CatPot 2015-2016
Main Program
Dependencies: mbed AQM1602 HMC6352 PID
main_processing/setup_command_active/setup.cpp@22:a95f7c63af3c, 2016-01-30 (annotated)
- Committer:
- lilac0112_1
- Date:
- Sat Jan 30 09:27:51 2016 +0000
- Revision:
- 22:a95f7c63af3c
- Parent:
- 21:d69a8f3c76e1
- Child:
- 23:d95d8d3e89f3
Who changed what in which revision?
| User | Revision | Line number | New 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 | //sw&lcd |
| lilac0112_1 | 19:342da3a5a474 | 9 | Sw[0].mode(PullUp); |
| lilac0112_1 | 19:342da3a5a474 | 10 | Sw[1].mode(PullUp); |
| lilac0112_1 | 19:342da3a5a474 | 11 | Sw[2].mode(PullUp); |
| lilac0112_1 | 19:342da3a5a474 | 12 | Sw[3].mode(PullUp); |
| lilac0112_1 | 22:a95f7c63af3c | 13 | Sw_ticker.attach(Sw_sample, 0.1); |
| lilac0112_1 | 22:a95f7c63af3c | 14 | |
| lilac0112_1 | 19:342da3a5a474 | 15 | Lcd.cls(); |
| lilac0112_1 | 19:342da3a5a474 | 16 | Lcd.print(lcdstr[0][0]); |
| lilac0112_1 | 19:342da3a5a474 | 17 | |
| lilac0112_1 | 19:342da3a5a474 | 18 | //ball |
| lilac0112_1 | 19:342da3a5a474 | 19 | BallChecker.mode(PullUp); |
| lilac0112_1 | 19:342da3a5a474 | 20 | |
| lilac0112_1 | 19:342da3a5a474 | 21 | //value |
| lilac0112_1 | 22:a95f7c63af3c | 22 | data.strategy = 0; |
| lilac0112_1 | 22:a95f7c63af3c | 23 | |
| lilac0112_1 | 19:342da3a5a474 | 24 | |
| lilac0112_1 | 19:342da3a5a474 | 25 | //spi |
| lilac0112_1 | 21:d69a8f3c76e1 | 26 | spi.format(16, 3); |
| lilac0112_1 | 21:d69a8f3c76e1 | 27 | spi.frequency(1000000); |
| lilac0112_1 | 21:d69a8f3c76e1 | 28 | spi_ss[0]=spi_ss[1]=spi_ss[2]=spi_ss[3]=1; |
| lilac0112_1 | 19:342da3a5a474 | 29 | |
| lilac0112_1 | 19:342da3a5a474 | 30 | //motor |
| lilac0112_1 | 22:a95f7c63af3c | 31 | motor.baud(115200); //ボーレート設定 |
| lilac0112_1 | 22:a95f7c63af3c | 32 | motor.printf("1F0002F0003F0004F000\r\n"); //モータ停止 |
| lilac0112_1 | 19:342da3a5a474 | 33 | //motor.attach(&tx_motor,Serial::TxIrq); //送信空き割り込み（モータ用） |
| lilac0112_1 | 19:342da3a5a474 | 34 | |
| lilac0112_1 | 19:342da3a5a474 | 35 | for(int i=0; i<5; i++){ |
| lilac0112_1 | 22:a95f7c63af3c | 36 | ReadCmps(); |
| lilac0112_1 | 21:d69a8f3c76e1 | 37 | data.CmpsInitialValue = data.cmps; |
| lilac0112_1 | 21:d69a8f3c76e1 | 38 | wait_ms(10); |
| lilac0112_1 | 19:342da3a5a474 | 39 | } |
| lilac0112_1 | 21:d69a8f3c76e1 | 40 | data.FrontDeg=0; |
| lilac0112_1 | 19:342da3a5a474 | 41 | |
| lilac0112_1 | 19:342da3a5a474 | 42 | //pid.setInputLimits(MINIMUM,MAXIMUM); //pid sed def |
| lilac0112_1 | 19:342da3a5a474 | 43 | //pid.setOutputLimits(-OUT_LIMIT, OUT_LIMIT); //pid sed def |
| lilac0112_1 | 19:342da3a5a474 | 44 | //pid.setBias(PID_BIAS); //pid sed def |
| lilac0112_1 | 19:342da3a5a474 | 45 | //pid.setMode(AUTO_MODE); //pid sed def |
| lilac0112_1 | 19:342da3a5a474 | 46 | //pid.setSetPoint(REFERENCE); //pid sed def |
| lilac0112_1 | 19:342da3a5a474 | 47 | //pidupdate.attach(&PidUpdate, PID_CYCLE); |
| lilac0112_1 | 19:342da3a5a474 | 48 | } |
| lilac0112_1 | 19:342da3a5a474 | 49 | void SetUp2(void){//スタートした時の処理 |
| lilac0112_1 | 19:342da3a5a474 | 50 | data.strategy=0; |
| lilac0112_1 | 19:342da3a5a474 | 51 | } |
| lilac0112_1 | 19:342da3a5a474 | 52 | void StopProcess(void){//コマンドに戻るときの処理 |
| lilac0112_1 | 19:342da3a5a474 | 53 | |
| lilac0112_1 | 19:342da3a5a474 | 54 | } |