2019NHK_teamA / Mbed 2 deprecated nucleo_limit_11_18

This program is about limit switches11_18version.

Dependencies:   mbed

main.cpp@3:7bbcd64e7127, 2019-11-18 (annotated)

Committer:
shina
Date:
Mon Nov 18 06:20:56 2019 +0000
Revision:
3:7bbcd64e7127
Parent:
2:f64f79a6b5e0 
NHK2019manual limitswitch program 11/18version

Who changed what in which revision?

UserRevisionLine numberNew contents of line
shina 1:08c96d55206d 1 /////////////////////////////////////
shina 1:08c96d55206d 2 /*NHK2019*/
shina 1:08c96d55206d 3 /*Aチーム手動機リミットスイッチ用プログラム*/
shina 1:08c96d55206d 4 ////////////////////////////////////
shina 1:08c96d55206d 5
shina 0:28ee674a717f 6 #include "mbed.h"
shina 0:28ee674a717f 7 Serial master(PC_6,PC_7);
shina 0:28ee674a717f 8 Serial pc(USBTX,USBRX);
shina 2:f64f79a6b5e0 9 DigitalIn limit0(D10);//右上ラック
shina 2:f64f79a6b5e0 10 DigitalIn limit1(D9);//左上ラック
shina 2:f64f79a6b5e0 11 DigitalIn limit2(D8);//右下ラック
shina 2:f64f79a6b5e0 12 DigitalIn limit3(D7);//左下ラック
shina 2:f64f79a6b5e0 13
shina 2:f64f79a6b5e0 14 DigitalIn limit4(D6);//回収機構右
shina 2:f64f79a6b5e0 15 DigitalIn limit5(D5);//回収機構左
shina 2:f64f79a6b5e0 16 DigitalIn limit6(D4);//吐き出し1
shina 2:f64f79a6b5e0 17 DigitalIn limit7(D2);//吐き出し2
shina 1:08c96d55206d 18 DigitalOut green(D12);//電源確認
shina 2:f64f79a6b5e0 19 DigitalOut red(D11);//動作確認
shina 2:f64f79a6b5e0 20
shina 1:08c96d55206d 21 //データ格納用変数
shina 3:7bbcd64e7127 22 char data=0x00;
shina 1:08c96d55206d 23
shina 2:f64f79a6b5e0 24
shina 2:f64f79a6b5e0 25
shina 1:08c96d55206d 26 //関数プロトタイプ宣言
shina 0:28ee674a717f 27 void send_data(char send);
shina 1:08c96d55206d 28
shina 1:08c96d55206d 29 //main()関数
shina 3:7bbcd64e7127 30 int main()
shina 3:7bbcd64e7127 31 {
shina 0:28ee674a717f 32
shina 3:7bbcd64e7127 33 master.baud(115200);
shina 3:7bbcd64e7127 34 pc.baud(115200);
shina 3:7bbcd64e7127 35
shina 3:7bbcd64e7127 36 limit0.mode(PullUp);
shina 3:7bbcd64e7127 37
shina 0:28ee674a717f 38 limit1.mode(PullUp);
shina 3:7bbcd64e7127 39
shina 0:28ee674a717f 40 limit2.mode(PullUp);
shina 3:7bbcd64e7127 41
shina 0:28ee674a717f 42 limit3.mode(PullUp);
shina 3:7bbcd64e7127 43
shina 0:28ee674a717f 44 limit4.mode(PullUp);
shina 3:7bbcd64e7127 45
shina 0:28ee674a717f 46 limit5.mode(PullUp);
shina 3:7bbcd64e7127 47
shina 0:28ee674a717f 48 limit6.mode(PullUp);
shina 3:7bbcd64e7127 49
shina 0:28ee674a717f 50 limit7.mode(PullUp);
shina 3:7bbcd64e7127 51
shina 3:7bbcd64e7127 52 while(true) {
shina 0:28ee674a717f 53
shina 3:7bbcd64e7127 54 red=1;
shina 2:f64f79a6b5e0 55
shina 3:7bbcd64e7127 56 if(!limit0) {
shina 3:7bbcd64e7127 57 data = data | 0x01;
shina 3:7bbcd64e7127 58 } else {
shina 3:7bbcd64e7127 59 data = data & 0b11111110;
shina 3:7bbcd64e7127 60 }
shina 3:7bbcd64e7127 61 if(!limit1) {
shina 3:7bbcd64e7127 62 data = data | 0x02;
shina 3:7bbcd64e7127 63 } else {
shina 3:7bbcd64e7127 64 data = data & 0b11111101;
shina 3:7bbcd64e7127 65 }
shina 3:7bbcd64e7127 66 if(!limit2) {
shina 3:7bbcd64e7127 67 data = data | 0x04;
shina 3:7bbcd64e7127 68 } else {
shina 3:7bbcd64e7127 69 data = data & 0b11111011;
shina 3:7bbcd64e7127 70 }
shina 3:7bbcd64e7127 71 if(!limit3) {
shina 3:7bbcd64e7127 72 data = data | 0x08;
shina 3:7bbcd64e7127 73 } else {
shina 3:7bbcd64e7127 74 data = data & 0b11110111;
shina 3:7bbcd64e7127 75 }
shina 3:7bbcd64e7127 76 if(!limit4) {
shina 3:7bbcd64e7127 77 data = data | 0x10;
shina 3:7bbcd64e7127 78 } else {
shina 3:7bbcd64e7127 79 data = data & 0b11101111;
shina 3:7bbcd64e7127 80 }
shina 3:7bbcd64e7127 81 if(!limit5) {
shina 3:7bbcd64e7127 82 data = data | 0x20;
shina 3:7bbcd64e7127 83 green=1;
shina 3:7bbcd64e7127 84 } else {
shina 3:7bbcd64e7127 85 data = data & 0b11011111;
shina 3:7bbcd64e7127 86 green=0;
shina 3:7bbcd64e7127 87 }
shina 3:7bbcd64e7127 88 if(!limit6) {
shina 3:7bbcd64e7127 89 data = data | 0x40;
shina 3:7bbcd64e7127 90 } else {
shina 3:7bbcd64e7127 91 data = data & 0b10111111;
shina 3:7bbcd64e7127 92 }
shina 3:7bbcd64e7127 93 if(!limit7) {
shina 3:7bbcd64e7127 94 data = data | 0x80;
shina 3:7bbcd64e7127 95 } else {
shina 3:7bbcd64e7127 96 data = data & 0b01111111;
shina 0:28ee674a717f 97 }
shina 0:28ee674a717f 98
shina 3:7bbcd64e7127 99
shina 3:7bbcd64e7127 100
shina 3:7bbcd64e7127 101
shina 3:7bbcd64e7127 102 send_data(data);
shina 3:7bbcd64e7127 103
shina 3:7bbcd64e7127 104 red=0;
shina 3:7bbcd64e7127 105
shina 3:7bbcd64e7127 106 pc.printf("0x%x\n",data);
shina 3:7bbcd64e7127 107
shina 0:28ee674a717f 108 }
shina 0:28ee674a717f 109
shina 3:7bbcd64e7127 110 }
shina 3:7bbcd64e7127 111
shina 1:08c96d55206d 112 //rs232通信
shina 3:7bbcd64e7127 113 void send_data(char send)
shina 3:7bbcd64e7127 114 {
shina 0:28ee674a717f 115 master.putc(send);
shina 3:7bbcd64e7127 116 wait(0.02);
shina 3:7bbcd64e7127 117 }