svnno****@sourc*****
svnno****@sourc*****
2011年 7月 8日 (金) 23:57:22 JST
Revision: 11
http://sourceforge.jp/projects/andy/svn/view?view=rev&revision=11
Author: yishii
Date: 2011-07-08 23:57:21 +0900 (Fri, 08 Jul 2011)
Log Message:
-----------
fixed for hardware bug
Modified Paths:
--------------
trunk/tank_with_2_servomotors/tank_with_servo.pde
-------------- next part --------------
Modified: trunk/tank_with_2_servomotors/tank_with_servo.pde
===================================================================
--- trunk/tank_with_2_servomotors/tank_with_servo.pde 2011-07-05 21:35:35 UTC (rev 10)
+++ trunk/tank_with_2_servomotors/tank_with_servo.pde 2011-07-08 14:57:21 UTC (rev 11)
@@ -8,15 +8,15 @@
#include <MsTimer2.h>
#include <Servo.h>
-#define ANDY_SHIELD
+#define ANDY_SHIELD 1 // Andy Shield rev.1
#ifdef ANDY_SHIELD
-#define PIN_MOTOR_R_VREF 4
-#define PIN_MOTOR_L_VREF 5
-#define PIN_MOTOR_R_CONTROL1 A0
-#define PIN_MOTOR_R_CONTROL2 A1
-#define PIN_MOTOR_L_CONTROL1 A3
-#define PIN_MOTOR_L_CONTROL2 A2
+#define PIN_MOTOR_L_VREF 6
+#define PIN_MOTOR_R_VREF 5
+#define PIN_MOTOR_L_CONTROL1 A0
+#define PIN_MOTOR_L_CONTROL2 A1
+#define PIN_MOTOR_R_CONTROL1 A3
+#define PIN_MOTOR_R_CONTROL2 A2
#else
#define PIN_MOTOR_R_VREF 5
#define PIN_MOTOR_L_VREF 6
@@ -68,29 +68,29 @@
// GPIO 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(2,OUTPUT);
- pinMode(3,OUTPUT);
- pinMode(4,OUTPUT);
- pinMode(5,OUTPUT); // Vref (R ch)
- pinMode(6,OUTPUT); // Vref (L ch)
- pinMode(7,OUTPUT);
-
- pinMode(8,OUTPUT); // IN1 (Rch)
- pinMode(9,OUTPUT); // IN2 (Rch)
- pinMode(10,OUTPUT); // IN1 (Rch)
- pinMode(11,OUTPUT); // IN2 (Rch)
+ pinMode(PIN_MOTOR_R_VREF,OUTPUT);
+ pinMode(PIN_MOTOR_L_VREF,OUTPUT);
+ pinMode(PIN_MOTOR_R_CONTROL1,OUTPUT);
+ pinMode(PIN_MOTOR_R_CONTROL2,OUTPUT);
+ pinMode(PIN_MOTOR_L_CONTROL1,OUTPUT);
+ pinMode(PIN_MOTOR_L_CONTROL2,OUTPUT);
- pinMode(12,OUTPUT);
- pinMode(13,OUTPUT);
-
// pin output value setup
- digitalWrite(8,LOW);
- digitalWrite(9,LOW);
- digitalWrite(10,LOW);
- digitalWrite(11,LOW);
-
-
+ digitalWrite(PIN_MOTOR_R_CONTROL1,LOW);
+ digitalWrite(PIN_MOTOR_R_CONTROL2,HIGH);
+ digitalWrite(PIN_MOTOR_L_CONTROL1,LOW);
+ digitalWrite(PIN_MOTOR_L_CONTROL2,HIGH);
+ analogWrite(PIN_MOTOR_R_VREF,100);
+ analogWrite(PIN_MOTOR_L_VREF,100);
+// while(1);
/////////////////////////////////////////////////
// MISC SETUP
/////////////////////////////////////////////////
@@ -104,8 +104,10 @@
// initialize servo motor
+#ifndef ANDY_SHIELD
servomotor_L.attach(12,800,2200);
servomotor_R.attach(13,800,2200);
+#endif
// start cyclic handler
MsTimer2::set(CYCLIC_HANDLER_INTERVAL_MS, cyclic_handler);
@@ -198,8 +200,10 @@
motor[1] = motor[1] < 1 ? 1 : motor[1];
motor[1] = motor[1] >= 180 ? 180 : motor[1];
motor[1] = 181 - motor[1];
+#ifndef ANDY_SHIELD
servomotor_L.write(motor[0]);
servomotor_R.write(motor[1]);
+#endif
Serial.write(MESSAGE_ACK);
}
break;