albatross
/
ControlMain2017
2017年度の製作を開始します
Fork of Control_Main_Full_20160608 by
main.cpp@10:b7159feb11fd, 2017-02-16 (annotated)
- Committer:
- tsumagari
- Date:
- Thu Feb 16 14:51:53 2017 +0000
- Branch:
- test
- Revision:
- 10:b7159feb11fd
- Parent:
- 9:c32999b4d2f9
- Child:
- 13:79eb74eb86c4
??????????analog?????????????
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" |
tsumagari | 9:c32999b4d2f9 | 4 | //#include "BufferedSoftSerial.h" |
tsumagari | 10:b7159feb11fd | 5 | #define WAIT_LOOP_TIME 0.001 |
tsumagari | 9:c32999b4d2f9 | 6 | #define YOKUTAN_DATAS_NUM 7 |
tsumagari | 10:b7159feb11fd | 7 | #define INPUT_DATAS_NUM 5 |
YusukeWakuta | 0:b1290ca6c4a2 | 8 | #define SEND_DATAS_CAN_ID 100 |
tsumagari | 8:dbc8c87dac78 | 9 | #define SEND_DATAS_TIME 0.5 |
tsumagari | 8:dbc8c87dac78 | 10 | #define THRESHOLD_OH_VALUE 0.14 |
tsumagari | 8:dbc8c87dac78 | 11 | #define CALC_CADENCE_TIME 0.05 |
YusukeWakuta | 0:b1290ca6c4a2 | 12 | |
tsumagari | 9:c32999b4d2f9 | 13 | //-----------------------------------(resetInterrupt def) |
tsumagari | 9:c32999b4d2f9 | 14 | extern "C" void mbed_reset(); |
tsumagari | 9:c32999b4d2f9 | 15 | InterruptIn resetPin(p26); |
tsumagari | 9:c32999b4d2f9 | 16 | Timer resetTimeCount; |
tsumagari | 9:c32999b4d2f9 | 17 | void resetInterrupt(){ |
tsumagari | 9:c32999b4d2f9 | 18 | while(resetPin){ |
tsumagari | 9:c32999b4d2f9 | 19 | resetTimeCount.start(); |
tsumagari | 9:c32999b4d2f9 | 20 | if(resetTimeCount.read()>3) mbed_reset(); |
tsumagari | 9:c32999b4d2f9 | 21 | } |
tsumagari | 9:c32999b4d2f9 | 22 | resetTimeCount.reset(); |
tsumagari | 9:c32999b4d2f9 | 23 | } |
tsumagari | 9:c32999b4d2f9 | 24 | //------------------------------------------------------- |
tsumagari | 9:c32999b4d2f9 | 25 | |
taurin | 6:7484315ba88a | 26 | CAN can_R(p30,p29); |
taurin | 6:7484315ba88a | 27 | CAN can_L(p9,p10); |
tsumagari | 9:c32999b4d2f9 | 28 | Serial toKeikiSerial(p13,p14); |
tsumagari | 9:c32999b4d2f9 | 29 | //BufferedSoftSerial toKeikiSerial(p17,p18); |
tsumagari | 7:59ddbe239835 | 30 | Serial pc(USBTX,USBRX); |
tsumagari | 10:b7159feb11fd | 31 | //DigitalIn eruron_R(p22); |
tsumagari | 10:b7159feb11fd | 32 | //DigitalIn eruron_L(p20); |
tsumagari | 10:b7159feb11fd | 33 | AnalogIn rollPin(p15); |
tsumagari | 10:b7159feb11fd | 34 | AnalogIn pichPin(p16); |
taurin | 6:7484315ba88a | 35 | DigitalIn drug_R(p23); |
taurin | 6:7484315ba88a | 36 | DigitalIn drug_L(p19); |
YusukeWakuta | 0:b1290ca6c4a2 | 37 | DigitalOut myled1(LED1); |
YusukeWakuta | 0:b1290ca6c4a2 | 38 | DigitalOut myled2(LED2); |
tsumagari | 9:c32999b4d2f9 | 39 | //Ticker sendDatasTicker; |
tsumagari | 10:b7159feb11fd | 40 | //Ticker cadenceTicker; |
tsumagari | 10:b7159feb11fd | 41 | //Timer cadenceTimer; |
tsumagari | 10:b7159feb11fd | 42 | //AnalogIn p(p15); |
tsumagari | 10:b7159feb11fd | 43 | //AnalogIn q(p16); |
YusukeWakuta | 0:b1290ca6c4a2 | 44 | |
taurin | 4:4a13dd263a7b | 45 | char yokutanDatas_R[YOKUTAN_DATAS_NUM]; |
taurin | 4:4a13dd263a7b | 46 | char yokutanDatas_L[YOKUTAN_DATAS_NUM]; |
tsumagari | 10:b7159feb11fd | 47 | char inputDatas_R[INPUT_DATAS_NUM]; |
tsumagari | 10:b7159feb11fd | 48 | char inputDatas_L[INPUT_DATAS_NUM]; |
tsumagari | 10:b7159feb11fd | 49 | //char cadence = 0; |
taurin | 4:4a13dd263a7b | 50 | bool stateP = true; |
taurin | 4:4a13dd263a7b | 51 | bool stateQ = true; |
taurin | 4:4a13dd263a7b | 52 | bool stateP_old = true; |
taurin | 4:4a13dd263a7b | 53 | bool stateQ_old = true; |
YusukeWakuta | 0:b1290ca6c4a2 | 54 | |
YusukeWakuta | 3:0e66ce2ab2fb | 55 | CANMessage recmsg_R; |
YusukeWakuta | 3:0e66ce2ab2fb | 56 | CANMessage recmsg_L; |
YusukeWakuta | 0:b1290ca6c4a2 | 57 | |
tsumagari | 10:b7159feb11fd | 58 | float get_analogin_ave(AnalogIn pin, int n){ |
tsumagari | 10:b7159feb11fd | 59 | float val = 0; |
tsumagari | 10:b7159feb11fd | 60 | for(int i = 0; i<n; i++){ |
tsumagari | 10:b7159feb11fd | 61 | val += pin.read(); |
tsumagari | 10:b7159feb11fd | 62 | }return val/n; |
tsumagari | 10:b7159feb11fd | 63 | } |
tsumagari | 10:b7159feb11fd | 64 | |
taurin | 4:4a13dd263a7b | 65 | void InputControlValues(){ |
tsumagari | 10:b7159feb11fd | 66 | *(float *)inputDatas_R = get_analogin_ave(pichPin,8) + get_analogin_ave(rollPin,8); |
tsumagari | 10:b7159feb11fd | 67 | *(float *)inputDatas_L = get_analogin_ave(pichPin,8) - get_analogin_ave(rollPin,8); |
tsumagari | 10:b7159feb11fd | 68 | pc.printf("input_R:%f input_L:%f\n\r",*(float *)inputDatas_R,*(float *)inputDatas_L); |
tsumagari | 10:b7159feb11fd | 69 | inputDatas_R[4] = (char)drug_R; |
tsumagari | 10:b7159feb11fd | 70 | inputDatas_L[4] = (char)drug_L; |
tsumagari | 10:b7159feb11fd | 71 | // if(eruron_R){ |
tsumagari | 10:b7159feb11fd | 72 | // inputDatas_R[0] = 0; |
tsumagari | 10:b7159feb11fd | 73 | // inputDatas_L[0] = 2; |
tsumagari | 10:b7159feb11fd | 74 | // } |
tsumagari | 10:b7159feb11fd | 75 | // else if(eruron_L){ |
tsumagari | 10:b7159feb11fd | 76 | // inputDatas_R[0] = 2; |
tsumagari | 10:b7159feb11fd | 77 | // inputDatas_L[0] = 0; |
tsumagari | 10:b7159feb11fd | 78 | // } |
tsumagari | 10:b7159feb11fd | 79 | // else{ |
tsumagari | 10:b7159feb11fd | 80 | // inputDatas_R[0] = 1; |
tsumagari | 10:b7159feb11fd | 81 | // inputDatas_L[0] = 1; |
tsumagari | 10:b7159feb11fd | 82 | // } |
YusukeWakuta | 0:b1290ca6c4a2 | 83 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 84 | |
taurin | 4:4a13dd263a7b | 85 | void toString_R(){ |
taurin | 4:4a13dd263a7b | 86 | pc.printf("R:"); |
tsumagari | 10:b7159feb11fd | 87 | for(int i = 0; i < INPUT_DATAS_NUM; i++){ |
taurin | 4:4a13dd263a7b | 88 | pc.printf("%d:%i ",i,inputDatas_R[i]); |
taurin | 4:4a13dd263a7b | 89 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 90 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 91 | |
taurin | 4:4a13dd263a7b | 92 | void toString_L(){ |
taurin | 4:4a13dd263a7b | 93 | pc.printf("L:"); |
tsumagari | 10:b7159feb11fd | 94 | for(int i = 0; i < INPUT_DATAS_NUM; i++){ |
taurin | 4:4a13dd263a7b | 95 | pc.printf("%d:%i ",i,inputDatas_L[i]); |
taurin | 4:4a13dd263a7b | 96 | } |
taurin | 4:4a13dd263a7b | 97 | pc.printf("\n\r"); |
YusukeWakuta | 0:b1290ca6c4a2 | 98 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 99 | |
taurin | 4:4a13dd263a7b | 100 | void SendDatas(){ |
tsumagari | 10:b7159feb11fd | 101 | can_R.write(CANMessage(SEND_DATAS_CAN_ID, inputDatas_R, INPUT_DATAS_NUM)); |
tsumagari | 10:b7159feb11fd | 102 | can_L.write(CANMessage(SEND_DATAS_CAN_ID, inputDatas_L, INPUT_DATAS_NUM)); |
tsumagari | 8:dbc8c87dac78 | 103 | toKeikiSerial.putc(';'); |
YusukeWakuta | 0:b1290ca6c4a2 | 104 | for(int i = 0; i < YOKUTAN_DATAS_NUM; i++){ |
tsumagari | 8:dbc8c87dac78 | 105 | // toKeikiSerial.putc(i); |
tsumagari | 8:dbc8c87dac78 | 106 | // toKeikiSerial.putc(10+i); |
YusukeWakuta | 0:b1290ca6c4a2 | 107 | toKeikiSerial.putc(yokutanDatas_R[i]); |
YusukeWakuta | 0:b1290ca6c4a2 | 108 | toKeikiSerial.putc(yokutanDatas_L[i]); |
YusukeWakuta | 0:b1290ca6c4a2 | 109 | } |
tsumagari | 10:b7159feb11fd | 110 | for(int i = 0; i < INPUT_DATAS_NUM; i++){ |
tsumagari | 8:dbc8c87dac78 | 111 | // toKeikiSerial.putc(4+i); |
tsumagari | 8:dbc8c87dac78 | 112 | // toKeikiSerial.putc(14+i); |
taurin | 4:4a13dd263a7b | 113 | toKeikiSerial.putc(inputDatas_R[i]); |
taurin | 4:4a13dd263a7b | 114 | toKeikiSerial.putc(inputDatas_L[i]); |
taurin | 4:4a13dd263a7b | 115 | } |
tsumagari | 8:dbc8c87dac78 | 116 | // toKeikiSerial.putc(cadence); |
taurin | 4:4a13dd263a7b | 117 | pc.printf("test\n\r"); |
YusukeWakuta | 0:b1290ca6c4a2 | 118 | } |
tsumagari | 8:dbc8c87dac78 | 119 | |
tsumagari | 10:b7159feb11fd | 120 | //void calcCadence(){ |
tsumagari | 10:b7159feb11fd | 121 | // //pc.printf("%f,%f\n\r",p.read(),q.read()); |
tsumagari | 10:b7159feb11fd | 122 | // if(p.read() > THRESHOLD_OH_VALUE) stateP = true; |
tsumagari | 10:b7159feb11fd | 123 | // else stateP = false; |
tsumagari | 10:b7159feb11fd | 124 | // if(q.read() > THRESHOLD_OH_VALUE) stateQ = true; |
tsumagari | 10:b7159feb11fd | 125 | // else stateQ = false; |
tsumagari | 10:b7159feb11fd | 126 | // if((stateP == true && stateP_old == false) || |
tsumagari | 10:b7159feb11fd | 127 | // stateQ == true && stateQ_old == false){ |
tsumagari | 10:b7159feb11fd | 128 | // cadenceTimer.stop(); |
tsumagari | 10:b7159feb11fd | 129 | // cadence = (char)30.0/cadenceTimer.read(); |
tsumagari | 10:b7159feb11fd | 130 | // pc.printf("Cadence:%i\n\r",cadence); |
tsumagari | 10:b7159feb11fd | 131 | // cadenceTimer.reset(); |
tsumagari | 10:b7159feb11fd | 132 | // cadenceTimer.start(); |
tsumagari | 10:b7159feb11fd | 133 | // } |
tsumagari | 10:b7159feb11fd | 134 | // stateP_old = stateP; |
tsumagari | 10:b7159feb11fd | 135 | // stateQ_old = stateQ; |
tsumagari | 10:b7159feb11fd | 136 | //} |
tsumagari | 10:b7159feb11fd | 137 | // |
YusukeWakuta | 0:b1290ca6c4a2 | 138 | void init(){ |
tsumagari | 9:c32999b4d2f9 | 139 | //--------------------------------------(resetInterrupt init) |
tsumagari | 9:c32999b4d2f9 | 140 | resetPin.rise(resetInterrupt); |
tsumagari | 9:c32999b4d2f9 | 141 | resetPin.mode(PullDown); |
tsumagari | 9:c32999b4d2f9 | 142 | //----------------------------------------------------------- |
tsumagari | 10:b7159feb11fd | 143 | // cadenceTimer.start(); |
tsumagari | 10:b7159feb11fd | 144 | // cadenceTicker.attach(calcCadence, CALC_CADENCE_TIME); |
tsumagari | 9:c32999b4d2f9 | 145 | // sendDatasTicker.attach(SendDatas,SEND_DATAS_TIME); |
tsumagari | 10:b7159feb11fd | 146 | for(int i = 0; i < INPUT_DATAS_NUM; i++){ |
taurin | 2:9dc7d5f1e910 | 147 | inputDatas_R[i] = 0; |
taurin | 2:9dc7d5f1e910 | 148 | inputDatas_L[i] = 0; |
taurin | 2:9dc7d5f1e910 | 149 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 150 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 151 | |
YusukeWakuta | 0:b1290ca6c4a2 | 152 | |
YusukeWakuta | 0:b1290ca6c4a2 | 153 | void receiveDatas(){ |
YusukeWakuta | 0:b1290ca6c4a2 | 154 | if(can_R.read(recmsg_R)){ |
YusukeWakuta | 0:b1290ca6c4a2 | 155 | for(int i = 0; i < recmsg_R.len; i++){ |
YusukeWakuta | 0:b1290ca6c4a2 | 156 | yokutanDatas_R[i] = recmsg_R.data[i]; |
YusukeWakuta | 0:b1290ca6c4a2 | 157 | } |
taurin | 4:4a13dd263a7b | 158 | myled1 = !myled1; |
YusukeWakuta | 0:b1290ca6c4a2 | 159 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 160 | if(can_L.read(recmsg_L)){ |
YusukeWakuta | 0:b1290ca6c4a2 | 161 | for(int i = 0; i < recmsg_L.len; i++){ |
YusukeWakuta | 0:b1290ca6c4a2 | 162 | yokutanDatas_L[i] = recmsg_L.data[i]; |
YusukeWakuta | 0:b1290ca6c4a2 | 163 | } |
taurin | 4:4a13dd263a7b | 164 | myled2 = !myled2; |
YusukeWakuta | 0:b1290ca6c4a2 | 165 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 166 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 167 | |
YusukeWakuta | 0:b1290ca6c4a2 | 168 | int main(){ |
YusukeWakuta | 0:b1290ca6c4a2 | 169 | init(); |
YusukeWakuta | 0:b1290ca6c4a2 | 170 | while(1){ |
tsumagari | 8:dbc8c87dac78 | 171 | InputControlValues(); |
tsumagari | 10:b7159feb11fd | 172 | wait_us(5); |
YusukeWakuta | 0:b1290ca6c4a2 | 173 | receiveDatas(); |
tsumagari | 9:c32999b4d2f9 | 174 | SendDatas(); |
tsumagari | 10:b7159feb11fd | 175 | // toString_R(); |
taurin | 4:4a13dd263a7b | 176 | // toString_L(); |
YusukeWakuta | 0:b1290ca6c4a2 | 177 | wait(WAIT_LOOP_TIME); |
YusukeWakuta | 0:b1290ca6c4a2 | 178 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 179 | } |