新部内対抗A班 / Mbed 2 deprecated circle_war_ver_A_NUCLEO__

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Dependencies:   mbed

Fork of circle_war_ver_A_NUCLEO_ by 新部内対抗A班

main.cpp

Committer:
baba2357
Date:
2016-04-05
Revision:
14:3403ce49a37a
Parent:
11:f8fac9693cd5

File content as of revision 14:3403ce49a37a:

#include "mbed.h"
#include "pin_file.h"
#include "spi_nucleo.h"
#include "transfer.h"
#include <string.h>
#include "arm_updown.h"
#include "encoder.h"
#include "speed_control.h"
#include "math.h"
int main(){
    setup();
    //set-Ticker
    bole_checker.attach(bole_check,0.2);    
    spiInit();
    push.mode(PullUp);
    while(pushed_number==0){    //手動
        transfer();
        spi_mbed();     //コントローラーからの信号を読み取る
        valve1=cilinder;
        if(RR==1){
                motor_f(1,0.5);   //右旋回の関数
                motor_r(1,0.5);
                motor_l(1,0.5);
                }
        else if(LR==1){
                motor_f(-1,0.5);
                motor_r(-1,0.5);
                motor_l(-1,0.5);    //左旋回の関数
                }
        else if(onoff==1){
            if(updown==1) bole_f=0.1;//上下機構上昇
            else bole_b=0.1;//上下機構下降
                }
        else{
               motor_target(((-1)*speed_X)/30,((2/sqrt(3.0)*speed_X)-(speed_Y*2))/30,((2/sqrt(3.0)*speed_X)+(speed_Y*2))/30);
                    //読み取った値speed_X,speed_Yを速度制御にぶち込む
                }
            }
    while(pushed_number==1){    //自動
        transfer();
        getGyro();
            //自己位置
//測距関係により検知
//エアシリンダー
        if(UW*IR){   //幹検知
            n++;
            bole_checker.detach();
        }
        if(n==1){
            expand_gf();
        }else if(n==2){
            expand_ff();
        }else if(n>2){
            expand_sf();
        }
    }
}