Diff: main.cpp

Revision:

0:0128d59ac729

Child:

3:326387780345

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Thu Jan 13 14:13:23 2022 +0000
@@ -0,0 +1,98 @@
+//発射、リボルバープログラム
+#include "mbed.h"
+#include "rotary_inc.hpp"
+#include "scrp_slave.hpp"
+#include "Motor.hpp"
+
+//ScrpSlave slave(PA_9,PA_10,PA_12,SERIAL_TX,SERIAL_RX,0x0803f800);//l432kc
+ScrpSlave slave(PC_12,PD_2,PH_1,SERIAL_TX,SERIAL_RX,0x0807f800);//f446re
+
+RotaryInc roricon(PA_6,PA_7,1,1024,4);//ロリコン
+
+Motor motor_revolver(PB_13,PB_14);//リボルバーモーター
+Motor motor_shoot(PA_11,PB_1);//発射機構モーター
+
+int shoot_able;//発射フェーズ 0:待機　1:引き動作　2:リボルバー1/6回転　3:発射　
+int turn_able;//回転フェーズ　0:待機　1:1/6回転
+
+double revolver_pwm = 0.1;//リボルバー回転速度
+double interval = 0.1;
+
+bool interrupt(int rx_data,int &tx_data){
+    if(shoot_able == 0){//フェーズ0以外は、発射できないように
+        shoot_able = rx_data;//1を受け取って引き動作開始 
+    }
+    return true;  
+}
+
+//リボルバーP制御関数
+//double k_p = 0.001;
+//double target = 171.0;
+/*void revolver(int count){
+    if(turn_able == 1){
+        roricon =  v.get() - (171 * (count - 1));
+            
+        while(roricon != 171){
+            pwm = k_p * (target - roricon);
+            motor_revolver.output(pwm);
+            printf("roricon = %lf\n",roricon);
+            printf("pwm = %lf\n",pwm);
+            wait(interval);
+        }      
+        motor_revolver.output(0.0);
+        turn_able = 0;  
+    }
+}*/
+
+void revolver(int count){
+    if(turn_able == 1){
+        while(roricon.get() < 171 * count){
+            motor_revolver.output(revolver_pwm);
+            printf("roricon = %lf\n",roricon.get());
+            wait(interval);
+        }
+        motor_revolver.output(0.0);
+        turn_able = 0;
+    }
+}
+
+int main(){
+    int count = 1;//何発目か
+    
+    slave.addCMD(2,interrupt);
+    while(1){
+        switch (shoot_able){
+            case 0:
+            //待機
+            while(shoot_able == 0){
+                wait(0.1);
+                printf("waiting\n");  
+            }
+            printf("finished waiting");  
+            break;
+            
+            case 1:
+            //装填動作コードをここに書く！
+            shoot_able = 2;
+            printf("finished pulling"); 
+            break;
+            
+            case 2:
+            //リボルバー回転
+            turn_able = 1;
+            revolver(count);
+            if(turn_able == 0){
+                shoot_able = 3;
+            }
+            printf("finished turnning");  
+            break;
+            
+            case 3:
+            //発射動作コードをここに書く！
+            shoot_able = 0;
+            count ++;
+            printf("finished shooting");  
+            break;
+        } 
+    }
+}
\ No newline at end of file