Kouki Suzuki
NHK2020_master_program
Revision 2:e2ec64c77b6e, committed 2020-11-07
- Comitter:
- skouki
- Date:
- Sat Nov 07 00:43:06 2020 +0000
- Parent:
- 1:496ab5127b06
- Commit message:
- 2020_11_07;
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
| pin_config.h | Show annotated file Show diff for this revision Revisions of this file |
--- a/main.cpp Tue Oct 27 09:33:35 2020 +0000
+++ b/main.cpp Sat Nov 07 00:43:06 2020 +0000
@@ -1,25 +1,32 @@
#include "mbed.h"
#include "pin_config.h"
#include "QEI.h"
-#include "FEP.h"
+
+#define MAX_VAL 9
+#define MAGNIFICATION 11
+
+#define MASTER_DATA_LENGTH 10
+#define CONTROLLER_DATA_LENGTH 3
+#define DATA_LENGTH 13
+
Serial pc(USBTX,USBRX,115200);
-RawSerial serial(PC_10,PC_11,9600);
+Serial serial(PC_10,PC_11,115200);
AnalogIn finger[]={
+ AnalogIn(A_IN_0),
AnalogIn(A_IN_1),
AnalogIn(A_IN_2),
AnalogIn(A_IN_3),
- AnalogIn(A_IN_4),
- AnalogIn(A_IN_5)
+ AnalogIn(A_IN_4)
};
AnalogIn wrist_bent[]={
- AnalogIn(A_IN_6),
- AnalogIn(A_IN_7)
+ AnalogIn(A_IN_5),
+ AnalogIn(A_IN_6)
};
AnalogIn wrist_twist[]={
- AnalogIn(A_IN_8)
+ AnalogIn(A_IN_7)
};
QEI elbow_bent[]={
@@ -27,11 +34,19 @@
};
QEI shoulder_rotation[]={
- QEI(QEI_2_A,QEI_2_B, NC, 360,QEI::X4_ENCODING),
- QEI(QEI_3_A,QEI_3_B, NC, 360,QEI::X4_ENCODING)
+ QEI(QEI_3_A,QEI_3_B, NC, 360,QEI::X4_ENCODING),
+ QEI(QEI_2_A,QEI_2_B, NC, 360,QEI::X4_ENCODING)
};
-FEP fep(PC_12,PD_2,003);
+AnalogIn controller_stick[]={
+ AnalogIn(A_IN_8),
+ AnalogIn(A_IN_9)
+};
+
+DigitalIn controller_button[]={
+ DigitalIn(D_IN_0),
+ DigitalIn(D_IN_1)
+};
DigitalIn b(USER_BUTTON);
@@ -46,72 +61,85 @@
public:
status_t status;
void percentage_calculation();
+
+ bool count;
};
void status_provider::percentage_calculation(){
- status.percentage = (1 - ((status.now_val - status.close_val) / (status.open_val - status.close_val))) * 255;
- //if(fabsf(status.open_val - status.close_val) >= 10.0f)return;
+
+
+ status.percentage = (1 - ((status.now_val - status.close_val) / (status.open_val - status.close_val))) * MAX_VAL;
if(status.open_val <= status.now_val) status.percentage = 0;
- if(status.close_val >=status.now_val) status.percentage = 255;
+ if(status.close_val >=status.now_val) status.percentage = MAX_VAL;
+}
+
+
+status_provider status_[DATA_LENGTH];
+
+void update_status(int config_num = 0){
+ int i;
+ float val[MASTER_DATA_LENGTH];
+
+ for(i=0;i<5;i++)val[i] = finger[i].read();
+ for(i=5;i<7;i++)val[i] = (float)(shoulder_rotation[i-5].getPulses());
+ for(i=7;i<8;i++)val[i] = (float)(elbow_bent[i-7].getPulses());
+ for(i=9;i<10;i++)val[i] = wrist_bent[0].read();
+
+ for(i=0;i<MASTER_DATA_LENGTH;i++)status_[i].status.now_val = val[i];
+ if(config_num == 0)return;
+ for(i=0;i<MASTER_DATA_LENGTH;i++)status_[i].status.open_val = val[i];
+ if(config_num == 1)return;
+ for(i=0;i<MASTER_DATA_LENGTH;i++)status_[i].status.close_val = val[i];
+
+}
+
+void updata_controller_status(){
+ status_[MASTER_DATA_LENGTH].status.percentage = controller_stick[0].read() * MAX_VAL * MAGNIFICATION;
+ status_[MASTER_DATA_LENGTH+1].status.percentage = controller_stick[1].read() * MAX_VAL * MAGNIFICATION;
+ status_[MASTER_DATA_LENGTH+2].status.percentage = abs(1-controller_button[1]) + 1;
}
-status_provider status_[11];
-
-void update_status(int mode){
- int i;
- float val[11];
-
- for(i=0;i<5;i++)val[i] = finger[i].read();
- for(i=5;i<7;i++)val[i] = wrist_bent[i-5].read();
- for(i=7;i<8;i++)val[i] = wrist_twist[i-7].read();
- for(i=8;i<9;i++)val[i] = (float)(elbow_bent[i-8].getPulses());
- for(i=9;i<11;i++)val[i] = (float)(shoulder_rotation[i-9].getPulses());
-
- if(mode==1){
- for(i=0;i<11;i++)status_[i].status.close_val = val[i];
- }
- if(mode==2){
- for(i=0;i<11;i++)status_[i].status.open_val = val[i];
- }
- if(mode==3){
- for(i=0;i<11;i++)status_[i].status.now_val = val[i];
- }
-}
int main()
{
- uint8_t *data[11];
- int i;
-
+ controller_button[0].mode(PullUp);
+ controller_button[1].mode(PullUp);
+
+ uint8_t *data[DATA_LENGTH];
+ uint8_t i;
+ uint8_t sum;
+ for(i=0;i<DATA_LENGTH;i++)data[i] = &status_[i].status.percentage;
- for(i=0;i<11;i++)data[i] = &status_[i].status.percentage;
- update_status(1);
- while(bool first_loop=1){
+ update_status(2);
+ while(bool config_loop = true){
bool b_ = b;
- update_status(2);
- if(!b_){
- while(bool second_loop=1){
- update_status(3);
- for(i=0;i<11;i++){
+ update_status(1);
+ if(!controller_button[0].read()||!b_){
+ while(bool main_loop = true){
+
+ update_status();
+ sum = 0;
+ for(i=0;i<MASTER_DATA_LENGTH;i++){
status_[i].percentage_calculation();
- /*
- if(b.read()==0){
- *data[8]=0;
- }
- else{
- *data[8]=255;
- }
- */
-
- pc.printf("[%2d]:%3d,",i,*data[i]);
- serial.printf("%d",*data[i]);
}
+
+ updata_controller_status();
+
+
+ *data[8]=0;
+
+ for(i=0;i<DATA_LENGTH;i++){
+ sum += *data[i];
+ pc.printf("[%2d]:%2d,",i,*data[i]);
+ serial.printf("%d,",*data[i]);
+ }
+
+ pc.printf("[sum]:%3d",sum);
+ //pc.printf("%5.2f",wrist_bent[0].read());
pc.printf("\n\r");
- serial.printf("\r\n");
- fep.sendData(data,11);
-
+ serial.printf("%d,",sum);
+ serial.printf("A");
}
-
}
}
return 0;
--- a/pin_config.h Tue Oct 27 09:33:35 2020 +0000 +++ b/pin_config.h Sat Nov 07 00:43:06 2020 +0000 @@ -1,6 +1,7 @@ #ifndef PIN_CONFIG_H #define PIN_CONFIG_H +#define A_IN_0 PA_1 #define A_IN_1 PA_4 #define A_IN_2 PB_0 #define A_IN_3 PC_1 @@ -8,7 +9,12 @@ #define A_IN_5 PB_1 #define A_IN_6 PC_4 #define A_IN_7 PA_6 -#define A_IN_8 PA_7 +#define A_IN_8 PC_3 +#define A_IN_9 PC_2 + +#define D_IN_0 PB_7 +#define D_IN_1 PA_15 +#define D_IN_2 PA_0 #define QEI_1_A PA_9 #define QEI_1_B PC_7