev3_motor_get_counts(DRIVE_R))/2 < -300){
changeStyle = 6;
flag = 1;
ev3_motor_reset_counts(DRIVE_L);
ev3_motor_reset_counts(DRIVE_R);
}
break;
case 6://まっすぐ走る
ev3_motor_set_power(STEER,0);
ev3_motor_set_power(DRIVE_L,-40);
ev3_motor_set_power(DRIVE_R,-40);
if((ev3_motor_get_counts(DRIVE_L)+ev3_motor_get_counts(DRIVE_R))/2 < -750){
changeStyle = 7;
ev3_motor_set_power(DRIVE_L,0);
ev3_motor_set_power(DRIVE_R,0);
timeCounter = 0;
}
break;
case 7://前輪を真横にする
if(timeCounter <= 9){
ev3_motor_rotate(STEER,90,50,true);
}else if(timeCounter > 9){
changeStyle = 8;
ev3_lcd_draw_string("changeStyle Now", 0, 70);
timeCounter = 0;
}
timeCounter++;
break;
case 8://車体を左向きに
turn_angle = turn_angle_detection(tas);
if(turn_angle >= -76.0){
ev3_motor_set_power(STEER,0);
ev3_motor_set_power(DRIVE_L,30);
ev3_motor_set_power(DRIVE_R,-20);
}else if(turn_angle < -76.0){
ev3_motor_set_power(STEER,0);
ev3_motor_set_power(DRIVE_L,0);
ev3_motor_set_power(DRIVE_R,0);
changeStyle = 9;
}
break;
case 9://前輪を戻す
ev3_motor_rotate(STEER,-900,50,true);
changeStyle = 10;
ev3_lcd_draw_string("changeStyle Now", 0, 70);
ev3_motor_reset_counts(DRIVE_L);
ev3_motor_reset_counts(DRIVE_R);
break;
case 10://使用未確定エリアに乗る
ev3_motor_set_power(DRIVE_L,-50);
ev3_motor_set_power(DRIVE_R,-50);
if((ev3_motor_get_counts(DRIVE_L)+ev3_motor_get_counts(DRIVE_R))/2 < -500){
timeCounter++;
ev3_motor_set_power(DRIVE_L,0);
ev3_motor_set_power(DRIVE_R,0);
}
if(timeCounter >= 100){
timeCounter=0;
changeStyle=11;
}
break;
case 11://ウィリー走行に切り替え
if(tail_run(timeCounter) == 1){
changeStyle = 12;
timeCounter = 0;
}else{
timeCounter++;
}
break;
case 12://止まる
ev3_motor_set_power(STEER,0);
ev3_motor_set_power(DRIVE_L,0);
ev3_motor_set_power(DRIVE_R,0);
break;
case 13://ライン復帰
ev3_motor_rotate(STEER,940,50,true);
changeStyle = 14;
ev3_lcd_draw_string("changeStyle Now", 0, 70);
timeCounter = 1;
break;
case 14:
if(timeCounter < 37){
ev3_motor_set_power(STEER,0);
ev3_motor_set_power(DRIVE_L,30);
ev3_motor_set_power(DRIVE_R,-30);
}else if(timeCounter >= 37){
ev3_motor_set_power(STEER,0);
ev3_motor_set_power(DRIVE_L,0);
ev3_motor_set_power(DRIVE_R,0);
changeStyle = 15;
timeCounter = 0;
}timeCounter++;
break;
case 15:
ev3_motor_rotate(STEER,-1000,50,true);
changeStyle = 16;
ev3_lcd_draw_string("changeStyle Now", 0, 70);
break;
case 16:
ev3_motor_set_power(STEER,0);
if(timeCounter <= 20){
ev3_motor_set_power(DRIVE_L,15);
ev3_motor_set_power(DRIVE_R,15);
}else if(timeCounter > 20 && (timeCounter -20) /60 % 2 == 1){
ev3_motor_set_power(DRIVE_L,15);
ev3_motor_set_power(DRIVE_R,15);
}else if(timeCounter > 20 && (timeCounter - 20) /60 % 2 == 0){
ev3_motor_set_power(DRIVE_L,-15);
ev3_motor_set_power(DRIVE_R,-15);
}
timeCounter++;
if(ev3_color_sensor_get_color(IR) == 1){
changeStyle = 30;
ev3_motor_set_power(DRIVE_L,0);
ev3_motor_set_power(DRIVE_R,0);
timeCounter = 0;
}
break;
case 17:
ev3_motor_rotate(STEER,830,50,true);
changeStyle = 18;
ev3_lcd_draw_string("changeStyle Now", 0, 70);
break;
case 18:
if(ev3_color_sensor_get_reflect(IR) > white_side){
ev3_motor_set_power(STEER,0);
ev3_motor_set_power(DRIVE_L,-6);
ev3_motor_set_power(DRIVE_R,6);
}else if(ev3_color_sensor_get_reflect(IR) < white_side){
ev3_motor_set_power(STEER,0);
ev3_motor_set_power(DRIVE_L,0);
ev3_motor_set_power(DRIVE_R,0);
changeStyle = 19;
}
break;
case 19:
ev3_motor_rotate(STEER,-950,40,true);
changeStyle = 20;
ev3_lcd_draw_string("changeStyle Now", 0, 70);
break;
case 20:
ev3_motor_set_power(STEER,0);
ev3_motor_set_power(DRIVE_L,-17);
ev3_motor_set_power(DRIVE_R,-15);
if(ev3_color_sensor_get_color(IR) == 1){
changeStyle = 21;
flag = 0;
ev3_motor_reset_counts(DRIVE_L);
ev3_motor_reset_counts(DRIVE_R);
}
break;
case 21:
count = ev3_motor_get_counts(STEER);
forward = 14;
pid_input(my_pid, ev3_color_sensor_get_reflect(IR));
turn = (signed char) pid_get_output(*my_pid);
if(turn > 100){
turn = 100;
}else if(turn < -100){
turn = -100;
}
if(count<MAX_STEERING_ANGLE && count>-MAX_STEERING_ANGLE)
{
ev3_motor_set_power(STEER, turn/2);
}else if(count<=-MAX_STEERING_ANGLE && turn>=0){
ev3_motor_set_power(STEER, turn/2);
}else if(count>=MAX_STEERING_ANGLE && turn<0){
ev3_motor_set_power(STEER, turn/2);
}else{
ev3_motor_stop(STEER, true);
}
if((ev3_motor_get_counts(DRIVE_L)+ev3_motor_get_counts(DRIVE_R))/2 < -3000){
changeStyle = 5;
ev3_motor_reset_counts(DRIVE_L);
ev3_motor_reset_counts(DRIVE_R);
}
break;
case 30:
ev3_motor_set_power(STEER,0);
if(timeCounter <= 65){
ev3_motor_set_power(DRIVE_L,-17);
ev3_motor_set_power(DRIVE_R,-17);
}else if(timeCounter > 65 && timeCounter <= 120){
ev3_motor_set_power(DRIVE_L,0);
ev3_motor_set_power(DRIVE_R,0);
}else if(timeCounter > 120){
changeStyle = 17;
timeCounter = 0;
} timeCounter++;
default:
break;
}
if(flag==0){
ev3_motor_steer(DRIVE_L, DRIVE_R, -forward, -turn);
}
tslp_tsk(10); /* 10msec wait */
}
ev3_motor_stop(STEER, false);
ev3_motor_stop(DRIVE_L, false);
ev3_motor_stop(DRIVE_R, false);
ext_tsk();
}
/*
* 駆動タスク
* 機能: 設定されたスピードとステアリング角になるようにモータを制御する
*/
void
nxtrike_drive_task(intptr_t exinf)
{
int steer_degree, steer_speed, current_steer_degree;
int left_speed, right_speed;
float ratio;
static int prev_steer_speed = 0;
static int prev_left_speed = 0;
static int prev_right_speed = 0;
while(1){
/* 現在のステアリング角度の取得 */
current_steer_degree = ev3_motor_get_counts(STEER_MOTOR) / 8;
/* ステアリング操作速度の設定 */
#if 0
if((nxtrike_steer_degree - current_steer_degree) > 0){
steer_speed = NXTRIKE_STEER_SPEED_MAX;
}else{
steer_speed = -NXTRIKE_STEER_SPEED_MAX;
}
#endif
/* ステアリングの回転速度は目標値と現在値の差の3倍 */
steer_speed = (nxtrike_steer_degree - current_steer_degree) * 3;
if(steer_speed > 0){
if(steer_speed > NXTRIKE_STEER_SPEED_MAX){
steer_speed = NXTRIKE_STEER_SPEED_MAX;
}else if(steer_speed < NXTRIKE_STEER_SPEED_MIN){
steer_speed = NXTRIKE_STEER_SPEED_MIN;
}
}else if(steer_speed < 0){
if(steer_speed < -NXTRIKE_STEER_SPEED_MAX){
steer_speed = -NXTRIKE_STEER_SPEED_MAX;
}else if(steer_speed > -NXTRIKE_STEER_SPEED_MIN){
steer_speed = -NXTRIKE_STEER_SPEED_MIN;
}
}else{
steer_speed = 0;
}
/* 後輪速度計算 */
ratio = current_steer_degree * current_steer_degree;
if (nxtrike_steer_degree > 0) {
left_speed = nxtrike_base_speed * (1 + 0.00012 * ratio);
right_speed = nxtrike_base_speed / (1 + 0.00032 * ratio);
} else {
left_speed = nxtrike_base_speed / (1 + 0.00032 * ratio);
right_speed = nxtrike_base_speed * (1 + 0.00012 * ratio);
}
/* モータ制御 */
if (steer_speed != 0)
ev3_motor_set_power(STEER_MOTOR, steer_speed);
else
ev3_motor_stop(STEER_MOTOR, true);
if (left_speed != 0)
ev3_motor_set_power(LEFT_MOTOR, -left_speed);
else
ev3_motor_stop(LEFT_MOTOR, true);
if (right_speed != 0)
ev3_motor_set_power(RIGHT_MOTOR, -right_speed);
else
ev3_motor_stop(RIGHT_MOTOR, true);
/* 現在の値を保存 */
prev_steer_speed = steer_speed;
prev_left_speed = left_speed;
prev_right_speed = right_speed;
//syslog(LOG_NOTICE, "l = %d, r = %d", left_speed, right_speed);
/* タスクを休止 */
slp_tsk();
}
ext_tsk();
}
int
nxtrike_get_motor_rot(U32 motor_id)
{
return -ev3_motor_get_counts(motor_id);
}
/* メインタスク */
void main_task(intptr_t unused)
{
signed char forward; /* 前後進命令 */
signed char turn; /* 旋回命令 */
signed char pwm_L, pwm_R; /* 左右モータPWM出力 */
static int turn = 0;
/* LCD画面表示 */
ev3_lcd_fill_rect(0, 0, EV3_LCD_WIDTH, EV3_LCD_HEIGHT, EV3_LCD_WHITE);
ev3_lcd_draw_string("ETミヤウチ", 0, CALIB_FONT_HEIGHT*1);
/* センサー入力ポートの設定 */
ev3_sensor_config(sonar_sensor, ULTRASONIC_SENSOR);
ev3_sensor_config(color_sensor, COLOR_SENSOR);
ev3_color_sensor_get_reflect(color_sensor); /* 反射率モード */
ev3_sensor_config(touch_sensor, TOUCH_SENSOR);
ev3_sensor_config(gyro_sensor, GYRO_SENSOR);
/* モーター出力ポートの設定 */
ev3_motor_config(left_motor, LARGE_MOTOR);
ev3_motor_config(right_motor, LARGE_MOTOR);
ev3_motor_config(tail_motor, LARGE_MOTOR);
ev3_motor_reset_counts(tail_motor);
/* Open Bluetooth file */
bt = ev3_serial_open_file(EV3_SERIAL_BT);
assert(bt != NULL);
/* Bluetooth通信タスクの起動 */
act_tsk(BT_TASK);
ev3_led_set_color(LED_ORANGE); /* 初期化完了通知 */
/* スタート待機 */
while(1)
{
tail_control(TAIL_ANGLE_STAND_UP); /* 完全停止用角度に制御 */
if (bt_cmd == 1)
{
break; /* リモートスタート */
}
if (ev3_touch_sensor_is_pressed(touch_sensor) == 1)
{
break; /* タッチセンサが押された */
}
tslp_tsk(10); /* 10msecウェイト */
}
/* 走行モーターエンコーダーリセット */
ev3_motor_reset_counts(left_motor);
ev3_motor_reset_counts(right_motor);
/* ジャイロセンサーリセット */
ev3_gyro_sensor_reset(gyro_sensor);
balancer.init(GYRO_OFFSET); // <1>
ev3_led_set_color(LED_GREEN); /* スタート通知 */
/**
* Main loop for the self-balance control algorithm
*/
while(1)
{
int32_t motor_ang_l, motor_ang_r;
int gyro, volt;
turn = (ev3_color_sensor_get_reflect(color_sensor) - (LIGHT_WHITE + LIGHT_BLACK)/2) * KP;
if (ev3_button_is_pressed(BACK_BUTTON)) break;
tail_control(TAIL_ANGLE_DRIVE); /* バランス走行用角度に制御 */
if (sonar_alert() == 1) /* 障害物検知 */
{
forward = turn = 0; /* 障害物を検知したら停止 */
}
else
{
forward = 30; /* 前進命令 */
if (100 < turn) {
turn = 100.0;
} else if (turn < -100) {
turn = -100.0;
}
}
/* 倒立振子制御API に渡すパラメータを取得する */
motor_ang_l = ev3_motor_get_counts(left_motor);
motor_ang_r = ev3_motor_get_counts(right_motor);
gyro = ev3_gyro_sensor_get_rate(gyro_sensor);
volt = ev3_battery_voltage_mV();
/* 倒立振子制御APIを呼び出し、倒立走行するための */
/* 左右モータ出力値を得る */
balancer.setCommand(forward, turn); // <1>
balancer.update(gyro, motor_ang_r, motor_ang_l, volt); // <2>
pwm_L = balancer.getPwmRight(); // <3>
pwm_R = balancer.getPwmLeft(); // <3>
/* EV3ではモーター停止時のブレーキ設定が事前にできないため */
/* 出力0時に、その都度設定する */
if (pwm_L == 0)
{
ev3_motor_stop(left_motor, true);
}
else
{
ev3_motor_set_power(left_motor, (int)pwm_L);
}
if (pwm_R == 0)
{
ev3_motor_stop(right_motor, true);
}
else
{
ev3_motor_set_power(right_motor, (int)pwm_R);
}
tslp_tsk(4); /* 4msec周期起動 */
}
ev3_motor_stop(left_motor, false);
ev3_motor_stop(right_motor, false);
ter_tsk(BT_TASK);
fclose(bt);
ext_tsk();
}
