albatross
/
ControlMain2017
2017年度の製作を開始します
Fork of Control_Main_Full_20160608 by
Diff: main.cpp
- Branch:
- test
- Revision:
- 10:b7159feb11fd
- Parent:
- 9:c32999b4d2f9
- Child:
- 13:79eb74eb86c4
diff -r c32999b4d2f9 -r b7159feb11fd main.cpp --- a/main.cpp Sat Jan 21 11:46:19 2017 +0000 +++ b/main.cpp Thu Feb 16 14:51:53 2017 +0000 @@ -2,9 +2,9 @@ #include "mbed.h" //#include "BufferedSoftSerial.h" -#define WAIT_LOOP_TIME 0.1 +#define WAIT_LOOP_TIME 0.001 #define YOKUTAN_DATAS_NUM 7 -#define IMPUT_DATAS_NUM 2 +#define INPUT_DATAS_NUM 5 #define SEND_DATAS_CAN_ID 100 #define SEND_DATAS_TIME 0.5 #define THRESHOLD_OH_VALUE 0.14 @@ -28,23 +28,25 @@ Serial toKeikiSerial(p13,p14); //BufferedSoftSerial toKeikiSerial(p17,p18); Serial pc(USBTX,USBRX); -DigitalIn eruron_R(p22); -DigitalIn eruron_L(p20); +//DigitalIn eruron_R(p22); +//DigitalIn eruron_L(p20); +AnalogIn rollPin(p15); +AnalogIn pichPin(p16); DigitalIn drug_R(p23); DigitalIn drug_L(p19); DigitalOut myled1(LED1); DigitalOut myled2(LED2); //Ticker sendDatasTicker; -Ticker cadenceTicker; -Timer cadenceTimer; -AnalogIn p(p15); -AnalogIn q(p16); +//Ticker cadenceTicker; +//Timer cadenceTimer; +//AnalogIn p(p15); +//AnalogIn q(p16); char yokutanDatas_R[YOKUTAN_DATAS_NUM]; char yokutanDatas_L[YOKUTAN_DATAS_NUM]; -char inputDatas_R[IMPUT_DATAS_NUM]; -char inputDatas_L[IMPUT_DATAS_NUM]; -char cadence = 0; +char inputDatas_R[INPUT_DATAS_NUM]; +char inputDatas_L[INPUT_DATAS_NUM]; +//char cadence = 0; bool stateP = true; bool stateQ = true; bool stateP_old = true; @@ -53,41 +55,51 @@ CANMessage recmsg_R; CANMessage recmsg_L; +float get_analogin_ave(AnalogIn pin, int n){ + float val = 0; + for(int i = 0; i<n; i++){ + val += pin.read(); + }return val/n; +} + void InputControlValues(){ - inputDatas_R[1] = (char)drug_R; - inputDatas_L[1] = (char)drug_L; - if(eruron_R){ - inputDatas_R[0] = 0; - inputDatas_L[0] = 2; - } - else if(eruron_L){ - inputDatas_R[0] = 2; - inputDatas_L[0] = 0; - } - else{ - inputDatas_R[0] = 1; - inputDatas_L[0] = 1; - } + *(float *)inputDatas_R = get_analogin_ave(pichPin,8) + get_analogin_ave(rollPin,8); + *(float *)inputDatas_L = get_analogin_ave(pichPin,8) - get_analogin_ave(rollPin,8); + pc.printf("input_R:%f input_L:%f\n\r",*(float *)inputDatas_R,*(float *)inputDatas_L); + inputDatas_R[4] = (char)drug_R; + inputDatas_L[4] = (char)drug_L; +// if(eruron_R){ +// inputDatas_R[0] = 0; +// inputDatas_L[0] = 2; +// } +// else if(eruron_L){ +// inputDatas_R[0] = 2; +// inputDatas_L[0] = 0; +// } +// else{ +// inputDatas_R[0] = 1; +// inputDatas_L[0] = 1; +// } } void toString_R(){ pc.printf("R:"); - for(int i = 0; i < IMPUT_DATAS_NUM; i++){ + 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 < IMPUT_DATAS_NUM; i++){ + 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, IMPUT_DATAS_NUM)); - can_L.write(CANMessage(SEND_DATAS_CAN_ID, inputDatas_L, IMPUT_DATAS_NUM)); + 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(i); @@ -95,7 +107,7 @@ toKeikiSerial.putc(yokutanDatas_R[i]); toKeikiSerial.putc(yokutanDatas_L[i]); } - for(int i = 0; i < IMPUT_DATAS_NUM; i++){ + for(int i = 0; i < INPUT_DATAS_NUM; i++){ // toKeikiSerial.putc(4+i); // toKeikiSerial.putc(14+i); toKeikiSerial.putc(inputDatas_R[i]); @@ -105,33 +117,33 @@ pc.printf("test\n\r"); } -void calcCadence(){ - //pc.printf("%f,%f\n\r",p.read(),q.read()); - if(p.read() > THRESHOLD_OH_VALUE) stateP = true; - else stateP = false; - if(q.read() > THRESHOLD_OH_VALUE) stateQ = true; - else stateQ = false; - if((stateP == true && stateP_old == false) || - stateQ == true && stateQ_old == false){ - cadenceTimer.stop(); - cadence = (char)30.0/cadenceTimer.read(); - pc.printf("Cadence:%i\n\r",cadence); - cadenceTimer.reset(); - cadenceTimer.start(); - } - stateP_old = stateP; - stateQ_old = stateQ; -} - +//void calcCadence(){ +// //pc.printf("%f,%f\n\r",p.read(),q.read()); +// if(p.read() > THRESHOLD_OH_VALUE) stateP = true; +// else stateP = false; +// if(q.read() > THRESHOLD_OH_VALUE) stateQ = true; +// else stateQ = false; +// if((stateP == true && stateP_old == false) || +// stateQ == true && stateQ_old == false){ +// cadenceTimer.stop(); +// cadence = (char)30.0/cadenceTimer.read(); +// pc.printf("Cadence:%i\n\r",cadence); +// cadenceTimer.reset(); +// cadenceTimer.start(); +// } +// stateP_old = stateP; +// stateQ_old = stateQ; +//} +// void init(){ //--------------------------------------(resetInterrupt init) resetPin.rise(resetInterrupt); resetPin.mode(PullDown); //----------------------------------------------------------- - cadenceTimer.start(); - cadenceTicker.attach(calcCadence, CALC_CADENCE_TIME); +// cadenceTimer.start(); +// cadenceTicker.attach(calcCadence, CALC_CADENCE_TIME); // sendDatasTicker.attach(SendDatas,SEND_DATAS_TIME); - for(int i = 0; i < IMPUT_DATAS_NUM; i++){ + for(int i = 0; i < INPUT_DATAS_NUM; i++){ inputDatas_R[i] = 0; inputDatas_L[i] = 0; } @@ -157,10 +169,10 @@ init(); while(1){ InputControlValues(); - wait_us(10); + wait_us(5); receiveDatas(); SendDatas(); - //toString_R(); +// toString_R(); // toString_L(); wait(WAIT_LOOP_TIME); }