Ryu Kaz
a
Dependencies: mbed LidarLitev2
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