Junichi Katsu / Mbed 2 deprecated RemoteIRontrol

テスト

Dependencies:   RemoteIR TB6612FNG2 mbed

Fork of RemoteIR_TestProgram by Shinichiro Nakamura

main.cpp@6:9bddde38e25e, 2015-12-23 (annotated)

Committer:
mbed_Cookbook_SE
Date:
Wed Dec 23 16:59:17 2015 +0000
Revision:
6:9bddde38e25e
Parent:
5:40750d5779ca 
??

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mbed_Cookbook_SE 6:9bddde38e25e 1 #include "mbed.h"
shintamainjp 2:9e3081533f70 2
shintamainjp 2:9e3081533f70 3 #include "ReceiverIR.h"
shintamainjp 2:9e3081533f70 4 #include "TransmitterIR.h"
mbed_Cookbook_SE 6:9bddde38e25e 5 #include "TB6612.h"
shintamainjp 2:9e3081533f70 6
mbed_Cookbook_SE 6:9bddde38e25e 7 ReceiverIR ir_rx(p14);
mbed_Cookbook_SE 6:9bddde38e25e 8 TransmitterIR ir_tx(p23);
mbed_Cookbook_SE 6:9bddde38e25e 9 TB6612 MOTOR_A(p21,p19,p20); // PWM IN1 IN2
mbed_Cookbook_SE 6:9bddde38e25e 10 TB6612 MOTOR_B(p22,p29,p30); // PWM IN1 IN2
mbed_Cookbook_SE 6:9bddde38e25e 11
shintamainjp 2:9e3081533f70 12 int receive(RemoteIR::Format *format, uint8_t *buf, int bufsiz, int timeout = 100) {
shintamainjp 2:9e3081533f70 13 int cnt = 0;
shintamainjp 2:9e3081533f70 14 while (ir_rx.getState() != ReceiverIR::Received) {
shintamainjp 2:9e3081533f70 15 cnt++;
shintamainjp 2:9e3081533f70 16 if (timeout < cnt) {
shintamainjp 2:9e3081533f70 17 return -1;
shintamainjp 2:9e3081533f70 18 }
shintamainjp 2:9e3081533f70 19 }
shintamainjp 2:9e3081533f70 20 return ir_rx.getData(format, buf, bufsiz * 8);
shintamainjp 2:9e3081533f70 21 }
shintamainjp 2:9e3081533f70 22
shintamainjp 2:9e3081533f70 23 int transmit(RemoteIR::Format format, uint8_t *buf, int bitlength, int timeout = 100) {
shintamainjp 2:9e3081533f70 24 int cnt = 0;
shintamainjp 2:9e3081533f70 25 while (ir_tx.getState() != TransmitterIR::Idle) {
shintamainjp 2:9e3081533f70 26 cnt++;
shintamainjp 2:9e3081533f70 27 if (timeout < cnt) {
shintamainjp 2:9e3081533f70 28 return -1;
shintamainjp 2:9e3081533f70 29 }
shintamainjp 2:9e3081533f70 30 }
shintamainjp 2:9e3081533f70 31 return ir_tx.setData(format, buf, bitlength);
shintamainjp 2:9e3081533f70 32 }
shintamainjp 2:9e3081533f70 33
mbed_Cookbook_SE 6:9bddde38e25e 34 int SearchCode( uint8_t *code ,uint8_t **buf , int size)
mbed_Cookbook_SE 6:9bddde38e25e 35 {
mbed_Cookbook_SE 6:9bddde38e25e 36 int ret = -1;
mbed_Cookbook_SE 6:9bddde38e25e 37 for(int i=0;i<5;i++)
mbed_Cookbook_SE 6:9bddde38e25e 38 {
mbed_Cookbook_SE 6:9bddde38e25e 39 if(memcmp( code , buf[i] , size ) == 0 ){
mbed_Cookbook_SE 6:9bddde38e25e 40 ret = i;
mbed_Cookbook_SE 6:9bddde38e25e 41 break;
mbed_Cookbook_SE 6:9bddde38e25e 42 }
mbed_Cookbook_SE 6:9bddde38e25e 43 }
mbed_Cookbook_SE 6:9bddde38e25e 44 return(ret);
shintamainjp 2:9e3081533f70 45 }
shintamainjp 2:9e3081533f70 46
mbed_Cookbook_SE 6:9bddde38e25e 47 void RegistrationCode(uint8_t *forward ,uint8_t *back ,uint8_t *left ,uint8_t *right ,uint8_t *stop)
mbed_Cookbook_SE 6:9bddde38e25e 48 {
mbed_Cookbook_SE 6:9bddde38e25e 49 uint8_t buf[32];
mbed_Cookbook_SE 6:9bddde38e25e 50 int bitlength;
mbed_Cookbook_SE 6:9bddde38e25e 51 RemoteIR::Format format;
mbed_Cookbook_SE 6:9bddde38e25e 52 uint8_t *ir_buf[5] = {forward,back,left,right,stop};
mbed_Cookbook_SE 6:9bddde38e25e 53
mbed_Cookbook_SE 6:9bddde38e25e 54 memset(buf, 0x00, sizeof(buf));
mbed_Cookbook_SE 6:9bddde38e25e 55
mbed_Cookbook_SE 6:9bddde38e25e 56 for(int i=0;i<5;i++)
mbed_Cookbook_SE 6:9bddde38e25e 57 {
mbed_Cookbook_SE 6:9bddde38e25e 58 bitlength = -1;
mbed_Cookbook_SE 6:9bddde38e25e 59 while(bitlength < 0)
mbed_Cookbook_SE 6:9bddde38e25e 60 {
mbed_Cookbook_SE 6:9bddde38e25e 61 bitlength = receive(&format, buf, sizeof(buf));
mbed_Cookbook_SE 6:9bddde38e25e 62 if (bitlength < 0) {
mbed_Cookbook_SE 6:9bddde38e25e 63 continue;
mbed_Cookbook_SE 6:9bddde38e25e 64 }
mbed_Cookbook_SE 6:9bddde38e25e 65
mbed_Cookbook_SE 6:9bddde38e25e 66 if( SearchCode(buf,ir_buf,sizeof(buf)) != -1 )
mbed_Cookbook_SE 6:9bddde38e25e 67 {
mbed_Cookbook_SE 6:9bddde38e25e 68 bitlength = -1;
mbed_Cookbook_SE 6:9bddde38e25e 69 continue;
mbed_Cookbook_SE 6:9bddde38e25e 70 }
shintamainjp 2:9e3081533f70 71
mbed_Cookbook_SE 6:9bddde38e25e 72 memcpy( ir_buf[i] , buf , sizeof(buf));
mbed_Cookbook_SE 6:9bddde38e25e 73 }
shintamainjp 2:9e3081533f70 74 }
shintamainjp 2:9e3081533f70 75 }
shintamainjp 2:9e3081533f70 76
shintamainjp 2:9e3081533f70 77 int main(void) {
mbed_Cookbook_SE 6:9bddde38e25e 78
mbed_Cookbook_SE 6:9bddde38e25e 79 uint8_t forward[32],back[32],left[32],right[32],stop[32];
mbed_Cookbook_SE 6:9bddde38e25e 80 uint8_t *ir_buf[5] = {forward,back,left,right,stop};
shintamainjp 2:9e3081533f70 81
mbed_Cookbook_SE 6:9bddde38e25e 82 RegistrationCode( forward ,back ,left ,right ,stop);
shintamainjp 2:9e3081533f70 83
shintamainjp 2:9e3081533f70 84 while (1) {
mbed_Cookbook_SE 6:9bddde38e25e 85 uint8_t buf[32];
shintamainjp 2:9e3081533f70 86 int bitlength1;
shintamainjp 2:9e3081533f70 87 RemoteIR::Format format;
shintamainjp 2:9e3081533f70 88
mbed_Cookbook_SE 6:9bddde38e25e 89 memset(buf, 0x00, sizeof(buf));
shintamainjp 2:9e3081533f70 90
mbed_Cookbook_SE 6:9bddde38e25e 91 bitlength1 = receive(&format, buf, sizeof(buf));
mbed_Cookbook_SE 6:9bddde38e25e 92 if (bitlength1 < 0) {
mbed_Cookbook_SE 6:9bddde38e25e 93 continue;
shintamainjp 2:9e3081533f70 94 }
mbed_Cookbook_SE 6:9bddde38e25e 95 switch(SearchCode(buf,ir_buf,sizeof(buf)))
shintamainjp 2:9e3081533f70 96 {
mbed_Cookbook_SE 6:9bddde38e25e 97 case 0: // forward
mbed_Cookbook_SE 6:9bddde38e25e 98 MOTOR_A = 100;
mbed_Cookbook_SE 6:9bddde38e25e 99 MOTOR_B = 100;
mbed_Cookbook_SE 6:9bddde38e25e 100 break;
mbed_Cookbook_SE 6:9bddde38e25e 101 case 1: // back
mbed_Cookbook_SE 6:9bddde38e25e 102 MOTOR_A = -100;
mbed_Cookbook_SE 6:9bddde38e25e 103 MOTOR_B = -100;
mbed_Cookbook_SE 6:9bddde38e25e 104 break;
mbed_Cookbook_SE 6:9bddde38e25e 105 case 2: // left
mbed_Cookbook_SE 6:9bddde38e25e 106 MOTOR_A = 100;
mbed_Cookbook_SE 6:9bddde38e25e 107 MOTOR_B = -100;
mbed_Cookbook_SE 6:9bddde38e25e 108 break;
mbed_Cookbook_SE 6:9bddde38e25e 109 case 3: // right
mbed_Cookbook_SE 6:9bddde38e25e 110 MOTOR_A = -100;
mbed_Cookbook_SE 6:9bddde38e25e 111 MOTOR_B = 100;
mbed_Cookbook_SE 6:9bddde38e25e 112 break;
mbed_Cookbook_SE 6:9bddde38e25e 113 case 4: // stop
mbed_Cookbook_SE 6:9bddde38e25e 114 MOTOR_A = 0;
mbed_Cookbook_SE 6:9bddde38e25e 115 MOTOR_B = 0;
mbed_Cookbook_SE 6:9bddde38e25e 116 break;
mbed_Cookbook_SE 6:9bddde38e25e 117 default:
mbed_Cookbook_SE 6:9bddde38e25e 118 break;
shintamainjp 2:9e3081533f70 119 }
shintamainjp 2:9e3081533f70 120 }
shintamainjp 0:d081f6c767da 121 }