Yosuke Kirihata / Mbed 2 deprecated Nucleo_roomba

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Dependencies:   mbed

main.cpp@2:144ca2f5d850, 2015-02-14 (annotated)

Committer:
YosukeK
Date:
Sat Feb 14 11:32:14 2015 +0000
Revision:
2:144ca2f5d850
Parent:
1:aed433d882c9 
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Who changed what in which revision?

UserRevisionLine numberNew contents of line
YosukeK 2:144ca2f5d850 1 #include <mbed.h>
YosukeK 0:32eb0835b5a3 2 #include "Roomba.h"
YosukeK 2:144ca2f5d850 3
YosukeK 2:144ca2f5d850 4 /**
YosukeK 2:144ca2f5d850 5 * データクラス
YosukeK 2:144ca2f5d850 6 * 基底のクラス定義のみ
YosukeK 2:144ca2f5d850 7 */
YosukeK 2:144ca2f5d850 8 class Data {
YosukeK 2:144ca2f5d850 9 private:
YosukeK 2:144ca2f5d850 10 public:
YosukeK 2:144ca2f5d850 11 //virtual Data()
YosukeK 2:144ca2f5d850 12 //virtual ~Data() {}
YosukeK 2:144ca2f5d850 13 };
YosukeK 2:144ca2f5d850 14
YosukeK 2:144ca2f5d850 15
YosukeK 2:144ca2f5d850 16 /**
YosukeK 2:144ca2f5d850 17 * 送信データクラス
YosukeK 2:144ca2f5d850 18 * データクラスから派生
YosukeK 2:144ca2f5d850 19 */
YosukeK 2:144ca2f5d850 20 class SendData : public Data{
YosukeK 2:144ca2f5d850 21 static const int LENGHT = 2;
YosukeK 2:144ca2f5d850 22
YosukeK 2:144ca2f5d850 23 private:
YosukeK 2:144ca2f5d850 24 int wheelVelocity[LENGHT];
YosukeK 2:144ca2f5d850 25
YosukeK 2:144ca2f5d850 26 public:
YosukeK 2:144ca2f5d850 27 SendData() {
YosukeK 2:144ca2f5d850 28 }
YosukeK 2:144ca2f5d850 29
YosukeK 2:144ca2f5d850 30 SendData(int left, int right) {
YosukeK 2:144ca2f5d850 31 wheelVelocity[0] = left;
YosukeK 2:144ca2f5d850 32 wheelVelocity[1] = right;
YosukeK 2:144ca2f5d850 33 }
YosukeK 2:144ca2f5d850 34
YosukeK 2:144ca2f5d850 35 int get(int index) {
YosukeK 2:144ca2f5d850 36 int result = -1;
YosukeK 2:144ca2f5d850 37
YosukeK 2:144ca2f5d850 38 if (0 <= index && index < LENGHT) {
YosukeK 2:144ca2f5d850 39 result = wheelVelocity[index];
YosukeK 2:144ca2f5d850 40 }
YosukeK 2:144ca2f5d850 41 return result;
YosukeK 2:144ca2f5d850 42 }
YosukeK 2:144ca2f5d850 43 };
YosukeK 2:144ca2f5d850 44
YosukeK 2:144ca2f5d850 45
YosukeK 2:144ca2f5d850 46 /**
YosukeK 2:144ca2f5d850 47 * ルンバ制御クラスのインターフェース
YosukeK 2:144ca2f5d850 48 * 下記メソッドを継承先が実装すること
YosukeK 2:144ca2f5d850 49 */
YosukeK 2:144ca2f5d850 50 class IRoomba {
YosukeK 2:144ca2f5d850 51 public:
YosukeK 2:144ca2f5d850 52 //virtual ~IRoomba(){};//なぜ宣言を書いたのか、コメントにした理由とともに忘れた
YosukeK 2:144ca2f5d850 53 //virtual void set(Data data) = 0;
YosukeK 2:144ca2f5d850 54 virtual bool send() = 0;
YosukeK 2:144ca2f5d850 55 };
YosukeK 2:144ca2f5d850 56
YosukeK 0:32eb0835b5a3 57
YosukeK 0:32eb0835b5a3 58 /*
YosukeK 2:144ca2f5d850 59 * ルンバ制御クラスの実装クラス
YosukeK 0:32eb0835b5a3 60 */
YosukeK 2:144ca2f5d850 61 class ImplRoomba : protected Roomba, protected IRoomba {
YosukeK 2:144ca2f5d850 62 static const int COUNT_TIME_OUT = 10;
YosukeK 2:144ca2f5d850 63
YosukeK 2:144ca2f5d850 64 typedef Roomba base;
YosukeK 2:144ca2f5d850 65
YosukeK 2:144ca2f5d850 66 private:
YosukeK 2:144ca2f5d850 67 int count; //タイムアウト検出カウンタ（カウント値が一定数を超えればタイムアウト）
YosukeK 2:144ca2f5d850 68 bool isTimedOut;//タイムアウト検出フラグ
YosukeK 2:144ca2f5d850 69 DigitalOut _led;//notify()で使用するLED：ルンバ状態を通知する
YosukeK 2:144ca2f5d850 70
YosukeK 2:144ca2f5d850 71 SendData *_data;//送信データ
YosukeK 2:144ca2f5d850 72
YosukeK 2:144ca2f5d850 73 public:
YosukeK 2:144ca2f5d850 74 ImplRoomba(PinName tx, PinName rx, PinName led) : Roomba(tx, rx), _led(led), _data() {
YosukeK 2:144ca2f5d850 75 count = 0;
YosukeK 2:144ca2f5d850 76 isTimedOut = false;
YosukeK 2:144ca2f5d850 77 _led = 0;
YosukeK 0:32eb0835b5a3 78
YosukeK 2:144ca2f5d850 79 //beseの持つSerialインスタンスにコールバックメソッドを接続する
YosukeK 2:144ca2f5d850 80 base::_s.attach(this, &ImplRoomba::serialReceiveCallback, Serial::RxIrq);//!
YosukeK 2:144ca2f5d850 81 }
YosukeK 2:144ca2f5d850 82
YosukeK 2:144ca2f5d850 83
YosukeK 2:144ca2f5d850 84 /*
YosukeK 2:144ca2f5d850 85 * @bref データ設定メソッド
YosukeK 2:144ca2f5d850 86 */
YosukeK 2:144ca2f5d850 87 virtual void ImplRoomba::set(SendData data) {
YosukeK 2:144ca2f5d850 88 //Object of abstruct class type "ImplRoomba" is not allowed "ImplRoomba roomba(...);"
YosukeK 2:144ca2f5d850 89 _data = &data;
YosukeK 2:144ca2f5d850 90
YosukeK 2:144ca2f5d850 91 base::_s.printf("%d", (*_data).get(1));
YosukeK 2:144ca2f5d850 92
YosukeK 2:144ca2f5d850 93 }
YosukeK 2:144ca2f5d850 94
YosukeK 2:144ca2f5d850 95
YosukeK 2:144ca2f5d850 96 /*
YosukeK 2:144ca2f5d850 97 * @bref 送信メソッド
YosukeK 2:144ca2f5d850 98 */
YosukeK 2:144ca2f5d850 99 virtual bool ImplRoomba::send() {
YosukeK 2:144ca2f5d850 100
YosukeK 2:144ca2f5d850 101 base::start();
YosukeK 2:144ca2f5d850 102
YosukeK 2:144ca2f5d850 103 base::mode(Roomba::Mode::Full);
YosukeK 2:144ca2f5d850 104
YosukeK 2:144ca2f5d850 105 int leftWheelVelocity = (*_data).get(0);
YosukeK 2:144ca2f5d850 106 int rightWheerVelocity = (*_data).get(1);
YosukeK 2:144ca2f5d850 107 base::drive(leftWheelVelocity, rightWheerVelocity);
YosukeK 2:144ca2f5d850 108
YosukeK 2:144ca2f5d850 109 return true;
YosukeK 2:144ca2f5d850 110 }
YosukeK 2:144ca2f5d850 111
YosukeK 2:144ca2f5d850 112
YosukeK 2:144ca2f5d850 113 /*
YosukeK 2:144ca2f5d850 114 * @bref 通信状態通知メソッド
YosukeK 2:144ca2f5d850 115 */
YosukeK 2:144ca2f5d850 116 virtual void ImplRoomba::notify() {
YosukeK 2:144ca2f5d850 117
YosukeK 2:144ca2f5d850 118 if (isTimedOut == true) {
YosukeK 2:144ca2f5d850 119 _led = 1;
YosukeK 2:144ca2f5d850 120 } else {
YosukeK 2:144ca2f5d850 121 _led = 0;
YosukeK 2:144ca2f5d850 122 }
YosukeK 2:144ca2f5d850 123 }
YosukeK 2:144ca2f5d850 124
YosukeK 2:144ca2f5d850 125
YosukeK 2:144ca2f5d850 126 /**
YosukeK 2:144ca2f5d850 127 * @bref 周期タイマのコールバックメソッド
YosukeK 2:144ca2f5d850 128 */
YosukeK 2:144ca2f5d850 129 virtual void ImplRoomba::periodicCallback() {
YosukeK 2:144ca2f5d850 130
YosukeK 2:144ca2f5d850 131 count = count + 1;
YosukeK 2:144ca2f5d850 132
YosukeK 2:144ca2f5d850 133 if (count > COUNT_TIME_OUT) {
YosukeK 2:144ca2f5d850 134 if (isTimedOut == false) {
YosukeK 2:144ca2f5d850 135 isTimedOut = true;
YosukeK 2:144ca2f5d850 136 ImplRoomba::notify();
YosukeK 2:144ca2f5d850 137 }
YosukeK 2:144ca2f5d850 138 }
YosukeK 2:144ca2f5d850 139
YosukeK 2:144ca2f5d850 140 ImplRoomba::send();
YosukeK 2:144ca2f5d850 141 }
YosukeK 2:144ca2f5d850 142
YosukeK 2:144ca2f5d850 143 /**
YosukeK 2:144ca2f5d850 144 * @bref シリアル受信時コールバックメソッド
YosukeK 2:144ca2f5d850 145 */
YosukeK 2:144ca2f5d850 146 virtual void ImplRoomba::serialReceiveCallback() {
YosukeK 2:144ca2f5d850 147 count = 0;
YosukeK 2:144ca2f5d850 148
YosukeK 2:144ca2f5d850 149 _led = 1;
YosukeK 2:144ca2f5d850 150 base::_s.printf("hogehoge");
YosukeK 2:144ca2f5d850 151
YosukeK 2:144ca2f5d850 152 if (isTimedOut) {
YosukeK 2:144ca2f5d850 153 isTimedOut = false;
YosukeK 2:144ca2f5d850 154 ImplRoomba::notify();
YosukeK 2:144ca2f5d850 155 }
YosukeK 2:144ca2f5d850 156 }
YosukeK 2:144ca2f5d850 157
YosukeK 2:144ca2f5d850 158 };
YosukeK 0:32eb0835b5a3 159
YosukeK 0:32eb0835b5a3 160
YosukeK 2:144ca2f5d850 161 ImplRoomba roomba(SERIAL_TX, SERIAL_RX, LED1);
YosukeK 2:144ca2f5d850 162 //Ticker ticker;
YosukeK 2:144ca2f5d850 163 //Serial pc(SERIAL_TX, SERIAL_RX);
YosukeK 0:32eb0835b5a3 164
YosukeK 2:144ca2f5d850 165 DigitalOut debugLed(LED1);
YosukeK 0:32eb0835b5a3 166
YosukeK 2:144ca2f5d850 167 int main() {
YosukeK 2:144ca2f5d850 168 int leftWheelVelocity = 0;
YosukeK 2:144ca2f5d850 169 int rightWheelVelocity = 0;
YosukeK 2:144ca2f5d850 170
YosukeK 2:144ca2f5d850 171 while (true) {
YosukeK 0:32eb0835b5a3 172
YosukeK 2:144ca2f5d850 173 if (1) {
YosukeK 2:144ca2f5d850 174 //ルンバの走行値を更新
YosukeK 2:144ca2f5d850 175 leftWheelVelocity = -200;
YosukeK 2:144ca2f5d850 176 rightWheelVelocity = 500;
YosukeK 2:144ca2f5d850 177
YosukeK 2:144ca2f5d850 178 SendData::SendData *data = new SendData(leftWheelVelocity, rightWheelVelocity);
YosukeK 2:144ca2f5d850 179 roomba.set(*data);
YosukeK 2:144ca2f5d850 180 delete data;
YosukeK 2:144ca2f5d850 181 }
YosukeK 2:144ca2f5d850 182
YosukeK 2:144ca2f5d850 183 //ルンバへ定期的に走行値を送信
YosukeK 2:144ca2f5d850 184 roomba.periodicCallback();
YosukeK 2:144ca2f5d850 185
YosukeK 2:144ca2f5d850 186 wait_ms(1000);
YosukeK 0:32eb0835b5a3 187 }
YosukeK 0:32eb0835b5a3 188 }