svnno****@sourc*****
svnno****@sourc*****
2011年 7月 9日 (土) 17:21:09 JST
Revision: 13
http://sourceforge.jp/projects/andy/svn/view?view=rev&revision=13
Author: yishii
Date: 2011-07-09 17:21:09 +0900 (Sat, 09 Jul 2011)
Log Message:
-----------
merged the hardware bug fix code from andy droid-kun's code.
Modified Paths:
--------------
trunk/AndyShieldTest/AndyShieldTest.pde
-------------- next part --------------
Modified: trunk/AndyShieldTest/AndyShieldTest.pde
===================================================================
--- trunk/AndyShieldTest/AndyShieldTest.pde 2011-07-09 02:28:17 UTC (rev 12)
+++ trunk/AndyShieldTest/AndyShieldTest.pde 2011-07-09 08:21:09 UTC (rev 13)
@@ -3,25 +3,32 @@
//
// Coded by Yasuhiro ISHII
//
+// 2011/07/09 17:19 JST
#include <Servo.h>
// ----------------------------------------------
-#define PIN_MOTOR1_APWM 4
+#define ANDY_SHIELD 1 // hardware rev. No. => 1 means rev.1
+
+#define PIN_MOTOR1_APWM 6
#define PIN_MOTOR1_BPWM 5
+#if (ANDY_SHIELD != 1)
#define PIN_MOTOR2_APWM 6
#define PIN_MOTOR2_BPWM 7
+#endif
#define PIN_MOTOR1_AIN1 A0
#define PIN_MOTOR1_AIN2 A1
#define PIN_MOTOR1_BIN1 A3
#define PIN_MOTOR1_BIN2 A2
+#if (ANDY_SHIELD != 1)
#define PIN_MOTOR2_AIN1 13
#define PIN_MOTOR2_AIN2 12
#define PIN_MOTOR2_BIN1 11
#define PIN_MOTOR2_BIN2 10
+#endif
#define PIN_RCSERVO1_CNT 9
#define PIN_RCSERVO2_CNT 8
@@ -47,55 +54,40 @@
// GPIO SETUP
/////////////////////////////////////////////////
- // pin io direction setup
+ // hardware bug fix
+#if (ANDY_SHIELD == 1)
+ // only rev.1 has the mis-port assignment
+ pinMode(4,INPUT);
+ digitalWrite(4,LOW);
+#endif
+
+ // pin direction setup
+ pinMode(PIN_MOTOR1_APWM,OUTPUT);
+ pinMode(PIN_MOTOR1_BPWM,OUTPUT);
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_APWM,LOW);
+ digitalWrite(PIN_MOTOR1_BPWM,LOW);
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);
+ analogWrite(PIN_MOTOR1_APWM,0);
+ analogWrite(PIN_MOTOR1_BPWM,0);
+ delay(50);
+
+ pinMode(PIN_RCSERVO1_CNT,OUTPUT);
+ pinMode(PIN_RCSERVO2_CNT,OUTPUT);
+
/////////////////////////////////////////////////
// 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);
@@ -103,16 +95,66 @@
void loop()
{
+ int i;
- delay(500);
+ while(1){
+ controlMotor(MOTORTYPE_MOTOR1_1,MOTORACTION_MOTOR_FORWARD);
+ controlMotor(MOTORTYPE_MOTOR1_2,MOTORACTION_MOTOR_FORWARD);
- 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);
+ for(i=0;i<15;i++){
+ analogWrite(PIN_MOTOR1_APWM,i*10);
+ analogWrite(PIN_MOTOR1_BPWM,i*10);
+ delay(200);
+ }
+
+ delay(2000);
+
+ for(i=0;i<15;i++){
+ analogWrite(PIN_MOTOR1_APWM,140-(i*10));
+ analogWrite(PIN_MOTOR1_BPWM,140-(i*10));
+ delay(200);
+ }
+
+ delay(1000);
+
+ controlMotor(MOTORTYPE_MOTOR1_1,MOTORACTION_MOTOR_FORWARD);
+ controlMotor(MOTORTYPE_MOTOR1_2,MOTORACTION_MOTOR_REVERSE);
+
+ for(i=0;i<15;i++){
+ analogWrite(PIN_MOTOR1_APWM,i*10);
+ analogWrite(PIN_MOTOR1_BPWM,i*10);
+ delay(200);
+ }
+
+ delay(2000);
+
+ for(i=0;i<15;i++){
+ analogWrite(PIN_MOTOR1_APWM,140-(i*10));
+ analogWrite(PIN_MOTOR1_BPWM,140-(i*10));
+ delay(200);
+ }
+
+ delay(1000);
+
+ controlMotor(MOTORTYPE_MOTOR1_1,MOTORACTION_MOTOR_REVERSE);
+ controlMotor(MOTORTYPE_MOTOR1_2,MOTORACTION_MOTOR_REVERSE);
+
+ for(i=0;i<14;i++){
+ analogWrite(PIN_MOTOR1_APWM,i*10);
+ analogWrite(PIN_MOTOR1_BPWM,i*10);
+ delay(200);
+ }
+
+ delay(2000);
+
+ for(i=0;i<10;i++){
+ analogWrite(PIN_MOTOR1_APWM,140-(i*10));
+ analogWrite(PIN_MOTOR1_BPWM,140-(i*10));
+ delay(200);
+ }
+
+ delay(1000);
+
}
}
@@ -139,4 +181,3 @@
digitalWrite(pinno_1,cont[motoraction][0]);
digitalWrite(pinno_2,cont[motoraction][1]);
}
-