Diff: binary_recieve.cpp

Revision:

6:81bc6ebb1115

Parent:

5:7f031c7e4694

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/binary_recieve.cpp	Thu Aug 27 14:06:18 2020 +0000
@@ -0,0 +1,203 @@
+// Created by Tomoki Hirayama
+//
+// Modified by Masahiro Furukawa
+// Aug 27, 2020
+
+#include "mbed.h"
+DigitalOut led1(LED1);
+DigitalOut led2(LED2);
+DigitalOut led3(LED3);
+DigitalOut led4(LED4);
+
+
+PwmOut servo0(p21);//θ0に対応するピン
+PwmOut servo1(p22);//θ1に対応するピン
+PwmOut servo2(p23);//θ2に対応するピン
+PwmOut servo3(p24);//θ3に対応するピン
+PwmOut servo4(p25);//θ4に対応するピン
+PwmOut servo5(p26);//θ5に対応するピン
+
+
+//name.baud(9600);
+//MG996Rのほう
+
+Serial pc(USBTX, USBRX);
+LocalFileSystem local("local");
+#define NUM_OF_LOG_LINES 5
+
+float aOut, bOut, cOut, dOut, eOut, fOut;//それぞれの角度
+int num[30];//数字格納場所，基本的に1桁の数字しか入らない
+int pw0, pw1, pw2, pw3, pw4, pw5;//出力パルス幅
+
+
+
+//きちんと値が受け取れているかチェックするための初期化
+void num_ini()
+{
+    for (int i = 0; i < 30; i++) {
+        num[i] = 9999;
+    }
+}
+bool num_check(int n[])
+{
+    for (int i = 0; i < 24; i++) {
+        if (n[i] == 9999)
+            return -1;
+    }
+    return 1;
+}
+//char型で受け取った文字をint型に返す
+int ctoi(char c)
+{
+    //1文字の数字（char型）を数値（int型）に変換
+    if ('0' <= c && c <= '9') {
+        return (c - '0');
+    } else {
+        return -1;
+    }
+}
+
+//角度[°]から入力パルス幅[us]に変換する関数
+int cal_input0(float arg)
+{
+    return 1475 + int(10.48 * arg);
+}
+int cal_input1(float arg)
+{
+    //return 1520 + 10.2467 * (-30.0 + arg);
+    return 1218 + int(10.2467 * arg);
+}
+int cal_input2(float arg)
+{
+    //return 853 + 10.59 * (30.0 + arg);
+    return 1306 + 10.59 * arg;
+}
+int cal_input3(float arg)
+{
+    return 1224 + int(8.556 * arg);
+}
+int cal_input4(float arg)
+{
+    return 1460 + int(10.556 * arg);
+}
+int cal_input5(float arg)
+{
+    return 1922 + int(10.556 * arg);
+}
+
+
+//受け取った値を変換
+void cal_Out()
+{
+    //aOut = 1000 * num[3] + 100 * num[2] + 10 * num[1] + 1 * num[0];//
+    //bOut = 1000 * num[7] + 100 * num[6] + 10 * num[5] + 1 * num[4];//
+    //cOut = 1000 * num[11] + 100 * num[10] + 10 * num[9] + 1 * num[8];//
+    //dOut = 1000 * num[15] + 100 * num[14] + 10 * num[13] + 1 * num[12];//
+    //eOut = 1000 * num[19] + 100 * num[18] + 10 * num[17] + 1 * num[16];//
+    //fOut = 1000 * num[23] + 100 * num[22] + 10 * num[21] + 1 * num[20];//
+    //aOut = 1000 * num[4] + 100 * num[3] + 10 * num[2] + 1 * num[1];//
+    //bOut = 1000 * num[8] + 100 * num[7] + 10 * num[6] + 1 * num[5];//
+    //cOut = 1000 * num[12] + 100 * num[11] + 10 * num[10] + 1 * num[9];//
+    //dOut = 1000 * num[16] + 100 * num[15] + 10 * num[14] + 1 * num[13];//
+    //eOut = 1000 * num[20] + 100 * num[19] + 10 * num[18] + 1 * num[17];//
+    //fOut = 1000 * num[24] + 100 * num[23] + 10 * num[22] + 1 * num[21];//
+
+    //送られてくるのは整数2桁＋小数3桁ではなく
+    //1000倍されたなことに注意
+    aOut = 10.0 * num[4]  + 1.0 * num[3]  + 0.1 * num[2] + 0.01 * num[1] + 0.001 * num[0] - 60.0;//
+    bOut = 10.0 * num[9]  + 1.0 * num[8]  + 0.1 * num[7] + 0.01 * num[6] + 0.001 * num[5] - 60.0;//
+    cOut = 10.0 * num[14] + 1.0 * num[13] + 0.1 * num[12] + 0.01 * num[11] + 0.001 * num[10] - 60.0;//
+    dOut = 10.0 * num[19] + 1.0 * num[18] + 0.1 * num[17] + 0.01 * num[16] + 0.001 * num[15] - 60.0;//
+    eOut = 10.0 * num[24] + 1.0 * num[23] + 0.1 * num[22] + 0.01 * num[21] + 0.001 * num[20] - 60.0;//
+    fOut = 10.0 * num[29] + 1.0 * num[28] + 0.1 * num[27] + 0.01 * num[26] + 0.001 * num[25] - 60.0;//
+
+    //aOut = 10.0 * num[28] + 1.0 * num[27] + 0.1 * num[26] + 0.01 * num[25] + 0.001 * num[24] - 60.0;//
+    //bOut = 10.0 * num[3]  + 1.0 * num[2]  + 0.1 * num[1]  + 0.01 * num[0]  + 0.001 * num[29] - 60.0;//
+    //cOut = 10.0 * num[8]  + 1.0 * num[7]  + 0.1 * num[6]  + 0.01 * num[5]  + 0.001 * num[4]  - 60.0;//
+    //dOut = 10.0 * num[13] + 1.0 * num[12] + 0.1 * num[11] + 0.01 * num[10] + 0.001 * num[9]  - 60.0;//
+    //eOut = 10.0 * num[18] + 1.0 * num[17] + 0.1 * num[16] + 0.01 * num[15] + 0.001 * num[14] - 60.0;//
+    //fOut = 10.0 * num[23] + 1.0 * num[22] + 0.1 * num[21] + 0.01 * num[20] + 0.001 * num[19] - 60.0;//
+
+}
+void cal_pw()
+{
+    pw0 = cal_input0(aOut);
+    pw1 = cal_input1(bOut);
+    pw2 = cal_input2(cOut);
+    pw3 = cal_input3(dOut);
+    pw4 = cal_input4(eOut);
+    pw5 = cal_input5(fOut);
+}
+void send_servo()
+{
+    servo0.pulsewidth_us(pw0);//パルス変調幅を1625usで入力
+    servo1.pulsewidth_us(pw1);//パルス変調幅を1420usで入力
+    servo2.pulsewidth_us(pw2); //パルス変調幅を 632usで入力
+    servo3.pulsewidth_us(pw3);//パルス変調幅を1310usで入力
+    servo4.pulsewidth_us(pw4);//パルス変調幅を1368usで入力
+    servo5.pulsewidth_us(pw5);//パルス変調幅を1500usで入力
+}
+
+//動く関数．総まとめ
+void move()
+{
+    cal_Out();
+    cal_pw();
+    send_servo();
+}
+
+int main()
+{
+    float w = 60.0;//========制御周波数===========
+    float PWMperiod = 1.0 / w;    //PWM周期の計算
+    //===============ボーレート=============
+    pc.baud(921600);
+    pc.format(8, Serial::None, 1);
+    
+    //各サーボの設定
+    servo0.period(PWMperiod);
+    servo1.period(PWMperiod);
+    servo2.period(PWMperiod);
+    servo3.period(PWMperiod);
+    servo4.period(PWMperiod);
+    servo5.period(PWMperiod);
+
+    num_ini();
+
+    char rbuf[4];
+    
+    while(1) {
+
+        led1 = 0;
+        led2 = 0;
+        led3 = 0;
+        led4 = 0;
+        if(pc.readable()) {
+            if (pc.getc() != '*') continue;
+            if (pc.getc() != '+') continue;
+            for(int i=0; i<6; i++) {
+                for(int b=0; b<4; b++)
+                    rbuf[b] = pc.getc();
+
+                // ( 4 bytes -> one float )
+                float const* f = reinterpret_cast<float const*>(rbuf);
+                
+                if(*f == 5.3f)
+                    led1 = 1;
+                if(*f == 5.2f)
+                    led2 = 1;
+                if(*f == -0.3f)
+                    led3 = 1;
+                if(*f == 40.0f)
+                    led4 = 1;
+            }
+        }
+
+//
+        //動かす関数
+//            move();
+        //動かしたら初期化する
+//            num_ini();
+
+    }
+}
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