main.cpp

00001 #include "mbed.h"
00002 #include "BLEDevice.h"
00003 #include "RCBController.h"
00004 #include "TB6612.h"
00005 #include "MPU6050.h"
00006 
00007 #define DBG 1
00008 
00009 BLEDevice  ble;
00010 
00011 MPU6050 mpu(I2C_SDA, I2C_SCL);
00012 
00013 #if DBG
00014 Serial  pc(USBTX, USBRX);
00015 #endif
00016 /* LEDs for indication: */
00017 DigitalOut  ModeLed(P0_19);
00018 DigitalOut  ConnectStateLed(P0_18);
00019 DigitalOut  outlow(P0_20);
00020 //PwmOut  ControllerStateLed(LED2);
00021 
00022 AnalogIn fsen1(P0_2);
00023 AnalogIn fsen2(P0_3);
00024 AnalogIn fsen3(P0_4);
00025 AnalogIn fsen4(P0_5);
00026 #if 1
00027 TB6612 left(P0_29,P0_23,P0_24);
00028 TB6612 right(P0_28,P0_30,P0_0);
00029 #else
00030 TB6612 left(P0_29,P0_24,P0_23);
00031 TB6612 right(P0_28,P0_0,P0_30);
00032 #endif
00033 Ticker ticker;
00034 
00035 DigitalIn   sw1(P0_16);
00036 DigitalIn   sw2(P0_17);
00037 
00038 DigitalIn encl1(P0_6);
00039 DigitalIn encl2(P0_7);
00040 DigitalIn encr1(P0_8);
00041 DigitalIn encr2(P0_10);
00042 
00043 
00044 int base_fsen[4];
00045 int line_mode = 0;
00046 int challenge_mode = 0;
00047 char bValue = 0;
00048 
00049 // Wallbot State
00050 int stt_Mode;
00051 
00052 int get_line(int num);
00053 
00054 /* RCBController Service */
00055 static const uint16_t RCBController_service_uuid = 0xFFF0;
00056 static const uint16_t RCBController_Characteristic_uuid = 0xFFF1;
00057 static const uint16_t RCBController_b_Characteristic_uuid = 0xFFF3;
00058 uint8_t RCBControllerPayload[10] = {0,};
00059 
00060 GattCharacteristic  ControllerChar (RCBController_Characteristic_uuid,RCBControllerPayload,10, 10,
00061                                 GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_WRITE | 
00062                                 GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_WRITE_WITHOUT_RESPONSE);
00063 //static uint8_t _bValue = 0x00;
00064 static uint8_t _mValue[10] = {0,};
00065 GattCharacteristic b_Char(RCBController_b_Characteristic_uuid, _mValue, sizeof(_mValue), sizeof(_mValue),
00066                        GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_READ | GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_NOTIFY);
00067 
00068 GattCharacteristic *ControllerChars[] = {&ControllerChar,&b_Char};
00069 GattService         RCBControllerService(RCBController_service_uuid, ControllerChars, sizeof(ControllerChars) / sizeof(GattCharacteristic *));
00070 
00071 RCBController controller;
00072 
00073 void onConnected(Gap::Handle_t handle, const Gap::ConnectionParams_t *params)
00074 {
00075     ConnectStateLed = 0;
00076 #if DBG
00077     pc.printf("Connected\n\r");
00078 #endif
00079 }
00080 
00081 void onDisconnected(Gap::Handle_t handle, Gap::DisconnectionReason_t reason)
00082 {
00083     left = 0;
00084     right = 0;
00085 
00086     ble.startAdvertising();
00087     ConnectStateLed = 1;
00088 #if DBG
00089     pc.printf("Disconnected\n\r");
00090 #endif
00091 }
00092 
00093 void periodicCallback(void)
00094 {
00095     if (!ble.getGapState().connected) {
00096         return;
00097     }
00098     int line = get_line(0) ? 1 : 0;
00099         line |= get_line(1) ? 2 : 0;
00100         line |= get_line(2) ? 4 : 0;
00101         line |= get_line(3) ? 8 : 0;
00102     if( (bValue == 0)&&(line != 0) )
00103     {
00104         // game over
00105         left = 0.0;
00106         right = 0.0;
00107         bValue = 10;  
00108     }
00109     if( bValue > 0 )
00110     {
00111         memcpy( _mValue , "GAME OVER",10);
00112         ble.updateCharacteristicValue (b_Char.getValueAttribute().getHandle(), (uint8_t *)_mValue, sizeof(_mValue));
00113         ModeLed = !ModeLed;
00114         bValue--;
00115         if( bValue == 0 )
00116         {
00117             ModeLed = 1;
00118             challenge_mode = 0;
00119             ticker.detach();
00120         }
00121     }
00122 }
00123 
00124 
00125 // GattEvent
00126 void onDataWritten(const GattCharacteristicWriteCBParams *params)
00127 {
00128     if( (params->charHandle == ControllerChar.getValueAttribute().getHandle()) && (line_mode == 0))
00129     {
00130         memcpy( &controller.data[0], params->data , params->len );
00131         //memcpy( &controller.data[0], RCBControllerPayload, sizeof(controller));
00132 #if DBG
00133 
00134         pc.printf("DATA:%02X %02X %d %d %d %d %d %d %d %02X\n\r",controller.data[0],controller.data[1],controller.data[2],controller.data[3],controller.data[4],
00135                                                                controller.data[5],controller.data[6],controller.data[7],controller.data[8],controller.data[9]);
00136 #endif
00137         float right_factor;
00138         float left_factor;
00139 
00140         left_factor = ((float)((int)controller.status.LeftAnalogUD -128) / 128.0);
00141         right_factor = ((float)((int)controller.status.RightAnalogUD -128) / 128.0);
00142         
00143         if(challenge_mode == 1)
00144         {
00145             if( bValue == 0 )
00146             {
00147                 float factor = ((float)((int)controller.status.AcceleX -128) / 128.0); 
00148     
00149                 float right_factor = ((factor <= 0.0) ? 1.0 : 1.0 - (factor*2));
00150                 float left_factor = ((factor >= 0.0) ? 1.0 : 1.0 - (-factor*2));
00151     
00152                 if( controller.status.B == 1 )
00153                 {
00154                     left = left_factor;
00155                     right = right_factor;
00156                 }
00157                 else if( controller.status.A == 1 )
00158                 {
00159                     left = -right_factor;
00160                     right = -left_factor;
00161                 }
00162                 else
00163                 {
00164                     left = 0;
00165                     right = 0;
00166                 }
00167             }
00168         }
00169         else if( (left_factor != 0.0)||(right_factor != 0.0) )
00170         {
00171             left = left_factor;
00172             right = right_factor;
00173         }
00174         else
00175         {
00176             float factor = ((float)((int)controller.status.AcceleX -128) / 128.0); 
00177 
00178             float right_factor = ((factor <= 0.0) ? 1.0 : 1.0 - (factor*2));
00179             float left_factor = ((factor >= 0.0) ? 1.0 : 1.0 - (-factor*2));
00180 
00181             if( controller.status.B == 1 )
00182             {
00183                 left = left_factor;
00184                 right = right_factor;
00185             }
00186             else if( controller.status.A == 1 )
00187             {
00188                 left = -right_factor;
00189                 right = -left_factor;
00190             }
00191             else if( controller.status.UP == 1 )
00192             {
00193                 left = 1.0;
00194                 right = 1.0;
00195             }
00196             else if( controller.status.DOWN == 1 )
00197             {
00198                 left = -1.0;
00199                 right = -1.0;
00200             }
00201             else if( controller.status.RIGHT == 1 )
00202             {
00203                 left = 1.0;
00204                 right = -1.0;
00205             }
00206             else if( controller.status.LEFT == 1 )
00207             {
00208                 left = -1.0;
00209                 right = 1.0;
00210             }
00211             else
00212             {
00213                 left = 0.0;
00214                 right = 0.0;    
00215             }
00216             if((controller.status.UP == 1)&&(controller.status.DOWN == 1))
00217             {
00218                 left = 0.0;
00219                 right = 0.0;    
00220                 ModeLed = 0;
00221                 challenge_mode = 1;
00222                 ticker.attach(periodicCallback, 0.1);
00223 
00224             }
00225         }
00226         //ControllerStateLed = (float)controller.status.LeftAnalogLR / 255.0;            
00227     }
00228 }
00229 
00230 int get_fsen(int num)
00231 {
00232     switch(num)
00233     {
00234     case 0: 
00235         return((int)fsen1.read_u16());
00236     case 1: 
00237         return((int)fsen2.read_u16());
00238     case 2: 
00239         return((int)fsen3.read_u16());
00240     case 3: 
00241         return((int)fsen4.read_u16());
00242     }
00243     return(0);
00244 }
00245 
00246 void base()
00247 {
00248     wait(0.5);
00249     
00250     for(int i=0;i<4;i++)
00251     {
00252         base_fsen[i] = 0;
00253     }
00254     
00255     for(int j=0;j<10;j++)
00256     {
00257         for(int i=0;i<4;i++)
00258         {
00259             base_fsen[i] +=  get_fsen(i);
00260         }
00261         wait_ms(50);
00262     }
00263     for(int i=0;i<4;i++)
00264     {
00265         base_fsen[i] =  base_fsen[i] / 10;
00266     }
00267 #if DBG
00268     pc.printf("[0]:%05d[1]:%05d[2]:%05d[3]:%05d\n\r",base_fsen[0],base_fsen[1],base_fsen[2],base_fsen[3]);
00269 #endif
00270 }
00271 
00272 int get_line(int num)
00273 {
00274     int in = get_fsen(num);
00275     int ret = 0;
00276     
00277 #if 1
00278     if(in > 700)
00279 #else
00280     if( (in > (base_fsen[num] + 200))||(in < (base_fsen[num] - 200)))
00281 #endif
00282     {
00283         ret = 1;
00284     }
00285     return(ret);
00286 }
00287 
00288 //ライントレース関数
00289 void line(void)
00290 {
00291     ModeLed = 0;
00292     wait(1);
00293     while(sw1 != 0)
00294     {
00295 #if 0
00296         int line = get_line(0) ? 0 : 1;
00297             line |= get_line(1) ? 0 : 2;
00298             line |= get_line(2) ? 0 : 4;
00299             line |= get_line(3) ? 0 : 8;
00300 #else
00301         int line = get_line(0) ? 1 : 0;
00302             line |= get_line(1) ? 2 : 0;
00303             line |= get_line(2) ? 4 : 0;
00304             line |= get_line(3) ? 8 : 0;
00305 #endif
00306 
00307 #if DBG
00308         pc.printf("line=%02x %04x %04x %04x %04x\n\r",line,base_fsen[0],base_fsen[1],base_fsen[2],base_fsen[3]);
00309 #endif
00310 
00311 #if 1
00312         switch(line)
00313         {
00314             case 1:                 // ○○○●
00315                 left = 1.0;
00316                 right = -1.0;
00317                 break;
00318             case 3:                 // ○○●●
00319                 left = 1.0;
00320                 right = -0.5;
00321                 break;
00322             case 2:                 // ○○●○
00323                 left = 1.0;
00324                 right = 0.5;
00325                 break;
00326             case 6:                 // ○●●○
00327                 left = 1.0;
00328                 right = 1.0;
00329                 break;
00330             case 4:                 // ○●○○
00331                 left = 0.5;
00332                 right = 1.0;
00333                 break;
00334             case 12:                // ●●○○
00335                 left = -0.5;
00336                 right = 1.0;
00337                 break;
00338             case 8:                 // ●○○○
00339                 left = -1.0;
00340                 right = 1.0;
00341                 break;
00342             default:
00343                 left = 1.0;
00344                 right = 1.0;
00345                 break;
00346         }
00347 #endif
00348 
00349     }
00350     ModeLed = 1;
00351     left = 0.0;
00352     right = 0.0;
00353     wait(1);
00354 }
00355 
00356 //動作パターン関数（工事中）
00357 void wb_control(void)
00358 {
00359     ModeLed = 0;
00360     wait(1);    
00361     
00362     // Wallbot State Initialize
00363     // Up Straight  : 1
00364     // Up Back      : 2
00365     // Up Rotate    : 3
00366     // Down Straight  : 4
00367     // Down Back      : 5
00368     // Down Rotate    : 6
00369     stt_Mode = 1;
00370     
00371     // 値を格納する用の配列、変数
00372     float   acData[3];
00373     float   gyData[3];
00374     float ax = 0;
00375     float ay = 0;
00376     float buf_ax[10];
00377     float mean_ax = 0;
00378     float sum_ax = 0;
00379 //    float log_ax[30];
00380     int cnt_loop = 0;
00381     int cnt_back = 0;
00382     int cnt_straight = 0;
00383     float thre_bump = 2.0;
00384     bool enable_ChangeMode = false;
00385     
00386         for(int i = 0; i < 10; i++)
00387         {
00388             buf_ax[i] = 0;
00389         }
00390     
00391     while(sw1 != 0)
00392     {
00393 //        Wait(0.1);
00394         
00395         // Get value                   
00396         //加速度を取得
00397         Timer acTimer;
00398         acTimer.start();
00399         mpu.getAccelero(acData);    //加速度を取得 acDataに格納
00400         acTimer.stop();
00401     //  at = acTimer.read_ms();
00402         acTimer.reset();
00403      
00404         //ジャイロを取得
00405         Timer gyTimer;
00406         gyTimer.start();
00407         mpu.getGyro(gyData);    //ジャイロの値（角加速度）を取得 gyDataに格納
00408         gyTimer.stop();
00409     //  gt = gyTimer.read_ms();
00410         gyTimer.reset();
00411      
00412         //floatの値を合計5桁、小数点以下3桁の形でPCへ送信
00413         pc.printf("%5.3f:%5.3f:%5.3f:%5.3f:%5.3f:%5.3f \n", acData[0], acData[1], acData[2],gyData[0],gyData[1],gyData[2]);  
00414 
00415         ax = acData[0];
00416         ay = acData[1];
00417         
00418 //        if(!enble_ChangeMode)
00419 //        {
00420 //            if(cnt_loop > 20)
00421 //            {
00422 //                enble_ChangeMode = true;
00423 //                }
00424 //            }
00425         
00426         // ax Buffer Store
00427         for(int i = 9; i > 0; i--)
00428         {
00429             buf_ax[i] = buf_ax[i - 1];
00430             }
00431         buf_ax[0] = ax;
00432         sum_ax += buf_ax[1];
00433         sum_ax -= buf_ax[9];
00434         mean_ax = sum_ax / 9;
00435         
00436 //        for(int i = 29; i > 0; i--)
00437 //        {
00438 //            log_ax[i] = log_ax[i - 1];
00439 //            }
00440 //            log_ax[0] = ax;
00441         
00442 //        if(cnt_loop % 100 == 0)
00443 //        {
00444 //            pc.printf("loop : %d\n", cnt_loop);
00445 //            pc.printf("loop : %d\n", cnt_loop);
00446 //            pc.printf("loop : %d\n", cnt_loop);
00447 //            pc.printf("loop : %d\n", cnt_loop);
00448 //            pc.printf("loop : %d\n", cnt_loop);
00449 //            }
00450         
00451 #if 1
00452         switch(stt_Mode)
00453         {
00454             case 1:                 // Up Straight
00455 //                pc.printf("Mode 1 \n");
00456             
00457 //            for(int i = 0; i < 30; i++)
00458 //            {
00459 //                pc.printf("%5.3f, ", log_ax[i]);
00460 //                }
00461 //                pc.printf("\n");
00462 //                pc.printf("\n");
00463 //                pc.printf("\n");
00464             
00465                 if(ay > 0.5){
00466                         left = 0.9;
00467                         right = 1.0;
00468 //                        pc.printf("Lean Right");
00469                     }
00470                     else if(ay < -0.5){
00471                         left = 1.0;
00472                         right = 0.9;
00473 //                        pc.printf("Lean Left");
00474                     }
00475                     else
00476                     {
00477                         left = 1.0;
00478                         right = 1.0;
00479                         }
00480                         
00481                     // Judge Bump
00482                     if(enable_ChangeMode)
00483                     {                        
00484                         if(ax - mean_ax > thre_bump)
00485                         {
00486                             stt_Mode = 2;
00487                             pc.printf("Mode 1 -> 2 \n");
00488                             
00489                             enable_ChangeMode = false;
00490                             }
00491                     }else
00492                     {
00493                         cnt_straight++;
00494                         if(cnt_straight > 100)
00495                         {
00496                             enable_ChangeMode = true;
00497                             cnt_straight = 0;
00498                             }
00499                         }
00500                 
00501                 break;
00502             case 2:             // Up Back
00503                 pc.printf("Mode 2 \n");
00504                 if(cnt_back < 30)
00505                 {
00506                     left = 0;//-1.0;
00507                     right = 0;//-1.0;
00508                     //cnt_back++;
00509                     }
00510                     else{
00511                             cnt_back = 0;
00512                             stt_Mode = 3;
00513                             pc.printf("Mode 2 -> 3 \n");
00514                         }
00515                 
00516                 break;
00517             case 3:                 // Up Rotate
00518                 pc.printf("Mode 3 \n");
00519                 if(!(ax < -9.7/* && ay < 0.5 && ay >= -0.3*/))      // Change Using Gyro??
00520                 {
00521                     left = 1.0;
00522                     right = 0;                    
00523                     }
00524                     else
00525                     {
00526                         stt_Mode = 4;
00527                         pc.printf("Mode 3 - > 4 \n");
00528                         
00529                         }
00530                 
00531                 break;
00532             
00533             case 4:                 // Down Straight
00534                 pc.printf("Mode 4 \n");
00535                 if(ay > 0.5){
00536                         left = 1.0;
00537                         right = 0.9;
00538                     }
00539                     else if(ay < -0.5){
00540                         left = 0.9;
00541                         right = 1.0;
00542                     }
00543                     else
00544                     {
00545                         left = 1.0;
00546                         right = 1.0;
00547                         }
00548                         
00549                     // Judge Bump
00550                     if(enable_ChangeMode)
00551                     {
00552                         if(ax - buf_ax[1] > thre_bump /*&& (ax - buf_ax[2] > thre_bump)*/)
00553                         {
00554                             stt_Mode = 5;
00555                             pc.printf("Mode 4 -> 5 \n");
00556                             
00557                             enable_ChangeMode = false;
00558                             }
00559                     }else
00560                     {                        
00561                         cnt_straight++;
00562                         if(cnt_straight > 10)
00563                         {
00564                             enable_ChangeMode = true;
00565                             cnt_straight = 0;
00566                             }
00567                         }
00568                 
00569                 break;
00570             case 5:           
00571                 pc.printf("Mode 5 \n");
00572                 if(cnt_back < 30)
00573                 {
00574                     left = -1.0;
00575                     right = -1.0;
00576                     cnt_back++;
00577                     }
00578                     else{
00579                             cnt_back = 0;
00580                             stt_Mode = 6;
00581                             pc.printf(" 5 -> 6 \n");
00582                         }
00583                 
00584                 break;
00585             case 6:                 //
00586                 pc.printf("Mode 6 \n");
00587                 if(!(ax > 9.7 /*&& ay < 0.5 && ay >= 0*/))      // Change Using Gyro??
00588                 {
00589                     left = 0;
00590                     right = 1.0;                    
00591                     }
00592                     else
00593                     {
00594                         stt_Mode = 1;
00595                         pc.printf(" 6 -> 1 \n");
00596 //                        
00597 //                        for(int i = 0; i < 3; i++)
00598 //                        {
00599 //                            buf_ax[i] = ax;
00600 //                            }
00601                         }
00602                         
00603                 
00604                 break;
00605             default:
00606                 break;
00607         }
00608 #endif
00609 
00610         cnt_loop++;
00611 
00612         if(cnt_loop > 2000)
00613         {
00614             cnt_loop = 0;
00615             }
00616     }
00617     ModeLed = 1;
00618     left = 0.0;
00619     right = 0.0;
00620     wait(1);
00621 }
00622 
00623 #if 0
00624 int counter1 = 0;
00625 void p1_rise()
00626 {
00627     if( pin2 == 1 )
00628     {
00629         counter1++;
00630     }
00631     else
00632     {
00633         counter1--;
00634     }
00635 }
00636 #endif
00637 
00638 /**************************************************************************/
00639 /*!
00640     @brief  Program entry point
00641 */
00642 /**************************************************************************/
00643 int main(void)
00644 {
00645     sw1.mode(PullUp);
00646     sw2.mode(PullUp);
00647 
00648     encl1.mode(PullNone);
00649     encl2.mode(PullNone);
00650     encr1.mode(PullNone);
00651     encr2.mode(PullNone);
00652 
00653     ModeLed = 1;
00654     ConnectStateLed = 1;
00655 #if DBG
00656     //pc.baud(921600);
00657     pc.baud(9600);
00658     pc.printf("Start\n\r");
00659 #endif
00660     outlow = 0;
00661     
00662     if(sw2 == 0)
00663     {
00664 //        pin1.mode(PullDown);
00665 //        pin1.rise(&p1_rise);
00666         while(1)
00667         {
00668             //int in1 = pin1;
00669             //int in2 = pin2;
00670             //ModeLed = pin1;
00671             //pc.printf("dat = %d %d\r\n",in1,in2);
00672             base();
00673 #if 0
00674             left = 1.0;
00675             right = 1.0;
00676             wait(5);           
00677             left = -1.0;
00678             right = -1.0;
00679             wait(5);
00680 #endif        
00681         }
00682     }
00683 
00684 //    // MPU6050 Initialize
00685 //    mpu.initialize();
00686 //    mpu.setAcceleroRange(MPU6050_ACCELERO_RANGE_8G);
00687 //    mpu.setGyroRange(MPU6050_GYRO_RANGE_1000);
00688 
00689     ///180601 MPU6050センサの初期化処理
00690     mpu.initialize();
00691 //  mpu.setAcceleroRange(MPU6050_ACCELERO_RANGE_8G);    //加速度センサ 計測レンジ設定（今回は2Gか4Gがよさそう）
00692     mpu.setAcceleroRange(MPU6050_ACCELERO_RANGE_2G); 
00693 //   mpu.setGyroRange(MPU6050_GYRO_RANGE_1000);          //ジャイロセンサ 計測レンジ設定（ここも250か500がよさそう（そんなに早く回転しないので））
00694     mpu.setGyroRange(MPU6050_GYRO_RANGE_250);
00695     ///180601 
00696 
00697     ble.init(); 
00698     ble.onConnection(onConnected);
00699     ble.onDisconnection(onDisconnected);
00700     ble.onDataWritten(onDataWritten);
00701     
00702     /* setup advertising */
00703     ble.accumulateAdvertisingPayload(GapAdvertisingData::BREDR_NOT_SUPPORTED);
00704     ble.setAdvertisingType (GapAdvertisingParams::ADV_CONNECTABLE_UNDIRECTED);
00705     ble.accumulateAdvertisingPayload(GapAdvertisingData::SHORTENED_LOCAL_NAME,
00706                                     (const uint8_t *)"mbed WallbotBLE", sizeof("mbed WallbotBLE") - 1);
00707     ble.accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LIST_16BIT_SERVICE_IDS,
00708                                     (const uint8_t *)RCBController_service_uuid, sizeof(RCBController_service_uuid));
00709 
00710     ble.setAdvertisingInterval (160); /* 100ms; in multiples of 0.625ms. */
00711     ble.startAdvertising();
00712 
00713     ble.addService(RCBControllerService);
00714 
00715 
00716     while (true) {
00717         if(sw1 == 0)
00718         {
00719             bValue = 1;
00720             line_mode = 1;
00721             //line();
00722             wb_control(); //動作モード関数
00723             line_mode = 0;
00724             bValue = 0;
00725         }
00726         ble.waitForEvent();
00727     }
00728 }
00729