Bチーム / Mbed 2 deprecated receiverA

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Dependencies:   MultiSerial mbed

main.cpp@3:d4eff9dace7d, 2014-07-14 (annotated)

Committer:
lilac0112_1
Date:
Mon Jul 14 10:03:17 2014 +0000
Revision:
3:d4eff9dace7d
Parent:
1:b43b0cbff722
Child:
4:541fdc451ab3
hokida????????????????????; ????????????

Who changed what in which revision?

UserRevisionLine numberNew contents of line
lilac0112_1 0:f38700ce12ea 1 #include "mbed.h"
lilac0112_1 0:f38700ce12ea 2 #include "main.h"//ピン位置，main関数までの初期動作の詳細，変数，関数等
lilac0112_1 0:f38700ce12ea 3
lilac0112_1 3:d4eff9dace7d 4 BusIn mt(p6, p7, p8, p9, p10, p11);
lilac0112_1 3:d4eff9dace7d 5
lilac0112_1 0:f38700ce12ea 6 extern bool GetBit(void);
lilac0112_1 0:f38700ce12ea 7 extern DigitalOut LED[4];
lilac0112_1 0:f38700ce12ea 8 //上体回転関連
lilac0112_1 0:f38700ce12ea 9 extern DigitalOut Turn[2];
lilac0112_1 0:f38700ce12ea 10 extern DigitalIn TurnSW;
lilac0112_1 0:f38700ce12ea 11 extern PwmOut TurnSpeed;
lilac0112_1 0:f38700ce12ea 12 //パワーウィンドウ(腕)関連
lilac0112_1 0:f38700ce12ea 13 extern DigitalOut Hand[2][2];
lilac0112_1 0:f38700ce12ea 14 extern InterruptIn HandSW[3];
lilac0112_1 0:f38700ce12ea 15 extern Timeout Touch;
lilac0112_1 0:f38700ce12ea 16
lilac0112_1 0:f38700ce12ea 17 //通信関連
lilac0112_1 0:f38700ce12ea 18 extern Serial pc;
lilac0112_1 0:f38700ce12ea 19 extern Serial Xbee;//p13, p14
lilac0112_1 0:f38700ce12ea 20 extern volatile uint8_t INdata[DATA_NUM], EXdata[DATA_NUM];
lilac0112_1 0:f38700ce12ea 21 extern void TX(void);
lilac0112_1 0:f38700ce12ea 22 extern void RX(void);
lilac0112_1 3:d4eff9dace7d 23
lilac0112_1 3:d4eff9dace7d 24 void SetUp(void);
lilac0112_1 3:d4eff9dace7d 25
lilac0112_1 0:f38700ce12ea 26 int main(void) {
lilac0112_1 3:d4eff9dace7d 27
lilac0112_1 3:d4eff9dace7d 28 SetUp();
lilac0112_1 3:d4eff9dace7d 29
lilac0112_1 0:f38700ce12ea 30 while(1) {
lilac0112_1 0:f38700ce12ea 31 //腕のプログラム
lilac0112_1 3:d4eff9dace7d 32
lilac0112_1 0:f38700ce12ea 33 INdata[1]= ~mt;//調整用スイッチ
lilac0112_1 3:d4eff9dace7d 34
lilac0112_1 3:d4eff9dace7d 35 if(GetBit(INdata[1], 2)==OFF) StopLeaving();//停止
lilac0112_1 3:d4eff9dace7d 36
lilac0112_1 0:f38700ce12ea 37 if((GetBit(INdata[1], 1)+GetBit(INdata[1], 2))==1){//同時押し防止
lilac0112_1 0:f38700ce12ea 38 if(GetBit(INdata[1], 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 0:f38700ce12ea 39 if(GetBit(INdata[1], 2)==true){//腕を広げる動作はマニュアル操作
lilac0112_1 0:f38700ce12ea 40 StopCatching();//停止
lilac0112_1 0:f38700ce12ea 41 Touch.detach();//ワンショットタイマー停止
lilac0112_1 0:f38700ce12ea 42 Hand[R][Open] = Hand[L][Open] = GetBit(INdata[1], 2);
lilac0112_1 0:f38700ce12ea 43 }
lilac0112_1 0:f38700ce12ea 44 }
lilac0112_1 3:d4eff9dace7d 45
lilac0112_1 3:d4eff9dace7d 46 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 47 StopCatching();//停止
lilac0112_1 3:d4eff9dace7d 48 Touch.detach();//ワンショットタイマー停止
lilac0112_1 3:d4eff9dace7d 49 }
lilac0112_1 0:f38700ce12ea 50 //上体回転
lilac0112_1 3:d4eff9dace7d 51
lilac0112_1 0:f38700ce12ea 52 INdata[3] = ~mt;//調整用スイッチ
lilac0112_1 3:d4eff9dace7d 53
lilac0112_1 0:f38700ce12ea 54 Turn[CW] = Turn[CCW] = OFF;//停止
lilac0112_1 3:d4eff9dace7d 55
lilac0112_1 0:f38700ce12ea 56 if((GetBit(INdata[3], 1)+GetBit(INdata[3], 2))==1){//同時押し防止
lilac0112_1 0:f38700ce12ea 57 if(GetBit(INdata[3], 1)&&(TurnSW)){
lilac0112_1 0:f38700ce12ea 58 Turn[CCW] = ON;//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 0:f38700ce12ea 59 }
lilac0112_1 3:d4eff9dace7d 60
lilac0112_1 0:f38700ce12ea 61 if(GetBit(INdata[3], 2)){
lilac0112_1 0:f38700ce12ea 62 Turn[CW] = ON;//押されたら右回転
lilac0112_1 0:f38700ce12ea 63 }
lilac0112_1 0:f38700ce12ea 64 }
lilac0112_1 0:f38700ce12ea 65 }
lilac0112_1 0:f38700ce12ea 66 }
lilac0112_1 3:d4eff9dace7d 67
lilac0112_1 3:d4eff9dace7d 68 void SetUp(void){
lilac0112_1 3:d4eff9dace7d 69
lilac0112_1 3:d4eff9dace7d 70 uint8_t i=1;
lilac0112_1 3:d4eff9dace7d 71
lilac0112_1 3:d4eff9dace7d 72 mt.mode(PullUp);
lilac0112_1 3:d4eff9dace7d 73
lilac0112_1 3:d4eff9dace7d 74 TurnSpeed = TURN_REV;//上体回転のPWM
lilac0112_1 3:d4eff9dace7d 75 TurnSW.mode(PullUp);
lilac0112_1 3:d4eff9dace7d 76
lilac0112_1 3:d4eff9dace7d 77 HandSW[R].mode(PullUp);
lilac0112_1 3:d4eff9dace7d 78 HandSW[L].mode(PullUp);
lilac0112_1 3:d4eff9dace7d 79 HandSW[C].mode(PullUp);
lilac0112_1 3:d4eff9dace7d 80 HandSW[R].rise(RightCatch);//立ち上がり
lilac0112_1 3:d4eff9dace7d 81 HandSW[L].rise(LeftCatch);//立ち上がり
lilac0112_1 3:d4eff9dace7d 82 HandSW[C].rise(CenterCatch);//立ち上がり
lilac0112_1 3:d4eff9dace7d 83
lilac0112_1 3:d4eff9dace7d 84 Xbee.attach(&RX, Serial::RxIrq);
lilac0112_1 3:d4eff9dace7d 85 Xbee.attach(&TX, Serial::TxIrq);
lilac0112_1 3:d4eff9dace7d 86
lilac0112_1 3:d4eff9dace7d 87 Xbee.putc(i);//送信開始
lilac0112_1 3:d4eff9dace7d 88 i = Xbee.getc();//受信開始
lilac0112_1 3:d4eff9dace7d 89 }