中継機能つけた受け取りオムニ
Dependencies: mbed MultiSerial
main.cpp
- Committer:
- bousiya03
- Date:
- 2014-10-12
- Revision:
- 34:aa464f72d111
- Parent:
- 33:9c98ab97084e
- Child:
- 35:78f5eec4f36c
File content as of revision 34:aa464f72d111:
/* * 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); Timer xbee_check; /* data structure */ typedef struct { uint8_t arm[1]; uint8_t leg; } xbee_packet; xbee_packet packet = {0}; 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: //err check check = 0xA; wait(0.5); check = 0x5; wait(0.5); break; case 1: // check = 0xF; wait(0.5); check = 0; break; } } int main() { /* PWM init */ pwm[0] = PWM; pwm[1] = PWM; pwm[2] = PWM; pwm[3] = PWM; xbee_packet *pt_packet=&packet; //connect_check(); int abs_count=0; int radio_count=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); //int counter=0; // int pwm_check=0; for(;;) { //wait_ms(0.5); //memcpy(&packet, get_data, DATA_NUM); xbee_check.reset(); xbee_check.start(); for(;xbee_check.read_ms()<=5;){ abs_count++; if(xbee.readable_check() == 0) { radio_count++; } } if(abs_count==radio_count){ abs_count=0; motors = 0; pwm[0] = 0; pwm[1] = 0; pwm[2] = 0; pwm[3] = 0; check =0x3; get_data[0] = 0; get_data[1] = 0; packet.arm[0] = 0; //できれば構造体を直接初期化 packet.leg = 0; radio_count=0; } packet.arm[0] = get_data[1]; packet.leg = get_data[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_R) motors = 0x55; //01010101 R 接続に気をつけること if(packet.leg&R_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&R_U) motors = 0x5A; //01011010 U if(packet.leg&R_D) 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) } }