2022_gorobo_Ateam / gourobo2022_undercarriage_new

2022_Ateam_MOTORprogramをscrp_slaveでメインマイコンからコントローラー状況を読み取れるように改良。 また、モータに0以外のpwmが送られている場合に基盤付属のledが点灯するようにした。

Dependencies:   SBDBT arrc_mbed BNO055

library/function.hpp@3:6fb5c3218608, 2022-01-21 (annotated)

Committer:
guesta
Date:
Fri Jan 21 09:08:26 2022 +0000
Revision:
3:6fb5c3218608
Child:
5:1a850f68a06c
a

Who changed what in which revision?

UserRevisionLine numberNew contents of line
guesta 3:6fb5c3218608 1 #ifndef function_hpp
guesta 3:6fb5c3218608 2 #define function_hpp
guesta 3:6fb5c3218608 3 #include "mbed.h"
guesta 3:6fb5c3218608 4
guesta 3:6fb5c3218608 5 //変数
guesta 3:6fb5c3218608 6 bool auto_mode = false;
guesta 3:6fb5c3218608 7 int x_component;
guesta 3:6fb5c3218608 8 int y_component;
guesta 3:6fb5c3218608 9 int l2_num;
guesta 3:6fb5c3218608 10 int r2_num;
guesta 3:6fb5c3218608 11
guesta 3:6fb5c3218608 12 //スティックのx成分取得
guesta 3:6fb5c3218608 13 bool getLstick_x(int rx_data,int &tx_data){
guesta 3:6fb5c3218608 14 x_component = rx_data;
guesta 3:6fb5c3218608 15 return true;
guesta 3:6fb5c3218608 16 }
guesta 3:6fb5c3218608 17
guesta 3:6fb5c3218608 18 //スティックのy成分取得
guesta 3:6fb5c3218608 19 bool getLstick_y(int rx_data,int &tx_data){
guesta 3:6fb5c3218608 20 y_component = rx_data;
guesta 3:6fb5c3218608 21 return true;
guesta 3:6fb5c3218608 22 }
guesta 3:6fb5c3218608 23
guesta 3:6fb5c3218608 24 //L1取得
guesta 3:6fb5c3218608 25 bool getL2(int rx_data,int &tx_data){
guesta 3:6fb5c3218608 26 l2_num = rx_data;
guesta 3:6fb5c3218608 27 return true;
guesta 3:6fb5c3218608 28 }
guesta 3:6fb5c3218608 29
guesta 3:6fb5c3218608 30 //R2取得
guesta 3:6fb5c3218608 31 bool getR2(int rx_data,int &tx_data){
guesta 3:6fb5c3218608 32 r2_num = rx_data;
guesta 3:6fb5c3218608 33 return true;
guesta 3:6fb5c3218608 34 }
guesta 3:6fb5c3218608 35
guesta 3:6fb5c3218608 36
guesta 3:6fb5c3218608 37 //自動、手動モード切り替え
guesta 3:6fb5c3218608 38 bool change_mode(int rx_data,int &tx_data){
guesta 3:6fb5c3218608 39 if(rx_data == 1){
guesta 3:6fb5c3218608 40 auto_mode =! auto_mode;
guesta 3:6fb5c3218608 41 while(auto_mode == 0);
guesta 3:6fb5c3218608 42 }
guesta 3:6fb5c3218608 43 return true;
guesta 3:6fb5c3218608 44 }
guesta 3:6fb5c3218608 45
guesta 3:6fb5c3218608 46
guesta 3:6fb5c3218608 47 #endif