CatPot 2015-2016 / Mbed 2 deprecated CatPot_Main_T_2v00

Main Program

Dependencies:   mbed AQM1602 HMC6352 PID

main_processing/setup_command_active/setup.cpp@19:342da3a5a474, 2016-01-21 (annotated)

Committer:
lilac0112_1
Date:
Thu Jan 21 07:11:08 2016 +0000
Revision:
19:342da3a5a474
Child:
21:d69a8f3c76e1
Main part was reconstructed.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
lilac0112_1 19:342da3a5a474 1 #include "mbed.h"
lilac0112_1 19:342da3a5a474 2 #include "extern.h"
lilac0112_1 19:342da3a5a474 3
lilac0112_1 19:342da3a5a474 4
lilac0112_1 19:342da3a5a474 5 void SetUp(void){//電源を入れた時の処理
lilac0112_1 19:342da3a5a474 6 //int i=1;
lilac0112_1 19:342da3a5a474 7
lilac0112_1 19:342da3a5a474 8 //gyro
lilac0112_1 19:342da3a5a474 9 //Init();
lilac0112_1 19:342da3a5a474 10
lilac0112_1 19:342da3a5a474 11 //sw&lcd
lilac0112_1 19:342da3a5a474 12 Sw[0].mode(PullUp);
lilac0112_1 19:342da3a5a474 13 Sw[1].mode(PullUp);
lilac0112_1 19:342da3a5a474 14 Sw[2].mode(PullUp);
lilac0112_1 19:342da3a5a474 15 Sw[3].mode(PullUp);
lilac0112_1 19:342da3a5a474 16 Sw_ticker.attach(Sw_sample, 0.02);
lilac0112_1 19:342da3a5a474 17 //Sw_ticker.attach(Sw_sample, 0.005);
lilac0112_1 19:342da3a5a474 18 //data.lcdpoint[0] = 0;
lilac0112_1 19:342da3a5a474 19 Lcd.cls();
lilac0112_1 19:342da3a5a474 20 Lcd.print(lcdstr[0][0]);
lilac0112_1 19:342da3a5a474 21
lilac0112_1 19:342da3a5a474 22 //ball
lilac0112_1 19:342da3a5a474 23 BallChecker.mode(PullUp);
lilac0112_1 19:342da3a5a474 24
lilac0112_1 19:342da3a5a474 25 //value
lilac0112_1 19:342da3a5a474 26 data.strategy = 3;
lilac0112_1 19:342da3a5a474 27
lilac0112_1 19:342da3a5a474 28 //spi
lilac0112_1 19:342da3a5a474 29 //spi.format(16, 0);
lilac0112_1 19:342da3a5a474 30 //spi.frequency(5000000);
lilac0112_1 19:342da3a5a474 31 //spi_ss[0]=spi_ss[1]=spi_ss[2]=spi_ss[3]=1;
lilac0112_1 19:342da3a5a474 32
lilac0112_1 19:342da3a5a474 33 //motor
lilac0112_1 19:342da3a5a474 34 //motor.baud(115200); //ボーレート設定
lilac0112_1 19:342da3a5a474 35 //motor.printf("1F0002F0003F0004F000\r\n"); //モータ停止
lilac0112_1 19:342da3a5a474 36 //motor.attach(&tx_motor,Serial::TxIrq); //送信空き割り込み（モータ用）
lilac0112_1 19:342da3a5a474 37
lilac0112_1 19:342da3a5a474 38 //bluetooth
lilac0112_1 19:342da3a5a474 39 //RN42.attach(&TX, Serial::TxIrq);//送信バッファ空き割込み
lilac0112_1 19:342da3a5a474 40 //RN42.attach(&RX, Serial::RxIrq);//受信割込み
lilac0112_1 19:342da3a5a474 41 //RN42.putc(i);//送信開始
lilac0112_1 19:342da3a5a474 42 //i = RN42.getc();//受信開始
lilac0112_1 19:342da3a5a474 43
lilac0112_1 19:342da3a5a474 44 for(int i=0; i<5; i++){
lilac0112_1 19:342da3a5a474 45 //data.GyroInitialValue = ROUND(data.gyro);
lilac0112_1 19:342da3a5a474 46 //wait_ms(10);
lilac0112_1 19:342da3a5a474 47 }
lilac0112_1 19:342da3a5a474 48 //data.FrontDeg=0;
lilac0112_1 19:342da3a5a474 49
lilac0112_1 19:342da3a5a474 50 //pid.setInputLimits(MINIMUM,MAXIMUM); //pid sed def
lilac0112_1 19:342da3a5a474 51 //pid.setOutputLimits(-OUT_LIMIT, OUT_LIMIT); //pid sed def
lilac0112_1 19:342da3a5a474 52 //pid.setBias(PID_BIAS); //pid sed def
lilac0112_1 19:342da3a5a474 53 //pid.setMode(AUTO_MODE); //pid sed def
lilac0112_1 19:342da3a5a474 54 //pid.setSetPoint(REFERENCE); //pid sed def
lilac0112_1 19:342da3a5a474 55 //pidupdate.attach(&PidUpdate, PID_CYCLE);
lilac0112_1 19:342da3a5a474 56 }
lilac0112_1 19:342da3a5a474 57 void SetUp2(void){//スタートした時の処理
lilac0112_1 19:342da3a5a474 58 data.strategy=0;
lilac0112_1 19:342da3a5a474 59 }
lilac0112_1 19:342da3a5a474 60 void StopProcess(void){//コマンドに戻るときの処理
lilac0112_1 19:342da3a5a474 61
lilac0112_1 19:342da3a5a474 62 }