Diff: main.cpp

Revision:

13:8a9d3855ab96

Parent:

12:6e2ee1c83ac1

Child:

14:731c52eb333b

--- a/main.cpp	Thu Sep 04 08:50:40 2014 +0000
+++ b/main.cpp	Mon Sep 08 04:13:50 2014 +0000
@@ -1,13 +1,14 @@
 /*
  * 4WD_OMNI_simple  by Tomoki Hokida
-* Simple Type
+ * Simple Type
  *
  * motor pins piar
- * motor(p21,p22):motor(p23,p24)
- * motor(p25,p26):motor(p27,p28)
- * 通信中継用
- * data[0]:arm 
- * data[1]:omni
+ * motor(p13,p14):motor(p15,p16)
+ * motor(p17,p18):motor(p19,p20)
+ *
+ * Serial Pins
+ * packet.arm[0]:arm  
+ * packet.leg[1]:omni
  * reset 0
  */
 
@@ -15,23 +16,27 @@
 #include "MultiSerial.h"
 
 #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
-#define XBEE_KEY 0xAA//keycode
+#define XBEE_KEY 0xAA //keycode
 #define ARM_KEY 0xAA
 
 #define PWM 1.0
 
+#define PWM_L 0.5
+#define PWM_R 0.5
+#define PWM_U 0.5
+#define PWM_D 0.5
+
 BusOut check(LED1,LED2,LED3,LED4);
-//BusIn sw(p21,p22,p23,p24);
-//BusOut motors(p21,p22,p23,p24,p25,p26,p27,p28);
-BusOut motors(p5,p6,p7,p8);
+BusOut motors(p13,p14,p15,p16,p17,p18,p19,p20);
 
 PwmOut pwm[4]={p21,p22,p23,p24}; 
 
 Serial pc(USBTX,USBRX);
 
 MultiSerial xbee(p28,p27,read);
-MultiSerial armMbed(p13,p14,write);
+MultiSerial armMbed(p9,p10,write);
 
+/* data structure */
 typedef struct{
 
     uint8_t arm[1];
@@ -42,29 +47,44 @@
 xbee_packet packet;
 
 uint8_t get_data[DATA_NUM]={0};
+uint8_t value[4];
+
+/* Out put PC stdout function */
+void pc_print(){
+
+    static int count=0;
+
+    if(count==10e3){ 
+        pc.printf(" arm = %d" ,packet.arm[0]);
+        pc.printf(" leg = %d" ,packet.leg);
+        count=0;
+    }   
+    count++;
+}
 
 int main()
-{
-    //sw.mode(PullUp);
-    
-    //PWM init
+{   
+
+    /* PWM init */
     pwm[0] = PWM;
     pwm[1] = PWM;
     pwm[2] = PWM;
     pwm[3] = PWM;
 
+    value[0] = PWM_L;
+    value[1] = PWM_R;
+    value[2] = PWM_U;
+    value[3] = PWM_D;
+
     xbee_packet *pt_packet=&packet;
 
-    xbee.read_data(get_data,XBEE_KEY);        
-    int i=0;
+    xbee.read_data(get_data,XBEE_KEY);
+
     for(;;){
 
-        wait_ms(0.1);
+        wait_ms(0.1);  
 
-        // get_data[0]=0xFF;
-    // get_data[1]=0x01;    
-
-    //memcpy(&packet, get_data, DATA_NUM); //ちょい危険
+        //memcpy(&packet, get_data, DATA_NUM);
 
         packet.arm[0] = get_data[1];
         packet.leg = get_data[0];   
@@ -73,17 +93,28 @@
 
         armMbed.write_data(pt_packet->arm,ARM_KEY);  
 
+        /* Stop */
         if(packet.leg==0x0) motors = 0;
-        if(packet.leg&0x1) motors = 0x05; //p21,p23 
-        if(packet.leg&0x2) motors = 0x0A; //p22,p24 
-        if(packet.leg&0x4) motors = 0x50; //p25,p27        
-        if(packet.leg&0x8) motors = 0xA0; //p26,p28
+
+        /* PWM */     
+        if((packet.leg>>4)==0){
+
+            for(int i=0;i==4;i++){
+                pwm[i] = value[i]; 
+            }
+        }
 
-        if(i==10e3){ 
-            pc.printf(" arm = %d" ,packet.arm[0]);
-            pc.printf(" leg = %d" ,packet.leg);
-            i=0;
-        }                
-        i++;
+        /* Direction of movement */
+        if(packet.leg&0x1) motors = 0x55; //01010101 
+        if(packet.leg&0x8) motors = 0xAA; //10101010
+        if(packet.leg&0x2) motors = 0x5A; //01011010       
+        if(packet.leg&0x4) motors = 0xA5; //10100101
+
+        /* Turn circling */
+        if(packet.leg&0x10) motors = 0x66; //01010101 
+        if(packet.leg&0x80) motors = 0x99; //10101010
+
+        pc_print();
+
     }
 }
\ No newline at end of file