chen ada
一个使用Nucleo_F411RE开发履带坦克底盘的工程，代码不断完善中
Dependencies: Encoder HCSR04 LED MOTOR RemoteIR
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mbed-os-example-mbed5-blinky
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mbed-os-examples
Revision 72:522b60fd1a99, committed 2018-06-19
- Comitter:
- adaphoto
- Date:
- Tue Jun 19 14:32:54 2018 +0000
- Parent:
- 71:0c5f9561e5b7
- Commit message:
- ??MBED OS?Nucleo_F411RE??????????????????????????
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Encoder.lib Tue Jun 19 14:32:54 2018 +0000 @@ -0,0 +1,1 @@ +http://os.mbed.com/users/vsluiter/code/Encoder/#18b000b443af
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/HCSR04.lib Tue Jun 19 14:32:54 2018 +0000 @@ -0,0 +1,1 @@ +https://developer.mbed.org/teams/TVZ-Mechatronics-Team/code/HCSR04/#cf3e4e307d15
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/LED.lib Tue Jun 19 14:32:54 2018 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/adaphoto/code/LED/#94318e6e89ff
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MOTOR.lib Tue Jun 19 14:32:54 2018 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/adaphoto/code/MOTOR/#d31307e787fd
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/RemoteIR.lib Tue Jun 19 14:32:54 2018 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/adaphoto/code/RemoteIR/#355a854280cd
--- a/main.cpp Tue Jun 19 13:00:02 2018 +0100
+++ b/main.cpp Tue Jun 19 14:32:54 2018 +0000
@@ -1,12 +1,134 @@
#include "mbed.h"
+#include "rtos.h"
+
+#include "LED.h" //LED控制的头文件
+#include "ReceiverIR.h" //红外接收的头文件
+#include "HCSR04.h" //超声波模块的头文件
+#include "motodriver.h"
+#include "encoder.h"
+
+// 变量
+int ir_bitcount, ir_decoded;
-DigitalOut led1(LED1);
+// IO口定义声明
+LED user_led(PA_5);
+Serial pc(PA_2,PA_3);
+ReceiverIR ir_rx(PB_12); // 声明一个红外接接口,这里用PB12,这里可以使用一个通用的IO口就可以,不需要专门的IO口
+HCSR04 sr04(PC_0, PC_1); // 声明两个IO口连接SR04模块,PC_0->ECHO PC1->TRIG
+Motor motor1(PA_8,PA_9); // 声明两个IO口连接电机1驱动模块,必须具有PWM功能的IO
+Motor motor2(PA_11,PA_10); // 声明两个IO口连接电机2驱动模块,必须具有PWM功能的IO
+Encoder encoder1(PB_14,PB_13,true);
+
+// Thread 线程
+Thread thread_led;
+Thread thread_ir;
+Thread thread_sr04;
+
+// Timer
+Timer sr04_timer;
+
+// 线程实现函数
+void led_thread();
+void ir_thread();
+void sr04_thread();
// main() runs in its own thread in the OS
-int main() {
- while (true) {
- led1 = !led1;
- wait(0.5);
+int main()
+{
+ // 初始化
+ user_led.LED_Off();
+
+ pc.baud(115200);
+ pc.printf("\r\n*** Nucleo_F411RE_OS_Robot ***");
+ pc.printf("\r\n*** Hello World! ***");
+
+ // 延时一下
+ wait(1.0);
+
+ // 启动线程
+ thread_led.start(led_thread);
+ thread_ir.start(ir_thread);
+ thread_sr04.start(sr04_thread);
+
+ while (true)
+ {
+ //pc.printf("pos: %d, speed %f \r\n",encoder1.getPosition(), encoder1.getSpeed());
+ switch(ir_decoded)
+ {
+ case 0xb9://forward
+ motor1.Speed(0.5);
+ motor2.Speed(0.5);
+ break;
+ case 0xbf://stop
+ motor1.Stop();
+ motor2.Stop();
+ break;
+ case 0xea://backward
+ motor1.Speed(-0.5);
+ motor2.Speed(-0.5);
+ break;
+ case 0xbb://turn_left
+ motor1.Speed(-0.5);
+ motor2.Speed(0.5);
+ break;
+ case 0xbc://turn_right
+ motor1.Speed(0.5);
+ motor2.Speed(-0.5);
+ break;
+ default:
+ break;
+ }
+ Thread::wait(1);
}
}
+/*************************************************/
+// LED线程 1秒钟闪烁一次
+void led_thread()
+{
+ while(true)
+ {
+ Thread::wait(1000);
+ user_led.LED_Troggle();
+ }
+}
+
+// 红外接收线程
+void ir_thread()
+{
+ // 和红外接收有关的变量
+ RemoteIR::Format format;
+ uint8_t buf[32];
+
+ while(true)
+ {
+ if (ir_rx.getState() == ReceiverIR::Received)
+ {
+ ir_bitcount = ir_rx.getData(&format, buf, sizeof(buf) * 8);
+ if (ir_bitcount>0)
+ {
+ ir_decoded=buf[3];
+ pc.printf("\r\n ir_receive_code: %x",ir_decoded);
+ }
+ pc.printf(".");
+ }
+ }
+}
+
+// SR04超声波测距模块线程
+void sr04_thread()
+{
+ while(true)
+ {
+ sr04_timer.reset();
+ sr04_timer.start();
+ sr04.startMeasurement();
+ while(!sr04.isNewDataReady()) {
+ // wait for new data
+ // waiting time depends on the distance
+ }
+ //pc.printf("\r\n Distance: %5.1f mm", sr04.getDistance_mm());
+ sr04_timer.stop();
+ Thread::wait(500 - sr04_timer.read_ms()); // time the loop
+ }
+}
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