albatross
/
ControlMain2017
2017年度の製作を開始します
Fork of Control_Main_Full_20160608 by
main.cpp@16:336e8b102555, 2017-03-11 (annotated)
- Committer:
- YusukeWakuta
- Date:
- Sat Mar 11 21:32:50 2017 +0000
- Revision:
- 16:336e8b102555
- Parent:
- 15:c5ade23e5de4
- Child:
- 17:e6d7bdf2c5f6
- Child:
- 18:31722545ecf1
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Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
YusukeWakuta | 13:79eb74eb86c4 | 1 | //中央 |
YusukeWakuta | 0:b1290ca6c4a2 | 2 | |
YusukeWakuta | 0:b1290ca6c4a2 | 3 | #include "mbed.h" |
tsumagari | 10:b7159feb11fd | 4 | #define WAIT_LOOP_TIME 0.001 |
tsumagari | 9:c32999b4d2f9 | 5 | #define YOKUTAN_DATAS_NUM 7 |
tsumagari | 10:b7159feb11fd | 6 | #define INPUT_DATAS_NUM 5 |
YusukeWakuta | 0:b1290ca6c4a2 | 7 | #define SEND_DATAS_CAN_ID 100 |
tsumagari | 8:dbc8c87dac78 | 8 | #define SEND_DATAS_TIME 0.5 |
tsumagari | 8:dbc8c87dac78 | 9 | #define THRESHOLD_OH_VALUE 0.14 |
YusukeWakuta | 16:336e8b102555 | 10 | #define SUM_UP_NUM 20 |
YusukeWakuta | 15:c5ade23e5de4 | 11 | #define SAMPLE_INTERVAL 0.05 |
YusukeWakuta | 0:b1290ca6c4a2 | 12 | |
tsumagari | 9:c32999b4d2f9 | 13 | //-----------------------------------(resetInterrupt def) |
tsumagari | 9:c32999b4d2f9 | 14 | extern "C" void mbed_reset(); |
YusukeWakuta | 13:79eb74eb86c4 | 15 | InterruptIn resetPin(p22); |
tsumagari | 9:c32999b4d2f9 | 16 | Timer resetTimeCount; |
YusukeWakuta | 15:c5ade23e5de4 | 17 | void resetInterrupt() |
YusukeWakuta | 15:c5ade23e5de4 | 18 | { |
YusukeWakuta | 15:c5ade23e5de4 | 19 | while(resetPin) { |
tsumagari | 9:c32999b4d2f9 | 20 | resetTimeCount.start(); |
tsumagari | 9:c32999b4d2f9 | 21 | if(resetTimeCount.read()>3) mbed_reset(); |
tsumagari | 9:c32999b4d2f9 | 22 | } |
tsumagari | 9:c32999b4d2f9 | 23 | resetTimeCount.reset(); |
tsumagari | 9:c32999b4d2f9 | 24 | } |
tsumagari | 9:c32999b4d2f9 | 25 | //------------------------------------------------------- |
tsumagari | 9:c32999b4d2f9 | 26 | |
taurin | 6:7484315ba88a | 27 | CAN can_R(p30,p29); |
taurin | 6:7484315ba88a | 28 | CAN can_L(p9,p10); |
YusukeWakuta | 14:ffe9460922cb | 29 | Serial toKeikiSerial(p28,p27); |
tsumagari | 7:59ddbe239835 | 30 | Serial pc(USBTX,USBRX); |
tsumagari | 10:b7159feb11fd | 31 | AnalogIn rollPin(p15); |
YusukeWakuta | 13:79eb74eb86c4 | 32 | AnalogIn pichPin(p20); |
YusukeWakuta | 13:79eb74eb86c4 | 33 | DigitalIn drug_R(p14); |
taurin | 6:7484315ba88a | 34 | DigitalIn drug_L(p19); |
YusukeWakuta | 0:b1290ca6c4a2 | 35 | DigitalOut myled1(LED1); |
YusukeWakuta | 0:b1290ca6c4a2 | 36 | DigitalOut myled2(LED2); |
YusukeWakuta | 15:c5ade23e5de4 | 37 | DigitalOut led4(LED4); |
YusukeWakuta | 15:c5ade23e5de4 | 38 | DigitalOut led3(LED3); |
tsumagari | 9:c32999b4d2f9 | 39 | //Ticker sendDatasTicker; |
YusukeWakuta | 0:b1290ca6c4a2 | 40 | |
taurin | 4:4a13dd263a7b | 41 | char yokutanDatas_R[YOKUTAN_DATAS_NUM]; |
taurin | 4:4a13dd263a7b | 42 | char yokutanDatas_L[YOKUTAN_DATAS_NUM]; |
tsumagari | 10:b7159feb11fd | 43 | char inputDatas_R[INPUT_DATAS_NUM]; |
tsumagari | 10:b7159feb11fd | 44 | char inputDatas_L[INPUT_DATAS_NUM]; |
taurin | 4:4a13dd263a7b | 45 | bool stateP = true; |
taurin | 4:4a13dd263a7b | 46 | bool stateQ = true; |
taurin | 4:4a13dd263a7b | 47 | bool stateP_old = true; |
taurin | 4:4a13dd263a7b | 48 | bool stateQ_old = true; |
YusukeWakuta | 0:b1290ca6c4a2 | 49 | |
YusukeWakuta | 3:0e66ce2ab2fb | 50 | CANMessage recmsg_R; |
YusukeWakuta | 3:0e66ce2ab2fb | 51 | CANMessage recmsg_L; |
YusukeWakuta | 0:b1290ca6c4a2 | 52 | |
YusukeWakuta | 15:c5ade23e5de4 | 53 | float get_analogin_ave(AnalogIn pin) |
YusukeWakuta | 15:c5ade23e5de4 | 54 | { |
tsumagari | 10:b7159feb11fd | 55 | float val = 0; |
YusukeWakuta | 15:c5ade23e5de4 | 56 | for(int i = 0; i<SUM_UP_NUM; i++) { |
tsumagari | 10:b7159feb11fd | 57 | val += pin.read(); |
YusukeWakuta | 15:c5ade23e5de4 | 58 | } |
YusukeWakuta | 15:c5ade23e5de4 | 59 | return val/SUM_UP_NUM; |
tsumagari | 10:b7159feb11fd | 60 | } |
tsumagari | 10:b7159feb11fd | 61 | |
YusukeWakuta | 15:c5ade23e5de4 | 62 | void InputControlValues() |
YusukeWakuta | 15:c5ade23e5de4 | 63 | { |
YusukeWakuta | 16:336e8b102555 | 64 | *(float *)inputDatas_R = get_analogin_ave(pichPin) * (2.0/3.0) + get_analogin_ave(rollPin) * (1.0 / 3.0); |
YusukeWakuta | 16:336e8b102555 | 65 | *(float *)inputDatas_L = get_analogin_ave(pichPin) * (2.0/3.0) - get_analogin_ave(rollPin) * (1.0 / 3.0); |
YusukeWakuta | 16:336e8b102555 | 66 | |
YusukeWakuta | 16:336e8b102555 | 67 | if(*(float *)inputDatas_R < 0) |
YusukeWakuta | 16:336e8b102555 | 68 | *(float *)inputDatas_R = 0; |
YusukeWakuta | 16:336e8b102555 | 69 | else if(*(float *)inputDatas_R > 1) |
YusukeWakuta | 16:336e8b102555 | 70 | *(float *)inputDatas_R = 1; |
YusukeWakuta | 16:336e8b102555 | 71 | if(*(float *)inputDatas_L < 0) |
YusukeWakuta | 16:336e8b102555 | 72 | *(float *)inputDatas_L = 0 ; |
YusukeWakuta | 16:336e8b102555 | 73 | else if(*(float *)inputDatas_L > 1) |
YusukeWakuta | 16:336e8b102555 | 74 | *(float *)inputDatas_L =1; |
YusukeWakuta | 16:336e8b102555 | 75 | |
YusukeWakuta | 16:336e8b102555 | 76 | pc.printf("input_R:%f input_L:%f\n\r",*(float *)inputDatas_R,*(float *)inputDatas_L); |
tsumagari | 10:b7159feb11fd | 77 | inputDatas_R[4] = (char)drug_R; |
YusukeWakuta | 15:c5ade23e5de4 | 78 | led4 =! led4; |
YusukeWakuta | 15:c5ade23e5de4 | 79 | pc.printf("%c",*(char *)inputDatas_R[4]); |
YusukeWakuta | 15:c5ade23e5de4 | 80 | //pc.printf("%c",(char)drug_R); |
tsumagari | 10:b7159feb11fd | 81 | inputDatas_L[4] = (char)drug_L; |
YusukeWakuta | 15:c5ade23e5de4 | 82 | // pc.printf(""); |
YusukeWakuta | 0:b1290ca6c4a2 | 83 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 84 | |
YusukeWakuta | 15:c5ade23e5de4 | 85 | void toString_R() |
YusukeWakuta | 15:c5ade23e5de4 | 86 | { |
taurin | 4:4a13dd263a7b | 87 | pc.printf("R:"); |
YusukeWakuta | 15:c5ade23e5de4 | 88 | for(int i = 0; i < INPUT_DATAS_NUM; i++) { |
taurin | 4:4a13dd263a7b | 89 | pc.printf("%d:%i ",i,inputDatas_R[i]); |
taurin | 4:4a13dd263a7b | 90 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 91 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 92 | |
YusukeWakuta | 15:c5ade23e5de4 | 93 | void toString_L() |
YusukeWakuta | 15:c5ade23e5de4 | 94 | { |
taurin | 4:4a13dd263a7b | 95 | pc.printf("L:"); |
YusukeWakuta | 15:c5ade23e5de4 | 96 | for(int i = 0; i < INPUT_DATAS_NUM; i++) { |
taurin | 4:4a13dd263a7b | 97 | pc.printf("%d:%i ",i,inputDatas_L[i]); |
taurin | 4:4a13dd263a7b | 98 | } |
taurin | 4:4a13dd263a7b | 99 | pc.printf("\n\r"); |
YusukeWakuta | 0:b1290ca6c4a2 | 100 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 101 | |
YusukeWakuta | 15:c5ade23e5de4 | 102 | void SendDatas() |
YusukeWakuta | 15:c5ade23e5de4 | 103 | { |
tsumagari | 10:b7159feb11fd | 104 | can_R.write(CANMessage(SEND_DATAS_CAN_ID, inputDatas_R, INPUT_DATAS_NUM)); |
tsumagari | 10:b7159feb11fd | 105 | can_L.write(CANMessage(SEND_DATAS_CAN_ID, inputDatas_L, INPUT_DATAS_NUM)); |
tsumagari | 8:dbc8c87dac78 | 106 | toKeikiSerial.putc(';'); |
YusukeWakuta | 15:c5ade23e5de4 | 107 | for(int i = 0; i < YOKUTAN_DATAS_NUM; i++) { |
YusukeWakuta | 0:b1290ca6c4a2 | 108 | toKeikiSerial.putc(yokutanDatas_R[i]); |
YusukeWakuta | 0:b1290ca6c4a2 | 109 | toKeikiSerial.putc(yokutanDatas_L[i]); |
YusukeWakuta | 0:b1290ca6c4a2 | 110 | } |
YusukeWakuta | 15:c5ade23e5de4 | 111 | for(int i = 0; i < INPUT_DATAS_NUM; i++) { |
taurin | 4:4a13dd263a7b | 112 | toKeikiSerial.putc(inputDatas_R[i]); |
taurin | 4:4a13dd263a7b | 113 | toKeikiSerial.putc(inputDatas_L[i]); |
taurin | 4:4a13dd263a7b | 114 | } |
tsumagari | 8:dbc8c87dac78 | 115 | // toKeikiSerial.putc(cadence); |
YusukeWakuta | 15:c5ade23e5de4 | 116 | // pc.printf("test\n\r"); |
YusukeWakuta | 0:b1290ca6c4a2 | 117 | } |
tsumagari | 8:dbc8c87dac78 | 118 | |
YusukeWakuta | 15:c5ade23e5de4 | 119 | void init() |
YusukeWakuta | 15:c5ade23e5de4 | 120 | { |
tsumagari | 9:c32999b4d2f9 | 121 | //--------------------------------------(resetInterrupt init) |
tsumagari | 9:c32999b4d2f9 | 122 | resetPin.rise(resetInterrupt); |
tsumagari | 9:c32999b4d2f9 | 123 | resetPin.mode(PullDown); |
tsumagari | 9:c32999b4d2f9 | 124 | //----------------------------------------------------------- |
tsumagari | 9:c32999b4d2f9 | 125 | // sendDatasTicker.attach(SendDatas,SEND_DATAS_TIME); |
YusukeWakuta | 15:c5ade23e5de4 | 126 | for(int i = 0; i < INPUT_DATAS_NUM; i++) { |
taurin | 2:9dc7d5f1e910 | 127 | inputDatas_R[i] = 0; |
taurin | 2:9dc7d5f1e910 | 128 | inputDatas_L[i] = 0; |
taurin | 2:9dc7d5f1e910 | 129 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 130 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 131 | |
YusukeWakuta | 15:c5ade23e5de4 | 132 | void receiveDatas() |
YusukeWakuta | 15:c5ade23e5de4 | 133 | { |
YusukeWakuta | 15:c5ade23e5de4 | 134 | if(can_R.read(recmsg_R)) { |
YusukeWakuta | 15:c5ade23e5de4 | 135 | for(int i = 0; i < recmsg_R.len; i++) { |
YusukeWakuta | 0:b1290ca6c4a2 | 136 | yokutanDatas_R[i] = recmsg_R.data[i]; |
YusukeWakuta | 15:c5ade23e5de4 | 137 | // pc.printf("%c",yokutanDatas_R[i]); |
YusukeWakuta | 0:b1290ca6c4a2 | 138 | } |
taurin | 4:4a13dd263a7b | 139 | myled1 = !myled1; |
YusukeWakuta | 0:b1290ca6c4a2 | 140 | } |
YusukeWakuta | 15:c5ade23e5de4 | 141 | if(can_L.read(recmsg_L)) { |
YusukeWakuta | 15:c5ade23e5de4 | 142 | for(int i = 0; i < recmsg_L.len; i++) { |
YusukeWakuta | 0:b1290ca6c4a2 | 143 | yokutanDatas_L[i] = recmsg_L.data[i]; |
YusukeWakuta | 15:c5ade23e5de4 | 144 | led3 = !led3; |
YusukeWakuta | 15:c5ade23e5de4 | 145 | // pc.printf("%c",yokutanDatas_L[i]); |
YusukeWakuta | 0:b1290ca6c4a2 | 146 | } |
taurin | 4:4a13dd263a7b | 147 | myled2 = !myled2; |
YusukeWakuta | 0:b1290ca6c4a2 | 148 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 149 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 150 | |
YusukeWakuta | 15:c5ade23e5de4 | 151 | int main() |
YusukeWakuta | 15:c5ade23e5de4 | 152 | { |
YusukeWakuta | 0:b1290ca6c4a2 | 153 | init(); |
YusukeWakuta | 15:c5ade23e5de4 | 154 | while(1) { |
tsumagari | 8:dbc8c87dac78 | 155 | InputControlValues(); |
tsumagari | 10:b7159feb11fd | 156 | wait_us(5); |
YusukeWakuta | 0:b1290ca6c4a2 | 157 | receiveDatas(); |
tsumagari | 9:c32999b4d2f9 | 158 | SendDatas(); |
YusukeWakuta | 15:c5ade23e5de4 | 159 | // pc.printf("%d",drug_R.read()); |
tsumagari | 10:b7159feb11fd | 160 | // toString_R(); |
taurin | 4:4a13dd263a7b | 161 | // toString_L(); |
YusukeWakuta | 0:b1290ca6c4a2 | 162 | wait(WAIT_LOOP_TIME); |
YusukeWakuta | 0:b1290ca6c4a2 | 163 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 164 | } |