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@25:a6e41d2efd0c, 2014-10-05 (annotated)

Committer:
bousiya03
Date:
Sun Oct 05 08:21:35 2014 +0000
Revision:
25:a6e41d2efd0c
Parent:
23:54fddee73c88
Child:
26:9a7e9dd2746f
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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 25:a6e41d2efd0c 22 #define PWM 0.3
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 22:bfeb1c6e2539 62 int counter=0;
Hatter 22:bfeb1c6e2539 63
Hatter 16:4b502070bea8 64
Hatter 13:8a9d3855ab96 65 /* Out put PC stdout function */
Hatter 17:3c82070177e5 66 void pc_print()
Hatter 17:3c82070177e5 67 {
Hatter 13:8a9d3855ab96 68 static int count=0;
Hatter 13:8a9d3855ab96 69
Hatter 15:1c1ae4077900 70 if(count==10e3) {
Hatter 13:8a9d3855ab96 71 pc.printf(" arm = %d" ,packet.arm[0]);
Hatter 13:8a9d3855ab96 72 pc.printf(" leg = %d" ,packet.leg);
Hatter 13:8a9d3855ab96 73 count=0;
Hatter 15:1c1ae4077900 74 }
Hatter 13:8a9d3855ab96 75 count++;
Hatter 13:8a9d3855ab96 76 }
Hatter 0:fddd018033fb 77
Hatter 18:9cbd70819d2d 78 uint8_t readable_ratio(){
Hatter 18:9cbd70819d2d 79
Hatter 18:9cbd70819d2d 80 int check = 0;
Hatter 18:9cbd70819d2d 81
Hatter 18:9cbd70819d2d 82 for(int i=0;i>=100;i++){
Hatter 18:9cbd70819d2d 83
Hatter 18:9cbd70819d2d 84 if(xbee.readable_check()==1){check++;}
Hatter 18:9cbd70819d2d 85
Hatter 18:9cbd70819d2d 86 wait_ms(1.0);
Hatter 18:9cbd70819d2d 87 }
Hatter 18:9cbd70819d2d 88 return check;
Hatter 18:9cbd70819d2d 89 }
Hatter 18:9cbd70819d2d 90
Hatter 17:3c82070177e5 91 void connect_check(void)
Hatter 17:3c82070177e5 92 {
Hatter 16:4b502070bea8 93 xbee.start_read();
Hatter 16:4b502070bea8 94 xbee.read_data(check_data,XBEE_KEY);
Hatter 18:9cbd70819d2d 95
Hatter 18:9cbd70819d2d 96 check = 0x01;
Hatter 18:9cbd70819d2d 97
Hatter 18:9cbd70819d2d 98 while(readable_ratio()>=50);
Hatter 18:9cbd70819d2d 99
Hatter 18:9cbd70819d2d 100 check = 0x03;
Hatter 18:9cbd70819d2d 101
Hatter 18:9cbd70819d2d 102 while(readable_ratio()<=50);
Hatter 17:3c82070177e5 103
Hatter 18:9cbd70819d2d 104 check = 0x07;
Hatter 18:9cbd70819d2d 105
Hatter 16:4b502070bea8 106 xbee.stop_read();
Hatter 16:4b502070bea8 107 xbee.start_write();
Hatter 17:3c82070177e5 108
Hatter 16:4b502070bea8 109 check_data[0]=0xCC;
Hatter 17:3c82070177e5 110
Hatter 16:4b502070bea8 111 xbee.write_data(check_data,XBEE_KEY);
Hatter 17:3c82070177e5 112
Hatter 16:4b502070bea8 113 wait_ms(10);
Hatter 17:3c82070177e5 114
Hatter 16:4b502070bea8 115 xbee.stop_write();
Hatter 17:3c82070177e5 116 }
Hatter 16:4b502070bea8 117
Hatter 22:bfeb1c6e2539 118 void move_slowly(int count)
Hatter 22:bfeb1c6e2539 119 {
Hatter 15:1c1ae4077900 120
Hatter 22:bfeb1c6e2539 121 float i=(count/10e3)*PWM; //mirisec -->> sec
Hatter 15:1c1ae4077900 122
Hatter 22:bfeb1c6e2539 123 pwm[0] = i;
Hatter 22:bfeb1c6e2539 124 pwm[1] = i;
Hatter 22:bfeb1c6e2539 125 pwm[2] = i;
Hatter 22:bfeb1c6e2539 126 pwm[3] = i;
Hatter 17:3c82070177e5 127
Hatter 23:54fddee73c88 128 //wait_ms(1.0); //count value * 0.01 sec
Hatter 22:bfeb1c6e2539 129
Hatter 18:9cbd70819d2d 130 //check = 0;
Hatter 15:1c1ae4077900 131 }
Hatter 15:1c1ae4077900 132
Hatter 0:fddd018033fb 133 int main()
Hatter 15:1c1ae4077900 134 {
Hatter 13:8a9d3855ab96 135
Hatter 13:8a9d3855ab96 136 /* PWM init */
Hatter 12:6e2ee1c83ac1 137 pwm[0] = PWM;
Hatter 12:6e2ee1c83ac1 138 pwm[1] = PWM;
Hatter 12:6e2ee1c83ac1 139 pwm[2] = PWM;
Hatter 12:6e2ee1c83ac1 140 pwm[3] = PWM;
Hatter 12:6e2ee1c83ac1 141
Hatter 10:5b67d18f30a9 142 xbee_packet *pt_packet=&packet;
Hatter 12:6e2ee1c83ac1 143
Hatter 17:3c82070177e5 144 //connect_check();
Hatter 20:a322730ea5d7 145
Hatter 16:4b502070bea8 146 xbee.start_read();
Hatter 13:8a9d3855ab96 147 xbee.read_data(get_data,XBEE_KEY);
Hatter 22:bfeb1c6e2539 148
Hatter 20:a322730ea5d7 149 armMbed.start_write();
Hatter 20:a322730ea5d7 150 armMbed.write_data(pt_packet->arm,ARM_KEY);
Hatter 20:a322730ea5d7 151
Hatter 22:bfeb1c6e2539 152 counter=0;
Hatter 12:6e2ee1c83ac1 153
bousiya03 25:a6e41d2efd0c 154 check = 0xFF;
bousiya03 25:a6e41d2efd0c 155 wait(0.5);
bousiya03 25:a6e41d2efd0c 156
Hatter 15:1c1ae4077900 157 for(;;) {
Hatter 15:1c1ae4077900 158
Hatter 23:54fddee73c88 159 wait_ms(0.5);
Hatter 12:6e2ee1c83ac1 160
Hatter 13:8a9d3855ab96 161 //memcpy(&packet, get_data, DATA_NUM);
Hatter 10:5b67d18f30a9 162 packet.arm[0] = get_data[1];
Hatter 15:1c1ae4077900 163 packet.leg = get_data[0];
Hatter 12:6e2ee1c83ac1 164
Hatter 23:54fddee73c88 165 //check = get_data[1];
bousiya03 25:a6e41d2efd0c 166
bousiya03 25:a6e41d2efd0c 167 check = packet.leg;
Hatter 19:1305ce40f4e2 168
Hatter 12:6e2ee1c83ac1 169
Hatter 13:8a9d3855ab96 170 /* Stop */
Hatter 22:bfeb1c6e2539 171 if(packet.leg==0x0) {
bousiya03 25:a6e41d2efd0c 172
bousiya03 25:a6e41d2efd0c 173
bousiya03 25:a6e41d2efd0c 174 motors = 0;
bousiya03 25:a6e41d2efd0c 175
bousiya03 25:a6e41d2efd0c 176 pwm[0] = 0;
bousiya03 25:a6e41d2efd0c 177 pwm[1] = 0;
bousiya03 25:a6e41d2efd0c 178 pwm[2] = 0;
bousiya03 25:a6e41d2efd0c 179 pwm[3] = 0;
bousiya03 25:a6e41d2efd0c 180
bousiya03 25:a6e41d2efd0c 181 /*
Hatter 23:54fddee73c88 182 for(;counter>=0;counter--){
Hatter 22:bfeb1c6e2539 183
Hatter 23:54fddee73c88 184 //if(counter>=0){counter--;} //cunter init
Hatter 23:54fddee73c88 185
bousiya03 25:a6e41d2efd0c 186 //move_slowly(counter);
bousiya03 25:a6e41d2efd0c 187 //wait_ms(0.1);
Hatter 23:54fddee73c88 188
bousiya03 25:a6e41d2efd0c 189 }
bousiya03 25:a6e41d2efd0c 190 */
Hatter 15:1c1ae4077900 191
Hatter 23:54fddee73c88 192 }else{
bousiya03 25:a6e41d2efd0c 193
bousiya03 25:a6e41d2efd0c 194 /*
Hatter 23:54fddee73c88 195 if(counter<=10e3){
Hatter 23:54fddee73c88 196 counter++;
Hatter 23:54fddee73c88 197 }
Hatter 23:54fddee73c88 198
bousiya03 25:a6e41d2efd0c 199 move_slowly(counter);
bousiya03 25:a6e41d2efd0c 200 */
bousiya03 25:a6e41d2efd0c 201
bousiya03 25:a6e41d2efd0c 202 if((packet.leg==L_U) || (packet.leg==L_D)){
bousiya03 25:a6e41d2efd0c 203
bousiya03 25:a6e41d2efd0c 204 pwm[0] = PWM_SLOW;
bousiya03 25:a6e41d2efd0c 205 pwm[1] = PWM_SLOW;
bousiya03 25:a6e41d2efd0c 206 pwm[2] = PWM_SLOW;
bousiya03 25:a6e41d2efd0c 207 pwm[3] = PWM_SLOW;
bousiya03 25:a6e41d2efd0c 208
bousiya03 25:a6e41d2efd0c 209 }else{
bousiya03 25:a6e41d2efd0c 210
bousiya03 25:a6e41d2efd0c 211 pwm[0] = PWM;
bousiya03 25:a6e41d2efd0c 212 pwm[1] = PWM;
bousiya03 25:a6e41d2efd0c 213 pwm[2] = PWM;
bousiya03 25:a6e41d2efd0c 214 pwm[3] = PWM;
bousiya03 25:a6e41d2efd0c 215 }
Hatter 22:bfeb1c6e2539 216 }
Hatter 15:1c1ae4077900 217
bousiya03 25:a6e41d2efd0c 218
Hatter 15:1c1ae4077900 219 /* PWM */
bousiya03 25:a6e41d2efd0c 220
Hatter 23:54fddee73c88 221 /*if((packet.leg>>4)==0) {
Hatter 15:1c1ae4077900 222
Hatter 14:731c52eb333b 223 pwm[0] = PWM_L;
Hatter 14:731c52eb333b 224 pwm[1] = PWM_R;
Hatter 14:731c52eb333b 225 pwm[2] = PWM_U;
Hatter 15:1c1ae4077900 226 pwm[3] = PWM_D;
Hatter 13:8a9d3855ab96 227
Hatter 15:1c1ae4077900 228 } else {
Hatter 14:731c52eb333b 229
Hatter 14:731c52eb333b 230 pwm[0] = PWM;
Hatter 14:731c52eb333b 231 pwm[1] = PWM;
Hatter 14:731c52eb333b 232 pwm[2] = PWM;
Hatter 14:731c52eb333b 233 pwm[3] = PWM;
Hatter 22:bfeb1c6e2539 234
Hatter 13:8a9d3855ab96 235 }
Hatter 23:54fddee73c88 236 */
Hatter 12:6e2ee1c83ac1 237
Hatter 13:8a9d3855ab96 238 /* Direction of movement */
bousiya03 25:a6e41d2efd0c 239 if(packet.leg&R_D) motors = 0x55; //01010101 R 接続に気をつけること
bousiya03 25:a6e41d2efd0c 240 if(packet.leg&R_U) 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 25:a6e41d2efd0c 241 if(packet.leg&R_R) motors = 0x5A; //01011010 U
bousiya03 25:a6e41d2efd0c 242 if(packet.leg&R_L) motors = 0xA5; //10100101 D
Hatter 13:8a9d3855ab96 243
Hatter 13:8a9d3855ab96 244 /* Turn circling */
bousiya03 25:a6e41d2efd0c 245 if(packet.leg&L_L) motors = 0x66; //01100110
bousiya03 25:a6e41d2efd0c 246 if(packet.leg&L_R) motors = 0x99; //10011001
bousiya03 25:a6e41d2efd0c 247 //if(packet.leg&L_U)
bousiya03 25:a6e41d2efd0c 248 //if(packet.leg&L_D)
bousiya03 25:a6e41d2efd0c 249
Hatter 13:8a9d3855ab96 250 pc_print();
Hatter 6:26e5a520472d 251 }
Hatter 0:fddd018033fb 252 }