byeongjin kim
/
Hug2Go_ver_2
joystick_bjk
main.cpp@4:97a11deb0ab7, 2019-09-06 (annotated)
- Committer:
- Haeun
- Date:
- Fri Sep 06 01:39:40 2019 +0000
- Revision:
- 4:97a11deb0ab7
- Parent:
- 3:cfb7cc54a3ba
- Child:
- 5:fb5a46e37787
Haeun_revised
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Bhoney | 0:6f0f41537e2f | 1 | #include "mbed.h" |
Bhoney | 1:fd1e7e2d0780 | 2 | #include "VL53L1X.h" |
Bhoney | 1:fd1e7e2d0780 | 3 | #include "CONFIG.h" |
Bhoney | 3:cfb7cc54a3ba | 4 | |
Bhoney | 1:fd1e7e2d0780 | 5 | #define DEBUG |
Bhoney | 2:284491e0f6bf | 6 | #define BT_MODE |
Bhoney | 3:cfb7cc54a3ba | 7 | |
Haeun | 4:97a11deb0ab7 | 8 | #define ToF_MODE |
Bhoney | 3:cfb7cc54a3ba | 9 | |
Bhoney | 3:cfb7cc54a3ba | 10 | |
Bhoney | 1:fd1e7e2d0780 | 11 | #ifdef DEBUG |
Haeun | 4:97a11deb0ab7 | 12 | //DigitalOut led(LED1); |
Bhoney | 1:fd1e7e2d0780 | 13 | #endif |
Bhoney | 0:6f0f41537e2f | 14 | |
Bhoney | 3:cfb7cc54a3ba | 15 | Serial bt1(BLUETOOTH1_TX, BLUETOOTH1_RX); //input (motor control) |
Bhoney | 3:cfb7cc54a3ba | 16 | Serial bt2(BLUETOOTH2_TX, BLUETOOTH2_RX); //output (ToF result) |
Bhoney | 0:6f0f41537e2f | 17 | |
Bhoney | 1:fd1e7e2d0780 | 18 | #ifdef ToF |
Bhoney | 1:fd1e7e2d0780 | 19 | VL53L1X tof(ToF_I2C_SDA, ToF_I2C_SCL); //F303K8(PB_7, PB_6), F072RB(PB_9, PB_8) |
Bhoney | 0:6f0f41537e2f | 20 | |
Bhoney | 1:fd1e7e2d0780 | 21 | DigitalOut Xshut1(ToF_XShut_1); |
Bhoney | 1:fd1e7e2d0780 | 22 | DigitalOut Xshut2(ToF_XShut_2); |
Bhoney | 1:fd1e7e2d0780 | 23 | DigitalOut Xshut3(ToF_XShut_3); |
Bhoney | 1:fd1e7e2d0780 | 24 | #endif |
Bhoney | 0:6f0f41537e2f | 25 | |
Bhoney | 1:fd1e7e2d0780 | 26 | DigitalOut reverseR(MOTOR_REVERSE_R); |
Bhoney | 1:fd1e7e2d0780 | 27 | DigitalOut reverseL(MOTOR_REVERSE_L); |
Bhoney | 0:6f0f41537e2f | 28 | |
Bhoney | 1:fd1e7e2d0780 | 29 | AnalogOut throttleR(MOTOR_THROTTLE_R); |
Bhoney | 1:fd1e7e2d0780 | 30 | AnalogOut throttleL(MOTOR_THROTTLE_L); |
Haeun | 4:97a11deb0ab7 | 31 | |
Bhoney | 2:284491e0f6bf | 32 | Timer timer; |
Bhoney | 2:284491e0f6bf | 33 | #ifdef BT_MODE |
Bhoney | 1:fd1e7e2d0780 | 34 | char rxChar = 0; |
Bhoney | 1:fd1e7e2d0780 | 35 | bool rxFlag = false; |
Bhoney | 0:6f0f41537e2f | 36 | |
Bhoney | 1:fd1e7e2d0780 | 37 | void rxData(){ |
Bhoney | 3:cfb7cc54a3ba | 38 | rxChar = bt1.getc(); |
Bhoney | 3:cfb7cc54a3ba | 39 | bt1.putc(0); //convention |
Bhoney | 1:fd1e7e2d0780 | 40 | rxFlag = true; |
Bhoney | 1:fd1e7e2d0780 | 41 | } |
Haeun | 4:97a11deb0ab7 | 42 | //void rxData2(){ |
Haeun | 4:97a11deb0ab7 | 43 | // rxChar = bt2.getc(); |
Haeun | 4:97a11deb0ab7 | 44 | // bt2.putc(0); //convention |
Haeun | 4:97a11deb0ab7 | 45 | // rxFlag = true; |
Haeun | 4:97a11deb0ab7 | 46 | //} |
Bhoney | 2:284491e0f6bf | 47 | #endif |
Bhoney | 0:6f0f41537e2f | 48 | int main() |
Bhoney | 0:6f0f41537e2f | 49 | { |
Haeun | 4:97a11deb0ab7 | 50 | throttleL = 0; |
Haeun | 4:97a11deb0ab7 | 51 | throttleR = 0; |
Bhoney | 2:284491e0f6bf | 52 | #ifdef BT_MODE |
Bhoney | 3:cfb7cc54a3ba | 53 | bt1.baud(UART_BAUD); |
Haeun | 4:97a11deb0ab7 | 54 | bt2.baud(UART_BAUD); |
Bhoney | 3:cfb7cc54a3ba | 55 | bt1.attach(&rxData, Serial::RxIrq); |
Haeun | 4:97a11deb0ab7 | 56 | //bt2.attach(&rxData2, Serial::RxIrq); |
Bhoney | 2:284491e0f6bf | 57 | #endif |
Haeun | 4:97a11deb0ab7 | 58 | |
Bhoney | 2:284491e0f6bf | 59 | int dis1, dis2, dis3; |
Bhoney | 2:284491e0f6bf | 60 | |
Bhoney | 2:284491e0f6bf | 61 | reverseR = 0; |
Bhoney | 2:284491e0f6bf | 62 | reverseL = 0; |
Bhoney | 3:cfb7cc54a3ba | 63 | |
Bhoney | 2:284491e0f6bf | 64 | bool wheelDirection = true; |
Haeun | 4:97a11deb0ab7 | 65 | |
Bhoney | 2:284491e0f6bf | 66 | while(1) { |
Bhoney | 2:284491e0f6bf | 67 | |
Bhoney | 3:cfb7cc54a3ba | 68 | #ifdef ToF_MODE |
Bhoney | 3:cfb7cc54a3ba | 69 | |
Bhoney | 3:cfb7cc54a3ba | 70 | ///// first ToF |
Bhoney | 2:284491e0f6bf | 71 | Xshut1 = 1; |
Bhoney | 2:284491e0f6bf | 72 | Xshut2 = 0; |
Bhoney | 2:284491e0f6bf | 73 | Xshut3 = 0; |
Bhoney | 2:284491e0f6bf | 74 | |
Bhoney | 2:284491e0f6bf | 75 | tof.begin(); |
Bhoney | 2:284491e0f6bf | 76 | tof.setDistanceMode(); |
Bhoney | 2:284491e0f6bf | 77 | wait(ToF_SETUP_TIME); |
Bhoney | 2:284491e0f6bf | 78 | |
Bhoney | 2:284491e0f6bf | 79 | dis1 = tof.getDistance(); |
Bhoney | 3:cfb7cc54a3ba | 80 | |
Bhoney | 2:284491e0f6bf | 81 | |
Bhoney | 3:cfb7cc54a3ba | 82 | ///// second ToF |
Bhoney | 2:284491e0f6bf | 83 | Xshut1 = 0; |
Bhoney | 2:284491e0f6bf | 84 | Xshut2 = 1; |
Bhoney | 2:284491e0f6bf | 85 | Xshut3 = 0; |
Bhoney | 2:284491e0f6bf | 86 | |
Bhoney | 2:284491e0f6bf | 87 | tof.begin(); |
Bhoney | 2:284491e0f6bf | 88 | tof.setDistanceMode(); |
Bhoney | 2:284491e0f6bf | 89 | wait(ToF_SETUP_TIME); |
Bhoney | 2:284491e0f6bf | 90 | dis2 = tof.getDistance(); |
Bhoney | 3:cfb7cc54a3ba | 91 | |
Bhoney | 2:284491e0f6bf | 92 | |
Bhoney | 3:cfb7cc54a3ba | 93 | ///// third ToF |
Bhoney | 2:284491e0f6bf | 94 | Xshut1 = 0; |
Bhoney | 2:284491e0f6bf | 95 | Xshut2 = 0; |
Bhoney | 2:284491e0f6bf | 96 | Xshut3 = 1; |
Bhoney | 2:284491e0f6bf | 97 | |
Bhoney | 2:284491e0f6bf | 98 | tof.begin(); |
Bhoney | 2:284491e0f6bf | 99 | tof.setDistanceMode(); |
Bhoney | 2:284491e0f6bf | 100 | wait(ToF_SETUP_TIME); |
Bhoney | 0:6f0f41537e2f | 101 | |
Bhoney | 3:cfb7cc54a3ba | 102 | dis3 = tof.getDistance(); //return INTEGER |
Bhoney | 3:cfb7cc54a3ba | 103 | //end of ToF com. |
Bhoney | 2:284491e0f6bf | 104 | |
Bhoney | 2:284491e0f6bf | 105 | |
Haeun | 4:97a11deb0ab7 | 106 | |
Haeun | 4:97a11deb0ab7 | 107 | //bt1.putc(0); |
Haeun | 4:97a11deb0ab7 | 108 | |
Bhoney | 2:284491e0f6bf | 109 | #endif |
Haeun | 4:97a11deb0ab7 | 110 | //bt2.printf("%d|%d|%d\n", dis1, dis2, dis3); |
Haeun | 4:97a11deb0ab7 | 111 | #ifdef BT_MODE |
Bhoney | 1:fd1e7e2d0780 | 112 | if(rxFlag) |
Bhoney | 1:fd1e7e2d0780 | 113 | { |
Bhoney | 1:fd1e7e2d0780 | 114 | #ifdef DEBUG |
Bhoney | 3:cfb7cc54a3ba | 115 | // bt1.puts("get\r\n"); |
Bhoney | 1:fd1e7e2d0780 | 116 | #endif |
Bhoney | 1:fd1e7e2d0780 | 117 | |
Haeun | 4:97a11deb0ab7 | 118 | // if(!(rxChar=='1'||rxChar=='2'||rxChar=='3'||rxChar=='4'||rxChar=='5'||rxChar=='6')) |
Haeun | 4:97a11deb0ab7 | 119 | // rxChar=rxChar_prev; |
Haeun | 4:97a11deb0ab7 | 120 | |
Bhoney | 1:fd1e7e2d0780 | 121 | switch(rxChar){ |
Bhoney | 3:cfb7cc54a3ba | 122 | case '1': // 전진 |
Haeun | 4:97a11deb0ab7 | 123 | if(reverseR==1&&reverseL==1){ |
Haeun | 4:97a11deb0ab7 | 124 | throttleR=0; |
Haeun | 4:97a11deb0ab7 | 125 | throttleL=0; |
Haeun | 4:97a11deb0ab7 | 126 | wait(0.1); |
Haeun | 4:97a11deb0ab7 | 127 | } |
Bhoney | 3:cfb7cc54a3ba | 128 | reverseR = 0; |
Bhoney | 3:cfb7cc54a3ba | 129 | reverseL = 0; |
Bhoney | 3:cfb7cc54a3ba | 130 | |
Bhoney | 3:cfb7cc54a3ba | 131 | //need to be delayed |
Bhoney | 3:cfb7cc54a3ba | 132 | |
Bhoney | 1:fd1e7e2d0780 | 133 | throttleR = throttleR + DAC_ONE_STEP; |
Bhoney | 3:cfb7cc54a3ba | 134 | throttleL = throttleL + DAC_ONE_STEP; |
Haeun | 4:97a11deb0ab7 | 135 | // throttleR = 1.0f; |
Haeun | 4:97a11deb0ab7 | 136 | // throttleL = 1.0f; |
Bhoney | 1:fd1e7e2d0780 | 137 | break; |
Bhoney | 1:fd1e7e2d0780 | 138 | |
Bhoney | 3:cfb7cc54a3ba | 139 | case '2': // 후진 |
Haeun | 4:97a11deb0ab7 | 140 | if(reverseR==0&&reverseL==0){ |
Haeun | 4:97a11deb0ab7 | 141 | throttleR=0; |
Haeun | 4:97a11deb0ab7 | 142 | throttleL=0; |
Haeun | 4:97a11deb0ab7 | 143 | wait(0.1); |
Haeun | 4:97a11deb0ab7 | 144 | } |
Haeun | 4:97a11deb0ab7 | 145 | |
Bhoney | 3:cfb7cc54a3ba | 146 | reverseR = 1; |
Bhoney | 3:cfb7cc54a3ba | 147 | reverseL = 1; |
Bhoney | 3:cfb7cc54a3ba | 148 | |
Bhoney | 3:cfb7cc54a3ba | 149 | //need to be delayed |
Bhoney | 3:cfb7cc54a3ba | 150 | |
Haeun | 4:97a11deb0ab7 | 151 | throttleR = throttleR + DAC_ONE_STEP; |
Bhoney | 3:cfb7cc54a3ba | 152 | throttleL = throttleL + DAC_ONE_STEP; |
Bhoney | 3:cfb7cc54a3ba | 153 | break; |
Bhoney | 3:cfb7cc54a3ba | 154 | |
Bhoney | 3:cfb7cc54a3ba | 155 | case '3': // 좌회전 |
Haeun | 4:97a11deb0ab7 | 156 | if(reverseR==1&&reverseL==1){ |
Haeun | 4:97a11deb0ab7 | 157 | throttleR=0; |
Haeun | 4:97a11deb0ab7 | 158 | throttleL=0; |
Haeun | 4:97a11deb0ab7 | 159 | wait(0.1); |
Haeun | 4:97a11deb0ab7 | 160 | reverseR = 0; |
Haeun | 4:97a11deb0ab7 | 161 | reverseL = 0; |
Haeun | 4:97a11deb0ab7 | 162 | } |
Haeun | 4:97a11deb0ab7 | 163 | |
Haeun | 4:97a11deb0ab7 | 164 | throttleR=0; |
Bhoney | 3:cfb7cc54a3ba | 165 | throttleL = throttleL + DAC_ONE_STEP; |
Bhoney | 3:cfb7cc54a3ba | 166 | break; |
Bhoney | 3:cfb7cc54a3ba | 167 | |
Haeun | 4:97a11deb0ab7 | 168 | case '4': // 우회전 |
Haeun | 4:97a11deb0ab7 | 169 | if(reverseR==1&&reverseL==1){ |
Haeun | 4:97a11deb0ab7 | 170 | throttleR=0; |
Haeun | 4:97a11deb0ab7 | 171 | throttleL=0; |
Haeun | 4:97a11deb0ab7 | 172 | wait(0.1); |
Haeun | 4:97a11deb0ab7 | 173 | reverseR = 0; |
Haeun | 4:97a11deb0ab7 | 174 | reverseL = 0; |
Haeun | 4:97a11deb0ab7 | 175 | } |
Haeun | 4:97a11deb0ab7 | 176 | throttleL=0; |
Haeun | 4:97a11deb0ab7 | 177 | throttleR = throttleR + DAC_ONE_STEP; |
Bhoney | 1:fd1e7e2d0780 | 178 | break; |
Bhoney | 1:fd1e7e2d0780 | 179 | |
Bhoney | 3:cfb7cc54a3ba | 180 | case '5': // 정지 |
Haeun | 4:97a11deb0ab7 | 181 | throttleR=0; |
Haeun | 4:97a11deb0ab7 | 182 | throttleL=0; |
Haeun | 4:97a11deb0ab7 | 183 | break; |
Bhoney | 1:fd1e7e2d0780 | 184 | |
Bhoney | 1:fd1e7e2d0780 | 185 | case '6': |
Bhoney | 3:cfb7cc54a3ba | 186 | // reverseL = !reverseL; |
Haeun | 4:97a11deb0ab7 | 187 | break; |
Bhoney | 1:fd1e7e2d0780 | 188 | |
Bhoney | 1:fd1e7e2d0780 | 189 | default: |
Haeun | 4:97a11deb0ab7 | 190 | // reverseR = 0; |
Haeun | 4:97a11deb0ab7 | 191 | // reverseL = 0; |
Haeun | 4:97a11deb0ab7 | 192 | // throttleL = 0; |
Haeun | 4:97a11deb0ab7 | 193 | // throttleR = 0; |
Haeun | 4:97a11deb0ab7 | 194 | |
Bhoney | 2:284491e0f6bf | 195 | break; |
Bhoney | 1:fd1e7e2d0780 | 196 | |
Bhoney | 1:fd1e7e2d0780 | 197 | } |
Bhoney | 1:fd1e7e2d0780 | 198 | rxFlag = false; |
Bhoney | 1:fd1e7e2d0780 | 199 | } |
Bhoney | 2:284491e0f6bf | 200 | #endif |
Bhoney | 0:6f0f41537e2f | 201 | } |
Haeun | 4:97a11deb0ab7 | 202 | //#endif |
Bhoney | 0:6f0f41537e2f | 203 | } |