taka yamanouchi
/
minirobo_upper_reserve
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Dependencies: mbed MotorDrivers
Revision 0:a6f29afbd285, committed 2020-10-07
- Comitter:
- sink
- Date:
- Wed Oct 07 07:49:21 2020 +0000
- Commit message:
- reserve
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MotorDrivers.lib Wed Oct 07 07:49:21 2020 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/sink/code/MotorDrivers/#9dd052490f0a
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Wed Oct 07 07:49:21 2020 +0000
@@ -0,0 +1,71 @@
+#include "mbed.h"
+#include "string"
+#include "Sabertooth_Serial.h"
+#define INT_TIME 0.02
+#define ADRS 130
+#define UP 0b00000001
+#define DOWN 0b00000010
+#define HANDR 0b00000100
+#define HANDL 0b00001000
+#define OTHER 0b00010000
+
+
+Ticker timer;
+
+RawSerial Master(p28, p27, 115200);
+
+SaberSerial MD(115200, p13, p14);
+
+DigitalOut hund_fetR(p23);
+DigitalOut hund_fetL(p24);
+
+string Master_recv = "";
+char buttons = 0b00000000, pre_buttons = 0b00000000;
+
+void recv_interrupt(){
+ char recv_c = Master.getc();
+
+ if (recv_c == '\n'){
+ buttons = Master_recv[0];
+ Master_recv = "";
+ }
+ else{
+ Master_recv += recv_c;
+ if(Master_recv.size() == 2) Master_recv = "";
+ }
+}
+
+void timer_interrupt(){
+
+ int saber_speed = 0, saber_def = 0;
+ int hundR_counter = 0, hundL_counter = 0;
+
+ if(~buttons & HANDR && pre_buttons & HANDR) hundR_counter++;
+ if(~buttons & HANDL && pre_buttons & HANDL) hundL_counter++;
+
+ hund_fetR.write(hundR_counter % 2);
+ hund_fetL.write(hundL_counter % 2);
+
+ if(buttons & UP){
+ saber_speed = 50;
+ saber_def = 0;
+ }
+ else if(buttons & DOWN){
+ saber_speed = 50;
+ saber_def = 1;
+ }
+ else saber_speed = 0;
+
+ MD.Serial(ADRS,saber_def,saber_speed);
+
+ pre_buttons = buttons;
+}
+
+int main() {
+
+ timer.attach(&timer_interrupt,INT_TIME);
+
+ Master.attach(&recv_interrupt, RawSerial::RxIrq);
+
+ while(true) {}
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Wed Oct 07 07:49:21 2020 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400 \ No newline at end of file