太郎 九大
夏ロボ用
Revision 0:7d18a91d0d19, committed 2013-09-07
- Comitter:
- kurt
- Date:
- Sat Sep 07 06:34:29 2013 +0000
- Commit message:
- for publish
;
Changed in this revision
diff -r 000000000000 -r 7d18a91d0d19 QEI.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/QEI.lib Sat Sep 07 06:34:29 2013 +0000 @@ -0,0 +1,1 @@ +https://mbed.org/users/aberk/code/QEI/#5c2ad81551aa
diff -r 000000000000 -r 7d18a91d0d19 init.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/init.cpp Sat Sep 07 06:34:29 2013 +0000
@@ -0,0 +1,77 @@
+#include "init.h"
+#include "QEI.h"
+
+
+DigitalOut MOTOR_POWER(PTC10);
+
+PwmOut PWM0(PTC9);
+PwmOut PWM1(PTC8);
+PwmOut PWM2(PTA5);
+PwmOut PWM3(PTA4);
+PwmOut PWM4(PTA12);
+PwmOut PWM5(PTD4);
+AnalogIn AD0(PTB0);
+AnalogIn AD1(PTB1);
+AnalogIn AD2(PTB2);
+AnalogIn AD3(PTB3);
+AnalogIn AD4(PTC2);
+
+DigitalOut OUT0(PTC6);
+//DigitalIn IN0(PTC6);
+DigitalOut OUT1(PTC5);
+//DigitalIn IN1(PTC5);
+DigitalOut OUT2(PTC4);
+//DigitalIn IN2(PTC4);
+DigitalOut OUT3(PTC3);
+//DigitalIn IN3(PTC3);
+DigitalOut OUT4(PTC0);
+//DigitalIn IN4(PTC0);
+DigitalOut OUT5(PTC7);
+//DigitalIn IN5(PTC7);
+
+Serial pc(USBTX, USBRX);
+
+QEI ENC0(PTD6, PTD7, NC, 624, QEI::X2_ENCODING);
+QEI ENC1(PTD3, PTD1, NC, 624, QEI::X2_ENCODING);
+QEI ENC2(PTA13, PTD5, NC, 624, QEI::X2_ENCODING);
+QEI ENC3(PTD0, PTD2, NC, 624, QEI::X2_ENCODING);
+
+I2C i2c0(PTE0,PTE1);
+
+DigitalIn SW0(PTE29);
+DigitalIn SW1(PTE30);
+
+DigitalOut rled(LED_RED);
+DigitalOut gled(LED_GREEN);
+DigitalOut bled(LED_BLUE);
+
+void InitBoard(){
+ SW0.mode(PullUp);
+ SW1.mode(PullUp);
+ i2c0.frequency(1000000);
+ MOTOR_POWER = 1;
+}
+
+Timer AdCycle;
+
+void AdjustCycle(int t_us){
+ if(AdCycle.read_us() == 0) AdCycle.start();
+
+ if(AdCycle.read_us()>t_us)gled=0;
+ else gled=1;
+ while(AdCycle.read_us()<=t_us);
+ AdCycle.reset();
+}
+
+int Limit(int value,int max,int min) {
+ if (value>max)return max;
+ if (value<min)return min;
+ else return value;
+}
+
+double Limit_d(double value,double max,double min) {
+ if (value>max)return max;
+ if (value<min)return min;
+ else return value;
+}
+
diff -r 000000000000 -r 7d18a91d0d19 init.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/init.h Sat Sep 07 06:34:29 2013 +0000 @@ -0,0 +1,57 @@ +#ifndef INIT_H_ +#define INIT_H_ + +#include "QEI.h" + + +extern PwmOut PWM0; +extern PwmOut PWM1; +extern PwmOut PWM2; +extern PwmOut PWM3; +extern PwmOut PWM4; +extern PwmOut PWM5; +extern AnalogIn AD0; +extern AnalogIn AD1; +extern AnalogIn AD2; +extern AnalogIn AD3; +extern AnalogIn AD4; + +extern DigitalOut OUT0; +extern DigitalIn IN0; +extern DigitalOut OUT1; +extern DigitalIn IN1; +extern DigitalOut OUT2; +extern DigitalIn IN2; +extern DigitalOut OUT3; +extern DigitalIn IN3; +extern DigitalOut OUT4; +extern DigitalIn IN4; +extern DigitalOut OUT5; +extern DigitalIn IN5; + +extern QEI ENC0; +extern QEI ENC1; +extern QEI ENC2; +extern QEI ENC3; + +extern Serial pc; + +extern I2C i2c0; + +extern DigitalIn SW0; +extern DigitalIn SW1; + +extern DigitalOut rled; +extern DigitalOut gled; +extern DigitalOut bled; + + + +extern void InitBoard(); +extern void AdjustCycle(int t_us); +extern int Limit(int value,int max,int min); +extern double Limit_d(double value,double max,double min); + + + +#endif /* INIT_H_ */ \ No newline at end of file
diff -r 000000000000 -r 7d18a91d0d19 main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Sat Sep 07 06:34:29 2013 +0000
@@ -0,0 +1,18 @@
+#include "mbed.h"
+#include "init.h"
+
+int main() {
+ pc.baud(921600/*9600*/);//シリアルポートpcは定義済み
+ pc.printf("\n\r%s ", __TIME__);
+ pc.printf("%s\n\r", __DATE__);
+ pc.printf("Hello World!\n\r");
+
+ InitBoard();//モーターをつなぐPWMの周期とデューティを設定してから起動することを推奨
+
+ while(1) {
+ AdjustCycle(10000);
+ /*-----------------------
+ ここにプログラムを書く
+ --------------------------*/
+ }
+}
diff -r 000000000000 -r 7d18a91d0d19 mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Sat Sep 07 06:34:29 2013 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/7e6c9f46b3bd \ No newline at end of file