Bチーム / Mbed 2 deprecated 4LegUpDown_8sense_ver2

足上げセンサ八個版仮

Dependencies:   mbed

Fork of 4LegUpDown_8sense by Bチーム

main.cpp@6:6664c6aa67d3, 2014-09-11 (annotated)

Committer:
ryuna
Date:
Thu Sep 11 22:00:53 2014 +0000
Revision:
6:6664c6aa67d3
Parent:
5:aba9f5e97e03
Child:
7:583ad8798bf1
???????????????????????????????; ????????????????????????

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ryuna 0:76ba33d3b4a6 1 #include "mbed.h"
ryuna 0:76ba33d3b4a6 2
ryuna 3:cd7d3613e8e4 3 #define MOTOR_NUM 8
ryuna 6:6664c6aa67d3 4 #define MOVE_TIME 0.080
ryuna 6:6664c6aa67d3 5 #define MOVE_DOWN_TIME 0.090
ryuna 6:6664c6aa67d3 6 #define TEMPRA_TIME 5.0
ryuna 3:cd7d3613e8e4 7 #define PWM_LEVEL 1.0
ryuna 0:76ba33d3b4a6 8
ryuna 0:76ba33d3b4a6 9 Serial pc(USBTX,USBRX);
ryuna 0:76ba33d3b4a6 10
ryuna 3:cd7d3613e8e4 11 InterruptIn Photo[8] = {p5,p6,p7,p8,p9,p10,p11,p12};
ryuna 6:6664c6aa67d3 12 //InterruptIn Sw(NC);
ryuna 3:cd7d3613e8e4 13
ryuna 1:807091115672 14
ryuna 3:cd7d3613e8e4 15 DigitalOut Led[4] = {LED1, LED2, LED3, LED4 };
ryuna 3:cd7d3613e8e4 16 BusOut Motor(p13, p14, p15, p16, p17, p18, p19, p20 );//{left front, right front, left back ，right back }
ryuna 4:04f2479b83c1 17 BusOut Tempra(p25,p26,p27,p28);
ryuna 4:04f2479b83c1 18 PwmOut Pwm[4] = {p21, p22, p23, p24 };
ryuna 1:807091115672 19
ryuna 3:cd7d3613e8e4 20 Timeout StopTimer[8];
ryuna 6:6664c6aa67d3 21 Timeout StopTempra;
ryuna 4:04f2479b83c1 22 //Timeout StopTempra;
ryuna 0:76ba33d3b4a6 23
ryuna 3:cd7d3613e8e4 24
ryuna 3:cd7d3613e8e4 25 volatile bool MotorState[4] = {0},Flag[4] = {0},FlagAdd[4] = {0},And[4] = {0};
ryuna 3:cd7d3613e8e4 26 volatile uint8_t Way = 0,UpCt = 0;
ryuna 6:6664c6aa67d3 27 volatile bool TempraFlag = 0;
ryuna 0:76ba33d3b4a6 28
ryuna 6:6664c6aa67d3 29 /*motorstate 上がっているか下がっているか
ryuna 5:aba9f5e97e03 30
ryuna 1:807091115672 31
ryuna 3:cd7d3613e8e4 32 */
ryuna 3:cd7d3613e8e4 33
ryuna 1:807091115672 34 /*
ryuna 1:807091115672 35 bMotor = {
ryuna 1:807091115672 36 LeftFrontUp, LeftFrontDown,
ryuna 1:807091115672 37 RightFrontUp, RightFrontDown,
ryuna 1:807091115672 38 LeftBackUp, LeftBackDown,
ryuna 1:807091115672 39 RightBackUp, RightBackDown
ryuna 1:807091115672 40 };
ryuna 1:807091115672 41 */
ryuna 1:807091115672 42
ryuna 3:cd7d3613e8e4 43
ryuna 3:cd7d3613e8e4 44
ryuna 3:cd7d3613e8e4 45 void MotorStop0(){
ryuna 3:cd7d3613e8e4 46
ryuna 3:cd7d3613e8e4 47 Motor = Motor & 0x7F;
ryuna 3:cd7d3613e8e4 48
ryuna 3:cd7d3613e8e4 49 }
ryuna 3:cd7d3613e8e4 50 void MotorStop1(){
ryuna 3:cd7d3613e8e4 51
ryuna 3:cd7d3613e8e4 52 Motor = Motor & 0xBF;
ryuna 3:cd7d3613e8e4 53
ryuna 3:cd7d3613e8e4 54 }
ryuna 3:cd7d3613e8e4 55
ryuna 3:cd7d3613e8e4 56 void MotorStop2(){
ryuna 3:cd7d3613e8e4 57
ryuna 3:cd7d3613e8e4 58 Motor = Motor & 0xF7;
ryuna 3:cd7d3613e8e4 59
ryuna 3:cd7d3613e8e4 60 }
ryuna 3:cd7d3613e8e4 61 void MotorStop3(){
ryuna 3:cd7d3613e8e4 62
ryuna 3:cd7d3613e8e4 63 Motor = Motor & 0xFB;
ryuna 3:cd7d3613e8e4 64
ryuna 3:cd7d3613e8e4 65 }
ryuna 3:cd7d3613e8e4 66 void MotorStop4(){
ryuna 3:cd7d3613e8e4 67
ryuna 3:cd7d3613e8e4 68 Motor = Motor & 0xDF;
ryuna 3:cd7d3613e8e4 69
ryuna 3:cd7d3613e8e4 70 }
ryuna 3:cd7d3613e8e4 71 void MotorStop5(){
ryuna 3:cd7d3613e8e4 72
ryuna 3:cd7d3613e8e4 73 Motor = Motor & 0xEF;
ryuna 3:cd7d3613e8e4 74
ryuna 3:cd7d3613e8e4 75 }
ryuna 3:cd7d3613e8e4 76 void MotorStop6(){
ryuna 3:cd7d3613e8e4 77
ryuna 3:cd7d3613e8e4 78 Motor = Motor & 0xFD;
ryuna 3:cd7d3613e8e4 79
ryuna 3:cd7d3613e8e4 80 }
ryuna 3:cd7d3613e8e4 81 void MotorStop7(){
ryuna 3:cd7d3613e8e4 82
ryuna 3:cd7d3613e8e4 83 Motor = Motor & 0xFE;
ryuna 3:cd7d3613e8e4 84
ryuna 3:cd7d3613e8e4 85 }
ryuna 3:cd7d3613e8e4 86 void TempraStop(){
ryuna 6:6664c6aa67d3 87 Tempra = 0x00;
ryuna 3:cd7d3613e8e4 88
ryuna 3:cd7d3613e8e4 89 }
ryuna 3:cd7d3613e8e4 90 void FallPhoto0(){//zero
ryuna 3:cd7d3613e8e4 91 //Wayの決定
ryuna 3:cd7d3613e8e4 92 if(Way == 0){
ryuna 3:cd7d3613e8e4 93 Way = 1;
ryuna 3:cd7d3613e8e4 94 }
ryuna 3:cd7d3613e8e4 95
ryuna 3:cd7d3613e8e4 96 if(Way == 1){
ryuna 3:cd7d3613e8e4 97 if(!MotorState[0]){
ryuna 3:cd7d3613e8e4 98
ryuna 3:cd7d3613e8e4 99 StopTimer[0].attach(&MotorStop0,MOVE_TIME);
ryuna 3:cd7d3613e8e4 100 Motor = Motor | 0x80;//10000000
ryuna 3:cd7d3613e8e4 101 MotorState[0] = 1;
ryuna 3:cd7d3613e8e4 102 Led[0]= 1;
ryuna 3:cd7d3613e8e4 103 }else{
ryuna 3:cd7d3613e8e4 104 Flag[0] = 1;
ryuna 3:cd7d3613e8e4 105 }
ryuna 6:6664c6aa67d3 106 }/*else if(Way == 2){
ryuna 3:cd7d3613e8e4 107
ryuna 3:cd7d3613e8e4 108 if(Flag[0]&&!FlagAdd[0]){
ryuna 3:cd7d3613e8e4 109 FlagAdd[0] = 1;
ryuna 5:aba9f5e97e03 110 }else if(MotorState[0]){
ryuna 3:cd7d3613e8e4 111 StopTimer[1].attach(&MotorStop1,MOVE_DOWN_TIME);
ryuna 3:cd7d3613e8e4 112 Motor = Motor | 0x40;//0x40 = 01000000
ryuna 3:cd7d3613e8e4 113 MotorState[0] = 0;
ryuna 3:cd7d3613e8e4 114 Flag[0] = 0;
ryuna 3:cd7d3613e8e4 115 Led[0] = 0;
ryuna 3:cd7d3613e8e4 116 And[0] = 1;
ryuna 3:cd7d3613e8e4 117
ryuna 3:cd7d3613e8e4 118 }
ryuna 6:6664c6aa67d3 119 }*/
ryuna 3:cd7d3613e8e4 120 }
ryuna 3:cd7d3613e8e4 121
ryuna 3:cd7d3613e8e4 122 void FallPhoto1(){//one
ryuna 3:cd7d3613e8e4 123 //Wayの決定
ryuna 6:6664c6aa67d3 124 /*if(Way ==0){
ryuna 3:cd7d3613e8e4 125 Way = 2;
ryuna 6:6664c6aa67d3 126 }*/
ryuna 3:cd7d3613e8e4 127
ryuna 6:6664c6aa67d3 128 /*if(Way == 2){
ryuna 3:cd7d3613e8e4 129 if(!MotorState[0]){
ryuna 3:cd7d3613e8e4 130
ryuna 3:cd7d3613e8e4 131 StopTimer[0].attach(&MotorStop0,MOVE_TIME);
ryuna 3:cd7d3613e8e4 132 Motor = Motor | 0x80;//10000000
ryuna 3:cd7d3613e8e4 133 MotorState[0] = 1;
ryuna 3:cd7d3613e8e4 134 Led[0] = 1;
ryuna 3:cd7d3613e8e4 135 }else{
ryuna 3:cd7d3613e8e4 136 Flag[0] = 1;
ryuna 3:cd7d3613e8e4 137 }
ryuna 6:6664c6aa67d3 138 }else */
ryuna 6:6664c6aa67d3 139 if(Way == 1){
ryuna 3:cd7d3613e8e4 140
ryuna 3:cd7d3613e8e4 141 if(Flag[0]&&!FlagAdd[0]){
ryuna 3:cd7d3613e8e4 142 FlagAdd[0] = 1;
ryuna 5:aba9f5e97e03 143 }else if(MotorState[0]) {
ryuna 3:cd7d3613e8e4 144 StopTimer[1].attach(&MotorStop1,MOVE_DOWN_TIME);
ryuna 3:cd7d3613e8e4 145 Motor = Motor | 0x40;//0x40 = 01000000
ryuna 3:cd7d3613e8e4 146 MotorState[0] = 0;
ryuna 3:cd7d3613e8e4 147 Flag[0] = 0;
ryuna 6:6664c6aa67d3 148 FlagAdd[0] = 0;
ryuna 3:cd7d3613e8e4 149 Led[0] = 0;
ryuna 3:cd7d3613e8e4 150 And[0] = 1;
ryuna 3:cd7d3613e8e4 151
ryuna 3:cd7d3613e8e4 152 }
ryuna 3:cd7d3613e8e4 153 }
ryuna 3:cd7d3613e8e4 154
ryuna 3:cd7d3613e8e4 155 }
ryuna 3:cd7d3613e8e4 156 void FallPhoto2(){//two
ryuna 3:cd7d3613e8e4 157 //Wayの決定
ryuna 3:cd7d3613e8e4 158
ryuna 3:cd7d3613e8e4 159 if(Way == 1){
ryuna 3:cd7d3613e8e4 160 if(!MotorState[1]){
ryuna 3:cd7d3613e8e4 161
ryuna 3:cd7d3613e8e4 162 StopTimer[2].attach(&MotorStop2,MOVE_TIME);
ryuna 3:cd7d3613e8e4 163 Motor = Motor | 0x08;
ryuna 3:cd7d3613e8e4 164 MotorState[1] = 1;
ryuna 3:cd7d3613e8e4 165 Led[1] = 1;
ryuna 3:cd7d3613e8e4 166 }else{
ryuna 3:cd7d3613e8e4 167 Flag[1] = 1;
ryuna 3:cd7d3613e8e4 168 }
ryuna 6:6664c6aa67d3 169 }/*else if(Way == 2){
ryuna 3:cd7d3613e8e4 170
ryuna 3:cd7d3613e8e4 171 if(Flag[1]&&!FlagAdd[1]){
ryuna 3:cd7d3613e8e4 172 FlagAdd[1] = 1;
ryuna 5:aba9f5e97e03 173 }else if(MotorState[1]){
ryuna 3:cd7d3613e8e4 174 StopTimer[3].attach(&MotorStop3,MOVE_DOWN_TIME);
ryuna 3:cd7d3613e8e4 175 Motor = Motor | 0x04;
ryuna 3:cd7d3613e8e4 176 MotorState[1] = 0;
ryuna 3:cd7d3613e8e4 177 Flag[1] = 0;
ryuna 3:cd7d3613e8e4 178 Led[1] = 0;
ryuna 3:cd7d3613e8e4 179 And[1] = 1;
ryuna 3:cd7d3613e8e4 180 }
ryuna 6:6664c6aa67d3 181 } */
ryuna 3:cd7d3613e8e4 182
ryuna 3:cd7d3613e8e4 183 }
ryuna 3:cd7d3613e8e4 184 void FallPhoto3(){ //three
ryuna 3:cd7d3613e8e4 185 //Way
ryuna 1:807091115672 186
ryuna 6:6664c6aa67d3 187 /*if(Way == 2){
ryuna 3:cd7d3613e8e4 188 if(!MotorState[1]){
ryuna 3:cd7d3613e8e4 189
ryuna 3:cd7d3613e8e4 190 StopTimer[2].attach(&MotorStop2,MOVE_TIME);
ryuna 3:cd7d3613e8e4 191 Motor = Motor | 0x08;
ryuna 3:cd7d3613e8e4 192 MotorState[1] = 1;
ryuna 3:cd7d3613e8e4 193 Led[1] = 1;
ryuna 3:cd7d3613e8e4 194 }else{
ryuna 3:cd7d3613e8e4 195 Flag[1] = 1;
ryuna 3:cd7d3613e8e4 196 }
ryuna 6:6664c6aa67d3 197 }else */
ryuna 6:6664c6aa67d3 198 if(Way == 1){
ryuna 3:cd7d3613e8e4 199
ryuna 3:cd7d3613e8e4 200 if(Flag[1]&&!FlagAdd[1]){
ryuna 3:cd7d3613e8e4 201 FlagAdd[1] = 1;
ryuna 5:aba9f5e97e03 202 }else if(MotorState[1]){
ryuna 3:cd7d3613e8e4 203 StopTimer[3].attach(&MotorStop3,MOVE_DOWN_TIME);
ryuna 3:cd7d3613e8e4 204 Motor = Motor | 0x04;
ryuna 3:cd7d3613e8e4 205 MotorState[1] = 0;
ryuna 3:cd7d3613e8e4 206 Flag[1] = 0;
ryuna 6:6664c6aa67d3 207 FlagAdd[1] = 0;
ryuna 3:cd7d3613e8e4 208 Led[1] = 0;
ryuna 3:cd7d3613e8e4 209 And[1] = 1;
ryuna 3:cd7d3613e8e4 210
ryuna 3:cd7d3613e8e4 211 }
ryuna 3:cd7d3613e8e4 212 }
ryuna 3:cd7d3613e8e4 213 }
ryuna 3:cd7d3613e8e4 214 void FallPhoto4(){//four
ryuna 3:cd7d3613e8e4 215
ryuna 3:cd7d3613e8e4 216 if(Way ==0){
ryuna 3:cd7d3613e8e4 217 Way = 1;
ryuna 3:cd7d3613e8e4 218 }
ryuna 3:cd7d3613e8e4 219 if(Way == 1){
ryuna 3:cd7d3613e8e4 220 if(!MotorState[2]){
ryuna 3:cd7d3613e8e4 221 StopTimer[4].attach(&MotorStop4,MOVE_TIME);
ryuna 3:cd7d3613e8e4 222 Motor = Motor | 0x20;//00100000
ryuna 3:cd7d3613e8e4 223 MotorState[2] = 1;
ryuna 3:cd7d3613e8e4 224 Led[2] = 1;
ryuna 3:cd7d3613e8e4 225 }else{
ryuna 3:cd7d3613e8e4 226 Flag[2] = 1;
ryuna 3:cd7d3613e8e4 227 }
ryuna 6:6664c6aa67d3 228 }/*else if(Way == 2){
ryuna 3:cd7d3613e8e4 229
ryuna 3:cd7d3613e8e4 230 if(Flag[2]&&!FlagAdd[2]){
ryuna 3:cd7d3613e8e4 231 FlagAdd[2] = 1;
ryuna 5:aba9f5e97e03 232 }else if(MotorState[2]){
ryuna 3:cd7d3613e8e4 233 StopTimer[5].attach(&MotorStop5,MOVE_DOWN_TIME);
ryuna 3:cd7d3613e8e4 234 Motor = Motor | 0x10;
ryuna 3:cd7d3613e8e4 235 MotorState[2] = 0;
ryuna 3:cd7d3613e8e4 236 Flag[2] = 0;
ryuna 3:cd7d3613e8e4 237 Led[2] = 0;
ryuna 3:cd7d3613e8e4 238 And[2] = 1;
ryuna 3:cd7d3613e8e4 239
ryuna 3:cd7d3613e8e4 240 }
ryuna 6:6664c6aa67d3 241 } */
ryuna 3:cd7d3613e8e4 242
ryuna 3:cd7d3613e8e4 243 }
ryuna 3:cd7d3613e8e4 244 void FallPhoto5(){//five
ryuna 6:6664c6aa67d3 245 /*if(Way ==0){
ryuna 3:cd7d3613e8e4 246 Way = 2;
ryuna 6:6664c6aa67d3 247 }*/
ryuna 3:cd7d3613e8e4 248
ryuna 6:6664c6aa67d3 249 /*if(Way == 2){
ryuna 3:cd7d3613e8e4 250 if(!MotorState[2]){
ryuna 3:cd7d3613e8e4 251 StopTimer[4].attach(&MotorStop4,MOVE_TIME);
ryuna 3:cd7d3613e8e4 252 Motor = Motor | 0x20;//00100000
ryuna 3:cd7d3613e8e4 253 MotorState[2] = 1;
ryuna 3:cd7d3613e8e4 254 Led[2] = 1;
ryuna 3:cd7d3613e8e4 255 }else{
ryuna 3:cd7d3613e8e4 256 Flag[2] = 1;
ryuna 3:cd7d3613e8e4 257 }
ryuna 6:6664c6aa67d3 258 }else */
ryuna 6:6664c6aa67d3 259 if(Way == 1){
ryuna 3:cd7d3613e8e4 260
ryuna 3:cd7d3613e8e4 261 if(Flag[2]&&!FlagAdd[2]){
ryuna 3:cd7d3613e8e4 262 FlagAdd[2] = 1;
ryuna 5:aba9f5e97e03 263 }else if(MotorState[2]){
ryuna 3:cd7d3613e8e4 264 StopTimer[5].attach(&MotorStop5,MOVE_DOWN_TIME);
ryuna 3:cd7d3613e8e4 265 Motor = Motor | 0x10;
ryuna 3:cd7d3613e8e4 266 MotorState[2] = 0;
ryuna 3:cd7d3613e8e4 267 Flag[2] = 0;
ryuna 6:6664c6aa67d3 268 FlagAdd[2] = 0;
ryuna 3:cd7d3613e8e4 269 Led[2] = 0;
ryuna 3:cd7d3613e8e4 270 And[2] = 1;
ryuna 3:cd7d3613e8e4 271 }
ryuna 3:cd7d3613e8e4 272 }
ryuna 3:cd7d3613e8e4 273 }
ryuna 3:cd7d3613e8e4 274 void FallPhoto6(){//six
ryuna 3:cd7d3613e8e4 275
ryuna 3:cd7d3613e8e4 276
ryuna 3:cd7d3613e8e4 277 if(Way == 1){
ryuna 3:cd7d3613e8e4 278 if(!MotorState[3]){
ryuna 3:cd7d3613e8e4 279 StopTimer[6].attach(&MotorStop6,MOVE_TIME);
ryuna 3:cd7d3613e8e4 280 Motor = Motor | 0x02;
ryuna 3:cd7d3613e8e4 281 MotorState[3] = 1;
ryuna 3:cd7d3613e8e4 282 Led[3] = 1;
ryuna 3:cd7d3613e8e4 283 }else{
ryuna 3:cd7d3613e8e4 284 Flag[3] = 1;
ryuna 3:cd7d3613e8e4 285 }
ryuna 6:6664c6aa67d3 286 }/*else if(Way == 2){
ryuna 3:cd7d3613e8e4 287
ryuna 3:cd7d3613e8e4 288 if(Flag[3]&&!FlagAdd[3]){
ryuna 3:cd7d3613e8e4 289 FlagAdd[3] = 1;
ryuna 5:aba9f5e97e03 290 }else if(MotorState[3]){
ryuna 3:cd7d3613e8e4 291 StopTimer[7].attach(&MotorStop7,MOVE_DOWN_TIME);
ryuna 3:cd7d3613e8e4 292 Motor = Motor | 0x01;
ryuna 3:cd7d3613e8e4 293 MotorState[3] = 0;
ryuna 3:cd7d3613e8e4 294 Flag[3] = 0;
ryuna 3:cd7d3613e8e4 295 Led[3] = 0;
ryuna 3:cd7d3613e8e4 296 And[3] = 1;
ryuna 3:cd7d3613e8e4 297 }
ryuna 6:6664c6aa67d3 298 } */
ryuna 3:cd7d3613e8e4 299 }
ryuna 3:cd7d3613e8e4 300 void FallPhoto7(){//seven
ryuna 3:cd7d3613e8e4 301
ryuna 3:cd7d3613e8e4 302
ryuna 3:cd7d3613e8e4 303
ryuna 6:6664c6aa67d3 304 /*if(Way == 2){
ryuna 3:cd7d3613e8e4 305 if(!MotorState[3]){
ryuna 3:cd7d3613e8e4 306 StopTimer[6].attach(&MotorStop6,MOVE_TIME);
ryuna 3:cd7d3613e8e4 307 Motor = Motor | 0x02;
ryuna 3:cd7d3613e8e4 308 MotorState[3] = 1;
ryuna 3:cd7d3613e8e4 309 Led[3] = 1;
ryuna 3:cd7d3613e8e4 310 }else{
ryuna 3:cd7d3613e8e4 311 Flag[3] = 1;
ryuna 3:cd7d3613e8e4 312 }
ryuna 6:6664c6aa67d3 313 }else */
ryuna 6:6664c6aa67d3 314 if(Way == 1){
ryuna 3:cd7d3613e8e4 315
ryuna 3:cd7d3613e8e4 316 if(Flag[3]&&!FlagAdd[3]){
ryuna 3:cd7d3613e8e4 317 FlagAdd[3] = 1;
ryuna 5:aba9f5e97e03 318 }else if(MotorState[3]){
ryuna 3:cd7d3613e8e4 319 StopTimer[7].attach(&MotorStop7,MOVE_DOWN_TIME);
ryuna 3:cd7d3613e8e4 320 Motor = Motor | 0x01;
ryuna 3:cd7d3613e8e4 321 MotorState[3] = 0;
ryuna 3:cd7d3613e8e4 322 Flag[3] = 0;
ryuna 6:6664c6aa67d3 323 FlagAdd[3] = 0;
ryuna 3:cd7d3613e8e4 324 Led[3] = 0;
ryuna 3:cd7d3613e8e4 325 And[3] = 1;
ryuna 3:cd7d3613e8e4 326 }
ryuna 3:cd7d3613e8e4 327 }
ryuna 3:cd7d3613e8e4 328 }
ryuna 3:cd7d3613e8e4 329
ryuna 3:cd7d3613e8e4 330 void Reset(){
ryuna 3:cd7d3613e8e4 331
ryuna 3:cd7d3613e8e4 332 int i;
ryuna 3:cd7d3613e8e4 333
ryuna 3:cd7d3613e8e4 334 if(MotorState[0]){
ryuna 3:cd7d3613e8e4 335 StopTimer[1].attach(&MotorStop1,MOVE_DOWN_TIME);
ryuna 3:cd7d3613e8e4 336 Motor = Motor | 0x40;//
ryuna 3:cd7d3613e8e4 337 }
ryuna 3:cd7d3613e8e4 338 if(MotorState[1]){
ryuna 3:cd7d3613e8e4 339 StopTimer[3].attach(&MotorStop3,MOVE_DOWN_TIME);
ryuna 3:cd7d3613e8e4 340 Motor = Motor | 0x04;//00000100
ryuna 3:cd7d3613e8e4 341 }
ryuna 3:cd7d3613e8e4 342 if(MotorState[2]){
ryuna 3:cd7d3613e8e4 343 StopTimer[5].attach(&MotorStop5,MOVE_DOWN_TIME);
ryuna 3:cd7d3613e8e4 344 Motor = Motor | 0x10;//00010000
ryuna 3:cd7d3613e8e4 345 }
ryuna 3:cd7d3613e8e4 346 if(MotorState[3]){
ryuna 3:cd7d3613e8e4 347 StopTimer[7].attach(&MotorStop7,MOVE_DOWN_TIME);
ryuna 3:cd7d3613e8e4 348 Motor = Motor | 0x01;//00000001
ryuna 3:cd7d3613e8e4 349 }
ryuna 3:cd7d3613e8e4 350 for(i = 0; i > 4; i++){
ryuna 4:04f2479b83c1 351 Led[i] = 0;
ryuna 3:cd7d3613e8e4 352 Flag[i] = 0;
ryuna 3:cd7d3613e8e4 353 FlagAdd[i] = 0;
ryuna 3:cd7d3613e8e4 354 MotorState[i] = 0;
ryuna 4:04f2479b83c1 355 And[i] = 0;
ryuna 1:807091115672 356 }
ryuna 4:04f2479b83c1 357 Way = 0;
ryuna 4:04f2479b83c1 358 UpCt = 0;
ryuna 1:807091115672 359
ryuna 1:807091115672 360 }
ryuna 0:76ba33d3b4a6 361
ryuna 3:cd7d3613e8e4 362 void NumCount(){//足を上げた回数を記録
ryuna 6:6664c6aa67d3 363 UpCt ++;
ryuna 6:6664c6aa67d3 364 And[0] = 0 ;
ryuna 6:6664c6aa67d3 365 And[1] = 0 ;
ryuna 6:6664c6aa67d3 366 And[2] = 0 ;
ryuna 6:6664c6aa67d3 367 And[3] = 0 ;
ryuna 6:6664c6aa67d3 368 TempraFlag = 0;
ryuna 6:6664c6aa67d3 369 if(UpCt > 3){
ryuna 6:6664c6aa67d3 370 UpCt = 0;
ryuna 6:6664c6aa67d3 371 Way = 0;
ryuna 1:807091115672 372 }
ryuna 1:807091115672 373 }
ryuna 1:807091115672 374
ryuna 3:cd7d3613e8e4 375 void SetUp(){
ryuna 6:6664c6aa67d3 376 //int i;
ryuna 5:aba9f5e97e03 377
ryuna 5:aba9f5e97e03 378 Pwm[0] = PWM_LEVEL ;
ryuna 5:aba9f5e97e03 379 Pwm[1] = PWM_LEVEL ;
ryuna 5:aba9f5e97e03 380 Pwm[2] = PWM_LEVEL ;
ryuna 5:aba9f5e97e03 381 Pwm[3] = PWM_LEVEL ;
ryuna 6:6664c6aa67d3 382 //for(i = 0 ; i > MOTOR_NUM ; i++ ){
ryuna 6:6664c6aa67d3 383 Photo[0].mode(PullUp);
ryuna 6:6664c6aa67d3 384 Photo[1].mode(PullUp);
ryuna 6:6664c6aa67d3 385 Photo[2].mode(PullUp);
ryuna 6:6664c6aa67d3 386 Photo[3].mode(PullUp);
ryuna 6:6664c6aa67d3 387 Photo[4].mode(PullUp);
ryuna 6:6664c6aa67d3 388 Photo[5].mode(PullUp);
ryuna 6:6664c6aa67d3 389 Photo[6].mode(PullUp);
ryuna 6:6664c6aa67d3 390 Photo[7].mode(PullUp);
ryuna 6:6664c6aa67d3 391
ryuna 6:6664c6aa67d3 392 //}
ryuna 3:cd7d3613e8e4 393 Photo[0].fall(FallPhoto0);
ryuna 3:cd7d3613e8e4 394 Photo[1].fall(FallPhoto1);
ryuna 3:cd7d3613e8e4 395 Photo[2].fall(FallPhoto2);
ryuna 3:cd7d3613e8e4 396 Photo[3].fall(FallPhoto3);
ryuna 3:cd7d3613e8e4 397 Photo[4].fall(FallPhoto4);
ryuna 3:cd7d3613e8e4 398 Photo[5].fall(FallPhoto5);
ryuna 3:cd7d3613e8e4 399 Photo[6].fall(FallPhoto6);
ryuna 3:cd7d3613e8e4 400 Photo[7].fall(FallPhoto7);
ryuna 1:807091115672 401
ryuna 6:6664c6aa67d3 402 // Sw.mode(PullUp);
ryuna 6:6664c6aa67d3 403 // Sw.fall(Reset);
ryuna 3:cd7d3613e8e4 404
ryuna 1:807091115672 405
ryuna 1:807091115672 406 }
ryuna 1:807091115672 407
ryuna 0:76ba33d3b4a6 408 int main() {
ryuna 2:89cf1003e119 409
ryuna 3:cd7d3613e8e4 410 SetUp();
ryuna 3:cd7d3613e8e4 411 wait(0.5);
ryuna 2:89cf1003e119 412
ryuna 1:807091115672 413 while(1){
ryuna 6:6664c6aa67d3 414 if(MotorState[0]||MotorState[1]||MotorState[2]||MotorState[3]){
ryuna 6:6664c6aa67d3 415 TempraFlag = 1;
ryuna 6:6664c6aa67d3 416 Tempra = 0x0A;
ryuna 6:6664c6aa67d3 417 }else if(TempraFlag){
ryuna 6:6664c6aa67d3 418 StopTempra.attach(&TempraStop,TEMPRA_TIME);
ryuna 6:6664c6aa67d3 419 TempraFlag = 0;
ryuna 6:6664c6aa67d3 420 }
ryuna 6:6664c6aa67d3 421
ryuna 6:6664c6aa67d3 422 if(And[0]&&And[1]&&And[2]&&And[3]){
ryuna 6:6664c6aa67d3 423 NumCount();
ryuna 6:6664c6aa67d3 424 }
ryuna 6:6664c6aa67d3 425
ryuna 6:6664c6aa67d3 426 //printf("%d\t%d\n",UpCt,Way);
ryuna 0:76ba33d3b4a6 427 }
ryuna 0:76ba33d3b4a6 428 }