mukuyo hirohashi / Mbed 2 deprecated Rasp_serial

raspberry pi to stm32f303k8 for serial communication

Dependencies:   mbed Servo

Drive/Drive.cpp@0:7bc24e8d1591, 2021-05-02 (annotated)

Committer:
mukuyo
Date:
Sun May 02 15:01:33 2021 +0000
Revision:
0:7bc24e8d1591
update;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mukuyo 0:7bc24e8d1591 1 #include "Drive.hpp"
mukuyo 0:7bc24e8d1591 2 #define LED_PIN PF_0
mukuyo 0:7bc24e8d1591 3
mukuyo 0:7bc24e8d1591 4 Drive::Drive(PinName CAN_TX, PinName CAN_RX): Rasp(USBTX,USBRX), canMBED(CAN_TX, CAN_RX), LED(LED_PIN), servo(PA_8){
mukuyo 0:7bc24e8d1591 5 initCAN();
mukuyo 0:7bc24e8d1591 6 //can_Timer.attach(callback(this,&UDP::can_send), 16ms);
mukuyo 0:7bc24e8d1591 7 count = 0;
mukuyo 0:7bc24e8d1591 8 }
mukuyo 0:7bc24e8d1591 9
mukuyo 0:7bc24e8d1591 10 void Drive::setVelocity(){
mukuyo 0:7bc24e8d1591 11 //LED=0;
mukuyo 0:7bc24e8d1591 12 for(int i = 0; i < 4; i++)
mukuyo 0:7bc24e8d1591 13 {
mukuyo 0:7bc24e8d1591 14 M[i] = 0;
mukuyo 0:7bc24e8d1591 15 Rasp::get(M[i], i);
mukuyo 0:7bc24e8d1591 16 }
mukuyo 0:7bc24e8d1591 17 dribble_set();
mukuyo 0:7bc24e8d1591 18 calcWheelVelocity();
mukuyo 0:7bc24e8d1591 19 setMotVel();
mukuyo 0:7bc24e8d1591 20 can_send();
mukuyo 0:7bc24e8d1591 21 }
mukuyo 0:7bc24e8d1591 22
mukuyo 0:7bc24e8d1591 23 void Drive::dribble_set(){
mukuyo 0:7bc24e8d1591 24 if(dribble_power > 0){
mukuyo 0:7bc24e8d1591 25 dribble_power = 0.25;
mukuyo 0:7bc24e8d1591 26 }
mukuyo 0:7bc24e8d1591 27 servo = dribble_power;
mukuyo 0:7bc24e8d1591 28 }
mukuyo 0:7bc24e8d1591 29
mukuyo 0:7bc24e8d1591 30 void Drive::calcWheelVelocity(){
mukuyo 0:7bc24e8d1591 31
mukuyo 0:7bc24e8d1591 32 float max;
mukuyo 0:7bc24e8d1591 33 double plus;
mukuyo 0:7bc24e8d1591 34
mukuyo 0:7bc24e8d1591 35 order.Mot0Order.Vel_short = M[0];
mukuyo 0:7bc24e8d1591 36 order.Mot1Order.Vel_short = M[1];
mukuyo 0:7bc24e8d1591 37 order.Mot2Order.Vel_short = M[2];
mukuyo 0:7bc24e8d1591 38 order.Mot3Order.Vel_short = M[3];
mukuyo 0:7bc24e8d1591 39 /*order.Mot0Order.Vel_short = -100;
mukuyo 0:7bc24e8d1591 40 order.Mot1Order.Vel_short = -100;
mukuyo 0:7bc24e8d1591 41 order.Mot2Order.Vel_short = 100;
mukuyo 0:7bc24e8d1591 42 order.Mot3Order.Vel_short = 100;*/
mukuyo 0:7bc24e8d1591 43 }
mukuyo 0:7bc24e8d1591 44
mukuyo 0:7bc24e8d1591 45 void Drive::setMotVel(){
mukuyo 0:7bc24e8d1591 46 send_motvel_data[0] = (char)order.Mot0Order.Vel_char.L;
mukuyo 0:7bc24e8d1591 47 send_motvel_data[1] = (char)order.Mot0Order.Vel_char.H;
mukuyo 0:7bc24e8d1591 48 send_motvel_data[2] = (char)order.Mot1Order.Vel_char.L;
mukuyo 0:7bc24e8d1591 49 send_motvel_data[3] = (char)order.Mot1Order.Vel_char.H;
mukuyo 0:7bc24e8d1591 50 send_motvel_data[4] = (char)order.Mot2Order.Vel_char.L;
mukuyo 0:7bc24e8d1591 51 send_motvel_data[5] = (char)order.Mot2Order.Vel_char.H;
mukuyo 0:7bc24e8d1591 52 send_motvel_data[6] = (char)order.Mot3Order.Vel_char.L;
mukuyo 0:7bc24e8d1591 53 send_motvel_data[7] = (char)order.Mot3Order.Vel_char.H;
mukuyo 0:7bc24e8d1591 54 }
mukuyo 0:7bc24e8d1591 55
mukuyo 0:7bc24e8d1591 56 void Drive::initCAN(){
mukuyo 0:7bc24e8d1591 57 canMBED.frequency(100000);
mukuyo 0:7bc24e8d1591 58
mukuyo 0:7bc24e8d1591 59 }
mukuyo 0:7bc24e8d1591 60
mukuyo 0:7bc24e8d1591 61 void Drive::can_send(){
mukuyo 0:7bc24e8d1591 62 canMBED.write(CANMessage(0x1AA,send_motvel_data,8));
mukuyo 0:7bc24e8d1591 63 }
mukuyo 0:7bc24e8d1591 64
mukuyo 0:7bc24e8d1591 65 int Drive::masuo_send(){
mukuyo 0:7bc24e8d1591 66 return 1;
mukuyo 0:7bc24e8d1591 67 }