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@32:33078ddc3bcb, 2014-10-07 (annotated)

Committer:
bousiya03
Date:
Tue Oct 07 10:24:14 2014 +0000
Revision:
32:33078ddc3bcb
Parent:
26:9a7e9dd2746f 
????; ?????2

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
bousiya03 26:9a7e9dd2746f 22 #define PWM 0.5
bousiya03 25:a6e41d2efd0c 23 #define PWM_SLOW 0.1
Hatter 15:1c1ae4077900 24
Hatter 12:6e2ee1c83ac1 25
bousiya03 25:a6e41d2efd0c 26 #define R_R 0x4
bousiya03 25:a6e41d2efd0c 27 #define R_L 0x1
bousiya03 25:a6e41d2efd0c 28 #define R_U 0x2
bousiya03 25:a6e41d2efd0c 29 #define R_D 0x8
Hatter 15:1c1ae4077900 30
bousiya03 25:a6e41d2efd0c 31 #define L_R 0x10
bousiya03 25:a6e41d2efd0c 32 #define L_L 0x40
bousiya03 25:a6e41d2efd0c 33 #define L_U 0x20
bousiya03 25:a6e41d2efd0c 34 #define L_D 0x80
Hatter 15:1c1ae4077900 35
Hatter 15:1c1ae4077900 36 #define TIME 0
Hatter 13:8a9d3855ab96 37
Hatter 9:f05f881226a3 38 BusOut check(LED1,LED2,LED3,LED4);
Hatter 13:8a9d3855ab96 39 BusOut motors(p13,p14,p15,p16,p17,p18,p19,p20);
Hatter 12:6e2ee1c83ac1 40
Hatter 15:1c1ae4077900 41 PwmOut pwm[4]= {p21,p22,p23,p24};
Hatter 0:fddd018033fb 42
Hatter 9:f05f881226a3 43 Serial pc(USBTX,USBRX);
Hatter 0:fddd018033fb 44
Hatter 16:4b502070bea8 45 MultiSerial xbee(p28,p27);
Hatter 16:4b502070bea8 46 MultiSerial armMbed(p9,p10);
Hatter 0:fddd018033fb 47
Hatter 13:8a9d3855ab96 48 /* data structure */
Hatter 15:1c1ae4077900 49 typedef struct {
Hatter 6:26e5a520472d 50
Hatter 6:26e5a520472d 51 uint8_t arm[1];
Hatter 6:26e5a520472d 52 uint8_t leg;
Hatter 4:5da566692b79 53
Hatter 15:1c1ae4077900 54 } xbee_packet;
Hatter 6:26e5a520472d 55
Hatter 6:26e5a520472d 56 xbee_packet packet;
Hatter 6:26e5a520472d 57
Hatter 15:1c1ae4077900 58 uint8_t get_data[DATA_NUM]= {0};
Hatter 13:8a9d3855ab96 59
Hatter 18:9cbd70819d2d 60 uint8_t check_data[2]={0};
Hatter 18:9cbd70819d2d 61
Hatter 0:fddd018033fb 62 int main()
Hatter 15:1c1ae4077900 63 {
Hatter 13:8a9d3855ab96 64
Hatter 13:8a9d3855ab96 65 /* PWM init */
Hatter 12:6e2ee1c83ac1 66 pwm[0] = PWM;
Hatter 12:6e2ee1c83ac1 67 pwm[1] = PWM;
Hatter 12:6e2ee1c83ac1 68 pwm[2] = PWM;
Hatter 12:6e2ee1c83ac1 69 pwm[3] = PWM;
Hatter 12:6e2ee1c83ac1 70
Hatter 10:5b67d18f30a9 71 xbee_packet *pt_packet=&packet;
Hatter 12:6e2ee1c83ac1 72
Hatter 17:3c82070177e5 73 //connect_check();
Hatter 20:a322730ea5d7 74
Hatter 16:4b502070bea8 75 xbee.start_read();
Hatter 13:8a9d3855ab96 76 xbee.read_data(get_data,XBEE_KEY);
Hatter 22:bfeb1c6e2539 77
Hatter 20:a322730ea5d7 78 armMbed.start_write();
Hatter 20:a322730ea5d7 79 armMbed.write_data(pt_packet->arm,ARM_KEY);
Hatter 20:a322730ea5d7 80
bousiya03 25:a6e41d2efd0c 81 check = 0xFF;
bousiya03 25:a6e41d2efd0c 82 wait(0.5);
bousiya03 25:a6e41d2efd0c 83
Hatter 15:1c1ae4077900 84 for(;;) {
Hatter 15:1c1ae4077900 85
Hatter 23:54fddee73c88 86 wait_ms(0.5);
Hatter 12:6e2ee1c83ac1 87
Hatter 13:8a9d3855ab96 88 //memcpy(&packet, get_data, DATA_NUM);
Hatter 10:5b67d18f30a9 89 packet.arm[0] = get_data[1];
Hatter 15:1c1ae4077900 90 packet.leg = get_data[0];
Hatter 12:6e2ee1c83ac1 91
Hatter 23:54fddee73c88 92 //check = get_data[1];
bousiya03 25:a6e41d2efd0c 93
bousiya03 25:a6e41d2efd0c 94 check = packet.leg;
Hatter 19:1305ce40f4e2 95
Hatter 12:6e2ee1c83ac1 96
Hatter 13:8a9d3855ab96 97 /* Stop */
Hatter 22:bfeb1c6e2539 98 if(packet.leg==0x0) {
bousiya03 25:a6e41d2efd0c 99
bousiya03 25:a6e41d2efd0c 100
bousiya03 25:a6e41d2efd0c 101 motors = 0;
bousiya03 25:a6e41d2efd0c 102
bousiya03 25:a6e41d2efd0c 103 pwm[0] = 0;
bousiya03 25:a6e41d2efd0c 104 pwm[1] = 0;
bousiya03 25:a6e41d2efd0c 105 pwm[2] = 0;
bousiya03 25:a6e41d2efd0c 106 pwm[3] = 0;
Hatter 22:bfeb1c6e2539 107
Hatter 15:1c1ae4077900 108
Hatter 23:54fddee73c88 109 }else{
bousiya03 25:a6e41d2efd0c 110
bousiya03 25:a6e41d2efd0c 111 pwm[0] = PWM;
bousiya03 25:a6e41d2efd0c 112 pwm[1] = PWM;
bousiya03 25:a6e41d2efd0c 113 pwm[2] = PWM;
bousiya03 25:a6e41d2efd0c 114 pwm[3] = PWM;
Hatter 22:bfeb1c6e2539 115 }
Hatter 15:1c1ae4077900 116
bousiya03 25:a6e41d2efd0c 117
Hatter 15:1c1ae4077900 118 /* PWM */
bousiya03 25:a6e41d2efd0c 119
Hatter 23:54fddee73c88 120 /*if((packet.leg>>4)==0) {
Hatter 15:1c1ae4077900 121
Hatter 14:731c52eb333b 122 pwm[0] = PWM_L;
Hatter 14:731c52eb333b 123 pwm[1] = PWM_R;
Hatter 14:731c52eb333b 124 pwm[2] = PWM_U;
Hatter 15:1c1ae4077900 125 pwm[3] = PWM_D;
Hatter 13:8a9d3855ab96 126
Hatter 15:1c1ae4077900 127 } else {
Hatter 14:731c52eb333b 128
Hatter 14:731c52eb333b 129 pwm[0] = PWM;
Hatter 14:731c52eb333b 130 pwm[1] = PWM;
Hatter 14:731c52eb333b 131 pwm[2] = PWM;
Hatter 14:731c52eb333b 132 pwm[3] = PWM;
Hatter 22:bfeb1c6e2539 133
Hatter 13:8a9d3855ab96 134 }
Hatter 23:54fddee73c88 135 */
Hatter 12:6e2ee1c83ac1 136
Hatter 13:8a9d3855ab96 137 /* Direction of movement */
bousiya03 32:33078ddc3bcb 138 if(packet.leg&R_R) motors = 0x55; //01010101 R 接続に気をつけること
bousiya03 32:33078ddc3bcb 139 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 32:33078ddc3bcb 140 if(packet.leg&R_U) motors = 0x5A; //01011010 U
bousiya03 32:33078ddc3bcb 141 if(packet.leg&R_D) motors = 0xA5; //10100101 D
Hatter 13:8a9d3855ab96 142
Hatter 13:8a9d3855ab96 143 /* Turn circling */
bousiya03 25:a6e41d2efd0c 144 if(packet.leg&L_L) motors = 0x66; //01100110
bousiya03 25:a6e41d2efd0c 145 if(packet.leg&L_R) motors = 0x99; //10011001
bousiya03 25:a6e41d2efd0c 146 //if(packet.leg&L_U)
bousiya03 25:a6e41d2efd0c 147 //if(packet.leg&L_D)
Hatter 6:26e5a520472d 148 }
Hatter 0:fddd018033fb 149 }