Serial_LED(f303k8)
Dependencies: mbed PololuLedStrip
main.cpp@0:e4b3c79f95c0, 2021-01-25 (annotated)
- Committer:
- hamaken1018
- Date:
- Mon Jan 25 07:18:17 2021 +0000
- Revision:
- 0:e4b3c79f95c0
a
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
hamaken1018 | 0:e4b3c79f95c0 | 1 | #include "mbed.h" |
hamaken1018 | 0:e4b3c79f95c0 | 2 | #include "PololuLedStrip.h" |
hamaken1018 | 0:e4b3c79f95c0 | 3 | |
hamaken1018 | 0:e4b3c79f95c0 | 4 | PololuLedStrip ledStrip1(PB_1); |
hamaken1018 | 0:e4b3c79f95c0 | 5 | PololuLedStrip ledStrip2(PB_0); |
hamaken1018 | 0:e4b3c79f95c0 | 6 | PololuLedStrip ledStrip3(PA_11); |
hamaken1018 | 0:e4b3c79f95c0 | 7 | PololuLedStrip ledStrip4(PA_7); |
hamaken1018 | 0:e4b3c79f95c0 | 8 | |
hamaken1018 | 0:e4b3c79f95c0 | 9 | #define LED_COUNT 37 //LEDの数 |
hamaken1018 | 0:e4b3c79f95c0 | 10 | rgb_color colors[LED_COUNT]; |
hamaken1018 | 0:e4b3c79f95c0 | 11 | rgb_color colors2[LED_COUNT]; |
hamaken1018 | 0:e4b3c79f95c0 | 12 | rgb_color colors3[LED_COUNT]; |
hamaken1018 | 0:e4b3c79f95c0 | 13 | rgb_color colors4[LED_COUNT]; |
hamaken1018 | 0:e4b3c79f95c0 | 14 | |
hamaken1018 | 0:e4b3c79f95c0 | 15 | Serial Xbee(PA_9,PA_10,19200); //TX,RX,クロックレート |
hamaken1018 | 0:e4b3c79f95c0 | 16 | Serial pc(SERIAL_TX,SERIAL_RX); //pc(USBTX,USBRX) |
hamaken1018 | 0:e4b3c79f95c0 | 17 | unsigned char RX_data; |
hamaken1018 | 0:e4b3c79f95c0 | 18 | |
hamaken1018 | 0:e4b3c79f95c0 | 19 | DigitalOut LED(PA_3); |
hamaken1018 | 0:e4b3c79f95c0 | 20 | AnalogIn FT(PA_4); |
hamaken1018 | 0:e4b3c79f95c0 | 21 | |
hamaken1018 | 0:e4b3c79f95c0 | 22 | Ticker flipper; //タイマー |
hamaken1018 | 0:e4b3c79f95c0 | 23 | |
hamaken1018 | 0:e4b3c79f95c0 | 24 | //RS-555 rpm == 3610 |
hamaken1018 | 0:e4b3c79f95c0 | 25 | //rad/s == 378.0383159819718 |
hamaken1018 | 0:e4b3c79f95c0 | 26 | //ギア比は1:2だから上の2倍のはず |
hamaken1018 | 0:e4b3c79f95c0 | 27 | |
hamaken1018 | 0:e4b3c79f95c0 | 28 | //フォトリフレクタ |
hamaken1018 | 0:e4b3c79f95c0 | 29 | double fot; |
hamaken1018 | 0:e4b3c79f95c0 | 30 | int h = 0; |
hamaken1018 | 0:e4b3c79f95c0 | 31 | int b = 0; |
hamaken1018 | 0:e4b3c79f95c0 | 32 | //↓LED色 |
hamaken1018 | 0:e4b3c79f95c0 | 33 | int R = 1; |
hamaken1018 | 0:e4b3c79f95c0 | 34 | int G = 2; |
hamaken1018 | 0:e4b3c79f95c0 | 35 | int B = 3; |
hamaken1018 | 0:e4b3c79f95c0 | 36 | int Y = 4; |
hamaken1018 | 0:e4b3c79f95c0 | 37 | int L = 5; |
hamaken1018 | 0:e4b3c79f95c0 | 38 | int P = 6; |
hamaken1018 | 0:e4b3c79f95c0 | 39 | int W = 7; |
hamaken1018 | 0:e4b3c79f95c0 | 40 | int O = 8; |
hamaken1018 | 0:e4b3c79f95c0 | 41 | |
hamaken1018 | 0:e4b3c79f95c0 | 42 | int LED_CON = 1; |
hamaken1018 | 0:e4b3c79f95c0 | 43 | int con = 0; |
hamaken1018 | 0:e4b3c79f95c0 | 44 | int FT_con = 0; |
hamaken1018 | 0:e4b3c79f95c0 | 45 | |
hamaken1018 | 0:e4b3c79f95c0 | 46 | void Xbee_RX(){ |
hamaken1018 | 0:e4b3c79f95c0 | 47 | RX_data = Xbee.getc(); //Xbeeから送られてきた文字Zに代入 |
hamaken1018 | 0:e4b3c79f95c0 | 48 | pc.putc(RX_data); //値をpcに表示 |
hamaken1018 | 0:e4b3c79f95c0 | 49 | } |
hamaken1018 | 0:e4b3c79f95c0 | 50 | |
hamaken1018 | 0:e4b3c79f95c0 | 51 | rgb_color COLOR(float H,int n){ |
hamaken1018 | 0:e4b3c79f95c0 | 52 | |
hamaken1018 | 0:e4b3c79f95c0 | 53 | float r = 0, g = 0, b = 0; |
hamaken1018 | 0:e4b3c79f95c0 | 54 | H = 100; //光の強さ |
hamaken1018 | 0:e4b3c79f95c0 | 55 | switch (n){ |
hamaken1018 | 0:e4b3c79f95c0 | 56 | case 1:r = H; g = 0; b = 0; break; //赤 |
hamaken1018 | 0:e4b3c79f95c0 | 57 | case 2:r = 0; g = H; b = 0; break; //緑 |
hamaken1018 | 0:e4b3c79f95c0 | 58 | case 3:r = 0; g = 0; b = H; break; //青 |
hamaken1018 | 0:e4b3c79f95c0 | 59 | case 4:r = H; g = H; b = 0; break; //黄色 |
hamaken1018 | 0:e4b3c79f95c0 | 60 | case 5:r = 0; g = H; b = H; break; //水色 |
hamaken1018 | 0:e4b3c79f95c0 | 61 | case 6:r = H; g = 0; b = H; break; //紫 |
hamaken1018 | 0:e4b3c79f95c0 | 62 | case 7:r = H; g = H; b = H; break; //白 |
hamaken1018 | 0:e4b3c79f95c0 | 63 | case 8:r = H; g = H * 0.5; b = 0; break; //オレンジ |
hamaken1018 | 0:e4b3c79f95c0 | 64 | } |
hamaken1018 | 0:e4b3c79f95c0 | 65 | return (rgb_color){r,g,b}; |
hamaken1018 | 0:e4b3c79f95c0 | 66 | } |
hamaken1018 | 0:e4b3c79f95c0 | 67 | |
hamaken1018 | 0:e4b3c79f95c0 | 68 | //タイマー処理 |
hamaken1018 | 0:e4b3c79f95c0 | 69 | void LED_not(){ |
hamaken1018 | 0:e4b3c79f95c0 | 70 | for(h = 0; h < LED_COUNT; h++){ |
hamaken1018 | 0:e4b3c79f95c0 | 71 | uint8_t phase =(h << 1); |
hamaken1018 | 0:e4b3c79f95c0 | 72 | colors[h] = COLOR(phase, 0); |
hamaken1018 | 0:e4b3c79f95c0 | 73 | ledStrip1.write(colors, LED_COUNT); |
hamaken1018 | 0:e4b3c79f95c0 | 74 | } |
hamaken1018 | 0:e4b3c79f95c0 | 75 | } |
hamaken1018 | 0:e4b3c79f95c0 | 76 | |
hamaken1018 | 0:e4b3c79f95c0 | 77 | |
hamaken1018 | 0:e4b3c79f95c0 | 78 | |
hamaken1018 | 0:e4b3c79f95c0 | 79 | |
hamaken1018 | 0:e4b3c79f95c0 | 80 | int main(){ |
hamaken1018 | 0:e4b3c79f95c0 | 81 | Xbee.attach(&Xbee_RX, Serial::RxIrq); //割り込み |
hamaken1018 | 0:e4b3c79f95c0 | 82 | pc.baud(115200); //pcクロックレート |
hamaken1018 | 0:e4b3c79f95c0 | 83 | |
hamaken1018 | 0:e4b3c79f95c0 | 84 | while(1){ |
hamaken1018 | 0:e4b3c79f95c0 | 85 | // if(RX_data == 'A'){ |
hamaken1018 | 0:e4b3c79f95c0 | 86 | |
hamaken1018 | 0:e4b3c79f95c0 | 87 | if(FT < 0.8){ |
hamaken1018 | 0:e4b3c79f95c0 | 88 | FT_con++; |
hamaken1018 | 0:e4b3c79f95c0 | 89 | //Xbee.printf("%f",FT); |
hamaken1018 | 0:e4b3c79f95c0 | 90 | while(FT < 0.8){ |
hamaken1018 | 0:e4b3c79f95c0 | 91 | //Xbee.printf("%f",FT); |
hamaken1018 | 0:e4b3c79f95c0 | 92 | } |
hamaken1018 | 0:e4b3c79f95c0 | 93 | } |
hamaken1018 | 0:e4b3c79f95c0 | 94 | // if(RX_data == 'A' && con == 0){ |
hamaken1018 | 0:e4b3c79f95c0 | 95 | // con = 1; |
hamaken1018 | 0:e4b3c79f95c0 | 96 | // } |
hamaken1018 | 0:e4b3c79f95c0 | 97 | if(con == 0){ |
hamaken1018 | 0:e4b3c79f95c0 | 98 | if(10 <= FT_con && FT_con < 20){ |
hamaken1018 | 0:e4b3c79f95c0 | 99 | for(h = 0; h < LED_COUNT; h++){ |
hamaken1018 | 0:e4b3c79f95c0 | 100 | uint8_t phase =(h << 1); |
hamaken1018 | 0:e4b3c79f95c0 | 101 | colors[1] = COLOR(phase, B); |
hamaken1018 | 0:e4b3c79f95c0 | 102 | ledStrip1.write(colors, LED_COUNT); |
hamaken1018 | 0:e4b3c79f95c0 | 103 | |
hamaken1018 | 0:e4b3c79f95c0 | 104 | } |
hamaken1018 | 0:e4b3c79f95c0 | 105 | LED_not(); |
hamaken1018 | 0:e4b3c79f95c0 | 106 | } |
hamaken1018 | 0:e4b3c79f95c0 | 107 | } |
hamaken1018 | 0:e4b3c79f95c0 | 108 | |
hamaken1018 | 0:e4b3c79f95c0 | 109 | |
hamaken1018 | 0:e4b3c79f95c0 | 110 | |
hamaken1018 | 0:e4b3c79f95c0 | 111 | } |
hamaken1018 | 0:e4b3c79f95c0 | 112 | } |