SDの設定が反映されるように修正
Dependencies: mbed MPU6050_2 HMC5883L_2 SDFileSystem3
Diff: main.cpp
- Revision:
- 0:84ddd6d354e1
- Child:
- 1:290e621741fd
diff -r 000000000000 -r 84ddd6d354e1 main.cpp --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/main.cpp Sat Dec 22 09:27:29 2018 +0000 @@ -0,0 +1,92 @@ +#include "mbed.h" + +#define servo_NEUTRAL_R 1460 +#define servo_NEUTRAL_L 1460 +#define servo_FORWARD_R 1860 +#define servo_FORWARD_L 1860 +#define servo_back_R 1060 +#define servo_back_L 1060 +#define servo_slow_FORWARD_R 1560 +#define servo_slow_FORWARD_L 1560 +#define servo_slow_back_R 1360 +#define servo_slow_back_L 1360 + +#define MOVE_NEUTRAL 0 +#define MOVE_FORWARD 1 +#define MOVE_LEFT 2 +#define MOVE_RIGHT 3 +#define MOVE_BACK 4 +#define GOAL_FORWARD 5 //ゴール付近 ゆっくり +#define GOAL_LEFT 6 +#define GOAL_RIGHT 7 +#define MAX_FORWARD 8 //はやい 姿勢修正用 +#define MAX_BACK 9 + +PwmOut servoR(PC_6); +PwmOut servoL(PC_7); + +void MoveCansat(int code); + +int main() { + while(1) { + //printf("Hello World!!"); + MoveCansat(MOVE_NEUTRAL); + printf("STOP\r\n"); + wait(2); + MoveCansat(MOVE_FORWARD); + printf("Move Forward\r\n"); + wait(2); + MoveCansat(MOVE_RIGHT); + printf("Move right\r\n"); + wait(2); + MoveCansat(MOVE_LEFT); + printf("Move left\r\n"); + wait(2); + } +} + +void MoveCansat(int code) +{ + switch(code){ + case 0: //MOVE_NEUTRAL + servoR.pulsewidth_us(servo_NEUTRAL_R); + servoL.pulsewidth_us(servo_NEUTRAL_L); + break; + case 1: //MOVE_FORWARD + servoR.pulsewidth_us(servo_FORWARD_R); + servoL.pulsewidth_us(servo_FORWARD_L); + break; + case 2: //MOVE_LEFT + servoR.pulsewidth_us(servo_slow_FORWARD_R); + servoL.pulsewidth_us(servo_slow_back_L); + case 3: //MOVE_RIGHT + servoR.pulsewidth_us(servo_slow_back_R); + servoL.pulsewidth_us(servo_slow_FORWARD_L); + break; + case 4: //MOVE_BACK + servoR.pulsewidth_us(servo_back_R); + servoL.pulsewidth_us(servo_back_L); + break; + case 5: //GOAL_FORWARD + servoR.pulsewidth_us(servo_slow_FORWARD_R); + servoL.pulsewidth_us(servo_slow_FORWARD_L); + break; + case 6: //GOAL_LEFT + servoR.pulsewidth_us(servo_slow_FORWARD_R); + servoL.pulsewidth_us(servo_slow_back_L); + break; + case 7: //GOAL_RIGHT + servoR.pulsewidth_us(servo_slow_back_R); + servoL.pulsewidth_us(servo_slow_FORWARD_L); + break; + case 8: //MAX_FORWARD + servoR.pulsewidth_us(servo_FORWARD_R); + servoL.pulsewidth_us(servo_FORWARD_L); + break; + case 9: //MAX_BACK + servoR.pulsewidth_us(servo_back_R); + servoL.pulsewidth_us(servo_back_L); + break; + } + return; +} \ No newline at end of file