| Buttonsモジュール(ButtonLed.fs) | |
|---|---|
module Buttons
open System
open System.Timers
open System.Threading
open RaspberryPiDotNet
let SW = [| new GPIOMem(GPIOPins.V2Plus_Pin_P1_38);
new GPIOMem(GPIOPins.V2Plus_Pin_P1_37);
new GPIOMem(GPIOPins.V2Plus_Pin_P1_40)|]
for i = 0 to SW.Length-1 do
SW.[i].PinDirection <- GPIODirection.In
let value n = SW.[n].Read()
let waitButton() =
let mutable on = true
let mutable n = -1
while on=true do
for i = 0 to SW.Length-1 do
if SW.[i].Read() = PinState.Low then
on <- false
n <- i
Thread.Sleep(100)
n
let LED = [|new GPIOMem(GPIOPins.V2_Pin_P1_22)
new GPIOMem(GPIOPins.V2_Pin_P1_18)
new GPIOMem(GPIOPins.V2_Pin_P1_16)
new GPIOMem(GPIOPins.V2_Pin_P1_12)|]
for i = 0 to SW.Length-1 do
LED.[i].PinDirection <- GPIODirection.Out
let Write (n, state:PinState) =
LED.[n].Write(state)
let clear() =
for i=0 to LED.Length-1 do
LED.[i].Write(PinState.Low)
|
1 Buttonsモジュール 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 |
| Roboモジュール(Wheel.fs) | |
|---|---|
module Robo
open System
open System.Timers
open System.Threading
open RaspberryPiDotNet
let Wait n = // 時間稼ぎ
let mutable a=0
while a<n do
a <- a+1
type ShareData () =
member val StopFlag : bool = false with get, set
member val TotalTime : int = 0 with get, set
type SteppingMotor (clockPin : GPIOPins, cwPin : GPIOPins, dir : bool, bnk : ShareData) =
let clock = new GPIOMem(clockPin)
let cw = new GPIOMem(cwPin)
static let mutable motor = null
let direction = dir
let mutable numberOfTimes = 0
let mutable sleepTime = 0
let bank = bnk
do
if motor=null then
motor <- new GPIOMem(GPIOPins.V2Plus_Pin_P1_29)
motor.PinDirection <- GPIODirection.Out
clock.PinDirection <- GPIODirection.Out
cw.PinDirection <- GPIODirection.Out
clock.Write(false)
cw.Write(direction)
member val oneStep = 4.75*Math.PI/400.0 with get
member this.Move() =
bank.StopFlag <- false
let mutable sp = 0
let each = 10
let step = sleepTime
let last = numberOfTimes - each - 2
for i = 0 to numberOfTimes do
if not bank.StopFlag then
clock.Write(true)
if i<each then sp <- each - i
elif last < i then sp <- i - last+step
else sp <- step
Wait(1000)
clock.Write(false)
Thread.Sleep(sp)
bank.StopFlag <- true
member this.Start (sleep) =
sleepTime <- (int)sleep
if sleepTime >= 0 then cw.Write(direction)
else cw.Write(not direction)
sleepTime <- Math.Abs(sleepTime)
numberOfTimes <-(int)((float)bank.TotalTime/(float)sleepTime+0.5)
let thread = new Thread(new ThreadStart(this.Move))
bank.StopFlag<-false
thread.Start()
member this.MotorOn() =
motor.Write(true)
member this.MotorOff() =
motor.Write(false)
type BasicWheel() =
let forward = true
let bank = new ShareData()
let motorR = new SteppingMotor(GPIOPins.V2Plus_Pin_P1_33, GPIOPins.V2Plus_Pin_P1_31, forward, bank)
let motorL = new SteppingMotor(GPIOPins.V2Plus_Pin_P1_32, GPIOPins.V2Plus_Pin_P1_36, not forward, bank)
let WaitTime = 300
member this.move(pathway:float, step:int) = // cm unit
bank.TotalTime <- (int)(Math.Abs((float)step) *(pathway / motorR.oneStep + 0.5))
motorR.MotorOn()
motorR.Start(step)
motorL.Start(step)
while not bank.StopFlag do Thread.Sleep(1)
motorR.MotorOff()
Thread.Sleep(WaitTime)
member this.move(step:int) =
this.move(400.0,step)
member this.rotate(deg, stp)=
let mutable dir = false
let mutable degree = deg
let mutable step : int = stp
if degree < 0 then
dir <- true
degree <- -degree
let pathway = Math.PI*9.8/360.0*(float)degree // outside size of wheels
step <- Math.Abs (step)
bank.TotalTime <- step * (int)(pathway / motorR.oneStep + 0.5)
motorR.MotorOn()
if dir=true then
motorR.Start (step)
motorL.Start (-step)
else
motorR.Start (-step)
motorL.Start (step)
while not bank.StopFlag do Thread.Sleep(1)
motorR.MotorOff()
Thread.Sleep(WaitTime)
member this.turn(Rt:int, Lt:int, pathway:float) =
let step = Math.Max (Math.Abs (Rt), Math.Abs (Lt))
bank.TotalTime <- step * (int)(pathway / motorR.oneStep + 0.5)
motorR.MotorOn ()
motorR.Start(Rt)
motorL.Start (Lt)
while not bank.StopFlag do Thread.Sleep(1)
motorR.MotorOff()
Thread.Sleep(WaitTime)
|
1 Roboモジュール 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 SteppingMotorクラス 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 Moveメソッド 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 BasicWheelクラス 64 65 66 67 68 69 moveメソッド 70 71 72 73 74 75 76 77 78 79 rotateメソッド 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 turnメソッド 100 101 102 103 104 105 106 107 |
| main.fs | |
|---|---|
(*
sw0 かsw1を押すと開始
sw2を押すと終了
*)
open System
open System.Threading
open Buttons
open Robo
let bw = new BasicWheel()
let ReadWay filename =
let dat = System.IO.File.ReadAllLines filename
let rowlen = Array.length dat
for i = 0 to rowlen-1 do
let label = dat.[i].Split([|' '|])
if label.Length>1 then
let f x y z p =
match x with
| "turn" -> bw.turn(y,z,p)
| "straight" -> bw.move((float)y,1)
| "rotate" -> bw.rotate(y,1)
| "sleep" -> Thread.Sleep(int y)
| _ -> printfn "nop "
let m = Int32.Parse(label.[1])
let mutable n = 0
let mutable p = 0.0
try
n <- Int32.Parse(label.[2])
p <- Double.Parse(label.[3])
with
| _ -> n <- 0
printf "%s " label.[0]
f label.[0] m n p
[<EntryPoint>]
let main argv =
let mutable Continue = true // 続けて実行するか
while Continue do
let n = waitButton()
if n = 2 then
Continue <- false
else
ReadWay argv.[0]
printfn ""
0
|
1 2 3 4 5 6 7 8 Buttonsモジュールを使う 9 Roboモジュールを使う 10 11 BasicWheelオブジェクトを作る 12 13 14 15 16 スペースがセパレータ 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 |
| 動作リスト（myway.txt） |
|---|
straight 20 rotate 90 straight 30 rotate 90 straight 20 rotate 90 straight 30 rotate 90 |