Revision 4:3c04f88a8cd8, committed 2022-10-08

Comitter:

umekou

Date:

Sat Oct 08 08:31:07 2022 +0000

Parent:

3:75dae8deb5f3

Child:

5:2934a132d594

Commit message:

change enc

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/FEP_RX22.lib	Sat Oct 08 08:31:07 2022 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/teams/NHK-Robocon2016_Nagaoka_B_Team/code/FEP_RX22/#39eb865e21e1

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/R1370.lib	Sat Oct 08 08:31:07 2022 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/tknara/code/R1370/#96f91d9e3bff

--- a/main.cpp	Fri Sep 30 06:28:25 2022 +0000
+++ b/main.cpp	Sat Oct 08 08:31:07 2022 +0000
@@ -1,13 +1,15 @@
 #include "mbed.h"
-#include "controller.h"
+#include "FEP_RX22.h"
+//#include "controller.h"
 #include "pinconfig.h"
 #include "ikarashiMDC.h"
 #include "QEI.h"
 
-Bcon mycon(fepTX, fepRX, fepad);
+FEP_RX22 mycon(fepTX, fepRX, fepad);
+//Bcon mycon(fepTX, fepRX, fepad);
 Serial pc(USBTX, USBRX, 115200);
 Serial serial(motorTX, motorRX, 115200);
-QEI enc1(encoder1_A, encoder1_B, NC, 100, QEI::X4_ENCODING);
+//QEI enc1(encoder1_A, encoder1_B, NC, 100, QEI::X4_ENCODING);
 QEI enc2(encoder2_A, encoder2_B, NC, 100, QEI::X4_ENCODING);
 QEI enc3(encoder3_A, encoder3_B, NC, 100, QEI::X4_ENCODING);
 QEI enc4(encoder4_A, encoder4_B, NC, 100, QEI::X4_ENCODING);
@@ -26,24 +28,35 @@
     ikarashiMDC(2,0,SM,&serial),
     ikarashiMDC(2,1,SM,&serial),
     ikarashiMDC(2,2,SM,&serial),
-    ikarashiMDC(2,3,SM,&serial)
+    ikarashiMDC(2,3,SM,&serial),
+    ikarashiMDC(3,0,SM,&serial)
 };
 
 uint8_t b[8];
 int16_t stick[4];
 
+uint8_t data[128];
+
+float angle[4]={};
+
+double speed[13]={};
+
 void recieveController(){
-    for (int i=0; i<8; i++) b[i] = mycon.getButton(i);
-    for (int i=0; i<4; i++) stick[i] = mycon.getStick(i);
-        
-    for (int i=0; i<8; i++) pc.printf("%d ", b[i]);
+    mycon.getData(data);
+    for (int i=0; i<5; i++) pc.printf("%d ", data[i]);
     pc.printf(" | ");
-    for (int i=0; i<4; i++) pc.printf("%3d ", stick[i]);
-    pc.printf(" | ");
-    if (mycon.status) pc.printf("received\r\n");
+    if (mycon.getStatus()) pc.printf("received\r\n");
     else pc.printf("anything error...\r\n");
 }
 
+void updateangle(){
+    //angle[0] = (float)enc1.getPulses();
+    angle[1] = (float)enc2.getPulses();
+    angle[2] = (float)enc3.getPulses();
+    angle[3] = (float)enc4.getPulses();
+    for (int i=0; i<4; i++) pc.printf("%f  ", angle[i]);
+    pc.printf("\r\n ");
+}
 
 int main()
 {
@@ -51,9 +64,14 @@
     stop = 1;
     led = 1;
     
+    printf("success!\r\n");
+    
     while(1) {
         
         //recieveController();
+        updateangle();
+        
+        
         
     }
 }
\ No newline at end of file

--- a/pinconfig.h	Fri Sep 30 06:28:25 2022 +0000
+++ b/pinconfig.h	Sat Oct 08 08:31:07 2022 +0000
@@ -7,23 +7,26 @@
 static PinName const stop_pin = PA_5;
 
 /*FEP*/
+
 static PinName const fepTX = PA_9;
 static PinName const fepRX = PA_10;
-static uint8_t const fepad = 005; // 通信相手のアドレス
+static uint8_t const fepad = 20; // 通信相手のアドレス
 
 /*motor serial*/
 static PinName const motorTX = PC_10;
 static PinName const motorRX = PC_11;
 
 /*encoder*/
-static PinName const encoder1_A = PB_6;
-static PinName const encoder1_B = PB_7;
-
+/*
+static PinName const encoder1_A = PB_2;
+static PinName const encoder1_B = PB_1;
+使えない
+*/
 static PinName const encoder2_A = PA_6;
 static PinName const encoder2_B = PA_7;
 
-static PinName const encoder3_A = PC_3;
-static PinName const encoder3_B = PC_2;
+static PinName const encoder3_A = PB_13;
+static PinName const encoder3_B = PB_15;
 
 static PinName const encoder4_A = PA_1;
 static PinName const encoder4_B = PA_0;