From 3904891d84b41008d08ec653baa56104144d70fd Mon Sep 17 00:00:00 2001 From: morita Date: Sat, 26 May 2018 17:01:58 +0900 Subject: [PATCH] =?UTF-8?q?MonoBrick=E3=81=AE=E3=82=B5=E3=83=B3=E3=83=97?= =?UTF-8?q?=E3=83=AB=E3=82=B3=E3=83=BC=E3=83=89=E3=82=92=E3=83=87=E3=82=AB?= =?UTF-8?q?=E3=82=BF=E3=82=A4=E3=83=A4=E7=89=88=E3=81=AB=E5=90=88=E3=82=8F?= =?UTF-8?q?=E3=81=9B=E3=81=A6=E4=BF=AE=E6=AD=A3.?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../EV3way_MonoBrick_sample.sln | 173 ++++++++++ .../EV3way_MonoBrick_sample.userprefs | 12 + .../EV3/Balancer.cs | 304 ++++++++++++++++++ .../ev3way_monobrick_sample_2018/EV3/Brick.cs | 189 +++++++++++ .../ev3way_monobrick_sample_2018/EV3body.cs | 31 ++ .../ev3way_monobrick_sample_2018/Main.cs | 147 +++++++++ .../MonoBrickFirmware.dll | Bin 0 -> 178176 bytes .../ev3way_monobrick_sample.csproj | 45 +++ 8 files changed, 901 insertions(+) create mode 100644 SampleCode/EV3way_MonoBrick_sample/EV3way_MonoBrick_2018/EV3way_MonoBrick_sample.sln create mode 100644 SampleCode/EV3way_MonoBrick_sample/EV3way_MonoBrick_2018/EV3way_MonoBrick_sample.userprefs create mode 100644 SampleCode/EV3way_MonoBrick_sample/EV3way_MonoBrick_2018/ev3way_monobrick_sample_2018/EV3/Balancer.cs create mode 100644 SampleCode/EV3way_MonoBrick_sample/EV3way_MonoBrick_2018/ev3way_monobrick_sample_2018/EV3/Brick.cs create mode 100644 SampleCode/EV3way_MonoBrick_sample/EV3way_MonoBrick_2018/ev3way_monobrick_sample_2018/EV3body.cs create mode 100644 SampleCode/EV3way_MonoBrick_sample/EV3way_MonoBrick_2018/ev3way_monobrick_sample_2018/Main.cs create mode 100644 SampleCode/EV3way_MonoBrick_sample/EV3way_MonoBrick_2018/ev3way_monobrick_sample_2018/MonoBrickFirmware.dll create mode 100644 SampleCode/EV3way_MonoBrick_sample/EV3way_MonoBrick_2018/ev3way_monobrick_sample_2018/ev3way_monobrick_sample.csproj diff --git a/SampleCode/EV3way_MonoBrick_sample/EV3way_MonoBrick_2018/EV3way_MonoBrick_sample.sln b/SampleCode/EV3way_MonoBrick_sample/EV3way_MonoBrick_2018/EV3way_MonoBrick_sample.sln new file mode 100644 index 0000000..65fe7f8 --- /dev/null +++ b/SampleCode/EV3way_MonoBrick_sample/EV3way_MonoBrick_2018/EV3way_MonoBrick_sample.sln @@ -0,0 +1,173 @@ + +Microsoft Visual Studio Solution File, Format Version 12.00 +# Visual Studio 2012 +Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "ev3way_monobrick_sample", "ev3way_monobrick_sample\ev3way_monobrick_sample.csproj", "{D143CFF0-F2F5-474A-B631-698EC2E98A12}" +EndProject +Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "AOTCompileApp", "AOTCompileApp\AOTCompileApp.csproj", "{FCEE4FA1-741D-41EA-A24A-804F2BC2A6D4}" +EndProject +Global + GlobalSection(SolutionConfigurationPlatforms) = preSolution + Debug|x86 = Debug|x86 + Release|x86 = Release|x86 + EndGlobalSection + GlobalSection(ProjectConfigurationPlatforms) = postSolution + 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b/SampleCode/EV3way_MonoBrick_sample/EV3way_MonoBrick_2018/ev3way_monobrick_sample_2018/EV3/Balancer.cs @@ -0,0 +1,304 @@ +/** +****************************************************************************** +** FILE NAME : Balancer.cs +** +** ABSTRUCT : Two wheeled self-balancing robot "NXTway-GS" balance control program. +** NXTway-GS balance control algorithum is based on modern control theory +** which is servo control (state + integral feedback). +** To develop the controller and indentify the plant, The MathWorks +** MATLAB&Simulink had been used and this design methodology is +** called MBD (Model-Based Design/Development). This C source code +** is automatically generated from a Simulink model by using standard features +** of Real-Time Workshop Embedded Coder. All control parameters need to be defined +** by user and the sample parameters are defined in nxtOSEK\samples\nxtway_gs\balancer_param.c. +** For more detailed information about the controller alogorithum, please check: +** English : http://www.mathworks.com/matlabcentral/fileexchange/19147-nxtway-gs--self-balancing-two-wheeled-robot--controller-design +** Japanese: http://www.cybernet.co.jp/matlab/library/library/detail.php?id=TA060 +** +** MODEL INFO: +** MODEL NAME : balancer.mdl +** VERSION : 1.893 +** HISTORY : y_yama - Tue Sep 25 11:37:09 2007 +** takashic - Sun Sep 28 17:50:53 2008 +** Tadashi Huruya - Mon Feb 09 21:36:00 2015 +** ported from balancer.c +*** +** Copyright (c) 2009-2016 MathWorks, Inc. +** All rights reserved. +****************************************************************************** +**/ +/** +****************************************************************************** +** ファイル名 : Balancer.cs +** +** 概要 : 2輪型倒立振子ロボット「NXTway-GS」バランス制御プログラム +** NXTway-GSのバランス制御には、サーボ制御(状態 + 積分フィードバック) +** という現代制御を適用しています。制御対象の同定および制御器の開発 +** にはThe MathWorks社のMATLAB&Simulinkという製品を使用した、 +** MBD(モデルベースデザイン/開発)開発手法を用いています。このCプログラムは +** SimulinkモデルからReal-Time Workshop Embedded Coderコード生成標準機能を +** 使用して自動生成されたものです。バランス制御器の制御パラメータについては +** ユーザーハンドコード側で定義する必要があります。定義例として、 +** nxtOSEK\samples\nxtway_gs\balancer_param.cを参照してください。 +** バランス制御アルゴリズムの詳細情報につきましては +** 日本語: http://www.cybernet.co.jp/matlab/library/library/detail.php?id=TA060 +** 英語 : http://www.mathworks.com/matlabcentral/fileexchange/19147-nxtway-gs--self-balancing-two-wheeled-robot--controller-design +** を参照してください。 +** +** モデル関連情報: +** モデル名 : balancer.mdl +** バージョン : 1.893 +** 履歴 : y_yama - Tue Sep 25 11:37:09 2007 +** takashic - Sun Sep 28 17:50:53 2008 +** Tadashi Huruya - Mon Feb 09 21:36:00 2015 +** balancer.cを移植 +** +** Copyright (c) 2009-2015 MathWorks, Inc. +** All rights reserved. +****************************************************************************** +**/ + +using System; +using System.Threading; + +using MonoBrickFirmware; +using MonoBrickFirmware.Display.Dialogs; +using MonoBrickFirmware.Display; +using MonoBrickFirmware.Movement; +using MonoBrickFirmware.Sensors; + +namespace ETRobocon.EV3 +{ + class Balancer + { + const float CMD_MAX = 100.0F; /* 前進/旋回命令絶対最大値 */ + const float DEG2RAD = 0.01745329238F; /* 角度単位変換係数(=pi/180) */ + const float EXEC_PERIOD = 0.00400000019F; /* バランス制御実行周期(秒) */ + + const float A_D = 0.8F; /* low pass filter gain for motors average count */ + const float A_R = 0.996F; /* low pass filter gain for motors target count */ + /* servo control state feedback gain for NXT standard tire */ + static float[] K_F = new float[4] {-0.870303F, -31.9978F, -1.1566F * 0.6F, -2.78873F}; + const float K_I = -0.44721F; /* servo control integral gain */ + const float K_PHIDOT = 25.0F * 2.5F; /* turn target speed gain */ + const float K_THETADOT = 7.5F; /* forward target speed gain */ + + const float BATTERY_GAIN = 0.001089F; /* battery voltage gain for motor PWM outputs */ + const float BATTERY_OFFSET = 0.625F; /* battery voltage offset for motor PWM outputs */ + + static float ud_err_theta; /* 左右車輪の平均回転角度(θ)目標誤差状態値 */ + static float ud_psi; /* 車体ピッチ角度(ψ)状態値 */ + static float ud_theta_lpf; /* 左右車輪の平均回転角度(θ)状態値 */ + static float ud_theta_ref; /* 左右車輪の目標平均回転角度(θ)状態値 */ + static float ud_thetadot_cmd_lpf; /* 左右車輪の目標平均回転角速度(dθ/dt)状態値 */ + + public static void control(float args_cmd_forward, float args_cmd_turn, float + args_gyro, float args_gyro_offset, float + args_theta_m_l, float args_theta_m_r, float + args_battery, out sbyte ret_pwm_l, out sbyte ret_pwm_r) + { + float tmp_theta; + float tmp_theta_lpf; + float tmp_pwm_r_limiter; + float tmp_psidot; + float tmp_pwm_turn; + float tmp_pwm_l_limiter; + float tmp_thetadot_cmd_lpf; + float[] tmp = new float[4]; + float[] tmp_theta_0 = new float[4]; + int tmp_0; + + /* Sum: '/Sum' incorporates: + * Constant: '/Constant6' + * Constant: '/Constant' + * Constant: '/Constant1' + * Gain: '/Gain1' + * Gain: '/Gain2' + * Inport: '/cmd_forward' + * Product: '/Divide' + * Product: '/Product' + * Sum: '/Sum1' + * UnitDelay: '/Unit Delay' + */ + tmp_thetadot_cmd_lpf = (((args_cmd_forward / CMD_MAX) * K_THETADOT) * (1.0F + - A_R)) + (A_R * ud_thetadot_cmd_lpf); + + /* Gain: '/Gain' incorporates: + * Gain: '/deg2rad' + * Gain: '/deg2rad1' + * Inport: '/theta_m_l' + * Inport: '/theta_m_r' + * Sum: '/Sum1' + * Sum: '/Sum4' + * Sum: '/Sum6' + * UnitDelay: '/Unit Delay' + */ + tmp_theta = (((DEG2RAD * args_theta_m_l) + ud_psi) + ((DEG2RAD * + args_theta_m_r) + ud_psi)) * 0.5F; + + /* Sum: '/Sum' incorporates: + * Constant: '/Constant' + * Constant: '/Constant1' + * Gain: '/Gain2' + * Product: '/Product' + * Sum: '/Sum1' + * UnitDelay: '/Unit Delay' + */ + tmp_theta_lpf = ((1.0F - A_D) * tmp_theta) + (A_D * ud_theta_lpf); + + /* Gain: '/deg2rad2' incorporates: + * Inport: '/gyro' + * Inport: '/gyro_offset' + * Sum: '/Sum2' + */ + tmp_psidot = (args_gyro - args_gyro_offset) * DEG2RAD; + + /* Gain: '/Gain' incorporates: + * Constant: '/Constant2' + * Constant: '/Constant3' + * Constant: '/Constant' + * Constant: '/Constant' + * Gain: '/FeedbackGain' + * Gain: '/IntegralGain' + * Gain: '/Gain3' + * Inport: '/battery' + * Product: '/Product' + * Product: '/Product' + * Sum: '/Sum2' + * Sum: '/sum_err' + * Sum: '/Sum2' + * Sum: '/Sum' + * UnitDelay: '/Unit Delay' + * UnitDelay: '/Unit Delay' + * UnitDelay: '/Unit Delay' + * UnitDelay: '/Unit Delay' + */ + tmp[0] = ud_theta_ref; + tmp[1] = 0.0F; + tmp[2] = tmp_thetadot_cmd_lpf; + tmp[3] = 0.0F; + tmp_theta_0[0] = tmp_theta; + tmp_theta_0[1] = ud_psi; + tmp_theta_0[2] = (tmp_theta_lpf - ud_theta_lpf) / EXEC_PERIOD; + tmp_theta_0[3] = tmp_psidot; + tmp_pwm_r_limiter = 0.0F; + for (tmp_0 = 0; tmp_0 < 4; tmp_0++) { + tmp_pwm_r_limiter += (tmp[tmp_0] - tmp_theta_0[tmp_0]) * K_F[(tmp_0)]; + } + + tmp_pwm_r_limiter = (((K_I * ud_err_theta) + tmp_pwm_r_limiter) / + ((BATTERY_GAIN * args_battery) - BATTERY_OFFSET)) * + 100.0F; + + /* Gain: '/Gain2' incorporates: + * Constant: '/Constant1' + * Inport: '/cmd_turn' + * Product: '/Divide1' + */ + tmp_pwm_turn = (args_cmd_turn / CMD_MAX) * K_PHIDOT; + + /* Sum: '/Sum' */ + tmp_pwm_l_limiter = tmp_pwm_r_limiter + tmp_pwm_turn; + + /* Saturate: '/pwm_l_limiter' */ + tmp_pwm_l_limiter = rt_SATURATE(tmp_pwm_l_limiter, -100.0F, 100.0F); + + /* Outport: '/pwm_l' incorporates: + * DataTypeConversion: '/Data Type Conversion' + */ + ret_pwm_l = (sbyte)tmp_pwm_l_limiter; + + /* Sum: '/Sum1' */ + tmp_pwm_r_limiter -= tmp_pwm_turn; + + /* Saturate: '/pwm_r_limiter' */ + tmp_pwm_r_limiter = rt_SATURATE(tmp_pwm_r_limiter, -100.0F, 100.0F); + + /* Outport: '/pwm_r' incorporates: + * DataTypeConversion: '/Data Type Conversion6' + */ + ret_pwm_r = (sbyte)tmp_pwm_r_limiter; + + /* Sum: '/Sum' incorporates: + * Gain: '/Gain' + * UnitDelay: '/Unit Delay' + */ + tmp_pwm_l_limiter = (EXEC_PERIOD * tmp_thetadot_cmd_lpf) + ud_theta_ref; + + /* Sum: '/Sum' incorporates: + * Gain: '/Gain' + * UnitDelay: '/Unit Delay' + */ + tmp_pwm_turn = (EXEC_PERIOD * tmp_psidot) + ud_psi; + + /* Sum: '/Sum' incorporates: + * Gain: '/Gain' + * Sum: '/Sum1' + * UnitDelay: '/Unit Delay' + * UnitDelay: '/Unit Delay' + */ + tmp_pwm_r_limiter = ((ud_theta_ref - tmp_theta) * EXEC_PERIOD) + + ud_err_theta; + + /* user code (Update function Body) */ + /* System '' */ + /* 次回演算用状態量保存処理 */ + + /* Update for UnitDelay: '/Unit Delay' */ + ud_err_theta = tmp_pwm_r_limiter; + + /* Update for UnitDelay: '/Unit Delay' */ + ud_theta_ref = tmp_pwm_l_limiter; + + /* Update for UnitDelay: '/Unit Delay' */ + ud_thetadot_cmd_lpf = tmp_thetadot_cmd_lpf; + + /* Update for UnitDelay: '/Unit Delay' */ + ud_psi = tmp_pwm_turn; + + /* Update for UnitDelay: '/Unit Delay' */ + ud_theta_lpf = tmp_theta_lpf; + } + + /* Model initialize function */ + public static void init() + { + /* Registration code */ + + /* states (dwork) */ + + /* custom states */ + ud_err_theta = 0.0F; + ud_theta_ref = 0.0F; + ud_thetadot_cmd_lpf = 0.0F; + ud_psi = 0.0F; + ud_theta_lpf = 0.0F; + } + + private static float rt_SATURATE(float sig, float ll, float ul) + { + return (((sig) >= (ul)) ? (ul) : (((sig) <= (ll)) ? (ll) : (sig)) ); + } + + //***************************************************************************** + // 関数名 : backlash_cancel + // 引数 : lpwm (左モーターPWM値 ※前回の出力値) + // rpwm (右モーターPWM値 ※前回の出力値) + // lenc (左モーターエンコーダー値) + // renc (右モーターエンコーダー値) + // 返り値 : なし + // 概要 : 直近のPWM値に応じてエンコーダー値にバックラッシュ分の値を追加します。 + //***************************************************************************** + public static void backlash_cancel(sbyte lpwm, sbyte rpwm, ref int lenc, ref int renc) + { + const int BACKLASHHALF = 4; // バックラッシュの半分[deg] + + if (lpwm < 0) lenc += BACKLASHHALF; + else if (lpwm > 0) lenc -= BACKLASHHALF; + + if (rpwm < 0) renc += BACKLASHHALF; + else if (rpwm > 0) renc -= BACKLASHHALF; + } + } +} + diff --git a/SampleCode/EV3way_MonoBrick_sample/EV3way_MonoBrick_2018/ev3way_monobrick_sample_2018/EV3/Brick.cs b/SampleCode/EV3way_MonoBrick_sample/EV3way_MonoBrick_2018/ev3way_monobrick_sample_2018/EV3/Brick.cs new file mode 100644 index 0000000..8b616c0 --- /dev/null +++ b/SampleCode/EV3way_MonoBrick_sample/EV3way_MonoBrick_2018/ev3way_monobrick_sample_2018/EV3/Brick.cs @@ -0,0 +1,189 @@ +//Brick class (get battery voltage, power off ,reboot, exit and change hostname ) +// by jtFuruhata 2014 + +using System; +using System.IO; +using MonoBrickFirmware.Native; + +namespace ETRobocon.EV3 +{ + public class Brick + { + protected const int ANALOG_SIZE = 32; + protected const int ANALOG_BAT_CUR_OFF = 28; + protected const int ANALOG_BAT_V_OFF = 30; + + protected const float AMP_CIN = 22.0f; + protected const float VCE = 0.05f; + protected const float AMP_VIN = 0.5f; + + protected const float ADC_REF = 5.0f; // 5.0 Volts + protected const int ADC_RES = 4095; + + protected const string HOME = "/home/root"; + protected const string LEJOS_HOME = HOME + "/lejos/bin"; + protected const string START_NETWORK = LEJOS_HOME + "/startnetwork"; + protected const string START_NETWORK_ORG = START_NETWORK + ".org"; + protected const string START_BT = LEJOS_HOME + "/startbt"; + protected const string START_BT_ORG = START_BT + ".org"; + protected const string MONO_HOME = "/usr/local/bin"; + protected const string HOSTNAME = "/hostname"; + protected const string SYSTEM_HOSTNAME = "/etc" + HOSTNAME; + protected const string LEJOS_HOSTNAME = LEJOS_HOME + HOSTNAME; + protected const string BTPIN = "/btpin"; + protected const string SYSTEM_BTPIN = "/etc/bluetooth" + BTPIN; + protected const string LEJOS_BTPIN = LEJOS_HOME + BTPIN; + + protected static Brick Instance; + protected UnixDevice dev; + protected MemoryArea batteryMem; + + static Brick () + { + Brick.Instance = new Brick (); + } + + protected Brick () + { + this.dev = new UnixDevice ("/dev/lms_analog"); + this.batteryMem = this.dev.MMap (ANALOG_SIZE, 0); + } + + protected static short getBatteryCurrentRaw () + { + return System.BitConverter.ToInt16 (Brick.Instance.batteryMem.Read (ANALOG_BAT_CUR_OFF, 2), 0); + } + + protected static short getBatteryVoltageRaw () + { + return System.BitConverter.ToInt16 (Brick.Instance.batteryMem.Read (ANALOG_BAT_V_OFF, 2), 0); + } + + protected static float convert (int val) + { + return (float)val * ADC_REF / ADC_RES; + } + + protected static int shell (string fileName, string arguments = "") + { + return MonoBrickFirmware.Native.ProcessHelper.RunAndWaitForProcess (fileName, arguments); + } + + /// + /// バッテリの電源電圧をボルト単位で取得する + /// + /// 電圧(V) + public static float GetVoltage () + { + float CinV = convert(Brick.getBatteryCurrentRaw())/AMP_CIN; + return convert(Brick.getBatteryVoltageRaw())/AMP_VIN + CinV + VCE; + } + + /// + /// バッテリの電源電圧をミリボルト単位で取得する + /// + /// 電圧(mV) + public static int GetVoltageMilliVolt () + { + return (int)(Brick.GetVoltage()*1000f); + } + + /// + /// EV3インテリジェントブリックの電源を切る + /// + public static void Poweroff () + { + MonoBrickFirmware.Native.ProcessHelper.StartProcess ("halt", "-p"); + } + + /// + /// EV3インテリジェントブリックを再起動する + /// + public static void Reboot () + { + MonoBrickFirmware.Native.ProcessHelper.StartProcess ("reboot"); + } + + /// + /// ユーザアプリを終了し、MonoBrickメインメニューへ戻る + /// + public static void ExitToMenu () + { + MonoBrickFirmware.Native.ProcessHelper.StartProcess (MONO_HOME + "/mono", + "--full-aot " + MONO_HOME + "/StartupApp.exe"); + } + + /// + /// EV3インテリジェントブリックのホスト名を取得する + /// + /// ホスト名 + public static string GetName () + { + return MonoBrickFirmware.Native.ProcessHelper.RunAndWaitForProcessWithOutput ("hostname"); + } + + /// + /// EV3インテリジェントブリックのホスト名およびBluetoothデバイス名を設定する + /// + /// 設定するホスト名（デバイス名） + public static void SetName (string name) + { + FileStream fs = File.Create (LEJOS_HOSTNAME); + StreamWriter sw = new StreamWriter (fs); + sw.WriteLine (name); + sw.Close (); + fs.Close (); + Brick.shell ("cp", " -f " + LEJOS_HOSTNAME + " " +SYSTEM_HOSTNAME); + Brick.shell ("hostname", name); + Brick.shell ("hciconfig", "hci0 name " + name); + } + + /// + /// Bluetooth関係のETロボコン拡張機能を有効にする + /// + public static void InstallETRoboExt () + { + if (!File.Exists (START_NETWORK_ORG)) { + Brick.shell ("cp", "-f " + START_NETWORK + " " + START_NETWORK_ORG); + } + FileStream fs = File.Create (START_NETWORK); + StreamWriter sw = new StreamWriter (fs); + sw.WriteLine ("#! /bin/sh"); + sw.WriteLine ("HOSTNAME=`cat " + LEJOS_HOSTNAME + "`"); + sw.WriteLine ("cp -f " + LEJOS_HOSTNAME + " " +SYSTEM_HOSTNAME); + sw.WriteLine ("hostname ${HOSTNAME}"); + sw.WriteLine (START_NETWORK_ORG); + sw.Close (); + fs.Close (); + + if (!File.Exists (START_BT_ORG)) { + Brick.shell ("cp", "-f " + START_BT + " " + START_BT_ORG); + } + fs = File.Create (START_BT); + sw = new StreamWriter (fs); + sw.WriteLine ("#! /bin/sh"); + sw.WriteLine ("cp -f " + LEJOS_BTPIN + " " + SYSTEM_BTPIN); + sw.WriteLine ("hciconfig hci0 auth"); + sw.WriteLine (START_BT_ORG); + sw.Close (); + fs.Close (); + + if (!File.Exists (LEJOS_BTPIN)) { + fs = File.Create (LEJOS_BTPIN); + sw = new StreamWriter (fs); + sw.WriteLine ("1234"); + sw.Close (); + fs.Close (); + } + + if (!File.Exists (LEJOS_HOSTNAME)) { + fs = File.Create (LEJOS_HOSTNAME); + sw = new StreamWriter (fs); + sw.WriteLine ("EV3"); + sw.Close (); + fs.Close (); + } + } + } +} + diff --git a/SampleCode/EV3way_MonoBrick_sample/EV3way_MonoBrick_2018/ev3way_monobrick_sample_2018/EV3body.cs b/SampleCode/EV3way_MonoBrick_sample/EV3way_MonoBrick_2018/ev3way_monobrick_sample_2018/EV3body.cs new file mode 100644 index 0000000..ba55882 --- /dev/null +++ b/SampleCode/EV3way_MonoBrick_sample/EV3way_MonoBrick_2018/ev3way_monobrick_sample_2018/EV3body.cs @@ -0,0 +1,31 @@ +using System; +using System.Net.Sockets; + +using MonoBrickFirmware.Movement; +using MonoBrickFirmware.Sensors; + +namespace ETRobocon.EV3.Sample +{ + struct EV3body{ + //モータオブジェクト + public Motor motorL; + public Motor motorR; + public Motor motorT; + //センサーオブジェクト + public EV3TouchSensor touch; + public EV3UltrasonicSensor sonar; + public EV3ColorSensor color; + public EV3GyroSensor gyro; + + public static void init(ref EV3body body){ + body.motorL = new Motor (MotorPort.OutC); + body.motorR = new Motor (MotorPort.OutB); + body.motorT = new Motor (MotorPort.OutA); + body.touch = new EV3TouchSensor (SensorPort.In1); + body.sonar = new EV3UltrasonicSensor (SensorPort.In2, UltraSonicMode.Centimeter); // return [mm] + body.color = new EV3ColorSensor (SensorPort.In3, ColorMode.Reflection); + body.gyro = new EV3GyroSensor (SensorPort.In4, GyroMode.AngularVelocity); + } + } +} + diff --git a/SampleCode/EV3way_MonoBrick_sample/EV3way_MonoBrick_2018/ev3way_monobrick_sample_2018/Main.cs b/SampleCode/EV3way_MonoBrick_sample/EV3way_MonoBrick_2018/ev3way_monobrick_sample_2018/Main.cs new file mode 100644 index 0000000..5f71ffc --- /dev/null +++ b/SampleCode/EV3way_MonoBrick_sample/EV3way_MonoBrick_2018/ev3way_monobrick_sample_2018/Main.cs @@ -0,0 +1,147 @@ +using System; +using System.Net; +using System.Net.Sockets; +using System.Threading; +using System.Diagnostics; + +using MonoBrickFirmware.Display.Dialogs; +using MonoBrickFirmware.Display; + +using ETRobocon.EV3; + +// 2輪倒立振子ライントレースロボットの MonoBrick 用 c# サンプルプログラム。 +namespace ETRobocon.EV3.Sample +{ + class MainClass + { + //下記のパラメータは個体/環境に合わせて変更する必要があります + const int GYRO_OFFSET = 0; //ジャイロセンサオフセット値 + const int LIGHT_BLACK = 0; //白色の光センサ値 + const int LIGHT_WHITE = 40; //黒色の光センサ値 + const int TAIL_ANGLE_STAND_UP = 94; //完全停止時の角度[deg] + const int TAIL_ANGLE_DRIVE = 3; //バランス走行時の角度[deg] + const float P_GAIN = 2.5F; //完全停止用モータ制御比例係数 + const int PWM_ABS_MAX = 60; //完全停止用モータ制御PWM絶対最大値 + + public static void Main() + { + // 構造体の宣言と初期化 + var body = new EV3body (); + EV3body.init (ref body); + + // Bluetooth関係のETロボコン拡張機能を有効にする + Brick.InstallETRoboExt (); + + // センサーおよびモータに対して初回アクセスをしておく + body.color.Read(); + body.gyro.Read (); + body.motorL.SetPower (0); + body.motorR.SetPower (0); + body.motorT.SetPower (0); + + body.motorL.ResetTacho (); + body.motorR.ResetTacho (); + body.motorT.ResetTacho (); + Balancer.init (); + + // スタート待ち + wait_start(body); + + try{ + run(body); + }catch(Exception){ + var dialogE = new InfoDialog ("Exception."); + dialogE.Show();//Wait for enter to be pressed + } + + body.motorL.Off (); + body.motorR.Off (); + body.motorT.Off (); + + Lcd.Clear (); + Lcd.Update (); + + if (Debugger.IsAttached) { + Brick.ExitToMenu (); // MonoBrickメインメニューへ戻る + } + } + + static void wait_start(EV3body body){ + //スタート待ち + while (!body.touch.IsPressed ()) { + tail_control(body, TAIL_ANGLE_STAND_UP); + Thread.Sleep (4); + } + } + + static void run(EV3body body){ + // 電圧を取得 + int battery = Brick.GetVoltageMilliVolt(); + + sbyte forward; + sbyte turn; + + sbyte oldPwmL = 0, oldPwmR = 0; + + while (true) + { + tail_control(body, TAIL_ANGLE_DRIVE); // バランス走行用角度に制御 + + forward = 50; + turn = (body.color.Read () >= (LIGHT_BLACK + LIGHT_WHITE) / 2) ? (sbyte)50 : (sbyte)-50; + + int gyroNow = body.gyro.Read(); + int theTaL = body.motorL.GetTachoCount(); + int theTaR = body.motorR.GetTachoCount(); + + // バックラッシュをキャンセル + Balancer.backlash_cancel(oldPwmL, oldPwmR, ref theTaL, ref theTaR); + + sbyte pwmL, pwmR; + Balancer.control ( + (float)forward, (float)turn, (float)gyroNow, (float)GYRO_OFFSET, (float)theTaL, (float)theTaR, (float)battery, + out pwmL, out pwmR + ); + + oldPwmL = pwmL; + oldPwmR = pwmR; + + if (pwmL == 0) { + body.motorL.Brake(); + } else { + body.motorL.SetPower(pwmL); + } + if (pwmR == 0) { + body.motorR.Brake(); + } else { + body.motorR.SetPower(pwmR); + } + + // バランス制御のみだと3msecで安定 + // 尻尾制御と障害物検知を使用する場合2msecで安定 + Thread.Sleep(1); + } + } + + /* + * 走行体完全停止用モータの角度制御 + * @param angle モータ目標角度[度] + */ + static void tail_control(EV3body body, int angle) + { + float pwm = (float)(angle - body.motorT.GetTachoCount ()) * P_GAIN; // 比例制御 + // PWM出力飽和処理 + if (pwm > PWM_ABS_MAX) { + pwm = PWM_ABS_MAX; + } else if (pwm < 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MonoBrickFirmware.dll + + + + + + + + + + \ No newline at end of file