albatross
/
ControlMain2017
2017年度の製作を開始します
Fork of Control_Main_Full_20160608 by
main.cpp
- Committer:
- YusukeWakuta
- Date:
- 2017-03-11
- Revision:
- 15:c5ade23e5de4
- Parent:
- 14:ffe9460922cb
- Child:
- 16:336e8b102555
File content as of revision 15:c5ade23e5de4:
//中央 #include "mbed.h" #define WAIT_LOOP_TIME 0.001 #define YOKUTAN_DATAS_NUM 7 #define INPUT_DATAS_NUM 5 #define SEND_DATAS_CAN_ID 100 #define SEND_DATAS_TIME 0.5 #define THRESHOLD_OH_VALUE 0.14 #define SUM_UP_NUM 25 #define SAMPLE_INTERVAL 0.05 //-----------------------------------(resetInterrupt def) extern "C" void mbed_reset(); InterruptIn resetPin(p22); Timer resetTimeCount; void resetInterrupt() { while(resetPin) { resetTimeCount.start(); if(resetTimeCount.read()>3) mbed_reset(); } resetTimeCount.reset(); } //------------------------------------------------------- CAN can_R(p30,p29); CAN can_L(p9,p10); Serial toKeikiSerial(p28,p27); Serial pc(USBTX,USBRX); AnalogIn rollPin(p15); AnalogIn pichPin(p20); DigitalIn drug_R(p14); DigitalIn drug_L(p19); DigitalOut myled1(LED1); DigitalOut myled2(LED2); DigitalOut led4(LED4); DigitalOut led3(LED3); //Ticker sendDatasTicker; char yokutanDatas_R[YOKUTAN_DATAS_NUM]; char yokutanDatas_L[YOKUTAN_DATAS_NUM]; char inputDatas_R[INPUT_DATAS_NUM]; char inputDatas_L[INPUT_DATAS_NUM]; bool stateP = true; bool stateQ = true; bool stateP_old = true; bool stateQ_old = true; CANMessage recmsg_R; CANMessage recmsg_L; float get_analogin_ave(AnalogIn pin) { float val = 0; for(int i = 0; i<SUM_UP_NUM; i++) { val += pin.read(); } return val/SUM_UP_NUM; } void InputControlValues() { *(float *)inputDatas_R = get_analogin_ave(pichPin) + get_analogin_ave(rollPin); *(float *)inputDatas_L = get_analogin_ave(pichPin) - get_analogin_ave(rollPin); pc.printf("input_R:%f input_L:%f\n\r",*(float *)inputDatas_R,*(float *)inputDatas_L); inputDatas_R[4] = (char)drug_R; led4 =! led4; pc.printf("%c",*(char *)inputDatas_R[4]); //pc.printf("%c",(char)drug_R); inputDatas_L[4] = (char)drug_L; // pc.printf(""); } void toString_R() { pc.printf("R:"); for(int i = 0; i < INPUT_DATAS_NUM; i++) { pc.printf("%d:%i ",i,inputDatas_R[i]); } } void toString_L() { pc.printf("L:"); for(int i = 0; i < INPUT_DATAS_NUM; i++) { pc.printf("%d:%i ",i,inputDatas_L[i]); } pc.printf("\n\r"); } void SendDatas() { can_R.write(CANMessage(SEND_DATAS_CAN_ID, inputDatas_R, INPUT_DATAS_NUM)); can_L.write(CANMessage(SEND_DATAS_CAN_ID, inputDatas_L, INPUT_DATAS_NUM)); toKeikiSerial.putc(';'); for(int i = 0; i < YOKUTAN_DATAS_NUM; i++) { toKeikiSerial.putc(yokutanDatas_R[i]); toKeikiSerial.putc(yokutanDatas_L[i]); } for(int i = 0; i < INPUT_DATAS_NUM; i++) { toKeikiSerial.putc(inputDatas_R[i]); toKeikiSerial.putc(inputDatas_L[i]); } // toKeikiSerial.putc(cadence); // pc.printf("test\n\r"); } void init() { //--------------------------------------(resetInterrupt init) resetPin.rise(resetInterrupt); resetPin.mode(PullDown); //----------------------------------------------------------- // sendDatasTicker.attach(SendDatas,SEND_DATAS_TIME); for(int i = 0; i < INPUT_DATAS_NUM; i++) { inputDatas_R[i] = 0; inputDatas_L[i] = 0; } } void receiveDatas() { if(can_R.read(recmsg_R)) { for(int i = 0; i < recmsg_R.len; i++) { yokutanDatas_R[i] = recmsg_R.data[i]; // pc.printf("%c",yokutanDatas_R[i]); } myled1 = !myled1; } if(can_L.read(recmsg_L)) { for(int i = 0; i < recmsg_L.len; i++) { yokutanDatas_L[i] = recmsg_L.data[i]; led3 = !led3; // pc.printf("%c",yokutanDatas_L[i]); } myled2 = !myled2; } } int main() { init(); while(1) { InputControlValues(); wait_us(5); receiveDatas(); SendDatas(); // pc.printf("%d",drug_R.read()); // toString_R(); // toString_L(); wait(WAIT_LOOP_TIME); } }