--- /dev/null
+/*
+ Copyright 2012 JAG-AKIBA
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+*/
+#include "AKBrobot.h"
+
+AKBrobot::AKBrobot()
+{
+}
+
+void AKBrobot::init()
+{
+ //Initialize Motors
+ motors[0].in1 = MOTOR1A;
+ motors[0].in2 = MOTOR1B;
+ motors[0].pwm = MOTOR1P;
+ motors[1].in1 = MOTOR2A;
+ motors[1].in2 = MOTOR2B;
+ motors[1].pwm = MOTOR2P;
+ for(int i=0; i<_MAX_MOTORS; i++){
+ pinMode(motors[i].in1, OUTPUT);
+ pinMode(motors[i].in2, OUTPUT);
+ digitalWrite(motors[i].in1, LOW);
+ digitalWrite(motors[i].in2, LOW);
+ }
+
+ //Initialize Relays
+ relays[0] = RELAY1;
+ relays[1] = RELAY2;
+ pinMode(RELAY1, OUTPUT);
+ pinMode(RELAY2, OUTPUT);
+
+ //Initialize Servos
+ servos[0].attach(SERVO1);
+ servos[0].write(90);
+ servolist[0] = SERVO1;
+}
+
+//Primitive port assignment
+// data[1] : 0x00-0x3f : digital port
+// 0x40-0x7f : analog port
+// 0x80-0xbf : Output digital port(PWM) / Input analog port
+
+//Configure primitive port
+// data[3] : 0 : digital out
+// 1 : analog out(PWM)
+// 2 : digital in
+// 3 : analog in
+void AKBrobot::configPort(uint8_t *data)
+{
+ int portno;
+
+//Servo check
+ for(uint8_t i=0; i<_MAX_SERVOS; i++){
+ if( servolist[i] == (data[1] & 0x3f) ){
+ servos[i].detach();
+ }
+ }
+
+ switch(data[3]){
+ case 0 : //digital out
+ if( data[1] < 0x40 ){ // digital port
+ portno = data[1];
+ }else if( data[1] < 0x80 ){ // analog port
+ portno = (data[1] & 0x3f) + A0;
+ }
+ pinMode(portno, OUTPUT);
+ break;
+ case 1 :
+ //Not need
+ break;
+ case 2 :
+ if( data[1] < 0x40 ){ // digital port
+ portno = data[1];
+ }else if( data[1] < 0x80 ){ // analog port
+ portno = (data[1] & 0x3f) + A0;
+ }
+ pinMode(portno, INPUT);
+ break;
+ case 3 :
+ //Not need
+ break;
+ defalut :
+ break;
+ }
+}
+
+//Input from primitive port
+int AKBrobot::inPort(uint8_t *data)
+{
+ int pindata = 0;
+ int portno;
+ uint8_t outdata[4];
+ if( data[1] < 0x40 ){ // digital port
+ pindata = digitalRead(data[1]);
+ }else if( data[1] < 0x80 ){ // analog port(digital mode)
+ portno = (data[1] & 0x3f) + A0;
+ pindata = digitalRead(portno);
+ }else if( data[1] < 0xc0 ){ // analog port(analog mode)
+ portno = (data[1] & 0x3f) + A0;
+ pindata = analogRead(portno);
+ }else{
+ }
+
+ outdata[0] = data[0];
+ outdata[1] = data[1];
+ outdata[2] = (uint8_t)((pindata >> 8) & 0xff);
+ outdata[3] = (uint8_t)(pindata & 0xff);
+// Serial.write(outdata, 4);
+ return(pindata);
+}
+
+//Output to primitive port
+void AKBrobot::outPort(uint8_t *data)
+{
+ if( data[1] < 0x40 ){ // digital port
+ digitalWrite(data[1], data[3] ? HIGH : LOW);
+ }else if( data[1] < 0x80 ){ // analog port
+ int portno = (data[1] & 0x3f) + A0;
+ digitalWrite(portno, data[3] ? HIGH : LOW);
+ }else if( data[1] < 0xc0 ){ // digital port(PWM)
+ int portno = (data[1] & 0x3f);
+ analogWrite(portno, data[3]);
+ }else{
+ }
+}
+
+//Motor control
+void AKBrobot::ctrlMotor(uint8_t *data)
+{
+ if( data[1] < _MAX_MOTORS ){
+ if( data[3] == 0) { //STOP
+ digitalWrite(motors[data[1]].in1, LOW);
+ digitalWrite(motors[data[1]].in2, LOW);
+ digitalWrite(motors[data[1]].pwm, 0);
+ }else{
+ if( data[2] == 0){ //\90³\93]
+ digitalWrite(motors[data[1]].in1, HIGH);
+ digitalWrite(motors[data[1]].in2, LOW);
+ }else{ //\8bt\93]
+ digitalWrite(motors[data[1]].in1, LOW);
+ digitalWrite(motors[data[1]].in2, HIGH);
+ }
+ analogWrite(motors[data[1]].pwm, data[3]);
+ }
+ }
+}
+
+//Relay control
+void AKBrobot::ctrlRelay(uint8_t *data)
+{
+ if( data[1] < _MAX_RELAYS ){
+ digitalWrite(relays[data[1]], data[3] ? HIGH : LOW);
+ }
+}
+
+//ServoMotor control
+void AKBrobot::ctrlServo(uint8_t *data)
+{
+ if( data[1] < _MAX_SERVOS ){
+ servos[data[1]].write(map(data[3], 0, 255, 0, 180));
+ }
+}
+
--- /dev/null
+/*
+ Copyright 2012 JAG-AKIBA
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+*/
+#if !defined(_AKBROBOT_H_)
+#define _AKBROBOT_H_
+
+#include "Servo.h"
+
+#if defined(ARDUINO) && ARDUINO >=100
+#include <Arduino.h>
+#else
+#include <WProgram.h>
+#endif
+
+
+//Core Module pin assign
+#define _MAX_MOTORS 2
+#define _MAX_RELAYS 2
+#define _MAX_SERVOS 1
+
+#define RELAY1 2
+#define RELAY2 4
+#define MOTOR1A A0
+#define MOTOR1B A1
+#define MOTOR1P 3
+#define MOTOR2A A2
+#define MOTOR2B A3
+#define MOTOR2P 5
+#define SERVO1 6
+
+//Static classes
+//Motors
+class Motors {
+public:
+ int in1;
+ int in2;
+ int pwm;
+ Motors(){};
+ Motors(int in1, int in2, int pwm) : in1(in1), in2(in2), pwm(pwm){};
+};
+
+
+class AKBrobot
+{
+private:
+ Motors motors[_MAX_MOTORS];
+ int relays[_MAX_RELAYS];
+ Servo servos[_MAX_SERVOS];
+ uint8_t servolist[_MAX_SERVOS];
+
+public:
+ AKBrobot();
+ void init();
+ void configPort(uint8_t *data);
+ int inPort(uint8_t *data);
+ void outPort(uint8_t *data);
+ void ctrlMotor(uint8_t *data);
+ void ctrlRelay(uint8_t *data);
+ void ctrlServo(uint8_t *data);
+};
+
+#endif //_AKBROBO_H_
--- /dev/null
+/*
+ Copyright 2012 JAG-AKIBA
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+*/
+#include <Servo.h>
+#include <Adb.h>
+#include "AKBrobot.h"
+
+void setup();
+void loop();
+
+// Adb connection.
+Connection * connection;
+
+boolean flgReply = false;
+uint8_t dataReply[4];
+
+AKBrobot robo;
+//Initialize
+void setup()
+{
+ robo.init();
+
+ // Initialize the ADB subsystem.
+ ADB::init();
+
+ // Open an ADB stream to the phone's shell. Auto-reconnect
+ connection = ADB::addConnection("tcp:4567", true, adbEventHandler);
+}
+
+//Main loop
+void loop()
+{
+ // Poll the ADB subsystem.
+ ADB::poll();
+ if(flgReply == true ){
+ connection->write(4, dataReply);
+ flgReply = false;
+ }
+}
+
+
+// Event handler for the shell connection.
+void adbEventHandler(Connection * connection, adb_eventType event, uint16_t length, uint8_t * data)
+{
+ // Data packets contain four bytes
+ // +0 : Command
+ // +1 : Sub command
+ // +2 : Data1
+ // +3 : Data2
+ if (event == ADB_CONNECTION_RECEIVE)
+ {
+ int val;
+ switch(data[0]){
+ case 0: //プリミティブ設定モード
+ robo.configPort(data);
+ break;
+ case 1: //プリミティブ出力
+ robo.outPort(data);
+ break;
+ case 2: //プリミティブ入力
+ val = robo.inPort(data);
+// data[2] = (byte)(val >> 8);
+// data[3] = (byte)(val & 0xff);
+// connection->write(4, data);
+ dataReply[0] = data[0];
+ dataReply[1] = data[1];
+ dataReply[2] = (uint8_t)(val >> 8);
+ dataReply[3] = (uint8_t)(val & 0xff);
+ flgReply = true;
+
+ break;
+ case 3: //モータ制御 (data[1]:モータ番号, data[2],data[3]:データ)
+ robo.ctrlMotor(data);
+ break;
+ case 4: //リレー制御 (data[1]:リレー番号, data[2],data[3]:データ)
+ robo.ctrlRelay(data);
+ break;
+ case 5: //サーボ制御 (data[1]:サーボ番号, data[2],data[3]:データ)
+ robo.ctrlServo(data);
+ break;
+ default:
+ break;
+ }
+ }
+}
--- /dev/null
+/*
+ Copyright 2012 JAG-AKIBA
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+*/
+#include <Servo.h>
+#include <Max3421e.h>
+#include <Usb.h>
+#include <AndroidAccessory.h>
+#include "AKBrobot.h"
+
+void setup();
+void loop();
+AndroidAccessory acc("JAG-AKIBA",
+ "CoreModule01",
+ "JAG-AKIBA MotorDriver",
+ "1.0",
+ "http://android-akihabara.info",
+ "0000000000000001");
+boolean isConn = false;
+
+AKBrobot robo;
+//Initialize
+void setup()
+{
+ robo.init();
+ //Start USB
+ acc.powerOn();
+}
+
+//Main loop
+void loop()
+{
+ byte data[4];
+ static byte count = 0;
+
+ if (acc.isConnected()) {
+ if( isConn == false ) isConn = true;
+
+ int len = acc.read(data, sizeof(data), 1);
+ int val;
+ //Write function
+ if (len > 0) {
+ // assumes only one command per packet
+ switch(data[0]){
+ case 0: //プリミティブ設定モード
+ robo.configPort(data);
+ break;
+ case 1: //プリミティブ出力
+ robo.outPort(data);
+ break;
+ case 2: //プリミティブ入力
+ val = robo.inPort(data);
+ data[2] = (byte)(val >> 8);
+ data[3] = (byte)(val & 0xff);
+ acc.write(data, 4);
+ break;
+ case 3: //モータ制御 (data[1]:モータ番号, data[2],data[3]:データ)
+ robo.ctrlMotor(data);
+ break;
+ case 4: //リレー制御 (data[1]:リレー番号, data[2],data[3]:データ)
+ robo.ctrlRelay(data);
+ break;
+ case 5: //サーボ制御 (data[1]:サーボ番号, data[2],data[3]:データ)
+ robo.ctrlServo(data);
+ break;
+ default:
+ break;
+ }
+ }
+ }else{
+ if( isConn == true ){
+ isConn == false;
+ robo.init();
+ }
+ }
+ delay(5);
+}
--- /dev/null
+/*
+ Copyright 2012 JAG-AKIBA
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+*/
+#include <Servo.h>
+#include "AKBrobot.h"
+#define RECVTIMEOUT 100 //ms
+
+void setup();
+void loop();
+uint8_t getdata(byte *buf, size_t len);
+
+
+AKBrobot robo;
+//Initialize
+void setup()
+{
+ robo.init();
+ Serial.begin(115200);
+}
+
+//Main loop
+void loop()
+{
+ byte data[4];
+ static byte count = 0;
+
+ int len = getdata(data, sizeof(data));
+ int val;
+ //Write function
+ if (len > 0) {
+ // assumes only one command per packet
+ switch(data[0]){
+ case 0: //プリミティブ設定モード
+ robo.configPort(data);
+ break;
+ case 1: //プリミティブ出力
+ robo.outPort(data);
+ break;
+ case 2: //プリミティブ入力
+ val = robo.inPort(data);
+ data[2] = (byte)(val >> 8);
+ data[3] = (byte)(val & 0xff);
+ Serial.write(data, 4);
+ break;
+ case 3: //モータ制御 (data[1]:モータ番号, data[2],data[3]:データ)
+ robo.ctrlMotor(data);
+ break;
+ case 4: //リレー制御 (data[1]:リレー番号, data[2],data[3]:データ)
+ robo.ctrlRelay(data);
+ break;
+ case 5: //サーボ制御 (data[1]:サーボ番号, data[2],data[3]:データ)
+ robo.ctrlServo(data);
+ break;
+ default:
+ break;
+ }
+ }
+ delay(5);
+}
+
+uint8_t getdata(byte *buf, size_t len)
+{
+ char c;
+ size_t i;
+ unsigned long starttime;
+
+ if (Serial.available() < 0) {
+ return 0;
+ }
+ starttime = millis();
+
+ for(i=0; i<len; i++){
+ if (Serial.available() > 0) {
+ c = Serial.read();
+ buf[i] = (byte)c;
+ }else{
+ if( millis() - starttime > RECVTIMEOUT ) { //Timeout
+ return 0;
+ }
+ }
+ }
+ return (i - 1);
+}
--- /dev/null
+日本Androidの会 秋葉原支部 ロボット部
+コアモジュール(モータドライバー)
+・Android - 操作用Androidアプリ
+ 必要なアプリソースをimport->ExistingProjects into Workspaceで取り込む
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