CQ Publishing
トランジスタ技術2015年6月号 mbed ラジコン・カーp169-p184掲載
Dependencies: mbed
Diff: main.cpp
- Revision:
- 0:6228c3688e54
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Mon Jun 01 02:03:38 2015 +0000
@@ -0,0 +1,177 @@
+#include "mbed.h"
+#include "ATP3012.h"
+
+Serial bluetooth(p9,p10); //tx, rx
+ATP3012 talk(P0_5, P0_4); // sda, scl
+
+PwmOut Rin(P0_8);
+PwmOut Lin(P0_9);
+PwmOut S40kHz(P0_21);
+DigitalOut IN1(P0_11);
+DigitalOut IN2(P0_12);
+AnalogIn Ain(P0_13);
+DigitalOut StopSignal(P0_20);
+DigitalOut Light(P0_16);
+
+int main() {
+ bluetooth.baud(115200);
+ int32_t i, j;
+ int32_t count=10000;
+ uint8_t buf='5';
+ char moji[64];
+ int32_t onsei=0;
+
+ char* LightOn[64] = { "raitoon.\r", "tentou.\r" } ;
+ char* LightOff[64] = { "raito/ohu.\r", "syoutou.\r" } ;
+ char* Forward[64] = { "susume.\r", "<ALPHA VAL=start>.\r" } ;
+ char* Stop[64] = { "tomare.\r", "<ALPHA VAL=stop>.\r" } ;
+ char* Backward[64] = { "sagare.\r", "bakku.\r" } ;
+ char* LeftTurn[64] = { "<ALPHA VAL=left>.\r", "sasetu.\r" } ;
+ char* RightTurn[64] = { "raito.\r", "usetu.\r" } ;
+ char* LeftBackward[64] = { "hidariusiro.\r", "usiro /hidari.\r" };
+ char* RightBackward[64] = { "migiusiro.\r", "usiro /migi.\r" };
+ char* LeftOblique[64] = { "naname/hidari.\r","hidari/naname.\r" };
+ char* RightOblique[64] = { "naname/migi.\r","migi/naname.\r" };
+ char* Acceleration[64] = { "hayaku.\r","supi-do/appu.\r" };
+ char* Deceleration[64] = { "osoku.\r","supi-do/daun.\r" };
+
+ float speed=0;
+ float Rdata=1;
+ float Ldata=1;
+ float threshold=0.2;
+ S40kHz.period_us(25); // 40kHz
+ S40kHz.pulsewidth_us(12.5);
+ Light=0;
+ j = count;
+
+ talk.Synthe("sumahode,ennbextudo'ka-o/ugoka'_su+koto'ga/dekima'_su.\r");
+ talk.Synthe("ta'xtu_chi+shite/ugoka'_shite+mi'te+kudasa'i.\r");
+ talk.Synthe("mata shabe'ttemo/je'_sucha-demo/ugokasema'_su.\r");
+ talk.Synthe("ma'zuwa buru-twu'-suni/setsuzo_kushimasho'-.\r");
+
+ while (1) {
+ if(bluetooth.readable()) {
+ i=0;
+ do {
+ buf=bluetooth.getc();
+ moji[i++]=buf;
+ } while(buf!='\0');
+ buf=moji[0];
+ }
+ for(int i = 0; i <= 1; i++) {
+ if (strcmp(LeftBackward[i],moji) == 0) buf='1';
+ if (strcmp(Backward[i],moji) == 0) buf='2';
+ if (strcmp(RightBackward[i],moji) == 0) buf='3';
+ if (strcmp(LeftTurn[i],moji) == 0) buf='4';
+ if (strcmp(Stop[i],moji) == 0) buf='5';
+ if (strcmp(RightTurn[i],moji) == 0) buf='6';
+ if (strcmp(LeftOblique[i],moji) == 0) buf='7';
+ if (strcmp(Forward[i],moji) == 0) buf='8';
+ if (strcmp(RightOblique[i],moji) == 0) buf='9';
+ if (strcmp(LightOn[i],moji) == 0) buf='+';
+ if (strcmp(LightOff[i],moji) == 0) buf='-';
+ if (strcmp(Acceleration[i],moji) == 0) buf='*';
+ if (strcmp(Deceleration[i],moji) == 0) buf='0';
+ }
+
+ if(Ain > threshold) {
+ StopSignal=0; // Red LED ON
+ if((buf>='4')){
+ buf='5';
+ IN1=1;IN2=1;
+ if(onsei==1) {
+ talk.Synthe("zennpo-ni sho-gai'butsuo/hakkennshima'_shita.\r");
+ talk.Synthe("ka'i_hi+shitekudasa'i.\r");
+ onsei=0;
+ }
+ }
+ } else {
+ StopSignal=1; // Red LED OFF
+ onsei=1;
+ }
+ switch (buf){
+ case '1': // Left Backward
+ IN1=1;IN2=0;
+ Rdata=0.4+speed; Ldata=0.6+speed;
+ Rin=Rdata; Lin=Ldata;
+ talk.Synthe("hidariusiro.\r");
+ break;
+ case '2': // Backward
+ IN1=1;IN2=0;
+ Rdata=0.5+speed; Ldata=0.5+speed;
+ Rin=Rdata; Lin=Ldata;
+ talk.Synthe("ushironi/sagarima'_su.\r");
+ break;
+ case '3': // Right Backward
+ IN1=1;IN2=0;
+ Rdata=0.6+speed; Ldata=0.4+speed;
+ Rin=Rdata; Lin=Ldata;
+ talk.Synthe("migiusiro.\r");
+ break;
+ case '4': // Left Turn
+ IN1=0;IN2=1;
+ Rdata=0.3+speed; Ldata=0.8+speed;
+ Rin=Rdata; Lin=Ldata;
+ talk.Synthe("sasetsu.\r");
+ break;
+ case '5': // Stop
+ IN1=1;IN2=1;
+ break;
+ case '6': // Right Turn
+ IN1=0;IN2=1;
+ Rdata=0.8+speed; Ldata=0.3+speed;
+ Rin=Rdata; Lin=Ldata;
+ talk.Synthe("usetsu.\r");
+ break;
+ case '7': // Left Oblique
+ IN1=0;IN2=1;
+ Rdata=0.4+speed; Ldata=0.6+speed;
+ Rin=Rdata; Lin=Ldata;
+ talk.Synthe("hidarinana'me.\r");
+ break;
+ case '8': // Forward
+ IN1=0;IN2=1;
+ Rdata=0.5+speed; Ldata=0.5+speed;
+ Rin=Rdata; Lin=Ldata;
+ talk.Synthe("zennshinn.\r");
+ break;
+ case '9': // Right Oblique
+ IN1=0;IN2=1;
+ Rdata=0.6+speed; Ldata=0.4+speed;
+ Rin=Rdata; Lin=Ldata;
+ talk.Synthe("miginana'me.\r");
+ break;
+ case '+': //Light On
+ Light=1;
+ talk.Synthe("#J\r");
+ talk.Synthe("ra'itoo/tennto-shima'_su.\r");
+ break;
+ case '-': //Light Off
+ Light=0;
+ talk.Synthe("#J\r");
+ talk.Synthe("ra'itoo/keshima'_su.\r");
+ break;
+ case '0': // Deceleration
+ speed=speed+0.05;
+ Rdata=Rdata+speed; Ldata=Ldata+speed;
+ Rin=Rdata; Lin=Ldata;
+ talk.Synthe("gennsoku.\r");
+ break;
+ case '*': // Acceleration
+ speed=speed-0.05;
+ Rdata=Rdata+speed; Ldata=Ldata+speed;
+ Rin=Rdata; Lin=Ldata;
+ talk.Synthe("kasoku.\r");
+ break;
+ default:
+ j--;
+ if( j == 0) {
+ talk.Synthe(" .\r");
+ j = count;
+ }
+ break;
+ }
+ buf='X';
+ moji[0]=0;
+ }
+}
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