2019NHK_teamA / Mbed 2 deprecated 2019KoRobo

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Dependencies:   mbed

main.cpp@1:72b8490a4ece, 2019-08-28 (annotated)

Committer:
st17099ng
Date:
Wed Aug 28 01:27:36 2019 +0000
Revision:
1:72b8490a4ece
Parent:
0:bba4760cb391 
2019Korobo

Who changed what in which revision?

UserRevisionLine numberNew contents of line
st17099ng 0:bba4760cb391 1 #include "mbed.h"
st17099ng 0:bba4760cb391 2 #include "Help.h"
st17099ng 0:bba4760cb391 3
st17099ng 0:bba4760cb391 4 Serial pc(USBTX,USBRX);
st17099ng 0:bba4760cb391 5 DigitalOut POWER_LED(D5);
st17099ng 0:bba4760cb391 6
st17099ng 1:72b8490a4ece 7 static int direct,speed;
st17099ng 1:72b8490a4ece 8 static char wheel_RF,wheel_LF;
st17099ng 1:72b8490a4ece 9 static char wheel_RB,wheel_LB;
st17099ng 1:72b8490a4ece 10 static char arm_moter;
st17099ng 0:bba4760cb391 11
st17099ng 0:bba4760cb391 12 int main(void)
st17099ng 0:bba4760cb391 13 {
st17099ng 1:72b8490a4ece 14 POWER_LED = 1;
st17099ng 0:bba4760cb391 15 speed = fast;
st17099ng 1:72b8490a4ece 16 direct = SBREAK;
st17099ng 1:72b8490a4ece 17 format_data(&wheel_RF);
st17099ng 1:72b8490a4ece 18 format_data(&wheel_LF);
st17099ng 1:72b8490a4ece 19 format_data(&wheel_RB);
st17099ng 1:72b8490a4ece 20 format_data(&wheel_LB);
st17099ng 1:72b8490a4ece 21 format_data(&arm_moter);
st17099ng 0:bba4760cb391 22 while(1) {
st17099ng 0:bba4760cb391 23 set_emg();
st17099ng 1:72b8490a4ece 24 set_direct(&direct);
st17099ng 1:72b8490a4ece 25 set_speed(&speed);
st17099ng 1:72b8490a4ece 26 set_mot(&arm_moter, cir, cro);
st17099ng 0:bba4760cb391 27 if(direct != 0) {
st17099ng 1:72b8490a4ece 28 set_tire(&wheel_RF, &wheel_RB, direct, 'R', speed);
st17099ng 1:72b8490a4ece 29 set_tire(&wheel_LF, &wheel_LB, direct, 'L', speed);
st17099ng 0:bba4760cb391 30 } else {
st17099ng 1:72b8490a4ece 31 set_slide(&wheel_RF,&wheel_LF,&wheel_RB,&wheel_LB,r1,l1, speed);
st17099ng 0:bba4760cb391 32 }
st17099ng 0:bba4760cb391 33
st17099ng 1:72b8490a4ece 34 write_data(Rf_add,wheel_RF);
st17099ng 1:72b8490a4ece 35 write_data(Lf_add,wheel_LF);
st17099ng 1:72b8490a4ece 36 write_data(Rb_add,wheel_RB);
st17099ng 1:72b8490a4ece 37 write_data(Lb_add,wheel_LB);
st17099ng 1:72b8490a4ece 38 write_data(Mot1add,arm_moter);
st17099ng 1:72b8490a4ece 39 /*
st17099ng 1:72b8490a4ece 40 pri("\033[2J");
st17099ng 1:72b8490a4ece 41 pri("\033[1;1H wheel_RF:0x%x",wheel_RF);
st17099ng 1:72b8490a4ece 42 pri("\033[2;1H wheel_LF:0x%x",wheel_LF);
st17099ng 1:72b8490a4ece 43 pri("\033[3;1H wheel_RB:0x%x",wheel_RB);
st17099ng 1:72b8490a4ece 44 pri("\033[4;1H wheel_LB:0x%x",wheel_LB);
st17099ng 1:72b8490a4ece 45 pri("\033[5;1H arm_moter:0x%x",arm_moter);
st17099ng 1:72b8490a4ece 46 pri("\033[6;1H direct:%d",direct);
st17099ng 1:72b8490a4ece 47 pri("\033[7;1H speed:%d",speed);
st17099ng 1:72b8490a4ece 48 */
st17099ng 1:72b8490a4ece 49
st17099ng 0:bba4760cb391 50 }
st17099ng 0:bba4760cb391 51 }