中継機能つけた受け取りオムニ
Dependencies: mbed MultiSerial
main.cpp
- Committer:
- Hatter
- Date:
- 2014-09-23
- Revision:
- 15:1c1ae4077900
- Parent:
- 14:731c52eb333b
- Child:
- 16:4b502070bea8
File content as of revision 15:1c1ae4077900:
/* * 4WD_OMNI_simple by Tomoki Hokida * Simple Type * * motor pins piar * motor(p13,p14):motor(p15,p16) * motor(p17,p18):motor(p19,p20) * * Serial Pins * packet.arm[0]:arm * packet.leg[1]:omni * reset 0 */ #include "mbed.h" #include "MultiSerial.h" #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 #define XBEE_KEY 0xAA //keycode #define ARM_KEY 0xAA #define PWM 1.0 #define PWM_L 1.0 #define PWM_R 1.0 #define PWM_U 1.0 #define PWM_D 1.0 #define R 0x4 #define L 0x1 #define U 0x2 #define D 0x8 #define R_t 0x10 #define L_t 0x40 #define TIME 0 BusOut check(LED1,LED2,LED3,LED4); 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(p9,p10,write); /* data structure */ typedef struct { uint8_t arm[1]; uint8_t leg; } xbee_packet; xbee_packet packet; uint8_t get_data[DATA_NUM]= {0}; /* 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++; } void stop_slowly(int count) { for(float i=1.0; i>=0; i-=0.1) { /*for(int j=0; j>=4; j++) { pwm[j] = i; }*/ pwm[0] = 0.1; pwm[1] = 0.1; pwm[2] = 0.1; pwm[3] = 0.1; wait(count*10e-3); //count value * 0.01 sec } check = 0; } int main() { /* PWM init */ pwm[0] = PWM; pwm[1] = PWM; pwm[2] = PWM; pwm[3] = PWM; xbee_packet *pt_packet=&packet; xbee.read_data(get_data,XBEE_KEY); int counter=0; for(;;) { wait_ms(1.0); //memcpy(&packet, get_data, DATA_NUM); packet.arm[0] = get_data[1]; packet.leg = get_data[0]; //check = get_data[1]; armMbed.write_data(pt_packet->arm,ARM_KEY); /* Stop */ if(packet.leg==0x0) { counter /= 10e2; //mirisec -->> sec if(counter>=TIME) { //wait 2 sec stop_slowly(counter); } motors = 0; counter = 0; //cunter init } else { counter++; check = 0xFF; } /* PWM */ if((packet.leg>>4)==0) { pwm[0] = PWM_L; pwm[1] = PWM_R; pwm[2] = PWM_U; pwm[3] = PWM_D; } else { pwm[0] = PWM; pwm[1] = PWM; pwm[2] = PWM; pwm[3] = PWM; } /* Direction of movement */ if(packet.leg&R) motors = 0x55; //01010101 R 接続に気をつけること if(packet.leg&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 if(packet.leg&U) motors = 0x5A; //01011010 U if(packet.leg&D) motors = 0xA5; //10100101 D /* Turn circling */ if(packet.leg&R_t) motors = 0x66; //01100110 if(packet.leg&L_t) motors = 0x99; //10011001 pc_print(); } }