Yutaka Yoshida / Mbed 2 deprecated BLE_WallbotBLE_Challenge_byYUTAKA3

6/22　上下往復完成版

Dependencies:   mbed

Fork of BLE_WallbotBLE_Challenge_byYUTAKA3 by Maiko Matsumoto

main.cpp@8:102c19510dce, 2018-06-12 (annotated)

Committer:
Dyotty
Date:
Tue Jun 12 04:24:05 2018 +0000
Revision:
8:102c19510dce
Parent:
7:897b9ded86e2
Child:
9:965bfb378463
6/12???

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jksoft 0:76dfa9657d9d 1 #include "mbed.h"
jksoft 0:76dfa9657d9d 2 #include "BLEDevice.h"
jksoft 0:76dfa9657d9d 3 #include "RCBController.h"
jksoft 0:76dfa9657d9d 4 #include "TB6612.h"
Dyotty 3:f707552ec50a 5 #include "MPU6050.h"
jksoft 0:76dfa9657d9d 6
Dyotty 6:213041054f97 7 #define DBG 1
jksoft 0:76dfa9657d9d 8
jksoft 0:76dfa9657d9d 9 BLEDevice ble;
Dyotty 3:f707552ec50a 10
Dyotty 3:f707552ec50a 11 MPU6050 mpu(I2C_SDA, I2C_SCL);
Dyotty 3:f707552ec50a 12
sibu2 1:a86c84ead24a 13 #if DBG
jksoft 0:76dfa9657d9d 14 Serial pc(USBTX, USBRX);
sibu2 1:a86c84ead24a 15 #endif
jksoft 0:76dfa9657d9d 16 /* LEDs for indication: */
jksoft 0:76dfa9657d9d 17 DigitalOut ModeLed(P0_19);
jksoft 0:76dfa9657d9d 18 DigitalOut ConnectStateLed(P0_18);
jksoft 0:76dfa9657d9d 19 DigitalOut outlow(P0_20);
jksoft 0:76dfa9657d9d 20 //PwmOut ControllerStateLed(LED2);
jksoft 0:76dfa9657d9d 21
jksoft 0:76dfa9657d9d 22 AnalogIn fsen1(P0_2);
jksoft 0:76dfa9657d9d 23 AnalogIn fsen2(P0_3);
jksoft 0:76dfa9657d9d 24 AnalogIn fsen3(P0_4);
jksoft 0:76dfa9657d9d 25 AnalogIn fsen4(P0_5);
Dyotty 3:f707552ec50a 26 #if 1
jksoft 0:76dfa9657d9d 27 TB6612 left(P0_29,P0_23,P0_24);
sibu2 1:a86c84ead24a 28 TB6612 right(P0_28,P0_30,P0_0);
jksoft 0:76dfa9657d9d 29 #else
jksoft 0:76dfa9657d9d 30 TB6612 left(P0_29,P0_24,P0_23);
jksoft 0:76dfa9657d9d 31 TB6612 right(P0_28,P0_0,P0_30);
jksoft 0:76dfa9657d9d 32 #endif
jksoft 0:76dfa9657d9d 33 Ticker ticker;
jksoft 0:76dfa9657d9d 34
jksoft 0:76dfa9657d9d 35 DigitalIn sw1(P0_16);
jksoft 0:76dfa9657d9d 36 DigitalIn sw2(P0_17);
jksoft 0:76dfa9657d9d 37
sibu2 1:a86c84ead24a 38 DigitalIn encl1(P0_6);
sibu2 1:a86c84ead24a 39 DigitalIn encl2(P0_7);
sibu2 1:a86c84ead24a 40 DigitalIn encr1(P0_8);
sibu2 1:a86c84ead24a 41 DigitalIn encr2(P0_10);
jksoft 0:76dfa9657d9d 42
jksoft 0:76dfa9657d9d 43
jksoft 0:76dfa9657d9d 44 int base_fsen[4];
jksoft 0:76dfa9657d9d 45 int line_mode = 0;
jksoft 0:76dfa9657d9d 46 int challenge_mode = 0;
jksoft 0:76dfa9657d9d 47 char bValue = 0;
jksoft 0:76dfa9657d9d 48
Dyotty 5:29f7f535d4b2 49 // Wallbot State
Dyotty 5:29f7f535d4b2 50 int stt_Mode;
Dyotty 5:29f7f535d4b2 51
jksoft 0:76dfa9657d9d 52 int get_line(int num);
jksoft 0:76dfa9657d9d 53
jksoft 0:76dfa9657d9d 54 /* RCBController Service */
jksoft 0:76dfa9657d9d 55 static const uint16_t RCBController_service_uuid = 0xFFF0;
jksoft 0:76dfa9657d9d 56 static const uint16_t RCBController_Characteristic_uuid = 0xFFF1;
jksoft 0:76dfa9657d9d 57 static const uint16_t RCBController_b_Characteristic_uuid = 0xFFF3;
jksoft 0:76dfa9657d9d 58 uint8_t RCBControllerPayload[10] = {0,};
jksoft 0:76dfa9657d9d 59
jksoft 0:76dfa9657d9d 60 GattCharacteristic ControllerChar (RCBController_Characteristic_uuid,RCBControllerPayload,10, 10,
jksoft 0:76dfa9657d9d 61 GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_WRITE |
jksoft 0:76dfa9657d9d 62 GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_WRITE_WITHOUT_RESPONSE);
sibu2 1:a86c84ead24a 63 //static uint8_t _bValue = 0x00;
jksoft 0:76dfa9657d9d 64 static uint8_t _mValue[10] = {0,};
jksoft 0:76dfa9657d9d 65 GattCharacteristic b_Char(RCBController_b_Characteristic_uuid, _mValue, sizeof(_mValue), sizeof(_mValue),
jksoft 0:76dfa9657d9d 66 GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_READ | GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_NOTIFY);
jksoft 0:76dfa9657d9d 67
jksoft 0:76dfa9657d9d 68 GattCharacteristic *ControllerChars[] = {&ControllerChar,&b_Char};
jksoft 0:76dfa9657d9d 69 GattService RCBControllerService(RCBController_service_uuid, ControllerChars, sizeof(ControllerChars) / sizeof(GattCharacteristic *));
jksoft 0:76dfa9657d9d 70
jksoft 0:76dfa9657d9d 71 RCBController controller;
jksoft 0:76dfa9657d9d 72
jksoft 0:76dfa9657d9d 73 void onConnected(Gap::Handle_t handle, const Gap::ConnectionParams_t *params)
jksoft 0:76dfa9657d9d 74 {
jksoft 0:76dfa9657d9d 75 ConnectStateLed = 0;
jksoft 0:76dfa9657d9d 76 #if DBG
jksoft 0:76dfa9657d9d 77 pc.printf("Connected\n\r");
jksoft 0:76dfa9657d9d 78 #endif
jksoft 0:76dfa9657d9d 79 }
jksoft 0:76dfa9657d9d 80
jksoft 0:76dfa9657d9d 81 void onDisconnected(Gap::Handle_t handle, Gap::DisconnectionReason_t reason)
jksoft 0:76dfa9657d9d 82 {
sibu2 1:a86c84ead24a 83 left = 0;
sibu2 1:a86c84ead24a 84 right = 0;
sibu2 1:a86c84ead24a 85
jksoft 0:76dfa9657d9d 86 ble.startAdvertising();
jksoft 0:76dfa9657d9d 87 ConnectStateLed = 1;
jksoft 0:76dfa9657d9d 88 #if DBG
jksoft 0:76dfa9657d9d 89 pc.printf("Disconnected\n\r");
jksoft 0:76dfa9657d9d 90 #endif
jksoft 0:76dfa9657d9d 91 }
jksoft 0:76dfa9657d9d 92
jksoft 0:76dfa9657d9d 93 void periodicCallback(void)
jksoft 0:76dfa9657d9d 94 {
jksoft 0:76dfa9657d9d 95 if (!ble.getGapState().connected) {
jksoft 0:76dfa9657d9d 96 return;
jksoft 0:76dfa9657d9d 97 }
jksoft 0:76dfa9657d9d 98 int line = get_line(0) ? 1 : 0;
jksoft 0:76dfa9657d9d 99 line |= get_line(1) ? 2 : 0;
jksoft 0:76dfa9657d9d 100 line |= get_line(2) ? 4 : 0;
jksoft 0:76dfa9657d9d 101 line |= get_line(3) ? 8 : 0;
jksoft 0:76dfa9657d9d 102 if( (bValue == 0)&&(line != 0) )
jksoft 0:76dfa9657d9d 103 {
jksoft 0:76dfa9657d9d 104 // game over
jksoft 0:76dfa9657d9d 105 left = 0.0;
jksoft 0:76dfa9657d9d 106 right = 0.0;
jksoft 0:76dfa9657d9d 107 bValue = 10;
jksoft 0:76dfa9657d9d 108 }
jksoft 0:76dfa9657d9d 109 if( bValue > 0 )
jksoft 0:76dfa9657d9d 110 {
jksoft 0:76dfa9657d9d 111 memcpy( _mValue , "GAME OVER",10);
jksoft 0:76dfa9657d9d 112 ble.updateCharacteristicValue(b_Char.getValueAttribute().getHandle(), (uint8_t *)_mValue, sizeof(_mValue));
jksoft 0:76dfa9657d9d 113 ModeLed = !ModeLed;
jksoft 0:76dfa9657d9d 114 bValue--;
jksoft 0:76dfa9657d9d 115 if( bValue == 0 )
jksoft 0:76dfa9657d9d 116 {
jksoft 0:76dfa9657d9d 117 ModeLed = 1;
jksoft 0:76dfa9657d9d 118 challenge_mode = 0;
jksoft 0:76dfa9657d9d 119 ticker.detach();
jksoft 0:76dfa9657d9d 120 }
jksoft 0:76dfa9657d9d 121 }
jksoft 0:76dfa9657d9d 122 }
jksoft 0:76dfa9657d9d 123
jksoft 0:76dfa9657d9d 124
jksoft 0:76dfa9657d9d 125 // GattEvent
jksoft 0:76dfa9657d9d 126 void onDataWritten(const GattCharacteristicWriteCBParams *params)
jksoft 0:76dfa9657d9d 127 {
jksoft 0:76dfa9657d9d 128 if( (params->charHandle == ControllerChar.getValueAttribute().getHandle()) && (line_mode == 0))
jksoft 0:76dfa9657d9d 129 {
jksoft 0:76dfa9657d9d 130 memcpy( &controller.data[0], params->data , params->len );
jksoft 0:76dfa9657d9d 131 //memcpy( &controller.data[0], RCBControllerPayload, sizeof(controller));
jksoft 0:76dfa9657d9d 132 #if DBG
jksoft 0:76dfa9657d9d 133
jksoft 0:76dfa9657d9d 134 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],
jksoft 0:76dfa9657d9d 135 controller.data[5],controller.data[6],controller.data[7],controller.data[8],controller.data[9]);
jksoft 0:76dfa9657d9d 136 #endif
jksoft 0:76dfa9657d9d 137 float right_factor;
jksoft 0:76dfa9657d9d 138 float left_factor;
jksoft 0:76dfa9657d9d 139
jksoft 0:76dfa9657d9d 140 left_factor = ((float)((int)controller.status.LeftAnalogUD -128) / 128.0);
jksoft 0:76dfa9657d9d 141 right_factor = ((float)((int)controller.status.RightAnalogUD -128) / 128.0);
jksoft 0:76dfa9657d9d 142
jksoft 0:76dfa9657d9d 143 if(challenge_mode == 1)
jksoft 0:76dfa9657d9d 144 {
jksoft 0:76dfa9657d9d 145 if( bValue == 0 )
jksoft 0:76dfa9657d9d 146 {
jksoft 0:76dfa9657d9d 147 float factor = ((float)((int)controller.status.AcceleX -128) / 128.0);
jksoft 0:76dfa9657d9d 148
jksoft 0:76dfa9657d9d 149 float right_factor = ((factor <= 0.0) ? 1.0 : 1.0 - (factor*2));
jksoft 0:76dfa9657d9d 150 float left_factor = ((factor >= 0.0) ? 1.0 : 1.0 - (-factor*2));
jksoft 0:76dfa9657d9d 151
jksoft 0:76dfa9657d9d 152 if( controller.status.B == 1 )
jksoft 0:76dfa9657d9d 153 {
jksoft 0:76dfa9657d9d 154 left = left_factor;
jksoft 0:76dfa9657d9d 155 right = right_factor;
jksoft 0:76dfa9657d9d 156 }
jksoft 0:76dfa9657d9d 157 else if( controller.status.A == 1 )
jksoft 0:76dfa9657d9d 158 {
jksoft 0:76dfa9657d9d 159 left = -right_factor;
jksoft 0:76dfa9657d9d 160 right = -left_factor;
jksoft 0:76dfa9657d9d 161 }
jksoft 0:76dfa9657d9d 162 else
jksoft 0:76dfa9657d9d 163 {
jksoft 0:76dfa9657d9d 164 left = 0;
jksoft 0:76dfa9657d9d 165 right = 0;
jksoft 0:76dfa9657d9d 166 }
jksoft 0:76dfa9657d9d 167 }
jksoft 0:76dfa9657d9d 168 }
jksoft 0:76dfa9657d9d 169 else if( (left_factor != 0.0)||(right_factor != 0.0) )
jksoft 0:76dfa9657d9d 170 {
jksoft 0:76dfa9657d9d 171 left = left_factor;
jksoft 0:76dfa9657d9d 172 right = right_factor;
jksoft 0:76dfa9657d9d 173 }
jksoft 0:76dfa9657d9d 174 else
jksoft 0:76dfa9657d9d 175 {
jksoft 0:76dfa9657d9d 176 float factor = ((float)((int)controller.status.AcceleX -128) / 128.0);
jksoft 0:76dfa9657d9d 177
jksoft 0:76dfa9657d9d 178 float right_factor = ((factor <= 0.0) ? 1.0 : 1.0 - (factor*2));
jksoft 0:76dfa9657d9d 179 float left_factor = ((factor >= 0.0) ? 1.0 : 1.0 - (-factor*2));
jksoft 0:76dfa9657d9d 180
jksoft 0:76dfa9657d9d 181 if( controller.status.B == 1 )
jksoft 0:76dfa9657d9d 182 {
jksoft 0:76dfa9657d9d 183 left = left_factor;
jksoft 0:76dfa9657d9d 184 right = right_factor;
jksoft 0:76dfa9657d9d 185 }
jksoft 0:76dfa9657d9d 186 else if( controller.status.A == 1 )
jksoft 0:76dfa9657d9d 187 {
jksoft 0:76dfa9657d9d 188 left = -right_factor;
jksoft 0:76dfa9657d9d 189 right = -left_factor;
jksoft 0:76dfa9657d9d 190 }
jksoft 0:76dfa9657d9d 191 else if( controller.status.UP == 1 )
jksoft 0:76dfa9657d9d 192 {
jksoft 0:76dfa9657d9d 193 left = 1.0;
jksoft 0:76dfa9657d9d 194 right = 1.0;
jksoft 0:76dfa9657d9d 195 }
jksoft 0:76dfa9657d9d 196 else if( controller.status.DOWN == 1 )
jksoft 0:76dfa9657d9d 197 {
jksoft 0:76dfa9657d9d 198 left = -1.0;
jksoft 0:76dfa9657d9d 199 right = -1.0;
jksoft 0:76dfa9657d9d 200 }
jksoft 0:76dfa9657d9d 201 else if( controller.status.RIGHT == 1 )
jksoft 0:76dfa9657d9d 202 {
jksoft 0:76dfa9657d9d 203 left = 1.0;
jksoft 0:76dfa9657d9d 204 right = -1.0;
jksoft 0:76dfa9657d9d 205 }
jksoft 0:76dfa9657d9d 206 else if( controller.status.LEFT == 1 )
jksoft 0:76dfa9657d9d 207 {
jksoft 0:76dfa9657d9d 208 left = -1.0;
jksoft 0:76dfa9657d9d 209 right = 1.0;
jksoft 0:76dfa9657d9d 210 }
jksoft 0:76dfa9657d9d 211 else
jksoft 0:76dfa9657d9d 212 {
jksoft 0:76dfa9657d9d 213 left = 0.0;
jksoft 0:76dfa9657d9d 214 right = 0.0;
jksoft 0:76dfa9657d9d 215 }
jksoft 0:76dfa9657d9d 216 if((controller.status.UP == 1)&&(controller.status.DOWN == 1))
jksoft 0:76dfa9657d9d 217 {
jksoft 0:76dfa9657d9d 218 left = 0.0;
jksoft 0:76dfa9657d9d 219 right = 0.0;
jksoft 0:76dfa9657d9d 220 ModeLed = 0;
jksoft 0:76dfa9657d9d 221 challenge_mode = 1;
jksoft 0:76dfa9657d9d 222 ticker.attach(periodicCallback, 0.1);
jksoft 0:76dfa9657d9d 223
jksoft 0:76dfa9657d9d 224 }
jksoft 0:76dfa9657d9d 225 }
jksoft 0:76dfa9657d9d 226 //ControllerStateLed = (float)controller.status.LeftAnalogLR / 255.0;
jksoft 0:76dfa9657d9d 227 }
jksoft 0:76dfa9657d9d 228 }
jksoft 0:76dfa9657d9d 229
jksoft 0:76dfa9657d9d 230 int get_fsen(int num)
jksoft 0:76dfa9657d9d 231 {
jksoft 0:76dfa9657d9d 232 switch(num)
jksoft 0:76dfa9657d9d 233 {
jksoft 0:76dfa9657d9d 234 case 0:
jksoft 0:76dfa9657d9d 235 return((int)fsen1.read_u16());
jksoft 0:76dfa9657d9d 236 case 1:
jksoft 0:76dfa9657d9d 237 return((int)fsen2.read_u16());
jksoft 0:76dfa9657d9d 238 case 2:
jksoft 0:76dfa9657d9d 239 return((int)fsen3.read_u16());
jksoft 0:76dfa9657d9d 240 case 3:
jksoft 0:76dfa9657d9d 241 return((int)fsen4.read_u16());
jksoft 0:76dfa9657d9d 242 }
jksoft 0:76dfa9657d9d 243 return(0);
jksoft 0:76dfa9657d9d 244 }
jksoft 0:76dfa9657d9d 245
jksoft 0:76dfa9657d9d 246 void base()
jksoft 0:76dfa9657d9d 247 {
jksoft 0:76dfa9657d9d 248 wait(0.5);
jksoft 0:76dfa9657d9d 249
jksoft 0:76dfa9657d9d 250 for(int i=0;i<4;i++)
jksoft 0:76dfa9657d9d 251 {
jksoft 0:76dfa9657d9d 252 base_fsen[i] = 0;
jksoft 0:76dfa9657d9d 253 }
jksoft 0:76dfa9657d9d 254
jksoft 0:76dfa9657d9d 255 for(int j=0;j<10;j++)
jksoft 0:76dfa9657d9d 256 {
jksoft 0:76dfa9657d9d 257 for(int i=0;i<4;i++)
jksoft 0:76dfa9657d9d 258 {
jksoft 0:76dfa9657d9d 259 base_fsen[i] += get_fsen(i);
jksoft 0:76dfa9657d9d 260 }
jksoft 0:76dfa9657d9d 261 wait_ms(50);
jksoft 0:76dfa9657d9d 262 }
jksoft 0:76dfa9657d9d 263 for(int i=0;i<4;i++)
jksoft 0:76dfa9657d9d 264 {
jksoft 0:76dfa9657d9d 265 base_fsen[i] = base_fsen[i] / 10;
jksoft 0:76dfa9657d9d 266 }
sibu2 1:a86c84ead24a 267 #if DBG
jksoft 0:76dfa9657d9d 268 pc.printf("[0]:%05d[1]:%05d[2]:%05d[3]:%05d\n\r",base_fsen[0],base_fsen[1],base_fsen[2],base_fsen[3]);
sibu2 1:a86c84ead24a 269 #endif
jksoft 0:76dfa9657d9d 270 }
jksoft 0:76dfa9657d9d 271
jksoft 0:76dfa9657d9d 272 int get_line(int num)
jksoft 0:76dfa9657d9d 273 {
jksoft 0:76dfa9657d9d 274 int in = get_fsen(num);
jksoft 0:76dfa9657d9d 275 int ret = 0;
jksoft 0:76dfa9657d9d 276
jksoft 0:76dfa9657d9d 277 #if 1
jksoft 0:76dfa9657d9d 278 if(in > 700)
jksoft 0:76dfa9657d9d 279 #else
jksoft 0:76dfa9657d9d 280 if( (in > (base_fsen[num] + 200))||(in < (base_fsen[num] - 200)))
jksoft 0:76dfa9657d9d 281 #endif
jksoft 0:76dfa9657d9d 282 {
jksoft 0:76dfa9657d9d 283 ret = 1;
jksoft 0:76dfa9657d9d 284 }
jksoft 0:76dfa9657d9d 285 return(ret);
jksoft 0:76dfa9657d9d 286 }
jksoft 0:76dfa9657d9d 287
Keisuke_Yoshida 4:951fabc31ba6 288 //ライントレース関数
jksoft 0:76dfa9657d9d 289 void line(void)
jksoft 0:76dfa9657d9d 290 {
jksoft 0:76dfa9657d9d 291 ModeLed = 0;
jksoft 0:76dfa9657d9d 292 wait(1);
jksoft 0:76dfa9657d9d 293 while(sw1 != 0)
jksoft 0:76dfa9657d9d 294 {
jksoft 0:76dfa9657d9d 295 #if 0
jksoft 0:76dfa9657d9d 296 int line = get_line(0) ? 0 : 1;
jksoft 0:76dfa9657d9d 297 line |= get_line(1) ? 0 : 2;
jksoft 0:76dfa9657d9d 298 line |= get_line(2) ? 0 : 4;
jksoft 0:76dfa9657d9d 299 line |= get_line(3) ? 0 : 8;
jksoft 0:76dfa9657d9d 300 #else
jksoft 0:76dfa9657d9d 301 int line = get_line(0) ? 1 : 0;
jksoft 0:76dfa9657d9d 302 line |= get_line(1) ? 2 : 0;
jksoft 0:76dfa9657d9d 303 line |= get_line(2) ? 4 : 0;
jksoft 0:76dfa9657d9d 304 line |= get_line(3) ? 8 : 0;
jksoft 0:76dfa9657d9d 305 #endif
sibu2 1:a86c84ead24a 306
sibu2 1:a86c84ead24a 307 #if DBG
sibu2 1:a86c84ead24a 308 pc.printf("line=%02x %04x %04x %04x %04x\n\r",line,base_fsen[0],base_fsen[1],base_fsen[2],base_fsen[3]);
sibu2 1:a86c84ead24a 309 #endif
Keisuke_Yoshida 4:951fabc31ba6 310
sibu2 1:a86c84ead24a 311 #if 1
jksoft 0:76dfa9657d9d 312 switch(line)
jksoft 0:76dfa9657d9d 313 {
jksoft 0:76dfa9657d9d 314 case 1: // ○○○●
jksoft 0:76dfa9657d9d 315 left = 1.0;
jksoft 0:76dfa9657d9d 316 right = -1.0;
jksoft 0:76dfa9657d9d 317 break;
jksoft 0:76dfa9657d9d 318 case 3: // ○○●●
jksoft 0:76dfa9657d9d 319 left = 1.0;
jksoft 0:76dfa9657d9d 320 right = -0.5;
jksoft 0:76dfa9657d9d 321 break;
jksoft 0:76dfa9657d9d 322 case 2: // ○○●○
jksoft 0:76dfa9657d9d 323 left = 1.0;
jksoft 0:76dfa9657d9d 324 right = 0.5;
jksoft 0:76dfa9657d9d 325 break;
jksoft 0:76dfa9657d9d 326 case 6: // ○●●○
jksoft 0:76dfa9657d9d 327 left = 1.0;
jksoft 0:76dfa9657d9d 328 right = 1.0;
jksoft 0:76dfa9657d9d 329 break;
jksoft 0:76dfa9657d9d 330 case 4: // ○●○○
jksoft 0:76dfa9657d9d 331 left = 0.5;
jksoft 0:76dfa9657d9d 332 right = 1.0;
jksoft 0:76dfa9657d9d 333 break;
jksoft 0:76dfa9657d9d 334 case 12: // ●●○○
jksoft 0:76dfa9657d9d 335 left = -0.5;
jksoft 0:76dfa9657d9d 336 right = 1.0;
jksoft 0:76dfa9657d9d 337 break;
jksoft 0:76dfa9657d9d 338 case 8: // ●○○○
jksoft 0:76dfa9657d9d 339 left = -1.0;
jksoft 0:76dfa9657d9d 340 right = 1.0;
jksoft 0:76dfa9657d9d 341 break;
jksoft 0:76dfa9657d9d 342 default:
jksoft 0:76dfa9657d9d 343 left = 1.0;
jksoft 0:76dfa9657d9d 344 right = 1.0;
jksoft 0:76dfa9657d9d 345 break;
jksoft 0:76dfa9657d9d 346 }
sibu2 1:a86c84ead24a 347 #endif
Keisuke_Yoshida 4:951fabc31ba6 348
Keisuke_Yoshida 4:951fabc31ba6 349 }
Keisuke_Yoshida 4:951fabc31ba6 350 ModeLed = 1;
Keisuke_Yoshida 4:951fabc31ba6 351 left = 0.0;
Keisuke_Yoshida 4:951fabc31ba6 352 right = 0.0;
Keisuke_Yoshida 4:951fabc31ba6 353 wait(1);
Keisuke_Yoshida 4:951fabc31ba6 354 }
Keisuke_Yoshida 4:951fabc31ba6 355
Keisuke_Yoshida 4:951fabc31ba6 356 //動作パターン関数（工事中）
Keisuke_Yoshida 4:951fabc31ba6 357 void wb_control(void)
Keisuke_Yoshida 4:951fabc31ba6 358 {
Keisuke_Yoshida 4:951fabc31ba6 359 ModeLed = 0;
Dyotty 6:213041054f97 360 wait(1);
Dyotty 5:29f7f535d4b2 361
Dyotty 6:213041054f97 362 // Wallbot State Initialize
Dyotty 6:213041054f97 363 // Up Straight : 1
Dyotty 6:213041054f97 364 // Up Back : 2
Dyotty 6:213041054f97 365 // Up Rotate : 3
Dyotty 6:213041054f97 366 // Down Straight : 4
Dyotty 6:213041054f97 367 // Down Back : 5
Dyotty 6:213041054f97 368 // Down Rotate : 6
Dyotty 6:213041054f97 369 stt_Mode = 1;
Dyotty 6:213041054f97 370
Dyotty 6:213041054f97 371 // 値を格納する用の配列、変数
Dyotty 6:213041054f97 372 float acData[3];
Dyotty 6:213041054f97 373 float gyData[3];
Dyotty 6:213041054f97 374 float ax = 0;
Dyotty 6:213041054f97 375 float ay = 0;
Dyotty 7:897b9ded86e2 376 float buf_ax[10];
Dyotty 5:29f7f535d4b2 377 int cnt_loop = 0;
Dyotty 7:897b9ded86e2 378 int cnt_back = 0;
Dyotty 7:897b9ded86e2 379 float thre_bump = 2.0;
Dyotty 7:897b9ded86e2 380 bool enble_ChangeMode = false;
Dyotty 5:29f7f535d4b2 381
Keisuke_Yoshida 4:951fabc31ba6 382 while(sw1 != 0)
Keisuke_Yoshida 4:951fabc31ba6 383 {
Dyotty 6:213041054f97 384 // Wait(0.1);
Dyotty 5:29f7f535d4b2 385
Dyotty 6:213041054f97 386 // Get value
Dyotty 6:213041054f97 387 //加速度を取得
Dyotty 6:213041054f97 388 Timer acTimer;
Dyotty 6:213041054f97 389 acTimer.start();
Dyotty 6:213041054f97 390 mpu.getAccelero(acData); //加速度を取得 acDataに格納
Dyotty 6:213041054f97 391 acTimer.stop();
Dyotty 6:213041054f97 392 // at = acTimer.read_ms();
Dyotty 6:213041054f97 393 acTimer.reset();
Dyotty 6:213041054f97 394
Dyotty 6:213041054f97 395 //ジャイロを取得
Dyotty 6:213041054f97 396 Timer gyTimer;
Dyotty 6:213041054f97 397 gyTimer.start();
Dyotty 6:213041054f97 398 mpu.getGyro(gyData); //ジャイロの値（角加速度）を取得 gyDataに格納
Dyotty 6:213041054f97 399 gyTimer.stop();
Dyotty 6:213041054f97 400 // gt = gyTimer.read_ms();
Dyotty 6:213041054f97 401 gyTimer.reset();
Dyotty 6:213041054f97 402
Dyotty 6:213041054f97 403 //floatの値を合計5桁、小数点以下3桁の形でPCへ送信
Dyotty 6:213041054f97 404 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]);
Dyotty 6:213041054f97 405
Dyotty 6:213041054f97 406 ax = acData[0];
Dyotty 6:213041054f97 407 ay = acData[1];
Dyotty 5:29f7f535d4b2 408
Dyotty 7:897b9ded86e2 409 if(!enble_ChangeMode)
Dyotty 7:897b9ded86e2 410 {
Dyotty 7:897b9ded86e2 411 if(cnt_loop > 20)
Dyotty 7:897b9ded86e2 412 {
Dyotty 7:897b9ded86e2 413 enble_ChangeMode = true;
Dyotty 7:897b9ded86e2 414 }
Dyotty 7:897b9ded86e2 415 }
Dyotty 5:29f7f535d4b2 416
Dyotty 7:897b9ded86e2 417 // ax Buffer Store
Dyotty 7:897b9ded86e2 418 for(int i = 9; i > 0; i--)
Dyotty 7:897b9ded86e2 419 {
Dyotty 7:897b9ded86e2 420 buf_ax[i] = buf_ax[i - 1];
Dyotty 7:897b9ded86e2 421 }
Dyotty 7:897b9ded86e2 422 buf_ax[0] = ax;
Dyotty 7:897b9ded86e2 423
Dyotty 7:897b9ded86e2 424 if(cnt_loop % 100 == 0)
Dyotty 7:897b9ded86e2 425 {
Dyotty 7:897b9ded86e2 426 pc.printf("loop : %d\n", cnt_loop);
Dyotty 7:897b9ded86e2 427 pc.printf("loop : %d\n", cnt_loop);
Dyotty 7:897b9ded86e2 428 pc.printf("loop : %d\n", cnt_loop);
Dyotty 7:897b9ded86e2 429 pc.printf("loop : %d\n", cnt_loop);
Dyotty 7:897b9ded86e2 430 pc.printf("loop : %d\n", cnt_loop);
Dyotty 7:897b9ded86e2 431 }
Dyotty 5:29f7f535d4b2 432
Keisuke_Yoshida 4:951fabc31ba6 433 #if 1
Dyotty 5:29f7f535d4b2 434 switch(stt_Mode)
Keisuke_Yoshida 4:951fabc31ba6 435 {
Dyotty 6:213041054f97 436 case 1: // Up Straight
Dyotty 7:897b9ded86e2 437 pc.printf("Mode 1 \n");
Dyotty 5:29f7f535d4b2 438
Dyotty 7:897b9ded86e2 439 if(ay < -0.5){
Dyotty 7:897b9ded86e2 440 left = 0.97;
Dyotty 5:29f7f535d4b2 441 right = 1.0;
Dyotty 7:897b9ded86e2 442 pc.printf("Lean Right");
Keisuke_Yoshida 4:951fabc31ba6 443 }
Dyotty 7:897b9ded86e2 444 else if(ay > 0.5){
Dyotty 5:29f7f535d4b2 445 left = 1.0;
Dyotty 7:897b9ded86e2 446 right = 0.97;
Dyotty 7:897b9ded86e2 447 pc.printf("Lean Left");
Dyotty 5:29f7f535d4b2 448 }
Dyotty 5:29f7f535d4b2 449 else
Dyotty 5:29f7f535d4b2 450 {
Keisuke_Yoshida 4:951fabc31ba6 451 left = 1.0;
Keisuke_Yoshida 4:951fabc31ba6 452 right = 1.0;
Keisuke_Yoshida 4:951fabc31ba6 453 }
Dyotty 5:29f7f535d4b2 454
Dyotty 5:29f7f535d4b2 455 // Judge Bump
Dyotty 7:897b9ded86e2 456 if(enble_ChangeMode)
Dyotty 5:29f7f535d4b2 457 {
Dyotty 7:897b9ded86e2 458 if(ax - buf_ax[5] < -thre_bump)
Dyotty 7:897b9ded86e2 459 {
Dyotty 7:897b9ded86e2 460 stt_Mode = 2;
Dyotty 7:897b9ded86e2 461 pc.printf("Mode 1 -> 2 \n");
Dyotty 7:897b9ded86e2 462 }
Dyotty 7:897b9ded86e2 463 }
Dyotty 5:29f7f535d4b2 464
Dyotty 5:29f7f535d4b2 465 break;
Dyotty 6:213041054f97 466 case 2: // Up Back
Dyotty 7:897b9ded86e2 467 pc.printf("Mode 2 \n");
Dyotty 7:897b9ded86e2 468 if(cnt_back < 30)
Dyotty 5:29f7f535d4b2 469 {
Dyotty 5:29f7f535d4b2 470 left = -1.0;
Dyotty 5:29f7f535d4b2 471 right = -1.0;
Dyotty 7:897b9ded86e2 472 cnt_back++;
Dyotty 5:29f7f535d4b2 473 }
Dyotty 5:29f7f535d4b2 474 else{
Dyotty 7:897b9ded86e2 475 cnt_back = 0;
Dyotty 5:29f7f535d4b2 476 stt_Mode = 3;
Dyotty 7:897b9ded86e2 477 pc.printf("Mode 2 -> 3 \n");
Dyotty 5:29f7f535d4b2 478 }
Keisuke_Yoshida 4:951fabc31ba6 479
Keisuke_Yoshida 4:951fabc31ba6 480 break;
Dyotty 6:213041054f97 481 case 3: // Up Rotate
Dyotty 7:897b9ded86e2 482 pc.printf("Mode 3 \n");
Dyotty 8:102c19510dce 483 if(!(ax < -9.5 && ay < 0.5 && ay >= -0.3)) // Change Using Gyro??
Dyotty 5:29f7f535d4b2 484 {
Dyotty 5:29f7f535d4b2 485 left = 1.0;
Dyotty 5:29f7f535d4b2 486 right = 0;
Dyotty 5:29f7f535d4b2 487 }
Dyotty 5:29f7f535d4b2 488 else
Dyotty 5:29f7f535d4b2 489 {
Dyotty 5:29f7f535d4b2 490 stt_Mode = 4;
Dyotty 7:897b9ded86e2 491 pc.printf("Mode 3 - > 4 \n");
Dyotty 7:897b9ded86e2 492
Dyotty 8:102c19510dce 493 for(int i = 0; i < 10; i++)
Dyotty 8:102c19510dce 494 {
Dyotty 8:102c19510dce 495 buf_ax[i] = ax;
Dyotty 8:102c19510dce 496 }
Dyotty 5:29f7f535d4b2 497 }
Dyotty 5:29f7f535d4b2 498
Keisuke_Yoshida 4:951fabc31ba6 499 break;
Dyotty 5:29f7f535d4b2 500
Dyotty 6:213041054f97 501 case 4: // Down Straight
Dyotty 7:897b9ded86e2 502 pc.printf("Mode 4 \n");
Dyotty 7:897b9ded86e2 503 if(ay < -0.5){
Dyotty 5:29f7f535d4b2 504 left = 1.0;
Dyotty 7:897b9ded86e2 505 right = 0.97;
Dyotty 5:29f7f535d4b2 506 }
Dyotty 7:897b9ded86e2 507 else if(ay > 0.5){
Dyotty 7:897b9ded86e2 508 left = 0.97;
Dyotty 5:29f7f535d4b2 509 right = 1.0;
Dyotty 5:29f7f535d4b2 510 }
Dyotty 5:29f7f535d4b2 511 else
Dyotty 5:29f7f535d4b2 512 {
Dyotty 5:29f7f535d4b2 513 left = 1.0;
Dyotty 5:29f7f535d4b2 514 right = 1.0;
Dyotty 5:29f7f535d4b2 515 }
Dyotty 5:29f7f535d4b2 516
Dyotty 5:29f7f535d4b2 517 // Judge Bump
Dyotty 7:897b9ded86e2 518 if(ax - buf_ax[5] < -thre_bump)
Dyotty 5:29f7f535d4b2 519 {
Dyotty 5:29f7f535d4b2 520 stt_Mode = 5;
Dyotty 7:897b9ded86e2 521 pc.printf("Mode 4 -> 5 \n");
Dyotty 5:29f7f535d4b2 522 }
Dyotty 5:29f7f535d4b2 523
Keisuke_Yoshida 4:951fabc31ba6 524 break;
Dyotty 5:29f7f535d4b2 525 case 5:
Dyotty 7:897b9ded86e2 526 pc.printf("Mode 5 \n");
Dyotty 7:897b9ded86e2 527 if(cnt_back < 30)
Dyotty 5:29f7f535d4b2 528 {
Dyotty 5:29f7f535d4b2 529 left = -1.0;
Dyotty 5:29f7f535d4b2 530 right = -1.0;
Dyotty 7:897b9ded86e2 531 cnt_back++;
Dyotty 5:29f7f535d4b2 532 }
Dyotty 5:29f7f535d4b2 533 else{
Dyotty 7:897b9ded86e2 534 cnt_back = 0;
Dyotty 5:29f7f535d4b2 535 stt_Mode = 6;
Dyotty 5:29f7f535d4b2 536 pc.printf(" 5 -> 6 \n");
Dyotty 5:29f7f535d4b2 537 }
Dyotty 5:29f7f535d4b2 538
Keisuke_Yoshida 4:951fabc31ba6 539 break;
Dyotty 5:29f7f535d4b2 540 case 6: //
Dyotty 7:897b9ded86e2 541 pc.printf("Mode 6 \n");
Dyotty 8:102c19510dce 542 if(!(ax > 9.5 && ay < 0.5 && ay >= 0)) // Change Using Gyro??
Dyotty 5:29f7f535d4b2 543 {
Dyotty 5:29f7f535d4b2 544 left = 0;
Dyotty 5:29f7f535d4b2 545 right = 1.0;
Dyotty 5:29f7f535d4b2 546 }
Dyotty 5:29f7f535d4b2 547 else
Dyotty 5:29f7f535d4b2 548 {
Dyotty 5:29f7f535d4b2 549 stt_Mode = 1;
Dyotty 5:29f7f535d4b2 550 pc.printf(" 6 -> 1 \n");
Dyotty 8:102c19510dce 551
Dyotty 8:102c19510dce 552 for(int i = 0; i < 10; i++)
Dyotty 8:102c19510dce 553 {
Dyotty 8:102c19510dce 554 buf_ax[i] = ax;
Dyotty 8:102c19510dce 555 }
Dyotty 8:102c19510dce 556 }
Dyotty 5:29f7f535d4b2 557 }
Dyotty 5:29f7f535d4b2 558
Keisuke_Yoshida 4:951fabc31ba6 559 break;
Keisuke_Yoshida 4:951fabc31ba6 560 default:
Keisuke_Yoshida 4:951fabc31ba6 561 break;
Keisuke_Yoshida 4:951fabc31ba6 562 }
Keisuke_Yoshida 4:951fabc31ba6 563 #endif
Keisuke_Yoshida 4:951fabc31ba6 564
Dyotty 7:897b9ded86e2 565 cnt_loop++;
Dyotty 7:897b9ded86e2 566
Dyotty 7:897b9ded86e2 567 if(cnt_loop > 2000)
Dyotty 7:897b9ded86e2 568 {
Dyotty 7:897b9ded86e2 569 cnt_loop = 0;
Dyotty 7:897b9ded86e2 570 }
jksoft 0:76dfa9657d9d 571 }
jksoft 0:76dfa9657d9d 572 ModeLed = 1;
jksoft 0:76dfa9657d9d 573 left = 0.0;
jksoft 0:76dfa9657d9d 574 right = 0.0;
jksoft 0:76dfa9657d9d 575 wait(1);
jksoft 0:76dfa9657d9d 576 }
sibu2 1:a86c84ead24a 577
sibu2 1:a86c84ead24a 578 #if 0
jksoft 0:76dfa9657d9d 579 int counter1 = 0;
jksoft 0:76dfa9657d9d 580 void p1_rise()
jksoft 0:76dfa9657d9d 581 {
jksoft 0:76dfa9657d9d 582 if( pin2 == 1 )
jksoft 0:76dfa9657d9d 583 {
jksoft 0:76dfa9657d9d 584 counter1++;
jksoft 0:76dfa9657d9d 585 }
jksoft 0:76dfa9657d9d 586 else
jksoft 0:76dfa9657d9d 587 {
jksoft 0:76dfa9657d9d 588 counter1--;
jksoft 0:76dfa9657d9d 589 }
jksoft 0:76dfa9657d9d 590 }
sibu2 1:a86c84ead24a 591 #endif
sibu2 1:a86c84ead24a 592
jksoft 0:76dfa9657d9d 593 /**************************************************************************/
jksoft 0:76dfa9657d9d 594 /*!
jksoft 0:76dfa9657d9d 595 @brief Program entry point
jksoft 0:76dfa9657d9d 596 */
jksoft 0:76dfa9657d9d 597 /**************************************************************************/
jksoft 0:76dfa9657d9d 598 int main(void)
jksoft 0:76dfa9657d9d 599 {
jksoft 0:76dfa9657d9d 600 sw1.mode(PullUp);
jksoft 0:76dfa9657d9d 601 sw2.mode(PullUp);
sibu2 1:a86c84ead24a 602
sibu2 1:a86c84ead24a 603 encl1.mode(PullNone);
sibu2 1:a86c84ead24a 604 encl2.mode(PullNone);
sibu2 1:a86c84ead24a 605 encr1.mode(PullNone);
sibu2 1:a86c84ead24a 606 encr2.mode(PullNone);
sibu2 1:a86c84ead24a 607
jksoft 0:76dfa9657d9d 608 ModeLed = 1;
jksoft 0:76dfa9657d9d 609 ConnectStateLed = 1;
jksoft 0:76dfa9657d9d 610 #if DBG
jksoft 0:76dfa9657d9d 611 //pc.baud(921600);
jksoft 0:76dfa9657d9d 612 pc.baud(9600);
jksoft 0:76dfa9657d9d 613 pc.printf("Start\n\r");
jksoft 0:76dfa9657d9d 614 #endif
jksoft 0:76dfa9657d9d 615 outlow = 0;
jksoft 0:76dfa9657d9d 616
jksoft 0:76dfa9657d9d 617 if(sw2 == 0)
jksoft 0:76dfa9657d9d 618 {
sibu2 1:a86c84ead24a 619 // pin1.mode(PullDown);
jksoft 0:76dfa9657d9d 620 // pin1.rise(&p1_rise);
jksoft 0:76dfa9657d9d 621 while(1)
jksoft 0:76dfa9657d9d 622 {
jksoft 0:76dfa9657d9d 623 //int in1 = pin1;
jksoft 0:76dfa9657d9d 624 //int in2 = pin2;
jksoft 0:76dfa9657d9d 625 //ModeLed = pin1;
jksoft 0:76dfa9657d9d 626 //pc.printf("dat = %d %d\r\n",in1,in2);
jksoft 0:76dfa9657d9d 627 base();
jksoft 0:76dfa9657d9d 628 #if 0
jksoft 0:76dfa9657d9d 629 left = 1.0;
jksoft 0:76dfa9657d9d 630 right = 1.0;
jksoft 0:76dfa9657d9d 631 wait(5);
jksoft 0:76dfa9657d9d 632 left = -1.0;
jksoft 0:76dfa9657d9d 633 right = -1.0;
jksoft 0:76dfa9657d9d 634 wait(5);
jksoft 0:76dfa9657d9d 635 #endif
jksoft 0:76dfa9657d9d 636 }
jksoft 0:76dfa9657d9d 637 }
jksoft 0:76dfa9657d9d 638
Dyotty 6:213041054f97 639 // // MPU6050 Initialize
Dyotty 6:213041054f97 640 // mpu.initialize();
Dyotty 6:213041054f97 641 // mpu.setAcceleroRange(MPU6050_ACCELERO_RANGE_8G);
Dyotty 6:213041054f97 642 // mpu.setGyroRange(MPU6050_GYRO_RANGE_1000);
Dyotty 6:213041054f97 643
Dyotty 6:213041054f97 644 ///180601 MPU6050センサの初期化処理
Dyotty 3:f707552ec50a 645 mpu.initialize();
Dyotty 6:213041054f97 646 // 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）
Dyotty 6:213041054f97 647 mpu.setAcceleroRange(MPU6050_ACCELERO_RANGE_2G);
Dyotty 6:213041054f97 648 // 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））
Dyotty 6:213041054f97 649 mpu.setGyroRange(MPU6050_GYRO_RANGE_250);
Dyotty 6:213041054f97 650 ///180601
Dyotty 3:f707552ec50a 651
jksoft 0:76dfa9657d9d 652 ble.init();
jksoft 0:76dfa9657d9d 653 ble.onConnection(onConnected);
jksoft 0:76dfa9657d9d 654 ble.onDisconnection(onDisconnected);
jksoft 0:76dfa9657d9d 655 ble.onDataWritten(onDataWritten);
jksoft 0:76dfa9657d9d 656
jksoft 0:76dfa9657d9d 657 /* setup advertising */
jksoft 0:76dfa9657d9d 658 ble.accumulateAdvertisingPayload(GapAdvertisingData::BREDR_NOT_SUPPORTED);
jksoft 0:76dfa9657d9d 659 ble.setAdvertisingType(GapAdvertisingParams::ADV_CONNECTABLE_UNDIRECTED);
jksoft 0:76dfa9657d9d 660 ble.accumulateAdvertisingPayload(GapAdvertisingData::SHORTENED_LOCAL_NAME,
jksoft 0:76dfa9657d9d 661 (const uint8_t *)"mbed WallbotBLE", sizeof("mbed WallbotBLE") - 1);
jksoft 0:76dfa9657d9d 662 ble.accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LIST_16BIT_SERVICE_IDS,
jksoft 0:76dfa9657d9d 663 (const uint8_t *)RCBController_service_uuid, sizeof(RCBController_service_uuid));
jksoft 0:76dfa9657d9d 664
jksoft 0:76dfa9657d9d 665 ble.setAdvertisingInterval(160); /* 100ms; in multiples of 0.625ms. */
jksoft 0:76dfa9657d9d 666 ble.startAdvertising();
jksoft 0:76dfa9657d9d 667
jksoft 0:76dfa9657d9d 668 ble.addService(RCBControllerService);
jksoft 0:76dfa9657d9d 669
Dyotty 5:29f7f535d4b2 670
jksoft 0:76dfa9657d9d 671 while (true) {
jksoft 0:76dfa9657d9d 672 if(sw1 == 0)
jksoft 0:76dfa9657d9d 673 {
jksoft 0:76dfa9657d9d 674 bValue = 1;
jksoft 0:76dfa9657d9d 675 line_mode = 1;
Keisuke_Yoshida 4:951fabc31ba6 676 //line();
Keisuke_Yoshida 4:951fabc31ba6 677 wb_control(); //動作モード関数
jksoft 0:76dfa9657d9d 678 line_mode = 0;
jksoft 0:76dfa9657d9d 679 bValue = 0;
jksoft 0:76dfa9657d9d 680 }
jksoft 0:76dfa9657d9d 681 ble.waitForEvent();
jksoft 0:76dfa9657d9d 682 }
jksoft 0:76dfa9657d9d 683 }
jksoft 0:76dfa9657d9d 684