albatross
/
ControlMain2017
2017年度の製作を開始します
Fork of Control_Main_Full_20160608 by
main.cpp@3:0e66ce2ab2fb, 2016-02-17 (annotated)
- Committer:
- YusukeWakuta
- Date:
- Wed Feb 17 01:58:07 2016 +0000
- Revision:
- 3:0e66ce2ab2fb
- Parent:
- 2:9dc7d5f1e910
- Child:
- 4:4a13dd263a7b
??????????????????
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
YusukeWakuta | 0:b1290ca6c4a2 | 1 | //中央can program |
YusukeWakuta | 0:b1290ca6c4a2 | 2 | |
YusukeWakuta | 0:b1290ca6c4a2 | 3 | #include "mbed.h" |
YusukeWakuta | 3:0e66ce2ab2fb | 4 | #define WAIT_LOOP_TIME 0.2 |
YusukeWakuta | 0:b1290ca6c4a2 | 5 | #define YOKUTAN_DATAS_NUM 5 |
YusukeWakuta | 0:b1290ca6c4a2 | 6 | #define IMPUT_DATAS_NUM 2 |
YusukeWakuta | 0:b1290ca6c4a2 | 7 | #define SEND_DATAS_CAN_ID 100 |
YusukeWakuta | 0:b1290ca6c4a2 | 8 | |
YusukeWakuta | 0:b1290ca6c4a2 | 9 | CAN can_R(p9,p10); |
YusukeWakuta | 0:b1290ca6c4a2 | 10 | CAN can_L(p30,p29); |
YusukeWakuta | 0:b1290ca6c4a2 | 11 | Serial toKeikiSerial(p28,p27); |
YusukeWakuta | 0:b1290ca6c4a2 | 12 | Serial pc(USBTX,USBRX); |
YusukeWakuta | 3:0e66ce2ab2fb | 13 | DigitalIn eruron_R(p20); |
YusukeWakuta | 3:0e66ce2ab2fb | 14 | DigitalIn eruron_L(p22); |
YusukeWakuta | 3:0e66ce2ab2fb | 15 | DigitalIn drug_R(p19); |
YusukeWakuta | 3:0e66ce2ab2fb | 16 | DigitalIn drug_L(p23); |
YusukeWakuta | 0:b1290ca6c4a2 | 17 | DigitalOut myled1(LED1); |
YusukeWakuta | 0:b1290ca6c4a2 | 18 | DigitalOut myled2(LED2); |
YusukeWakuta | 0:b1290ca6c4a2 | 19 | |
YusukeWakuta | 0:b1290ca6c4a2 | 20 | signed char yokutanDatas_R[YOKUTAN_DATAS_NUM]; |
YusukeWakuta | 0:b1290ca6c4a2 | 21 | signed char yokutanDatas_L[YOKUTAN_DATAS_NUM]; |
YusukeWakuta | 0:b1290ca6c4a2 | 22 | char inputDatas_R[IMPUT_DATAS_NUM]; |
YusukeWakuta | 0:b1290ca6c4a2 | 23 | char inputDatas_L[IMPUT_DATAS_NUM]; |
YusukeWakuta | 0:b1290ca6c4a2 | 24 | |
YusukeWakuta | 3:0e66ce2ab2fb | 25 | CANMessage recmsg_R; |
YusukeWakuta | 3:0e66ce2ab2fb | 26 | CANMessage recmsg_L; |
YusukeWakuta | 0:b1290ca6c4a2 | 27 | |
YusukeWakuta | 0:b1290ca6c4a2 | 28 | void InputAndSentControlValues_R(){ |
YusukeWakuta | 3:0e66ce2ab2fb | 29 | inputDatas_R[0] = (char)drug_R; |
YusukeWakuta | 3:0e66ce2ab2fb | 30 | inputDatas_R[1] = (char)eruron_R; |
YusukeWakuta | 3:0e66ce2ab2fb | 31 | // pc.printf("R : %d\t%d\t",drug_R.read(),eruron_R.read()); |
taurin | 2:9dc7d5f1e910 | 32 | //for(int i = 0; i < IMPUT_DATAS_NUM; i++){ |
YusukeWakuta | 3:0e66ce2ab2fb | 33 | if(can_R.write(CANMessage(SEND_DATAS_CAN_ID, inputDatas_R, IMPUT_DATAS_NUM))){ |
YusukeWakuta | 3:0e66ce2ab2fb | 34 | // pc.printf("Right successed!\n\r"); |
YusukeWakuta | 3:0e66ce2ab2fb | 35 | |
YusukeWakuta | 0:b1290ca6c4a2 | 36 | } |
taurin | 2:9dc7d5f1e910 | 37 | //} |
YusukeWakuta | 0:b1290ca6c4a2 | 38 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 39 | |
YusukeWakuta | 0:b1290ca6c4a2 | 40 | void ledcheck_R() { |
YusukeWakuta | 0:b1290ca6c4a2 | 41 | myled1 = 1; |
YusukeWakuta | 0:b1290ca6c4a2 | 42 | wait(0.2); |
YusukeWakuta | 0:b1290ca6c4a2 | 43 | myled1 = 0; |
YusukeWakuta | 0:b1290ca6c4a2 | 44 | wait(0.2); |
YusukeWakuta | 0:b1290ca6c4a2 | 45 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 46 | |
YusukeWakuta | 0:b1290ca6c4a2 | 47 | void ledcheck_L() { |
YusukeWakuta | 0:b1290ca6c4a2 | 48 | myled2 = 1; |
YusukeWakuta | 0:b1290ca6c4a2 | 49 | wait(0.2); |
YusukeWakuta | 0:b1290ca6c4a2 | 50 | myled2 = 0; |
YusukeWakuta | 0:b1290ca6c4a2 | 51 | wait(0.2); |
YusukeWakuta | 0:b1290ca6c4a2 | 52 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 53 | |
YusukeWakuta | 0:b1290ca6c4a2 | 54 | void InputAndSentControlValues_L(){ |
YusukeWakuta | 3:0e66ce2ab2fb | 55 | inputDatas_L[0] = (char)drug_L; |
YusukeWakuta | 3:0e66ce2ab2fb | 56 | inputDatas_L[1] = (char)eruron_L; |
YusukeWakuta | 3:0e66ce2ab2fb | 57 | pc.printf("L : %d\t%d\n\r",drug_L.read(),eruron_L.read()); |
taurin | 2:9dc7d5f1e910 | 58 | //for(int i = 0; i < IMPUT_DATAS_NUM; i++){ |
YusukeWakuta | 3:0e66ce2ab2fb | 59 | if(can_L.write(CANMessage(SEND_DATAS_CAN_ID, inputDatas_L, IMPUT_DATAS_NUM))){ |
YusukeWakuta | 3:0e66ce2ab2fb | 60 | // pc.printf("Left successed!\n\r"); |
YusukeWakuta | 0:b1290ca6c4a2 | 61 | } |
taurin | 2:9dc7d5f1e910 | 62 | //} |
YusukeWakuta | 0:b1290ca6c4a2 | 63 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 64 | |
YusukeWakuta | 0:b1290ca6c4a2 | 65 | void SendDarasToKeiki(){ |
YusukeWakuta | 0:b1290ca6c4a2 | 66 | for(int i = 0; i < YOKUTAN_DATAS_NUM; i++){ |
YusukeWakuta | 0:b1290ca6c4a2 | 67 | toKeikiSerial.putc(yokutanDatas_R[i]); |
YusukeWakuta | 0:b1290ca6c4a2 | 68 | toKeikiSerial.putc(yokutanDatas_L[i]); |
YusukeWakuta | 0:b1290ca6c4a2 | 69 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 70 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 71 | |
YusukeWakuta | 0:b1290ca6c4a2 | 72 | void toString_R(){ |
YusukeWakuta | 0:b1290ca6c4a2 | 73 | for(int i = 0; i < YOKUTAN_DATAS_NUM; i++){ |
YusukeWakuta | 1:65a3a2a4f535 | 74 | pc.printf("R : "); |
YusukeWakuta | 1:65a3a2a4f535 | 75 | pc.printf("%i:",yokutanDatas_R[i]); |
YusukeWakuta | 0:b1290ca6c4a2 | 76 | } |
taurin | 2:9dc7d5f1e910 | 77 | for(int i = 0; i < IMPUT_DATAS_NUM; i++){ |
YusukeWakuta | 3:0e66ce2ab2fb | 78 | // pc.printf("%d:%d",i,inputDatas_R[i]); |
taurin | 2:9dc7d5f1e910 | 79 | } |
YusukeWakuta | 3:0e66ce2ab2fb | 80 | // pc.printf("\t"); |
YusukeWakuta | 0:b1290ca6c4a2 | 81 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 82 | |
YusukeWakuta | 0:b1290ca6c4a2 | 83 | void toString_L(){ |
YusukeWakuta | 0:b1290ca6c4a2 | 84 | for(int i = 0; i < YOKUTAN_DATAS_NUM; i++){ |
YusukeWakuta | 1:65a3a2a4f535 | 85 | pc.printf("L : "); |
YusukeWakuta | 1:65a3a2a4f535 | 86 | pc.printf("%i:",yokutanDatas_L[i]); |
YusukeWakuta | 0:b1290ca6c4a2 | 87 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 88 | pc.printf("\n\r"); |
YusukeWakuta | 0:b1290ca6c4a2 | 89 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 90 | |
YusukeWakuta | 0:b1290ca6c4a2 | 91 | void init(){ |
taurin | 2:9dc7d5f1e910 | 92 | for(int i = 0; i < IMPUT_DATAS_NUM; i++){ |
taurin | 2:9dc7d5f1e910 | 93 | inputDatas_R[i] = 0; |
taurin | 2:9dc7d5f1e910 | 94 | inputDatas_L[i] = 0; |
taurin | 2:9dc7d5f1e910 | 95 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 96 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 97 | |
YusukeWakuta | 0:b1290ca6c4a2 | 98 | |
YusukeWakuta | 0:b1290ca6c4a2 | 99 | void receiveDatas(){ |
YusukeWakuta | 0:b1290ca6c4a2 | 100 | if(can_R.read(recmsg_R)){ |
YusukeWakuta | 0:b1290ca6c4a2 | 101 | ledcheck_R(); |
YusukeWakuta | 0:b1290ca6c4a2 | 102 | for(int i = 0; i < recmsg_R.len; i++){ |
YusukeWakuta | 0:b1290ca6c4a2 | 103 | yokutanDatas_R[i] = recmsg_R.data[i]; |
YusukeWakuta | 3:0e66ce2ab2fb | 104 | // pc.printf("R : %d , %d\t",recmsg_R.data[i]); |
YusukeWakuta | 0:b1290ca6c4a2 | 105 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 106 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 107 | if(can_L.read(recmsg_L)){ |
YusukeWakuta | 0:b1290ca6c4a2 | 108 | ledcheck_L(); |
YusukeWakuta | 0:b1290ca6c4a2 | 109 | for(int i = 0; i < recmsg_L.len; i++){ |
YusukeWakuta | 0:b1290ca6c4a2 | 110 | yokutanDatas_L[i] = recmsg_L.data[i]; |
YusukeWakuta | 3:0e66ce2ab2fb | 111 | // pc.printf("L : %d , %d\t",recmsg_L.data[i]); |
YusukeWakuta | 0:b1290ca6c4a2 | 112 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 113 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 114 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 115 | |
YusukeWakuta | 0:b1290ca6c4a2 | 116 | |
YusukeWakuta | 0:b1290ca6c4a2 | 117 | int main(){ |
YusukeWakuta | 0:b1290ca6c4a2 | 118 | init(); |
YusukeWakuta | 0:b1290ca6c4a2 | 119 | while(1){ |
taurin | 2:9dc7d5f1e910 | 120 | //servo_check(); |
YusukeWakuta | 0:b1290ca6c4a2 | 121 | InputAndSentControlValues_R(); |
YusukeWakuta | 0:b1290ca6c4a2 | 122 | InputAndSentControlValues_L(); |
YusukeWakuta | 0:b1290ca6c4a2 | 123 | wait_us(10); |
YusukeWakuta | 0:b1290ca6c4a2 | 124 | receiveDatas(); |
YusukeWakuta | 0:b1290ca6c4a2 | 125 | toString_R(); |
YusukeWakuta | 0:b1290ca6c4a2 | 126 | toString_L(); |
YusukeWakuta | 0:b1290ca6c4a2 | 127 | wait(WAIT_LOOP_TIME); |
YusukeWakuta | 0:b1290ca6c4a2 | 128 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 129 | } |