Revision 4:0670023d3f36, committed 2016-05-28

Comitter:

lixianyu

Date:

Sat May 28 05:09:18 2016 +0000

Parent:

3:e4ac7c1a14de

Commit message:

??work????

Changed in this revision

diff -r e4ac7c1a14de -r 0670023d3f36 Microduino_Motor.cpp
--- a/Microduino_Motor.cpp	Fri May 27 01:44:31 2016 +0000
+++ b/Microduino_Motor.cpp	Sat May 28 05:09:18 2016 +0000
@@ -13,9 +13,10 @@
 #if 0
             pinMode( _motor_pinA, OUTPUT) ;
 #else
-            _period_us = 2000; // 500Hz
+            _period_us = 255; // 500Hz
             pwmout_init(&_pwmA, _motor_pinA);
             pwmout_period_us(&_pwmA, _period_us); // 500Hz
+            pwmout_pulsewidth_us(&_pwmA, 1);
 #endif
             motors[this->motorIndex].Pin.nbr_A = _motor_pinA;
 
@@ -24,6 +25,7 @@
 #else
             pwmout_init(&_pwmB, _motor_pinB);
             pwmout_period_us(&_pwmB, _period_us); // 500Hz
+            pwmout_pulsewidth_us(&_pwmB, 1);
 #endif
             motors[this->motorIndex].Pin.nbr_B = _motor_pinB;
 
@@ -39,21 +41,24 @@
     this->fix=_fix;
 }
 
-int16_t Motor::GetData(int16_t _throttle, int16_t _steering, bool _dir)
+int16_t Motor::GetData(int16_t _throttle, int16_t _steering, uint8_t _dir)
 {
     this->_motor_vol = _throttle;
 
-    if(_dir)
+    if(_dir == 1)
+    {
         this->_motor_vol -= _steering / 2;
+    }
     else
+    {
         this->_motor_vol += _steering / 2;
-
+    }
     if (this->_motor_vol > 255)
         this->_motor_vol = 255;
     else if (this->_motor_vol < -255)
         this->_motor_vol = -255;
 
-    this->_motor_vol *= fix;
+    //this->_motor_vol *= fix;
 
     return this->_motor_vol;
 }
@@ -77,21 +82,52 @@
 #else
 void Motor::Driver(int16_t _motor_driver)
 {
-    int16_t pulseWidth = 0;
-    PinName channel_A = motors[this->motorIndex].Pin.nbr_A;
-    PinName channel_B = motors[this->motorIndex].Pin.nbr_B;
+    //static bool flag = true;
+    uint32_t pulseWidth = 0;
+    //PinName channel_A = motors[this->motorIndex].Pin.nbr_A;
+    //PinName channel_B = motors[this->motorIndex].Pin.nbr_B;
+    #if 0
+    pwmout_pulsewidth_us(&_pwmA, _period_us/2);
+    pwmout_pulsewidth_us(&_pwmB, 0);
+    return;
+    #endif
+    #if 0
+    pwmout_pulsewidth_us(&_pwmA, 0);
+    pwmout_pulsewidth_us(&_pwmB, _period_us/2);
+    return;
+    #endif
     if (_motor_driver == 0) {
         pwmout_pulsewidth_us(&_pwmA, 0);
         pwmout_pulsewidth_us(&_pwmB, 0);
     } else if (_motor_driver > 0) {
-        pulseWidth = _period_us * _motor_driver / 255;
+        #if 1
+        pulseWidth = _period_us / 255 * _motor_driver;
         pwmout_pulsewidth_us(&_pwmA, pulseWidth);
+        pwmout_pulsewidth_us(&_pwmB, 2);
+        #else
+        pwmout_pulsewidth_us(&_pwmA, _period_us/2);
         pwmout_pulsewidth_us(&_pwmB, 0);
+        #endif
     } else {
+        #if 0
         _motor_driver = 255 + _motor_driver;
-        pulseWidth = _period_us * _motor_driver / 255;
-        pwmout_pulsewidth_us(&_pwmA, pulseWidth);
-        pwmout_pulsewidth_us(&_pwmB, _period_us);
+        pulseWidth = _period_us / 255 * _motor_driver;
+        pwmout_pulsewidth_us(&_pwmA, 0);
+        pwmout_pulsewidth_us(&_pwmB, pulseWidth);
+        #elif 1
+        _motor_driver = abs(_motor_driver);
+        pulseWidth = _period_us / 255 * _motor_driver;
+        pwmout_pulsewidth_us(&_pwmA, 2);
+        pwmout_pulsewidth_us(&_pwmB, pulseWidth);
+        #elif 0
+        _motor_driver = 255 + _motor_driver;
+        pulseWidth = _period_us / 255 * _motor_driver;
+        pwmout_pulsewidth_us(&_pwmA, _period_us);
+        pwmout_pulsewidth_us(&_pwmB, pulseWidth);
+        #else
+        pwmout_pulsewidth_us(&_pwmA, 0);
+        pwmout_pulsewidth_us(&_pwmB, 241);
+        #endif
     }
 }
 #endif

diff -r e4ac7c1a14de -r 0670023d3f36 Microduino_Motor.h
--- a/Microduino_Motor.h	Fri May 27 01:44:31 2016 +0000
+++ b/Microduino_Motor.h	Sat May 28 05:09:18 2016 +0000
@@ -32,7 +32,7 @@
     void Driver(int16_t _motor_driver);
     void Free();
     void Brake();
-    int16_t GetData(int16_t _throttle, int16_t _steering, bool _dir);
+    int16_t GetData(int16_t _throttle, int16_t _steering, uint8_t _dir);
 private:
     uint8_t motorIndex;               // index into the channel data for this key
     float fix;
@@ -40,7 +40,7 @@
 protected:
     pwmout_t _pwmA;
     pwmout_t _pwmB;
-    uint16_t _period_us;
+    int _period_us;
 };
 
 #endif
\ No newline at end of file

diff -r e4ac7c1a14de -r 0670023d3f36 Microduino_Protocol_HardSer.cpp
--- a/Microduino_Protocol_HardSer.cpp	Fri May 27 01:44:31 2016 +0000
+++ b/Microduino_Protocol_HardSer.cpp	Sat May 28 05:09:18 2016 +0000
@@ -1,5 +1,7 @@
 #include "Microduino_Protocol_HardSer.h"
 
+//Timer _timer;
+extern Timer g_cubeTimer;
 uint8_t getChecksum(uint8_t length, uint8_t cmd, uint8_t mydata[])
 {
     //三个参数分别为： 数据长度  ，  指令代码  ，  实际数据数组
@@ -10,7 +12,6 @@
     return checksum;
 }
 
-
 /* Protocol::Protocol(PRO_PORT *ser , byte _channel) {
   //  common_init();  // Set everything to common state, then...
   this->channel = _channel;
@@ -20,16 +21,15 @@
   P_Serial = ser; // ...override P_Serial with value passed.
   } */
 
-
 void Protocol::begin(uint16_t _baud)
 {
+    //_timer.start();
     //P_Serial->begin(_baud);
     P_Serial->baud(_baud);
     //delay(20);
-    wait_ms(20);
+    //wait_ms(20);
 }
 
-
 bool Protocol::available(bool _sta)
 {
     //if (P_Serial->available() > 0) {
@@ -52,12 +52,12 @@
     return false;
 }
 
-
 uint8_t Protocol::parse(uint16_t* _data, bool _mod)
 {
     if (available(!_mod)) {
         //time = millis();
-        time = _timer.read_ms();
+        //time = _timer.read_ms();
+        time = g_cubeTimer.read_ms();
         do {
             if (this->sta) {
                 this->sta = false;
@@ -97,7 +97,7 @@
             } else if (!_mod) {
                 return P_BUSY;
             }
-        } while (_mod && (available(true) && _timer.read_ms() - time < 100));
+        } while (_mod && (available(true) && g_cubeTimer.read_ms() - time < 100));
 
         if (_mod) {
             return P_TIMEOUT;

diff -r e4ac7c1a14de -r 0670023d3f36 Microduino_Protocol_HardSer.h
--- a/Microduino_Protocol_HardSer.h	Fri May 27 01:44:31 2016 +0000
+++ b/Microduino_Protocol_HardSer.h	Sat May 28 05:09:18 2016 +0000
@@ -22,14 +22,14 @@
 
 class Protocol {
   public:
-    Protocol(PRO_PORT *ser , uint8_t _channel) : _timer(),num(0),time(0),sta(false),error(false){ // Constructor when using HardwareSerial
+    Protocol(PRO_PORT *ser , uint8_t _channel) : num(0),time(0),sta(false),error(false){ // Constructor when using HardwareSerial
       //  common_init();  // Set everything to common state, then...
       channel = _channel;
       num = 0;
       sta = false;
       error = false;
       P_Serial = ser; // ...override P_Serial with value passed.
-      _timer.start();
+      //_timer.start();
     }
     void begin(uint16_t _baud);
     uint8_t parse(uint16_t* _data, bool _mod);
@@ -46,7 +46,7 @@
     bool available(bool _sta);
     PRO_PORT *P_Serial;
     
-    Timer _timer;
+    
 };
 
 

diff -r e4ac7c1a14de -r 0670023d3f36 Protocol.h
--- a/Protocol.h	Fri May 27 01:44:31 2016 +0000
+++ b/Protocol.h	Sat May 28 05:09:18 2016 +0000
@@ -2,6 +2,7 @@
 
 //BLE//////////////////////
 Serial pc(P0_4,P0_0);
+//Serial pc(P0_0, P0_4);
 Protocol bleProtocol(&pc, TYPE_NUM);  //软串口,校验数据类
 
 #define this_node  1  //设置本机ID

diff -r e4ac7c1a14de -r 0670023d3f36 main.cpp
--- a/main.cpp	Fri May 27 01:44:31 2016 +0000
+++ b/main.cpp	Sat May 28 05:09:18 2016 +0000
@@ -1,10 +1,12 @@
 #include "mbed.h"
-#include "rtos.h"
+//#include "rtos.h"
 #include "MicroduinoPinNames.h"
 #include "userDef.h"
 #include "Protocol.h"
 #include "Microduino_Motor.h"
 
+Timer g_cubeTimer;
+#if 1
 Motor MotorLeft(motor_pin0A, motor_pin0B);
 Motor MotorRight(motor_pin1A, motor_pin1B);
 ///////////////////////////////////////////////////////////
@@ -13,10 +15,8 @@
 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;
+int safe_ms = 0;
 
-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)
@@ -26,6 +26,7 @@
 
 int main()
 {
+    bool freeFlag = true;
     g_cubeTimer.start();
     mode = protocolSetup();  //遥控接收器初始化
 
@@ -41,6 +42,7 @@
             MotorRight.Driver(MotorRight.GetData(throttle, steering, CHAN_RIGHT));
 
 #ifdef _DEBUG
+asdf
             Serial.print("DATA OK :[");
             for (int a = 0; a < CHANNEL_NUM; a++) {
                 Serial.print(channalData[a]);
@@ -53,7 +55,7 @@
 #endif
             safe_ms = g_cubeTimer.read_ms();
         }
-
+#if 0
         if (safe_ms > g_cubeTimer.read_ms()) {
             safe_ms = g_cubeTimer.read_ms();
         }
@@ -63,7 +65,36 @@
             //MotorLeft.Brake();
             //MotorRight.Brake();
         }
+#endif
         //pc.printf("Hello world\r\n");
         //sleep();
     }
 }
+#else
+DigitalOut myled(D13);
+PwmOut PWM_A(motor_pin0A);
+PwmOut PWM_B(motor_pin0B);
+int pv = 0;
+int main()
+{
+    myled.write(1);
+    PWM_A.period_us(255);
+    PWM_B.period_us(255);
+    
+    PWM_A.pulsewidth_us(200);
+    PWM_B.pulsewidth_us(0);
+    while (1)
+    {
+        #if 0
+        PWM_B.pulsewidth_us(pv);
+        pv++;
+        #endif
+        wait(0.5);
+        myled = !myled;
+        if (pv >= 255)
+        {
+            pv = 0;
+        }
+    }
+}
+#endif
\ No newline at end of file

diff -r e4ac7c1a14de -r 0670023d3f36 userDef.h
--- a/userDef.h	Fri May 27 01:44:31 2016 +0000
+++ b/userDef.h	Sat May 28 05:09:18 2016 +0000
@@ -30,10 +30,26 @@
 #define motor_fixL 1  //速度修正 -1到1之间
 #define motor_fixR 1  //速度修正 -1到1之间
 #else
+#if 0
 #define motor_pin0A D6  //PWM
 #define motor_pin0B D8
 #define motor_pin1A D5  //PWM
 #define motor_pin1B D7
 #define motor_fixL -1 //速度修正 -1到1之间
 #define motor_fixR -1 //速度修正 -1到1之间
+#elif 1
+#define motor_pin0A D8  //PWM
+#define motor_pin0B D6
+#define motor_pin1A D7  //PWM 
+#define motor_pin1B D5
+#define motor_fixL 1  //速度修正 -1到1之间
+#define motor_fixR 1  //速度修正 -1到1之间
+#else
+#define motor_pin0A D8  //PWM
+#define motor_pin0B D6
+#define motor_pin1A D7  //PWM
+#define motor_pin1B D5
+#define motor_fixL -1 //速度修正 -1到1之间
+#define motor_fixR -1 //速度修正 -1到1之间
 #endif
+#endif