Revision 0:3b06c3283e31, committed 2021-01-25

Comitter:

hamaken1018

Date:

Mon Jan 25 07:20:38 2021 +0000

Commit message:

a;

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/PololuLedStrip.lib	Mon Jan 25 07:20:38 2021 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/DavidEGrayson/code/PololuLedStrip/#c3193bc73cff

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon Jan 25 07:20:38 2021 +0000
@@ -0,0 +1,384 @@
+#include "mbed.h"
+#include "PololuLedStrip.h"
+#include <math.h>
+
+Serial Xbee(P0_10,P0_11,19200); //TX,RX,クロックレート
+Serial Xbee2(P0_0,P0_1,19200); //ＬＥＤに送信
+Serial pc(USBTX,USBRX); //pc(USBTX,USBRX)
+Ticker ticker;
+unsigned char RX_data;
+
+#define DIGITS 8
+#define ledsize 65
+//円周率
+#define PI 3.14159265358979
+//モータードライバ
+#define M1 0x01
+
+//モータードライバへの命令
+#define STOP 0
+#define CW 1
+#define CCW -1
+#define bSTOP 10
+#define bCW 11
+#define bCCW -11
+
+#define sCW 21
+#define sCCW -21
+#define sSTOP 20
+#define shCW 31
+#define shCCW -31
+
+#define lCW 51
+#define lCCW -51
+#define lSTOP 50
+#define lsCW 61
+#define lsCCW -61
+#define lsSTOP 60
+
+#define rON 41
+#define rOFF -41
+
+DigitalOut led1(LED1);
+DigitalOut led2(LED2);
+DigitalOut led3(LED3);
+DigitalOut ledx(LED4);
+I2C md_i2c_tx(P0_27, P0_28);
+
+void cv2bin( unsigned char n ) {
+    int i;
+
+    for( i = DIGITS-1; i >= 0; i-- ) {
+        printf( "%d", ( n >> i ) & 1 );
+    }
+    printf( "\n" );
+}
+
+//i2c通信
+void md_setoutput(unsigned char address, int rotate, int duty) {
+    char val;
+    char data[2];
+        /* H30新型：処理最適化 */
+        switch (rotate) {
+            case CW:    data[0] = 'F'; break;// 電圧比例制御モード（PWMがLの区間はフリー）
+            case CCW:   data[0] = 'R'; break;
+            case STOP:  data[0] = 'S'; break;
+
+            case bCW:   data[0] = 'f'; break; // 電圧比例制御モード（PWMがLの区間はブレーキ） //ブレーキ停止は機体に負荷がかかるため使用禁止
+            case bCCW:  data[0] = 'r'; break;
+            case bSTOP: data[0] = 's'; break;
+            
+            case sCW:   data[0] = 'A'; break; // 速度比例制御モード
+            case sCCW:  data[0] = 'B'; break;
+            case sSTOP: data[0] = 'T'; break;
+            
+            case shCW:   data[0] = 'a'; break; // 速度比例制御モード（命令パケット最上位ビットに指令値9ビット目を入れることで分解能2倍）
+            case shCCW:  data[0] = 'b'; break;
+
+            case lCW:   data[0] = 'L'; break; // 通常LAP
+            case lCCW:  data[0] = 'M'; break;
+            case lSTOP: data[0] = 'N'; break;
+            case lsCW:   data[0] = 'l'; break; // 速調LAP
+            case lsCCW:  data[0] = 'm'; break;
+            case lsSTOP: data[0] = 'n'; break;
+
+            case rON: data[0] = 'P'; break; //リレー駆動モード
+            case rOFF: data[0] = 'p'; break;
+        }
+            
+    data[1] = duty & 0xFF;
+    
+    val = md_i2c_tx.write(address << 1, data, 2); //duty送信
+}
+#define LED_COUNT 66 //LEDの数
+PololuLedStrip ledStrip1(P2_13);
+rgb_color colors[LED_COUNT];
+int cnt = 0;
+int EMS = 0;
+int con = 0;
+int motorOn = 0;
+int LEDDATA = 1;
+
+void Xbee_RX(){
+    
+    RX_data = Xbee.getc(); //Xbeeから送られてきた文字を代入
+    pc.putc(RX_data); //値をpcに表示
+    
+    //非常停止　EMSが１で入る
+    if (cnt == 0 && RX_data == 'S'){
+        cnt++;
+    }else if (cnt == 1 && RX_data == 'T'){
+        cnt++;
+    }else if (cnt == 2 && RX_data == 'O'){
+        cnt++;
+    }else if (cnt == 3 && RX_data == 'P'){
+        cnt = 0;
+        EMS = 1;
+        led1 = 1;
+    }else if (RX_data == 'L'){
+        cnt = 0;
+        EMS = 0;
+        led1 = 0;
+    }
+}
+
+rgb_color COLOR(float H,int n){
+
+    float r = 0, g = 0, b = 0;
+    H = 100; //光の強さ
+    switch (n){
+        case 1:r = H; g = 0; b = 0; break; //赤
+        case 2:r = 0; g = H; b = 0; break; //緑
+        case 3:r = 0; g = 0; b = H; break; //青
+        case 4:r = H; g = H; b = 0; break; //黄色
+        case 5:r = 0; g = H; b = H; break; //水色
+        case 6:r = H; g = 0; b = H; break; //紫
+        case 7:r = H; g = H; b = H; break; //白
+        case 8:r = H; g = H * 0.5; b = 0; break; //オレンジ
+        }
+    return (rgb_color){r,g,b};
+}
+
+//フォトリフレクタ
+double fot;
+int h = 0;
+int b = 0;
+//↓LED色
+int R = 1;
+int G = 2;
+int B = 3;
+int Y = 4;
+int L = 5;
+int P = 6;
+int W = 7;
+int O = 8;
+
+void ledsw(){
+    h++;
+}
+
+int main() {
+    wait_ms(10);
+    led1 = 1;
+    led2 = 0;
+    led3 = 0;
+    ledx = 1;
+    Xbee.attach(&Xbee_RX, Serial::RxIrq); //割り込み
+    pc.baud(115200); //pcクロックレート
+    md_i2c_tx.frequency(20000000UL/(16 + 2 * 2 * 16));//I2C通信
+    
+    while(1){
+        //機構用モータ
+        if(EMS){
+            md_setoutput(M1,STOP,0);
+        }else if(EMS == 0){
+            md_setoutput(M1,CW,255);
+        }
+        
+        //***************打ち上げ処理******************//
+        if(RX_data == 'A' && con == 0){
+            con = 1;
+            h = 0;
+            ticker.attach(ledsw,0.05);
+        }else if(RX_data == 'B' && con == 1){
+            con = 2;
+            h = 0;
+            ticker.attach(ledsw,0.2);
+        }else if(RX_data == 'C' && con == 2){
+            con = 3;
+            h = 0;
+            ticker.attach(ledsw,0.2);
+        }else if(RX_data == 'D' && con == 3){
+            con = 4;
+            h = 0;
+            ticker.attach(ledsw,0.2);
+        }else if(RX_data == 'E' && con == 4){
+            con = 5;
+            h = 0;
+            ticker.attach(ledsw,0.2);
+        }else if(RX_data == 'A' && con == 5){
+            con = 6;
+            h = 0;
+            ticker.attach(ledsw,0.2);
+        }else if(RX_data == 'B' && con == 6){
+            con = 7;
+            h = 0;
+            ticker.attach(ledsw,0.2);
+        }else if(RX_data == 'C' && con == 7){
+            con = 8;
+            h = 0;
+            ticker.attach(ledsw,0.2);
+        }else if(RX_data == 'D' && con == 8){
+            con = 9;
+            h = 0;
+            ticker.attach(ledsw,0.2);
+        }
+        
+        if(con == 1){
+            if(h < LED_COUNT + 1){
+                for(int k = 0; k < LED_COUNT; k++){
+                    uint8_t phase =(k << 1);
+                    colors[k] = COLOR(phase, 0);
+                }
+                    
+                uint8_t phase =(h << 1);
+                colors[ledsize - h] = COLOR(phase, B);
+                ledStrip1.write(colors, LED_COUNT);
+                 
+                if(h == LED_COUNT + 1){
+                    ticker.detach();
+                    Xbee2.putc('A');
+                }
+            }
+        }
+        
+        if(con == 2){
+            if(h < LED_COUNT + 1){
+                for(int k = 0; k < LED_COUNT; k++){
+                    uint8_t phase =(k << 1);
+                    colors[k] = COLOR(phase, 0);
+                }
+                    
+                uint8_t phase =(h << 1);
+                colors[ledsize - h] = COLOR(phase, G);
+                ledStrip1.write(colors, LED_COUNT);
+                 
+                if(h == LED_COUNT + 1){
+                    ticker.detach();
+                    Xbee2.putc('B');
+                }
+            }
+        }
+        
+        if(con == 3){
+            if(h < LED_COUNT + 1){
+                for(int k = 0; k < LED_COUNT; k++){
+                    uint8_t phase =(k << 1);
+                    colors[k] = COLOR(phase, 0);
+                }
+                    
+                uint8_t phase =(h << 1);
+                colors[ledsize - h] = COLOR(phase, R);
+                ledStrip1.write(colors, LED_COUNT);
+                  
+                if(h == LED_COUNT + 1){
+                    ticker.detach();
+                    Xbee2.putc('C');
+                }
+            }
+        }
+        
+        if(con == 4){
+            if(h < LED_COUNT + 1){
+                for(int k = 0; k < LED_COUNT; k++){
+                    uint8_t phase =(k << 1);
+                    colors[k] = COLOR(phase, 0);
+                }
+                    
+                uint8_t phase =(h << 1);
+                colors[ledsize - h] = COLOR(phase, O);
+                ledStrip1.write(colors, LED_COUNT);
+                
+                if(h == LED_COUNT + 1){
+                    ticker.detach();
+                    Xbee2.putc('D');
+                }
+            }
+        }
+        
+        if(con == 5){
+            if(h < LED_COUNT + 1){
+                for(int k = 0; k < LED_COUNT; k++){
+                    uint8_t phase =(k << 1);
+                    colors[k] = COLOR(phase, 0);
+                }
+                    
+                uint8_t phase =(h << 1);
+                colors[ledsize - h] = COLOR(phase, P);
+                ledStrip1.write(colors, LED_COUNT);
+                
+                if(h == LED_COUNT + 1){
+                    ticker.detach();
+                    Xbee2.putc('E');
+                }
+            }
+        }
+        
+        if(con == 6){
+            if(h < LED_COUNT + 1){
+                for(int k = 0; k < LED_COUNT; k++){
+                    uint8_t phase =(k << 1);
+                    colors[k] = COLOR(phase, 0);
+                }
+                    
+                uint8_t phase =(h << 1);
+                colors[ledsize - h] = COLOR(phase, P);
+                ledStrip1.write(colors, LED_COUNT);
+                  
+                if(h == LED_COUNT + 1){
+                    ticker.detach();
+                    Xbee2.putc('F');
+                }
+            }
+        }
+        
+        if(con == 7){
+            if(h < LED_COUNT + 1){
+                for(int k = 0; k < LED_COUNT; k++){
+                    uint8_t phase =(k << 1);
+                    colors[k] = COLOR(phase, 0);
+                }
+                    
+                uint8_t phase =(h << 1);
+                colors[ledsize - h] = COLOR(phase, P);
+                ledStrip1.write(colors, LED_COUNT);
+                
+                    
+                if(h == LED_COUNT + 1){
+                    ticker.detach();
+                    Xbee2.putc('G');
+                }
+            }
+        }
+        
+        if(con == 8){
+            if(h < LED_COUNT + 1){
+                for(int k = 0; k < LED_COUNT; k++){
+                    uint8_t phase =(k << 1);
+                    colors[k] = COLOR(phase, 0);
+                }
+                    
+                uint8_t phase =(h << 1);
+                colors[ledsize - h] = COLOR(phase, P);
+                ledStrip1.write(colors, LED_COUNT);
+                
+                   
+                if(h == LED_COUNT + 1){
+                    ticker.detach();
+                    Xbee2.putc('H');
+                }
+            }
+        }
+        
+        if(con == 9){
+            if(h < LED_COUNT + 1){
+                for(int k = 0; k < LED_COUNT; k++){
+                    uint8_t phase =(k << 1);
+                    colors[k] = COLOR(phase, 0);
+                }
+                    
+                uint8_t phase =(h << 1);
+                colors[ledsize - h] = COLOR(phase, P);
+                ledStrip1.write(colors, LED_COUNT);
+            
+                if(h == LED_COUNT + 1){
+                    ticker.detach();
+                    Xbee2.putc('I');
+                    con = 0;
+                }
+            }
+        }
+        
+    ledStrip1.write(colors, LED_COUNT);
+    }
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Mon Jan 25 07:20:38 2021 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400
\ No newline at end of file