yoshinari kou
This is a White Wizard Board TANK for Android APP. See these web site: http://app.prtissimo.com/ad/ww_t00/en/ and http://wizard.nestegg.jp/android_tank.html
Diff: main.cpp
- Revision:
- 0:06c4875f8acd
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Mon Aug 01 16:05:15 2011 +0000
@@ -0,0 +1,192 @@
+/*-----------------------------------------
+Nest Egg Inc.
+White Wizard Board Android TANK Ver1.0
+
+How to connect?
+
+*Bluetooth module
+ from p9 to p16.
+(you can select other serial pins)
+
+*Motor Driver Board
+ p21 - IN_R1
+ p22 - IN_R2
+ p23 - IN_L2
+ p24 - IN_L1
+
+-----------------------------------------*/
+
+#include "mbed.h"
+
+Serial rn42(p9,p10);
+DigitalOut myled(LED1);
+DigitalOut myled2(LED2);
+DigitalOut myled3(LED3);
+DigitalOut myled4(LED4);
+
+PwmOut motorR1(p21);
+PwmOut motorR2(p22);
+PwmOut motorL2(p23);
+PwmOut motorL1(p24);
+
+void read_string(char*);
+
+int main() {
+ int i = 0;
+ int j = 0;
+ char input[255];
+ rn42.baud(115200);
+
+ motorR1.period(0.003*9);
+ motorR2.period(0.003*9);
+ motorL2.period(0.003*9);
+ motorL1.period(0.003*9);
+
+ float flg_width_a = 0.0;
+ float flg_width_b = 0.0;
+
+ int flg_error;
+
+ while (1) {
+
+ i=0;
+ flg_error = 0;
+ myled2 = 1;
+
+ if (rn42.readable()) {
+
+ while ((i==0) || ( input[i-1] != 'G')) {
+ input[i] = rn42.getc();
+ //printf("%c;%d\n",input[i],i);
+ ++i;
+ myled != myled;
+ }
+
+ for(j=0;j<i;++j){
+ rn42.putc(input[j]);
+ }
+
+ //check format L**R**G
+ if((input[0]=='L') && (input[3]=='R') && (input[6]=='G')){
+ myled2 = 0;
+
+ //check speed
+ switch(input[2]){
+ case '0':
+ flg_width_a = 0.0;
+ break;
+ case '1':
+ flg_width_a = 0.003;
+ break;
+ case '2':
+ flg_width_a = 0.003*2;
+ break;
+ case '3':
+ flg_width_a = 0.003*3;
+ break;
+ case '4':
+ flg_width_a = 0.003*4;
+ break;
+ case '5':
+ flg_width_a = 0.003*5;
+ break;
+ case '6':
+ flg_width_a = 0.003*6;
+ break;
+ case '7':
+ flg_width_a = 0.003*7;
+ break;
+ case '8':
+ flg_width_a = 0.003*8;
+ break;
+ case '9':
+ flg_width_a = 0.003*9;
+ break;
+ default:
+ flg_error = 1;
+
+ }
+
+
+ switch(input[1]){
+ case 'F':
+ motorL2.pulsewidth(flg_width_a);
+ motorL1.pulsewidth(0);
+ break;
+ case 'B':
+ motorL2.pulsewidth(0);
+ motorL1.pulsewidth(flg_width_a);
+ break;
+ default:
+ flg_error = 1;
+
+ }
+
+ //check speed
+ switch(input[5]){
+ case '0':
+ flg_width_b = 0.0;
+ break;
+ case '1':
+ flg_width_b = 0.003;
+ break;
+ case '2':
+ flg_width_b = 0.003*2;
+ break;
+ case '3':
+ flg_width_b = 0.003*3;
+ break;
+ case '4':
+ flg_width_b = 0.003*4;
+ break;
+ case '5':
+ flg_width_b = 0.003*5;
+ break;
+ case '6':
+ flg_width_b = 0.003*6;
+ break;
+ case '7':
+ flg_width_b = 0.003*7;
+ break;
+ case '8':
+ flg_width_b = 0.003*8;
+ break;
+ case '9':
+ flg_width_b = 0.003*9;
+ break;
+ default:
+ flg_error = 1;
+
+ }
+
+ switch(input[4]){
+
+ case 'F':
+ motorR2.pulsewidth(flg_width_b);
+ motorR1.pulsewidth(0);
+ myled3 = 0;
+ break;
+ case 'B':
+ motorR2.pulsewidth(0);
+ motorR1.pulsewidth(flg_width_b);
+ myled3 = 0;
+ break;
+ default:
+ flg_error = 1;
+
+ }
+ }
+ }
+
+ if(flg_error == 1){
+ myled2 = 1;
+ motorL2.pulsewidth(0);
+ motorL1.pulsewidth(0);
+ motorR2.pulsewidth(0);
+ motorR1.pulsewidth(0);
+
+ }
+ //wait(0.05);
+
+ }
+}
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