Li Weiyi / Mbed 2 deprecated Cube

Microduino的cube小车。

Dependencies:   mbed-rtos mbed

main.cpp@3:e4ac7c1a14de, 2016-05-27 (annotated)

Committer:
lixianyu
Date:
Fri May 27 01:44:31 2016 +0000
Revision:
3:e4ac7c1a14de
Parent:
1:758ccab13947
Child:
4:0670023d3f36
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Who changed what in which revision?

UserRevisionLine numberNew contents of line
lixianyu 0:403ac413a86d 1 #include "mbed.h"
lixianyu 0:403ac413a86d 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 3:e4ac7c1a14de 8 Motor MotorLeft(motor_pin0A, motor_pin0B);
lixianyu 3:e4ac7c1a14de 9 Motor MotorRight(motor_pin1A, motor_pin1B);
lixianyu 3:e4ac7c1a14de 10 ///////////////////////////////////////////////////////////
lixianyu 3:e4ac7c1a14de 11 #define CHANNEL_NUM 8
lixianyu 3:e4ac7c1a14de 12 uint16_t channalData[CHANNEL_NUM]; //8通道数据
lixianyu 3:e4ac7c1a14de 13 bool mode = 0; //nrf或者ble模式
lixianyu 3:e4ac7c1a14de 14 int16_t throttle = 0; //油门
lixianyu 3:e4ac7c1a14de 15 int16_t steering = 0; //转向
lixianyu 3:e4ac7c1a14de 16 unsigned long safe_ms;
lixianyu 0:403ac413a86d 17
lixianyu 1:758ccab13947 18 DigitalOut myled(D11);
lixianyu 3:e4ac7c1a14de 19 Timer g_cubeTimer;
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 3:e4ac7c1a14de 29 g_cubeTimer.start();
lixianyu 3:e4ac7c1a14de 30 mode = protocolSetup(); //遥控接收器初始化
lixianyu 3:e4ac7c1a14de 31
lixianyu 3:e4ac7c1a14de 32 MotorLeft.Fix(motor_fixL);
lixianyu 3:e4ac7c1a14de 33 MotorRight.Fix(motor_fixR);
lixianyu 0:403ac413a86d 34 //pc.baud(115200);
lixianyu 0:403ac413a86d 35 while(1) {
lixianyu 3:e4ac7c1a14de 36 if (protocolRead(channalData, mode)) { //判断是否接收到遥控信号
lixianyu 3:e4ac7c1a14de 37 throttle = map(channalData[CHANNEL_THROTTLE], 1000, 2000, -MAX_THROTTLE, MAX_THROTTLE);
lixianyu 3:e4ac7c1a14de 38 steering = map(channalData[CHANNEL_STEERING], 1000, 2000, -MAX_STEERING, MAX_STEERING);
lixianyu 3:e4ac7c1a14de 39
lixianyu 3:e4ac7c1a14de 40 MotorLeft.Driver(MotorLeft.GetData(throttle, steering, CHAN_LEFT));
lixianyu 3:e4ac7c1a14de 41 MotorRight.Driver(MotorRight.GetData(throttle, steering, CHAN_RIGHT));
lixianyu 3:e4ac7c1a14de 42
lixianyu 3:e4ac7c1a14de 43 #ifdef _DEBUG
lixianyu 3:e4ac7c1a14de 44 Serial.print("DATA OK :[");
lixianyu 3:e4ac7c1a14de 45 for (int a = 0; a < CHANNEL_NUM; a++) {
lixianyu 3:e4ac7c1a14de 46 Serial.print(channalData[a]);
lixianyu 3:e4ac7c1a14de 47 Serial.print(" ");
lixianyu 3:e4ac7c1a14de 48 }
lixianyu 3:e4ac7c1a14de 49 Serial.print("],throttle:");
lixianyu 3:e4ac7c1a14de 50 Serial.print(throttle);
lixianyu 3:e4ac7c1a14de 51 Serial.print(",steering:");
lixianyu 3:e4ac7c1a14de 52 Serial.println(steering);
lixianyu 3:e4ac7c1a14de 53 #endif
lixianyu 3:e4ac7c1a14de 54 safe_ms = g_cubeTimer.read_ms();
lixianyu 3:e4ac7c1a14de 55 }
lixianyu 3:e4ac7c1a14de 56
lixianyu 3:e4ac7c1a14de 57 if (safe_ms > g_cubeTimer.read_ms()) {
lixianyu 3:e4ac7c1a14de 58 safe_ms = g_cubeTimer.read_ms();
lixianyu 3:e4ac7c1a14de 59 }
lixianyu 3:e4ac7c1a14de 60 if (g_cubeTimer.read_ms() - safe_ms > SAFE_TIME_OUT) {
lixianyu 3:e4ac7c1a14de 61 MotorLeft.Free();
lixianyu 3:e4ac7c1a14de 62 MotorRight.Free();
lixianyu 3:e4ac7c1a14de 63 //MotorLeft.Brake();
lixianyu 3:e4ac7c1a14de 64 //MotorRight.Brake();
lixianyu 3:e4ac7c1a14de 65 }
lixianyu 0:403ac413a86d 66 //pc.printf("Hello world\r\n");
lixianyu 0:403ac413a86d 67 //sleep();
lixianyu 0:403ac413a86d 68 }
lixianyu 0:403ac413a86d 69 }