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@6:e332ebb90091, 2018-09-04 (annotated)

Committer:
nobu0103
Date:
Tue Sep 04 07:28:06 2018 +0000
Revision:
6:e332ebb90091
Parent:
5:7d50cbf6674b 
f3rc ??????

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 6:e332ebb90091 18 Ec ec1 (p12,p11,NC,500,0.05)
nobu0103 6:e332ebb90091 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 6:e332ebb90091 28 ec1.reset();
nobu0103 6:e332ebb90091 29 ec2.reset();
nobu0103 4:dfb5f4860097 30 double EC1_distance = ec1.getDistance_mm ();
nobu0103 4:dfb5f4860097 31 double EC2_distance = ec2.getDistance_mm ();
nobu0103 4:dfb5f4860097 32 while(fabs(EC1_distance) <= x && fabs(EC2_distance) <= x) {
nobu0103 5:7d50cbf6674b 33 motor1 = ; //モータ1への出力
nobu0103 5:7d50cbf6674b 34 motor2 = ; //モータ2への出力
nobu0103 5:7d50cbf6674b 35 motor1cw = ; //モータ1の回転方向
nobu0103 5:7d50cbf6674b 36 motor2cw = ; //モータ2の回転方向
nobu0103 1:0ff59878537a 37 }
nobu0103 1:0ff59878537a 38 }
nobu0103 1:0ff59878537a 39
nobu0103 1:0ff59878537a 40 /*後退用*/
nobu0103 4:dfb5f4860097 41 void back(int x) //x=車輪の移動距離(mm)
nobu0103 1:0ff59878537a 42 {
nobu0103 1:0ff59878537a 43 mortor1.period_us(50);
nobu0103 1:0ff59878537a 44 mortor2.period_us(50);
nobu0103 4:dfb5f4860097 45 ec1.setDiameter_mm(150);
nobu0103 4:dfb5f4860097 46 ec2.setDiameter_mm(150);
nobu0103 6:e332ebb90091 47 ec1.reset();
nobu0103 6:e332ebb90091 48 ec2.reset();
nobu0103 4:dfb5f4860097 49 double EC1_distance = ec1.getDistance_mm ();
nobu0103 4:dfb5f4860097 50 double EC2_distance = ec2.getDistance_mm ();
nobu0103 5:7d50cbf6674b 51 while(fabs(EC1_distance) <= x && fabs(EC2_distance) <= x) {
nobu0103 5:7d50cbf6674b 52 motor1 = ; //モータ1への出力
nobu0103 5:7d50cbf6674b 53 motor2 = ; //モータ2への出力
nobu0103 5:7d50cbf6674b 54 motor1cw = ; //モータ1の回転方向
nobu0103 5:7d50cbf6674b 55 motor2cw = ; //モータ2の回転方向
nobu0103 0:da183064372e 56 }
nobu0103 0:da183064372e 57 }
nobu0103 0:da183064372e 58
nobu0103 0:da183064372e 59 /*右回転*/
nobu0103 4:dfb5f4860097 60 void right(int x) //x=車輪の移動距離(mm)
nobu0103 0:da183064372e 61 {
nobu0103 0:da183064372e 62 mortor1.period_us(50);
nobu0103 0:da183064372e 63 mortor2.period_us(50);
nobu0103 4:dfb5f4860097 64 ec1.setDiameter_mm(150);
nobu0103 4:dfb5f4860097 65 ec2.setDiameter_mm(150);
nobu0103 6:e332ebb90091 66 ec1.reset();
nobu0103 6:e332ebb90091 67 ec2.reset();
nobu0103 4:dfb5f4860097 68 double EC1_distance = ec1.getDistance_mm ();
nobu0103 4:dfb5f4860097 69 double EC2_distance = ec2.getDistance_mm ();
nobu0103 5:7d50cbf6674b 70 while(fabs(EC1_distance) <= x && fabs(EC2_distance) <= x) {
nobu0103 5:7d50cbf6674b 71 motor1 = ; //モータ1への出力
nobu0103 5:7d50cbf6674b 72 motor2 = ; //モータ2への出力
nobu0103 5:7d50cbf6674b 73 motor1cw = ; //モータ1の回転方向
nobu0103 5:7d50cbf6674b 74 motor2cw = ; //モータ2の回転方向
nobu0103 0:da183064372e 75 }
nobu0103 0:da183064372e 76 }
nobu0103 0:da183064372e 77
nobu0103 0:da183064372e 78 /*左回転*/
nobu0103 4:dfb5f4860097 79 void left(int x) //x=車輪の移動距離(mm)
nobu0103 0:da183064372e 80 {
nobu0103 0:da183064372e 81 mortor1.period_us(50);
nobu0103 0:da183064372e 82 mortor2.period_us(50);
nobu0103 4:dfb5f4860097 83 ec1.setDiameter_mm(150);
nobu0103 4:dfb5f4860097 84 ec2.setDiameter_mm(150);
nobu0103 6:e332ebb90091 85 ec1.reset();
nobu0103 6:e332ebb90091 86 ec2.reset();
nobu0103 4:dfb5f4860097 87 double EC1_distance = ec1.getDistance_mm ();
nobu0103 4:dfb5f4860097 88 double EC2_distance = ec2.getDistance_mm ();
nobu0103 5:7d50cbf6674b 89 while(fabs(EC1_distance) <= x && fabs(EC2_distance) <= x) {
nobu0103 5:7d50cbf6674b 90 motor1 = ; //モータ1への出力
nobu0103 5:7d50cbf6674b 91 motor2 = ; //モータ2への出力
nobu0103 5:7d50cbf6674b 92 motor1cw = ; //モータ1の回転方向
nobu0103 5:7d50cbf6674b 93 motor2cw = ; //モータ2の回転方向
nobu0103 0:da183064372e 94 }
nobu0103 3:f3ef2e7a9407 95 }
nobu0103 3:f3ef2e7a9407 96
nobu0103 4:dfb5f4860097 97 int main()
nobu0103 4:dfb5f4860097 98 {
nobu0103 4:dfb5f4860097 99 }