2018_Project-R
/
robokonDthrow_ver2
投擲プログラム
main.cpp@4:e31648a823e2, 2018-01-15 (annotated)
- Committer:
- johnnyken
- Date:
- Mon Jan 15 11:21:10 2018 +0000
- Revision:
- 4:e31648a823e2
- Parent:
- 3:d4caf19048aa
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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 |
johnnyken | 3:d4caf19048aa | 2 | //pin番号は古い基盤の |
e5115026 | 0:af0259ca519f | 3 | |
e5115026 | 0:af0259ca519f | 4 | //hファイル |
e5115026 | 0:af0259ca519f | 5 | #include "mbed.h" |
e5115026 | 0:af0259ca519f | 6 | #include "QEI.h" |
e5115026 | 0:af0259ca519f | 7 | |
e5115026 | 0:af0259ca519f | 8 | //difine |
e5115026 | 0:af0259ca519f | 9 | |
e5115026 | 0:af0259ca519f | 10 | //pin設定 |
e5115026 | 0:af0259ca519f | 11 | DigitalOut valve1(p21); |
e5115026 | 0:af0259ca519f | 12 | QEI rollen(p29, p30, NC, 1024); |
e5115026 | 0:af0259ca519f | 13 | |
e5115026 | 0:af0259ca519f | 14 | DigitalOut led1(LED1); |
e5115026 | 0:af0259ca519f | 15 | DigitalOut led2(LED2); |
e5115026 | 0:af0259ca519f | 16 | DigitalOut led3(LED3); |
e5115026 | 0:af0259ca519f | 17 | DigitalOut led4(LED4); |
e5115026 | 0:af0259ca519f | 18 | |
e5115026 | 0:af0259ca519f | 19 | Serial pc(USBTX,USBRX); |
e5115026 | 0:af0259ca519f | 20 | |
e5115026 | 0:af0259ca519f | 21 | |
e5115026 | 0:af0259ca519f | 22 | //timer初期化 |
e5115026 | 0:af0259ca519f | 23 | Ticker rollening; |
e5115026 | 0:af0259ca519f | 24 | |
e5115026 | 0:af0259ca519f | 25 | //グローバル変数 |
johnnyken | 1:e7357f0f664b | 26 | int enc = 0; |
johnnyken | 1:e7357f0f664b | 27 | int enc_old = 0; //過去カウント比較用 |
e5115026 | 0:af0259ca519f | 28 | |
e5115026 | 0:af0259ca519f | 29 | //グローバル関数 |
e5115026 | 0:af0259ca519f | 30 | void Dthrow(){ |
e5115026 | 0:af0259ca519f | 31 | //led2=!led2; |
e5115026 | 0:af0259ca519f | 32 | enc=rollen.getPulses(); |
e5115026 | 0:af0259ca519f | 33 | pc.printf("%d\n",enc); |
johnnyken | 4:e31648a823e2 | 34 | if(enc > 0){ |
johnnyken | 1:e7357f0f664b | 35 | led2 = 1; |
johnnyken | 1:e7357f0f664b | 36 | valve1 = 1; |
e5115026 | 0:af0259ca519f | 37 | } |
e5115026 | 0:af0259ca519f | 38 | else{ |
johnnyken | 1:e7357f0f664b | 39 | led2 = 0; |
e5115026 | 0:af0259ca519f | 40 | valve1 = 0; |
e5115026 | 0:af0259ca519f | 41 | } |
johnnyken | 4:e31648a823e2 | 42 | if(enc>enc_old){ |
johnnyken | 1:e7357f0f664b | 43 | led1 = 1; |
johnnyken | 1:e7357f0f664b | 44 | led3 = 0; |
johnnyken | 1:e7357f0f664b | 45 | } |
johnnyken | 1:e7357f0f664b | 46 | else{ |
johnnyken | 1:e7357f0f664b | 47 | led1 = 0; |
johnnyken | 1:e7357f0f664b | 48 | led3 = 1; |
johnnyken | 1:e7357f0f664b | 49 | } |
e5115026 | 0:af0259ca519f | 50 | } |
e5115026 | 0:af0259ca519f | 51 | |
e5115026 | 0:af0259ca519f | 52 | //main関数 |
e5115026 | 0:af0259ca519f | 53 | int main(){ |
e5115026 | 0:af0259ca519f | 54 | //led2=1; |
e5115026 | 0:af0259ca519f | 55 | rollening.attach(&Dthrow, 0.01); |
johnnyken | 1:e7357f0f664b | 56 | //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でした |
e5115026 | 0:af0259ca519f | 57 | |
e5115026 | 0:af0259ca519f | 58 | while(1){ |
e5115026 | 0:af0259ca519f | 59 | } |
e5115026 | 0:af0259ca519f | 60 | |
e5115026 | 0:af0259ca519f | 61 | } |