svnno****@sourc*****
svnno****@sourc*****
2011年 7月 9日 (土) 11:28:17 JST
Revision: 12
http://sourceforge.jp/projects/andy/svn/view?view=rev&revision=12
Author: yishii
Date: 2011-07-09 11:28:17 +0900 (Sat, 09 Jul 2011)
Log Message:
-----------
Test sketch for AndyShield with Arduino Uno/Duemilanove
Added Paths:
-----------
trunk/AndyShieldTest/
trunk/AndyShieldTest/AndyShieldTest.pde
-------------- next part --------------
Added: trunk/AndyShieldTest/AndyShieldTest.pde
===================================================================
--- trunk/AndyShieldTest/AndyShieldTest.pde (rev 0)
+++ trunk/AndyShieldTest/AndyShieldTest.pde 2011-07-09 02:28:17 UTC (rev 12)
@@ -0,0 +1,142 @@
+//
+// Andy Shield(Android Kobe original shield) test
+//
+// Coded by Yasuhiro ISHII
+//
+
+#include <Servo.h>
+
+// ----------------------------------------------
+
+#define PIN_MOTOR1_APWM 4
+#define PIN_MOTOR1_BPWM 5
+#define PIN_MOTOR2_APWM 6
+#define PIN_MOTOR2_BPWM 7
+
+#define PIN_MOTOR1_AIN1 A0
+#define PIN_MOTOR1_AIN2 A1
+#define PIN_MOTOR1_BIN1 A3
+#define PIN_MOTOR1_BIN2 A2
+
+#define PIN_MOTOR2_AIN1 13
+#define PIN_MOTOR2_AIN2 12
+#define PIN_MOTOR2_BIN1 11
+#define PIN_MOTOR2_BIN2 10
+
+#define PIN_RCSERVO1_CNT 9
+#define PIN_RCSERVO2_CNT 8
+
+// ------------------------------------------------
+
+#define MOTORTYPE_MOTOR1_1 0
+#define MOTORTYPE_MOTOR1_2 1
+#define MOTORTYPE_MOTOR2_1 2 // not work
+#define MOTORTYPE_MOTOR2_2 3 // not work
+
+#define MOTORACTION_MOTOR_STOP 0
+#define MOTORACTION_MOTOR_FORWARD 1
+#define MOTORACTION_MOTOR_REVERSE 2
+#define MOTORACTION_MOTOR_BRAKE 3
+
+Servo servomotor_1;
+Servo servomotor_2;
+
+void setup()
+{
+ /////////////////////////////////////////////////
+ // GPIO SETUP
+ /////////////////////////////////////////////////
+
+ // pin io direction setup
+ pinMode(PIN_MOTOR1_AIN1,OUTPUT);
+ pinMode(PIN_MOTOR1_AIN2,OUTPUT);
+ pinMode(PIN_MOTOR1_BIN1,OUTPUT);
+ pinMode(PIN_MOTOR1_BIN2,OUTPUT);
+ pinMode(PIN_MOTOR2_AIN1,OUTPUT);
+ pinMode(PIN_MOTOR2_AIN2,OUTPUT);
+ pinMode(PIN_MOTOR2_BIN1,OUTPUT);
+ pinMode(PIN_MOTOR2_BIN2,OUTPUT);
+
+#if 0
+ pinMode(PIN_MOTOR1_APWM,OUTPUT);
+ pinMode(PIN_MOTOR1_BPWM,OUTPUT);
+ pinMode(PIN_MOTOR2_APWM,OUTPUT);
+ pinMode(PIN_MOTOR2_BPWM,OUTPUT);
+#endif
+
+ pinMode(PIN_RCSERVO1_CNT,OUTPUT);
+ pinMode(PIN_RCSERVO2_CNT,OUTPUT);
+
+ // pin output value setup
+
+ digitalWrite(PIN_MOTOR1_AIN1,LOW);
+ digitalWrite(PIN_MOTOR1_AIN2,LOW);
+ digitalWrite(PIN_MOTOR1_BIN1,LOW);
+ digitalWrite(PIN_MOTOR1_BIN2,LOW);
+ digitalWrite(PIN_MOTOR2_AIN1,LOW);
+ digitalWrite(PIN_MOTOR2_AIN2,LOW);
+ digitalWrite(PIN_MOTOR2_BIN1,LOW);
+ digitalWrite(PIN_MOTOR2_BIN2,LOW);
+
+ /////////////////////////////////////////////////
+ // MISC SETUP
+ /////////////////////////////////////////////////
+
+ // initialize peripherals
+#if 0
+ analogWrite(PIN_MOTOR1_APWM,0);
+ analogWrite(PIN_MOTOR1_BPWM,0);
+ analogWrite(PIN_MOTOR2_APWM,0);
+ analogWrite(PIN_MOTOR2_BPWM,0);
+#endif
+
+ analogWrite(PIN_MOTOR1_APWM,150);
+ analogWrite(PIN_MOTOR1_BPWM,150);
+ analogWrite(PIN_MOTOR2_APWM,80);
+ analogWrite(PIN_MOTOR2_BPWM,80);
+ delay(50);
+
+ // initialize servo motor
+ servomotor_1.attach(PIN_RCSERVO1_CNT,800,2200);
+ servomotor_2.attach(PIN_RCSERVO2_CNT,800,2200);
+}
+
+void loop()
+{
+
+ delay(500);
+
+ while(1){
+ controlMotor(MOTORTYPE_MOTOR1_1,MOTORACTION_MOTOR_FORWARD);
+ controlMotor(MOTORTYPE_MOTOR1_2,MOTORACTION_MOTOR_REVERSE);
+ delay(2000);
+ controlMotor(MOTORTYPE_MOTOR1_1,MOTORACTION_MOTOR_REVERSE);
+ controlMotor(MOTORTYPE_MOTOR1_2,MOTORACTION_MOTOR_FORWARD);
+ delay(2000);
+ }
+}
+
+void controlMotor(int motortype,int motoraction)
+{
+ int pinno_1;
+ int pinno_2;
+
+ const unsigned char cont[4][2] = {
+ { LOW , LOW }, // STOP
+ { HIGH , LOW }, // FORWARD
+ { LOW , HIGH }, // REVERSE
+ { HIGH , HIGH } // BRAKE
+ };
+
+ if(motortype == MOTORTYPE_MOTOR1_1){
+ pinno_1 = PIN_MOTOR1_AIN1;
+ pinno_2 = PIN_MOTOR1_AIN2;
+ } else {
+ pinno_1 = PIN_MOTOR1_BIN1;
+ pinno_2 = PIN_MOTOR1_BIN2;
+ }
+
+ digitalWrite(pinno_1,cont[motoraction][0]);
+ digitalWrite(pinno_2,cont[motoraction][1]);
+}
+