akira tsukiyama / Mbed 2 deprecated BoxController

ver1.1

Dependencies:   EthernetInterface LcdAcm1602ni QEI TextLCD mbed-rtos mbed

main.cpp@0:092f148e92a7, 2018-05-02 (annotated)

Committer:
acura55
Date:
Wed May 02 05:20:15 2018 +0000
Revision:
0:092f148e92a7
ver1.1

Who changed what in which revision?

UserRevisionLine numberNew contents of line
acura55 0:092f148e92a7 1 /*--------------------------------ライブラリ------------------------------------*/
acura55 0:092f148e92a7 2 //
acura55 0:092f148e92a7 3 // 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。
acura55 0:092f148e92a7 4 // (1) EthernetInterface
acura55 0:092f148e92a7 5 // (2) mbed-rtos
acura55 0:092f148e92a7 6 // (3) TextLCD
acura55 0:092f148e92a7 7
acura55 0:092f148e92a7 8 #include "mbed.h"//20170621 バージョン固定
acura55 0:092f148e92a7 9 #include "LPC17xx.h"//LPCExpresso
acura55 0:092f148e92a7 10 #include "LcdAcm1602ni.h"
acura55 0:092f148e92a7 11 #include "string.h"
acura55 0:092f148e92a7 12 #include <limits.h>
acura55 0:092f148e92a7 13 //#include "TextLCD.h"
acura55 0:092f148e92a7 14
acura55 0:092f148e92a7 15 /*-----------------------------------定義--------------------------------------*/
acura55 0:092f148e92a7 16
acura55 0:092f148e92a7 17 //MOTOR
acura55 0:092f148e92a7 18 #define CW 0
acura55 0:092f148e92a7 19 #define CCW 1
acura55 0:092f148e92a7 20
acura55 0:092f148e92a7 21
acura55 0:092f148e92a7 22 //MLED
acura55 0:092f148e92a7 23 #define OFF 0
acura55 0:092f148e92a7 24 #define ON 1
acura55 0:092f148e92a7 25
acura55 0:092f148e92a7 26
acura55 0:092f148e92a7 27 /*--------------------------------ピン定義-------------------------------------*/
acura55 0:092f148e92a7 28
acura55 0:092f148e92a7 29 //MLED mbed内LEDの設定
acura55 0:092f148e92a7 30 DigitalOut mled0(LED1);
acura55 0:092f148e92a7 31 DigitalOut mled1(LED2);
acura55 0:092f148e92a7 32 DigitalOut mled2(LED3);
acura55 0:092f148e92a7 33 DigitalOut mled3(LED4);
acura55 0:092f148e92a7 34
acura55 0:092f148e92a7 35 //TextLCD lcd(p24, p26, p27, p28, p29, p30);
acura55 0:092f148e92a7 36 LcdAcm1602ni lcd(p28,p27);// sda,scl
acura55 0:092f148e92a7 37
acura55 0:092f148e92a7 38 //インターフェイス
acura55 0:092f148e92a7 39 //LED
acura55 0:092f148e92a7 40 //DigitalOut open_led(p9);
acura55 0:092f148e92a7 41 //DigitalOut close_led(p10);
acura55 0:092f148e92a7 42 DigitalOut open_signal(p9);
acura55 0:092f148e92a7 43 DigitalOut close_signal(p10);
acura55 0:092f148e92a7 44 //スイッチ
acura55 0:092f148e92a7 45 DigitalIn close_sw(p19);
acura55 0:092f148e92a7 46 DigitalIn open_sw(p20);
acura55 0:092f148e92a7 47
acura55 0:092f148e92a7 48 //モーター① 入出力ピン
acura55 0:092f148e92a7 49 DigitalOut ccw_pwm(p21);//CW方向へ回転
acura55 0:092f148e92a7 50 DigitalOut cw_pwm(p22);//CCW方向へ回転
acura55 0:092f148e92a7 51 DigitalIn close_limit(p15);
acura55 0:092f148e92a7 52 DigitalIn open_limit(p16);
acura55 0:092f148e92a7 53 DigitalIn tim(p17);
acura55 0:092f148e92a7 54
acura55 0:092f148e92a7 55
acura55 0:092f148e92a7 56 //モーター②
acura55 0:092f148e92a7 57 DigitalOut ccw_pwm_1(p11);//CW方向へ回転
acura55 0:092f148e92a7 58 DigitalOut cw_pwm_1(p12);//CCW方向へ回転
acura55 0:092f148e92a7 59 DigitalIn close_limit_1(p7);
acura55 0:092f148e92a7 60 DigitalIn open_limit_1(p8);
acura55 0:092f148e92a7 61 DigitalIn tim1(p18);
acura55 0:092f148e92a7 62
acura55 0:092f148e92a7 63 //マスター判別ピン
acura55 0:092f148e92a7 64 DigitalIn master_pin(p23);
acura55 0:092f148e92a7 65
acura55 0:092f148e92a7 66 Ticker flipper;
acura55 0:092f148e92a7 67 Serial pc(USBTX,USBRX);
acura55 0:092f148e92a7 68 /*-------------------------------グローバル変数---------------------------------*/
acura55 0:092f148e92a7 69
acura55 0:092f148e92a7 70 long wt = 800;//モーターパルス用変数 wt = 周期T/2 max500
acura55 0:092f148e92a7 71 int dir = 1;
acura55 0:092f148e92a7 72 int master_flg = 0;
acura55 0:092f148e92a7 73 float tim_pulse = 0;
acura55 0:092f148e92a7 74 float tim1_pulse = 0;
acura55 0:092f148e92a7 75 float last_tim = 0;
acura55 0:092f148e92a7 76 float last_tim1 = 0;
acura55 0:092f148e92a7 77 float tim_d = 0;
acura55 0:092f148e92a7 78 float tim1_d = 0;;
acura55 0:092f148e92a7 79 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};
acura55 0:092f148e92a7 80 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};
acura55 0:092f148e92a7 81
acura55 0:092f148e92a7 82 /*-----------------------------------step-------------------------------------*/
acura55 0:092f148e92a7 83 //モーターに1パルスを与える
acura55 0:092f148e92a7 84 void step(){
acura55 0:092f148e92a7 85 mled3 = ON;
acura55 0:092f148e92a7 86 //open
acura55 0:092f148e92a7 87 if(dir == CW){
acura55 0:092f148e92a7 88 mled2 = ON;
acura55 0:092f148e92a7 89 if(master_flg == 1 && open_limit == OFF){
acura55 0:092f148e92a7 90 //if(master_flg == 1 && close_limit == ON){
acura55 0:092f148e92a7 91 open_signal = OFF;
acura55 0:092f148e92a7 92 }else{
acura55 0:092f148e92a7 93 cw_pwm = ON;
acura55 0:092f148e92a7 94 cw_pwm_1 = ON;
acura55 0:092f148e92a7 95 }
acura55 0:092f148e92a7 96 wait_us(wt);
acura55 0:092f148e92a7 97 cw_pwm = OFF;
acura55 0:092f148e92a7 98 cw_pwm_1 = OFF;
acura55 0:092f148e92a7 99 wait_us(wt);
acura55 0:092f148e92a7 100 }
acura55 0:092f148e92a7 101 //close
acura55 0:092f148e92a7 102 if(dir == CCW){
acura55 0:092f148e92a7 103 mled1 = ON;
acura55 0:092f148e92a7 104 if(master_flg == 1 && close_limit == OFF){
acura55 0:092f148e92a7 105 //if(master_flg == 1 && open_limit == ON){
acura55 0:092f148e92a7 106 close_signal = OFF;
acura55 0:092f148e92a7 107 }else{
acura55 0:092f148e92a7 108 ccw_pwm = ON;
acura55 0:092f148e92a7 109 ccw_pwm_1 = ON;
acura55 0:092f148e92a7 110 }
acura55 0:092f148e92a7 111 wait_us(wt);
acura55 0:092f148e92a7 112 ccw_pwm = OFF;
acura55 0:092f148e92a7 113 ccw_pwm_1 = OFF;
acura55 0:092f148e92a7 114 wait_us(wt);
acura55 0:092f148e92a7 115 }
acura55 0:092f148e92a7 116 mled1 = OFF;
acura55 0:092f148e92a7 117 mled3 = OFF;
acura55 0:092f148e92a7 118 }
acura55 0:092f148e92a7 119
acura55 0:092f148e92a7 120 /*-----------------------------flip 割り込み----------------------------------------*/
acura55 0:092f148e92a7 121 void flip(){
acura55 0:092f148e92a7 122 tim_pulse = tim.read();
acura55 0:092f148e92a7 123 tim1_pulse = tim1.read();
acura55 0:092f148e92a7 124 tim_d = last_tim - tim_pulse;
acura55 0:092f148e92a7 125 tim1_d = last_tim1 - tim1_pulse;
acura55 0:092f148e92a7 126 last_tim = tim_pulse;
acura55 0:092f148e92a7 127 last_tim1 = tim1_pulse;
acura55 0:092f148e92a7 128 }
acura55 0:092f148e92a7 129
acura55 0:092f148e92a7 130 /*-----------------------------MotorContoroll---------------------------------*/
acura55 0:092f148e92a7 131 /*20180130
acura55 0:092f148e92a7 132 void motorControll(){
acura55 0:092f148e92a7 133 mled3 = ON;
acura55 0:092f148e92a7 134 lcd.initialize();
acura55 0:092f148e92a7 135 lcd.locate(0,0);
acura55 0:092f148e92a7 136 lcd.printf(" ***STATE***");
acura55 0:092f148e92a7 137 while(open_sw == ON||close_sw == ON){
acura55 0:092f148e92a7 138 if(open_limit == ON && close_limit == ON){
acura55 0:092f148e92a7 139 open_led = OFF;
acura55 0:092f148e92a7 140 close_led = OFF;
acura55 0:092f148e92a7 141 }
acura55 0:092f148e92a7 142 if(open_limit == OFF && open_limit_1 == OFF && open_sw == ON){
acura55 0:092f148e92a7 143 lcd.locate(1,0);
acura55 0:092f148e92a7 144 lcd.printf("open");
acura55 0:092f148e92a7 145 open_led = ON;
acura55 0:092f148e92a7 146 }
acura55 0:092f148e92a7 147 if(close_limit == OFF && close_limit_1 == OFF && close_sw == ON){
acura55 0:092f148e92a7 148 lcd.locate(1,0);
acura55 0:092f148e92a7 149 lcd.printf("close");
acura55 0:092f148e92a7 150 open_led = ON;
acura55 0:092f148e92a7 151 close_led = ON;
acura55 0:092f148e92a7 152 }
acura55 0:092f148e92a7 153 step();
acura55 0:092f148e92a7 154 }
acura55 0:092f148e92a7 155 mled3 = OFF;
acura55 0:092f148e92a7 156 */
acura55 0:092f148e92a7 157 //timパルス実装検討中
acura55 0:092f148e92a7 158 void motorControll(){
acura55 0:092f148e92a7 159 mled2 = ON;
acura55 0:092f148e92a7 160 while(open_sw == ON||close_sw == ON){
acura55 0:092f148e92a7 161 step();
acura55 0:092f148e92a7 162 }
acura55 0:092f148e92a7 163 mled2 = OFF;
acura55 0:092f148e92a7 164 }
acura55 0:092f148e92a7 165
acura55 0:092f148e92a7 166
acura55 0:092f148e92a7 167 /*---------------------------------main---------------------------------------*/
acura55 0:092f148e92a7 168
acura55 0:092f148e92a7 169 int main(){
acura55 0:092f148e92a7 170 //LCD初期化
acura55 0:092f148e92a7 171 /*
acura55 0:092f148e92a7 172 lcd.initialize();
acura55 0:092f148e92a7 173 lcd.locate(0,0);
acura55 0:092f148e92a7 174 lcd.printf("*AutoSlideCover*");
acura55 0:092f148e92a7 175 pc.printf("*AutoSlideCover*");
acura55 0:092f148e92a7 176 lcd.locate(1,0);
acura55 0:092f148e92a7 177 lcd.printf("setup....");
acura55 0:092f148e92a7 178 pc.printf("setup....");
acura55 0:092f148e92a7 179 */
acura55 0:092f148e92a7 180 //ピンモード初期化
acura55 0:092f148e92a7 181 open_sw.mode(PullDown);
acura55 0:092f148e92a7 182 close_sw.mode(PullDown);
acura55 0:092f148e92a7 183 open_limit.mode(PullDown);
acura55 0:092f148e92a7 184 open_limit_1.mode(PullDown);
acura55 0:092f148e92a7 185 close_limit.mode(PullDown);
acura55 0:092f148e92a7 186 close_limit_1.mode(PullDown);
acura55 0:092f148e92a7 187 tim.mode(PullDown);
acura55 0:092f148e92a7 188 tim1.mode(PullDown);
acura55 0:092f148e92a7 189 master_pin.mode(PullDown);
acura55 0:092f148e92a7 190
acura55 0:092f148e92a7 191 // tim.mode(PullNone);
acura55 0:092f148e92a7 192 // tim1.mode(PullNone);
acura55 0:092f148e92a7 193 // wait(2.0);
acura55 0:092f148e92a7 194
acura55 0:092f148e92a7 195 // lcd.locate(1,0);
acura55 0:092f148e92a7 196 // lcd.printf("complete!");
acura55 0:092f148e92a7 197 // pc.printf("complete!\n");
acura55 0:092f148e92a7 198 // wait_ms(100);
acura55 0:092f148e92a7 199
acura55 0:092f148e92a7 200 if(master_pin == ON){
acura55 0:092f148e92a7 201 master_flg = 1;
acura55 0:092f148e92a7 202 mled0 = ON;
acura55 0:092f148e92a7 203 }
acura55 0:092f148e92a7 204 int open_buf[10]={0,0,0,0,0,0,0,0,0,0};
acura55 0:092f148e92a7 205 int close_buf[10]={0,0,0,0,0,0,0,0,0,0};
acura55 0:092f148e92a7 206
acura55 0:092f148e92a7 207 /*
acura55 0:092f148e92a7 208 if(close_limit == ON && close_limit_1 == ON){
acura55 0:092f148e92a7 209 lcd.initialize();
acura55 0:092f148e92a7 210 lcd.locate(0,0);
acura55 0:092f148e92a7 211 lcd.printf(" ***STATE***");
acura55 0:092f148e92a7 212 }
acura55 0:092f148e92a7 213 if(open_limit == ON && open_limit_1 == ON){
acura55 0:092f148e92a7 214 lcd.initialize();
acura55 0:092f148e92a7 215 lcd.locate(0,0);
acura55 0:092f148e92a7 216 lcd.printf(" ***STATE***");
acura55 0:092f148e92a7 217 }
acura55 0:092f148e92a7 218 if(close_limit == OFF && close_limit_1 == OFF){
acura55 0:092f148e92a7 219 lcd.initialize();
acura55 0:092f148e92a7 220 lcd.locate(0,0);
acura55 0:092f148e92a7 221 lcd.printf(" ***STATE***");
acura55 0:092f148e92a7 222 lcd.locate(1,0);
acura55 0:092f148e92a7 223 lcd.printf("close");
acura55 0:092f148e92a7 224 }
acura55 0:092f148e92a7 225 if(open_limit == OFF && open_limit_1 == OFF){
acura55 0:092f148e92a7 226 lcd.initialize();
acura55 0:092f148e92a7 227 lcd.locate(0,0);
acura55 0:092f148e92a7 228 lcd.printf(" ***STATE***");
acura55 0:092f148e92a7 229 lcd.locate(1,0);
acura55 0:092f148e92a7 230 lcd.printf("open");
acura55 0:092f148e92a7 231 }
acura55 0:092f148e92a7 232 */
acura55 0:092f148e92a7 233 while(1){
acura55 0:092f148e92a7 234 // if(open_limit == 1)pc.printf("open_limit\n");
acura55 0:092f148e92a7 235 // if(close_limit == 1)pc.printf("close_limit\n");
acura55 0:092f148e92a7 236 // if(open_limit_1 == 1)pc.printf("open_limit_1\n");
acura55 0:092f148e92a7 237 // if(close_limit_1 == 1)pc.printf("close_limit_1\n");
acura55 0:092f148e92a7 238 if(master_flg == 0){
acura55 0:092f148e92a7 239 if(open_sw == ON){
acura55 0:092f148e92a7 240 mled0 = ON;
acura55 0:092f148e92a7 241 dir = CW;
acura55 0:092f148e92a7 242 motorControll();
acura55 0:092f148e92a7 243 mled0 = OFF;
acura55 0:092f148e92a7 244 }
acura55 0:092f148e92a7 245 if(close_sw == ON){
acura55 0:092f148e92a7 246 mled1 = ON;
acura55 0:092f148e92a7 247 dir = CCW;
acura55 0:092f148e92a7 248 motorControll();
acura55 0:092f148e92a7 249 mled1 = OFF;
acura55 0:092f148e92a7 250 }
acura55 0:092f148e92a7 251 }else if(master_flg == 1){
acura55 0:092f148e92a7 252 mled1 = OFF;
acura55 0:092f148e92a7 253 mled2 = OFF;
acura55 0:092f148e92a7 254 mled3 = OFF;
acura55 0:092f148e92a7 255 int open_sum = 0;
acura55 0:092f148e92a7 256 int close_sum = 0;
acura55 0:092f148e92a7 257 for(int i=0;i<10;i++){
acura55 0:092f148e92a7 258 open_buf[i] = open_sw;
acura55 0:092f148e92a7 259 close_buf[i] = close_sw;
acura55 0:092f148e92a7 260 wait_ms(50);
acura55 0:092f148e92a7 261 }
acura55 0:092f148e92a7 262 for(int j=0;j<10;j++){
acura55 0:092f148e92a7 263 open_sum = open_sum + open_buf[j];
acura55 0:092f148e92a7 264 close_sum = close_sum + close_buf[j];
acura55 0:092f148e92a7 265 }
acura55 0:092f148e92a7 266 if(open_sum == 10){
acura55 0:092f148e92a7 267 dir = CW;
acura55 0:092f148e92a7 268 open_signal = ON;
acura55 0:092f148e92a7 269 motorControll();
acura55 0:092f148e92a7 270 open_signal = OFF;
acura55 0:092f148e92a7 271 }
acura55 0:092f148e92a7 272 if(close_sum == 10){
acura55 0:092f148e92a7 273 dir = CCW;
acura55 0:092f148e92a7 274 close_signal = ON;
acura55 0:092f148e92a7 275 motorControll();
acura55 0:092f148e92a7 276 close_signal = OFF;
acura55 0:092f148e92a7 277 }
acura55 0:092f148e92a7 278 }
acura55 0:092f148e92a7 279 }
acura55 0:092f148e92a7 280 }