2022_gorobo_Ateam / Mbed 2 deprecated MAIN

メインプログラム最新版です

Dependencies:   mbed SBDBT arrc_mbed

main.cpp@7:59be95fceafa, 2022-02-03 (annotated)

Committer:
guesta
Date:
Thu Feb 03 13:31:38 2022 +0000
Revision:
7:59be95fceafa
Parent:
6:fd9b59f828e8
Child:
8:e76d6c16d7af
add

Who changed what in which revision?

UserRevisionLine numberNew contents of line
guesta 0:d8faed605a5c 1 #include "mbed.h"
guesta 3:e4b5563563af 2 #include "scrp_slave.hpp"
guesta 3:e4b5563563af 3 #include "sbdbt.hpp"
guesta 0:d8faed605a5c 4
guesta 0:d8faed605a5c 5 int main(){
guesta 1:642ee25ea489 6 //---------------初期設定---------------
guesta 3:e4b5563563af 7 //scrp_slave
guesta 3:e4b5563563af 8 ScrpSlave scrp(PC_12,PD_2,PH_1,0x0807f800);
guesta 6:fd9b59f828e8 9
guesta 3:e4b5563563af 10 //sbdbt
guesta 6:fd9b59f828e8 11 sbdbt sb(A0,A1);
guesta 6:fd9b59f828e8 12
guesta 3:e4b5563563af 13 //scrp_slaveのid設定
guesta 6:fd9b59f828e8 14 const int wheel_num = 1;
guesta 3:e4b5563563af 15 const int BeanbagGet_num = 2;
guesta 3:e4b5563563af 16 const int BeanbagShot_num = 3;
guesta 3:e4b5563563af 17 const int TakoGetPut_num = 4;
guesta 6:fd9b59f828e8 18 const int tape_LED_num = 5;
guesta 6:fd9b59f828e8 19 const int remort_stop_num = 6;
guesta 6:fd9b59f828e8 20 const int send_all = 255;
guesta 6:fd9b59f828e8 21
guesta 3:e4b5563563af 22 //コマンド番号設定
guesta 6:fd9b59f828e8 23 //足回り用
guesta 3:e4b5563563af 24 const int x_component_cmd = 1;
guesta 3:e4b5563563af 25 const int y_component_cmd = 2;
guesta 3:e4b5563563af 26 const int l2_cmd = 3;
guesta 3:e4b5563563af 27 const int r2_cmd = 4;
guesta 7:59be95fceafa 28 const int l1_cmd = 5;
guesta 6:fd9b59f828e8 29
guesta 6:fd9b59f828e8 30 //ビーンバッグ回収用
guesta 6:fd9b59f828e8 31
guesta 6:fd9b59f828e8 32 //ビーンバッグ発射用
guesta 7:59be95fceafa 33 const int load = 3;
guesta 7:59be95fceafa 34 const int revolver = 4;
guesta 7:59be95fceafa 35 const int back = 5;
guesta 7:59be95fceafa 36 const int shot = 6;
guesta 6:fd9b59f828e8 37
guesta 6:fd9b59f828e8 38 //農作物回収・設置用
guesta 6:fd9b59f828e8 39 const int up = 1;
guesta 6:fd9b59f828e8 40 const int down = 2;
guesta 6:fd9b59f828e8 41
guesta 6:fd9b59f828e8 42 //テープLED用
guesta 6:fd9b59f828e8 43
guesta 6:fd9b59f828e8 44 //遠隔非常停止受信用
guesta 6:fd9b59f828e8 45
guesta 6:fd9b59f828e8 46 //全体送信用
guesta 6:fd9b59f828e8 47 const int select = 50;//手動・自動切り替え
guesta 6:fd9b59f828e8 48 const int stop_all = 51;//全プログラム停止
guesta 6:fd9b59f828e8 49
guesta 1:642ee25ea489 50 //変数
guesta 7:59be95fceafa 51 bool auto_mode = false;
guesta 7:59be95fceafa 52 bool auto_start;
guesta 3:e4b5563563af 53 int x_component;
guesta 3:e4b5563563af 54 int y_component;
guesta 3:e4b5563563af 55 int l2_num;
guesta 3:e4b5563563af 56 int r2_num;
guesta 3:e4b5563563af 57 //-------------------------------------
guesta 6:fd9b59f828e8 58
guesta 1:642ee25ea489 59 while(true){
guesta 3:e4b5563563af 60 sb.button_state();
guesta 6:fd9b59f828e8 61 x_component = sb.rsx();
guesta 6:fd9b59f828e8 62 y_component = sb.rsy();
guesta 3:e4b5563563af 63 l2_num = sb.l2An();
guesta 3:e4b5563563af 64 r2_num = sb.r2An();
guesta 7:59be95fceafa 65 if(select() == 1){
guesta 7:59be95fceafa 66 auto_mode =! auto_mode;
guesta 7:59be95fceafa 67 }
guesta 6:fd9b59f828e8 68
guesta 6:fd9b59f828e8 69 //足回り
guesta 3:e4b5563563af 70 scrp.send1(wheel_num,x_component_cmd,x_component);
guesta 7:59be95fceafa 71 wait_ms(2);
guesta 3:e4b5563563af 72 scrp.send1(wheel_num,y_component_cmd,y_component);
guesta 7:59be95fceafa 73 wait_ms(2);
guesta 3:e4b5563563af 74 scrp.send1(wheel_num,l2_cmd,l2_num);
guesta 7:59be95fceafa 75 wait_ms(2);
guesta 3:e4b5563563af 76 scrp.send1(wheel_num,r2_cmd,r2_num);
guesta 7:59be95fceafa 77 wait_ms(2);
guesta 7:59be95fceafa 78 scrp.send1(wheel_num,l1_cmd,sb.l1());
guesta 7:59be95fceafa 79 wait_ms(2);
guesta 6:fd9b59f828e8 80
guesta 6:fd9b59f828e8 81 //ビーンバッグ回収
guesta 6:fd9b59f828e8 82
guesta 6:fd9b59f828e8 83 //ビーンバッグ発射
guesta 7:59be95fceafa 84 if(auto_mode == true){
guesta 7:59be95fceafa 85 scrp.send1(BeanbagShot_num,load,down());
guesta 7:59be95fceafa 86 wait_ms(2);
guesta 7:59be95fceafa 87 scrp.send1(BeanbagShot_num,revolver,right());
guesta 7:59be95fceafa 88 wait_ms(2);
guesta 7:59be95fceafa 89 scrp.send1(BeanbagShot_num,back,up());
guesta 7:59be95fceafa 90 wait_ms(2);
guesta 7:59be95fceafa 91 scrp.send1(BeanbagShot_num,shot,left());
guesta 7:59be95fceafa 92 wait_ms(2);
guesta 7:59be95fceafa 93 }
guesta 6:fd9b59f828e8 94
guesta 6:fd9b59f828e8 95 //農作物回収・設置
guesta 6:fd9b59f828e8 96
guesta 6:fd9b59f828e8 97 //全体送信
guesta 7:59be95fceafa 98 scrp.send1(send_all,select,auto_mode);//自動・手動モード切り替え
guesta 3:e4b5563563af 99 wait_ms(1);
guesta 1:642ee25ea489 100 }
guesta 0:d8faed605a5c 101 }