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@45:a90c4301ee45, 2017-03-30 (annotated)
- Committer:
- s1200058
- Date:
- Thu Mar 30 10:48:04 2017 +0000
- Revision:
- 45:a90c4301ee45
- Parent:
- 38:5cd6d4964f65
- Child:
- 46:f1e87c375e02
- Child:
- 49:a6ae71759d0f
?????????
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 | 38:5cd6d4964f65 | 16 | //Automodeの際のプログラムはgpsAuto()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 | |
kityann | 0:daab5accfd83 | 27 | ///////////////////////////////////////// |
kityann | 0:daab5accfd83 | 28 | // |
kityann | 0:daab5accfd83 | 29 | //Pin Setting |
kityann | 0:daab5accfd83 | 30 | // |
kityann | 0:daab5accfd83 | 31 | ///////////////////////////////////////// |
s1200058 | 45:a90c4301ee45 | 32 | //Serial Connect Setting: mbed <--> motor driver |
kityann | 0:daab5accfd83 | 33 | VNH5019 agz_motorShield(p21,p22,p23,p24,p25,p26); |
kityann | 0:daab5accfd83 | 34 | |
kityann | 0:daab5accfd83 | 35 | |
kityann | 0:daab5accfd83 | 36 | ///////////////////////////////////////// |
kityann | 0:daab5accfd83 | 37 | // |
kityann | 0:daab5accfd83 | 38 | //Connection Setting |
kityann | 0:daab5accfd83 | 39 | // |
s1200058 | 45:a90c4301ee45 | 40 | // |
kityann | 0:daab5accfd83 | 41 | ///////////////////////////////////////// |
kityann | 0:daab5accfd83 | 42 | |
kityann | 0:daab5accfd83 | 43 | //Serial Connect Setting: PC <--> mbed |
kityann | 0:daab5accfd83 | 44 | Serial pc(USBTX, USBRX); |
kityann | 0:daab5accfd83 | 45 | |
kityann | 0:daab5accfd83 | 46 | //Serial Connect Setting: GPS <--> mbed |
kityann | 0:daab5accfd83 | 47 | Serial * gps_Serial; |
kityann | 0:daab5accfd83 | 48 | |
kityann | 0:daab5accfd83 | 49 | //Serial Connect Setting: XBEE <--> mbed |
kityann | 0:daab5accfd83 | 50 | XBee xbee(p13,p14); |
kityann | 0:daab5accfd83 | 51 | ZBRxResponse zbRx = ZBRxResponse(); |
kityann | 0:daab5accfd83 | 52 | |
kityann | 0:daab5accfd83 | 53 | //set up AigamozuControlPackets library |
kityann | 0:daab5accfd83 | 54 | AigamozuControlPackets agz(agz_motorShield); |
kityann | 0:daab5accfd83 | 55 | |
kityann | 0:daab5accfd83 | 56 | |
s1200058 | 2:886fac7f4399 | 57 | ///////////////////////////////////////// |
s1200058 | 2:886fac7f4399 | 58 | // |
s1200058 | 2:886fac7f4399 | 59 | //Plus Speed |
s1200058 | 2:886fac7f4399 | 60 | // |
s1200058 | 45:a90c4301ee45 | 61 | //ロボットを操縦する |
s1200058 | 2:886fac7f4399 | 62 | ///////////////////////////////////////// |
s1200058 | 45:a90c4301ee45 | 63 | void plusSpeed(uint8_t *packetdata){ |
s1200058 | 2:886fac7f4399 | 64 | |
s1200058 | 2:886fac7f4399 | 65 | if(agz.nowMode == MANUAL_MODE){ |
s1200058 | 2:886fac7f4399 | 66 | agz.changeSpeed(packetdata); |
s1200058 | 2:886fac7f4399 | 67 | } |
s1200058 | 2:886fac7f4399 | 68 | |
s1200058 | 2:886fac7f4399 | 69 | } |
kityann | 0:daab5accfd83 | 70 | |
kityann | 24:698d4e920d33 | 71 | |
s1200058 | 2:886fac7f4399 | 72 | |
s1200058 | 2:886fac7f4399 | 73 | ///////////////////////////////////////// |
s1200058 | 2:886fac7f4399 | 74 | // |
s1200058 | 2:886fac7f4399 | 75 | //New Mode |
s1200058 | 2:886fac7f4399 | 76 | // |
s1200058 | 45:a90c4301ee45 | 77 | //ロボットのモードを変更する |
s1200058 | 2:886fac7f4399 | 78 | ///////////////////////////////////////// |
s1200058 | 45:a90c4301ee45 | 79 | void newMode(uint8_t *packetdata){ |
s1200058 | 2:886fac7f4399 | 80 | |
s1200058 | 19:a806105ba365 | 81 | //bool result; |
s1200058 | 20:eee8ac8d1788 | 82 | agz.changeMode(packetdata); |
s1200058 | 2:886fac7f4399 | 83 | |
s1200058 | 2:886fac7f4399 | 84 | } |
kityann | 1:b2b950b916ce | 85 | |
kityann | 0:daab5accfd83 | 86 | |
kityann | 0:daab5accfd83 | 87 | ///////////////////////////////////////// |
kityann | 0:daab5accfd83 | 88 | // |
kityann | 0:daab5accfd83 | 89 | //Main Processing |
kityann | 0:daab5accfd83 | 90 | // |
kityann | 0:daab5accfd83 | 91 | ///////////////////////////////////////// |
kityann | 0:daab5accfd83 | 92 | int main() { |
kityann | 0:daab5accfd83 | 93 | //start up time |
kityann | 0:daab5accfd83 | 94 | wait(3); |
kityann | 0:daab5accfd83 | 95 | //set pc frequency to 57600bps |
kityann | 0:daab5accfd83 | 96 | pc.baud(PC_BAUD_RATE); |
kityann | 0:daab5accfd83 | 97 | //set xbee frequency to 57600bps |
kityann | 0:daab5accfd83 | 98 | xbee.begin(XBEE_BAUD_RATE); |
kityann | 0:daab5accfd83 | 99 | |
kityann | 0:daab5accfd83 | 100 | //GPS setting |
kityann | 0:daab5accfd83 | 101 | gps_Serial = new Serial(p28,p27); |
kityann | 0:daab5accfd83 | 102 | Adafruit_GPS myGPS(gps_Serial); |
s1200058 | 45:a90c4301ee45 | 103 | |
s1200058 | 45:a90c4301ee45 | 104 | //2secごとの更新用Timer |
s1200058 | 45:a90c4301ee45 | 105 | Timer autoTimer; |
s1200058 | 45:a90c4301ee45 | 106 | const int autoTime = 2000; //refresh time in ms |
s1200058 | 45:a90c4301ee45 | 107 | |
s1200058 | 45:a90c4301ee45 | 108 | //interrupt start |
s1200058 | 45:a90c4301ee45 | 109 | autoTimer.start(); |
s1200058 | 45:a90c4301ee45 | 110 | agz.moveTimer.start(); |
kityann | 0:daab5accfd83 | 111 | |
s1200058 | 29:524684a1198f | 112 | wait_ms(2000); |
kityann | 1:b2b950b916ce | 113 | |
s1200058 | 45:a90c4301ee45 | 114 | printf("start\n"); |
s1200058 | 45:a90c4301ee45 | 115 | |
kityann | 0:daab5accfd83 | 116 | while (true) { |
kityann | 0:daab5accfd83 | 117 | |
kityann | 0:daab5accfd83 | 118 | //Check Xbee Buffer Available |
kityann | 0:daab5accfd83 | 119 | xbee.readPacket(); |
s1200058 | 45:a90c4301ee45 | 120 | |
s1200058 | 45:a90c4301ee45 | 121 | //Xbee受信があった場合 |
kityann | 0:daab5accfd83 | 122 | if (xbee.getResponse().isAvailable()) { |
kityann | 0:daab5accfd83 | 123 | xbee.getResponse().getZBRxResponse(zbRx); |
s1200058 | 45:a90c4301ee45 | 124 | //frame dataの格納 |
kityann | 0:daab5accfd83 | 125 | uint8_t *buf = zbRx.getFrameData(); |
s1200058 | 45:a90c4301ee45 | 126 | |
kityann | 0:daab5accfd83 | 127 | if (xbee.getResponse().getApiId() == ZB_RX_RESPONSE) { |
kityann | 0:daab5accfd83 | 128 | xbee.getResponse().getZBRxResponse(zbRx); |
kityann | 0:daab5accfd83 | 129 | uint8_t *buf = zbRx.getFrameData();//フレームデータを格納する |
s1200058 | 21:76e7f36df4a9 | 130 | char Command_type = agz.checkCommnadType(buf);//コマンドタイプを取得する |
kityann | 0:daab5accfd83 | 131 | |
kityann | 0:daab5accfd83 | 132 | //Check Command Type |
kityann | 0:daab5accfd83 | 133 | switch(Command_type){ |
kityann | 0:daab5accfd83 | 134 | //Get Request command |
s1200058 | 45:a90c4301ee45 | 135 | case MANUAL:{ //マニュアルモードパケット |
s1200058 | 45:a90c4301ee45 | 136 | plusSpeed(buf); //ロボットの操縦 |
s1200058 | 2:886fac7f4399 | 137 | break; |
s1200058 | 2:886fac7f4399 | 138 | } |
s1200058 | 45:a90c4301ee45 | 139 | case STATUS_REQUEST:{ //ステータスリクエストパケット |
kityann | 0:daab5accfd83 | 140 | break; |
kityann | 0:daab5accfd83 | 141 | } |
s1200058 | 45:a90c4301ee45 | 142 | case CHANGE_MODE:{ //モード変更パケット |
s1200058 | 45:a90c4301ee45 | 143 | newMode(buf); //モードの変更 |
s1200058 | 2:886fac7f4399 | 144 | break; |
s1200058 | 2:886fac7f4399 | 145 | } |
s1200058 | 45:a90c4301ee45 | 146 | case RECEIVE_STATUS:{ //レシーブステータスパケット |
kityann | 1:b2b950b916ce | 147 | break; |
kityann | 1:b2b950b916ce | 148 | } |
kityann | 0:daab5accfd83 | 149 | default:{ |
kityann | 0:daab5accfd83 | 150 | break; |
kityann | 0:daab5accfd83 | 151 | } |
kityann | 0:daab5accfd83 | 152 | }//endswitch |
kityann | 0:daab5accfd83 | 153 | }//endifZB_RX_RESPONSE |
kityann | 0:daab5accfd83 | 154 | }//endifisAvailable |
s1200058 | 38:5cd6d4964f65 | 155 | |
s1200058 | 45:a90c4301ee45 | 156 | //ロボットがオートモードのとき、シーケンス動作する |
s1200058 | 45:a90c4301ee45 | 157 | if(agz.nowMode == AUTO_GPS_MODE && autoTimer.read_ms() >= autoTime){ |
s1200058 | 45:a90c4301ee45 | 158 | autoTimer.reset(); |
s1200058 | 45:a90c4301ee45 | 159 | agz.autoMove(); |
s1200058 | 29:524684a1198f | 160 | } |
s1200058 | 29:524684a1198f | 161 | |
s1200058 | 29:524684a1198f | 162 | } |
s1200058 | 34:9c3192c00e41 | 163 | |
kityann | 0:daab5accfd83 | 164 | } |