Makoto Kobayashi / Mbed 2 deprecated experiment_mechatronics

機械工学実験1作業用

Dependencies:   PID QEI USBHost mbed

main.cpp@1:36385b59d183, 2015-04-20 (annotated)

Committer:
neoqased
Date:
Mon Apr 20 03:34:10 2015 +0000
Revision:
1:36385b59d183
Parent:
0:d7629adcea6d 
kikaikougakujikken

Who changed what in which revision?

UserRevisionLine numberNew contents of line
neoqased 0:d7629adcea6d 1 //※重要※ 日本語コメントアウトはmbedのBeta-japaneseに登録すると使えるようになる(2014年現在)
neoqased 0:d7629adcea6d 2 //めんどくさいからファイル分割しないよ．熱意がある人はやって頂戴 by小林2014-9-12
neoqased 0:d7629adcea6d 3 #include "mbed.h" //updateのマークが出ていてもupdateしないように．なんか仕様が変わってるっぽいからエラー吐くようになる
neoqased 0:d7629adcea6d 4 #include "QEI.h"
neoqased 0:d7629adcea6d 5 //#include "USBHostMSD.h" //updateのマークが出ていてもupdateしないように．なんか仕様が変わってるっぽいからエラー吐くようになる
neoqased 0:d7629adcea6d 6 #include "PID.h"
neoqased 0:d7629adcea6d 7 #include "setting.h"
neoqased 0:d7629adcea6d 8
neoqased 0:d7629adcea6d 9 //1回転あたりのパルス
neoqased 0:d7629adcea6d 10 #define PULSE_PER_REVOLUTION 200
neoqased 1:36385b59d183 11 //PIDのウェイト ミリ秒(制御周期)
neoqased 0:d7629adcea6d 12 #define PID_RATE 10
neoqased 1:36385b59d183 13 //ギア比
neoqased 1:36385b59d183 14 #define GEAR_RATIO 2
neoqased 1:36385b59d183 15
neoqased 1:36385b59d183 16 #define KP_SCALE 10
neoqased 1:36385b59d183 17 #define TI_SCALE 20
neoqased 0:d7629adcea6d 18
neoqased 0:d7629adcea6d 19 /**************************入出力ポート設定**************************/
neoqased 0:d7629adcea6d 20 DigitalOut led1(LED1); //mbed上LED出力4つ
neoqased 0:d7629adcea6d 21 DigitalOut led2(LED2);
neoqased 0:d7629adcea6d 22 DigitalOut led3(LED3);
neoqased 0:d7629adcea6d 23 DigitalOut led4(LED4);
neoqased 0:d7629adcea6d 24 DigitalIn dip1(p5); //DIPスイッチの入力4つ
neoqased 0:d7629adcea6d 25 DigitalIn dip2(p6);
neoqased 0:d7629adcea6d 26 DigitalIn dip3(p7);
neoqased 0:d7629adcea6d 27 DigitalIn dip4(p8);
neoqased 0:d7629adcea6d 28 DigitalIn startsw(p9); //スタートスイッチ入力
neoqased 0:d7629adcea6d 29 DigitalOut buzzer(p18); //電子ブザー用デジタル出力
neoqased 0:d7629adcea6d 30 AnalogIn volume(p20); //ポテンショメータ入力(アナログ)
neoqased 0:d7629adcea6d 31 PwmOut pwm(p25); //モータへのPWM出力
neoqased 0:d7629adcea6d 32
neoqased 0:d7629adcea6d 33 Serial pc(USBTX, USBRX); //PCとのシリアル通信設定
neoqased 0:d7629adcea6d 34 QEI encoder(p30, p29, NC, PULSE_PER_REVOLUTION, QEI::X2_ENCODING); //QEIの設定.
neoqased 0:d7629adcea6d 35 Timer timer; //タイマー
neoqased 0:d7629adcea6d 36
neoqased 0:d7629adcea6d 37 typedef struct{ //時間tとその時のrpmを記録するための構造体
neoqased 1:36385b59d183 38 unsigned short t;
neoqased 1:36385b59d183 39 short rpm;
neoqased 0:d7629adcea6d 40 } result;
neoqased 0:d7629adcea6d 41
neoqased 0:d7629adcea6d 42 /**************************プロトタイプ宣言**************************/
neoqased 0:d7629adcea6d 43 int Init();
neoqased 0:d7629adcea6d 44 int DipLed();
neoqased 0:d7629adcea6d 45 int GetDipValue();
neoqased 0:d7629adcea6d 46 int SW();
neoqased 0:d7629adcea6d 47 int Buzzer(int buzvar);
neoqased 0:d7629adcea6d 48 int find_header(FILE *fp, char keyword[]);
neoqased 0:d7629adcea6d 49 void rm_right_space(char str[]);
neoqased 0:d7629adcea6d 50
neoqased 0:d7629adcea6d 51 /**************************main文**************************/
neoqased 0:d7629adcea6d 52 int main() {
neoqased 0:d7629adcea6d 53 //初期化
neoqased 0:d7629adcea6d 54 Buzzer(2);
neoqased 0:d7629adcea6d 55 //USBHostMSD msd("usb");
neoqased 0:d7629adcea6d 56 LocalFileSystem local("local");
neoqased 0:d7629adcea6d 57 Init(); //初期化関数
neoqased 0:d7629adcea6d 58 int flag = 0; //フラグ用変数
neoqased 0:d7629adcea6d 59 //float vol = 0; //ポテンショメータからの入力値を受け取る変数
neoqased 0:d7629adcea6d 60 //float rpm = 0; //rpmを格納するための変数
neoqased 0:d7629adcea6d 61 //float t = 0; //時間計測のための変数
neoqased 0:d7629adcea6d 62 //result exp2[(int)(15*1000/PID_RATE+1)] = {}; //モード2用の構造体
neoqased 0:d7629adcea6d 63 //result exp3[(int)(15*1000/PID_RATE+1)] = {}; //モード3用の構造体
neoqased 0:d7629adcea6d 64 result exp[(int)(15*1000/PID_RATE+1)] = {};
neoqased 0:d7629adcea6d 65 //メインループ
neoqased 0:d7629adcea6d 66 while(1){
neoqased 0:d7629adcea6d 67 Init();
neoqased 0:d7629adcea6d 68 for(int i = 0; i <= 15*1000/PID_RATE; i++){
neoqased 0:d7629adcea6d 69 exp[i].t = 0;
neoqased 0:d7629adcea6d 70 exp[i].rpm = 0;
neoqased 0:d7629adcea6d 71 }
neoqased 0:d7629adcea6d 72 SW(); //スタートスイッチの入力を待つ
neoqased 0:d7629adcea6d 73 flag = GetDipValue(); //DIPスイッチの入力を見る
neoqased 0:d7629adcea6d 74 DipLed(); //DIPスイッチのHLでLEDを光らせる
neoqased 0:d7629adcea6d 75 Buzzer(1); //ブザーを鳴らす．
neoqased 0:d7629adcea6d 76 switch (flag){ //実験モード切り替えのswitch文．ここにcase0~15を書き足せばモードが追加できる．
neoqased 0:d7629adcea6d 77 case 0: //DIPスイッチの入力なしで何もしない
neoqased 0:d7629adcea6d 78 break;
neoqased 0:d7629adcea6d 79 case 1:{ //モード1はポテンショメータからの入力で直接PWMのデューティ比を変更する．約1秒ごとにPCに値を出力する．このモードは時間で終了せず永遠に続く．終了するにはmbedのresetボタンを押す．
neoqased 0:d7629adcea6d 80 //初期化
neoqased 0:d7629adcea6d 81 float vol = 0; //ポテンショメータからの入力値を受け取る変数
neoqased 0:d7629adcea6d 82 float rpm = 0; //rpmを格納するための変数
neoqased 0:d7629adcea6d 83 float t = 0; //時間計測のための変数
neoqased 0:d7629adcea6d 84 int i1 = 0;
neoqased 0:d7629adcea6d 85 encoder.reset();
neoqased 0:d7629adcea6d 86 timer.reset();
neoqased 0:d7629adcea6d 87 timer.start();
neoqased 0:d7629adcea6d 88 //ループ(抜け出せない)
neoqased 0:d7629adcea6d 89 while(1){
neoqased 0:d7629adcea6d 90 vol = 1 - volume;
neoqased 0:d7629adcea6d 91 pwm = vol;
neoqased 0:d7629adcea6d 92 if(i1 >= 20){
neoqased 0:d7629adcea6d 93 t = timer.read();
neoqased 1:36385b59d183 94 rpm = (float)encoder.getPulses() / 2 / PULSE_PER_REVOLUTION * 60 / t * GEAR_RATIO; //減速比2
neoqased 0:d7629adcea6d 95 pc.printf("Duty Ratio = %.3f , %6d RPM\n", vol, (int)rpm);
neoqased 0:d7629adcea6d 96 encoder.reset();
neoqased 0:d7629adcea6d 97 i1 = 0;
neoqased 0:d7629adcea6d 98 timer.reset();
neoqased 0:d7629adcea6d 99 }
neoqased 0:d7629adcea6d 100 wait_ms(50);
neoqased 0:d7629adcea6d 101 i1++;
neoqased 0:d7629adcea6d 102 }
neoqased 0:d7629adcea6d 103 break;
neoqased 0:d7629adcea6d 104 }
neoqased 0:d7629adcea6d 105 case 2:{ //モード2はモータの応答を調べる．デューティ比1でモータを回転させ，100msごとの経過時間とRPMをUSBメモリのcsvファイルに出力する．約15秒で終了する．
neoqased 0:d7629adcea6d 106 //result exp2[(int)(15*1000/PID_RATE+1)] = {};
neoqased 1:36385b59d183 107 float dt = 0, tnow = 0, tpre = 0;
neoqased 0:d7629adcea6d 108 //初期化
neoqased 0:d7629adcea6d 109 exp[0].t = 0;
neoqased 0:d7629adcea6d 110 exp[0].rpm = 0;
neoqased 0:d7629adcea6d 111 encoder.reset();
neoqased 0:d7629adcea6d 112 timer.reset();
neoqased 0:d7629adcea6d 113 timer.start();
neoqased 0:d7629adcea6d 114 pwm = 1; //モータ回転開始!!
neoqased 0:d7629adcea6d 115 //ループ(約15秒で終了)
neoqased 0:d7629adcea6d 116 for(int i = 0; i < 15*1000/PID_RATE; i++){ //10msごとに時間とrpmの取得
neoqased 0:d7629adcea6d 117 wait_ms(PID_RATE);
neoqased 1:36385b59d183 118 tpre = tnow;
neoqased 1:36385b59d183 119 tnow = timer.read();
neoqased 1:36385b59d183 120 exp[i+1].t = (unsigned short)(tnow * 1000);
neoqased 1:36385b59d183 121 dt = tnow - tpre;
neoqased 1:36385b59d183 122 exp[i+1].rpm = (short)((float)encoder.getPulses() / 2 / PULSE_PER_REVOLUTION * 60 / dt * GEAR_RATIO); //減速比2
neoqased 0:d7629adcea6d 123 encoder.reset();
neoqased 0:d7629adcea6d 124 }
neoqased 0:d7629adcea6d 125 for(int i = 100; i >= 0; i--){ //ゆるやかに減速
neoqased 0:d7629adcea6d 126 pwm = (float)i / 100;
neoqased 0:d7629adcea6d 127 wait_ms(20);
neoqased 0:d7629adcea6d 128 }
neoqased 0:d7629adcea6d 129 pwm = 0; //回転を止める
neoqased 0:d7629adcea6d 130 wait(1);
neoqased 0:d7629adcea6d 131 FILE * fp = fopen("/local/exp2.csv","w");
neoqased 0:d7629adcea6d 132 if(fp == NULL){ //ファイルオープンエラー
neoqased 0:d7629adcea6d 133 Buzzer(-1); //エラーコード-1のブザーを鳴らす
neoqased 0:d7629adcea6d 134 break; //終了
neoqased 0:d7629adcea6d 135 }
neoqased 0:d7629adcea6d 136 fprintf(fp,"Time , RPM\n");
neoqased 0:d7629adcea6d 137 for(int i = 0; i <= 15*1000/PID_RATE; i++){
neoqased 1:36385b59d183 138 fprintf(fp,"%f , %d\n", (float)exp[i].t / 1000.0, exp[i].rpm); //ファイルに実験データの書き込み
neoqased 0:d7629adcea6d 139 }
neoqased 0:d7629adcea6d 140 fclose(fp);
neoqased 0:d7629adcea6d 141 Buzzer(4); //終了を知らせる
neoqased 0:d7629adcea6d 142 break;
neoqased 0:d7629adcea6d 143 }
neoqased 0:d7629adcea6d 144 case 3:{ //モード3はモータの応答を調べる．PID制御をかけ，経過時間とRPMをUSBメモリのcsvファイルに出力する．約15秒で終了する．
neoqased 0:d7629adcea6d 145 //result exp3[(int)(15*1000/PID_RATE+1)] = {};
neoqased 1:36385b59d183 146 float kp = 0, ti = 0, td = 0, max_rpm = 0, target_rpm = 0, reduction = 0, dt = 0, tnow = 0, tpre = 0, rpmnow = 0;
neoqased 0:d7629adcea6d 147 //int pulse[15*1000/PID_RATE+2] = {};
neoqased 0:d7629adcea6d 148 //int j = 0;
neoqased 0:d7629adcea6d 149 //float times = 0;
neoqased 0:d7629adcea6d 150 encoder.reset();
neoqased 0:d7629adcea6d 151 timer.reset();
neoqased 0:d7629adcea6d 152 /*
neoqased 0:d7629adcea6d 153 -----PID制御の係数設定ファイルpid.txtの書き方-----
neoqased 0:d7629adcea6d 154 #kp
neoqased 0:d7629adcea6d 155 1.0
neoqased 0:d7629adcea6d 156
neoqased 0:d7629adcea6d 157 #ki
neoqased 0:d7629adcea6d 158 1.0
neoqased 0:d7629adcea6d 159
neoqased 0:d7629adcea6d 160 #kd
neoqased 0:d7629adcea6d 161 0.0
neoqased 0:d7629adcea6d 162
neoqased 0:d7629adcea6d 163 #max_rpm
neoqased 0:d7629adcea6d 164 10000
neoqased 0:d7629adcea6d 165 エンコーダで読めるモータのrpmの最大値．これを超えないように制御を行う．
neoqased 0:d7629adcea6d 166
neoqased 0:d7629adcea6d 167 #target_rpm
neoqased 0:d7629adcea6d 168 3000
neoqased 0:d7629adcea6d 169 http://denki.nara-edu.ac.jp/~yabu/soft/header.htmlを参考にしました
neoqased 0:d7629adcea6d 170 */
neoqased 0:d7629adcea6d 171
neoqased 0:d7629adcea6d 172 /*FILE *fppid = fopen("/local/pid.txt","r");
neoqased 0:d7629adcea6d 173 if(fppid == NULL){
neoqased 0:d7629adcea6d 174 Buzzer(-2);
neoqased 0:d7629adcea6d 175 break;
neoqased 0:d7629adcea6d 176 }*/
neoqased 0:d7629adcea6d 177 //fscanf(fppid,"%f %f %f %f %f", &kp, &ki, &kd, &max_rpm, &target_rpm);
neoqased 0:d7629adcea6d 178 //fclose(fppid);
neoqased 0:d7629adcea6d 179 //find_header(fppid,"# kp"); //PID制御用の係数の読み込み
neoqased 0:d7629adcea6d 180 //fscanf(fppid,"%f",&kp);
neoqased 0:d7629adcea6d 181 //find_header(fppid,"# ki");
neoqased 0:d7629adcea6d 182 //fscanf(fppid,"%f",&ki);
neoqased 0:d7629adcea6d 183 //find_header(fppid,"# kd");
neoqased 0:d7629adcea6d 184 //fscanf(fppid,"%f",&kd);
neoqased 0:d7629adcea6d 185 //find_header(fppid,"# max_rpm");
neoqased 0:d7629adcea6d 186 //fscanf(fppid,"%f",&max_rpm);
neoqased 0:d7629adcea6d 187 //find_header(fppid,"# target_rpm");
neoqased 0:d7629adcea6d 188 //fscanf(fppid,"%f",&target_rpm);
neoqased 0:d7629adcea6d 189 //fclose(fppid);
neoqased 0:d7629adcea6d 190
neoqased 1:36385b59d183 191 kp = KP / KP_SCALE;
neoqased 1:36385b59d183 192 ti = TI * TI_SCALE;
neoqased 1:36385b59d183 193 td = TD;
neoqased 0:d7629adcea6d 194 max_rpm = MAX_RPM;
neoqased 0:d7629adcea6d 195 target_rpm = TARGET_RPM;
neoqased 0:d7629adcea6d 196
neoqased 1:36385b59d183 197 PID pid(kp, ti, td, PID_RATE); //PIDの設定
neoqased 0:d7629adcea6d 198 pid.setInputLimits(0.0, max_rpm);
neoqased 0:d7629adcea6d 199 pid.setOutputLimits(0.0, 1.0);
neoqased 0:d7629adcea6d 200 pid.setMode(AUTO_MODE);
neoqased 0:d7629adcea6d 201 pid.setSetPoint(target_rpm);
neoqased 0:d7629adcea6d 202
neoqased 0:d7629adcea6d 203 exp[0].t = 0;
neoqased 0:d7629adcea6d 204 exp[0].rpm = 0;
neoqased 0:d7629adcea6d 205 timer.start();
neoqased 0:d7629adcea6d 206 for(int i = 0; i < 15*1000/PID_RATE; i++){ //15秒間実行する
neoqased 1:36385b59d183 207 tpre = tnow;
neoqased 1:36385b59d183 208 tnow = timer.read();
neoqased 1:36385b59d183 209 exp[i+1].t = (unsigned short)(tnow * 1000);
neoqased 1:36385b59d183 210 dt = tnow - tpre;
neoqased 1:36385b59d183 211 rpmnow = (float)encoder.getPulses() / 2 / PULSE_PER_REVOLUTION * 60 / dt * GEAR_RATIO;
neoqased 1:36385b59d183 212 exp[i+1].rpm = (short)rpmnow;
neoqased 1:36385b59d183 213 pid.setProcessValue(rpmnow);
neoqased 0:d7629adcea6d 214 pwm = pid.compute();
neoqased 0:d7629adcea6d 215 encoder.reset();
neoqased 0:d7629adcea6d 216 //pulse[i+1] = encoder.getPulses() / 2.0;
neoqased 0:d7629adcea6d 217 //pid.setProcessValue((float)(pulse[i+1] - pulse[i]) / PULSE_PER_REVOLUTION * 60 / (timer.read() - times) * 2);
neoqased 0:d7629adcea6d 218 //times = timer.read();
neoqased 0:d7629adcea6d 219 //if((i % (int)(100 / PID_RATE) == 0) && (i != 0)){ //100ms毎に時間とrpmを読み込む
neoqased 0:d7629adcea6d 220 //j++;
neoqased 0:d7629adcea6d 221 //exp3[j].t = timer.read();
neoqased 0:d7629adcea6d 222 //exp3[j].rpm = (float)(pulse[i+1] - pulse[i+1-(int)(100/PID_RATE)]) / PULSE_PER_REVOLUTION * 60 / (exp3[j].t - exp3[j-1].t) * 2;
neoqased 0:d7629adcea6d 223 //}
neoqased 0:d7629adcea6d 224 wait_ms(PID_RATE);
neoqased 0:d7629adcea6d 225 }
neoqased 0:d7629adcea6d 226 reduction = pwm.read();
neoqased 0:d7629adcea6d 227 for(int i = 0; i <= 100; i++){
neoqased 0:d7629adcea6d 228 pwm = pwm.read() - reduction / 100;
neoqased 0:d7629adcea6d 229 wait_ms(20);
neoqased 0:d7629adcea6d 230 }
neoqased 0:d7629adcea6d 231 pwm = 0;
neoqased 0:d7629adcea6d 232 wait(1);
neoqased 0:d7629adcea6d 233 FILE *fp = fopen("/local/exp3.csv","w");
neoqased 0:d7629adcea6d 234 if(fp == NULL){ //ファイルオープンエラー
neoqased 0:d7629adcea6d 235 Buzzer(-1); //エラーコード-1のブザーを鳴らす
neoqased 0:d7629adcea6d 236 break; //終了
neoqased 0:d7629adcea6d 237 }
neoqased 1:36385b59d183 238 fprintf(fp,"kp = %.6f ki = %.6f kd = %.6f\n", (float)KP, (float)TI, (float)TD);
neoqased 0:d7629adcea6d 239 fprintf(fp,"Time , RPM\n");
neoqased 0:d7629adcea6d 240 for(int i = 0; i <= 15*1000/PID_RATE; i++){
neoqased 1:36385b59d183 241 fprintf(fp,"%f , %d\n", (float)exp[i].t / 1000.0, exp[i].rpm); //ファイルに実験データの書き込み
neoqased 0:d7629adcea6d 242 }
neoqased 0:d7629adcea6d 243 fclose(fp);
neoqased 0:d7629adcea6d 244 Buzzer(5); //終了を知らせる
neoqased 0:d7629adcea6d 245 break;
neoqased 0:d7629adcea6d 246 }
neoqased 0:d7629adcea6d 247 default: //0と上記以外でなにもなし
neoqased 0:d7629adcea6d 248 break;
neoqased 0:d7629adcea6d 249 }
neoqased 0:d7629adcea6d 250 }
neoqased 0:d7629adcea6d 251 }
neoqased 0:d7629adcea6d 252
neoqased 0:d7629adcea6d 253 /**************************関数たち**************************/
neoqased 0:d7629adcea6d 254 int Init(){ //初期化関数
neoqased 0:d7629adcea6d 255 pwm = 0;
neoqased 0:d7629adcea6d 256 led1 = 0;
neoqased 0:d7629adcea6d 257 led2 = 0;
neoqased 0:d7629adcea6d 258 led3 = 0;
neoqased 0:d7629adcea6d 259 led4 = 0;
neoqased 0:d7629adcea6d 260 buzzer = 0;
neoqased 0:d7629adcea6d 261 pc.baud(9600);
neoqased 0:d7629adcea6d 262 encoder.reset();
neoqased 0:d7629adcea6d 263 timer.reset();
neoqased 0:d7629adcea6d 264 pwm.period_us(25); //40kHz
neoqased 0:d7629adcea6d 265 DipLed();
neoqased 0:d7629adcea6d 266 return 0;
neoqased 0:d7629adcea6d 267 }
neoqased 0:d7629adcea6d 268
neoqased 0:d7629adcea6d 269 int DipLed(){ //DIPスイッチの状態によってledを光らせる関数
neoqased 0:d7629adcea6d 270 if(dip1 == 1) led1 = 1; else led1 = 0; //DIPスイッチの1がHならLEDを光らせる,Lなら光らせない
neoqased 0:d7629adcea6d 271 if(dip2 == 1) led2 = 1; else led2 = 0;
neoqased 0:d7629adcea6d 272 if(dip3 == 1) led3 = 1; else led3 = 0;
neoqased 0:d7629adcea6d 273 if(dip4 == 1) led4 = 1; else led4 = 0;
neoqased 0:d7629adcea6d 274 return 0;
neoqased 0:d7629adcea6d 275 }
neoqased 0:d7629adcea6d 276
neoqased 0:d7629adcea6d 277 int GetDipValue(){ //DIPスイッチの値を取得し，値を返す関数
neoqased 0:d7629adcea6d 278 int Dip1 = dip1, Dip2 = dip2, Dip3 = dip3, Dip4 = dip4; //DIPスイッチの値を取得
neoqased 0:d7629adcea6d 279 if(Dip1 == 0){
neoqased 0:d7629adcea6d 280 if(Dip2 == 0){
neoqased 0:d7629adcea6d 281 if(Dip3 == 0){
neoqased 0:d7629adcea6d 282 if(Dip4 == 0) return 0; else return 1; //DIPスイッチが0000の場合0を返す．0001なら1
neoqased 0:d7629adcea6d 283 }else{
neoqased 0:d7629adcea6d 284 if(Dip4 == 0) return 2; else return 3;
neoqased 0:d7629adcea6d 285 }
neoqased 0:d7629adcea6d 286 }else{
neoqased 0:d7629adcea6d 287 if(Dip3 == 0){
neoqased 0:d7629adcea6d 288 if(Dip4 == 0) return 4; else return 5;
neoqased 0:d7629adcea6d 289 }else{
neoqased 0:d7629adcea6d 290 if(Dip4 == 0) return 6; else return 7;
neoqased 0:d7629adcea6d 291 }
neoqased 0:d7629adcea6d 292 }
neoqased 0:d7629adcea6d 293 }else{
neoqased 0:d7629adcea6d 294 if(Dip2 == 0){
neoqased 0:d7629adcea6d 295 if(Dip3 == 0){
neoqased 0:d7629adcea6d 296 if(Dip4 == 0) return 8; else return 9;
neoqased 0:d7629adcea6d 297 }else{
neoqased 0:d7629adcea6d 298 if(Dip4 == 0) return 10; else return 11;
neoqased 0:d7629adcea6d 299 }
neoqased 0:d7629adcea6d 300 }else{
neoqased 0:d7629adcea6d 301 if(Dip3 == 0){
neoqased 0:d7629adcea6d 302 if(Dip4 == 0) return 12; else return 13;
neoqased 0:d7629adcea6d 303 }else{
neoqased 0:d7629adcea6d 304 if(Dip4 == 0) return 14; else return 15;
neoqased 0:d7629adcea6d 305 }
neoqased 0:d7629adcea6d 306 }
neoqased 0:d7629adcea6d 307 }
neoqased 0:d7629adcea6d 308 }
neoqased 0:d7629adcea6d 309
neoqased 0:d7629adcea6d 310 int SW(){ //スタートスイッチ用関数，押して離したらスタート
neoqased 0:d7629adcea6d 311 int i = 0, j = 0;
neoqased 0:d7629adcea6d 312 while(i < 3){ //チャタリング除去，15msにわたってスタートスイッチが押されていればbreak
neoqased 0:d7629adcea6d 313 if(startsw == 1) i++;
neoqased 0:d7629adcea6d 314 else i = 0;
neoqased 0:d7629adcea6d 315 DipLed();
neoqased 0:d7629adcea6d 316 wait_ms(5);
neoqased 0:d7629adcea6d 317 }
neoqased 0:d7629adcea6d 318 while(j < 3){ //上に同じ，スタートスイッチが離されたことを検知
neoqased 0:d7629adcea6d 319 if(startsw == 0) j++;
neoqased 0:d7629adcea6d 320 else j = 0;
neoqased 0:d7629adcea6d 321 DipLed();
neoqased 0:d7629adcea6d 322 wait_ms(5);
neoqased 0:d7629adcea6d 323 }
neoqased 0:d7629adcea6d 324 return 0;
neoqased 0:d7629adcea6d 325 }
neoqased 0:d7629adcea6d 326
neoqased 0:d7629adcea6d 327 int Buzzer(int buzvar){ //電子ブザーを鳴らす関数
neoqased 0:d7629adcea6d 328 switch (buzvar){
neoqased 0:d7629adcea6d 329 /**************エラーを知らせるbeep**************/
neoqased 0:d7629adcea6d 330 case -3: //error * - -
neoqased 0:d7629adcea6d 331 buzzer = 1; wait(0.1); buzzer = 0; wait(0.1);
neoqased 0:d7629adcea6d 332 buzzer = 1; wait(0.3); buzzer = 0; wait(0.3);
neoqased 0:d7629adcea6d 333 buzzer = 1; wait(0.3); buzzer = 0; wait(0.3);
neoqased 0:d7629adcea6d 334 break;
neoqased 0:d7629adcea6d 335 case -2: //error * - - -
neoqased 0:d7629adcea6d 336 buzzer = 1; wait(0.1); buzzer = 0; wait(0.1);
neoqased 0:d7629adcea6d 337 buzzer = 1; wait(0.3); buzzer = 0; wait(0.3);
neoqased 0:d7629adcea6d 338 buzzer = 1; wait(0.3); buzzer = 0; wait(0.3);
neoqased 0:d7629adcea6d 339 buzzer = 1; wait(0.3); buzzer = 0; wait(0.3);
neoqased 0:d7629adcea6d 340 break;
neoqased 0:d7629adcea6d 341 case -1: //error * - - - -
neoqased 0:d7629adcea6d 342 buzzer = 1; wait(0.1); buzzer = 0; wait(0.1);
neoqased 0:d7629adcea6d 343 buzzer = 1; wait(0.3); buzzer = 0; wait(0.3);
neoqased 0:d7629adcea6d 344 buzzer = 1; wait(0.3); buzzer = 0; wait(0.3);
neoqased 0:d7629adcea6d 345 buzzer = 1; wait(0.3); buzzer = 0; wait(0.3);
neoqased 0:d7629adcea6d 346 buzzer = 1; wait(0.3); buzzer = 0; wait(0.3);
neoqased 0:d7629adcea6d 347 break;
neoqased 0:d7629adcea6d 348 /**************エラーここまで**************/
neoqased 0:d7629adcea6d 349 case 0: //サウンドなし
neoqased 0:d7629adcea6d 350 buzzer = 0;
neoqased 0:d7629adcea6d 351 break;
neoqased 0:d7629adcea6d 352 /**************状態を知らせるためのbeep**************/
neoqased 0:d7629adcea6d 353 case 1: // *(短)
neoqased 0:d7629adcea6d 354 buzzer = 1; wait(0.1); buzzer = 0;
neoqased 0:d7629adcea6d 355 break;
neoqased 0:d7629adcea6d 356 case 2: // * *
neoqased 0:d7629adcea6d 357 buzzer = 1; wait(0.1); buzzer = 0; wait(0.05);
neoqased 0:d7629adcea6d 358 buzzer = 1; wait(0.1); buzzer = 0;
neoqased 0:d7629adcea6d 359 break;
neoqased 0:d7629adcea6d 360 case 3: // -(長)
neoqased 0:d7629adcea6d 361 buzzer = 1; wait(0.3); buzzer = 0;
neoqased 0:d7629adcea6d 362 break;
neoqased 0:d7629adcea6d 363 case 4: // - -
neoqased 0:d7629adcea6d 364 buzzer = 1; wait(0.3); buzzer = 0; wait(0.3);
neoqased 0:d7629adcea6d 365 buzzer = 1; wait(0.3); buzzer = 0;
neoqased 0:d7629adcea6d 366 break;
neoqased 0:d7629adcea6d 367 case 5: // ---
neoqased 0:d7629adcea6d 368 buzzer = 1; wait(0.9); buzzer = 0;
neoqased 0:d7629adcea6d 369 break;
neoqased 0:d7629adcea6d 370 case 6: // * * * * * * * * * *
neoqased 0:d7629adcea6d 371 for(int i = 0; i < 3; i++){
neoqased 0:d7629adcea6d 372 for(int j = 0; j < 3; j++){
neoqased 0:d7629adcea6d 373 buzzer = 1; wait(0.1); buzzer = 0; wait(0.1);
neoqased 0:d7629adcea6d 374 }
neoqased 0:d7629adcea6d 375 wait(0.2);
neoqased 0:d7629adcea6d 376 }
neoqased 0:d7629adcea6d 377 buzzer = 1; wait(0.1); buzzer = 0;
neoqased 0:d7629adcea6d 378 break;
neoqased 0:d7629adcea6d 379 case 7: // **-* ** -* ** *** **** "finish"
neoqased 0:d7629adcea6d 380 buzzer = 1; wait(0.1); buzzer = 0; wait(0.1);
neoqased 0:d7629adcea6d 381 buzzer = 1; wait(0.1); buzzer = 0; wait(0.1);
neoqased 0:d7629adcea6d 382 buzzer = 1; wait(0.3); buzzer = 0; wait(0.1);
neoqased 0:d7629adcea6d 383 buzzer = 1; wait(0.1); buzzer = 0; wait(0.1);
neoqased 0:d7629adcea6d 384 wait(0.2);
neoqased 0:d7629adcea6d 385 buzzer = 1; wait(0.1); buzzer = 0; wait(0.1);
neoqased 0:d7629adcea6d 386 buzzer = 1; wait(0.1); buzzer = 0; wait(0.1);
neoqased 0:d7629adcea6d 387 wait(0.2);
neoqased 0:d7629adcea6d 388 buzzer = 1; wait(0.3); buzzer = 0; wait(0.1);
neoqased 0:d7629adcea6d 389 buzzer = 1; wait(0.1); buzzer = 0; wait(0.1);
neoqased 0:d7629adcea6d 390 wait(0.2);
neoqased 0:d7629adcea6d 391 buzzer = 1; wait(0.1); buzzer = 0; wait(0.1);
neoqased 0:d7629adcea6d 392 buzzer = 1; wait(0.1); buzzer = 0; wait(0.1);
neoqased 0:d7629adcea6d 393 wait(0.2);
neoqased 0:d7629adcea6d 394 buzzer = 1; wait(0.1); buzzer = 0; wait(0.1);
neoqased 0:d7629adcea6d 395 buzzer = 1; wait(0.1); buzzer = 0; wait(0.1);
neoqased 0:d7629adcea6d 396 buzzer = 1; wait(0.1); buzzer = 0; wait(0.1);
neoqased 0:d7629adcea6d 397 wait(0.2);
neoqased 0:d7629adcea6d 398 buzzer = 1; wait(0.1); buzzer = 0; wait(0.1);
neoqased 0:d7629adcea6d 399 buzzer = 1; wait(0.1); buzzer = 0; wait(0.1);
neoqased 0:d7629adcea6d 400 buzzer = 1; wait(0.1); buzzer = 0; wait(0.1);
neoqased 0:d7629adcea6d 401 buzzer = 1; wait(0.1); buzzer = 0;
neoqased 0:d7629adcea6d 402 break;
neoqased 0:d7629adcea6d 403 case 8: // *-*** -*- --* "オワリ"
neoqased 0:d7629adcea6d 404 buzzer = 1; wait(0.1); buzzer = 0; wait(0.1);
neoqased 0:d7629adcea6d 405 buzzer = 1; wait(0.3); buzzer = 0; wait(0.1);
neoqased 0:d7629adcea6d 406 buzzer = 1; wait(0.1); buzzer = 0; wait(0.1);
neoqased 0:d7629adcea6d 407 buzzer = 1; wait(0.1); buzzer = 0; wait(0.1);
neoqased 0:d7629adcea6d 408 buzzer = 1; wait(0.1); buzzer = 0; wait(0.1);
neoqased 0:d7629adcea6d 409 wait(0.2);
neoqased 0:d7629adcea6d 410 buzzer = 1; wait(0.3); buzzer = 0; wait(0.1);
neoqased 0:d7629adcea6d 411 buzzer = 1; wait(0.1); buzzer = 0; wait(0.1);
neoqased 0:d7629adcea6d 412 buzzer = 1; wait(0.3); buzzer = 0; wait(0.1);
neoqased 0:d7629adcea6d 413 wait(0.2);
neoqased 0:d7629adcea6d 414 buzzer = 1; wait(0.3); buzzer = 0; wait(0.1);
neoqased 0:d7629adcea6d 415 buzzer = 1; wait(0.3); buzzer = 0; wait(0.1);
neoqased 0:d7629adcea6d 416 buzzer = 1; wait(0.1); buzzer = 0;
neoqased 0:d7629adcea6d 417 break;
neoqased 0:d7629adcea6d 418 /**************状態を知らせるためのbeepここまで**************/
neoqased 0:d7629adcea6d 419 default: //no sound
neoqased 0:d7629adcea6d 420 buzzer = 0;
neoqased 0:d7629adcea6d 421 break;
neoqased 0:d7629adcea6d 422 }
neoqased 0:d7629adcea6d 423 return 0;
neoqased 0:d7629adcea6d 424 }
neoqased 0:d7629adcea6d 425
neoqased 0:d7629adcea6d 426
neoqased 0:d7629adcea6d 427 int find_header(FILE *fp, char keyword[])
neoqased 0:d7629adcea6d 428 /*
neoqased 0:d7629adcea6d 429 入力 fp ファイルポインタ
neoqased 0:d7629adcea6d 430 keyword キーワード
neoqased 0:d7629adcea6d 431 戻り値 1 : ヘッダを見つけた 0 ヘッダが見つからなかった
neoqased 0:d7629adcea6d 432 */
neoqased 0:d7629adcea6d 433 {
neoqased 0:d7629adcea6d 434 char char_buf[256];
neoqased 0:d7629adcea6d 435 char keyword_buf[256];
neoqased 0:d7629adcea6d 436 char *condition;
neoqased 0:d7629adcea6d 437 int len,i;
neoqased 0:d7629adcea6d 438
neoqased 0:d7629adcea6d 439 strcpy(keyword_buf,keyword);
neoqased 0:d7629adcea6d 440 rm_right_space(keyword_buf); /* 右側の空白を取り除く */
neoqased 0:d7629adcea6d 441
neoqased 0:d7629adcea6d 442 rewind(fp);
neoqased 0:d7629adcea6d 443 for(;;){
neoqased 0:d7629adcea6d 444 condition = fgets(char_buf,BUFSIZ,fp);
neoqased 0:d7629adcea6d 445 if ( condition == NULL ) break;
neoqased 0:d7629adcea6d 446 rm_right_space(char_buf); /* 右側の空白と改行記号を取り除く */
neoqased 0:d7629adcea6d 447 len = strlen(char_buf);
neoqased 0:d7629adcea6d 448 if ( len == 0 ) continue; /* この文はなくてもよい */
neoqased 0:d7629adcea6d 449 for ( i = 0 ; i < len ; i++ ){ /* 左側の空白を取り除く */
neoqased 0:d7629adcea6d 450 if ( char_buf[i] != ' ' ) break;
neoqased 0:d7629adcea6d 451 }
neoqased 0:d7629adcea6d 452 if ( strcmp(&char_buf[i],keyword_buf)==0){
neoqased 0:d7629adcea6d 453 return(1);
neoqased 0:d7629adcea6d 454 break;
neoqased 0:d7629adcea6d 455 }
neoqased 0:d7629adcea6d 456 }
neoqased 0:d7629adcea6d 457 fprintf(stderr,"cannot find header. key word : |%s|\n",keyword);
neoqased 0:d7629adcea6d 458 Buzzer(-3);
neoqased 0:d7629adcea6d 459 return(0);
neoqased 0:d7629adcea6d 460 }
neoqased 0:d7629adcea6d 461
neoqased 0:d7629adcea6d 462 /* 文字列の右側の空白を削除する 改行記号がある場合はそれも除去する */
neoqased 0:d7629adcea6d 463
neoqased 0:d7629adcea6d 464 void rm_right_space(char str[])
neoqased 0:d7629adcea6d 465 {
neoqased 0:d7629adcea6d 466 int i;
neoqased 0:d7629adcea6d 467
neoqased 0:d7629adcea6d 468 i = strlen(str)-1;
neoqased 0:d7629adcea6d 469 if ( str[i] == '\n' ) i--;
neoqased 0:d7629adcea6d 470
neoqased 0:d7629adcea6d 471 while(i>=0){
neoqased 0:d7629adcea6d 472 if ( str[i] != ' ') break;
neoqased 0:d7629adcea6d 473 i--;
neoqased 0:d7629adcea6d 474 }
neoqased 0:d7629adcea6d 475 str[i+1] = '\0';
neoqased 0:d7629adcea6d 476 }