NIT Fukui / CERICA_2019

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Dependencies:   ST7032 QEI PS4Serial

Dependents:   2021Arobo_UMAPYOI 2021Arobo_YUMIPYOI

cerica2.h@16:bba1ff6d196e, 2019-10-04 (annotated)

Committer:
Suzu Tomo
Date:
Fri Oct 04 12:10:08 2019 +0900
Revision:
16:bba1ff6d196e
Parent:
15:f2e702d0047c
Child:
17:a5a5f1234eae
add Send Function and remove motor Function

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Suzutomo 15:f2e702d0047c 1 #pragma once
Suzutomo 0:a1d2ea7aa5c6 2
Suzutomo 15:f2e702d0047c 3 #include "mbed.h"
Suzutomo 15:f2e702d0047c 4 #include "QEI.h"
Suzutomo 15:f2e702d0047c 5
Suzutomo 15:f2e702d0047c 6 enum WireSel {FEP01,TweLite};
Suzutomo 1:019a7d4201c2 7
Suzutomo 0:a1d2ea7aa5c6 8 class CERICA
Suzutomo 0:a1d2ea7aa5c6 9 {
Suzutomo 0:a1d2ea7aa5c6 10 private:
Suzutomo 0:a1d2ea7aa5c6 11 DigitalOut wireSelect;
Suzutomo 15:f2e702d0047c 12 I2C i2c;
Suzutomo 15:f2e702d0047c 13 PwmOut buz;
Suzutomo 15:f2e702d0047c 14 BusOut leds;
Suzutomo 15:f2e702d0047c 15 BusIn sw;
Suzutomo 15:f2e702d0047c 16 DigitalOut dReset;
Suzutomo 15:f2e702d0047c 17 QEI xEnc;
Suzutomo 15:f2e702d0047c 18 QEI yEnc;
Suzutomo 15:f2e702d0047c 19
Suzutomo 11:8fa43cb31f9b 20 char ADDR;
Suzutomo 11:8fa43cb31f9b 21 bool brake;
Suzutomo 11:8fa43cb31f9b 22 bool isEnc;
Suzutomo 11:8fa43cb31f9b 23 long map(long x, long in_min, long in_max, long out_min, long out_max);
Suzutomo 11:8fa43cb31f9b 24 char configData;
Suzutomo 11:8fa43cb31f9b 25 char Div;
Suzutomo 15:f2e702d0047c 26 //int minSpd;
Suzutomo 11:8fa43cb31f9b 27 int maxSpd;
Suzutomo 15:f2e702d0047c 28
Suzutomo 0:a1d2ea7aa5c6 29 public:
Suzutomo 15:f2e702d0047c 30 CERICA(WireSel WireSel_);
Suzutomo 15:f2e702d0047c 31
Suzutomo 15:f2e702d0047c 32 // Board LED
Suzutomo 15:f2e702d0047c 33 bool LED(int n_,bool l_);
Suzutomo 15:f2e702d0047c 34
Suzutomo 15:f2e702d0047c 35 // Board SW
Suzutomo 15:f2e702d0047c 36 bool SW(int n_)
Suzutomo 15:f2e702d0047c 37 {
Suzutomo 15:f2e702d0047c 38 return (~sw >> n_) & 0x1;
Suzutomo 15:f2e702d0047c 39 }
Suzutomo 15:f2e702d0047c 40
Suzutomo 15:f2e702d0047c 41 // Motor
Suzutomo 15:f2e702d0047c 42 bool Send(bool available_ = 1);
Suzutomo 15:f2e702d0047c 43 void Motor(char sendChannel,int verocity)
Suzutomo 15:f2e702d0047c 44 {
Suzutomo 15:f2e702d0047c 45 power[sendChannel] = verocity;
Suzutomo 15:f2e702d0047c 46 }
Suzutomo 15:f2e702d0047c 47 void maxRange(int maxSpd_)
Suzutomo 15:f2e702d0047c 48 {
Suzutomo 15:f2e702d0047c 49 maxSpd = maxSpd_;
Suzutomo 15:f2e702d0047c 50 }
Suzutomo 15:f2e702d0047c 51 void Set(bool isEnc_ = false,bool brake_ = false)
Suzutomo 15:f2e702d0047c 52 {
Suzutomo 15:f2e702d0047c 53 brake = brake_, isEnc = isEnc_;
Suzutomo 15:f2e702d0047c 54 }
Suzutomo 15:f2e702d0047c 55
Suzutomo 15:f2e702d0047c 56
Suzutomo 15:f2e702d0047c 57 // Speaker
Suzutomo 15:f2e702d0047c 58 void Play(int scale_); // scale = 0 : C0
Suzutomo 15:f2e702d0047c 59 void Stop()
Suzutomo 15:f2e702d0047c 60 {
Suzutomo 15:f2e702d0047c 61 buz = 0;
Suzutomo 15:f2e702d0047c 62 }
Suzutomo 15:f2e702d0047c 63
Suzutomo 15:f2e702d0047c 64 // Encoder
Suzutomo 15:f2e702d0047c 65 int GetX()
Suzutomo 15:f2e702d0047c 66 {
Suzutomo 15:f2e702d0047c 67 return xEnc.getPulses();
Suzutomo 15:f2e702d0047c 68 }
Suzutomo 15:f2e702d0047c 69 int GetY()
Suzutomo 15:f2e702d0047c 70 {
Suzutomo 15:f2e702d0047c 71 return yEnc.getPulses();
Suzutomo 15:f2e702d0047c 72 }
Suzutomo 15:f2e702d0047c 73 void ResetX()
Suzutomo 15:f2e702d0047c 74 {
Suzutomo 15:f2e702d0047c 75 return xEnc.reset();
Suzutomo 15:f2e702d0047c 76 }
Suzutomo 15:f2e702d0047c 77 void ResetY()
Suzutomo 15:f2e702d0047c 78 {
Suzutomo 15:f2e702d0047c 79 return yEnc.reset();
Suzutomo 15:f2e702d0047c 80 }
Suzutomo 15:f2e702d0047c 81
Suzutomo 11:8fa43cb31f9b 82 //bool init(char toMD , bool rvs = false , bool omni = true, bool sound = false , frequency freq = F256, int channel_ = 0);
Suzutomo 15:f2e702d0047c 83
Suzutomo 11:8fa43cb31f9b 84 bool RawMotor(char sendChannel,int verocity);
Suzutomo 11:8fa43cb31f9b 85 bool wait(int waitT);
Suzutomo 15:f2e702d0047c 86
Suzutomo 11:8fa43cb31f9b 87 bool SystemReset(char sendChannel);
Suzutomo 11:8fa43cb31f9b 88 bool ConfigReset(char sendChannel);
Suzutomo 11:8fa43cb31f9b 89 bool DscOn(char sendChannel,bool mode);
Suzutomo 11:8fa43cb31f9b 90 bool OutputFlip(char sendChannel,bool mode);
Suzutomo 11:8fa43cb31f9b 91 bool DscPortOpen(char sendChannel,bool mode);
Suzutomo 11:8fa43cb31f9b 92 bool SoundOn(char sendChannel,bool mode);
Suzutomo 11:8fa43cb31f9b 93 bool SetDivider(char sendChannel,char pulse);
Suzutomo 15:f2e702d0047c 94 /*void SetSpeedLimit(int min, int max)
Suzutomo 15:f2e702d0047c 95 {
Suzutomo 15:f2e702d0047c 96 minSpd = min;
Suzutomo 15:f2e702d0047c 97 maxSpd = max;
Suzutomo 15:f2e702d0047c 98 }*/
Suzutomo 11:8fa43cb31f9b 99 int powerOut[16];
Suzutomo 11:8fa43cb31f9b 100 int power[16];
Suzutomo 0:a1d2ea7aa5c6 101 };