takaaki mastuzawa
mbed_pro_miniを使った相撲ロボットプログラムの雛形
Dependencies: RemoteIR USBDevice mbed
Revision 0:caf66b280785, committed 2015-09-10
- Comitter:
- hardtail
- Date:
- Thu Sep 10 09:33:58 2015 +0000
- Commit message:
- mbed_pro_mini????????????????
Changed in this revision
diff -r 000000000000 -r caf66b280785 RemoteIR.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/RemoteIR.lib Thu Sep 10 09:33:58 2015 +0000 @@ -0,0 +1,1 @@ +http://developer.mbed.org/users/shintamainjp/code/RemoteIR/#268cc2ab63bd
diff -r 000000000000 -r caf66b280785 USBDevice.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/USBDevice.lib Thu Sep 10 09:33:58 2015 +0000 @@ -0,0 +1,1 @@ +http://developer.mbed.org/users/mbed_official/code/USBDevice/#2af474687369
diff -r 000000000000 -r caf66b280785 main.cpp
--- /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
diff -r 000000000000 -r caf66b280785 mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Thu Sep 10 09:33:58 2015 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/8ed44a420e5c \ No newline at end of file