robocon_2016
servo_/30
Revision 0:f7be77a7663f, committed 2016-09-30
- Comitter:
- sgrsn
- Date:
- Fri Sep 30 12:33:22 2016 +0000
- Commit message:
- servo_9/30
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/define.h Fri Sep 30 12:33:22 2016 +0000 @@ -0,0 +1,49 @@ +/*Registar group*************************************/ + +#define motor1_state 0x01 +#define motor2_state 0x02 +#define motor1_pwm 0x03 +#define motor2_pwm 0x04 +#define check_reg 0x05 +#define PM_target_reg 0x10 +#define RE_target_reg 0x20 +#define Kp 0x30 +#define pid_start 0x40 +#define machine_state 0x45 +#define PM_ofset_reg 0x50 +#define wheel_start 0x60 +#define PM_start 0x70 + +/*Address group*************************************/ +//MD : MotorDriver +#define MD1_addr 0x12 +#define MD2_addr 0x14 +#define MD3_addr 0x16 +#define MD4_addr 0x18 +#define MD5_addr 0x20 +#define MD6_addr 0x22 +#define MD7_addr 0x24 +#define MD8_addr 0x26 +#define MD9_addr 0x28 +#define MD10_addr 0x30 +#define MD11_addr 0x32 +#define MD12_addr 0x34 +#define MD13_addr 0x36 +#define MD14_addr 0x38 +#define MD15_addr 0x40 + +//CY : Cylinder +#define CY1_addr 0x50 + +//SERVO : Servo motor +#define SERVO1_addr 0x60 + +//SE : Sensor +#define SE1_addr 0x90 +#define SE2_addr 0xA0 + +/*Motor movement***********************************/ + +#define Nomal 5 +#define Reverse 10 +#define Stop 3
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/i2cslave.lib Fri Sep 30 12:33:22 2016 +0000 @@ -0,0 +1,1 @@ +http://developer.mbed.org/users/sgrsn/code/i2cslave/#69b088a9899b
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Fri Sep 30 12:33:22 2016 +0000
@@ -0,0 +1,53 @@
+#include "mbed.h"
+#include "i2cslave.h"
+#include "define.h"
+
+char Registar[128]= {};
+void check();
+
+int main()
+{
+ PwmOut Servos[4] = { PwmOut(dp24), PwmOut(dp1), PwmOut(dp2), PwmOut(dp18) };
+ char servodata[4] = {};
+ for(int i = 0; i < 4; i++)
+ {
+ Servos[i] = 0;
+ }
+ NVIC_SetPriority(TIMER_16_0_IRQn, 20);
+ NVIC_SetPriority(TIMER_16_1_IRQn, 20);
+ NVIC_SetPriority(TIMER_32_0_IRQn, 20);
+ NVIC_SetPriority(TIMER_32_1_IRQn, 20);
+ NVIC_SetPriority(I2C_IRQn, 10);
+ i2cslave i2c(dp5, dp27, Registar);
+ /*change address every micon***********/
+ i2c.address(SERVO1_addr);
+ /**************************************/
+ i2c.frequency(1000000);
+ Ticker tic;
+ tic.attach(check, 0.1);
+ while(1)
+ {
+ for(int i = 0; i < 4; i++)
+ {
+ servodata[i] = (Registar[motor1_state] >> i) & 1;
+ if(servodata[i])
+ {
+ Servos[i].pulsewidth(0.0010);
+ }
+ else
+ {
+ Servos[i].pulsewidth(0.0006);
+ }
+ wait_ms(60);
+ }
+ }
+}
+
+void check()
+{
+ Registar[check_reg]++;
+ if(Registar[check_reg] > 2)
+ {
+ NVIC_SystemReset();
+ }
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Fri Sep 30 12:33:22 2016 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/abea610beb85 \ No newline at end of file