Revision 1:ed00e9c4ba6e, committed 2013-04-30

Comitter:

akudohune

Date:

Tue Apr 30 09:06:57 2013 +0000

Parent:

0:62ac378df546

Commit message:

ooo

Changed in this revision

--- a/IR.cpp	Fri Apr 19 09:14:08 2013 +0000
+++ b/IR.cpp	Tue Apr 30 09:06:57 2013 +0000
@@ -6,7 +6,7 @@
 
 int direction = 0;
 int Distance  = 0;
-int IR_found; 
+int IR_found = 0; 
 
 void IR_Position(){
 

--- a/main.cpp	Fri Apr 19 09:14:08 2013 +0000
+++ b/main.cpp	Tue Apr 30 09:06:57 2013 +0000
@@ -2,12 +2,32 @@
 #include "TextLCD.h"
 #include "main.h"
 
+int ave5point(int source)
+{
+    static int tmp[5] = {0};
+    static int sum = 0;
+    
+    sum -= tmp[4];
+    sum += source;
+    tmp[4] = tmp[3];
+    tmp[3] = tmp[2];
+    tmp[2] = tmp[1];
+    tmp[1] = tmp[0];
+    tmp[0] = source;
+    
+    for(uint8_t i = 0; i < 5; i++){
+        if((tmp[i] > 180) || (tmp[i] < 10)){
+            return 0xFF;
+        }
+    }
+    
+    return (int)(sum / 5.0);
 
-int a;
-int xbee;
+}
 
 void init()
 {
+    device.baud(BAUD_RATE);
     device.printf("START");
     device2.printf("START"); 
     device.attach(&dev_tx,Serial::TxIrq);
@@ -20,25 +40,47 @@
     
     lcd.cls();
 }
+
 int main() 
 {
+    uint8_t flag = 0,state = 0;
+
     init();
     
     for(;;){
-        //mbedleds = 0;
+        if((!Button) && (!flag)){
+            wait(1);
+            flag = 1;
+            state = 1;
+        }else if((!Button) && (flag)){
+            wait(1);
+            flag = 0;
+            state = 0;
+        }
         
+        mbedleds = 0;
         
         Ultrasonic();
-        //lcd.cls();
+        IR_Position();
+        AveDistance = ave5point(Distance);
         
-        IR_Position();
         lcd.cls();
         
-        lcd.locate(0,0);
-        lcd.printf("R:%d,F:%d",(int)ultrasonicValue[1],(int)ultrasonicValue[0]);
-        lcd.locate(0,1);
-        lcd.printf("L:%d,B:%d",(int)ultrasonicValue[3],(int)ultrasonicValue[2]);
-        
+        if(state){
+            lcd.locate(0,0);
+            lcd.printf("R:%d,F:%d",(int)ultrasonicValue[1],(int)ultrasonicValue[0]);
+            lcd.locate(0,1);
+            lcd.printf("L:%d,B:%d",(int)ultrasonicValue[3],(int)ultrasonicValue[2]);
+        }else{
+            lcd.locate(0,0);
+            lcd.printf("%d,%d",direction,data[2]);//data[2]
+            lcd.locate(0,1);
+            lcd.printf("%d,%d",AveDistance,data2[0]);
+        }
+        /*
+        pc.printf("R:%d,\tF:%d\t",(int)ultrasonicValue[1],(int)ultrasonicValue[0]);
+        pc.printf("L:%d,\tB:%d\n",(int)ultrasonicValue[3],(int)ultrasonicValue[2]);
+        */
         /*
         lcd.locate(0,0);
         lcd.printf("%d",(data[0] << 8) + data[1]);
@@ -47,9 +89,9 @@
         */
         /*
         lcd.locate(0,0);
-        lcd.printf("%d,%d",direction,data[2]);
+        lcd.printf("%d,%d",direction,data[3]);//data[2]
         lcd.locate(0,1);
-        lcd.printf("%d",Distance);
+        lcd.printf("%d",AveDistance);
         */
         /*
         lcd.locate(0,0);

--- a/main.h	Fri Apr 19 09:14:08 2013 +0000
+++ b/main.h	Tue Apr 30 09:06:57 2013 +0000
@@ -6,9 +6,11 @@
 BusOut mbedleds(LED4,LED3,LED2,LED1); 
 Serial device2(p28, p27);  // tx, rx
 Serial device(p13, p14);  // tx, rx
-Serial pc(USBTX, USBRX); // tx, rx 
+//Serial pc(USBTX, USBRX); // tx, rx 
 TextLCD lcd(p5, p6, p10, p7, p9, p8);
 
+int AveDistance;
+
 extern uint16_t ultrasonicVal[4];
 extern double ultrasonicValue[4];
 extern int direction;
@@ -21,5 +23,7 @@
 extern void dev2_rx(void);
 extern void dev2_tx(void);
 
-extern int data[4];
-extern int data2[5];
+extern uint8_t data[4];
+extern uint8_t data2[5];
+
+#define BAUD_RATE   19200
\ No newline at end of file

--- a/uart1.cpp	Fri Apr 19 09:14:08 2013 +0000
+++ b/uart1.cpp	Tue Apr 30 09:06:57 2013 +0000
@@ -3,39 +3,43 @@
 #include "uart1.h"
 
 extern Serial device;
-extern BusOut mbedleds; 
+extern BusOut mbedleds;
+//extern Serial pc;
 extern int direction;
 extern int Distance;
 extern int IR_found;
+extern int AveDistance;
 extern uint16_t ultrasonicVal[4];
-extern int xbee;
 
-int data[4];
+uint8_t xbee;
+uint8_t data[4];
+
+extern uint8_t data2[5];
 
 void dev_rx()
 {   
-    static uint8_t count2;
+    static uint8_t count2 = 0;
     static uint8_t RecData[RECEIVE_DATA_NUM];
     
+    
+    
     RecData[count2] = device.getc();
     
-    //mbedleds = 2;
+    if(RecData[KEY2] == KEYCODE2){
     
-    if(RecData[KEY2] == KEYCODE2){
         count2++;
     }else{
         count2 = 0;
     }
     if(count2 >= RECEIVE_DATA_NUM){
         if(RecData[CHECK2] == CHECKCODE2){
-            mbedleds = 1;
+            //pc.printf("a");
+            //mbedleds = 15;
             data[0] = RecData[DATA1];
             data[1] = RecData[DATA2];
             data[2] = RecData[DATA3];
             data[3] = RecData[DATA4];
-            if(data[0] == 25){
-                mbedleds = 15;
-            }
+            //pc.printf("%d\n",data[2]);
         }
         count2 = 0;
     }  
@@ -43,17 +47,14 @@
 
 void dev_tx()
 {
-    
-    static uint8_t count;
+    static uint8_t count = 0;
     static uint8_t SendData0[SEND_DATA_NUM];
     
-    //mbedleds = 1;
-    xbee = IR_found; 
-    
     if(count >= SEND_DATA_NUM){
+        xbee = data2[0];
         SendData0[KEY]      = KEYCODE;
         SendData0[DIRECTIONN] = direction;
-        SendData0[DISTANCE] = Distance;
+        SendData0[DISTANCE] = AveDistance;
         SendData0[SONIC1_1] = ultrasonicVal[0];
         SendData0[SONIC1_2] = (ultrasonicVal[0] >> 8);
         SendData0[SONIC2_1] = ultrasonicVal[1];
@@ -62,11 +63,13 @@
         SendData0[SONIC3_2] = (ultrasonicVal[2] >> 8);
         SendData0[SONIC4_1] = ultrasonicVal[3];
         SendData0[SONIC4_2] = (ultrasonicVal[3] >> 8);
+        SendData0[IR_FOUND] = IR_found;
         SendData0[XBEE]     = xbee;
         SendData0[CHECK]    = CHECKCODE;
         
+        //pc.printf("%d\t%d\t%d\t%d\n",SendData0[DIRECTIONN],SendData0[DISTANCE],SendData0[IR_FOUND],SendData0[CHECK]);
+        
         count = 0;
-        
     }
     device.putc(SendData0[count]);
     

--- a/uart1.h	Fri Apr 19 09:14:08 2013 +0000
+++ b/uart1.h	Tue Apr 30 09:06:57 2013 +0000
@@ -1,9 +1,9 @@
 
-#define SEND_DATA_NUM       13
+#define SEND_DATA_NUM       14
 #define RECEIVE_DATA_NUM    6
 
 #define KEYCODE             120
-#define CHECKCODE           (SendData0[DIRECTIONN] ^ SendData0[DISTANCE] ^ SendData0[SONIC1_1] ^ SendData0[SONIC1_2] ^ SendData0[SONIC2_1] ^ SendData0[SONIC2_2] ^ SendData0[SONIC3_1] ^ SendData0[SONIC3_2] ^ SendData0[SONIC4_1] ^ SendData0[SONIC4_2] ^ SendData0[XBEE])
+#define CHECKCODE           (SendData0[DIRECTIONN] ^ SendData0[DISTANCE] ^ SendData0[SONIC1_1] ^ SendData0[SONIC1_2] ^ SendData0[SONIC2_1] ^ SendData0[SONIC2_2] ^ SendData0[SONIC3_1] ^ SendData0[SONIC3_2] ^ SendData0[SONIC4_1] ^ SendData0[SONIC4_2] ^ SendData0[IR_FOUND] ^ SendData0[XBEE])
 #define KEYCODE2            35
 #define CHECKCODE2          (RecData[DATA1] ^ RecData[DATA2] ^ RecData[DATA3] ^ RecData[DATA4])
 
@@ -20,6 +20,7 @@
     SONIC3_2,
     SONIC4_1,
     SONIC4_2,
+    IR_FOUND,
     XBEE,
     CHECK,
 };

--- a/uart2.cpp	Fri Apr 19 09:14:08 2013 +0000
+++ b/uart2.cpp	Tue Apr 30 09:06:57 2013 +0000
@@ -3,28 +3,32 @@
 #include "uart2.h"
 
 extern Serial device2;
-extern BusOut mbedleds; 
+extern BusOut mbedleds;
 
-int data2[5];
+extern uint8_t data[4];
+
+uint8_t data2[5];
 
 
 void dev2_rx()
 {   
-    static uint8_t count3;
+    static uint8_t count3 = 0;
     static uint8_t RecData2[RECEIVE2_DATA_NUM];
     
     RecData2[count3] = device2.getc();
     
-    //mbedleds = 2;
+    
     
     if(RecData2[KEY3] == KEYCODE4){
         count3++;
+        
     }else{
         count3 = 0;
     }
     if(count3 >= RECEIVE2_DATA_NUM){
         if(RecData2[CHECK3] == CHECKCODE4){
-            mbedleds = 1;
+            //mbedleds = 8;
+            mbedleds = 15;
             data2[0] = RecData2[DATA31];
             data2[1] = RecData2[DATA32];
             data2[2] = RecData2[DATA33];
@@ -37,14 +41,13 @@
 
 void dev2_tx()
 {
-    
-    static uint8_t count4;
+    static uint8_t count4 = 0;
     static uint8_t SendData2[SEND2_DATA_NUM];
     
     if(count4 >= SEND2_DATA_NUM){
         SendData2[KEY4]   = KEYCODE3;
         SendData2[DATA41] = 33;
-        SendData2[DATA42] = 57;
+        SendData2[DATA42] = data[2];
         SendData2[DATA43] = 52;
         SendData2[DATA44] = 33;
         SendData2[DATA45] = 38;

--- a/ultrasonic.cpp	Fri Apr 19 09:14:08 2013 +0000
+++ b/ultrasonic.cpp	Tue Apr 30 09:06:57 2013 +0000
@@ -20,7 +20,7 @@
         DigitalIn PingPin(ultrasonic_pin[i]);
         timer2.reset();
         while(PingPin == 0){
-            if(timer2.read_us() > 1000){   //1ms以上応答なし
+            if(timer2.read_us() > 1500){   //1.5ms以上応答なし
                 ultrasonicValue[i] =  PING_ERR;
                 flag = 1;
                 break;