ケンタ ミヤザキ / Mbed 2 deprecated nhk_2019_master_01

nhk2019_master

Dependencies:   mbed

main.cpp@1:be4238d819bb, 2019-03-02 (annotated)

Committer:
kenken0721
Date:
Sat Mar 02 01:11:16 2019 +0000
Revision:
1:be4238d819bb
Parent:
0:9969c88facec 
nhk2019

Who changed what in which revision?

UserRevisionLine numberNew contents of line
kenken0721 0:9969c88facec 1 #include "mbed.h"
kenken0721 0:9969c88facec 2
kenken0721 0:9969c88facec 3 Serial pc( USBTX, USBRX);
kenken0721 0:9969c88facec 4 CAN can( PA_11, PA_12);
kenken0721 0:9969c88facec 5 CANMessage msg;
kenken0721 0:9969c88facec 6 DigitalOut led (PA_5);
kenken0721 0:9969c88facec 7 DigitalIn start(PB_13);
kenken0721 0:9969c88facec 8
kenken0721 1:be4238d819bb 9
kenken0721 1:be4238d819bb 10 typedef union{
kenken0721 1:be4238d819bb 11 float val;
kenken0721 1:be4238d819bb 12 char binary[4];
kenken0721 1:be4238d819bb 13 }transFloat;
kenken0721 1:be4238d819bb 14
kenken0721 1:be4238d819bb 15 //P,I,D,YPOWER,ZPOWERの順
kenken0721 1:be4238d819bb 16 const float parameter[4][5] = {
kenken0721 1:be4238d819bb 17 {0.0006, 0.001, 0.0, 0.25, 0.25},
kenken0721 1:be4238d819bb 18 {0.0006, 0.001, 0.0, 0.30, 0.25},
kenken0721 1:be4238d819bb 19 {0.0006, 0.001, 0.0, 0.25, 0.25},
kenken0721 1:be4238d819bb 20 {0.0006, 0.001, 0.0, 0.25, 0.25}};
kenken0721 1:be4238d819bb 21
kenken0721 1:be4238d819bb 22
kenken0721 0:9969c88facec 23 bool finishFlags[4] = {false, false, false, false};
kenken0721 1:be4238d819bb 24
kenken0721 0:9969c88facec 25 void checkFlags(int id){
kenken0721 0:9969c88facec 26 char data = 10;
kenken0721 0:9969c88facec 27 if(!finishFlags[id]){
kenken0721 0:9969c88facec 28 can.write( CANMessage((id + 4),&data,1) );
kenken0721 0:9969c88facec 29 while(1){
kenken0721 0:9969c88facec 30 if(can.read(msg)){
kenken0721 0:9969c88facec 31 break;
kenken0721 0:9969c88facec 32 }
kenken0721 0:9969c88facec 33 }
kenken0721 1:be4238d819bb 34 if(msg.id == id+14){
kenken0721 0:9969c88facec 35 if(msg.data[0] == 0){
kenken0721 1:be4238d819bb 36 finishFlags[msg.id - 14] = false;
kenken0721 0:9969c88facec 37 }else{
kenken0721 1:be4238d819bb 38 finishFlags[msg.id - 14] = true;
kenken0721 0:9969c88facec 39 }
kenken0721 0:9969c88facec 40 }
kenken0721 0:9969c88facec 41 }
kenken0721 0:9969c88facec 42 }
kenken0721 0:9969c88facec 43
kenken0721 0:9969c88facec 44
kenken0721 0:9969c88facec 45 void waitReach(int id){
kenken0721 0:9969c88facec 46 while(1){
kenken0721 0:9969c88facec 47 checkFlags(id);
kenken0721 0:9969c88facec 48 pc.printf("%d \n",finishFlags[id]);
kenken0721 0:9969c88facec 49 if(finishFlags[id] == true){
kenken0721 0:9969c88facec 50 break;
kenken0721 0:9969c88facec 51 }
kenken0721 0:9969c88facec 52 }
kenken0721 0:9969c88facec 53 }
kenken0721 0:9969c88facec 54
kenken0721 0:9969c88facec 55 void allWaitReach(){
kenken0721 0:9969c88facec 56 for(int i=0;i<4;i++){
kenken0721 0:9969c88facec 57 waitReach(i);
kenken0721 0:9969c88facec 58 }
kenken0721 0:9969c88facec 59 }
kenken0721 0:9969c88facec 60
kenken0721 0:9969c88facec 61 void step(int id, int y, bool z){
kenken0721 0:9969c88facec 62 char data[2] = {y,z};
kenken0721 0:9969c88facec 63 can.write(CANMessage(id,data,2) );
kenken0721 0:9969c88facec 64 finishFlags[id] = false;
kenken0721 0:9969c88facec 65 wait_ms(2);
kenken0721 0:9969c88facec 66 }
kenken0721 0:9969c88facec 67
kenken0721 0:9969c88facec 68 int main() {
kenken0721 0:9969c88facec 69 wait(1);
kenken0721 0:9969c88facec 70 start.mode(PullUp);
kenken0721 0:9969c88facec 71 can.frequency(100000);
kenken0721 0:9969c88facec 72 led.write(0);
kenken0721 1:be4238d819bb 73
kenken0721 1:be4238d819bb 74
kenken0721 1:be4238d819bb 75
kenken0721 0:9969c88facec 76 int count = 0;
kenken0721 0:9969c88facec 77 while(1){
kenken0721 0:9969c88facec 78 if(start.read() == 0){
kenken0721 0:9969c88facec 79 count++;
kenken0721 0:9969c88facec 80 }
kenken0721 0:9969c88facec 81 if(count>= 100){
kenken0721 0:9969c88facec 82 break;
kenken0721 0:9969c88facec 83 }
kenken0721 0:9969c88facec 84 }
kenken0721 0:9969c88facec 85
kenken0721 0:9969c88facec 86 step(0,10,1);
kenken0721 0:9969c88facec 87 step(1,10,0);
kenken0721 0:9969c88facec 88 step(2,10,0);
kenken0721 0:9969c88facec 89 step(3,10,1);
kenken0721 0:9969c88facec 90 allWaitReach();
kenken0721 0:9969c88facec 91
kenken0721 0:9969c88facec 92 wait(2.0);
kenken0721 0:9969c88facec 93 while (true) {
kenken0721 0:9969c88facec 94 /*
kenken0721 0:9969c88facec 95 //led.write(1);
kenken0721 1:be4238d819bb 96 step(0,20,1);
kenken0721 1:be4238d819bb 97 step(1,200,1);
kenken0721 1:be4238d819bb 98 step(2,20,0);
kenken0721 1:be4238d819bb 99 step(3,200,0);
kenken0721 1:be4238d819bb 100 waitReach(0);
kenken0721 1:be4238d819bb 101 waitReach(1);
kenken0721 1:be4238d819bb 102 waitReach(2);
kenken0721 1:be4238d819bb 103 waitReach(3);
kenken0721 0:9969c88facec 104 //pc.printf("ok \n");
kenken0721 0:9969c88facec 105 //wait(3.0);
kenken0721 1:be4238d819bb 106 step(0,200,0);
kenken0721 1:be4238d819bb 107 step(1,20,0);
kenken0721 1:be4238d819bb 108 step(2,200,1);
kenken0721 1:be4238d819bb 109 step(3,20,1);
kenken0721 1:be4238d819bb 110
kenken0721 1:be4238d819bb 111 waitReach(0);
kenken0721 1:be4238d819bb 112 waitReach(1);
kenken0721 1:be4238d819bb 113 waitReach(2);
kenken0721 1:be4238d819bb 114 waitReach(3);
kenken0721 1:be4238d819bb 115 */
kenken0721 0:9969c88facec 116 //pc.printf("ok \n");
kenken0721 1:be4238d819bb 117
kenken0721 0:9969c88facec 118
kenken0721 0:9969c88facec 119 step(1,200,0);
kenken0721 0:9969c88facec 120 step(2,200,0);
kenken0721 0:9969c88facec 121 waitReach(1);
kenken0721 0:9969c88facec 122 waitReach(2);
kenken0721 0:9969c88facec 123
kenken0721 0:9969c88facec 124 step(0,10,0);
kenken0721 0:9969c88facec 125 step(1,200,1);
kenken0721 0:9969c88facec 126 step(2,200,1);
kenken0721 0:9969c88facec 127 step(3,10,0);
kenken0721 1:be4238d819bb 128 waitReach(0);
kenken0721 1:be4238d819bb 129 waitReach(1);
kenken0721 1:be4238d819bb 130 waitReach(2);
kenken0721 1:be4238d819bb 131 waitReach(3);
kenken0721 0:9969c88facec 132
kenken0721 0:9969c88facec 133 step(1,10,1);
kenken0721 0:9969c88facec 134 step(2,10,1);
kenken0721 0:9969c88facec 135 waitReach(1);
kenken0721 0:9969c88facec 136 waitReach(2);
kenken0721 0:9969c88facec 137
kenken0721 0:9969c88facec 138 step(0,200,0);
kenken0721 0:9969c88facec 139 step(3,200,0);
kenken0721 0:9969c88facec 140 waitReach(0);
kenken0721 0:9969c88facec 141 waitReach(3);
kenken0721 0:9969c88facec 142
kenken0721 0:9969c88facec 143 step(0,200,1);
kenken0721 0:9969c88facec 144 step(1,10,0);
kenken0721 0:9969c88facec 145 step(2,10,0);
kenken0721 0:9969c88facec 146 step(3,200,1);
kenken0721 1:be4238d819bb 147 waitReach(0);
kenken0721 1:be4238d819bb 148 waitReach(1);
kenken0721 1:be4238d819bb 149 waitReach(2);
kenken0721 1:be4238d819bb 150 waitReach(3);
kenken0721 0:9969c88facec 151
kenken0721 0:9969c88facec 152 step(0,10,1);
kenken0721 0:9969c88facec 153 step(3,10,1);
kenken0721 0:9969c88facec 154 waitReach(0);
kenken0721 0:9969c88facec 155 waitReach(3);
kenken0721 0:9969c88facec 156
kenken0721 0:9969c88facec 157
kenken0721 0:9969c88facec 158 //wait(3.0);
kenken0721 0:9969c88facec 159 //pc.printf("%d \t",val);
kenken0721 0:9969c88facec 160
kenken0721 0:9969c88facec 161 }
kenken0721 0:9969c88facec 162 }