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Dependencies:   mbed

pwm.cpp@2:4e86f37f1c1c, 2015-10-27 (annotated)

Committer:
Blasko
Date:
Tue Oct 27 18:58:10 2015 +0000
Revision:
2:4e86f37f1c1c
Parent:
1:0bb74fa30daa 
sdf

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Blasko 0:2263e23eb7e8 1 #include "mbed.h"
Blasko 0:2263e23eb7e8 2
Blasko 0:2263e23eb7e8 3 Ticker ticker;
Blasko 0:2263e23eb7e8 4 DigitalOut led1(LED1);
Blasko 0:2263e23eb7e8 5 DigitalOut led2(LED2);
Blasko 1:0bb74fa30daa 6 PwmOut pwmx(p26);
Blasko 1:0bb74fa30daa 7 PwmOut pwmy(p25);
Blasko 0:2263e23eb7e8 8 CAN can2(p30, p29);
Blasko 0:2263e23eb7e8 9 char counter = 0;
Blasko 0:2263e23eb7e8 10 int x=0;
Blasko 0:2263e23eb7e8 11 int y=0;
Blasko 2:4e86f37f1c1c 12 int px=0;
Blasko 2:4e86f37f1c1c 13 int py=0;
Blasko 2:4e86f37f1c1c 14 int state = 0; // 0 INI 1 JUGANDO 2 ACABADO
Blasko 2:4e86f37f1c1c 15
Blasko 1:0bb74fa30daa 16
Blasko 1:0bb74fa30daa 17 #define PERIOD 0.000005
Blasko 1:0bb74fa30daa 18 #define MAX 1300.0f
Blasko 0:2263e23eb7e8 19 void send() {
Blasko 2:4e86f37f1c1c 20 //printf("Empezando \n");
Blasko 2:4e86f37f1c1c 21 ////printf("send()\n");
Blasko 2:4e86f37f1c1c 22 char s[8];
Blasko 2:4e86f37f1c1c 23 s[0]=0;
Blasko 2:4e86f37f1c1c 24 if(can2.write(CANMessage(0, s, 8))) {
Blasko 2:4e86f37f1c1c 25 // printf("Message sent: \n");
Blasko 2:4e86f37f1c1c 26 }else{
Blasko 2:4e86f37f1c1c 27 // printf("Message fail: \n");
Blasko 2:4e86f37f1c1c 28 }
Blasko 0:2263e23eb7e8 29 }
Blasko 0:2263e23eb7e8 30 int main() {
Blasko 2:4e86f37f1c1c 31 printf("Esperando Jugador \n\r");
Blasko 2:4e86f37f1c1c 32 // ticker.attach(&send, 1);
Blasko 0:2263e23eb7e8 33 CANMessage msg;
Blasko 0:2263e23eb7e8 34 can2.frequency(1000000);
Blasko 1:0bb74fa30daa 35 pwmx.period(PERIOD); // 4 second period
Blasko 1:0bb74fa30daa 36 pwmy.period(PERIOD);
Blasko 0:2263e23eb7e8 37 while(1) {
Blasko 0:2263e23eb7e8 38 // printf("loop()\n");
Blasko 2:4e86f37f1c1c 39
Blasko 2:4e86f37f1c1c 40 if(state == 0){
Blasko 2:4e86f37f1c1c 41 if(counter ==100){ led1=!led1; counter =0;}
Blasko 2:4e86f37f1c1c 42 counter++;
Blasko 2:4e86f37f1c1c 43 }
Blasko 2:4e86f37f1c1c 44
Blasko 0:2263e23eb7e8 45 if(can2.read(msg)) {
Blasko 2:4e86f37f1c1c 46
Blasko 2:4e86f37f1c1c 47 if(state == 0){
Blasko 2:4e86f37f1c1c 48 // printf("Esperando Jugador");
Blasko 2:4e86f37f1c1c 49 if(msg.id == 5){
Blasko 2:4e86f37f1c1c 50 printf("Jugando \n\r");
Blasko 2:4e86f37f1c1c 51 state=1;
Blasko 2:4e86f37f1c1c 52 x=0;
Blasko 2:4e86f37f1c1c 53 y=0;
Blasko 2:4e86f37f1c1c 54 px = ((int) msg.data[3])*256 + ((int)msg.data[2]);
Blasko 2:4e86f37f1c1c 55 py = ((int)msg.data[1])*256 + ((int) msg.data[0]);
Blasko 2:4e86f37f1c1c 56 send();
Blasko 2:4e86f37f1c1c 57 // printf("Estado %d %d \n\r",px,py);
Blasko 2:4e86f37f1c1c 58 }
Blasko 2:4e86f37f1c1c 59 }else if (state==1) {
Blasko 2:4e86f37f1c1c 60 if(msg.id == 5){
Blasko 2:4e86f37f1c1c 61 send();
Blasko 2:4e86f37f1c1c 62 }
Blasko 2:4e86f37f1c1c 63 if( msg.id ==4 || msg.id ==3){
Blasko 2:4e86f37f1c1c 64 x = ((int) msg.data[3])*256 + ((int)msg.data[2]);
Blasko 2:4e86f37f1c1c 65 y = ((int) msg.data[1])*256 + ((int) msg.data[0]);
Blasko 2:4e86f37f1c1c 66 pwmx.write(y/MAX);
Blasko 2:4e86f37f1c1c 67 pwmy.write(1-x/MAX);
Blasko 2:4e86f37f1c1c 68
Blasko 2:4e86f37f1c1c 69
Blasko 2:4e86f37f1c1c 70 if(abs(px-x) + abs(py-y) <=50){
Blasko 2:4e86f37f1c1c 71 state=2;
Blasko 2:4e86f37f1c1c 72 if(msg.id==4){
Blasko 2:4e86f37f1c1c 73 printf("I lost \n\r");
Blasko 2:4e86f37f1c1c 74 }else{
Blasko 2:4e86f37f1c1c 75 printf("I won \n\r");
Blasko 2:4e86f37f1c1c 76 }
Blasko 2:4e86f37f1c1c 77 }
Blasko 2:4e86f37f1c1c 78 }
Blasko 2:4e86f37f1c1c 79 //printf("Message received: x %d %d %d %d %d %d %d %d %d %d\r\n",msg.data[0],msg.data[1],msg.data[2],msg.data[3],msg.data[4],msg.data[5],msg.data[6],msg.data[7], x , y);
Blasko 2:4e86f37f1c1c 80 led2 = !led2;
Blasko 2:4e86f37f1c1c 81 }else{
Blasko 2:4e86f37f1c1c 82 wait(5);
Blasko 2:4e86f37f1c1c 83 state=0;
Blasko 2:4e86f37f1c1c 84 printf("--------------------------- \n\r");
Blasko 2:4e86f37f1c1c 85 printf("Esperando Jugador \n\r");
Blasko 2:4e86f37f1c1c 86 }
Blasko 2:4e86f37f1c1c 87
Blasko 2:4e86f37f1c1c 88 // printf("ID: %d \n\r",msg.id);
Blasko 2:4e86f37f1c1c 89 }else {
Blasko 2:4e86f37f1c1c 90
Blasko 2:4e86f37f1c1c 91 }
Blasko 2:4e86f37f1c1c 92 // printf("Estado %d x: %d y: %d px: %d py: %d \n\r",state,x,y,px,py);
Blasko 2:4e86f37f1c1c 93 // wait(0.005);
Blasko 0:2263e23eb7e8 94 }
Blasko 0:2263e23eb7e8 95 }