Revision 0:1a4d385014d6, committed 2018-04-24

Comitter:

Ringslev

Date:

Tue Apr 24 08:05:35 2018 +0000

Commit message:

Test_joystick_1

Changed in this revision

diff -r 000000000000 -r 1a4d385014d6 can_parameters.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/can_parameters.h	Tue Apr 24 08:05:35 2018 +0000
@@ -0,0 +1,88 @@
+/*
+Here is the list of the CAN Codes to sent to the motor driver
+There identifiers and word code
+These parameters can be changed
+
+Here is the default values
+
+
+//Identifier Codes
+
+#define INITOP    0x00 
+#define RPDO1_R   0x215
+#define RPDO2_R   0x315
+#define RPDO3_R   0x415
+#define RPDO4_R   0x515
+#define TPDO1_R   0x195
+#define TPDO2_R   0x295
+#define TPDO3_R   0x395
+#define TPDO4_R   0x495
+#define RPDO1_L   0x220
+#define RPDO2_L   0x320
+#define RPDO3_L   0x420
+#define RPDO4_L   0x520
+#define TPDO1_L   0x1A0
+#define TPDO2_L   0x2A0
+#define TPDO3_L   0x3A0
+#define TPDO4_L   0x4A0
+
+
+
+//Word codes
+
+//Driver adresses
+#define DRIVER11 0x01
+#define DRIVER12 0x15
+#define DRIVER21 0x01
+#define DRIVER22 0x20
+
+
+
+*/
+
+
+
+
+
+//Identifier Codes
+
+/*
+To set right value for:
+RPDO1 => 0x200 + ID
+RPDO2 => 0x300 + ID
+RPDO3 => 0x400 + ID
+RPDO4 => 0x500 + ID
+TPDO1 => 0x180 + ID
+TPDO2 => 0x280 + ID
+TPDO3 => 0x380 + ID
+TPDO4 => 0x480 + ID
+*/
+
+
+#define INITOP    0x00 
+#define RPDO1_R   0x215
+#define RPDO2_R   0x315
+#define RPDO3_R   0x415
+#define RPDO4_R   0x515
+#define TPDO1_R   0x195
+#define TPDO2_R   0x295
+#define TPDO3_R   0x395
+#define TPDO4_R   0x495
+#define RPDO1_L   0x220
+#define RPDO2_L   0x320
+#define RPDO3_L   0x420
+#define RPDO4_L   0x520
+#define TPDO1_L   0x1A0
+#define TPDO2_L   0x2A0
+#define TPDO3_L   0x3A0
+#define TPDO4_L   0x4A0
+
+
+
+//Word codes
+
+//Driver adresses
+#define DRIVER_R1 0x01
+#define DRIVER_R2 0x15
+#define DRIVER_L1 0x01
+#define DRIVER_L2 0x20

diff -r 000000000000 -r 1a4d385014d6 main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Apr 24 08:05:35 2018 +0000
@@ -0,0 +1,188 @@
+#include "mbed.h"
+#include "can_parameters.h"
+
+AnalogIn joystick_ctr(p15);   // Pin 2 (fil vert) Center Tap Reference
+AnalogIn joystick_x(p16);     // Pin 4 (fil jaune)
+AnalogIn joystick_y(p17);     // Pin 5 (fil bleu)
+
+DigitalOut MOTOR1_OP(LED1);     // etat opérationnel ou non
+DigitalOut MOTOR2_OP(LED2);
+DigitalOut DEB_MOD_DEG(LED3);   // Si mod degradé ou normal
+DigitalOut DEB_MOD_NOR(LED4);
+DigitalOut MOD_DEG(p26);
+DigitalOut MOD_NOR(p25);
+
+int x = 0;      // Poisition joystick x, y
+int y = 0;
+int ctr_x = 0;  // Centre de reference x,y
+int ctr_y = 0;
+
+DigitalIn myPOM(p7); // Detection du pull up POM
+bool etat_POM = false;      // Etat de la machine N ou M
+DigitalIn Switch_H(p5);  // Detection pull up switch Horizontal
+DigitalIn Switch_V(p6);  // Detection pull up switch Vertical
+
+CAN can_mbed(p30, p29, 1000000);
+char command[8]; //word to send command
+CANMessage msg;
+
+
+// FONCTIONS
+void send(int id, char octet_emis[], char RouD, char longueur ) // Fonction qui envoie les données sur le bus can
+{
+    
+    if (RouD == 'D')
+    { 
+        CANMessage(id, octet_emis, longueur, CANData, CANStandard );
+    }
+    else
+    { 
+        CANMessage(id, octet_emis, longueur,  CANRemote, CANStandard );    
+    }
+}
+
+
+/*void initialisation()   // Fonction qui initialise les moteurs
+{
+    int ping = 0;
+    // Initialisation moteur droit
+    command[0] = DRIVER_R1; // Moteur droit
+    command[1] = DRIVER_R2;
+        
+    while(ping == 0)    
+    {
+        MOTOR1_OP = 1;  // Animation led
+        wait(0.2);
+        MOTOR1_OP = 0;
+        wait(0.2);
+        send(INITOP, command, 'D', 2); //send word to put pluto driver in operational mode
+        if(can_mbed.read(msg))  // Si réponse alors on sort de la boucle
+        {
+            ping = 1;
+        }
+    }*/
+    /*// Initialisation moteur gauche
+    ping = 0;
+    command[0] = DRIVER_L1; // Moteur gauche
+    command[1] = DRIVER_L2;
+        
+    while(ping == 0)    
+    {
+        MOTOR2_OP = 1;  // Animation led
+        MOTOR2_OP = 0;
+        send(INITOP, command, 'D', 2); //send word to put pluto driver in operational mode
+        if(can_mbed.read(msg))  // Si réponse alors on sort de la boucle
+        {
+            ping = 1;
+        }
+    }
+    MOTOR1_OP = 1;
+    MOTOR1_OP = 1;
+}*/
+
+// MAIN
+int main()
+{   
+    // SETUP
+    myPOM.mode(PullUp);     // Définition des pull up
+    Switch_H.mode(PullUp);  
+    Switch_V.mode(PullUp);
+    // FIN SETUP
+
+    
+
+    //initialisation();
+   int ping = 0;
+    // Initialisation moteur droit
+    command[0] = DRIVER_R1; // Moteur droit
+    command[1] = DRIVER_R2;
+        
+    while(ping == 0)    
+    {
+        MOTOR1_OP = 1;  // Animation led
+        wait(0.2);
+        MOTOR1_OP = 0;
+        wait(0.2);
+        send(INITOP, command, 'D', 2); //send word to put pluto driver in operational mode
+        if(can_mbed.read(msg))  // Si réponse alors on sort de la boucle
+        {
+            ping = 1;
+        }
+    }
+    
+    while(1)
+    {
+        
+        // LECTURE Joystick + stockage valeurs dans x, y
+        if(Switch_H){x = int(-((joystick_x.read()*100)-50));}else{x=0;}
+        if(Switch_V){y = int((joystick_y.read()*100)-50);}else{y=0;}
+        ctr_x = int(-((joystick_ctr.read()*100)-50));
+        ctr_y = int((joystick_ctr.read()*100)-50);
+        
+        printf("\nX : %d ",x);    // Lecture et affichage de la valeur lu en entré pour x et y
+        printf(" Y : %d ",y);    // Valeur de type float entre 0 et 1
+        printf(" CTR_x : %d , CTR_y : %d ", ctr_x, ctr_y);
+        
+        if((y<5)&&(y>-5))           // BOUGE PAS
+        {
+            command[0] = 0x00;
+            command[1] = 0x00;
+            command[2] = 0x00;
+            command[3] = 0x00;
+            send(RPDO1_R, command, 'D', 4); // Envoie l'ordre de pas bouger
+        }
+        else if((y>=5)&&(y<25))     // LENT SENS 1
+        {
+            command[0] = 0x00;
+            command[1] = 0x00;
+            command[2] = 0x00;
+            command[3] = 0x00;
+            send(RPDO1_R, command, 'D', 4); // Envoie l'ordre
+        }
+        else if(y>=25)              // MOYEN SENS 1
+        {
+            command[0] = 0x00;
+            command[1] = 0x00;
+            command[2] = 0x00;
+            command[3] = 0x00;
+            send(RPDO1_R, command, 'D', 4); // Envoie l'ordre
+        }
+        else if((y<=-5)&&(y>-25))   // LENT SENS 2
+        {
+            command[0] = 0x00;
+            command[1] = 0x00;
+            command[2] = 0x00;
+            command[3] = 0x00;
+            send(RPDO1_R, command, 'D', 4); // Envoie l'ordre
+        }
+        else if(y<=-25)             // MOYEN SENS 2
+        {
+            command[0] = 0x00;
+            command[1] = 0x00;
+            command[2] = 0x00;
+            command[3] = 0x00;
+            send(RPDO1_R, command, 'D', 4); // Envoie l'ordre
+        }
+    }
+}
+////////////////////////////////////////////////////////////////////////////////
+/* BROCHAGE MBED :
+PIN 15 --> Center Tap Reference 
+PIN 16 --> Y (doc) --> X (Programme)
+PIN 17 --> X (doc) --> Y (Programme) Pour bien définir selon le sens du joystick, câbles vers le haut
+
+PIN 5 --> Switch Horizontal
+PIN 6 --> Switch Vertical
+PIN 7 --> BP Point Origine Machine
+
+PIN 1 --> GND
+PIN 40 --> 3.3V, Vout(out)
+PIN 39 --> 5V, Vu (out)
+
+PIN 30 --> Can Rd (connecté au PIN 4 Rx du controleur)
+PIN 29 --> Can Td (connecté au PIN 1 Tx du controleur)
+
+PIN 26 --> LED BORNIER Mode Normal
+PIN 25 --> LED BORNIER Mode Dégradé
+*/
+////////////////////////////////////////////////////////////////////////////////
\ No newline at end of file

diff -r 000000000000 -r 1a4d385014d6 mbed.bld
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Tue Apr 24 08:05:35 2018 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/mbed_official/code/mbed/builds/aa5281ff4a02
\ No newline at end of file