メインプログラム最新版です
Dependencies: mbed SBDBT arrc_mbed
main.cpp
- Committer:
- guesta
- Date:
- 2022-02-03
- Revision:
- 7:59be95fceafa
- Parent:
- 6:fd9b59f828e8
- Child:
- 8:e76d6c16d7af
File content as of revision 7:59be95fceafa:
#include "mbed.h" #include "scrp_slave.hpp" #include "sbdbt.hpp" int main(){ //---------------初期設定--------------- //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 = 1; const int BeanbagGet_num = 2; const int BeanbagShot_num = 3; const int TakoGetPut_num = 4; const int tape_LED_num = 5; const int remort_stop_num = 6; const int send_all = 255; //コマンド番号設定 //足回り用 const int x_component_cmd = 1; const int y_component_cmd = 2; const int l2_cmd = 3; const int r2_cmd = 4; const int l1_cmd = 5; //ビーンバッグ回収用 //ビーンバッグ発射用 const int load = 3; const int revolver = 4; const int back = 5; const int shot = 6; //農作物回収・設置用 const int up = 1; const int down = 2; //テープLED用 //遠隔非常停止受信用 //全体送信用 const int select = 50;//手動・自動切り替え const int stop_all = 51;//全プログラム停止 //変数 bool auto_mode = false; bool auto_start; int x_component; int y_component; int l2_num; int r2_num; //------------------------------------- while(true){ sb.button_state(); x_component = sb.rsx(); y_component = sb.rsy(); l2_num = sb.l2An(); r2_num = sb.r2An(); if(select() == 1){ auto_mode =! auto_mode; } //足回り scrp.send1(wheel_num,x_component_cmd,x_component); wait_ms(2); scrp.send1(wheel_num,y_component_cmd,y_component); wait_ms(2); scrp.send1(wheel_num,l2_cmd,l2_num); wait_ms(2); scrp.send1(wheel_num,r2_cmd,r2_num); wait_ms(2); scrp.send1(wheel_num,l1_cmd,sb.l1()); wait_ms(2); //ビーンバッグ回収 //ビーンバッグ発射 if(auto_mode == true){ scrp.send1(BeanbagShot_num,load,down()); wait_ms(2); scrp.send1(BeanbagShot_num,revolver,right()); wait_ms(2); scrp.send1(BeanbagShot_num,back,up()); wait_ms(2); scrp.send1(BeanbagShot_num,shot,left()); wait_ms(2); } //農作物回収・設置 //全体送信 scrp.send1(send_all,select,auto_mode);//自動・手動モード切り替え wait_ms(1); } }