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@6:fd9b59f828e8, 2022-01-29 (annotated)

Committer:
guesta
Date:
Sat Jan 29 14:48:41 2022 +0000
Revision:
6:fd9b59f828e8
Parent:
3:e4b5563563af
Child:
7:59be95fceafa
add id cmd; ;

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 6:fd9b59f828e8 28
guesta 6:fd9b59f828e8 29 //ビーンバッグ回収用
guesta 6:fd9b59f828e8 30
guesta 6:fd9b59f828e8 31 //ビーンバッグ発射用
guesta 6:fd9b59f828e8 32
guesta 6:fd9b59f828e8 33 //農作物回収・設置用
guesta 6:fd9b59f828e8 34 const int up = 1;
guesta 6:fd9b59f828e8 35 const int down = 2;
guesta 6:fd9b59f828e8 36
guesta 6:fd9b59f828e8 37 //テープLED用
guesta 6:fd9b59f828e8 38
guesta 6:fd9b59f828e8 39 //遠隔非常停止受信用
guesta 6:fd9b59f828e8 40 const int
guesta 6:fd9b59f828e8 41
guesta 6:fd9b59f828e8 42 //全体送信用
guesta 6:fd9b59f828e8 43 const int select = 50;//手動・自動切り替え
guesta 6:fd9b59f828e8 44 const int stop_all = 51;//全プログラム停止
guesta 6:fd9b59f828e8 45
guesta 1:642ee25ea489 46 //変数
guesta 3:e4b5563563af 47 int x_component;
guesta 3:e4b5563563af 48 int y_component;
guesta 3:e4b5563563af 49 int l2_num;
guesta 3:e4b5563563af 50 int r2_num;
guesta 3:e4b5563563af 51 //-------------------------------------
guesta 6:fd9b59f828e8 52
guesta 1:642ee25ea489 53 while(true){
guesta 3:e4b5563563af 54 sb.button_state();
guesta 6:fd9b59f828e8 55 x_component = sb.rsx();
guesta 6:fd9b59f828e8 56 y_component = sb.rsy();
guesta 3:e4b5563563af 57 l2_num = sb.l2An();
guesta 3:e4b5563563af 58 r2_num = sb.r2An();
guesta 6:fd9b59f828e8 59
guesta 6:fd9b59f828e8 60 //足回り
guesta 3:e4b5563563af 61 scrp.send1(wheel_num,x_component_cmd,x_component);
guesta 3:e4b5563563af 62 wait_ms(1);
guesta 3:e4b5563563af 63 scrp.send1(wheel_num,y_component_cmd,y_component);
guesta 3:e4b5563563af 64 wait_ms(1);
guesta 3:e4b5563563af 65 scrp.send1(wheel_num,l2_cmd,l2_num);
guesta 3:e4b5563563af 66 wait_ms(1);
guesta 3:e4b5563563af 67 scrp.send1(wheel_num,r2_cmd,r2_num);
guesta 3:e4b5563563af 68 wait_ms(1);
guesta 6:fd9b59f828e8 69
guesta 6:fd9b59f828e8 70 //ビーンバッグ回収
guesta 6:fd9b59f828e8 71
guesta 6:fd9b59f828e8 72 //ビーンバッグ発射
guesta 6:fd9b59f828e8 73
guesta 6:fd9b59f828e8 74 //農作物回収・設置
guesta 6:fd9b59f828e8 75
guesta 6:fd9b59f828e8 76 //全体送信
guesta 6:fd9b59f828e8 77 scrp.send1(send_all,select,sb.select());//自動・手動モード切り替え
guesta 3:e4b5563563af 78 wait_ms(1);
guesta 1:642ee25ea489 79 }
guesta 0:d8faed605a5c 80 }