Naoya Muramatsu
ロボカップのブロック大会2014で使用したプログラムです。 ロボットには、mbedを2台使ってI2C通信しています。 これはSlave側です。 ※独自規格を使用しています。
Dependencies: ACM1602NI Ping mbed-rtos mbed
Revision 0:b9cd980ee324, committed 2014-03-10
- Comitter:
- denden
- Date:
- Mon Mar 10 07:58:40 2014 +0000
- Commit message:
- ????????????2014????????????? ???????mbed?2????I2C???????? ???Slave????; ; ??????????????
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/ACM1602NI.lib Mon Mar 10 07:58:40 2014 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/takuo/code/ACM1602NI/#728c03b52b79
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/GlobalVariable.h Mon Mar 10 07:58:40 2014 +0000
@@ -0,0 +1,24 @@
+
+
+/*---- I2CSlave.h ----*/
+ int val = 0;
+
+ char Mode[1] = {0}; // ロータリースイッチの状態
+
+ char lcd[18]; // LCD送信用データ変数
+
+ char Ping_data[4]; // PINGの送信用データ変数
+
+ char IR_data[4]; // IR受信用データ変数
+ char Angle_char[] = {0, 0, 100, 0}; // {進行方向１, 進行方向２, スピード, キッカー}
+
+ char MBED_data[1]; // mbed_masterからの受信用データ変数
+ int Order = 0; // 命令受信用
+
+ bool Flag = 0;
+
+
+
+
+/*---- PING.h ----*/
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/I2C_Slave.h Mon Mar 10 07:58:40 2014 +0000
@@ -0,0 +1,630 @@
+// Slave側プログラム
+
+
+
+/*---- FWの進行方向の処理 -----*/
+// IRのデータによるAngleの処理
+ int FW_000(void) {return 001;}
+ int FW_001(void) {return 000;}
+ int FW_002(void) {return 90;}
+ int FW_003(void) {return 045;}
+ int FW_004(void) {return 135;}
+ int FW_005(void) {return 90;}
+ int FW_006(void) {return 113;}
+ int FW_007(void) {return 90;}
+ int FW_008(void) {return 180;}
+ int FW_009(void) {return 001;}
+ int FW_010(void) {return 135;}
+ int FW_011(void) {return 001;}
+ int FW_012(void) {return 158;}
+ int FW_013(void) {return 001;}
+ int FW_014(void) {return 135;}
+ int FW_015(void) {return 113;}
+ int FW_016(void) {return 90;}
+ int FW_017(void) {return 001;}
+ int FW_018(void) {return 001;}
+ int FW_019(void) {return 001;}
+ int FW_020(void) {return 001;}
+ int FW_021(void) {return 001;}
+ int FW_022(void) {return 001;}
+ int FW_023(void) {return 001;}
+ int FW_024(void) {return 225;}
+ int FW_025(void) {return 001;}
+ int FW_026(void) {return 001;}
+ int FW_027(void) {return 001;}
+ int FW_028(void) {return 195;}
+ int FW_029(void) {return 001;}
+ int FW_030(void) {return 203;}
+ int FW_031(void) {return 180;}
+ int FW_032(void) {return 180;}
+ int FW_033(void) {return 001;}
+ int FW_034(void) {return 001;}
+ int FW_035(void) {return 001;}
+ int FW_036(void) {return 001;}
+ int FW_037(void) {return 001;}
+ int FW_038(void) {return 001;}
+ int FW_039(void) {return 001;}
+ int FW_040(void) {return 001;}
+ int FW_041(void) {return 001;}
+ int FW_042(void) {return 001;}
+ int FW_043(void) {return 001;}
+ int FW_044(void) {return 001;}
+ int FW_045(void) {return 001;}
+ int FW_046(void) {return 001;}
+ int FW_047(void) {return 001;}
+ int FW_048(void) {return 135;}
+ int FW_049(void) {return 001;}
+ int FW_050(void) {return 001;}
+ int FW_051(void) {return 001;}
+ int FW_052(void) {return 001;}
+ int FW_053(void) {return 001;}
+ int FW_054(void) {return 001;}
+ int FW_055(void) {return 001;}
+ int FW_056(void) {return 90;}
+ int FW_057(void) {return 001;}
+ int FW_058(void) {return 001;}
+ int FW_059(void) {return 001;}
+ int FW_060(void) {return 248;}
+ int FW_061(void) {return 001;}
+ int FW_062(void) {return 225;}
+ int FW_063(void) {return 203;}
+ int FW_064(void) {return 225;}
+ int FW_065(void) {return 001;}
+ int FW_066(void) {return 001;}
+ int FW_067(void) {return 001;}
+ int FW_068(void) {return 001;}
+ int FW_069(void) {return 001;}
+ int FW_070(void) {return 001;}
+ int FW_071(void) {return 001;}
+ int FW_072(void) {return 001;}
+ int FW_073(void) {return 001;}
+ int FW_074(void) {return 001;}
+ int FW_075(void) {return 001;}
+ int FW_076(void) {return 001;}
+ int FW_077(void) {return 001;}
+ int FW_078(void) {return 001;}
+ int FW_079(void) {return 001;}
+ int FW_080(void) {return 001;}
+ int FW_081(void) {return 001;}
+ int FW_082(void) {return 001;}
+ int FW_083(void) {return 001;}
+ int FW_084(void) {return 001;}
+ int FW_085(void) {return 001;}
+ int FW_086(void) {return 001;}
+ int FW_087(void) {return 001;}
+ int FW_088(void) {return 001;}
+ int FW_089(void) {return 001;}
+ int FW_090(void) {return 001;}
+ int FW_091(void) {return 001;}
+ int FW_092(void) {return 001;}
+ int FW_093(void) {return 001;}
+ int FW_094(void) {return 001;}
+ int FW_095(void) {return 001;}
+ int FW_096(void) {return 203;}
+ int FW_097(void) {return 001;}
+ int FW_098(void) {return 001;}
+ int FW_099(void) {return 001;}
+ int FW_100(void) {return 001;}
+ int FW_101(void) {return 001;}
+ int FW_102(void) {return 001;}
+ int FW_103(void) {return 001;}
+ int FW_104(void) {return 001;}
+ int FW_105(void) {return 001;}
+ int FW_106(void) {return 001;}
+ int FW_107(void) {return 001;}
+ int FW_108(void) {return 001;}
+ int FW_109(void) {return 001;}
+ int FW_110(void) {return 001;}
+ int FW_111(void) {return 001;}
+ int FW_112(void) {return 135;}
+ int FW_113(void) {return 001;}
+ int FW_114(void) {return 001;}
+ int FW_115(void) {return 001;}
+ int FW_116(void) {return 001;}
+ int FW_117(void) {return 001;}
+ int FW_118(void) {return 001;}
+ int FW_119(void) {return 001;}
+ int FW_120(void) {return 112;}
+ int FW_121(void) {return 001;}
+ int FW_122(void) {return 001;}
+ int FW_123(void) {return 001;}
+ int FW_124(void) {return 90;}
+ int FW_125(void) {return 001;}
+ int FW_126(void) {return 248;}
+ int FW_127(void) {return 225;}
+ int FW_128(void) {return 270;}
+ int FW_129(void) {return 310;}
+ int FW_130(void) {return 001;}
+ int FW_131(void) {return 000;}
+ int FW_132(void) {return 001;}
+ int FW_133(void) {return 001;}
+ int FW_134(void) {return 001;}
+ int FW_135(void) {return 045;}
+ int FW_136(void) {return 001;}
+ int FW_137(void) {return 001;}
+ int FW_138(void) {return 001;}
+ int FW_139(void) {return 001;}
+ int FW_140(void) {return 001;}
+ int FW_141(void) {return 001;}
+ int FW_142(void) {return 001;}
+ int FW_143(void) {return 135;}
+ int FW_144(void) {return 001;}
+ int FW_145(void) {return 001;}
+ int FW_146(void) {return 001;}
+ int FW_147(void) {return 001;}
+ int FW_148(void) {return 001;}
+ int FW_149(void) {return 001;}
+ int FW_150(void) {return 001;}
+ int FW_151(void) {return 001;}
+ int FW_152(void) {return 001;}
+ int FW_153(void) {return 001;}
+ int FW_154(void) {return 001;}
+ int FW_155(void) {return 001;}
+ int FW_156(void) {return 001;}
+ int FW_157(void) {return 001;}
+ int FW_158(void) {return 001;}
+ int FW_159(void) {return 158;}
+ int FW_160(void) {return 001;}
+ int FW_161(void) {return 001;}
+ int FW_162(void) {return 001;}
+ int FW_163(void) {return 001;}
+ int FW_164(void) {return 001;}
+ int FW_165(void) {return 001;}
+ int FW_166(void) {return 001;}
+ int FW_167(void) {return 001;}
+ int FW_168(void) {return 001;}
+ int FW_169(void) {return 001;}
+ int FW_170(void) {return 001;}
+ int FW_171(void) {return 001;}
+ int FW_172(void) {return 001;}
+ int FW_173(void) {return 001;}
+ int FW_174(void) {return 001;}
+ int FW_175(void) {return 001;}
+ int FW_176(void) {return 001;}
+ int FW_177(void) {return 001;}
+ int FW_178(void) {return 001;}
+ int FW_179(void) {return 001;}
+ int FW_180(void) {return 001;}
+ int FW_181(void) {return 001;}
+ int FW_182(void) {return 001;}
+ int FW_183(void) {return 001;}
+ int FW_184(void) {return 001;}
+ int FW_185(void) {return 001;}
+ int FW_186(void) {return 001;}
+ int FW_187(void) {return 001;}
+ int FW_188(void) {return 001;}
+ int FW_189(void) {return 001;}
+ int FW_190(void) {return 001;}
+ int FW_191(void) {return 180;}
+ int FW_192(void) {return 247;}
+ int FW_193(void) {return 001;}
+ int FW_194(void) {return 001;}
+ int FW_195(void) {return 001;}
+ int FW_196(void) {return 001;}
+ int FW_197(void) {return 001;}
+ int FW_198(void) {return 001;}
+ int FW_199(void) {return 000;}
+ int FW_200(void) {return 001;}
+ int FW_201(void) {return 001;}
+ int FW_202(void) {return 001;}
+ int FW_203(void) {return 001;}
+ int FW_204(void) {return 001;}
+ int FW_205(void) {return 001;}
+ int FW_206(void) {return 001;}
+ int FW_207(void) {return 001;}
+ int FW_208(void) {return 001;}
+ int FW_209(void) {return 001;}
+ int FW_210(void) {return 001;}
+ int FW_211(void) {return 001;}
+ int FW_212(void) {return 001;}
+ int FW_213(void) {return 001;}
+ int FW_214(void) {return 001;}
+ int FW_215(void) {return 001;}
+ int FW_216(void) {return 001;}
+ int FW_217(void) {return 001;}
+ int FW_218(void) {return 001;}
+ int FW_219(void) {return 001;}
+ int FW_220(void) {return 001;}
+ int FW_221(void) {return 001;}
+ int FW_222(void) {return 001;}
+ int FW_223(void) {return 001;}
+ int FW_224(void) {return 180;}
+ int FW_225(void) {return 001;}
+ int FW_226(void) {return 001;}
+ int FW_227(void) {return 001;}
+ int FW_228(void) {return 001;}
+ int FW_229(void) {return 001;}
+ int FW_230(void) {return 001;}
+ int FW_231(void) {return 001;}
+ int FW_232(void) {return 001;}
+ int FW_233(void) {return 001;}
+ int FW_234(void) {return 001;}
+ int FW_235(void) {return 001;}
+ int FW_236(void) {return 001;}
+ int FW_237(void) {return 001;}
+ int FW_238(void) {return 001;}
+ int FW_239(void) {return 000;}
+ int FW_240(void) {return 158;}
+ int FW_241(void) {return 001;}
+ int FW_242(void) {return 001;}
+ int FW_243(void) {return 001;}
+ int FW_244(void) {return 001;}
+ int FW_245(void) {return 001;}
+ int FW_246(void) {return 001;}
+ int FW_247(void) {return 001;}
+ int FW_248(void) {return 135;}
+ int FW_249(void) {return 001;}
+ int FW_250(void) {return 001;}
+ int FW_251(void) {return 001;}
+ int FW_252(void) {return 202;}
+ int FW_253(void) {return 001;}
+ int FW_254(void) {return 90;}
+ int FW_255(void) {return 001;}
+// IRのデータからAngleの分岐
+int (*FW_AngApi[])(void) = {FW_001, FW_001, FW_002, FW_003, FW_004, FW_005, FW_006, FW_007, FW_008, FW_009, FW_010, FW_011, FW_012, FW_013, FW_014, FW_015, FW_016, FW_017, FW_018, FW_019, FW_020, FW_021, FW_022, FW_023, FW_024, FW_025, FW_026, FW_027, FW_028, FW_029, FW_030, FW_031, FW_032, FW_033, FW_034, FW_035, FW_036, FW_037, FW_038, FW_039, FW_040, FW_041, FW_042, FW_043, FW_044, FW_045, FW_046, FW_047, FW_048, FW_049, FW_050, FW_051, FW_052, FW_053, FW_054, FW_055, FW_056, FW_057, FW_058, FW_059, FW_060, FW_061, FW_062, FW_063, FW_064, FW_065, FW_066, FW_067, FW_068, FW_069, FW_070, FW_071, FW_072, FW_073, FW_074, FW_075, FW_076, FW_077, FW_078, FW_079, FW_080, FW_081, FW_082, FW_083, FW_084, FW_085, FW_086, FW_087, FW_088, FW_089, FW_090, FW_091, FW_092, FW_093, FW_094, FW_095, FW_096, FW_097, FW_098, FW_099, FW_100, FW_101, FW_102, FW_103, FW_104, FW_105, FW_106, FW_107, FW_108, FW_109, FW_110, FW_111, FW_112, FW_113, FW_114, FW_115, FW_116, FW_117, FW_118, FW_119, FW_120, FW_121, FW_122, FW_123, FW_124, FW_125, FW_126, FW_127, FW_128, FW_129, FW_130, FW_131, FW_132, FW_133, FW_134, FW_135, FW_136, FW_137, FW_138, FW_139, FW_140, FW_141, FW_142, FW_143, FW_144, FW_145, FW_146, FW_147, FW_148, FW_149, FW_150, FW_151, FW_152, FW_153, FW_154, FW_155, FW_156, FW_157, FW_158, FW_159, FW_160, FW_161, FW_162, FW_163, FW_164, FW_165, FW_166, FW_167, FW_168, FW_169, FW_170, FW_171, FW_172, FW_173, FW_174, FW_175, FW_176, FW_177, FW_178, FW_179, FW_180, FW_181, FW_182, FW_183, FW_184, FW_185, FW_186, FW_187, FW_188, FW_189, FW_190, FW_191, FW_192, FW_193, FW_194, FW_195, FW_196, FW_197, FW_198, FW_199, FW_200, FW_201, FW_202, FW_203, FW_204, FW_205, FW_206, FW_207, FW_208, FW_209, FW_210, FW_211, FW_212, FW_213, FW_214, FW_215, FW_216, FW_217, FW_218, FW_219, FW_220, FW_221, FW_222, FW_223, FW_224, FW_225, FW_226, FW_227, FW_228, FW_229, FW_230, FW_231, FW_232, FW_233, FW_234, FW_235, FW_236, FW_237, FW_238, FW_239, FW_240, FW_241, FW_242, FW_243, FW_244, FW_245, FW_246, FW_247, FW_248, FW_249, FW_250, FW_251, FW_252, FW_253, FW_254, FW_255};
+
+
+/*---- DFの進行方向の処理 -----*/
+// IRのデータによるAngleの処理
+ int DF_000(void) {return 001;}
+ int DF_001(void) {return 001;}
+ int DF_002(void) {return 90;}
+ int DF_003(void) {return 023;}
+ int DF_004(void) {return 90;}
+ int DF_005(void) {return 001;}
+ int DF_006(void) {return 90;}
+ int DF_007(void) {return 045;}
+ int DF_008(void) {return 180;}
+ int DF_009(void) {return 001;}
+ int DF_010(void) {return 001;}
+ int DF_011(void) {return 001;}
+ int DF_012(void) {return 180;}
+ int DF_013(void) {return 001;}
+ int DF_014(void) {return 135;}
+ int DF_015(void) {return 90;}
+ int DF_016(void) {return 90;}
+ int DF_017(void) {return 001;}
+ int DF_018(void) {return 001;}
+ int DF_019(void) {return 001;}
+ int DF_020(void) {return 001;}
+ int DF_021(void) {return 001;}
+ int DF_022(void) {return 001;}
+ int DF_023(void) {return 001;}
+ int DF_024(void) {return 203;}
+ int DF_025(void) {return 001;}
+ int DF_026(void) {return 001;}
+ int DF_027(void) {return 001;}
+ int DF_028(void) {return 180;}
+ int DF_029(void) {return 001;}
+ int DF_030(void) {return 157;}
+ int DF_031(void) {return 90;}
+ int DF_032(void) {return 180;}
+ int DF_033(void) {return 001;}
+ int DF_034(void) {return 001;}
+ int DF_035(void) {return 001;}
+ int DF_036(void) {return 001;}
+ int DF_037(void) {return 001;}
+ int DF_038(void) {return 001;}
+ int DF_039(void) {return 001;}
+ int DF_040(void) {return 001;}
+ int DF_041(void) {return 001;}
+ int DF_042(void) {return 001;}
+ int DF_043(void) {return 001;}
+ int DF_044(void) {return 001;}
+ int DF_045(void) {return 001;}
+ int DF_046(void) {return 001;}
+ int DF_047(void) {return 001;}
+ int DF_048(void) {return 157;}
+ int DF_049(void) {return 001;}
+ int DF_050(void) {return 001;}
+ int DF_051(void) {return 001;}
+ int DF_052(void) {return 001;}
+ int DF_053(void) {return 001;}
+ int DF_054(void) {return 001;}
+ int DF_055(void) {return 001;}
+ int DF_056(void) {return 90;}
+ int DF_057(void) {return 001;}
+ int DF_058(void) {return 001;}
+ int DF_059(void) {return 001;}
+ int DF_060(void) {return 225;}
+ int DF_061(void) {return 001;}
+ int DF_062(void) {return 180;}
+ int DF_063(void) {return 180;}
+ int DF_064(void) {return 180;}
+ int DF_065(void) {return 001;}
+ int DF_066(void) {return 001;}
+ int DF_067(void) {return 001;}
+ int DF_068(void) {return 001;}
+ int DF_069(void) {return 001;}
+ int DF_070(void) {return 001;}
+ int DF_071(void) {return 001;}
+ int DF_072(void) {return 001;}
+ int DF_073(void) {return 001;}
+ int DF_074(void) {return 001;}
+ int DF_075(void) {return 001;}
+ int DF_076(void) {return 001;}
+ int DF_077(void) {return 001;}
+ int DF_078(void) {return 001;}
+ int DF_079(void) {return 001;}
+ int DF_080(void) {return 001;}
+ int DF_081(void) {return 001;}
+ int DF_082(void) {return 001;}
+ int DF_083(void) {return 001;}
+ int DF_084(void) {return 001;}
+ int DF_085(void) {return 001;}
+ int DF_086(void) {return 001;}
+ int DF_087(void) {return 001;}
+ int DF_088(void) {return 001;}
+ int DF_089(void) {return 001;}
+ int DF_090(void) {return 001;}
+ int DF_091(void) {return 001;}
+ int DF_092(void) {return 001;}
+ int DF_093(void) {return 001;}
+ int DF_094(void) {return 001;}
+ int DF_095(void) {return 001;}
+ int DF_096(void) {return 180;}
+ int DF_097(void) {return 001;}
+ int DF_098(void) {return 001;}
+ int DF_099(void) {return 001;}
+ int DF_100(void) {return 001;}
+ int DF_101(void) {return 001;}
+ int DF_102(void) {return 001;}
+ int DF_103(void) {return 001;}
+ int DF_104(void) {return 001;}
+ int DF_105(void) {return 001;}
+ int DF_106(void) {return 001;}
+ int DF_107(void) {return 001;}
+ int DF_108(void) {return 001;}
+ int DF_109(void) {return 001;}
+ int DF_110(void) {return 001;}
+ int DF_111(void) {return 001;}
+ int DF_112(void) {return 135;}
+ int DF_113(void) {return 001;}
+ int DF_114(void) {return 001;}
+ int DF_115(void) {return 001;}
+ int DF_116(void) {return 001;}
+ int DF_117(void) {return 001;}
+ int DF_118(void) {return 001;}
+ int DF_119(void) {return 001;}
+ int DF_120(void) {return 067;}
+ int DF_121(void) {return 001;}
+ int DF_122(void) {return 001;}
+ int DF_123(void) {return 001;}
+ int DF_124(void) {return 90;}
+ int DF_125(void) {return 001;}
+ int DF_126(void) {return 203;}
+ int DF_127(void) {return 180;}
+ int DF_128(void) {return 270;}
+ int DF_129(void) {return 315;}
+ int DF_130(void) {return 001;}
+ int DF_131(void) {return 000;}
+ int DF_132(void) {return 001;}
+ int DF_133(void) {return 001;}
+ int DF_134(void) {return 001;}
+ int DF_135(void) {return 023;}
+ int DF_136(void) {return 001;}
+ int DF_137(void) {return 001;}
+ int DF_138(void) {return 001;}
+ int DF_139(void) {return 001;}
+ int DF_140(void) {return 001;}
+ int DF_141(void) {return 001;}
+ int DF_142(void) {return 001;}
+ int DF_143(void) {return 045;}
+ int DF_144(void) {return 001;}
+ int DF_145(void) {return 001;}
+ int DF_146(void) {return 001;}
+ int DF_147(void) {return 001;}
+ int DF_148(void) {return 001;}
+ int DF_149(void) {return 001;}
+ int DF_150(void) {return 001;}
+ int DF_151(void) {return 001;}
+ int DF_152(void) {return 001;}
+ int DF_153(void) {return 001;}
+ int DF_154(void) {return 001;}
+ int DF_155(void) {return 001;}
+ int DF_156(void) {return 001;}
+ int DF_157(void) {return 001;}
+ int DF_158(void) {return 001;}
+ int DF_159(void) {return 067;}
+ int DF_160(void) {return 001;}
+ int DF_161(void) {return 001;}
+ int DF_162(void) {return 001;}
+ int DF_163(void) {return 001;}
+ int DF_164(void) {return 001;}
+ int DF_165(void) {return 001;}
+ int DF_166(void) {return 001;}
+ int DF_167(void) {return 001;}
+ int DF_168(void) {return 001;}
+ int DF_169(void) {return 001;}
+ int DF_170(void) {return 001;}
+ int DF_171(void) {return 001;}
+ int DF_172(void) {return 001;}
+ int DF_173(void) {return 001;}
+ int DF_174(void) {return 001;}
+ int DF_175(void) {return 001;}
+ int DF_176(void) {return 001;}
+ int DF_177(void) {return 001;}
+ int DF_178(void) {return 001;}
+ int DF_179(void) {return 001;}
+ int DF_180(void) {return 001;}
+ int DF_181(void) {return 001;}
+ int DF_182(void) {return 001;}
+ int DF_183(void) {return 001;}
+ int DF_184(void) {return 001;}
+ int DF_185(void) {return 001;}
+ int DF_186(void) {return 001;}
+ int DF_187(void) {return 001;}
+ int DF_188(void) {return 001;}
+ int DF_189(void) {return 001;}
+ int DF_190(void) {return 001;}
+ int DF_191(void) {return 90;}
+ int DF_192(void) {return 270;}
+ int DF_193(void) {return 315;}
+ int DF_194(void) {return 001;}
+ int DF_195(void) {return 337;}
+ int DF_196(void) {return 001;}
+ int DF_197(void) {return 001;}
+ int DF_198(void) {return 001;}
+ int DF_199(void) {return 000;}
+ int DF_200(void) {return 001;}
+ int DF_201(void) {return 001;}
+ int DF_202(void) {return 001;}
+ int DF_203(void) {return 001;}
+ int DF_204(void) {return 001;}
+ int DF_205(void) {return 001;}
+ int DF_206(void) {return 001;}
+ int DF_207(void) {return 045;}
+ int DF_208(void) {return 001;}
+ int DF_209(void) {return 001;}
+ int DF_210(void) {return 001;}
+ int DF_211(void) {return 001;}
+ int DF_212(void) {return 001;}
+ int DF_213(void) {return 001;}
+ int DF_214(void) {return 001;}
+ int DF_215(void) {return 001;}
+ int DF_216(void) {return 001;}
+ int DF_217(void) {return 001;}
+ int DF_218(void) {return 001;}
+ int DF_219(void) {return 001;}
+ int DF_220(void) {return 001;}
+ int DF_221(void) {return 001;}
+ int DF_222(void) {return 001;}
+ int DF_223(void) {return 001;}
+ int DF_224(void) {return 225;}
+ int DF_225(void) {return 270;}
+ int DF_226(void) {return 001;}
+ int DF_227(void) {return 315;}
+ int DF_228(void) {return 001;}
+ int DF_229(void) {return 001;}
+ int DF_230(void) {return 001;}
+ int DF_231(void) {return 337;}
+ int DF_232(void) {return 001;}
+ int DF_233(void) {return 001;}
+ int DF_234(void) {return 001;}
+ int DF_235(void) {return 001;}
+ int DF_236(void) {return 001;}
+ int DF_237(void) {return 001;}
+ int DF_238(void) {return 001;}
+ int DF_239(void) {return 000;}
+ int DF_240(void) {return 180;}
+ int DF_241(void) {return 001;}
+ int DF_242(void) {return 001;}
+ int DF_243(void) {return 001;}
+ int DF_244(void) {return 001;}
+ int DF_245(void) {return 001;}
+ int DF_246(void) {return 001;}
+ int DF_247(void) {return 001;}
+ int DF_248(void) {return 135;}
+ int DF_249(void) {return 001;}
+ int DF_250(void) {return 001;}
+ int DF_251(void) {return 001;}
+ int DF_252(void) {return 113;}
+ int DF_253(void) {return 001;}
+ int DF_254(void) {return 90;}
+ int DF_255(void) {return 001;}
+// IRのデータからAngleの分岐
+int (*DF_AngApi[])(void) = {DF_000, DF_001, DF_002, DF_003, DF_004, DF_005, DF_006, DF_007, DF_008, DF_009, DF_010, DF_011, DF_012, DF_013, DF_014, DF_015, DF_016, DF_017, DF_018, DF_019, DF_020, DF_021, DF_022, DF_023, DF_024, DF_025, DF_026, DF_027, DF_028, DF_029, DF_030, DF_031, DF_032, DF_033, DF_034, DF_035, DF_036, DF_037, DF_038, DF_039, DF_040, DF_041, DF_042, DF_043, DF_044, DF_045, DF_046, DF_047, DF_048, DF_049, DF_050, DF_051, DF_052, DF_053, DF_054, DF_055, DF_056, DF_057, DF_058, DF_059, DF_060, DF_061, DF_062, DF_063, DF_064, DF_065, DF_066, DF_067, DF_068, DF_069, DF_070, DF_071, DF_072, DF_073, DF_074, DF_075, DF_076, DF_077, DF_078, DF_079, DF_080, DF_081, DF_082, DF_083, DF_084, DF_085, DF_086, DF_087, DF_088, DF_089, DF_090, DF_091, DF_092, DF_093, DF_094, DF_095, DF_096, DF_097, DF_098, DF_099, DF_100, DF_101, DF_102, DF_103, DF_104, DF_105, DF_106, DF_107, DF_108, DF_109, DF_110, DF_111, DF_112, DF_113, DF_114, DF_115, DF_116, DF_117, DF_118, DF_119, DF_120, DF_121, DF_122, DF_123, DF_124, DF_125, DF_126, DF_127, DF_128, DF_129, DF_130, DF_131, DF_132, DF_133, DF_134, DF_135, DF_136, DF_137, DF_138, DF_139, DF_140, DF_141, DF_142, DF_143, DF_144, DF_145, DF_146, DF_147, DF_148, DF_149, DF_150, DF_151, DF_152, DF_153, DF_154, DF_155, DF_156, DF_157, DF_158, DF_159, DF_160, DF_161, DF_162, DF_163, DF_164, DF_165, DF_166, DF_167, DF_168, DF_169, DF_170, DF_171, DF_172, DF_173, DF_174, DF_175, DF_176, DF_177, DF_178, DF_179, DF_180, DF_181, DF_182, DF_183, DF_184, DF_185, DF_186, DF_187, DF_188, DF_189, DF_190, DF_191, DF_192, DF_193, DF_194, DF_195, DF_196, DF_197, DF_198, DF_199, DF_200, DF_201, DF_202, DF_203, DF_204, DF_205, DF_206, DF_207, DF_208, DF_209, DF_210, DF_211, DF_212, DF_213, DF_214, DF_215, DF_216, DF_217, DF_218, DF_219, DF_220, DF_221, DF_222, DF_223, DF_224, DF_225, DF_226, DF_227, DF_228, DF_229, DF_230, DF_231, DF_232, DF_233, DF_234, DF_235, DF_236, DF_237, DF_238, DF_239, DF_240, DF_241, DF_242, DF_243, DF_244, DF_245, DF_246, DF_247, DF_248, DF_249, DF_250, DF_251, DF_252, DF_253, DF_254, DF_255};
+
+
+
+
+
+/*---- mbed_masterからのデータ送信要求の処理 ----*/
+// i=0のとき PING
+ void MBED_PING(void) {
+ PING_slots.wait();
+ val = I2C_master.write(Ping_data, 4);
+ PING_slots.release();
+ if(!val) led2 = 1;
+ }
+
+// i=1のとき IR
+ void MBED_IR(void) {
+ Angle_char[3] = (BallCheck) ? 1 : 0; // ボールの保持を確認
+ val = I2C_master.write(Angle_char, 4); // 0,1:進行方向 2:スピード 3:ボールの保持
+ if(!val) led2 = 1;
+ }
+
+
+// i=2のとき LCD
+ void MBED_LCD(void) {
+ val = I2C_master.write(lcd, strlen(lcd)+1);
+ if(!val) led2 = 1;
+ }
+
+// i=3のとき ロータリースイッチ
+ void MBED_ROTARY(void) {
+ val = I2C_master.write(Mode, 1);
+ if(!val) {
+ led2 = 1;
+ Flag = 1;
+ }
+ }
+
+void (*MBED_ORDER[])(void) = {MBED_PING, MBED_IR, MBED_LCD, MBED_ROTARY};
+
+
+
+
+
+// mbedMasterとのI2C通信用プログラム
+void MBED_MASTER(void) {
+ int i = I2C_master.receive();
+ int j = I2C_avr.receive();
+
+ /* mbed_masterとの通信 */
+ switch (i) {
+ case I2CSlave::ReadAddressed: // データ送信命令時の動作
+ (*MBED_ORDER[Order])();
+ break;
+ case I2CSlave::WriteAddressed: // 命令受信用の動作
+ val = I2C_master.read(MBED_data, 1);
+ if(!val) led1 = 1;
+ Order = MBED_data[0];
+ break;
+ // 基本的に使わない処理
+ case I2CSlave::WriteGeneral: // 念のため一斉通信用の処理
+ break;
+ default:
+ break;
+ }
+
+ /* avrとの通信 */
+ switch (j) {
+ case I2CSlave::WriteAddressed:
+ val = I2C_avr.read(IR_data, 2); // 0:near 1:long
+ if(!val) led3 = 1;
+ switch(Mode[0]){
+ case 0: int_char((*FW_AngApi[IR_data[0]])()); break;
+ case 1: int_char((*DF_AngApi[IR_data[0]])()); break;
+ default : break;
+ }
+ break;
+ // 基本的に使わない処理
+ case I2CSlave::ReadAddressed:
+ break;
+ case I2CSlave::WriteGeneral:
+ break;
+ }
+}
+
+
+
+
+// int -> char
+void int_char(int x) {
+ if (x>255) { // char一つに収まらないとき
+ Angle_char[0] = 255;
+ Angle_char[1] = x - 255;
+ } else { // char一つに収まるとき
+ Angle_char[0] = x;
+ Angle_char[1] = 0;
+ }
+}
+
+
+
+
+
+
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/ModeChange.h Mon Mar 10 07:58:40 2014 +0000
@@ -0,0 +1,25 @@
+void Mode(void);
+
+void Mode(void) {
+ int mode = SW1 + SW2*2 + SW3*4 + SW4*8;
+
+ swmode:
+ switch(mode) {
+ case 0: FW(); break;
+ case 1: DF(); break;
+ case 2: IR(); break;
+ case 3: PING(); break;
+ case 4: ORIENTATION(); break;
+ case 5: KICKER(); break;
+ case 6: DRIBBLER(); break;
+ case 7: MOTER(); break;
+ case 8: LINE(); break;
+ case 9: break;
+ default: goto swmode; break;
+ }
+}
+
+
+
+
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/PinMode.h Mon Mar 10 07:58:40 2014 +0000 @@ -0,0 +1,25 @@ + + +DigitalOut led1(LED1); +DigitalOut led2(LED2); +DigitalOut led3(LED3); +DigitalOut led4(LED4); + +// ロータリースイッチ +DigitalIn Rotary1(p5); +DigitalIn Rotary2(p6); +DigitalIn Rotary3(p7); +DigitalIn Rotary4(p8); + +// ボール保持確認ピン +DigitalIn BallCheck(p29); + +// それぞれのマイコンとの通信 +I2CSlave I2C_avr(p28, p27); +I2CSlave I2C_master(p9, p10); + +/* 超音波距離センサのピンを設定 */ +Ping PING_F(p24); +Ping PING_R(p21); +Ping PING_B(p22); +Ping PING_L(p23);
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Ping.lib Mon Mar 10 07:58:40 2014 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/rosienej/code/Ping/#6996f66161d7
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Prototype.h Mon Mar 10 07:58:40 2014 +0000 @@ -0,0 +1,29 @@ + + + +/*---- RotarySW.h ----*/ + +void FW(void); +void DF(void); +void DEBUG_IR(void); +void DEBUG_PING(void); +void DEBUG_ANGLE(void); +void DEBUG_KICKER(void); +void DEBUG_MOTER(void); +void DEBUG_LINE(void); + + + + +/*---- I2C_Slave.h ----*/ +void MBED_PING(void); +void MBED_IR(void); +void MBED_LCD(void); +void MBED_ROTARY(void); +void MBED_MASTER(void); +void int_char(int x); + + + + +
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/RotarySW.h Mon Mar 10 07:58:40 2014 +0000
@@ -0,0 +1,139 @@
+// Slave
+
+
+
+// "0"攻撃モード
+void FW(void) {
+ MBED_MASTER();
+}
+
+// "1"防御モード
+void DF(void) {
+ MBED_MASTER();
+ int count = 0;
+ for(int i=0; i<8; i++) {
+ count += (IR_data[1] % 2)?1:0;
+ IR_data[1] = 2;
+ }
+ Angle_char[3] = 100.0 / 8.0 * count;
+}
+
+// "2"IRデバッグモード
+void DEBUG_IR(void) {
+ int debug_mode = I2C_master.receive();
+ int j = I2C_avr.receive();
+ switch(debug_mode) {
+ case I2CSlave::ReadAddressed: // データ送信要求
+ do val = I2C_master.write(IR_data, 2); while(val);
+ break;
+ // 基本的に使わない処理
+ case I2CSlave::WriteAddressed: // データ受信
+ break;
+ case I2CSlave::WriteGeneral:
+ break;
+ }
+ switch (j) {
+ case I2CSlave::WriteAddressed:
+ val = I2C_avr.read(IR_data, 2); // 0:near 1:long
+ if(!val) led4=1;
+ break;
+ // 基本的に使わない処理
+ case I2CSlave::ReadAddressed:
+ break;
+ case I2CSlave::WriteGeneral:
+ break;
+ }
+}
+
+
+// "3"PINGデバッグモード
+void DEBUG_PING(void) {
+ int debug_mode = I2C_master.receive();
+ switch(debug_mode) {
+ case I2CSlave::ReadAddressed: // データ送信要求
+ PING_slots.wait();
+ val = I2C_master.write(Ping_data, 4);
+ PING_slots.release();
+ break;
+ // 基本的に使わない処理
+ case I2CSlave::WriteAddressed: // データ受信
+ break;
+ case I2CSlave::WriteGeneral:
+ break;
+ }
+}
+
+// "4"ANGLEデバッグモード
+void DEBUG_ANGLE(void) {
+ int debug_mode = I2C_master.receive();
+ switch(debug_mode) {
+ // 基本的に使わない処理
+ case I2CSlave::ReadAddressed: // データ送信要求
+ break;
+ case I2CSlave::WriteAddressed: // データ受信
+ break;
+ case I2CSlave::WriteGeneral:
+ break;
+ }
+}
+
+// "5"KICKERデバッグモード
+void DEBUG_KICKER(void) {
+ int debug_mode = I2C_master.receive();
+ switch(debug_mode) {
+ // 基本的に使わない処理
+ case I2CSlave::ReadAddressed: // データ送信要求
+ break;
+ case I2CSlave::WriteAddressed: // データ受信
+ break;
+ case I2CSlave::WriteGeneral:
+ break;
+ }
+}
+
+// "6"MOTERデバッグモード
+void DEBUG_MOTER(void) {
+ int debug_mode = I2C_master.receive();
+ switch(debug_mode) {
+ // 基本的に使わない処理
+ case I2CSlave::ReadAddressed: // データ送信要求
+ break;
+ case I2CSlave::WriteAddressed: // データ受信
+ break;
+ case I2CSlave::WriteGeneral:
+ break;
+ }
+}
+
+// "7"LINEデバッグモード
+void DEBUG_LINE(void) {
+ int debug_mode = I2C_master.receive();
+ switch(debug_mode) {
+ // 基本的に使わない処理
+ case I2CSlave::ReadAddressed: // データ送信要求
+ break;
+ case I2CSlave::WriteAddressed: // データ受信
+ break;
+ case I2CSlave::WriteGeneral:
+ break;
+ }
+}
+
+
+
+void (*Debug_Mode[])(void) = {FW, DF, DEBUG_IR, DEBUG_PING, DEBUG_ANGLE, DEBUG_KICKER, DEBUG_MOTER, DEBUG_LINE};
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Mon Mar 10 07:58:40 2014 +0000
@@ -0,0 +1,105 @@
+// Slave側プログラム
+
+#include <math.h>
+#include "mbed.h"
+#include "rtos.h"
+#include "ACM1602NI.h"
+#include "Ping.h"
+
+#define PI 3.14159265358979 // 円周率πの定義
+
+Semaphore PING_slots(2);
+
+#include "PinMode.h"
+#include "GlobalVariable.h"
+#include "Prototype.h"
+
+#include "I2C_Slave.h"
+#include "RotarySW.h"
+
+
+
+/*---- PINGの値を並列処理で取得し続ける ----*/
+void PING_thread(void const *ping_data) {
+ /* 距離記録用変数 */
+ int Ping_F = 0;
+ int Ping_R = 0;
+ int Ping_B = 0;
+ int Ping_L = 0;
+
+ while(1) {
+ /* 超音波発射 */
+ PING_F.Send();
+ PING_R.Send();
+ PING_B.Send();
+ PING_L.Send();
+
+ wait_ms(30); // 待つ
+
+ /* 結果から距離を算出 */
+ Ping_F = PING_F.Read_cm() / 2; // 正面の距離を記録 [cm]
+ Ping_R = PING_R.Read_cm() / 2; // 右側の距離を記録 [cm]
+ Ping_B = PING_B.Read_cm() / 2; // 後ろの距離を記録 [cm]
+ Ping_L = PING_L.Read_cm() / 2; // 左側の距離を記録 [cm]
+
+ // PING_F.Send(); wait_ms(30); Ping_F=PING_F.Read_cm()/2;
+ // PING_R.Send(); wait_ms(30); Ping_R=PING_R.Read_cm()/2;
+ // PING_B.Send(); wait_ms(30); Ping_B=PING_B.Read_cm()/2;
+ // PING_L.Send(); wait_ms(30); Ping_L=PING_L.Read_cm()/2;
+
+
+ /* アクセス可能になるまで待機してから、値を代入 */
+ PING_slots.wait();
+ Ping_data[0] = Ping_F;
+ Ping_data[1] = Ping_R;
+ Ping_data[2] = Ping_B;
+ Ping_data[3] = Ping_L;
+ PING_slots.release();
+
+ wait(0.1); // PINGに愛を！！
+ }
+}
+
+
+
+/*---- 並列処理で各装置との通信を制御 ----*/
+int main() {
+ Thread PING_t(PING_thread);
+
+ /*---- 初期化処理 ----*/
+ I2C_avr.address(0x80);
+ I2C_master.address(0xA0);
+
+ /*---- modeを確認 ----*/
+ Mode[0] = ((Rotary1)?0:1)*1 + ((Rotary2)?0:1)*2 + ((Rotary3)?0:1)*4 + ((Rotary4)?0:1)*8;
+
+ /*---- mode_masterにmodeを伝える ---*/
+ while (!Flag) MBED_MASTER();
+
+ /*---- 各モードに移行 ----*/
+ switch(Mode[0]) {
+ case 0: while(1) FW();
+ case 1: while(1) DF();
+ case 2: while(1) DEBUG_IR();
+ case 3: while(1) DEBUG_PING();
+ case 4: while(1) DEBUG_ANGLE();
+ case 5: while(1) DEBUG_KICKER();
+ case 6: while(1) DEBUG_MOTER();
+ case 7: while(1) DEBUG_LINE();
+ case 8: while(1) FW();
+ case 9: while(1) FW();
+ }
+}
+
+
+
+
+
+
+
+
+
+
+
+
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed-rtos.lib Mon Mar 10 07:58:40 2014 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed-rtos/#f88660a9bed1
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Mon Mar 10 07:58:40 2014 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/8e73be2a2ac1 \ No newline at end of file