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
main.cpp@6:d29a019b96cf, 2022-03-19 (annotated)
- Committer:
- sopuranoaruto
- Date:
- Sat Mar 19 12:38:45 2022 +0000
- Revision:
- 6:d29a019b96cf
- Parent:
- 5:200723c2d111
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| sopuranoaruto | 1:677d12692be0 | 1 | #include "mbed.h" |
| sopuranoaruto | 0:12a2f5f9ab60 | 2 | #include "neopixel.h" |
| sopuranoaruto | 4:925391180349 | 3 | #include "mp3.hpp" |
| sopuranoaruto | 6:d29a019b96cf | 4 | #include "rotary_inc.hpp" |
| sopuranoaruto | 1:677d12692be0 | 5 | #include "scrp_slave.hpp" |
| sopuranoaruto | 1:677d12692be0 | 6 | |
| sopuranoaruto | 1:677d12692be0 | 7 | Serial pc(USBTX,USBRX); |
| sopuranoaruto | 1:677d12692be0 | 8 | ScrpSlave slave(PC_12,PD_2,PH_1,SERIAL_TX,SERIAL_RX,5); |
| sopuranoaruto | 6:d29a019b96cf | 9 | RotaryInc rotaryx(PA_7,PA_6,30 * M_PI,512); |
| sopuranoaruto | 6:d29a019b96cf | 10 | RotaryInc rotaryy(PC_4,PA_13,30 * M_PI,512); |
| sopuranoaruto | 6:d29a019b96cf | 11 | PwmOut motor1[2] = { |
| sopuranoaruto | 6:d29a019b96cf | 12 | PwmOut(PB_7), |
| sopuranoaruto | 6:d29a019b96cf | 13 | PwmOut(PB_9) |
| sopuranoaruto | 6:d29a019b96cf | 14 | }; |
| sopuranoaruto | 6:d29a019b96cf | 15 | PwmOut motor2[2] = { |
| sopuranoaruto | 6:d29a019b96cf | 16 | PwmOut(PB_6), |
| sopuranoaruto | 6:d29a019b96cf | 17 | PwmOut(PB_8) |
| sopuranoaruto | 6:d29a019b96cf | 18 | }; |
| sopuranoaruto | 4:925391180349 | 19 | NeoPixelOut npx(PB_0,16); |
| sopuranoaruto | 4:925391180349 | 20 | Playmp3 mp3(PA_0,PA_1); |
| sopuranoaruto | 1:677d12692be0 | 21 | bool colormode = 0; |
| sopuranoaruto | 1:677d12692be0 | 22 | bool stop = 0; |
| sopuranoaruto | 6:d29a019b96cf | 23 | bool up = 1; |
| sopuranoaruto | 6:d29a019b96cf | 24 | bool down = 0; |
| sopuranoaruto | 6:d29a019b96cf | 25 | bool front = 0; |
| sopuranoaruto | 6:d29a019b96cf | 26 | bool back = 0; |
| sopuranoaruto | 6:d29a019b96cf | 27 | bool slope = 0; |
| sopuranoaruto | 6:d29a019b96cf | 28 | bool move = 0; |
| sopuranoaruto | 6:d29a019b96cf | 29 | int num = 0; |
| sopuranoaruto | 1:677d12692be0 | 30 | int i = 0; |
| sopuranoaruto | 0:12a2f5f9ab60 | 31 | |
| sopuranoaruto | 6:d29a019b96cf | 32 | //ボイス 2 |
| sopuranoaruto | 4:925391180349 | 33 | bool play1(int rx_data,int &tx_data) |
| sopuranoaruto | 4:925391180349 | 34 | { |
| sopuranoaruto | 6:d29a019b96cf | 35 | //農作物回収 1 |
| sopuranoaruto | 4:925391180349 | 36 | if(rx_data == 1) { |
| sopuranoaruto | 4:925391180349 | 37 | mp3.set_number_of_tracks(1); |
| sopuranoaruto | 4:925391180349 | 38 | } |
| sopuranoaruto | 6:d29a019b96cf | 39 | //農作物設置 2 |
| sopuranoaruto | 6:d29a019b96cf | 40 | else if(rx_data == 2) { |
| sopuranoaruto | 4:925391180349 | 41 | mp3.set_number_of_tracks(2); |
| sopuranoaruto | 4:925391180349 | 42 | } |
| sopuranoaruto | 6:d29a019b96cf | 43 | //ビーンバック回収 3 |
| sopuranoaruto | 6:d29a019b96cf | 44 | else if(rx_data == 3) { |
| sopuranoaruto | 4:925391180349 | 45 | mp3.set_number_of_tracks(3); |
| sopuranoaruto | 4:925391180349 | 46 | } |
| sopuranoaruto | 6:d29a019b96cf | 47 | //自動運転モードに移行 ４ |
| sopuranoaruto | 6:d29a019b96cf | 48 | else if(rx_data == 4) { |
| sopuranoaruto | 4:925391180349 | 49 | mp3.set_number_of_tracks(4); |
| sopuranoaruto | 4:925391180349 | 50 | } |
| sopuranoaruto | 6:d29a019b96cf | 51 | //ビーンバック発射 ５ |
| sopuranoaruto | 6:d29a019b96cf | 52 | else if(rx_data == 5) { |
| sopuranoaruto | 4:925391180349 | 53 | mp3.set_number_of_tracks(5); |
| sopuranoaruto | 6:d29a019b96cf | 54 | } else {} |
| sopuranoaruto | 5:200723c2d111 | 55 | return true; |
| sopuranoaruto | 5:200723c2d111 | 56 | } |
| sopuranoaruto | 5:200723c2d111 | 57 | |
| sopuranoaruto | 2:9adbf7e03f35 | 58 | //モード変更 50 |
| sopuranoaruto | 1:677d12692be0 | 59 | bool get_changemode(int rx_data,int &tx_data) |
| sopuranoaruto | 1:677d12692be0 | 60 | { |
| sopuranoaruto | 4:925391180349 | 61 | if(rx_data == 0) { |
| sopuranoaruto | 4:925391180349 | 62 | if(colormode == 1) { |
| sopuranoaruto | 4:925391180349 | 63 | colormode = 0; |
| sopuranoaruto | 3:4d2a0e4bb4d9 | 64 | } |
| sopuranoaruto | 1:677d12692be0 | 65 | } else { |
| sopuranoaruto | 4:925391180349 | 66 | if(colormode == 0) { |
| sopuranoaruto | 4:925391180349 | 67 | colormode = 1; |
| sopuranoaruto | 3:4d2a0e4bb4d9 | 68 | } |
| sopuranoaruto | 1:677d12692be0 | 69 | } |
| sopuranoaruto | 3:4d2a0e4bb4d9 | 70 | return true; |
| sopuranoaruto | 1:677d12692be0 | 71 | } |
| sopuranoaruto | 1:677d12692be0 | 72 | |
| sopuranoaruto | 2:9adbf7e03f35 | 73 | //非常停止 51 |
| sopuranoaruto | 1:677d12692be0 | 74 | bool get_stop(int rx_data,int &tx_data) |
| sopuranoaruto | 1:677d12692be0 | 75 | { |
| sopuranoaruto | 3:4d2a0e4bb4d9 | 76 | if(rx_data == 0) { |
| sopuranoaruto | 3:4d2a0e4bb4d9 | 77 | stop = 0; |
| sopuranoaruto | 3:4d2a0e4bb4d9 | 78 | } else { |
| sopuranoaruto | 1:677d12692be0 | 79 | stop = 1; |
| sopuranoaruto | 1:677d12692be0 | 80 | for(i=0; i<npx.numPixels(); i++) { |
| sopuranoaruto | 1:677d12692be0 | 81 | npx.setPixelColor(i,0x000000); |
| sopuranoaruto | 1:677d12692be0 | 82 | } |
| sopuranoaruto | 1:677d12692be0 | 83 | } |
| sopuranoaruto | 3:4d2a0e4bb4d9 | 84 | return true; |
| sopuranoaruto | 1:677d12692be0 | 85 | } |
| sopuranoaruto | 0:12a2f5f9ab60 | 86 | |
| sopuranoaruto | 6:d29a019b96cf | 87 | //ビーンバック回収 1 |
| sopuranoaruto | 6:d29a019b96cf | 88 | bool getting(int rx_data,int &tx_data) |
| sopuranoaruto | 4:925391180349 | 89 | { |
| sopuranoaruto | 4:925391180349 | 90 | if(rx_data == 0) { |
| sopuranoaruto | 6:d29a019b96cf | 91 | if(move == 1) { |
| sopuranoaruto | 6:d29a019b96cf | 92 | move = 0; |
| sopuranoaruto | 4:925391180349 | 93 | } |
| sopuranoaruto | 4:925391180349 | 94 | } else { |
| sopuranoaruto | 6:d29a019b96cf | 95 | if(move == 0) { |
| sopuranoaruto | 6:d29a019b96cf | 96 | move = 1; |
| sopuranoaruto | 6:d29a019b96cf | 97 | num++; |
| sopuranoaruto | 4:925391180349 | 98 | } |
| sopuranoaruto | 4:925391180349 | 99 | } |
| sopuranoaruto | 4:925391180349 | 100 | return true; |
| sopuranoaruto | 4:925391180349 | 101 | } |
| sopuranoaruto | 4:925391180349 | 102 | |
| sopuranoaruto | 1:677d12692be0 | 103 | int main() |
| sopuranoaruto | 1:677d12692be0 | 104 | { |
| sopuranoaruto | 4:925391180349 | 105 | //ビーンバック回収 |
| sopuranoaruto | 6:d29a019b96cf | 106 | slave.addCMD(1,getting); |
| sopuranoaruto | 6:d29a019b96cf | 107 | //ボイス |
| sopuranoaruto | 6:d29a019b96cf | 108 | slave.addCMD(2,play1); |
| sopuranoaruto | 2:9adbf7e03f35 | 109 | //モード変更 |
| sopuranoaruto | 1:677d12692be0 | 110 | slave.addCMD(50,get_changemode); |
| sopuranoaruto | 2:9adbf7e03f35 | 111 | //非常停止 |
| sopuranoaruto | 1:677d12692be0 | 112 | slave.addCMD(51,get_stop); |
| sopuranoaruto | 2:9adbf7e03f35 | 113 | //光の強さ |
| sopuranoaruto | 1:677d12692be0 | 114 | npx.global_scale = 0.05f; |
| sopuranoaruto | 2:9adbf7e03f35 | 115 | //信号来ていないときは光らない |
| sopuranoaruto | 0:12a2f5f9ab60 | 116 | npx.normalize = false; |
| sopuranoaruto | 4:925391180349 | 117 | //音量セット |
| sopuranoaruto | 4:925391180349 | 118 | mp3.set_volume(255); |
| sopuranoaruto | 4:925391180349 | 119 | //クワイエットモードOFF |
| sopuranoaruto | 4:925391180349 | 120 | mp3.quiet_mode(false); |
| sopuranoaruto | 4:925391180349 | 121 | |
| sopuranoaruto | 1:677d12692be0 | 122 | while(1) { |
| sopuranoaruto | 2:9adbf7e03f35 | 123 | //非常停止解除 |
| sopuranoaruto | 1:677d12692be0 | 124 | if(stop == 0) { |
| sopuranoaruto | 6:d29a019b96cf | 125 | double distance = rotaryx.get(); |
| sopuranoaruto | 6:d29a019b96cf | 126 | double height = rotaryy.get(); |
| sopuranoaruto | 6:d29a019b96cf | 127 | pc.printf("num %d move %d\n",num,move); |
| sopuranoaruto | 6:d29a019b96cf | 128 | //pc.printf("distance %lf height %lf up %d down %d front %d back %d\n",distance,height,up,down,front,back); |
| sopuranoaruto | 6:d29a019b96cf | 129 | wait(0.01); |
| sopuranoaruto | 6:d29a019b96cf | 130 | //手動モード 黄色 |
| sopuranoaruto | 6:d29a019b96cf | 131 | if(colormode == 0) { |
| sopuranoaruto | 6:d29a019b96cf | 132 | for(i = 0; i < npx.numPixels(); i++) { |
| sopuranoaruto | 6:d29a019b96cf | 133 | npx.setPixelColor(i,0xFFF100); |
| sopuranoaruto | 6:d29a019b96cf | 134 | npx.show(); |
| sopuranoaruto | 6:d29a019b96cf | 135 | wait(0.01); |
| sopuranoaruto | 6:d29a019b96cf | 136 | if(i == npx.numPixels()) { |
| sopuranoaruto | 6:d29a019b96cf | 137 | i = 0; |
| sopuranoaruto | 1:677d12692be0 | 138 | } |
| sopuranoaruto | 6:d29a019b96cf | 139 | } |
| sopuranoaruto | 6:d29a019b96cf | 140 | pc.printf("control\n"); |
| sopuranoaruto | 6:d29a019b96cf | 141 | //自動モード 緑 |
| sopuranoaruto | 6:d29a019b96cf | 142 | } else if(colormode == 1) { |
| sopuranoaruto | 6:d29a019b96cf | 143 | for(i = 0; i < npx.numPixels(); i++) { |
| sopuranoaruto | 6:d29a019b96cf | 144 | npx.setPixelColor(i,0x00FF00); |
| sopuranoaruto | 6:d29a019b96cf | 145 | npx.show(); |
| sopuranoaruto | 6:d29a019b96cf | 146 | wait(0.01); |
| sopuranoaruto | 6:d29a019b96cf | 147 | if(i == npx.numPixels()) { |
| sopuranoaruto | 6:d29a019b96cf | 148 | i = 0; |
| sopuranoaruto | 4:925391180349 | 149 | } |
| sopuranoaruto | 1:677d12692be0 | 150 | } |
| sopuranoaruto | 6:d29a019b96cf | 151 | pc.printf("auto\n"); |
| sopuranoaruto | 6:d29a019b96cf | 152 | } |
| sopuranoaruto | 6:d29a019b96cf | 153 | if(num == 0) {} |
| sopuranoaruto | 6:d29a019b96cf | 154 | else { |
| sopuranoaruto | 6:d29a019b96cf | 155 | switch(num%2) { |
| sopuranoaruto | 6:d29a019b96cf | 156 | case 1: |
| sopuranoaruto | 6:d29a019b96cf | 157 | if(distance >= -300 && up == 1) { |
| sopuranoaruto | 6:d29a019b96cf | 158 | motor1[0] = 0.35; |
| sopuranoaruto | 6:d29a019b96cf | 159 | motor2[0] = 0; |
| sopuranoaruto | 6:d29a019b96cf | 160 | motor1[1] = 0; |
| sopuranoaruto | 6:d29a019b96cf | 161 | motor2[1] = 0; |
| sopuranoaruto | 6:d29a019b96cf | 162 | } |
| sopuranoaruto | 6:d29a019b96cf | 163 | |
| sopuranoaruto | 6:d29a019b96cf | 164 | if(distance <= -300 && up == 1) { |
| sopuranoaruto | 6:d29a019b96cf | 165 | up = 0; |
| sopuranoaruto | 6:d29a019b96cf | 166 | down = 0; |
| sopuranoaruto | 6:d29a019b96cf | 167 | front = 1; |
| sopuranoaruto | 6:d29a019b96cf | 168 | back = 0; |
| sopuranoaruto | 6:d29a019b96cf | 169 | slope = 0; |
| sopuranoaruto | 6:d29a019b96cf | 170 | } |
| sopuranoaruto | 6:d29a019b96cf | 171 | |
| sopuranoaruto | 6:d29a019b96cf | 172 | if(front == 1 && height >= -127) { |
| sopuranoaruto | 6:d29a019b96cf | 173 | motor1[0] = 0; |
| sopuranoaruto | 6:d29a019b96cf | 174 | motor2[0] = 0; |
| sopuranoaruto | 6:d29a019b96cf | 175 | motor1[1] = 0.2; |
| sopuranoaruto | 6:d29a019b96cf | 176 | motor2[1] = 0; |
| sopuranoaruto | 6:d29a019b96cf | 177 | } |
| sopuranoaruto | 6:d29a019b96cf | 178 | |
| sopuranoaruto | 6:d29a019b96cf | 179 | if(height <= -127 && front == 1) { |
| sopuranoaruto | 6:d29a019b96cf | 180 | up = 0; |
| sopuranoaruto | 6:d29a019b96cf | 181 | down = 1; |
| sopuranoaruto | 6:d29a019b96cf | 182 | front = 0; |
| sopuranoaruto | 6:d29a019b96cf | 183 | back = 0; |
| sopuranoaruto | 6:d29a019b96cf | 184 | slope = 0; |
| sopuranoaruto | 6:d29a019b96cf | 185 | } |
| sopuranoaruto | 6:d29a019b96cf | 186 | |
| sopuranoaruto | 6:d29a019b96cf | 187 | if(distance <= -300 && height <= -127) { |
| sopuranoaruto | 6:d29a019b96cf | 188 | motor1[0] = 0; |
| sopuranoaruto | 6:d29a019b96cf | 189 | motor2[0] = 0; |
| sopuranoaruto | 6:d29a019b96cf | 190 | motor1[1] = 0; |
| sopuranoaruto | 6:d29a019b96cf | 191 | motor2[1] = 0; |
| sopuranoaruto | 6:d29a019b96cf | 192 | } |
| sopuranoaruto | 6:d29a019b96cf | 193 | break; |
| sopuranoaruto | 6:d29a019b96cf | 194 | |
| sopuranoaruto | 6:d29a019b96cf | 195 | case 0: |
| sopuranoaruto | 6:d29a019b96cf | 196 | if(distance <= -90 && down == 1) { |
| sopuranoaruto | 6:d29a019b96cf | 197 | motor1[0] = 0; |
| sopuranoaruto | 6:d29a019b96cf | 198 | motor2[0] = 0.35; |
| sopuranoaruto | 6:d29a019b96cf | 199 | motor1[1] = 0; |
| sopuranoaruto | 6:d29a019b96cf | 200 | motor2[1] = 0; |
| sopuranoaruto | 4:925391180349 | 201 | } |
| sopuranoaruto | 6:d29a019b96cf | 202 | |
| sopuranoaruto | 6:d29a019b96cf | 203 | if(distance >= -90 && down == 1) { |
| sopuranoaruto | 6:d29a019b96cf | 204 | up = 0; |
| sopuranoaruto | 6:d29a019b96cf | 205 | down = 0; |
| sopuranoaruto | 6:d29a019b96cf | 206 | front = 0; |
| sopuranoaruto | 6:d29a019b96cf | 207 | back = 1; |
| sopuranoaruto | 6:d29a019b96cf | 208 | slope = 0; |
| sopuranoaruto | 6:d29a019b96cf | 209 | } |
| sopuranoaruto | 6:d29a019b96cf | 210 | |
| sopuranoaruto | 6:d29a019b96cf | 211 | if(distance <= 0 && back == 1) { |
| sopuranoaruto | 6:d29a019b96cf | 212 | motor1[0] = 0; |
| sopuranoaruto | 6:d29a019b96cf | 213 | motor2[0] = 0.2; |
| sopuranoaruto | 6:d29a019b96cf | 214 | motor1[1] = 0; |
| sopuranoaruto | 6:d29a019b96cf | 215 | motor2[1] = 0.2; |
| sopuranoaruto | 6:d29a019b96cf | 216 | } |
| sopuranoaruto | 6:d29a019b96cf | 217 | |
| sopuranoaruto | 6:d29a019b96cf | 218 | if(distance >= 0 && back == 1) { |
| sopuranoaruto | 6:d29a019b96cf | 219 | up = 0; |
| sopuranoaruto | 6:d29a019b96cf | 220 | down = 0; |
| sopuranoaruto | 6:d29a019b96cf | 221 | front = 0; |
| sopuranoaruto | 6:d29a019b96cf | 222 | back = 0; |
| sopuranoaruto | 6:d29a019b96cf | 223 | slope = 1; |
| sopuranoaruto | 4:925391180349 | 224 | } |
| sopuranoaruto | 6:d29a019b96cf | 225 | |
| sopuranoaruto | 6:d29a019b96cf | 226 | if(slope == 1 && height <= 1) { |
| sopuranoaruto | 6:d29a019b96cf | 227 | motor1[0] = 0; |
| sopuranoaruto | 6:d29a019b96cf | 228 | motor2[0] = 0; |
| sopuranoaruto | 6:d29a019b96cf | 229 | motor1[1] = 0; |
| sopuranoaruto | 6:d29a019b96cf | 230 | motor2[1] = 0.2; |
| sopuranoaruto | 6:d29a019b96cf | 231 | } |
| sopuranoaruto | 6:d29a019b96cf | 232 | |
| sopuranoaruto | 6:d29a019b96cf | 233 | if(height >= 1 && slope == 1) { |
| sopuranoaruto | 6:d29a019b96cf | 234 | up = 1; |
| sopuranoaruto | 6:d29a019b96cf | 235 | down = 0; |
| sopuranoaruto | 6:d29a019b96cf | 236 | front = 0; |
| sopuranoaruto | 6:d29a019b96cf | 237 | back = 0; |
| sopuranoaruto | 6:d29a019b96cf | 238 | slope = 0; |
| sopuranoaruto | 6:d29a019b96cf | 239 | } |
| sopuranoaruto | 6:d29a019b96cf | 240 | |
| sopuranoaruto | 6:d29a019b96cf | 241 | if(distance >= 1 && height >= 1) { |
| sopuranoaruto | 6:d29a019b96cf | 242 | motor1[0] = 0; |
| sopuranoaruto | 6:d29a019b96cf | 243 | motor2[0] = 0; |
| sopuranoaruto | 6:d29a019b96cf | 244 | motor1[1] = 0; |
| sopuranoaruto | 6:d29a019b96cf | 245 | motor2[1] = 0; |
| sopuranoaruto | 6:d29a019b96cf | 246 | } |
| sopuranoaruto | 6:d29a019b96cf | 247 | break; |
| sopuranoaruto | 6:d29a019b96cf | 248 | default: |
| sopuranoaruto | 6:d29a019b96cf | 249 | break; |
| sopuranoaruto | 1:677d12692be0 | 250 | } |
| sopuranoaruto | 6:d29a019b96cf | 251 | } |
| sopuranoaruto | 6:d29a019b96cf | 252 | //非常停止 |
| sopuranoaruto | 1:677d12692be0 | 253 | } else if(stop == 1) { |
| sopuranoaruto | 1:677d12692be0 | 254 | for(i = 0; i < npx.numPixels(); i++) { |
| sopuranoaruto | 1:677d12692be0 | 255 | npx.setPixelColor(i,0x000000); |
| sopuranoaruto | 1:677d12692be0 | 256 | npx.show(); |
| sopuranoaruto | 6:d29a019b96cf | 257 | wait(0.01); |
| sopuranoaruto | 1:677d12692be0 | 258 | if(i == npx.numPixels()) { |
| sopuranoaruto | 1:677d12692be0 | 259 | i = 0; |
| sopuranoaruto | 1:677d12692be0 | 260 | } |
| sopuranoaruto | 0:12a2f5f9ab60 | 261 | } |
| sopuranoaruto | 4:925391180349 | 262 | pc.printf("stopping\n"); |
| sopuranoaruto | 0:12a2f5f9ab60 | 263 | } |
| sopuranoaruto | 0:12a2f5f9ab60 | 264 | } |
| sopuranoaruto | 0:12a2f5f9ab60 | 265 | } |