Bチーム / Mbed 2 deprecated Catchtest

腕のプログラムです.

Dependencies:   mbed TextLCD MultiSerial Pswitch

main.cpp@0:4baeb4381394, 2014-07-12 (annotated)

Committer:
lilac0112_1
Date:
Sat Jul 12 03:43:45 2014 +0000
Revision:
0:4baeb4381394
Child:
1:006debaed874
???????

Who changed what in which revision?

UserRevisionLine numberNew contents of line
lilac0112_1 0:4baeb4381394 1 #include "mbed.h"
lilac0112_1 0:4baeb4381394 2 //NC = 調整中なので無機能にしておく
lilac0112_1 0:4baeb4381394 3 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 0:4baeb4381394 4 return (n>>(bit-1))%2;
lilac0112_1 0:4baeb4381394 5 }
lilac0112_1 0:4baeb4381394 6 BusOut LED(LED1, LED2, LED3, LED4);//確認用
lilac0112_1 0:4baeb4381394 7 Ticker flick;
lilac0112_1 0:4baeb4381394 8 enum Logic{OFF=0, ON};//殆どはモーターのON，OFFに使う
lilac0112_1 0:4baeb4381394 9 //パワーウィンドウ(腕)関連
lilac0112_1 0:4baeb4381394 10 #define TimeLimit 1.0//腕が閉まっても動けるのはTimeLimit[s]まで
lilac0112_1 0:4baeb4381394 11 #define ArmRev .25
lilac0112_1 0:4baeb4381394 12 enum Arm{R=0, L, C};//右腕と左腕
lilac0112_1 0:4baeb4381394 13 enum Clip{Open=0, Close};//開ける動作と閉める動作3
lilac0112_1 0:4baeb4381394 14 InterruptIn HandSW[3]={p15, p16, p17};//p14, p15, p16//R, L, C
lilac0112_1 0:4baeb4381394 15 PwmOut HandSpeed[2]={p25, p26};
lilac0112_1 0:4baeb4381394 16 DigitalOut Hand[2][2]={{p30, p29}, {p28, p27}};//{p17, p18}, {p19, p20}
lilac0112_1 0:4baeb4381394 17 //ex)Hand[R][Close]=ON;
lilac0112_1 0:4baeb4381394 18 Timeout Touch;//腕で掴むときの安全対策
lilac0112_1 0:4baeb4381394 19 void StopCatching(void){//停止
lilac0112_1 0:4baeb4381394 20 Hand[R][Close]=Hand[L][Close]=OFF;
lilac0112_1 0:4baeb4381394 21 }
lilac0112_1 0:4baeb4381394 22 void StopLeaving(void){//停止
lilac0112_1 0:4baeb4381394 23 Hand[R][Open]=Hand[L][Open]=OFF;
lilac0112_1 0:4baeb4381394 24 }
lilac0112_1 0:4baeb4381394 25 void StartCatching(void){//掴む
lilac0112_1 0:4baeb4381394 26 Hand[R][Close]=Hand[L][Close]=ON;
lilac0112_1 0:4baeb4381394 27 }
lilac0112_1 0:4baeb4381394 28 void StartLeaving(void){//離す
lilac0112_1 0:4baeb4381394 29 Hand[R][Open]=Hand[L][Open]=ON;
lilac0112_1 0:4baeb4381394 30 }
lilac0112_1 0:4baeb4381394 31 void RightCatch(void){//右腕のリミットスイッチ
lilac0112_1 0:4baeb4381394 32 if((!HandSW[R])&&(!HandSW[L])){//どちらも押されたら停止
lilac0112_1 0:4baeb4381394 33 StopCatching();//停止
lilac0112_1 0:4baeb4381394 34 Touch.detach();//ワンショットタイマー停止
lilac0112_1 0:4baeb4381394 35 }
lilac0112_1 0:4baeb4381394 36 }
lilac0112_1 0:4baeb4381394 37 void LeftCatch(void){//左腕のリミットスイッチ
lilac0112_1 0:4baeb4381394 38 if((!HandSW[R])&&(!HandSW[L])){//どちらも押されたら停止
lilac0112_1 0:4baeb4381394 39 StopCatching();//停止
lilac0112_1 0:4baeb4381394 40 Touch.detach();//ワンショットタイマー停止
lilac0112_1 0:4baeb4381394 41 }
lilac0112_1 0:4baeb4381394 42 }
lilac0112_1 0:4baeb4381394 43 void CenterCatch(void){//中央のリミットスイッチ
lilac0112_1 0:4baeb4381394 44 Touch.attach(StopCatching, TimeLimit);//TimeLimit[s]で停止
lilac0112_1 0:4baeb4381394 45 StartCatching();
lilac0112_1 0:4baeb4381394 46 }
lilac0112_1 0:4baeb4381394 47 //通信関連
lilac0112_1 0:4baeb4381394 48 #define DATA_NUM 10 //DATA_NUM[byte]通信
lilac0112_1 0:4baeb4381394 49 #define MY_KEYCODE 0xAA//keycode
lilac0112_1 0:4baeb4381394 50 #define EN_KEYCODE 0xAA//keycode
lilac0112_1 0:4baeb4381394 51 #define KEY 0//number of first data
lilac0112_1 0:4baeb4381394 52 #define CHECK DATA_NUM-1//number of last data
lilac0112_1 0:4baeb4381394 53
lilac0112_1 0:4baeb4381394 54 Serial pc(USBTX, USBRX);
lilac0112_1 0:4baeb4381394 55 volatile uint8_t INdata[DATA_NUM]={0}, EXdata[DATA_NUM]={0};
lilac0112_1 0:4baeb4381394 56 volatile uint8_t count=0;
lilac0112_1 0:4baeb4381394 57 void illumination(){
lilac0112_1 0:4baeb4381394 58 count++;
lilac0112_1 0:4baeb4381394 59 LED = count;
lilac0112_1 0:4baeb4381394 60 }
lilac0112_1 0:4baeb4381394 61
lilac0112_1 0:4baeb4381394 62 int main(void) {
lilac0112_1 0:4baeb4381394 63 //簡単そうなコードの説明は省く
lilac0112_1 0:4baeb4381394 64 BusIn mt(p5, p6, p7, p8, p9, p10);//調整用スイッチ
lilac0112_1 0:4baeb4381394 65 mt.mode(PullUp);
lilac0112_1 0:4baeb4381394 66 HandSpeed[R] = HandSpeed[L] = ArmRev;
lilac0112_1 0:4baeb4381394 67 flick.attach(illumination, .5);
lilac0112_1 0:4baeb4381394 68 //パワーウィンドウ(腕)関連
lilac0112_1 0:4baeb4381394 69 HandSW[R].mode(PullUp);
lilac0112_1 0:4baeb4381394 70 HandSW[L].mode(PullUp);
lilac0112_1 0:4baeb4381394 71 HandSW[C].mode(PullUp);
lilac0112_1 0:4baeb4381394 72 HandSW[R].fall(RightCatch);//立ち上がり
lilac0112_1 0:4baeb4381394 73 HandSW[L].fall(LeftCatch);//立ち上がり
lilac0112_1 0:4baeb4381394 74 HandSW[C].fall(CenterCatch);//立ち上がり
lilac0112_1 0:4baeb4381394 75 while(1) {
lilac0112_1 0:4baeb4381394 76 //腕のプログラム
lilac0112_1 0:4baeb4381394 77 INdata[1]= ~mt;//調整用スイッチ
lilac0112_1 0:4baeb4381394 78 if(GetBit(INdata[1], 2)==OFF) StopLeaving();//停止
lilac0112_1 0:4baeb4381394 79 if((GetBit(INdata[1], 1)+GetBit(INdata[1], 2))==1){//同時押し防止
lilac0112_1 0:4baeb4381394 80 if(GetBit(INdata[1], 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 0:4baeb4381394 81 if(GetBit(INdata[1], 2)==true){//腕を広げる動作はマニュアル操作
lilac0112_1 0:4baeb4381394 82 StopCatching();//停止
lilac0112_1 0:4baeb4381394 83 Touch.detach();//ワンショットタイマー停止
lilac0112_1 0:4baeb4381394 84 Hand[R][Open] = Hand[L][Open] = GetBit(INdata[1], 2);
lilac0112_1 0:4baeb4381394 85 }
lilac0112_1 0:4baeb4381394 86 }
lilac0112_1 0:4baeb4381394 87 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 0:4baeb4381394 88 StopCatching();//停止
lilac0112_1 0:4baeb4381394 89 Touch.detach();//ワンショットタイマー停止
lilac0112_1 0:4baeb4381394 90 }
lilac0112_1 0:4baeb4381394 91 }
lilac0112_1 0:4baeb4381394 92 }