Revision 0:48dbc1f972f1, committed 2019-09-29

Comitter:

kazuryu

Date:

Sun Sep 29 09:41:46 2019 +0000

Commit message:

areyoukiddingme;

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/LidarLitev2.lib	Sun Sep 29 09:41:46 2019 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/sventura3/code/LidarLitev2/#b0deebd36eb3

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Sun Sep 29 09:41:46 2019 +0000
@@ -0,0 +1,135 @@
+#include "mbed.h"
+#include "rori.h"
+
+DigitalIn ins(D12);
+DigitalIn intt(D5);
+PwmOut outs(D6);
+PwmOut outt(D3);
+DigitalOut outs_admin(D9);
+DigitalOut outt_admin(D4);
+//RORI roris(PA_0_ALT1,PA_1_ALT1);
+RORI rorit(PA_4_ALT0,PB_0_ALT0);
+Serial serial(USBTX,USBRX);
+
+/*
+DigitalIn ins(D13);
+DigitalIn intt(D11);
+PwmOut outs(D5);
+PwmOut outt(D3);
+DigitalOut outs_admin(D12);
+DigitalOut outt_admin(D10);
+RORI roris(PA_0_ALT1,PA_1_ALT1);
+RORI rorit(PA_4_ALT0,PB_0_ALT0);
+Serial serial(USBTX,USBRX);
+*/
+long roris_l = 0;
+long rorit_l = 0;
+int bunkais = 1024;
+int bunkait = 1024;
+float angs = 0;
+float angt = 0;
+int counts = 1;
+int countt = 1;
+bool start_lock = false;
+long lasts= 0;
+long lastt = 0;
+
+DigitalIn inlock_f(D2);
+PwmOut lock(D11);
+/*
+DigitalIn inlock_f(D15);
+PwmOut lock(D14);
+*/
+DigitalOut leds(D0);
+DigitalOut ledt(D1);
+bool flags = false;
+bool flagt = false;
+/*
+DigitalIn discr1(D14);
+DigitalIn discr2(D15);
+DigitalOut fieldColor(D13);
+DigitalOut cloth(D12);
+*/
+
+
+int main(){
+    ins.mode(PullDown);
+    intt.mode(PullDown);
+    inlock_f.mode(PullDown);
+
+    outs.period_ms(1);
+    lock.period_ms(1);
+    while(1){
+        if(start_lock){
+            serial.printf("%s","start");
+            serial.printf("%d",inlock_f.read());
+            while(!inlock_f.read()){
+                lock = 0.2;
+                serial.printf("%s\n","while");
+            }
+            serial.printf("%s\n","out");
+            lock = 0;
+            start_lock = false;
+            }
+        if(ins.read()){
+            outs = 0.1f;
+            //roris.read(&roris_l);//
+            if(roris_l == lasts){
+                flags = !flags;
+                leds = (flags)?1:0;
+            }
+            angs = (float)roris_l/bunkais;//ang
+            angs *= 360;//deg
+            //serial.printf("%s",":");
+            //serial.printf("%f\n",angs);
+            if(abs(angs) > 90*counts){
+                counts++;
+                outs = 0;
+                outs_admin = 1;
+                wait(1);
+                outs_admin = 0;
+                }
+            lasts = roris_l;
+            
+        }else{
+            outs = 0;
+            }
+        
+        if(intt.read()){
+            outt = 0.1f;
+            rorit.read(&rorit_l);
+            if(rorit_l == lastt){
+                flagt = !flagt;
+                ledt = (flagt)?:0;
+            }
+            angt = (float)rorit_l/bunkait;
+            angt *= 360;
+            if(abs(angt) > 120*countt){
+                countt++;
+                outt = 0;
+                outt_admin = 1;
+                wait(0.5f);
+                outt_admin = 0;
+                }
+            lastt = rorit_l;
+        }else{
+            outt = 0;
+            }
+            
+        }
+    }
+/*
+    int Discrimination(bool hoge){
+        bool discColor;
+        bool discMode;
+        discColor=discr1;
+        discMode=discr2;
+        if(hoge){
+            fieldColor=discr1;
+            cloth=discr2;
+            }else{
+                return 0;
+                }
+                return 1;
+        }
+*/
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Sun Sep 29 09:41:46 2019 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/rori.cpp	Sun Sep 29 09:41:46 2019 +0000
@@ -0,0 +1,48 @@
+#include "rori.h"
+#include "mbed.h"
+
+Serial s(USBTX,USBRX);
+RORI::RORI(PinName a,PinName b): pinA(a),pinB(b),DigA(a),DigB(b){
+    flag = true;
+    DigA.mode(PullDown);
+    DigB.mode(PullDown);
+    }
+
+void RORI::loli(){
+    volatile short hear = DigA.read()<<1 | DigB.read();
+    
+    s.printf("%d",DigA.read());
+    s.printf("%s",":");
+    s.printf("%d\n",DigB.read());
+    
+    if(!dir){
+        if(hear == 1){
+            dir = hear;
+        }else if(hear == 2){
+            dir = hear;
+        }else if(!hear){
+            dir = 0;
+        }
+    }else if(!hear){
+        if(old != dir){
+            if(dir == 2){
+                enc_count++;
+            }else if(dir == 1){
+                enc_count--;
+            }
+        }
+        dir = 0;
+    }
+    old = hear;
+    }
+    
+ void RORI::read(long *a){
+    pinA.rise(this,&RORI::loli);
+    pinA.fall(this,&RORI::loli);
+    pinB.rise(this,&RORI::loli);
+    pinB.fall(this,&RORI::loli);
+     *a = enc_count;
+     }
+bool RORI::getflag(){
+    return(flag);
+    }
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/rori.h	Sun Sep 29 09:41:46 2019 +0000
@@ -0,0 +1,31 @@
+#include "mbed.h"
+
+#ifndef RORIRORI
+#define RORIRORI
+class RORI{
+    public:
+        RORI(PinName a,PinName b);
+        void loli();
+        void read(long *a);
+        bool getflag();
+    private:
+        volatile short old;
+        volatile short dir;
+        volatile long enc_count;
+        InterruptIn pinA;
+        InterruptIn pinB;
+        DigitalIn DigA;
+        DigitalIn DigB;
+        bool flag;
+    };
+#endif
+/*
+float corr(long *one,long *two){
+    const float Gein = 0.0001; 
+    int def = *one - *two;
+    float out;
+    if(def > 0)out = def*Gein;
+    else if(def < 0)out = -def*Gein;
+    return(out);
+    }
+*/
\ No newline at end of file