2018F3RC3班 / Mbed 2 deprecated f3rc_3_auto_encode

f3rc 3班のエンコーダのプログラムです。

Dependencies:   EC2 Math mbed

main.cpp@4:dfb5f4860097, 2018-09-04 (annotated)

Committer:
nobu0103
Date:
Tue Sep 04 07:00:33 2018 +0000
Revision:
4:dfb5f4860097
Parent:
3:f3ef2e7a9407
Child:
5:7d50cbf6674b
f3rc 3? ??????????????

Who changed what in which revision?

UserRevisionLine numberNew contents of line
nobu0103 0:da183064372e 1 #include "mbed.h"
nobu0103 0:da183064372e 2 #include "Math.h"
nobu0103 2:a682612dd8b7 3 #include "EC.h"
nobu0103 0:da183064372e 4 #include "SpeedController.h"
nobu0103 4:dfb5f4860097 5 DigitalOut cylinder(p9);
nobu0103 4:dfb5f4860097 6 DigitalOut cylindert(p10);
nobu0103 0:da183064372e 7 AnalogIn LBR1(p17,PullUp);
nobu0103 0:da183064372e 8 AnalogIn LBR2(p18,PullUp);
nobu0103 0:da183064372e 9 AnalogIn LBR3(p19,PullUp);
nobu0103 0:da183064372e 10 AnalogIn LBR4(p20,PullUp);
nobu0103 0:da183064372e 11 PwmOut servo12(p21);
nobu0103 0:da183064372e 12 PwmOut servo3(p22);
nobu0103 0:da183064372e 13 PwmOut motor1(p25);
nobu0103 0:da183064372e 14 PwmOut motor2(p26);
nobu0103 4:dfb5f4860097 15 DigitalOut motor1cw(p27);
nobu0103 4:dfb5f4860097 16 DigitalOut motor2cw(p28);
nobu0103 0:da183064372e 17
nobu0103 4:dfb5f4860097 18 EC ec1 (p12,p11,NC,500,0.05)
nobu0103 4:dfb5f4860097 19 EC ec2 (p14,p13,NC,500,0.05)
nobu0103 0:da183064372e 20
nobu0103 1:0ff59878537a 21 /*直進用*/
nobu0103 4:dfb5f4860097 22 void straight(int x) //x=車輪の移動距離(mm)
nobu0103 0:da183064372e 23 {
nobu0103 0:da183064372e 24 mortor1.period_us(50);
nobu0103 0:da183064372e 25 mortor2.period_us(50);
nobu0103 4:dfb5f4860097 26 ec1.setDiameter_mm(150);
nobu0103 4:dfb5f4860097 27 ec2.setDiameter_mm(150);
nobu0103 4:dfb5f4860097 28 double EC1_distance = ec1.getDistance_mm ();
nobu0103 4:dfb5f4860097 29 double EC2_distance = ec2.getDistance_mm ();
nobu0103 4:dfb5f4860097 30
nobu0103 4:dfb5f4860097 31 while(fabs(EC1_distance) <= x && fabs(EC2_distance) <= x) {
nobu0103 1:0ff59878537a 32 motor1 = ;
nobu0103 1:0ff59878537a 33 motor2 = ;
nobu0103 1:0ff59878537a 34 motor1cw = ;
nobu0103 1:0ff59878537a 35 motor2cw = ;
nobu0103 1:0ff59878537a 36 }
nobu0103 1:0ff59878537a 37 }
nobu0103 1:0ff59878537a 38
nobu0103 1:0ff59878537a 39 /*後退用*/
nobu0103 4:dfb5f4860097 40 void back(int x) //x=車輪の移動距離(mm)
nobu0103 1:0ff59878537a 41 {
nobu0103 1:0ff59878537a 42 mortor1.period_us(50);
nobu0103 1:0ff59878537a 43 mortor2.period_us(50);
nobu0103 4:dfb5f4860097 44 ec1.setDiameter_mm(150);
nobu0103 4:dfb5f4860097 45 ec2.setDiameter_mm(150);
nobu0103 4:dfb5f4860097 46 double EC1_distance = ec1.getDistance_mm ();
nobu0103 4:dfb5f4860097 47 double EC2_distance = ec2.getDistance_mm ();
nobu0103 4:dfb5f4860097 48
nobu0103 4:dfb5f4860097 49 while(fabs(EC1_distance) <= l && fabs(EC2_distance) <= l) {
nobu0103 0:da183064372e 50 motor1 = ;
nobu0103 0:da183064372e 51 motor2 = ;
nobu0103 0:da183064372e 52 motor1cw = ;
nobu0103 0:da183064372e 53 motor2cw = ;
nobu0103 0:da183064372e 54 }
nobu0103 0:da183064372e 55 }
nobu0103 0:da183064372e 56
nobu0103 0:da183064372e 57 /*右回転*/
nobu0103 4:dfb5f4860097 58 void right(int x) //x=車輪の移動距離(mm)
nobu0103 0:da183064372e 59 {
nobu0103 0:da183064372e 60 mortor1.period_us(50);
nobu0103 0:da183064372e 61 mortor2.period_us(50);
nobu0103 4:dfb5f4860097 62 ec1.setDiameter_mm(150);
nobu0103 4:dfb5f4860097 63 ec2.setDiameter_mm(150);
nobu0103 4:dfb5f4860097 64 double EC1_distance = ec1.getDistance_mm ();
nobu0103 4:dfb5f4860097 65 double EC2_distance = ec2.getDistance_mm ();
nobu0103 4:dfb5f4860097 66
nobu0103 4:dfb5f4860097 67 while(fabs(EC1_distance) <= l && fabs(EC2_distance) <= l) {
nobu0103 0:da183064372e 68 motor1 = ;
nobu0103 0:da183064372e 69 motor2 = ;
nobu0103 0:da183064372e 70 motor1cw = ;
nobu0103 0:da183064372e 71 motor2cw = ;
nobu0103 0:da183064372e 72 }
nobu0103 0:da183064372e 73 }
nobu0103 0:da183064372e 74
nobu0103 0:da183064372e 75 /*左回転*/
nobu0103 4:dfb5f4860097 76 void left(int x) //x=車輪の移動距離(mm)
nobu0103 0:da183064372e 77 {
nobu0103 0:da183064372e 78 mortor1.period_us(50);
nobu0103 0:da183064372e 79 mortor2.period_us(50);
nobu0103 4:dfb5f4860097 80 ec1.setDiameter_mm(150);
nobu0103 4:dfb5f4860097 81 ec2.setDiameter_mm(150);
nobu0103 4:dfb5f4860097 82 double EC1_distance = ec1.getDistance_mm ();
nobu0103 4:dfb5f4860097 83 double EC2_distance = ec2.getDistance_mm ();
nobu0103 4:dfb5f4860097 84
nobu0103 4:dfb5f4860097 85 while(fabs(EC1_distance) <= l && fabs(EC2_distance) <= l) {
nobu0103 0:da183064372e 86 motor1 = ;
nobu0103 0:da183064372e 87 motor2 = ;
nobu0103 0:da183064372e 88 motor1cw = ;
nobu0103 0:da183064372e 89 motor2cw = ;
nobu0103 0:da183064372e 90 }
nobu0103 3:f3ef2e7a9407 91 }
nobu0103 3:f3ef2e7a9407 92
nobu0103 4:dfb5f4860097 93 int main()
nobu0103 4:dfb5f4860097 94 {
nobu0103 4:dfb5f4860097 95 }