Yosuke Kirihata
/
Nucleo_CaitSith_Firmware_added_delayServo
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Nucleo_CaitSith_Firmware
by 
Yosuke Kirihata
Diff: main.cpp
- Revision:
- 0:a9b204e27472
- Child:
- 1:5f6dd444850a
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Thu Sep 11 13:45:07 2014 +0000
@@ -0,0 +1,300 @@
+#include <mbed.h>
+#include <PwmServo.h>
+#include <RobotArm.h>
+#include <def_resources.h>
+#include <Serial.h>
+
+/*
+
+ Controller firmware for CaitSithDanger
+
+ Kyoto-Densou-An 2014
+
+ Author : yishii
+*/
+
+#define DEBUG
+#define BUFFER_SIZE 11
+#define COMMAND_TOTAL 3
+
+Serial pc(SERIAL_TX, SERIAL_RX);
+
+DigitalOut myled(LED1);
+
+char receive[BUFFER_SIZE];
+//char* p_receive;
+int recvPnt = 0;
+
+int head0;
+int head1;
+
+void pc_rx ();
+
+int serial_gets (char *buffer, int size);
+
+int main() {
+ myled = 1;
+
+ head0 = 90;
+ head0 = head0 - 10;
+ head1 = 90;
+ head1 = head1 - 20;
+ arm1.actuate(head0, head1);
+
+ while(1) {
+ char buffer[BUFFER_SIZE];
+
+ int size = serial_gets(buffer, BUFFER_SIZE);
+ if (size > 0) {
+ pc.printf("%s", buffer);
+
+ if (strncmp(buffer, "CT", 2) == 0) {
+
+ myled = !myled;
+
+ if (size == 2) {
+ pc.printf("\r\nOK\r\n");
+ } else if (size >= 3) {
+ switch (buffer[2]) {
+ case 'O':
+
+ break;
+ case 'H':
+
+ int servoAngle = -1;
+ servoAngle = atoi((buffer+4));
+ //printf("%c\n", buffer[3]);
+ //printf("%d\n", servoAngle);
+
+ servoAngle += 90;
+ servoAngle = 180 - servoAngle;
+
+ if (servoAngle < 20) {
+ servoAngle = 20;
+ }
+ if (servoAngle > 160) {
+ servoAngle = 160;
+ }
+
+
+ if (buffer[3] == '1') {
+ head0 = servoAngle;
+ head0 = head0 - 10;
+ //printf("%d\n", head0);
+ } else if (buffer[3] == '2') {
+ head1 = servoAngle;
+ head1 = head1 - 20;
+ //printf("%d\n", head1);
+ } else {
+
+ }
+
+ arm1.actuate(head0, head1);
+
+ break;
+ }
+
+ pc.printf("\r\nOK\r\n");
+ }
+
+ }
+
+ }
+
+ }
+}
+
+
+
+int serial_gets (char *buffer, int size) {
+ /*if (!pc.readable()) {
+ return 0;
+ }*/
+
+ int i = 0;
+ while (i < size - 1) {
+ if (pc.readable()) {
+ buffer[i] = pc.getc();
+ //pc.printf("%c", buffer[i]);
+
+ if (buffer[i] == '\r') {
+ --i;
+ }
+ if (buffer[i] == '\n') {
+ break;
+ }
+ ++i;
+ }/* else {
+ wait_ms(1);
+ }*/
+ }
+ buffer[i] = '\0';
+ //pc.printf("%s", buffer);
+ return i;
+}
+
+
+//int main()
+//{
+// head0 = 90;
+// head0 = head0 - 10;
+// head1 = 90;
+// head1 = head1 - 20;
+
+ //myled = 0;
+
+ //clear buffer
+// memset(receive, 0, BUFFER_SIZE);
+ //receive[BUFFER_SIZE-1] = '\0';
+ //p_receive = receive;
+
+ //TODO:Create arm instance.
+
+
+// arm1.actuate(head0, head1);
+
+
+ //pc.attach(pc_rx, Serial::RxIrq);
+
+// while(1) {
+// }
+
+// int i;
+//
+// while(1) {
+// for(i=0; i<180; i++) {
+// arm1.actuate(i,i);
+// wait(0.005);
+// }
+// for(i=180; i>0; i--) {
+// arm1.actuate(i,i);
+// wait(0.005);
+// }
+// }
+//}
+
+void pc_rx () {
+ int result = -1;
+
+ char c = pc.getc();
+ //pc.printf("%02X", (unsigned char)c);
+ pc.printf("%c", (unsigned char)c);
+
+ if (c == '\r') {
+ //Nothign to do.
+ } else if (c == '\n') {
+ receive[recvPnt] = '\0';
+ ++recvPnt;
+ } else {
+ receive[recvPnt] = c;
+ ++recvPnt;
+ }
+
+
+ if (c == '\n') {
+ if (receive[0] == 'C' && receive[1] == 'T') {
+
+ myled = 1 - myled;
+
+ if (recvPnt == 3) {
+ pc.printf("\r\nOK\r\n");
+
+ } else if (recvPnt >= 4) {
+ switch (receive[2]) {
+ case 'O':
+
+ break;
+
+ case 'H':
+ //myled = 1;
+ int servoAngle = -1;
+ servoAngle = atoi((receive+4));
+
+ servoAngle += 90;
+ servoAngle = 180 - servoAngle;
+
+ if (servoAngle < 20) {
+ servoAngle = 20;
+ }
+ if (servoAngle > 160) {
+ servoAngle = 160;
+ }
+
+ //printf("%d\n", servoAngle);
+
+ int servoNo = -1;
+
+ if (receive[3] == '1') {
+ servoNo = 0;
+ head0 = servoAngle;
+ head0 = head0 - 10;
+ } else if (receive[3] == '2') {
+ servoNo = 1;
+ head1 = servoAngle;
+ head1 = head1 - 20;
+ } else {
+ servoNo = -1;
+ }
+ //printf("%d\n", servoNo);
+
+ //arm1.actuate(servoNo, servoAngle);
+ arm1.actuate(head0, head1);
+
+ result = 0;
+ pc.printf("\r\nOK\r\n");
+
+ break;
+
+ case 'L':
+ pc.printf("\r\nOK\r\n");
+ break;
+
+ case 'R':
+ pc.printf("\r\nOK\r\n");
+ break;
+
+ case 'N':
+
+ if (receive[3] == '1') {
+ myled = 1;
+ } else {
+ myled = 0;
+ }
+
+ pc.printf("\r\nOK\r\n");
+ break;
+
+ case 'M':
+ pc.printf("\r\nOK\r\n");
+ break;
+
+ case 'Z':
+ pc.printf("\r\nOK\r\n");
+ break;
+
+ default:
+
+ result = 1;
+ pc.printf("\r\nERROR\r\n");
+ break;
+ }
+ } else {
+ result = 1;
+ pc.printf("\r\nERROR\r\n");
+ }
+ }
+
+ //TODO:Send result the following code: CT[number]\r\n
+
+ memset(receive, 0, BUFFER_SIZE);
+ recvPnt = 0;
+ }
+
+ if (recvPnt >= BUFFER_SIZE) {
+ //myled = 0;
+ //pc.printf("NG1:Reset receive buffer.\n");
+ memset(receive, 0, BUFFER_SIZE);
+ recvPnt = 0;
+ }
+
+}