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Udon::Direction 導入 #229

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Dec 25, 2024
Merged

Udon::Direction 導入 #229

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8 changes: 4 additions & 4 deletions src/Udon/Com/Driver/Encoder.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -12,9 +12,9 @@
#include <Udon/Algorithm/DeltaTime.hpp>
#include <Udon/Com/Message/Encoder.hpp>
#include <Udon/Traits/HasMemberFunction.hpp>

#include <Udon/Traits/ReaderWriterTraits.hpp>
#include <Udon/Utility/Printf.hpp>
#include <Udon/Types/Direction.hpp>

namespace Udon
{
Expand All @@ -32,7 +32,7 @@ namespace Udon

Udon::DeltaTime deltaTime;

bool direction;
Udon::Direction direction;

int32_t count{};
int32_t deltaCount{};
Expand All @@ -43,7 +43,7 @@ namespace Udon
/// @brief コンストラクタ
/// @param reader 受信クラスオブジェクト
/// @param direction 回転方向
EncoderBy(ReaderType&& reader, bool direction)
EncoderBy(ReaderType&& reader, Udon::Direction direction = Udon::Direction::Forward)
: reader(std::move(reader))
, deltaTime()
, direction(direction)
Expand All @@ -59,7 +59,7 @@ namespace Udon

if (const auto countOpt = reader.getMessage())
{
count = countOpt->count * (direction ? 1 : -1);
count = countOpt->count * Udon::DirectionToSign(direction);
}

const auto curr = getCount();
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7 changes: 4 additions & 3 deletions src/Udon/Com/Driver/Motor.hpp
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Expand Up @@ -13,6 +13,7 @@
#include <Udon/Traits/HasMemberFunction.hpp>
#include <Udon/Utility/Show.hpp>
#include <Udon/Traits/ReaderWriterTraits.hpp>
#include <Udon/Types/Direction.hpp>

namespace Udon
{
Expand All @@ -28,14 +29,14 @@ namespace Udon

int16_t power; // 出力値 -255 ~ 255

bool direction; // 回転方向 true: forward, false: backward
Udon::Direction direction; // 回転方向

public:

/// @brief コンストラクタ
/// @param writer 送信クラスオブジェクト
/// @param direction 回転方向
MotorBy(WriterType&& writer, bool direction)
MotorBy(WriterType&& writer, Udon::Direction direction = Udon::Direction::Forward)
: writer(std::move(writer))
, power()
, direction(direction)
Expand All @@ -47,7 +48,7 @@ namespace Udon
void move(int16_t p)
{
power = Constrain(p, (int16_t)-255, (int16_t)255);
writer.setMessage({ static_cast<int16_t>(power * (direction ? 1 : -1)) });
writer.setMessage({ static_cast<int16_t>(power * Udon::DirectionToSign(direction)) });
Udon::Traits::MaybeInvokeUpdate(writer);
}

Expand Down
9 changes: 7 additions & 2 deletions src/Udon/Driver/EncoderPico.hpp
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Expand Up @@ -12,6 +12,7 @@
# include "Pio/QuadratureEncoder.pio.hpp"

# include <Udon/Algorithm/ScopedInterruptLocker.hpp>
# include <Udon/Types/Direction.hpp>

namespace Udon
{
Expand All @@ -22,15 +23,19 @@ namespace Udon
uint8_t pinA;
uint8_t pinB;

Udon::Direction direction;

Pio::StateMachine stateMachine; // PIO使用時

public:
/// @brief コンストラクタ
/// @param pinA エンコーダーのA相ピン
/// @param pinB エンコーダーのB相ピン
EncoderPico(uint8_t pinA, uint8_t pinB)
/// @param direction 回転方向
EncoderPico(uint8_t pinA, uint8_t pinB, Udon::Direction direction = Udon::Direction::Forward)
: pinA(pinA)
, pinB(pinB)
, direction(direction)
, stateMachine()
{
}
Expand Down Expand Up @@ -68,7 +73,7 @@ namespace Udon
/// @return エンコーダーの値
int32_t read() const
{
return Pio::Encoder::quadrature_encoder_get_count(stateMachine.pio, stateMachine.index);
return Pio::Encoder::quadrature_encoder_get_count(stateMachine.pio, stateMachine.index) * Udon::DirectionToSign(direction);
}

/// @brief エンコーダーの値を表示する
Expand Down
29 changes: 18 additions & 11 deletions src/Udon/Driver/Motor.hpp
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Expand Up @@ -10,6 +10,7 @@

# include <Arduino.h>
# include <Udon/Algorithm/MovingAverage.hpp>
# include <Udon/Types/Direction.hpp>

namespace Udon
{
Expand All @@ -22,17 +23,20 @@ namespace Udon
const uint8_t pinA;
const uint8_t pinP;

Udon::MovingAverage<SmoothLevel> movingAverage;
Udon::Direction direction;

Udon::MovingAverage<SmoothLevel> ma;

public:

/// @brief コンストラクタ
/// @param pinA 方向ピン
/// @param pinP PWM ピン
SmoothlyMotor2(const uint8_t pinA, const uint8_t pinP)
SmoothlyMotor2(const uint8_t pinA, const uint8_t pinP, Udon::Direction direction = Udon::Direction::Forward)
: pinA(pinA)
, pinP(pinP)
, movingAverage{}
, direction(direction)
, ma{}
{
}

Expand All @@ -46,7 +50,7 @@ namespace Udon
/// @param power パワー (-250 ～ 250)
void move(const int16_t power)
{
const int16_t p = movingAverage(constrain(power, -250, 250));
const int16_t p = ma(constrain(power, -250, 250)) * Udon::DirectionToSign(direction);
digitalWrite(pinA, p >= 0 ? HIGH : LOW);
analogWrite(pinP, abs(p));
}
Expand All @@ -60,7 +64,7 @@ namespace Udon
/// @brief パワーをシリアル出力
void show() const
{
Serial.print(movingAverage.getValue());
Serial.print(ma.getValue());
Serial.print('\t');
}
};
Expand All @@ -74,19 +78,23 @@ namespace Udon
const uint8_t pinB;
const uint8_t pinP;

Udon::MovingAverage<SmoothLevel> movingAverage;
Udon::Direction direction;

Udon::MovingAverage<SmoothLevel> ma;

public:

/// @brief コンストラクタ
/// @param pinA 方向ピン
/// @param pinB 方向ピン
/// @param pinP PWM ピン
SmoothlyMotor3(const uint8_t pinA, const uint8_t pinB, const uint8_t pinP)
/// @param direction 回転方向
SmoothlyMotor3(const uint8_t pinA, const uint8_t pinB, const uint8_t pinP, Udon::Direction direction = Udon::Direction::Forward)
: pinA(pinA)
, pinB(pinB)
, pinP(pinP)
, movingAverage{}
, direction(direction)
, ma{}
{
}

Expand All @@ -101,8 +109,7 @@ namespace Udon
/// @param power パワー (-250 ～ 250)
void move(const int16_t power)
{
movingAverage.update(constrain(power, -250, 250));
const int16_t p = movingAverage.getValue();
const int16_t p = ma(constrain(power, -250, 250)) * Udon::DirectionToSign(direction);
digitalWrite(pinA, p >= 0 ? HIGH : LOW);
digitalWrite(pinB, p <= 0 ? HIGH : LOW);
analogWrite(pinP, abs(p));
Expand All @@ -117,7 +124,7 @@ namespace Udon
/// @brief パワーをシリアル出力
void show() const
{
Serial.print(movingAverage.getValue());
Serial.print(ma.getValue());
Serial.print('\t');
}
};
Expand Down
20 changes: 8 additions & 12 deletions src/Udon/Driver/RoboMasterMotor.hpp
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Expand Up @@ -8,6 +8,7 @@

#include <Udon/Com/Can.hpp>
#include <Udon/Algorithm/Math.hpp>
#include <Udon/Types/Direction.hpp>

namespace Udon
{
Expand All @@ -24,7 +25,7 @@ namespace Udon
/// @param bus CAN通信バス
/// @param motorId モーターID (1~8)
/// @param direction 回転方向
RoboMasterBase(Udon::ICanBus& bus, uint8_t motorId, bool direction = true)
RoboMasterBase(Udon::ICanBus& bus, uint8_t motorId, Udon::Direction direction = Udon::Direction::Forward)
: bus{ bus }
, motorId{ motorId }
, direction{ direction }
Expand Down Expand Up @@ -62,7 +63,7 @@ namespace Udon
/// @return 角度 [rad]
double getAngle() const
{
return (angle + offsetAngle) * 2 * Udon::Pi / ppr * directionSign();
return (angle + offsetAngle) * 2 * Udon::Pi / ppr * Udon::DirectionToSign(direction);
}


Expand All @@ -71,15 +72,15 @@ namespace Udon
/// @return 角度 [rad]
double getRawAngle() const
{
return angle * 2 * Udon::Pi / ppr * directionSign();
return angle * 2 * Udon::Pi / ppr * Udon::DirectionToSign(direction);
}


/// @brief モーターの速度を取得
/// @return 速度 [rpm]
int16_t getVelocity() const
{
const auto velocity = (nodeRx->data[2] << 8 | nodeRx->data[3]) * directionSign();
const auto velocity = (nodeRx->data[2] << 8 | nodeRx->data[3]) * Udon::DirectionToSign(direction);
return static_cast<int16_t>(velocity);
}

Expand All @@ -88,7 +89,7 @@ namespace Udon
/// @return トルク電流 [mA]
int16_t getTorqueCurrent() const
{
const int current = (nodeRx->data[4] << 8 | nodeRx->data[5]) * directionSign();
const int current = (nodeRx->data[4] << 8 | nodeRx->data[5]) * Udon::DirectionToSign(direction);
return static_cast<int16_t>(current);
}

Expand All @@ -105,7 +106,7 @@ namespace Udon
/// @param current 電流値
void setCurrent(int16_t current)
{
current = current * directionSign();
current = current * Udon::DirectionToSign(direction);

const auto transmitCurrent = static_cast<int16_t>(current * 16384 / 20000);

Expand All @@ -131,7 +132,7 @@ namespace Udon
uint8_t motorId;

/// @brief 回転方向
bool direction;
Udon::Direction direction;

/// @brief 送信バッファ
Udon::CanTxNode* nodeTx;
Expand All @@ -149,11 +150,6 @@ namespace Udon
/// @brief エンコーダー分解能
static constexpr int32_t ppr = 8192;

int16_t directionSign() const
{
return direction ? 1 : -1;
}

static void onReceive(void* p)
{
auto self = static_cast<RoboMasterBase*>(p);
Expand Down
23 changes: 23 additions & 0 deletions src/Udon/Types/Direction.hpp
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@@ -0,0 +1,23 @@
#pragma once

namespace Udon
{

/// @brief 方向
/// @note 回転方向を表す
enum class Direction
{
Forward,
Backward,
};

inline int DirectionToSign(Direction direction)
{
switch (direction)
{
case Direction::Forward: return 1;
case Direction::Backward: return -1;
}
}

} // namespace Udon
4 changes: 2 additions & 2 deletions test/ArduinoLint/src/Driver/RoboMasterMotor.cpp
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Expand Up @@ -20,7 +20,7 @@ __attribute__((unused)) static void test()
{
DummyBus bus;
{
Udon::RoboMasterC610 motor{ bus, 0x000, true };
Udon::RoboMasterC610 motor{ bus, 0x000, Udon::Direction::Forward };
motor.setCurrent(0);
motor.getAngle();
motor.getVelocity();
Expand All @@ -29,7 +29,7 @@ __attribute__((unused)) static void test()
}

{
Udon::RoboMasterC620 motor{ bus, 0x000, true };
Udon::RoboMasterC620 motor{ bus, 0x000, Udon::Direction::Backward };
motor.setCurrent(0);
motor.getAngle();
motor.getVelocity();
Expand Down
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