albatross / Mbed 2 deprecated ControlMain2017_2

今までのジョイスティックの入力を段階分けしていた方式から、アナログ値をできる限りそのまま使用する方式に変更しました。

Dependencies:   mbed-rtos mbed

Fork of ControlMain2017 by albatross

main.cpp@15:c5ade23e5de4, 2017-03-11 (annotated)

Committer:
YusukeWakuta
Date:
Sat Mar 11 11:10:35 2017 +0000
Revision:
15:c5ade23e5de4
Parent:
14:ffe9460922cb
Child:
16:336e8b102555
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Who changed what in which revision?

UserRevisionLine numberNew 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 15:c5ade23e5de4 10 #define SUM_UP_NUM 25
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 15:c5ade23e5de4 64 *(float *)inputDatas_R = get_analogin_ave(pichPin) + get_analogin_ave(rollPin);
YusukeWakuta 15:c5ade23e5de4 65 *(float *)inputDatas_L = get_analogin_ave(pichPin) - get_analogin_ave(rollPin);
YusukeWakuta 15:c5ade23e5de4 66 pc.printf("input_R:%f input_L:%f\n\r",*(float *)inputDatas_R,*(float *)inputDatas_L);
tsumagari 10:b7159feb11fd 67 inputDatas_R[4] = (char)drug_R;
YusukeWakuta 15:c5ade23e5de4 68 led4 =! led4;
YusukeWakuta 15:c5ade23e5de4 69 pc.printf("%c",*(char *)inputDatas_R[4]);
YusukeWakuta 15:c5ade23e5de4 70 //pc.printf("%c",(char)drug_R);
tsumagari 10:b7159feb11fd 71 inputDatas_L[4] = (char)drug_L;
YusukeWakuta 15:c5ade23e5de4 72 // pc.printf("");
YusukeWakuta 0:b1290ca6c4a2 73 }
YusukeWakuta 0:b1290ca6c4a2 74
YusukeWakuta 15:c5ade23e5de4 75 void toString_R()
YusukeWakuta 15:c5ade23e5de4 76 {
taurin 4:4a13dd263a7b 77 pc.printf("R:");
YusukeWakuta 15:c5ade23e5de4 78 for(int i = 0; i < INPUT_DATAS_NUM; i++) {
taurin 4:4a13dd263a7b 79 pc.printf("%d:%i ",i,inputDatas_R[i]);
taurin 4:4a13dd263a7b 80 }
YusukeWakuta 0:b1290ca6c4a2 81 }
YusukeWakuta 0:b1290ca6c4a2 82
YusukeWakuta 15:c5ade23e5de4 83 void toString_L()
YusukeWakuta 15:c5ade23e5de4 84 {
taurin 4:4a13dd263a7b 85 pc.printf("L:");
YusukeWakuta 15:c5ade23e5de4 86 for(int i = 0; i < INPUT_DATAS_NUM; i++) {
taurin 4:4a13dd263a7b 87 pc.printf("%d:%i ",i,inputDatas_L[i]);
taurin 4:4a13dd263a7b 88 }
taurin 4:4a13dd263a7b 89 pc.printf("\n\r");
YusukeWakuta 0:b1290ca6c4a2 90 }
YusukeWakuta 0:b1290ca6c4a2 91
YusukeWakuta 15:c5ade23e5de4 92 void SendDatas()
YusukeWakuta 15:c5ade23e5de4 93 {
tsumagari 10:b7159feb11fd 94 can_R.write(CANMessage(SEND_DATAS_CAN_ID, inputDatas_R, INPUT_DATAS_NUM));
tsumagari 10:b7159feb11fd 95 can_L.write(CANMessage(SEND_DATAS_CAN_ID, inputDatas_L, INPUT_DATAS_NUM));
tsumagari 8:dbc8c87dac78 96 toKeikiSerial.putc(';');
YusukeWakuta 15:c5ade23e5de4 97 for(int i = 0; i < YOKUTAN_DATAS_NUM; i++) {
YusukeWakuta 0:b1290ca6c4a2 98 toKeikiSerial.putc(yokutanDatas_R[i]);
YusukeWakuta 0:b1290ca6c4a2 99 toKeikiSerial.putc(yokutanDatas_L[i]);
YusukeWakuta 0:b1290ca6c4a2 100 }
YusukeWakuta 15:c5ade23e5de4 101 for(int i = 0; i < INPUT_DATAS_NUM; i++) {
taurin 4:4a13dd263a7b 102 toKeikiSerial.putc(inputDatas_R[i]);
taurin 4:4a13dd263a7b 103 toKeikiSerial.putc(inputDatas_L[i]);
taurin 4:4a13dd263a7b 104 }
tsumagari 8:dbc8c87dac78 105 // toKeikiSerial.putc(cadence);
YusukeWakuta 15:c5ade23e5de4 106 // pc.printf("test\n\r");
YusukeWakuta 0:b1290ca6c4a2 107 }
tsumagari 8:dbc8c87dac78 108
YusukeWakuta 15:c5ade23e5de4 109 void init()
YusukeWakuta 15:c5ade23e5de4 110 {
tsumagari 9:c32999b4d2f9 111 //--------------------------------------(resetInterrupt init)
tsumagari 9:c32999b4d2f9 112 resetPin.rise(resetInterrupt);
tsumagari 9:c32999b4d2f9 113 resetPin.mode(PullDown);
tsumagari 9:c32999b4d2f9 114 //-----------------------------------------------------------
tsumagari 9:c32999b4d2f9 115 // sendDatasTicker.attach(SendDatas,SEND_DATAS_TIME);
YusukeWakuta 15:c5ade23e5de4 116 for(int i = 0; i < INPUT_DATAS_NUM; i++) {
taurin 2:9dc7d5f1e910 117 inputDatas_R[i] = 0;
taurin 2:9dc7d5f1e910 118 inputDatas_L[i] = 0;
taurin 2:9dc7d5f1e910 119 }
YusukeWakuta 0:b1290ca6c4a2 120 }
YusukeWakuta 0:b1290ca6c4a2 121
YusukeWakuta 15:c5ade23e5de4 122 void receiveDatas()
YusukeWakuta 15:c5ade23e5de4 123 {
YusukeWakuta 15:c5ade23e5de4 124 if(can_R.read(recmsg_R)) {
YusukeWakuta 15:c5ade23e5de4 125 for(int i = 0; i < recmsg_R.len; i++) {
YusukeWakuta 0:b1290ca6c4a2 126 yokutanDatas_R[i] = recmsg_R.data[i];
YusukeWakuta 15:c5ade23e5de4 127 // pc.printf("%c",yokutanDatas_R[i]);
YusukeWakuta 0:b1290ca6c4a2 128 }
taurin 4:4a13dd263a7b 129 myled1 = !myled1;
YusukeWakuta 0:b1290ca6c4a2 130 }
YusukeWakuta 15:c5ade23e5de4 131 if(can_L.read(recmsg_L)) {
YusukeWakuta 15:c5ade23e5de4 132 for(int i = 0; i < recmsg_L.len; i++) {
YusukeWakuta 0:b1290ca6c4a2 133 yokutanDatas_L[i] = recmsg_L.data[i];
YusukeWakuta 15:c5ade23e5de4 134 led3 = !led3;
YusukeWakuta 15:c5ade23e5de4 135 // pc.printf("%c",yokutanDatas_L[i]);
YusukeWakuta 0:b1290ca6c4a2 136 }
taurin 4:4a13dd263a7b 137 myled2 = !myled2;
YusukeWakuta 0:b1290ca6c4a2 138 }
YusukeWakuta 0:b1290ca6c4a2 139 }
YusukeWakuta 0:b1290ca6c4a2 140
YusukeWakuta 15:c5ade23e5de4 141 int main()
YusukeWakuta 15:c5ade23e5de4 142 {
YusukeWakuta 0:b1290ca6c4a2 143 init();
YusukeWakuta 15:c5ade23e5de4 144 while(1) {
tsumagari 8:dbc8c87dac78 145 InputControlValues();
tsumagari 10:b7159feb11fd 146 wait_us(5);
YusukeWakuta 0:b1290ca6c4a2 147 receiveDatas();
tsumagari 9:c32999b4d2f9 148 SendDatas();
YusukeWakuta 15:c5ade23e5de4 149 // pc.printf("%d",drug_R.read());
tsumagari 10:b7159feb11fd 150 // toString_R();
taurin 4:4a13dd263a7b 151 // toString_L();
YusukeWakuta 0:b1290ca6c4a2 152 wait(WAIT_LOOP_TIME);
YusukeWakuta 0:b1290ca6c4a2 153 }
YusukeWakuta 0:b1290ca6c4a2 154 }