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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
Revision 0:6228c3688e54, committed 2015-06-01
- Comitter:
- YoshihitoShimada
- Date:
- Mon Jun 01 02:03:38 2015 +0000
- Commit message:
- mbed test sample code
Changed in this revision
diff -r 000000000000 -r 6228c3688e54 ATP3012.cpp --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/ATP3012.cpp Mon Jun 01 02:03:38 2015 +0000 @@ -0,0 +1,52 @@ +#include "ATP3012.h" + +ATP3012::ATP3012(PinName sda, PinName scl, int addr):_i2c(sda, scl) +{ + _addr = addr; + _poll_wait.reset(); + _poll_wait.start(); +} + +bool ATP3012::IsActive(int timeout_ms) +{ + wait_ms(AQTK_STARTUP_WAIT_MS); + Timer t; + t.reset(); + t.start(); + while(t.read_ms() < timeout_ms) { + _poll_wait.reset(); + if (_i2c.write(_addr, NULL, 0) == 0) { + return true; + } + wait_ms(AQTK_POLL_WAIT_MS); + } + return false; +} + +void ATP3012::Synthe(const char* msg) +{ + while(IsBusy()) { + ; + } + Write(msg); + Write("\r"); +} + +void ATP3012::Write(const char *msg) +{ + _i2c.write(_addr, msg, strlen(msg)); + _poll_wait.reset(); +} + +bool ATP3012::IsBusy() +{ + if (AQTK_POLL_WAIT_MS > _poll_wait.read_ms()) { + return true; + } + _poll_wait.reset(); + char c = 0x00; + if (_i2c.read(_addr, &c, 1) != 0) { + return false; + } + return c == '*' || c == 0xff; +}
diff -r 000000000000 -r 6228c3688e54 ATP3012.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/ATP3012.h Mon Jun 01 02:03:38 2015 +0000 @@ -0,0 +1,45 @@ +#include "mbed.h" +#pragma once + +#define AQTK_I2C_ADDR (0x2E<<1) +#define AQTK_STARTUP_WAIT_MS 80 +#define AQTK_POLL_WAIT_MS 10 + +/** ATP3012 class + * + * AquesTalk pico LSI I2C interface + * Example: + * @code + * #include "ATP3012.h" + * ATP3012 talk(P0_10,P0_11); // I2C sda scl + * + * int main() { + * talk.Synthe("konnichiwa."); + * for(int n = 1; ; n++) { + * char buf[32]; + * snprintf(buf, sizeof(buf), "<NUMK VAL=%d>.", n); + * talk.Synthe(buf); + * } + * } + * @endcode + * + */ +class ATP3012 { +public: + /** Create a AquesTalk pico LSI I2C interface + * + * @param sda I2C data pin + * @param scl I2C clock pin + * @param addr I2C address + */ + ATP3012(PinName sda, PinName scl, int addr = AQTK_I2C_ADDR); + bool IsActive(int timeout_ms = 500); + void Synthe(const char* msg); + void Write(const char* msg); + bool IsBusy(); +private: + int _addr; + I2C _i2c; + Timer _poll_wait; +}; +
diff -r 000000000000 -r 6228c3688e54 main.cpp --- /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; + } +} \ No newline at end of file
diff -r 000000000000 -r 6228c3688e54 mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Mon Jun 01 02:03:38 2015 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/433970e64889 \ No newline at end of file