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@12:6e2ee1c83ac1, 2014-09-04 (annotated)

Committer:
Hatter
Date:
Thu Sep 04 08:50:40 2014 +0000
Revision:
12:6e2ee1c83ac1
Parent:
11:8b1a63a1172a
Child:
13:8a9d3855ab96
PWM??

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 12:6e2ee1c83ac1 3 * Simple Type
Hatter 0:fddd018033fb 4 *
Hatter 0:fddd018033fb 5 * motor pins piar
Hatter 0:fddd018033fb 6 * motor(p21,p22):motor(p23,p24)
Hatter 0:fddd018033fb 7 * motor(p25,p26):motor(p27,p28)
Hatter 0:fddd018033fb 8 * 通信中継用
Hatter 12:6e2ee1c83ac1 9 * data[0]:arm
Hatter 6:26e5a520472d 10 * data[1]:omni
Hatter 0:fddd018033fb 11 * reset 0
Hatter 0:fddd018033fb 12 */
Hatter 0:fddd018033fb 13
Hatter 0:fddd018033fb 14 #include "mbed.h"
Hatter 6:26e5a520472d 15 #include "MultiSerial.h"
Hatter 0:fddd018033fb 16
Hatter 9:f05f881226a3 17 #define DATA_NUM 8 //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 6:26e5a520472d 18 #define XBEE_KEY 0xAA//keycode
Hatter 9:f05f881226a3 19 #define ARM_KEY 0xAA
Hatter 3:1f1498403eec 20
Hatter 12:6e2ee1c83ac1 21 #define PWM 1.0
Hatter 12:6e2ee1c83ac1 22
Hatter 9:f05f881226a3 23 BusOut check(LED1,LED2,LED3,LED4);
Hatter 9:f05f881226a3 24 //BusIn sw(p21,p22,p23,p24);
Hatter 12:6e2ee1c83ac1 25 //BusOut motors(p21,p22,p23,p24,p25,p26,p27,p28);
Hatter 12:6e2ee1c83ac1 26 BusOut motors(p5,p6,p7,p8);
Hatter 12:6e2ee1c83ac1 27
Hatter 12:6e2ee1c83ac1 28 PwmOut pwm[4]={p21,p22,p23,p24};
Hatter 0:fddd018033fb 29
Hatter 9:f05f881226a3 30 Serial pc(USBTX,USBRX);
Hatter 0:fddd018033fb 31
Hatter 12:6e2ee1c83ac1 32 MultiSerial xbee(p28,p27,read);
Hatter 12:6e2ee1c83ac1 33 MultiSerial armMbed(p13,p14,write);
Hatter 0:fddd018033fb 34
Hatter 6:26e5a520472d 35 typedef struct{
Hatter 6:26e5a520472d 36
Hatter 6:26e5a520472d 37 uint8_t arm[1];
Hatter 6:26e5a520472d 38 uint8_t leg;
Hatter 4:5da566692b79 39
Hatter 6:26e5a520472d 40 }xbee_packet;
Hatter 6:26e5a520472d 41
Hatter 6:26e5a520472d 42 xbee_packet packet;
Hatter 6:26e5a520472d 43
Hatter 10:5b67d18f30a9 44 uint8_t get_data[DATA_NUM]={0};
Hatter 0:fddd018033fb 45
Hatter 0:fddd018033fb 46 int main()
Hatter 0:fddd018033fb 47 {
Hatter 9:f05f881226a3 48 //sw.mode(PullUp);
Hatter 6:26e5a520472d 49
Hatter 12:6e2ee1c83ac1 50 //PWM init
Hatter 12:6e2ee1c83ac1 51 pwm[0] = PWM;
Hatter 12:6e2ee1c83ac1 52 pwm[1] = PWM;
Hatter 12:6e2ee1c83ac1 53 pwm[2] = PWM;
Hatter 12:6e2ee1c83ac1 54 pwm[3] = PWM;
Hatter 12:6e2ee1c83ac1 55
Hatter 10:5b67d18f30a9 56 xbee_packet *pt_packet=&packet;
Hatter 12:6e2ee1c83ac1 57
Hatter 9:f05f881226a3 58 xbee.read_data(get_data,XBEE_KEY);
Hatter 11:8b1a63a1172a 59 int i=0;
Hatter 0:fddd018033fb 60 for(;;){
Hatter 12:6e2ee1c83ac1 61
Hatter 11:8b1a63a1172a 62 wait_ms(0.1);
Hatter 12:6e2ee1c83ac1 63
Hatter 12:6e2ee1c83ac1 64 // get_data[0]=0xFF;
Hatter 12:6e2ee1c83ac1 65 // get_data[1]=0x01;
Hatter 12:6e2ee1c83ac1 66
Hatter 12:6e2ee1c83ac1 67 //memcpy(&packet, get_data, DATA_NUM); //ちょい危険
Hatter 9:f05f881226a3 68
Hatter 10:5b67d18f30a9 69 packet.arm[0] = get_data[1];
Hatter 10:5b67d18f30a9 70 packet.leg = get_data[0];
Hatter 12:6e2ee1c83ac1 71
Hatter 9:f05f881226a3 72 check = get_data[1];
Hatter 8:ee465babfd98 73
Hatter 12:6e2ee1c83ac1 74 armMbed.write_data(pt_packet->arm,ARM_KEY);
Hatter 12:6e2ee1c83ac1 75
Hatter 6:26e5a520472d 76 if(packet.leg==0x0) motors = 0;
Hatter 8:ee465babfd98 77 if(packet.leg&0x1) motors = 0x05; //p21,p23
Hatter 8:ee465babfd98 78 if(packet.leg&0x2) motors = 0x0A; //p22,p24
Hatter 8:ee465babfd98 79 if(packet.leg&0x4) motors = 0x50; //p25,p27
Hatter 8:ee465babfd98 80 if(packet.leg&0x8) motors = 0xA0; //p26,p28
Hatter 12:6e2ee1c83ac1 81
Hatter 11:8b1a63a1172a 82 if(i==10e3){
Hatter 11:8b1a63a1172a 83 pc.printf(" arm = %d" ,packet.arm[0]);
Hatter 11:8b1a63a1172a 84 pc.printf(" leg = %d" ,packet.leg);
Hatter 11:8b1a63a1172a 85 i=0;
Hatter 12:6e2ee1c83ac1 86 }
Hatter 11:8b1a63a1172a 87 i++;
Hatter 6:26e5a520472d 88 }
Hatter 0:fddd018033fb 89 }