Nakanishi Aruto
ビーンバック回収、テープLED、美少女ボイス担当マイコンのプログラム
Dependencies: mbed SBDBT arrc_mbed play_mp3
Diff: main.cpp
- Revision:
- 6:d29a019b96cf
- Parent:
- 5:200723c2d111
--- a/main.cpp Fri Mar 11 05:38:21 2022 +0000
+++ b/main.cpp Sat Mar 19 12:38:45 2022 +0000
@@ -1,76 +1,57 @@
#include "mbed.h"
#include "neopixel.h"
#include "mp3.hpp"
+#include "rotary_inc.hpp"
#include "scrp_slave.hpp"
Serial pc(USBTX,USBRX);
ScrpSlave slave(PC_12,PD_2,PH_1,SERIAL_TX,SERIAL_RX,5);
+RotaryInc rotaryx(PA_7,PA_6,30 * M_PI,512);
+RotaryInc rotaryy(PC_4,PA_13,30 * M_PI,512);
+PwmOut motor1[2] = {
+ PwmOut(PB_7),
+ PwmOut(PB_9)
+};
+PwmOut motor2[2] = {
+ PwmOut(PB_6),
+ PwmOut(PB_8)
+};
NeoPixelOut npx(PB_0,16);
Playmp3 mp3(PA_0,PA_1);
-bool areamode = 0;
bool colormode = 0;
bool stop = 0;
-bool start = 0;
-
+bool up = 1;
+bool down = 0;
+bool front = 0;
+bool back = 0;
+bool slope = 0;
+bool move = 0;
+int num = 0;
int i = 0;
-//農作物回収 1
+//ボイス 2
bool play1(int rx_data,int &tx_data)
{
+ //農作物回収 1
if(rx_data == 1) {
mp3.set_number_of_tracks(1);
}
- return true;
-}
-
-//農作物設置 2
-bool play2(int rx_data,int &tx_data)
-{
- if(rx_data == 1) {
+ //農作物設置 2
+ else if(rx_data == 2) {
mp3.set_number_of_tracks(2);
}
- return true;
-}
-
-//ビーンバック回収 3
-bool play3(int rx_data,int &tx_data)
-{
- if(rx_data == 1) {
+ //ビーンバック回収 3
+ else if(rx_data == 3) {
mp3.set_number_of_tracks(3);
}
- return true;
-}
-
-//自動運転モードに移行 ４
-bool play4(int rx_data,int &tx_data)
-{
- if(rx_data == 1) {
+ //自動運転モードに移行 ４
+ else if(rx_data == 4) {
mp3.set_number_of_tracks(4);
}
- return true;
-}
-
-//ビーンバック発射 ５
-bool play5(int rx_data,int &tx_data)
-{
- if(rx_data == 1) {
+ //ビーンバック発射 ５
+ else if(rx_data == 5) {
mp3.set_number_of_tracks(5);
- }
- return true;
-}
-
-//スタート 6
-bool get_start(int rx_data,int &tx_data)
-{
- if(rx_data == 0) {
- if(start == 1) {
- start = 0;
- }
- } else {
- if(start == 0) {
- start = 1;
- }
- }
+ } else {}
return true;
}
@@ -103,16 +84,17 @@
return true;
}
-//エリアチェンジ 52
-bool get_areachange(int rx_data,int &tx_data)
+//ビーンバック回収 1
+bool getting(int rx_data,int &tx_data)
{
if(rx_data == 0) {
- if(areamode == 1) {
- areamode = 0;
+ if(move == 1) {
+ move = 0;
}
} else {
- if(areamode == 0) {
- areamode = 1;
+ if(move == 0) {
+ move = 1;
+ num++;
}
}
return true;
@@ -120,24 +102,14 @@
int main()
{
- //農作物回収
- slave.addCMD(1,play1);
- //農作物設置
- slave.addCMD(2,play2);
//ビーンバック回収
- slave.addCMD(3,play3);
- //自動運転モードに移行
- slave.addCMD(4,play4);
- //ビーンバック発射
- slave.addCMD(5,play5);
- //スタート
- slave.addCMD(6,get_start);
+ slave.addCMD(1,getting);
+ //ボイス
+ slave.addCMD(2,play1);
//モード変更
slave.addCMD(50,get_changemode);
//非常停止
slave.addCMD(51,get_stop);
- //エリア変更
- slave.addCMD(52,get_areachange);
//光の強さ
npx.global_scale = 0.05f;
//信号来ていないときは光らない
@@ -150,55 +122,139 @@
while(1) {
//非常停止解除
if(stop == 0) {
- if(start == 0) {
- //フィールド赤
- if(areamode == 0) {
- for(i = 0; i < npx.numPixels(); i++) {
- npx.setPixelColor(i,0xFF0000);
- npx.show();
- wait(0.05);
+ double distance = rotaryx.get();
+ double height = rotaryy.get();
+ pc.printf("num %d move %d\n",num,move);
+ //pc.printf("distance %lf height %lf up %d down %d front %d back %d\n",distance,height,up,down,front,back);
+ wait(0.01);
+ //手動モード 黄色
+ if(colormode == 0) {
+ for(i = 0; i < npx.numPixels(); i++) {
+ npx.setPixelColor(i,0xFFF100);
+ npx.show();
+ wait(0.01);
+ if(i == npx.numPixels()) {
+ i = 0;
}
- pc.printf("red area\n");
- //フィールド青
- } else if(areamode == 1) {
- for(i = 0; i < npx.numPixels(); i++) {
- npx.setPixelColor(i,0x0000FF);
- npx.show();
- wait(0.05);
+ }
+ pc.printf("control\n");
+ //自動モード 緑
+ } else if(colormode == 1) {
+ for(i = 0; i < npx.numPixels(); i++) {
+ npx.setPixelColor(i,0x00FF00);
+ npx.show();
+ wait(0.01);
+ if(i == npx.numPixels()) {
+ i = 0;
}
- pc.printf("bule area\n");
}
- } else {
- //手動モード 黄色
- if(colormode == 0) {
- for(i = 0; i < npx.numPixels(); i++) {
- npx.setPixelColor(i,0xFFF100);
- npx.show();
- wait(0.05);
- if(i == npx.numPixels()) {
- i = 0;
+ pc.printf("auto\n");
+ }
+ if(num == 0) {}
+ else {
+ switch(num%2) {
+ case 1:
+ if(distance >= -300 && up == 1) {
+ motor1[0] = 0.35;
+ motor2[0] = 0;
+ motor1[1] = 0;
+ motor2[1] = 0;
+ }
+
+ if(distance <= -300 && up == 1) {
+ up = 0;
+ down = 0;
+ front = 1;
+ back = 0;
+ slope = 0;
+ }
+
+ if(front == 1 && height >= -127) {
+ motor1[0] = 0;
+ motor2[0] = 0;
+ motor1[1] = 0.2;
+ motor2[1] = 0;
+ }
+
+ if(height <= -127 && front == 1) {
+ up = 0;
+ down = 1;
+ front = 0;
+ back = 0;
+ slope = 0;
+ }
+
+ if(distance <= -300 && height <= -127) {
+ motor1[0] = 0;
+ motor2[0] = 0;
+ motor1[1] = 0;
+ motor2[1] = 0;
+ }
+ break;
+
+ case 0:
+ if(distance <= -90 && down == 1) {
+ motor1[0] = 0;
+ motor2[0] = 0.35;
+ motor1[1] = 0;
+ motor2[1] = 0;
}
- }
- pc.printf("control\n");
- //自動モード 緑
- } else if(colormode == 1) {
- for(i = 0; i < npx.numPixels(); i++) {
- npx.setPixelColor(i,0x00FF00);
- npx.show();
- wait(0.05);
- if(i == npx.numPixels()) {
- i = 0;
+
+ if(distance >= -90 && down == 1) {
+ up = 0;
+ down = 0;
+ front = 0;
+ back = 1;
+ slope = 0;
+ }
+
+ if(distance <= 0 && back == 1) {
+ motor1[0] = 0;
+ motor2[0] = 0.2;
+ motor1[1] = 0;
+ motor2[1] = 0.2;
+ }
+
+ if(distance >= 0 && back == 1) {
+ up = 0;
+ down = 0;
+ front = 0;
+ back = 0;
+ slope = 1;
}
- }
- pc.printf("auto\n");
+
+ if(slope == 1 && height <= 1) {
+ motor1[0] = 0;
+ motor2[0] = 0;
+ motor1[1] = 0;
+ motor2[1] = 0.2;
+ }
+
+ if(height >= 1 && slope == 1) {
+ up = 1;
+ down = 0;
+ front = 0;
+ back = 0;
+ slope = 0;
+ }
+
+ if(distance >= 1 && height >= 1) {
+ motor1[0] = 0;
+ motor2[0] = 0;
+ motor1[1] = 0;
+ motor2[1] = 0;
+ }
+ break;
+ default:
+ break;
}
- }
- //非常停止
+ }
+ //非常停止
} else if(stop == 1) {
for(i = 0; i < npx.numPixels(); i++) {
npx.setPixelColor(i,0x000000);
npx.show();
- wait(0.05);
+ wait(0.01);
if(i == npx.numPixels()) {
i = 0;
}