yutaro iijima / Mbed 2 deprecated FootileSoftware_20191218_experiment

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Dependencies:   mbed FootileSoftware

Footile.h@1:7fb4f7e80d92, 2020-03-08 (annotated)

Committer:
yuyaro
Date:
Sun Mar 08 06:27:52 2020 +0000
Revision:
1:7fb4f7e80d92
Parent:
0:03cdee95fb5a 
Walking experiment software

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Uchida0923 0:03cdee95fb5a 1 /*
Uchida0923 0:03cdee95fb5a 2 Taku Hachisu 06/01/2017
Uchida0923 0:03cdee95fb5a 3
Uchida0923 0:03cdee95fb5a 4 Footile demo for WHC2017
Uchida0923 0:03cdee95fb5a 5 */
Uchida0923 0:03cdee95fb5a 6
Uchida0923 0:03cdee95fb5a 7 #ifndef FOOTILE_H
Uchida0923 0:03cdee95fb5a 8 #define FOOTILE_H
Uchida0923 0:03cdee95fb5a 9
Uchida0923 0:03cdee95fb5a 10 #include "mbed.h"
Uchida0923 0:03cdee95fb5a 11 #include "DRV2605.h"
Uchida0923 0:03cdee95fb5a 12
Uchida0923 0:03cdee95fb5a 13 #include "wave.h"
Uchida0923 0:03cdee95fb5a 14
Uchida0923 0:03cdee95fb5a 15
Uchida0923 0:03cdee95fb5a 16
Uchida0923 0:03cdee95fb5a 17 class Footile
Uchida0923 0:03cdee95fb5a 18 {
Uchida0923 0:03cdee95fb5a 19
Uchida0923 0:03cdee95fb5a 20 public:
Uchida0923 0:03cdee95fb5a 21 /**
Uchida0923 0:03cdee95fb5a 22 Constructor for Footile Objects
Uchida0923 0:03cdee95fb5a 23 */
Uchida0923 0:03cdee95fb5a 24 Footile(PinName led1, PinName led2, PinName led3, PinName trg, PinName ad, PinName tx, PinName rx, PinName io1, PinName io2, PinName sda, PinName scl, PinName en);
Uchida0923 0:03cdee95fb5a 25
Uchida0923 0:03cdee95fb5a 26 /**
Uchida0923 0:03cdee95fb5a 27 functions
Uchida0923 0:03cdee95fb5a 28 */
Uchida0923 0:03cdee95fb5a 29 void doFunctions(void);
Uchida0923 0:03cdee95fb5a 30
Uchida0923 0:03cdee95fb5a 31 private:
Uchida0923 0:03cdee95fb5a 32 DRV2605 _Vibration;
Uchida0923 0:03cdee95fb5a 33 DigitalOut _led1; // for debugging
Uchida0923 0:03cdee95fb5a 34 DigitalOut _led2; // for debugging
Uchida0923 0:03cdee95fb5a 35 DigitalOut _led3; // for debugging
Uchida0923 0:03cdee95fb5a 36 DigitalOut _trg;
yuyaro 1:7fb4f7e80d92 37 //PwmOut _trg;
Uchida0923 0:03cdee95fb5a 38 AnalogIn _prssr;
Uchida0923 0:03cdee95fb5a 39 Serial _bt;
Uchida0923 0:03cdee95fb5a 40 DigitalOut _btDummy1; // LPC11U24 does not support flow control
Uchida0923 0:03cdee95fb5a 41 DigitalOut _btDummy2; // LPC11U24 does not support flow control
Uchida0923 0:03cdee95fb5a 42 Ticker _heart;
Uchida0923 0:03cdee95fb5a 43 Ticker _trans;
Uchida0923 0:03cdee95fb5a 44
Uchida0923 0:03cdee95fb5a 45 Ticker _viber;
yuyaro 1:7fb4f7e80d92 46 Ticker _pwmviber;
Uchida0923 0:03cdee95fb5a 47
Uchida0923 0:03cdee95fb5a 48 int _volumeBuf;
yuyaro 1:7fb4f7e80d92 49 int _SquareVolume;
yuyaro 1:7fb4f7e80d92 50 int _C_Volume;
Uchida0923 0:03cdee95fb5a 51 float _sens;
Uchida0923 0:03cdee95fb5a 52 char _buf[5];
Uchida0923 0:03cdee95fb5a 53 int _countSize;
Uchida0923 0:03cdee95fb5a 54 int _on;
Uchida0923 0:03cdee95fb5a 55
yuyaro 1:7fb4f7e80d92 56 int count_u;
yuyaro 1:7fb4f7e80d92 57 int count_pwm;
yuyaro 1:7fb4f7e80d92 58 int _trg_flag;
yuyaro 1:7fb4f7e80d92 59 int count_led2;
Uchida0923 0:03cdee95fb5a 60
Uchida0923 0:03cdee95fb5a 61 bool ChangeFlag;
yuyaro 1:7fb4f7e80d92 62 bool ChangeFlag2;
yuyaro 1:7fb4f7e80d92 63 bool SteadyON;
yuyaro 1:7fb4f7e80d92 64 bool VibeON;
yuyaro 1:7fb4f7e80d92 65 bool SetDutyMode;
yuyaro 1:7fb4f7e80d92 66 bool leafMode;
Uchida0923 0:03cdee95fb5a 67 bool SteadyMode;
Uchida0923 0:03cdee95fb5a 68 bool SinewaveMode;
Uchida0923 0:03cdee95fb5a 69 bool CorrespondMode;
Uchida0923 0:03cdee95fb5a 70 bool ConnectCheck;
Uchida0923 0:03cdee95fb5a 71 bool snowMode;
Uchida0923 0:03cdee95fb5a 72 bool grassMode;
yuyaro 1:7fb4f7e80d92 73 bool gravelMode;
Uchida0923 0:03cdee95fb5a 74
Uchida0923 0:03cdee95fb5a 75 void _onReceive(void);
Uchida0923 0:03cdee95fb5a 76 void _beat(void);
Uchida0923 0:03cdee95fb5a 77 void _transmission(void);
Uchida0923 0:03cdee95fb5a 78 unsigned short ctoi(char c);
Uchida0923 0:03cdee95fb5a 79 void _modeChange(unsigned short c);
Uchida0923 0:03cdee95fb5a 80 void VibeTimer();
Uchida0923 0:03cdee95fb5a 81 void OnVibe(const float* wave, int size);
yuyaro 1:7fb4f7e80d92 82 void PwmDuty(int d);
yuyaro 1:7fb4f7e80d92 83 void PwmVibe();
Uchida0923 0:03cdee95fb5a 84
Uchida0923 0:03cdee95fb5a 85 };
Uchida0923 0:03cdee95fb5a 86
Uchida0923 0:03cdee95fb5a 87 #endif