NagaokaRoboticsClub_mbedTeam / Mbed OS hayatoShooter

2017ロボコンはやとブーメランプログラム

Dependencies:   PID QEI ikarashiMDC recieveController omni

main.cpp@12:9d21189a8eb0, 2017-09-13 (annotated)

Committer:
WAT34
Date:
Wed Sep 13 22:58:42 2017 +0700
Revision:
12:9d21189a8eb0
Parent:
11:68defd561031
Child:
13:d01356a29b93
pinconfig fixed

Who changed what in which revision?

UserRevisionLine numberNew contents of line
WAT34 1:35e874e10602 1 #include "mbed.h"
WAT34 1:35e874e10602 2 #include "hayatoBoomerang.h"
WAT34 5:9c52e6c14c87 3 #include "recieveController.h"
WAT34 6:0bee4b2bb400 4 #include "omni.h"
WAT34 6:0bee4b2bb400 5
WAT34 1:35e874e10602 6
WAT34 4:c2b09fa31492 7 Serial rs485(PC_10,PC_11,38400);
WAT34 5:9c52e6c14c87 8 Serial serial(USBTX,USBRX);
WAT34 4:c2b09fa31492 9 PwmOut led(LED1);
WAT34 4:c2b09fa31492 10 DigitalIn button(BUTTON1);
WAT34 4:c2b09fa31492 11 boomerang boom(&rs485);
WAT34 4:c2b09fa31492 12 Thread commThread;
WAT34 12:9d21189a8eb0 13 recieveController con(PC_12,PD_2,198);
WAT34 12:9d21189a8eb0 14 // recieveController con(PA_0,PA_1,198);
WAT34 5:9c52e6c14c87 15 // Serial con(PA_0,PA_1,115200);
WAT34 4:c2b09fa31492 16
WAT34 4:c2b09fa31492 17
WAT34 4:c2b09fa31492 18 void init()
WAT34 4:c2b09fa31492 19 {
WAT34 4:c2b09fa31492 20 button.mode(PullUp);
WAT34 4:c2b09fa31492 21
WAT34 5:9c52e6c14c87 22 serial.baud(115200);
WAT34 4:c2b09fa31492 23 //boom.calibrateArm();
WAT34 4:c2b09fa31492 24 boom.setTargetMotorSpeed(0);
WAT34 12:9d21189a8eb0 25 boom.setTargetArmAngle(40);
WAT34 5:9c52e6c14c87 26 }
WAT34 4:c2b09fa31492 27
WAT34 12:9d21189a8eb0 28 void updater()
WAT34 12:9d21189a8eb0 29 {
WAT34 12:9d21189a8eb0 30 boom.update();
WAT34 12:9d21189a8eb0 31 }
WAT34 1:35e874e10602 32
WAT34 1:35e874e10602 33 int main() {
WAT34 4:c2b09fa31492 34 init();
WAT34 12:9d21189a8eb0 35 int angle = 5,turnRate = 127;
WAT34 7:baf16d0c14e7 36 bool prevAnglechange = false;
WAT34 12:9d21189a8eb0 37 char data[20],*data2,*data3;
WAT34 5:9c52e6c14c87 38 // commThread.start(&comm);
WAT34 6:0bee4b2bb400 39 // ticker.attach(&updater,0.01);
WAT34 4:c2b09fa31492 40 while(true)
WAT34 4:c2b09fa31492 41 {
WAT34 12:9d21189a8eb0 42 if((con.buttons[0] >>7) )
WAT34 6:0bee4b2bb400 43 boom.fire();
WAT34 12:9d21189a8eb0 44 if(con.buttons[0] >>8)
WAT34 6:0bee4b2bb400 45 boom.setTargetMotorSpeed(8000);
WAT34 6:0bee4b2bb400 46 else
WAT34 6:0bee4b2bb400 47 boom.setTargetMotorSpeed(0);
WAT34 6:0bee4b2bb400 48
WAT34 12:9d21189a8eb0 49 if(con.buttons[3] < 117 )
WAT34 7:baf16d0c14e7 50 {
WAT34 7:baf16d0c14e7 51 if(!prevAnglechange)
WAT34 12:9d21189a8eb0 52 angle += 1;
WAT34 7:baf16d0c14e7 53 prevAnglechange =true;
WAT34 12:9d21189a8eb0 54 }else
WAT34 12:9d21189a8eb0 55 if(con.buttons[3] > 137)
WAT34 7:baf16d0c14e7 56 {
WAT34 7:baf16d0c14e7 57 if(!prevAnglechange)
WAT34 12:9d21189a8eb0 58 angle -= 1;
WAT34 7:baf16d0c14e7 59 prevAnglechange =true;
WAT34 7:baf16d0c14e7 60 }else{
WAT34 7:baf16d0c14e7 61 prevAnglechange =false;
WAT34 7:baf16d0c14e7 62 }
WAT34 6:0bee4b2bb400 63 if(angle < 5){
WAT34 6:0bee4b2bb400 64 angle = 5;
WAT34 6:0bee4b2bb400 65 }
WAT34 6:0bee4b2bb400 66 if(angle > 80 ){
WAT34 6:0bee4b2bb400 67 angle = 80;
WAT34 6:0bee4b2bb400 68 }
WAT34 6:0bee4b2bb400 69
WAT34 12:9d21189a8eb0 70 if((con.buttons[0] >> 9))
WAT34 12:9d21189a8eb0 71 turnRate = 227;
WAT34 12:9d21189a8eb0 72 else if((con.buttons[0] >> 10))
WAT34 12:9d21189a8eb0 73 turnRate = 27;
WAT34 12:9d21189a8eb0 74 else
WAT34 12:9d21189a8eb0 75 turnRate = 127;
WAT34 12:9d21189a8eb0 76
WAT34 12:9d21189a8eb0 77
WAT34 12:9d21189a8eb0 78 boom.setTargetArmAngle(angle);
WAT34 6:0bee4b2bb400 79 led = boom.beltSpeed;
WAT34 12:9d21189a8eb0 80 boom.move(con.buttons[1],con.buttons[2],turnRate);
WAT34 4:c2b09fa31492 81 boom.update();
WAT34 12:9d21189a8eb0 82 printf("SPPED:%d\n",con.buttons[0]);
WAT34 6:0bee4b2bb400 83 wait_ms(20);
WAT34 5:9c52e6c14c87 84 /* code */
WAT34 5:9c52e6c14c87 85 con.update();
WAT34 5:9c52e6c14c87 86 // printf("whats up\n" );
WAT34 4:c2b09fa31492 87
WAT34 4:c2b09fa31492 88 }
WAT34 4:c2b09fa31492 89
WAT34 1:35e874e10602 90 }