測距センサ
シャープの測距センサ(GP2Y0A21YK0F)の値をLPC1768のADで読み取りLEDを点灯させる。
#include "mbed.h"
//-----------------------------------------------------------
Serial pc(USBTX, USBRX);
DigitalOut myled(LED1);
//-----------------------------------------------------------
class Led
{
public:
Led()
{
led[0] = new DigitalOut(LED1);
led[1] = new DigitalOut(LED2);
led[2] = new DigitalOut(LED3);
led[3] = new DigitalOut(LED4);
}
~Led()
{
for(int i=0;i<4;i++){
delete led[i];
}
}
// level : 0 - 4
void indicator(int level)
{
switch(level){
case 0: *led[0] = 0; *led[1] = 0; *led[2] = 0; *led[3] = 0; break;
case 1: *led[0] = 1; *led[1] = 0; *led[2] = 0; *led[3] = 0; break;
case 2: *led[0] = 1; *led[1] = 1; *led[2] = 0; *led[3] = 0; break;
case 3: *led[0] = 1; *led[1] = 1; *led[2] = 1; *led[3] = 0; break;
case 4: *led[0] = 1; *led[1] = 1; *led[2] = 1; *led[3] = 1; break;
}
}
void flasher() {
for(int i=0;i<4;i++){
*led[i] = 1;
wait(0.25);
}
for(int i=0;i<4;i++){
*led[i] = 0;
wait(0.25);
}
};
private:
DigitalOut *led[4];
};
//-----------------------------------------------------------
class DistanceSensor
{
public:
DistanceSensor(PinName in)
{
gp2y = new AnalogIn(in);
};
~DistanceSensor()
{
delete gp2y;
};
uint16_t value(void)
{
return gp2y->read_u16();
};
private:
AnalogIn *gp2y;
};
//-----------------------------------------------------------
int main() {
Led leds;
DistanceSensor *sensor = new DistanceSensor(P1_31);
leds.flasher();
while(1) {
uint16_t v = sensor->value();
pc.printf("DISTANCE : %d\n", v);
int level = 0;
if (v < 10000) level = 0;
else if (v < 20000) level = 1;
else if (v < 30000) level = 2;
else if (v < 40000) level = 3;
else level = 4;
leds.indicator(level);
wait(0.2);
}
}
素因数分解
素朴な素因数分解のHaskell版
Integerを使っているので桁数を気にしなくてよい。
-------------------------------------------------- -- factors.hs -------------------------------------------------- import System.Environment(getArgs) -------------------------------------------------- -- num : dividend -- i : first divisor -- return minimum factor -------------------------------------------------- findMinFactor :: Integer -> Integer -> Integer findMinFactor num i | (mod num i) == 0 = i | otherwise = findMinFactor num (i+1) -------------------------------------------------- -- num : dividend -- return : list of factors -------------------------------------------------- findFactors :: Integer -> [Integer] findFactors num | f == num = [num] | otherwise = f : findFactors (div num f) where f = findMinFactor num 2 -------------------------------------------------- -- argument : dividend -- print list of factors -------------------------------------------------- main = do arg1:rest <- getArgs let x = read arg1 :: Integer let factors = findFactors x print factors
素因数の素朴な求め方
C++で力技で素因数分解するプログラム
使用する場合はfactors(100)とかすれば、
コンソールに素因数が出力される。
再帰を使っているので、因数が多すぎるとスタックオーバーフローするかも。
数値はuint64_tを使っているので64bitまでが適用範囲。
#include "stdafx.h"
#include <iostream>
#include <stdint.h>
#include <vector>
// create a vector includes prime factors
std::vector<uint64_t> *findPrime(uint64_t num)
{
for (uint64_t i = 2; i < num; i++) {
if ((num % i) == 0) {
std::vector<uint64_t> *vc;
vc = findPrime(num / i);
vc->push_back(i);
return vc;
}
}
std::vector<uint64_t> *v = new std::vector<uint64_t>();
v->push_back(num);
return v;
}
int factors(uint64_t num)
{
std::cout << "--- " << num << " ---" << std::endl;
std::vector<uint64_t> *v = findPrime(num);
std::vector<uint64_t>::iterator it = v->begin();
while (it != v->end()) {
std::cout << *it << " ";
++it;
}
std::cout << std::endl;
return 0;
}
自走式光追尾カー
CdSフォトトランジスタをサーボモータの上につけ、光の最も強い方向を探す。
見つけた方向に車体を回転させ、少し前進。
を繰り返し、光源に近づいていく。
#include "mbed.h"
Serial pc(USBTX, USBRX);
//-----------------------------------------------------------
// CLASS for DC moter driver TA7291P
class MoterDrive
{
public:
MoterDrive(PinName in1, PinName in2)
{
mIn1 = new PwmOut(in1);
mIn2 = new PwmOut(in2);
mIn1->period(0.020);
mIn2->period(0.020);
};
~MoterDrive()
{
delete mIn1;
delete mIn2;
};
// parameter degree takes the value -1.0 ^ 1.0
// 0.0 means stop
// positive value means go forward
// negative value means fo backward
void run(double degree)
{
if (degree < -1.0)
degree = degree < -1.0 ? -1.0 : degree;
degree = degree > 1.0 ? 1.0 : degree;
if (0.0 < degree){ // go forward
mIn1->write(degree);
mIn2->write(0.0);
}
else if (degree < 0.0){ // go back
degree = fabs(degree);
mIn1->write(0.0);
mIn2->write(degree);
}
else { // degree == 0.0 , then stop
mIn1->write(0.0);
mIn2->write(0.0);
}
};
private:
PwmOut *mIn1, *mIn2;
};
//-----------------------------------------------------------
// CLASS for servo moter SG90
class ServoMoter
{
public:
ServoMoter(PinName in)
{
servo = new PwmOut(in);
servo->period(0.020);
};
~ServoMoter()
{
delete servo;
};
// parameter degree takes -90 ~ 90
// it represents axis
// About SG90
// duty range is 0.5ms ~ 2.4ms corresponds to -90 degree to 90 degree.
// especially, 1.45ms means 0 degree.
// the relation degree and duty cycle is below.
// y = (1.9/180)*x + 1.45
void run(int degree)
{
degree = degree < -90 ? -90 : degree;
degree = degree > 90 ? 90 : degree;
double duty = (1.9/180)*(double)degree + 1.45;
servo->pulsewidth(duty/1000.0);
};
private:
PwmOut *servo;
};
//-----------------------------------------------------------
// CLASS for Photo register CDS MI5 series
class PhotoRegister
{
public:
PhotoRegister(PinName in)
{
photo = new AnalogIn(in);
};
~PhotoRegister()
{
delete photo;
};
uint16_t value(void)
{
return photo->read_u16();
};
private:
AnalogIn *photo;
};
//-----------------------------------------------------------
class CarControl
{
public:
CarControl(MoterDrive *l, MoterDrive *r)
{
left = l;
right = r;
};
~CarControl(){}
void stop(void)
{
left->run(0.0);
right->run(0.0);
};
void forward(void)
{
left->run(degree);
right->run(degree);
};
void backward(void)
{
left->run(degree*(-1));
right->run(degree*(-1));
};
void rotate(int angle)
{
stop();
if(angle > 0){
left->run(degree);
right->run(degree*(-1));
}
else if(angle < 0){
left->run(degree*(-1));
right->run(degree);
}
double waitTime = ((double)abs(angle)) * rotateDeg;
pc.printf("rotate time : %f\n", waitTime);
wait(waitTime);
stop();
};
private:
MoterDrive *left, *right;
static const double degree = 0.5;
static const double rotateDeg = 0.02;
};
//-----------------------------------------------------------
class SearchLihgt
{
public:
SearchLihgt(PhotoRegister *sensor, ServoMoter *servo)
{
pr = sensor;
sm = servo;
measures[0].angle = 90;
measures[1].angle = -90;
measures[2].angle = 75;
measures[3].angle = -75;
measures[4].angle = 60;
measures[5].angle = -60;
measures[6].angle = 45;
measures[7].angle = -45;
measures[8].angle = 30;
measures[9].angle = -30;
measures[10].angle = 15;
measures[11].angle = -15;
measures[12].angle = 0;
};
~SearchLihgt(){}
int search(void)
{
int index;
int maxCandidate = 0;
uint16_t candidateValue = 0;
for(index = 0;index<13;index++){
sm->run(measures[index].angle);
wait(0.5);
measures[index].value = pr->value();
if(measures[index].value > candidateValue){
maxCandidate = index;
candidateValue = measures[index].value;
}
// pc.printf("search() %d : %d : %d\n", index, measures[index].angle, measures[index].value);
}
// pc.printf("Found min pos : %d\n", maxCandidate);
sm->run(measures[maxCandidate].angle);
return measures[maxCandidate].angle;
};
struct pair
{
int angle;
uint16_t value;
};
struct pair measures[13];
private:
PhotoRegister *pr;
ServoMoter *sm;
};
//-----------------------------------------------------------
class Led
{
public:
Led(PinName pin)
{
led = new DigitalOut(pin);
*led = 0;
state = 0;
};
void toggle(void)
{
if (state == 0){
*led = 1;
state = 1;
}
else{
*led = 0;
state = 0;
}
};
private:
DigitalOut *led;
int state;
};
//-----------------------------------------------------------
void autoDrive(void)
{
MoterDrive *md1 = new MoterDrive(P2_1, P2_0);
MoterDrive *md2 = new MoterDrive(P2_3, P2_2);
ServoMoter *sm = new ServoMoter(P2_5);
PhotoRegister *pr = new PhotoRegister(P1_31);
CarControl *cc = new CarControl(md1, md2);
SearchLihgt *sl = new SearchLihgt(pr, sm);
Led *led = new Led(LED1);
for(int count=0;;count++){
cc->stop();
int angle = sl->search();
wait(1.0);
led->toggle();
pc.printf("DC_moter %d : %d\n", count / 100, angle);
cc->rotate(angle);
wait(1.0);
led->toggle();
cc->forward();
wait(2.0);
led->toggle();
}
}
//-----------------------------------------------------------
int main() {
autoDrive();
while(1){}
}
LPC1768 モータドライブ
mbed LPC1768にモータドライバ()TA7291Pを接続。
可変抵抗の電圧をADで読み取り、TA7291Pの入力にPWMとして流し込む。
合わせ別のPWMでサーボモー＾他の出力を生成。
結果、可変抵抗のつまみに応じてモーターの回転速度が変化し
サーボが動く。
#include "mbed.h"
DigitalOut myled(LED1);
PwmOut redLed(P2_5);
PwmOut moterIN1(P2_1);
PwmOut servo(P2_2);
AnalogIn ain(A5);
Serial pc(USBTX, USBRX);
int main() {
int count = 0;
int ledOn = 0;
redLed.period(0.020);
moterIN1.period(0.020);
servo.period(0.020);
while(1) {
double degree = ain;
double value;
value = 1.7*degree - 0.3;
redLed.write(value);
moterIN1.write(value);
double y = 3.17*degree - 0.133;
servo.pulsewidth(y/1000);
if((count % 100) == 0){
pc.printf("DC_moter %d : %f : %f : %f\n", count / 100, degree, value, y);
if(ledOn == 0){
myled = 1;
ledOn = 1;
}
else{
myled = 0;
ledOn = 0;
}
}
wait(0.01);
count++;
}
}
Debian8.2へのGuestAdditionのインストール
Debian8.2をnetinstでインストール。
その状態でGuestAdditionをインストールしようとすると失敗する。
/var/log/vboxadd-install.logには
unable to find the sources of your current Linux kernel.
のようにある。
GuestAdditionのインストールに必要なカーネルのヘッダなどをインストール
$ apt-get install dkms
$ apt-get install build-essential
$ apt-get install linux-headers-486
※linux-headers-486の486はアーキテクチャによってamd64 、 686-pae 、 486 などから選択。
その後、GuestAdditionのインストールを行えば成功。
