![](/media/cache/group/default_image.jpg.50x50_q85.jpg)
4/2にちゃんと動いたやつ
Dependencies: mbed SBDBT arrc_mbed
Diff: main.cpp
- Revision:
- 6:fd9b59f828e8
- Parent:
- 3:e4b5563563af
- Child:
- 7:59be95fceafa
--- a/main.cpp Fri Jan 21 09:09:48 2022 +0000 +++ b/main.cpp Sat Jan 29 14:48:41 2022 +0000 @@ -6,33 +6,58 @@ //---------------初期設定--------------- //scrp_slave ScrpSlave scrp(PC_12,PD_2,PH_1,0x0807f800); + //sbdbt - sbdbt sb(A0,A1); + sbdbt sb(A0,A1); + //scrp_slaveのid設定 - const int wheel_num = 255; + 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 select = 5; + + //ビーンバッグ回収用 + + //ビーンバッグ発射用 + + //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 + const int + + //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 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){ sb.button_state(); - x_component = sb.lsx(); - y_component = sb.lsy(); + x_component = sb.rsx(); + y_component = sb.rsy(); l2_num = sb.l2An(); r2_num = sb.r2An(); - //printf("%d %d",x_component,y_component); + + //足回り scrp.send1(wheel_num,x_component_cmd,x_component); wait_ms(1); scrp.send1(wheel_num,y_component_cmd,y_component); @@ -41,7 +66,15 @@ wait_ms(1); scrp.send1(wheel_num,r2_cmd,r2_num); wait_ms(1); - scrp.send1(wheel_num,select,sb.select()); + + //ビーンバッグ回収 + + //ビーンバッグ発射 + + //農作物回収・設置 + + //全体送信 + scrp.send1(send_all,select,sb.select());//自動・手動モード切り替え wait_ms(1); } } \ No newline at end of file