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 az = 0;
00377 //    float a = 0;
00378 //    float buf_ax[10];
00379 //    float mean_ax = 0;
00380 //    float dev_ax = 0;
00381 //    float sum_ax = 0;
00382 //    float log_ax[100];
00383     int cnt_loop = 0;
00384     int cnt_straight = 0;
00385 //    float thre_bump = 8.0;
00386 //    float thre_bump_back = 11.0;
00387     bool enable_ChangeMode = false;
00388     
00389 //        for(int i = 0; i < 10; i++)
00390 //        {
00391 //            buf_ax[i] = 0;
00392 //        }
00393     
00394         
00395 //        for(int i = 0; i < 100; i++)
00396 //        {
00397 //            log_ax[i] = 0;
00398 //        }
00399     
00400     while(sw1 != 0)
00401     {
00402 //        Wait(0.1);
00403         
00404         // Get value                   
00405         //加速度を取得
00406 //        Timer acTimer;
00407 //        acTimer.start();
00408         mpu.getAccelero(acData);    //加速度を取得 acDataに格納
00409 //        acTimer.stop();
00410     //  at = acTimer.read_ms();
00411 //        acTimer.reset();
00412      
00413         //ジャイロを取得
00414 //        Timer gyTimer;
00415 //        gyTimer.start();
00416 //        mpu.getGyro(gyData);    //ジャイロの値（角加速度）を取得 gyDataに格納
00417 //        gyTimer.stop();
00418     //  gt = gyTimer.read_ms();
00419 //        gyTimer.reset();
00420      
00421         //floatの値を合計5桁、小数点以下3桁の形でPCへ送信
00422 //        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]);  
00423 //        pc.printf("%5.3f, ", acData[2]);
00424 
00425         ax = acData[0];
00426         ay = acData[1];
00427 //        az = acData[2];
00428 //        a = sqrt(ax * ax + ay * ay + az * az);
00429 //        pc.printf("%5.3f, ", ax);
00430         
00431 //        log_ax[cnt_loop] = ax;
00432         
00433 //        if(!enble_ChangeMode)
00434 //        {
00435 //            if(cnt_loop > 20)
00436 //            {
00437 //                enble_ChangeMode = true;
00438 //                }
00439 //            }
00440         
00441         // ax Buffer Store
00442 //        sum_ax -= buf_ax[9];
00443 //        for(int i = 9; i > 0; i--)
00444 //        {
00445 //            buf_ax[i] = buf_ax[i - 1];
00446 //            }
00447 //        buf_ax[0] = ax;
00448 //        sum_ax += buf_ax[5];
00449 //        mean_ax = sum_ax / 5;
00450         
00451         // Calculate Deviation
00452 //        dev_ax = 0;
00453 //        for(int i = 0; i < 5; i++)
00454 //        {
00455 //            dev_ax += (mean_ax - buf_ax[i]) * (mean_ax - buf_ax[i]);
00456 //            }
00457 //        dev_ax = sqrt(dev_ax);
00458         //
00459 //        pc.printf("%5.3f, 5.3f \n", ax, ay);
00460         
00461         
00462 #if 1
00463         switch(stt_Mode)
00464         {
00465             case 1:                 // Up Straight
00466 //                pc.printf("Mode 1 \n");
00467                         
00468                 if(ay > 0.5){
00469                         left = 0.8;
00470                         right = 1.0;
00471 //                        pc.printf("Lean Right");
00472                     }
00473                     else if(ay < -0.5){
00474                         left = 1.0;
00475                         right = 0.8;
00476 //                        pc.printf("Lean Left");
00477                     }
00478                     else
00479                     {
00480                         left = 1.0;
00481                         right = 1.0;
00482                         }
00483                         
00484                     // Judge Bump
00485                     if(enable_ChangeMode)
00486                     {                        
00487                         if(ay > 4/*ax - mean_ax < -thre_bump || ax - mean_ax > thre_bump*/)
00488                         {
00489                             stt_Mode = 2;
00490 //                            pc.printf("Mode 1 -> 2 \n");
00491 //                            cnt_back = 0;
00492                             
00493                             enable_ChangeMode = false;
00494                             }
00495                     }else
00496                     {
00497                         cnt_straight++;
00498                         if(cnt_straight > 100)
00499                         {
00500                             enable_ChangeMode = true;
00501                             cnt_straight = 0;
00502                             }
00503                         }
00504                 
00505                 break;
00506             case 2:             // Up Back
00507 //                pc.printf("Mode 2 \n");
00508 //                if(cnt_back < 120)
00509 //                {
00510                     left = -1.0;
00511                     right = -1.0;
00512 //                    cnt_back++;
00513                     wait(0.6);
00514 //                    }
00515 //                    else{
00516 //                            cnt_back = 0;
00517                             stt_Mode = 3;
00518 //                            pc.printf("Mode 2 -> 3 \n");
00519 //                        }
00520                 
00521                 break;
00522             case 3:                 // Up Rotate
00523 //                pc.printf("Mode 3 \n");
00524                 if(!(ax < -9.7 && ay < 0/* && ay >= -0.3*/))      // Change Using Gyro??
00525                 {
00526                     left = 1.0;
00527                     right = -1.0;                    
00528                     }
00529                     else
00530                     {
00531                         stt_Mode = 4;
00532 //                        pc.printf("Mode 3 - > 4 \n");
00533                         
00534                         }
00535                 
00536                 break;            
00537             case 4:                 // Down Straight
00538 //                pc.printf("Mode 4 \n");
00539                 if(ay > 0.5){
00540                         left = 1.0;
00541                         right = 0.8;
00542                     }
00543                     else if(ay < -0.5){
00544                         left = 0.8;
00545                         right = 1.0;
00546                     }
00547                     else
00548                     {
00549                         left = 1.0;
00550                         right = 1.0;
00551                         }
00552                         
00553                     // Judge Bump
00554                     if(enable_ChangeMode)
00555                     {
00556                         if(ay < -4/*ax - mean_ax < -thre_bump_back || ax - mean_ax > thre_bump_back*/)
00557                         {
00558                             stt_Mode = 5;
00559 //                            pc.printf("Mode 4 -> 5 \n");
00560                             
00561                             enable_ChangeMode = false;
00562                             }
00563                     }else
00564                     {                        
00565                         cnt_straight++;
00566                         if(cnt_straight > 100)
00567                         {
00568                             enable_ChangeMode = true;
00569                             cnt_straight = 0;
00570                             }
00571                         }
00572                 
00573                 break;
00574             case 5:           
00575 //                pc.printf("Mode 5 \n");
00576 //                if(cnt_back < 200)
00577 //                {
00578                     left = -1.0;
00579                     right = -1.0;
00580                     wait(1.0);
00581 //                    cnt_back++;
00582 //                    }
00583 //                    else{
00584 //                            cnt_back = 0;
00585                             stt_Mode = 6;
00586 //                            pc.printf(" 5 -> 6 \n");
00587 //                        }
00588                 
00589                 break;
00590             case 6:                 //
00591 //                pc.printf("Mode 6 \n");
00592                 if(!(ax > 9.7 && ay < 0/* && ay >= 0*/))      // Change Using Gyro??
00593                 {
00594                     left = -1.0;
00595                     right = 1.0;                    
00596                     }
00597                     else
00598                     {
00599                         stt_Mode = 1;
00600                         pc.printf(" 6 -> 1 \n");
00601 //                        
00602 //                        for(int i = 0; i < 3; i++)
00603 //                        {
00604 //                            buf_ax[i] = ax;
00605 //                            }
00606                         }
00607                         
00608                 
00609                 break;
00610             default:
00611                 break;
00612         }
00613 #endif
00614 
00615         cnt_loop++;
00616 
00617         if(cnt_loop > 2000)
00618         {
00619             cnt_loop = 0;
00620             }
00621     }
00622     ModeLed = 1;
00623     left = 0.0;
00624     right = 0.0;
00625     wait(1);
00626 }
00627 
00628 #if 0
00629 int counter1 = 0;
00630 void p1_rise()
00631 {
00632     if( pin2 == 1 )
00633     {
00634         counter1++;
00635     }
00636     else
00637     {
00638         counter1--;
00639     }
00640 }
00641 #endif
00642 
00643 /**************************************************************************/
00644 /*!
00645     @brief  Program entry point
00646 */
00647 /**************************************************************************/
00648 int main(void)
00649 {
00650     sw1.mode(PullUp);
00651     sw2.mode(PullUp);
00652 
00653     encl1.mode(PullNone);
00654     encl2.mode(PullNone);
00655     encr1.mode(PullNone);
00656     encr2.mode(PullNone);
00657 
00658     ModeLed = 1;
00659     ConnectStateLed = 1;
00660 #if DBG
00661     //pc.baud(921600);
00662     pc.baud(9600);
00663     pc.printf("Start\n\r");
00664 #endif
00665     outlow = 0;
00666     
00667     if(sw2 == 0)
00668     {
00669 //        pin1.mode(PullDown);
00670 //        pin1.rise(&p1_rise);
00671         while(1)
00672         {
00673             //int in1 = pin1;
00674             //int in2 = pin2;
00675             //ModeLed = pin1;
00676             //pc.printf("dat = %d %d\r\n",in1,in2);
00677             base();
00678 #if 0
00679             left = 1.0;
00680             right = 1.0;
00681             wait(5);           
00682             left = -1.0;
00683             right = -1.0;
00684             wait(5);
00685 #endif        
00686         }
00687     }
00688 
00689 //    // MPU6050 Initialize
00690 //    mpu.initialize();
00691 //    mpu.setAcceleroRange(MPU6050_ACCELERO_RANGE_8G);
00692 //    mpu.setGyroRange(MPU6050_GYRO_RANGE_1000);
00693 
00694     ///180601 MPU6050センサの初期化処理
00695     mpu.initialize();
00696 //  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）
00697     mpu.setAcceleroRange(MPU6050_ACCELERO_RANGE_2G); 
00698 //   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））
00699     mpu.setGyroRange(MPU6050_GYRO_RANGE_250);
00700     ///180601 
00701 
00702     ble.init(); 
00703     ble.onConnection(onConnected);
00704     ble.onDisconnection(onDisconnected);
00705     ble.onDataWritten(onDataWritten);
00706     
00707     /* setup advertising */
00708     ble.accumulateAdvertisingPayload(GapAdvertisingData::BREDR_NOT_SUPPORTED);
00709     ble.setAdvertisingType (GapAdvertisingParams::ADV_CONNECTABLE_UNDIRECTED);
00710     ble.accumulateAdvertisingPayload(GapAdvertisingData::SHORTENED_LOCAL_NAME,
00711                                     (const uint8_t *)"mbed WallbotBLE", sizeof("mbed WallbotBLE") - 1);
00712     ble.accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LIST_16BIT_SERVICE_IDS,
00713                                     (const uint8_t *)RCBController_service_uuid, sizeof(RCBController_service_uuid));
00714 
00715     ble.setAdvertisingInterval (160); /* 100ms; in multiples of 0.625ms. */
00716     ble.startAdvertising();
00717 
00718     ble.addService(RCBControllerService);
00719 
00720 
00721     while (true) {
00722         if(sw1 == 0)
00723         {
00724             bValue = 1;
00725             line_mode = 1;
00726             //line();
00727             wb_control(); //動作モード関数
00728             line_mode = 0;
00729             bValue = 0;
00730         }
00731         ble.waitForEvent();
00732     }
00733 }
00734