中継機能つけた受け取りオムニ
Dependencies: mbed MultiSerial
main.cpp@35:78f5eec4f36c, 2014-10-14 (annotated)
- Committer:
- bousiya03
- Date:
- Tue Oct 14 09:00:24 2014 +0000
- Revision:
- 35:78f5eec4f36c
- Parent:
- 34:aa464f72d111
- Child:
- 36:bacc260185d6
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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 | |
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 | |
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 | |
Hatter | 9:f05f881226a3 | 37 | BusOut check(LED1,LED2,LED3,LED4); |
Hatter | 13:8a9d3855ab96 | 38 | BusOut motors(p13,p14,p15,p16,p17,p18,p19,p20); |
Hatter | 12:6e2ee1c83ac1 | 39 | |
Hatter | 15:1c1ae4077900 | 40 | PwmOut pwm[4]= {p21,p22,p23,p24}; |
Hatter | 0:fddd018033fb | 41 | |
Hatter | 9:f05f881226a3 | 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 | 34:aa464f72d111 | 47 | Timer xbee_check; |
bousiya03 | 34:aa464f72d111 | 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 | |
bousiya03 | 33:9c98ab97084e | 57 | xbee_packet packet = {0}; |
Hatter | 6:26e5a520472d | 58 | |
Hatter | 15:1c1ae4077900 | 59 | uint8_t get_data[DATA_NUM]= {0}; |
bousiya03 | 29:7a8efb8a9af8 | 60 | uint8_t check_data[2]= {0}; |
Hatter | 13:8a9d3855ab96 | 61 | |
bousiya03 | 35:78f5eec4f36c | 62 | void safety_mode(){ |
bousiya03 | 35:78f5eec4f36c | 63 | |
bousiya03 | 35:78f5eec4f36c | 64 | pwm[0] = 0; |
bousiya03 | 35:78f5eec4f36c | 65 | pwm[1] = 0; |
bousiya03 | 35:78f5eec4f36c | 66 | pwm[2] = 0; |
bousiya03 | 35:78f5eec4f36c | 67 | pwm[3] = 0; |
bousiya03 | 35:78f5eec4f36c | 68 | |
bousiya03 | 35:78f5eec4f36c | 69 | get_data[0] = 0; |
bousiya03 | 35:78f5eec4f36c | 70 | get_data[1] = 0; |
bousiya03 | 35:78f5eec4f36c | 71 | |
bousiya03 | 35:78f5eec4f36c | 72 | packet.arm[0] = 0; |
bousiya03 | 35:78f5eec4f36c | 73 | packet.leg = 0; |
bousiya03 | 35:78f5eec4f36c | 74 | |
bousiya03 | 35:78f5eec4f36c | 75 | } |
bousiya03 | 35:78f5eec4f36c | 76 | |
bousiya03 | 27:68f76ea992bd | 77 | /*start display LED*/ |
bousiya03 | 29:7a8efb8a9af8 | 78 | void display_LED(int kind) |
bousiya03 | 29:7a8efb8a9af8 | 79 | { |
bousiya03 | 27:68f76ea992bd | 80 | |
bousiya03 | 29:7a8efb8a9af8 | 81 | switch(kind) { |
bousiya03 | 29:7a8efb8a9af8 | 82 | |
bousiya03 | 28:4da223ae4392 | 83 | case 0: //err check |
bousiya03 | 27:68f76ea992bd | 84 | check = 0xA; |
bousiya03 | 27:68f76ea992bd | 85 | wait(0.5); |
bousiya03 | 33:9c98ab97084e | 86 | check = 0x5; |
bousiya03 | 27:68f76ea992bd | 87 | wait(0.5); |
bousiya03 | 29:7a8efb8a9af8 | 88 | |
bousiya03 | 27:68f76ea992bd | 89 | break; |
bousiya03 | 29:7a8efb8a9af8 | 90 | |
bousiya03 | 27:68f76ea992bd | 91 | case 1: |
bousiya03 | 29:7a8efb8a9af8 | 92 | // |
bousiya03 | 27:68f76ea992bd | 93 | check = 0xF; |
bousiya03 | 28:4da223ae4392 | 94 | wait(0.5); |
bousiya03 | 28:4da223ae4392 | 95 | check = 0; |
bousiya03 | 35:78f5eec4f36c | 96 | wait(0.5); |
bousiya03 | 27:68f76ea992bd | 97 | break; |
bousiya03 | 27:68f76ea992bd | 98 | } |
bousiya03 | 29:7a8efb8a9af8 | 99 | } |
bousiya03 | 27:68f76ea992bd | 100 | |
Hatter | 0:fddd018033fb | 101 | int main() |
Hatter | 15:1c1ae4077900 | 102 | { |
Hatter | 13:8a9d3855ab96 | 103 | |
Hatter | 13:8a9d3855ab96 | 104 | /* PWM init */ |
Hatter | 12:6e2ee1c83ac1 | 105 | pwm[0] = PWM; |
Hatter | 12:6e2ee1c83ac1 | 106 | pwm[1] = PWM; |
Hatter | 12:6e2ee1c83ac1 | 107 | pwm[2] = PWM; |
Hatter | 12:6e2ee1c83ac1 | 108 | pwm[3] = PWM; |
Hatter | 12:6e2ee1c83ac1 | 109 | |
bousiya03 | 35:78f5eec4f36c | 110 | /* Timer init*/ |
bousiya03 | 35:78f5eec4f36c | 111 | xbee_check.start(); |
bousiya03 | 35:78f5eec4f36c | 112 | |
bousiya03 | 35:78f5eec4f36c | 113 | /* stract data init */ |
Hatter | 10:5b67d18f30a9 | 114 | xbee_packet *pt_packet=&packet; |
bousiya03 | 35:78f5eec4f36c | 115 | |
bousiya03 | 35:78f5eec4f36c | 116 | /* Serial connection init */ |
bousiya03 | 33:9c98ab97084e | 117 | |
bousiya03 | 35:78f5eec4f36c | 118 | xbee.start_read(); |
bousiya03 | 35:78f5eec4f36c | 119 | xbee.read_data(get_data,XBEE_KEY); |
bousiya03 | 29:7a8efb8a9af8 | 120 | |
bousiya03 | 35:78f5eec4f36c | 121 | armMbed.start_write(); |
bousiya03 | 35:78f5eec4f36c | 122 | armMbed.write_data(pt_packet->arm,ARM_KEY); |
bousiya03 | 29:7a8efb8a9af8 | 123 | |
bousiya03 | 35:78f5eec4f36c | 124 | display_LED(1); |
bousiya03 | 35:78f5eec4f36c | 125 | |
bousiya03 | 35:78f5eec4f36c | 126 | if(xbee.check_rx()==0){ |
bousiya03 | 35:78f5eec4f36c | 127 | |
bousiya03 | 35:78f5eec4f36c | 128 | NVIC_SystemReset(); |
bousiya03 | 35:78f5eec4f36c | 129 | |
bousiya03 | 35:78f5eec4f36c | 130 | } |
bousiya03 | 33:9c98ab97084e | 131 | |
bousiya03 | 35:78f5eec4f36c | 132 | |
bousiya03 | 35:78f5eec4f36c | 133 | // NVIC_DisableIRQ(UART1_IRQn); |
bousiya03 | 35:78f5eec4f36c | 134 | // NVIC_DisableIRQ(UART0_IRQn); |
bousiya03 | 29:7a8efb8a9af8 | 135 | |
Hatter | 15:1c1ae4077900 | 136 | for(;;) { |
bousiya03 | 34:aa464f72d111 | 137 | |
bousiya03 | 34:aa464f72d111 | 138 | xbee_check.reset(); |
bousiya03 | 34:aa464f72d111 | 139 | xbee_check.start(); |
bousiya03 | 35:78f5eec4f36c | 140 | |
bousiya03 | 35:78f5eec4f36c | 141 | |
bousiya03 | 35:78f5eec4f36c | 142 | if(xbee_check.read()>=1) |
bousiya03 | 35:78f5eec4f36c | 143 | { |
bousiya03 | 33:9c98ab97084e | 144 | |
bousiya03 | 35:78f5eec4f36c | 145 | safety_mode(); |
bousiya03 | 35:78f5eec4f36c | 146 | |
bousiya03 | 35:78f5eec4f36c | 147 | xbee_check.stop(); |
bousiya03 | 35:78f5eec4f36c | 148 | xbee_check.reset(); |
bousiya03 | 35:78f5eec4f36c | 149 | xbee_check.start(); |
bousiya03 | 35:78f5eec4f36c | 150 | |
bousiya03 | 34:aa464f72d111 | 151 | } |
bousiya03 | 34:aa464f72d111 | 152 | packet.arm[0] = get_data[1]; |
bousiya03 | 34:aa464f72d111 | 153 | packet.leg = get_data[0]; |
bousiya03 | 29:7a8efb8a9af8 | 154 | |
Hatter | 13:8a9d3855ab96 | 155 | /* Stop */ |
bousiya03 | 29:7a8efb8a9af8 | 156 | if(packet.leg==0x0) { |
bousiya03 | 29:7a8efb8a9af8 | 157 | |
bousiya03 | 29:7a8efb8a9af8 | 158 | motors = 0; |
Hatter | 15:1c1ae4077900 | 159 | |
bousiya03 | 29:7a8efb8a9af8 | 160 | pwm[0] = 0; |
bousiya03 | 29:7a8efb8a9af8 | 161 | pwm[1] = 0; |
bousiya03 | 29:7a8efb8a9af8 | 162 | pwm[2] = 0; |
bousiya03 | 29:7a8efb8a9af8 | 163 | pwm[3] = 0; |
bousiya03 | 29:7a8efb8a9af8 | 164 | |
bousiya03 | 29:7a8efb8a9af8 | 165 | } else { |
bousiya03 | 29:7a8efb8a9af8 | 166 | |
bousiya03 | 29:7a8efb8a9af8 | 167 | pwm[0] = PWM; |
bousiya03 | 29:7a8efb8a9af8 | 168 | pwm[1] = PWM; |
bousiya03 | 29:7a8efb8a9af8 | 169 | pwm[2] = PWM; |
bousiya03 | 29:7a8efb8a9af8 | 170 | pwm[3] = PWM; |
bousiya03 | 29:7a8efb8a9af8 | 171 | } |
Hatter | 15:1c1ae4077900 | 172 | |
Hatter | 13:8a9d3855ab96 | 173 | /* Direction of movement */ |
bousiya03 | 30:00277f63ffeb | 174 | if(packet.leg&R_R) motors = 0x55; //01010101 R 接続に気をつけること |
bousiya03 | 30:00277f63ffeb | 175 | 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 | 176 | if(packet.leg&R_U) motors = 0x5A; //01011010 U |
bousiya03 | 30:00277f63ffeb | 177 | if(packet.leg&R_D) motors = 0xA5; //10100101 D |
Hatter | 13:8a9d3855ab96 | 178 | |
Hatter | 13:8a9d3855ab96 | 179 | /* Turn circling */ |
bousiya03 | 25:a6e41d2efd0c | 180 | if(packet.leg&L_L) motors = 0x66; //01100110 |
bousiya03 | 25:a6e41d2efd0c | 181 | if(packet.leg&L_R) motors = 0x99; //10011001 |
bousiya03 | 29:7a8efb8a9af8 | 182 | //if(packet.leg&L_U) |
bousiya03 | 25:a6e41d2efd0c | 183 | //if(packet.leg&L_D) |
Hatter | 6:26e5a520472d | 184 | } |
Hatter | 0:fddd018033fb | 185 | } |