Junichi Katsu
テスト
Dependencies: RemoteIR TB6612FNG2 mbed
Fork of
RemoteIR_TestProgram
by 
Shinichiro Nakamura
Revision 6:9bddde38e25e, committed 2015-12-23
- Comitter:
- mbed_Cookbook_SE
- Date:
- Wed Dec 23 16:59:17 2015 +0000
- Parent:
- 5:40750d5779ca
- Commit message:
- ??
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/RemoteIR.lib Wed Dec 23 16:59:17 2015 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/shintamainjp/code/RemoteIR/#268cc2ab63bd
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/TB6612FNG2.lib Wed Dec 23 16:59:17 2015 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/jksoft/code/TB6612FNG2/#051a7ecff13e
--- a/extlib/TextLCD.lib Wed Oct 13 10:51:41 2010 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,1 +0,0 @@ -http://mbed.org/users/simon/code/TextLCD/#a53b3e2d6f1e
--- a/main.cpp Wed Oct 13 10:51:41 2010 +0000
+++ b/main.cpp Wed Dec 23 16:59:17 2015 +0000
@@ -1,33 +1,14 @@
-/**
- * RemoteIR library - Test program.
- *
- * Copyright (C) 2010 Shinichiro Nakamura (CuBeatSystems)
- * http://shinta.main.jp/
- */
-
-#include <mbed.h>
+#include "mbed.h"
#include "ReceiverIR.h"
#include "TransmitterIR.h"
-#include "TextLCD.h"
-
-#define TEST_LOOP_BACK 0
-
-ReceiverIR ir_rx(p15);
-TransmitterIR ir_tx(p21);
-TextLCD lcd(p24, p26, p27, p28, p29, p30);
-BusOut led(LED4, LED3, LED2, LED1);
-Ticker ledTicker;
+#include "TB6612.h"
-/**
- * Receive.
- *
- * @param format Pointer to a format.
- * @param buf Pointer to a buffer.
- * @param bufsiz Size of the buffer.
- *
- * @return Bit length of the received data.
- */
+ReceiverIR ir_rx(p14);
+TransmitterIR ir_tx(p23);
+TB6612 MOTOR_A(p21,p19,p20); // PWM IN1 IN2
+TB6612 MOTOR_B(p22,p29,p30); // PWM IN1 IN2
+
int receive(RemoteIR::Format *format, uint8_t *buf, int bufsiz, int timeout = 100) {
int cnt = 0;
while (ir_rx.getState() != ReceiverIR::Received) {
@@ -39,15 +20,6 @@
return ir_rx.getData(format, buf, bufsiz * 8);
}
-/**
- * Transmit.
- *
- * @param format Format.
- * @param buf Pointer to a buffer.
- * @param bitlength Bit length of the data.
- *
- * @return Bit length of the received data.
- */
int transmit(RemoteIR::Format format, uint8_t *buf, int bitlength, int timeout = 100) {
int cnt = 0;
while (ir_tx.getState() != TransmitterIR::Idle) {
@@ -59,148 +31,91 @@
return ir_tx.setData(format, buf, bitlength);
}
-/**
- * Display a current status.
- */
-void display_status(char *status, int bitlength) {
- lcd.locate(8, 0);
- lcd.printf("%-5.5s:%02d", status, bitlength);
+int SearchCode( uint8_t *code ,uint8_t **buf , int size)
+{
+ int ret = -1;
+ for(int i=0;i<5;i++)
+ {
+ if(memcmp( code , buf[i] , size ) == 0 ){
+ ret = i;
+ break;
+ }
+ }
+ return(ret);
}
-/**
- * Display a format of a data.
- */
-void display_format(RemoteIR::Format format) {
- lcd.locate(0, 0);
- switch (format) {
- case RemoteIR::UNKNOWN:
- lcd.printf("????????");
- break;
- case RemoteIR::NEC:
- lcd.printf("NEC ");
- break;
- case RemoteIR::NEC_REPEAT:
- lcd.printf("NEC (R)");
- break;
- case RemoteIR::AEHA:
- lcd.printf("AEHA ");
- break;
- case RemoteIR::AEHA_REPEAT:
- lcd.printf("AEHA (R)");
- break;
- case RemoteIR::SONY:
- lcd.printf("SONY ");
- break;
- }
-}
+void RegistrationCode(uint8_t *forward ,uint8_t *back ,uint8_t *left ,uint8_t *right ,uint8_t *stop)
+{
+ uint8_t buf[32];
+ int bitlength;
+ RemoteIR::Format format;
+ uint8_t *ir_buf[5] = {forward,back,left,right,stop};
+
+ memset(buf, 0x00, sizeof(buf));
+
+ for(int i=0;i<5;i++)
+ {
+ bitlength = -1;
+ while(bitlength < 0)
+ {
+ bitlength = receive(&format, buf, sizeof(buf));
+ if (bitlength < 0) {
+ continue;
+ }
+
+ if( SearchCode(buf,ir_buf,sizeof(buf)) != -1 )
+ {
+ bitlength = -1;
+ continue;
+ }
-/**
- * Display a data.
- *
- * @param buf Pointer to a buffer.
- * @param bitlength Bit length of a data.
- */
-void display_data(uint8_t *buf, int bitlength) {
- lcd.locate(0, 1);
- const int n = bitlength / 8 + (((bitlength % 8) != 0) ? 1 : 0);
- for (int i = 0; i < n; i++) {
- lcd.printf("%02X", buf[i]);
- }
- for (int i = 0; i < 8 - n; i++) {
- lcd.printf("--");
+ memcpy( ir_buf[i] , buf , sizeof(buf));
+ }
}
}
-void ledfunc(void) {
- led = led + 1;
-}
-
-/**
- * Entry point.
- */
int main(void) {
-
- ledTicker.attach(&ledfunc, 0.5);
+
+ uint8_t forward[32],back[32],left[32],right[32],stop[32];
+ uint8_t *ir_buf[5] = {forward,back,left,right,stop};
- /*
- * Splash.
- */
- lcd.cls();
- lcd.locate(0, 0);
- lcd.printf("RemoteIR ");
- lcd.locate(0, 1);
- lcd.printf("Program example.");
- wait(3);
+ RegistrationCode( forward ,back ,left ,right ,stop);
- /*
- * Initialize.
- */
- led = 0;
- lcd.cls();
- lcd.locate(0, 0);
- lcd.printf("Press a button ");
- lcd.locate(0, 1);
- lcd.printf("on a controller.");
-
- /*
- * Execute.
- */
while (1) {
- uint8_t buf1[32];
- uint8_t buf2[32];
+ uint8_t buf[32];
int bitlength1;
- int bitlength2;
RemoteIR::Format format;
- memset(buf1, 0x00, sizeof(buf1));
- memset(buf2, 0x00, sizeof(buf2));
+ memset(buf, 0x00, sizeof(buf));
- {
- bitlength1 = receive(&format, buf1, sizeof(buf1));
- if (bitlength1 < 0) {
- continue;
- }
- display_status("RECV", bitlength1);
- display_data(buf1, bitlength1);
- display_format(format);
- }
-
-#if TEST_LOOP_BACK
- wait_ms(100);
-
- {
- bitlength1 = transmit(format, buf1, bitlength1);
- if (bitlength1 < 0) {
- continue;
- }
- display_status("TRAN", bitlength1);
- display_data(buf1, bitlength1);
- display_format(format);
+ bitlength1 = receive(&format, buf, sizeof(buf));
+ if (bitlength1 < 0) {
+ continue;
}
-
- wait_ms(100);
-
+ switch(SearchCode(buf,ir_buf,sizeof(buf)))
{
- bitlength2 = receive(&format, buf2, sizeof(buf2));
- if (bitlength2 < 0) {
- continue;
- }
- display_status("RECV", bitlength2);
- display_data(buf2, bitlength2);
- display_format(format);
+ case 0: // forward
+ MOTOR_A = 100;
+ MOTOR_B = 100;
+ break;
+ case 1: // back
+ MOTOR_A = -100;
+ MOTOR_B = -100;
+ break;
+ case 2: // left
+ MOTOR_A = 100;
+ MOTOR_B = -100;
+ break;
+ case 3: // right
+ MOTOR_A = -100;
+ MOTOR_B = 100;
+ break;
+ case 4: // stop
+ MOTOR_A = 0;
+ MOTOR_B = 0;
+ break;
+ default:
+ break;
}
-
- wait_ms(100);
-
- {
- for (int i = 0; i < sizeof(buf1); i++) {
- if (buf1[i] != buf2[i]) {
- display_status("CPERR", bitlength2);
- wait(1);
- continue;
- }
- }
- }
-#endif
}
}
\ No newline at end of file
--- a/mylib/RemoteIR.lib Wed Oct 13 10:51:41 2010 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,1 +0,0 @@ -http://mbed.org/users/shintamainjp/code/RemoteIR/#268cc2ab63bd