自動機の手動プログラム
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main.cpp
00001 #include "mbed.h" 00002 #include "QEI.h" 00003 #include "Help.h" 00004 00005 Serial pc(USBTX,USBRX); 00006 QEI arm_enc(PA_6, PA_8, NC, 624); 00007 00008 int direct,speed; 00009 char wheel_RF = SBREAK; 00010 char wheel_LF = SBREAK; 00011 char wheel_RB = SBREAK; 00012 char wheel_LB = SBREAK; 00013 char arm_moter = SBREAK; 00014 char dp_moter = SBREAK; 00015 char rsheet_moter = SBREAK; 00016 char lsheet_moter = SBREAK; 00017 00018 int main(void) 00019 { 00020 speed = fast; 00021 direct = SBREAK; 00022 set_gpio(); 00023 write_data(Rf_add,SBREAK); 00024 write_data(Lf_add,SBREAK); 00025 write_data(Rb_add,SBREAK); 00026 write_data(Lb_add,SBREAK); 00027 write_data(Arm_add,SBREAK); 00028 write_data(Dp_add,SBREAK); 00029 write_data(Rst_add,SBREAK); 00030 write_data(Lst_add,SBREAK); 00031 write_data(Fan_add,SBREAK); 00032 while(1) { 00033 set_emg(); 00034 set_direct(&direct); 00035 set_speed(&speed); 00036 set_arm(&arm_moter, cir,arm_enc.getPulses()); 00037 set_drop(&dp_moter, squ, cro); 00038 set_sheet(&rsheet_moter,'R',up,dow); 00039 set_sheet(&lsheet_moter,'L',up,dow); 00040 if(direct != 0) { 00041 set_tire(&wheel_RF, &wheel_RB, direct, 'R', speed); 00042 set_tire(&wheel_LF, &wheel_LB, direct, 'L', speed); 00043 } else { 00044 set_slide(&wheel_RF,&wheel_LF,&wheel_RB,&wheel_LB,r1,l1, speed); 00045 } 00046 arm_moter = (dp_moter != SBREAK)? dp_moter:arm_moter; 00047 00048 write_data(Rf_add,wheel_RF); 00049 write_data(Lf_add,wheel_LF); 00050 write_data(Rb_add,wheel_RB); 00051 write_data(Lb_add,wheel_LB); 00052 write_data(Arm_add,arm_moter); 00053 write_data(Dp_add,dp_moter); 00054 write_data(Dp_add,dp_moter); 00055 write_data(Dp_add,dp_moter); 00056 00057 pri("\033[2J"); 00058 pri("\033[1;1H 0x%x:%d",arm_moter,arm_enc.getPulses()); 00059 pri("\033[2;1H 0x%x",dp_moter); 00060 pri("\033[3;1H 0x%x",rsheet_moter); 00061 pri("\033[4;1H 0x%x",lsheet_moter); 00062 /* 00063 pri("\033[2J"); 00064 pri("\033[1;1H wheel_RF:0x%x",wheel_RF); 00065 pri("\033[2;1H wheel_LF:0x%x",wheel_LF); 00066 pri("\033[3;1H wheel_RB:0x%x",wheel_RB); 00067 pri("\033[4;1H wheel_LB:0x%x",wheel_LB); 00068 pri("\033[5;1H arm_moter:0x%x",arm_moter); 00069 pri("\033[6;1H direct:%d",direct); 00070 pri("\033[7;1H speed:%d",speed); 00071 */ 00072 00073 } 00074 }
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