展示会用に簡単にしています
Dependencies: ADXL345 AigamozuControlPackets_展示会 HMC5843 ITG3200 MBed_Adafruit-GPS-Library XBee agzIDLIST mbed
Fork of Aigamozu_Robot_March by
main.cpp@48:303e2ed5e062, 2017-04-24 (annotated)
- Committer:
- s1200058
- Date:
- Mon Apr 24 09:03:49 2017 +0000
- Revision:
- 48:303e2ed5e062
- Parent:
- 47:626572030a78
for 3rd group
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
kityann | 0:daab5accfd83 | 1 | /**********************************************/ |
kityann | 0:daab5accfd83 | 2 | // |
kityann | 0:daab5accfd83 | 3 | // |
kityann | 0:daab5accfd83 | 4 | // |
kityann | 0:daab5accfd83 | 5 | // Program name: Aigamozu ROBOT |
kityann | 0:daab5accfd83 | 6 | // Author: Mineta Kizuku |
s1200058 | 38:5cd6d4964f65 | 7 | // Yokokawa |
s1200058 | 21:76e7f36df4a9 | 8 | // |
kityann | 0:daab5accfd83 | 9 | // |
kityann | 0:daab5accfd83 | 10 | /**********************************************/ |
kityann | 0:daab5accfd83 | 11 | |
kityann | 0:daab5accfd83 | 12 | /**********************************************/ |
kityann | 0:daab5accfd83 | 13 | //更新情報 |
s1200058 | 38:5cd6d4964f65 | 14 | //展示会用プログラム |
s1200058 | 38:5cd6d4964f65 | 15 | //中身をすっきりさせました。 |
s1200058 | 46:f1e87c375e02 | 16 | //Automodeの際のプログラムはautoMode()の中身を変更すれば大丈夫です。 |
kityann | 0:daab5accfd83 | 17 | /**********************************************/ |
kityann | 0:daab5accfd83 | 18 | |
kityann | 0:daab5accfd83 | 19 | #include "mbed.h" |
kityann | 0:daab5accfd83 | 20 | #include "XBee.h" |
kityann | 0:daab5accfd83 | 21 | #include "MBed_Adafruit_GPS.h" |
kityann | 0:daab5accfd83 | 22 | #include "AigamozuControlPackets.h" |
kityann | 0:daab5accfd83 | 23 | #include "agzIDLIST.h" |
kityann | 0:daab5accfd83 | 24 | #include "aigamozuSetting.h" |
s1200058 | 34:9c3192c00e41 | 25 | #include "math.h" |
kityann | 0:daab5accfd83 | 26 | |
s1200058 | 47:626572030a78 | 27 | //************ID Number***************** |
s1200058 | 47:626572030a78 | 28 | const char MyID = 'e'; |
s1200058 | 48:303e2ed5e062 | 29 | const char SenderIDc = 'i'; |
s1200058 | 47:626572030a78 | 30 | //************ID Number***************** |
s1200058 | 47:626572030a78 | 31 | |
kityann | 0:daab5accfd83 | 32 | ///////////////////////////////////////// |
kityann | 0:daab5accfd83 | 33 | // |
kityann | 0:daab5accfd83 | 34 | //Pin Setting |
kityann | 0:daab5accfd83 | 35 | // |
kityann | 0:daab5accfd83 | 36 | ///////////////////////////////////////// |
s1200058 | 45:a90c4301ee45 | 37 | //Serial Connect Setting: mbed <--> motor driver |
kityann | 0:daab5accfd83 | 38 | VNH5019 agz_motorShield(p21,p22,p23,p24,p25,p26); |
kityann | 0:daab5accfd83 | 39 | |
kityann | 0:daab5accfd83 | 40 | |
kityann | 0:daab5accfd83 | 41 | ///////////////////////////////////////// |
kityann | 0:daab5accfd83 | 42 | // |
kityann | 0:daab5accfd83 | 43 | //Connection Setting |
kityann | 0:daab5accfd83 | 44 | // |
kityann | 0:daab5accfd83 | 45 | ///////////////////////////////////////// |
kityann | 0:daab5accfd83 | 46 | |
kityann | 0:daab5accfd83 | 47 | //Serial Connect Setting: PC <--> mbed |
kityann | 0:daab5accfd83 | 48 | Serial pc(USBTX, USBRX); |
kityann | 0:daab5accfd83 | 49 | |
kityann | 0:daab5accfd83 | 50 | //Serial Connect Setting: GPS <--> mbed |
kityann | 0:daab5accfd83 | 51 | Serial * gps_Serial; |
kityann | 0:daab5accfd83 | 52 | |
kityann | 0:daab5accfd83 | 53 | //Serial Connect Setting: XBEE <--> mbed |
kityann | 0:daab5accfd83 | 54 | XBee xbee(p13,p14); |
kityann | 0:daab5accfd83 | 55 | ZBRxResponse zbRx = ZBRxResponse(); |
kityann | 0:daab5accfd83 | 56 | |
kityann | 0:daab5accfd83 | 57 | //set up AigamozuControlPackets library |
kityann | 0:daab5accfd83 | 58 | AigamozuControlPackets agz(agz_motorShield); |
kityann | 0:daab5accfd83 | 59 | |
kityann | 0:daab5accfd83 | 60 | |
s1200058 | 2:886fac7f4399 | 61 | ///////////////////////////////////////// |
s1200058 | 2:886fac7f4399 | 62 | // |
s1200058 | 2:886fac7f4399 | 63 | //Plus Speed |
s1200058 | 2:886fac7f4399 | 64 | // |
s1200058 | 45:a90c4301ee45 | 65 | //ロボットを操縦する |
s1200058 | 2:886fac7f4399 | 66 | ///////////////////////////////////////// |
s1200058 | 45:a90c4301ee45 | 67 | void plusSpeed(uint8_t *packetdata){ |
s1200058 | 2:886fac7f4399 | 68 | |
s1200058 | 2:886fac7f4399 | 69 | if(agz.nowMode == MANUAL_MODE){ |
s1200058 | 2:886fac7f4399 | 70 | agz.changeSpeed(packetdata); |
s1200058 | 2:886fac7f4399 | 71 | } |
s1200058 | 2:886fac7f4399 | 72 | |
s1200058 | 2:886fac7f4399 | 73 | } |
kityann | 0:daab5accfd83 | 74 | |
kityann | 24:698d4e920d33 | 75 | |
s1200058 | 2:886fac7f4399 | 76 | |
s1200058 | 2:886fac7f4399 | 77 | ///////////////////////////////////////// |
s1200058 | 2:886fac7f4399 | 78 | // |
s1200058 | 2:886fac7f4399 | 79 | //New Mode |
s1200058 | 2:886fac7f4399 | 80 | // |
s1200058 | 45:a90c4301ee45 | 81 | //ロボットのモードを変更する |
s1200058 | 2:886fac7f4399 | 82 | ///////////////////////////////////////// |
s1200058 | 45:a90c4301ee45 | 83 | void newMode(uint8_t *packetdata){ |
s1200058 | 2:886fac7f4399 | 84 | |
s1200058 | 19:a806105ba365 | 85 | //bool result; |
s1200058 | 20:eee8ac8d1788 | 86 | agz.changeMode(packetdata); |
s1200058 | 2:886fac7f4399 | 87 | |
s1200058 | 2:886fac7f4399 | 88 | } |
kityann | 1:b2b950b916ce | 89 | |
kityann | 0:daab5accfd83 | 90 | |
kityann | 0:daab5accfd83 | 91 | ///////////////////////////////////////// |
kityann | 0:daab5accfd83 | 92 | // |
s1200058 | 47:626572030a78 | 93 | //Send_Change_Mode |
s1200058 | 47:626572030a78 | 94 | // |
s1200058 | 47:626572030a78 | 95 | //マニュアルモードのコマンドを送る |
s1200058 | 47:626572030a78 | 96 | ///////////////////////////////////////// |
s1200058 | 47:626572030a78 | 97 | void Send_Change_Mode(char c){ |
s1200058 | 47:626572030a78 | 98 | |
s1200058 | 47:626572030a78 | 99 | XBeeAddress64 send_Address; |
s1200058 | 47:626572030a78 | 100 | if(SenderIDc == '0'){ |
s1200058 | 47:626572030a78 | 101 | send_Address = manager_Address; |
s1200058 | 47:626572030a78 | 102 | } |
s1200058 | 47:626572030a78 | 103 | if(SenderIDc >= 'A' && SenderIDc <= 'Z'){ |
s1200058 | 47:626572030a78 | 104 | send_Address = robot_Address[SenderIDc - 'A']; |
s1200058 | 47:626572030a78 | 105 | } |
s1200058 | 47:626572030a78 | 106 | if(SenderIDc >= 'a' && SenderIDc <= 'z'){ |
s1200058 | 47:626572030a78 | 107 | send_Address = base_Address[SenderIDc - 'a']; |
s1200058 | 47:626572030a78 | 108 | } |
s1200058 | 47:626572030a78 | 109 | |
s1200058 | 47:626572030a78 | 110 | //send normal data |
s1200058 | 47:626572030a78 | 111 | int cmode=0; |
s1200058 | 47:626572030a78 | 112 | if(c == 'n'){ |
s1200058 | 47:626572030a78 | 113 | cmode = 0; |
s1200058 | 47:626572030a78 | 114 | pc.printf("stand by mode\n\r"); |
s1200058 | 47:626572030a78 | 115 | } |
s1200058 | 47:626572030a78 | 116 | else if(c == 'm'){ |
s1200058 | 47:626572030a78 | 117 | cmode = 1; |
s1200058 | 47:626572030a78 | 118 | pc.printf("manual mode\n\r"); |
s1200058 | 47:626572030a78 | 119 | } |
s1200058 | 47:626572030a78 | 120 | else if(c == 'b'){ |
s1200058 | 47:626572030a78 | 121 | cmode = 2; |
s1200058 | 47:626572030a78 | 122 | pc.printf("auto mode\n\r"); |
s1200058 | 47:626572030a78 | 123 | } |
s1200058 | 47:626572030a78 | 124 | |
s1200058 | 47:626572030a78 | 125 | //Create GPS Infomation Packet |
s1200058 | 47:626572030a78 | 126 | agz.createChangeModeCommand(MyID,SenderIDc,cmode); |
s1200058 | 47:626572030a78 | 127 | |
s1200058 | 47:626572030a78 | 128 | //debug |
s1200058 | 47:626572030a78 | 129 | printf("RF data:"); |
s1200058 | 47:626572030a78 | 130 | for(int i = 0; i < CHANGE_MODE_COMMAND_LENGTH; i++){ |
s1200058 | 47:626572030a78 | 131 | printf("%x ", agz.packetData[i]); |
s1200058 | 47:626572030a78 | 132 | } |
s1200058 | 47:626572030a78 | 133 | printf("\n\r"); |
s1200058 | 47:626572030a78 | 134 | |
s1200058 | 47:626572030a78 | 135 | //Select Destination |
s1200058 | 47:626572030a78 | 136 | ZBTxRequest tx64request(send_Address,agz.packetData,agz.getPacketLength()); |
s1200058 | 47:626572030a78 | 137 | //Send -> Base |
s1200058 | 47:626572030a78 | 138 | xbee.send(tx64request); |
s1200058 | 47:626572030a78 | 139 | } |
s1200058 | 47:626572030a78 | 140 | |
s1200058 | 47:626572030a78 | 141 | |
s1200058 | 47:626572030a78 | 142 | ///////////////////////////////////////// |
s1200058 | 47:626572030a78 | 143 | // |
kityann | 0:daab5accfd83 | 144 | //Main Processing |
kityann | 0:daab5accfd83 | 145 | // |
kityann | 0:daab5accfd83 | 146 | ///////////////////////////////////////// |
kityann | 0:daab5accfd83 | 147 | int main() { |
kityann | 0:daab5accfd83 | 148 | //start up time |
kityann | 0:daab5accfd83 | 149 | wait(3); |
kityann | 0:daab5accfd83 | 150 | //set pc frequency to 57600bps |
kityann | 0:daab5accfd83 | 151 | pc.baud(PC_BAUD_RATE); |
kityann | 0:daab5accfd83 | 152 | //set xbee frequency to 57600bps |
kityann | 0:daab5accfd83 | 153 | xbee.begin(XBEE_BAUD_RATE); |
kityann | 0:daab5accfd83 | 154 | |
kityann | 0:daab5accfd83 | 155 | //GPS setting |
kityann | 0:daab5accfd83 | 156 | gps_Serial = new Serial(p28,p27); |
kityann | 0:daab5accfd83 | 157 | Adafruit_GPS myGPS(gps_Serial); |
s1200058 | 45:a90c4301ee45 | 158 | |
s1200058 | 45:a90c4301ee45 | 159 | //2secごとの更新用Timer |
s1200058 | 45:a90c4301ee45 | 160 | Timer autoTimer; |
s1200058 | 47:626572030a78 | 161 | const int autoTime = 200; //refresh time in ms |
s1200058 | 45:a90c4301ee45 | 162 | |
s1200058 | 45:a90c4301ee45 | 163 | //interrupt start |
s1200058 | 45:a90c4301ee45 | 164 | autoTimer.start(); |
s1200058 | 45:a90c4301ee45 | 165 | agz.moveTimer.start(); |
kityann | 0:daab5accfd83 | 166 | |
s1200058 | 29:524684a1198f | 167 | wait_ms(2000); |
kityann | 1:b2b950b916ce | 168 | |
s1200058 | 45:a90c4301ee45 | 169 | printf("start\n"); |
s1200058 | 45:a90c4301ee45 | 170 | |
kityann | 0:daab5accfd83 | 171 | while (true) { |
kityann | 0:daab5accfd83 | 172 | |
kityann | 0:daab5accfd83 | 173 | //Check Xbee Buffer Available |
kityann | 0:daab5accfd83 | 174 | xbee.readPacket(); |
s1200058 | 45:a90c4301ee45 | 175 | |
s1200058 | 45:a90c4301ee45 | 176 | //Xbee受信があった場合 |
kityann | 0:daab5accfd83 | 177 | if (xbee.getResponse().isAvailable()) { |
kityann | 0:daab5accfd83 | 178 | xbee.getResponse().getZBRxResponse(zbRx); |
s1200058 | 45:a90c4301ee45 | 179 | //frame dataの格納 |
kityann | 0:daab5accfd83 | 180 | uint8_t *buf = zbRx.getFrameData(); |
s1200058 | 45:a90c4301ee45 | 181 | |
kityann | 0:daab5accfd83 | 182 | if (xbee.getResponse().getApiId() == ZB_RX_RESPONSE) { |
kityann | 0:daab5accfd83 | 183 | xbee.getResponse().getZBRxResponse(zbRx); |
kityann | 0:daab5accfd83 | 184 | uint8_t *buf = zbRx.getFrameData();//フレームデータを格納する |
s1200058 | 21:76e7f36df4a9 | 185 | char Command_type = agz.checkCommnadType(buf);//コマンドタイプを取得する |
kityann | 0:daab5accfd83 | 186 | |
kityann | 0:daab5accfd83 | 187 | //Check Command Type |
kityann | 0:daab5accfd83 | 188 | switch(Command_type){ |
kityann | 0:daab5accfd83 | 189 | //Get Request command |
s1200058 | 45:a90c4301ee45 | 190 | case MANUAL:{ //マニュアルモードパケット |
s1200058 | 45:a90c4301ee45 | 191 | plusSpeed(buf); //ロボットの操縦 |
s1200058 | 2:886fac7f4399 | 192 | break; |
s1200058 | 2:886fac7f4399 | 193 | } |
s1200058 | 45:a90c4301ee45 | 194 | case STATUS_REQUEST:{ //ステータスリクエストパケット |
kityann | 0:daab5accfd83 | 195 | break; |
kityann | 0:daab5accfd83 | 196 | } |
s1200058 | 45:a90c4301ee45 | 197 | case CHANGE_MODE:{ //モード変更パケット |
s1200058 | 45:a90c4301ee45 | 198 | newMode(buf); //モードの変更 |
s1200058 | 2:886fac7f4399 | 199 | break; |
s1200058 | 2:886fac7f4399 | 200 | } |
s1200058 | 45:a90c4301ee45 | 201 | case RECEIVE_STATUS:{ //レシーブステータスパケット |
kityann | 1:b2b950b916ce | 202 | break; |
kityann | 1:b2b950b916ce | 203 | } |
kityann | 0:daab5accfd83 | 204 | default:{ |
kityann | 0:daab5accfd83 | 205 | break; |
kityann | 0:daab5accfd83 | 206 | } |
kityann | 0:daab5accfd83 | 207 | }//endswitch |
kityann | 0:daab5accfd83 | 208 | }//endifZB_RX_RESPONSE |
kityann | 0:daab5accfd83 | 209 | }//endifisAvailable |
s1200058 | 38:5cd6d4964f65 | 210 | |
s1200058 | 46:f1e87c375e02 | 211 | //ロボットがオートモードのとき、シーケンス動作する |
s1200058 | 47:626572030a78 | 212 | // if(agz.nowMode == AUTO_GPS_MODE && autoTimer.read_ms() >= autoTime){ |
s1200058 | 47:626572030a78 | 213 | // autoTimer.reset(); |
s1200058 | 47:626572030a78 | 214 | // agz.autoMove(); |
s1200058 | 47:626572030a78 | 215 | // } |
s1200058 | 47:626572030a78 | 216 | // |
s1200058 | 47:626572030a78 | 217 | |
s1200058 | 47:626572030a78 | 218 | if(autoTimer.read_ms() >= autoTime && pc.readable()){ |
s1200058 | 47:626572030a78 | 219 | autoTimer.reset(); |
s1200058 | 47:626572030a78 | 220 | char c = pc.getc(); |
s1200058 | 47:626572030a78 | 221 | |
s1200058 | 47:626572030a78 | 222 | if(c == 'm' || c == 'n' || c == 'b'){ |
s1200058 | 47:626572030a78 | 223 | //m:manual-mode,n:stand-by-mode,b:auto-gps-mode |
s1200058 | 47:626572030a78 | 224 | Send_Change_Mode(c); |
s1200058 | 47:626572030a78 | 225 | //pc.printf("%c\n\r", c); |
s1200058 | 47:626572030a78 | 226 | } |
s1200058 | 29:524684a1198f | 227 | } |
s1200058 | 29:524684a1198f | 228 | } |
s1200058 | 34:9c3192c00e41 | 229 | |
kityann | 0:daab5accfd83 | 230 | } |