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@34:aa464f72d111, 2014-10-12 (annotated)

Committer:
bousiya03
Date:
Sun Oct 12 00:51:08 2014 +0000
Revision:
34:aa464f72d111
Parent:
33:9c98ab97084e
Child:
35:78f5eec4f36c
test commit

Who changed what in which revision?

UserRevisionLine numberNew 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
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 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 33:9c98ab97084e 71 check = 0x5;
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
Hatter 0:fddd018033fb 85 int main()
Hatter 15:1c1ae4077900 86 {
Hatter 13:8a9d3855ab96 87
Hatter 13:8a9d3855ab96 88 /* PWM init */
Hatter 12:6e2ee1c83ac1 89 pwm[0] = PWM;
Hatter 12:6e2ee1c83ac1 90 pwm[1] = PWM;
Hatter 12:6e2ee1c83ac1 91 pwm[2] = PWM;
Hatter 12:6e2ee1c83ac1 92 pwm[3] = PWM;
Hatter 12:6e2ee1c83ac1 93
Hatter 10:5b67d18f30a9 94 xbee_packet *pt_packet=&packet;
Hatter 12:6e2ee1c83ac1 95
Hatter 17:3c82070177e5 96 //connect_check();
bousiya03 33:9c98ab97084e 97 int abs_count=0;
bousiya03 33:9c98ab97084e 98 int radio_count=0;
bousiya03 33:9c98ab97084e 99
Hatter 16:4b502070bea8 100 xbee.start_read();
Hatter 13:8a9d3855ab96 101 xbee.read_data(get_data,XBEE_KEY);
bousiya03 29:7a8efb8a9af8 102
Hatter 20:a322730ea5d7 103 armMbed.start_write();
Hatter 20:a322730ea5d7 104 armMbed.write_data(pt_packet->arm,ARM_KEY);
bousiya03 29:7a8efb8a9af8 105
bousiya03 28:4da223ae4392 106 display_LED(1);
bousiya03 29:7a8efb8a9af8 107
bousiya03 33:9c98ab97084e 108 //int counter=0;
bousiya03 33:9c98ab97084e 109
bousiya03 33:9c98ab97084e 110 // int pwm_check=0;
bousiya03 29:7a8efb8a9af8 111
Hatter 15:1c1ae4077900 112 for(;;) {
Hatter 15:1c1ae4077900 113
bousiya03 33:9c98ab97084e 114 //wait_ms(0.5);
Hatter 12:6e2ee1c83ac1 115
Hatter 13:8a9d3855ab96 116 //memcpy(&packet, get_data, DATA_NUM);
bousiya03 34:aa464f72d111 117
bousiya03 34:aa464f72d111 118 xbee_check.reset();
bousiya03 34:aa464f72d111 119 xbee_check.start();
bousiya03 34:aa464f72d111 120 for(;xbee_check.read_ms()<=5;){
Hatter 12:6e2ee1c83ac1 121
bousiya03 34:aa464f72d111 122 abs_count++;
bousiya03 29:7a8efb8a9af8 123
bousiya03 34:aa464f72d111 124 if(xbee.readable_check() == 0) {
bousiya03 33:9c98ab97084e 125
bousiya03 33:9c98ab97084e 126 radio_count++;
bousiya03 34:aa464f72d111 127 }
bousiya03 33:9c98ab97084e 128 }
bousiya03 33:9c98ab97084e 129
bousiya03 34:aa464f72d111 130 if(abs_count==radio_count){
bousiya03 33:9c98ab97084e 131 abs_count=0;
bousiya03 33:9c98ab97084e 132
bousiya03 33:9c98ab97084e 133 motors = 0;
bousiya03 33:9c98ab97084e 134
bousiya03 33:9c98ab97084e 135 pwm[0] = 0;
bousiya03 33:9c98ab97084e 136 pwm[1] = 0;
bousiya03 33:9c98ab97084e 137 pwm[2] = 0;
bousiya03 33:9c98ab97084e 138 pwm[3] = 0;
bousiya03 33:9c98ab97084e 139
bousiya03 33:9c98ab97084e 140 check =0x3;
bousiya03 33:9c98ab97084e 141
bousiya03 34:aa464f72d111 142 get_data[0] = 0;
bousiya03 34:aa464f72d111 143 get_data[1] = 0;
bousiya03 34:aa464f72d111 144
bousiya03 33:9c98ab97084e 145 packet.arm[0] = 0; //できれば構造体を直接初期化
bousiya03 33:9c98ab97084e 146 packet.leg = 0;
bousiya03 33:9c98ab97084e 147
bousiya03 33:9c98ab97084e 148 radio_count=0;
bousiya03 33:9c98ab97084e 149
bousiya03 34:aa464f72d111 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 }