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Dependencies: MultiSerial mbed
main.cpp@4:541fdc451ab3, 2014-09-23 (annotated)
- Committer:
- lilac0112_1
- Date:
- Tue Sep 23 10:05:10 2014 +0000
- Revision:
- 4:541fdc451ab3
- Parent:
- 3:d4eff9dace7d
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| lilac0112_1 | 0:f38700ce12ea | 1 | #include "mbed.h" |
| lilac0112_1 | 4:541fdc451ab3 | 2 | #include "MultiSerial.h" |
| lilac0112_1 | 3:d4eff9dace7d | 3 | |
| lilac0112_1 | 4:541fdc451ab3 | 4 | #define KEYCODE 0xAA |
| lilac0112_1 | 4:541fdc451ab3 | 5 | #define DATA_NUM 1 //DATA_NUM[byte]通信 |
| lilac0112_1 | 4:541fdc451ab3 | 6 | #define TIME_LIMIT 1.0//腕が閉まっても動けるのはTIME_LIMIT[s]まで |
| lilac0112_1 | 4:541fdc451ab3 | 7 | #define ARM_REV 1.0 |
| lilac0112_1 | 4:541fdc451ab3 | 8 | #define TURN_REV 0.25 |
| lilac0112_1 | 4:541fdc451ab3 | 9 | |
| lilac0112_1 | 4:541fdc451ab3 | 10 | uint8_t INdata[DATA_NUM]={0}, EXdata[DATA_NUM]={0}; |
| lilac0112_1 | 4:541fdc451ab3 | 11 | volatile uint8_t count=0; |
| lilac0112_1 | 4:541fdc451ab3 | 12 | |
| lilac0112_1 | 4:541fdc451ab3 | 13 | enum Logic{OFF=0, ON};//殆どはモーターのON，OFFに使う |
| lilac0112_1 | 4:541fdc451ab3 | 14 | enum Arm{R=0, L, C};//右腕と左腕 |
| lilac0112_1 | 4:541fdc451ab3 | 15 | enum Clip{Open=0, Close};//開ける動作と閉める動作 |
| lilac0112_1 | 4:541fdc451ab3 | 16 | enum Revolution{CW=0, CCW};//正回転，逆回転(上体回転) |
| lilac0112_1 | 4:541fdc451ab3 | 17 | enum Compass{N=0, E, W, S};//マシンの回転 |
| lilac0112_1 | 4:541fdc451ab3 | 18 | |
| lilac0112_1 | 4:541fdc451ab3 | 19 | BusOut LED(LED1, LED2, LED3, LED4);//確認用 |
| lilac0112_1 | 4:541fdc451ab3 | 20 | BusIn mt(p19, p20, p17, p18); |
| lilac0112_1 | 4:541fdc451ab3 | 21 | //DigitalIn Ninety[2]={p5, p6};//R, L |
| lilac0112_1 | 4:541fdc451ab3 | 22 | DigitalIn OneEighty[2]={p5, p6};//R, L |
| lilac0112_1 | 4:541fdc451ab3 | 23 | InterruptIn HandSW[3]={p7, p8, p9};//p14, p15, p16//R, L, C |
| lilac0112_1 | 4:541fdc451ab3 | 24 | DigitalIn TurnSW[2]={p11, p12};// |
| lilac0112_1 | 4:541fdc451ab3 | 25 | PwmOut HandSpeed[2]={p23, p24}; |
| lilac0112_1 | 4:541fdc451ab3 | 26 | PwmOut TurnSpeed(p22);//p22 |
| lilac0112_1 | 4:541fdc451ab3 | 27 | DigitalOut Hand[2][2]={{p28, p27}, {p26, p25}};//{p17, p18}, {p19, p20} |
| lilac0112_1 | 4:541fdc451ab3 | 28 | //ex)Hand[R][Close]=ON; |
| lilac0112_1 | 4:541fdc451ab3 | 29 | DigitalOut Turn[2]={p29, p30};//p29, p30 |
| lilac0112_1 | 4:541fdc451ab3 | 30 | //ex)Turn[CW]=ON; |
| lilac0112_1 | 4:541fdc451ab3 | 31 | Serial pc(USBTX, USBRX); |
| lilac0112_1 | 4:541fdc451ab3 | 32 | MultiSerial Xbee(p13, p14, read); |
| lilac0112_1 | 4:541fdc451ab3 | 33 | Ticker flick; |
| lilac0112_1 | 4:541fdc451ab3 | 34 | Timeout Touch;//腕で掴むときの安全対策 |
| lilac0112_1 | 4:541fdc451ab3 | 35 | |
| lilac0112_1 | 4:541fdc451ab3 | 36 | void StopCatching(void);//literally |
| lilac0112_1 | 4:541fdc451ab3 | 37 | void StopLeaving(void);//literally |
| lilac0112_1 | 4:541fdc451ab3 | 38 | void StartCatching(void);//literally |
| lilac0112_1 | 4:541fdc451ab3 | 39 | void StartLeaving(void);//literally |
| lilac0112_1 | 4:541fdc451ab3 | 40 | void RightCatch(void);//右腕のリミットスイッチ |
| lilac0112_1 | 4:541fdc451ab3 | 41 | void LeftCatch(void);//左腕のリミットスイッチ |
| lilac0112_1 | 4:541fdc451ab3 | 42 | void CenterCatch(void);//中央のリミットスイッチ |
| lilac0112_1 | 4:541fdc451ab3 | 43 | void illumination(void);//literally |
| lilac0112_1 | 4:541fdc451ab3 | 44 | void SetUp(void);//literally |
| lilac0112_1 | 4:541fdc451ab3 | 45 | bool GetBit(uint8_t n, uint8_t bit);//literally |
| lilac0112_1 | 3:d4eff9dace7d | 46 | |
| lilac0112_1 | 0:f38700ce12ea | 47 | int main(void) { |
| lilac0112_1 | 3:d4eff9dace7d | 48 | |
| lilac0112_1 | 3:d4eff9dace7d | 49 | SetUp(); |
| lilac0112_1 | 3:d4eff9dace7d | 50 | |
| lilac0112_1 | 0:f38700ce12ea | 51 | while(1) { |
| lilac0112_1 | 3:d4eff9dace7d | 52 | |
| lilac0112_1 | 4:541fdc451ab3 | 53 | //INdata[0] = ~mt; |
| lilac0112_1 | 3:d4eff9dace7d | 54 | |
| lilac0112_1 | 4:541fdc451ab3 | 55 | if(GetBit(INdata[0], 2)==OFF) StopLeaving();//停止 |
| lilac0112_1 | 3:d4eff9dace7d | 56 | |
| lilac0112_1 | 4:541fdc451ab3 | 57 | if((GetBit(INdata[0], 1)+GetBit(INdata[0], 2))==1){//同時押し防止 |
| lilac0112_1 | 4:541fdc451ab3 | 58 | 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 | 4:541fdc451ab3 | 59 | if(GetBit(INdata[0], 2)==true){//腕を広げる動作はマニュアル操作 |
| lilac0112_1 | 0:f38700ce12ea | 60 | StopCatching();//停止 |
| lilac0112_1 | 0:f38700ce12ea | 61 | Touch.detach();//ワンショットタイマー停止 |
| lilac0112_1 | 4:541fdc451ab3 | 62 | Hand[R][Open] = GetBit(INdata[0], 2)&&OneEighty[R]; |
| lilac0112_1 | 4:541fdc451ab3 | 63 | Hand[L][Open] = GetBit(INdata[0], 2)&&OneEighty[L]; |
| lilac0112_1 | 0:f38700ce12ea | 64 | } |
| lilac0112_1 | 0:f38700ce12ea | 65 | } |
| lilac0112_1 | 3:d4eff9dace7d | 66 | |
| lilac0112_1 | 3:d4eff9dace7d | 67 | 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 | 3:d4eff9dace7d | 68 | StopCatching();//停止 |
| lilac0112_1 | 3:d4eff9dace7d | 69 | Touch.detach();//ワンショットタイマー停止 |
| lilac0112_1 | 3:d4eff9dace7d | 70 | } |
| lilac0112_1 | 4:541fdc451ab3 | 71 | |
| lilac0112_1 | 4:541fdc451ab3 | 72 | if(!OneEighty[R]) Hand[R][Open]=OFF; |
| lilac0112_1 | 4:541fdc451ab3 | 73 | if(!OneEighty[L]) Hand[L][Open]=OFF; |
| lilac0112_1 | 4:541fdc451ab3 | 74 | //if(!Ninety[R]) Hand[R][Close]=OFF; |
| lilac0112_1 | 4:541fdc451ab3 | 75 | //if(!Ninety[L]) Hand[L][Close]=OFF; |
| lilac0112_1 | 4:541fdc451ab3 | 76 | |
| lilac0112_1 | 4:541fdc451ab3 | 77 | //if((!Ninety[R])&&(!Ninety[L])){//どちらも押されたら停止 |
| lilac0112_1 | 4:541fdc451ab3 | 78 | // StopCatching();//停止 |
| lilac0112_1 | 4:541fdc451ab3 | 79 | // Touch.detach();//ワンショットタイマー停止 |
| lilac0112_1 | 4:541fdc451ab3 | 80 | //} |
| lilac0112_1 | 4:541fdc451ab3 | 81 | |
| lilac0112_1 | 4:541fdc451ab3 | 82 | LED = ((0x01 * !HandSW[R]) | (0x02 * !HandSW[L]) | (0x04 * !HandSW[C]) | (0x08 * ((!OneEighty[R])&&(!OneEighty[L])) )); |
| lilac0112_1 | 4:541fdc451ab3 | 83 | |
| lilac0112_1 | 0:f38700ce12ea | 84 | //上体回転 |
| lilac0112_1 | 3:d4eff9dace7d | 85 | |
| lilac0112_1 | 4:541fdc451ab3 | 86 | if(GetBit(INdata[0], 3)==OFF) Turn[CW] = OFF;//停止 |
| lilac0112_1 | 4:541fdc451ab3 | 87 | if(GetBit(INdata[0], 4)==OFF) Turn[CCW] = OFF;//停止 |
| lilac0112_1 | 3:d4eff9dace7d | 88 | |
| lilac0112_1 | 4:541fdc451ab3 | 89 | if((GetBit(INdata[0], 3)+GetBit(INdata[0], 4))==1){//同時押し防止 |
| lilac0112_1 | 3:d4eff9dace7d | 90 | |
| lilac0112_1 | 4:541fdc451ab3 | 91 | 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 | 4:541fdc451ab3 | 92 | 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 | 4:541fdc451ab3 | 93 | |
| lilac0112_1 | 0:f38700ce12ea | 94 | } |
| lilac0112_1 | 0:f38700ce12ea | 95 | } |
| lilac0112_1 | 0:f38700ce12ea | 96 | } |
| lilac0112_1 | 4:541fdc451ab3 | 97 | |
| lilac0112_1 | 4:541fdc451ab3 | 98 | void StopCatching(void){//停止 |
| lilac0112_1 | 4:541fdc451ab3 | 99 | Hand[R][Close]=Hand[L][Close]=OFF; |
| lilac0112_1 | 4:541fdc451ab3 | 100 | } |
| lilac0112_1 | 4:541fdc451ab3 | 101 | void StopLeaving(void){//停止 |
| lilac0112_1 | 4:541fdc451ab3 | 102 | Hand[R][Open]=Hand[L][Open]=OFF; |
| lilac0112_1 | 4:541fdc451ab3 | 103 | } |
| lilac0112_1 | 4:541fdc451ab3 | 104 | void StartCatching(void){//掴む（リミットスイッチが押されてなければ） |
| lilac0112_1 | 4:541fdc451ab3 | 105 | |
| lilac0112_1 | 4:541fdc451ab3 | 106 | if((!HandSW[R])&&(!HandSW[L])){ |
| lilac0112_1 | 4:541fdc451ab3 | 107 | Hand[R][Close] = Hand[L][Close] = OFF; |
| lilac0112_1 | 4:541fdc451ab3 | 108 | } |
| lilac0112_1 | 4:541fdc451ab3 | 109 | else{ |
| lilac0112_1 | 4:541fdc451ab3 | 110 | |
| lilac0112_1 | 4:541fdc451ab3 | 111 | //Hand[R][Close]=Ninety[R]; |
| lilac0112_1 | 4:541fdc451ab3 | 112 | //Hand[L][Close]=Ninety[L]; |
| lilac0112_1 | 4:541fdc451ab3 | 113 | |
| lilac0112_1 | 4:541fdc451ab3 | 114 | Hand[R][Close]=ON; |
| lilac0112_1 | 4:541fdc451ab3 | 115 | Hand[L][Close]=ON; |
| lilac0112_1 | 4:541fdc451ab3 | 116 | |
| lilac0112_1 | 4:541fdc451ab3 | 117 | } |
| lilac0112_1 | 3:d4eff9dace7d | 118 | |
| lilac0112_1 | 4:541fdc451ab3 | 119 | } |
| lilac0112_1 | 4:541fdc451ab3 | 120 | void StartLeaving(void){//離す（リミットスイッチが押されてなければ） |
| lilac0112_1 | 4:541fdc451ab3 | 121 | Hand[R][Open]=OneEighty[R]; |
| lilac0112_1 | 4:541fdc451ab3 | 122 | Hand[L][Open]=OneEighty[L]; |
| lilac0112_1 | 4:541fdc451ab3 | 123 | } |
| lilac0112_1 | 4:541fdc451ab3 | 124 | void RightCatch(void){//右腕のリミットスイッチ |
| lilac0112_1 | 4:541fdc451ab3 | 125 | if((!HandSW[R])&&(!HandSW[L])){//どちらも押されたら停止 |
| lilac0112_1 | 4:541fdc451ab3 | 126 | StopCatching();//停止 |
| lilac0112_1 | 4:541fdc451ab3 | 127 | Touch.detach();//ワンショットタイマー停止 |
| lilac0112_1 | 4:541fdc451ab3 | 128 | } |
| lilac0112_1 | 4:541fdc451ab3 | 129 | } |
| lilac0112_1 | 4:541fdc451ab3 | 130 | void LeftCatch(void){//左腕のリミットスイッチ |
| lilac0112_1 | 4:541fdc451ab3 | 131 | if((!HandSW[R])&&(!HandSW[L])){//どちらも押されたら停止 |
| lilac0112_1 | 4:541fdc451ab3 | 132 | StopCatching();//停止 |
| lilac0112_1 | 4:541fdc451ab3 | 133 | Touch.detach();//ワンショットタイマー停止 |
| lilac0112_1 | 4:541fdc451ab3 | 134 | } |
| lilac0112_1 | 4:541fdc451ab3 | 135 | } |
| lilac0112_1 | 4:541fdc451ab3 | 136 | void CenterCatch(void){//中央のリミットスイッチ |
| lilac0112_1 | 4:541fdc451ab3 | 137 | |
| lilac0112_1 | 4:541fdc451ab3 | 138 | if((!OneEighty[R])&&(!OneEighty[L])){ |
| lilac0112_1 | 4:541fdc451ab3 | 139 | Touch.attach(StopCatching, TIME_LIMIT);//TIME_LIMIT[s]で停止 |
| lilac0112_1 | 4:541fdc451ab3 | 140 | StartCatching(); |
| lilac0112_1 | 4:541fdc451ab3 | 141 | } |
| lilac0112_1 | 4:541fdc451ab3 | 142 | |
| lilac0112_1 | 4:541fdc451ab3 | 143 | } |
| lilac0112_1 | 4:541fdc451ab3 | 144 | void illumination(void){//literally |
| lilac0112_1 | 4:541fdc451ab3 | 145 | count++; |
| lilac0112_1 | 4:541fdc451ab3 | 146 | LED = count; |
| lilac0112_1 | 4:541fdc451ab3 | 147 | } |
| lilac0112_1 | 4:541fdc451ab3 | 148 | void SetUp(void){//literally |
| lilac0112_1 | 3:d4eff9dace7d | 149 | |
| lilac0112_1 | 3:d4eff9dace7d | 150 | mt.mode(PullUp); |
| lilac0112_1 | 3:d4eff9dace7d | 151 | |
| lilac0112_1 | 4:541fdc451ab3 | 152 | HandSpeed[R] = HandSpeed[L] = ARM_REV; |
| lilac0112_1 | 4:541fdc451ab3 | 153 | TurnSpeed = TURN_REV; |
| lilac0112_1 | 4:541fdc451ab3 | 154 | |
| lilac0112_1 | 4:541fdc451ab3 | 155 | //flick.attach(illumination, .5); |
| lilac0112_1 | 3:d4eff9dace7d | 156 | |
| lilac0112_1 | 3:d4eff9dace7d | 157 | HandSW[R].mode(PullUp); |
| lilac0112_1 | 3:d4eff9dace7d | 158 | HandSW[L].mode(PullUp); |
| lilac0112_1 | 3:d4eff9dace7d | 159 | HandSW[C].mode(PullUp); |
| lilac0112_1 | 4:541fdc451ab3 | 160 | HandSW[R].fall(RightCatch); |
| lilac0112_1 | 4:541fdc451ab3 | 161 | HandSW[L].fall(LeftCatch); |
| lilac0112_1 | 4:541fdc451ab3 | 162 | HandSW[C].fall(CenterCatch); |
| lilac0112_1 | 4:541fdc451ab3 | 163 | |
| lilac0112_1 | 4:541fdc451ab3 | 164 | OneEighty[R].mode(PullUp); |
| lilac0112_1 | 4:541fdc451ab3 | 165 | OneEighty[L].mode(PullUp); |
| lilac0112_1 | 4:541fdc451ab3 | 166 | //Ninety[R].mode(PullUp); |
| lilac0112_1 | 4:541fdc451ab3 | 167 | //Ninety[L].mode(PullUp); |
| lilac0112_1 | 3:d4eff9dace7d | 168 | |
| lilac0112_1 | 4:541fdc451ab3 | 169 | TurnSW[N].mode(PullUp); |
| lilac0112_1 | 4:541fdc451ab3 | 170 | TurnSW[E].mode(PullUp); |
| lilac0112_1 | 3:d4eff9dace7d | 171 | |
| lilac0112_1 | 4:541fdc451ab3 | 172 | Xbee.read_data(INdata, KEYCODE); |
| lilac0112_1 | 4:541fdc451ab3 | 173 | } |
| lilac0112_1 | 4:541fdc451ab3 | 174 | 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 | 4:541fdc451ab3 | 175 | return (n>>(bit-1))%2; |
| lilac0112_1 | 4:541fdc451ab3 | 176 | } |