Bチーム / Mbed 2 deprecated 4wd_omni_simple2

中継機能つけた受け取りオムニ

Dependencies:   mbed MultiSerial

main.cpp@35:78f5eec4f36c, 2014-10-14 (annotated)

Committer:
bousiya03
Date:
Tue Oct 14 09:00:24 2014 +0000
Revision:
35:78f5eec4f36c
Parent:
34:aa464f72d111
Child:
36:bacc260185d6
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Who changed what in which revision?

UserRevisionLine numberNew contents of line
bousiya03 35:78f5eec4f36c 1 /*S
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
bousiya03 25:a6e41d2efd0c 25 #define R_R 0x4
bousiya03 25:a6e41d2efd0c 26 #define R_L 0x1
bousiya03 25:a6e41d2efd0c 27 #define R_U 0x2
bousiya03 25:a6e41d2efd0c 28 #define R_D 0x8
Hatter 15:1c1ae4077900 29
bousiya03 25:a6e41d2efd0c 30 #define L_R 0x10
bousiya03 25:a6e41d2efd0c 31 #define L_L 0x40
bousiya03 29:7a8efb8a9af8 32 #define L_U 0x20
bousiya03 25:a6e41d2efd0c 33 #define L_D 0x80
Hatter 15:1c1ae4077900 34
Hatter 15:1c1ae4077900 35 #define TIME 0
Hatter 13:8a9d3855ab96 36
Hatter 9:f05f881226a3 37 BusOut check(LED1,LED2,LED3,LED4);
Hatter 13:8a9d3855ab96 38 BusOut motors(p13,p14,p15,p16,p17,p18,p19,p20);
Hatter 12:6e2ee1c83ac1 39
Hatter 15:1c1ae4077900 40 PwmOut pwm[4]= {p21,p22,p23,p24};
Hatter 0:fddd018033fb 41
Hatter 9:f05f881226a3 42 Serial pc(USBTX,USBRX);
Hatter 0:fddd018033fb 43
Hatter 16:4b502070bea8 44 MultiSerial xbee(p28,p27);
Hatter 16:4b502070bea8 45 MultiSerial armMbed(p9,p10);
Hatter 0:fddd018033fb 46
bousiya03 34:aa464f72d111 47 Timer xbee_check;
bousiya03 34:aa464f72d111 48
Hatter 13:8a9d3855ab96 49 /* data structure */
Hatter 15:1c1ae4077900 50 typedef struct {
Hatter 6:26e5a520472d 51
Hatter 6:26e5a520472d 52 uint8_t arm[1];
Hatter 6:26e5a520472d 53 uint8_t leg;
Hatter 4:5da566692b79 54
Hatter 15:1c1ae4077900 55 } xbee_packet;
Hatter 6:26e5a520472d 56
bousiya03 33:9c98ab97084e 57 xbee_packet packet = {0};
Hatter 6:26e5a520472d 58
Hatter 15:1c1ae4077900 59 uint8_t get_data[DATA_NUM]= {0};
bousiya03 29:7a8efb8a9af8 60 uint8_t check_data[2]= {0};
Hatter 13:8a9d3855ab96 61
bousiya03 35:78f5eec4f36c 62 void safety_mode(){
bousiya03 35:78f5eec4f36c 63
bousiya03 35:78f5eec4f36c 64 pwm[0] = 0;
bousiya03 35:78f5eec4f36c 65 pwm[1] = 0;
bousiya03 35:78f5eec4f36c 66 pwm[2] = 0;
bousiya03 35:78f5eec4f36c 67 pwm[3] = 0;
bousiya03 35:78f5eec4f36c 68
bousiya03 35:78f5eec4f36c 69 get_data[0] = 0;
bousiya03 35:78f5eec4f36c 70 get_data[1] = 0;
bousiya03 35:78f5eec4f36c 71
bousiya03 35:78f5eec4f36c 72 packet.arm[0] = 0;
bousiya03 35:78f5eec4f36c 73 packet.leg = 0;
bousiya03 35:78f5eec4f36c 74
bousiya03 35:78f5eec4f36c 75 }
bousiya03 35:78f5eec4f36c 76
bousiya03 27:68f76ea992bd 77 /*start display LED*/
bousiya03 29:7a8efb8a9af8 78 void display_LED(int kind)
bousiya03 29:7a8efb8a9af8 79 {
bousiya03 27:68f76ea992bd 80
bousiya03 29:7a8efb8a9af8 81 switch(kind) {
bousiya03 29:7a8efb8a9af8 82
bousiya03 28:4da223ae4392 83 case 0: //err check
bousiya03 27:68f76ea992bd 84 check = 0xA;
bousiya03 27:68f76ea992bd 85 wait(0.5);
bousiya03 33:9c98ab97084e 86 check = 0x5;
bousiya03 27:68f76ea992bd 87 wait(0.5);
bousiya03 29:7a8efb8a9af8 88
bousiya03 27:68f76ea992bd 89 break;
bousiya03 29:7a8efb8a9af8 90
bousiya03 27:68f76ea992bd 91 case 1:
bousiya03 29:7a8efb8a9af8 92 //
bousiya03 27:68f76ea992bd 93 check = 0xF;
bousiya03 28:4da223ae4392 94 wait(0.5);
bousiya03 28:4da223ae4392 95 check = 0;
bousiya03 35:78f5eec4f36c 96 wait(0.5);
bousiya03 27:68f76ea992bd 97 break;
bousiya03 27:68f76ea992bd 98 }
bousiya03 29:7a8efb8a9af8 99 }
bousiya03 27:68f76ea992bd 100
Hatter 0:fddd018033fb 101 int main()
Hatter 15:1c1ae4077900 102 {
Hatter 13:8a9d3855ab96 103
Hatter 13:8a9d3855ab96 104 /* PWM init */
Hatter 12:6e2ee1c83ac1 105 pwm[0] = PWM;
Hatter 12:6e2ee1c83ac1 106 pwm[1] = PWM;
Hatter 12:6e2ee1c83ac1 107 pwm[2] = PWM;
Hatter 12:6e2ee1c83ac1 108 pwm[3] = PWM;
Hatter 12:6e2ee1c83ac1 109
bousiya03 35:78f5eec4f36c 110 /* Timer init*/
bousiya03 35:78f5eec4f36c 111 xbee_check.start();
bousiya03 35:78f5eec4f36c 112
bousiya03 35:78f5eec4f36c 113 /* stract data init */
Hatter 10:5b67d18f30a9 114 xbee_packet *pt_packet=&packet;
bousiya03 35:78f5eec4f36c 115
bousiya03 35:78f5eec4f36c 116 /* Serial connection init */
bousiya03 33:9c98ab97084e 117
bousiya03 35:78f5eec4f36c 118 xbee.start_read();
bousiya03 35:78f5eec4f36c 119 xbee.read_data(get_data,XBEE_KEY);
bousiya03 29:7a8efb8a9af8 120
bousiya03 35:78f5eec4f36c 121 armMbed.start_write();
bousiya03 35:78f5eec4f36c 122 armMbed.write_data(pt_packet->arm,ARM_KEY);
bousiya03 29:7a8efb8a9af8 123
bousiya03 35:78f5eec4f36c 124 display_LED(1);
bousiya03 35:78f5eec4f36c 125
bousiya03 35:78f5eec4f36c 126 if(xbee.check_rx()==0){
bousiya03 35:78f5eec4f36c 127
bousiya03 35:78f5eec4f36c 128 NVIC_SystemReset();
bousiya03 35:78f5eec4f36c 129
bousiya03 35:78f5eec4f36c 130 }
bousiya03 33:9c98ab97084e 131
bousiya03 35:78f5eec4f36c 132
bousiya03 35:78f5eec4f36c 133 // NVIC_DisableIRQ(UART1_IRQn);
bousiya03 35:78f5eec4f36c 134 // NVIC_DisableIRQ(UART0_IRQn);
bousiya03 29:7a8efb8a9af8 135
Hatter 15:1c1ae4077900 136 for(;;) {
bousiya03 34:aa464f72d111 137
bousiya03 34:aa464f72d111 138 xbee_check.reset();
bousiya03 34:aa464f72d111 139 xbee_check.start();
bousiya03 35:78f5eec4f36c 140
bousiya03 35:78f5eec4f36c 141
bousiya03 35:78f5eec4f36c 142 if(xbee_check.read()>=1)
bousiya03 35:78f5eec4f36c 143 {
bousiya03 33:9c98ab97084e 144
bousiya03 35:78f5eec4f36c 145 safety_mode();
bousiya03 35:78f5eec4f36c 146
bousiya03 35:78f5eec4f36c 147 xbee_check.stop();
bousiya03 35:78f5eec4f36c 148 xbee_check.reset();
bousiya03 35:78f5eec4f36c 149 xbee_check.start();
bousiya03 35:78f5eec4f36c 150
bousiya03 34:aa464f72d111 151 }
bousiya03 34:aa464f72d111 152 packet.arm[0] = get_data[1];
bousiya03 34:aa464f72d111 153 packet.leg = get_data[0];
bousiya03 29:7a8efb8a9af8 154
Hatter 13:8a9d3855ab96 155 /* Stop */
bousiya03 29:7a8efb8a9af8 156 if(packet.leg==0x0) {
bousiya03 29:7a8efb8a9af8 157
bousiya03 29:7a8efb8a9af8 158 motors = 0;
Hatter 15:1c1ae4077900 159
bousiya03 29:7a8efb8a9af8 160 pwm[0] = 0;
bousiya03 29:7a8efb8a9af8 161 pwm[1] = 0;
bousiya03 29:7a8efb8a9af8 162 pwm[2] = 0;
bousiya03 29:7a8efb8a9af8 163 pwm[3] = 0;
bousiya03 29:7a8efb8a9af8 164
bousiya03 29:7a8efb8a9af8 165 } else {
bousiya03 29:7a8efb8a9af8 166
bousiya03 29:7a8efb8a9af8 167 pwm[0] = PWM;
bousiya03 29:7a8efb8a9af8 168 pwm[1] = PWM;
bousiya03 29:7a8efb8a9af8 169 pwm[2] = PWM;
bousiya03 29:7a8efb8a9af8 170 pwm[3] = PWM;
bousiya03 29:7a8efb8a9af8 171 }
Hatter 15:1c1ae4077900 172
Hatter 13:8a9d3855ab96 173 /* Direction of movement */
bousiya03 30:00277f63ffeb 174 if(packet.leg&R_R) motors = 0x55; //01010101 R 接続に気をつけること
bousiya03 30:00277f63ffeb 175 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 176 if(packet.leg&R_U) motors = 0x5A; //01011010 U
bousiya03 30:00277f63ffeb 177 if(packet.leg&R_D) motors = 0xA5; //10100101 D
Hatter 13:8a9d3855ab96 178
Hatter 13:8a9d3855ab96 179 /* Turn circling */
bousiya03 25:a6e41d2efd0c 180 if(packet.leg&L_L) motors = 0x66; //01100110
bousiya03 25:a6e41d2efd0c 181 if(packet.leg&L_R) motors = 0x99; //10011001
bousiya03 29:7a8efb8a9af8 182 //if(packet.leg&L_U)
bousiya03 25:a6e41d2efd0c 183 //if(packet.leg&L_D)
Hatter 6:26e5a520472d 184 }
Hatter 0:fddd018033fb 185 }