File content as of revision 3:326387780345:

//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);

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;
        } 
    }
}