NYANTA man / Mbed 2 deprecated test_master_kourobo2018

てすと

Dependencies:   PID mbed

Files at this revision

API Documentation at this revision

Revision 0:5516553ff997, committed 2018-07-11

Comitter:
NYANTA
Date:
Wed Jul 11 08:08:33 2018 +0000
Commit message:
???

Changed in this revision

PID.lib Show annotated file Show diff for this revision Revisions of this file
main.cpp Show annotated file Show diff for this revision Revisions of this file
mbed.bld Show annotated file Show diff for this revision Revisions of this file 
--- /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

--- /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

--- /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