Bチーム
中継機能つけた受け取りオムニ
Dependencies: mbed MultiSerial
main.cpp@38:098150180639, 2014-10-14 (annotated)
- Committer:
- bousiya03
- Date:
- Tue Oct 14 12:24:42 2014 +0000
- Revision:
- 38:098150180639
- Parent:
- 37:53f8b2c0bad6
- Child:
- 39:18b1bc93a5f7
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| bousiya03 | 35:78f5eec4f36c | 1 | /*S |
| Hatter | 0:fddd018033fb | 2 | * 4WD_OMNI_simple by Tomoki Hokida |
| Hatter | 13:8a9d3855ab96 | 3 | * Simple Type |
| Hatter | 0:fddd018033fb | 4 | * |
| Hatter | 0:fddd018033fb | 5 | * motor pins piar |
| Hatter | 13:8a9d3855ab96 | 6 | * motor(p13,p14):motor(p15,p16) |
| Hatter | 13:8a9d3855ab96 | 7 | * motor(p17,p18):motor(p19,p20) |
| Hatter | 13:8a9d3855ab96 | 8 | * |
| Hatter | 13:8a9d3855ab96 | 9 | * Serial Pins |
| Hatter | 15:1c1ae4077900 | 10 | * packet.arm[0]:arm |
| Hatter | 13:8a9d3855ab96 | 11 | * packet.leg[1]:omni |
| Hatter | 0:fddd018033fb | 12 | * reset 0 |
| Hatter | 0:fddd018033fb | 13 | */ |
| Hatter | 0:fddd018033fb | 14 | |
| Hatter | 0:fddd018033fb | 15 | #include "mbed.h" |
| Hatter | 6:26e5a520472d | 16 | #include "MultiSerial.h" |
| Hatter | 0:fddd018033fb | 17 | |
| bousiya03 | 38:098150180639 | 18 | #define DATA_NUM 2 //DATA_NUM[byte]通信 |
| Hatter | 13:8a9d3855ab96 | 19 | #define XBEE_KEY 0xAA //keycode |
| Hatter | 9:f05f881226a3 | 20 | #define ARM_KEY 0xAA |
| Hatter | 3:1f1498403eec | 21 | |
| bousiya03 | 26:9a7e9dd2746f | 22 | #define PWM 0.5 |
| bousiya03 | 25:a6e41d2efd0c | 23 | #define PWM_SLOW 0.1 |
| Hatter | 15:1c1ae4077900 | 24 | |
| bousiya03 | 25:a6e41d2efd0c | 25 | #define R_R 0x4 |
| bousiya03 | 25:a6e41d2efd0c | 26 | #define R_L 0x1 |
| bousiya03 | 25:a6e41d2efd0c | 27 | #define R_U 0x2 |
| bousiya03 | 25:a6e41d2efd0c | 28 | #define R_D 0x8 |
| Hatter | 15:1c1ae4077900 | 29 | |
| bousiya03 | 25:a6e41d2efd0c | 30 | #define L_R 0x10 |
| bousiya03 | 25:a6e41d2efd0c | 31 | #define L_L 0x40 |
| bousiya03 | 29:7a8efb8a9af8 | 32 | #define L_U 0x20 |
| bousiya03 | 25:a6e41d2efd0c | 33 | #define L_D 0x80 |
| Hatter | 15:1c1ae4077900 | 34 | |
| Hatter | 15:1c1ae4077900 | 35 | #define TIME 0 |
| Hatter | 13:8a9d3855ab96 | 36 | |
| bousiya03 | 38:098150180639 | 37 | BusOut check(LED1,LED2,LED3,LED4); |
| bousiya03 | 38:098150180639 | 38 | BusOut motors(p13,p14,p15,p16,p17,p18,p19,p20); |
| Hatter | 12:6e2ee1c83ac1 | 39 | |
| bousiya03 | 38:098150180639 | 40 | PwmOut pwm[4]= {p21,p22,p23,p24}; |
| Hatter | 0:fddd018033fb | 41 | |
| bousiya03 | 38:098150180639 | 42 | Serial pc(USBTX,USBRX); |
| Hatter | 0:fddd018033fb | 43 | |
| Hatter | 16:4b502070bea8 | 44 | MultiSerial xbee(p28,p27); |
| Hatter | 16:4b502070bea8 | 45 | MultiSerial armMbed(p9,p10); |
| Hatter | 0:fddd018033fb | 46 | |
| bousiya03 | 38:098150180639 | 47 | Ticker xbee_check; |
| bousiya03 | 38:098150180639 | 48 | |
| bousiya03 | 38:098150180639 | 49 | uint8_t get_data[DATA_NUM] = {0}; |
| bousiya03 | 38:098150180639 | 50 | uint8_t check_data[2] = {0}; |
| bousiya03 | 34:aa464f72d111 | 51 | |
| Hatter | 13:8a9d3855ab96 | 52 | /* data structure */ |
| Hatter | 15:1c1ae4077900 | 53 | typedef struct { |
| Hatter | 6:26e5a520472d | 54 | |
| Hatter | 6:26e5a520472d | 55 | uint8_t arm[1]; |
| Hatter | 6:26e5a520472d | 56 | uint8_t leg; |
| Hatter | 4:5da566692b79 | 57 | |
| Hatter | 15:1c1ae4077900 | 58 | } xbee_packet; |
| Hatter | 6:26e5a520472d | 59 | |
| bousiya03 | 33:9c98ab97084e | 60 | xbee_packet packet = {0}; |
| Hatter | 6:26e5a520472d | 61 | |
| bousiya03 | 35:78f5eec4f36c | 62 | void safety_mode(){ |
| bousiya03 | 35:78f5eec4f36c | 63 | |
| bousiya03 | 35:78f5eec4f36c | 64 | get_data[0] = 0; |
| bousiya03 | 35:78f5eec4f36c | 65 | get_data[1] = 0; |
| bousiya03 | 35:78f5eec4f36c | 66 | |
| bousiya03 | 35:78f5eec4f36c | 67 | packet.arm[0] = 0; |
| bousiya03 | 35:78f5eec4f36c | 68 | packet.leg = 0; |
| bousiya03 | 35:78f5eec4f36c | 69 | |
| bousiya03 | 35:78f5eec4f36c | 70 | } |
| bousiya03 | 35:78f5eec4f36c | 71 | |
| bousiya03 | 27:68f76ea992bd | 72 | /*start display LED*/ |
| bousiya03 | 29:7a8efb8a9af8 | 73 | void display_LED(int kind) |
| bousiya03 | 29:7a8efb8a9af8 | 74 | { |
| bousiya03 | 27:68f76ea992bd | 75 | |
| bousiya03 | 29:7a8efb8a9af8 | 76 | switch(kind) { |
| bousiya03 | 29:7a8efb8a9af8 | 77 | |
| bousiya03 | 28:4da223ae4392 | 78 | case 0: //err check |
| bousiya03 | 27:68f76ea992bd | 79 | check = 0xA; |
| bousiya03 | 27:68f76ea992bd | 80 | wait(0.5); |
| bousiya03 | 33:9c98ab97084e | 81 | check = 0x5; |
| bousiya03 | 27:68f76ea992bd | 82 | wait(0.5); |
| bousiya03 | 29:7a8efb8a9af8 | 83 | |
| bousiya03 | 27:68f76ea992bd | 84 | break; |
| bousiya03 | 29:7a8efb8a9af8 | 85 | |
| bousiya03 | 27:68f76ea992bd | 86 | case 1: |
| bousiya03 | 38:098150180639 | 87 | |
| bousiya03 | 27:68f76ea992bd | 88 | check = 0xF; |
| bousiya03 | 28:4da223ae4392 | 89 | wait(0.5); |
| bousiya03 | 28:4da223ae4392 | 90 | check = 0; |
| bousiya03 | 35:78f5eec4f36c | 91 | wait(0.5); |
| bousiya03 | 38:098150180639 | 92 | |
| bousiya03 | 27:68f76ea992bd | 93 | break; |
| bousiya03 | 27:68f76ea992bd | 94 | } |
| bousiya03 | 29:7a8efb8a9af8 | 95 | } |
| bousiya03 | 27:68f76ea992bd | 96 | |
| Hatter | 0:fddd018033fb | 97 | int main() |
| Hatter | 15:1c1ae4077900 | 98 | { |
| bousiya03 | 36:bacc260185d6 | 99 | |
| Hatter | 13:8a9d3855ab96 | 100 | /* PWM init */ |
| Hatter | 12:6e2ee1c83ac1 | 101 | pwm[0] = PWM; |
| Hatter | 12:6e2ee1c83ac1 | 102 | pwm[1] = PWM; |
| Hatter | 12:6e2ee1c83ac1 | 103 | pwm[2] = PWM; |
| Hatter | 12:6e2ee1c83ac1 | 104 | pwm[3] = PWM; |
| bousiya03 | 36:bacc260185d6 | 105 | |
| bousiya03 | 36:bacc260185d6 | 106 | /* Timer interrupt init */ |
| bousiya03 | 37:53f8b2c0bad6 | 107 | xbee_check.attach(safety_mode,0.1); |
| bousiya03 | 35:78f5eec4f36c | 108 | |
| bousiya03 | 35:78f5eec4f36c | 109 | /* stract data init */ |
| Hatter | 10:5b67d18f30a9 | 110 | xbee_packet *pt_packet=&packet; |
| bousiya03 | 35:78f5eec4f36c | 111 | |
| bousiya03 | 35:78f5eec4f36c | 112 | /* Serial connection init */ |
| bousiya03 | 36:bacc260185d6 | 113 | xbee.start_read(); |
| bousiya03 | 36:bacc260185d6 | 114 | xbee.read_data(get_data,XBEE_KEY); |
| bousiya03 | 29:7a8efb8a9af8 | 115 | |
| bousiya03 | 36:bacc260185d6 | 116 | armMbed.start_write(); |
| bousiya03 | 36:bacc260185d6 | 117 | armMbed.write_data(pt_packet->arm,ARM_KEY); |
| bousiya03 | 29:7a8efb8a9af8 | 118 | |
| bousiya03 | 36:bacc260185d6 | 119 | display_LED(1); |
| bousiya03 | 35:78f5eec4f36c | 120 | |
| bousiya03 | 36:bacc260185d6 | 121 | xbee.check_rx_wait(); |
| bousiya03 | 29:7a8efb8a9af8 | 122 | |
| Hatter | 15:1c1ae4077900 | 123 | for(;;) { |
| bousiya03 | 34:aa464f72d111 | 124 | |
| bousiya03 | 34:aa464f72d111 | 125 | packet.arm[0] = get_data[1]; |
| bousiya03 | 34:aa464f72d111 | 126 | packet.leg = get_data[0]; |
| bousiya03 | 29:7a8efb8a9af8 | 127 | |
| Hatter | 13:8a9d3855ab96 | 128 | /* Stop */ |
| bousiya03 | 29:7a8efb8a9af8 | 129 | if(packet.leg==0x0) { |
| bousiya03 | 29:7a8efb8a9af8 | 130 | |
| bousiya03 | 29:7a8efb8a9af8 | 131 | motors = 0; |
| Hatter | 15:1c1ae4077900 | 132 | |
| bousiya03 | 29:7a8efb8a9af8 | 133 | pwm[0] = 0; |
| bousiya03 | 29:7a8efb8a9af8 | 134 | pwm[1] = 0; |
| bousiya03 | 29:7a8efb8a9af8 | 135 | pwm[2] = 0; |
| bousiya03 | 29:7a8efb8a9af8 | 136 | pwm[3] = 0; |
| bousiya03 | 29:7a8efb8a9af8 | 137 | |
| bousiya03 | 29:7a8efb8a9af8 | 138 | } else { |
| bousiya03 | 29:7a8efb8a9af8 | 139 | |
| bousiya03 | 29:7a8efb8a9af8 | 140 | pwm[0] = PWM; |
| bousiya03 | 29:7a8efb8a9af8 | 141 | pwm[1] = PWM; |
| bousiya03 | 29:7a8efb8a9af8 | 142 | pwm[2] = PWM; |
| bousiya03 | 29:7a8efb8a9af8 | 143 | pwm[3] = PWM; |
| bousiya03 | 29:7a8efb8a9af8 | 144 | } |
| Hatter | 15:1c1ae4077900 | 145 | |
| Hatter | 13:8a9d3855ab96 | 146 | /* Direction of movement */ |
| bousiya03 | 30:00277f63ffeb | 147 | if(packet.leg&R_R) motors = 0x55; //01010101 R 接続に気をつけること |
| bousiya03 | 30:00277f63ffeb | 148 | if(packet.leg&R_L) motors = 0xAA; //10101010 L 多分モータードライバの信号線をそれぞれ逆にすればOKかな |
| bousiya03 | 30:00277f63ffeb | 149 | if(packet.leg&R_U) motors = 0x5A; //01011010 U |
| bousiya03 | 30:00277f63ffeb | 150 | if(packet.leg&R_D) motors = 0xA5; //10100101 D |
| Hatter | 13:8a9d3855ab96 | 151 | |
| Hatter | 13:8a9d3855ab96 | 152 | /* Turn circling */ |
| bousiya03 | 25:a6e41d2efd0c | 153 | if(packet.leg&L_L) motors = 0x66; //01100110 |
| bousiya03 | 25:a6e41d2efd0c | 154 | if(packet.leg&L_R) motors = 0x99; //10011001 |
| bousiya03 | 29:7a8efb8a9af8 | 155 | //if(packet.leg&L_U) |
| bousiya03 | 25:a6e41d2efd0c | 156 | //if(packet.leg&L_D) |
| bousiya03 | 36:bacc260185d6 | 157 | |
| Hatter | 6:26e5a520472d | 158 | } |
| Hatter | 0:fddd018033fb | 159 | } |