void btConnect() {
while(true) {
if (is_master) {
shared_memory->bt_con = fdopen(SIO_PORT_SPP_MASTER_TEST_FILENO, "a+");
if (shared_memory->bt_con != NULL) {
setbuf(shared_memory->bt_con, NULL);
while (!isConnected()) {
//cycle_print((char*)"Connecting...");
spp_master_test_connect(slave_address, pin);
sleep(1000);
}
break;
}
} else {
while (!ev3_bluetooth_is_connected()) {
//cycle_print((char*)"Waiting for connection...");
sleep(1000);
}
shared_memory->bt_con = ev3_serial_open_file(EV3_SERIAL_BT);
break;
}
sleep(1000);
}
//cycle_print((char*)"Connected.");
act_tsk(BT_RECV_TASK);
}
/*
* call-seq:
* SerialPort.new(port) # => SerialPort
*
* Open serial port.
*
* Parameters:
* +port+ font size.
* :default Default serial port
* :uart UART
* :bt Bluetooth
*
* Returns SerialPort object.
*/
static mrb_value
mrb_serial_init(mrb_state *mrb, mrb_value self)
{
struct RClass *ser = mrb_obj_class(mrb, self);
mrb_value pmap = mrb_const_get(mrb, mrb_obj_value(ser), mrb_intern_lit(mrb, "PORT"));
mrb_sym port;
mrb_value portv;
FILE *fp;
mrb_get_args(mrb, "n", &port);
portv = mrb_hash_get(mrb, pmap, mrb_symbol_value(port));
if (mrb_nil_p(portv)) {
mrb_raisef(mrb, E_ARGUMENT_ERROR, "invalid port :%S", mrb_sym2str(mrb, port));
}
fp = ev3_serial_open_file((serial_port_t)mrb_fixnum(portv));
if (fp == NULL) {
mrb_raisef(mrb, E_IO_ERROR, "Serial port cannot open :%S", mrb_sym2str(mrb, port));
}
mrb_file_attach(self, fp);
return self;
}
void main_task(intptr_t unused) {
bt = ev3_serial_open_file(EV3_SERIAL_BT);
int heartBeatCount = 0;
Linetrace* linetrace;
Temp::init();
tailControl->SetRefValue(90);
wheelControl->Init();
while(1) {
if(1250 < heartBeatCount) {
linetrace->exec();
}
tailControl->Control();
wheelControl->Control();
if(heartBeatCount%250 == 0) {
ev3_led_set_color(LED_ORANGE);
}
else if((heartBeatCount+125)%250 == 0) {
ev3_led_set_color(LED_GREEN);
}
heartBeatCount++;
if(heartBeatCount == 1250) {
tailControl->SetRefValue(0);
linetrace = new Linetrace(wheelControl, calibration);
}
tslp_tsk(4);
}
}
void main_task(intptr_t unused) {
ev3_lcd_set_font(EV3_FONT_MEDIUM);
ev3_font_get_size(EV3_FONT_MEDIUM, &fontw, &fonth);
memfile_t memfile;
ev3_memfile_load("/test.bmp", &memfile);
image_t image;
ev3_image_load(&memfile, &image);
ev3_lcd_draw_image(&image, 0, fonth * 2);
//ev3_sta_cyc(TEST_EV3_CYC1);
// Enable TEST_EV3_CYC2 for 5 seconds
ev3_sta_cyc(TEST_EV3_CYC2);
tslp_tsk(5000);
ev3_stp_cyc(TEST_EV3_CYC2);
#if 0
// Register button handlers
ev3_button_set_on_clicked(BACK_BUTTON, button_clicked_handler, BACK_BUTTON);
ev3_button_set_on_clicked(ENTER_BUTTON, button_clicked_handler, ENTER_BUTTON);
ev3_button_set_on_clicked(LEFT_BUTTON, button_clicked_handler, LEFT_BUTTON);
// Configure sensors
ev3_sensor_config(gyro_sensor, GYRO_SENSOR);
// Configure motors
ev3_motor_config(left_motor, LARGE_MOTOR);
ev3_motor_config(right_motor, LARGE_MOTOR);
// Start task for self-balancing
act_tsk(BALANCE_TASK);
// Open Bluetooth file
bt = ev3_serial_open_file(EV3_SERIAL_BT);
assert(bt != NULL);
// Start task for printing message while idle
act_tsk(IDLE_TASK);
while(1) {
uint8_t c = fgetc(bt);
sus_tsk(IDLE_TASK);
switch(c) {
case 'w':
if(motor_control_drive < 0)
motor_control_drive = 0;
else
motor_control_drive += 10;
fprintf(bt, "motor_control_drive: %d\n", motor_control_drive);
break;
case 's':
if(motor_control_drive > 0)
motor_control_drive = 0;
else
motor_control_drive -= 10;
fprintf(bt, "motor_control_drive: %d\n", motor_control_drive);
break;
case 'a':
if(motor_control_steer < 0)
motor_control_steer = 0;
else
motor_control_steer += 10;
fprintf(bt, "motor_control_steer: %d\n", motor_control_steer);
break;
case 'd':
if(motor_control_steer > 0)
motor_control_steer = 0;
else
motor_control_steer -= 10;
fprintf(bt, "motor_control_steer: %d\n", motor_control_steer);
break;
case 'h':
fprintf(bt, "==========================\n");
fprintf(bt, "Usage:\n");
fprintf(bt, "Press 'w' to speed up\n");
fprintf(bt, "Press 's' to speed down\n");
fprintf(bt, "Press 'a' to turn left\n");
fprintf(bt, "Press 'd' to turn right\n");
fprintf(bt, "Press 'i' for idle task\n");
fprintf(bt, "Press 'h' for this message\n");
fprintf(bt, "==========================\n");
break;
case 'i':
fprintf(bt, "Idle task started.\n");
rsm_tsk(IDLE_TASK);
break;
default:
fprintf(bt, "Unknown key '%c' pressed.\n", c);
}
}
#endif
}
/* メインタスク */
void main_task(intptr_t unused)
{
signed char forward; /* 前後進命令 */
signed char turn; /* 旋回命令 */
signed char pwm_L, pwm_R; /* 左右モータPWM出力 */
/* LCD画面表示 */
ev3_lcd_fill_rect(0, 0, EV3_LCD_WIDTH, EV3_LCD_HEIGHT, EV3_LCD_WHITE);
ev3_lcd_draw_string("ミヤウチ", 0, CALIB_FONT_HEIGHT*1);
/* センサー入力ポートの設定 */
ev3_sensor_config(sonar_sensor, ULTRASONIC_SENSOR);
ev3_sensor_config(color_sensor, COLOR_SENSOR);
ev3_color_sensor_get_reflect(color_sensor); /* 反射率モード */
ev3_sensor_config(touch_sensor, TOUCH_SENSOR);
ev3_sensor_config(gyro_sensor, GYRO_SENSOR);
/* モーター出力ポートの設定 */
ev3_motor_config(left_motor, LARGE_MOTOR);
ev3_motor_config(right_motor, LARGE_MOTOR);
ev3_motor_config(tail_motor, LARGE_MOTOR);
ev3_motor_reset_counts(tail_motor);
//キャリブレイト 白取得
printf("Press the touch sensor to measure light intensity of WHITE.\n");
while(!ev3_touch_sensor_is_pressed(touch_sensor));
while(ev3_touch_sensor_is_pressed(touch_sensor));
int white = ev3_color_sensor_get_reflect(color_sensor);
printf("WHITE light intensity: %d.\n", white);
//キャリブレイト 黒取得
printf("Press the touch sensor to measure light intensity of BLACK.\n");
while(!ev3_touch_sensor_is_pressed(touch_sensor));
while(ev3_touch_sensor_is_pressed(touch_sensor));
int black = ev3_color_sensor_get_reflect(color_sensor);
printf("BLACK light intensity: %d.\n", black);
//PID制御
float lasterror = 0, integral = 0;
float midpoint = (white - black) / 2 + black;
/* Open Bluetooth file */
bt = ev3_serial_open_file(EV3_SERIAL_BT);
assert(bt != NULL);
/* Bluetooth通信タスクの起動 */
act_tsk(BT_TASK);
ev3_led_set_color(LED_ORANGE); /* 初期化完了通知 */
/* スタート待機 */
while(1)
{
//尻尾さげる
tail_control(TAIL_ANGLE_STAND_UP);
if (bt_cmd == 1)
{
//リモートスタート
break;
}
if (ev3_touch_sensor_is_pressed(touch_sensor) == 1)
{
//タッチセンサが押された
break;
}
tslp_tsk(1);
}
/* 走行モーターエンコーダーリセット */
ev3_motor_reset_counts(left_motor);
ev3_motor_reset_counts(right_motor);
/* ジャイロセンサーリセット */
ev3_gyro_sensor_reset(gyro_sensor);
balancer.init(GYRO_OFFSET); // <1>
/* スタート（LED緑色） */
ev3_led_set_color(LED_GREEN);
while(1)
{
int32_t motor_ang_l, motor_ang_r;
int gyro, volt;
if (ev3_button_is_pressed(BACK_BUTTON)) break;
tail_control(TAIL_ANGLE_DRIVE); /* バランス走行用角度に制御 */
forward = 30;
float error = midpoint - ev3_color_sensor_get_reflect(color_sensor);
integral = error + integral * 0.5;
turn = 0.07 * error + 0.3 * integral + 1 * (error - lasterror);
// float steer = 0.07 * error + 0.3 * integral + 1 * (error - lasterror);
// ev3_motor_steer(left_motor, right_motor, 10, steer);
lasterror = error;
tslp_tsk(1);
/* 倒立振子制御API に渡すパラメータを取得する */
motor_ang_l = ev3_motor_get_counts(left_motor);
motor_ang_r = ev3_motor_get_counts(right_motor);
gyro = ev3_gyro_sensor_get_rate(gyro_sensor);
volt = ev3_battery_voltage_mV();
/* 倒立振子制御APIを呼び出し、倒立走行するための */
/* 左右モータ出力値を得る */
balancer.setCommand(forward, turn); // <1>
balancer.update(gyro, motor_ang_r, motor_ang_l, volt); // <2>
pwm_L = balancer.getPwmRight(); // <3>
pwm_R = balancer.getPwmLeft(); // <3>
/* EV3ではモーター停止時のブレーキ設定が事前にできないため */
/* 出力0時に、その都度設定する */
if (pwm_L == 0)
{
ev3_motor_stop(left_motor, true);
}
else
{
ev3_motor_set_power(left_motor, (int)pwm_L);
}
if (pwm_R == 0)
{
ev3_motor_stop(right_motor, true);
}
else
{
ev3_motor_set_power(right_motor, (int)pwm_R);
}
tslp_tsk(4); /* 4msec周期起動 */
}
ev3_motor_stop(left_motor, false);
ev3_motor_stop(right_motor, false);
ter_tsk(BT_TASK);
fclose(bt);
ext_tsk();
}
/* メインタスク */
void main_task(intptr_t unused)
{
signed char forward; /* 前後進命令 */
signed char turn; /* 旋回命令 */
signed char pwm_L, pwm_R; /* 左右モータPWM出力 */
static int turn = 0;
/* LCD画面表示 */
ev3_lcd_fill_rect(0, 0, EV3_LCD_WIDTH, EV3_LCD_HEIGHT, EV3_LCD_WHITE);
ev3_lcd_draw_string("ETミヤウチ", 0, CALIB_FONT_HEIGHT*1);
/* センサー入力ポートの設定 */
ev3_sensor_config(sonar_sensor, ULTRASONIC_SENSOR);
ev3_sensor_config(color_sensor, COLOR_SENSOR);
ev3_color_sensor_get_reflect(color_sensor); /* 反射率モード */
ev3_sensor_config(touch_sensor, TOUCH_SENSOR);
ev3_sensor_config(gyro_sensor, GYRO_SENSOR);
/* モーター出力ポートの設定 */
ev3_motor_config(left_motor, LARGE_MOTOR);
ev3_motor_config(right_motor, LARGE_MOTOR);
ev3_motor_config(tail_motor, LARGE_MOTOR);
ev3_motor_reset_counts(tail_motor);
/* Open Bluetooth file */
bt = ev3_serial_open_file(EV3_SERIAL_BT);
assert(bt != NULL);
/* Bluetooth通信タスクの起動 */
act_tsk(BT_TASK);
ev3_led_set_color(LED_ORANGE); /* 初期化完了通知 */
/* スタート待機 */
while(1)
{
tail_control(TAIL_ANGLE_STAND_UP); /* 完全停止用角度に制御 */
if (bt_cmd == 1)
{
break; /* リモートスタート */
}
if (ev3_touch_sensor_is_pressed(touch_sensor) == 1)
{
break; /* タッチセンサが押された */
}
tslp_tsk(10); /* 10msecウェイト */
}
/* 走行モーターエンコーダーリセット */
ev3_motor_reset_counts(left_motor);
ev3_motor_reset_counts(right_motor);
/* ジャイロセンサーリセット */
ev3_gyro_sensor_reset(gyro_sensor);
balancer.init(GYRO_OFFSET); // <1>
ev3_led_set_color(LED_GREEN); /* スタート通知 */
/**
* Main loop for the self-balance control algorithm
*/
while(1)
{
int32_t motor_ang_l, motor_ang_r;
int gyro, volt;
turn = (ev3_color_sensor_get_reflect(color_sensor) - (LIGHT_WHITE + LIGHT_BLACK)/2) * KP;
if (ev3_button_is_pressed(BACK_BUTTON)) break;
tail_control(TAIL_ANGLE_DRIVE); /* バランス走行用角度に制御 */
if (sonar_alert() == 1) /* 障害物検知 */
{
forward = turn = 0; /* 障害物を検知したら停止 */
}
else
{
forward = 30; /* 前進命令 */
if (100 < turn) {
turn = 100.0;
} else if (turn < -100) {
turn = -100.0;
}
}
/* 倒立振子制御API に渡すパラメータを取得する */
motor_ang_l = ev3_motor_get_counts(left_motor);
motor_ang_r = ev3_motor_get_counts(right_motor);
gyro = ev3_gyro_sensor_get_rate(gyro_sensor);
volt = ev3_battery_voltage_mV();
/* 倒立振子制御APIを呼び出し、倒立走行するための */
/* 左右モータ出力値を得る */
balancer.setCommand(forward, turn); // <1>
balancer.update(gyro, motor_ang_r, motor_ang_l, volt); // <2>
pwm_L = balancer.getPwmRight(); // <3>
pwm_R = balancer.getPwmLeft(); // <3>
/* EV3ではモーター停止時のブレーキ設定が事前にできないため */
/* 出力0時に、その都度設定する */
if (pwm_L == 0)
{
ev3_motor_stop(left_motor, true);
}
else
{
ev3_motor_set_power(left_motor, (int)pwm_L);
}
if (pwm_R == 0)
{
ev3_motor_stop(right_motor, true);
}
else
{
ev3_motor_set_power(right_motor, (int)pwm_R);
}
tslp_tsk(4); /* 4msec周期起動 */
}
ev3_motor_stop(left_motor, false);
ev3_motor_stop(right_motor, false);
ter_tsk(BT_TASK);
fclose(bt);
ext_tsk();
}
