Revision 0:31209b575854, committed 2018-07-02

Comitter:

BIGBOSS04

Date:

Mon Jul 02 08:19:59 2018 +0000

Commit message:

2017???????????Nucleo??????(?????????????)

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon Jul 02 08:19:59 2018 +0000
@@ -0,0 +1,258 @@
+#include "mbed.h"
+
+/* USART通信ピン設定 */
+Serial pic(D8, D2); //TX, RX
+
+/* i2c通信ピン設定 */
+I2C i2c(D14, D15);  //SDA, SCL
+
+/* 確認LED設定 */
+DigitalOut myled(D13);
+
+/* 緊急停止ピン設定 */
+DigitalOut emergency(D9);
+
+/* 各関数の宣言 */
+void ice(int address, int data);
+void dev_rx();
+void photo();
+
+
+/* 右前メカナム */
+int send_data1 = 0x30;
+
+/* 右後メカナム */
+int send_data2 = 0x30;
+
+/* 左前メカナム */
+int send_data3 = 0x30;
+
+/* 左後メカナム */
+int send_data4 = 0x30;
+
+/* 射撃機構 */
+int send_data5 = 0x30;
+
+int send_data6 = 0x30;
+
+/* 緊急停止用フラグ */
+int emergency_flag = 0;
+
+void ice(int address, int data) //I2C関数
+{
+    /* 周波数: 100kHz */
+    //i2c.frequency(100000);
+    
+    /* スタートコンディション出力 */
+    i2c.start();
+    
+    /* アドレスの書き込み */   
+    i2c.write(address);
+    
+    /* データの書き込み */
+    i2c.write(data);
+    
+    /* ストップコンディション出力 */
+    i2c.stop();
+}
+
+void dev_rx()
+{
+    /* ボーレートの設定 */
+    pic.baud(115200);
+    
+    /* 各ボタンが押された時の処理 */
+    int rcv_data = pic.getc();
+    
+    
+    
+    if(rcv_data ==0x17){
+        send_data5 = 0x02;
+        myled = 1;
+    }else if(rcv_data == 0x18){
+        send_data6 = 0x02;
+        myled = 1;
+    }
+
+    /* -------------移動機構--------------- */
+    //前進
+    if(rcv_data == 0x01){   //前進50%   
+        send_data1 = 0x02;
+        send_data2 = 0x02;
+        send_data3 = 0x02;
+        send_data4 = 0x02;
+        
+        myled = 1;
+        
+    }else if(rcv_data == 0x05){ //前進 90%
+        send_data1 = 0x03;
+        send_data2 = 0x03;
+        send_data3 = 0x03;
+        send_data4 = 0x03;
+        
+        myled = 1;
+        
+    }else if(rcv_data == 0x09){ //前進 10%
+        send_data1 = 0x01;
+        send_data2 = 0x01;
+        send_data3 = 0x01;
+        send_data4 = 0x01;
+        
+        myled = 1;
+    }else if(rcv_data == 0x02){ //後進 50%
+        send_data1 = 0x05;
+        send_data2 = 0x05;
+        send_data3 = 0x05;
+        send_data4 = 0x05;
+        
+        myled = 1;
+    }else if(rcv_data == 0x06){ //後進 90%
+        send_data1 = 0x06;
+        send_data2 = 0x06;
+        send_data3 = 0x06;
+        send_data4 = 0x06;
+        
+        myled = 1;
+    
+    }else if(rcv_data == 0x10){ //後進 10%
+        send_data1 = 0x04;
+        send_data2 = 0x04;
+        send_data3 = 0x04;
+        send_data4 = 0x04;
+        
+        myled = 1;
+        
+    }else if(rcv_data == 0x03){ //右平衡移動 50%
+        send_data1 = 0x05;
+        send_data2 = 0x02;
+        send_data3 = 0x05;
+        send_data4 = 0x02;
+        
+        myled = 1;
+    }else if(rcv_data == 0x07){ //右平行移動 90%
+        send_data1 = 0x06;
+        send_data2 = 0x03;
+        send_data3 = 0x06;
+        send_data4 = 0x03;
+        
+        myled = 1;
+    }else if(rcv_data == 0x11){ //右平衡移動 10%
+        send_data1 = 0x04;
+        send_data2 = 0x01;
+        send_data3 = 0x04;
+        send_data4 = 0x01;
+        
+        myled = 1;
+    }else if(rcv_data == 0x04){ //左平衡移動 50%
+        send_data1 = 0x02;
+        send_data2 = 0x05;
+        send_data3 = 0x02;
+        send_data4 = 0x05;
+        
+        myled = 1;
+    }else if(rcv_data == 0x08){ //左平衡移動 90%
+        send_data1 = 0x03;
+        send_data2 = 0x06;
+        send_data3 = 0x03;
+        send_data4 = 0x06;
+        
+        myled  = 1;
+    }else if(rcv_data == 0x12){ //左平衡移動 10%
+        send_data1 = 0x01;
+        send_data2 = 0x04;
+        send_data3 = 0x01;
+        send_data4 = 0x04;
+        
+        myled = 1;
+    
+    }else if(rcv_data == 0x13){ //右旋回
+        send_data1 = 0x05;
+        send_data2 = 0x02;
+        send_data3 = 0x02;
+        send_data4 = 0x05;
+        
+        myled = 1;
+    }else if(rcv_data == 0x15){
+        send_data1 = 0x04;
+        send_data2 = 0x01;
+        send_data3 = 0x01;
+        send_data4 = 0x04;
+        
+        myled = 1;
+    
+    }else if(rcv_data == 0x14){ //左旋回
+        send_data1 = 0x02;
+        send_data2 = 0x05;
+        send_data3 = 0x05;
+        send_data4 = 0x02;
+        
+        myled = 1;
+    }else if(rcv_data == 0x16){
+        send_data1 = 0x01;
+        send_data2 = 0x04;
+        send_data3 = 0x04;
+        send_data4 = 0x01;
+        
+        myled = 1;
+    }
+    
+    
+    /* 緊急停止始動 */
+    else if(rcv_data == 0x2B){
+        emergency_flag = 1;
+        myled = 1;
+    }
+    
+    /* 緊急停止解除 */
+    else if(rcv_data == 0x2C){
+        emergency_flag = 0;
+        myled = 1;
+    }
+        
+    else if(rcv_data == 0x30){
+        send_data1 = 0x30;
+        send_data2 = 0x30;
+        send_data3 = 0x30;
+        send_data4 = 0x30;
+        send_data5 = 0x30;
+        send_data6 = 0x30;
+        
+        myled = 0; 
+        
+    }
+    
+    /* 緊急停止関数 */
+    if(emergency_flag == 1){
+        emergency = 1;
+        myled = 1;
+        
+    } else {
+        emergency = 0;
+        myled = 0;
+    }
+}
+
+/* メイン関数 */
+int main(void)
+{
+    /* 緊急停止解除 */
+    emergency = 0;
+    
+    /* 無限ループ関数 */
+    while(1)
+    {   
+        
+        dev_rx();
+        /* 割り込み受信関数の呼び出し */
+        pic.attach(dev_rx, Serial::RxIrq);
+        
+        
+        /* i2c関数の呼び出し */
+        ice(0xA0, send_data1);
+        ice(0xA2, send_data2);
+        ice(0xA4, send_data3);
+        ice(0xA6, send_data4);
+        ice(0xA8, send_data5);
+        ice(0xAA, send_data6);
+    }
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Mon Jul 02 08:19:59 2018 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/mbed_official/code/mbed/builds/aa5281ff4a02
\ No newline at end of file