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@12:894e5ac49810, 2022-04-08 (annotated)

Committer:
guesta
Date:
Fri Apr 08 07:35:55 2022 +0000
Revision:
12:894e5ac49810
Parent:
11:264f992664b0 
2022/04/08;

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 11:264f992664b0 9 int l_x_component;
guesta 11:264f992664b0 10 int l_y_component;
guesta 3:6fb5c3218608 11 int l2_num;
guesta 3:6fb5c3218608 12 int r2_num;
guesta 12:894e5ac49810 13 int right_phase;
guesta 5:1a850f68a06c 14 bool up;
guesta 5:1a850f68a06c 15 bool down;
guesta 9:569c0f55dd9b 16 bool l1;
guesta 11:264f992664b0 17 bool r1;
guesta 10:ad8fced7d6b6 18 bool auto_start;
guesta 12:894e5ac49810 19 int stop;
guesta 11:264f992664b0 20 bool auto_move;
guesta 11:264f992664b0 21 bool redZone = 0;
guesta 3:6fb5c3218608 22
guesta 11:264f992664b0 23 //Rスティックのx成分取得
guesta 3:6fb5c3218608 24 bool getLstick_x(int rx_data,int &tx_data){
guesta 3:6fb5c3218608 25 x_component = rx_data;
guesta 3:6fb5c3218608 26 return true;
guesta 3:6fb5c3218608 27 }
guesta 3:6fb5c3218608 28
guesta 11:264f992664b0 29 //Rスティックのy成分取得
guesta 3:6fb5c3218608 30 bool getLstick_y(int rx_data,int &tx_data){
guesta 3:6fb5c3218608 31 y_component = rx_data;
guesta 3:6fb5c3218608 32 return true;
guesta 3:6fb5c3218608 33 }
guesta 3:6fb5c3218608 34
guesta 11:264f992664b0 35 //Lスティックのx成分取得
guesta 11:264f992664b0 36 bool getRstick_x(int rx_data,int &tx_data){
guesta 11:264f992664b0 37 l_x_component = rx_data;
guesta 11:264f992664b0 38 return true;
guesta 11:264f992664b0 39 }
guesta 11:264f992664b0 40
guesta 11:264f992664b0 41 bool getRstick_y(int rx_data,int &tx_data){
guesta 11:264f992664b0 42 l_y_component = rx_data;
guesta 11:264f992664b0 43 return true;
guesta 11:264f992664b0 44 }
guesta 11:264f992664b0 45
guesta 3:6fb5c3218608 46 //L1取得
guesta 3:6fb5c3218608 47 bool getL2(int rx_data,int &tx_data){
guesta 3:6fb5c3218608 48 l2_num = rx_data;
guesta 3:6fb5c3218608 49 return true;
guesta 3:6fb5c3218608 50 }
guesta 3:6fb5c3218608 51
guesta 3:6fb5c3218608 52 //R2取得
guesta 3:6fb5c3218608 53 bool getR2(int rx_data,int &tx_data){
guesta 3:6fb5c3218608 54 r2_num = rx_data;
guesta 3:6fb5c3218608 55 return true;
guesta 3:6fb5c3218608 56 }
guesta 3:6fb5c3218608 57
guesta 3:6fb5c3218608 58
guesta 3:6fb5c3218608 59 //自動、手動モード切り替え
guesta 3:6fb5c3218608 60 bool change_mode(int rx_data,int &tx_data){
guesta 9:569c0f55dd9b 61 auto_mode = rx_data;
guesta 3:6fb5c3218608 62 return true;
guesta 3:6fb5c3218608 63 }
guesta 3:6fb5c3218608 64
guesta 5:1a850f68a06c 65 //上キー取得
guesta 5:1a850f68a06c 66 bool getUp(int rx_data,int &tx_data){
guesta 5:1a850f68a06c 67 up = rx_data;
guesta 5:1a850f68a06c 68 return true;
guesta 5:1a850f68a06c 69 }
guesta 3:6fb5c3218608 70
guesta 5:1a850f68a06c 71 //下キー取得
guesta 5:1a850f68a06c 72 bool getDown(int rx_data,int &tx_data){
guesta 5:1a850f68a06c 73 down = rx_data;
guesta 5:1a850f68a06c 74 return true;
guesta 5:1a850f68a06c 75 }
guesta 5:1a850f68a06c 76
guesta 9:569c0f55dd9b 77 //L1取得
guesta 9:569c0f55dd9b 78 bool getL1(int rx_data,int &tx_data){
guesta 9:569c0f55dd9b 79 l1 = rx_data;
guesta 9:569c0f55dd9b 80 return true;
guesta 9:569c0f55dd9b 81 }
guesta 10:ad8fced7d6b6 82
guesta 11:264f992664b0 83 //R1取得
guesta 11:264f992664b0 84 bool getR1(int rx_data,int &tx_data){
guesta 11:264f992664b0 85 r1 = rx_data;
guesta 11:264f992664b0 86 return true;
guesta 11:264f992664b0 87 }
guesta 11:264f992664b0 88
guesta 10:ad8fced7d6b6 89 //auto_start取得
guesta 10:ad8fced7d6b6 90 bool getStart(int rx_data,int &tx_data){
guesta 10:ad8fced7d6b6 91 auto_start = rx_data;
guesta 10:ad8fced7d6b6 92 return true;
guesta 10:ad8fced7d6b6 93 }
guesta 11:264f992664b0 94
guesta 11:264f992664b0 95 //自動移動開始読み取り
guesta 11:264f992664b0 96 bool getCircle(int rx_data,int &tx_data){
guesta 11:264f992664b0 97 auto_move = rx_data;
guesta 11:264f992664b0 98 return true;
guesta 11:264f992664b0 99 }
guesta 11:264f992664b0 100
guesta 11:264f992664b0 101 //フィールド読み取り
guesta 11:264f992664b0 102 bool getZone(int rx_data,int &tx_data){
guesta 11:264f992664b0 103 redZone = rx_data;
guesta 11:264f992664b0 104 return true;
guesta 11:264f992664b0 105 }
guesta 11:264f992664b0 106
guesta 11:264f992664b0 107 //非常停止
guesta 11:264f992664b0 108 bool getStop(int rx_data,int &tx_data){
guesta 11:264f992664b0 109 stop = rx_data;
guesta 11:264f992664b0 110 return true;
guesta 11:264f992664b0 111 }
guesta 11:264f992664b0 112
guesta 12:894e5ac49810 113
guesta 3:6fb5c3218608 114 #endif