Mario Tkalac
Testing Linija
Dependencies: JoystickLinija IRremote mbed Tipkalo UniServ_linijapogona umotor_linijapogona
Revision 2:9d19b20a60a9, committed 2017-11-22
- Comitter:
- mario_meh
- Date:
- Wed Nov 22 08:54:16 2017 +0000
- Parent:
- 0:4cac97044e74
- Commit message:
- Linija pogona
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/IRremote.lib Wed Nov 22 08:54:16 2017 +0000 @@ -0,0 +1,1 @@ +http://developer.mbed.org/users/yuhki50/code/IRremote/#c82a0d54a024
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/JoystickLinija.lib Wed Nov 22 08:54:16 2017 +0000 @@ -0,0 +1,1 @@ +https://developer.mbed.org/users/mario_meh/code/JoystickLinija/#bdd4ee83ec25
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Tipkalo.lib Wed Nov 22 08:54:16 2017 +0000 @@ -0,0 +1,1 @@ +https://developer.mbed.org/users/mario_meh/code/Tipkalo/#b9ab9a191011
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/UniServ.lib Wed Nov 22 08:54:16 2017 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/mario_meh/code/UniServ_linijapogona/#74fdb2c8ae56
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/global_nazivi.h Wed Nov 22 08:54:16 2017 +0000
@@ -0,0 +1,37 @@
+/**
+* Definirani globalni nazivi
+*/
+#ifndef GLOBAL_NAZIVI_H
+#define GLOBAL_NAZIVI_H
+
+// Linija pogona
+typedef enum {
+ LINIJA_RADI = 0, LINIJA_STOP = 1, LINIJA_START = 2, LINIJA_MOTOR,
+} LinijaPogona;
+
+// Joystick
+
+/* I2C */
+#define PIN_SCL PTE1
+#define PIN_SDA PTE0
+/* SPI */
+#define PIN_SCK PTD1
+#define PIN_MISO PTD3
+#define PIN_MOSI PTD2
+#define PIN_CS0 PTD0
+/* Interrupt */
+#define PIN_INT0 PTD5
+#define PIN_INT1 PTA13
+#define PIN_INT2 PTC9 /* This pin does not support interrupt */
+#define PIN_INT3 PTC8 /* This pin does not support interrupt */
+#define PIN_INT4 PTA5
+#define PIN_INT5 PTA4
+/* Analog Input */
+#define PIN_AN0 PTB0
+#define PIN_AN1 PTB1
+#define PIN_AN2 PTB2
+#define PIN_AN3 PTB3
+#define PIN_AN4 PTC2
+#define PIN_AN5 PTC1
+
+#endif
\ No newline at end of file
--- a/joystick.cpp Sun Jan 29 23:23:10 2017 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,49 +0,0 @@
-#include "mbed.h"
-#include "tipkalo.h"
-
-Joystick::Joystick() : _x(PTB0), _y(PTB1)
-
- // PTB0 | PTB1
-{
-
- Tipkalo tjoys = new Tipkalo(PT);
-
-}
-
-JoysKompas Joystick::read() {
-
- JoysKompas data;
-
- data.horizontala = X();
- data.vertikala = Y();
- data.jTipkalo = t_status.radim;
- return data;
-
-}
-
-//------------- KOMPAS NAV Y --- -----------/
-Kompas Joystick::Y() {
- if(_y.read() < 0.022222222) {
- return Dolje;
- } else if(_y.read() > 0.9888888) {
- return Gore;
- }
-}
-
-//------------- KOMPAS NAV X ---------------/
-Kompas Joystick::X() {
- if(_x.read() < 0.022222222) {
- return Lijevo;
- } else if(_x.read() > 0.9888888) {
- return Desno;
- }
-}
-
-//------------- KOMPAS TIPKA ---------------/
-Kompas tipka() {
- if(tjoys->tDolje()) {
- return NijeOdabir;
- } else {
- return Odabir;
- }
-}
\ No newline at end of file
--- a/joystick.h Sun Jan 29 23:23:10 2017 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,34 +0,0 @@
-#ifndef JOYSTICK_H
-#define JOYSTICK_H
-
-#ifndef MBED_H
-#include "mbed.h"
-#endif
-#ifndef GLOBAL_NAZIVI_H
-#include "global_nazivi.h"
-#endif
-
-typedef enum {
- Gore=0,Dolje=1,Lijevo=2,Desno=3, Odabir=4, NijeOdabir = 5,
-} Kompas;
-
-struct JoysKompas {
- double horizontala;
- double vertikala;
- int jTipkalo;
-};
-
-class Joystick {
- public:
- Joystick();
- // Podijelio joystick na dvije f-je os X i os Y
- Kompas X();
- Kompas Y();
- Kompas tipka();
- //
- JoysKompas read();
- private:
- int size;
- AnalogIn _x;
- AnalogIn _y;
-};
\ No newline at end of file
--- a/main.cpp Sun Jan 29 23:23:10 2017 +0000
+++ b/main.cpp Wed Nov 22 08:54:16 2017 +0000
@@ -1,22 +1,72 @@
+/** Projektiranje ugradbenih računalnih sustava
+* Interakcija sa linijom
+* @author: mario_meh
+*
+*/
#include "mbed.h"
+#include "tipkalo.h"
+#include "joystick.h"
#include "IRremote.h"
+#include "UniServ.h"
+#include "umotor.h"
Serial serial(USBTX, USBRX); // PC
-IRrecv pinIn(PTA5); // IR
+DigitalOut led(PTB19);
+IRrecv pinIn(PTB3); // IR
I2C i2c(PTC9, PTC8); // SDA, SCL
//Tipkalo led(PT); // LED svjetlo
+UniServ sMotor(PTB2);
+Timer t;
+Serial pc(USBTX, USBRX); // tx, rx
+
const int addr = 0x0A;
-uint8_t result[4];
+char remote[4];
int main() {
-
+
//--------------------------------------------------tipke pogona
- //Tipkalo start = new Tipkalo(PT);
- //Tipkalo stop = new Tipkalo(PT);
- //Tipkalo lcd = new Tipkalo(PT);
+ Tipkalo *bTipka = new Tipkalo();
//--------------------------------------------------IR argumenti
+
+ //--------------------------------------------------Provjera Servo C90
+ t.start();
+ sMotor.write_us(2000);
+ t.stop();
+ pc.printf("%f\n\r", t.read());
+ wait_ms(1000);
+ t.reset();
+ t.start();
+ sMotor.write_us(0);
+ t.stop();
+ pc.printf("%f\n\r", t.read());
+ wait_ms(1000);
+ t.reset();
+ t.start();
+ sMotor.write_us(3000);
+ t.stop();
+ pc.printf("%f\n\r", t.read());
+ wait_ms(1000);
+ t.reset();
+ t.start();
+ sMotor.write_us(1000);
+ t.stop();
+ pc.printf("%f\n\r", t.read());
+ wait_ms(1000);
+ sMotor.Disable();
+ //-------------------------------------------------Gotovo Provjera Servo C90
+
+ //--------------------------------------------------Unipolarni steper
+ Steper *unipolar = new Steper();
+
+ unipolar->u_poz.u_krenuo = 1; // Treba biti 1(0)
+ unipolar->u_poz.u_stao = 0; // Treba biti 0(1)
+ unipolar->Brzina(4000); // < brzina = brze i krace
+ unipolar->UEnable(); // Pokreni umotor
+ //--------------------------------------------------Gotovo Unipolarni steper
+
+ //-------------------------------------------------- IR Receiver
pinIn.enableIRIn(); // Start the receiver
decode_results results;
@@ -39,27 +89,27 @@
//------------------------------------------isprobavam joystick
// Pozovi Joystick
- Joystick *joys = new Joystick;
- // Aktivan ručni mod
- int LCD_SELECTED = 1;
- //int BUTTON = 1;
- while(LCD_SELECTED == 1) {
- switch(joys->Y()) {
+ JoysKompas *data = new JoysKompas;
+ Joystick *joys = new Joystick(data);
+ joys->YEnable();
+
+ while(1) {
+ switch(data->vertikala) {
case 0:
- serial.printf("Gore: %i\r\n", joys->Y());
+ serial.printf("Gore: %i\r\n", data->vertikala);
break;
case 1:
- serial.printf("Dolje: %i\r\n", joys->Y());
+ serial.printf("Dolje: %i\r\n", data->vertikala);
break;
- case 4:
- serial.printf("Odabir: %i\r\n", joys->tipka());
- }
+ }
+
}
+
//----------------------------------------------gotov joystick
//-----------------------------------------------------svjetlo
//led = 1;
//-------------------------------------------------end svjetlo
-}
+}
\ No newline at end of file
--- a/tipkalo.cpp Sun Jan 29 23:23:10 2017 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,28 +0,0 @@
-#include "mbed.h"
-#include "tipkalo.h"
-
-Tipkalo::Tipkalo(PinName T) : _T(T), _countT(0) {
-
- t_status status = new t_status;
-
- Tipkalo::t_status.tiskljucen = TDOLJE;
- _T.fall(this, &Tipkalo::tDolje);
-
- Timer.debounce;
- debounce.start();
-}
-
-t_status Tipkalo::tDolje() {
-
- status.radim = TDOLJE;
- _countT++;
- status.pritisnut = _countT;
- return TGORE;
-
-}
-
-
-
-
-
-
\ No newline at end of file
--- a/tipkalo.h Sun Jan 29 23:23:10 2017 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,29 +0,0 @@
-#ifndef TIPKALO_H
-#define TIPKALO_H
-
-#define t_milisec_pritisnut = 200;
-
-typedef enum {
- TDOLJE = 1, TGORE = 0, TNEZNAM = -1
-};
-
-typedef struct t_status {
- int radim; // tukljucen ili tiskljucen
- int pritisnut;
-} t_status;
-
-
-//---------------TIPKALO------------------//
-class Tipkalo {
- public:
- Tipkalo(PinName T);
- t_status tDolje();
- private:
- InterruptIn _T;
- int _countT;
-};
-
-//-----------TIPKALO JOYSTICK-------------//
-// To je zapravo TIPKALO
-
-#endif /* TIPKALO_H */
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/umotor.lib Wed Nov 22 08:54:16 2017 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/mario_meh/code/umotor_linijapogona/#b769f13c7523