Bチーム / Mbed 2 deprecated receiverA

受け取りです．質問・アドバイスがあればどうぞ．

Dependencies:   MultiSerial mbed

main.h@0:f38700ce12ea, 2014-06-28 (annotated)

Committer:
lilac0112_1
Date:
Sat Jun 28 04:31:44 2014 +0000
Revision:
0:f38700ce12ea
Child:
1:b43b0cbff722

        

        
Who changed what in which revision?

        

            
                
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#include "mbed.h"





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//NC = 調整中なので無機能にしておく





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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)





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    return (n>>(bit-1))%2;





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}





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DigitalOut LED[4]={LED1, LED2, LED3, LED4};//確認用





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enum Logic{OFF=0, ON};//殆どはモーターのON，OFFに使う





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enum Revolution{CW=0, CCW};//正回転，逆回転(オムニ，上体回転)





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//オムニホイール関連





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enum Omni{Front=0, Back, Right, Left};//前後左右のオムニホイール





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DigitalOut Omni[4][2]={{NC, NC}, {NC, NC}, {NC, NC}, {NC, NC}};//{p5, p6}, {p7, p8}, {p9, p10}, {p11, p12}





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PwmOut OmniSpeed[4]={NC, NC, NC, NC};//p21, p22, p23, p24





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#define OmniRev 0.5 //PWM





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//ex)Omni[Front][CCW]=OFF;





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void pause(void){//停止





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    Omni[Front][CW] = Omni[Front][CCW] = OFF;





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    Omni[Back][CW] = Omni[Back][CCW] = OFF;





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    Omni[Right][CW] = Omni[Right][CCW] = OFF;





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    Omni[Left][CW] = Omni[Left][CCW] = OFF;





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}





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void go(void){//前進





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    Omni[Front][CW] = Omni[Front][CCW] = OFF;





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    Omni[Back][CW] = Omni[Back][CCW] = OFF;





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    Omni[Right][CW] = OFF; Omni[Right][CCW] = ON;





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    Omni[Left][CW] = ON; Omni[Left][CCW] = OFF;





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}





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void back(void){//後進





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    Omni[Front][CW] = Omni[Front][CCW] = OFF;





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    Omni[Back][CW] = Omni[Back][CCW] = OFF;





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    Omni[Right][CW] = ON; Omni[Right][CCW] = OFF;





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    Omni[Left][CW] = OFF; Omni[Left][CCW] = ON;





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}





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void sidleleft(void){//左移動





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    Omni[Front][CW] = OFF; Omni[Front][CCW] = ON;





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    Omni[Back][CW] = ON; Omni[Back][CCW] = OFF;





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    Omni[Right][CW] = Omni[Right][CCW] = OFF;





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    Omni[Left][CW] = Omni[Left][CCW] = OFF;





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}





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void sidleright(void){//右移動





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    Omni[Front][CW] = ON; Omni[Front][CCW] = OFF;





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    Omni[Back][CW] = OFF; Omni[Back][CCW] = ON;





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    Omni[Right][CW] = Omni[Right][CCW] = OFF;





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    Omni[Left][CW] = Omni[Left][CCW] = OFF;





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}





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void turnleft(void){//左旋回





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    Omni[Front][CW] = OFF; Omni[Front][CCW] = ON;





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    Omni[Back][CW] = OFF; Omni[Back][CCW] = ON;





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    Omni[Right][CW] = OFF; Omni[Right][CCW] = ON;





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    Omni[Left][CW] = OFF; Omni[Left][CCW] = ON;





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}





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void turnright(void){//右旋回





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    Omni[Front][CW] = ON; Omni[Front][CCW] = OFF;





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    Omni[Back][CW] = ON; Omni[Back][CCW] = OFF;





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    Omni[Right][CW] = ON; Omni[Right][CCW] = OFF;





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    Omni[Left][CW] = ON; Omni[Left][CCW] = OFF;





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}





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//上体回転関連





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DigitalOut Turn[2]={NC, NC};//p29, p30





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DigitalIn TurnSW(NC);//p26





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PwmOut TurnSpeed(NC);//p25





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#define TurnRev 0.5//PWM





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//ex)Turn[CW]=ON;





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//パワーウィンドウ(腕)関連





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#define TimeLimit 1.0//腕が閉まっても動けるのはTimeLimit[s]まで





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enum Scissors{R=0, L, C};//右腕と左腕





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enum Clippers{Open=0, Close};//開ける動作と閉める動作





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bool Pushed[2]={false, false};





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InterruptIn HandSW[3]={NC, NC, NC};//p14, p15, p16





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DigitalOut Hand[2][2]={{NC, NC}, {NC, NC}};//{p17, p18}, {p19, p20}





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//ex)Hand[R][Close]=ON;





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Timeout Touch;//腕で掴むときの安全対策





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void StopCatching(void){//停止





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    Hand[R][Close]=Hand[L][Close]=OFF;





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}





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void StopLeaving(void){//停止





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    Hand[R][Open]=Hand[L][Open]=OFF;





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}





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void StartCatching(void){//掴む





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    Hand[R][Close]=Hand[L][Close]=ON;





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}





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void StartLeaving(void){//離す





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    Hand[R][Open]=Hand[L][Open]=ON;





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}





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void RightCatch(void){//右腕のリミットスイッチ





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    Pushed[R] = true;//接触の記録





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    if(Pushed[R]&&Pushed[L]){//どちらも接触した時点で停止





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        Pushed[R] = Pushed[L] = false;





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        Touch.detach();//TimeLimit[s]経たなくても停止





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        StopCatching();





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    }





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}





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void LeftCatch(void){//左腕のリミットスイッチ





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    Pushed[L] = true;//接触の記録





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    if(Pushed[R]&&Pushed[L]){//どちらも接触した時点で停止





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        Pushed[R] = Pushed[L] = false;





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        Touch.detach();





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        StopCatching();





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    }





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}





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void CenterCatch(void){//中央のリミットスイッチ





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    Touch.attach(StopCatching, TimeLimit);//TimeLimit[s]で停止





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    StartCatching();





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}





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//通信関連





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#define DATA_NUM 10 //DATA_NUM[byte]通信





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#define MY_KEYCODE 0xAA//keycode





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#define EN_KEYCODE 0xAA//keycode





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#define KEY 0//number of first data





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#define CHECK DATA_NUM-1//number of last data





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Serial pc(USBTX, USBRX);





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Serial Xbee(NC, NC);//p28, p27





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volatile uint8_t INdata[DATA_NUM]={0}, EXdata[DATA_NUM]={0};





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void TX(void){//送信バッファ空き割り込み用関数





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    static uint8_t TX=DATA_NUM, i;





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    static uint8_t TXdata[DATA_NUM]={MY_KEYCODE};





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    static uint8_t TX_CHECKCODE=0;





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    if(TX >= DATA_NUM){





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        TXdata[KEY] = MY_KEYCODE;





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        TXdata[1] = EXdata[1];





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        TXdata[2] = EXdata[2];





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        TXdata[3] = EXdata[3];





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        TXdata[4] = EXdata[4];





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        TXdata[5] = EXdata[5];





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        TXdata[6] = EXdata[6];





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        TXdata[7] = EXdata[7];





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        TXdata[8] = EXdata[8];





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        //送るデータ = センサ等のデータ





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        for(i=KEY+1, TX_CHECKCODE=0; i<CHECK; i++){





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            TX_CHECKCODE ^= TXdata[i];





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        }//CHECKCODE作成





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        TXdata[CHECK] = TX_CHECKCODE;





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        TX=0;





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    }





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    Xbee.putc(TXdata[TX]);





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    TX++;





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}//受信割り込み用関数





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void RX(void){





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    static uint8_t RX=0, i;





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    static uint8_t RXdata[DATA_NUM]={EN_KEYCODE};





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    static uint8_t RX_CHECKCODE=0;





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    RXdata[RX] = Xbee.getc();





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    if(RXdata[KEY]==EN_KEYCODE){





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        RX++;





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    }





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    if(RX==CHECK){





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        for(i=KEY+1, RX_CHECKCODE=0; i<CHECK; i++){





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            RX_CHECKCODE ^= RXdata[i];





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        }//CHECKCODE作成





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    }





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    if(RX >= DATA_NUM){





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        if(RXdata[CHECK]==RX_CHECKCODE){





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            INdata[1] = RXdata[1];





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            INdata[2] = RXdata[2];





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            INdata[3] = RXdata[3];





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            INdata[4] = RXdata[4];





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            INdata[5] = RXdata[5];





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            INdata[6] = RXdata[6];





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            INdata[7] = RXdata[7];





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            INdata[8] = RXdata[8];





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            //使うデータ = 受け取ったデータ





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        }





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        RX=0;





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    }





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}