Fx0 hackathon team4
Dependencies: NySNICInterface mbed-rtos mbed
Fork of RESTServerSample by
control_motors.cpp@4:99a67256b765, 2015-02-15 (annotated)
- Committer:
- oks486
- Date:
- Sun Feb 15 02:55:36 2015 +0000
- Revision:
- 4:99a67256b765
- Parent:
- 2:2f187e09bdb0
- Child:
- 5:70c9f6045f2d
add motor control with pwm
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
yi | 2:2f187e09bdb0 | 1 | #include "control_motors.h" |
yi | 2:2f187e09bdb0 | 2 | |
yi | 2:2f187e09bdb0 | 3 | void parse_request(char *request){ |
yi | 2:2f187e09bdb0 | 4 | |
yi | 2:2f187e09bdb0 | 5 | bool errorFlag = false; |
yi | 2:2f187e09bdb0 | 6 | |
yi | 2:2f187e09bdb0 | 7 | char* str = strtok(request+1,"/"); |
yi | 2:2f187e09bdb0 | 8 | |
yi | 2:2f187e09bdb0 | 9 | if(strcmp(str, "api") == 0){ |
yi | 2:2f187e09bdb0 | 10 | str = strtok(NULL,"/"); |
yi | 2:2f187e09bdb0 | 11 | |
yi | 2:2f187e09bdb0 | 12 | if(strcmp(str, "motor") == 0){ |
yi | 2:2f187e09bdb0 | 13 | str = strtok(NULL,"?"); |
yi | 2:2f187e09bdb0 | 14 | |
yi | 2:2f187e09bdb0 | 15 | if(strcmp(str, "right") == 0){ |
yi | 2:2f187e09bdb0 | 16 | |
yi | 2:2f187e09bdb0 | 17 | str = strtok(NULL,"="); //"speed" |
yi | 2:2f187e09bdb0 | 18 | str = strtok(NULL,""); // |
yi | 2:2f187e09bdb0 | 19 | |
yi | 2:2f187e09bdb0 | 20 | int speed = atoi(str); |
yi | 2:2f187e09bdb0 | 21 | |
yi | 2:2f187e09bdb0 | 22 | // motor right |
yi | 2:2f187e09bdb0 | 23 | move(MOTOR_RIGHT, speed); |
yi | 2:2f187e09bdb0 | 24 | |
yi | 2:2f187e09bdb0 | 25 | }else if(strcmp(str, "left") == 0){ |
yi | 2:2f187e09bdb0 | 26 | |
yi | 2:2f187e09bdb0 | 27 | str = strtok(NULL,"="); //"speed" |
yi | 2:2f187e09bdb0 | 28 | str = strtok(NULL,""); // |
yi | 2:2f187e09bdb0 | 29 | |
yi | 2:2f187e09bdb0 | 30 | int speed = atoi(str); |
yi | 2:2f187e09bdb0 | 31 | |
yi | 2:2f187e09bdb0 | 32 | // motor left |
yi | 2:2f187e09bdb0 | 33 | move(MOTOR_LEFT, speed); |
yi | 2:2f187e09bdb0 | 34 | |
yi | 2:2f187e09bdb0 | 35 | }else{ |
yi | 2:2f187e09bdb0 | 36 | errorFlag = true; |
yi | 2:2f187e09bdb0 | 37 | } |
yi | 2:2f187e09bdb0 | 38 | |
yi | 2:2f187e09bdb0 | 39 | }else if(strcmp(str, "tail") == 0){ |
yi | 2:2f187e09bdb0 | 40 | str = strtok(NULL,"/"); |
yi | 2:2f187e09bdb0 | 41 | if(strcmp(str, "swing") == 0){ |
yi | 2:2f187e09bdb0 | 42 | str = strtok(NULL,"/"); |
yi | 2:2f187e09bdb0 | 43 | if(strcmp(str, "start") == 0){ |
yi | 2:2f187e09bdb0 | 44 | |
yi | 2:2f187e09bdb0 | 45 | // tail start |
yi | 2:2f187e09bdb0 | 46 | start_shaking_tail(); |
yi | 2:2f187e09bdb0 | 47 | |
yi | 2:2f187e09bdb0 | 48 | }else if(strcmp(str, "end") == 0){ |
yi | 2:2f187e09bdb0 | 49 | |
yi | 2:2f187e09bdb0 | 50 | // tail end |
yi | 2:2f187e09bdb0 | 51 | stop_shaking_tail(); |
yi | 2:2f187e09bdb0 | 52 | |
yi | 2:2f187e09bdb0 | 53 | }else{ |
yi | 2:2f187e09bdb0 | 54 | errorFlag = true; |
yi | 2:2f187e09bdb0 | 55 | } |
yi | 2:2f187e09bdb0 | 56 | }else{ |
yi | 2:2f187e09bdb0 | 57 | errorFlag = true; |
yi | 2:2f187e09bdb0 | 58 | } |
yi | 2:2f187e09bdb0 | 59 | } |
yi | 2:2f187e09bdb0 | 60 | } |
yi | 2:2f187e09bdb0 | 61 | |
yi | 2:2f187e09bdb0 | 62 | if(errorFlag){ |
yi | 2:2f187e09bdb0 | 63 | printf("error: request=%s\n", request); |
yi | 2:2f187e09bdb0 | 64 | } |
yi | 2:2f187e09bdb0 | 65 | } |
yi | 2:2f187e09bdb0 | 66 | |
yi | 2:2f187e09bdb0 | 67 | |
yi | 2:2f187e09bdb0 | 68 | void move(int motor_id, int speed){ |
yi | 2:2f187e09bdb0 | 69 | if(motor_id == MOTOR_RIGHT){ |
yi | 2:2f187e09bdb0 | 70 | printf("motor right speed = %d\n", speed); |
yi | 2:2f187e09bdb0 | 71 | |
yi | 2:2f187e09bdb0 | 72 | // TODO |
yi | 2:2f187e09bdb0 | 73 | // モーター制御の処理 |
oks486 | 4:99a67256b765 | 74 | if(speed > 0){ |
oks486 | 4:99a67256b765 | 75 | mPwmMotorR = (float)speed/255; |
oks486 | 4:99a67256b765 | 76 | mDoutMotorR1 = 1; |
oks486 | 4:99a67256b765 | 77 | mDoutMotorR2 = 0; |
oks486 | 4:99a67256b765 | 78 | }else if (speed < 0){ |
oks486 | 4:99a67256b765 | 79 | mPwmMotorR = -(float)speed/255; |
oks486 | 4:99a67256b765 | 80 | mDoutMotorR1 = 0; |
oks486 | 4:99a67256b765 | 81 | mDoutMotorR2 = 1; |
oks486 | 4:99a67256b765 | 82 | }else{ |
oks486 | 4:99a67256b765 | 83 | mPwmMotorR = 0; |
oks486 | 4:99a67256b765 | 84 | mDoutMotorR1 = 0; |
oks486 | 4:99a67256b765 | 85 | mDoutMotorR2 = 0; |
oks486 | 4:99a67256b765 | 86 | } |
oks486 | 4:99a67256b765 | 87 | |
yi | 2:2f187e09bdb0 | 88 | }else if(motor_id == MOTOR_LEFT){ |
yi | 2:2f187e09bdb0 | 89 | printf("motor left speed = %d\n", speed); |
yi | 2:2f187e09bdb0 | 90 | |
yi | 2:2f187e09bdb0 | 91 | // TODO |
yi | 2:2f187e09bdb0 | 92 | // モーター制御の処理 |
oks486 | 4:99a67256b765 | 93 | if(speed > 0){ |
oks486 | 4:99a67256b765 | 94 | mPwmMotorL = (float)speed/255; |
oks486 | 4:99a67256b765 | 95 | mDoutMotorL1 = 1; |
oks486 | 4:99a67256b765 | 96 | mDoutMotorL2 = 0; |
oks486 | 4:99a67256b765 | 97 | }else if (speed < 0){ |
oks486 | 4:99a67256b765 | 98 | mPwmMotorL = -(float)speed/255; |
oks486 | 4:99a67256b765 | 99 | mDoutMotorL1 = 0; |
oks486 | 4:99a67256b765 | 100 | mDoutMotorL2 = 1; |
oks486 | 4:99a67256b765 | 101 | }else{ |
oks486 | 4:99a67256b765 | 102 | mPwmMotorL = 0.0; |
oks486 | 4:99a67256b765 | 103 | mDoutMotorL1 = 0; |
oks486 | 4:99a67256b765 | 104 | mDoutMotorL2 = 0; |
oks486 | 4:99a67256b765 | 105 | } |
oks486 | 4:99a67256b765 | 106 | |
yi | 2:2f187e09bdb0 | 107 | } |
yi | 2:2f187e09bdb0 | 108 | } |
yi | 2:2f187e09bdb0 | 109 | |
yi | 2:2f187e09bdb0 | 110 | |
yi | 2:2f187e09bdb0 | 111 | void start_shaking_tail(){ |
yi | 2:2f187e09bdb0 | 112 | printf("start_shaking_tail\n"); |
yi | 2:2f187e09bdb0 | 113 | |
yi | 2:2f187e09bdb0 | 114 | // TODO |
yi | 2:2f187e09bdb0 | 115 | // モーター制御の処理 |
oks486 | 4:99a67256b765 | 116 | mPwmMotorTail = 0.8; |
oks486 | 4:99a67256b765 | 117 | mDoutMotorTail1 = 1; |
oks486 | 4:99a67256b765 | 118 | mDoutMotorTail2 = 0; |
oks486 | 4:99a67256b765 | 119 | |
yi | 2:2f187e09bdb0 | 120 | } |
yi | 2:2f187e09bdb0 | 121 | |
yi | 2:2f187e09bdb0 | 122 | |
yi | 2:2f187e09bdb0 | 123 | void stop_shaking_tail(){ |
yi | 2:2f187e09bdb0 | 124 | printf("stop_shaking_tail\n"); |
yi | 2:2f187e09bdb0 | 125 | |
yi | 2:2f187e09bdb0 | 126 | // TODO |
yi | 2:2f187e09bdb0 | 127 | // モーター制御の処理 |
oks486 | 4:99a67256b765 | 128 | mPwmMotorTail = 0.0; |
oks486 | 4:99a67256b765 | 129 | mDoutMotorTail1 = 0; |
oks486 | 4:99a67256b765 | 130 | mDoutMotorTail2 = 0; |
oks486 | 4:99a67256b765 | 131 | |
yi | 2:2f187e09bdb0 | 132 | } |