Revision 0:dbda2fc81332, committed 2016-06-20

Comitter:

hajime_nntc

Date:

Mon Jun 20 09:40:21 2016 +0000

Commit message:

???????????????(6/20)

Changed in this revision

diff -r 000000000000 -r dbda2fc81332 main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon Jun 20 09:40:21 2016 +0000
@@ -0,0 +1,67 @@
+#include "mbed.h"
+
+#define PI 3.141592
+
+DigitalOut leds[8] = { PA_11,LED1, PB_2, PB_1, PB_15, PB_14, PB_13, PC_4 };
+I2C i2c(I2C_SDA, I2C_SCL);
+Serial    FEP02(PC_6, PA_12);
+Serial    pc(USBTX, USBRX);
+
+const int  addr[4] = { 0x10, 0x23, 0x56, 0x76 };
+int       i, dig, i2cVAL, error_val = 0;
+// double    rad, prePwmDuty[4], PwmDuty[4];
+
+int main()
+{
+    char     data[5] = { 0 }, FR_motor[2], RR_motor[2], RL_motor[2], FL_motor[2];
+    int  i, dig, i2cVAL, error = 0;
+    double rad, prePwmDuty[4], PwmDuty[4];
+    i2c.frequency(300000);  // I2Cの通信速度設定
+    FEP02.baud(19200);// シリアルのボーレートを19200に設定
+    while(1) {                  // 受信
+        if(FEP02.getc() == 255) {
+            for(i = 0; i < 5; i++) {
+                data[i]  = FEP02.getc();
+                error_val = 0;
+            }
+            if(FEP02.getc() != 127) {
+                error_val++;
+            }
+        }  else {
+            error_val++;
+        }
+        if(error > 10) {    // 受信error
+            dig = 360;
+            pc.printf("error\r\n");
+        }
+        dig = data[0] + data[1] * 128;// 受信データから元の角度に変換
+        rad = ((double) dig / 180.0) * PI;      // radに変換
+        if(dig >= 360) {
+            prePwmDuty[0] = 0;
+            prePwmDuty[1] = 0;
+            prePwmDuty[2] = 0;
+            prePwmDuty[3] = 0;
+            pc.printf("stop\r\n");
+        } else {
+            // 各モータへの出力を算出
+            prePwmDuty[0] = sin(rad - (1.0 / 4.0) * PI);
+            prePwmDuty[1] = sin(rad - (3.0 / 4.0) * PI);
+            prePwmDuty[2] = sin(rad - (5.0 / 4.0) * PI);
+            prePwmDuty[3] = sin(rad - (7.0 / 4.0) * PI);
+        }
+        FR_motor[0] = 127 + prePwmDuty[0] * 127;
+        RR_motor[0] = 127 + prePwmDuty[1] * 127;
+        RL_motor[0] = 127 + prePwmDuty[2] * 127;
+        FL_motor[0] = 127 + prePwmDuty[3] * 127;
+        i2cVAL    += i2c.write(addr[0], FR_motor, 2, false);
+        i2cVAL    += i2c.write(addr[1], RR_motor, 2, false);
+        i2cVAL    += i2c.write(addr[2], RL_motor, 2, false);
+        i2cVAL    += i2c.write(addr[3], FL_motor, 2, false);
+        if(i2cVAL) {
+            leds[2] = 1;
+        } else {
+            leds[2] = 0;
+        }
+        pc.printf("%d,%d,%d,%d,%d\r\n", dig, FR_motor[0], data[2], data[3], data[4]);
+    }
+}

diff -r 000000000000 -r dbda2fc81332 mbed.bld
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Mon Jun 20 09:40:21 2016 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/6c34061e7c34
\ No newline at end of file