File content as of revision 10:5e3c789e07dc:

//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"

Motor motor_revolver(PB_4,PB_5);//リボルバーモーター
Motor motor_shoot(PB_13,PB_14);//発射機構モーター
PwmOut servo(PB_8);//ロック解除用サーボ

//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 v(PA_14,PA_15,1,1024,4);//リボルバーロリコン

DigitalIn limit_1(PA_9);//リミットスイッチ１
DigitalIn limit_2(PA_8);//リミットスイッチ２

int shoot_phase;//発射フェーズ 0:待機　1:装填動作　2:リボルバー回転　3:モーター復帰　4:発射　
bool turn_able;//回転可否　0:待機　1:回転

double revolver_pwm = 0.1;//リボルバー回転速度
double load_pwm = -0.3;//装填モーター速度
double back_pwm = 0.3;//復帰モーター速度

int theta_0 = 1450;//0度
int theta_90 = 1875;//45度
int roricon = 0;//ロリコン

bool interrupt(int rx_data,int &tx_data){
    if(shoot_phase == 0){//フェーズ0以外は、発射できないように
        shoot_phase = rx_data;//1を受け取って装填動作開始 
    }
    return true;  
}

void revolver(int count){
    if(turn_able == 1){
        while(roricon < 171 * count){
            roricon = v.get();
            motor_revolver.output(revolver_pwm);
            printf("roricon = %d\n",roricon);
            wait(0.1);
        }
        motor_revolver.output(0.0);
        turn_able = 0;
    }
}

int main(){
    int count = 1;//何発目か
    
    servo.period_us(20000);
    limit_1.mode(PullUp);
    limit_2.mode(PullUp);
    
    slave.addCMD(2,interrupt);
    while(1){
        switch (shoot_phase){
            
            case 0://待機
            while(shoot_phase == 0){
                wait(0.1);
                printf("waiting\n");  
            }
            shoot_phase = 1;
            printf("finished waiting\n");  
            break;
            
            case 1://装填動作
            while(limit_1.read() == 0){
                motor_shoot.output(load_pwm);
                printf("loading\n"); 
                if(limit_1.read() == 1){
                    break;
                }
            }
            motor_shoot.output(0.0);
            wait(1);
            //shoot_phase = 2;
            shoot_phase = 3;
            printf("finished loading\n"); 
            break;
            /*
            case 2://リボルバー回転
            turn_able = 1;
            revolver(count);
            if(turn_able == 0){
                shoot_phase = 3;
            }
            printf("finished turnning\n");  
            break;
            */
            case 3://モーター復帰
            while(limit_2.read() == 0){
                motor_shoot.output(back_pwm);
                printf("backing\n"); 
            }
            motor_shoot.output(0.0);
            shoot_phase = 4;
            printf("finished backing\n"); 
            break;
            
            case 4://発射動作
            servo.pulsewidth_us(theta_90);
            printf("finished shooting %dst shot\n",count);  
            count ++;
            wait(1);
            servo.pulsewidth_us(theta_0);
            shoot_phase = 0;
            printf("finished initialize\n");  
            break;
            
        } 
    }
}

//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;  
    }
}*/