Revision 0:e9b97faa3e37, committed 2013-06-17

Comitter:

akudohune

Date:

Mon Jun 17 00:12:40 2013 +0000

Commit message:

zaaa

Changed in this revision

diff -r 000000000000 -r e9b97faa3e37 HMC6352.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/HMC6352.lib	Mon Jun 17 00:12:40 2013 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/aberk/code/HMC6352/#83c0cb554099

diff -r 000000000000 -r e9b97faa3e37 PID.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/PID.lib	Mon Jun 17 00:12:40 2013 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/aberk/code/PID/#6e12a3e5af19

diff -r 000000000000 -r e9b97faa3e37 main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon Jun 17 00:12:40 2013 +0000
@@ -0,0 +1,565 @@
+#include <math.h>
+#include <sstream>
+#include "mbed.h"
+#include "HMC6352.h"
+#include "PID.h"
+#include "main.h"
+
+
+
+void PidUpdate()
+{   
+    static uint8_t Fflag = 0;
+    
+    pid.setSetPoint(((int)((REFERENCE + standTu) + 360) % 360) / 1.0); 
+    inputPID = (((int)(compass.sample() - (standard * 10.0) + 5400.0) % 3600) / 10.0);        
+    
+    //pc.printf("%f\n",timer1.read());
+    pid.setProcessValue(inputPID);
+    //timer1.reset();
+    
+    compassPID = -(pid.compute());
+    
+    if(!Fflag){
+        Fflag = 1;
+        compassPID = 0;
+    }
+    //pc.printf("%d\t%d\t%d\n",speed[0],speed[1],speed[2]);
+    //pc.printf("standard = \t\t%f\n",standard);
+    //pc.printf("%d\n",diff);
+    //pc.printf("compass.sample = \t%f\n",compass.sample() / 1.0);
+    //pc.printf("compassPID = \t\t%d\n",(int)compassPID);
+    //pc.printf("inputPID = \t\t%f\n\n",inputPID);
+    
+    //pc.printf("%d\t%d\n",Distance,direction);
+    //pc.printf("%d\t%d\t%d\t%d\n",ultrasonicVal[0],ultrasonicVal[1],ultrasonicVal[2],ultrasonicVal[3]);
+}
+
+void IrDistanceUpdate()
+{
+    for(uint8_t i = 0;i < 6;i++)
+    {
+        AnalogIn adcIn(adc_num[i]); /* 今回更新する赤外線の個体を呼び出す */
+        irDistance[i] = adcIn.read_u16() >> 4;
+        //pc.printf("%d\n",irDistance[0]);
+    }
+}
+
+
+void move(int vxx, int vyy, int vss)
+{
+    double motVal[MOT_NUM] = {0};
+    
+    motVal[0] = (double)(((-0.5 * vxx) - ((sqrt(3.0) / 2.0) * vyy) + (Long * vss)) * MOT1);
+    motVal[1] = (double)(((-0.5 * vxx) + ((sqrt(3.0) / 2.0) * vyy) + (Long * vss)) * MOT2);
+    motVal[2] = (double)(((1.0  * vxx) + (0.0               * vyy) + (Long * vss)) * MOT3);
+    
+    for(uint8_t i = 0 ; i < MOT_NUM ; i++){
+        if(motVal[i] > MAX_POW)motVal[i] = MAX_POW;
+        else if(motVal[i] < MIN_POW)motVal[i] = MIN_POW;
+        speed[i] = (int)motVal[i];
+    }
+}
+
+int vector(double Amp,double degree,int xy)
+{
+    double result; 
+
+    if(xy == X){
+        result = Amp * cos(degree * PI / 180.0);
+    }else if(xy == Y){
+        result = Amp * sin(degree * PI / 180.0) * (2.0 / sqrt(3.0));
+    }
+    
+    return (int)result;
+}
+
+/***********  Serial interrupt  ***********/
+
+void Tx_interrupt()
+{
+    array(speed[0],speed[1],speed[2],speed[3]);
+    driver.printf("%s",StringFIN.c_str());
+    //pc.printf("%s",StringFIN.c_str());
+}
+/*
+void Rx_interrupt()
+{
+    if(driver.readable()){
+        //pc.printf("%d\n",driver.getc());
+    }
+}*/
+
+
+/***********  Serial interrupt **********/
+
+
+void init()
+{
+    int scanfSuccess;
+    int printfSuccess;
+    int closeSuccess;
+    int close2Success;
+    uint8_t MissFlag = 0;
+    FILE *fp;
+    
+    compass.setOpMode(HMC6352_CONTINUOUS, 1, 20);
+    
+    StartButton.mode(PullUp);
+    CalibEnterButton.mode(PullUp);
+    CalibExitButton.mode(PullUp);
+    EEPROMButton.mode(PullUp);
+    
+    driver.baud(BAUD_RATE);
+    device2.baud(BAUD_RATE2);
+    wait_ms(MOTDRIVER_WAIT);
+    driver.printf("1F0002F0003F0004F000\r\n"); 
+    device2.printf("START");
+    
+    driver.attach(&Tx_interrupt, Serial::TxIrq);
+    //driver.attach(&Rx_interrupt, Serial::RxIrq);
+    device2.attach(&dev_rx,Serial::RxIrq);
+    device2.attach(&dev_tx,Serial::TxIrq);
+    
+    pid.setInputLimits(MINIMUM,MAXIMUM);
+    pid.setOutputLimits(-OUT_LIMIT, OUT_LIMIT);
+    pid.setBias(PID_BIAS);
+    pid.setMode(AUTO_MODE);
+    pid.setSetPoint(REFERENCE);
+    
+    irDistanceUpdata.attach(&IrDistanceUpdate, 0.1);
+    
+    Survtimer.start();
+    
+    mbedleds = 1;
+    
+    while(StartButton){
+        MissFlag = 0;
+        if(!CalibEnterButton){
+            mbedleds = 2;
+            compass.setCalibrationMode(ENTER);
+            while(CalibExitButton);
+            compass.setCalibrationMode(EXIT);
+            wait(BUT_WAIT);
+            mbedleds = 4;
+         }
+         
+         if(!EEPROMButton){
+            Survtimer.reset();
+            fp = fopen("/local/out.txt", "r");
+            if(fp == NULL){
+                wait(BUT_WAIT);
+                MissFlag = 1;
+            }else{
+                scanfSuccess = fscanf(fp, "%lf",&standard);
+                if(scanfSuccess == EOF){
+                    wait(BUT_WAIT);
+                    MissFlag = 1;
+                }else{
+                    closeSuccess = fclose(fp);
+                    if(closeSuccess == EOF){
+                        wait(BUT_WAIT);
+                        MissFlag = 1;
+                    }else{
+                        wait(BUT_WAIT);
+                    }
+                }
+            }
+            if((Survtimer.read() > (BUT_WAIT + 0.1)) || (MissFlag)){
+                for(uint8_t i = 0;i < 2;i++){
+                    mbedleds = 15;
+                    wait(0.1);
+                    mbedleds = 0;
+                    wait(0.1);
+                }
+                mbedleds = 15;
+            }else{
+                mbedleds = 8;
+            }
+         }
+         
+         if(!CalibExitButton){
+            Survtimer.reset();
+         
+            standard = compass.sample() / 10.0;
+            
+            fp = fopen("/local/out.txt", "w");
+            if(fp == NULL){
+                wait(BUT_WAIT);
+                MissFlag = 1;
+            }else{
+                printfSuccess = fprintf(fp, "%f",standard);
+                if(printfSuccess == EOF){
+                    wait(BUT_WAIT);
+                    MissFlag = 1;
+                }else{
+                    close2Success = fclose(fp);
+                    if(close2Success == EOF){
+                        wait(BUT_WAIT);
+                        MissFlag = 1;
+                    }else{
+                        wait(BUT_WAIT);
+                    }
+                }
+            }
+            if((Survtimer.read() > (BUT_WAIT + 0.2)) || (MissFlag)){
+                for(uint8_t i = 0;i < 4;i++){
+                    mbedleds = 15;
+                    wait(0.1);
+                    mbedleds = 0;
+                    wait(0.1);
+                }
+                mbedleds = 15;
+            }else{
+                mbedleds = 10;
+            }
+        }
+    }
+    
+    mbedleds = 0;
+    
+    Survtimer.stop();
+    
+    for(uint8_t i = 0;i < 6;i++)
+    {
+        stand[i] = irDistance[i];
+    }
+    irDistanceUpdata.detach();
+    
+    pidUpdata.attach(&PidUpdate, PID_CYCLE);
+    //irDistanceUpdata.attach(&IrDistanceUpdate, 0.1);
+    //timer1.start();
+}
+
+int main()
+{
+    int vx=0,vy=0,vs=0;
+    uint8_t whiteFlag = 0;
+    
+    init();
+           
+    while(1){
+        whiteFlag = 0;
+        hold_flag = 0;
+        vx = 0;
+        vy = 0;
+        vs = (int)compassPID;
+        //vs = 0;
+        
+        //move(vx,vy,vs);
+        
+        /*********************************************************************************************************
+        **********************************************************************************************************
+        ********************Change state *************************************************************************
+        **********************************************************************************************************
+        *********************************************************************************************************/
+        for(uint8_t i = 0;i < 6;i++)
+        {
+            AnalogIn adcIn(adc_num[i]); /* 今回更新する赤外線の個体を呼び出す */
+            irDistance[i] = ((adcIn.read_u16() >> 4) - stand[i]);
+            if(irDistance[i] >= 100)
+            {
+                whiteFlag = 1;
+            }
+            //pc.printf("%d\n",irDistance[0]);
+        }
+        
+        if(lineState == NORMAL){
+            if((LEFT_SONIC < 350) && (whiteFlag)){
+                lineState = LEFT_OUT;
+            }else if((RIGHT_SONIC < 350) && (whiteFlag)){    
+                lineState = RIGHT_OUT;         
+            }else if((FRONT_SONIC < 400) && (whiteFlag)){
+                lineState = FRONT_OUT;
+            }else if((BACK_SONIC < 400) && (whiteFlag)){
+                lineState = BACK_OUT;
+            }
+        }else if(lineState == LEFT_OUT){
+            if((LEFT_SONIC > 450) && (!whiteFlag)){
+                lineState = NORMAL;
+            }
+        }else if(lineState == RIGHT_OUT){
+            if((RIGHT_SONIC > 450) && (!whiteFlag)){
+                lineState = NORMAL;
+            }
+        }else if(lineState == FRONT_OUT){
+            if((FRONT_SONIC > 500) && (!whiteFlag)){
+                lineState = NORMAL;
+            }
+        }else if(lineState == BACK_OUT){
+            if((BACK_SONIC > 500) && (!whiteFlag)){
+                lineState = NORMAL;
+            }
+        }
+        
+        
+        if(state == HOLD){
+            if(FRONT_SONIC < 100)hold_flag = 1;
+            
+            if(Distance > 140){ //審判のボール持ち上げ判定
+                state = HOME_WAIT;
+            }else if(!((direction == 0) || (direction == 15) || (direction == 1) || (direction == 14) || (direction == 2))){//ボールを見失った
+                state = DIFFENCE;
+            }else if(!(Distance <= 40)){//ボールを見失った
+                state = DIFFENCE;
+            }
+        }else{
+            standTu = 0;
+            if(state == DIFFENCE){
+                if((direction == 0) && (Distance <= 30) && (IR_found) && (!xbee)){
+                    state = HOLD;
+                }else if((Distance < 180) && (IR_found) && (!xbee)){
+                    state = DIFFENCE;
+                }else{
+                    if((direction == 4) || (direction == 6) || (direction == 8) || (direction == 10)|| (direction == 12)){
+                        if((IR_found) && (!xbee)){
+                            state = DIFFENCE;
+                        }
+                    }else if((diff > 15) && (!xbee) && (IR_found)){
+                         state = DIFFENCE;
+                    }else{
+                        state = HOME_WAIT;
+                    }
+                }
+                
+            }else{  
+                if((direction == 0) && (Distance <= 30) && (IR_found) && (!xbee)){
+                    state = HOLD;
+                }else if((Distance <= 150) && (IR_found) && (!xbee)){
+                    state = DIFFENCE;
+                }else{
+                    if((direction == 4) || (direction == 6) || (direction == 8) || (direction == 10)|| (direction == 12)){
+                        if((IR_found) && (!xbee)){
+                            state = DIFFENCE;
+                        }       
+                    }else if((diff > 15) && (!xbee) && (IR_found)){
+                         state = DIFFENCE;
+                    }else{
+                        state = HOME_WAIT;
+                    }
+                }
+            }
+        }
+        /**/
+        /*********************************************************************************************************
+        **********************************************************************************************************
+        ********************Change state *************************************************************************
+        **********************************************************************************************************
+        *********************************************************************************************************/
+        
+        //state = HOME_WAIT;
+        if(state == HOME_WAIT){
+           mbedleds = 0;
+            /*
+            if(((RIGHT_SONIC + LEFT_SONIC) < 1650.0) && ((RIGHT_SONIC + LEFT_SONIC) > 1200.0)){
+                if((LEFT_SONIC > 600.0) && (RIGHT_SONIC > 600.0)){
+                    vx = 0;
+                }else if(RIGHT_SONIC < 600.0){
+                    vx = (int)((RIGHT_SONIC - 600.0) * 0.05 - 5.0);
+                    if(vx < -30)vx = -30;
+                }else if(LEFT_SONIC < 600.0){
+                    vx = (int)((600.0 - LEFT_SONIC ) * 0.05 + 5.0);
+                    if(vx > 30)vx = 30;
+                }
+                if((BACK_SONIC > 95.0) && (BACK_SONIC < 125.0)){
+                    vy = 0;
+                }else if((BACK_SONIC <= 95.0) || (BACK_SONIC == PING_ERROR)){
+                    vy = 5;
+                }else{
+                    vy = (int)(0.04 * (110.0 - BACK_SONIC) - 5.0);
+                    if(vy < -40)vy = -40;
+                }
+            }else if((RIGHT_SONIC + LEFT_SONIC) <= 1200.0){
+                if(BACK_SONIC < 200.0){
+                    if(RIGHT_SONIC > LEFT_SONIC){
+                        vx = 15;
+                        vy = 15;
+                    }else{
+                        vx = -15;
+                        vy = 15;
+                    }
+                }else{
+                    vx = 0;
+                    vy = -30;
+                }
+            }else{
+                if(BACK_SONIC > 500.0){
+                    if(RIGHT_SONIC > LEFT_SONIC){
+                        vx = 10;
+                        vy = -20;
+                    }else{                    
+                        vx = -10;
+                        vy = -20;
+                    }
+                }
+            }
+            */
+        }else if(state == DIFFENCE){
+           mbedleds = 1;
+            if((direction == 6) || (direction == 4)){
+                vx = 10;
+                vy = -30;
+                /*
+                if(LEFT_SONIC < 330.0){
+                    if((BACK_SONIC > 15.0) && (BACK_SONIC < 45.0)){
+                        vy = 0;
+                    }else if((BACK_SONIC <= 15.0) || (BACK_SONIC == PING_ERROR)){
+                        vy = 5;
+                    }else{
+                        vy = (int)(0.015 * (30.0 - BACK_SONIC) - 4);
+                        if(vy < -10)vy = -10;
+                    }
+                }else if(RIGHT_SONIC < 330.0){
+                    vx = 10;
+                    vy = -10;
+                }else{
+                    if((BACK_SONIC > 95.0) && (BACK_SONIC < 125.0)){
+                        vy = 0;
+                    }else if((BACK_SONIC <= 95.0) || (BACK_SONIC == PING_ERROR)){
+                        vy = 5;
+                    }else{
+                        vy = (int)(0.015 * (110.0 - BACK_SONIC) - 4);
+                        if(vy < -10)vy = -10;
+                    }
+                }
+                */
+            }else if((direction == 10) || (direction == 12)){
+                vx = -10;
+                vy = -30;
+                /*
+                if(RIGHT_SONIC < 330.0){
+                    if((BACK_SONIC > 15.0) && (BACK_SONIC < 45.0)){
+                        vy = 0;
+                    }else if((BACK_SONIC <= 15.0) || (BACK_SONIC == PING_ERROR)){
+                        vy = 5;
+                    }else{
+                        vy = (int)(0.015 * (30.0 - BACK_SONIC) - 4);
+                        if(vy < -10)vy = -10;
+                    }
+                }else if(LEFT_SONIC < 330.0){
+                    vx = -10;
+                    vy = -10;
+                }else{
+                    if((BACK_SONIC > 95.0) && (BACK_SONIC < 125.0)){
+                        vy = 0;
+                    }else if((BACK_SONIC <= 95.0) || (BACK_SONIC == PING_ERROR)){
+                        vy = 5;
+                    }else{
+                        vy = (int)(0.015 * (110.0 - BACK_SONIC) - 4);
+                        if(vy < -10)vy = -10;
+                    }
+                }
+                */
+            }else if(direction == 8){
+            
+                if(LEFT_SONIC > RIGHT_SONIC){
+                    vx = -10;
+                }else{
+                    vx = 10;
+                }
+                vy = -40;
+                /*
+                if((RIGHT_SONIC < 330.0) || (LEFT_SONIC < 330.0)){
+                    if(BACK_SONIC < 45.0){
+                        vy = -5;
+                    }else{
+                        vy = (int)(0.015 * (30.0 - BACK_SONIC) - 4);
+                        if(vy < -10)vy = -10;
+                    }
+                }else{
+                    if(BACK_SONIC < 125.0){
+                        vy = -5;
+                    }else{
+                        vy = (int)(0.015 * (110.0 - BACK_SONIC) - 4);
+                        if(vy < -10)vy = -10;
+                    }
+                }
+                */
+            }else if(direction == 2){
+                
+                vx = 10;
+                vy = 5;     //0
+                
+            }else if(direction == 14){
+                
+                vx = -10;
+                vy = 5;    //-4 
+                
+            }else if(direction == 1){
+            
+                
+                vx = 5;
+                vy = 5;     //0
+                
+                
+            }else if(direction == 15){
+            
+                vx = -5;
+                vy = 5;    //-3
+               
+            }else if(direction == 0){
+            
+                vx = 0;
+                vy = 30;
+                
+            }else{//error
+            
+                vx = 0;
+                vy = 0;
+            
+            }
+        }else if(state == HOLD){
+            mbedleds = 15;
+            vx = 0;
+            vy = 40;
+            /*
+            if((FRONT_SONIC < 100) && (BACK_SONIC > 1300)){
+                if(RIGHT_SONIC < LEFT_SONIC){
+                    vy = 0;
+                    vx = 0;
+                    vs = 3;
+                }else{
+                    vy = 0;
+                    vx = 0;
+                    vs = -3;
+                }
+            }else{
+                if(((RIGHT_SONIC + LEFT_SONIC) < 1100.0) && ((RIGHT_SONIC + LEFT_SONIC) > 800.0)){
+                    standTu = (RIGHT_SONIC - LEFT_SONIC) / 25.0;
+                }
+            }
+            */
+        }
+        
+        if(lineState == NORMAL){
+            //mbedleds = 1;
+           
+        }else if(lineState == LEFT_OUT){
+            //mbedleds = 2;
+            
+            vx = 40;
+        }else if(lineState == RIGHT_OUT){
+            //mbedleds = 4;
+            
+            vx = -40;
+        }else if(lineState == FRONT_OUT){
+            //mbedleds = 8;
+            
+            vy = -40;
+        }else if(lineState == BACK_OUT){
+            //mbedleds = 12;
+            
+            vy = 40;
+        }
+        //vx = vector(10,45,X);
+        //vy = vector(10,45,Y);
+        //vx = 40;
+        //vy = 0;
+        //pc.printf("%d\t%d\n",vx,vy);
+        
+        //vy = -50; 
+        //vx = 10;
+        
+        move(vx,vy,vs);
+    }
+}
\ No newline at end of file

diff -r 000000000000 -r e9b97faa3e37 main.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.h	Mon Jun 17 00:12:40 2013 +0000
@@ -0,0 +1,118 @@
+
+
+#define RATE    0.052
+#define Long    1.0
+#define ENTER   0
+#define EXIT    1
+#define X       0
+#define Y       1
+#define MOT_NUM 4
+#define MOTDRIVER_WAIT  300 //ms
+#define BAUD_RATE       115200
+#define BAUD_RATE2      19200
+#define BUT_WAIT        0.3 //s
+#define ON      1
+#define OFF     0
+
+#define PING_ERROR  0xFFFF
+#define PI          3.14159265
+
+#define MOT1    1.0
+#define MOT2    1.0
+#define MOT3    1.0
+#define MOT4    1.0
+
+#define PID_BIAS    0.0
+#define REFERENCE   180.0
+#define MINIMUM     0.0
+#define MAXIMUM     360.0
+
+#define PID_CYCLE   0.06    //s
+
+#define P_GAIN  0.80    //0.78   
+#define I_GAIN  0.0     //0.0
+#define D_GAIN  0.0095   //0.009
+    
+#define OUT_LIMIT   40.0
+#define MAX_POW     100
+#define MIN_POW     -100
+
+DigitalOut led1(LED1); 
+DigitalOut led2(LED2);
+DigitalOut led3(LED3);
+DigitalOut led4(LED4);
+BusOut mbedleds(LED4,LED3,LED2,LED1); 
+HMC6352 compass(p9, p10);
+Serial driver(p28, p27);    // tx, rx 
+Serial device2(p13, p14);   // tx, rx
+Serial pc(USBTX, USBRX);    // tx, rx 
+DigitalIn StartButton(p21);
+DigitalIn CalibEnterButton(p22);
+DigitalIn CalibExitButton(p23);
+DigitalIn EEPROMButton(p24);
+PID pid(P_GAIN,I_GAIN,D_GAIN, RATE);      //battery is low power version 30.0 0.58 1.0 0.015    battery is high power version   30.0 0.42, 1.0, 0.013   power is low but perfect 20.0 0.45, 0.0, 0.010
+Ticker pidUpdata;
+Ticker irDistanceUpdata;
+Timer timer1;
+Timer Survtimer;
+LocalFileSystem local("local");  // マウントポイントを定義（ディレクトリパスになる）
+
+enum{
+    NORMAL,
+    LEFT_OUT,
+    RIGHT_OUT,
+    FRONT_OUT,
+    BACK_OUT,
+};
+
+enum{
+    HOME_WAIT,
+    DIFFENCE,
+    WARNING,
+    HOLD,
+};
+
+PinName adc_num[6] = {
+    p15,
+    p16,
+    p17,
+    p18,
+    p19,
+    p20,
+};
+double standTu = 0;
+int speed[MOT_NUM] = {0};
+uint8_t hold_flag = 0;
+uint8_t state = HOME_WAIT;
+uint8_t lineState = NORMAL;
+
+double inputPID = 180.0;
+static double standard;
+double compassPID = 0.0;
+
+extern int diff;
+
+extern string StringFIN;
+
+extern uint8_t direction;
+extern uint8_t Distance;
+extern uint8_t IR_found;
+extern uint8_t xbee;
+extern int irDistance[6];
+
+extern void array(int,int,int,int);
+
+extern void dev_rx(void);
+extern void dev_tx(void);
+
+extern uint16_t ultrasonicVal[4];
+
+int stand[6];
+uint8_t compFlag = 0;
+
+#define FRONT_SONIC ultrasonicVal[0]
+#define BACK_SONIC  ultrasonicVal[2]
+#define RIGHT_SONIC ultrasonicVal[1]
+#define LEFT_SONIC  ultrasonicVal[3]    
+
+

diff -r 000000000000 -r e9b97faa3e37 mbed.bld
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Mon Jun 17 00:12:40 2013 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/b3110cd2dd17
\ No newline at end of file

diff -r 000000000000 -r e9b97faa3e37 uart1.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/uart1.cpp	Mon Jun 17 00:12:40 2013 +0000
@@ -0,0 +1,108 @@
+
+#include "mbed.h"
+#include "uart1.h"
+#include "HMC6352.h"
+
+//extern Serial pc;
+extern Serial device2;
+extern HMC6352 compass;
+extern BusOut mbedleds;
+extern DigitalOut led1; 
+extern DigitalOut led2;
+extern DigitalOut led3;
+extern DigitalOut led4;
+
+extern uint8_t state;
+extern uint8_t hold_flag;
+
+int diff;
+uint16_t ultrasonicVal[4];
+uint8_t direction;
+uint8_t Distance;
+uint8_t IR_found;
+uint8_t xbee;
+int irDistance[6] = {0,3,5,99,33,11};
+
+void dev_rx()
+{
+    static uint8_t count = 0;
+    static uint8_t RecData[RECEIVE_DATA_NUM];
+    static uint8_t last_data;
+    
+    RecData[count] = device2.getc();
+    
+    if(RecData[KEY] == KEYCODE){
+        count++;
+    }else{
+        count = 0;
+    }
+    if(count >= RECEIVE_DATA_NUM){
+        if(RecData[CHECK] == CHECKCODE){
+            //mbedleds = 15;
+            
+            if((RecData[DIRECTION] <= 15) || (RecData[DIRECTION] == 200)){
+                direction = RecData[DIRECTION];
+            }
+            if(RecData[DISTANCE] <= 180){
+                Distance = RecData[DISTANCE];
+            }
+            
+            ultrasonicVal[0] = (int)((RecData[SONIC1_1] + (RecData[SONIC1_2] << 8)) / 10.0);
+            if(ultrasonicVal[0] == 6553)ultrasonicVal[0] = 0xFFFF;
+            ultrasonicVal[1] = (int)((RecData[SONIC2_1] + (RecData[SONIC2_2] << 8)) / 10.0);
+            if(ultrasonicVal[1] == 6553)ultrasonicVal[1] = 0xFFFF;
+            ultrasonicVal[2] = (int)((RecData[SONIC3_1] + (RecData[SONIC3_2] << 8)) / 10.0);
+            if(ultrasonicVal[2] == 6553)ultrasonicVal[2] = 0xFFFF;
+            ultrasonicVal[3] = (int)((RecData[SONIC4_1] + (RecData[SONIC4_2] << 8)) / 10.0);
+            if(ultrasonicVal[3] == 6553)ultrasonicVal[3] = 0xFFFF;
+            
+            if((RecData[IR_FOUND] == 0) || (RecData[IR_FOUND] == 1)){
+                IR_found = RecData[IR_FOUND];
+            }
+            xbee = RecData[XBEE];
+            xbee = 0;
+            
+            
+            //pc.printf("%f\t%f\t%f\t%f\n",ultrasonicVal[0],ultrasonicVal[1],ultrasonicVal[2],ultrasonicVal[3]);
+            //pc.printf("%d\n",xbee);
+            //pc.printf("%d\n",IR_found);
+            
+            diff = last_data - Distance;
+            last_data = Distance;
+        }
+        count = 0;
+    }  
+}
+
+void dev_tx()
+{
+    static uint8_t count2 = 0;
+    static uint8_t SendData[SEND_DATA_NUM];
+    
+    if(count2 >= SEND_DATA_NUM){
+        SendData[KEY2]     = KEYCODE2;
+        SendData[DATA1]    = ((int)(compass.sample())) >> 8 ;
+        SendData[DATA2]    = (int)(compass.sample());
+        SendData[DATA3]    = state;
+        SendData[DATA4]    = 1;
+        SendData[DISTANCE1]      = irDistance[0] >> 8;
+        SendData[DISTANCE1_2]    = irDistance[0];
+        SendData[DISTANCE2]      = irDistance[1] >> 8;
+        SendData[DISTANCE2_2]    = irDistance[1];
+        SendData[DISTANCE3]      = irDistance[2] >> 8;
+        SendData[DISTANCE3_2]    = irDistance[2];
+        SendData[DISTANCE4]      = irDistance[3] >> 8;
+        SendData[DISTANCE4_2]    = irDistance[3];
+        SendData[DISTANCE5]      = irDistance[4] >> 8;
+        SendData[DISTANCE5_2]    = irDistance[4];
+        SendData[DISTANCE6]      = irDistance[5] >> 8;
+        SendData[DISTANCE6_2]    = irDistance[5];
+        SendData[CHECK2]   = CHECKCODE2;
+        
+        count2 = 0;
+        
+    }
+    device2.putc(SendData[count2]);
+    
+    count2++;
+}
\ No newline at end of file

diff -r 000000000000 -r e9b97faa3e37 uart1.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/uart1.h	Mon Jun 17 00:12:40 2013 +0000
@@ -0,0 +1,48 @@
+
+
+
+#define RECEIVE_DATA_NUM    14
+#define SEND_DATA_NUM       18
+
+#define KEYCODE             120
+#define CHECKCODE           (RecData[DIRECTION] ^ RecData[DISTANCE] ^ RecData[SONIC1_1] ^ RecData[SONIC1_2] ^ RecData[SONIC2_1] ^ RecData[SONIC2_2] ^ RecData[SONIC3_1] ^ RecData[SONIC3_2] ^ RecData[SONIC4_1] ^ RecData[SONIC4_2] ^ RecData[IR_FOUND] ^ RecData[XBEE])
+#define KEYCODE2            35
+#define CHECKCODE2          (SendData[DATA1] ^ SendData[DATA2] ^ SendData[DATA3] ^ SendData[DATA4] ^ SendData[DISTANCE1] ^ SendData[DISTANCE1_2] ^ SendData[DISTANCE2] ^ SendData[DISTANCE2_2] ^ SendData[DISTANCE3] ^ SendData[DISTANCE3_2] ^ SendData[DISTANCE4] ^  SendData[DISTANCE4_2] ^ SendData[DISTANCE5] ^ SendData[DISTANCE5_2] ^ SendData[DISTANCE6] ^ SendData[DISTANCE6_2])
+
+
+enum{
+    KEY = 0,
+    DIRECTION,
+    DISTANCE,
+    SONIC1_1,
+    SONIC1_2,
+    SONIC2_1,
+    SONIC2_2,
+    SONIC3_1,
+    SONIC3_2,
+    SONIC4_1,
+    SONIC4_2,
+    IR_FOUND,
+    XBEE,
+    CHECK,
+};
+enum{
+    KEY2 = 0,
+    DATA1,
+    DATA2,
+    DATA3,
+    DATA4,
+    DISTANCE1,
+    DISTANCE1_2,
+    DISTANCE2,
+    DISTANCE2_2,
+    DISTANCE3,
+    DISTANCE3_2,
+    DISTANCE4,
+    DISTANCE4_2,
+    DISTANCE5,
+    DISTANCE5_2,
+    DISTANCE6,
+    DISTANCE6_2,
+    CHECK2,
+};

diff -r 000000000000 -r e9b97faa3e37 wordString.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/wordString.cpp	Mon Jun 17 00:12:40 2013 +0000
@@ -0,0 +1,71 @@
+
+#include <sstream>
+#include "mbed.h"
+
+string StringFIN;
+
+using namespace std;
+
+
+//extern Serial pc; // tx, rx 
+
+string IntToString(int number)
+{
+  stringstream ss;
+  ss << number;
+  return ss.str();
+}
+
+void array(int power1,int power2,int power3,int power4)
+{
+    int input[4] = {power1,power2,power3,power4};
+    int value = 0;
+    string StringA[4] = {"0","0","0","0"};
+    
+    
+    string StringX = "0";
+    string StringY = "0";
+    string StringZ = "0";
+    string String0 = "0";
+    
+    StringFIN = "0";
+    
+    for(uint8_t i = 0 ; i < 4; i++){
+        
+        value = input[i];
+        
+        StringX =  IntToString(i+1);
+        
+        if( (value < 0) && (value >= -100) ){
+            StringY = "R";
+            value = abs(value);
+            StringZ = IntToString(value);
+        }else if( (value >= 0) && (value <= 100) ){
+            StringY = "F";
+            StringZ = IntToString(value);
+        }else{
+            value = abs(value);
+            StringY = "F";
+            StringZ = "000";
+        }
+        
+        if(value < 10){
+            String0 = "00";
+            StringZ = String0 + StringZ;
+        }else if(value < 100)
+        {
+            String0 = "0";
+            StringZ = String0 + StringZ;
+        }else{
+            
+        }
+        
+        StringA[i] = (StringX + StringY + StringZ);
+        
+        if(i == 0)StringFIN  = StringA[i];
+        else StringFIN  += StringA[i];
+        
+    }
+    
+    StringFIN += "\r\n";   
+}
\ No newline at end of file