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@11:264f992664b0, 2022-03-22 (annotated)

Committer:
guesta
Date:
Tue Mar 22 00:35:37 2022 +0000
Revision:
11:264f992664b0
Parent:
10:ad8fced7d6b6
Child:
12:894e5ac49810
new

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