2022_gorobo_Ateam / Mbed 2 deprecated harvest

農作物回収機構プログラム

Dependencies:   mbed arrc_mbed Motor

main.cpp@0:417f3396cf67, 2022-02-02 (annotated)

Committer:
m2130
Date:
Wed Feb 02 11:27:13 2022 +0000
Revision:
0:417f3396cf67
Child:
1:7937f28c742d
nousakubutsu kaisyuuuuuuuuuuuuu

Who changed what in which revision?

UserRevisionLine numberNew contents of line
m2130 0:417f3396cf67 1 //-----Libraries-----
m2130 0:417f3396cf67 2 #include "mbed.h"
m2130 0:417f3396cf67 3 #include "scrp_slave.hpp"
m2130 0:417f3396cf67 4 #include "motor.hpp"
m2130 0:417f3396cf67 5
m2130 0:417f3396cf67 6 //-----Classes-----
m2130 0:417f3396cf67 7 ScrpSlave slave(PC_12, PD_2, PH_1, SERIAL_TX, SERIAL_RX, 4); //id: 4
m2130 0:417f3396cf67 8 Motor motor(PB_14, PB_13);
m2130 0:417f3396cf67 9
m2130 0:417f3396cf67 10 //-----Constants-----
m2130 0:417f3396cf67 11 const double pwm = 0.1;
m2130 0:417f3396cf67 12
m2130 0:417f3396cf67 13 //-----Sub Routines-----
m2130 0:417f3396cf67 14 bool Up(int RX,int &TX);
m2130 0:417f3396cf67 15 bool Down(int RX,int &TX);
m2130 0:417f3396cf67 16
m2130 0:417f3396cf67 17 //-----Variables-----
m2130 0:417f3396cf67 18 int up = 0;
m2130 0:417f3396cf67 19 int down = 0;
m2130 0:417f3396cf67 20
m2130 0:417f3396cf67 21 //-----Main Routine-----
m2130 0:417f3396cf67 22 int main(){
m2130 0:417f3396cf67 23 slave.addCMD(1, Up);
m2130 0:417f3396cf67 24 slave.addCMD(2, Down);
m2130 0:417f3396cf67 25 while(1){
m2130 0:417f3396cf67 26 motor.out(pwm * (up + down));
m2130 0:417f3396cf67 27 }
m2130 0:417f3396cf67 28 }
m2130 0:417f3396cf67 29
m2130 0:417f3396cf67 30 bool Up(int RX, int &TX){
m2130 0:417f3396cf67 31 up = RX;
m2130 0:417f3396cf67 32 return true;
m2130 0:417f3396cf67 33 }
m2130 0:417f3396cf67 34
m2130 0:417f3396cf67 35 bool Down(int RX, int &TX){
m2130 0:417f3396cf67 36 down = -RX;
m2130 0:417f3396cf67 37 return true;
m2130 0:417f3396cf67 38 }