CQ Publishing
トランジスタ技術2015年6月号 mbed ラジコン・カーp169-p184掲載
Dependencies: mbed
Revision 0:6228c3688e54, committed 2015-06-01
- Comitter:
- YoshihitoShimada
- Date:
- Mon Jun 01 02:03:38 2015 +0000
- Commit message:
- mbed test sample code
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/ATP3012.cpp Mon Jun 01 02:03:38 2015 +0000
@@ -0,0 +1,52 @@
+#include "ATP3012.h"
+
+ATP3012::ATP3012(PinName sda, PinName scl, int addr):_i2c(sda, scl)
+{
+ _addr = addr;
+ _poll_wait.reset();
+ _poll_wait.start();
+}
+
+bool ATP3012::IsActive(int timeout_ms)
+{
+ wait_ms(AQTK_STARTUP_WAIT_MS);
+ Timer t;
+ t.reset();
+ t.start();
+ while(t.read_ms() < timeout_ms) {
+ _poll_wait.reset();
+ if (_i2c.write(_addr, NULL, 0) == 0) {
+ return true;
+ }
+ wait_ms(AQTK_POLL_WAIT_MS);
+ }
+ return false;
+}
+
+void ATP3012::Synthe(const char* msg)
+{
+ while(IsBusy()) {
+ ;
+ }
+ Write(msg);
+ Write("\r");
+}
+
+void ATP3012::Write(const char *msg)
+{
+ _i2c.write(_addr, msg, strlen(msg));
+ _poll_wait.reset();
+}
+
+bool ATP3012::IsBusy()
+{
+ if (AQTK_POLL_WAIT_MS > _poll_wait.read_ms()) {
+ return true;
+ }
+ _poll_wait.reset();
+ char c = 0x00;
+ if (_i2c.read(_addr, &c, 1) != 0) {
+ return false;
+ }
+ return c == '*' || c == 0xff;
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/ATP3012.h Mon Jun 01 02:03:38 2015 +0000
@@ -0,0 +1,45 @@
+#include "mbed.h"
+#pragma once
+
+#define AQTK_I2C_ADDR (0x2E<<1)
+#define AQTK_STARTUP_WAIT_MS 80
+#define AQTK_POLL_WAIT_MS 10
+
+/** ATP3012 class
+ *
+ * AquesTalk pico LSI I2C interface
+ * Example:
+ * @code
+ * #include "ATP3012.h"
+ * ATP3012 talk(P0_10,P0_11); // I2C sda scl
+ *
+ * int main() {
+ * talk.Synthe("konnichiwa.");
+ * for(int n = 1; ; n++) {
+ * char buf[32];
+ * snprintf(buf, sizeof(buf), "<NUMK VAL=%d>.", n);
+ * talk.Synthe(buf);
+ * }
+ * }
+ * @endcode
+ *
+ */
+class ATP3012 {
+public:
+ /** Create a AquesTalk pico LSI I2C interface
+ *
+ * @param sda I2C data pin
+ * @param scl I2C clock pin
+ * @param addr I2C address
+ */
+ ATP3012(PinName sda, PinName scl, int addr = AQTK_I2C_ADDR);
+ bool IsActive(int timeout_ms = 500);
+ void Synthe(const char* msg);
+ void Write(const char* msg);
+ bool IsBusy();
+private:
+ int _addr;
+ I2C _i2c;
+ Timer _poll_wait;
+};
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Mon Jun 01 02:03:38 2015 +0000
@@ -0,0 +1,177 @@
+#include "mbed.h"
+#include "ATP3012.h"
+
+Serial bluetooth(p9,p10); //tx, rx
+ATP3012 talk(P0_5, P0_4); // sda, scl
+
+PwmOut Rin(P0_8);
+PwmOut Lin(P0_9);
+PwmOut S40kHz(P0_21);
+DigitalOut IN1(P0_11);
+DigitalOut IN2(P0_12);
+AnalogIn Ain(P0_13);
+DigitalOut StopSignal(P0_20);
+DigitalOut Light(P0_16);
+
+int main() {
+ bluetooth.baud(115200);
+ int32_t i, j;
+ int32_t count=10000;
+ uint8_t buf='5';
+ char moji[64];
+ int32_t onsei=0;
+
+ char* LightOn[64] = { "raitoon.\r", "tentou.\r" } ;
+ char* LightOff[64] = { "raito/ohu.\r", "syoutou.\r" } ;
+ char* Forward[64] = { "susume.\r", "<ALPHA VAL=start>.\r" } ;
+ char* Stop[64] = { "tomare.\r", "<ALPHA VAL=stop>.\r" } ;
+ char* Backward[64] = { "sagare.\r", "bakku.\r" } ;
+ char* LeftTurn[64] = { "<ALPHA VAL=left>.\r", "sasetu.\r" } ;
+ char* RightTurn[64] = { "raito.\r", "usetu.\r" } ;
+ char* LeftBackward[64] = { "hidariusiro.\r", "usiro /hidari.\r" };
+ char* RightBackward[64] = { "migiusiro.\r", "usiro /migi.\r" };
+ char* LeftOblique[64] = { "naname/hidari.\r","hidari/naname.\r" };
+ char* RightOblique[64] = { "naname/migi.\r","migi/naname.\r" };
+ char* Acceleration[64] = { "hayaku.\r","supi-do/appu.\r" };
+ char* Deceleration[64] = { "osoku.\r","supi-do/daun.\r" };
+
+ float speed=0;
+ float Rdata=1;
+ float Ldata=1;
+ float threshold=0.2;
+ S40kHz.period_us(25); // 40kHz
+ S40kHz.pulsewidth_us(12.5);
+ Light=0;
+ j = count;
+
+ talk.Synthe("sumahode,ennbextudo'ka-o/ugoka'_su+koto'ga/dekima'_su.\r");
+ talk.Synthe("ta'xtu_chi+shite/ugoka'_shite+mi'te+kudasa'i.\r");
+ talk.Synthe("mata shabe'ttemo/je'_sucha-demo/ugokasema'_su.\r");
+ talk.Synthe("ma'zuwa buru-twu'-suni/setsuzo_kushimasho'-.\r");
+
+ while (1) {
+ if(bluetooth.readable()) {
+ i=0;
+ do {
+ buf=bluetooth.getc();
+ moji[i++]=buf;
+ } while(buf!='\0');
+ buf=moji[0];
+ }
+ for(int i = 0; i <= 1; i++) {
+ if (strcmp(LeftBackward[i],moji) == 0) buf='1';
+ if (strcmp(Backward[i],moji) == 0) buf='2';
+ if (strcmp(RightBackward[i],moji) == 0) buf='3';
+ if (strcmp(LeftTurn[i],moji) == 0) buf='4';
+ if (strcmp(Stop[i],moji) == 0) buf='5';
+ if (strcmp(RightTurn[i],moji) == 0) buf='6';
+ if (strcmp(LeftOblique[i],moji) == 0) buf='7';
+ if (strcmp(Forward[i],moji) == 0) buf='8';
+ if (strcmp(RightOblique[i],moji) == 0) buf='9';
+ if (strcmp(LightOn[i],moji) == 0) buf='+';
+ if (strcmp(LightOff[i],moji) == 0) buf='-';
+ if (strcmp(Acceleration[i],moji) == 0) buf='*';
+ if (strcmp(Deceleration[i],moji) == 0) buf='0';
+ }
+
+ if(Ain > threshold) {
+ StopSignal=0; // Red LED ON
+ if((buf>='4')){
+ buf='5';
+ IN1=1;IN2=1;
+ if(onsei==1) {
+ talk.Synthe("zennpo-ni sho-gai'butsuo/hakkennshima'_shita.\r");
+ talk.Synthe("ka'i_hi+shitekudasa'i.\r");
+ onsei=0;
+ }
+ }
+ } else {
+ StopSignal=1; // Red LED OFF
+ onsei=1;
+ }
+ switch (buf){
+ case '1': // Left Backward
+ IN1=1;IN2=0;
+ Rdata=0.4+speed; Ldata=0.6+speed;
+ Rin=Rdata; Lin=Ldata;
+ talk.Synthe("hidariusiro.\r");
+ break;
+ case '2': // Backward
+ IN1=1;IN2=0;
+ Rdata=0.5+speed; Ldata=0.5+speed;
+ Rin=Rdata; Lin=Ldata;
+ talk.Synthe("ushironi/sagarima'_su.\r");
+ break;
+ case '3': // Right Backward
+ IN1=1;IN2=0;
+ Rdata=0.6+speed; Ldata=0.4+speed;
+ Rin=Rdata; Lin=Ldata;
+ talk.Synthe("migiusiro.\r");
+ break;
+ case '4': // Left Turn
+ IN1=0;IN2=1;
+ Rdata=0.3+speed; Ldata=0.8+speed;
+ Rin=Rdata; Lin=Ldata;
+ talk.Synthe("sasetsu.\r");
+ break;
+ case '5': // Stop
+ IN1=1;IN2=1;
+ break;
+ case '6': // Right Turn
+ IN1=0;IN2=1;
+ Rdata=0.8+speed; Ldata=0.3+speed;
+ Rin=Rdata; Lin=Ldata;
+ talk.Synthe("usetsu.\r");
+ break;
+ case '7': // Left Oblique
+ IN1=0;IN2=1;
+ Rdata=0.4+speed; Ldata=0.6+speed;
+ Rin=Rdata; Lin=Ldata;
+ talk.Synthe("hidarinana'me.\r");
+ break;
+ case '8': // Forward
+ IN1=0;IN2=1;
+ Rdata=0.5+speed; Ldata=0.5+speed;
+ Rin=Rdata; Lin=Ldata;
+ talk.Synthe("zennshinn.\r");
+ break;
+ case '9': // Right Oblique
+ IN1=0;IN2=1;
+ Rdata=0.6+speed; Ldata=0.4+speed;
+ Rin=Rdata; Lin=Ldata;
+ talk.Synthe("miginana'me.\r");
+ break;
+ case '+': //Light On
+ Light=1;
+ talk.Synthe("#J\r");
+ talk.Synthe("ra'itoo/tennto-shima'_su.\r");
+ break;
+ case '-': //Light Off
+ Light=0;
+ talk.Synthe("#J\r");
+ talk.Synthe("ra'itoo/keshima'_su.\r");
+ break;
+ case '0': // Deceleration
+ speed=speed+0.05;
+ Rdata=Rdata+speed; Ldata=Ldata+speed;
+ Rin=Rdata; Lin=Ldata;
+ talk.Synthe("gennsoku.\r");
+ break;
+ case '*': // Acceleration
+ speed=speed-0.05;
+ Rdata=Rdata+speed; Ldata=Ldata+speed;
+ Rin=Rdata; Lin=Ldata;
+ talk.Synthe("kasoku.\r");
+ break;
+ default:
+ j--;
+ if( j == 0) {
+ talk.Synthe(" .\r");
+ j = count;
+ }
+ break;
+ }
+ buf='X';
+ moji[0]=0;
+ }
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Mon Jun 01 02:03:38 2015 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/433970e64889 \ No newline at end of file