受け取り足
Dependencies: mbed serial_extend
main.cpp
- Committer:
- bousiya03
- Date:
- 2014-10-05
- Revision:
- 2:7cd9f9cc2376
- Parent:
- 0:f353f2d87281
- Child:
- 3:26ae0e32030d
File content as of revision 2:7cd9f9cc2376:
/* * receibes_robot_wheel by Tomoki Hokida * * motor pins piar * motor(p13,p14):motor(p15,p16) * motor(p17,p18):motor(p19,p20) * * Serial Pins * packet.arm[0]:arm * packet.leg[1]:omni * reset 0 */ #include "mbed.h" #include "serial_extend.h" #define DATA_NUM 2 //DATA_NUM[byte]通信 この値はmemcpy使ってるんでxbee_packet構造体のメモリ数といい感じに合わせるようにしてください #define XBEE_KEY 0xAA //keycode #define ARM_KEY 0xAA #define PWM 0.5 #define R 0x4 #define L 0x1 #define U 0x2 #define D 0x8 #define R_t 0x10 #define L_t 0x40 #define TIME 0 BusOut check(LED1,LED2,LED3,LED4); BusOut motors(p13,p14,p15,p16,p17,p18,p19,p20); PwmOut pwm[4]= {p21,p22,p23,p24}; Serial pc(USBTX,USBRX); serial_extend xbee(p28,p27); serial_extend arm_mbed(p9,p10); /* data structure */ typedef struct { uint8_t arm[1]; uint8_t leg; } xbee_packet; xbee_packet packet; uint8_t get_data[DATA_NUM]= {0}; uint8_t check_data[2]= {0}; /* Out put PC stdout function */ void pc_print() { static int count=0; if(count==10e3) { pc.printf(" arm = %d" ,packet.arm[0]); pc.printf(" leg = %d" ,packet.leg); count=0; } count++; } /*Safety Mode*/ void safety_mode() { xbee.stop_read(); arm_mbed.stop_write(); for(;;) { motors = 0; check = 0xA; wait(0.5); check != 0xF; wait(0.5); if(xbee.readable_check()==1) { xbee.start_read(); arm_mbed.start_write(); return; } } } int main() { xbee_packet *pt_packet=&packet; /*Reception Start*/ xbee.start_read(); xbee.read_data(get_data,XBEE_KEY); /*Send Start*/ arm_mbed.start_write(); arm_mbed.write_data(pt_packet->arm,ARM_KEY); check = 0xFF; //int radio_check=0; for(;;) { /*PWM init*/ pwm[0]=PWM; pwm[1]=PWM; pwm[2]=PWM; pwm[3]=PWM; /* if(xbee.readable_check() == 0) { radio_check++; if(radio_check>=500){ safety_mode(); } } else { radio_check = 0; } */ wait_ms(0.5); packet.arm[0] = get_data[1]; packet.leg = get_data[0]; //check = get_data[1]; check = packet.leg; /* Stop */ if(packet.leg==0x0) { motors = 0x00; } /* Direction of movement */ if(packet.leg&R) motors = 0x55; //01010101 R 接続に気をつけること if(packet.leg&L) motors = 0xAA; //10101010 L 多分モータードライバの信号線をそれぞれ逆にすればOKかな if(packet.leg&U) motors = 0x5A; //01011010 U if(packet.leg&D) motors = 0xA5; //10100101 D /* Turn circling */ if(packet.leg&R_t) motors = 0x66; //01100110 if(packet.leg&L_t) motors = 0x99; //10011001 pc_print(); } }