byeongjin kim
/
Hug2Go_ver_2
joystick_bjk
main.cpp@3:cfb7cc54a3ba, 2019-09-05 (annotated)
- Committer:
- Bhoney
- Date:
- Thu Sep 05 10:24:20 2019 +0000
- Revision:
- 3:cfb7cc54a3ba
- Parent:
- 2:284491e0f6bf
- Child:
- 4:97a11deb0ab7
added ref, bt1 & 2
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 | |
Bhoney | 2:284491e0f6bf | 8 | //#define ToF_MODE |
Bhoney | 3:cfb7cc54a3ba | 9 | |
Bhoney | 3:cfb7cc54a3ba | 10 | |
Bhoney | 1:fd1e7e2d0780 | 11 | #ifdef DEBUG |
Bhoney | 1:fd1e7e2d0780 | 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); |
Bhoney | 1:fd1e7e2d0780 | 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 | } |
Bhoney | 2:284491e0f6bf | 42 | #endif |
Bhoney | 0:6f0f41537e2f | 43 | int main() |
Bhoney | 0:6f0f41537e2f | 44 | { |
Bhoney | 3:cfb7cc54a3ba | 45 | |
Bhoney | 2:284491e0f6bf | 46 | #ifdef BT_MODE |
Bhoney | 3:cfb7cc54a3ba | 47 | bt1.baud(UART_BAUD); |
Bhoney | 3:cfb7cc54a3ba | 48 | bt1.attach(&rxData, Serial::RxIrq); |
Bhoney | 2:284491e0f6bf | 49 | #endif |
Bhoney | 2:284491e0f6bf | 50 | #ifdef ToF_MODE |
Bhoney | 2:284491e0f6bf | 51 | int dis1, dis2, dis3; |
Bhoney | 2:284491e0f6bf | 52 | |
Bhoney | 2:284491e0f6bf | 53 | reverseR = 0; |
Bhoney | 2:284491e0f6bf | 54 | reverseL = 0; |
Bhoney | 3:cfb7cc54a3ba | 55 | |
Bhoney | 2:284491e0f6bf | 56 | bool wheelDirection = true; |
Bhoney | 2:284491e0f6bf | 57 | #endif |
Bhoney | 2:284491e0f6bf | 58 | while(1) { |
Bhoney | 2:284491e0f6bf | 59 | |
Bhoney | 3:cfb7cc54a3ba | 60 | #ifdef ToF_MODE |
Bhoney | 3:cfb7cc54a3ba | 61 | |
Bhoney | 3:cfb7cc54a3ba | 62 | ///// first ToF |
Bhoney | 2:284491e0f6bf | 63 | Xshut1 = 1; |
Bhoney | 2:284491e0f6bf | 64 | Xshut2 = 0; |
Bhoney | 2:284491e0f6bf | 65 | Xshut3 = 0; |
Bhoney | 2:284491e0f6bf | 66 | |
Bhoney | 2:284491e0f6bf | 67 | tof.begin(); |
Bhoney | 2:284491e0f6bf | 68 | tof.setDistanceMode(); |
Bhoney | 2:284491e0f6bf | 69 | wait(ToF_SETUP_TIME); |
Bhoney | 2:284491e0f6bf | 70 | |
Bhoney | 2:284491e0f6bf | 71 | dis1 = tof.getDistance(); |
Bhoney | 3:cfb7cc54a3ba | 72 | |
Bhoney | 2:284491e0f6bf | 73 | |
Bhoney | 3:cfb7cc54a3ba | 74 | ///// second ToF |
Bhoney | 2:284491e0f6bf | 75 | Xshut1 = 0; |
Bhoney | 2:284491e0f6bf | 76 | Xshut2 = 1; |
Bhoney | 2:284491e0f6bf | 77 | Xshut3 = 0; |
Bhoney | 2:284491e0f6bf | 78 | |
Bhoney | 2:284491e0f6bf | 79 | tof.begin(); |
Bhoney | 2:284491e0f6bf | 80 | tof.setDistanceMode(); |
Bhoney | 2:284491e0f6bf | 81 | wait(ToF_SETUP_TIME); |
Bhoney | 2:284491e0f6bf | 82 | dis2 = tof.getDistance(); |
Bhoney | 3:cfb7cc54a3ba | 83 | |
Bhoney | 2:284491e0f6bf | 84 | |
Bhoney | 3:cfb7cc54a3ba | 85 | ///// third ToF |
Bhoney | 2:284491e0f6bf | 86 | Xshut1 = 0; |
Bhoney | 2:284491e0f6bf | 87 | Xshut2 = 0; |
Bhoney | 2:284491e0f6bf | 88 | Xshut3 = 1; |
Bhoney | 2:284491e0f6bf | 89 | |
Bhoney | 2:284491e0f6bf | 90 | tof.begin(); |
Bhoney | 2:284491e0f6bf | 91 | tof.setDistanceMode(); |
Bhoney | 2:284491e0f6bf | 92 | wait(ToF_SETUP_TIME); |
Bhoney | 0:6f0f41537e2f | 93 | |
Bhoney | 3:cfb7cc54a3ba | 94 | dis3 = tof.getDistance(); //return INTEGER |
Bhoney | 3:cfb7cc54a3ba | 95 | //end of ToF com. |
Bhoney | 2:284491e0f6bf | 96 | |
Bhoney | 3:cfb7cc54a3ba | 97 | bt2.printf("%d|%d|%d\n", dis1, dis2, dis3); |
Bhoney | 2:284491e0f6bf | 98 | |
Bhoney | 3:cfb7cc54a3ba | 99 | // obstacle avoiding |
Bhoney | 3:cfb7cc54a3ba | 100 | // if( dis2 > HIGH_BOUND ){ |
Bhoney | 3:cfb7cc54a3ba | 101 | // if(!wheelDirection){ |
Bhoney | 3:cfb7cc54a3ba | 102 | // throttleL = 0; |
Bhoney | 3:cfb7cc54a3ba | 103 | // throttleR = 0; |
Bhoney | 3:cfb7cc54a3ba | 104 | // reverseR = 0; |
Bhoney | 3:cfb7cc54a3ba | 105 | // reverseL = 0; |
Bhoney | 3:cfb7cc54a3ba | 106 | // wait(1.2f); |
Bhoney | 3:cfb7cc54a3ba | 107 | // wheelDirection = true; |
Bhoney | 3:cfb7cc54a3ba | 108 | // |
Bhoney | 3:cfb7cc54a3ba | 109 | // } |
Bhoney | 3:cfb7cc54a3ba | 110 | // |
Bhoney | 3:cfb7cc54a3ba | 111 | // throttleL = 0.9f; |
Bhoney | 3:cfb7cc54a3ba | 112 | // throttleR = 0.9f; |
Bhoney | 3:cfb7cc54a3ba | 113 | // } |
Bhoney | 3:cfb7cc54a3ba | 114 | // |
Bhoney | 3:cfb7cc54a3ba | 115 | // else if ( dis2 < LOW_BOUND ){ |
Bhoney | 3:cfb7cc54a3ba | 116 | // if(wheelDirection){ |
Bhoney | 3:cfb7cc54a3ba | 117 | // throttleL = 0; |
Bhoney | 3:cfb7cc54a3ba | 118 | // throttleR = 0; |
Bhoney | 3:cfb7cc54a3ba | 119 | // |
Bhoney | 3:cfb7cc54a3ba | 120 | // reverseR = 1; |
Bhoney | 3:cfb7cc54a3ba | 121 | // reverseL = 1; |
Bhoney | 3:cfb7cc54a3ba | 122 | // wait(1.2f); |
Bhoney | 3:cfb7cc54a3ba | 123 | // wheelDirection = false; |
Bhoney | 3:cfb7cc54a3ba | 124 | // } |
Bhoney | 3:cfb7cc54a3ba | 125 | // |
Bhoney | 3:cfb7cc54a3ba | 126 | // wait(0.01f); |
Bhoney | 3:cfb7cc54a3ba | 127 | // |
Bhoney | 3:cfb7cc54a3ba | 128 | // throttleL = 0.9f; |
Bhoney | 3:cfb7cc54a3ba | 129 | // throttleR = 0.9f; |
Bhoney | 3:cfb7cc54a3ba | 130 | // } |
Bhoney | 3:cfb7cc54a3ba | 131 | // else{ |
Bhoney | 3:cfb7cc54a3ba | 132 | // throttleL = 0; |
Bhoney | 3:cfb7cc54a3ba | 133 | // throttleR = 0; |
Bhoney | 3:cfb7cc54a3ba | 134 | // } |
Bhoney | 2:284491e0f6bf | 135 | #endif |
Bhoney | 1:fd1e7e2d0780 | 136 | |
Bhoney | 2:284491e0f6bf | 137 | #ifdef BT_MODE |
Bhoney | 1:fd1e7e2d0780 | 138 | if(rxFlag) |
Bhoney | 1:fd1e7e2d0780 | 139 | { |
Bhoney | 1:fd1e7e2d0780 | 140 | #ifdef DEBUG |
Bhoney | 3:cfb7cc54a3ba | 141 | // bt1.puts("get\r\n"); |
Bhoney | 1:fd1e7e2d0780 | 142 | #endif |
Bhoney | 1:fd1e7e2d0780 | 143 | |
Bhoney | 1:fd1e7e2d0780 | 144 | switch(rxChar){ |
Bhoney | 3:cfb7cc54a3ba | 145 | case '1': // 전진 |
Bhoney | 3:cfb7cc54a3ba | 146 | reverseR = 0; |
Bhoney | 3:cfb7cc54a3ba | 147 | reverseL = 0; |
Bhoney | 3:cfb7cc54a3ba | 148 | |
Bhoney | 3:cfb7cc54a3ba | 149 | //need to be delayed |
Bhoney | 3:cfb7cc54a3ba | 150 | |
Bhoney | 1:fd1e7e2d0780 | 151 | throttleR = throttleR + DAC_ONE_STEP; |
Bhoney | 3:cfb7cc54a3ba | 152 | throttleL = throttleL + DAC_ONE_STEP; |
Bhoney | 1:fd1e7e2d0780 | 153 | break; |
Bhoney | 1:fd1e7e2d0780 | 154 | |
Bhoney | 3:cfb7cc54a3ba | 155 | case '2': // 후진 |
Bhoney | 3:cfb7cc54a3ba | 156 | reverseR = 1; |
Bhoney | 3:cfb7cc54a3ba | 157 | reverseL = 1; |
Bhoney | 3:cfb7cc54a3ba | 158 | |
Bhoney | 3:cfb7cc54a3ba | 159 | //need to be delayed |
Bhoney | 3:cfb7cc54a3ba | 160 | |
Bhoney | 3:cfb7cc54a3ba | 161 | throttleR = throttleR - DAC_ONE_STEP; |
Bhoney | 3:cfb7cc54a3ba | 162 | throttleL = throttleL + DAC_ONE_STEP; |
Bhoney | 3:cfb7cc54a3ba | 163 | break; |
Bhoney | 3:cfb7cc54a3ba | 164 | |
Bhoney | 3:cfb7cc54a3ba | 165 | case '3': // 좌회전 |
Bhoney | 3:cfb7cc54a3ba | 166 | throttleL = throttleL + DAC_ONE_STEP; |
Bhoney | 3:cfb7cc54a3ba | 167 | break; |
Bhoney | 3:cfb7cc54a3ba | 168 | |
Bhoney | 3:cfb7cc54a3ba | 169 | case '4': // 우회진 |
Bhoney | 1:fd1e7e2d0780 | 170 | throttleR = throttleR - DAC_ONE_STEP; |
Bhoney | 1:fd1e7e2d0780 | 171 | break; |
Bhoney | 1:fd1e7e2d0780 | 172 | |
Bhoney | 3:cfb7cc54a3ba | 173 | case '5': // 정지 |
Bhoney | 3:cfb7cc54a3ba | 174 | // reverseR = !reverseR; |
Bhoney | 3:cfb7cc54a3ba | 175 | // break; |
Bhoney | 1:fd1e7e2d0780 | 176 | |
Bhoney | 1:fd1e7e2d0780 | 177 | case '6': |
Bhoney | 3:cfb7cc54a3ba | 178 | // reverseL = !reverseL; |
Bhoney | 3:cfb7cc54a3ba | 179 | // break; |
Bhoney | 1:fd1e7e2d0780 | 180 | |
Bhoney | 1:fd1e7e2d0780 | 181 | default: |
Bhoney | 1:fd1e7e2d0780 | 182 | reverseR = 0; |
Bhoney | 1:fd1e7e2d0780 | 183 | reverseL = 0; |
Bhoney | 1:fd1e7e2d0780 | 184 | throttleL = 0; |
Bhoney | 2:284491e0f6bf | 185 | throttleR = 0; |
Bhoney | 2:284491e0f6bf | 186 | break; |
Bhoney | 1:fd1e7e2d0780 | 187 | |
Bhoney | 1:fd1e7e2d0780 | 188 | } |
Bhoney | 1:fd1e7e2d0780 | 189 | rxFlag = false; |
Bhoney | 1:fd1e7e2d0780 | 190 | } |
Bhoney | 2:284491e0f6bf | 191 | #endif |
Bhoney | 0:6f0f41537e2f | 192 | } |
Bhoney | 2:284491e0f6bf | 193 | #endif |
Bhoney | 0:6f0f41537e2f | 194 | } |