Diff: main.cpp

Revision:

0:092f148e92a7

diff -r 000000000000 -r 092f148e92a7 main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Wed May 02 05:20:15 2018 +0000
@@ -0,0 +1,280 @@
+/*--------------------------------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;
+            }
+        } 
+    }
+}
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