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@8:e76d6c16d7af, 2022-03-11 (annotated)

Committer:
guesta
Date:
Fri Mar 11 04:21:06 2022 +0000
Revision:
8:e76d6c16d7af
Parent:
7:59be95fceafa
Child:
10:4fe47396eb5a
new_ver;

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 8:e76d6c16d7af 4 #include "mp3.hpp"
guesta 0:d8faed605a5c 5
guesta 0:d8faed605a5c 6 int main(){
guesta 1:642ee25ea489 7 //---------------初期設定---------------
guesta 3:e4b5563563af 8 //scrp_slave
guesta 3:e4b5563563af 9 ScrpSlave scrp(PC_12,PD_2,PH_1,0x0807f800);
guesta 6:fd9b59f828e8 10
guesta 3:e4b5563563af 11 //sbdbt
guesta 8:e76d6c16d7af 12 sbdbt sb(PA_0,PA_1);
guesta 6:fd9b59f828e8 13
guesta 3:e4b5563563af 14 //scrp_slaveのid設定
guesta 6:fd9b59f828e8 15 const int wheel_num = 1;
guesta 3:e4b5563563af 16 const int BeanbagGet_num = 2;
guesta 3:e4b5563563af 17 const int BeanbagShot_num = 3;
guesta 3:e4b5563563af 18 const int TakoGetPut_num = 4;
guesta 8:e76d6c16d7af 19 const int remort_stop_num = 5;
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 8:e76d6c16d7af 31 const int move = 1;
guesta 6:fd9b59f828e8 32
guesta 6:fd9b59f828e8 33 //ビーンバッグ発射用
guesta 8:e76d6c16d7af 34 const int shot = 2;
guesta 6:fd9b59f828e8 35
guesta 6:fd9b59f828e8 36 //農作物回収・設置用
guesta 6:fd9b59f828e8 37 const int up = 1;
guesta 6:fd9b59f828e8 38 const int down = 2;
guesta 8:e76d6c16d7af 39 const int limit1 = 3;
guesta 8:e76d6c16d7af 40 const int limit2 = 4;
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 8:e76d6c16d7af 57
guesta 8:e76d6c16d7af 58 //mp3
guesta 8:e76d6c16d7af 59 Playmp3 voice(PA_9,PA_10);
guesta 8:e76d6c16d7af 60 int volume = 200;//音量
guesta 8:e76d6c16d7af 61 int track;
guesta 8:e76d6c16d7af 62 voice.set_volume(200);
guesta 8:e76d6c16d7af 63 voice.quiet_mode(false);
guesta 8:e76d6c16d7af 64
guesta 8:e76d6c16d7af 65 DigitalIn sw1(PB_4);
guesta 8:e76d6c16d7af 66 DigitalIn sw2(PB_5);
guesta 8:e76d6c16d7af 67 sw1.mode(PullUp);
guesta 8:e76d6c16d7af 68 sw2.mode(PullUp);
guesta 8:e76d6c16d7af 69
guesta 8:e76d6c16d7af 70 //count
guesta 8:e76d6c16d7af 71 int count_up;
guesta 8:e76d6c16d7af 72 int count_down;
guesta 8:e76d6c16d7af 73 int count_shot;
guesta 8:e76d6c16d7af 74 int count_auto;
guesta 3:e4b5563563af 75 //-------------------------------------
guesta 6:fd9b59f828e8 76
guesta 1:642ee25ea489 77 while(true){
guesta 8:e76d6c16d7af 78 printf("%d\n",sw1.read());
guesta 8:e76d6c16d7af 79
guesta 3:e4b5563563af 80 sb.button_state();
guesta 6:fd9b59f828e8 81 x_component = sb.rsx();
guesta 6:fd9b59f828e8 82 y_component = sb.rsy();
guesta 3:e4b5563563af 83 l2_num = sb.l2An();
guesta 3:e4b5563563af 84 r2_num = sb.r2An();
guesta 8:e76d6c16d7af 85 if(sb.select() == 1){
guesta 8:e76d6c16d7af 86 count_auto++;
guesta 8:e76d6c16d7af 87 if(count_auto == 1){
guesta 8:e76d6c16d7af 88 auto_mode =! auto_mode;
guesta 8:e76d6c16d7af 89 }
guesta 8:e76d6c16d7af 90 }else{
guesta 8:e76d6c16d7af 91 count_auto = 0;
guesta 7:59be95fceafa 92 }
guesta 6:fd9b59f828e8 93
guesta 6:fd9b59f828e8 94 //足回り
guesta 3:e4b5563563af 95 scrp.send1(wheel_num,x_component_cmd,x_component);
guesta 7:59be95fceafa 96 wait_ms(2);
guesta 3:e4b5563563af 97 scrp.send1(wheel_num,y_component_cmd,y_component);
guesta 7:59be95fceafa 98 wait_ms(2);
guesta 3:e4b5563563af 99 scrp.send1(wheel_num,l2_cmd,l2_num);
guesta 7:59be95fceafa 100 wait_ms(2);
guesta 3:e4b5563563af 101 scrp.send1(wheel_num,r2_cmd,r2_num);
guesta 7:59be95fceafa 102 wait_ms(2);
guesta 7:59be95fceafa 103 scrp.send1(wheel_num,l1_cmd,sb.l1());
guesta 7:59be95fceafa 104 wait_ms(2);
guesta 6:fd9b59f828e8 105
guesta 6:fd9b59f828e8 106 //ビーンバッグ回収
guesta 8:e76d6c16d7af 107 scrp.send1(BeanbagGet_num,move,sb.square());
guesta 8:e76d6c16d7af 108 wait_ms(2);
guesta 6:fd9b59f828e8 109
guesta 6:fd9b59f828e8 110 //ビーンバッグ発射
guesta 7:59be95fceafa 111 if(auto_mode == true){
guesta 8:e76d6c16d7af 112 scrp.send1(BeanbagShot_num,shot,sb.square());
guesta 7:59be95fceafa 113 wait_ms(2);
guesta 8:e76d6c16d7af 114 if(sb.square() == 1){
guesta 8:e76d6c16d7af 115 count_shot++;
guesta 8:e76d6c16d7af 116 if(count_shot == 1){
guesta 8:e76d6c16d7af 117 voice.set_number_of_tracks(5);
guesta 8:e76d6c16d7af 118 }
guesta 8:e76d6c16d7af 119 }else{
guesta 8:e76d6c16d7af 120 count_shot = 0;
guesta 8:e76d6c16d7af 121 }
guesta 7:59be95fceafa 122 }
guesta 6:fd9b59f828e8 123
guesta 6:fd9b59f828e8 124 //農作物回収・設置
guesta 8:e76d6c16d7af 125 if(sb.up() == 1){
guesta 8:e76d6c16d7af 126 count_up++;
guesta 8:e76d6c16d7af 127 if(count_up == 1){
guesta 8:e76d6c16d7af 128 voice.set_number_of_tracks(1);
guesta 8:e76d6c16d7af 129 }
guesta 8:e76d6c16d7af 130 }else{
guesta 8:e76d6c16d7af 131 count_up = 0;
guesta 8:e76d6c16d7af 132 }
guesta 8:e76d6c16d7af 133 if(sb.down() == 1){
guesta 8:e76d6c16d7af 134 count_down++;
guesta 8:e76d6c16d7af 135 if(count_down == 1){
guesta 8:e76d6c16d7af 136 voice.set_number_of_tracks(2);
guesta 8:e76d6c16d7af 137 }
guesta 8:e76d6c16d7af 138 }else{
guesta 8:e76d6c16d7af 139 count_down = 0;
guesta 8:e76d6c16d7af 140 }
guesta 8:e76d6c16d7af 141 scrp.send1(TakoGetPut_num,up,sb.up());
guesta 8:e76d6c16d7af 142 wait_ms(2);
guesta 8:e76d6c16d7af 143 scrp.send1(TakoGetPut_num,down,sb.down());
guesta 8:e76d6c16d7af 144 wait_ms(2);
guesta 8:e76d6c16d7af 145 if(sw1.read() == 0){
guesta 8:e76d6c16d7af 146 scrp.send1(TakoGetPut_num,limit1,1);
guesta 8:e76d6c16d7af 147 }else{
guesta 8:e76d6c16d7af 148 scrp.send1(TakoGetPut_num,limit1,0);
guesta 8:e76d6c16d7af 149 }
guesta 8:e76d6c16d7af 150 wait_ms(2);
guesta 8:e76d6c16d7af 151 if(sw2.read() == 0){
guesta 8:e76d6c16d7af 152 scrp.send1(TakoGetPut_num,limit2,1);
guesta 8:e76d6c16d7af 153 }else{
guesta 8:e76d6c16d7af 154 scrp.send1(TakoGetPut_num,limit2,0);
guesta 8:e76d6c16d7af 155 }
guesta 8:e76d6c16d7af 156 wait_ms(2);
guesta 6:fd9b59f828e8 157
guesta 6:fd9b59f828e8 158 //全体送信
guesta 7:59be95fceafa 159 scrp.send1(send_all,select,auto_mode);//自動・手動モード切り替え
guesta 8:e76d6c16d7af 160 wait_ms(2);
guesta 1:642ee25ea489 161 }
guesta 0:d8faed605a5c 162 }