Tadao Iida / Mbed 2 deprecated CHOROQ_Cntl

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

Dependencies:   TextLCD mbed

main.cpp

Committer:
sunifu
Date:
2011-06-26
Revision:
0:a28199d8881a

File content as of revision 0:a28199d8881a:

#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("                ");    
            }                       
        }            
    }        
}