yokokawa
Dependencies: ADXL345 AigamozuControlPackets HMC5843 ITG3200 MBed_Adafruit-GPS-Library XBee agzIDLIST agz_common mbed
Fork of aigamozu_program_ver2 by
main.cpp@5:940424ec98a8, 2014-06-08 (annotated)
- Committer:
- m5171135
- Date:
- Sun Jun 08 11:55:07 2014 +0000
- Revision:
- 5:940424ec98a8
- Parent:
- 4:39d2aadf3068
- Child:
- 6:21e2792e66c7
berfore
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
m5171135 | 2:95955f38f47a | 1 | /**********************************************/ |
m5171135 | 3:1229ca3df855 | 2 | // |
m5171135 | 3:1229ca3df855 | 3 | // |
m5171135 | 2:95955f38f47a | 4 | // |
m5171135 | 2:95955f38f47a | 5 | // Program name: Aigamozu Robot Control |
m5171135 | 2:95955f38f47a | 6 | // author: Atsunori Maruyama |
m5171135 | 5:940424ec98a8 | 7 | // ver -> 1.1 |
m5171135 | 5:940424ec98a8 | 8 | // day -> 2014/06/01 |
m5171135 | 2:95955f38f47a | 9 | // |
m5171135 | 2:95955f38f47a | 10 | // |
m5171135 | 2:95955f38f47a | 11 | /**********************************************/ |
m5171135 | 4:39d2aadf3068 | 12 | |
m5171135 | 0:7d55d6ace996 | 13 | #include "mbed.h" |
m5171135 | 0:7d55d6ace996 | 14 | #include "XBee.h" |
m5171135 | 0:7d55d6ace996 | 15 | #include "MBed_Adafruit_GPS.h" |
m5171135 | 4:39d2aadf3068 | 16 | #include "AigamozuControlPackets.h" |
m5171135 | 1:490b793b2e61 | 17 | #include "VNH5019.h" |
m5171135 | 2:95955f38f47a | 18 | #include "agzIDLIST.h" |
m5171135 | 3:1229ca3df855 | 19 | #include "aigamozuSetting.h" |
m5171135 | 1:490b793b2e61 | 20 | |
m5171135 | 0:7d55d6ace996 | 21 | ///////////////////////////////////////// |
m5171135 | 0:7d55d6ace996 | 22 | // |
m5171135 | 0:7d55d6ace996 | 23 | //Connection Setting |
m5171135 | 0:7d55d6ace996 | 24 | // |
m5171135 | 0:7d55d6ace996 | 25 | ///////////////////////////////////////// |
m5171135 | 4:39d2aadf3068 | 26 | |
m5171135 | 2:95955f38f47a | 27 | //Serial Connect Setting: PC <--> mbed |
m5171135 | 2:95955f38f47a | 28 | Serial pc(USBTX, USBRX); |
m5171135 | 2:95955f38f47a | 29 | |
m5171135 | 2:95955f38f47a | 30 | //Serial Connect Setting: GPS <--> mbed |
m5171135 | 0:7d55d6ace996 | 31 | Serial * gps_Serial; |
m5171135 | 2:95955f38f47a | 32 | |
m5171135 | 2:95955f38f47a | 33 | //Serial Connect Setting: XBEE <--> mbed |
m5171135 | 2:95955f38f47a | 34 | XBee xbee(p13,p14); |
m5171135 | 0:7d55d6ace996 | 35 | ZBRxResponse zbRx = ZBRxResponse(); |
m5171135 | 2:95955f38f47a | 36 | XBeeAddress64 remoteAddress = XBeeAddress64(PAN1B1_32H,PAN1B1_32L); |
m5171135 | 0:7d55d6ace996 | 37 | |
m5171135 | 0:7d55d6ace996 | 38 | ///////////////////////////////////////// |
m5171135 | 0:7d55d6ace996 | 39 | // |
m5171135 | 0:7d55d6ace996 | 40 | //Pin Setting |
m5171135 | 0:7d55d6ace996 | 41 | // |
m5171135 | 0:7d55d6ace996 | 42 | ///////////////////////////////////////// |
m5171135 | 4:39d2aadf3068 | 43 | |
m5171135 | 2:95955f38f47a | 44 | //Motor Contorol Pin Setting |
m5171135 | 1:490b793b2e61 | 45 | VNH5019 motorShield(p21,p22,p23,p24,p25,p26); |
m5171135 | 5:940424ec98a8 | 46 | |
m5171135 | 3:1229ca3df855 | 47 | |
m5171135 | 2:95955f38f47a | 48 | //Interrupt Setting |
m5171135 | 0:7d55d6ace996 | 49 | Ticker axis; |
m5171135 | 0:7d55d6ace996 | 50 | Ticker auth_axis; |
m5171135 | 0:7d55d6ace996 | 51 | |
m5171135 | 0:7d55d6ace996 | 52 | ///////////////////////////////////////// |
m5171135 | 0:7d55d6ace996 | 53 | // |
m5171135 | 0:7d55d6ace996 | 54 | //Each Value Setting |
m5171135 | 0:7d55d6ace996 | 55 | // |
m5171135 | 0:7d55d6ace996 | 56 | ///////////////////////////////////////// |
m5171135 | 2:95955f38f47a | 57 | int count = 0; |
m5171135 | 2:95955f38f47a | 58 | |
m5171135 | 0:7d55d6ace996 | 59 | //my status |
m5171135 | 0:7d55d6ace996 | 60 | //0: StndbyMode |
m5171135 | 0:7d55d6ace996 | 61 | //1: ManualMode |
m5171135 | 0:7d55d6ace996 | 62 | //2: AuthmaticMode(Random) |
m5171135 | 0:7d55d6ace996 | 63 | unsigned char my_status = 0; |
m5171135 | 0:7d55d6ace996 | 64 | |
m5171135 | 0:7d55d6ace996 | 65 | //0 bit: Motor Satatus |
m5171135 | 0:7d55d6ace996 | 66 | //1 bit: GPS Status |
m5171135 | 0:7d55d6ace996 | 67 | //2 bit: Sensor Status |
m5171135 | 0:7d55d6ace996 | 68 | //3 bit: Battery Status |
m5171135 | 0:7d55d6ace996 | 69 | unsigned char my_mode = 0; |
m5171135 | 0:7d55d6ace996 | 70 | |
m5171135 | 0:7d55d6ace996 | 71 | //ManualValue |
m5171135 | 0:7d55d6ace996 | 72 | int manual_count = 0; |
m5171135 | 0:7d55d6ace996 | 73 | int manual_flag = 0; |
m5171135 | 0:7d55d6ace996 | 74 | |
m5171135 | 0:7d55d6ace996 | 75 | ///////////////////////////////////////// |
m5171135 | 0:7d55d6ace996 | 76 | // |
m5171135 | 0:7d55d6ace996 | 77 | //Interruption processing 1: time -> 0.1s |
m5171135 | 0:7d55d6ace996 | 78 | // |
m5171135 | 0:7d55d6ace996 | 79 | ///////////////////////////////////////// |
m5171135 | 0:7d55d6ace996 | 80 | void axisRenovation(){ |
m5171135 | 0:7d55d6ace996 | 81 | |
m5171135 | 0:7d55d6ace996 | 82 | if(manual_count > 100){ |
m5171135 | 1:490b793b2e61 | 83 | motorShield.changeSpeed(0,0,0,0); |
m5171135 | 0:7d55d6ace996 | 84 | manual_count = 0; |
m5171135 | 0:7d55d6ace996 | 85 | } |
m5171135 | 2:95955f38f47a | 86 | if(my_mode == 1) manual_count++; |
m5171135 | 0:7d55d6ace996 | 87 | } |
m5171135 | 0:7d55d6ace996 | 88 | |
m5171135 | 0:7d55d6ace996 | 89 | ///////////////////////////////////////// |
m5171135 | 0:7d55d6ace996 | 90 | // |
m5171135 | 0:7d55d6ace996 | 91 | //Interruption processing: time -> 1.0s |
m5171135 | 0:7d55d6ace996 | 92 | // |
m5171135 | 0:7d55d6ace996 | 93 | ///////////////////////////////////////// |
m5171135 | 0:7d55d6ace996 | 94 | |
m5171135 | 5:940424ec98a8 | 95 | void normalRandomMode(){ |
m5171135 | 0:7d55d6ace996 | 96 | |
m5171135 | 2:95955f38f47a | 97 | if(count < 20){ |
m5171135 | 1:490b793b2e61 | 98 | motorShield.changeSpeed(1,127,1,127); |
m5171135 | 0:7d55d6ace996 | 99 | } |
m5171135 | 0:7d55d6ace996 | 100 | else{ |
m5171135 | 2:95955f38f47a | 101 | motorShield.changeSpeed(1,64,2,64); |
m5171135 | 2:95955f38f47a | 102 | if(count > 21) { |
m5171135 | 2:95955f38f47a | 103 | count = 0; |
m5171135 | 2:95955f38f47a | 104 | motorShield.changeSpeed(1,127,1,127); |
m5171135 | 2:95955f38f47a | 105 | } |
m5171135 | 0:7d55d6ace996 | 106 | } |
m5171135 | 0:7d55d6ace996 | 107 | count++; |
m5171135 | 5:940424ec98a8 | 108 | } |
m5171135 | 5:940424ec98a8 | 109 | |
m5171135 | 5:940424ec98a8 | 110 | void gpsRandomMode(){ |
m5171135 | 5:940424ec98a8 | 111 | |
m5171135 | 5:940424ec98a8 | 112 | |
m5171135 | 5:940424ec98a8 | 113 | |
m5171135 | 5:940424ec98a8 | 114 | |
m5171135 | 0:7d55d6ace996 | 115 | } |
m5171135 | 0:7d55d6ace996 | 116 | |
m5171135 | 4:39d2aadf3068 | 117 | |
m5171135 | 4:39d2aadf3068 | 118 | |
m5171135 | 5:940424ec98a8 | 119 | |
m5171135 | 5:940424ec98a8 | 120 | |
m5171135 | 0:7d55d6ace996 | 121 | ///////////////////////////////////////// |
m5171135 | 0:7d55d6ace996 | 122 | // |
m5171135 | 0:7d55d6ace996 | 123 | //Main Processing |
m5171135 | 0:7d55d6ace996 | 124 | // |
m5171135 | 0:7d55d6ace996 | 125 | ///////////////////////////////////////// |
m5171135 | 0:7d55d6ace996 | 126 | int main() { |
m5171135 | 0:7d55d6ace996 | 127 | //start up time |
m5171135 | 0:7d55d6ace996 | 128 | wait(3); |
m5171135 | 0:7d55d6ace996 | 129 | //set pc frequency to 57600bps |
m5171135 | 2:95955f38f47a | 130 | pc.baud(PC_BAUD_RATE); |
m5171135 | 0:7d55d6ace996 | 131 | //set xbee frequency to 57600bps |
m5171135 | 2:95955f38f47a | 132 | xbee.begin(XBEE_BAUD_RATE); |
m5171135 | 0:7d55d6ace996 | 133 | |
m5171135 | 0:7d55d6ace996 | 134 | //GPS setting |
m5171135 | 2:95955f38f47a | 135 | gps_Serial = new Serial(p28,p27); |
m5171135 | 2:95955f38f47a | 136 | Adafruit_GPS myGPS(gps_Serial); |
m5171135 | 2:95955f38f47a | 137 | Timer refresh_Timer; |
m5171135 | 0:7d55d6ace996 | 138 | const int refresh_Time = 2000; //refresh time in ms |
m5171135 | 2:95955f38f47a | 139 | myGPS.begin(GPS_BAUD_RATE); |
m5171135 | 0:7d55d6ace996 | 140 | |
m5171135 | 2:95955f38f47a | 141 | //GPS Send Command |
m5171135 | 2:95955f38f47a | 142 | myGPS.sendCommand(PMTK_SET_NMEA_OUTPUT_RMCONLY); |
m5171135 | 0:7d55d6ace996 | 143 | myGPS.sendCommand(PMTK_SET_NMEA_UPDATE_1HZ); |
m5171135 | 0:7d55d6ace996 | 144 | myGPS.sendCommand(PGCMD_ANTENNA); |
m5171135 | 0:7d55d6ace996 | 145 | |
m5171135 | 0:7d55d6ace996 | 146 | wait(2); |
m5171135 | 0:7d55d6ace996 | 147 | |
m5171135 | 0:7d55d6ace996 | 148 | //interrupt start |
m5171135 | 0:7d55d6ace996 | 149 | axis.attach(&axisRenovation, 0.1); |
m5171135 | 5:940424ec98a8 | 150 | AigamozuControlPackets agz(axis); |
m5171135 | 0:7d55d6ace996 | 151 | refresh_Timer.start(); |
m5171135 | 4:39d2aadf3068 | 152 | |
m5171135 | 4:39d2aadf3068 | 153 | |
m5171135 | 2:95955f38f47a | 154 | while (true) { |
m5171135 | 0:7d55d6ace996 | 155 | |
m5171135 | 4:39d2aadf3068 | 156 | //Check Xbee Buffer Available |
m5171135 | 0:7d55d6ace996 | 157 | xbee.readPacket(); |
m5171135 | 0:7d55d6ace996 | 158 | if (xbee.getResponse().isAvailable()) { |
m5171135 | 0:7d55d6ace996 | 159 | if (xbee.getResponse().getApiId() == ZB_RX_RESPONSE) { |
m5171135 | 0:7d55d6ace996 | 160 | xbee.getResponse().getZBRxResponse(zbRx); |
m5171135 | 5:940424ec98a8 | 161 | uint8_t *buf = zbRx.getFrameData(); |
m5171135 | 0:7d55d6ace996 | 162 | |
m5171135 | 2:95955f38f47a | 163 | |
m5171135 | 4:39d2aadf3068 | 164 | //Check Command Type |
m5171135 | 3:1229ca3df855 | 165 | switch(agz.checkCommnadType(buf)){ |
m5171135 | 4:39d2aadf3068 | 166 | //CommandType -> ChanegeMode |
m5171135 | 4:39d2aadf3068 | 167 | case CHANGE_MODE :{ |
m5171135 | 5:940424ec98a8 | 168 | //Change Mode |
m5171135 | 5:940424ec98a8 | 169 | agz.changeMode(buf); |
m5171135 | 5:940424ec98a8 | 170 | //Motor Stop |
m5171135 | 1:490b793b2e61 | 171 | motorShield.changeSpeed(0,0,0,0); |
m5171135 | 5:940424ec98a8 | 172 | //case: AUTO1 |
m5171135 | 5:940424ec98a8 | 173 | if(agz.nowMode == AUTO_MODE) auth_axis.attach(&normalRandomMode, 1.0); |
m5171135 | 5:940424ec98a8 | 174 | else if(agz.nowMode ==AUTO_GPS_MODE) auth_axis.attach(&gpsRandomMode, 1.0); |
m5171135 | 0:7d55d6ace996 | 175 | else auth_axis.detach(); |
m5171135 | 5:940424ec98a8 | 176 | |
m5171135 | 5:940424ec98a8 | 177 | //case:AUTO2 |
m5171135 | 5:940424ec98a8 | 178 | |
m5171135 | 5:940424ec98a8 | 179 | |
m5171135 | 5:940424ec98a8 | 180 | |
m5171135 | 0:7d55d6ace996 | 181 | break; |
m5171135 | 0:7d55d6ace996 | 182 | } |
m5171135 | 4:39d2aadf3068 | 183 | |
m5171135 | 4:39d2aadf3068 | 184 | //CommandType -> Manual |
m5171135 | 3:1229ca3df855 | 185 | case MANUAL:{ |
m5171135 | 4:39d2aadf3068 | 186 | //Check now Mode |
m5171135 | 4:39d2aadf3068 | 187 | if(agz.nowMode == MANUAL_MODE){ |
m5171135 | 4:39d2aadf3068 | 188 | //manual_count = 0; |
m5171135 | 4:39d2aadf3068 | 189 | //Change Motor Behavior |
m5171135 | 4:39d2aadf3068 | 190 | motorShield.changeSpeed(buf[20],buf[21],buf[23],buf[24]); |
m5171135 | 0:7d55d6ace996 | 191 | } |
m5171135 | 0:7d55d6ace996 | 192 | break; |
m5171135 | 0:7d55d6ace996 | 193 | } |
m5171135 | 0:7d55d6ace996 | 194 | |
m5171135 | 4:39d2aadf3068 | 195 | //CommandType -> Send Status |
m5171135 | 3:1229ca3df855 | 196 | case STATUS_REQUEST:{ |
m5171135 | 4:39d2aadf3068 | 197 | //Create GPS Infomation Packet |
m5171135 | 5:940424ec98a8 | 198 | agz.createReceiveStatusCommand('B','a',myGPS.longitudeH,myGPS.longitudeL,myGPS.latitudeH,myGPS.latitudeL); |
m5171135 | 4:39d2aadf3068 | 199 | //Select Destination |
m5171135 | 5:940424ec98a8 | 200 | ZBTxRequest tx64request(remoteAddress,agz.packetData,agz.getPacketLength()); |
m5171135 | 5:940424ec98a8 | 201 | |
m5171135 | 4:39d2aadf3068 | 202 | //Send -> Base |
m5171135 | 0:7d55d6ace996 | 203 | xbee.send(tx64request); |
m5171135 | 4:39d2aadf3068 | 204 | break; |
m5171135 | 4:39d2aadf3068 | 205 | |
m5171135 | 0:7d55d6ace996 | 206 | } |
m5171135 | 4:39d2aadf3068 | 207 | |
m5171135 | 0:7d55d6ace996 | 208 | default: |
m5171135 | 0:7d55d6ace996 | 209 | { |
m5171135 | 0:7d55d6ace996 | 210 | break; |
m5171135 | 0:7d55d6ace996 | 211 | } |
m5171135 | 0:7d55d6ace996 | 212 | } |
m5171135 | 0:7d55d6ace996 | 213 | } |
m5171135 | 0:7d55d6ace996 | 214 | } |
m5171135 | 0:7d55d6ace996 | 215 | |
m5171135 | 0:7d55d6ace996 | 216 | myGPS.read(); |
m5171135 | 0:7d55d6ace996 | 217 | //recive gps module |
m5171135 | 0:7d55d6ace996 | 218 | //check if we recieved a new message from GPS, if so, attempt to parse it, |
m5171135 | 0:7d55d6ace996 | 219 | if ( myGPS.newNMEAreceived() ) { |
m5171135 | 0:7d55d6ace996 | 220 | if ( !myGPS.parse(myGPS.lastNMEA()) ) { |
m5171135 | 0:7d55d6ace996 | 221 | continue; |
m5171135 | 0:7d55d6ace996 | 222 | } |
m5171135 | 0:7d55d6ace996 | 223 | } |
m5171135 | 0:7d55d6ace996 | 224 | |
m5171135 | 0:7d55d6ace996 | 225 | if (refresh_Timer.read_ms() >= refresh_Time) { |
m5171135 | 0:7d55d6ace996 | 226 | refresh_Timer.reset(); |
m5171135 | 4:39d2aadf3068 | 227 | if (myGPS.fix) agz.nowStatus = GPS_AVAIL; |
m5171135 | 4:39d2aadf3068 | 228 | else agz.nowStatus = GPS_UNAVAIL; |
m5171135 | 0:7d55d6ace996 | 229 | } |
m5171135 | 0:7d55d6ace996 | 230 | } |
m5171135 | 0:7d55d6ace996 | 231 | } |