![](/media/cache/group/default_image.jpg.50x50_q85.jpg)
メインプログラム最新版です
Dependencies: mbed SBDBT arrc_mbed
Diff: main.cpp
- Revision:
- 3:e4b5563563af
- Parent:
- 1:642ee25ea489
- Child:
- 6:fd9b59f828e8
--- a/main.cpp Sat Jan 08 12:56:19 2022 +0000 +++ b/main.cpp Fri Jan 21 08:52:19 2022 +0000 @@ -1,38 +1,47 @@ #include "mbed.h" -#include "core.hpp" +#include "scrp_slave.hpp" +#include "sbdbt.hpp" int main(){ - Robot main_robot(46,25.4,322.5,259.75); - ScrpSlave scrp(PC_12,PD_2 ,PH_1 ,0x0807f800); - Core rbt(&main_robot,&scrp,OMNI4,0.02); - //---------------初期設定--------------- - //モータ - rbt.addMOT(PB_14,PB_13,2048,0);//モータ0 - rbt.addMOT(PB_7,PB_6,2048,1); //モータ1 - rbt.addMOT(PB_9,PB_8,2048,2); //モータ2 - rbt.addMOT(PA_11,PB_1,2048,3); //モータ3 - //エンコーダ - RBT.addENC(PC_4,PA_13,512,4,1); - RBT.addENC(PA_14,PA_15,512,4,2); - RBT.addENC(PC_2,PC_3,512,4,3); - RBT.addENC(PC_10,PC_11,512,4,4); - RBT.addENC(PA_7,PA_6,512,4,5); - RBT.addENC(PA_9,PA_8,512,4,6); - RBT.addENC(PC_1,PC_0,512,4,7); - RBT.addENC(PC_5,PA_12,512,4,8); + //scrp_slave + ScrpSlave scrp(PC_12,PD_2,PH_1,0x0807f800); + //sbdbt + sbdbt sb(A0,A1); + //scrp_slaveのid設定 + const int wheel_num = 255; + const int BeanbagGet_num = 2; + const int BeanbagShot_num = 3; + const int TakoGetPut_num = 4; + //コマンド番号設定 + const int x_component_cmd = 1; + const int y_component_cmd = 2; + const int l2_cmd = 3; + const int r2_cmd = 4; + const int select = 5; //変数 - bool auto = true; -//------------------------------ - - rbt.START(); - RBT.setPosition(0.0,0.0,0.0); - -//---------------ループ--------------- + int x_component; + int y_component; + int l2_num; + int r2_num; +//------------------------------------- +//スティックの返り値-128~127 while(true){ - rbt.getStatus(); - - rbt.LOOP(); + sb.button_state(); + x_component = sb.lsx(); + y_component = sb.lsy(); + l2_num = sb.l2An(); + r2_num = sb.r2An(); + //printf("%d %d",x_component,y_component); + scrp.send1(wheel_num,x_component_cmd,x_component); + wait_ms(1); + scrp.send1(wheel_num,y_component_cmd,y_component); + wait_ms(1); + scrp.send1(wheel_num,l2_cmd,l2_num); + wait_ms(1); + scrp.send1(wheel_num,r2_cmd,r2_num); + wait_ms(1); + scrp.send1(wheel_num,select,sb.select()); + wait_ms(1); } - } \ No newline at end of file