予算3万円でつくる BLDC 2足歩行ロボット 第6号
ー2足歩行ロボットの動作を楽しむ2ー
お父ちゃん
2025.10.3
0
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前回は2足歩行ロボット HM-01 の足踏み・歩行動作を楽しみました。
ここではさらに旋回、横移動、ジャンプ動作を追加して楽しみます。
目次
ATOM用Arduinoコード
前回のATOM用のコードを変更して旋回、横移動、ジャンプ動作を追加します。
動作はPS4コントローラから指定します。
環境バージョンはこれまでと同様で以下の通りです。
Arduino IDEバージョン：ver. 1.8.19
ESP32ライブラリ：ver. 2.0.13
M5Atomライブラリ：ver. 0.1.3
Kalman Filter Library ：ver. 1.0.2
PS4Controllerライブラリ：ver. 1.1.0
SimpleFOCライブラリ：ver. 2.3.3
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enum class ModeT : uint8_t; #include <M5Atom.h> #include <Kalman.h> #include <WiFi.h> #include <WebServer.h> #include <Preferences.h> #include <PS4Controller.h> #include "driver/twai.h" #include <SimpleFOC.h> twai_message_t rx_msg; WebServer server(80); const char ssid[] = "ATOM"; // SSID const char pass[] = "password"; // password const IPAddress ip(192, 168,22, 90); // IPアドレス const IPAddress subnet(255, 255, 255, 0); // サブネットマスク int Motion = 0; int idleState = 0; int delay1 = 50, delay2 = 140, jumpDelay = 80; float xZero = 10.0, zZero = 99.0; float dx1 = 10.0, dx2 = 5.0; float dz1 = 3.0, dz2 = 16.0; float tim; unsigned long time_mSt; LowPassFilter filter = LowPassFilter(0.3); float tf = 0.3; float th = 30.0; int stateJudge = 0; float torqueL = 0.0, torqueR = 0.0; float preTorque = 0.0, currentTorque = 0.0, diffTorque = 0.0; float offsetX = 0.0, offsetY = 0.0; int lastLStickX = 0, lastLStickY = 0, lastRStickX = 0, lastRStickY = 0; unsigned long oldTime = 0, loopTime, nowTime, startTime; float dt; float accX = 0, accY = 0, accZ = 0; float gyroX = 0, gyroY = 0, gyroZ = 0; float theta_X = 0.0, theta_Y = 0.0; float theta_Xdot = 0.0, theta_Ydot = 0.0; Kalman kalmanX, kalmanY; float kalAngleX, kalAngleDotX, kalAngleY, kalAngleDotY; float Kp = 0.3, Kd = 0.02; float rollVal = 0.0, rollCtrlL = 0.0, rollCtrlR = 0.0, rollAngle = 3.0; Preferences preferences; //加速度センサから傾きデータ取得 [deg] void get_theta() { M5.IMU.getAccelData(&accX,&accY,&accZ); //傾斜角導出 単位はdeg theta_X = atan2(accY, -accZ) * 57.29578f + offsetX; theta_Y = -atan2(-accX, -accZ) * 57.29578f + offsetY; } //角速度取得 void get_gyro_data() { M5.IMU.getGyroData(&gyroX,&gyroY,&gyroZ); theta_Xdot = -gyroX; theta_Ydot = gyroY; } //CAN送信 L void sendL(float xL, float hL) { twai_message_t msg = {}; msg.identifier = 0x121; msg.extd = 0; // 標準ID（11bit） msg.data_length_code = 8; // floatをバイト配列にコピー memcpy(&msg.data[0], &xL, 4); memcpy(&msg.data[4], &hL, 4); // 送信 twai_transmit(&msg, 0); } //CAN送信 R void sendR(float xR, float hR) { twai_message_t msg = {}; msg.identifier = 0x122; msg.extd = 0; // 標準ID（11bit） msg.data_length_code = 8; // floatをバイト配列にコピー memcpy(&msg.data[0], &xR, 4); memcpy(&msg.data[4], &hR, 4); // 送信 twai_transmit(&msg, 0); } //CAN送信 Roll void sendRoll(float angL, float angR) { twai_message_t msg = {}; msg.identifier = 0x123; msg.extd = 0; // 標準ID（11bit） msg.data_length_code = 8; // floatをバイト配列にコピー memcpy(&msg.data[0], &angL, 4); memcpy(&msg.data[4], &angR, 4); // 送信 twai_transmit(&msg, 0); } //モード定義 enum class ModeT : uint8_t {Idle, Step, Ad, Back, stepL, stepR, turnL, turnR, Jump}; //モードを設定して実行 void setMotion(ModeT m) { switch (m) { case ModeT::Step: //足踏み if(Motion == 0){ sendL(xZero, zZero); Motion = 1; time_mSt = millis(); tim = 0; }else if(Motion == 1){ tim = millis() - time_mSt; if(tim <= delay1){ sendR(xZero, zZero + dz1 / delay1 * tim); //0 -> dz1 }else{ time_mSt = millis(); tim = 0; Motion = 2; } }else if(Motion == 2 && tim <= delay2){ tim = millis() - time_mSt; sendR(xZero, zZero + dz1 - (dz1 + dz2) / delay2 * tim); //dz1 -> -dz2 }else if(Motion == 2 && tim > delay2){ Motion = 3; startTime = millis(); while(true) { // 接地判定まで待機 sendR(xZero, zZero); if(stateJudge == 1 || millis() - startTime > 1000){ break; } } Motion = 4; stateJudge = 0; }else if(Motion == 4){ sendR(xZero, zZero); Motion = 5; time_mSt = millis(); tim = 0; }else if(Motion == 5){ tim = millis() - time_mSt; if(tim <= delay1){ sendL(xZero, zZero + dz1 / delay1 * tim); //0 -> dz1 }else{ time_mSt = millis(); tim = 0; Motion = 6; } }else if(Motion == 6 && tim <= delay2){ tim = millis() - time_mSt; sendL(xZero, zZero + dz1 - (dz1 + dz2) / delay2 * tim); //dz1 -> -dz2 }else if(Motion == 6 && tim > delay2 ){ Motion = 7; startTime = millis(); while(true) { // 接地判定まで待機 sendL(xZero, zZero); if(stateJudge == 1 || millis() - startTime > 1000){ break; } } Motion = 0; stateJudge = 0; } break; case ModeT::Ad: //前進 if(Motion == 0){ sendL(xZero + dx1, zZero); sendR(xZero - dx1, zZero); Motion = 1; time_mSt = millis(); tim = 0; }else if(Motion == 1){ tim = millis() - time_mSt; if(tim <= delay1){ sendR(xZero - dx1 - dx2 / delay1 * tim, zZero + dz1 / delay1 * tim); //0 -> dz1 }else{ time_mSt = millis(); tim = 0; Motion = 2; } }else if(Motion == 2 && tim <= delay2){ tim = millis() - time_mSt; sendL(xZero + dx1 - 2.0 * dx1 / delay2 * tim, zZero); sendR(xZero - dx1 - dx2 + (2.0 * dx1 + dx2) / delay2 * tim, zZero + dz1 - (dz1 + dz2) / delay2 * tim); //dz1 -> -dz2 }else if(Motion == 2 && tim > delay2){ Motion = 3; startTime = millis(); while(true) { // 接地判定まで待機 sendL(xZero - dx1, zZero); sendR(xZero + dx1, zZero); if(stateJudge == 1 || millis() - startTime > 1000){ break; } } Motion = 4; stateJudge = 0; }else if(Motion == 4){ sendL(xZero - dx1, zZero); sendR(xZero + dx1, zZero); Motion = 5; time_mSt = millis(); tim = 0; }else if(Motion == 5){ tim = millis() - time_mSt; if(tim <= delay1){ sendL(xZero - dx1 - dx2 / delay1 * tim, zZero + dz1 / delay1 * tim); //0 -> dz1 }else{ time_mSt = millis(); tim = 0; Motion = 6; } }else if(Motion == 6 && tim <= delay2){ tim = millis() - time_mSt; sendL(xZero - dx1 - dx2 + (2.0 * dx1 + dx2) / delay2 * tim, zZero + dz1 - (dz1 + dz2) / delay2 * tim); //dz1 -> -dz2 sendR(xZero + dx1 - 2.0 * dx1 / delay2 * tim, zZero); }else if(Motion == 6 && tim > delay2 ){ Motion = 7; startTime = millis(); while(true) { // 接地判定まで待機 sendL(xZero + dx1, zZero); sendR(xZero - dx1, zZero); if(stateJudge == 1 || millis() - startTime > 1000){ break; } } Motion = 0; stateJudge = 0; } break; case ModeT::Back: //後進 if(Motion == 0){ sendL(xZero - dx1, zZero); sendR(xZero + dx1, zZero); Motion = 1; time_mSt = millis(); tim = 0; }else if(Motion == 1){ tim = millis() - time_mSt; if(tim <= delay1){ sendR(xZero + dx1 + dx2 / delay1 * tim, zZero + dz1 / delay1 * tim); //0 -> dz1 }else{ time_mSt = millis(); tim = 0; Motion = 2; } }else if(Motion == 2 && tim <= delay2){ tim = millis() - time_mSt; sendL(xZero - dx1 + 2.0 * dx1 / delay2 * tim, zZero); sendR(xZero + dx1 + dx2 - (2.0 * dx1 + dx2) / delay2 * tim, zZero + dz1 - (dz1 + dz2) / delay2 * tim); //dz1 -> -dz2 }else if(Motion == 2 && tim > delay2){ Motion = 3; startTime = millis(); while(true) { // 接地判定まで待機 sendL(xZero + dx1, zZero); sendR(xZero - dx1, zZero); if(stateJudge == 1 || millis() - startTime > 1000){ break; } } Motion = 4; stateJudge = 0; }else if(Motion == 4){ sendL(xZero + dx1, zZero); sendR(xZero - dx1, zZero); Motion = 5; time_mSt = millis(); tim = 0; }else if(Motion == 5){ tim = millis() - time_mSt; if(tim <= delay1){ sendL(xZero + dx1 + dx2 / delay1 * tim, zZero + dz1 / delay1 * tim); //0 -> dz1 }else{ time_mSt = millis(); tim = 0; Motion = 6; } }else if(Motion == 6 && tim <= delay2){ tim = millis() - time_mSt; sendL(xZero + dx1 + dx2 - (2.0 * dx1 + dx2) / delay2 * tim, zZero + dz1 - (dz1 + dz2) / delay2 * tim); //dz1 -> -dz2 sendR(xZero - dx1 + 2.0 * dx1 / delay2 * tim, zZero); }else if(Motion == 6 && tim > delay2 ){ Motion = 7; startTime = millis(); while(true) { // 接地判定まで待機 sendL(xZero - dx1, zZero); sendR(xZero + dx1, zZero); if(stateJudge == 1 || millis() - startTime > 1000){ break; } } Motion = 0; stateJudge = 0; } break; case ModeT::stepL: //左移動 if(Motion == 0){ sendL(xZero, zZero); Motion = 1; time_mSt = millis(); tim = 0; }else if(Motion == 1){ tim = millis() - time_mSt; if(tim <= delay1){ sendR(xZero, zZero + dz1 / delay1 * tim); //0 -> dz1 }else{ time_mSt = millis(); tim = 0; Motion = 2; } }else if(Motion == 2 && tim <= delay2){ tim = millis() - time_mSt; sendR(xZero, zZero + dz1 - (dz1 + dz2) / delay2 * tim); //dz1 -> -dz2 rollCtrlL = rollAngle / delay2 * tim; rollCtrlR = -rollAngle / delay2 * tim; }else if(Motion == 2 && tim > delay2){ Motion = 3; startTime = millis(); while(true) { // 接地判定まで待機 sendR(xZero, zZero); if(stateJudge == 1 || millis() - startTime > 1000){ break; } } Motion = 4; stateJudge = 0; }else if(Motion == 4){ sendR(xZero, zZero); Motion = 5; time_mSt = millis(); tim = 0; }else if(Motion == 5){ tim = millis() - time_mSt; if(tim <= delay1){ sendL(xZero, zZero + dz1 / delay1 * tim); //0 -> dz1 }else{ time_mSt = millis(); tim = 0; Motion = 6; } }else if(Motion == 6 && tim <= delay2){ tim = millis() - time_mSt; sendL(xZero, zZero + dz1 - (dz1 + dz2) / delay2 * tim); //dz1 -> -dz2 rollCtrlL = -rollAngle / delay2 * tim; rollCtrlR = rollAngle / delay2 * tim; }else if(Motion == 6 && tim > delay2 ){ Motion = 7; startTime = millis(); while(true) { // 接地判定まで待機 sendL(xZero, zZero); if(stateJudge == 1 || millis() - startTime > 1000){ break; } } Motion = 0; stateJudge = 0; } break; case ModeT::stepR: //右移動 if(Motion == 0){ sendL(xZero, zZero); Motion = 1; time_mSt = millis(); tim = 0; }else if(Motion == 1){ tim = millis() - time_mSt; if(tim <= delay1){ sendR(xZero, zZero + dz1 / delay1 * tim); //0 -> dz1 }else{ time_mSt = millis(); tim = 0; Motion = 2; } }else if(Motion == 2 && tim <= delay2){ tim = millis() - time_mSt; sendR(xZero, zZero + dz1 - (dz1 + dz2) / delay2 * tim); //dz1 -> -dz2 rollCtrlL = -rollAngle / delay2 * tim; rollCtrlR = rollAngle / delay2 * tim; }else if(Motion == 2 && tim > delay2){ Motion = 3; startTime = millis(); while(true) { // 接地判定まで待機 sendR(xZero, zZero); if(stateJudge == 1 || millis() - startTime > 1000){ break; } } Motion = 4; stateJudge = 0; }else if(Motion == 4){ sendR(xZero, zZero); Motion = 5; time_mSt = millis(); tim = 0; }else if(Motion == 5){ tim = millis() - time_mSt; if(tim <= delay1){ sendL(xZero, zZero + dz1 / delay1 * tim); //0 -> dz1 }else{ time_mSt = millis(); tim = 0; Motion = 6; } }else if(Motion == 6 && tim <= delay2){ tim = millis() - time_mSt; sendL(xZero, zZero + dz1 - (dz1 + dz2) / delay2 * tim); //dz1 -> -dz2 rollCtrlL = rollAngle / delay2 * tim; rollCtrlR = -rollAngle / delay2 * tim; }else if(Motion == 6 && tim > delay2 ){ Motion = 7; startTime = millis(); while(true) { // 接地判定まで待機 sendL(xZero, zZero); if(stateJudge == 1 || millis() - startTime > 1000){ break; } } Motion = 0; stateJudge = 0; } break; case ModeT::turnL: //左旋回 if(Motion == 0){ sendL(xZero - dx1, zZero); sendR(xZero, zZero); Motion = 1; time_mSt = millis(); tim = 0; }else if(Motion == 1){ tim = millis() - time_mSt; if(tim <= delay1){ sendR(xZero, zZero + dz1 / delay1 * tim); //0 -> dz1 }else{ time_mSt = millis(); tim = 0; Motion = 2; } }else if(Motion == 2 && tim <= delay2){ tim = millis() - time_mSt; sendL(xZero - dx1 + 2.0 * dx1 / delay2 * tim, zZero); sendR(xZero, zZero + dz1 - (dz1 + dz2) / delay2 * tim); //dz1 -> -dz2 }else if(Motion == 2 && tim > delay2){ Motion = 3; startTime = millis(); while(true) { // 接地判定まで待機 sendL(xZero + dx1, zZero); sendR(xZero, zZero); if(stateJudge == 1 || millis() - startTime > 1000){ break; } } Motion = 4; stateJudge = 0; }else if(Motion == 4){ sendL(xZero + dx1, zZero); sendR(xZero, zZero); Motion = 5; time_mSt = millis(); tim = 0; }else if(Motion == 5){ tim = millis() - time_mSt; if(tim <= delay1){ sendL(xZero + dx1 + dx2 / delay1 * tim, zZero + dz1 / delay1 * tim); //0 -> dz1 }else{ time_mSt = millis(); tim = 0; Motion = 6; } }else if(Motion == 6 && tim <= delay2){ tim = millis() - time_mSt; sendL(xZero + dx1 + dx2 - (2.0 * dx1 + dx2) / delay2 * tim, zZero + dz1 - (dz1 + dz2) / delay2 * tim); //dz1 -> -dz2 sendR(xZero, zZero); }else if(Motion == 6 && tim > delay2 ){ Motion = 7; startTime = millis(); while(true) { // 接地判定まで待機 sendL(xZero - dx1, zZero); sendR(xZero, zZero); if(stateJudge == 1 || millis() - startTime > 1000){ break; } } Motion = 0; stateJudge = 0; } break; case ModeT::turnR: //右旋回 if(Motion == 0){ sendL(xZero, zZero); sendR(xZero + dx1, zZero); Motion = 1; time_mSt = millis(); tim = 0; }else if(Motion == 1){ tim = millis() - time_mSt; if(tim <= delay1){ sendR(xZero + dx1 + dx2 / delay1 * tim, zZero + dz1 / delay1 * tim); //0 -> dz1 }else{ time_mSt = millis(); tim = 0; Motion = 2; } }else if(Motion == 2 && tim <= delay2){ tim = millis() - time_mSt; sendL(xZero, zZero); sendR(xZero + dx1 + dx2 - (2.0 * dx1 + dx2) / delay2 * tim, zZero + dz1 - (dz1 + dz2) / delay2 * tim); //dz1 -> -dz2 }else if(Motion == 2 && tim > delay2){ Motion = 3; startTime = millis(); while(true) { // 接地判定まで待機 sendL(xZero, zZero); sendR(xZero - dx1, zZero); if(stateJudge == 1 || millis() - startTime > 1000){ break; } } Motion = 4; stateJudge = 0; }else if(Motion == 4){ sendL(xZero, zZero); sendR(xZero - dx1, zZero); Motion = 5; time_mSt = millis(); tim = 0; }else if(Motion == 5){ tim = millis() - time_mSt; if(tim <= delay1){ sendL(xZero, zZero + dz1 / delay1 * tim); //0 -> dz1 }else{ time_mSt = millis(); tim = 0; Motion = 6; } }else if(Motion == 6 && tim <= delay2){ tim = millis() - time_mSt; sendL(xZero, zZero + dz1 - (dz1 + dz2) / delay2 * tim); //dz1 -> -dz2 sendR(xZero - dx1 + 2.0 * dx1 / delay2 * tim, zZero); }else if(Motion == 6 && tim > delay2 ){ Motion = 7; startTime = millis(); while(true) { // 接地判定まで待機 sendL(xZero, zZero); sendR(xZero + dx1, zZero); if(stateJudge == 1 || millis() - startTime > 1000){ break; } } Motion = 0; stateJudge = 0; } break; case ModeT::Jump: sendL(xZero, 70.0); sendR(xZero, 70.0); delay(500); sendL(xZero, 130.0); sendR(xZero, 130.0); delay(jumpDelay); sendL(xZero, 70.0); sendR(xZero, 70.0); delay(1000); break; default: // Idle 初期姿勢 Motion = 0; for(int i = 0; i < 5; i++){ sendL(xZero, zZero); sendR(xZero, zZero); delay(20); } break; } } //Core0 void display(void *pvParameters) { M5.IMU.Init(); //フルスケールレンジ M5.IMU.SetAccelFsr(M5.IMU.AFS_2G); M5.IMU.SetGyroFsr(M5.IMU.GFS_250DPS); get_theta(); kalmanX.setAngle(theta_X); kalmanY.setAngle(theta_Y); M5.dis.setBrightness(20); WiFi.softAP(ssid, pass); // SSIDとパスの設定 delay(100); // 追記：このdelayを入れないと失敗する場合がある WiFi.softAPConfig(ip, ip, subnet); // IPアドレス、ゲートウェイ、サブネットマスクの設定 IPAddress myIP = WiFi.softAPIP(); // WiFi.softAPIP()でWiFi起動 server.on("/", handleRoot); server.on("/x0M", x0M); server.on("/x0P", x0P); server.on("/dx1M", dx1M); server.on("/dx1P", dx1P); server.on("/dx2M", dx2M); server.on("/dx2P", dx2P); server.on("/z0M", z0M); server.on("/z0P", z0P); server.on("/dz1M", dz1M); server.on("/dz1P", dz1P); server.on("/dz2M", dz2M); server.on("/dz2P", dz2P); server.on("/rollAngleM", rollAngleM); server.on("/rollAngleP", rollAngleP); server.on("/delay1M", d1M); server.on("/delay1P", d1P); server.on("/delay2M", d2M); server.on("/delay2P", d2P); server.on("/jumpDelayM", jumpDelayM); server.on("/jumpDelayP", jumpDelayP); server.on("/KpM", KpM); server.on("/KpP", KpP); server.on("/KdM", KdM); server.on("/KdP", KdP); server.on("/thM", thM); server.on("/thP", thP); server.on("/tfM", tfM); server.on("/tfP", tfP); server.on("/offsetXP", offsetXP); server.on("/offsetXM", offsetXM); server.on("/offsetYP", offsetYP); server.on("/offsetYM", offsetYM); server.begin(); twai_general_config_t g_config = { .mode = TWAI_MODE_NORMAL, .tx_io = (gpio_num_t)19, .rx_io = (gpio_num_t)22, .clkout_io = TWAI_IO_UNUSED, .bus_off_io = TWAI_IO_UNUSED, .tx_queue_len = 5, .rx_queue_len = 5, .alerts_enabled = TWAI_ALERT_NONE, .clkout_divider = 0, .intr_flags = ESP_INTR_FLAG_LEVEL1 }; //twai_timing_config_t t_config = TWAI_TIMING_CONFIG_500KBITS(); twai_timing_config_t t_config = TWAI_TIMING_CONFIG_1MBITS(); twai_filter_config_t f_config = TWAI_FILTER_CONFIG_ACCEPT_ALL(); if (twai_driver_install(&g_config, &t_config, &f_config) == ESP_OK) { Serial.println("TWAI Driver installed"); } else { Serial.println("TWAI Driver install failed"); } if (twai_start() == ESP_OK) { Serial.println("TWAI Started"); } else { Serial.println("TWAI Start failed"); } for (;;){ server.handleClient(); //LED表示 M5.dis.clear(); if(kalAngleX > 20.0){ for(int i = 0; i < 5; i++){ M5.dis.drawpix(i, 0xff0000); } }else if(kalAngleX <= 20.0 && kalAngleX > 12.0){ for(int i = 0; i < 5; i++){ M5.dis.drawpix(i, 0x0000ff); } }else if(kalAngleX <= 12.0 && kalAngleX > 4.0){ for(int i = 0; i < 5; i++){ M5.dis.drawpix(i + 5, 0x0000ff); } }else if(kalAngleX <= 4.0 && kalAngleX > 1.0){ for(int i = 0; i < 5; i++){ M5.dis.drawpix(i + 10, 0x0000ff); } }else if(abs(kalAngleX) <= 1.0){ for(int i = 0; i < 5; i++){ M5.dis.drawpix(i + 10, 0x00ff00); } }else if(kalAngleX >= -4.0 && kalAngleX < -1.0){ for(int i = 0; i < 5; i++){ M5.dis.drawpix(i + 10, 0x0000ff); } }else if(kalAngleX >= -12.0 && kalAngleX < -4.0){ for(int i = 0; i < 5; i++){ M5.dis.drawpix(i + 15, 0x0000ff); } }else if(kalAngleX >= -20.0 && kalAngleX < -12.0){ for(int i = 0; i < 5; i++){ M5.dis.drawpix(i + 20, 0x0000ff); } }else if(kalAngleX < -20.0){ for(int i = 0; i < 5; i++){ M5.dis.drawpix(i + 20, 0xff0000); } } if(kalAngleY > 20.0){ for(int i = 0; i < 5; i++){ M5.dis.drawpix(i * 5, 0xff0000); } }else if(kalAngleY <= 20.0 && kalAngleY > 12.0){ for(int i = 0; i < 5; i++){ M5.dis.drawpix(i * 5, 0x0000ff); } }else if(kalAngleY <= 12.0 && kalAngleY > 4.0){ for(int i = 0; i < 5; i++){ M5.dis.drawpix(i * 5 + 1, 0x0000ff); } }else if(kalAngleY <= 4.0 && kalAngleY > 1.0){ for(int i = 0; i < 5; i++){ M5.dis.drawpix(i * 5 + 2, 0x0000ff); } }else if(abs(kalAngleY) <= 1.0){ for(int i = 0; i < 5; i++){ M5.dis.drawpix(i * 5 + 2, 0x00ff00); } }else if(kalAngleY >= -4.0 && kalAngleY < -1.0){ for(int i = 0; i < 5; i++){ M5.dis.drawpix(i * 5 + 2, 0x0000ff); } }else if(kalAngleY >= -12.0 && kalAngleY < -4.0){ for(int i = 0; i < 5; i++){ M5.dis.drawpix(i * 5 + 3, 0x0000ff); } }else if(kalAngleY >= -20.0 && kalAngleY < -12.0){ for(int i = 0; i < 5; i++){ M5.dis.drawpix(i * 5 + 4, 0x0000ff); } }else if(kalAngleY < -20.0){ for(int i = 0; i < 5; i++){ M5.dis.drawpix(i * 5 + 4, 0xff0000); } } nowTime = micros(); loopTime = nowTime - oldTime; oldTime = nowTime; dt = (float)loopTime / 1000000.0; //sec get_theta(); get_gyro_data(); //カルマンフィルタ 姿勢 傾き kalAngleX = kalmanX.getAngle(theta_X, theta_Xdot, dt); kalAngleY = kalmanY.getAngle(theta_Y, theta_Ydot, dt); //カルマンフィルタ 姿勢 角速度 kalAngleDotX = kalmanX.getRate(); kalAngleDotY = kalmanY.getRate(); //ロール軸send rollVal = Kp * kalAngleY + Kd * kalAngleDotY; sendRoll(rollVal - rollCtrlL, rollVal - rollCtrlR); //足トルク受信 if (twai_receive(&rx_msg, 0) == ESP_OK) { if (rx_msg.identifier == 0x211 && rx_msg.data_length_code == 4) { memcpy(&torqueL, &rx_msg.data[0], 4); }else if (rx_msg.identifier == 0x212 && rx_msg.data_length_code == 4) { memcpy(&torqueR, &rx_msg.data[0], 4); } currentTorque = filter(torqueL - torqueR); diffTorque = currentTorque - preTorque; if(diffTorque > th && Motion == 7 && stateJudge == 0){ stateJudge = 1; }else if(diffTorque < -th && Motion == 3 && stateJudge == 0){ stateJudge = 1; } preTorque = currentTorque; } disableCore0WDT(); } } //ブラウザ表示 void handleRoot() { String temp ="<!DOCTYPE html> \n<html lang=\"ja\">"; temp +="<head>"; temp +="<meta charset=\"utf-8\">"; temp +="<title>ATOM</title>"; temp +="<meta name=\"viewport\" content=\"width=device-width, initial-scale=1\">"; temp +="<style>"; temp +=".container{"; temp +=" max-width: 500px;"; temp +=" margin: auto;"; temp +=" text-align: center;"; temp +=" font-size: 1.2rem;"; temp +="}"; temp +="span,.pm{"; temp +=" display: inline-block;"; temp +=" border: 1px solid #ccc;"; temp +=" width: 50px;"; temp +=" height: 30px;"; temp +=" vertical-align: middle;"; temp +=" margin-bottom: 20px;"; temp +="}"; temp +="span{"; temp +=" width: 120px;"; temp +="}"; temp +="button{"; temp +=" width: 100px;"; temp +=" height: 40px;"; temp +=" font-weight: bold;"; temp +=" margin-bottom: 20px;"; temp +="}"; temp +="button.on{ background:lime; color:white; }"; temp +=".column-3{ max-width:330px; margin:auto; text-align:center; display:flex; justify-content:space-between; flex-wrap:wrap; }"; temp +="</style>"; temp +="</head>"; temp +="<body>"; temp +="<div class=\"container\">"; temp +="<h3>ATOM</h3>"; //dx1 temp +="dx1 <br>"; temp +="<a class=\"pm\" href=\"/dx1M\">-</a>"; temp +="<span>" + String(dx1) + "</span>"; temp +="<a class=\"pm\" href=\"/dx1P\">+</a><br>"; //dx2 temp +="dx2 <br>"; temp +="<a class=\"pm\" href=\"/dx2M\">-</a>"; temp +="<span>" + String(dx2) + "</span>"; temp +="<a class=\"pm\" href=\"/dx2P\">+</a><br>"; //dz1 temp +="dz1 <br>"; temp +="<a class=\"pm\" href=\"/dz1M\">-</a>"; temp +="<span>" + String(dz1) + "</span>"; temp +="<a class=\"pm\" href=\"/dz1P\">+</a><br>"; //dz2 temp +="dz2 <br>"; temp +="<a class=\"pm\" href=\"/dz2M\">-</a>"; temp +="<span>" + String(dz2) + "</span>"; temp +="<a class=\"pm\" href=\"/dz2P\">+</a><br>"; //rollAngle temp +="rollAngle <br>"; temp +="<a class=\"pm\" href=\"/rollAngleM\">-</a>"; temp +="<span>" + String(rollAngle) + "</span>"; temp +="<a class=\"pm\" href=\"/rollAngleP\">+</a><br>"; //delay1 temp +="delay1<br>"; temp +="<a class=\"pm\" href=\"/delay1M\">-</a>"; temp +="<span>" + String(delay1) + "</span>"; temp +="<a class=\"pm\" href=\"/delay1P\">+</a><br>"; //delay2 temp +="delay2<br>"; temp +="<a class=\"pm\" href=\"/delay2M\">-</a>"; temp +="<span>" + String(delay2) + "</span>"; temp +="<a class=\"pm\" href=\"/delay2P\">+</a><br>"; //jumpDelay temp +="jumpDelay<br>"; temp +="<a class=\"pm\" href=\"/jumpDelayM\">-</a>"; temp +="<span>" + String(jumpDelay) + "</span>"; temp +="<a class=\"pm\" href=\"/jumpDelayP\">+</a><br>"; //初期姿勢x temp +="x0 <br>"; temp +="<a class=\"pm\" href=\"/x0M\">-</a>"; temp +="<span>" + String(xZero) + "</span>"; temp +="<a class=\"pm\" href=\"/x0P\">+</a><br>"; //初期姿勢z temp +="z0 <br>"; temp +="<a class=\"pm\" href=\"/z0M\">-</a>"; temp +="<span>" + String(zZero) + "</span>"; temp +="<a class=\"pm\" href=\"/z0P\">+</a><br>"; //Kp temp +="Kp<br>"; temp +="<a class=\"pm\" href=\"/KpM\">-</a>"; temp +="<span>" + String(Kp) + "</span>"; temp +="<a class=\"pm\" href=\"/KpP\">+</a><br>"; //Kd temp +="Kd<br>"; temp +="<a class=\"pm\" href=\"/KdM\">-</a>"; temp +="<span>" + String(Kd) + "</span>"; temp +="<a class=\"pm\" href=\"/KdP\">+</a><br>"; //th temp +="th<br>"; temp +="<a class=\"pm\" href=\"/thM\">-</a>"; temp +="<span>" + String(th) + "</span>"; temp +="<a class=\"pm\" href=\"/thP\">+</a><br>"; //tf temp +="LPF Tf <br>"; temp +="<a class=\"pm\" href=\"/tfM\">-</a>"; temp +="<span>" + String(tf) + "</span>"; temp +="<a class=\"pm\" href=\"/tfP\">+</a><br>"; //offsetX temp += "offsetX<br>"; temp += "<a class=\"pm\" href=\"/offsetXM\">-</a>"; temp += "<span>" + String(offsetX) + "</span>"; temp += "<a class=\"pm\" href=\"/offsetXP\">+</a><br>"; //offsetY temp += "offsetY<br>"; temp += "<a class=\"pm\" href=\"/offsetYM\">-</a>"; temp += "<span>" + String(offsetY) + "</span>"; temp += "<a class=\"pm\" href=\"/offsetYP\">+</a><br>"; temp +="</div>"; temp +="</body>"; server.send(200, "text/HTML", temp); } void x0M() { if(xZero > -150.0){ xZero -= 1.0; preferences.putFloat("xZero", xZero ); } handleRoot(); } void x0P() { if(xZero < 150.0){ xZero += 1.0; preferences.putFloat("xZero", xZero ); } handleRoot(); } void dx1M() { if(dx1 > -100.0){ dx1 -= 1.0; preferences.putFloat("dx1", dx1); } handleRoot(); } void dx1P() { if(dx1 < 100.0){ dx1 += 1.0; preferences.putFloat("dx1", dx1); } handleRoot(); } void dx2M() { if(dx2 > -100.0){ dx2 -= 1.0; preferences.putFloat("dx2", dx2); } handleRoot(); } void dx2P() { if(dx2 < 100.0){ dx2 += 1.0; preferences.putFloat("dx2", dx2); } handleRoot(); } void z0M() { if(zZero > 0.0){ zZero -= 1.0; preferences.putFloat("zZero", zZero ); } handleRoot(); } void z0P() { if(zZero < 150.0){ zZero += 1.0; preferences.putFloat("zZero", zZero ); } handleRoot(); } void dz1M() { if(dz1 > 0.0){ dz1 -= 0.5; preferences.putFloat("dz1", dz1 ); } handleRoot(); } void dz1P() { if(dz1 < 100.0){ dz1 += 0.5; preferences.putFloat("dz1", dz1 ); } handleRoot(); } void dz2M() { if(dz2 > 0.0){ dz2 -= 0.5; preferences.putFloat("dz2", dz2 ); } handleRoot(); } void dz2P() { if(dz2 < 100.0){ dz2 += 0.5; preferences.putFloat("dz2", dz2 ); } handleRoot(); } void rollAngleM() { if (rollAngle >= 0) { rollAngle -= 1.0; preferences.putFloat("rollAngle", rollAngle); } handleRoot(); } void rollAngleP() { if (rollAngle <= 30.0) { rollAngle += 1.0; preferences.putFloat("rollAngle", rollAngle); } handleRoot(); } void d1M() { if(delay1 > 0){ delay1 -= 5; preferences.putInt("delay1", delay1); } handleRoot(); } void d1P() { if(delay1 <= 1000){ delay1 += 5; preferences.putInt("delay1", delay1); } handleRoot(); } void d2M() { if(delay2 > 0){ delay2 -= 5; preferences.putInt("delay2", delay2); } handleRoot(); } void d2P() { if(delay2 <= 1000){ delay2 += 5; preferences.putInt("delay2", delay2); } handleRoot(); } void jumpDelayM() { if(jumpDelay > 0){ jumpDelay -= 1; preferences.putInt("jumpDelay", jumpDelay); } handleRoot(); } void jumpDelayP() { if(jumpDelay <= 1000){ jumpDelay += 1; preferences.putInt("jumpDelay", jumpDelay); } handleRoot(); } void KpM() { if(Kp > -10.0){ Kp -= 0.1; preferences.putFloat("Kp", Kp); } handleRoot(); } void KpP() { if(Kp <= 10.0){ Kp += 0.1; preferences.putFloat("Kp", Kp); } handleRoot(); } void KdM() { if(Kd > -10.0){ Kd -= 0.01; preferences.putFloat("Kd", Kd); } handleRoot(); } void KdP() { if(Kd <= 10.0){ Kd += 0.01; preferences.putFloat("Kd", Kd); } handleRoot(); } void thM() { if (th >= 0) { th -= 5.0; preferences.putFloat("th", th); } handleRoot(); } void thP() { if (th <= 100.0) { th += 5.0; preferences.putFloat("th", th); } handleRoot(); } void tfM() { if (tf >= 0.05) { tf -= 0.05; preferences.putFloat("tf", tf); filter.Tf = tf; } handleRoot(); } void tfP() { if (tf <= 1.0) { tf += 0.05; preferences.putFloat("tf", tf); filter.Tf = tf; } handleRoot(); } void offsetXM() { if (offsetX >= -160) { offsetX -= 0.1; preferences.putFloat("offsetX", offsetX); } handleRoot(); } void offsetXP() { if (offsetX <= 160) { offsetX += 0.1; preferences.putFloat("offsetX", offsetX); } handleRoot(); } void offsetYM() { if (offsetY >= -160) { offsetY -= 0.1; preferences.putFloat("offsetY", offsetY); } handleRoot(); } void offsetYP() { if (offsetY <= 160) { offsetY += 0.1; preferences.putFloat("offsetY", offsetY); } handleRoot(); } void setup() { M5.begin(true, true, true); //SerialEnable, bool I2CEnable, DisplayEnable Serial.println("-----------------------------"); uint8_t btmac[6]; esp_read_mac(btmac, ESP_MAC_BT); Serial.printf("[Bluetooth] Mac Address = %02X:%02X:%02X:%02X:%02X:%02X\r\n", btmac[0], btmac[1], btmac[2], btmac[3], btmac[4], btmac[5]); PS4.begin(); //パラメータ初期値取得 preferences.begin("parameter", false); Kp = preferences.getFloat("Kp", Kp); Kd = preferences.getFloat("Kd", Kd); xZero = preferences.getFloat("xZero", xZero); dx1 = preferences.getFloat("dx1", dx1); dx2 = preferences.getFloat("dx2", dx2); zZero = preferences.getFloat("zZero", zZero); dz1 = preferences.getFloat("dz1", dz1); dz2 = preferences.getFloat("dz2", dz2); rollAngle = preferences.getFloat("rollAngle", rollAngle); delay1 = preferences.getInt("delay1", delay1); delay2 = preferences.getInt("delay2", delay2); jumpDelay = preferences.getInt("jumpDelay", jumpDelay); th = preferences.getFloat("th", th); tf = preferences.getFloat("tf", tf); filter.Tf = tf; offsetX = preferences.getFloat("offsetX", offsetX); offsetY = preferences.getFloat("offsetY", offsetY); //core0 タスク xTaskCreatePinnedToCore( display , "display" // A name just for humans , 4096 // This stack size can be checked & adjusted by reading the Stack Highwater , NULL , 1 // Priority, with 3 (configMAX_PRIORITIES - 1) being the highest, and 0 being the lowest. , NULL , 0); } void loop(){ if (PS4.isConnected()) { //PS4コントローラ int currentLStickX = PS4.LStickX(); int currentLStickY = PS4.LStickY(); int currentRStickX = PS4.RStickX(); int currentRStickY = PS4.RStickY(); if (currentLStickX != lastLStickX || currentLStickY != lastLStickY) { float Lx = PS4.LStickX() / 4.0; float Ly = PS4.LStickY() / 3.0; sendL(-Lx + xZero, Ly + zZero); sendR(Lx + xZero, Ly + zZero); lastLStickX = currentLStickX; lastLStickY = currentLStickY; }else if (currentRStickX != lastRStickX || currentRStickY != lastRStickY) { rollCtrlL = PS4.RStickX() / 10.0; rollCtrlR = rollCtrlL; lastRStickX = currentRStickX; lastRStickY = currentRStickY; }else if (PS4.Up()) { setMotion(ModeT::Ad); idleState = 0; }else if (PS4.Down()) { setMotion(ModeT::Back); idleState = 0; }else if (PS4.Left()) { setMotion(ModeT::stepL); idleState = 0; }else if (PS4.Right()) { setMotion(ModeT::stepR); idleState = 0; }else if (PS4.Square()) { setMotion(ModeT::turnL); idleState = 0; }else if (PS4.Circle()) { setMotion(ModeT::turnR); idleState = 0; }else if (PS4.Cross()) { setMotion(ModeT::Step); idleState = 0; }else if (PS4.Triangle()) { setMotion(ModeT::Jump); idleState = 0; }else if(idleState == 0){ setMotion(ModeT::Idle); rollCtrlL = 0.0; rollCtrlR = 0.0; idleState = 1; } }else { setMotion(ModeT::Idle); } } |
動作モードを enum class ModeT (L. 1, 131) で定義して、setMotion() 関数内 (L. 134～608)で動作を切り替えています。
モードは以下の9種でPS4コントローラで切り替えます (L. 1301～1353)。
- Idle：初期姿勢 (x0 = 10mm, z0 = 99mm)
- Step：足踏み ×ボタン
- Ad：前進 十字キー 上ボタン
- Back：後進 十字キー 下ボタン
- stepL：左横起動 十字キー 左ボタン
- stepR：右横起動 十字キー 右ボタン
- turnL：左旋回 □ボタン
- turnR：右旋回 〇ボタン
- Jump：ジャンプ △ボタン
旋回、横移動、ジャンプ動作の詳細は次節以降で説明します。
書き込み
ATOM Matrixに書き込む際にはモータに給電しないようにATOMの電源ラインは外してください。
ボードは”M5Stack-ATOM”を選択
PS4Controllerライブラリのサイズが大きいのでPartition Schemeは”No OTA (Large APP)”を選択
ブラウザアプリ
ATOM MatrixのAPモードでWiFi接続してブラウザから各種パラメータを指定します。
-
スマホもしくはPCのWiFi接続設定でSSID ”ATOM”に接続
パスワード：password -
ブラウザで”192.168.22.90”にアクセス
dx1：歩行時の歩幅指定 [mm]
dx2：歩行時の足蹴り上げ前後方向の幅 [mm]
dz1：歩行時の足蹴り上げ高さ [mm]
dz2：足上げ高さ [mm]
rollAngle：横移動時のロール軸回転量 [deg]
delay1：足蹴り上げ時間 [msec]
delay2：足上げ時間 [msec]
jumpDealy：ジャンプ時の足伸ばし時間 [msec]
x0, z0：初期足位置 [mm]
Kp, Kd：ロール軸 IMU PD制御パラメータ
th：トルク接地判定しきい値
tf：トルクLPF 時定数
offsetX, offsetY：IMU角度オフセット調整
旋回
後進動作で右足の前後移動をゼロにして左旋回を実現しています。
反対に後進動作で左足の前後移動をゼロにして右旋回を実現しています。
動作
PS4コントローラの□ボタンで左旋回、〇ボタンで右旋回します。
予算3万円でつくる BLDC 2足歩行ロボット
— HomeMadeGarbage (@H0meMadeGarbage) September 26, 2025
横移動
足踏みの足上げ時にロール軸の角度を制御して横移動を実現しています。
ロール軸の回転量rollAngleで移動歩幅をコントロールします。
動作
PS4コントローラ十字キーの左右ボタンで横移動します。
予算3万円でつくる BLDC 2足歩行ロボット
横移動 pic.twitter.com/2DYhbHpioD
— HomeMadeGarbage (@H0meMadeGarbage) September 27, 2025
ジャンプ
かがんで (z = 70mm)、足を伸ばして (z = 130mm) ジャンプします。
足を伸ばしている時間をjumpDelayで調整。
動作
PS4コントローラの△ボタンでジャンプします。
予算3万円でつくる BLDC 2足歩行ロボット
ジャンプ pic.twitter.com/zxExDyCDYD
— HomeMadeGarbage (@H0meMadeGarbage) September 28, 2025
演習問題
1-パラメータ調整
ATOM Matrixのブラウザアプリやコードを修正するなどして歩行パラメータ値を変更して動作にどう影響するのか体験してみよう。
2-新動作作成
動作シーケンスを新規で組んで 新たな動作を作り出してみましょう
おわりに
本号では2足歩行ロボット HM-01 の旋回、横移動、ジャンプ動作を楽しみました。
以上でBLDC 2足歩行ロボット HM-01 の動作の紹介は終了です。
次回はついに最終回です。
少しセンチな気持ちになってしまいますが またお会いいたしましょう。
