腕のプログラムです.
Dependencies: mbed TextLCD MultiSerial Pswitch
main.cpp@11:1ee158b83f3f, 2014-10-16 (annotated)
- Committer:
- lilac0112_1
- Date:
- Thu Oct 16 23:25:51 2014 +0000
- Revision:
- 11:1ee158b83f3f
- Parent:
- 10:557c74f2bdee
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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 | 11:1ee158b83f3f | 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 | 9:8543cb951a70 | 10 | #define ARM_LIMIT_REV 0.5// |
lilac0112_1 | 11:1ee158b83f3f | 11 | |
lilac0112_1 | 9:8543cb951a70 | 12 | #define TURN_REV 0.5//回転の初期PWM値 |
lilac0112_1 | 9:8543cb951a70 | 13 | #define FIX_REV 0.2 |
lilac0112_1 | 7:c418a0d929b1 | 14 | |
lilac0112_1 | 4:1102ab499430 | 15 | uint8_t INdata[DATA_NUM]={0}, EXdata[DATA_NUM]={0}; |
lilac0112_1 | 4:1102ab499430 | 16 | uint8_t data[DATA_NUM]; |
lilac0112_1 | 9:8543cb951a70 | 17 | bool Interrupt=0; |
lilac0112_1 | 9:8543cb951a70 | 18 | bool IO[2]={0}; |
lilac0112_1 | 9:8543cb951a70 | 19 | bool FIX=0; |
lilac0112_1 | 11:1ee158b83f3f | 20 | |
lilac0112_1 | 1:006debaed874 | 21 | enum Logic{OFF=0, ON};//殆どはモーターのON,OFFに使う |
lilac0112_1 | 1:006debaed874 | 22 | enum Arm{R=0, L, C};//右腕と左腕 |
lilac0112_1 | 1:006debaed874 | 23 | enum Clip{Open=0, Close};//開ける動作と閉める動作 |
lilac0112_1 | 2:eb1c123c9140 | 24 | enum Revolution{CW=0, CCW};//正回転,逆回転(上体回転) |
lilac0112_1 | 2:eb1c123c9140 | 25 | enum Compass{N=0, E, W, S};//マシンの回転 |
lilac0112_1 | 7:c418a0d929b1 | 26 | |
lilac0112_1 | 0:4baeb4381394 | 27 | BusOut LED(LED1, LED2, LED3, LED4);//確認用 |
lilac0112_1 | 9:8543cb951a70 | 28 | BusIn mt(p5, p6, p7, p8);//確認用 |
lilac0112_1 | 11:1ee158b83f3f | 29 | //MultiSerial servo_mbed(p9, p10); |
lilac0112_1 | 9:8543cb951a70 | 30 | MultiSerial leg_mbed(p13,p14); |
lilac0112_1 | 11:1ee158b83f3f | 31 | |
lilac0112_1 | 5:c2a278842131 | 32 | DigitalIn OneEighty[2]={p18, p19};//R, L |
lilac0112_1 | 9:8543cb951a70 | 33 | Pswitch HandSW[3]={p15, p16, p17};//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 | 9:8543cb951a70 | 36 | PwmOut TurnSpeed(p22); |
lilac0112_1 | 9:8543cb951a70 | 37 | DigitalOut Hand[2][2]={{p28, p27}, {p26, p25}}; |
lilac0112_1 | 0:4baeb4381394 | 38 | //ex)Hand[R][Close]=ON; |
lilac0112_1 | 9:8543cb951a70 | 39 | DigitalOut Turn[2]={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 | 11:1ee158b83f3f | 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 | 9:8543cb951a70 | 51 | void display_LED(int kind);//start display LED |
lilac0112_1 | 4:1102ab499430 | 52 | uint8_t LinkBit(bool eight, bool seven, bool six, bool five, bool fore, bool three, bool two, bool one); |
lilac0112_1 | 4:1102ab499430 | 53 | bool GetBit(uint8_t n, uint8_t bit); |
lilac0112_1 | 1:006debaed874 | 54 | void SetUp(void);//literally |
lilac0112_1 | 7:c418a0d929b1 | 55 | |
lilac0112_1 | 7:c418a0d929b1 | 56 | |
lilac0112_1 | 1:006debaed874 | 57 | int main(void) { |
lilac0112_1 | 1:006debaed874 | 58 | |
lilac0112_1 | 11:1ee158b83f3f | 59 | SetUp(); |
lilac0112_1 | 11:1ee158b83f3f | 60 | |
lilac0112_1 | 11:1ee158b83f3f | 61 | leg_mbed.start_read(); |
lilac0112_1 | 11:1ee158b83f3f | 62 | leg_mbed.read_data(data,KEYCODE); |
lilac0112_1 | 11:1ee158b83f3f | 63 | |
lilac0112_1 | 11:1ee158b83f3f | 64 | //servo_mbed.start_write(); |
lilac0112_1 | 11:1ee158b83f3f | 65 | //servo_mbed.write_data(INdata,KEYCODE); |
lilac0112_1 | 11:1ee158b83f3f | 66 | |
lilac0112_1 | 11:1ee158b83f3f | 67 | display_LED(1); |
lilac0112_1 | 9:8543cb951a70 | 68 | |
lilac0112_1 | 11:1ee158b83f3f | 69 | leg_mbed.check_rx_wait(); |
lilac0112_1 | 1:006debaed874 | 70 | |
lilac0112_1 | 1:006debaed874 | 71 | while(1) { |
lilac0112_1 | 1:006debaed874 | 72 | |
lilac0112_1 | 11:1ee158b83f3f | 73 | INdata[0] = data[0]; |
lilac0112_1 | 11:1ee158b83f3f | 74 | //INdata[0] = ~mt; |
lilac0112_1 | 7:c418a0d929b1 | 75 | |
lilac0112_1 | 9:8543cb951a70 | 76 | LED = INdata[0]; |
lilac0112_1 | 9:8543cb951a70 | 77 | |
lilac0112_1 | 9:8543cb951a70 | 78 | //腕 |
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 | 11:1ee158b83f3f | 84 | //if(GetBit(INdata[0], 1)&&GetBit(INdata[0], 2)) StopCatching(), StopLeaving(), Touch.detach(), Interrupt=OFF; |
lilac0112_1 | 9:8543cb951a70 | 85 | |
lilac0112_1 | 4:1102ab499430 | 86 | if((GetBit(INdata[0], 1)+GetBit(INdata[0], 2))==1){//同時押し防止 |
lilac0112_1 | 7:c418a0d929b1 | 87 | 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 | 88 | 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 | 89 | StopCatching();//停止 |
lilac0112_1 | 1:006debaed874 | 90 | Touch.detach();//ワンショットタイマー停止 |
lilac0112_1 | 7:c418a0d929b1 | 91 | Interrupt=OFF; |
lilac0112_1 | 4:1102ab499430 | 92 | Hand[R][Open] = GetBit(INdata[0], 2)&&OneEighty[R]; |
lilac0112_1 | 4:1102ab499430 | 93 | Hand[L][Open] = GetBit(INdata[0], 2)&&OneEighty[L]; |
lilac0112_1 | 1:006debaed874 | 94 | } |
lilac0112_1 | 1:006debaed874 | 95 | } |
lilac0112_1 | 1:006debaed874 | 96 | |
lilac0112_1 | 1:006debaed874 | 97 | 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 | 98 | StopCatching();//停止 |
lilac0112_1 | 1:006debaed874 | 99 | Touch.detach();//ワンショットタイマー停止 |
lilac0112_1 | 7:c418a0d929b1 | 100 | Interrupt=OFF; |
lilac0112_1 | 1:006debaed874 | 101 | } |
lilac0112_1 | 1:006debaed874 | 102 | |
lilac0112_1 | 2:eb1c123c9140 | 103 | if(!OneEighty[R]) Hand[R][Open]=OFF; |
lilac0112_1 | 2:eb1c123c9140 | 104 | if(!OneEighty[L]) Hand[L][Open]=OFF; |
lilac0112_1 | 7:c418a0d929b1 | 105 | |
lilac0112_1 | 7:c418a0d929b1 | 106 | if(!HandSW[R]) Hand[R][Close]=OFF; |
lilac0112_1 | 7:c418a0d929b1 | 107 | if(!HandSW[L]) Hand[L][Close]=OFF; |
lilac0112_1 | 2:eb1c123c9140 | 108 | |
lilac0112_1 | 7:c418a0d929b1 | 109 | if(HandSW[R].count() > 0){ |
lilac0112_1 | 7:c418a0d929b1 | 110 | RightCatch(); |
lilac0112_1 | 7:c418a0d929b1 | 111 | } |
lilac0112_1 | 7:c418a0d929b1 | 112 | if(HandSW[L].count() > 0){ |
lilac0112_1 | 7:c418a0d929b1 | 113 | LeftCatch(); |
lilac0112_1 | 7:c418a0d929b1 | 114 | } |
lilac0112_1 | 7:c418a0d929b1 | 115 | if(HandSW[C].count() > 0){ |
lilac0112_1 | 11:1ee158b83f3f | 116 | CenterCatch(); |
lilac0112_1 | 7:c418a0d929b1 | 117 | } |
lilac0112_1 | 2:eb1c123c9140 | 118 | |
lilac0112_1 | 2:eb1c123c9140 | 119 | //上体回転 |
lilac0112_1 | 2:eb1c123c9140 | 120 | |
lilac0112_1 | 8:4f9c4b791bfe | 121 | if(GetBit(INdata[0], 3)==OFF) Turn[CW] = OFF;//停止 |
lilac0112_1 | 8:4f9c4b791bfe | 122 | if(GetBit(INdata[0], 4)==OFF) Turn[CCW] = OFF;//停止 |
lilac0112_1 | 7:c418a0d929b1 | 123 | |
lilac0112_1 | 11:1ee158b83f3f | 124 | //if(GetBit(INdata[0], 3)&&GetBit(INdata[0], 4)) Turn[CW]=Turn[CCW]=OFF; |
lilac0112_1 | 9:8543cb951a70 | 125 | |
lilac0112_1 | 8:4f9c4b791bfe | 126 | if((GetBit(INdata[0], 3)+GetBit(INdata[0], 4))==1){//同時押し防止 |
lilac0112_1 | 4:1102ab499430 | 127 | |
lilac0112_1 | 4:1102ab499430 | 128 | 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 | 129 | 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 | 130 | |
lilac0112_1 | 2:eb1c123c9140 | 131 | } |
lilac0112_1 | 5:c2a278842131 | 132 | |
lilac0112_1 | 9:8543cb951a70 | 133 | if(!TurnSW[N]) Turn[CW]=OFF, FIX=ON;//リミットスイッチによる停止 |
lilac0112_1 | 9:8543cb951a70 | 134 | if(!TurnSW[E]) Turn[CCW]=OFF, FIX=ON; |
lilac0112_1 | 4:1102ab499430 | 135 | |
lilac0112_1 | 4:1102ab499430 | 136 | |
lilac0112_1 | 1:006debaed874 | 137 | } |
lilac0112_1 | 1:006debaed874 | 138 | } |
lilac0112_1 | 0:4baeb4381394 | 139 | void StopCatching(void){//停止 |
lilac0112_1 | 0:4baeb4381394 | 140 | Hand[R][Close]=Hand[L][Close]=OFF; |
lilac0112_1 | 7:c418a0d929b1 | 141 | if(Interrupt==ON) Interrupt=OFF; |
lilac0112_1 | 0:4baeb4381394 | 142 | } |
lilac0112_1 | 0:4baeb4381394 | 143 | void StopLeaving(void){//停止 |
lilac0112_1 | 0:4baeb4381394 | 144 | Hand[R][Open]=Hand[L][Open]=OFF; |
lilac0112_1 | 0:4baeb4381394 | 145 | } |
lilac0112_1 | 2:eb1c123c9140 | 146 | 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 | 147 | |
lilac0112_1 | 9:8543cb951a70 | 148 | HandSpeed[R] = HandSpeed[L] = ARM_REV; |
lilac0112_1 | 9:8543cb951a70 | 149 | |
lilac0112_1 | 7:c418a0d929b1 | 150 | if(GetBit(INdata[0], 1)==true){ |
lilac0112_1 | 7:c418a0d929b1 | 151 | Hand[R][Close]=HandSW[R]; |
lilac0112_1 | 7:c418a0d929b1 | 152 | Hand[L][Close]=HandSW[L]; |
lilac0112_1 | 7:c418a0d929b1 | 153 | } |
lilac0112_1 | 7:c418a0d929b1 | 154 | |
lilac0112_1 | 7:c418a0d929b1 | 155 | if((!HandSW[R])&&(!HandSW[L])){ |
lilac0112_1 | 2:eb1c123c9140 | 156 | Hand[R][Close] = Hand[L][Close] = OFF; |
lilac0112_1 | 2:eb1c123c9140 | 157 | } |
lilac0112_1 | 2:eb1c123c9140 | 158 | else{ |
lilac0112_1 | 2:eb1c123c9140 | 159 | |
lilac0112_1 | 2:eb1c123c9140 | 160 | Hand[R][Close]=ON; |
lilac0112_1 | 2:eb1c123c9140 | 161 | Hand[L][Close]=ON; |
lilac0112_1 | 2:eb1c123c9140 | 162 | |
lilac0112_1 | 2:eb1c123c9140 | 163 | } |
lilac0112_1 | 2:eb1c123c9140 | 164 | |
lilac0112_1 | 0:4baeb4381394 | 165 | } |
lilac0112_1 | 2:eb1c123c9140 | 166 | void StartLeaving(void){//離す(リミットスイッチが押されてなければ) |
lilac0112_1 | 9:8543cb951a70 | 167 | |
lilac0112_1 | 9:8543cb951a70 | 168 | HandSpeed[R] = HandSpeed[L] = ARM_LIMIT_REV; |
lilac0112_1 | 9:8543cb951a70 | 169 | |
lilac0112_1 | 2:eb1c123c9140 | 170 | Hand[R][Open]=OneEighty[R]; |
lilac0112_1 | 2:eb1c123c9140 | 171 | Hand[L][Open]=OneEighty[L]; |
lilac0112_1 | 0:4baeb4381394 | 172 | } |
lilac0112_1 | 0:4baeb4381394 | 173 | void RightCatch(void){//右腕のリミットスイッチ |
lilac0112_1 | 7:c418a0d929b1 | 174 | |
lilac0112_1 | 7:c418a0d929b1 | 175 | Hand[R][Close] = OFF; |
lilac0112_1 | 7:c418a0d929b1 | 176 | |
lilac0112_1 | 0:4baeb4381394 | 177 | if((!HandSW[R])&&(!HandSW[L])){//どちらも押されたら停止 |
lilac0112_1 | 0:4baeb4381394 | 178 | StopCatching();//停止 |
lilac0112_1 | 0:4baeb4381394 | 179 | Touch.detach();//ワンショットタイマー停止 |
lilac0112_1 | 7:c418a0d929b1 | 180 | Interrupt=OFF; |
lilac0112_1 | 0:4baeb4381394 | 181 | } |
lilac0112_1 | 0:4baeb4381394 | 182 | } |
lilac0112_1 | 0:4baeb4381394 | 183 | void LeftCatch(void){//左腕のリミットスイッチ |
lilac0112_1 | 7:c418a0d929b1 | 184 | |
lilac0112_1 | 7:c418a0d929b1 | 185 | Hand[L][Close] = OFF; |
lilac0112_1 | 7:c418a0d929b1 | 186 | |
lilac0112_1 | 0:4baeb4381394 | 187 | if((!HandSW[R])&&(!HandSW[L])){//どちらも押されたら停止 |
lilac0112_1 | 0:4baeb4381394 | 188 | StopCatching();//停止 |
lilac0112_1 | 0:4baeb4381394 | 189 | Touch.detach();//ワンショットタイマー停止 |
lilac0112_1 | 7:c418a0d929b1 | 190 | Interrupt=OFF; |
lilac0112_1 | 0:4baeb4381394 | 191 | } |
lilac0112_1 | 0:4baeb4381394 | 192 | } |
lilac0112_1 | 0:4baeb4381394 | 193 | void CenterCatch(void){//中央のリミットスイッチ |
lilac0112_1 | 7:c418a0d929b1 | 194 | |
lilac0112_1 | 2:eb1c123c9140 | 195 | if((!OneEighty[R])&&(!OneEighty[L])){ |
lilac0112_1 | 9:8543cb951a70 | 196 | if(GetBit(INdata[0], 1)==false){ |
lilac0112_1 | 9:8543cb951a70 | 197 | Interrupt=ON; |
lilac0112_1 | 9:8543cb951a70 | 198 | Touch.attach(StopCatching, TIME_LIMIT);//TIME_LIMIT[s]で停止 |
lilac0112_1 | 9:8543cb951a70 | 199 | StartCatching(); |
lilac0112_1 | 9:8543cb951a70 | 200 | } |
lilac0112_1 | 2:eb1c123c9140 | 201 | } |
lilac0112_1 | 7:c418a0d929b1 | 202 | if(GetBit(INdata[0], 1)==true){ |
lilac0112_1 | 7:c418a0d929b1 | 203 | StartCatching(); |
lilac0112_1 | 7:c418a0d929b1 | 204 | } |
lilac0112_1 | 0:4baeb4381394 | 205 | } |
lilac0112_1 | 11:1ee158b83f3f | 206 | |
lilac0112_1 | 9:8543cb951a70 | 207 | void display_LED(int kind){/*start display LED*/ |
lilac0112_1 | 11:1ee158b83f3f | 208 | |
lilac0112_1 | 9:8543cb951a70 | 209 | switch(kind) { |
lilac0112_1 | 11:1ee158b83f3f | 210 | |
lilac0112_1 | 9:8543cb951a70 | 211 | case 0: //err check |
lilac0112_1 | 9:8543cb951a70 | 212 | LED = 0xA; |
lilac0112_1 | 9:8543cb951a70 | 213 | wait(0.5); |
lilac0112_1 | 9:8543cb951a70 | 214 | LED = 0x5; |
lilac0112_1 | 9:8543cb951a70 | 215 | wait(0.5); |
lilac0112_1 | 11:1ee158b83f3f | 216 | |
lilac0112_1 | 9:8543cb951a70 | 217 | break; |
lilac0112_1 | 11:1ee158b83f3f | 218 | |
lilac0112_1 | 9:8543cb951a70 | 219 | case 1: |
lilac0112_1 | 9:8543cb951a70 | 220 | // |
lilac0112_1 | 9:8543cb951a70 | 221 | LED = 0xF; |
lilac0112_1 | 9:8543cb951a70 | 222 | wait(0.5); |
lilac0112_1 | 9:8543cb951a70 | 223 | LED = 0; |
lilac0112_1 | 9:8543cb951a70 | 224 | wait(0.5); |
lilac0112_1 | 9:8543cb951a70 | 225 | break; |
lilac0112_1 | 9:8543cb951a70 | 226 | } |
lilac0112_1 | 9:8543cb951a70 | 227 | } |
lilac0112_1 | 4:1102ab499430 | 228 | uint8_t LinkBit(bool eight, bool seven, bool six, bool five, bool fore, bool three, bool two, bool one){ |
lilac0112_1 | 4:1102ab499430 | 229 | return 0x80*eight + 0x40*seven + 0x20*six + 0x10*five + 0x08*fore + 0x04*three + 0x02*two + 0x01*one; |
lilac0112_1 | 4:1102ab499430 | 230 | } |
lilac0112_1 | 4:1102ab499430 | 231 | 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 | 232 | return (n>>(bit-1))%2; |
lilac0112_1 | 4:1102ab499430 | 233 | } |
lilac0112_1 | 1:006debaed874 | 234 | void SetUp(void){//literally |
lilac0112_1 | 1:006debaed874 | 235 | |
lilac0112_1 | 5:c2a278842131 | 236 | mt.mode(PullUp); |
lilac0112_1 | 1:006debaed874 | 237 | |
lilac0112_1 | 1:006debaed874 | 238 | HandSpeed[R] = HandSpeed[L] = ARM_REV; |
lilac0112_1 | 8:4f9c4b791bfe | 239 | TurnSpeed = TURN_REV; |
lilac0112_1 | 1:006debaed874 | 240 | |
lilac0112_1 | 2:eb1c123c9140 | 241 | OneEighty[R].mode(PullUp); |
lilac0112_1 | 2:eb1c123c9140 | 242 | OneEighty[L].mode(PullUp); |
lilac0112_1 | 2:eb1c123c9140 | 243 | |
lilac0112_1 | 2:eb1c123c9140 | 244 | TurnSW[N].mode(PullUp); |
lilac0112_1 | 2:eb1c123c9140 | 245 | TurnSW[E].mode(PullUp); |
lilac0112_1 | 2:eb1c123c9140 | 246 | |
lilac0112_1 | 11:1ee158b83f3f | 247 | } |