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 70:b4f1647683ff, committed 2018-06-19
- Comitter:
- adaphoto
- Date:
- Tue Jun 19 12:25:02 2018 +0000
- Parent:
- 69:1ff487e9be56
- Commit message:
- ??????
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/HCSR04.lib Tue Jun 19 12:25:02 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 12:25:02 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 12:25:02 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 12:25:02 2018 +0000 @@ -0,0 +1,1 @@ +RemoteIR#355a854280cd
--- a/main.cpp Fri Jun 15 11:00:02 2018 +0100
+++ b/main.cpp Tue Jun 19 12:25:02 2018 +0000
@@ -1,12 +1,154 @@
#include "mbed.h"
-DigitalOut led1(LED1);
+#include "LED.h" //LED灯头文件
+#include "ReceiverIR.h" //红外接收头文件
+#include "motodriver.h" //电机控制头文件
+#include "HCSR04.h" //超声波模块的头文件
+
+// 声明变量
+int bitcount, decoded;
+char sr04_alart;
+int encoder_countA=0;
+
+// 声明IO口
+LED user_led(PA_5); //LED的IO口
+Serial pc(PA_2,PA_3); //串口的IO口
+ReceiverIR ir_rx(PB_12); //红外接收管的IO口,可以是普通的IO口
+Motor motor1(PA_8,PA_9); //电机控制的IO口,需要具备PWM功能的IO口
+Motor motor2(PA_11,PA_10);//电机控制的IO口,需要具备PWM功能的IO口
+HCSR04 sr04(PC_0, PC_1); //超声波测距模块的IO口,可以是普通的IO口
+
+InterruptIn encoderA(PB_14);
+DigitalIn encoderB(PB_13);
+
+// 声明线程
+Thread thread_ir;
+Thread thread_sr04;
+
+// Timer
+Timer sr04_timer;
+
+// 声明线程实现函数
+void ir_thread();
+void sr04_thread();
+
+void encoderA_counter(void)
+{
+ if (encoderB == 1)
+ {
+ encoder_countA+=1;
+ }
+ else
+ {
+ encoder_countA-=1;
+ }
+}
+
+void encoderA_reset(void)
+{
+ encoder_countA=0;
+ }
// main() runs in its own thread in the OS
-int main() {
- while (true) {
- led1 = !led1;
- wait(0.5);
+int main()
+{
+ // 设置串口波特率为115200
+ pc.baud(115200);
+ pc.printf("\r\n*** RTOS Robot Hello World! ***\n\r");
+
+ encoderA.fall(&encoderA_counter); //interrupt A rise-trig
+
+ // 启动线程
+ thread_ir.start(ir_thread);
+ thread_sr04.start(sr04_thread);
+
+ while (true)
+ {
+ user_led.LED_Troggle();
+ pc.printf("\r\n encoderA: %d", encoder_countA);
+
+ if (sr04_alart == 1)
+ {
+ motor1.Stop();
+ motor2.Stop();
+ }
+ else
+ {
+ if (decoded == 0xb9)
+ {
+ motor1.Speed(0.5);
+ motor2.Speed(0.5);
+ }
+ else if (decoded == 0xbf)
+ {
+ motor1.Stop();
+ motor2.Stop();
+ }
+ else if (decoded == 0xea)
+ {
+ motor1.Speed(-0.5);
+ motor2.Speed(-0.5);
+ }
+ else if (decoded == 0xbb)
+ {
+ motor1.Speed(-0.5);
+ motor2.Speed(0.5);
+ }
+ else if (decoded == 0xbc)
+ {
+ motor1.Speed(0.5);
+ motor2.Speed(-0.5);
+ }
+ }
+ wait(0.1);
}
}
+/*****************************************************************/
+void ir_thread()
+{
+ // 和红外接收有关的变量
+ RemoteIR::Format format;
+ uint8_t buf[32];
+ //double DC=0.5;
+
+ while(true)
+ {
+ if (ir_rx.getState() == ReceiverIR::Received)
+ {
+ bitcount = ir_rx.getData(&format, buf, sizeof(buf) * 8);
+ if (bitcount>0)
+ {
+ decoded=buf[3];
+ pc.printf("\r\nDecoded: %x ", buf[3]);
+ }
+ pc.printf(".");
+ }
+ }
+}
+
+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\nDistance: %5.1f mm", sr04.getDistance_mm());
+ sr04_timer.stop();
+
+ if (sr04.getDistance_mm() < 400.0)
+ {
+ sr04_alart = 1;
+ }
+ else
+ {
+ sr04_alart = 0;
+ }
+ Thread::wait(200 - sr04_timer.read_ms()); // time the loop
+ }
+}
\ No newline at end of file
--- a/mbed-os.lib Fri Jun 15 11:00:02 2018 +0100 +++ b/mbed-os.lib Tue Jun 19 12:25:02 2018 +0000 @@ -1,1 +1,1 @@ -https://github.com/ARMmbed/mbed-os/#866850acc15e86cd4ac11bf4404078a49f921ddd +https://github.com/ARMmbed/mbed-os/#03196b244ee00fc748cd4dbfa83b26f3fc0f376b