Li Weiyi / Mbed 2 deprecated Cube

Microduino的cube小车。

Dependencies:   mbed-rtos mbed

main.cpp@4:0670023d3f36, 2016-05-28 (annotated)

Committer:
lixianyu
Date:
Sat May 28 05:09:18 2016 +0000
Revision:
4:0670023d3f36
Parent:
3:e4ac7c1a14de 
??work????

Who changed what in which revision?

UserRevisionLine numberNew contents of line
lixianyu 0:403ac413a86d 1 #include "mbed.h"
lixianyu 4:0670023d3f36 2 //#include "rtos.h"
lixianyu 0:403ac413a86d 3 #include "MicroduinoPinNames.h"
lixianyu 3:e4ac7c1a14de 4 #include "userDef.h"
lixianyu 3:e4ac7c1a14de 5 #include "Protocol.h"
lixianyu 3:e4ac7c1a14de 6 #include "Microduino_Motor.h"
lixianyu 3:e4ac7c1a14de 7
lixianyu 4:0670023d3f36 8 Timer g_cubeTimer;
lixianyu 4:0670023d3f36 9 #if 1
lixianyu 3:e4ac7c1a14de 10 Motor MotorLeft(motor_pin0A, motor_pin0B);
lixianyu 3:e4ac7c1a14de 11 Motor MotorRight(motor_pin1A, motor_pin1B);
lixianyu 3:e4ac7c1a14de 12 ///////////////////////////////////////////////////////////
lixianyu 3:e4ac7c1a14de 13 #define CHANNEL_NUM 8
lixianyu 3:e4ac7c1a14de 14 uint16_t channalData[CHANNEL_NUM]; //8通道数据
lixianyu 3:e4ac7c1a14de 15 bool mode = 0; //nrf或者ble模式
lixianyu 3:e4ac7c1a14de 16 int16_t throttle = 0; //油门
lixianyu 3:e4ac7c1a14de 17 int16_t steering = 0; //转向
lixianyu 4:0670023d3f36 18 int safe_ms = 0;
lixianyu 0:403ac413a86d 19
lixianyu 0:403ac413a86d 20 //Serial pc(P0_4,P0_0);
lixianyu 3:e4ac7c1a14de 21
lixianyu 3:e4ac7c1a14de 22 static long map(long x, long in_min, long in_max, long out_min, long out_max)
lixianyu 3:e4ac7c1a14de 23 {
lixianyu 3:e4ac7c1a14de 24 return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
lixianyu 3:e4ac7c1a14de 25 }
lixianyu 3:e4ac7c1a14de 26
lixianyu 0:403ac413a86d 27 int main()
lixianyu 0:403ac413a86d 28 {
lixianyu 4:0670023d3f36 29 bool freeFlag = true;
lixianyu 3:e4ac7c1a14de 30 g_cubeTimer.start();
lixianyu 3:e4ac7c1a14de 31 mode = protocolSetup(); //遥控接收器初始化
lixianyu 3:e4ac7c1a14de 32
lixianyu 3:e4ac7c1a14de 33 MotorLeft.Fix(motor_fixL);
lixianyu 3:e4ac7c1a14de 34 MotorRight.Fix(motor_fixR);
lixianyu 0:403ac413a86d 35 //pc.baud(115200);
lixianyu 0:403ac413a86d 36 while(1) {
lixianyu 3:e4ac7c1a14de 37 if (protocolRead(channalData, mode)) { //判断是否接收到遥控信号
lixianyu 3:e4ac7c1a14de 38 throttle = map(channalData[CHANNEL_THROTTLE], 1000, 2000, -MAX_THROTTLE, MAX_THROTTLE);
lixianyu 3:e4ac7c1a14de 39 steering = map(channalData[CHANNEL_STEERING], 1000, 2000, -MAX_STEERING, MAX_STEERING);
lixianyu 3:e4ac7c1a14de 40
lixianyu 3:e4ac7c1a14de 41 MotorLeft.Driver(MotorLeft.GetData(throttle, steering, CHAN_LEFT));
lixianyu 3:e4ac7c1a14de 42 MotorRight.Driver(MotorRight.GetData(throttle, steering, CHAN_RIGHT));
lixianyu 3:e4ac7c1a14de 43
lixianyu 3:e4ac7c1a14de 44 #ifdef _DEBUG
lixianyu 4:0670023d3f36 45 asdf
lixianyu 3:e4ac7c1a14de 46 Serial.print("DATA OK :[");
lixianyu 3:e4ac7c1a14de 47 for (int a = 0; a < CHANNEL_NUM; a++) {
lixianyu 3:e4ac7c1a14de 48 Serial.print(channalData[a]);
lixianyu 3:e4ac7c1a14de 49 Serial.print(" ");
lixianyu 3:e4ac7c1a14de 50 }
lixianyu 3:e4ac7c1a14de 51 Serial.print("],throttle:");
lixianyu 3:e4ac7c1a14de 52 Serial.print(throttle);
lixianyu 3:e4ac7c1a14de 53 Serial.print(",steering:");
lixianyu 3:e4ac7c1a14de 54 Serial.println(steering);
lixianyu 3:e4ac7c1a14de 55 #endif
lixianyu 3:e4ac7c1a14de 56 safe_ms = g_cubeTimer.read_ms();
lixianyu 3:e4ac7c1a14de 57 }
lixianyu 4:0670023d3f36 58 #if 0
lixianyu 3:e4ac7c1a14de 59 if (safe_ms > g_cubeTimer.read_ms()) {
lixianyu 3:e4ac7c1a14de 60 safe_ms = g_cubeTimer.read_ms();
lixianyu 3:e4ac7c1a14de 61 }
lixianyu 3:e4ac7c1a14de 62 if (g_cubeTimer.read_ms() - safe_ms > SAFE_TIME_OUT) {
lixianyu 3:e4ac7c1a14de 63 MotorLeft.Free();
lixianyu 3:e4ac7c1a14de 64 MotorRight.Free();
lixianyu 3:e4ac7c1a14de 65 //MotorLeft.Brake();
lixianyu 3:e4ac7c1a14de 66 //MotorRight.Brake();
lixianyu 3:e4ac7c1a14de 67 }
lixianyu 4:0670023d3f36 68 #endif
lixianyu 0:403ac413a86d 69 //pc.printf("Hello world\r\n");
lixianyu 0:403ac413a86d 70 //sleep();
lixianyu 0:403ac413a86d 71 }
lixianyu 0:403ac413a86d 72 }
lixianyu 4:0670023d3f36 73 #else
lixianyu 4:0670023d3f36 74 DigitalOut myled(D13);
lixianyu 4:0670023d3f36 75 PwmOut PWM_A(motor_pin0A);
lixianyu 4:0670023d3f36 76 PwmOut PWM_B(motor_pin0B);
lixianyu 4:0670023d3f36 77 int pv = 0;
lixianyu 4:0670023d3f36 78 int main()
lixianyu 4:0670023d3f36 79 {
lixianyu 4:0670023d3f36 80 myled.write(1);
lixianyu 4:0670023d3f36 81 PWM_A.period_us(255);
lixianyu 4:0670023d3f36 82 PWM_B.period_us(255);
lixianyu 4:0670023d3f36 83
lixianyu 4:0670023d3f36 84 PWM_A.pulsewidth_us(200);
lixianyu 4:0670023d3f36 85 PWM_B.pulsewidth_us(0);
lixianyu 4:0670023d3f36 86 while (1)
lixianyu 4:0670023d3f36 87 {
lixianyu 4:0670023d3f36 88 #if 0
lixianyu 4:0670023d3f36 89 PWM_B.pulsewidth_us(pv);
lixianyu 4:0670023d3f36 90 pv++;
lixianyu 4:0670023d3f36 91 #endif
lixianyu 4:0670023d3f36 92 wait(0.5);
lixianyu 4:0670023d3f36 93 myled = !myled;
lixianyu 4:0670023d3f36 94 if (pv >= 255)
lixianyu 4:0670023d3f36 95 {
lixianyu 4:0670023d3f36 96 pv = 0;
lixianyu 4:0670023d3f36 97 }
lixianyu 4:0670023d3f36 98 }
lixianyu 4:0670023d3f36 99 }
lixianyu 4:0670023d3f36 100 #endif