taiki abe / 2017_CatchRobo_f103rb

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Fork of 2017_CatchRobo_f103rb by taiki abe

2017_CatchRobo_f103rb.cpp@8:f0f551fa29d4, 2017-08-22 (annotated)

Committer:
Abe_t
Date:
Tue Aug 22 12:50:03 2017 +0000
Revision:
8:f0f551fa29d4
Parent:
7:06a366a57be8 
????

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 8:f0f551fa29d4 22 rotary_encoder enco1(PA_13,PA_14,NC,500,rotary_encoder::X4_ENCODING);
Abe_t 8:f0f551fa29d4 23 rotary_encoder enco2(PC_0,PC_3,NC,500,rotary_encoder::X4_ENCODING);
Abe_t 8:f0f551fa29d4 24 rotary_encoder enco3(PC_15,PD_2,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 8:f0f551fa29d4 54 float init_deg1 = 180.0;
Abe_t 8:f0f551fa29d4 55 float init_deg2 = 0.0;
Abe_t 8:f0f551fa29d4 56 float deg1 = 180.0;
Abe_t 8:f0f551fa29d4 57 float deg2 = 0.0;
Abe_t 8:f0f551fa29d4 58
Abe_t 1:a9850521074c 59 pc.baud(9600);
Abe_t 1:a9850521074c 60 can = new CAN(PA_11,PA_12);
Abe_t 1:a9850521074c 61 can -> frequency(1000000);
Abe_t 1:a9850521074c 62 system_cycle.start();
Abe_t 1:a9850521074c 63 pc.printf("program_start!!");
Abe_t 1:a9850521074c 64
Abe_t 1:a9850521074c 65 while(1){
Abe_t 7:06a366a57be8 66 while( (system_cycle.read_ms() >= 20) ){
Abe_t 1:a9850521074c 67
Abe_t 1:a9850521074c 68 txMsg.clear();
Abe_t 1:a9850521074c 69 txMsg.id = TX_ID;
Abe_t 1:a9850521074c 70 txMsg << counter;
Abe_t 1:a9850521074c 71
Abe_t 1:a9850521074c 72 if(can->write(txMsg)){
Abe_t 1:a9850521074c 73 print_Msg(txMsg);
Abe_t 1:a9850521074c 74 }
Abe_t 1:a9850521074c 75 else{
Abe_t 1:a9850521074c 76 pc.printf("sent_error/r/n");
Abe_t 1:a9850521074c 77 }
Abe_t 1:a9850521074c 78
Abe_t 1:a9850521074c 79 if( ps3.getbutton(square)==1){
Abe_t 1:a9850521074c 80 motor1.drive(20.0);
Abe_t 1:a9850521074c 81 LED[0].write(1);
Abe_t 1:a9850521074c 82 }
Abe_t 1:a9850521074c 83 else if( ps3.getbutton(triangle)==1){
Abe_t 1:a9850521074c 84 motor2.drive(20.0);
Abe_t 1:a9850521074c 85 LED[1].write(1);
Abe_t 1:a9850521074c 86 }
Abe_t 1:a9850521074c 87 else if( ps3.getbutton(circle)==1){
Abe_t 1:a9850521074c 88 motor3.drive(20.0);
Abe_t 1:a9850521074c 89 LED[2].write(1);
Abe_t 1:a9850521074c 90 }
Abe_t 1:a9850521074c 91 else if( ps3.getbutton(left)==1){
Abe_t 1:a9850521074c 92 servo1.weak_condition();
Abe_t 1:a9850521074c 93 }
Abe_t 1:a9850521074c 94 else if( ps3.getbutton(right)==1){
Abe_t 8:f0f551fa29d4 95 servo1.rot(0.0);
Abe_t 1:a9850521074c 96 }
Abe_t 1:a9850521074c 97 else if( ps3.getbutton(L1)==1){
Abe_t 1:a9850521074c 98 buzzer.write(1);
Abe_t 1:a9850521074c 99 }
Abe_t 1:a9850521074c 100 else if(ps3.getbutton(L2)==1){
Abe_t 1:a9850521074c 101 counter = 1;
Abe_t 1:a9850521074c 102 }
Abe_t 1:a9850521074c 103 else if(ps3.getbutton(R2)==1){
Abe_t 1:a9850521074c 104 counter = 2;
Abe_t 1:a9850521074c 105 }
Abe_t 1:a9850521074c 106 else if(ps3.getbutton(up)==1){
Abe_t 1:a9850521074c 107 counter = 3;
Abe_t 1:a9850521074c 108 }
Abe_t 1:a9850521074c 109 else if(ps3.getbutton(under)==1){
Abe_t 1:a9850521074c 110 counter = 4;
Abe_t 1:a9850521074c 111 }
Abe_t 1:a9850521074c 112 else if(button[0].read() == 1){
Abe_t 1:a9850521074c 113 LED[0].write(1);
Abe_t 1:a9850521074c 114 }
Abe_t 1:a9850521074c 115 else if(button[1].read() == 1){
Abe_t 1:a9850521074c 116 LED[1].write(1);
Abe_t 1:a9850521074c 117 }
Abe_t 1:a9850521074c 118
Abe_t 1:a9850521074c 119 else{
Abe_t 1:a9850521074c 120 counter = 0;
Abe_t 1:a9850521074c 121 LED[1].write(0);
Abe_t 1:a9850521074c 122 LED[2].write(0);
Abe_t 1:a9850521074c 123 LED[0].write(0);
Abe_t 1:a9850521074c 124 buzzer.write(0);
Abe_t 8:f0f551fa29d4 125 servo1.rot(265.0);
Abe_t 1:a9850521074c 126 motor1.drive(0.0);
Abe_t 1:a9850521074c 127 motor2.drive(0.0);
Abe_t 1:a9850521074c 128 motor3.drive(0.0);
Abe_t 1:a9850521074c 129 }
Abe_t 1:a9850521074c 130
Abe_t 1:a9850521074c 131 pc.printf("%f\t %f\t %f\t %d\t \r\n",enco1.getDeg(),enco2.getDeg(),enco3.getDeg(),buzzer.read());
Abe_t 1:a9850521074c 132 system_cycle.reset();
Abe_t 1:a9850521074c 133 }//(while system_cycle )
Abe_t 1:a9850521074c 134 if( ps3.getbutton(cross)==1){break;}
Abe_t 1:a9850521074c 135 }//(while)
Abe_t 1:a9850521074c 136 }
Abe_t 1:a9850521074c 137