NIT Fukui
/
2021Arobo_YUMIPYOI
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Dependencies: Serial6050Yaw CERICA_2019
Revision 0:dfbe64c7cd06, committed 2022-04-25
- Comitter:
- konagi
- Date:
- Mon Apr 25 09:11:47 2022 +0000
- Commit message:
- a
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/CERICA_2019.lib Mon Apr 25 09:11:47 2022 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/teams/NIT-Fukui/code/CERICA_2019/#a5a5f1234eae
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Serial6050Yaw.lib Mon Apr 25 09:11:47 2022 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/teams/NIT-Fukui/code/Serial6050Yaw/#413d60ebdcf2
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Utility.h Mon Apr 25 09:11:47 2022 +0000
@@ -0,0 +1,43 @@
+#pragma once
+
+#define PI 3.1415926535897932384626433832795
+#define pin GPIO[9]
+RawSerial pc(USBTX,USBRX,115200);
+//Serial6050 mpu(PC_10, PC_11, PC_12);
+DigitalIn limit_pin = GPIO[0];
+PwmOut PWM(PA_8);
+DigitalOut debugLED(D13);
+DigitalIn button(PC_13);
+
+volatile int Opflag=0;
+volatile int Clflag=0;
+volatile int count=3;
+volatile int Motor[4] = {0};
+volatile double dire = 1;
+volatile char MoveFlag = 0;
+
+
+void LEDThread()
+{
+ while(1){
+ if(MoveFlag != 0){
+ debugLED = 1;
+ wait_ms(100);
+ debugLED = 0;
+ }
+ else debugLED = 0;
+ }
+}
+
+void commArduinoThread()
+{
+ while(1){
+ cerica.Send(1);//MotorSend
+ char flag[1];
+ i2c.read(0x08 << 1,flag,1);
+
+ MoveFlag = flag[0];
+ //pc.printf("data : %u\r\n",flag[0]);
+ wait_ms(40);
+ }
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Mon Apr 25 09:11:47 2022 +0000
@@ -0,0 +1,110 @@
+#include "mbed.h"
+#include "board.h"
+#include "Serial6050.h"
+#include "Utility.h"
+
+/*void TurnAround()
+{
+ while(1) {
+ while(dire!=0)
+ dire=mpu.read();
+ if(dire<=180) {
+ cerica.Motor(3,255);
+ } else if(dire>=180) {+
+ 65
+ cerica.Motor(3,-255);
+ }
+ cerica.Motor(3,0);
+ }
+}*/
+void Reload()
+{
+ //PWM.period_us(20000); //周期設定
+ pc.printf("OPEN\r\n");
+ PWM.pulsewidth_us(500);
+ wait(2);
+ pc.printf("CLOSE\r\n");
+ PWM.pulsewidth_us(2400);
+ wait(2);
+}
+
+void ReloadThread()
+{
+ while(true) {
+ if(Opflag==1) {
+ pc.printf("ReloadOP\r\n");
+ PWM.pulsewidth_us(500);
+ wait(1);
+ Opflag=0;
+ } else if(Clflag==1) {
+ pc.printf("ReloadCL\r\n");
+ PWM.pulsewidth_us(2400);
+ wait(1);
+ Clflag=0;
+ } else {
+ //Opflag=0;
+ //Clflag=0;
+ }
+ }
+}
+
+void Bow()
+{
+
+ Opflag=1;
+ cerica.Motor(0,-40);
+ wait(0.5);
+ while(limit_pin.read()==1) {
+
+ cerica.Motor(0,-40);
+ //pc.printf("BOW LOW\r\n");
+
+ }
+ pc.printf("%d\r\n",limit_pin.read());
+ while(1) {
+ cerica.Motor(0,0);
+ Clflag=1;
+ count--;
+ pc.printf("%d\r\n",count);
+ wait(0.4);
+ if(count==0) {
+ count=3;
+ pc.printf("break\r\n");
+ break;
+ }
+ }
+}
+int main()
+{
+ boardInit();
+ limit_pin.mode(PullUp);
+ Thread reload;
+ Thread led;
+ led.start(LEDThread);
+ reload.start(ReloadThread);;
+ PWM.period_us(20000); //周期設定
+ PWM.pulsewidth_us(2400);
+
+ //mpu.init();
+
+ MoveFlag = 1;
+ wait_ms(900);
+ MoveFlag = 0;
+
+ Thread comm;
+ comm.start(commArduinoThread);
+
+ while (true) {
+ if(MoveFlag==1||button.read() == 0) {
+ pc.printf("ON\r\n");
+ Bow();
+ } else {
+ //pc.printf("OFF\r\n");
+ }
+ }
+ //Reload();
+ //pc.printf("%d\n\r",SW1.read());
+ //pc.printf("aaaa\n\r");
+ //pc.printf("%d\n\r",limit_pin.read());
+
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed-os.lib Mon Apr 25 09:11:47 2022 +0000 @@ -0,0 +1,1 @@ +https://github.com/ARMmbed/mbed-os/#c9e63f14085f5751ff5ead79a7c0382d50a813a2