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LEVEL  0 - PowerPoint PPT Presentation


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LEVEL  0. Press Button SW0, SW1. Output to display data. Event input. LCD. レスキューロボット 制御システム. Output to display error. Enter a setting value. Toggle switch Tsw0->Tsw7. LED. Sensor Data. センサー. Output for robot running. Time Tick. タイマー1. モータ. LEVEL  1. Press Button SW0, SW1.

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Presentation Transcript
slide2

Press Button SW0, SW1

Outputto display data

Event input

LCD

レスキューロボット制御システム

Outputto displayerror

Enter a setting value

Toggle switch Tsw0->Tsw7

LED

Sensor Data

センサー

Outputfor robot running

Time Tick

タイマー1

モータ

slide4

Press Button SW0, SW1

Outputto display data

Output Process to Display

1.3

Event input

LCD

Enter a setting value

Toggle switch Tsw0->Tsw7

External Input Process

1.1

Internal Process1.2

Outputto display data

Time Tick

Output Process

For motor

1.4

タイマー

Outputfor robot running

Sensor Data

LED

モータ

センサー

slide6

External Input Process

Toggle switch Tsw0->Tsw7

Switch Data

Switching input process

1.1.1

Switch Data

Press

event

Sw0,1 interrupt process

1.1.2

Press Button SW0, SW1

Robotcontrol Command

Time Update Command

Timer interrupt Process

1.1.3

10ms elapsed

10ms

タイマー1

50mico elapsed

タイマー2

Sensor data

Sensor Process

1.1.4

Sensor Data

センサー

slide7

Internal Process

Display Data

Setting Data

Wall Info

Setting Format

1.2.8

Setting Process

1.2.1

Switch Data

Display Data

Time Update Command

Time Update

Process

1.2.3

Time Format

Process

1.2.4

Robotcontrol Command

Robot main Control

1.2.2

Find Path Process

1.2.7

Left Motor data

Motor Control Process

1.2.6

Right Motor data

Wall Info Collect Process

1.2.5

Sensor Data

slide8

Outputto display data

Output Process

LCD Display Data

LCD

Output Process to Display 1.3

O/P LCD 1.3.1

O/P LED 1.3.2

LED Display Data

Outputto display data

Output Process For motor 1.4

LED

O/P LEFT Motor 1.4.1

Left Motor data

O/P RIGHT Motor

1.4.2

Outputto Left Motor

Right Motor data

Outputto Right Motor

モータ

slide10

External Input Process

Over 50 us

Over 10 ms

Switching input process

Switch Data

Get Switch Task

1.1.1.2

Toggle switch Tsw0->Tsw7

Switch Data

Sw0,1 interrupt process

SW2 Pressed

IR0 Init 1.1.2.1

Get Switch IR0

1.1.2.3

Robotcontrol Command

Press Button SW0, SW1

IR1 Init 1.1.2.2

Press

event

Get Switch IR1

1.1.2.4

SW3 Pressed

Timer interrupt Process

10ms elapsed

10ms

タイマー1

Get 10ms

1.1.3.3

Timer INT0

1.1.3.1

Time Update

Command

Timer Calc

1.1.3.4

50us

タイマー2

Timer INT1

1.1.3.2

Get 50us

1.1.3.3

50us elapsed

Sensor Process

Sensor data

Sensor data

センサー

Read L/R/F Sensor

1.1.4.1

slide11

Internal Process

Over 10ms

Setting Data

Setting Process

Set Methods

1.2.1.1

Switch Data

Init Config

1.2.1.2

Display

Data

Get Methods

1.2.1.3

Setting Format

Integer to String

1.2.8.1

Reverse

1.2.8.1

Time Update

Time Update Command

Display Data

Put Time

1.2.3.1

Time Format

Integer to String

1.2.4.1

Reverse

1.2.4.1

slide12

Internal Process

Wall Info

Robotcontrol Command

Robot main Control

1.2.2

Find Path Process

1.2.7

Left Motor data

Motor Control Process

1.2.6

Right Motor data

Wall Info Collect Process

1.2.5

Sensor Data

slide13

Output Process

Motor Data: DIR, Count, Time

BUFF

Output Process to Display

Outputto display port

LCD

LCD Display Data

Put on LCD 1.3.1.2

Read

Buffer 1.3.1.4

Write Buffer 1.3.1.1

Pos Cursor

1.3.1.3

Outputto display port

O/P on LED PORT

1.3.2.1

LED

LED Display Data

O/P Motor

O/P LEFT Motor 1.4.1.1

Left Motor data

Outputto Left Motor

モータ

Outputto Right Motor

O/P RIGHT Motor

1.4.2.1

Right Motor data