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@8:dbc8c87dac78, 2016-11-26 (annotated)

Committer:
tsumagari
Date:
Sat Nov 26 01:17:08 2016 +0000
Branch:
test
Revision:
8:dbc8c87dac78
Parent:
7:59ddbe239835
Child:
9:c32999b4d2f9
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Who changed what in which revision?

UserRevisionLine numberNew contents of line
YusukeWakuta 0:b1290ca6c4a2 1 //中央can program
YusukeWakuta 0:b1290ca6c4a2 2
YusukeWakuta 0:b1290ca6c4a2 3 #include "mbed.h"
tsumagari 7:59ddbe239835 4 #include "BufferedSoftSerial.h"
taurin 4:4a13dd263a7b 5 #define WAIT_LOOP_TIME 0.1
taurin 4:4a13dd263a7b 6 #define YOKUTAN_DATAS_NUM 4
YusukeWakuta 0:b1290ca6c4a2 7 #define IMPUT_DATAS_NUM 2
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
taurin 6:7484315ba88a 13 CAN can_R(p30,p29);
taurin 6:7484315ba88a 14 CAN can_L(p9,p10);
tsumagari 8:dbc8c87dac78 15 //Serial toKeikiSerial(p13,p14);
tsumagari 8:dbc8c87dac78 16 BufferedSoftSerial toKeikiSerial(p17,p18);
tsumagari 7:59ddbe239835 17 Serial pc(USBTX,USBRX);
taurin 6:7484315ba88a 18 DigitalIn eruron_R(p22);
taurin 6:7484315ba88a 19 DigitalIn eruron_L(p20);
taurin 6:7484315ba88a 20 DigitalIn drug_R(p23);
taurin 6:7484315ba88a 21 DigitalIn drug_L(p19);
YusukeWakuta 0:b1290ca6c4a2 22 DigitalOut myled1(LED1);
YusukeWakuta 0:b1290ca6c4a2 23 DigitalOut myled2(LED2);
tsumagari 8:dbc8c87dac78 24 Ticker sendDatasTicker;
tsumagari 8:dbc8c87dac78 25 Ticker cadenceTicker;
tsumagari 8:dbc8c87dac78 26 Timer cadenceTimer;
taurin 4:4a13dd263a7b 27 AnalogIn p(p15);
taurin 4:4a13dd263a7b 28 AnalogIn q(p16);
YusukeWakuta 0:b1290ca6c4a2 29
taurin 4:4a13dd263a7b 30 char yokutanDatas_R[YOKUTAN_DATAS_NUM];
taurin 4:4a13dd263a7b 31 char yokutanDatas_L[YOKUTAN_DATAS_NUM];
YusukeWakuta 0:b1290ca6c4a2 32 char inputDatas_R[IMPUT_DATAS_NUM];
YusukeWakuta 0:b1290ca6c4a2 33 char inputDatas_L[IMPUT_DATAS_NUM];
taurin 4:4a13dd263a7b 34 char cadence = 0;
taurin 4:4a13dd263a7b 35 bool stateP = true;
taurin 4:4a13dd263a7b 36 bool stateQ = true;
taurin 4:4a13dd263a7b 37 bool stateP_old = true;
taurin 4:4a13dd263a7b 38 bool stateQ_old = true;
YusukeWakuta 0:b1290ca6c4a2 39
YusukeWakuta 3:0e66ce2ab2fb 40 CANMessage recmsg_R;
YusukeWakuta 3:0e66ce2ab2fb 41 CANMessage recmsg_L;
YusukeWakuta 0:b1290ca6c4a2 42
taurin 4:4a13dd263a7b 43 void InputControlValues(){
taurin 4:4a13dd263a7b 44 inputDatas_R[1] = (char)drug_R;
taurin 4:4a13dd263a7b 45 inputDatas_L[1] = (char)drug_L;
taurin 4:4a13dd263a7b 46 if(eruron_R){
taurin 4:4a13dd263a7b 47 inputDatas_R[0] = 0;
taurin 4:4a13dd263a7b 48 inputDatas_L[0] = 2;
taurin 4:4a13dd263a7b 49 }
taurin 4:4a13dd263a7b 50 else if(eruron_L){
taurin 4:4a13dd263a7b 51 inputDatas_R[0] = 2;
taurin 4:4a13dd263a7b 52 inputDatas_L[0] = 0;
taurin 4:4a13dd263a7b 53 }
taurin 4:4a13dd263a7b 54 else{
taurin 4:4a13dd263a7b 55 inputDatas_R[0] = 1;
taurin 4:4a13dd263a7b 56 inputDatas_L[0] = 1;
taurin 4:4a13dd263a7b 57 }
YusukeWakuta 0:b1290ca6c4a2 58 }
YusukeWakuta 0:b1290ca6c4a2 59
taurin 4:4a13dd263a7b 60 void toString_R(){
taurin 4:4a13dd263a7b 61 pc.printf("R:");
taurin 4:4a13dd263a7b 62 for(int i = 0; i < IMPUT_DATAS_NUM; i++){
taurin 4:4a13dd263a7b 63 pc.printf("%d:%i ",i,inputDatas_R[i]);
taurin 4:4a13dd263a7b 64 }
YusukeWakuta 0:b1290ca6c4a2 65 }
YusukeWakuta 0:b1290ca6c4a2 66
taurin 4:4a13dd263a7b 67 void toString_L(){
taurin 4:4a13dd263a7b 68 pc.printf("L:");
taurin 4:4a13dd263a7b 69 for(int i = 0; i < IMPUT_DATAS_NUM; i++){
taurin 4:4a13dd263a7b 70 pc.printf("%d:%i ",i,inputDatas_L[i]);
taurin 4:4a13dd263a7b 71 }
taurin 4:4a13dd263a7b 72 pc.printf("\n\r");
YusukeWakuta 0:b1290ca6c4a2 73 }
YusukeWakuta 0:b1290ca6c4a2 74
taurin 4:4a13dd263a7b 75 void SendDatas(){
taurin 4:4a13dd263a7b 76 can_R.write(CANMessage(SEND_DATAS_CAN_ID, inputDatas_R, IMPUT_DATAS_NUM));
taurin 4:4a13dd263a7b 77 can_L.write(CANMessage(SEND_DATAS_CAN_ID, inputDatas_L, IMPUT_DATAS_NUM));
tsumagari 8:dbc8c87dac78 78 toKeikiSerial.putc(';');
YusukeWakuta 0:b1290ca6c4a2 79 for(int i = 0; i < YOKUTAN_DATAS_NUM; i++){
tsumagari 8:dbc8c87dac78 80 // toKeikiSerial.putc(i);
tsumagari 8:dbc8c87dac78 81 // toKeikiSerial.putc(10+i);
YusukeWakuta 0:b1290ca6c4a2 82 toKeikiSerial.putc(yokutanDatas_R[i]);
YusukeWakuta 0:b1290ca6c4a2 83 toKeikiSerial.putc(yokutanDatas_L[i]);
YusukeWakuta 0:b1290ca6c4a2 84 }
taurin 4:4a13dd263a7b 85 for(int i = 0; i < IMPUT_DATAS_NUM; i++){
tsumagari 8:dbc8c87dac78 86 // toKeikiSerial.putc(4+i);
tsumagari 8:dbc8c87dac78 87 // toKeikiSerial.putc(14+i);
taurin 4:4a13dd263a7b 88 toKeikiSerial.putc(inputDatas_R[i]);
taurin 4:4a13dd263a7b 89 toKeikiSerial.putc(inputDatas_L[i]);
taurin 4:4a13dd263a7b 90 }
tsumagari 8:dbc8c87dac78 91 // toKeikiSerial.putc(cadence);
taurin 4:4a13dd263a7b 92 pc.printf("test\n\r");
YusukeWakuta 0:b1290ca6c4a2 93 }
tsumagari 8:dbc8c87dac78 94
tsumagari 8:dbc8c87dac78 95 void calcCadence(){
tsumagari 8:dbc8c87dac78 96 //pc.printf("%f,%f\n\r",p.read(),q.read());
tsumagari 8:dbc8c87dac78 97 if(p.read() > THRESHOLD_OH_VALUE) stateP = true;
tsumagari 8:dbc8c87dac78 98 else stateP = false;
tsumagari 8:dbc8c87dac78 99 if(q.read() > THRESHOLD_OH_VALUE) stateQ = true;
tsumagari 8:dbc8c87dac78 100 else stateQ = false;
tsumagari 8:dbc8c87dac78 101 if((stateP == true && stateP_old == false) ||
tsumagari 8:dbc8c87dac78 102 stateQ == true && stateQ_old == false){
tsumagari 8:dbc8c87dac78 103 cadenceTimer.stop();
tsumagari 8:dbc8c87dac78 104 cadence = (char)30.0/cadenceTimer.read();
tsumagari 8:dbc8c87dac78 105 pc.printf("Cadence:%i\n\r",cadence);
tsumagari 8:dbc8c87dac78 106 cadenceTimer.reset();
tsumagari 8:dbc8c87dac78 107 cadenceTimer.start();
tsumagari 8:dbc8c87dac78 108 }
tsumagari 8:dbc8c87dac78 109 stateP_old = stateP;
tsumagari 8:dbc8c87dac78 110 stateQ_old = stateQ;
tsumagari 8:dbc8c87dac78 111 }
YusukeWakuta 0:b1290ca6c4a2 112
YusukeWakuta 0:b1290ca6c4a2 113 void init(){
tsumagari 8:dbc8c87dac78 114 cadenceTimer.start();
tsumagari 8:dbc8c87dac78 115 cadenceTicker.attach(calcCadence, CALC_CADENCE_TIME);
tsumagari 8:dbc8c87dac78 116 sendDatasTicker.attach(SendDatas,SEND_DATAS_TIME);
taurin 2:9dc7d5f1e910 117 for(int i = 0; i < IMPUT_DATAS_NUM; i++){
taurin 2:9dc7d5f1e910 118 inputDatas_R[i] = 0;
taurin 2:9dc7d5f1e910 119 inputDatas_L[i] = 0;
taurin 2:9dc7d5f1e910 120 }
YusukeWakuta 0:b1290ca6c4a2 121 }
YusukeWakuta 0:b1290ca6c4a2 122
YusukeWakuta 0:b1290ca6c4a2 123
YusukeWakuta 0:b1290ca6c4a2 124 void receiveDatas(){
YusukeWakuta 0:b1290ca6c4a2 125 if(can_R.read(recmsg_R)){
YusukeWakuta 0:b1290ca6c4a2 126 for(int i = 0; i < recmsg_R.len; i++){
YusukeWakuta 0:b1290ca6c4a2 127 yokutanDatas_R[i] = recmsg_R.data[i];
YusukeWakuta 0:b1290ca6c4a2 128 }
taurin 4:4a13dd263a7b 129 myled1 = !myled1;
YusukeWakuta 0:b1290ca6c4a2 130 }
YusukeWakuta 0:b1290ca6c4a2 131 if(can_L.read(recmsg_L)){
YusukeWakuta 0:b1290ca6c4a2 132 for(int i = 0; i < recmsg_L.len; i++){
YusukeWakuta 0:b1290ca6c4a2 133 yokutanDatas_L[i] = recmsg_L.data[i];
YusukeWakuta 0:b1290ca6c4a2 134 }
taurin 4:4a13dd263a7b 135 myled2 = !myled2;
YusukeWakuta 0:b1290ca6c4a2 136 }
YusukeWakuta 0:b1290ca6c4a2 137 }
YusukeWakuta 0:b1290ca6c4a2 138
YusukeWakuta 0:b1290ca6c4a2 139 int main(){
YusukeWakuta 0:b1290ca6c4a2 140 init();
YusukeWakuta 0:b1290ca6c4a2 141 while(1){
tsumagari 8:dbc8c87dac78 142 InputControlValues();
YusukeWakuta 0:b1290ca6c4a2 143 wait_us(10);
YusukeWakuta 0:b1290ca6c4a2 144 receiveDatas();
taurin 4:4a13dd263a7b 145 //toString_R();
taurin 4:4a13dd263a7b 146 // toString_L();
YusukeWakuta 0:b1290ca6c4a2 147 wait(WAIT_LOOP_TIME);
YusukeWakuta 0:b1290ca6c4a2 148 }
YusukeWakuta 0:b1290ca6c4a2 149 }