Thomas Hartmann / HoverboardTest

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Dependencies:   WiiNunchuck mbed-dev

main.cpp@0:fe156910301e, 2016-10-13 (annotated)

Committer:
Thomas_H
Date:
Thu Oct 13 08:57:49 2016 +0000
Revision:
0:fe156910301e
Child:
1:5acd27cb1857
nunchuck support

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Thomas_H 0:fe156910301e 1 #include "mbed.h"
Thomas_H 0:fe156910301e 2 #include "HallDecoder.h"
Thomas_H 0:fe156910301e 3 #include "WiiNunchuck.h"
Thomas_H 0:fe156910301e 4
Thomas_H 0:fe156910301e 5 //------------------------------------
Thomas_H 0:fe156910301e 6 // Hyperterminal configuration
Thomas_H 0:fe156910301e 7 // 9600 bauds, 8-bit data, no parity
Thomas_H 0:fe156910301e 8 //------------------------------------
Thomas_H 0:fe156910301e 9
Thomas_H 0:fe156910301e 10 #define HOVER_SPEED_MAX 1000
Thomas_H 0:fe156910301e 11
Thomas_H 0:fe156910301e 12 //Serial m_oPc(SERIAL_TX, SERIAL_RX);
Thomas_H 0:fe156910301e 13 Serial m_oPc(SERIAL_TX, SERIAL_RX); // PA_2, PA_3 -> SERIAL2
Thomas_H 0:fe156910301e 14
Thomas_H 0:fe156910301e 15 WiiNunchuck m_oNunchuck(PA_14, PA_15); // I2C1
Thomas_H 0:fe156910301e 16 #define NUNCHUCK_X_OFFSET 123
Thomas_H 0:fe156910301e 17 #define NUNCHUCK_Y_OFFSET 127
Thomas_H 0:fe156910301e 18
Thomas_H 0:fe156910301e 19 #define MOTOR_RIGHT_TXD PC_4 // SERIAL1
Thomas_H 0:fe156910301e 20 #define MOTOR_RIGHT_RXD NC
Thomas_H 0:fe156910301e 21 #define MOTOR_RIGHT_HALL1 PB_13
Thomas_H 0:fe156910301e 22 #define MOTOR_RIGHT_HALL2 PB_14
Thomas_H 0:fe156910301e 23 #define MOTOR_RIGHT_HALL3 PB_15
Thomas_H 0:fe156910301e 24
Thomas_H 0:fe156910301e 25 #define MOTOR_LEFT_TXD PB_10 // SERIAL3
Thomas_H 0:fe156910301e 26 #define MOTOR_LEFT_RXD NC
Thomas_H 0:fe156910301e 27 #define MOTOR_LEFT_HALL1 PB_6
Thomas_H 0:fe156910301e 28 #define MOTOR_LEFT_HALL2 PB_7
Thomas_H 0:fe156910301e 29 #define MOTOR_LEFT_HALL3 PB_9
Thomas_H 0:fe156910301e 30
Thomas_H 0:fe156910301e 31 DigitalOut myled(LED1);
Thomas_H 0:fe156910301e 32
Thomas_H 0:fe156910301e 33 int main()
Thomas_H 0:fe156910301e 34 {
Thomas_H 0:fe156910301e 35 RawSerial oMotorRight(MOTOR_RIGHT_TXD, NC);
Thomas_H 0:fe156910301e 36 oMotorRight.baud(26315);
Thomas_H 0:fe156910301e 37 oMotorRight.format(9, SerialBase::None, 1);
Thomas_H 0:fe156910301e 38
Thomas_H 0:fe156910301e 39 RawSerial oMotorLeft(MOTOR_LEFT_TXD, NC);
Thomas_H 0:fe156910301e 40 oMotorLeft.baud(26315);
Thomas_H 0:fe156910301e 41 oMotorLeft.format(9, SerialBase::None, 1);
Thomas_H 0:fe156910301e 42
Thomas_H 0:fe156910301e 43 int nControl = 0;
Thomas_H 0:fe156910301e 44
Thomas_H 0:fe156910301e 45 //HallDecoder oHallRight(MOTOR_RIGHT_HALL1, MOTOR_LEFT_HALL2, MOTOR_LEFT_HALL3);
Thomas_H 0:fe156910301e 46 //int32_t nTicks = oHallRight.getticks();
Thomas_H 0:fe156910301e 47
Thomas_H 0:fe156910301e 48 m_oPc.printf("Hello World !\n");
Thomas_H 0:fe156910301e 49
Thomas_H 0:fe156910301e 50 wait(1);
Thomas_H 0:fe156910301e 51 m_oPc.printf("SystemCoreClock = %d Hz\n", SystemCoreClock);
Thomas_H 0:fe156910301e 52
Thomas_H 0:fe156910301e 53 myled = !myled;
Thomas_H 0:fe156910301e 54
Thomas_H 0:fe156910301e 55 char c = ' ';
Thomas_H 0:fe156910301e 56 int16_t sp=0;
Thomas_H 0:fe156910301e 57 int16_t spl = 0;
Thomas_H 0:fe156910301e 58 int32_t nSpeedOld = 0;
Thomas_H 0:fe156910301e 59
Thomas_H 0:fe156910301e 60 while(1) {
Thomas_H 0:fe156910301e 61 m_oPc.printf("%d\n", c);
Thomas_H 0:fe156910301e 62 if(c == ' ') {
Thomas_H 0:fe156910301e 63 sp=0;
Thomas_H 0:fe156910301e 64 } else if(c == 'q') {
Thomas_H 0:fe156910301e 65 sp -= 10;
Thomas_H 0:fe156910301e 66 } else if(c == 'w') {
Thomas_H 0:fe156910301e 67 sp += 10;
Thomas_H 0:fe156910301e 68 } else if(c == '2') {
Thomas_H 0:fe156910301e 69 sp += 100;
Thomas_H 0:fe156910301e 70 } else if(c == '1') {
Thomas_H 0:fe156910301e 71 sp -= 100;
Thomas_H 0:fe156910301e 72 } else if(c=='r') {
Thomas_H 0:fe156910301e 73 //m_oPc.printf("Reset ticks");
Thomas_H 0:fe156910301e 74 //oHallRight.resetticks();
Thomas_H 0:fe156910301e 75 } else if(c=='n') {
Thomas_H 0:fe156910301e 76 if(nControl==0) {
Thomas_H 0:fe156910301e 77 m_oPc.printf("Change to nunchuck control");
Thomas_H 0:fe156910301e 78 nControl = 1;
Thomas_H 0:fe156910301e 79 } else {
Thomas_H 0:fe156910301e 80 m_oPc.printf("Change to nunchuck control");
Thomas_H 0:fe156910301e 81 nControl = 1;
Thomas_H 0:fe156910301e 82 }
Thomas_H 0:fe156910301e 83 } else if(c=='m') {
Thomas_H 0:fe156910301e 84 m_oPc.printf("nunchuck x: %d\n", m_oNunchuck.joyx());
Thomas_H 0:fe156910301e 85 m_oPc.printf("nunchuck x: %d\n", m_oNunchuck.joyy());
Thomas_H 0:fe156910301e 86 m_oPc.printf("nunchuck c: %d\n", m_oNunchuck.buttonc());
Thomas_H 0:fe156910301e 87 m_oPc.printf("nunchuck z: %d\n", m_oNunchuck.buttonz());
Thomas_H 0:fe156910301e 88 }
Thomas_H 0:fe156910301e 89
Thomas_H 0:fe156910301e 90
Thomas_H 0:fe156910301e 91 m_oPc.printf("speed %d\n", sp);
Thomas_H 0:fe156910301e 92
Thomas_H 0:fe156910301e 93 nSpeedOld = sp;
Thomas_H 0:fe156910301e 94 do {
Thomas_H 0:fe156910301e 95 //if(nTicks != oHallRight.getticks()) {
Thomas_H 0:fe156910301e 96 // nTicks = oHallRight.getticks();
Thomas_H 0:fe156910301e 97 // m_oPc.printf("Ticks 1: %d\n", nTicks);
Thomas_H 0:fe156910301e 98 //}
Thomas_H 0:fe156910301e 99
Thomas_H 0:fe156910301e 100 if(nControl) {
Thomas_H 0:fe156910301e 101 sp = ((m_oNunchuck.joyy()-NUNCHUCK_Y_OFFSET)*HOVER_SPEED_MAX) / 127;
Thomas_H 0:fe156910301e 102 if(nSpeedOld != sp) {
Thomas_H 0:fe156910301e 103 nSpeedOld = sp;
Thomas_H 0:fe156910301e 104 m_oPc.printf("speed %d\n", sp);
Thomas_H 0:fe156910301e 105 }
Thomas_H 0:fe156910301e 106 if(m_oNunchuck.buttonc()) {
Thomas_H 0:fe156910301e 107 m_oPc.printf("switch back to auto mode\n");
Thomas_H 0:fe156910301e 108 nControl = 0; // fallback to manual controll
Thomas_H 0:fe156910301e 109 }
Thomas_H 0:fe156910301e 110 }
Thomas_H 0:fe156910301e 111
Thomas_H 0:fe156910301e 112 oMotorRight.putc(256);
Thomas_H 0:fe156910301e 113 oMotorRight.putc(sp & 0xFF);
Thomas_H 0:fe156910301e 114 oMotorRight.putc((sp >> 8) & 0xFF);
Thomas_H 0:fe156910301e 115 oMotorRight.putc(sp & 0xFF);
Thomas_H 0:fe156910301e 116 oMotorRight.putc((sp >> 8) & 0xFF);
Thomas_H 0:fe156910301e 117 oMotorRight.putc(85);
Thomas_H 0:fe156910301e 118 oMotorRight.putc(82);
Thomas_H 0:fe156910301e 119 oMotorRight.putc(82);
Thomas_H 0:fe156910301e 120
Thomas_H 0:fe156910301e 121 spl = sp * -1;
Thomas_H 0:fe156910301e 122 oMotorLeft.putc(256);
Thomas_H 0:fe156910301e 123 oMotorLeft.putc(spl & 0xFF);
Thomas_H 0:fe156910301e 124 oMotorLeft.putc((spl >> 8) & 0xFF);
Thomas_H 0:fe156910301e 125 oMotorLeft.putc(spl & 0xFF);
Thomas_H 0:fe156910301e 126 oMotorLeft.putc((spl >> 8) & 0xFF);
Thomas_H 0:fe156910301e 127 oMotorLeft.putc(85);
Thomas_H 0:fe156910301e 128 oMotorLeft.putc(82);
Thomas_H 0:fe156910301e 129 oMotorLeft.putc(82);
Thomas_H 0:fe156910301e 130 wait_us(300);
Thomas_H 0:fe156910301e 131 } while(!m_oPc.readable());
Thomas_H 0:fe156910301e 132 c=m_oPc.getc();
Thomas_H 0:fe156910301e 133 }
Thomas_H 0:fe156910301e 134 }
Thomas_H 0:fe156910301e 135