Diff: main.cpp

Revision:

3:e4ac7c1a14de

Parent:

1:758ccab13947

Child:

4:0670023d3f36

--- a/main.cpp	Wed May 25 13:25:09 2016 +0000
+++ b/main.cpp	Fri May 27 01:44:31 2016 +0000
@@ -1,18 +1,68 @@
 #include "mbed.h"
 #include "rtos.h"
 #include "MicroduinoPinNames.h"
+#include "userDef.h"
+#include "Protocol.h"
+#include "Microduino_Motor.h"
+
+Motor MotorLeft(motor_pin0A, motor_pin0B);
+Motor MotorRight(motor_pin1A, motor_pin1B);
+///////////////////////////////////////////////////////////
+#define CHANNEL_NUM 8
+uint16_t channalData[CHANNEL_NUM]; //8通道数据
+bool mode = 0; //nrf或者ble模式
+int16_t throttle = 0; //油门
+int16_t steering = 0; //转向
+unsigned long safe_ms;
 
 DigitalOut myled(D11);
+Timer g_cubeTimer;
 //Serial pc(P0_4,P0_0);
+
+static long map(long x, long in_min, long in_max, long out_min, long out_max)
+{
+    return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
+}
+
 int main()
 {
-    uint8_t a = 6;
+    g_cubeTimer.start();
+    mode = protocolSetup();  //遥控接收器初始化
+
+    MotorLeft.Fix(motor_fixL);
+    MotorRight.Fix(motor_fixR);
     //pc.baud(115200);
     while(1) {
-        myled = 1;
-        wait(0.2);
-        myled = 0;
-        wait(0.8);
+        if (protocolRead(channalData, mode)) { //判断是否接收到遥控信号
+            throttle = map(channalData[CHANNEL_THROTTLE], 1000, 2000, -MAX_THROTTLE, MAX_THROTTLE);
+            steering = map(channalData[CHANNEL_STEERING], 1000, 2000, -MAX_STEERING, MAX_STEERING);
+
+            MotorLeft.Driver(MotorLeft.GetData(throttle, steering, CHAN_LEFT));
+            MotorRight.Driver(MotorRight.GetData(throttle, steering, CHAN_RIGHT));
+
+#ifdef _DEBUG
+            Serial.print("DATA OK :[");
+            for (int a = 0; a < CHANNEL_NUM; a++) {
+                Serial.print(channalData[a]);
+                Serial.print(" ");
+            }
+            Serial.print("],throttle:");
+            Serial.print(throttle);
+            Serial.print(",steering:");
+            Serial.println(steering);
+#endif
+            safe_ms = g_cubeTimer.read_ms();
+        }
+
+        if (safe_ms > g_cubeTimer.read_ms()) {
+            safe_ms = g_cubeTimer.read_ms();
+        }
+        if (g_cubeTimer.read_ms() - safe_ms > SAFE_TIME_OUT) {
+            MotorLeft.Free();
+            MotorRight.Free();
+            //MotorLeft.Brake();
+            //MotorRight.Brake();
+        }
         //pc.printf("Hello world\r\n");
         //sleep();
     }