![](/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
main.cpp
- Committer:
- guesta
- Date:
- 2022-03-22
- Revision:
- 10:4fe47396eb5a
- Parent:
- 8:e76d6c16d7af
- Child:
- 11:9ae7fe40a807
File content as of revision 10:4fe47396eb5a:
#include "mbed.h" #include "scrp_slave.hpp" #include "sbdbt.hpp" #include "rotary_inc.hpp" int main() { //---------------初期設定--------------- //scrp_slave ScrpSlave scrp(PC_12,PD_2,PH_1,0x0807f800); //sbdbt sbdbt sb(PA_0,PA_1); //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 TapeLed_num = 5; const int send_all = 255; //コマンド番号設定 //足回り用 const int r_x_component_cmd = 1; const int r_y_component_cmd = 2; const int l2_cmd = 3; const int r2_cmd = 4; const int l1_cmd = 5; const int r1_cmd = 8; const int circle_cmd = 6; const int switch_cmd = 7; const int l_x_component_cmd = 9; const int l_y_component_cmd = 10; //ビーンバッグ回収用 const int move = 1; //ビーンバッグ発射用 const int shot = 2; //農作物回収・設置用 const int up = 1; const int down = 2; /*const int limit1 = 3; const int limit2 = 4; const int limit3 = 5; const int limit4 = 6;*/ //テープLED用 const int voice = 1; const int start = 2; //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 status_start = 0; bool auto_move = 0; int r_x_component; int r_y_component; int l_x_component; int l_y_component; int l2_num; int r2_num; DigitalIn status_stop(PB_14,PullUp); DigitalIn sw1(PB_6); sw1.mode(PullUp); DigitalOut led(PA_10); //RotaryInc rot1(PC_0,PC_1,M_PI*2,40*M_PI,4); //RotaryInc rot2(PC_3,PC_2,M_PI*2,40*M_PI,4); //count int count_up; int count_down; int count_shot; int count_auto; int count_start; int count_stop; int count_circle; //------------------------------------- while(true) { printf("%d\n",sw1.read()); sb.button_state(); r_x_component = sb.rsx(); r_y_component = sb.rsy(); l_x_component = sb.lsx(); l_y_component = sb.lsy(); l2_num = sb.l2An(); r2_num = sb.r2An(); if(sb.select() == 1) { count_auto++; printf("%d\n",count_auto); if(count_auto == 1) { auto_mode =! auto_mode; } } else { count_auto = 0; } if(auto_mode == 1) { led = 1; scrp.send1(TapeLed_num,voice,4); //printf("auto_mode\n"); }else{ led = 0; //printf("manual_mode\n"); } //足回り scrp.send1(wheel_num,r_x_component_cmd,r_x_component); wait_ms(2); scrp.send1(wheel_num,r_y_component_cmd,r_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); scrp.send1(wheel_num,r1_cmd,sb.r1()); wait_ms(2); scrp.send1(wheel_num,l_x_component_cmd,l_x_component); wait_ms(2); scrp.send1(wheel_num,l_y_component_cmd,l_y_component); wait_ms(2); if(auto_mode == true){ if(sb.circle() == 1) { count_circle++; if(count_circle == 1) { auto_move =! auto_move; } } else { count_circle = 0; } scrp.send1(wheel_num,circle_cmd,auto_move); wait_ms(2); } scrp.send1(wheel_num,switch_cmd,sw1.read()); wait_ms(2); //ビーンバッグ回収 if(auto_mode == false) { scrp.send1(BeanbagGet_num,move,sb.square()); wait_ms(2); } //ビーンバッグ発射 if(auto_mode == true) { scrp.send1(BeanbagShot_num,shot,sb.square()); wait_ms(2); if(sb.square() == 1) { count_shot++; if(count_shot == 1) { scrp.send1(TapeLed_num,voice,5); } } else { count_shot = 0; } } //農作物回収・設置 if(sb.up() == 1) { count_up++; if(count_up == 1) { scrp.send1(TapeLed_num,voice,1); } } else { count_up = 0; } if(sb.down() == 1) { count_down++; if(count_down == 1) { scrp.send1(TapeLed_num,voice,2); } } else { count_down = 0; } scrp.send1(TakoGetPut_num,up,sb.up()); wait_ms(2); scrp.send1(TakoGetPut_num,down,sb.down()); wait_ms(2); //テープLED if(sb.start() == 1) { count_auto++; if(count_start == 1) { status_start =! status_start; } } else { count_start = 0; } scrp.send1(TapeLed_num,start,status_start); wait_ms(2); //全体送信 scrp.send1(send_all,select,auto_mode);//自動・手動モード切り替え wait_ms(2); if(status_stop.read() == 1) { count_stop++; if(count_stop <= 100000){ scrp.send1(send_all,stop_all,1); } } else { scrp.send1(send_all,stop_all,0); count_stop = 0; } scrp.send1(send_all,stop_all,0); wait_ms(2); } }