Bチーム / Mbed 2 deprecated 4wd_omni_simple2

中継機能つけた受け取りオムニ

Dependencies:   mbed MultiSerial

main.cpp@15:1c1ae4077900, 2014-09-23 (annotated)

Committer:
Hatter
Date:
Tue Sep 23 06:21:30 2014 +0000
Revision:
15:1c1ae4077900
Parent:
14:731c52eb333b
Child:
16:4b502070bea8
??

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Hatter 0:fddd018033fb 1 /*
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
Hatter 14:731c52eb333b 18 #define DATA_NUM 2 //DATA_NUM[byte]通信 この値はmemcpy使ってるんでxbee_packet構造体のメモリ数といい感じに合わせるようにしてください
Hatter 13:8a9d3855ab96 19 #define XBEE_KEY 0xAA //keycode
Hatter 9:f05f881226a3 20 #define ARM_KEY 0xAA
Hatter 3:1f1498403eec 21
Hatter 15:1c1ae4077900 22 #define PWM 1.0
Hatter 15:1c1ae4077900 23
Hatter 15:1c1ae4077900 24 #define PWM_L 1.0
Hatter 15:1c1ae4077900 25 #define PWM_R 1.0
Hatter 15:1c1ae4077900 26 #define PWM_U 1.0
Hatter 15:1c1ae4077900 27 #define PWM_D 1.0
Hatter 12:6e2ee1c83ac1 28
Hatter 15:1c1ae4077900 29 #define R 0x4
Hatter 15:1c1ae4077900 30 #define L 0x1
Hatter 15:1c1ae4077900 31 #define U 0x2
Hatter 15:1c1ae4077900 32 #define D 0x8
Hatter 15:1c1ae4077900 33
Hatter 15:1c1ae4077900 34 #define R_t 0x10
Hatter 15:1c1ae4077900 35 #define L_t 0x40
Hatter 15:1c1ae4077900 36
Hatter 15:1c1ae4077900 37 #define TIME 0
Hatter 13:8a9d3855ab96 38
Hatter 9:f05f881226a3 39 BusOut check(LED1,LED2,LED3,LED4);
Hatter 13:8a9d3855ab96 40 BusOut motors(p13,p14,p15,p16,p17,p18,p19,p20);
Hatter 12:6e2ee1c83ac1 41
Hatter 15:1c1ae4077900 42 PwmOut pwm[4]= {p21,p22,p23,p24};
Hatter 0:fddd018033fb 43
Hatter 9:f05f881226a3 44 Serial pc(USBTX,USBRX);
Hatter 0:fddd018033fb 45
Hatter 12:6e2ee1c83ac1 46 MultiSerial xbee(p28,p27,read);
Hatter 13:8a9d3855ab96 47 MultiSerial armMbed(p9,p10,write);
Hatter 0:fddd018033fb 48
Hatter 13:8a9d3855ab96 49 /* data structure */
Hatter 15:1c1ae4077900 50 typedef struct {
Hatter 6:26e5a520472d 51
Hatter 6:26e5a520472d 52 uint8_t arm[1];
Hatter 6:26e5a520472d 53 uint8_t leg;
Hatter 4:5da566692b79 54
Hatter 15:1c1ae4077900 55 } xbee_packet;
Hatter 6:26e5a520472d 56
Hatter 6:26e5a520472d 57 xbee_packet packet;
Hatter 6:26e5a520472d 58
Hatter 15:1c1ae4077900 59 uint8_t get_data[DATA_NUM]= {0};
Hatter 13:8a9d3855ab96 60
Hatter 13:8a9d3855ab96 61 /* Out put PC stdout function */
Hatter 15:1c1ae4077900 62
Hatter 13:8a9d3855ab96 63 void pc_print(){
Hatter 13:8a9d3855ab96 64
Hatter 13:8a9d3855ab96 65 static int count=0;
Hatter 13:8a9d3855ab96 66
Hatter 15:1c1ae4077900 67 if(count==10e3) {
Hatter 13:8a9d3855ab96 68 pc.printf(" arm = %d" ,packet.arm[0]);
Hatter 13:8a9d3855ab96 69 pc.printf(" leg = %d" ,packet.leg);
Hatter 13:8a9d3855ab96 70 count=0;
Hatter 15:1c1ae4077900 71 }
Hatter 13:8a9d3855ab96 72 count++;
Hatter 13:8a9d3855ab96 73 }
Hatter 0:fddd018033fb 74
Hatter 15:1c1ae4077900 75 void stop_slowly(int count)
Hatter 15:1c1ae4077900 76 {
Hatter 15:1c1ae4077900 77
Hatter 15:1c1ae4077900 78 for(float i=1.0; i>=0; i-=0.1) {
Hatter 15:1c1ae4077900 79
Hatter 15:1c1ae4077900 80 /*for(int j=0; j>=4; j++) {
Hatter 15:1c1ae4077900 81
Hatter 15:1c1ae4077900 82 pwm[j] = i;
Hatter 15:1c1ae4077900 83
Hatter 15:1c1ae4077900 84 }*/
Hatter 15:1c1ae4077900 85 pwm[0] = 0.1;
Hatter 15:1c1ae4077900 86 pwm[1] = 0.1;
Hatter 15:1c1ae4077900 87 pwm[2] = 0.1;
Hatter 15:1c1ae4077900 88 pwm[3] = 0.1;
Hatter 15:1c1ae4077900 89
Hatter 15:1c1ae4077900 90 wait(count*10e-3); //count value * 0.01 sec
Hatter 15:1c1ae4077900 91 }
Hatter 15:1c1ae4077900 92 check = 0;
Hatter 15:1c1ae4077900 93 }
Hatter 15:1c1ae4077900 94
Hatter 0:fddd018033fb 95 int main()
Hatter 15:1c1ae4077900 96 {
Hatter 13:8a9d3855ab96 97
Hatter 13:8a9d3855ab96 98 /* PWM init */
Hatter 12:6e2ee1c83ac1 99 pwm[0] = PWM;
Hatter 12:6e2ee1c83ac1 100 pwm[1] = PWM;
Hatter 12:6e2ee1c83ac1 101 pwm[2] = PWM;
Hatter 12:6e2ee1c83ac1 102 pwm[3] = PWM;
Hatter 12:6e2ee1c83ac1 103
Hatter 10:5b67d18f30a9 104 xbee_packet *pt_packet=&packet;
Hatter 12:6e2ee1c83ac1 105
Hatter 13:8a9d3855ab96 106 xbee.read_data(get_data,XBEE_KEY);
Hatter 13:8a9d3855ab96 107
Hatter 15:1c1ae4077900 108 int counter=0;
Hatter 12:6e2ee1c83ac1 109
Hatter 15:1c1ae4077900 110 for(;;) {
Hatter 15:1c1ae4077900 111
Hatter 15:1c1ae4077900 112 wait_ms(1.0);
Hatter 12:6e2ee1c83ac1 113
Hatter 13:8a9d3855ab96 114 //memcpy(&packet, get_data, DATA_NUM);
Hatter 9:f05f881226a3 115
Hatter 10:5b67d18f30a9 116 packet.arm[0] = get_data[1];
Hatter 15:1c1ae4077900 117 packet.leg = get_data[0];
Hatter 12:6e2ee1c83ac1 118
Hatter 15:1c1ae4077900 119 //check = get_data[1];
Hatter 8:ee465babfd98 120
Hatter 15:1c1ae4077900 121 armMbed.write_data(pt_packet->arm,ARM_KEY);
Hatter 12:6e2ee1c83ac1 122
Hatter 13:8a9d3855ab96 123 /* Stop */
Hatter 15:1c1ae4077900 124 if(packet.leg==0x0) {
Hatter 15:1c1ae4077900 125
Hatter 15:1c1ae4077900 126 counter /= 10e2; //mirisec -->> sec
Hatter 15:1c1ae4077900 127
Hatter 15:1c1ae4077900 128 if(counter>=TIME) { //wait 2 sec
Hatter 15:1c1ae4077900 129
Hatter 15:1c1ae4077900 130 stop_slowly(counter);
Hatter 15:1c1ae4077900 131 }
Hatter 13:8a9d3855ab96 132
Hatter 15:1c1ae4077900 133 motors = 0;
Hatter 15:1c1ae4077900 134 counter = 0; //cunter init
Hatter 15:1c1ae4077900 135
Hatter 15:1c1ae4077900 136 } else {
Hatter 15:1c1ae4077900 137
Hatter 15:1c1ae4077900 138 counter++;
Hatter 15:1c1ae4077900 139 check = 0xFF;
Hatter 15:1c1ae4077900 140 }
Hatter 15:1c1ae4077900 141
Hatter 15:1c1ae4077900 142 /* PWM */
Hatter 15:1c1ae4077900 143 if((packet.leg>>4)==0) {
Hatter 15:1c1ae4077900 144
Hatter 14:731c52eb333b 145 pwm[0] = PWM_L;
Hatter 14:731c52eb333b 146 pwm[1] = PWM_R;
Hatter 14:731c52eb333b 147 pwm[2] = PWM_U;
Hatter 15:1c1ae4077900 148 pwm[3] = PWM_D;
Hatter 13:8a9d3855ab96 149
Hatter 15:1c1ae4077900 150 } else {
Hatter 14:731c52eb333b 151
Hatter 14:731c52eb333b 152 pwm[0] = PWM;
Hatter 14:731c52eb333b 153 pwm[1] = PWM;
Hatter 14:731c52eb333b 154 pwm[2] = PWM;
Hatter 14:731c52eb333b 155 pwm[3] = PWM;
Hatter 15:1c1ae4077900 156
Hatter 13:8a9d3855ab96 157 }
Hatter 12:6e2ee1c83ac1 158
Hatter 13:8a9d3855ab96 159 /* Direction of movement */
Hatter 15:1c1ae4077900 160 if(packet.leg&R) motors = 0x55; //01010101 R 接続に気をつけること
Hatter 15:1c1ae4077900 161 if(packet.leg&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
Hatter 15:1c1ae4077900 162 if(packet.leg&U) motors = 0x5A; //01011010 U
Hatter 15:1c1ae4077900 163 if(packet.leg&D) motors = 0xA5; //10100101 D
Hatter 13:8a9d3855ab96 164
Hatter 13:8a9d3855ab96 165 /* Turn circling */
Hatter 15:1c1ae4077900 166 if(packet.leg&R_t) motors = 0x66; //01100110
Hatter 15:1c1ae4077900 167 if(packet.leg&L_t) motors = 0x99; //10011001
Hatter 13:8a9d3855ab96 168
Hatter 13:8a9d3855ab96 169 pc_print();
Hatter 6:26e5a520472d 170 }
Hatter 0:fddd018033fb 171 }