腕のプログラムです.
Dependencies: mbed TextLCD MultiSerial Pswitch
main.cpp@8:4f9c4b791bfe, 2014-10-05 (annotated)
- Committer:
- lilac0112_1
- Date:
- Sun Oct 05 08:21:56 2014 +0000
- Revision:
- 8:4f9c4b791bfe
- Parent:
- 7:c418a0d929b1
- Child:
- 9:8543cb951a70
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
lilac0112_1 | 0:4baeb4381394 | 1 | #include "mbed.h" |
Hatter | 3:a1489a94c436 | 2 | #include "MultiSerial.h" |
lilac0112_1 | 7:c418a0d929b1 | 3 | #include "Pswitch.h" |
lilac0112_1 | 7:c418a0d929b1 | 4 | |
lilac0112_1 | 4:1102ab499430 | 5 | #define DATA_NUM 1 //DATA_NUM[byte]通信 |
lilac0112_1 | 7:c418a0d929b1 | 6 | #define KEYCODE 0xAA |
lilac0112_1 | 7:c418a0d929b1 | 7 | |
lilac0112_1 | 7:c418a0d929b1 | 8 | #define TIME_LIMIT 1.25//腕が閉まっても動けるのはTIME_LIMIT[s]まで |
lilac0112_1 | 4:1102ab499430 | 9 | #define ARM_REV 1.0//腕のPWM |
lilac0112_1 | 7:c418a0d929b1 | 10 | |
lilac0112_1 | 8:4f9c4b791bfe | 11 | #define TURN_REV 0.2//回転の初期PWM値 |
lilac0112_1 | 1:006debaed874 | 12 | |
lilac0112_1 | 7:c418a0d929b1 | 13 | |
lilac0112_1 | 4:1102ab499430 | 14 | uint8_t INdata[DATA_NUM]={0}, EXdata[DATA_NUM]={0}; |
lilac0112_1 | 7:c418a0d929b1 | 15 | uint8_t Interrupt=0; |
lilac0112_1 | 4:1102ab499430 | 16 | uint8_t data[DATA_NUM]; |
lilac0112_1 | 1:006debaed874 | 17 | |
lilac0112_1 | 1:006debaed874 | 18 | enum Logic{OFF=0, ON};//殆どはモーターのON,OFFに使う |
lilac0112_1 | 1:006debaed874 | 19 | enum Arm{R=0, L, C};//右腕と左腕 |
lilac0112_1 | 1:006debaed874 | 20 | enum Clip{Open=0, Close};//開ける動作と閉める動作 |
lilac0112_1 | 2:eb1c123c9140 | 21 | enum Revolution{CW=0, CCW};//正回転,逆回転(上体回転) |
lilac0112_1 | 2:eb1c123c9140 | 22 | enum Compass{N=0, E, W, S};//マシンの回転 |
lilac0112_1 | 7:c418a0d929b1 | 23 | |
lilac0112_1 | 0:4baeb4381394 | 24 | BusOut LED(LED1, LED2, LED3, LED4);//確認用 |
lilac0112_1 | 7:c418a0d929b1 | 25 | |
Hatter | 3:a1489a94c436 | 26 | /* |
Hatter | 3:a1489a94c436 | 27 | BusIn mt(p19, p20, p17, p18);//Switch |
Hatter | 3:a1489a94c436 | 28 | */ |
lilac0112_1 | 7:c418a0d929b1 | 29 | |
lilac0112_1 | 7:c418a0d929b1 | 30 | |
lilac0112_1 | 7:c418a0d929b1 | 31 | BusIn mt(p5, p6, p7, p8);//mt(p7, p8); |
lilac0112_1 | 5:c2a278842131 | 32 | DigitalIn OneEighty[2]={p18, p19};//R, L |
lilac0112_1 | 7:c418a0d929b1 | 33 | Pswitch HandSW[3]={p15, p16, p17};//p14, p15, p16//R, L, C |
lilac0112_1 | 2:eb1c123c9140 | 34 | DigitalIn TurnSW[2]={p11, p12};// |
lilac0112_1 | 2:eb1c123c9140 | 35 | PwmOut HandSpeed[2]={p23, p24}; |
lilac0112_1 | 2:eb1c123c9140 | 36 | PwmOut TurnSpeed(p22);//p22 |
lilac0112_1 | 2:eb1c123c9140 | 37 | DigitalOut Hand[2][2]={{p28, p27}, {p26, p25}};//{p17, p18}, {p19, p20} |
lilac0112_1 | 0:4baeb4381394 | 38 | //ex)Hand[R][Close]=ON; |
lilac0112_1 | 2:eb1c123c9140 | 39 | DigitalOut Turn[2]={p29, p30};//p29, p30 |
lilac0112_1 | 2:eb1c123c9140 | 40 | //ex)Turn[CW]=ON; |
lilac0112_1 | 1:006debaed874 | 41 | Serial pc(USBTX, USBRX); |
lilac0112_1 | 0:4baeb4381394 | 42 | Timeout Touch;//腕で掴むときの安全対策 |
lilac0112_1 | 1:006debaed874 | 43 | |
lilac0112_1 | 1:006debaed874 | 44 | void StopCatching(void);//literally |
lilac0112_1 | 1:006debaed874 | 45 | void StopLeaving(void);//literally |
lilac0112_1 | 1:006debaed874 | 46 | void StartCatching(void);//literally |
lilac0112_1 | 1:006debaed874 | 47 | void StartLeaving(void);//literally |
lilac0112_1 | 1:006debaed874 | 48 | void RightCatch(void);//右腕のリミットスイッチ |
lilac0112_1 | 1:006debaed874 | 49 | void LeftCatch(void);//左腕のリミットスイッチ |
lilac0112_1 | 1:006debaed874 | 50 | void CenterCatch(void);//中央のリミットスイッチ |
lilac0112_1 | 4:1102ab499430 | 51 | uint8_t LinkBit(bool eight, bool seven, bool six, bool five, bool fore, bool three, bool two, bool one); |
lilac0112_1 | 4:1102ab499430 | 52 | bool GetBit(uint8_t n, uint8_t bit); |
lilac0112_1 | 1:006debaed874 | 53 | void SetUp(void);//literally |
lilac0112_1 | 7:c418a0d929b1 | 54 | |
lilac0112_1 | 7:c418a0d929b1 | 55 | |
lilac0112_1 | 1:006debaed874 | 56 | int main(void) { |
lilac0112_1 | 1:006debaed874 | 57 | |
lilac0112_1 | 5:c2a278842131 | 58 | wait(0.5); |
lilac0112_1 | 5:c2a278842131 | 59 | |
lilac0112_1 | 5:c2a278842131 | 60 | MultiSerial leg_mbed(p13,p14,read); |
lilac0112_1 | 7:c418a0d929b1 | 61 | //Serial servo_mbed(p9, p10); |
lilac0112_1 | 4:1102ab499430 | 62 | |
lilac0112_1 | 1:006debaed874 | 63 | SetUp(); |
lilac0112_1 | 1:006debaed874 | 64 | |
lilac0112_1 | 1:006debaed874 | 65 | while(1) { |
lilac0112_1 | 1:006debaed874 | 66 | |
Hatter | 3:a1489a94c436 | 67 | leg_mbed.read_data(data,KEYCODE); |
Hatter | 3:a1489a94c436 | 68 | |
lilac0112_1 | 7:c418a0d929b1 | 69 | INdata[0] = data[0];// | ~mt; |
lilac0112_1 | 7:c418a0d929b1 | 70 | |
lilac0112_1 | 7:c418a0d929b1 | 71 | //INdata[0] = ~mt; |
lilac0112_1 | 7:c418a0d929b1 | 72 | |
lilac0112_1 | 7:c418a0d929b1 | 73 | //EXdata[0] = LinkBit(0, 0, 0, 0, 0, 0, !OneEighty[R], !OneEighty[L]); |
lilac0112_1 | 7:c418a0d929b1 | 74 | //EXdata[0] = 3;//~mt; |
lilac0112_1 | 7:c418a0d929b1 | 75 | LED = INdata[0];//~mt;//~mt;//EXdata[0]| servo_mbed.getc()*4; |
lilac0112_1 | 7:c418a0d929b1 | 76 | |
lilac0112_1 | 7:c418a0d929b1 | 77 | //servo_mbed.putc(~mt); |
lilac0112_1 | 7:c418a0d929b1 | 78 | //pc.printf("%5d, %f\n", Holder, TurnSpeed.read()); |
lilac0112_1 | 7:c418a0d929b1 | 79 | |
lilac0112_1 | 7:c418a0d929b1 | 80 | if((GetBit(INdata[0], 1)==OFF)&&(Interrupt==OFF)) StopCatching(); |
lilac0112_1 | 1:006debaed874 | 81 | |
lilac0112_1 | 4:1102ab499430 | 82 | if(GetBit(INdata[0], 2)==OFF) StopLeaving();//停止 |
lilac0112_1 | 1:006debaed874 | 83 | |
lilac0112_1 | 4:1102ab499430 | 84 | if((GetBit(INdata[0], 1)+GetBit(INdata[0], 2))==1){//同時押し防止 |
lilac0112_1 | 7:c418a0d929b1 | 85 | 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 | 86 | 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 | 87 | StopCatching();//停止 |
lilac0112_1 | 1:006debaed874 | 88 | Touch.detach();//ワンショットタイマー停止 |
lilac0112_1 | 7:c418a0d929b1 | 89 | Interrupt=OFF; |
lilac0112_1 | 4:1102ab499430 | 90 | Hand[R][Open] = GetBit(INdata[0], 2)&&OneEighty[R]; |
lilac0112_1 | 4:1102ab499430 | 91 | Hand[L][Open] = GetBit(INdata[0], 2)&&OneEighty[L]; |
lilac0112_1 | 1:006debaed874 | 92 | } |
lilac0112_1 | 1:006debaed874 | 93 | } |
lilac0112_1 | 1:006debaed874 | 94 | |
lilac0112_1 | 1:006debaed874 | 95 | 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 | 96 | StopCatching();//停止 |
lilac0112_1 | 1:006debaed874 | 97 | Touch.detach();//ワンショットタイマー停止 |
lilac0112_1 | 7:c418a0d929b1 | 98 | Interrupt=OFF; |
lilac0112_1 | 1:006debaed874 | 99 | } |
lilac0112_1 | 1:006debaed874 | 100 | |
lilac0112_1 | 2:eb1c123c9140 | 101 | if(!OneEighty[R]) Hand[R][Open]=OFF; |
lilac0112_1 | 2:eb1c123c9140 | 102 | if(!OneEighty[L]) Hand[L][Open]=OFF; |
lilac0112_1 | 7:c418a0d929b1 | 103 | |
lilac0112_1 | 7:c418a0d929b1 | 104 | if(!HandSW[R]) Hand[R][Close]=OFF; |
lilac0112_1 | 7:c418a0d929b1 | 105 | if(!HandSW[L]) Hand[L][Close]=OFF; |
lilac0112_1 | 2:eb1c123c9140 | 106 | |
lilac0112_1 | 7:c418a0d929b1 | 107 | if(HandSW[R].count() > 0){ |
lilac0112_1 | 7:c418a0d929b1 | 108 | RightCatch(); |
lilac0112_1 | 7:c418a0d929b1 | 109 | } |
lilac0112_1 | 7:c418a0d929b1 | 110 | if(HandSW[L].count() > 0){ |
lilac0112_1 | 7:c418a0d929b1 | 111 | LeftCatch(); |
lilac0112_1 | 7:c418a0d929b1 | 112 | } |
lilac0112_1 | 7:c418a0d929b1 | 113 | if(HandSW[C].count() > 0){ |
lilac0112_1 | 7:c418a0d929b1 | 114 | CenterCatch(); |
lilac0112_1 | 7:c418a0d929b1 | 115 | } |
lilac0112_1 | 2:eb1c123c9140 | 116 | |
lilac0112_1 | 4:1102ab499430 | 117 | //LED = ((0x01 * !HandSW[R]) | (0x02 * !HandSW[L]) | (0x04 * !HandSW[C]) | (0x08 * ((!OneEighty[R])&&(!OneEighty[L])) )); |
lilac0112_1 | 4:1102ab499430 | 118 | LED = INdata[0]; |
lilac0112_1 | 2:eb1c123c9140 | 119 | |
lilac0112_1 | 2:eb1c123c9140 | 120 | //上体回転 |
lilac0112_1 | 2:eb1c123c9140 | 121 | |
lilac0112_1 | 8:4f9c4b791bfe | 122 | if(GetBit(INdata[0], 3)==OFF) Turn[CW] = OFF;//停止 |
lilac0112_1 | 8:4f9c4b791bfe | 123 | if(GetBit(INdata[0], 4)==OFF) Turn[CCW] = OFF;//停止 |
lilac0112_1 | 7:c418a0d929b1 | 124 | |
lilac0112_1 | 8:4f9c4b791bfe | 125 | if((GetBit(INdata[0], 3)+GetBit(INdata[0], 4))==1){//同時押し防止 |
lilac0112_1 | 4:1102ab499430 | 126 | |
lilac0112_1 | 4:1102ab499430 | 127 | 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 | 128 | 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 | 2:eb1c123c9140 | 129 | |
lilac0112_1 | 2:eb1c123c9140 | 130 | } |
lilac0112_1 | 5:c2a278842131 | 131 | |
lilac0112_1 | 4:1102ab499430 | 132 | if(!TurnSW[N]) Turn[CW]=OFF;//リミットスイッチによる停止 |
lilac0112_1 | 4:1102ab499430 | 133 | if(!TurnSW[E]) Turn[CCW]=OFF; |
lilac0112_1 | 4:1102ab499430 | 134 | |
lilac0112_1 | 4:1102ab499430 | 135 | |
lilac0112_1 | 1:006debaed874 | 136 | } |
lilac0112_1 | 1:006debaed874 | 137 | } |
lilac0112_1 | 0:4baeb4381394 | 138 | void StopCatching(void){//停止 |
lilac0112_1 | 0:4baeb4381394 | 139 | Hand[R][Close]=Hand[L][Close]=OFF; |
lilac0112_1 | 7:c418a0d929b1 | 140 | if(Interrupt==ON) Interrupt=OFF; |
lilac0112_1 | 0:4baeb4381394 | 141 | } |
lilac0112_1 | 0:4baeb4381394 | 142 | void StopLeaving(void){//停止 |
lilac0112_1 | 0:4baeb4381394 | 143 | Hand[R][Open]=Hand[L][Open]=OFF; |
lilac0112_1 | 0:4baeb4381394 | 144 | } |
lilac0112_1 | 2:eb1c123c9140 | 145 | void StartCatching(void){//掴む(リミットスイッチが押されてなければ) |
lilac0112_1 | 7:c418a0d929b1 | 146 | |
lilac0112_1 | 7:c418a0d929b1 | 147 | if(GetBit(INdata[0], 1)==true){ |
lilac0112_1 | 7:c418a0d929b1 | 148 | Hand[R][Close]=HandSW[R]; |
lilac0112_1 | 7:c418a0d929b1 | 149 | Hand[L][Close]=HandSW[L]; |
lilac0112_1 | 7:c418a0d929b1 | 150 | } |
lilac0112_1 | 7:c418a0d929b1 | 151 | |
lilac0112_1 | 7:c418a0d929b1 | 152 | if((!HandSW[R])&&(!HandSW[L])){ |
lilac0112_1 | 2:eb1c123c9140 | 153 | Hand[R][Close] = Hand[L][Close] = OFF; |
lilac0112_1 | 2:eb1c123c9140 | 154 | } |
lilac0112_1 | 2:eb1c123c9140 | 155 | else{ |
lilac0112_1 | 2:eb1c123c9140 | 156 | |
lilac0112_1 | 2:eb1c123c9140 | 157 | Hand[R][Close]=ON; |
lilac0112_1 | 2:eb1c123c9140 | 158 | Hand[L][Close]=ON; |
lilac0112_1 | 2:eb1c123c9140 | 159 | |
lilac0112_1 | 2:eb1c123c9140 | 160 | } |
lilac0112_1 | 2:eb1c123c9140 | 161 | |
lilac0112_1 | 0:4baeb4381394 | 162 | } |
lilac0112_1 | 2:eb1c123c9140 | 163 | 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 | 164 | Hand[R][Open]=OneEighty[R]; |
lilac0112_1 | 2:eb1c123c9140 | 165 | Hand[L][Open]=OneEighty[L]; |
lilac0112_1 | 0:4baeb4381394 | 166 | } |
lilac0112_1 | 0:4baeb4381394 | 167 | void RightCatch(void){//右腕のリミットスイッチ |
lilac0112_1 | 7:c418a0d929b1 | 168 | |
lilac0112_1 | 7:c418a0d929b1 | 169 | Hand[R][Close] = OFF; |
lilac0112_1 | 7:c418a0d929b1 | 170 | |
lilac0112_1 | 0:4baeb4381394 | 171 | if((!HandSW[R])&&(!HandSW[L])){//どちらも押されたら停止 |
lilac0112_1 | 0:4baeb4381394 | 172 | StopCatching();//停止 |
lilac0112_1 | 0:4baeb4381394 | 173 | Touch.detach();//ワンショットタイマー停止 |
lilac0112_1 | 7:c418a0d929b1 | 174 | Interrupt=OFF; |
lilac0112_1 | 0:4baeb4381394 | 175 | } |
lilac0112_1 | 0:4baeb4381394 | 176 | } |
lilac0112_1 | 0:4baeb4381394 | 177 | void LeftCatch(void){//左腕のリミットスイッチ |
lilac0112_1 | 7:c418a0d929b1 | 178 | |
lilac0112_1 | 7:c418a0d929b1 | 179 | Hand[L][Close] = OFF; |
lilac0112_1 | 7:c418a0d929b1 | 180 | |
lilac0112_1 | 0:4baeb4381394 | 181 | if((!HandSW[R])&&(!HandSW[L])){//どちらも押されたら停止 |
lilac0112_1 | 0:4baeb4381394 | 182 | StopCatching();//停止 |
lilac0112_1 | 0:4baeb4381394 | 183 | Touch.detach();//ワンショットタイマー停止 |
lilac0112_1 | 7:c418a0d929b1 | 184 | Interrupt=OFF; |
lilac0112_1 | 0:4baeb4381394 | 185 | } |
lilac0112_1 | 0:4baeb4381394 | 186 | } |
lilac0112_1 | 0:4baeb4381394 | 187 | void CenterCatch(void){//中央のリミットスイッチ |
lilac0112_1 | 7:c418a0d929b1 | 188 | |
lilac0112_1 | 2:eb1c123c9140 | 189 | if((!OneEighty[R])&&(!OneEighty[L])){ |
lilac0112_1 | 7:c418a0d929b1 | 190 | Interrupt=ON; |
lilac0112_1 | 2:eb1c123c9140 | 191 | Touch.attach(StopCatching, TIME_LIMIT);//TIME_LIMIT[s]で停止 |
lilac0112_1 | 2:eb1c123c9140 | 192 | StartCatching(); |
lilac0112_1 | 2:eb1c123c9140 | 193 | } |
lilac0112_1 | 7:c418a0d929b1 | 194 | if(GetBit(INdata[0], 1)==true){ |
lilac0112_1 | 7:c418a0d929b1 | 195 | StartCatching(); |
lilac0112_1 | 7:c418a0d929b1 | 196 | } |
lilac0112_1 | 0:4baeb4381394 | 197 | } |
lilac0112_1 | 4:1102ab499430 | 198 | uint8_t LinkBit(bool eight, bool seven, bool six, bool five, bool fore, bool three, bool two, bool one){ |
lilac0112_1 | 4:1102ab499430 | 199 | return 0x80*eight + 0x40*seven + 0x20*six + 0x10*five + 0x08*fore + 0x04*three + 0x02*two + 0x01*one; |
lilac0112_1 | 4:1102ab499430 | 200 | } |
lilac0112_1 | 4:1102ab499430 | 201 | 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 | 202 | return (n>>(bit-1))%2; |
lilac0112_1 | 4:1102ab499430 | 203 | } |
lilac0112_1 | 1:006debaed874 | 204 | void SetUp(void){//literally |
lilac0112_1 | 1:006debaed874 | 205 | |
lilac0112_1 | 5:c2a278842131 | 206 | mt.mode(PullUp); |
lilac0112_1 | 1:006debaed874 | 207 | |
lilac0112_1 | 1:006debaed874 | 208 | HandSpeed[R] = HandSpeed[L] = ARM_REV; |
lilac0112_1 | 8:4f9c4b791bfe | 209 | TurnSpeed = TURN_REV; |
lilac0112_1 | 1:006debaed874 | 210 | |
lilac0112_1 | 7:c418a0d929b1 | 211 | //HandSW[R].mode(PullUp); |
lilac0112_1 | 7:c418a0d929b1 | 212 | //HandSW[L].mode(PullUp); |
lilac0112_1 | 7:c418a0d929b1 | 213 | //HandSW[C].mode(PullUp); |
lilac0112_1 | 7:c418a0d929b1 | 214 | //HandSW[R].fall(RightCatch); |
lilac0112_1 | 7:c418a0d929b1 | 215 | //HandSW[L].fall(LeftCatch); |
lilac0112_1 | 7:c418a0d929b1 | 216 | //HandSW[C].fall(CenterCatch); |
lilac0112_1 | 2:eb1c123c9140 | 217 | |
lilac0112_1 | 2:eb1c123c9140 | 218 | OneEighty[R].mode(PullUp); |
lilac0112_1 | 2:eb1c123c9140 | 219 | OneEighty[L].mode(PullUp); |
lilac0112_1 | 2:eb1c123c9140 | 220 | |
lilac0112_1 | 2:eb1c123c9140 | 221 | TurnSW[N].mode(PullUp); |
lilac0112_1 | 2:eb1c123c9140 | 222 | TurnSW[E].mode(PullUp); |
lilac0112_1 | 2:eb1c123c9140 | 223 | |
lilac0112_1 | 7:c418a0d929b1 | 224 | } |
lilac0112_1 | 7:c418a0d929b1 | 225 |