akira yamada
Logibotのサンプルプログラミングです
Revision 0:66a643c36c9e, committed 2017-03-03
- Comitter:
- natuga117
- Date:
- Fri Mar 03 18:32:40 2017 +0000
- Commit message:
- Logibot????????????
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/beep_sound.cpp Fri Mar 03 18:32:40 2017 +0000
@@ -0,0 +1,196 @@
+#include "beep_sound.h"
+#include "math.h"
+#include <queue>
+
+
+beep_sound::beep_sound(PinName pwm)
+{
+ frequency = 0;
+ playing = false;
+ teishi = false;
+ m_pwm = new PwmOut(pwm);
+ m_pwm->write(0.0f);
+}
+
+beep_sound::~beep_sound()
+{
+ delete m_pwm;
+}
+
+void beep_sound::stop(){
+ m_pwm->write(0.0f);
+ // キューが空でなければ次の音へ
+ if(otoQue.empty() == true){
+ playing = false;
+ }else if(otoQue.front().time_s != -1){
+ playing = true;
+ beep_sound::playContinue();
+ }else if(otoQue.front().time_s == -1){
+ otoQue.pop();
+ playing = false;
+ }else{
+ playing = false;
+ }
+}
+
+// 音の再生
+void beep_sound::NoteOn(int octave, int note)
+{
+ playing = true;
+ frequency = frequencyTable[note] << octave;
+ m_pwm->period(1.0f/(float)frequency);
+ m_pwm->write(0.5f);
+}
+
+// 1音ずつ音符情報をキューに追加
+void beep_sound::setGakuhu(int argOc, int argNo, float argTi)
+{
+ bufG.octave = argOc;
+ bufG.note = argNo;
+ bufG.time_s = argTi;
+ otoQue.push(bufG);
+}
+
+// 休符をキューに追加
+void beep_sound::setKyuhu(float argTi)
+{
+ bufG.octave = 10;
+ bufG.note = 0;
+ bufG.time_s = argTi;
+ otoQue.push(bufG);
+}
+
+// 楽譜キューを再生、音停止の割り込み予約
+// Timeoutの日本語リファレンスには書いていないが、
+// thisを引数にしないとコンパイルエラーになるので注意
+void beep_sound::playGakuhu()
+{
+ if(playing == true){
+ while(otoQue.front().time_s != -1) {otoQue.pop();}
+ otoQue.pop(); //最後のフラグを削除
+ // 最後のフラグを挿入
+ bufG.time_s = -1;
+ otoQue.push(bufG);
+ beep_sound::stop();
+ }else{
+ // 最後のフラグを挿入
+ bufG.time_s = -1;
+ otoQue.push(bufG);
+ playing = true;
+ beep_sound::NoteOn(otoQue.front().octave, otoQue.front().note);
+ interruptStop.attach(this, &beep_sound::stop, otoQue.front().time_s);
+ otoQue.pop();
+ }
+}
+void beep_sound::playContinue()
+{
+ beep_sound::NoteOn(otoQue.front().octave, otoQue.front().note);
+ interruptStop.attach(this, &beep_sound::stop, otoQue.front().time_s);
+ otoQue.pop();
+}
+
+void beep_sound::SetFrequency(int octave, int note, bool on_off)
+{
+ static int preFrequency = 0;
+ if(on_off == true){
+ int frequency = frequencyTable[note] << octave;
+ if(frequency != preFrequency){
+ m_pwm->period(1.0f/(float)frequency);
+ m_pwm->write(0.5f);
+ }
+ preFrequency = frequency;
+ }else{
+ m_pwm->write(0.0f);
+ preFrequency = 0;
+ }
+}
+void beep_sound::onpu(int octave, int note, float time_s)
+{
+ playing = true;
+ beep_sound::NoteOn(octave, note);
+ interruptStop.attach(this, &beep_sound::stop, time_s);
+}
+void beep_sound::onpu_stop(int octave, int note, float time_s)
+{
+ playing = true;
+ beep_sound::NoteOn(octave, note);
+ wait(time_s);
+ m_pwm->write(0.0f);
+}
+void beep_sound::sinwave(float center,int speed,int width)
+{
+ for(float i=0.0f;i<6.28f;i+=0.01*speed)
+ {
+ m_pwm->period(1.0f/(center+width*(float)sin(i)));
+ m_pwm->write(0.5f);
+ wait_ms(2);
+ }
+}
+void beep_sound::setwave(float frequency,float duty,float wait)
+{
+ m_pwm->period(1.0f/(frequency));
+ m_pwm->write(duty);
+ wait_ms(wait);
+}
+
+
+//以下サンプル音集
+//引数の回数だけ鳴らす
+void beep_sound::boot()
+{
+ beep_sound::setGakuhu(4,8,0.03);
+ beep_sound::setGakuhu(0,8,0.03);
+ beep_sound::setGakuhu(1,8,0.03);
+ beep_sound::setKyuhu(0.14);
+ beep_sound::setGakuhu(2,8,0.08);
+ beep_sound::setGakuhu(3,1,0.16);
+ beep_sound::playGakuhu();
+}
+
+void beep_sound::beep_right(int nTimes)
+{
+ for(int i=0; i<nTimes; i++){
+ beep_sound::setGakuhu(3,11,0.1);
+ beep_sound::setGakuhu(3,7,0.35);
+ beep_sound::setKyuhu(0.1);
+ }
+ beep_sound::playGakuhu();
+}
+void beep_sound::beep_wrong(int nTimes)
+{
+ for (int i = 0; i < nTimes; i++) {
+ beep_sound::setGakuhu(0, 12, 0.1);
+ beep_sound::setKyuhu(0.1);
+ beep_sound::setGakuhu(0, 12, 0.35);
+ beep_sound::setKyuhu(0.1);
+ }
+ beep_sound::playGakuhu();
+}
+void beep_sound::beep_readyGo(int nTimes)
+{
+ //for (int i = 0; i < nTimes; i++) {
+ beep_sound::onpu_stop(1,0,0.5);
+ wait(0.5);
+ beep_sound::onpu_stop(1,0,0.5);
+ wait(0.5);
+ beep_sound::onpu_stop(1,0,0.5);
+ wait(0.5);
+ beep_sound::onpu(2,0,1);
+ //}
+}
+void beep_sound::beep_notif1(int nTimes){
+ for (int i = 0; i < nTimes; i++) {
+ beep_sound::setGakuhu(3,5,0.1);
+ beep_sound::setGakuhu(3,10,0.1);
+ beep_sound::setGakuhu(4,2,0.1);
+ }
+ beep_sound::playGakuhu();
+}
+void beep_sound::beep_notif2(int nTimes){
+ for (int i = 0; i < nTimes; i++) {
+ beep_sound::setGakuhu(1,2,0.1);
+ beep_sound::setGakuhu(1,9,0.1);
+ beep_sound::setGakuhu(2,2,0.2);
+ }
+ beep_sound::playGakuhu();
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/beep_sound.h Fri Mar 03 18:32:40 2017 +0000
@@ -0,0 +1,57 @@
+#ifndef BEEP_SOUND_H
+#define BEEP_SOUND_H
+#include "mbed.h"
+#include <queue>
+struct gakuhu{
+ int octave;
+ int note;
+ float time_s; // 長さが-1:通常ノート -2:終了フラグ
+};
+/*
+struct beep{
+ float userPeriod;
+ float userWrite;
+ float time_s;
+}
+*/
+const int frequencyTable[] = {261, 277, 294, 311, 330, 349,
+ 370, 392, 415, 440, 466, 494, 100};
+
+
+class beep_sound
+{
+ public:
+ beep_sound(PinName pwm);
+ ~beep_sound();
+ void SetFrequency(int octave, int note, bool on_off);
+ void onpu(int octave, int note, float time_s);
+ void onpu_stop(int octave, int note, float time_s);
+ void sinwave(float center,int speed,int width);
+ void setwave(float frequency,float duty,float wait);
+ // 以下サンプル音集
+ void boot();
+ void beep_right(int nTimes);
+ void beep_wrong(int nTimes);
+ void beep_notif1(int nTimes);
+ void beep_notif2(int nTimes);
+ void beep_readyGo(int nTimes);
+ // 以下並列で鳴らすための関数
+ void stop();
+ void setGakuhu(int argOc, int argNo, float argTi);
+ void setKyuhu(float argTi);
+ void playGakuhu();
+ void playContinue();
+ void NoteOn(int octave, int note);
+ private:
+ PwmOut* m_pwm;
+ int frequency;
+ // 以下並列で鳴らすための宣言
+ queue<gakuhu> otoQue;
+ gakuhu bufG;
+ Timeout interruptStop;
+ // 再生中にキューにsetGakuhuをさせないためのフラグ
+ bool playing; // false:停止中 true:再生中
+ bool teishi; // true:再生を強制停止. ノート再生時に必ずチェック.
+};
+
+#endif
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Fri Mar 03 18:32:40 2017 +0000
@@ -0,0 +1,83 @@
+#include "mbed.h"
+#include "beep_sound.h"
+DigitalOut leds[]= {DigitalOut(D9),DigitalOut(A2),DigitalOut(D3),DigitalOut(A5),DigitalOut(D5),DigitalOut(A4),DigitalOut(D4),DigitalOut(A3),DigitalOut(D10),DigitalOut(A0)};
+//モーター用のピン設定
+DigitalOut Ain1(PD_2);
+DigitalOut Ain2(PC_12);
+PwmOut Aen(PC_8);
+DigitalOut Bin1(PC_11);
+DigitalOut Bin2(PC_10);
+PwmOut Ben(PC_9);
+//スピーカー用のピン設定
+beep_sound sp(PB_7);
+//ボタン用のピン設定
+DigitalIn sw(PC_13);
+//以下関数プロトタイプ宣言//
+void play_music();
+/**
+音楽を鳴らします
+**/
+void move(int Lspeed,int Rspeed);
+/**
+モーターを動かす関数
+Rspeed 入れられる値:整数で-100~100
+Lspeed 入れられる値:整数で-100~100
+いずれも負の数で後退,正の数で前進
+例)move(100,100)//両モーター前進
+**/
+int main (void) //ここからプログラム開始
+{
+ ////サンプルプログラム////
+ //音を鳴らして動きます. //
+ ///////////////////////
+ sp.boot();
+ while(sw);
+ while(1) {
+ play_music();
+ move(-100,100);
+ wait(0.8);
+ move(100,-100);
+ wait(0.8);
+ }
+}//プログラム終了
+void move(int Lspeed,int Rspeed) //モーターを動かす関数
+{
+ if(Lspeed>0) { //前転
+ Ain1=0;
+ Ain2=1;
+ Aen=(float)Lspeed/100;
+ } else if(Lspeed==0) {
+ Ain1=1;
+ Ain2=1;
+ Aen=1;
+ } else {
+ Ain1=1;
+ Ain2=0;
+ Aen=-(float)Lspeed/100;
+ }
+ if(Rspeed>0) { //前転
+ Bin1=1;
+ Bin2=0;
+ Ben=(float)Rspeed/100;
+ } else if(Rspeed==0) {
+ Bin1=1;
+ Bin2=1;
+ Ben=1;
+ } else {
+ Bin1=0;
+ Bin2=1;
+ Ben=-(float)Rspeed/100;
+ }
+}
+void play_music() //音楽を鳴らす関数
+{
+ sp.setGakuhu(1,0,0.2);
+ sp.setGakuhu(1,2,0.2);
+ sp.setGakuhu(1,4,0.2);
+ sp.setGakuhu(1,5,0.2);
+ sp.setGakuhu(1,7,0.2);
+ sp.setGakuhu(1,5,0.2);
+ sp.setGakuhu(1,4,0.2);
+ sp.setGakuhu(1,2,0.2);
+ sp.playGakuhu();
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Fri Mar 03 18:32:40 2017 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/e1686b8d5b90 \ No newline at end of file