Tadao Iida
エレキジャック Web版 mbedで初めてのマイコン開発 センサを使ってみよう 「CHOROQ HYBRIDを使って赤外線リモコン制御の基礎を学ぶ」の記事で作成したCHOROQ HYBRIDをオリジナルのジョイスティックリモコンで操作するプログラムです。赤外線リモコンを製作するための基礎が分かります。 http://www.eleki-jack.com/arm/2011/06/mbed-45choroq-hybrid.html http://www.eleki-jack.com/arm/2011/06/mbed-55choroq-hybrid.html
Diff: main.cpp
- Revision:
- 0:a28199d8881a
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Sun Jun 26 13:47:55 2011 +0000
@@ -0,0 +1,352 @@
+#include "mbed.h"
+#include "TextLCD.h"
+
+#define U_THR 0.65
+#define D_THR 0.2
+#define L_THR 0.2
+#define R_THR 0.65
+#define H_THR 0.6
+#define CH_THR 0.6
+
+#define HEADER 2
+#define CHA_INTERVAL1 130 // 130
+#define CHA_INTERVAL2 10 // 10
+#define CHB_INTERVAL1 110 // 130
+#define CHB_INTERVAL2 30 // 10
+#define CHC_INTERVAL1 90 // 130
+#define CHC_INTERVAL2 50 // 10
+#define CHD_INTERVAL1 70 // 130
+#define CHD_INTERVAL2 70 // 10
+
+typedef enum { OFF, ON } state;
+
+TextLCD lcd(p24, p26, p27, p28, p29, p30);
+PwmOut out(p21);
+AnalogIn lr_in(p18); // Joystick Left,Right -> Left+Right
+AnalogIn ud_in(p19); // Joystick Up,Down -> Forward+Backward
+AnalogIn hs_in(p20); // PSW hs -> Dash!
+AnalogIn ch_in(p17); // PSW ch -> Change CH A,B,C,D
+
+typedef void (*FUNCPTR)();
+FUNCPTR pFuncBand;
+// Remote Control Signal ON
+void on(){
+ int begin;
+ Timer ton;
+ ton.start();
+ begin = ton.read_us();
+ while ( 500 > ton.read_us() - begin )
+ out.write(0.0f) ;
+ begin = ton.read_us();
+ while ( 1000 > ton.read_us() - begin )
+ out.write(0.5f) ;
+ ton.stop();
+}
+
+// Remote Control Signal OFF
+void off(){
+ int begin;
+ Timer toff;
+ toff.start();
+ begin = toff.read_us();
+ while( 500 > toff.read_us() - begin )
+ out.write(0.0f) ;
+
+ begin = toff.read_us();
+ while ( 500 > toff.read_us() - begin )
+ out.write(0.5f) ;
+ toff.stop() ;
+}
+
+int flag=0;
+void tail()
+{
+ out.write(0.0f) ;
+ flag = 0;
+}
+
+void bandA(){
+ off();off();
+}
+void bandB(){
+ off();on();
+}
+void bandC(){
+ on();off();
+}
+void bandD(){
+ on();on();
+}
+
+Ticker in;
+Timer timer;
+float lr, ud, hs ;
+volatile float ch;
+int interval1, interval2;
+
+// Joystick Sensor
+void input()
+{
+ lr = lr_in;
+ ud = ud_in;
+ hs = hs_in;
+ ch = ch_in ;
+}
+
+volatile int psw = 0;
+
+void interval(int iTime,state s){
+ float signal;
+ int t;
+ signal = (s==OFF)? 0.0f : 0.5f;
+ timer.start();
+ t = timer.read_ms();
+ while ( iTime > timer.read_ms() - t )
+ out.write(signal) ;
+ timer.stop();
+}
+
+int main() {
+ in.attach(&input, 0.05);
+
+ out.period_us(26);
+ lcd.cls() ;
+ lcd.locate(1,1);
+ lcd.printf("BAND [A]");
+ interval1 = CHA_INTERVAL1;
+ interval2 = CHA_INTERVAL2;
+ (pFuncBand) = &bandA;
+
+ while(1) {
+ // #DEBUG printf("UD%4.2f HS%4.2f ",ud,hs);
+ // #DEBUG printf("\tLR%4.2f CH%1d %4.2f \r\n",lr,psw,ch);
+ if( ch >= CH_THR ){
+ while(1){
+ if(ch < 0.2 ){
+ if ( psw < 3 ){
+ psw++;
+ }else{
+ psw=0;
+ }
+ break;
+ }
+ }
+
+ lcd.locate(1,1);
+
+
+ if(psw == 0 ){
+ lcd.printf("BAND [A]"); printf("banda\r\n");
+ (pFuncBand) = &bandA;
+ interval1 = CHA_INTERVAL1;
+ interval2 = CHA_INTERVAL2;
+ }else if(psw == 1){
+ lcd.printf("BAND [B]");
+ (pFuncBand) = &bandB;
+ interval1 = CHB_INTERVAL1;
+ interval2 = CHB_INTERVAL2;
+ }else if(psw == 2){;
+ lcd.printf("BAND [C]");
+ pFuncBand = &bandC;
+ interval1 = CHC_INTERVAL1;
+ interval2 = CHC_INTERVAL2;
+ }else{
+ lcd.printf("BAND [D]"); printf("band D\r\n");
+ pFuncBand = &bandD;
+ interval1 = CHD_INTERVAL1;
+ interval2 = CHD_INTERVAL2;
+ }
+ }
+ lcd.locate(0,0);
+ if ( (U_THR < ud && H_THR < hs) && (L_THR < lr && lr < R_THR)){
+ // Forward + Dash!(0101)
+ lcd.printf("Forward+Dash! ");
+ interval(interval1,OFF);
+ interval(HEADER,ON);
+ (pFuncBand)();
+ off(); on(); off();on();
+ interval(interval2,OFF);
+ interval(HEADER,ON);
+ (pFuncBand)();
+ off(); on(); off(); on();
+ tail();
+ }else if((ud < D_THR && H_THR < hs) && (L_THR < lr && lr < R_THR)){
+ // Backward + Dash!(1100)
+ lcd.printf("Backward+Dash! ");
+ interval(interval1,OFF); // chA Interval1
+ interval(HEADER,ON); //HEADER
+ (pFuncBand)();
+ on(); on(); off();off(); // Control Code 1100
+ interval(interval2,OFF); // chA Interval2
+ interval(HEADER,ON); // HEADER
+ (pFuncBand)();
+ on(); on(); off(); off(); // Control Code 1100
+ tail();
+ }else if ((U_THR < ud && H_THR < hs) && (lr < L_THR)){
+ // Forward + Left + Dash!
+ lcd.printf("For+Left+Dash! ");
+ interval(interval1,OFF);
+ interval(HEADER,ON);
+ (pFuncBand)();
+ on(); off(); off(); off();
+ interval(interval2,OFF);
+ interval(HEADER,ON);
+ (pFuncBand)();
+ on(); off(); off(); off();
+ tail();
+ }else if((U_THR < ud && H_THR < hs) && (R_THR < lr)){
+ // Forward + Right + Dash!;
+ lcd.printf("For+Right+Dash! ");
+ interval(interval1,OFF);
+ interval(HEADER,ON);
+ (pFuncBand)();
+ on(); off(); off(); on();
+ interval(interval2,OFF);
+ interval(HEADER,ON);
+ (pFuncBand)();
+ on(); off(); off(); on();
+ tail();
+ }else if((ud < D_THR && H_THR < hs) && (lr < L_THR)){
+ // Backward + Left + Dash!
+ lcd.printf("Back+Left+Dash! ");
+ interval(interval1,OFF);
+ interval(HEADER,ON);
+ (pFuncBand)();
+ on(); on(); off(); on();
+ interval(interval2,OFF);
+ interval(HEADER,ON);
+ (pFuncBand)();
+ on(); on(); off(); on();
+ tail();
+ }else if((ud < D_THR && H_THR < hs) && (R_THR < lr)){
+ // Backward + Right + Dash!
+ lcd.printf("Back+Right+Dash!");
+ interval(interval1,OFF);
+ interval(HEADER,ON);
+ (pFuncBand)();
+ on(); on(); on(); off();
+ interval(interval2,OFF);
+ interval(HEADER,ON);
+ (pFuncBand)();
+ on(); on(); on(); off();
+ tail();
+ }else if ( U_THR < ud && lr < L_THR ){
+ // Forward + Left
+ lcd.printf("Forward+Left ");
+ interval(interval1,OFF);
+ interval(HEADER,ON);
+ (pFuncBand)();
+ off(); on(); on(); off();
+ interval(interval2,OFF);
+ interval(HEADER,ON);
+ (pFuncBand)();
+ off(); on(); on(); off();
+ tail();
+ }else if( U_THR < ud && R_THR < lr){
+ // Forward + Right
+ lcd.printf("Forward+Right ");
+ interval(interval1,OFF);
+ interval(HEADER,ON);
+ (pFuncBand)();
+ off(); on(); on(); on();
+ interval(interval2,OFF);
+ interval(HEADER,ON);
+ (pFuncBand)();
+ off(); on(); on(); on();
+ tail();
+ }else if( ud < D_THR && lr < L_THR){
+ // Backward+Left(1010)
+ lcd.printf("Backward+Left ");
+ (pFuncBand)();
+ interval(HEADER,ON);
+ (pFuncBand)();
+ on(); off(); on(); off();
+ interval(interval2,OFF);
+ interval(HEADER,ON);
+ (pFuncBand)();
+ on(); off(); on(); off();
+ tail();
+ }else if (ud < D_THR && R_THR < lr){
+ // Backward + Right (1011)
+ lcd.printf("Backward+Right ");
+ interval(interval1,OFF);
+ interval(HEADER,ON);
+ (pFuncBand)();
+ on(); off(); on(); on();
+ interval(interval2,OFF);
+ interval(HEADER,ON);
+ (pFuncBand)();
+ on(); off(); on(); on();
+ tail();
+ }else if((U_THR <= ud)&&(L_THR < lr && lr < R_THR)){
+ // Forward(0001)
+ lcd.printf("Forward ");
+ interval(interval1,OFF);
+ interval(HEADER,ON);
+ (pFuncBand)();
+ off();off();off();on();
+ interval(interval2,OFF);
+ interval(HEADER,ON);
+ (pFuncBand)();
+ off();off();off();on();
+ tail();
+ }else if((ud <= D_THR)&&(L_THR < lr && lr < R_THR)){
+ // Backward(0010)
+ lcd.printf("Backward ");
+ interval(interval1,OFF);
+ interval(HEADER,ON);
+ (pFuncBand)();
+ off();off();on();off();
+ interval(interval2,OFF);
+ interval(HEADER,ON);
+ (pFuncBand)();
+ off();off();on();off();
+ tail();
+ }else if(lr < L_THR && (D_THR <= ud && ud <= U_THR)){
+ // Left(0011)
+ lcd.printf("Left <= ");
+ interval(interval1,OFF);
+ interval(HEADER,ON);
+ (pFuncBand)();
+ off();off();on();on();
+ interval(interval2,OFF);
+ interval(HEADER,ON);
+ (pFuncBand)();
+ off();off();on();on();
+ tail();
+ }else if(R_THR < lr && (D_THR <= ud && ud <= U_THR)){
+ // Right(0100)
+ lcd.printf("Right => ");
+ interval(interval1,OFF);
+ interval(HEADER,ON);
+ (pFuncBand)();
+ off();on();off();off();
+ interval(interval2,OFF);
+ interval(HEADER,ON);
+ (pFuncBand)();
+ off();on();off();off();
+ tail();
+ }else if((D_THR <= ud && ud <= U_THR) && (L_THR < lr && lr < R_THR)){
+ if ( flag == 0 ){
+ for ( int i = 0; i < 5 ; i++ ){
+ // STOP(1111);
+ lcd.locate(0,0);
+ lcd.printf("Stop ");
+ interval(interval1,OFF);
+ interval(HEADER,ON);
+ (pFuncBand)();
+ on();on();on();on();
+ interval(interval2,OFF);
+ interval(HEADER,ON);
+ (pFuncBand)();
+ on();on();on();on();
+ }
+ flag = 1;
+ }else{
+ out.write(0.0f) ;
+ lcd.locate(0,0);
+ lcd.printf(" ");
+ }
+ }
+ }
+}