suu pen
IR control car "spinner" 赤外線コントロールラジコン"spinner"の本体＆プロポ統合版プログラムです
Dependencies: Motor Propo_RemotoIR mbed
Revision 0:6825e25b7428, committed 2013-10-16
- Comitter:
- suupen
- Date:
- Wed Oct 16 02:45:27 2013 +0000
- Commit message:
- IR control car "spinner"
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Motor.lib Wed Oct 16 02:45:27 2013 +0000 @@ -0,0 +1,1 @@ +https://mbed.org/users/simon/code/Motor/#f265e441bcd9
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Propo_RemotoIR.lib Wed Oct 16 02:45:27 2013 +0000 @@ -0,0 +1,1 @@ +https://mbed.org/users/suupen/code/Propo_RemotoIR/#ec76e93a4d7c
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Wed Oct 16 02:45:27 2013 +0000
@@ -0,0 +1,15 @@
+#include "mbed.h"
+
+
+#include "spinner.h"
+#include "propo.h"
+
+int main()
+{
+ initialSpinner();
+ initialPropo();
+ while(1) {
+ mainSpinner();
+ }
+}
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Wed Oct 16 02:45:27 2013 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/a9913a65894f \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/propo.cpp Wed Oct 16 02:45:27 2013 +0000
@@ -0,0 +1,87 @@
+/* ir propo
+ * microcomputer
+ * LPC1114FN28
+ * used pin
+ * dp1 : irLED output
+ * dp9 : analog joystic x axis input
+ * dp10: analog joystic y axis input
+ * joystic
+ * akizuki(http://akizukidenshi.com/catalog/g/gP-04048/)
+ * analog joystic
+ * <schematic>
+ * Vcc(3.3[V]) : joystic pin1'(X axis) pin3(Y axis)
+ * GND(0[V]) : joystic pin3'(X axis) pin1(Y axis)
+ * LPC1114FN28 dp9 : joystic pin2'(X axis)
+ * LPC1114FN28 dp10: joystic pin2 (Y axis)
+ * <joystic fixed data>
+ * X axis -8 to 7 :int8_t
+ * Y axis -8 to 7 :int8_t
+ *
+ * ir send
+ * akizuki (http://akizukidenshi.com/catalog/g/gP-04048/)
+ * OSI5FU3A11C
+ * <schematic>
+ * setting If=50[mA]
+ * LPC1114FN28 dp1 : irLED(anode)
+ * GND(0[V]) : - 40[ohm] - irLED(cathod)
+ * <send format>
+ * SONY format
+ * send cycle : 100[ms]
+ * buf[0] :x axis
+ * buf[1] :y axis
+*/
+#include "mbed.h"
+#include "propo.h"
+#include "TransmitterIR.h"
+
+
+void interruptPropo(void);
+
+//#define DBG_PROPO
+
+#ifdef DBG_PROPO
+DigitalOut myled(LED2);
+Serial pc(dp16, dp15);
+#endif // DBG_PROPO
+//------------------------
+// joystic
+AnalogIn Xin(dp9);
+AnalogIn Yin(dp10);
+
+int8_t XinData;
+int8_t YinData;
+//-------------------------
+// ir control
+TransmitterIR ir_tx(dp1);
+RemoteIR::Format format = RemoteIR::SONY;
+uint8_t buf[2] = {0x00, 0x00};
+int bitcount = 16;
+
+Ticker timer;
+
+void initialPropo(void)
+{
+ timer.attach(&interruptPropo, 0.1);
+}
+
+void interruptPropo()
+{
+ // analog 16bit unsigned data(uint16_t) to 4bit signed data(int8_t)
+ XinData = (int8_t)((int16_t)(Xin.read_u16() >> 12) - 0x8);
+ YinData = (int8_t)((int16_t)(Yin.read_u16() >> 12) - 0x8);
+
+ buf[0] = XinData;
+ buf[1] = YinData;
+
+ // send data
+ if(ir_tx.getState() == TransmitterIR::Idle) {
+ bitcount = ir_tx.setData(format, buf, bitcount);
+ }
+
+#ifdef DBG_PROPO
+ pc.printf("X = %02d, Y = %02d \r\n",XinData,YinData);
+ myled = !myled;
+#endif // DBG_PROPO
+}
+
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/propo.h Wed Oct 16 02:45:27 2013 +0000 @@ -0,0 +1,6 @@ +#ifndef _PROPO_H_ +#define _PROPO_H_ + +void initialPropo(void); + +#endif // __PROPO_H_
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/spinner.cpp Wed Oct 16 02:45:27 2013 +0000
@@ -0,0 +1,137 @@
+/* spinner base pcb
+ * <use ir propo>
+ * LPC1114FN28 sony format propo
+ *
+ * <spinner circit>
+ * LPC1114FN28
+ * dp28 : ir reciver
+ * dp18,dp17,dp25: (pwm fwd rev) Right motor control
+ * dp2,dp4,dp6:(pwm fwd rev) Left motor control
+ *
+ * dp11,dp13,dp14,dp26 (LED1,2,3,4):lookup the ir recive condition
+
+*/
+
+#include "mbed.h"
+#include "Motor.h"
+
+#include "ReceiverIR.h"
+
+#define DBG
+//#define DBG2 // motor dousa kakunin
+
+#ifdef DBG
+Serial pc(dp16, dp15); //tx,rx
+#endif // DBG
+
+//-----------------------
+// ir Library
+ReceiverIR ir_rx(dp28);
+RemoteIR::Format formatRx;
+uint8_t bufRx[10]; // nomal no is "2".
+int bitcountRx;
+
+DigitalOut led1(dp11);
+DigitalOut led2(dp13);
+DigitalOut led3(dp14);
+DigitalOut led4(dp26);
+
+
+//-----------------------
+// Motor Library
+Motor Right(dp18, dp17, dp25); // pwm,fwd,rev
+Motor Left(dp2, dp4, dp6); // pwm,fwd,rev
+//-----------------------
+
+Timeout timeout;
+
+void isr_timeout(void)
+{
+ Right.speed(0);
+ Left.speed(0);
+
+ timeout.detach();
+ timeout.attach_us(&isr_timeout, 1000 * 1000);
+}
+
+void initialSpinner(void){
+
+ timeout.detach();
+ timeout.attach_us(&isr_timeout, 1000 * 1000);
+
+}
+
+void mainSpinner(void)
+{
+#ifdef DBG
+ pc.baud(9600);
+#endif // DBG
+
+ // IR data Monitor
+ led1 = 0;
+ led2 = 0;
+ led3 = 0;
+ led4 = 0;
+
+ switch(ir_rx.getState()) {
+ case ReceiverIR::Idle:
+ led1 = 1;
+ break;
+ case ReceiverIR::Receiving:
+ led2 = 1;
+ break;
+ case ReceiverIR::Received:
+ led3 = 1;
+ break;
+ default:
+ led4 = 1;
+ break;
+ }
+
+ if (ir_rx.getState() == ReceiverIR::Received) {
+ bitcountRx = ir_rx.getData(&formatRx, bufRx, sizeof(bufRx) * 8);
+
+ if((formatRx == RemoteIR::SONY) && (bitcountRx == 16)) {
+
+ timeout.detach();
+ timeout.attach_us(&isr_timeout, 1000 * 1000);
+
+ float xWork = (float)((int8_t)bufRx[0] / 8.0f);
+ float yWork = (float)((int8_t)bufRx[1] / 8.0f);
+
+ // fukantai (-0.2 - 0.2)
+ if((-0.2 <= xWork) && (xWork <= 0.2)){xWork = 0;}
+ if((-0.2 <= yWork) && (yWork <= 0.2)){yWork = 0;}
+
+ yWork = -yWork; // sousa wo hanten.
+
+ float r = yWork + (xWork / 2.0);
+ float l = yWork - (xWork / 2.0);
+
+ if(-1.0 > r) {
+ r = -1.0;
+ }
+ if( 1.0 < r) {
+ r = 1.0;
+ }
+ if(-1.0 > l) {
+ l = -1.0;
+ }
+ if( 1.0 < l) {
+ l = 1.0;
+ }
+
+
+#ifdef DBG
+ pc.printf("x = %02d y = %02d |xWork = %1.1f yWork = %1.1f |r = %1.1f l = %1.1f \r\n",(int8_t)bufRx[0],(int8_t)bufRx[1],xWork,yWork,r,l);
+#endif // DBG
+
+ Right.speed(r);
+ Left.speed(-l);
+
+
+
+ }
+ }
+}
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/spinner.h Wed Oct 16 02:45:27 2013 +0000 @@ -0,0 +1,9 @@ +#ifndef _SPINNER_H_ +#define _SPINNER_H_ + + + +void initialSpinner(void); +void mainSpinner(void); + +#endif // _SPINNER_H_ \ No newline at end of file