受け取り足
Dependencies: mbed serial_extend
main.cpp@2:7cd9f9cc2376, 2014-10-05 (annotated)
- Committer:
- bousiya03
- Date:
- Sun Oct 05 01:00:24 2014 +0000
- Revision:
- 2:7cd9f9cc2376
- Parent:
- 0:f353f2d87281
- Child:
- 3:26ae0e32030d
test;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
bousiya03 | 0:f353f2d87281 | 1 | /* |
bousiya03 | 0:f353f2d87281 | 2 | * receibes_robot_wheel by Tomoki Hokida |
bousiya03 | 0:f353f2d87281 | 3 | * |
bousiya03 | 0:f353f2d87281 | 4 | * motor pins piar |
bousiya03 | 0:f353f2d87281 | 5 | * motor(p13,p14):motor(p15,p16) |
bousiya03 | 0:f353f2d87281 | 6 | * motor(p17,p18):motor(p19,p20) |
bousiya03 | 0:f353f2d87281 | 7 | * |
bousiya03 | 0:f353f2d87281 | 8 | * Serial Pins |
bousiya03 | 0:f353f2d87281 | 9 | * packet.arm[0]:arm |
bousiya03 | 0:f353f2d87281 | 10 | * packet.leg[1]:omni |
bousiya03 | 0:f353f2d87281 | 11 | * reset 0 |
bousiya03 | 0:f353f2d87281 | 12 | */ |
bousiya03 | 0:f353f2d87281 | 13 | |
bousiya03 | 0:f353f2d87281 | 14 | #include "mbed.h" |
bousiya03 | 0:f353f2d87281 | 15 | #include "serial_extend.h" |
bousiya03 | 0:f353f2d87281 | 16 | |
bousiya03 | 0:f353f2d87281 | 17 | #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 |
bousiya03 | 0:f353f2d87281 | 18 | #define XBEE_KEY 0xAA //keycode |
bousiya03 | 0:f353f2d87281 | 19 | #define ARM_KEY 0xAA |
bousiya03 | 0:f353f2d87281 | 20 | |
bousiya03 | 0:f353f2d87281 | 21 | #define PWM 0.5 |
bousiya03 | 0:f353f2d87281 | 22 | |
bousiya03 | 0:f353f2d87281 | 23 | #define R 0x4 |
bousiya03 | 0:f353f2d87281 | 24 | #define L 0x1 |
bousiya03 | 0:f353f2d87281 | 25 | #define U 0x2 |
bousiya03 | 0:f353f2d87281 | 26 | #define D 0x8 |
bousiya03 | 0:f353f2d87281 | 27 | |
bousiya03 | 0:f353f2d87281 | 28 | #define R_t 0x10 |
bousiya03 | 0:f353f2d87281 | 29 | #define L_t 0x40 |
bousiya03 | 0:f353f2d87281 | 30 | |
bousiya03 | 0:f353f2d87281 | 31 | #define TIME 0 |
bousiya03 | 0:f353f2d87281 | 32 | |
bousiya03 | 0:f353f2d87281 | 33 | BusOut check(LED1,LED2,LED3,LED4); |
bousiya03 | 0:f353f2d87281 | 34 | BusOut motors(p13,p14,p15,p16,p17,p18,p19,p20); |
bousiya03 | 0:f353f2d87281 | 35 | PwmOut pwm[4]= {p21,p22,p23,p24}; |
bousiya03 | 0:f353f2d87281 | 36 | |
bousiya03 | 0:f353f2d87281 | 37 | Serial pc(USBTX,USBRX); |
bousiya03 | 0:f353f2d87281 | 38 | |
bousiya03 | 0:f353f2d87281 | 39 | serial_extend xbee(p28,p27); |
bousiya03 | 0:f353f2d87281 | 40 | serial_extend arm_mbed(p9,p10); |
bousiya03 | 0:f353f2d87281 | 41 | |
bousiya03 | 0:f353f2d87281 | 42 | /* data structure */ |
bousiya03 | 0:f353f2d87281 | 43 | typedef struct { |
bousiya03 | 0:f353f2d87281 | 44 | |
bousiya03 | 0:f353f2d87281 | 45 | uint8_t arm[1]; |
bousiya03 | 0:f353f2d87281 | 46 | uint8_t leg; |
bousiya03 | 0:f353f2d87281 | 47 | |
bousiya03 | 0:f353f2d87281 | 48 | } xbee_packet; |
bousiya03 | 0:f353f2d87281 | 49 | |
bousiya03 | 0:f353f2d87281 | 50 | xbee_packet packet; |
bousiya03 | 0:f353f2d87281 | 51 | |
bousiya03 | 0:f353f2d87281 | 52 | uint8_t get_data[DATA_NUM]= {0}; |
bousiya03 | 0:f353f2d87281 | 53 | uint8_t check_data[2]= {0}; |
bousiya03 | 0:f353f2d87281 | 54 | |
bousiya03 | 0:f353f2d87281 | 55 | /* Out put PC stdout function */ |
bousiya03 | 0:f353f2d87281 | 56 | void pc_print() |
bousiya03 | 0:f353f2d87281 | 57 | { |
bousiya03 | 0:f353f2d87281 | 58 | static int count=0; |
bousiya03 | 0:f353f2d87281 | 59 | |
bousiya03 | 0:f353f2d87281 | 60 | if(count==10e3) { |
bousiya03 | 0:f353f2d87281 | 61 | pc.printf(" arm = %d" ,packet.arm[0]); |
bousiya03 | 0:f353f2d87281 | 62 | pc.printf(" leg = %d" ,packet.leg); |
bousiya03 | 0:f353f2d87281 | 63 | count=0; |
bousiya03 | 0:f353f2d87281 | 64 | } |
bousiya03 | 0:f353f2d87281 | 65 | count++; |
bousiya03 | 0:f353f2d87281 | 66 | } |
bousiya03 | 0:f353f2d87281 | 67 | |
bousiya03 | 2:7cd9f9cc2376 | 68 | /*Safety Mode*/ |
bousiya03 | 0:f353f2d87281 | 69 | void safety_mode() |
bousiya03 | 0:f353f2d87281 | 70 | { |
bousiya03 | 0:f353f2d87281 | 71 | xbee.stop_read(); |
bousiya03 | 0:f353f2d87281 | 72 | arm_mbed.stop_write(); |
bousiya03 | 0:f353f2d87281 | 73 | |
bousiya03 | 0:f353f2d87281 | 74 | for(;;) { |
bousiya03 | 0:f353f2d87281 | 75 | |
bousiya03 | 0:f353f2d87281 | 76 | motors = 0; |
bousiya03 | 0:f353f2d87281 | 77 | |
bousiya03 | 0:f353f2d87281 | 78 | check = 0xA; |
bousiya03 | 0:f353f2d87281 | 79 | wait(0.5); |
bousiya03 | 0:f353f2d87281 | 80 | check != 0xF; |
bousiya03 | 0:f353f2d87281 | 81 | wait(0.5); |
bousiya03 | 0:f353f2d87281 | 82 | |
bousiya03 | 0:f353f2d87281 | 83 | if(xbee.readable_check()==1) { |
bousiya03 | 0:f353f2d87281 | 84 | |
bousiya03 | 0:f353f2d87281 | 85 | xbee.start_read(); |
bousiya03 | 0:f353f2d87281 | 86 | arm_mbed.start_write(); |
bousiya03 | 0:f353f2d87281 | 87 | return; |
bousiya03 | 0:f353f2d87281 | 88 | |
bousiya03 | 0:f353f2d87281 | 89 | } |
bousiya03 | 0:f353f2d87281 | 90 | } |
bousiya03 | 0:f353f2d87281 | 91 | } |
bousiya03 | 0:f353f2d87281 | 92 | |
bousiya03 | 0:f353f2d87281 | 93 | int main() |
bousiya03 | 0:f353f2d87281 | 94 | { |
bousiya03 | 0:f353f2d87281 | 95 | |
bousiya03 | 0:f353f2d87281 | 96 | xbee_packet *pt_packet=&packet; |
bousiya03 | 0:f353f2d87281 | 97 | |
bousiya03 | 2:7cd9f9cc2376 | 98 | /*Reception Start*/ |
bousiya03 | 0:f353f2d87281 | 99 | xbee.start_read(); |
bousiya03 | 0:f353f2d87281 | 100 | xbee.read_data(get_data,XBEE_KEY); |
bousiya03 | 2:7cd9f9cc2376 | 101 | |
bousiya03 | 2:7cd9f9cc2376 | 102 | /*Send Start*/ |
bousiya03 | 0:f353f2d87281 | 103 | arm_mbed.start_write(); |
bousiya03 | 0:f353f2d87281 | 104 | arm_mbed.write_data(pt_packet->arm,ARM_KEY); |
bousiya03 | 2:7cd9f9cc2376 | 105 | |
bousiya03 | 2:7cd9f9cc2376 | 106 | check = 0xFF; |
bousiya03 | 0:f353f2d87281 | 107 | |
bousiya03 | 0:f353f2d87281 | 108 | //int radio_check=0; |
bousiya03 | 0:f353f2d87281 | 109 | |
bousiya03 | 0:f353f2d87281 | 110 | for(;;) { |
bousiya03 | 0:f353f2d87281 | 111 | |
bousiya03 | 0:f353f2d87281 | 112 | /*PWM init*/ |
bousiya03 | 0:f353f2d87281 | 113 | |
bousiya03 | 0:f353f2d87281 | 114 | pwm[0]=PWM; |
bousiya03 | 0:f353f2d87281 | 115 | pwm[1]=PWM; |
bousiya03 | 0:f353f2d87281 | 116 | pwm[2]=PWM; |
bousiya03 | 0:f353f2d87281 | 117 | pwm[3]=PWM; |
bousiya03 | 0:f353f2d87281 | 118 | |
bousiya03 | 0:f353f2d87281 | 119 | /* |
bousiya03 | 0:f353f2d87281 | 120 | if(xbee.readable_check() == 0) { |
bousiya03 | 0:f353f2d87281 | 121 | |
bousiya03 | 0:f353f2d87281 | 122 | radio_check++; |
bousiya03 | 0:f353f2d87281 | 123 | |
bousiya03 | 0:f353f2d87281 | 124 | if(radio_check>=500){ |
bousiya03 | 0:f353f2d87281 | 125 | |
bousiya03 | 0:f353f2d87281 | 126 | safety_mode(); |
bousiya03 | 0:f353f2d87281 | 127 | } |
bousiya03 | 0:f353f2d87281 | 128 | |
bousiya03 | 0:f353f2d87281 | 129 | } else { |
bousiya03 | 0:f353f2d87281 | 130 | |
bousiya03 | 0:f353f2d87281 | 131 | radio_check = 0; |
bousiya03 | 0:f353f2d87281 | 132 | |
bousiya03 | 0:f353f2d87281 | 133 | } |
bousiya03 | 0:f353f2d87281 | 134 | */ |
bousiya03 | 2:7cd9f9cc2376 | 135 | |
bousiya03 | 0:f353f2d87281 | 136 | wait_ms(0.5); |
bousiya03 | 0:f353f2d87281 | 137 | |
bousiya03 | 0:f353f2d87281 | 138 | packet.arm[0] = get_data[1]; |
bousiya03 | 0:f353f2d87281 | 139 | packet.leg = get_data[0]; |
bousiya03 | 0:f353f2d87281 | 140 | |
bousiya03 | 0:f353f2d87281 | 141 | //check = get_data[1]; |
bousiya03 | 2:7cd9f9cc2376 | 142 | |
bousiya03 | 0:f353f2d87281 | 143 | check = packet.leg; |
bousiya03 | 0:f353f2d87281 | 144 | |
bousiya03 | 0:f353f2d87281 | 145 | |
bousiya03 | 0:f353f2d87281 | 146 | /* Stop */ |
bousiya03 | 0:f353f2d87281 | 147 | if(packet.leg==0x0) { |
bousiya03 | 0:f353f2d87281 | 148 | |
bousiya03 | 0:f353f2d87281 | 149 | motors = 0x00; |
bousiya03 | 0:f353f2d87281 | 150 | } |
bousiya03 | 0:f353f2d87281 | 151 | |
bousiya03 | 0:f353f2d87281 | 152 | /* Direction of movement */ |
bousiya03 | 0:f353f2d87281 | 153 | if(packet.leg&R) motors = 0x55; //01010101 R 接続に気をつけること |
bousiya03 | 0:f353f2d87281 | 154 | 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 |
bousiya03 | 0:f353f2d87281 | 155 | if(packet.leg&U) motors = 0x5A; //01011010 U |
bousiya03 | 0:f353f2d87281 | 156 | if(packet.leg&D) motors = 0xA5; //10100101 D |
bousiya03 | 0:f353f2d87281 | 157 | |
bousiya03 | 0:f353f2d87281 | 158 | /* Turn circling */ |
bousiya03 | 0:f353f2d87281 | 159 | if(packet.leg&R_t) motors = 0x66; //01100110 |
bousiya03 | 0:f353f2d87281 | 160 | if(packet.leg&L_t) motors = 0x99; //10011001 |
bousiya03 | 0:f353f2d87281 | 161 | |
bousiya03 | 0:f353f2d87281 | 162 | pc_print(); |
bousiya03 | 0:f353f2d87281 | 163 | } |
bousiya03 | 0:f353f2d87281 | 164 | } |