Junichi Katsu
JBBoardに接続したモーター２つをRCBControllerでコントロールするテストです。
Dependencies: FatFileSystem TB6612FNG2 mbed
Fork of
JBB_BTLE_Test
by 
Jksoft Blue mbed Board Developer
Revision 7:3ed1e36587d4, committed 2014-05-12
- Comitter:
- jksoft
- Date:
- Mon May 12 14:24:35 2014 +0000
- Parent:
- 6:cf06ba884429
- Commit message:
- First edition
Changed in this revision
diff -r cf06ba884429 -r 3ed1e36587d4 BLE_demo.cpp
--- a/BLE_demo.cpp Wed Feb 20 14:18:38 2013 +0000
+++ b/BLE_demo.cpp Mon May 12 14:24:35 2014 +0000
@@ -61,7 +61,7 @@
// mbed specific
#include "mbed.h"
Serial pc(USBTX, USBRX);
-DigitalOut led1(LED1), led2(LED2), led3(LED3);
+DigitalOut led1(LED1), led2(LED2), led3(LED3), led4(LED4);;
DigitalIn sw1(p5);
// from btstack ble_server.c
@@ -79,6 +79,10 @@
#include "config.h"
#include "att.h"
+#include "TB6612.h"
+
+TB6612 MOTOR_A(p21,p19,p20); // PWM IN1 IN2
+TB6612 MOTOR_B(p22,p29,p30); // PWM IN1 IN2
hci_transport_t * hci_transport_picusb_instance();
@@ -248,11 +252,15 @@
switch(handle) {
// Correspond to Characteristics 0xFFF1
case 0x000b:
+#if 0
if(buffer && ret<=buffer_size) {
buffer[0] = sw1.read();
log_info("Read value: %u\n", buffer[0]);
}
ret = 1;
+#else
+ ret = 0;
+#endif
break;
// Correspond to Characteristics 0xFFF2
@@ -287,7 +295,43 @@
switch(handle) {
// Correspond to Characteristics 0xFFF1
case 0x000b:
- log_info("No action\n");
+ uint16_t game_pad;
+ game_pad = (buffer[0] << 8 ) | buffer[1];
+ //log_info("No action\n");
+ switch(game_pad)
+ {
+ case 0x0001:
+ MOTOR_A = 30;
+ MOTOR_B = 30;
+ break;
+ case 0x0002:
+ MOTOR_A = -30;
+ MOTOR_B = -30;
+ break;
+ case 0x0004:
+ MOTOR_A = 30;
+ MOTOR_B = -30;
+ break;
+ case 0x0008:
+ MOTOR_A = -30;
+ MOTOR_B = 30;
+ break;
+ case 0x0100:
+ led4 = !led4;
+ int x = (int)buffer[6] - 128;
+ if( (x > 5)||(x < -5) )
+ {
+ x = x > 100 ? 100 : x;
+ x = x < -100 ? -100 : x;
+ MOTOR_A = x > 0 ? 100 - x : 100;
+ MOTOR_B = x < 0 ? 100 + x : 100;
+ }
+ default:
+ MOTOR_A = 0;
+ MOTOR_B = 0;
+ break;
+
+ }
break;
// Correspond to Characteristics 0xFFF2
diff -r cf06ba884429 -r 3ed1e36587d4 BTstack/profile.h
--- a/BTstack/profile.h Wed Feb 20 14:18:38 2013 +0000
+++ b/BTstack/profile.h Mon May 12 14:24:35 2014 +0000
@@ -26,9 +26,9 @@
// 0x0009 PRIMARY_SERVICE-FFF0
0x0a, 0x00, 0x02, 0x00, 0x09, 0x00, 0x00, 0x28, 0xf0, 0xff,
// 0x000a CHARACTERISTIC-FFF1-READ | DYNAMIC
- 0x0d, 0x00, 0x02, 0x00, 0x0a, 0x00, 0x03, 0x28, 0x02, 0x0b, 0x00, 0xf1, 0xff,
+ 0x0d, 0x00, 0x02, 0x00, 0x0a, 0x00, 0x03, 0x28, 0x04, 0x0b, 0x00, 0xf1, 0xff,
// 0x000b VALUE-FFF1-READ | DYNAMIC-
- 0x08, 0x00, 0x02, 0x01, 0x0b, 0x00, 0xf1, 0xff,
+ 0x08, 0x00, 0x04, 0x01, 0x0b, 0x00, 0xf1, 0xff,
// 0x000c CHARACTERISTIC-FFF2-READ | WRITE | DYNAMIC
0x0d, 0x00, 0x02, 0x00, 0x0c, 0x00, 0x03, 0x28, 0x0a, 0x0d, 0x00, 0xf2, 0xff,
// 0x000d VALUE-FFF2-READ | WRITE | DYNAMIC-
diff -r cf06ba884429 -r 3ed1e36587d4 TB6612FNG2.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/TB6612FNG2.lib Mon May 12 14:24:35 2014 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/jksoft/code/TB6612FNG2/#051a7ecff13e