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@31:934a8778c431, 2014-10-07 (annotated)

Committer:
bousiya03
Date:
Tue Oct 07 10:18:36 2014 +0000
Revision:
31:934a8778c431
Parent:
30:00277f63ffeb 
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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 29:7a8efb8a9af8 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};
bousiya03 29:7a8efb8a9af8 59 uint8_t check_data[2]= {0};
Hatter 13:8a9d3855ab96 60
bousiya03 27:68f76ea992bd 61
bousiya03 27:68f76ea992bd 62 /*start display LED*/
bousiya03 29:7a8efb8a9af8 63 void display_LED(int kind)
bousiya03 29:7a8efb8a9af8 64 {
bousiya03 27:68f76ea992bd 65
bousiya03 29:7a8efb8a9af8 66 switch(kind) {
bousiya03 29:7a8efb8a9af8 67
bousiya03 28:4da223ae4392 68 case 0: //err check
bousiya03 27:68f76ea992bd 69 check = 0xA;
bousiya03 27:68f76ea992bd 70 wait(0.5);
bousiya03 27:68f76ea992bd 71 check != 0xF;
bousiya03 27:68f76ea992bd 72 wait(0.5);
bousiya03 29:7a8efb8a9af8 73
bousiya03 27:68f76ea992bd 74 break;
bousiya03 29:7a8efb8a9af8 75
bousiya03 27:68f76ea992bd 76 case 1:
bousiya03 29:7a8efb8a9af8 77 //
bousiya03 27:68f76ea992bd 78 check = 0xF;
bousiya03 28:4da223ae4392 79 wait(0.5);
bousiya03 28:4da223ae4392 80 check = 0;
bousiya03 27:68f76ea992bd 81 break;
bousiya03 27:68f76ea992bd 82 }
bousiya03 29:7a8efb8a9af8 83 }
bousiya03 27:68f76ea992bd 84
bousiya03 27:68f76ea992bd 85
bousiya03 27:68f76ea992bd 86 /*Safety Mode*/
bousiya03 27:68f76ea992bd 87 void safety_mode()
bousiya03 27:68f76ea992bd 88 {
bousiya03 27:68f76ea992bd 89 xbee.stop_read();
bousiya03 27:68f76ea992bd 90 armMbed.stop_write();
bousiya03 29:7a8efb8a9af8 91
bousiya03 27:68f76ea992bd 92 for(;;) {
bousiya03 29:7a8efb8a9af8 93
bousiya03 27:68f76ea992bd 94 motors = 0;
bousiya03 27:68f76ea992bd 95 display_LED(0);
bousiya03 29:7a8efb8a9af8 96
bousiya03 27:68f76ea992bd 97 if(xbee.readable_check()==1) {
bousiya03 29:7a8efb8a9af8 98
bousiya03 27:68f76ea992bd 99 NVIC_SystemReset();
bousiya03 29:7a8efb8a9af8 100
bousiya03 27:68f76ea992bd 101 //xbee.start_read();
bousiya03 27:68f76ea992bd 102 //arm_mbed.start_write();
bousiya03 29:7a8efb8a9af8 103 return;
bousiya03 27:68f76ea992bd 104 }
bousiya03 27:68f76ea992bd 105 }
bousiya03 27:68f76ea992bd 106 }
bousiya03 27:68f76ea992bd 107
Hatter 18:9cbd70819d2d 108
Hatter 0:fddd018033fb 109 int main()
Hatter 15:1c1ae4077900 110 {
Hatter 13:8a9d3855ab96 111
Hatter 13:8a9d3855ab96 112 /* PWM init */
Hatter 12:6e2ee1c83ac1 113 pwm[0] = PWM;
Hatter 12:6e2ee1c83ac1 114 pwm[1] = PWM;
Hatter 12:6e2ee1c83ac1 115 pwm[2] = PWM;
Hatter 12:6e2ee1c83ac1 116 pwm[3] = PWM;
Hatter 12:6e2ee1c83ac1 117
Hatter 10:5b67d18f30a9 118 xbee_packet *pt_packet=&packet;
Hatter 12:6e2ee1c83ac1 119
Hatter 17:3c82070177e5 120 //connect_check();
bousiya03 27:68f76ea992bd 121 int radio_check=0;
bousiya03 29:7a8efb8a9af8 122
Hatter 16:4b502070bea8 123 xbee.start_read();
Hatter 13:8a9d3855ab96 124 xbee.read_data(get_data,XBEE_KEY);
bousiya03 29:7a8efb8a9af8 125
Hatter 20:a322730ea5d7 126 armMbed.start_write();
Hatter 20:a322730ea5d7 127 armMbed.write_data(pt_packet->arm,ARM_KEY);
bousiya03 29:7a8efb8a9af8 128
bousiya03 28:4da223ae4392 129 display_LED(1);
bousiya03 29:7a8efb8a9af8 130
bousiya03 28:4da223ae4392 131 int counter=0;
bousiya03 29:7a8efb8a9af8 132
Hatter 15:1c1ae4077900 133 for(;;) {
Hatter 15:1c1ae4077900 134
Hatter 23:54fddee73c88 135 wait_ms(0.5);
Hatter 12:6e2ee1c83ac1 136
Hatter 13:8a9d3855ab96 137 //memcpy(&packet, get_data, DATA_NUM);
Hatter 10:5b67d18f30a9 138 packet.arm[0] = get_data[1];
Hatter 15:1c1ae4077900 139 packet.leg = get_data[0];
Hatter 12:6e2ee1c83ac1 140
Hatter 23:54fddee73c88 141 //check = get_data[1];
bousiya03 28:4da223ae4392 142 counter++;
bousiya03 29:7a8efb8a9af8 143 check = counter/1000;
bousiya03 29:7a8efb8a9af8 144 if(counter>=15*100) {
bousiya03 29:7a8efb8a9af8 145 counter=0;
bousiya03 29:7a8efb8a9af8 146 }
bousiya03 29:7a8efb8a9af8 147
bousiya03 31:934a8778c431 148 /*
bousiya03 29:7a8efb8a9af8 149 if(xbee.readable_check() == 0) {
bousiya03 29:7a8efb8a9af8 150
bousiya03 27:68f76ea992bd 151 radio_check++;
bousiya03 29:7a8efb8a9af8 152
bousiya03 29:7a8efb8a9af8 153 if(radio_check>=500) {
bousiya03 27:68f76ea992bd 154 safety_mode();
bousiya03 27:68f76ea992bd 155 }
bousiya03 27:68f76ea992bd 156
bousiya03 29:7a8efb8a9af8 157 } else {
bousiya03 29:7a8efb8a9af8 158
bousiya03 27:68f76ea992bd 159 radio_check = 0;
bousiya03 29:7a8efb8a9af8 160 }
bousiya03 31:934a8778c431 161 */
Hatter 13:8a9d3855ab96 162 /* Stop */
bousiya03 29:7a8efb8a9af8 163 if(packet.leg==0x0) {
bousiya03 29:7a8efb8a9af8 164
bousiya03 29:7a8efb8a9af8 165 motors = 0;
Hatter 15:1c1ae4077900 166
bousiya03 29:7a8efb8a9af8 167 pwm[0] = 0;
bousiya03 29:7a8efb8a9af8 168 pwm[1] = 0;
bousiya03 29:7a8efb8a9af8 169 pwm[2] = 0;
bousiya03 29:7a8efb8a9af8 170 pwm[3] = 0;
bousiya03 29:7a8efb8a9af8 171
bousiya03 29:7a8efb8a9af8 172 } else {
bousiya03 29:7a8efb8a9af8 173
bousiya03 29:7a8efb8a9af8 174 pwm[0] = PWM;
bousiya03 29:7a8efb8a9af8 175 pwm[1] = PWM;
bousiya03 29:7a8efb8a9af8 176 pwm[2] = PWM;
bousiya03 29:7a8efb8a9af8 177 pwm[3] = PWM;
bousiya03 29:7a8efb8a9af8 178 }
Hatter 15:1c1ae4077900 179
Hatter 13:8a9d3855ab96 180 /* Direction of movement */
bousiya03 30:00277f63ffeb 181 if(packet.leg&R_R) motors = 0x55; //01010101 R 接続に気をつけること
bousiya03 30:00277f63ffeb 182 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 183 if(packet.leg&R_U) motors = 0x5A; //01011010 U
bousiya03 30:00277f63ffeb 184 if(packet.leg&R_D) motors = 0xA5; //10100101 D
Hatter 13:8a9d3855ab96 185
Hatter 13:8a9d3855ab96 186 /* Turn circling */
bousiya03 25:a6e41d2efd0c 187 if(packet.leg&L_L) motors = 0x66; //01100110
bousiya03 25:a6e41d2efd0c 188 if(packet.leg&L_R) motors = 0x99; //10011001
bousiya03 29:7a8efb8a9af8 189 //if(packet.leg&L_U)
bousiya03 25:a6e41d2efd0c 190 //if(packet.leg&L_D)
Hatter 6:26e5a520472d 191 }
Hatter 0:fddd018033fb 192 }