Wataru Shibazaki / Mbed 2 deprecated minirobo_upper_reserve

yamanouti_purogram_zyouhannsinn

Dependencies:   mbed MotorDrivers

main.cpp@1:2e084048b5f9, 2020-10-11 (annotated)

Committer:
shibazakiwataru
Date:
Sun Oct 11 08:41:49 2020 +0000
Revision:
1:2e084048b5f9
Parent:
0:a6f29afbd285 
yamanouti_purogram_zyouhannsinn

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sink 0:a6f29afbd285 1 #include "mbed.h"
sink 0:a6f29afbd285 2 #include "string"
sink 0:a6f29afbd285 3 #include "Sabertooth_Serial.h"
sink 0:a6f29afbd285 4 #define INT_TIME 0.02
shibazakiwataru 1:2e084048b5f9 5 #define ADRS 133
sink 0:a6f29afbd285 6 #define UP 0b00000001
sink 0:a6f29afbd285 7 #define DOWN 0b00000010
sink 0:a6f29afbd285 8 #define HANDR 0b00000100
sink 0:a6f29afbd285 9 #define HANDL 0b00001000
sink 0:a6f29afbd285 10 #define OTHER 0b00010000
sink 0:a6f29afbd285 11
sink 0:a6f29afbd285 12
sink 0:a6f29afbd285 13 Ticker timer;
sink 0:a6f29afbd285 14
shibazakiwataru 1:2e084048b5f9 15 RawSerial pc(USBTX,USBRX,115200);
sink 0:a6f29afbd285 16 RawSerial Master(p28, p27, 115200);
sink 0:a6f29afbd285 17
sink 0:a6f29afbd285 18 SaberSerial MD(115200, p13, p14);
sink 0:a6f29afbd285 19
shibazakiwataru 1:2e084048b5f9 20 DigitalOut hund_fetR(p15);
shibazakiwataru 1:2e084048b5f9 21 DigitalOut hund_fetL(p16);
shibazakiwataru 1:2e084048b5f9 22
shibazakiwataru 1:2e084048b5f9 23 DigitalIn limit(p25);
sink 0:a6f29afbd285 24
sink 0:a6f29afbd285 25 string Master_recv = "";
sink 0:a6f29afbd285 26 char buttons = 0b00000000, pre_buttons = 0b00000000;
sink 0:a6f29afbd285 27
sink 0:a6f29afbd285 28 void recv_interrupt(){
sink 0:a6f29afbd285 29 char recv_c = Master.getc();
sink 0:a6f29afbd285 30
sink 0:a6f29afbd285 31 if (recv_c == '\n'){
sink 0:a6f29afbd285 32 buttons = Master_recv[0];
sink 0:a6f29afbd285 33 Master_recv = "";
sink 0:a6f29afbd285 34 }
sink 0:a6f29afbd285 35 else{
sink 0:a6f29afbd285 36 Master_recv += recv_c;
sink 0:a6f29afbd285 37 if(Master_recv.size() == 2) Master_recv = "";
sink 0:a6f29afbd285 38 }
sink 0:a6f29afbd285 39 }
sink 0:a6f29afbd285 40
sink 0:a6f29afbd285 41 void timer_interrupt(){
sink 0:a6f29afbd285 42
sink 0:a6f29afbd285 43 int saber_speed = 0, saber_def = 0;
shibazakiwataru 1:2e084048b5f9 44 bool hand_R = buttons & HANDR;
shibazakiwataru 1:2e084048b5f9 45 bool hand_L = buttons & HANDL;
sink 0:a6f29afbd285 46
shibazakiwataru 1:2e084048b5f9 47 hund_fetR.write(hand_R);
shibazakiwataru 1:2e084048b5f9 48 hund_fetL.write(hand_L);
sink 0:a6f29afbd285 49
sink 0:a6f29afbd285 50 if(buttons & UP){
shibazakiwataru 1:2e084048b5f9 51 saber_speed = 10;
shibazakiwataru 1:2e084048b5f9 52 saber_def = 4;
shibazakiwataru 1:2e084048b5f9 53 }
shibazakiwataru 1:2e084048b5f9 54 else if(buttons & OTHER){
sink 0:a6f29afbd285 55 saber_speed = 50;
shibazakiwataru 1:2e084048b5f9 56 saber_def = 4;
sink 0:a6f29afbd285 57 }
sink 0:a6f29afbd285 58 else if(buttons & DOWN){
shibazakiwataru 1:2e084048b5f9 59 saber_speed = 10;
shibazakiwataru 1:2e084048b5f9 60 saber_def = 5;
sink 0:a6f29afbd285 61 }
shibazakiwataru 1:2e084048b5f9 62 else {
shibazakiwataru 1:2e084048b5f9 63 saber_speed = 0;
shibazakiwataru 1:2e084048b5f9 64 saber_def = 4;
shibazakiwataru 1:2e084048b5f9 65 }
shibazakiwataru 1:2e084048b5f9 66
shibazakiwataru 1:2e084048b5f9 67 if(limit.read() && saber_def == 4) saber_speed = 0;
sink 0:a6f29afbd285 68
sink 0:a6f29afbd285 69 MD.Serial(ADRS,saber_def,saber_speed);
shibazakiwataru 1:2e084048b5f9 70 pc.printf("%d,%d\n",hand_R,hand_L);
sink 0:a6f29afbd285 71
sink 0:a6f29afbd285 72 pre_buttons = buttons;
sink 0:a6f29afbd285 73 }
sink 0:a6f29afbd285 74
sink 0:a6f29afbd285 75 int main() {
sink 0:a6f29afbd285 76
shibazakiwataru 1:2e084048b5f9 77 hund_fetR = 0;
shibazakiwataru 1:2e084048b5f9 78 hund_fetL = 0;
shibazakiwataru 1:2e084048b5f9 79
sink 0:a6f29afbd285 80 timer.attach(&timer_interrupt,INT_TIME);
sink 0:a6f29afbd285 81
sink 0:a6f29afbd285 82 Master.attach(&recv_interrupt, RawSerial::RxIrq);
sink 0:a6f29afbd285 83
sink 0:a6f29afbd285 84 while(true) {}
sink 0:a6f29afbd285 85 }