Bチーム
腕のプログラムです.
Dependencies: mbed TextLCD MultiSerial Pswitch
Diff: main.cpp
- Revision:
- 9:8543cb951a70
- Parent:
- 8:4f9c4b791bfe
- Child:
- 10:557c74f2bdee
--- a/main.cpp Sun Oct 05 08:21:56 2014 +0000
+++ b/main.cpp Thu Oct 16 11:02:39 2014 +0000
@@ -7,13 +7,16 @@
#define TIME_LIMIT 1.25//腕が閉まっても動けるのはTIME_LIMIT[s]まで
#define ARM_REV 1.0//腕のPWM
+#define ARM_LIMIT_REV 0.5//
-#define TURN_REV 0.2//回転の初期PWM値
-
+#define TURN_REV 0.5//回転の初期PWM値
+#define FIX_REV 0.2
uint8_t INdata[DATA_NUM]={0}, EXdata[DATA_NUM]={0};
-uint8_t Interrupt=0;
uint8_t data[DATA_NUM];
+bool Interrupt=0;
+bool IO[2]={0};
+bool FIX=0;
enum Logic{OFF=0, ON};//殆どはモーターのON，OFFに使う
enum Arm{R=0, L, C};//右腕と左腕
@@ -22,21 +25,19 @@
enum Compass{N=0, E, W, S};//マシンの回転
BusOut LED(LED1, LED2, LED3, LED4);//確認用
-
-/*
- BusIn mt(p19, p20, p17, p18);//Switch
-*/
-
-
-BusIn mt(p5, p6, p7, p8);//mt(p7, p8);
+BusIn mt(p5, p6, p7, p8);//確認用
+//DigitalOut servo_mbed[2] = {p9, p10};
+MultiSerial servo_mbed(p9, p10);
+MultiSerial leg_mbed(p13,p14);
+
DigitalIn OneEighty[2]={p18, p19};//R, L
-Pswitch HandSW[3]={p15, p16, p17};//p14, p15, p16//R, L, C
+Pswitch HandSW[3]={p15, p16, p17};//R, L, C
DigitalIn TurnSW[2]={p11, p12};//
PwmOut HandSpeed[2]={p23, p24};
-PwmOut TurnSpeed(p22);//p22
-DigitalOut Hand[2][2]={{p28, p27}, {p26, p25}};//{p17, p18}, {p19, p20}
+PwmOut TurnSpeed(p22);
+DigitalOut Hand[2][2]={{p28, p27}, {p26, p25}};
//ex)Hand[R][Close]=ON;
-DigitalOut Turn[2]={p29, p30};//p29, p30
+DigitalOut Turn[2]={p29, p30};
//ex)Turn[CW]=ON;
Serial pc(USBTX, USBRX);
Timeout Touch;//腕で掴むときの安全対策
@@ -48,6 +49,8 @@
void RightCatch(void);//右腕のリミットスイッチ
void LeftCatch(void);//左腕のリミットスイッチ
void CenterCatch(void);//中央のリミットスイッチ
+void FixToNinety(void);
+void display_LED(int kind);//start display LED
uint8_t LinkBit(bool eight, bool seven, bool six, bool five, bool fore, bool three, bool two, bool one);
bool GetBit(uint8_t n, uint8_t bit);
void SetUp(void);//literally
@@ -55,32 +58,45 @@
int main(void) {
- wait(0.5);
+ leg_mbed.start_read();
+ leg_mbed.read_data(data,KEYCODE);
+
+ servo_mbed.start_write();
+ servo_mbed.write_data(INdata,KEYCODE);
+
+ display_LED(1);
+
+ leg_mbed.check_rx_wait();
- MultiSerial leg_mbed(p13,p14,read);
- //Serial servo_mbed(p9, p10);
+ //wait(0.5);
+
+ //MultiSerial leg_mbed(p13,p14);
SetUp();
while(1) {
- leg_mbed.read_data(data,KEYCODE);
+ //leg_mbed.read_data(data,KEYCODE);
- INdata[0] = data[0];// | ~mt;
-
+ INdata[0] = data[0];
//INdata[0] = ~mt;
- //EXdata[0] = LinkBit(0, 0, 0, 0, 0, 0, !OneEighty[R], !OneEighty[L]);
- //EXdata[0] = 3;//~mt;
- LED = INdata[0];//~mt;//~mt;//EXdata[0]| servo_mbed.getc()*4;
+ //if(!TurnSW[N]) IO[0]=ON;
+ //if(!TurnSW[E]) IO[1]=ON;
+ //servo_mbed[0] = IO[0]&&IO[1];
+ //servo_mbed[1] = IO[0]&&IO[1];
+ //servo_mbed.putc(IO[0]&&IO[1]);
- //servo_mbed.putc(~mt);
- //pc.printf("%5d, %f\n", Holder, TurnSpeed.read());
+ LED = INdata[0];
+
+ //腕
if((GetBit(INdata[0], 1)==OFF)&&(Interrupt==OFF)) StopCatching();
if(GetBit(INdata[0], 2)==OFF) StopLeaving();//停止
+ if(GetBit(INdata[0], 1)&&GetBit(INdata[0], 2)) StopCatching(), StopLeaving(), Touch.detach(), Interrupt=OFF;
+
if((GetBit(INdata[0], 1)+GetBit(INdata[0], 2))==1){//同時押し防止
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
if(GetBit(INdata[0], 2)==true){//腕を広げる動作はマニュアル操作
@@ -111,17 +127,23 @@
LeftCatch();
}
if(HandSW[C].count() > 0){
- CenterCatch();
+ if(GetBit(INdata[0], 5)) CenterCatch();
}
//LED = ((0x01 * !HandSW[R]) | (0x02 * !HandSW[L]) | (0x04 * !HandSW[C]) | (0x08 * ((!OneEighty[R])&&(!OneEighty[L])) ));
- LED = INdata[0];
//上体回転
+ //if(FIX&&(!((GetBit(INdata[0], 3)+GetBit(INdata[0], 4))==1))){
+ // FixToNinety();
+ // continue;
+ //}
+
if(GetBit(INdata[0], 3)==OFF) Turn[CW] = OFF;//停止
if(GetBit(INdata[0], 4)==OFF) Turn[CCW] = OFF;//停止
+ if(GetBit(INdata[0], 3)&&GetBit(INdata[0], 4)) Turn[CW]=Turn[CCW]=OFF;
+
if((GetBit(INdata[0], 3)+GetBit(INdata[0], 4))==1){//同時押し防止
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
@@ -129,8 +151,8 @@
}
- if(!TurnSW[N]) Turn[CW]=OFF;//リミットスイッチによる停止
- if(!TurnSW[E]) Turn[CCW]=OFF;
+ if(!TurnSW[N]) Turn[CW]=OFF, FIX=ON;//リミットスイッチによる停止
+ if(!TurnSW[E]) Turn[CCW]=OFF, FIX=ON;
}
@@ -144,6 +166,8 @@
}
void StartCatching(void){//掴む（リミットスイッチが押されてなければ）
+ HandSpeed[R] = HandSpeed[L] = ARM_REV;
+
if(GetBit(INdata[0], 1)==true){
Hand[R][Close]=HandSW[R];
Hand[L][Close]=HandSW[L];
@@ -161,6 +185,9 @@
}
void StartLeaving(void){//離す（リミットスイッチが押されてなければ）
+
+ HandSpeed[R] = HandSpeed[L] = ARM_LIMIT_REV;
+
Hand[R][Open]=OneEighty[R];
Hand[L][Open]=OneEighty[L];
}
@@ -187,14 +214,50 @@
void CenterCatch(void){//中央のリミットスイッチ
if((!OneEighty[R])&&(!OneEighty[L])){
- Interrupt=ON;
- Touch.attach(StopCatching, TIME_LIMIT);//TIME_LIMIT[s]で停止
- StartCatching();
+ if(GetBit(INdata[0], 1)==false){
+ Interrupt=ON;
+ Touch.attach(StopCatching, TIME_LIMIT);//TIME_LIMIT[s]で停止
+ StartCatching();
+ }
}
if(GetBit(INdata[0], 1)==true){
StartCatching();
}
}
+void FixToNinety(void){
+
+ if((FIX)&&(TurnSpeed != FIX_REV)) TurnSpeed = FIX_REV;
+
+ if((!TurnSW[N])&&(TurnSW[E])) Turn[CCW]=ON;
+
+ if((TurnSW[N])&&(!TurnSW[E])) Turn[CW]=ON;
+
+ if((TurnSW[N])&&(TurnSW[E])) Turn[CW]=Turn[CCW]=OFF, FIX=OFF;
+
+ if((!FIX)&&(TurnSpeed != TURN_REV)) TurnSpeed = TURN_REV;
+
+}
+void display_LED(int kind){/*start display LED*/
+
+ switch(kind) {
+
+ case 0: //err check
+ LED = 0xA;
+ wait(0.5);
+ LED = 0x5;
+ wait(0.5);
+
+ break;
+
+ case 1:
+ //
+ LED = 0xF;
+ wait(0.5);
+ LED = 0;
+ wait(0.5);
+ break;
+ }
+}
uint8_t LinkBit(bool eight, bool seven, bool six, bool five, bool fore, bool three, bool two, bool one){
return 0x80*eight + 0x40*seven + 0x20*six + 0x10*five + 0x08*fore + 0x04*three + 0x02*two + 0x01*one;
}