中継機能つけた受け取りオムニ
Dependencies: mbed MultiSerial
main.cpp
- Committer:
- bousiya03
- Date:
- 2014-10-07
- Revision:
- 27:68f76ea992bd
- Parent:
- 26:9a7e9dd2746f
- Child:
- 28:4da223ae4392
File content as of revision 27:68f76ea992bd:
/* * 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 0.5 #define PWM_SLOW 0.1 #define R_R 0x4 #define R_L 0x1 #define R_U 0x2 #define R_D 0x8 #define L_R 0x10 #define L_L 0x40 #define L_U 0x20 #define L_D 0x80 #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); MultiSerial armMbed(p9,p10); /* data structure */ typedef struct { uint8_t arm[1]; uint8_t leg; } xbee_packet; xbee_packet packet; uint8_t get_data[DATA_NUM]= {0}; uint8_t check_data[2]={0}; /*start display LED*/ void display_LED(int kind){ switch(kind){ case 0: check = 0xA; wait(0.5); check != 0xF; wait(0.5); break; case 1: check = 0xF; break; } } /*Safety Mode*/ void safety_mode() { xbee.stop_read(); armMbed.stop_write(); for(;;) { motors = 0; display_LED(0); if(xbee.readable_check()==1) { NVIC_SystemReset(); //xbee.start_read(); //arm_mbed.start_write(); return; } } } int main() { /* PWM init */ pwm[0] = PWM; pwm[1] = PWM; pwm[2] = PWM; pwm[3] = PWM; xbee_packet *pt_packet=&packet; //connect_check(); int radio_check=0; xbee.start_read(); xbee.read_data(get_data,XBEE_KEY); armMbed.start_write(); armMbed.write_data(pt_packet->arm,ARM_KEY); display_LED(1); wait(0.5); if((packet.leg&L_U)==0){NVIC_SystemReset();} for(;;) { wait_ms(0.5); //memcpy(&packet, get_data, DATA_NUM); packet.arm[0] = get_data[1]; packet.leg = get_data[0]; //check = get_data[1]; check = packet.leg; /* if(xbee.readable_check() == 0) { radio_check++; if(radio_check>=500){ safety_mode(); } } else { radio_check = 0; } */ /* Stop */ if(packet.leg==0x0) { motors = 0; pwm[0] = 0; pwm[1] = 0; pwm[2] = 0; pwm[3] = 0; }else{ pwm[0] = PWM; pwm[1] = PWM; pwm[2] = PWM; pwm[3] = PWM; } /* Direction of movement */ if(packet.leg&R_D) motors = 0x55; //01010101 R 接続に気をつけること 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 if(packet.leg&R_R) motors = 0x5A; //01011010 U if(packet.leg&R_L) motors = 0xA5; //10100101 D /* Turn circling */ if(packet.leg&L_L) motors = 0x66; //01100110 if(packet.leg&L_R) motors = 0x99; //10011001 //if(packet.leg&L_U) //if(packet.leg&L_D) } }