Revision 0:617b63d4a532, committed 2016-02-27

Comitter:

ryuna

Date:

Sat Feb 27 06:01:52 2016 +0000

Commit message:

???????????????

Changed in this revision

diff -r 000000000000 -r 617b63d4a532 main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Sat Feb 27 06:01:52 2016 +0000
@@ -0,0 +1,51 @@
+#include "mbed.h"
+#include <math.h>
+#include <sstream>
+
+DigitalOut myled(LED1);
+
+Serial      motor(p13,p14);//tx,rx
+extern string StringFIN;
+extern void array(int,int,int,int);
+
+int speed[4] = {0};
+int x = 0, y = 0,i;
+
+
+//通信（モータ用）
+void tx_motor(){
+    array(speed[0],speed[1],speed[3],speed[2]);
+    motor.printf("%s",StringFIN.c_str());
+}
+
+void move(int vx, int vy){
+    double pwm[4] = {0};
+    
+    pwm[0] = 0;
+    pwm[1] = -100;//(double)((-0.5 * vx) + ((sqrt(3.0) / 2.0)  * vy));
+    pwm[2] = //(double)((-0.5 * vx) + ((-sqrt(3.0) / 2.0) * vy));
+    pwm[3] = 100;//(double)((vx));
+    for(i = 0; i < 4; i++){
+        if(pwm[i] > 100){
+            pwm[i] = 100;
+        } else if(pwm[i] < -100){
+            pwm[i] = -100;
+        }
+        speed[i] = pwm[i];
+    }
+}
+int main() {
+    
+     wait(1);
+    motor.baud(115200);                             //ボーレート設定
+    motor.printf("1F0002F0003F0004F000\r\n");       //モータ停止
+    motor.attach(&tx_motor,Serial::TxIrq);          //送信空き割り込み（モータ用）
+    
+    
+    x = -10;
+    y = 10;
+    move(x,y);
+    while(1) {
+         wait(1);
+    }
+}

diff -r 000000000000 -r 617b63d4a532 mbed.bld
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Sat Feb 27 06:01:52 2016 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/165afa46840b
\ No newline at end of file

diff -r 000000000000 -r 617b63d4a532 wordString.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/wordString.cpp	Sat Feb 27 06:01:52 2016 +0000
@@ -0,0 +1,71 @@
+
+#include <sstream>
+#include "mbed.h"
+
+string StringFIN;
+
+using namespace std;
+
+
+//extern Serial pc; // tx, rx 
+
+string IntToString(int number)
+{
+  stringstream ss;
+  ss << number;
+  return ss.str();
+}
+
+void array(int power1,int power2,int power3,int power4)
+{
+    int input[4] = {power1,power2,power3,power4};
+    int value = 0;
+    string StringA[4] = {"0","0","0","0"};
+    
+    
+    string StringX = "0";
+    string StringY = "0";
+    string StringZ = "0";
+    string String0 = "0";
+    
+    StringFIN = "0";
+    
+    for(uint8_t i = 0 ; i < 4; i++){
+        
+        value = input[i];
+        
+        StringX =  IntToString(i+1);
+        
+        if( (value < 0) && (value >= -100) ){
+            StringY = "R";
+            value = abs(value);
+            StringZ = IntToString(value);
+        }else if( (value >= 0) && (value <= 100) ){
+            StringY = "F";
+            StringZ = IntToString(value);
+        }else{
+            value = abs(value);
+            StringY = "F";
+            StringZ = "000";
+        }
+        
+        if(value < 10){
+            String0 = "00";
+            StringZ = String0 + StringZ;
+        }else if(value < 100)
+        {
+            String0 = "0";
+            StringZ = String0 + StringZ;
+        }else{
+            
+        }
+        
+        StringA[i] = (StringX + StringY + StringZ);
+        
+        if(i == 0)StringFIN  = StringA[i];
+        else StringFIN  += StringA[i];
+        
+    }
+    
+    StringFIN += "\r\n";   
+}
\ No newline at end of file