Bチーム
腕のプログラムです.
Dependencies: mbed TextLCD MultiSerial Pswitch
main.cpp@10:557c74f2bdee, 2014-10-16 (annotated)
- Committer:
- lilac0112_1
- Date:
- Thu Oct 16 11:25:17 2014 +0000
- Revision:
- 10:557c74f2bdee
- Parent:
- 9:8543cb951a70
- Child:
- 11:1ee158b83f3f
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| lilac0112_1 | 0:4baeb4381394 | 1 | #include "mbed.h" |
| Hatter | 3:a1489a94c436 | 2 | #include "MultiSerial.h" |
| lilac0112_1 | 7:c418a0d929b1 | 3 | #include "Pswitch.h" |
| lilac0112_1 | 7:c418a0d929b1 | 4 | |
| lilac0112_1 | 4:1102ab499430 | 5 | #define DATA_NUM 1 //DATA_NUM[byte]通信 |
| lilac0112_1 | 7:c418a0d929b1 | 6 | #define KEYCODE 0xAA |
| lilac0112_1 | 7:c418a0d929b1 | 7 | |
| lilac0112_1 | 7:c418a0d929b1 | 8 | #define TIME_LIMIT 1.25//腕が閉まっても動けるのはTIME_LIMIT[s]まで |
| lilac0112_1 | 4:1102ab499430 | 9 | #define ARM_REV 1.0//腕のPWM |
| lilac0112_1 | 9:8543cb951a70 | 10 | #define ARM_LIMIT_REV 0.5// |
| lilac0112_1 | 7:c418a0d929b1 | 11 | |
| lilac0112_1 | 9:8543cb951a70 | 12 | #define TURN_REV 0.5//回転の初期PWM値 |
| lilac0112_1 | 9:8543cb951a70 | 13 | #define FIX_REV 0.2 |
| lilac0112_1 | 7:c418a0d929b1 | 14 | |
| lilac0112_1 | 4:1102ab499430 | 15 | uint8_t INdata[DATA_NUM]={0}, EXdata[DATA_NUM]={0}; |
| lilac0112_1 | 4:1102ab499430 | 16 | uint8_t data[DATA_NUM]; |
| lilac0112_1 | 9:8543cb951a70 | 17 | bool Interrupt=0; |
| lilac0112_1 | 9:8543cb951a70 | 18 | bool IO[2]={0}; |
| lilac0112_1 | 9:8543cb951a70 | 19 | bool FIX=0; |
| lilac0112_1 | 1:006debaed874 | 20 | |
| lilac0112_1 | 1:006debaed874 | 21 | enum Logic{OFF=0, ON};//殆どはモーターのON，OFFに使う |
| lilac0112_1 | 1:006debaed874 | 22 | enum Arm{R=0, L, C};//右腕と左腕 |
| lilac0112_1 | 1:006debaed874 | 23 | enum Clip{Open=0, Close};//開ける動作と閉める動作 |
| lilac0112_1 | 2:eb1c123c9140 | 24 | enum Revolution{CW=0, CCW};//正回転，逆回転(上体回転) |
| lilac0112_1 | 2:eb1c123c9140 | 25 | enum Compass{N=0, E, W, S};//マシンの回転 |
| lilac0112_1 | 7:c418a0d929b1 | 26 | |
| lilac0112_1 | 0:4baeb4381394 | 27 | BusOut LED(LED1, LED2, LED3, LED4);//確認用 |
| lilac0112_1 | 9:8543cb951a70 | 28 | BusIn mt(p5, p6, p7, p8);//確認用 |
| lilac0112_1 | 9:8543cb951a70 | 29 | //DigitalOut servo_mbed[2] = {p9, p10}; |
| lilac0112_1 | 9:8543cb951a70 | 30 | MultiSerial servo_mbed(p9, p10); |
| lilac0112_1 | 9:8543cb951a70 | 31 | MultiSerial leg_mbed(p13,p14); |
| lilac0112_1 | 9:8543cb951a70 | 32 | |
| lilac0112_1 | 5:c2a278842131 | 33 | DigitalIn OneEighty[2]={p18, p19};//R, L |
| lilac0112_1 | 9:8543cb951a70 | 34 | Pswitch HandSW[3]={p15, p16, p17};//R, L, C |
| lilac0112_1 | 2:eb1c123c9140 | 35 | DigitalIn TurnSW[2]={p11, p12};// |
| lilac0112_1 | 2:eb1c123c9140 | 36 | PwmOut HandSpeed[2]={p23, p24}; |
| lilac0112_1 | 9:8543cb951a70 | 37 | PwmOut TurnSpeed(p22); |
| lilac0112_1 | 9:8543cb951a70 | 38 | DigitalOut Hand[2][2]={{p28, p27}, {p26, p25}}; |
| lilac0112_1 | 0:4baeb4381394 | 39 | //ex)Hand[R][Close]=ON; |
| lilac0112_1 | 9:8543cb951a70 | 40 | DigitalOut Turn[2]={p29, p30}; |
| lilac0112_1 | 2:eb1c123c9140 | 41 | //ex)Turn[CW]=ON; |
| lilac0112_1 | 1:006debaed874 | 42 | Serial pc(USBTX, USBRX); |
| lilac0112_1 | 0:4baeb4381394 | 43 | Timeout Touch;//腕で掴むときの安全対策 |
| lilac0112_1 | 1:006debaed874 | 44 | |
| lilac0112_1 | 1:006debaed874 | 45 | void StopCatching(void);//literally |
| lilac0112_1 | 1:006debaed874 | 46 | void StopLeaving(void);//literally |
| lilac0112_1 | 1:006debaed874 | 47 | void StartCatching(void);//literally |
| lilac0112_1 | 1:006debaed874 | 48 | void StartLeaving(void);//literally |
| lilac0112_1 | 1:006debaed874 | 49 | void RightCatch(void);//右腕のリミットスイッチ |
| lilac0112_1 | 1:006debaed874 | 50 | void LeftCatch(void);//左腕のリミットスイッチ |
| lilac0112_1 | 1:006debaed874 | 51 | void CenterCatch(void);//中央のリミットスイッチ |
| lilac0112_1 | 9:8543cb951a70 | 52 | void FixToNinety(void); |
| lilac0112_1 | 9:8543cb951a70 | 53 | void display_LED(int kind);//start display LED |
| lilac0112_1 | 4:1102ab499430 | 54 | uint8_t LinkBit(bool eight, bool seven, bool six, bool five, bool fore, bool three, bool two, bool one); |
| lilac0112_1 | 4:1102ab499430 | 55 | bool GetBit(uint8_t n, uint8_t bit); |
| lilac0112_1 | 1:006debaed874 | 56 | void SetUp(void);//literally |
| lilac0112_1 | 7:c418a0d929b1 | 57 | |
| lilac0112_1 | 7:c418a0d929b1 | 58 | |
| lilac0112_1 | 1:006debaed874 | 59 | int main(void) { |
| lilac0112_1 | 1:006debaed874 | 60 | |
| lilac0112_1 | 10:557c74f2bdee | 61 | //leg_mbed.start_read(); |
| lilac0112_1 | 10:557c74f2bdee | 62 | //leg_mbed.read_data(data,KEYCODE); |
| lilac0112_1 | 9:8543cb951a70 | 63 | |
| lilac0112_1 | 9:8543cb951a70 | 64 | servo_mbed.start_write(); |
| lilac0112_1 | 9:8543cb951a70 | 65 | servo_mbed.write_data(INdata,KEYCODE); |
| lilac0112_1 | 9:8543cb951a70 | 66 | |
| lilac0112_1 | 10:557c74f2bdee | 67 | //display_LED(1); |
| lilac0112_1 | 9:8543cb951a70 | 68 | |
| lilac0112_1 | 10:557c74f2bdee | 69 | //leg_mbed.check_rx_wait(); |
| lilac0112_1 | 5:c2a278842131 | 70 | |
| lilac0112_1 | 9:8543cb951a70 | 71 | //wait(0.5); |
| lilac0112_1 | 9:8543cb951a70 | 72 | |
| lilac0112_1 | 9:8543cb951a70 | 73 | //MultiSerial leg_mbed(p13,p14); |
| lilac0112_1 | 4:1102ab499430 | 74 | |
| lilac0112_1 | 1:006debaed874 | 75 | SetUp(); |
| lilac0112_1 | 1:006debaed874 | 76 | |
| lilac0112_1 | 1:006debaed874 | 77 | while(1) { |
| lilac0112_1 | 1:006debaed874 | 78 | |
| lilac0112_1 | 10:557c74f2bdee | 79 | |
| lilac0112_1 | 10:557c74f2bdee | 80 | //NVIC_DisableIRQ(UART0_IRQn);//通信割り込み禁止 |
| lilac0112_1 | 10:557c74f2bdee | 81 | //NVIC_DisableIRQ(UART1_IRQn);//通信割り込み禁止 |
| lilac0112_1 | 10:557c74f2bdee | 82 | //NVIC_DisableIRQ(UART2_IRQn);//通信割り込み禁止 |
| lilac0112_1 | 10:557c74f2bdee | 83 | //NVIC_DisableIRQ(UART3_IRQn);//通信割り込み禁止 |
| lilac0112_1 | 9:8543cb951a70 | 84 | //leg_mbed.read_data(data,KEYCODE); |
| Hatter | 3:a1489a94c436 | 85 | |
| lilac0112_1 | 10:557c74f2bdee | 86 | //INdata[0] = data[0]; |
| lilac0112_1 | 10:557c74f2bdee | 87 | INdata[0] = ~mt; |
| lilac0112_1 | 7:c418a0d929b1 | 88 | |
| lilac0112_1 | 9:8543cb951a70 | 89 | //if(!TurnSW[N]) IO[0]=ON; |
| lilac0112_1 | 9:8543cb951a70 | 90 | //if(!TurnSW[E]) IO[1]=ON; |
| lilac0112_1 | 9:8543cb951a70 | 91 | //servo_mbed[0] = IO[0]&&IO[1]; |
| lilac0112_1 | 9:8543cb951a70 | 92 | //servo_mbed[1] = IO[0]&&IO[1]; |
| lilac0112_1 | 9:8543cb951a70 | 93 | //servo_mbed.putc(IO[0]&&IO[1]); |
| lilac0112_1 | 7:c418a0d929b1 | 94 | |
| lilac0112_1 | 9:8543cb951a70 | 95 | LED = INdata[0]; |
| lilac0112_1 | 9:8543cb951a70 | 96 | |
| lilac0112_1 | 9:8543cb951a70 | 97 | //腕 |
| lilac0112_1 | 7:c418a0d929b1 | 98 | |
| lilac0112_1 | 7:c418a0d929b1 | 99 | if((GetBit(INdata[0], 1)==OFF)&&(Interrupt==OFF)) StopCatching(); |
| lilac0112_1 | 1:006debaed874 | 100 | |
| lilac0112_1 | 4:1102ab499430 | 101 | if(GetBit(INdata[0], 2)==OFF) StopLeaving();//停止 |
| lilac0112_1 | 1:006debaed874 | 102 | |
| lilac0112_1 | 9:8543cb951a70 | 103 | if(GetBit(INdata[0], 1)&&GetBit(INdata[0], 2)) StopCatching(), StopLeaving(), Touch.detach(), Interrupt=OFF; |
| lilac0112_1 | 9:8543cb951a70 | 104 | |
| lilac0112_1 | 4:1102ab499430 | 105 | if((GetBit(INdata[0], 1)+GetBit(INdata[0], 2))==1){//同時押し防止 |
| lilac0112_1 | 7:c418a0d929b1 | 106 | if(GetBit(INdata[0], 1)==true) CenterCatch();//中央のリミットスイッチがうまく動作しなかった場合の保険 |
| lilac0112_1 | 4:1102ab499430 | 107 | if(GetBit(INdata[0], 2)==true){//腕を広げる動作はマニュアル操作 |
| lilac0112_1 | 1:006debaed874 | 108 | StopCatching();//停止 |
| lilac0112_1 | 1:006debaed874 | 109 | Touch.detach();//ワンショットタイマー停止 |
| lilac0112_1 | 7:c418a0d929b1 | 110 | Interrupt=OFF; |
| lilac0112_1 | 4:1102ab499430 | 111 | Hand[R][Open] = GetBit(INdata[0], 2)&&OneEighty[R]; |
| lilac0112_1 | 4:1102ab499430 | 112 | Hand[L][Open] = GetBit(INdata[0], 2)&&OneEighty[L]; |
| lilac0112_1 | 1:006debaed874 | 113 | } |
| lilac0112_1 | 1:006debaed874 | 114 | } |
| lilac0112_1 | 1:006debaed874 | 115 | |
| lilac0112_1 | 1:006debaed874 | 116 | if(((!HandSW[R])&&(!HandSW[L]))&&((Hand[R][Close]&&Hand[L][Close])==ON)){//どちらも押されたら停止 |
| lilac0112_1 | 1:006debaed874 | 117 | StopCatching();//停止 |
| lilac0112_1 | 1:006debaed874 | 118 | Touch.detach();//ワンショットタイマー停止 |
| lilac0112_1 | 7:c418a0d929b1 | 119 | Interrupt=OFF; |
| lilac0112_1 | 1:006debaed874 | 120 | } |
| lilac0112_1 | 1:006debaed874 | 121 | |
| lilac0112_1 | 2:eb1c123c9140 | 122 | if(!OneEighty[R]) Hand[R][Open]=OFF; |
| lilac0112_1 | 2:eb1c123c9140 | 123 | if(!OneEighty[L]) Hand[L][Open]=OFF; |
| lilac0112_1 | 7:c418a0d929b1 | 124 | |
| lilac0112_1 | 7:c418a0d929b1 | 125 | if(!HandSW[R]) Hand[R][Close]=OFF; |
| lilac0112_1 | 7:c418a0d929b1 | 126 | if(!HandSW[L]) Hand[L][Close]=OFF; |
| lilac0112_1 | 2:eb1c123c9140 | 127 | |
| lilac0112_1 | 7:c418a0d929b1 | 128 | if(HandSW[R].count() > 0){ |
| lilac0112_1 | 7:c418a0d929b1 | 129 | RightCatch(); |
| lilac0112_1 | 7:c418a0d929b1 | 130 | } |
| lilac0112_1 | 7:c418a0d929b1 | 131 | if(HandSW[L].count() > 0){ |
| lilac0112_1 | 7:c418a0d929b1 | 132 | LeftCatch(); |
| lilac0112_1 | 7:c418a0d929b1 | 133 | } |
| lilac0112_1 | 7:c418a0d929b1 | 134 | if(HandSW[C].count() > 0){ |
| lilac0112_1 | 9:8543cb951a70 | 135 | if(GetBit(INdata[0], 5)) CenterCatch(); |
| lilac0112_1 | 7:c418a0d929b1 | 136 | } |
| lilac0112_1 | 2:eb1c123c9140 | 137 | |
| lilac0112_1 | 4:1102ab499430 | 138 | //LED = ((0x01 * !HandSW[R]) | (0x02 * !HandSW[L]) | (0x04 * !HandSW[C]) | (0x08 * ((!OneEighty[R])&&(!OneEighty[L])) )); |
| lilac0112_1 | 2:eb1c123c9140 | 139 | |
| lilac0112_1 | 2:eb1c123c9140 | 140 | //上体回転 |
| lilac0112_1 | 2:eb1c123c9140 | 141 | |
| lilac0112_1 | 9:8543cb951a70 | 142 | //if(FIX&&(!((GetBit(INdata[0], 3)+GetBit(INdata[0], 4))==1))){ |
| lilac0112_1 | 9:8543cb951a70 | 143 | // FixToNinety(); |
| lilac0112_1 | 9:8543cb951a70 | 144 | // continue; |
| lilac0112_1 | 9:8543cb951a70 | 145 | //} |
| lilac0112_1 | 9:8543cb951a70 | 146 | |
| lilac0112_1 | 8:4f9c4b791bfe | 147 | if(GetBit(INdata[0], 3)==OFF) Turn[CW] = OFF;//停止 |
| lilac0112_1 | 8:4f9c4b791bfe | 148 | if(GetBit(INdata[0], 4)==OFF) Turn[CCW] = OFF;//停止 |
| lilac0112_1 | 7:c418a0d929b1 | 149 | |
| lilac0112_1 | 9:8543cb951a70 | 150 | if(GetBit(INdata[0], 3)&&GetBit(INdata[0], 4)) Turn[CW]=Turn[CCW]=OFF; |
| lilac0112_1 | 9:8543cb951a70 | 151 | |
| lilac0112_1 | 8:4f9c4b791bfe | 152 | if((GetBit(INdata[0], 3)+GetBit(INdata[0], 4))==1){//同時押し防止 |
| lilac0112_1 | 4:1102ab499430 | 153 | |
| lilac0112_1 | 4:1102ab499430 | 154 | Turn[CW] = GetBit(INdata[0], 3)&&TurnSW[N];//押されていて，かつリミットスイッチが押されていなかったら右回転 |
| lilac0112_1 | 4:1102ab499430 | 155 | Turn[CCW] = GetBit(INdata[0], 4)&&TurnSW[E];//押されていて，かつリミットスイッチが押されていなかったら左回転 |
| lilac0112_1 | 2:eb1c123c9140 | 156 | |
| lilac0112_1 | 2:eb1c123c9140 | 157 | } |
| lilac0112_1 | 5:c2a278842131 | 158 | |
| lilac0112_1 | 9:8543cb951a70 | 159 | if(!TurnSW[N]) Turn[CW]=OFF, FIX=ON;//リミットスイッチによる停止 |
| lilac0112_1 | 9:8543cb951a70 | 160 | if(!TurnSW[E]) Turn[CCW]=OFF, FIX=ON; |
| lilac0112_1 | 4:1102ab499430 | 161 | |
| lilac0112_1 | 4:1102ab499430 | 162 | |
| lilac0112_1 | 1:006debaed874 | 163 | } |
| lilac0112_1 | 1:006debaed874 | 164 | } |
| lilac0112_1 | 0:4baeb4381394 | 165 | void StopCatching(void){//停止 |
| lilac0112_1 | 0:4baeb4381394 | 166 | Hand[R][Close]=Hand[L][Close]=OFF; |
| lilac0112_1 | 7:c418a0d929b1 | 167 | if(Interrupt==ON) Interrupt=OFF; |
| lilac0112_1 | 0:4baeb4381394 | 168 | } |
| lilac0112_1 | 0:4baeb4381394 | 169 | void StopLeaving(void){//停止 |
| lilac0112_1 | 0:4baeb4381394 | 170 | Hand[R][Open]=Hand[L][Open]=OFF; |
| lilac0112_1 | 0:4baeb4381394 | 171 | } |
| lilac0112_1 | 2:eb1c123c9140 | 172 | void StartCatching(void){//掴む（リミットスイッチが押されてなければ） |
| lilac0112_1 | 7:c418a0d929b1 | 173 | |
| lilac0112_1 | 9:8543cb951a70 | 174 | HandSpeed[R] = HandSpeed[L] = ARM_REV; |
| lilac0112_1 | 9:8543cb951a70 | 175 | |
| lilac0112_1 | 7:c418a0d929b1 | 176 | if(GetBit(INdata[0], 1)==true){ |
| lilac0112_1 | 7:c418a0d929b1 | 177 | Hand[R][Close]=HandSW[R]; |
| lilac0112_1 | 7:c418a0d929b1 | 178 | Hand[L][Close]=HandSW[L]; |
| lilac0112_1 | 7:c418a0d929b1 | 179 | } |
| lilac0112_1 | 7:c418a0d929b1 | 180 | |
| lilac0112_1 | 7:c418a0d929b1 | 181 | if((!HandSW[R])&&(!HandSW[L])){ |
| lilac0112_1 | 2:eb1c123c9140 | 182 | Hand[R][Close] = Hand[L][Close] = OFF; |
| lilac0112_1 | 2:eb1c123c9140 | 183 | } |
| lilac0112_1 | 2:eb1c123c9140 | 184 | else{ |
| lilac0112_1 | 2:eb1c123c9140 | 185 | |
| lilac0112_1 | 2:eb1c123c9140 | 186 | Hand[R][Close]=ON; |
| lilac0112_1 | 2:eb1c123c9140 | 187 | Hand[L][Close]=ON; |
| lilac0112_1 | 2:eb1c123c9140 | 188 | |
| lilac0112_1 | 2:eb1c123c9140 | 189 | } |
| lilac0112_1 | 2:eb1c123c9140 | 190 | |
| lilac0112_1 | 0:4baeb4381394 | 191 | } |
| lilac0112_1 | 2:eb1c123c9140 | 192 | void StartLeaving(void){//離す（リミットスイッチが押されてなければ） |
| lilac0112_1 | 9:8543cb951a70 | 193 | |
| lilac0112_1 | 9:8543cb951a70 | 194 | HandSpeed[R] = HandSpeed[L] = ARM_LIMIT_REV; |
| lilac0112_1 | 9:8543cb951a70 | 195 | |
| lilac0112_1 | 2:eb1c123c9140 | 196 | Hand[R][Open]=OneEighty[R]; |
| lilac0112_1 | 2:eb1c123c9140 | 197 | Hand[L][Open]=OneEighty[L]; |
| lilac0112_1 | 0:4baeb4381394 | 198 | } |
| lilac0112_1 | 0:4baeb4381394 | 199 | void RightCatch(void){//右腕のリミットスイッチ |
| lilac0112_1 | 7:c418a0d929b1 | 200 | |
| lilac0112_1 | 7:c418a0d929b1 | 201 | Hand[R][Close] = OFF; |
| lilac0112_1 | 7:c418a0d929b1 | 202 | |
| lilac0112_1 | 0:4baeb4381394 | 203 | if((!HandSW[R])&&(!HandSW[L])){//どちらも押されたら停止 |
| lilac0112_1 | 0:4baeb4381394 | 204 | StopCatching();//停止 |
| lilac0112_1 | 0:4baeb4381394 | 205 | Touch.detach();//ワンショットタイマー停止 |
| lilac0112_1 | 7:c418a0d929b1 | 206 | Interrupt=OFF; |
| lilac0112_1 | 0:4baeb4381394 | 207 | } |
| lilac0112_1 | 0:4baeb4381394 | 208 | } |
| lilac0112_1 | 0:4baeb4381394 | 209 | void LeftCatch(void){//左腕のリミットスイッチ |
| lilac0112_1 | 7:c418a0d929b1 | 210 | |
| lilac0112_1 | 7:c418a0d929b1 | 211 | Hand[L][Close] = OFF; |
| lilac0112_1 | 7:c418a0d929b1 | 212 | |
| lilac0112_1 | 0:4baeb4381394 | 213 | if((!HandSW[R])&&(!HandSW[L])){//どちらも押されたら停止 |
| lilac0112_1 | 0:4baeb4381394 | 214 | StopCatching();//停止 |
| lilac0112_1 | 0:4baeb4381394 | 215 | Touch.detach();//ワンショットタイマー停止 |
| lilac0112_1 | 7:c418a0d929b1 | 216 | Interrupt=OFF; |
| lilac0112_1 | 0:4baeb4381394 | 217 | } |
| lilac0112_1 | 0:4baeb4381394 | 218 | } |
| lilac0112_1 | 0:4baeb4381394 | 219 | void CenterCatch(void){//中央のリミットスイッチ |
| lilac0112_1 | 7:c418a0d929b1 | 220 | |
| lilac0112_1 | 2:eb1c123c9140 | 221 | if((!OneEighty[R])&&(!OneEighty[L])){ |
| lilac0112_1 | 9:8543cb951a70 | 222 | if(GetBit(INdata[0], 1)==false){ |
| lilac0112_1 | 9:8543cb951a70 | 223 | Interrupt=ON; |
| lilac0112_1 | 9:8543cb951a70 | 224 | Touch.attach(StopCatching, TIME_LIMIT);//TIME_LIMIT[s]で停止 |
| lilac0112_1 | 9:8543cb951a70 | 225 | StartCatching(); |
| lilac0112_1 | 9:8543cb951a70 | 226 | } |
| lilac0112_1 | 2:eb1c123c9140 | 227 | } |
| lilac0112_1 | 7:c418a0d929b1 | 228 | if(GetBit(INdata[0], 1)==true){ |
| lilac0112_1 | 7:c418a0d929b1 | 229 | StartCatching(); |
| lilac0112_1 | 7:c418a0d929b1 | 230 | } |
| lilac0112_1 | 0:4baeb4381394 | 231 | } |
| lilac0112_1 | 9:8543cb951a70 | 232 | void FixToNinety(void){ |
| lilac0112_1 | 9:8543cb951a70 | 233 | |
| lilac0112_1 | 9:8543cb951a70 | 234 | if((FIX)&&(TurnSpeed != FIX_REV)) TurnSpeed = FIX_REV; |
| lilac0112_1 | 9:8543cb951a70 | 235 | |
| lilac0112_1 | 9:8543cb951a70 | 236 | if((!TurnSW[N])&&(TurnSW[E])) Turn[CCW]=ON; |
| lilac0112_1 | 9:8543cb951a70 | 237 | |
| lilac0112_1 | 9:8543cb951a70 | 238 | if((TurnSW[N])&&(!TurnSW[E])) Turn[CW]=ON; |
| lilac0112_1 | 9:8543cb951a70 | 239 | |
| lilac0112_1 | 9:8543cb951a70 | 240 | if((TurnSW[N])&&(TurnSW[E])) Turn[CW]=Turn[CCW]=OFF, FIX=OFF; |
| lilac0112_1 | 9:8543cb951a70 | 241 | |
| lilac0112_1 | 9:8543cb951a70 | 242 | if((!FIX)&&(TurnSpeed != TURN_REV)) TurnSpeed = TURN_REV; |
| lilac0112_1 | 9:8543cb951a70 | 243 | |
| lilac0112_1 | 9:8543cb951a70 | 244 | } |
| lilac0112_1 | 9:8543cb951a70 | 245 | void display_LED(int kind){/*start display LED*/ |
| lilac0112_1 | 9:8543cb951a70 | 246 | |
| lilac0112_1 | 9:8543cb951a70 | 247 | switch(kind) { |
| lilac0112_1 | 9:8543cb951a70 | 248 | |
| lilac0112_1 | 9:8543cb951a70 | 249 | case 0: //err check |
| lilac0112_1 | 9:8543cb951a70 | 250 | LED = 0xA; |
| lilac0112_1 | 9:8543cb951a70 | 251 | wait(0.5); |
| lilac0112_1 | 9:8543cb951a70 | 252 | LED = 0x5; |
| lilac0112_1 | 9:8543cb951a70 | 253 | wait(0.5); |
| lilac0112_1 | 9:8543cb951a70 | 254 | |
| lilac0112_1 | 9:8543cb951a70 | 255 | break; |
| lilac0112_1 | 9:8543cb951a70 | 256 | |
| lilac0112_1 | 9:8543cb951a70 | 257 | case 1: |
| lilac0112_1 | 9:8543cb951a70 | 258 | // |
| lilac0112_1 | 9:8543cb951a70 | 259 | LED = 0xF; |
| lilac0112_1 | 9:8543cb951a70 | 260 | wait(0.5); |
| lilac0112_1 | 9:8543cb951a70 | 261 | LED = 0; |
| lilac0112_1 | 9:8543cb951a70 | 262 | wait(0.5); |
| lilac0112_1 | 9:8543cb951a70 | 263 | break; |
| lilac0112_1 | 9:8543cb951a70 | 264 | } |
| lilac0112_1 | 9:8543cb951a70 | 265 | } |
| lilac0112_1 | 4:1102ab499430 | 266 | uint8_t LinkBit(bool eight, bool seven, bool six, bool five, bool fore, bool three, bool two, bool one){ |
| lilac0112_1 | 4:1102ab499430 | 267 | return 0x80*eight + 0x40*seven + 0x20*six + 0x10*five + 0x08*fore + 0x04*three + 0x02*two + 0x01*one; |
| lilac0112_1 | 4:1102ab499430 | 268 | } |
| lilac0112_1 | 4:1102ab499430 | 269 | bool GetBit(uint8_t n, uint8_t bit){//n=8[bit]data, bit = 1-8(8bitのデータから指定bitの数値を読み取る)- |
| lilac0112_1 | 4:1102ab499430 | 270 | return (n>>(bit-1))%2; |
| lilac0112_1 | 4:1102ab499430 | 271 | } |
| lilac0112_1 | 1:006debaed874 | 272 | void SetUp(void){//literally |
| lilac0112_1 | 1:006debaed874 | 273 | |
| lilac0112_1 | 5:c2a278842131 | 274 | mt.mode(PullUp); |
| lilac0112_1 | 1:006debaed874 | 275 | |
| lilac0112_1 | 1:006debaed874 | 276 | HandSpeed[R] = HandSpeed[L] = ARM_REV; |
| lilac0112_1 | 8:4f9c4b791bfe | 277 | TurnSpeed = TURN_REV; |
| lilac0112_1 | 1:006debaed874 | 278 | |
| lilac0112_1 | 7:c418a0d929b1 | 279 | //HandSW[R].mode(PullUp); |
| lilac0112_1 | 7:c418a0d929b1 | 280 | //HandSW[L].mode(PullUp); |
| lilac0112_1 | 7:c418a0d929b1 | 281 | //HandSW[C].mode(PullUp); |
| lilac0112_1 | 7:c418a0d929b1 | 282 | //HandSW[R].fall(RightCatch); |
| lilac0112_1 | 7:c418a0d929b1 | 283 | //HandSW[L].fall(LeftCatch); |
| lilac0112_1 | 7:c418a0d929b1 | 284 | //HandSW[C].fall(CenterCatch); |
| lilac0112_1 | 2:eb1c123c9140 | 285 | |
| lilac0112_1 | 2:eb1c123c9140 | 286 | OneEighty[R].mode(PullUp); |
| lilac0112_1 | 2:eb1c123c9140 | 287 | OneEighty[L].mode(PullUp); |
| lilac0112_1 | 2:eb1c123c9140 | 288 | |
| lilac0112_1 | 2:eb1c123c9140 | 289 | TurnSW[N].mode(PullUp); |
| lilac0112_1 | 2:eb1c123c9140 | 290 | TurnSW[E].mode(PullUp); |
| lilac0112_1 | 2:eb1c123c9140 | 291 | |
| lilac0112_1 | 7:c418a0d929b1 | 292 | } |
| lilac0112_1 | 7:c418a0d929b1 | 293 |