Keegan Hu
car
Fork of
warehouse
by 
Keegan Hu
Revision 10:80ccb0dc0784, committed 2018-06-03
- Comitter:
- glintligo
- Date:
- Sun Jun 03 06:42:12 2018 +0000
- Parent:
- 9:238780dda8af
- Commit message:
- car;
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/main.cpp Thu May 17 08:29:35 2018 +0000
+++ b/main.cpp Sun Jun 03 06:42:12 2018 +0000
@@ -10,25 +10,31 @@
#include "mbed.h"
#include "esp8266.h"
-Serial ser2usb(PA_2, PA_3, 115200);
+Serial ser2usb(PA_2, PA_3, 115200);
DigitalIn ref(PA_12);
DigitalOut LED(PC_13);
-
-
-// PA_6 P3 从下往上第二个舵机 1ms 往后倒90度 1.5ms 往后倒45度 2ms 笔直
-// PB_1 P6 从下往上第四个舵机 2ms 张开 1.5ms 中间 1ms 完全合上
-// PA_7 P4 从下往上第一个舵机 1.5ms 从正前方看往右偏45度 1ms 正中间 2ms 右偏度
-// PB_0 P5 从下往上第三个舵机 1.5 中间 1 往后45度 2 往前45
-
-
-PwmOut mypwm1(PA_7);
-PwmOut mypwm2(PA_6);
-PwmOut mypwm3(PB_0);
-PwmOut mypwm4(PB_1);
-
-
-
+DigitalOut IN1(PB_4);
+DigitalOut IN2(PB_3);
+DigitalOut IN3(PA_15);
+DigitalOut IN4(PA_12);
+PwmOut ENA(PB_1);
+PwmOut ENB(PB_0);
+InterruptIn switch1(PB_6);
+int state = 0;
+int actionok = 0;
+void run_forwoard();
+void run_backwoard();
+void stop();
+void init();
int main(void) {
+ IN1 = 0;
+ IN2 = 0;
+ IN3 = 0;
+ IN4 = 0;
+ ENA.period_ms(10);
+ ENB.period_ms(10);
+ ENA.pulsewidth_ms(3);
+ ENB.pulsewidth_ms(3);
ser2usb.printf("starting\r\n");
// 选定与 esp8266 相连接的串口，WiFi 名称和密码
@@ -36,87 +42,169 @@
//声明所有的传感器，每行一个，每个由名字、单位两部分组成，最后一行必须为空指针作为结尾
const char* sensors[][2] = {
- "light", "lx",
- "reflection"," ",
+ "actionok", "",
NULL, NULL //最后一行以空指针作为结束标记
};
//声明所有的执行器，每行一个，每个由名字、参数类型两部分组成，最后一行必须为空指针作为结尾
const char* actuators[][2] = {
- "led", "int",
+ "do", "int",
NULL, NULL //最后一行以空指针作为结束标记
};
ser2usb.printf("connecting...\r\n");
//连接到服务器
- client.connect_mqtt_broker("192.168.12.1", "alpha", sensors, actuators);
+ client.connect_mqtt_broker("192.168.12.1", "car", sensors, actuators);
ser2usb.printf("Initialization done.\r\n");
char actuator_name[32], control_value[32];
- bool ref_last;
- float last_report=0;
+// bool ref_last;
+// float last_report=0;
Timer t;// 定时器用于计量发送传感器数据的时间
t.start();
-
+ switch1.rise(&init);
while(1) {
//检查有没有收到新的执行器控制指令
if(client.get_control_cmd(actuator_name, control_value)){
ser2usb.printf("Received CMD %s %s\r\n", actuator_name, control_value);
//判断哪个执行器收到命令
- if(strcmp(actuator_name, "led")==0){
- mypwm1.period_ms(20);
- mypwm2.period_ms(20);
- mypwm3.period_ms(20);
- mypwm4.period_ms(20);
-
+ state = atoi(control_value);
+ switch (state)
+ {
+ case 0:
+ run_backwoard();
+ break;
+ case 1: // white to black
+ run_forwoard();
+ wait(0.2);
+ stop();
+ actionok = 1;
+ break;
+ case 2: //black to robo
+ run_forwoard();
+ break;
+ case 3: //robo to white
+ run_backwoard();
+ break;
+ case 4: //robo to black
+ run_backwoard();
+ break;
+ case 5: //white to robo
+ run_forwoard();
+ break;
+ case 6: //black to white
+ run_backwoard();
+ wait(0.2);
+ stop();
+ actionok = 1;
+ break;
+ default:
+ break;
- mypwm1.pulsewidth(0.001);
- wait(0.5);
- mypwm1.pulsewidth(0.0015);
- wait(0.5);
- mypwm1.pulsewidth(0.002);
- wait(0.5);
- mypwm1.pulsewidth(0.0015);
- wait(0.5);
- mypwm1.pulsewidth(0.001);
- wait(0.5);
-
- mypwm3.pulsewidth(0.001);
- wait(0.5);
- mypwm3.pulsewidth(0.0015);
- wait(0.5);
-
- mypwm4.pulsewidth(0.001);
- wait(0.5);
- mypwm4.pulsewidth(0.0015);
+ }
+ }
+ if (actionok ==1)
+ {
+ client.publish_value("actionok", "0");
+ actionok = 0;
+ }
+// bool reflection = ref;
+// if(reflection != ref_last){ //仅在传感器发生变化时汇报数据
+//
+// ref_last = reflection;
+//
+// char val[4];
+// sprintf(val, "%d", (int)reflection);
+//
+// //汇报传感器数据，两个参数分别是传感器名字和值
+// client.publish_value("reflection", val);
+// }
+//
+// if(t.read() - last_report > 1){ // 每1s发送汇报一次传感器数据
+//
+// //汇报传感器数据，两个参数分别是传感器名字和值
+// //client.publish_value("light", "30 lx");
+//
+// last_report = t.read();
+// }
+ }
+}
+
+
+void run_forwoard()
+{ IN1 = 1;
+ IN2 = 0;
+ IN3 = 0;
+ IN4 = 1;
+}
+
+void run_backwoard()
+{
+ IN1 = 0;
+ IN2 = 1;
+ IN3 = 1;
+ IN4 = 0;
+}
+
+void stop()
+{
+ IN1 = 0;
+ IN2 = 0;
+ IN3 = 0;
+ IN4 = 0;
+}
+
+void init()
+{
+ wait(0.01);
+
+ if(switch1.read() == 1)
+ {
+ switch (state)
+ {
+ case 0:
+ stop();
+ wait(0.01);
+ run_forwoard();
+ wait(0.1);
+ stop();
+ actionok = 1;
+ break;
+ case 2:
+ stop();
+ wait(0.01);
+ run_backwoard();
+ wait(0.1);
+ stop();
+ actionok = 1;
+ break;
+ case 3:
+ stop();
+ wait(0.01);
+ run_forwoard();
+ wait(0.1);
+ stop();
+ actionok = 1;
+ break;
+ case 4:
+ stop();
+ wait(0.01);
+ run_forwoard();
wait(0.5);
- mypwm4.pulsewidth(0.002);
- wait(0.5);
-
- mypwm3.pulsewidth(0.0015);
- wait(0.5);
- }
- }
-
- bool reflection = ref;
- if(reflection != ref_last){ //仅在传感器发生变化时汇报数据
-
- ref_last = reflection;
-
- char val[4];
- sprintf(val, "%d", (int)reflection);
-
- //汇报传感器数据，两个参数分别是传感器名字和值
- client.publish_value("reflection", val);
- }
-
- if(t.read() - last_report > 1){ // 每1s发送汇报一次传感器数据
-
- //汇报传感器数据，两个参数分别是传感器名字和值
- //client.publish_value("light", "30 lx");
-
- last_report = t.read();
+ stop();
+ actionok = 1;
+ break;
+ case 5:
+ stop();
+ wait(0.01);
+ run_backwoard();
+ wait(0.1);
+ stop();
+ actionok = 1;
+ break;
+ default:
+ break;
}
}
-}
+}
\ No newline at end of file