yuya horie / Mbed 2 deprecated Roots

RobocupSSLのメイン基板白mbedのプログラム

Dependencies:   mbed

Rootsロボット mainプログラム

~ Robocup SSL（小型車輪リーグ）ロボット ~

Robocup SSLとは

●試合構成
Robocup小型ロボットリーグ（Small Size League)は，直径180[mm]，高さ150[mm]以内のサイズのロボット6台が1チームとなり，オレンジ色のゴルフボールを使ってサッカー競技を行う自立型ロボットコンテストである. フィールドの上には2台のWebカメラが設置され，フィールド上のロボットとボールを撮影する．Visionサーバは，フィールドの画像データよりロボットとボールの座標データを算出し，LANを用い各チームのAI用PCに送信する．Webカメラの撮影速度は，60[fps]である．レフリーボックスは，ファウルやフリーキック，スローインなどの審判の判定を入力し，LANを通じて各チームのAI用PCに送信する.それぞれのチームのAI用PCは，ロボットとボールの座標，審判の判定を元にロボットの移動，キックなどの作戦を決定し，無線によってロボットに指令を送信する． 700

ロボット機能紹介

●オムニホイールによる方向転換不要の全方位移動

オムニホイールは，自由に回転可能なローラをホイールの外周上に配置した車輪である．ローラの回転により，車輪の回転と垂直の方向に駆動力を発することはできないが移動は可能となる．各車輪の角速度を調整することによって全方向への移動を可能にする．
400

●ドリブルバーのバックスピンによるボール保持

●電磁力を利用したキッカー

●キッカーの電磁力エネルギーを充電する充電回路

●ロボット情報が一目でわかるLCD

interface/i2c/i2c_roots.cpp@2:ba11cc8540d3, 2017-04-18 (annotated)

Committer:
alt0710
Date:
Tue Apr 18 16:09:06 2017 +0000
Revision:
2:ba11cc8540d3
Parent:
1:c359b1fcfb5a
Child:
24:37a074e767c8
CAN???????MD???????OK;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
alt0710 1:c359b1fcfb5a 1
alt0710 1:c359b1fcfb5a 2 #include "mbed.h"
alt0710 1:c359b1fcfb5a 3 #include "comm.h"
alt0710 1:c359b1fcfb5a 4 #include "interface_manager.h"
alt0710 1:c359b1fcfb5a 5 #include "i2c_roots.h"
alt0710 1:c359b1fcfb5a 6
alt0710 1:c359b1fcfb5a 7 /* **mbedクラス** */
alt0710 1:c359b1fcfb5a 8 #ifdef LPC4088
alt0710 1:c359b1fcfb5a 9
alt0710 1:c359b1fcfb5a 10 #elif STM32
alt0710 1:c359b1fcfb5a 11 I2C i2cMBED(PB_7, PB_6); // sda, scl
alt0710 1:c359b1fcfb5a 12 #endif
alt0710 1:c359b1fcfb5a 13
alt0710 1:c359b1fcfb5a 14 Ticker i2c_Timer;
alt0710 1:c359b1fcfb5a 15
alt0710 1:c359b1fcfb5a 16 /* **ローカル関数定義** */
alt0710 1:c359b1fcfb5a 17 static void initLCD(void);
alt0710 1:c359b1fcfb5a 18
alt0710 1:c359b1fcfb5a 19 static void sendCommand(unsigned char command);
alt0710 1:c359b1fcfb5a 20 static void sendCharacter(unsigned char a);
alt0710 1:c359b1fcfb5a 21 static void clearDisp(void);
alt0710 1:c359b1fcfb5a 22 static void moveCursor(unsigned char address);
alt0710 1:c359b1fcfb5a 23 static void initialiseCursorPosition(void);
alt0710 2:ba11cc8540d3 24 /* **ローカル変数** */
alt0710 1:c359b1fcfb5a 25
alt0710 1:c359b1fcfb5a 26
alt0710 1:c359b1fcfb5a 27
alt0710 1:c359b1fcfb5a 28 /* **ローカル関数** */
alt0710 1:c359b1fcfb5a 29 void i2c_send(void)
alt0710 1:c359b1fcfb5a 30 {
alt0710 2:ba11cc8540d3 31 //500msec周期で送信
alt0710 1:c359b1fcfb5a 32 //送信記述はここに書く
alt0710 1:c359b1fcfb5a 33 printfLCD(InterfaceManager::i2c.LCDMsg);
alt0710 1:c359b1fcfb5a 34
alt0710 1:c359b1fcfb5a 35
alt0710 1:c359b1fcfb5a 36
alt0710 1:c359b1fcfb5a 37 }
alt0710 1:c359b1fcfb5a 38
alt0710 1:c359b1fcfb5a 39 static void initLCD(void)
alt0710 1:c359b1fcfb5a 40 {
alt0710 1:c359b1fcfb5a 41 xdev_out(sendCharacter);
alt0710 1:c359b1fcfb5a 42
alt0710 1:c359b1fcfb5a 43 sendCommand(0x38);
alt0710 1:c359b1fcfb5a 44 sendCommand(0x39);
alt0710 1:c359b1fcfb5a 45 sendCommand(0x14);
alt0710 1:c359b1fcfb5a 46 sendCommand(0x70);
alt0710 1:c359b1fcfb5a 47 sendCommand(0x56);
alt0710 1:c359b1fcfb5a 48 sendCommand(0x6C);
alt0710 1:c359b1fcfb5a 49 wait_ms(200);
alt0710 1:c359b1fcfb5a 50 sendCommand(0x38);
alt0710 1:c359b1fcfb5a 51 sendCommand(0x0C);
alt0710 1:c359b1fcfb5a 52 sendCommand(0x01);
alt0710 1:c359b1fcfb5a 53 wait_ms(2);
alt0710 1:c359b1fcfb5a 54
alt0710 1:c359b1fcfb5a 55 initialiseCursorPosition();
alt0710 1:c359b1fcfb5a 56 }
alt0710 1:c359b1fcfb5a 57 extern void printfLCD(const char* fmt, ...)
alt0710 1:c359b1fcfb5a 58 {
alt0710 1:c359b1fcfb5a 59 va_list arp;
alt0710 1:c359b1fcfb5a 60
alt0710 1:c359b1fcfb5a 61 clearDisp();
alt0710 1:c359b1fcfb5a 62
alt0710 1:c359b1fcfb5a 63 va_start(arp, fmt);
alt0710 1:c359b1fcfb5a 64 xvprintf(fmt,arp);
alt0710 1:c359b1fcfb5a 65 va_end(arp);
alt0710 1:c359b1fcfb5a 66
alt0710 1:c359b1fcfb5a 67 initialiseCursorPosition();
alt0710 1:c359b1fcfb5a 68 }
alt0710 1:c359b1fcfb5a 69
alt0710 1:c359b1fcfb5a 70 static void sendCommand(unsigned char command)
alt0710 1:c359b1fcfb5a 71 {
alt0710 1:c359b1fcfb5a 72 char data[2];
alt0710 1:c359b1fcfb5a 73 data[0]= 0x80;
alt0710 1:c359b1fcfb5a 74 data[1]= command;
alt0710 1:c359b1fcfb5a 75 i2cMBED.write(ADDRESS_LCD, data, 2);
alt0710 1:c359b1fcfb5a 76 wait_us(27);
alt0710 1:c359b1fcfb5a 77 }
alt0710 1:c359b1fcfb5a 78
alt0710 1:c359b1fcfb5a 79 static void sendCharacter(unsigned char a)
alt0710 1:c359b1fcfb5a 80 {
alt0710 1:c359b1fcfb5a 81 if(a == '\n') { //改行コードのときは改行する
alt0710 1:c359b1fcfb5a 82 moveCursor(0x40);
alt0710 1:c359b1fcfb5a 83 return;
alt0710 1:c359b1fcfb5a 84 }
alt0710 1:c359b1fcfb5a 85 char data[2];
alt0710 1:c359b1fcfb5a 86 data[0]= 0xC0;
alt0710 1:c359b1fcfb5a 87 data[1]= a;
alt0710 1:c359b1fcfb5a 88 i2cMBED.write(ADDRESS_LCD, data, 2);
alt0710 1:c359b1fcfb5a 89 wait_us(27);
alt0710 1:c359b1fcfb5a 90 }
alt0710 1:c359b1fcfb5a 91
alt0710 1:c359b1fcfb5a 92 static void initialiseCursorPosition(void)
alt0710 1:c359b1fcfb5a 93 {
alt0710 1:c359b1fcfb5a 94 /* 通信終了時にカーソルを頭に戻す */
alt0710 1:c359b1fcfb5a 95 char data[2];
alt0710 1:c359b1fcfb5a 96 data[0]= 0x00;
alt0710 1:c359b1fcfb5a 97 data[1]= 0x80;
alt0710 1:c359b1fcfb5a 98 i2cMBED.write(ADDRESS_LCD, data, 2);
alt0710 1:c359b1fcfb5a 99
alt0710 1:c359b1fcfb5a 100 }
alt0710 1:c359b1fcfb5a 101
alt0710 1:c359b1fcfb5a 102
alt0710 1:c359b1fcfb5a 103 static void clearDisp(void)
alt0710 1:c359b1fcfb5a 104 {
alt0710 1:c359b1fcfb5a 105 sendCommand(0x01);
alt0710 1:c359b1fcfb5a 106 wait_ms(1);
alt0710 1:c359b1fcfb5a 107 }
alt0710 1:c359b1fcfb5a 108
alt0710 1:c359b1fcfb5a 109
alt0710 1:c359b1fcfb5a 110 static void moveCursor(unsigned char address)
alt0710 1:c359b1fcfb5a 111 {
alt0710 1:c359b1fcfb5a 112 sendCommand(0x80 | address);
alt0710 1:c359b1fcfb5a 113 }
alt0710 1:c359b1fcfb5a 114
alt0710 1:c359b1fcfb5a 115
alt0710 1:c359b1fcfb5a 116 /* **グルーバル関数** */
alt0710 1:c359b1fcfb5a 117 extern void initI2C(void)
alt0710 1:c359b1fcfb5a 118 {
alt0710 1:c359b1fcfb5a 119 i2cMBED.frequency(400000);
alt0710 1:c359b1fcfb5a 120 initLCD();
alt0710 2:ba11cc8540d3 121 i2c_Timer.attach(i2c_send, I2C_SEND_CYCLE_TIME);
alt0710 1:c359b1fcfb5a 122 }
alt0710 1:c359b1fcfb5a 123
alt0710 1:c359b1fcfb5a 124 /* **クラス** */
alt0710 1:c359b1fcfb5a 125 I2C_Roots::I2C_Roots()
alt0710 1:c359b1fcfb5a 126 {
alt0710 1:c359b1fcfb5a 127
alt0710 1:c359b1fcfb5a 128
alt0710 1:c359b1fcfb5a 129 }
alt0710 1:c359b1fcfb5a 130
alt0710 1:c359b1fcfb5a 131 void I2C_Roots::setLCDMsg(char* msg,char msg_num)
alt0710 1:c359b1fcfb5a 132 {
alt0710 1:c359b1fcfb5a 133 for(char i = 0; i <= msg_num ; i++)
alt0710 1:c359b1fcfb5a 134 {
alt0710 1:c359b1fcfb5a 135 LCDMsg[i] = *(msg + i);
alt0710 1:c359b1fcfb5a 136 }
alt0710 1:c359b1fcfb5a 137
alt0710 1:c359b1fcfb5a 138
alt0710 1:c359b1fcfb5a 139 }