taiki abe / 2017_CatchRobo_f103rb

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Fork of 2017_CatchRobo_f103rb by taiki abe

2017_CatchRobo_f103rb.cpp@7:06a366a57be8, 2017-08-18 (annotated)

Committer:
Abe_t
Date:
Fri Aug 18 20:07:37 2017 +0000
Revision:
7:06a366a57be8
Parent:
1:a9850521074c
Child:
8:f0f551fa29d4
?????

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Abe_t 1:a9850521074c 1 //送信側マイコン nucleo_f103rb
Abe_t 1:a9850521074c 2
Abe_t 1:a9850521074c 3 #include "mbed.h"
Abe_t 1:a9850521074c 4 #include "servo_motor.h"
Abe_t 1:a9850521074c 5 #include "ps3_controller.h"
Abe_t 1:a9850521074c 6 #include "dc_motor_1.h"
Abe_t 1:a9850521074c 7 #include "rotary_encoder.h"
Abe_t 1:a9850521074c 8 #include "CANnucleo.h"
Abe_t 1:a9850521074c 9 #include "servo_motor_270.h"
Abe_t 1:a9850521074c 10
Abe_t 1:a9850521074c 11
Abe_t 1:a9850521074c 12 /***初期化関数**************************************/
Abe_t 1:a9850521074c 13
Abe_t 1:a9850521074c 14 Serial pc(USBTX,USBRX);
Abe_t 1:a9850521074c 15 ps3_cont ps3(PC_10,PC_11);
Abe_t 1:a9850521074c 16 Timer system_cycle;
Abe_t 1:a9850521074c 17 CAN* can;
Abe_t 1:a9850521074c 18 CANMessage txMsg;
Abe_t 1:a9850521074c 19
Abe_t 1:a9850521074c 20
Abe_t 1:a9850521074c 21 //センサー類
Abe_t 1:a9850521074c 22 rotary_encoder enco1(PC_0,PC_3,NC,500,rotary_encoder::X4_ENCODING);
Abe_t 1:a9850521074c 23 rotary_encoder enco2(PA_13,PA_14,NC,500,rotary_encoder::X4_ENCODING);
Abe_t 1:a9850521074c 24 rotary_encoder enco3(PD_2,PC_15,NC,500,rotary_encoder::X4_ENCODING);
Abe_t 1:a9850521074c 25
Abe_t 1:a9850521074c 26 //アクチュエータ類
Abe_t 1:a9850521074c 27 dc_motor_1 motor1(A3,A2,1); //tiemr_3_3
Abe_t 1:a9850521074c 28 dc_motor_1 motor2(D4,A4,1); //timer_3_2
Abe_t 1:a9850521074c 29 dc_motor_1 motor3(D5,A0,1); //timer_3_1
Abe_t 1:a9850521074c 30
Abe_t 1:a9850521074c 31 ServoMotor_270 servo1(PB_13); //timer_1_1N
Abe_t 1:a9850521074c 32
Abe_t 1:a9850521074c 33 DigitalOut LED[3]={D12,D11,D10};
Abe_t 1:a9850521074c 34 DigitalOut button[2]={D9,D8};
Abe_t 1:a9850521074c 35
Abe_t 1:a9850521074c 36 DigitalOut buzzer(PC_8);
Abe_t 1:a9850521074c 37
Abe_t 1:a9850521074c 38 /********グローバル変数******************************/
Abe_t 1:a9850521074c 39
Abe_t 1:a9850521074c 40 const unsigned int TX_ID = 0x101;
Abe_t 1:a9850521074c 41 uint8_t counter = 0;
Abe_t 1:a9850521074c 42
Abe_t 1:a9850521074c 43 /**************************************************/
Abe_t 1:a9850521074c 44
Abe_t 1:a9850521074c 45 void print_Msg(CANMessage &msg){
Abe_t 1:a9850521074c 46 pc.printf("sent_date =");
Abe_t 1:a9850521074c 47 for(int i=0 ; i<msg.len ; i++){
Abe_t 1:a9850521074c 48 pc.printf("0x%.2X\t",msg.data[i]);
Abe_t 1:a9850521074c 49 }
Abe_t 1:a9850521074c 50 }
Abe_t 1:a9850521074c 51
Abe_t 1:a9850521074c 52 int main()
Abe_t 1:a9850521074c 53 {
Abe_t 1:a9850521074c 54 pc.baud(9600);
Abe_t 1:a9850521074c 55 can = new CAN(PA_11,PA_12);
Abe_t 1:a9850521074c 56 can -> frequency(1000000);
Abe_t 1:a9850521074c 57 system_cycle.start();
Abe_t 1:a9850521074c 58 pc.printf("program_start!!");
Abe_t 1:a9850521074c 59
Abe_t 1:a9850521074c 60 while(1){
Abe_t 7:06a366a57be8 61 while( (system_cycle.read_ms() >= 20) ){
Abe_t 1:a9850521074c 62
Abe_t 1:a9850521074c 63 txMsg.clear();
Abe_t 1:a9850521074c 64 txMsg.id = TX_ID;
Abe_t 1:a9850521074c 65 txMsg << counter;
Abe_t 1:a9850521074c 66
Abe_t 1:a9850521074c 67 if(can->write(txMsg)){
Abe_t 1:a9850521074c 68 print_Msg(txMsg);
Abe_t 1:a9850521074c 69 }
Abe_t 1:a9850521074c 70 else{
Abe_t 1:a9850521074c 71 pc.printf("sent_error/r/n");
Abe_t 1:a9850521074c 72 }
Abe_t 1:a9850521074c 73
Abe_t 1:a9850521074c 74 if( ps3.getbutton(square)==1){
Abe_t 1:a9850521074c 75 motor1.drive(20.0);
Abe_t 1:a9850521074c 76 LED[0].write(1);
Abe_t 1:a9850521074c 77 }
Abe_t 1:a9850521074c 78 else if( ps3.getbutton(triangle)==1){
Abe_t 1:a9850521074c 79 motor2.drive(20.0);
Abe_t 1:a9850521074c 80 LED[1].write(1);
Abe_t 1:a9850521074c 81 }
Abe_t 1:a9850521074c 82 else if( ps3.getbutton(circle)==1){
Abe_t 1:a9850521074c 83 motor3.drive(20.0);
Abe_t 1:a9850521074c 84 LED[2].write(1);
Abe_t 1:a9850521074c 85 }
Abe_t 1:a9850521074c 86 else if( ps3.getbutton(left)==1){
Abe_t 1:a9850521074c 87 servo1.weak_condition();
Abe_t 1:a9850521074c 88 }
Abe_t 1:a9850521074c 89 else if( ps3.getbutton(right)==1){
Abe_t 1:a9850521074c 90 servo1.rot(270.0);
Abe_t 1:a9850521074c 91 }
Abe_t 1:a9850521074c 92 else if( ps3.getbutton(L1)==1){
Abe_t 1:a9850521074c 93 buzzer.write(1);
Abe_t 1:a9850521074c 94 }
Abe_t 1:a9850521074c 95 else if(ps3.getbutton(L2)==1){
Abe_t 1:a9850521074c 96 counter = 1;
Abe_t 1:a9850521074c 97 }
Abe_t 1:a9850521074c 98 else if(ps3.getbutton(R2)==1){
Abe_t 1:a9850521074c 99 counter = 2;
Abe_t 1:a9850521074c 100 }
Abe_t 1:a9850521074c 101 else if(ps3.getbutton(up)==1){
Abe_t 1:a9850521074c 102 counter = 3;
Abe_t 1:a9850521074c 103 }
Abe_t 1:a9850521074c 104 else if(ps3.getbutton(under)==1){
Abe_t 1:a9850521074c 105 counter = 4;
Abe_t 1:a9850521074c 106 }
Abe_t 1:a9850521074c 107 else if(button[0].read() == 1){
Abe_t 1:a9850521074c 108 LED[0].write(1);
Abe_t 1:a9850521074c 109 }
Abe_t 1:a9850521074c 110 else if(button[1].read() == 1){
Abe_t 1:a9850521074c 111 LED[1].write(1);
Abe_t 1:a9850521074c 112 }
Abe_t 1:a9850521074c 113
Abe_t 1:a9850521074c 114 else{
Abe_t 1:a9850521074c 115 counter = 0;
Abe_t 1:a9850521074c 116 LED[1].write(0);
Abe_t 1:a9850521074c 117 LED[2].write(0);
Abe_t 1:a9850521074c 118 LED[0].write(0);
Abe_t 1:a9850521074c 119 buzzer.write(0);
Abe_t 1:a9850521074c 120 servo1.rot(135.0);
Abe_t 1:a9850521074c 121 motor1.drive(0.0);
Abe_t 1:a9850521074c 122 motor2.drive(0.0);
Abe_t 1:a9850521074c 123 motor3.drive(0.0);
Abe_t 1:a9850521074c 124 }
Abe_t 1:a9850521074c 125
Abe_t 1:a9850521074c 126 pc.printf("%f\t %f\t %f\t %d\t \r\n",enco1.getDeg(),enco2.getDeg(),enco3.getDeg(),buzzer.read());
Abe_t 1:a9850521074c 127 system_cycle.reset();
Abe_t 1:a9850521074c 128 }//(while system_cycle )
Abe_t 1:a9850521074c 129 if( ps3.getbutton(cross)==1){break;}
Abe_t 1:a9850521074c 130 }//(while)
Abe_t 1:a9850521074c 131 }
Abe_t 1:a9850521074c 132