Revision 2:7964622fb5a5, committed 2016-07-04

Comitter:

beian10

Date:

Mon Jul 04 07:17:39 2016 +0000

Parent:

1:54a2d380f8c7

Commit message:

V2

Changed in this revision

--- a/Microduino_Motor.cpp	Fri Jul 01 09:41:15 2016 +0000
+++ b/Microduino_Motor.cpp	Mon Jul 04 07:17:39 2016 +0000
@@ -1,34 +1,16 @@
 #include "Microduino_Motor.h"
 
-static motor_t motors[10];                          // static array of key structures
-
-uint8_t MotorCount = 0;                                     // the total number of attached keys
-
 Motor::Motor(PinName _motor_pinA, PinName _motor_pinB)
 {
-    if ( MotorCount < 10) {
-        this->motorIndex = MotorCount++;                    // assign a key index to this instance
-        //if (_motor_pinA < NUM_DIGITAL_PINS && _motor_pinB < NUM_DIGITAL_PINS) {
-        if (true) {
-
             _period_us = 255; // 500Hz
             pwmout_init(&_pwmA, _motor_pinA);
             pwmout_period_us(&_pwmA, _period_us); // 500Hz
-            pwmout_pulsewidth_us(&_pwmA, 1);
-
-            motors[this->motorIndex].Pin.nbr_A = _motor_pinA;
+            pwmout_pulsewidth_us(&_pwmA, 0);
 
-            pwmout_init(&_pwmB, _motor_pinB);
-            pwmout_period_us(&_pwmB, _period_us); // 500Hz
-            pwmout_pulsewidth_us(&_pwmB, 1);
 
-            motors[this->motorIndex].Pin.nbr_B = _motor_pinB;
+            gpio_init_out(&gpioB, _motor_pinB);
 
             this->fix=1;
-        }
-    } else {
-        this->motorIndex = 255 ;  // too many keys
-    }
 }
 
 void Motor::Fix(float _fix)
@@ -53,102 +35,38 @@
     else if (this->_motor_vol < -255)
         this->_motor_vol = -255;
 
-    //this->_motor_vol *= fix;
+    this->_motor_vol *= fix;
 
     return this->_motor_vol;
 }
 
-#if 0
-void Motor::Driver(int16_t _motor_driver)
-{
-    int8_t channel_A = motors[this->motorIndex].Pin.nbr_A;
-    int8_t channel_B = motors[this->motorIndex].Pin.nbr_B;
-    if (_motor_driver == 0)   {
-        digitalWrite(channel_A, LOW);
-        digitalWrite(channel_B, LOW);
-    } else if (_motor_driver > 0)   {
-        analogWrite(channel_A, _motor_driver);
-        digitalWrite(channel_B, LOW);
-    } else  {
-        analogWrite(channel_A, 255 + _motor_driver);
-        digitalWrite(channel_B, HIGH);
-    }
-}
-#else
 void Motor::Driver(int16_t _motor_driver)
 {
-    //static bool flag = true;
     uint32_t pulseWidth = 0;
-    //PinName channel_A = motors[this->motorIndex].Pin.nbr_A;
-    //PinName channel_B = motors[this->motorIndex].Pin.nbr_B;
-    #if 0
-    pwmout_pulsewidth_us(&_pwmA, _period_us/2);
-    pwmout_pulsewidth_us(&_pwmB, 0);
-    return;
-    #endif
-    #if 0
-    pwmout_pulsewidth_us(&_pwmA, 0);
-    pwmout_pulsewidth_us(&_pwmB, _period_us/2);
-    return;
-    #endif
+
     if (_motor_driver == 0) {
         pwmout_pulsewidth_us(&_pwmA, 0);
-        pwmout_pulsewidth_us(&_pwmB, 0);
+        gpio_write(&gpioB, 0);
     } else if (_motor_driver > 0) {
-        #if 1
         pulseWidth = _period_us / 255 * _motor_driver;
         pwmout_pulsewidth_us(&_pwmA, pulseWidth);
-        pwmout_pulsewidth_us(&_pwmB, 2);
-        #else
-        pwmout_pulsewidth_us(&_pwmA, _period_us/2);
-        pwmout_pulsewidth_us(&_pwmB, 0);
-        #endif
+        gpio_write(&gpioB, 0);
     } else {
-        #if 0
-        _motor_driver = 255 + _motor_driver;
-        pulseWidth = _period_us / 255 * _motor_driver;
-        pwmout_pulsewidth_us(&_pwmA, 0);
-        pwmout_pulsewidth_us(&_pwmB, pulseWidth);
-        #elif 1
-        _motor_driver = abs(_motor_driver);
-        pulseWidth = _period_us / 255 * _motor_driver;
-        pwmout_pulsewidth_us(&_pwmA, 2);
-        pwmout_pulsewidth_us(&_pwmB, pulseWidth);
-        #elif 0
-        _motor_driver = 255 + _motor_driver;
-        pulseWidth = _period_us / 255 * _motor_driver;
-        pwmout_pulsewidth_us(&_pwmA, _period_us);
-        pwmout_pulsewidth_us(&_pwmB, pulseWidth);
-        #else
-        pwmout_pulsewidth_us(&_pwmA, 0);
-        pwmout_pulsewidth_us(&_pwmB, 241);
-        #endif
+        //_motor_driver = abs(_motor_driver);
+        pulseWidth = _period_us / 255 * (255 + _motor_driver);
+        pwmout_pulsewidth_us(&_pwmA, pulseWidth);
+        gpio_write(&gpioB, 1);
     }
 }
-#endif
 
 void Motor::Free()
 {
-    int8_t channel_A = motors[this->motorIndex].Pin.nbr_A;
-    int8_t channel_B = motors[this->motorIndex].Pin.nbr_B;
-#if 0
-    digitalWrite(channel_A, LOW);
-    digitalWrite(channel_B, LOW);
-#else
     pwmout_pulsewidth_us(&_pwmA, 0);
-    pwmout_pulsewidth_us(&_pwmB, 0);
-#endif
+    gpio_write(&gpioB, 0);
 }
 
 void Motor::Brake()
 {
-    int8_t channel_A = motors[this->motorIndex].Pin.nbr_A;
-    int8_t channel_B = motors[this->motorIndex].Pin.nbr_B;
-#if 0
-    digitalWrite(channel_A, HIGH);
-    digitalWrite(channel_B, HIGH);
-#else
     pwmout_pulsewidth_us(&_pwmA, _period_us);
-    pwmout_pulsewidth_us(&_pwmB, _period_us);
-#endif
+    gpio_write(&gpioB, 1);
 }
\ No newline at end of file

--- a/Microduino_Motor.h	Fri Jul 01 09:41:15 2016 +0000
+++ b/Microduino_Motor.h	Mon Jul 04 07:17:39 2016 +0000
@@ -1,24 +1,16 @@
 #ifndef Motor_h
 #define Motor_h
 
-//#include "Arduino.h"
 #include "mbed.h"
 
 #define CHAN_LEFT 0
 #define CHAN_RIGHT 1
 
-#if 0
-typedef struct  {
-    uint8_t nbr_A        :6 ;
-    uint8_t nbr_B        :6 ;
-} MotorPin_t;
-#else
 typedef struct  {
     PinName nbr_A;
     PinName nbr_B;
 } MotorPin_t;
 
-#endif
 
 typedef struct {
     MotorPin_t Pin;
@@ -34,12 +26,12 @@
     void Brake();
     int16_t GetData(int16_t _throttle, int16_t _steering, uint8_t _dir);
 private:
-    uint8_t motorIndex;               // index into the channel data for this key
+//    uint8_t motorIndex;               // index into the channel data for this key
     float fix;
     int16_t _motor_vol;
 protected:
     pwmout_t _pwmA;
-    pwmout_t _pwmB;
+    gpio_t gpioB;
     int _period_us;
 };
 

--- a/Microduino_Protocol_HardSer.cpp	Fri Jul 01 09:41:15 2016 +0000
+++ b/Microduino_Protocol_HardSer.cpp	Mon Jul 04 07:17:39 2016 +0000
@@ -2,7 +2,7 @@
 #include "MicroduinoPinNames.h"
 //Timer _timer;
 extern Timer g_cubeTimer;
-//DigitalOut myled(D13);
+
 uint8_t getChecksum(uint8_t length, uint8_t cmd, uint8_t mydata[])
 {
     //三个参数分别为： 数据长度  ，  指令代码  ，  实际数据数组
@@ -13,27 +13,10 @@
     return checksum;
 }
 
-/* Protocol::Protocol(PRO_PORT *ser , byte _channel) {
-  //  common_init();  // Set everything to common state, then...
-  this->channel = _channel;
-  this->num = 0;
-  this->sta = false;
-  this->error = false;
-  P_Serial = ser; // ...override P_Serial with value passed.
-  } */
-static void uart_callback(void)
-{
-    //myled = !myled;
-}
+
 void Protocol::begin(uint16_t _baud)
 {
-    //myled = 0;
-    //_timer.start();
-    //P_Serial->begin(_baud);
     P_Serial->baud(_baud);
-    //P_Serial->attach(uart_callback, Serial::RxIrq);
-    //delay(20);
-    //wait_ms(20);
 }
 
 bool Protocol::available(bool _sta)
@@ -108,7 +91,8 @@
         if (_mod) {
             return P_TIMEOUT;
         }
-    } else {
-        return P_NONE;
     }
+    
+    return P_NONE;
+    
 }
\ No newline at end of file

--- a/Protocol.h	Fri Jul 01 09:41:15 2016 +0000
+++ b/Protocol.h	Mon Jul 04 07:17:39 2016 +0000
@@ -1,7 +1,7 @@
 #include "Microduino_Protocol_HardSer.h"
 
 //BLE//////////////////////
-Serial pc(D1, D0);
+Serial pc(D3, D2);
 
 Protocol bleProtocol(&pc, TYPE_NUM);  //软串口,校验数据类
 
@@ -35,16 +35,10 @@
         case P_FINE:  //DATA OK
             return true;
         case P_ERROR: //DATA ERROR
-#ifdef BLE_SoftSerial
-            mySerial.stopListening();
-            mySerial.listen();
-#endif
+
             break;
         case P_TIMEOUT: //DATA TIMEOUT
-#ifdef BLE_SoftSerial
-            mySerial.stopListening();
-            mySerial.listen();
-#endif
+
             break;
     }
     return false;

--- a/main.cpp	Fri Jul 01 09:41:15 2016 +0000
+++ b/main.cpp	Mon Jul 04 07:17:39 2016 +0000
@@ -1,15 +1,13 @@
 #include "mbed.h"
-//#include "rtos.h"
 #include "MicroduinoPinNames.h"
 #include "userDef.h"
 #include "Protocol.h"
 #include "Microduino_Motor.h"
 
-DigitalOut led_red(D5);
 
 Timer g_cubeTimer;
 //Timeout g_cubeTimeout;
-#if 1
+
 Motor MotorLeft(motor_pin0A, motor_pin0B);
 Motor MotorRight(motor_pin1A, motor_pin1B);
 ///////////////////////////////////////////////////////////
@@ -19,43 +17,22 @@
 int16_t throttle = 0; //油门
 int16_t steering = 0; //转向
 int safe_ms = 0;
-DigitalOut myled(D13);
-InterruptIn wkp(D0);
-InterruptIn wkp1(D1);
+
 static long map(long x, long in_min, long in_max, long out_min, long out_max)
 {
     return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
 }
 
-/*
-static void wake_up(void)
-{
-    //myled = 0;
-}
-*/
-
 int main()
 {
-#if 0// To test wake up from deepsleep(), failed....but wake up from sleep() work. sleep() will reduce 2mA.
-    wkp.fall(wake_up);
-    wkp.rise(&wake_up);
-    wkp1.fall(&wake_up);
-    wkp1.rise(&wake_up);
-#endif
-    led_red = 0;
-    //myled = 1;
-    //g_cubeTimer.start();
+
+    g_cubeTimer.start();
 
     mode = protocolSetup();  //遥控接收器初始化
 
     MotorLeft.Fix(motor_fixL);
     MotorRight.Fix(motor_fixR);
-    
-    MotorLeft.Driver(255);
-    MotorRight.Driver(255);
-    
-    wait(0.5);
-    //mypc.baud(115200);
+
     
     while (1) {
         
@@ -75,36 +52,7 @@
         if (g_cubeTimer.read_ms() - safe_ms > SAFE_TIME_OUT) {
             MotorLeft.Free();
             MotorRight.Free();
-            //sleep();//待机待机电流可减少4mA左右
-            //deepsleep();
         }
         
     } // while
-}
-
-#else
-DigitalOut myled(D13);
-PwmOut PWM_A(motor_pin0A);
-PwmOut PWM_B(motor_pin0B);
-int pv = 0;
-int main()
-{
-    myled.write(1);
-    PWM_A.period_us(255);
-    PWM_B.period_us(255);
-
-    PWM_A.pulsewidth_us(200);
-    PWM_B.pulsewidth_us(0);
-    while (1) {
-#if 0
-        PWM_B.pulsewidth_us(pv);
-        pv++;
-#endif
-        wait(0.5);
-        myled = !myled;
-        if (pv >= 255) {
-            pv = 0;
-        }
-    }
-}
-#endif
\ No newline at end of file
+}
\ No newline at end of file