yusuke takahashi / Mbed 2 deprecated BallTest_one

ikko

Dependencies:   mbed

main.cpp@1:d9b990411155, 2013-12-20 (annotated)

Committer:
yusuke_robocup
Date:
Fri Dec 20 09:22:49 2013 +0000
Revision:
1:d9b990411155
Parent:
0:dddf16147ff2 
ball

Who changed what in which revision?

UserRevisionLine numberNew contents of line
yusuke_robocup 0:dddf16147ff2 1 #include "mbed.h"
yusuke_robocup 0:dddf16147ff2 2
yusuke_robocup 0:dddf16147ff2 3 #define IR_TIME_NOTFOUND 833 /* 見つけられなかったと判断するまでの時間(単位：us) */
yusuke_robocup 0:dddf16147ff2 4 #define IR_COUNTMAX 487 /*最大パルス幅 パルスの存在しうる最大時間は487us*/
yusuke_robocup 0:dddf16147ff2 5 #define ALL_IR 8
yusuke_robocup 0:dddf16147ff2 6
yusuke_robocup 0:dddf16147ff2 7 Serial pc(USBTX, USBRX); // tx, rx
yusuke_robocup 0:dddf16147ff2 8
yusuke_robocup 0:dddf16147ff2 9 Timer timer_ir; /* 赤外線用タイマー */
yusuke_robocup 0:dddf16147ff2 10
yusuke_robocup 0:dddf16147ff2 11 BusOut myleds(p18, p17, p16, p15, p14, p13, p12, p11); //出力用ポート
yusuke_robocup 0:dddf16147ff2 12
yusuke_robocup 0:dddf16147ff2 13 BusOut mbedleds(LED4,LED3,LED2,LED1);
yusuke_robocup 0:dddf16147ff2 14
yusuke_robocup 0:dddf16147ff2 15 /* 赤外線センサに使うpinを配列に格納 */
yusuke_robocup 0:dddf16147ff2 16 PinName ir_num[ALL_IR] = {
yusuke_robocup 0:dddf16147ff2 17 p19,
yusuke_robocup 0:dddf16147ff2 18 p20,
yusuke_robocup 0:dddf16147ff2 19 p25,
yusuke_robocup 0:dddf16147ff2 20 p26,
yusuke_robocup 0:dddf16147ff2 21 p27,
yusuke_robocup 0:dddf16147ff2 22 p28
yusuke_robocup 0:dddf16147ff2 23 };
yusuke_robocup 0:dddf16147ff2 24
yusuke_robocup 1:d9b990411155 25 DigitalIn sensor_ir(p30);
yusuke_robocup 0:dddf16147ff2 26
yusuke_robocup 0:dddf16147ff2 27 unsigned int moving_ave(unsigned int data)
yusuke_robocup 0:dddf16147ff2 28 {
yusuke_robocup 0:dddf16147ff2 29 static unsigned int tmp[14] = {0};
yusuke_robocup 0:dddf16147ff2 30 static unsigned int sum = 0;
yusuke_robocup 0:dddf16147ff2 31 uint8_t i;
yusuke_robocup 0:dddf16147ff2 32 uint8_t count;
yusuke_robocup 0:dddf16147ff2 33
yusuke_robocup 0:dddf16147ff2 34 sum -= tmp[13];
yusuke_robocup 0:dddf16147ff2 35 sum += data;
yusuke_robocup 0:dddf16147ff2 36 tmp[13] = tmp[12];
yusuke_robocup 0:dddf16147ff2 37 tmp[12] = tmp[11];
yusuke_robocup 0:dddf16147ff2 38 tmp[11] = tmp[10];
yusuke_robocup 0:dddf16147ff2 39 tmp[10] = tmp[9];
yusuke_robocup 0:dddf16147ff2 40 tmp[9] = tmp[8];
yusuke_robocup 0:dddf16147ff2 41 tmp[8] = tmp[7];
yusuke_robocup 0:dddf16147ff2 42 tmp[7] = tmp[6];
yusuke_robocup 0:dddf16147ff2 43 tmp[6] = tmp[5];
yusuke_robocup 0:dddf16147ff2 44 tmp[5] = tmp[4];
yusuke_robocup 0:dddf16147ff2 45 tmp[4] = tmp[3];
yusuke_robocup 0:dddf16147ff2 46 tmp[3] = tmp[2];
yusuke_robocup 0:dddf16147ff2 47 tmp[2] = tmp[1];
yusuke_robocup 0:dddf16147ff2 48 tmp[1] = tmp[0];
yusuke_robocup 0:dddf16147ff2 49 tmp[0] = data;
yusuke_robocup 0:dddf16147ff2 50
yusuke_robocup 0:dddf16147ff2 51 return sum/10;
yusuke_robocup 0:dddf16147ff2 52 }
yusuke_robocup 0:dddf16147ff2 53
yusuke_robocup 0:dddf16147ff2 54 int main () {
yusuke_robocup 0:dddf16147ff2 55 unsigned int active_ir = 0; /* 今回更新する赤外線の番号 */
yusuke_robocup 0:dddf16147ff2 56 unsigned int memory_ir = 0; /*赤外線時間カウンタ*/
yusuke_robocup 0:dddf16147ff2 57 unsigned int flag_ir = 0;
yusuke_robocup 0:dddf16147ff2 58
yusuke_robocup 0:dddf16147ff2 59 for(;;){
yusuke_robocup 0:dddf16147ff2 60 flag_ir = 1;
yusuke_robocup 0:dddf16147ff2 61
yusuke_robocup 0:dddf16147ff2 62 //DigitalIn sensor_ir(ir_num[active_ir]); /* 今回更新する赤外線の個体を呼び出す */
yusuke_robocup 0:dddf16147ff2 63
yusuke_robocup 0:dddf16147ff2 64 timer_ir.start(); /* タイマー起動 */
yusuke_robocup 0:dddf16147ff2 65
yusuke_robocup 0:dddf16147ff2 66 if(sensor_ir){ /* もし立ち上がっていたら */
yusuke_robocup 0:dddf16147ff2 67 while(sensor_ir){ /* 立ち下がるまで待つ */
yusuke_robocup 0:dddf16147ff2 68 if(timer_ir.read_us() >= IR_TIME_NOTFOUND){
yusuke_robocup 0:dddf16147ff2 69 flag_ir = 0;
yusuke_robocup 0:dddf16147ff2 70 break; /* 立ち上がっている時間が指定時間越えたらブレイク */
yusuke_robocup 0:dddf16147ff2 71 }
yusuke_robocup 0:dddf16147ff2 72 }
yusuke_robocup 0:dddf16147ff2 73 }
yusuke_robocup 0:dddf16147ff2 74
yusuke_robocup 0:dddf16147ff2 75 timer_ir.stop(); /* タイマー停止 */
yusuke_robocup 0:dddf16147ff2 76 timer_ir.reset(); /* タイマーリセット */
yusuke_robocup 0:dddf16147ff2 77
yusuke_robocup 0:dddf16147ff2 78 /*ボールが指定時間内に見つかっていたら*/
yusuke_robocup 0:dddf16147ff2 79 if(flag_ir){
yusuke_robocup 0:dddf16147ff2 80 timer_ir.start(); /* タイマー起動 */
yusuke_robocup 0:dddf16147ff2 81
yusuke_robocup 0:dddf16147ff2 82 while(!(sensor_ir)){ /* 立ち上がるまで待つ */
yusuke_robocup 0:dddf16147ff2 83 if(timer_ir.read_us() >= IR_TIME_NOTFOUND){
yusuke_robocup 0:dddf16147ff2 84 break; /* 立ち上がっている時間が指定時間越えたらブレイク */
yusuke_robocup 0:dddf16147ff2 85 }
yusuke_robocup 0:dddf16147ff2 86 }
yusuke_robocup 0:dddf16147ff2 87
yusuke_robocup 0:dddf16147ff2 88 memory_ir = timer_ir.read_us();
yusuke_robocup 0:dddf16147ff2 89
yusuke_robocup 0:dddf16147ff2 90 while(1){
yusuke_robocup 0:dddf16147ff2 91
yusuke_robocup 0:dddf16147ff2 92 unsigned int counter_noise;
yusuke_robocup 0:dddf16147ff2 93
yusuke_robocup 0:dddf16147ff2 94 if(!(sensor_ir)){
yusuke_robocup 0:dddf16147ff2 95 myleds = moving_ave( (timer_ir.read_us()-memory_ir)/10 ); /* パルス幅を記録 */
yusuke_robocup 0:dddf16147ff2 96 //ir_width[active_ir] = timer_ir.read_us()-memory_ir; /* パルス幅を記録 */
yusuke_robocup 0:dddf16147ff2 97 //myleds = (timer_ir.read_us()-memory_ir)/10;
yusuke_robocup 0:dddf16147ff2 98
yusuke_robocup 0:dddf16147ff2 99 myleds = 0xFF;
yusuke_robocup 0:dddf16147ff2 100
yusuke_robocup 0:dddf16147ff2 101 pc.printf("%d\n",moving_ave( (timer_ir.read_us()-memory_ir)/10 ));
yusuke_robocup 0:dddf16147ff2 102
yusuke_robocup 0:dddf16147ff2 103 wait(0.01);
yusuke_robocup 0:dddf16147ff2 104 break;
yusuke_robocup 0:dddf16147ff2 105 }else{
yusuke_robocup 0:dddf16147ff2 106 /*ノイズ対策（ノイズで一瞬だけ立ち上がる可能性があるから）*/
yusuke_robocup 0:dddf16147ff2 107 //counter_noise = timer_ir.read_us(); /* 経過時間を保存 */
yusuke_robocup 0:dddf16147ff2 108 //while(timer_ir.read_us()-counter_noise <= 6){}; /* 6us間待つ */
yusuke_robocup 0:dddf16147ff2 109 //if(!(sensor_ir)){ /* もし立ち下がっていたら */
yusuke_robocup 0:dddf16147ff2 110 // flag_ir = 0; //iminasi
yusuke_robocup 0:dddf16147ff2 111
yusuke_robocup 0:dddf16147ff2 112 // timer_ir.stop(); /* タイマー停止 */
yusuke_robocup 0:dddf16147ff2 113 // timer_ir.reset(); /* タイマーリセット */
yusuke_robocup 0:dddf16147ff2 114
yusuke_robocup 0:dddf16147ff2 115 // break;
yusuke_robocup 0:dddf16147ff2 116 //}
yusuke_robocup 0:dddf16147ff2 117 }
yusuke_robocup 0:dddf16147ff2 118 }
yusuke_robocup 0:dddf16147ff2 119 }else{
yusuke_robocup 0:dddf16147ff2 120 /*ボールが見つかっていない場合*/
yusuke_robocup 0:dddf16147ff2 121 //ir_width[active_ir] = 0;
yusuke_robocup 0:dddf16147ff2 122 myleds = 0x00; /* パルス幅を記録 */
yusuke_robocup 0:dddf16147ff2 123 }
yusuke_robocup 0:dddf16147ff2 124 timer_ir.stop(); /* タイマー停止 */
yusuke_robocup 0:dddf16147ff2 125 timer_ir.reset(); /* タイマーリセット */
yusuke_robocup 0:dddf16147ff2 126
yusuke_robocup 0:dddf16147ff2 127 memory_ir = 0;
yusuke_robocup 0:dddf16147ff2 128
yusuke_robocup 0:dddf16147ff2 129 /*active_ir++; 次の赤外線センサへ（読み取る赤外線センサを順番に回す）
yusuke_robocup 0:dddf16147ff2 130 if( active_ir >= NUM_IR ){
yusuke_robocup 0:dddf16147ff2 131 active_ir = 0; 6個全ての赤外線センサをまわったら一番初めに戻る
yusuke_robocup 0:dddf16147ff2 132 }*/
yusuke_robocup 0:dddf16147ff2 133 }
yusuke_robocup 0:dddf16147ff2 134 }