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