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ver1.1
Dependencies: EthernetInterface LcdAcm1602ni QEI TextLCD mbed-rtos mbed
main.cpp
- Committer:
- acura55
- Date:
- 2018-05-02
- Revision:
- 0:092f148e92a7
File content as of revision 0:092f148e92a7:
/*--------------------------------ライブラリ------------------------------------*/ // // 以下の3つのライブラリを使用するので、それぞれのライブラリをImportする。 // (1) EthernetInterface // (2) mbed-rtos // (3) TextLCD #include "mbed.h"//20170621 バージョン固定 #include "LPC17xx.h"//LPCExpresso #include "LcdAcm1602ni.h" #include "string.h" #include <limits.h> //#include "TextLCD.h" /*-----------------------------------定義--------------------------------------*/ //MOTOR #define CW 0 #define CCW 1 //MLED #define OFF 0 #define ON 1 /*--------------------------------ピン定義-------------------------------------*/ //MLED mbed内LEDの設定 DigitalOut mled0(LED1); DigitalOut mled1(LED2); DigitalOut mled2(LED3); DigitalOut mled3(LED4); //TextLCD lcd(p24, p26, p27, p28, p29, p30); LcdAcm1602ni lcd(p28,p27);// sda,scl //インターフェイス //LED //DigitalOut open_led(p9); //DigitalOut close_led(p10); DigitalOut open_signal(p9); DigitalOut close_signal(p10); //スイッチ DigitalIn close_sw(p19); DigitalIn open_sw(p20); //モーター① 入出力ピン DigitalOut ccw_pwm(p21);//CW方向へ回転 DigitalOut cw_pwm(p22);//CCW方向へ回転 DigitalIn close_limit(p15); DigitalIn open_limit(p16); DigitalIn tim(p17); //モーター② DigitalOut ccw_pwm_1(p11);//CW方向へ回転 DigitalOut cw_pwm_1(p12);//CCW方向へ回転 DigitalIn close_limit_1(p7); DigitalIn open_limit_1(p8); DigitalIn tim1(p18); //マスター判別ピン DigitalIn master_pin(p23); Ticker flipper; Serial pc(USBTX,USBRX); /*-------------------------------グローバル変数---------------------------------*/ long wt = 800;//モーターパルス用変数 wt = 周期T/2 max500 int dir = 1; int master_flg = 0; float tim_pulse = 0; float tim1_pulse = 0; float last_tim = 0; float last_tim1 = 0; float tim_d = 0; float tim1_d = 0;; int tim_arry[30] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0}; int tim1_arry[30] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0}; /*-----------------------------------step-------------------------------------*/ //モーターに1パルスを与える void step(){ mled3 = ON; //open if(dir == CW){ mled2 = ON; if(master_flg == 1 && open_limit == OFF){ //if(master_flg == 1 && close_limit == ON){ open_signal = OFF; }else{ cw_pwm = ON; cw_pwm_1 = ON; } wait_us(wt); cw_pwm = OFF; cw_pwm_1 = OFF; wait_us(wt); } //close if(dir == CCW){ mled1 = ON; if(master_flg == 1 && close_limit == OFF){ //if(master_flg == 1 && open_limit == ON){ close_signal = OFF; }else{ ccw_pwm = ON; ccw_pwm_1 = ON; } wait_us(wt); ccw_pwm = OFF; ccw_pwm_1 = OFF; wait_us(wt); } mled1 = OFF; mled3 = OFF; } /*-----------------------------flip 割り込み----------------------------------------*/ void flip(){ tim_pulse = tim.read(); tim1_pulse = tim1.read(); tim_d = last_tim - tim_pulse; tim1_d = last_tim1 - tim1_pulse; last_tim = tim_pulse; last_tim1 = tim1_pulse; } /*-----------------------------MotorContoroll---------------------------------*/ /*20180130 void motorControll(){ mled3 = ON; lcd.initialize(); lcd.locate(0,0); lcd.printf(" ***STATE***"); while(open_sw == ON||close_sw == ON){ if(open_limit == ON && close_limit == ON){ open_led = OFF; close_led = OFF; } if(open_limit == OFF && open_limit_1 == OFF && open_sw == ON){ lcd.locate(1,0); lcd.printf("open"); open_led = ON; } if(close_limit == OFF && close_limit_1 == OFF && close_sw == ON){ lcd.locate(1,0); lcd.printf("close"); open_led = ON; close_led = ON; } step(); } mled3 = OFF; */ //timパルス実装検討中 void motorControll(){ mled2 = ON; while(open_sw == ON||close_sw == ON){ step(); } mled2 = OFF; } /*---------------------------------main---------------------------------------*/ int main(){ //LCD初期化 /* lcd.initialize(); lcd.locate(0,0); lcd.printf("*AutoSlideCover*"); pc.printf("*AutoSlideCover*"); lcd.locate(1,0); lcd.printf("setup...."); pc.printf("setup...."); */ //ピンモード初期化 open_sw.mode(PullDown); close_sw.mode(PullDown); open_limit.mode(PullDown); open_limit_1.mode(PullDown); close_limit.mode(PullDown); close_limit_1.mode(PullDown); tim.mode(PullDown); tim1.mode(PullDown); master_pin.mode(PullDown); // tim.mode(PullNone); // tim1.mode(PullNone); // wait(2.0); // lcd.locate(1,0); // lcd.printf("complete!"); // pc.printf("complete!\n"); // wait_ms(100); if(master_pin == ON){ master_flg = 1; mled0 = ON; } int open_buf[10]={0,0,0,0,0,0,0,0,0,0}; int close_buf[10]={0,0,0,0,0,0,0,0,0,0}; /* if(close_limit == ON && close_limit_1 == ON){ lcd.initialize(); lcd.locate(0,0); lcd.printf(" ***STATE***"); } if(open_limit == ON && open_limit_1 == ON){ lcd.initialize(); lcd.locate(0,0); lcd.printf(" ***STATE***"); } if(close_limit == OFF && close_limit_1 == OFF){ lcd.initialize(); lcd.locate(0,0); lcd.printf(" ***STATE***"); lcd.locate(1,0); lcd.printf("close"); } if(open_limit == OFF && open_limit_1 == OFF){ lcd.initialize(); lcd.locate(0,0); lcd.printf(" ***STATE***"); lcd.locate(1,0); lcd.printf("open"); } */ while(1){ // if(open_limit == 1)pc.printf("open_limit\n"); // if(close_limit == 1)pc.printf("close_limit\n"); // if(open_limit_1 == 1)pc.printf("open_limit_1\n"); // if(close_limit_1 == 1)pc.printf("close_limit_1\n"); if(master_flg == 0){ if(open_sw == ON){ mled0 = ON; dir = CW; motorControll(); mled0 = OFF; } if(close_sw == ON){ mled1 = ON; dir = CCW; motorControll(); mled1 = OFF; } }else if(master_flg == 1){ mled1 = OFF; mled2 = OFF; mled3 = OFF; int open_sum = 0; int close_sum = 0; for(int i=0;i<10;i++){ open_buf[i] = open_sw; close_buf[i] = close_sw; wait_ms(50); } for(int j=0;j<10;j++){ open_sum = open_sum + open_buf[j]; close_sum = close_sum + close_buf[j]; } if(open_sum == 10){ dir = CW; open_signal = ON; motorControll(); open_signal = OFF; } if(close_sum == 10){ dir = CCW; close_signal = ON; motorControll(); close_signal = OFF; } } } }