NYANTA man
てすと
Revision 0:5516553ff997, committed 2018-07-11
- Comitter:
- NYANTA
- Date:
- Wed Jul 11 08:08:33 2018 +0000
- Commit message:
- ???
Changed in this revision
diff -r 000000000000 -r 5516553ff997 PID.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/PID.lib Wed Jul 11 08:08:33 2018 +0000 @@ -0,0 +1,1 @@ +http://os.mbed.com/users/porizou/code/PID/#eeb41e25a490
diff -r 000000000000 -r 5516553ff997 main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Wed Jul 11 08:08:33 2018 +0000
@@ -0,0 +1,182 @@
+#include "mbed.h"
+
+#define WHEEL_1_ADDRESS 0xA0
+#define WHEEL_2_ADDRESS 0xA2
+#define WHEEL_3_ADDRESS 0xA4
+#define CATAPULT_ADDRESS 0xA6
+
+Serial xbee(D8, D2);
+I2C i2c(D14, D15);
+
+DigitalOut start_led(D13);
+DigitalOut receive_led(D12);
+
+int button_data[8];
+
+int wheel_1_data = 0x30;
+int wheel_2_data = 0x30;
+int wheel_3_data = 0x30;
+int catapult_data = 0x30;
+
+int dummy_rcvdata = 0xFF;
+int button_rcvdata = 0xFF;
+int RJ_rcvdata = 0x00;
+int LJ_rcvdata = 0x00;
+
+void data_receive(){
+ dummy_rcvdata = 0xFF;
+ button_rcvdata = 0xFF;
+ RJ_rcvdata = 0x00;
+ LJ_rcvdata = 0x00;
+ dummy_rcvdata = xbee.getc();
+ if(dummy_rcvdata == 0x00){
+ button_rcvdata = xbee.getc();
+ RJ_rcvdata = xbee.getc();
+ LJ_rcvdata = xbee.getc();
+
+ receive_led = 1;
+ }
+ else{
+ receive_led = 0;
+ }
+}
+
+void setup(){
+ xbee.baud(9600);
+ xbee.attach(data_receive, Serial::RxIrq);
+ start_led = 1;
+}
+
+void data_analyze(){
+
+ wheel_1_data = 0x30;
+ wheel_2_data = 0x30;
+ wheel_3_data = 0x30;
+ catapult_data = 030;
+
+ int num = 128;
+ for(int i = 7;i >= 0;i--){
+ if(button_rcvdata >= num){
+ button_rcvdata = button_rcvdata - num;
+ button_data[i] = 1;
+ }
+ else{
+ button_data[i] = 0;
+ }
+
+ num = num / 2;
+ }
+ if(button_data[2] == 1){
+ catapult_data = 0x17;
+ }
+ else{
+ catapult_data = 0x30;
+ }
+
+
+
+ /*if(LJ_rcvdata > 31){
+ LJ_rcvdata = LJ_rcvdata * 0b00001111;
+ }
+
+ if(LJ_rcvdata > 31){
+ wheel_1_data = 0x25;
+ wheel_2_data = 0x25;
+ wheel_3_data = 0x25;
+ }
+ else if(LJ_rcvdata > 16){
+ wheel_1_data = 0x23;
+ wheel_2_data = 0x23;
+ wheel_3_data = 0x23;
+ }
+ else if((LJ_rcvdata < 14) && (LJ_rcvdata > 10)){
+ wheel_1_data = 0x30;
+ wheel_2_data = 0x30;
+ wheel_3_data = 0x30;
+ }
+ else if(LJ_rcvdata > 8){
+ wheel_1_data = 0x13;
+ wheel_2_data = 0x13;
+ wheel_3_data = 0x13;
+ }
+ else{
+ wheel_1_data = 0x15;
+ wheel_2_data = 0x15;
+ wheel_3_data = 0x15;
+ }*/
+
+ if(RJ_rcvdata > 0.9){
+ wheel_2_data = 0x1A;
+ wheel_3_data = 0x2A;
+ }
+ else if(RJ_rcvdata > 0.8){
+ wheel_2_data = 0x19;
+ wheel_3_data = 0x29;
+ }
+ else if(RJ_rcvdata > 0.7){
+ wheel_2_data = 0x18;
+ wheel_3_data = 0x28;
+ }
+ else if(RJ_rcvdata > 0.6){
+ wheel_2_data = 0x17;
+ wheel_3_data = 0x27;
+ }
+ else if(RJ_rcvdata == 0.5){
+ wheel_2_data = 0x30;
+ wheel_3_data = 0x30;
+ }
+ else if(RJ_rcvdata < 0.4){
+ wheel_2_data = 0x27;
+ wheel_3_data = 0x17;
+ }
+ else if(RJ_rcvdata < 0.3){
+ wheel_2_data = 0x28;
+ wheel_3_data = 0x18;
+ }
+ else if(RJ_rcvdata < 0.2){
+ wheel_2_data = 0x29;
+ wheel_3_data = 0x19;
+ }
+}
+
+void i2c_send(int address, int data){
+ i2c.start();
+ i2c.write(address);
+ i2c.write(data);
+ i2c.stop();
+}
+
+void i2c_allsend(){
+ i2c_send(WHEEL_1_ADDRESS,wheel_1_data);
+ i2c_send(WHEEL_2_ADDRESS,wheel_2_data);
+ i2c_send(WHEEL_3_ADDRESS,wheel_3_data);
+ i2c_send(CATAPULT_ADDRESS,catapult_data);
+}
+
+int main(){
+ setup();
+ while(1){
+ data_analyze();
+ //i2c_allsend();
+ i2c_send(WHEEL_1_ADDRESS,0x11);
+ i2c_send(WHEEL_2_ADDRESS,0x30);
+ i2c_send(WHEEL_3_ADDRESS,0x30);
+ i2c_send(CATAPULT_ADDRESS,0x30);
+ wait(0.5);
+ i2c_send(WHEEL_1_ADDRESS,0x30);
+ i2c_send(WHEEL_2_ADDRESS,0x11);
+ i2c_send(WHEEL_3_ADDRESS,0x30);
+ i2c_send(CATAPULT_ADDRESS,0x30);
+ wait(0.5);
+ i2c_send(WHEEL_1_ADDRESS,0x30);
+ i2c_send(WHEEL_2_ADDRESS,0x30);
+ i2c_send(WHEEL_3_ADDRESS,0x11);
+ i2c_send(CATAPULT_ADDRESS,0x30);
+ wait(0.5);
+ i2c_send(WHEEL_1_ADDRESS,0x30);
+ i2c_send(WHEEL_2_ADDRESS,0x30);
+ i2c_send(WHEEL_3_ADDRESS,0x30);
+ i2c_send(CATAPULT_ADDRESS,0x11);
+ wait(0.5);
+ }
+}
\ No newline at end of file
diff -r 000000000000 -r 5516553ff997 mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Wed Jul 11 08:08:33 2018 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/994bdf8177cb \ No newline at end of file