Bチーム / Mbed 2 deprecated Catchtest

腕のプログラムです.

Dependencies:   mbed TextLCD MultiSerial Pswitch

main.cpp@4:1102ab499430, 2014-09-30 (annotated)

Committer:
lilac0112_1
Date:
Tue Sep 30 12:28:33 2014 +0000
Revision:
4:1102ab499430
Parent:
3:a1489a94c436
Child:
5:c2a278842131
?;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
lilac0112_1 0:4baeb4381394 1 #include "mbed.h"
Hatter 3:a1489a94c436 2 #include "MultiSerial.h"
lilac0112_1 1:006debaed874 3
lilac0112_1 4:1102ab499430 4 #define DATA_NUM 1 //DATA_NUM[byte]通信
lilac0112_1 1:006debaed874 5 #define MY_KEYCODE 0xAA//keycode
lilac0112_1 1:006debaed874 6 #define EN_KEYCODE 0xAA//keycode
lilac0112_1 1:006debaed874 7 #define KEY 0//number of first data
lilac0112_1 1:006debaed874 8 #define CHECK DATA_NUM-1//number of last data
lilac0112_1 1:006debaed874 9 #define TIME_LIMIT 1.0//腕が閉まっても動けるのはTIME_LIMIT[s]まで
lilac0112_1 4:1102ab499430 10 #define ARM_REV 1.0//腕のPWM
lilac0112_1 4:1102ab499430 11 #define TURN_REV 0.0//回転の初期PWM
lilac0112_1 4:1102ab499430 12 #define TURN_RATIO 1000000000//なるべく大きい数
lilac0112_1 4:1102ab499430 13 #define TURN_RATE 1//加速度の変更...1, 2, 4, 8, 16...
lilac0112_1 4:1102ab499430 14 #define TURN_REV_LIMIT 0.5//PWMの最大数値
lilac0112_1 4:1102ab499430 15 #define TURN_ACCELERATION 0.015625//なるべく小さい数
lilac0112_1 4:1102ab499430 16 #define TURN_SLOPE TURN_RATE*0.015625//なるべく小さい数1/2, 4, 8,...256
lilac0112_1 1:006debaed874 17
Hatter 3:a1489a94c436 18 #define KEYCODE 0xAA
Hatter 3:a1489a94c436 19
lilac0112_1 4:1102ab499430 20 uint8_t INdata[DATA_NUM]={0}, EXdata[DATA_NUM]={0};
lilac0112_1 4:1102ab499430 21 uint8_t count=0;
lilac0112_1 4:1102ab499430 22 uint8_t TURN, IO,SIG;
lilac0112_1 4:1102ab499430 23 uint8_t data[DATA_NUM];
lilac0112_1 1:006debaed874 24
lilac0112_1 1:006debaed874 25 enum Logic{OFF=0, ON};//殆どはモーターのON，OFFに使う
lilac0112_1 1:006debaed874 26 enum Arm{R=0, L, C};//右腕と左腕
lilac0112_1 1:006debaed874 27 enum Clip{Open=0, Close};//開ける動作と閉める動作
lilac0112_1 2:eb1c123c9140 28 enum Revolution{CW=0, CCW};//正回転，逆回転(上体回転)
lilac0112_1 2:eb1c123c9140 29 enum Compass{N=0, E, W, S};//マシンの回転
lilac0112_1 1:006debaed874 30
lilac0112_1 0:4baeb4381394 31 BusOut LED(LED1, LED2, LED3, LED4);//確認用
Hatter 3:a1489a94c436 32
Hatter 3:a1489a94c436 33 /*
Hatter 3:a1489a94c436 34 BusIn mt(p19, p20, p17, p18);//Switch
Hatter 3:a1489a94c436 35 */
Hatter 3:a1489a94c436 36
Hatter 3:a1489a94c436 37 MultiSerial leg_mbed(p13,p14,read);
Hatter 3:a1489a94c436 38
lilac0112_1 4:1102ab499430 39 //BusIn mt(p5, p6, p7, p8);
lilac0112_1 2:eb1c123c9140 40 //DigitalIn Ninety[2]={p5, p6};//R, L
lilac0112_1 2:eb1c123c9140 41 DigitalIn OneEighty[2]={p5, p6};//R, L
lilac0112_1 2:eb1c123c9140 42 InterruptIn HandSW[3]={p7, p8, p9};//p14, p15, p16//R, L, C
lilac0112_1 2:eb1c123c9140 43 DigitalIn TurnSW[2]={p11, p12};//
lilac0112_1 2:eb1c123c9140 44 PwmOut HandSpeed[2]={p23, p24};
lilac0112_1 2:eb1c123c9140 45 PwmOut TurnSpeed(p22);//p22
lilac0112_1 2:eb1c123c9140 46 DigitalOut Hand[2][2]={{p28, p27}, {p26, p25}};//{p17, p18}, {p19, p20}
lilac0112_1 0:4baeb4381394 47 //ex)Hand[R][Close]=ON;
lilac0112_1 2:eb1c123c9140 48 DigitalOut Turn[2]={p29, p30};//p29, p30
lilac0112_1 2:eb1c123c9140 49 //ex)Turn[CW]=ON;
lilac0112_1 1:006debaed874 50 Serial pc(USBTX, USBRX);
lilac0112_1 1:006debaed874 51 Ticker flick;
lilac0112_1 4:1102ab499430 52 Ticker Accelerator;
lilac0112_1 0:4baeb4381394 53 Timeout Touch;//腕で掴むときの安全対策
lilac0112_1 1:006debaed874 54
lilac0112_1 4:1102ab499430 55 void Acceleration(void);
lilac0112_1 1:006debaed874 56 void StopCatching(void);//literally
lilac0112_1 1:006debaed874 57 void StopLeaving(void);//literally
lilac0112_1 1:006debaed874 58 void StartCatching(void);//literally
lilac0112_1 1:006debaed874 59 void StartLeaving(void);//literally
lilac0112_1 1:006debaed874 60 void RightCatch(void);//右腕のリミットスイッチ
lilac0112_1 1:006debaed874 61 void LeftCatch(void);//左腕のリミットスイッチ
lilac0112_1 1:006debaed874 62 void CenterCatch(void);//中央のリミットスイッチ
lilac0112_1 1:006debaed874 63 void illumination(void);//literally
lilac0112_1 4:1102ab499430 64 uint8_t LinkBit(bool eight, bool seven, bool six, bool five, bool fore, bool three, bool two, bool one);
lilac0112_1 4:1102ab499430 65 bool GetBit(uint8_t n, uint8_t bit);
lilac0112_1 1:006debaed874 66 void SetUp(void);//literally
lilac0112_1 1:006debaed874 67
lilac0112_1 4:1102ab499430 68
lilac0112_1 1:006debaed874 69 int main(void) {
lilac0112_1 1:006debaed874 70
lilac0112_1 4:1102ab499430 71 //mt.mode(PullUp);
lilac0112_1 4:1102ab499430 72
lilac0112_1 1:006debaed874 73 SetUp();
lilac0112_1 1:006debaed874 74
lilac0112_1 1:006debaed874 75 while(1) {
lilac0112_1 1:006debaed874 76
Hatter 3:a1489a94c436 77 leg_mbed.read_data(data,KEYCODE);
Hatter 3:a1489a94c436 78
lilac0112_1 4:1102ab499430 79 INdata[0] = data[0];// = ~mt;
lilac0112_1 1:006debaed874 80
lilac0112_1 4:1102ab499430 81 if(GetBit(INdata[0], 2)==OFF) StopLeaving();//停止
lilac0112_1 1:006debaed874 82
lilac0112_1 4:1102ab499430 83 if((GetBit(INdata[0], 1)+GetBit(INdata[0], 2))==1){//同時押し防止
lilac0112_1 4:1102ab499430 84 if(GetBit(INdata[0], 1)==true) CenterCatch();//中央のリミットスイッチがうまく動作しなかった場合の保険
lilac0112_1 4:1102ab499430 85 if(GetBit(INdata[0], 2)==true){//腕を広げる動作はマニュアル操作
lilac0112_1 1:006debaed874 86 StopCatching();//停止
lilac0112_1 1:006debaed874 87 Touch.detach();//ワンショットタイマー停止
lilac0112_1 4:1102ab499430 88 Hand[R][Open] = GetBit(INdata[0], 2)&&OneEighty[R];
lilac0112_1 4:1102ab499430 89 Hand[L][Open] = GetBit(INdata[0], 2)&&OneEighty[L];
lilac0112_1 1:006debaed874 90 }
lilac0112_1 1:006debaed874 91 }
lilac0112_1 1:006debaed874 92
lilac0112_1 1:006debaed874 93 if(((!HandSW[R])&&(!HandSW[L]))&&((Hand[R][Close]&&Hand[L][Close])==ON)){//どちらも押されたら停止
lilac0112_1 1:006debaed874 94 StopCatching();//停止
lilac0112_1 1:006debaed874 95 Touch.detach();//ワンショットタイマー停止
lilac0112_1 1:006debaed874 96 }
lilac0112_1 1:006debaed874 97
lilac0112_1 2:eb1c123c9140 98 if(!OneEighty[R]) Hand[R][Open]=OFF;
lilac0112_1 2:eb1c123c9140 99 if(!OneEighty[L]) Hand[L][Open]=OFF;
lilac0112_1 2:eb1c123c9140 100 //if(!Ninety[R]) Hand[R][Close]=OFF;
lilac0112_1 2:eb1c123c9140 101 //if(!Ninety[L]) Hand[L][Close]=OFF;
lilac0112_1 2:eb1c123c9140 102
lilac0112_1 2:eb1c123c9140 103 //if((!Ninety[R])&&(!Ninety[L])){//どちらも押されたら停止
lilac0112_1 2:eb1c123c9140 104 // StopCatching();//停止
lilac0112_1 2:eb1c123c9140 105 // Touch.detach();//ワンショットタイマー停止
lilac0112_1 2:eb1c123c9140 106 //}
lilac0112_1 2:eb1c123c9140 107
lilac0112_1 4:1102ab499430 108 //LED = ((0x01 * !HandSW[R]) | (0x02 * !HandSW[L]) | (0x04 * !HandSW[C]) | (0x08 * ((!OneEighty[R])&&(!OneEighty[L])) ));
lilac0112_1 4:1102ab499430 109 LED = INdata[0];
lilac0112_1 2:eb1c123c9140 110
lilac0112_1 2:eb1c123c9140 111 //上体回転
lilac0112_1 2:eb1c123c9140 112
lilac0112_1 4:1102ab499430 113 IO = GetBit(INdata[0], 3)+GetBit(INdata[0], 4);
lilac0112_1 4:1102ab499430 114
lilac0112_1 4:1102ab499430 115 //if(GetBit(INdata[0], 3)==OFF) Turn[CW] = OFF;//停止
lilac0112_1 4:1102ab499430 116 //if(GetBit(INdata[0], 4)==OFF) Turn[CCW] = OFF;//停止
lilac0112_1 2:eb1c123c9140 117
lilac0112_1 4:1102ab499430 118 if((GetBit(INdata[0], 3)+GetBit(INdata[0], 4)==1)&&(TurnSpeed==0)){//同時押し防止
lilac0112_1 4:1102ab499430 119
lilac0112_1 4:1102ab499430 120 Turn[CW] = GetBit(INdata[0], 3)&&TurnSW[N];//押されていて，かつリミットスイッチが押されていなかったら右回転
lilac0112_1 4:1102ab499430 121 Turn[CCW] = GetBit(INdata[0], 4)&&TurnSW[E];//押されていて，かつリミットスイッチが押されていなかったら左回転
lilac0112_1 4:1102ab499430 122 TURN = LinkBit(0, 0, 0, 0, 0, 0, Turn[CW], Turn[CCW]);
lilac0112_1 2:eb1c123c9140 123
lilac0112_1 2:eb1c123c9140 124 }
lilac0112_1 4:1102ab499430 125 if(TurnSpeed!=0){
lilac0112_1 4:1102ab499430 126
lilac0112_1 4:1102ab499430 127 Turn[CW] = GetBit(TURN, 2)&&TurnSW[N];
lilac0112_1 4:1102ab499430 128 Turn[CCW] = GetBit(TURN, 1)&&TurnSW[E];
lilac0112_1 4:1102ab499430 129
lilac0112_1 4:1102ab499430 130 }
lilac0112_1 4:1102ab499430 131 if((GetBit(INdata[0], 3)+GetBit(INdata[0], 4)!=1)&&(TurnSpeed==0)){
lilac0112_1 4:1102ab499430 132 Turn[CW] = OFF;
lilac0112_1 4:1102ab499430 133 Turn[CCW] = OFF;
lilac0112_1 4:1102ab499430 134 }
lilac0112_1 4:1102ab499430 135 if(!TurnSW[N]) Turn[CW]=OFF;//リミットスイッチによる停止
lilac0112_1 4:1102ab499430 136 if(!TurnSW[E]) Turn[CCW]=OFF;
lilac0112_1 4:1102ab499430 137
lilac0112_1 4:1102ab499430 138
lilac0112_1 1:006debaed874 139 }
lilac0112_1 1:006debaed874 140 }
lilac0112_1 1:006debaed874 141
lilac0112_1 4:1102ab499430 142 void Acceleration(void){
lilac0112_1 4:1102ab499430 143
lilac0112_1 4:1102ab499430 144 float i;
lilac0112_1 4:1102ab499430 145
lilac0112_1 4:1102ab499430 146 SIG = LinkBit(0, 0, 0, 0, 0, 0, GetBit(INdata[0], 3), GetBit(INdata[0], 4));
lilac0112_1 4:1102ab499430 147 IO = GetBit(INdata[0], 3)+GetBit(INdata[0], 4);
lilac0112_1 4:1102ab499430 148
lilac0112_1 4:1102ab499430 149 if((IO==1)&&(((unsigned long)(TurnSpeed*TURN_RATIO)==0)||(0<(unsigned long)(TurnSpeed*TURN_RATIO)))&&((unsigned long)(TurnSpeed*TURN_RATIO)<(unsigned long)(TURN_REV_LIMIT*TURN_RATIO))&&(TURN==SIG)){
lilac0112_1 4:1102ab499430 150
lilac0112_1 4:1102ab499430 151 TurnSpeed = TurnSpeed + TURN_SLOPE;
lilac0112_1 4:1102ab499430 152
lilac0112_1 4:1102ab499430 153 }
lilac0112_1 4:1102ab499430 154 if(((IO==0)||(IO==2)||(TURN!=SIG))&&(0<(unsigned long)(TurnSpeed*TURN_RATIO))&&((unsigned long)(TurnSpeed*TURN_RATIO)<=(unsigned long)(TURN_REV_LIMIT*TURN_RATIO))){
lilac0112_1 4:1102ab499430 155
lilac0112_1 4:1102ab499430 156 TurnSpeed = TurnSpeed - TURN_SLOPE;
lilac0112_1 4:1102ab499430 157
lilac0112_1 4:1102ab499430 158 }
lilac0112_1 4:1102ab499430 159 i = TurnSpeed;
lilac0112_1 4:1102ab499430 160 pc.printf("%f, %d\n", i, IO);
lilac0112_1 4:1102ab499430 161 }
lilac0112_1 0:4baeb4381394 162 void StopCatching(void){//停止
lilac0112_1 0:4baeb4381394 163 Hand[R][Close]=Hand[L][Close]=OFF;
lilac0112_1 0:4baeb4381394 164 }
lilac0112_1 0:4baeb4381394 165 void StopLeaving(void){//停止
lilac0112_1 0:4baeb4381394 166 Hand[R][Open]=Hand[L][Open]=OFF;
lilac0112_1 0:4baeb4381394 167 }
lilac0112_1 2:eb1c123c9140 168 void StartCatching(void){//掴む（リミットスイッチが押されてなければ）
lilac0112_1 2:eb1c123c9140 169
lilac0112_1 2:eb1c123c9140 170 if((!HandSW[R])&&(!HandSW[L])){
lilac0112_1 2:eb1c123c9140 171 Hand[R][Close] = Hand[L][Close] = OFF;
lilac0112_1 2:eb1c123c9140 172 }
lilac0112_1 2:eb1c123c9140 173 else{
lilac0112_1 2:eb1c123c9140 174
lilac0112_1 2:eb1c123c9140 175 //Hand[R][Close]=Ninety[R];
lilac0112_1 2:eb1c123c9140 176 //Hand[L][Close]=Ninety[L];
lilac0112_1 2:eb1c123c9140 177
lilac0112_1 2:eb1c123c9140 178 Hand[R][Close]=ON;
lilac0112_1 2:eb1c123c9140 179 Hand[L][Close]=ON;
lilac0112_1 2:eb1c123c9140 180
lilac0112_1 2:eb1c123c9140 181 }
lilac0112_1 2:eb1c123c9140 182
lilac0112_1 0:4baeb4381394 183 }
lilac0112_1 2:eb1c123c9140 184 void StartLeaving(void){//離す（リミットスイッチが押されてなければ）
lilac0112_1 2:eb1c123c9140 185 Hand[R][Open]=OneEighty[R];
lilac0112_1 2:eb1c123c9140 186 Hand[L][Open]=OneEighty[L];
lilac0112_1 0:4baeb4381394 187 }
lilac0112_1 0:4baeb4381394 188 void RightCatch(void){//右腕のリミットスイッチ
lilac0112_1 0:4baeb4381394 189 if((!HandSW[R])&&(!HandSW[L])){//どちらも押されたら停止
lilac0112_1 0:4baeb4381394 190 StopCatching();//停止
lilac0112_1 0:4baeb4381394 191 Touch.detach();//ワンショットタイマー停止
lilac0112_1 0:4baeb4381394 192 }
lilac0112_1 0:4baeb4381394 193 }
lilac0112_1 0:4baeb4381394 194 void LeftCatch(void){//左腕のリミットスイッチ
lilac0112_1 0:4baeb4381394 195 if((!HandSW[R])&&(!HandSW[L])){//どちらも押されたら停止
lilac0112_1 0:4baeb4381394 196 StopCatching();//停止
lilac0112_1 0:4baeb4381394 197 Touch.detach();//ワンショットタイマー停止
lilac0112_1 0:4baeb4381394 198 }
lilac0112_1 0:4baeb4381394 199 }
lilac0112_1 0:4baeb4381394 200 void CenterCatch(void){//中央のリミットスイッチ
lilac0112_1 2:eb1c123c9140 201
lilac0112_1 2:eb1c123c9140 202 if((!OneEighty[R])&&(!OneEighty[L])){
lilac0112_1 2:eb1c123c9140 203 Touch.attach(StopCatching, TIME_LIMIT);//TIME_LIMIT[s]で停止
lilac0112_1 2:eb1c123c9140 204 StartCatching();
lilac0112_1 2:eb1c123c9140 205 }
lilac0112_1 2:eb1c123c9140 206
lilac0112_1 0:4baeb4381394 207 }
lilac0112_1 1:006debaed874 208 void illumination(void){//literally
lilac0112_1 0:4baeb4381394 209 count++;
lilac0112_1 0:4baeb4381394 210 LED = count;
lilac0112_1 0:4baeb4381394 211 }
lilac0112_1 4:1102ab499430 212 uint8_t LinkBit(bool eight, bool seven, bool six, bool five, bool fore, bool three, bool two, bool one){
lilac0112_1 4:1102ab499430 213 return 0x80*eight + 0x40*seven + 0x20*six + 0x10*five + 0x08*fore + 0x04*three + 0x02*two + 0x01*one;
lilac0112_1 4:1102ab499430 214 }
lilac0112_1 4:1102ab499430 215 bool GetBit(uint8_t n, uint8_t bit){//n=8[bit]data, bit = 1-8(8bitのデータから指定bitの数値を読み取る)-
lilac0112_1 4:1102ab499430 216 return (n>>(bit-1))%2;
lilac0112_1 4:1102ab499430 217 }
lilac0112_1 1:006debaed874 218 void SetUp(void){//literally
lilac0112_1 1:006debaed874 219
lilac0112_1 4:1102ab499430 220 //mt.mode(PullUp);
lilac0112_1 1:006debaed874 221
lilac0112_1 1:006debaed874 222 HandSpeed[R] = HandSpeed[L] = ARM_REV;
lilac0112_1 2:eb1c123c9140 223 TurnSpeed = TURN_REV;
lilac0112_1 1:006debaed874 224
lilac0112_1 2:eb1c123c9140 225 //flick.attach(illumination, .5);
lilac0112_1 4:1102ab499430 226 Accelerator.attach(Acceleration, TURN_ACCELERATION);
lilac0112_1 1:006debaed874 227
lilac0112_1 0:4baeb4381394 228 HandSW[R].mode(PullUp);
lilac0112_1 0:4baeb4381394 229 HandSW[L].mode(PullUp);
lilac0112_1 0:4baeb4381394 230 HandSW[C].mode(PullUp);
lilac0112_1 1:006debaed874 231 HandSW[R].fall(RightCatch);
lilac0112_1 1:006debaed874 232 HandSW[L].fall(LeftCatch);
lilac0112_1 1:006debaed874 233 HandSW[C].fall(CenterCatch);
lilac0112_1 2:eb1c123c9140 234
lilac0112_1 2:eb1c123c9140 235 OneEighty[R].mode(PullUp);
lilac0112_1 2:eb1c123c9140 236 OneEighty[L].mode(PullUp);
lilac0112_1 2:eb1c123c9140 237 //Ninety[R].mode(PullUp);
lilac0112_1 2:eb1c123c9140 238 //Ninety[L].mode(PullUp);
lilac0112_1 2:eb1c123c9140 239
lilac0112_1 2:eb1c123c9140 240 TurnSW[N].mode(PullUp);
lilac0112_1 2:eb1c123c9140 241 TurnSW[E].mode(PullUp);
lilac0112_1 2:eb1c123c9140 242
lilac0112_1 4:1102ab499430 243 wait(0.5);
lilac0112_1 0:4baeb4381394 244 }