Tadao Iida
/
CHOROQ_Cntl
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Revision 0:a28199d8881a, committed 2011-06-26
- Comitter:
- sunifu
- Date:
- Sun Jun 26 13:47:55 2011 +0000
- Commit message:
Changed in this revision
diff -r 000000000000 -r a28199d8881a TextLCD.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/TextLCD.lib Sun Jun 26 13:47:55 2011 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/simon/code/TextLCD/#44f34c09bd37
diff -r 000000000000 -r a28199d8881a main.cpp
--- /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(" ");
+ }
+ }
+ }
+}
diff -r 000000000000 -r a28199d8881a mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Sun Jun 26 13:47:55 2011 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/63bcd7ba4912