naoki nishii
ルンバハック用．
Revision 0:ac1e1657002a, committed 2016-06-24
- Comitter:
- naoki_westwell
- Date:
- Fri Jun 24 07:33:46 2016 +0000
- Commit message:
- Roomba Hack
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Song_Hack.cpp Fri Jun 24 07:33:46 2016 +0000
@@ -0,0 +1,47 @@
+#include "mbed.h"
+#include <System_Select.h>
+
+#ifdef SONG_HACK
+
+Serial Roomba(p9, p10);
+
+void send_cmd(char command);
+
+int main(){
+ Roomba.baud(115200);
+
+ send_cmd(START);
+ send_cmd(SAFE);
+ wait(5);
+
+ send_cmd(SONG);
+ send_cmd(0);
+ send_cmd(8);
+ send_cmd(0x18);
+ send_cmd(32);
+ send_cmd(0x1A);
+ send_cmd(32);
+ send_cmd(0x1C);
+ send_cmd(32);
+ send_cmd(0x1D);
+ send_cmd(32);
+ send_cmd(0x1F);
+ send_cmd(32);
+ send_cmd(0x21);
+ send_cmd(32);
+ send_cmd(0x23);
+ send_cmd(32);
+ send_cmd(0x24);
+ send_cmd(32);
+
+ wait(1);
+
+ send_cmd(PLAY);
+ send_cmd(0);
+
+}
+
+void send_cmd(char command){
+ Roomba.putc(command);
+}
+#endif
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/System_Select.h Fri Jun 24 07:33:46 2016 +0000 @@ -0,0 +1,32 @@ +////////////////////////////////////// +/* 名目規則：[Device]_[Interface] */ +/* [Device] */ +/* 有線： Wired */ +/* Bluetooth： BT */ +/* Xbee： Xbee */ +/* [Interface] */ +/* PC： Pc */ +/* Smartphone： SM */ +/* Hand-made switch：HMS */ +/* ※define は大文字にする． */ +/////////////////////////////////////// + +/* システム選択 */ +#define CMD_RECEIVER +//#define CMD_TRANSMITTER +//#define SONG_HACK + +#define START 0x80 +#define BAUD 0x81 +#define SAFE 0x83 +#define FULL 0x84 +#define CLEAN 0x87 +#define MAX 0x88 +#define SPOT 0x86 +#define SEEK_DOCK 0x8F +#define SCHEDULE 0xA7 +#define SET_DAY_TIME 0xA8 +#define POWER 0x85 +#define BUTTONS 0xA5 +#define SONG 0x8C +#define PLAY 0x8D \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/cmd_Receiver.cpp Fri Jun 24 07:33:46 2016 +0000
@@ -0,0 +1,21 @@
+#include "mbed.h"
+#include <System_Select.h>
+
+#ifdef CMD_RECEIVER
+
+Serial Device(p13, p14);
+Serial Roomba(p9, p10);
+//Serial pc(USBTX, USBRX); // tx, rx
+
+int main() {
+ Device.baud(115200);
+ Roomba.baud(115200);
+
+ while(1) {
+ if(Device.readable()){
+ Roomba.putc(Device.getc());
+ }
+ }
+}
+
+#endif
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/cmd_Transmitter.cpp Fri Jun 24 07:33:46 2016 +0000
@@ -0,0 +1,38 @@
+#include "mbed.h"
+#include <System_Select.h>
+
+#ifdef CMD_TRANSMITTER
+
+Serial Device(p9, p10);
+DigitalIn SW(p17);
+//Serial pc(USBTX, USBRX); // tx, rx
+
+void send_cmd(char commnad);
+
+int main() {
+ Device.baud(115200);
+ int cnt1 = 0, cnt2 = 0;
+
+ while(1){
+ if(cnt1==1){
+ send_cmd(START); // OI ON and start cleaning
+ //send_cmd(SAFE);
+ send_cmd(CLEAN);
+ cnt2 = 0;
+ }
+ if(cnt2==1){
+ send_cmd(BUTTONS); //
+ send_cmd(0x01); //
+ cnt1 = 0;
+ }
+
+ if(SW) cnt1++;
+ else cnt2++;
+ }
+}
+
+void send_cmd(char command){
+ Device.putc(command);
+}
+
+#endif
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Fri Jun 24 07:33:46 2016 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/6c34061e7c34 \ No newline at end of file