Diff: main.cpp

Revision:

1:e8a99f19604e

Parent:

0:c466d770ffa7

--- a/main.cpp	Wed May 17 11:02:27 2017 +0000
+++ b/main.cpp	Mon May 22 06:10:35 2017 +0000
@@ -1,20 +1,28 @@
 #include "mbed.h"
 #include "ROBOFRIEN_GUI.h"
+#include "ROBOFRIEN_LED.h"
 #include <math.h>
 
 #define PI 3.14159265359    // This value will be used when calculating angles
 
 Timer MainTimer;
-DigitalOut myled1(LED1);
 DigitalOut myled2(LED2);
 DigitalOut myled3(LED3);
-DigitalOut myled4(LED4);
 ROBOFRIEN_GUI GUI;
+ROBOFRIEN_LED LED;
 int cnt;
 int main() {
-    GUI.Configuration_init();
+    GUI.Init();
+    LED.Init();
+
+    LED.HeadlightPeriod = GUI.headlight_period;
+    LED.HeadlightDutyrate = GUI.headlight_dutyrate;
+    LED.SidelightPeriod = GUI.sidelight_period;
+    LED.SidelightDutyrate = GUI.sidelight_dutyrate;
+
     while(1) {
         GUI.pc_rx_update();
+        LED.Update();
           if(GUI.rx_bool() == true){
             cnt ++;
             /////////////////////////////////////////////////////////////////////////////////////////////////////////
@@ -26,30 +34,26 @@
             GUI.CurrentMarker = 11 * cos( PI/180 + cnt/100.0) + 10;
             GUI.Bat1 = 50 * sin(PI/180 + cnt/50.0) + 50;   // 21.6 ~ 24.6 ( 6cell )
             GUI.Bat2 = 50 * cos(PI/180 + cnt/50.0) + 50;  // 11.1 ~ 12.6 ( 3cell )
-            // Button State is change automatically in "ROBOFRIEN_GUI.cpp" //
+            // [ Button State & Home Point Chksum & Marker Chksum ] is change automatically in "ROBOFRIEN_GUI.cpp" //
             // You Can not change this setting, just use it ///
-            if(GUI.button[0] == true) myled1 = 1;
-            else myled1 = 0;
-            if(GUI.button[1] == true) myled2 = 1;
-            else myled2 = 0;
-            if(GUI.button[2] == true) myled3 = 1;
-            else myled3 = 0;
-            if(GUI.button[3] == true) myled4 = 1;
-            else myled4 = 0;
-//            if(GUI.button[4] == true) myled5 = 1;
-//            else myled5 = 0;
+            if(GUI.button[0] == true) {}
+            else {}
+            if(GUI.button[1] == true) {}
+            else {}
+            if(GUI.button[2] == true) {}
+            else {}
+            if(GUI.button[3] == true) {}
+            else {}
+            if(GUI.button[4] == true) {}
+            else {}
 
             /////////////////////////////////////////////////////////////////////////////////////////////////////////
             //////////////////////////////////////////////// [GPS] GPS //////////////////////////////////////////////
             /////////////////////////////////////////////////////////////////////////////////////////////////////////
-//            GUI.utc_time = cnt * 10;
-//            GUI.latitude = 35117030 + 10000 * sin( PI/180 + cnt/50.0);
-//            GUI.longitude = 129087896 + 10000 * cos( PI/180 + cnt/50.0);
-//            GUI.altitude = 22768 + 32768 * sin( PI/180 + cnt/50.0);
-            GUI.utc_time = GUI.Marker_Speed[0];
-            GUI.latitude = GUI.Marker_Lat[0];
-            GUI.longitude = GUI.Marker_Lng[0];
-            GUI.altitude = GUI.Marker_Alt[0];
+            GUI.utc_time = cnt * 10;
+            GUI.latitude = 35117030 + 10000 * sin( PI/180 + cnt/50.0);
+            GUI.longitude = 129087896 + 10000 * cos( PI/180 + cnt/50.0);
+            GUI.altitude = 22768 + 32768 * sin( PI/180 + cnt/50.0);
             GUI.SatNum = 10 + 10 * sin( PI/180 + cnt/50.0);
 
             /////////////////////////////////////////////////////////////////////////////////////////////////////////
@@ -99,8 +103,60 @@
             GUI.DEBUGx100[7] = 55555;
 
             /////////////////////////////////////////////////////////////////////////////////////////////////////////
+            /////////////////////////////////////////// Configuration ///////////////////////////////////////////////
+            /////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+            ///////////////////////////// -----------------DPN 1-------------------- ////////////////////////////////
+            // You can set the this value from "Config.h"  ( EEPROM_MODEL_TYPE1, EEPROM_MODEL_TYPE2_UP, EEPROM_MODEL_TYPE2_DOWN ) //
+
+            ///////////////////////////// -----------------DPN 2-------------------- ////////////////////////////////
+            // You can set the this value from "Config.h"  ( MODEL_INFO, FIRMWARE_INFO ) //
+
+            ///////////////////////////// -----------------DPN 3-------------------- ////////////////////////////////
+            /// You can set the original value of receiver to [raw_cap] with scale down ( -127 ~ 127 ) ///
+            /// You can use the [cap_min[8], cap_neu[8], cap_max[8]] for calibration of RC receiver value //
+            GUI.raw_cap[0] = 0;
+            GUI.raw_cap[1] = 0;
+            GUI.raw_cap[2] = 0;
+            GUI.raw_cap[3] = 0;
+            GUI.raw_cap[4] = 0;
+            GUI.raw_cap[5] = 0;
+            GUI.raw_cap[6] = 0;
+            GUI.raw_cap[7] = 0;
+                        
+            ///////////////////////////// -----------------DPN 4-------------------- ////////////////////////////////
+            /// You can use the [motor_min[4]] for calibration of motor pwm value //
+
+            ///////////////////////////// -----------------DPN 5-------------------- ////////////////////////////////
+            LED.HeadlightPeriod = GUI.headlight_period;
+            LED.HeadlightDutyrate = GUI.headlight_dutyrate;
+            LED.SidelightPeriod = GUI.sidelight_period;
+            LED.SidelightDutyrate = GUI.sidelight_dutyrate;
+            
+            ///////////////////////////// -----------------DPN 6-------------------- ////////////////////////////////
+            /// You can set the original value of receiver to [raw_cap] with scale down ( -127 ~ 127 ) ///
+            /// You can use the [cap_min[8], cap_neu[8], cap_max[8]] for calibration of RC receiver value //
+            if(GUI.attitude_configuration_bool == true){
+                GUI.attitude_configuration_bool = false;
+                // You can calibration of attitude (Roll, Pitch) //
+            }
+            if(GUI.Compass_Calibration_Mode == 1){
+                // You can calibration of compass (Yaw)//   
+            }else if(GUI.Compass_Calibration_Mode == 2){
+                // You can finish the calibration of compass   
+            }
+            
+            ///////////////////////////// -----------------DPN 7-------------------- ////////////////////////////////
+            /// You can use the [limit_rollx100, limit_pitchx100, limit_roll_rate, limit_pitch_rate, limit_yaw_rate] for limit the angle and angular velocity //
+
+            ///////////////////////////// -----------------DPN 8-------------------- ////////////////////////////////
+            /// You can use the [gain_px100[20], gain_dx100[20], gain_ix100[20]] for gain tuning //
+
+            /////////////////////////////////////////////////////////////////////////////////////////////////////////
             //////////////////////////////////////////////// Refresh ////////////////////////////////////////////////
             /////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+
             GUI.Refresh();
             
         }