2018_Project-R
/
robokonDthrow_ver2
投擲プログラム
main.cpp@0:af0259ca519f, 2017-11-09 (annotated)
- Committer:
- e5115026
- Date:
- Thu Nov 09 09:16:28 2017 +0000
- Revision:
- 0:af0259ca519f
- Child:
- 1:e7357f0f664b
??????????????Ver0.5
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
e5115026 | 0:af0259ca519f | 1 | //ロボコン3年投擲テスト用プログラム |
e5115026 | 0:af0259ca519f | 2 | |
e5115026 | 0:af0259ca519f | 3 | //hファイル |
e5115026 | 0:af0259ca519f | 4 | #include "mbed.h" |
e5115026 | 0:af0259ca519f | 5 | #include "QEI.h" |
e5115026 | 0:af0259ca519f | 6 | |
e5115026 | 0:af0259ca519f | 7 | //difine |
e5115026 | 0:af0259ca519f | 8 | |
e5115026 | 0:af0259ca519f | 9 | //pin設定 |
e5115026 | 0:af0259ca519f | 10 | DigitalOut valve1(p21); |
e5115026 | 0:af0259ca519f | 11 | QEI rollen(p29, p30, NC, 1024); |
e5115026 | 0:af0259ca519f | 12 | |
e5115026 | 0:af0259ca519f | 13 | DigitalOut led1(LED1); |
e5115026 | 0:af0259ca519f | 14 | DigitalOut led2(LED2); |
e5115026 | 0:af0259ca519f | 15 | DigitalOut led3(LED3); |
e5115026 | 0:af0259ca519f | 16 | DigitalOut led4(LED4); |
e5115026 | 0:af0259ca519f | 17 | |
e5115026 | 0:af0259ca519f | 18 | Serial pc(USBTX,USBRX); |
e5115026 | 0:af0259ca519f | 19 | |
e5115026 | 0:af0259ca519f | 20 | |
e5115026 | 0:af0259ca519f | 21 | //timer初期化 |
e5115026 | 0:af0259ca519f | 22 | Ticker rollening; |
e5115026 | 0:af0259ca519f | 23 | |
e5115026 | 0:af0259ca519f | 24 | //グローバル変数 |
e5115026 | 0:af0259ca519f | 25 | int enc =0; |
e5115026 | 0:af0259ca519f | 26 | |
e5115026 | 0:af0259ca519f | 27 | //グローバル関数 |
e5115026 | 0:af0259ca519f | 28 | void Dthrow(){ |
e5115026 | 0:af0259ca519f | 29 | //led2=!led2; |
e5115026 | 0:af0259ca519f | 30 | enc=rollen.getPulses(); |
e5115026 | 0:af0259ca519f | 31 | pc.printf("%d\n",enc); |
e5115026 | 0:af0259ca519f | 32 | if(enc > 800){ |
e5115026 | 0:af0259ca519f | 33 | led1 = 1; |
e5115026 | 0:af0259ca519f | 34 | valve1=1; |
e5115026 | 0:af0259ca519f | 35 | } |
e5115026 | 0:af0259ca519f | 36 | else{ |
e5115026 | 0:af0259ca519f | 37 | led1=0; |
e5115026 | 0:af0259ca519f | 38 | valve1 = 0; |
e5115026 | 0:af0259ca519f | 39 | } |
e5115026 | 0:af0259ca519f | 40 | } |
e5115026 | 0:af0259ca519f | 41 | |
e5115026 | 0:af0259ca519f | 42 | //main関数 |
e5115026 | 0:af0259ca519f | 43 | int main(){ |
e5115026 | 0:af0259ca519f | 44 | //led2=1; |
e5115026 | 0:af0259ca519f | 45 | rollening.attach(&Dthrow, 0.01); |
e5115026 | 0:af0259ca519f | 46 | //メモ:attaach_usでマイクロ秒もいけるらしいですがいけません |
e5115026 | 0:af0259ca519f | 47 | |
e5115026 | 0:af0259ca519f | 48 | while(1){ |
e5115026 | 0:af0259ca519f | 49 | } |
e5115026 | 0:af0259ca519f | 50 | |
e5115026 | 0:af0259ca519f | 51 | } |