main.cpp

00001 #include "mbed.h"
00002 #include "ATP3012.h"
00003 
00004 Serial bluetooth(p9,p10); //tx, rx
00005 ATP3012 talk(P0_5, P0_4); // sda, scl
00006 
00007 PwmOut Rin(P0_8); 
00008 PwmOut Lin(P0_9);
00009 PwmOut S40kHz(P0_21);
00010 DigitalOut IN1(P0_11);
00011 DigitalOut IN2(P0_12);
00012 AnalogIn Ain(P0_13);
00013 DigitalOut StopSignal(P0_20);
00014 DigitalOut Light(P0_16);
00015 
00016 int main() {
00017     bluetooth.baud(115200);
00018     int32_t i, j;
00019     int32_t count=10000;
00020     uint8_t buf='5';
00021     char moji[64];
00022     int32_t onsei=0;
00023 
00024     char* LightOn[64] = { "raitoon.\r", "tentou.\r" } ;
00025     char* LightOff[64] = { "raito/ohu.\r", "syoutou.\r" } ;
00026     char* Forward[64] = { "susume.\r", "<ALPHA VAL=start>.\r" } ;
00027     char* Stop[64] = { "tomare.\r", "<ALPHA VAL=stop>.\r" } ;     
00028     char* Backward[64] = { "sagare.\r", "bakku.\r" } ;     
00029     char* LeftTurn[64] = { "<ALPHA VAL=left>.\r", "sasetu.\r" } ;     
00030     char* RightTurn[64] = { "raito.\r", "usetu.\r" } ;     
00031     char* LeftBackward[64] = { "hidariusiro.\r", "usiro /hidari.\r" };
00032     char* RightBackward[64] = { "migiusiro.\r", "usiro /migi.\r" };
00033     char* LeftOblique[64] = { "naname/hidari.\r","hidari/naname.\r" };
00034     char* RightOblique[64] = { "naname/migi.\r","migi/naname.\r" }; 
00035     char* Acceleration[64] = { "hayaku.\r","supi-do/appu.\r" };
00036     char* Deceleration[64] = { "osoku.\r","supi-do/daun.\r" }; 
00037 
00038     float speed=0;
00039     float Rdata=1;
00040     float Ldata=1;
00041     float threshold=0.2;
00042     S40kHz.period_us(25);          // 40kHz
00043     S40kHz.pulsewidth_us(12.5);
00044     Light=0;
00045     j = count;
00046     
00047     talk.Synthe("sumahode,ennbextudo'ka-o/ugoka'_su+koto'ga/dekima'_su.\r");
00048     talk.Synthe("ta'xtu_chi+shite/ugoka'_shite+mi'te+kudasa'i.\r");
00049     talk.Synthe("mata shabe'ttemo/je'_sucha-demo/ugokasema'_su.\r");
00050     talk.Synthe("ma'zuwa buru-twu'-suni/setsuzo_kushimasho'-.\r");
00051          
00052     while (1) {
00053         if(bluetooth.readable()) {
00054             i=0;
00055             do {
00056                 buf=bluetooth.getc();
00057                 moji[i++]=buf;
00058             } while(buf!='\0');
00059             buf=moji[0];
00060         }
00061         for(int i = 0; i <= 1; i++) {
00062             if (strcmp(LeftBackward[i],moji) == 0) buf='1';
00063             if (strcmp(Backward[i],moji) == 0) buf='2';
00064             if (strcmp(RightBackward[i],moji) == 0) buf='3';
00065             if (strcmp(LeftTurn[i],moji) == 0) buf='4';            
00066             if (strcmp(Stop[i],moji) == 0) buf='5';
00067             if (strcmp(RightTurn[i],moji) == 0) buf='6';        
00068             if (strcmp(LeftOblique[i],moji) == 0) buf='7';
00069             if (strcmp(Forward[i],moji) == 0) buf='8';
00070             if (strcmp(RightOblique[i],moji) == 0) buf='9';
00071             if (strcmp(LightOn[i],moji) == 0) buf='+';           
00072             if (strcmp(LightOff[i],moji) == 0) buf='-';
00073             if (strcmp(Acceleration[i],moji) == 0) buf='*';           
00074             if (strcmp(Deceleration[i],moji) == 0) buf='0';
00075         }          
00076 
00077         if(Ain > threshold) {
00078             StopSignal=0;   // Red LED ON
00079             if((buf>='4')){
00080                 buf='5';
00081                 IN1=1;IN2=1; 
00082                 if(onsei==1) {
00083                     talk.Synthe("zennpo-ni sho-gai'butsuo/hakkennshima'_shita.\r");
00084                     talk.Synthe("ka'i_hi+shitekudasa'i.\r");   
00085                     onsei=0;
00086                 }
00087             }
00088         } else {
00089             StopSignal=1;   // Red LED OFF
00090             onsei=1;
00091         }
00092         switch (buf){
00093         case '1':   // Left Backward
00094           IN1=1;IN2=0;
00095             Rdata=0.4+speed; Ldata=0.6+speed;
00096             Rin=Rdata; Lin=Ldata;
00097             talk.Synthe("hidariusiro.\r");  
00098             break;
00099         case '2':   // Backward
00100            IN1=1;IN2=0;
00101             Rdata=0.5+speed; Ldata=0.5+speed;
00102             Rin=Rdata; Lin=Ldata;
00103             talk.Synthe("ushironi/sagarima'_su.\r");  
00104             break;
00105         case '3':   // Right Backward
00106             IN1=1;IN2=0;
00107             Rdata=0.6+speed; Ldata=0.4+speed;
00108             Rin=Rdata; Lin=Ldata;
00109             talk.Synthe("migiusiro.\r");   
00110             break;
00111         case '4':   // Left Turn
00112             IN1=0;IN2=1;    
00113             Rdata=0.3+speed; Ldata=0.8+speed;
00114             Rin=Rdata; Lin=Ldata;
00115             talk.Synthe("sasetsu.\r");  
00116             break;
00117         case '5':   // Stop
00118             IN1=1;IN2=1;
00119             break;
00120         case '6':   // Right Turn
00121             IN1=0;IN2=1;  
00122             Rdata=0.8+speed; Ldata=0.3+speed;
00123             Rin=Rdata; Lin=Ldata;        
00124             talk.Synthe("usetsu.\r");  
00125             break;
00126         case '7':   // Left Oblique
00127             IN1=0;IN2=1;    
00128             Rdata=0.4+speed; Ldata=0.6+speed;
00129             Rin=Rdata; Lin=Ldata;
00130             talk.Synthe("hidarinana'me.\r");  
00131             break;
00132         case '8':   // Forward
00133             IN1=0;IN2=1;
00134             Rdata=0.5+speed; Ldata=0.5+speed;
00135             Rin=Rdata; Lin=Ldata;
00136             talk.Synthe("zennshinn.\r");    
00137             break;
00138         case '9':   // Right Oblique
00139             IN1=0;IN2=1;    
00140             Rdata=0.6+speed; Ldata=0.4+speed;
00141             Rin=Rdata; Lin=Ldata;
00142             talk.Synthe("miginana'me.\r");  
00143             break;
00144         case '+':   //Light On
00145             Light=1;
00146             talk.Synthe("#J\r");
00147             talk.Synthe("ra'itoo/tennto-shima'_su.\r"); 
00148             break;
00149         case '-':   //Light Off
00150             Light=0;
00151             talk.Synthe("#J\r");
00152             talk.Synthe("ra'itoo/keshima'_su.\r");            
00153             break;
00154         case '0':   // Deceleration
00155             speed=speed+0.05;
00156             Rdata=Rdata+speed; Ldata=Ldata+speed;
00157             Rin=Rdata; Lin=Ldata;
00158             talk.Synthe("gennsoku.\r");                         
00159             break;
00160         case '*':   // Acceleration
00161             speed=speed-0.05;
00162             Rdata=Rdata+speed; Ldata=Ldata+speed;
00163             Rin=Rdata; Lin=Ldata;
00164             talk.Synthe("kasoku.\r");      
00165             break;            
00166         default:
00167             j--;
00168             if( j == 0) {
00169                 talk.Synthe(" .\r");
00170                 j = count;
00171             }
00172             break;
00173         }
00174         buf='X';
00175         moji[0]=0;
00176     }
00177 }