中継機能つけた受け取りオムニ
Dependencies: mbed MultiSerial
main.cpp@30:00277f63ffeb, 2014-10-07 (annotated)
- Committer:
- bousiya03
- Date:
- Tue Oct 07 10:09:54 2014 +0000
- Revision:
- 30:00277f63ffeb
- Parent:
- 29:7a8efb8a9af8
- Child:
- 31:934a8778c431
- Child:
- 33:9c98ab97084e
????????; ???????; ????????; ????????????
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Hatter | 0:fddd018033fb | 1 | /* |
Hatter | 0:fddd018033fb | 2 | * 4WD_OMNI_simple by Tomoki Hokida |
Hatter | 13:8a9d3855ab96 | 3 | * Simple Type |
Hatter | 0:fddd018033fb | 4 | * |
Hatter | 0:fddd018033fb | 5 | * motor pins piar |
Hatter | 13:8a9d3855ab96 | 6 | * motor(p13,p14):motor(p15,p16) |
Hatter | 13:8a9d3855ab96 | 7 | * motor(p17,p18):motor(p19,p20) |
Hatter | 13:8a9d3855ab96 | 8 | * |
Hatter | 13:8a9d3855ab96 | 9 | * Serial Pins |
Hatter | 15:1c1ae4077900 | 10 | * packet.arm[0]:arm |
Hatter | 13:8a9d3855ab96 | 11 | * packet.leg[1]:omni |
Hatter | 0:fddd018033fb | 12 | * reset 0 |
Hatter | 0:fddd018033fb | 13 | */ |
Hatter | 0:fddd018033fb | 14 | |
Hatter | 0:fddd018033fb | 15 | #include "mbed.h" |
Hatter | 6:26e5a520472d | 16 | #include "MultiSerial.h" |
Hatter | 0:fddd018033fb | 17 | |
Hatter | 14:731c52eb333b | 18 | #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 |
Hatter | 13:8a9d3855ab96 | 19 | #define XBEE_KEY 0xAA //keycode |
Hatter | 9:f05f881226a3 | 20 | #define ARM_KEY 0xAA |
Hatter | 3:1f1498403eec | 21 | |
bousiya03 | 26:9a7e9dd2746f | 22 | #define PWM 0.5 |
bousiya03 | 25:a6e41d2efd0c | 23 | #define PWM_SLOW 0.1 |
Hatter | 15:1c1ae4077900 | 24 | |
Hatter | 12:6e2ee1c83ac1 | 25 | |
bousiya03 | 25:a6e41d2efd0c | 26 | #define R_R 0x4 |
bousiya03 | 25:a6e41d2efd0c | 27 | #define R_L 0x1 |
bousiya03 | 25:a6e41d2efd0c | 28 | #define R_U 0x2 |
bousiya03 | 25:a6e41d2efd0c | 29 | #define R_D 0x8 |
Hatter | 15:1c1ae4077900 | 30 | |
bousiya03 | 25:a6e41d2efd0c | 31 | #define L_R 0x10 |
bousiya03 | 25:a6e41d2efd0c | 32 | #define L_L 0x40 |
bousiya03 | 29:7a8efb8a9af8 | 33 | #define L_U 0x20 |
bousiya03 | 25:a6e41d2efd0c | 34 | #define L_D 0x80 |
Hatter | 15:1c1ae4077900 | 35 | |
Hatter | 15:1c1ae4077900 | 36 | #define TIME 0 |
Hatter | 13:8a9d3855ab96 | 37 | |
Hatter | 9:f05f881226a3 | 38 | BusOut check(LED1,LED2,LED3,LED4); |
Hatter | 13:8a9d3855ab96 | 39 | BusOut motors(p13,p14,p15,p16,p17,p18,p19,p20); |
Hatter | 12:6e2ee1c83ac1 | 40 | |
Hatter | 15:1c1ae4077900 | 41 | PwmOut pwm[4]= {p21,p22,p23,p24}; |
Hatter | 0:fddd018033fb | 42 | |
Hatter | 9:f05f881226a3 | 43 | Serial pc(USBTX,USBRX); |
Hatter | 0:fddd018033fb | 44 | |
Hatter | 16:4b502070bea8 | 45 | MultiSerial xbee(p28,p27); |
Hatter | 16:4b502070bea8 | 46 | MultiSerial armMbed(p9,p10); |
Hatter | 0:fddd018033fb | 47 | |
Hatter | 13:8a9d3855ab96 | 48 | /* data structure */ |
Hatter | 15:1c1ae4077900 | 49 | typedef struct { |
Hatter | 6:26e5a520472d | 50 | |
Hatter | 6:26e5a520472d | 51 | uint8_t arm[1]; |
Hatter | 6:26e5a520472d | 52 | uint8_t leg; |
Hatter | 4:5da566692b79 | 53 | |
Hatter | 15:1c1ae4077900 | 54 | } xbee_packet; |
Hatter | 6:26e5a520472d | 55 | |
Hatter | 6:26e5a520472d | 56 | xbee_packet packet; |
Hatter | 6:26e5a520472d | 57 | |
Hatter | 15:1c1ae4077900 | 58 | uint8_t get_data[DATA_NUM]= {0}; |
bousiya03 | 29:7a8efb8a9af8 | 59 | uint8_t check_data[2]= {0}; |
Hatter | 13:8a9d3855ab96 | 60 | |
bousiya03 | 27:68f76ea992bd | 61 | |
bousiya03 | 27:68f76ea992bd | 62 | /*start display LED*/ |
bousiya03 | 29:7a8efb8a9af8 | 63 | void display_LED(int kind) |
bousiya03 | 29:7a8efb8a9af8 | 64 | { |
bousiya03 | 27:68f76ea992bd | 65 | |
bousiya03 | 29:7a8efb8a9af8 | 66 | switch(kind) { |
bousiya03 | 29:7a8efb8a9af8 | 67 | |
bousiya03 | 28:4da223ae4392 | 68 | case 0: //err check |
bousiya03 | 27:68f76ea992bd | 69 | check = 0xA; |
bousiya03 | 27:68f76ea992bd | 70 | wait(0.5); |
bousiya03 | 27:68f76ea992bd | 71 | check != 0xF; |
bousiya03 | 27:68f76ea992bd | 72 | wait(0.5); |
bousiya03 | 29:7a8efb8a9af8 | 73 | |
bousiya03 | 27:68f76ea992bd | 74 | break; |
bousiya03 | 29:7a8efb8a9af8 | 75 | |
bousiya03 | 27:68f76ea992bd | 76 | case 1: |
bousiya03 | 29:7a8efb8a9af8 | 77 | // |
bousiya03 | 27:68f76ea992bd | 78 | check = 0xF; |
bousiya03 | 28:4da223ae4392 | 79 | wait(0.5); |
bousiya03 | 28:4da223ae4392 | 80 | check = 0; |
bousiya03 | 27:68f76ea992bd | 81 | break; |
bousiya03 | 27:68f76ea992bd | 82 | } |
bousiya03 | 29:7a8efb8a9af8 | 83 | } |
bousiya03 | 27:68f76ea992bd | 84 | |
bousiya03 | 27:68f76ea992bd | 85 | |
bousiya03 | 27:68f76ea992bd | 86 | /*Safety Mode*/ |
bousiya03 | 27:68f76ea992bd | 87 | void safety_mode() |
bousiya03 | 27:68f76ea992bd | 88 | { |
bousiya03 | 27:68f76ea992bd | 89 | xbee.stop_read(); |
bousiya03 | 27:68f76ea992bd | 90 | armMbed.stop_write(); |
bousiya03 | 29:7a8efb8a9af8 | 91 | |
bousiya03 | 27:68f76ea992bd | 92 | for(;;) { |
bousiya03 | 29:7a8efb8a9af8 | 93 | |
bousiya03 | 27:68f76ea992bd | 94 | motors = 0; |
bousiya03 | 27:68f76ea992bd | 95 | display_LED(0); |
bousiya03 | 29:7a8efb8a9af8 | 96 | |
bousiya03 | 27:68f76ea992bd | 97 | if(xbee.readable_check()==1) { |
bousiya03 | 29:7a8efb8a9af8 | 98 | |
bousiya03 | 27:68f76ea992bd | 99 | NVIC_SystemReset(); |
bousiya03 | 29:7a8efb8a9af8 | 100 | |
bousiya03 | 27:68f76ea992bd | 101 | //xbee.start_read(); |
bousiya03 | 27:68f76ea992bd | 102 | //arm_mbed.start_write(); |
bousiya03 | 29:7a8efb8a9af8 | 103 | return; |
bousiya03 | 27:68f76ea992bd | 104 | } |
bousiya03 | 27:68f76ea992bd | 105 | } |
bousiya03 | 27:68f76ea992bd | 106 | } |
bousiya03 | 27:68f76ea992bd | 107 | |
Hatter | 18:9cbd70819d2d | 108 | |
Hatter | 0:fddd018033fb | 109 | int main() |
Hatter | 15:1c1ae4077900 | 110 | { |
Hatter | 13:8a9d3855ab96 | 111 | |
Hatter | 13:8a9d3855ab96 | 112 | /* PWM init */ |
Hatter | 12:6e2ee1c83ac1 | 113 | pwm[0] = PWM; |
Hatter | 12:6e2ee1c83ac1 | 114 | pwm[1] = PWM; |
Hatter | 12:6e2ee1c83ac1 | 115 | pwm[2] = PWM; |
Hatter | 12:6e2ee1c83ac1 | 116 | pwm[3] = PWM; |
Hatter | 12:6e2ee1c83ac1 | 117 | |
Hatter | 10:5b67d18f30a9 | 118 | xbee_packet *pt_packet=&packet; |
Hatter | 12:6e2ee1c83ac1 | 119 | |
Hatter | 17:3c82070177e5 | 120 | //connect_check(); |
bousiya03 | 27:68f76ea992bd | 121 | int radio_check=0; |
bousiya03 | 29:7a8efb8a9af8 | 122 | |
Hatter | 16:4b502070bea8 | 123 | xbee.start_read(); |
Hatter | 13:8a9d3855ab96 | 124 | xbee.read_data(get_data,XBEE_KEY); |
bousiya03 | 29:7a8efb8a9af8 | 125 | |
Hatter | 20:a322730ea5d7 | 126 | armMbed.start_write(); |
Hatter | 20:a322730ea5d7 | 127 | armMbed.write_data(pt_packet->arm,ARM_KEY); |
bousiya03 | 29:7a8efb8a9af8 | 128 | |
bousiya03 | 28:4da223ae4392 | 129 | display_LED(1); |
bousiya03 | 29:7a8efb8a9af8 | 130 | |
bousiya03 | 28:4da223ae4392 | 131 | int counter=0; |
bousiya03 | 29:7a8efb8a9af8 | 132 | |
Hatter | 15:1c1ae4077900 | 133 | for(;;) { |
Hatter | 15:1c1ae4077900 | 134 | |
Hatter | 23:54fddee73c88 | 135 | wait_ms(0.5); |
Hatter | 12:6e2ee1c83ac1 | 136 | |
Hatter | 13:8a9d3855ab96 | 137 | //memcpy(&packet, get_data, DATA_NUM); |
Hatter | 10:5b67d18f30a9 | 138 | packet.arm[0] = get_data[1]; |
Hatter | 15:1c1ae4077900 | 139 | packet.leg = get_data[0]; |
Hatter | 12:6e2ee1c83ac1 | 140 | |
Hatter | 23:54fddee73c88 | 141 | //check = get_data[1]; |
bousiya03 | 28:4da223ae4392 | 142 | counter++; |
bousiya03 | 29:7a8efb8a9af8 | 143 | check = counter/1000; |
bousiya03 | 29:7a8efb8a9af8 | 144 | if(counter>=15*100) { |
bousiya03 | 29:7a8efb8a9af8 | 145 | counter=0; |
bousiya03 | 29:7a8efb8a9af8 | 146 | } |
bousiya03 | 29:7a8efb8a9af8 | 147 | |
bousiya03 | 29:7a8efb8a9af8 | 148 | |
bousiya03 | 29:7a8efb8a9af8 | 149 | if(xbee.readable_check() == 0) { |
bousiya03 | 29:7a8efb8a9af8 | 150 | |
bousiya03 | 27:68f76ea992bd | 151 | radio_check++; |
bousiya03 | 29:7a8efb8a9af8 | 152 | |
bousiya03 | 29:7a8efb8a9af8 | 153 | if(radio_check>=500) { |
bousiya03 | 27:68f76ea992bd | 154 | safety_mode(); |
bousiya03 | 27:68f76ea992bd | 155 | } |
bousiya03 | 27:68f76ea992bd | 156 | |
bousiya03 | 29:7a8efb8a9af8 | 157 | } else { |
bousiya03 | 29:7a8efb8a9af8 | 158 | |
bousiya03 | 27:68f76ea992bd | 159 | radio_check = 0; |
bousiya03 | 29:7a8efb8a9af8 | 160 | } |
bousiya03 | 29:7a8efb8a9af8 | 161 | |
Hatter | 13:8a9d3855ab96 | 162 | /* Stop */ |
bousiya03 | 29:7a8efb8a9af8 | 163 | if(packet.leg==0x0) { |
bousiya03 | 29:7a8efb8a9af8 | 164 | |
bousiya03 | 29:7a8efb8a9af8 | 165 | motors = 0; |
Hatter | 15:1c1ae4077900 | 166 | |
bousiya03 | 29:7a8efb8a9af8 | 167 | pwm[0] = 0; |
bousiya03 | 29:7a8efb8a9af8 | 168 | pwm[1] = 0; |
bousiya03 | 29:7a8efb8a9af8 | 169 | pwm[2] = 0; |
bousiya03 | 29:7a8efb8a9af8 | 170 | pwm[3] = 0; |
bousiya03 | 29:7a8efb8a9af8 | 171 | |
bousiya03 | 29:7a8efb8a9af8 | 172 | } else { |
bousiya03 | 29:7a8efb8a9af8 | 173 | |
bousiya03 | 29:7a8efb8a9af8 | 174 | pwm[0] = PWM; |
bousiya03 | 29:7a8efb8a9af8 | 175 | pwm[1] = PWM; |
bousiya03 | 29:7a8efb8a9af8 | 176 | pwm[2] = PWM; |
bousiya03 | 29:7a8efb8a9af8 | 177 | pwm[3] = PWM; |
bousiya03 | 29:7a8efb8a9af8 | 178 | } |
Hatter | 15:1c1ae4077900 | 179 | |
Hatter | 13:8a9d3855ab96 | 180 | /* Direction of movement */ |
bousiya03 | 30:00277f63ffeb | 181 | if(packet.leg&R_R) motors = 0x55; //01010101 R 接続に気をつけること |
bousiya03 | 30:00277f63ffeb | 182 | 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 |
bousiya03 | 30:00277f63ffeb | 183 | if(packet.leg&R_U) motors = 0x5A; //01011010 U |
bousiya03 | 30:00277f63ffeb | 184 | if(packet.leg&R_D) motors = 0xA5; //10100101 D |
Hatter | 13:8a9d3855ab96 | 185 | |
Hatter | 13:8a9d3855ab96 | 186 | /* Turn circling */ |
bousiya03 | 25:a6e41d2efd0c | 187 | if(packet.leg&L_L) motors = 0x66; //01100110 |
bousiya03 | 25:a6e41d2efd0c | 188 | if(packet.leg&L_R) motors = 0x99; //10011001 |
bousiya03 | 29:7a8efb8a9af8 | 189 | //if(packet.leg&L_U) |
bousiya03 | 25:a6e41d2efd0c | 190 | //if(packet.leg&L_D) |
Hatter | 6:26e5a520472d | 191 | } |
Hatter | 0:fddd018033fb | 192 | } |