Diff: main.cpp

Revision:

0:caf66b280785

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Thu Sep 10 09:33:58 2015 +0000
@@ -0,0 +1,269 @@
+#include "mbed.h"
+#include "USBSerial.h"
+#include "ReceiverIR.h"
+
+#define LED1 P0_29
+#define LED2 P0_28
+#define LED3 P0_27
+#define LED4 P0_26
+
+#define front 1
+#define back 2
+#define left 3
+#define right 4
+#define breaking 5
+
+#define IRrecerver P0_5
+
+/*******X-box rimote controller********/
+#define Xbutton     1
+#define powoer      2
+#define startBTN    3
+#define deside      4
+#define windows     5
+/**************************************/
+
+//USBSerial pc;
+
+DigitalOut led[] =
+    {DigitalOut(LED1),
+    DigitalOut(LED2),
+    DigitalOut(LED3),
+    DigitalOut(LED4)};
+    
+DigitalOut myled(P0_25);
+    
+DigitalOut motorR[] = {DigitalOut(P0_0), DigitalOut(P0_1)};
+    
+DigitalOut motorL[] = {DigitalOut(P0_2), DigitalOut(P0_3)};
+
+DigitalIn sensor[] = {
+    DigitalIn(P0_10),
+    DigitalIn(P0_11),
+    DigitalIn(P0_12),
+    DigitalIn(P0_13),
+    DigitalIn(P0_15)};
+    
+DigitalIn dip[] = {
+    DigitalIn(P0_9),
+    DigitalIn(P0_8),
+    DigitalIn(P0_7),
+    DigitalIn(P0_6)};
+    
+DigitalIn LineSensor[] = {DigitalIn(P0_17),DigitalIn(P0_15),DigitalIn(P0_20),DigitalIn(P0_23)};
+
+ReceiverIR ir_rx(IRrecerver);
+RemoteIR::Format format;
+
+int IRswitch();
+int IRstop();
+void IRclear();
+
+Ticker motorTest;
+int mTestStatus = 0;
+
+Timer modeCnt;
+Timer startCnt;
+Timer rollingCnt;
+
+void go (int);
+void flip();
+void EnemySensWait(int);
+
+int nowMode = 1;
+int waitFlag = 0;
+int fightingMode = 0;
+int enemySensorEnble = 0;
+int startFlag = 0;
+int goFlag = 0;
+int startSelect = 3;
+int enemySensActive = 1;
+
+int main() {
+    //motorTest.attach(&flip, 1.0);
+    
+    for(int i=0; i< 5; i++) sensor[i].mode(PullUp);
+    for(int i=0; i< 4; i++) dip[i].mode(PullDown);
+    
+    for(int i=0;i<4; i++)LineSensor[i].mode(PullUp);
+    LineSensor[2].mode(PullUp);
+    
+    int stop = 1;
+    
+    while(stop){
+        if(IRswitch() == Xbutton) stop = 0;
+        wait(0.05);
+    }
+    
+    wait(5);
+    
+    int start = 1;
+    
+    
+    while(start){
+        
+        go(front);
+        
+        //if(LineSensor[] == )
+            
+        if(IRswitch() == powoer) start = 0;    
+    }
+    
+    while(1) {
+        //for(int i=0; i< 4; i++) led[i] = sensor[i];
+        for(int i=0; i< 4; i++) led[i] = LineSensor[i];
+        myled = LineSensor[0];
+        /*
+        for(int i=0; i< 4; i++) led[i] = dip[i];
+        myled = sensor[2];
+        
+        if(dip[1]) go(front);
+        if(dip[2]) go(left);
+        if(dip[3]) go(right);
+        if(dip[1]==0 && dip[2]==0 && dip[3]==0) go(breaking);
+        */
+        wait(0.05);
+           
+    }
+}
+
+int IRswitch(){
+    uint8_t buf[32];
+    int bitcount;
+    int res = 0;
+    int i;
+
+    res = 0;
+
+    if (ir_rx.getState() == ReceiverIR::Received) {
+        bitcount = ir_rx.getData(&format, buf, sizeof(buf) * 8);
+
+        //pc.printf("reserve : ");
+
+        if((bitcount > 30)){
+#if 0
+            for(i=0;i<sizeof(buf);i++){
+                pc.printf("%x,",buf[i]);
+            }
+#endif
+            //if(buf[1]==0x80) pc.printf("OK:");
+            if(buf[3]==0x24||buf[3]==0x12) {
+                //pc.printf("X\n");
+                res = Xbutton;
+            }
+            if(buf[3]==0x20||buf[3]==0x10) {
+                //pc.printf("powoer\n");
+                res = powoer;
+            }
+            if(buf[3]==0x30||buf[3]==0x18) {
+                //pc.printf("start\n");
+                res = startBTN;
+            }
+            if(buf[3]==0x50||buf[3]==0xa0) {
+                //pc.printf("win\n");
+                res = windows;
+            }
+            //pc.printf("\n");
+        }
+    }
+
+    return res;
+}
+
+void IRclear(){
+    uint8_t buf[32];
+
+    while (ir_rx.getState() == ReceiverIR::Received){
+        ir_rx.getData(&format, buf, sizeof(buf) * 8);
+    }
+}
+
+void go (int mode){
+    switch(mode){
+        case front:
+            motorR[0] = 0;
+            motorR[1] = 1;
+            
+            motorL[0] = 0;
+            motorL[1] = 1;
+            
+            
+            break;
+            
+        case back:
+            motorR[0] = 1;
+            motorR[1] = 0;
+            
+            motorL[0] = 1;
+            motorL[1] = 0;
+            break;
+            
+        case left:
+            motorR[0] = 0;
+            motorR[1] = 1;
+            
+            motorL[0] = 1;
+            motorL[1] = 0;
+            break;
+            
+        case right:
+            motorR[0] = 1;
+            motorR[1] = 0;
+            
+            motorL[0] = 0;
+            motorL[1] = 1;
+            break;
+            
+        case breaking:
+            motorR[0] = 1;
+            motorR[1] = 1;
+            
+            motorL[0] = 1;
+            motorL[1] = 1;
+            break;
+        }
+}
+
+void flip(){
+    switch(mTestStatus){
+        case 0:
+            motorR[0] = 1;
+            motorR[1] = 1;
+            
+            motorL[0] = 1;
+            motorL[1] = 1;
+            mTestStatus = 1;
+            break;
+        case 1:
+            motorR[0] = 1;
+            motorR[1] = 0;
+            
+            motorL[0] = 0;
+            motorL[1] = 1;
+            mTestStatus = 2;
+            break;
+        case 2:
+            motorR[0] = 0;
+            motorR[1] = 1;
+            
+            motorL[0] = 1;
+            motorL[1] = 0;
+            mTestStatus = 3;
+            break;
+        case 3:
+            motorR[0] = 0;
+            motorR[1] = 0;
+            
+            motorL[0] = 0;
+            motorL[1] = 0;
+            mTestStatus = 0;
+            break;
+        }
+}
+
+void EnemySensWait(int rollTime){
+    rollingCnt.reset();
+    rollingCnt.start();
+    while(sensor[2] == 1 && rollingCnt.read_ms() < rollTime);
+    rollingCnt.stop();
+}
\ No newline at end of file