中継機能つけた受け取りオムニ
Dependencies: mbed MultiSerial
main.cpp
- Committer:
- Hatter
- Date:
- 2014-09-08
- Revision:
- 14:731c52eb333b
- Parent:
- 13:8a9d3855ab96
- Child:
- 15:1c1ae4077900
File content as of revision 14:731c52eb333b:
/* * 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_L 0.5 #define PWM_R 0.5 #define PWM_U 0.5 #define PWM_D 0.5 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++; } 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); for(;;){ wait_ms(0.1); //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) motors = 0; /* 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&0x1) motors = 0x55; //01010101 L 接続に気をつけること if(packet.leg&0x4) motors = 0xAA; //10101010 U 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&0x2) motors = 0x5A; //01011010 R if(packet.leg&0x8) motors = 0xA5; //10100101 D /* Turn circling */ if(packet.leg&0x10) motors = 0x66; //01100110 if(packet.leg&0x40) motors = 0x99; //10011001 pc_print(); } }