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

Committer:
nobu0103
Date:
2018-09-04
Revision:
4:dfb5f4860097
Parent:
3:f3ef2e7a9407
Child:
5:7d50cbf6674b

File content as of revision 4:dfb5f4860097:

#include "mbed.h"
#include "Math.h"
#include "EC.h"
#include "SpeedController.h"
DigitalOut cylinder(p9);
DigitalOut cylindert(p10);
AnalogIn LBR1(p17,PullUp);
AnalogIn LBR2(p18,PullUp);
AnalogIn LBR3(p19,PullUp);
AnalogIn LBR4(p20,PullUp);
PwmOut servo12(p21);
PwmOut servo3(p22);
PwmOut motor1(p25);
PwmOut motor2(p26);
DigitalOut motor1cw(p27);
DigitalOut motor2cw(p28);

EC ec1 (p12,p11,NC,500,0.05)
EC ec2 (p14,p13,NC,500,0.05)

/*直進用*/
void straight(int x)  //x=車輪の移動距離(mm)
{
    mortor1.period_us(50);
    mortor2.period_us(50);
    ec1.setDiameter_mm(150);
    ec2.setDiameter_mm(150);
    double EC1_distance = ec1.getDistance_mm ();
    double EC2_distance = ec2.getDistance_mm ();

    while(fabs(EC1_distance) <= x && fabs(EC2_distance) <= x) {
        motor1 = ;
        motor2 = ;
        motor1cw = ;
        motor2cw = ;
    }
}

/*後退用*/
void back(int x)  //x=車輪の移動距離(mm)
{
    mortor1.period_us(50);
    mortor2.period_us(50);
    ec1.setDiameter_mm(150);
    ec2.setDiameter_mm(150);
    double EC1_distance = ec1.getDistance_mm ();
    double EC2_distance = ec2.getDistance_mm ();

    while(fabs(EC1_distance) <= l && fabs(EC2_distance) <= l) {
        motor1 = ;
        motor2 = ;
        motor1cw = ;
        motor2cw = ;
    }
}

/*右回転*/
void right(int x)  //x=車輪の移動距離(mm)
{
    mortor1.period_us(50);
    mortor2.period_us(50);
    ec1.setDiameter_mm(150);
    ec2.setDiameter_mm(150);
    double EC1_distance = ec1.getDistance_mm ();
    double EC2_distance = ec2.getDistance_mm ();

    while(fabs(EC1_distance) <= l && fabs(EC2_distance) <= l) {
        motor1 = ;
        motor2 = ;
        motor1cw = ;
        motor2cw = ;
    }
}

/*左回転*/
void left(int x)  //x=車輪の移動距離(mm)
{
    mortor1.period_us(50);
    mortor2.period_us(50);
    ec1.setDiameter_mm(150);
    ec2.setDiameter_mm(150);
    double EC1_distance = ec1.getDistance_mm ();
    double EC2_distance = ec2.getDistance_mm ();

    while(fabs(EC1_distance) <= l && fabs(EC2_distance) <= l) {
        motor1 = ;
        motor2 = ;
        motor1cw = ;
        motor2cw = ;
    }
}

int main()
{
}