![](/media/cache/group/default_image.jpg.50x50_q85.jpg)
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。
Fork of ControlMain2017 by
main.cpp@5:6b74fa61198e, 2016-02-25 (annotated)
- Committer:
- taurin
- Date:
- Thu Feb 25 09:13:08 2016 +0000
- Revision:
- 5:6b74fa61198e
- Parent:
- 4:4a13dd263a7b
- Child:
- 6:7484315ba88a
aaaa;
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" |
taurin | 4:4a13dd263a7b | 4 | #define WAIT_LOOP_TIME 0.1 |
taurin | 4:4a13dd263a7b | 5 | #define YOKUTAN_DATAS_NUM 4 |
YusukeWakuta | 0:b1290ca6c4a2 | 6 | #define IMPUT_DATAS_NUM 2 |
YusukeWakuta | 0:b1290ca6c4a2 | 7 | #define SEND_DATAS_CAN_ID 100 |
taurin | 4:4a13dd263a7b | 8 | #define SEND_DATAS_TIME 0.5 |
taurin | 4:4a13dd263a7b | 9 | #define THRESHOLD_OH_VALUE 0.14 |
taurin | 4:4a13dd263a7b | 10 | #define CALC_CADENCE_TIME 0.05 |
YusukeWakuta | 0:b1290ca6c4a2 | 11 | |
YusukeWakuta | 0:b1290ca6c4a2 | 12 | CAN can_R(p9,p10); |
YusukeWakuta | 0:b1290ca6c4a2 | 13 | CAN can_L(p30,p29); |
taurin | 4:4a13dd263a7b | 14 | Serial toKeikiSerial(p13,p14); |
YusukeWakuta | 0:b1290ca6c4a2 | 15 | Serial pc(USBTX,USBRX); |
taurin | 5:6b74fa61198e | 16 | DigitalIn eruron_R(p23); |
taurin | 5:6b74fa61198e | 17 | DigitalIn eruron_L(p19); |
taurin | 5:6b74fa61198e | 18 | DigitalIn drug_R(p22); |
taurin | 5:6b74fa61198e | 19 | DigitalIn drug_L(p20); |
YusukeWakuta | 0:b1290ca6c4a2 | 20 | DigitalOut myled1(LED1); |
YusukeWakuta | 0:b1290ca6c4a2 | 21 | DigitalOut myled2(LED2); |
taurin | 4:4a13dd263a7b | 22 | Ticker sendDatasTicker; |
taurin | 4:4a13dd263a7b | 23 | Ticker cadenceTicker; |
taurin | 4:4a13dd263a7b | 24 | Timer cadenceTimer; |
taurin | 4:4a13dd263a7b | 25 | AnalogIn p(p15); |
taurin | 4:4a13dd263a7b | 26 | AnalogIn q(p16); |
YusukeWakuta | 0:b1290ca6c4a2 | 27 | |
taurin | 4:4a13dd263a7b | 28 | char yokutanDatas_R[YOKUTAN_DATAS_NUM]; |
taurin | 4:4a13dd263a7b | 29 | char yokutanDatas_L[YOKUTAN_DATAS_NUM]; |
YusukeWakuta | 0:b1290ca6c4a2 | 30 | char inputDatas_R[IMPUT_DATAS_NUM]; |
YusukeWakuta | 0:b1290ca6c4a2 | 31 | char inputDatas_L[IMPUT_DATAS_NUM]; |
taurin | 4:4a13dd263a7b | 32 | char cadence = 0; |
taurin | 4:4a13dd263a7b | 33 | bool stateP = true; |
taurin | 4:4a13dd263a7b | 34 | bool stateQ = true; |
taurin | 4:4a13dd263a7b | 35 | bool stateP_old = true; |
taurin | 4:4a13dd263a7b | 36 | bool stateQ_old = true; |
YusukeWakuta | 0:b1290ca6c4a2 | 37 | |
YusukeWakuta | 3:0e66ce2ab2fb | 38 | CANMessage recmsg_R; |
YusukeWakuta | 3:0e66ce2ab2fb | 39 | CANMessage recmsg_L; |
YusukeWakuta | 0:b1290ca6c4a2 | 40 | |
taurin | 4:4a13dd263a7b | 41 | void InputControlValues(){ |
taurin | 4:4a13dd263a7b | 42 | inputDatas_R[1] = (char)drug_R; |
taurin | 4:4a13dd263a7b | 43 | inputDatas_L[1] = (char)drug_L; |
taurin | 4:4a13dd263a7b | 44 | if(eruron_R){ |
taurin | 4:4a13dd263a7b | 45 | inputDatas_R[0] = 0; |
taurin | 4:4a13dd263a7b | 46 | inputDatas_L[0] = 2; |
taurin | 4:4a13dd263a7b | 47 | } |
taurin | 4:4a13dd263a7b | 48 | else if(eruron_L){ |
taurin | 4:4a13dd263a7b | 49 | inputDatas_R[0] = 2; |
taurin | 4:4a13dd263a7b | 50 | inputDatas_L[0] = 0; |
taurin | 4:4a13dd263a7b | 51 | } |
taurin | 4:4a13dd263a7b | 52 | else{ |
taurin | 4:4a13dd263a7b | 53 | inputDatas_R[0] = 1; |
taurin | 4:4a13dd263a7b | 54 | inputDatas_L[0] = 1; |
taurin | 4:4a13dd263a7b | 55 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 56 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 57 | |
taurin | 4:4a13dd263a7b | 58 | void toString_R(){ |
taurin | 4:4a13dd263a7b | 59 | pc.printf("R:"); |
taurin | 4:4a13dd263a7b | 60 | for(int i = 0; i < IMPUT_DATAS_NUM; i++){ |
taurin | 4:4a13dd263a7b | 61 | pc.printf("%d:%i ",i,inputDatas_R[i]); |
taurin | 4:4a13dd263a7b | 62 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 63 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 64 | |
taurin | 4:4a13dd263a7b | 65 | void toString_L(){ |
taurin | 4:4a13dd263a7b | 66 | pc.printf("L:"); |
taurin | 4:4a13dd263a7b | 67 | for(int i = 0; i < IMPUT_DATAS_NUM; i++){ |
taurin | 4:4a13dd263a7b | 68 | pc.printf("%d:%i ",i,inputDatas_L[i]); |
taurin | 4:4a13dd263a7b | 69 | } |
taurin | 4:4a13dd263a7b | 70 | pc.printf("\n\r"); |
YusukeWakuta | 0:b1290ca6c4a2 | 71 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 72 | |
taurin | 4:4a13dd263a7b | 73 | void SendDatas(){ |
taurin | 4:4a13dd263a7b | 74 | can_R.write(CANMessage(SEND_DATAS_CAN_ID, inputDatas_R, IMPUT_DATAS_NUM)); |
taurin | 4:4a13dd263a7b | 75 | can_L.write(CANMessage(SEND_DATAS_CAN_ID, inputDatas_L, IMPUT_DATAS_NUM)); |
YusukeWakuta | 0:b1290ca6c4a2 | 76 | for(int i = 0; i < YOKUTAN_DATAS_NUM; i++){ |
YusukeWakuta | 0:b1290ca6c4a2 | 77 | toKeikiSerial.putc(yokutanDatas_R[i]); |
YusukeWakuta | 0:b1290ca6c4a2 | 78 | toKeikiSerial.putc(yokutanDatas_L[i]); |
YusukeWakuta | 0:b1290ca6c4a2 | 79 | } |
taurin | 4:4a13dd263a7b | 80 | for(int i = 0; i < IMPUT_DATAS_NUM; i++){ |
taurin | 4:4a13dd263a7b | 81 | toKeikiSerial.putc(inputDatas_R[i]); |
taurin | 4:4a13dd263a7b | 82 | toKeikiSerial.putc(inputDatas_L[i]); |
taurin | 4:4a13dd263a7b | 83 | } |
taurin | 4:4a13dd263a7b | 84 | toKeikiSerial.putc(cadence); |
taurin | 4:4a13dd263a7b | 85 | pc.printf("test\n\r"); |
YusukeWakuta | 0:b1290ca6c4a2 | 86 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 87 | |
taurin | 4:4a13dd263a7b | 88 | void calcCadence(){ |
taurin | 4:4a13dd263a7b | 89 | //pc.printf("%f,%f\n\r",p.read(),q.read()); |
taurin | 4:4a13dd263a7b | 90 | if(p.read() > THRESHOLD_OH_VALUE) stateP = true; |
taurin | 4:4a13dd263a7b | 91 | else stateP = false; |
taurin | 4:4a13dd263a7b | 92 | if(q.read() > THRESHOLD_OH_VALUE) stateQ = true; |
taurin | 4:4a13dd263a7b | 93 | else stateQ = false; |
taurin | 4:4a13dd263a7b | 94 | if((stateP == true && stateP_old == false) || |
taurin | 4:4a13dd263a7b | 95 | stateQ == true && stateQ_old == false){ |
taurin | 4:4a13dd263a7b | 96 | cadenceTimer.stop(); |
taurin | 4:4a13dd263a7b | 97 | cadence = (char)30.0/cadenceTimer.read(); |
taurin | 4:4a13dd263a7b | 98 | pc.printf("Cadence:%i\n\r",cadence); |
taurin | 4:4a13dd263a7b | 99 | cadenceTimer.reset(); |
taurin | 4:4a13dd263a7b | 100 | cadenceTimer.start(); |
taurin | 2:9dc7d5f1e910 | 101 | } |
taurin | 4:4a13dd263a7b | 102 | stateP_old = stateP; |
taurin | 4:4a13dd263a7b | 103 | stateQ_old = stateQ; |
taurin | 4:4a13dd263a7b | 104 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 105 | |
YusukeWakuta | 0:b1290ca6c4a2 | 106 | void init(){ |
taurin | 4:4a13dd263a7b | 107 | cadenceTimer.start(); |
taurin | 4:4a13dd263a7b | 108 | cadenceTicker.attach(calcCadence, CALC_CADENCE_TIME); |
taurin | 4:4a13dd263a7b | 109 | sendDatasTicker.attach(SendDatas,SEND_DATAS_TIME); |
taurin | 2:9dc7d5f1e910 | 110 | for(int i = 0; i < IMPUT_DATAS_NUM; i++){ |
taurin | 2:9dc7d5f1e910 | 111 | inputDatas_R[i] = 0; |
taurin | 2:9dc7d5f1e910 | 112 | inputDatas_L[i] = 0; |
taurin | 2:9dc7d5f1e910 | 113 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 114 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 115 | |
YusukeWakuta | 0:b1290ca6c4a2 | 116 | |
YusukeWakuta | 0:b1290ca6c4a2 | 117 | void receiveDatas(){ |
YusukeWakuta | 0:b1290ca6c4a2 | 118 | if(can_R.read(recmsg_R)){ |
YusukeWakuta | 0:b1290ca6c4a2 | 119 | for(int i = 0; i < recmsg_R.len; i++){ |
YusukeWakuta | 0:b1290ca6c4a2 | 120 | yokutanDatas_R[i] = recmsg_R.data[i]; |
YusukeWakuta | 0:b1290ca6c4a2 | 121 | } |
taurin | 4:4a13dd263a7b | 122 | myled1 = !myled1; |
YusukeWakuta | 0:b1290ca6c4a2 | 123 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 124 | if(can_L.read(recmsg_L)){ |
YusukeWakuta | 0:b1290ca6c4a2 | 125 | for(int i = 0; i < recmsg_L.len; i++){ |
YusukeWakuta | 0:b1290ca6c4a2 | 126 | yokutanDatas_L[i] = recmsg_L.data[i]; |
YusukeWakuta | 0:b1290ca6c4a2 | 127 | } |
taurin | 4:4a13dd263a7b | 128 | myled2 = !myled2; |
YusukeWakuta | 0:b1290ca6c4a2 | 129 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 130 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 131 | |
YusukeWakuta | 0:b1290ca6c4a2 | 132 | int main(){ |
YusukeWakuta | 0:b1290ca6c4a2 | 133 | init(); |
YusukeWakuta | 0:b1290ca6c4a2 | 134 | while(1){ |
taurin | 4:4a13dd263a7b | 135 | InputControlValues(); |
YusukeWakuta | 0:b1290ca6c4a2 | 136 | wait_us(10); |
YusukeWakuta | 0:b1290ca6c4a2 | 137 | receiveDatas(); |
taurin | 4:4a13dd263a7b | 138 | //toString_R(); |
taurin | 4:4a13dd263a7b | 139 | // toString_L(); |
YusukeWakuta | 0:b1290ca6c4a2 | 140 | wait(WAIT_LOOP_TIME); |
YusukeWakuta | 0:b1290ca6c4a2 | 141 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 142 | } |