2015_robocon_bteam / Mbed 2 deprecated 2015robot_main

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependencies:   PID QEI mbed

Fork of 2015robot_main by Naoto Deguchi

communicate.h@27:287b93795472, 2015-09-18 (annotated)

Committer:
DeguNaoto
Date:
Fri Sep 18 05:37:08 2015 +0000
Revision:
27:287b93795472
Parent:
18:526124eef0d1 
???

Who changed what in which revision?

UserRevisionLine numberNew contents of line
DeguNaoto 0:bd4719e15f7e 1 /***RS485 Communication.***/
DeguNaoto 18:526124eef0d1 2 #define RS485_TX p13
DeguNaoto 18:526124eef0d1 3 #define RS485_RX p14
DeguNaoto 0:bd4719e15f7e 4 Serial RS485(RS485_TX, RS485_RX);
DeguNaoto 27:287b93795472 5 /***Emergency stop.***/
DeguNaoto 27:287b93795472 6 #define Emergency_Stop p7
DeguNaoto 27:287b93795472 7 DigitalOut Emergency_stop(Emergency_Stop);
DeguNaoto 4:51d87d2b698c 8 inline void sendData(int address, int data5) {
DeguNaoto 4:51d87d2b698c 9 unsigned int data;
DeguNaoto 4:51d87d2b698c 10 if (data5 <= 31) {
DeguNaoto 4:51d87d2b698c 11 data = ((address << 5) | data5);
DeguNaoto 4:51d87d2b698c 12 RS485.putc(data);
DeguNaoto 4:51d87d2b698c 13 }
DeguNaoto 4:51d87d2b698c 14 }
DeguNaoto 0:bd4719e15f7e 15
DeguNaoto 0:bd4719e15f7e 16 /***Get state ps3con.***/
DeguNaoto 18:526124eef0d1 17 #define SBDBT_TX p28
DeguNaoto 18:526124eef0d1 18 #define SBDBT_RX p27
DeguNaoto 0:bd4719e15f7e 19 Serial SBDBT(SBDBT_TX, SBDBT_RX);
DeguNaoto 0:bd4719e15f7e 20 #define ps3_start 0x80
DeguNaoto 18:526124eef0d1 21 short toggle = 0;
DeguNaoto 18:526124eef0d1 22 short edge_circle = 0;
DeguNaoto 18:526124eef0d1 23 short edge_triangle = 0;
DeguNaoto 18:526124eef0d1 24 short edge_r1 = 0;
DeguNaoto 18:526124eef0d1 25 short edge_l1 = 0;
DeguNaoto 18:526124eef0d1 26 short edge_l_up = 0;
DeguNaoto 18:526124eef0d1 27 short edge_l_down = 0;
DeguNaoto 18:526124eef0d1 28 short edge_r_up = 0;
DeguNaoto 18:526124eef0d1 29 short edge_r_down = 0;
DeguNaoto 18:526124eef0d1 30 short edge_right = 0;
DeguNaoto 18:526124eef0d1 31 short edge_left = 0;
DeguNaoto 18:526124eef0d1 32 short edge_up = 0;
DeguNaoto 18:526124eef0d1 33 short square = 0;
DeguNaoto 18:526124eef0d1 34 short triangle = 0;
DeguNaoto 18:526124eef0d1 35 short circle = 0;
DeguNaoto 18:526124eef0d1 36 short cross = 0;
DeguNaoto 18:526124eef0d1 37 short up = 0;
DeguNaoto 18:526124eef0d1 38 short down = 0;
DeguNaoto 18:526124eef0d1 39 short right = 0;
DeguNaoto 18:526124eef0d1 40 short left = 0;
DeguNaoto 18:526124eef0d1 41 short l1 = 0;
DeguNaoto 18:526124eef0d1 42 short l2 = 0;
DeguNaoto 18:526124eef0d1 43 short r1 = 0;
DeguNaoto 18:526124eef0d1 44 short r2 = 0;
DeguNaoto 18:526124eef0d1 45 signed int analog_lx = 0;
DeguNaoto 18:526124eef0d1 46 signed int analog_ly = 0;
DeguNaoto 18:526124eef0d1 47 signed int analog_rx = 0;
DeguNaoto 18:526124eef0d1 48 signed int analog_ry = 0;
DeguNaoto 18:526124eef0d1 49 int count = 0;
DeguNaoto 18:526124eef0d1 50 int sample = 0;
DeguNaoto 0:bd4719e15f7e 51 int ps3_data[7];
DeguNaoto 18:526124eef0d1 52 inline void data_clear();
DeguNaoto 18:526124eef0d1 53 inline void data_check();
DeguNaoto 18:526124eef0d1 54 inline void SBDBT_interrupt();
DeguNaoto 18:526124eef0d1 55 inline void initializeSBDBT();
DeguNaoto 18:526124eef0d1 56
DeguNaoto 2:cf8ca6742db9 57 inline void data_clear()
DeguNaoto 2:cf8ca6742db9 58 {
DeguNaoto 2:cf8ca6742db9 59 for(int i=0; i<7; i++) ps3_data[i]=0;
DeguNaoto 0:bd4719e15f7e 60 }
DeguNaoto 2:cf8ca6742db9 61 inline void data_check()
DeguNaoto 2:cf8ca6742db9 62 {
DeguNaoto 0:bd4719e15f7e 63 square=0,triangle=0,circle=0,cross=0,up=0,down=0,right=0,left=0,l1=0,l2=0,r1=0,r2=0;
DeguNaoto 0:bd4719e15f7e 64 analog_lx=0,analog_ly=0,analog_rx=0,analog_ry=0;
DeguNaoto 0:bd4719e15f7e 65 if((ps3_data[0]==0x00)&&(ps3_data[1]==0x01)) up=1;
DeguNaoto 0:bd4719e15f7e 66 else if((ps3_data[0]==0x00)&&(ps3_data[1]==0x02)) down=1;
DeguNaoto 0:bd4719e15f7e 67 else if((ps3_data[0]==0x00)&&(ps3_data[1]==0x04)) right=1;
DeguNaoto 0:bd4719e15f7e 68 else if((ps3_data[0]==0x00)&&(ps3_data[1]==0x08)) left=1;
DeguNaoto 0:bd4719e15f7e 69 else if((ps3_data[0]==0x00)&&(ps3_data[1]==0x10)) triangle=1;
DeguNaoto 0:bd4719e15f7e 70 else if((ps3_data[0]==0x00)&&(ps3_data[1]==0x20)) cross=1;
DeguNaoto 0:bd4719e15f7e 71 else if((ps3_data[0]==0x00)&&(ps3_data[1]==0x40)) circle=1;
DeguNaoto 0:bd4719e15f7e 72 else if((ps3_data[0]==0x01)&&(ps3_data[1]==0x00)) square=1;
DeguNaoto 0:bd4719e15f7e 73 else if((ps3_data[0]==0x02)&&(ps3_data[1]==0x00)) l1=1;
DeguNaoto 0:bd4719e15f7e 74 else if((ps3_data[0]==0x04)&&(ps3_data[1]==0x00)) l2=1;
DeguNaoto 0:bd4719e15f7e 75 else if((ps3_data[0]==0x08)&&(ps3_data[1]==0x00)) r1=1;
DeguNaoto 0:bd4719e15f7e 76 else if((ps3_data[0]==0x10)&&(ps3_data[1]==0x00)) r2=1;
DeguNaoto 8:1638e8c8ca93 77 analog_lx=64-(signed int)ps3_data[2];
DeguNaoto 8:1638e8c8ca93 78 analog_ly=64-(signed int)ps3_data[3];
DeguNaoto 8:1638e8c8ca93 79 analog_rx=64-(signed int)ps3_data[4];
DeguNaoto 8:1638e8c8ca93 80 analog_ry=64-(signed int)ps3_data[5];
DeguNaoto 4:51d87d2b698c 81 if(!circle) edge_circle=1;
DeguNaoto 4:51d87d2b698c 82 if(!triangle) edge_triangle=1;
DeguNaoto 4:51d87d2b698c 83 if(!r1) edge_r1=1;
DeguNaoto 4:51d87d2b698c 84 if(!l1) edge_l1=1;
DeguNaoto 4:51d87d2b698c 85 /*if(!(analog_ry<40)) edge_r_up=1;
DeguNaoto 4:51d87d2b698c 86 if(!(analog_ry>90)) edge_r_down=1;
DeguNaoto 4:51d87d2b698c 87 if(!(analog_ly<40)) edge_l_up=1;
DeguNaoto 4:51d87d2b698c 88 if(!(analog_ly>90)) edge_l_down=1;*/
DeguNaoto 4:51d87d2b698c 89 if(!edge_right) edge_right=1;
DeguNaoto 4:51d87d2b698c 90 if(!edge_left) edge_left=1;
DeguNaoto 4:51d87d2b698c 91 if(!edge_up) edge_up=1;
DeguNaoto 0:bd4719e15f7e 92 }
DeguNaoto 0:bd4719e15f7e 93 ///interrupt SBDBT RX.
DeguNaoto 2:cf8ca6742db9 94 inline void SBDBT_interrupt()
DeguNaoto 2:cf8ca6742db9 95 {
DeguNaoto 0:bd4719e15f7e 96 sample=SBDBT.getc();
DeguNaoto 0:bd4719e15f7e 97 if(count==7) data_clear();
DeguNaoto 0:bd4719e15f7e 98 if(sample==ps3_start) count=0;
DeguNaoto 2:cf8ca6742db9 99 else {
DeguNaoto 0:bd4719e15f7e 100 ps3_data[count]=sample;
DeguNaoto 0:bd4719e15f7e 101 count++;
DeguNaoto 0:bd4719e15f7e 102 }
DeguNaoto 0:bd4719e15f7e 103 if(count==6) data_check();
DeguNaoto 0:bd4719e15f7e 104 }
DeguNaoto 2:cf8ca6742db9 105 inline void initializeSBDBT()
DeguNaoto 2:cf8ca6742db9 106 {
DeguNaoto 2:cf8ca6742db9 107 for(int i=0; i<7; i++) ps3_data[i]=0;
DeguNaoto 0:bd4719e15f7e 108 SBDBT.baud(2400);
DeguNaoto 0:bd4719e15f7e 109 SBDBT.format(8, Serial::None, 1);
DeguNaoto 0:bd4719e15f7e 110 SBDBT.attach(SBDBT_interrupt, Serial::RxIrq);
DeguNaoto 0:bd4719e15f7e 111 }