腕のプログラムです.
Dependencies: mbed TextLCD MultiSerial Pswitch
main.cpp
- Committer:
- lilac0112_1
- Date:
- 2014-10-03
- Revision:
- 5:c2a278842131
- Parent:
- 4:1102ab499430
- Child:
- 6:606507fc8852
File content as of revision 5:c2a278842131:
#include "mbed.h" #include "MultiSerial.h" #define DATA_NUM 1 //DATA_NUM[byte]通信 #define MY_KEYCODE 0xAA//keycode #define EN_KEYCODE 0xAA//keycode #define KEY 0//number of first data #define CHECK DATA_NUM-1//number of last data #define TIME_LIMIT 1.0//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 TURN_REV 0.25//回転の初期PWM #define TURN_RATIO 100//1000000000//なるべく大きい数 #define TURN_RATE 1//加速度の変更...1, 2, 4, 8, 16... #define TURN_REV_LIMIT 0.5//PWMの最大数値 #define TURN_ACCELERATION 0.1//0.015625//なるべく小さい数 #define TURN_SLOPE TURN_RATE*0.1//0.015625//なるべく小さい数1/2, 4, 8,...256 #define KEYCODE 0xAA uint8_t INdata[DATA_NUM]={0}, EXdata[DATA_NUM]={0}; uint8_t count=0; uint8_t TURN=0, IO=0,SIG=0; uint8_t data[DATA_NUM]; 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 enum Clip{Open=0, Close};//開ける動作と閉める動作 enum Revolution{CW=0, CCW};//正回転,逆回転(上体回転) 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(p7, p8, p9, p10); //DigitalIn Ninety[2]={p5, p6};//R, L DigitalIn OneEighty[2]={p18, p19};//R, L InterruptIn HandSW[3]={p15, p16, p17};//p14, p15, p16//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} //ex)Hand[R][Close]=ON; DigitalOut Turn[2]={p29, p30};//p29, p30 //ex)Turn[CW]=ON; Serial pc(USBTX, USBRX); Ticker flick; Ticker Save; Ticker Accelerator; Timeout Touch;//腕で掴むときの安全対策 void SW_saving(void); void Acceleration(void); void StopCatching(void);//literally void StopLeaving(void);//literally void StartCatching(void);//literally void StartLeaving(void);//literally 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 illumination(void);//literally 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 int main(void) { wait(0.5); MultiSerial leg_mbed(p13,p14,read); SetUp(); while(1) { leg_mbed.read_data(data,KEYCODE); INdata[0] = data[0] | ~mt; if(GetBit(INdata[0], 2)==OFF) StopLeaving();//停止 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 StopCatching();//停止 Touch.detach();//ワンショットタイマー停止 Hand[R][Open] = GetBit(INdata[0], 2)&&OneEighty[R]; Hand[L][Open] = GetBit(INdata[0], 2)&&OneEighty[L]; } } if(((!HandSW[R])&&(!HandSW[L]))&&((Hand[R][Close]&&Hand[L][Close])==ON)){//どちらも押されたら停止 StopCatching();//停止 Touch.detach();//ワンショットタイマー停止 } if(!OneEighty[R]) Hand[R][Open]=OFF; if(!OneEighty[L]) Hand[L][Open]=OFF; //if(!Ninety[R]) Hand[R][Close]=OFF; //if(!Ninety[L]) Hand[L][Close]=OFF; //if((!Ninety[R])&&(!Ninety[L])){//どちらも押されたら停止 // StopCatching();//停止 // Touch.detach();//ワンショットタイマー停止 //} //LED = ((0x01 * !HandSW[R]) | (0x02 * !HandSW[L]) | (0x04 * !HandSW[C]) | (0x08 * ((!OneEighty[R])&&(!OneEighty[L])) )); LED = INdata[0]; //上体回転 //IO = GetBit(INdata[0], 3)+GetBit(INdata[0], 4); //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)==1)&&(TurnSpeed==0)){//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 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 TURN = LinkBit(0, 0, 0, 0, 0, 0, Turn[CW], Turn[CCW]); } if(TurnSpeed!=0){ Turn[CW] = GetBit(TURN, 2)&&TurnSW[N]; Turn[CCW] = GetBit(TURN, 1)&&TurnSW[E]; } if((GetBit(INdata[0], 3)+GetBit(INdata[0], 4)!=1)&&(TurnSpeed==0)){ Turn[CW] = OFF; Turn[CCW] = OFF; } //Acceleration(); //float i; /*SIG = LinkBit(0, 0, 0, 0, 0, 0, GetBit(INdata[0], 3), GetBit(INdata[0], 4)); IO = GetBit(INdata[0], 3)+GetBit(INdata[0], 4); if((IO==1)&&(0<=TurnSpeed)&&(TurnSpeed<TURN_REV_LIMIT)&&(TURN==SIG)){ TurnSpeed = TurnSpeed + TURN_SLOPE; wait(TURN_ACCELERATION); } if(((IO==0)||(IO==2)||(TURN!=SIG))&&(0<TurnSpeed)&&(TurnSpeed<=TURN_REV_LIMIT)){ TurnSpeed = TurnSpeed - TURN_SLOPE; wait(TURN_ACCELERATION); }*/ //i = TurnSpeed; //pc.printf("%f, %d\n", i, IO); 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; } } void SW_saving(void){ IO = GetBit(INdata[0], 3)+GetBit(INdata[0], 4); SIG = LinkBit(0, 0, 0, 0, 0, 0, GetBit(INdata[0], 3), GetBit(INdata[0], 4)); } void Acceleration(void){ float i; SIG = LinkBit(0, 0, 0, 0, 0, 0, GetBit(INdata[0], 3), GetBit(INdata[0], 4)); IO = GetBit(INdata[0], 3)+GetBit(INdata[0], 4); 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)){ TurnSpeed = TurnSpeed + TURN_SLOPE; wait(TURN_ACCELERATION); } 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))){ TurnSpeed = TurnSpeed - TURN_SLOPE; wait(TURN_ACCELERATION); } i = TurnSpeed; pc.printf("%f, %d\n", i, IO); } void StopCatching(void){//停止 Hand[R][Close]=Hand[L][Close]=OFF; } void StopLeaving(void){//停止 Hand[R][Open]=Hand[L][Open]=OFF; } void StartCatching(void){//掴む(リミットスイッチが押されてなければ) if((!HandSW[R])&&(!HandSW[L])){ Hand[R][Close] = Hand[L][Close] = OFF; } else{ //Hand[R][Close]=Ninety[R]; //Hand[L][Close]=Ninety[L]; Hand[R][Close]=ON; Hand[L][Close]=ON; } } void StartLeaving(void){//離す(リミットスイッチが押されてなければ) Hand[R][Open]=OneEighty[R]; Hand[L][Open]=OneEighty[L]; } void RightCatch(void){//右腕のリミットスイッチ if((!HandSW[R])&&(!HandSW[L])){//どちらも押されたら停止 StopCatching();//停止 Touch.detach();//ワンショットタイマー停止 } } void LeftCatch(void){//左腕のリミットスイッチ if((!HandSW[R])&&(!HandSW[L])){//どちらも押されたら停止 StopCatching();//停止 Touch.detach();//ワンショットタイマー停止 } } void CenterCatch(void){//中央のリミットスイッチ if((!OneEighty[R])&&(!OneEighty[L])){ Touch.attach(StopCatching, TIME_LIMIT);//TIME_LIMIT[s]で停止 StartCatching(); LED=15; } } void illumination(void){//literally count++; LED = count; } 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; } 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)- return (n>>(bit-1))%2; } void SetUp(void){//literally mt.mode(PullUp); HandSpeed[R] = HandSpeed[L] = ARM_REV; TurnSpeed = TURN_REV; //flick.attach(illumination, .5); //Accelerator.attach(Acceleration, TURN_ACCELERATION); //Save.attach(SW_saving, 0.015625); HandSW[R].mode(PullUp); HandSW[L].mode(PullUp); HandSW[C].mode(PullUp); HandSW[R].fall(RightCatch); HandSW[L].fall(LeftCatch); HandSW[C].fall(CenterCatch); OneEighty[R].mode(PullUp); OneEighty[L].mode(PullUp); //Ninety[R].mode(PullUp); //Ninety[L].mode(PullUp); TurnSW[N].mode(PullUp); TurnSW[E].mode(PullUp); }