IR control car "spinner" 赤外線コントロールラジコン"spinner"の本体&プロポ統合版プログラムです

Dependencies:   Motor Propo_RemotoIR mbed

Files at this revision

API Documentation at this revision

Comitter:
suupen
Date:
Wed Oct 16 02:45:27 2013 +0000
Commit message:
IR control car "spinner"

Changed in this revision

Motor.lib Show annotated file Show diff for this revision Revisions of this file
Propo_RemotoIR.lib Show annotated file Show diff for this revision Revisions of this file
main.cpp Show annotated file Show diff for this revision Revisions of this file
mbed.bld Show annotated file Show diff for this revision Revisions of this file
propo.cpp Show annotated file Show diff for this revision Revisions of this file
propo.h Show annotated file Show diff for this revision Revisions of this file
spinner.cpp Show annotated file Show diff for this revision Revisions of this file
spinner.h Show annotated file Show diff for this revision Revisions of this file
diff -r 000000000000 -r 6825e25b7428 Motor.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Motor.lib	Wed Oct 16 02:45:27 2013 +0000
@@ -0,0 +1,1 @@
+https://mbed.org/users/simon/code/Motor/#f265e441bcd9
diff -r 000000000000 -r 6825e25b7428 Propo_RemotoIR.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Propo_RemotoIR.lib	Wed Oct 16 02:45:27 2013 +0000
@@ -0,0 +1,1 @@
+https://mbed.org/users/suupen/code/Propo_RemotoIR/#ec76e93a4d7c
diff -r 000000000000 -r 6825e25b7428 main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Wed Oct 16 02:45:27 2013 +0000
@@ -0,0 +1,15 @@
+#include "mbed.h"
+
+
+#include "spinner.h"
+#include "propo.h"
+
+int main()
+{
+    initialSpinner();
+    initialPropo();
+    while(1) {
+        mainSpinner();
+    }
+}
+
diff -r 000000000000 -r 6825e25b7428 mbed.bld
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Wed Oct 16 02:45:27 2013 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/a9913a65894f
\ No newline at end of file
diff -r 000000000000 -r 6825e25b7428 propo.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/propo.cpp	Wed Oct 16 02:45:27 2013 +0000
@@ -0,0 +1,87 @@
+/* ir propo
+ * microcomputer
+ *      LPC1114FN28
+ *          used pin
+ *          dp1 : irLED output
+ *          dp9 : analog joystic x axis input
+ *          dp10: analog joystic y axis input
+ * joystic
+ *      akizuki(http://akizukidenshi.com/catalog/g/gP-04048/)
+ *      analog joystic
+ *      <schematic>
+ *          Vcc(3.3[V]) : joystic pin1'(X axis)  pin3(Y axis)
+ *          GND(0[V])   : joystic pin3'(X axis)  pin1(Y axis)
+ *          LPC1114FN28 dp9 : joystic pin2'(X axis)
+ *          LPC1114FN28 dp10: joystic pin2 (Y axis)
+ *      <joystic fixed data>
+ *              X axis -8 to 7  :int8_t
+ *              Y axis -8 to 7  :int8_t
+ *
+ * ir send
+ *      akizuki (http://akizukidenshi.com/catalog/g/gP-04048/)
+ *      OSI5FU3A11C
+ *      <schematic>
+ *          setting If=50[mA]
+ *          LPC1114FN28 dp1 : irLED(anode)
+ *          GND(0[V])       : - 40[ohm] - irLED(cathod)
+ *      <send format>
+ *          SONY format
+ *          send cycle : 100[ms]
+ *          buf[0] :x axis
+ *          buf[1] :y axis
+*/
+#include "mbed.h"
+#include "propo.h"
+#include "TransmitterIR.h"
+
+
+void interruptPropo(void);
+
+//#define DBG_PROPO
+
+#ifdef DBG_PROPO
+DigitalOut myled(LED2);
+Serial pc(dp16, dp15);
+#endif // DBG_PROPO
+//------------------------
+// joystic
+AnalogIn Xin(dp9);
+AnalogIn Yin(dp10);
+
+int8_t XinData;
+int8_t YinData;
+//-------------------------
+// ir control
+TransmitterIR ir_tx(dp1);
+RemoteIR::Format format = RemoteIR::SONY;
+uint8_t buf[2] = {0x00, 0x00};
+int bitcount = 16;
+
+Ticker timer;
+
+void initialPropo(void)
+{
+    timer.attach(&interruptPropo, 0.1);
+}
+
+void interruptPropo()
+{
+    // analog 16bit unsigned data(uint16_t) to 4bit signed data(int8_t)
+    XinData = (int8_t)((int16_t)(Xin.read_u16() >> 12) - 0x8);
+    YinData = (int8_t)((int16_t)(Yin.read_u16() >> 12) - 0x8);
+
+    buf[0] = XinData;
+    buf[1] = YinData;
+
+    // send data
+    if(ir_tx.getState() == TransmitterIR::Idle) {
+        bitcount = ir_tx.setData(format, buf, bitcount);
+    }
+
+#ifdef DBG_PROPO
+    pc.printf("X = %02d, Y = %02d \r\n",XinData,YinData);
+    myled = !myled;
+#endif // DBG_PROPO 
+}
+
+
diff -r 000000000000 -r 6825e25b7428 propo.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/propo.h	Wed Oct 16 02:45:27 2013 +0000
@@ -0,0 +1,6 @@
+#ifndef _PROPO_H_
+#define _PROPO_H_
+
+void initialPropo(void);
+
+#endif // __PROPO_H_
diff -r 000000000000 -r 6825e25b7428 spinner.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/spinner.cpp	Wed Oct 16 02:45:27 2013 +0000
@@ -0,0 +1,137 @@
+/* spinner base pcb
+ * <use ir propo>
+ *      LPC1114FN28 sony format propo
+ *
+ * <spinner circit>
+ * LPC1114FN28
+ *  dp28 : ir reciver
+ *  dp18,dp17,dp25: (pwm fwd rev) Right motor control
+ *  dp2,dp4,dp6:(pwm fwd rev) Left motor control
+ *
+ *  dp11,dp13,dp14,dp26 (LED1,2,3,4):lookup the ir recive condition
+
+*/
+
+#include "mbed.h"
+#include "Motor.h"
+
+#include "ReceiverIR.h"
+
+#define DBG
+//#define DBG2    // motor dousa kakunin
+
+#ifdef DBG
+Serial pc(dp16, dp15);    //tx,rx
+#endif // DBG
+
+//-----------------------
+// ir Library
+ReceiverIR ir_rx(dp28);
+RemoteIR::Format formatRx;
+uint8_t bufRx[10];    // nomal no is "2".
+int bitcountRx;
+
+DigitalOut led1(dp11);
+DigitalOut led2(dp13);
+DigitalOut led3(dp14);
+DigitalOut led4(dp26);
+
+
+//-----------------------
+// Motor Library
+Motor Right(dp18, dp17, dp25);   // pwm,fwd,rev
+Motor Left(dp2, dp4, dp6);      //  pwm,fwd,rev
+//-----------------------
+
+Timeout timeout;
+
+void isr_timeout(void)
+{
+    Right.speed(0);
+    Left.speed(0);
+
+    timeout.detach();
+    timeout.attach_us(&isr_timeout, 1000 * 1000);
+}
+
+void initialSpinner(void){
+
+    timeout.detach();
+    timeout.attach_us(&isr_timeout, 1000 * 1000);
+
+}
+
+void mainSpinner(void)
+{
+#ifdef DBG
+    pc.baud(9600);
+#endif // DBG
+
+        // IR data Monitor
+        led1 = 0;
+        led2 = 0;
+        led3 = 0;
+        led4 = 0;
+
+        switch(ir_rx.getState()) {
+            case ReceiverIR::Idle:
+                led1 = 1;
+                break;
+            case ReceiverIR::Receiving:
+                led2 = 1;
+                break;
+            case ReceiverIR::Received:
+                led3 = 1;
+                break;
+            default:
+                led4 = 1;
+                break;
+        }
+ 
+        if (ir_rx.getState() == ReceiverIR::Received) {
+            bitcountRx = ir_rx.getData(&formatRx, bufRx, sizeof(bufRx) * 8);
+
+            if((formatRx == RemoteIR::SONY) && (bitcountRx == 16)) {
+
+                timeout.detach();
+                timeout.attach_us(&isr_timeout, 1000 * 1000);
+
+                float xWork = (float)((int8_t)bufRx[0] / 8.0f);
+                float yWork = (float)((int8_t)bufRx[1] / 8.0f);
+                
+                // fukantai (-0.2 - 0.2)
+                if((-0.2 <= xWork) && (xWork <= 0.2)){xWork = 0;}
+                if((-0.2 <= yWork) && (yWork <= 0.2)){yWork = 0;}
+                
+                yWork = -yWork; // sousa wo hanten.
+
+                float r = yWork + (xWork / 2.0);
+                float l = yWork - (xWork / 2.0);
+
+                if(-1.0 > r) {
+                    r = -1.0;
+                }
+                if( 1.0 < r) {
+                    r =  1.0;
+                }
+                if(-1.0 > l) {
+                    l = -1.0;
+                }
+                if( 1.0 < l) {
+                    l =  1.0;
+                }
+
+
+#ifdef DBG
+                pc.printf("x = %02d y = %02d     |xWork = %1.1f yWork = %1.1f       |r = %1.1f l = %1.1f \r\n",(int8_t)bufRx[0],(int8_t)bufRx[1],xWork,yWork,r,l);
+#endif // DBG
+
+                Right.speed(r);
+                Left.speed(-l);
+
+  
+
+            }
+        }
+}
+
diff -r 000000000000 -r 6825e25b7428 spinner.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/spinner.h	Wed Oct 16 02:45:27 2013 +0000
@@ -0,0 +1,9 @@
+#ifndef _SPINNER_H_
+#define _SPINNER_H_
+
+
+
+void initialSpinner(void);
+void mainSpinner(void);
+
+#endif // _SPINNER_H_
\ No newline at end of file