suu pen
量産型スピナーのプログラムです。 IRC Helicopter "SWIFT" のPropoでコントロールします。
Dependencies: CodecIRPropoSwift Motordriver Propo_RemotoIR mbed
Revision 0:9d3b35ce3c45, committed 2013-08-03
- Comitter:
- suupen
- Date:
- Sat Aug 03 01:48:34 2013 +0000
- Commit message:
- ????????????????
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/CodecIRPropoSwift.lib Sat Aug 03 01:48:34 2013 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/suupen/code/CodecIRPropoSwift/#8ceeb99b4c21
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Motordriver.lib Sat Aug 03 01:48:34 2013 +0000 @@ -0,0 +1,1 @@ +https://mbed.org/users/littlexc/code/Motordriver/#3110b9209d3c
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Propo_RemotoIR.lib Sat Aug 03 01:48:34 2013 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/suupen/code/Propo_RemotoIR/#ec76e93a4d7c
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Sat Aug 03 01:48:34 2013 +0000
@@ -0,0 +1,127 @@
+#include "mbed.h"
+#include "math.h"
+#include "motordriver.h"
+#include "ReceiverIR.h"
+
+#include "CodecSwift.h"
+#include "DecodeSwift.h"
+
+
+Serial pc(USBTX,USBRX);
+
+ReceiverIR ir_rx(p30);
+RemoteIR::Format format;
+uint8_t buf[32];
+int bitcount;
+
+DecodeSwift swift;
+CodecSwift::swiftPropo_t swiftData;
+CodecSwift::normalizePropo_t normalize;
+
+
+Motor Right(p24, p27, p26, 1);
+Motor Left(p22, p14, p13, 1);
+
+Timeout timeout;
+
+void isr_timeout(void)
+{
+ Right.speed(0);
+ Left.speed(0);
+}
+
+DigitalOut led1(LED1);
+DigitalOut led2(LED2);
+DigitalOut led3(LED3);
+DigitalOut led4(LED4);
+
+int main()
+{
+ pc.baud(38400);
+
+ timeout.detach();
+ timeout.attach_us(&isr_timeout, 100 * 1000);
+
+ uint8_t count = 0;
+ float theta;
+ float x;
+ float y;
+ float r;
+ float l;
+
+
+ while(1) {
+
+ // 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;
+ }
+
+
+ // IR data to Motor data
+ if (ir_rx.getState() == ReceiverIR::Received) {
+ bitcount = ir_rx.getData(&format, buf, sizeof(buf) * 8);
+
+ bool ans = swift.normalize(buf, &normalize);
+
+
+ if(ans == true) {
+ timeout.detach();
+ timeout.attach_us(&isr_timeout, 100 * 1000);
+
+ theta = atan2f(normalize.elevator, normalize.ladder);
+ x = -normalize.slottle * cosf(theta);
+ y = -normalize.slottle * sinf(theta);
+
+ if((fabsf(normalize.elevator) < 0.01) && (fabsf(normalize.ladder) < 0.01)) {
+ r = 0;
+ l = 0;
+ } else if(x > 0.0) {
+ r = (y - x / 2.0);
+ l = (y + x / 2.0);
+ } else {
+ r = (y - x / 2.0);
+ l = (y + x / 2.0);
+ }
+
+#if 0
+ printf("x = %f y = %f r = %f l = %f\n",x, y, r, l);
+#endif
+
+ Right.speed(r);
+ Left.speed(-l);
+ } else if( ++count > 10) {
+ count = 0;
+ Right.speed(0);
+ Left.speed(0);
+ }
+
+#if 0
+ if(ans == true) {
+ printf("count = %02x band = %1d slottle = %f trim = %f ladder = %f elevator = %f\n",normalize.count,normalize.band,normalize.slottle,normalize.trim,normalize.ladder, normalize.elevator);
+ } else {
+ printf("NG\n");
+ }
+#endif
+ }
+
+
+
+ }
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Sat Aug 03 01:48:34 2013 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/7e6c9f46b3bd \ No newline at end of file