腕のプログラムです.
Dependencies: mbed TextLCD MultiSerial Pswitch
main.cpp@6:606507fc8852, 2014-10-03 (annotated)
- Committer:
- lilac0112_1
- Date:
- Fri Oct 03 12:30:58 2014 +0000
- Revision:
- 6:606507fc8852
- Parent:
- 5:c2a278842131
- Child:
- 7:c418a0d929b1
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 | 1:006debaed874 | 3 | |
lilac0112_1 | 4:1102ab499430 | 4 | #define DATA_NUM 1 //DATA_NUM[byte]通信 |
lilac0112_1 | 1:006debaed874 | 5 | #define MY_KEYCODE 0xAA//keycode |
lilac0112_1 | 1:006debaed874 | 6 | #define EN_KEYCODE 0xAA//keycode |
lilac0112_1 | 1:006debaed874 | 7 | #define KEY 0//number of first data |
lilac0112_1 | 1:006debaed874 | 8 | #define CHECK DATA_NUM-1//number of last data |
lilac0112_1 | 1:006debaed874 | 9 | #define TIME_LIMIT 1.0//腕が閉まっても動けるのはTIME_LIMIT[s]まで |
lilac0112_1 | 4:1102ab499430 | 10 | #define ARM_REV 1.0//腕のPWM |
lilac0112_1 | 5:c2a278842131 | 11 | #define TURN_REV 0.25//回転の初期PWM |
lilac0112_1 | 5:c2a278842131 | 12 | #define TURN_RATIO 100//1000000000//なるべく大きい数 |
lilac0112_1 | 4:1102ab499430 | 13 | #define TURN_RATE 1//加速度の変更...1, 2, 4, 8, 16... |
lilac0112_1 | 4:1102ab499430 | 14 | #define TURN_REV_LIMIT 0.5//PWMの最大数値 |
lilac0112_1 | 5:c2a278842131 | 15 | #define TURN_ACCELERATION 0.1//0.015625//なるべく小さい数 |
lilac0112_1 | 5:c2a278842131 | 16 | #define TURN_SLOPE TURN_RATE*0.1//0.015625//なるべく小さい数1/2, 4, 8,...256 |
lilac0112_1 | 1:006debaed874 | 17 | |
Hatter | 3:a1489a94c436 | 18 | #define KEYCODE 0xAA |
Hatter | 3:a1489a94c436 | 19 | |
lilac0112_1 | 4:1102ab499430 | 20 | uint8_t INdata[DATA_NUM]={0}, EXdata[DATA_NUM]={0}; |
lilac0112_1 | 4:1102ab499430 | 21 | uint8_t count=0; |
lilac0112_1 | 5:c2a278842131 | 22 | uint8_t TURN=0, IO=0,SIG=0; |
lilac0112_1 | 4:1102ab499430 | 23 | uint8_t data[DATA_NUM]; |
lilac0112_1 | 1:006debaed874 | 24 | |
lilac0112_1 | 1:006debaed874 | 25 | enum Logic{OFF=0, ON};//殆どはモーターのON,OFFに使う |
lilac0112_1 | 1:006debaed874 | 26 | enum Arm{R=0, L, C};//右腕と左腕 |
lilac0112_1 | 1:006debaed874 | 27 | enum Clip{Open=0, Close};//開ける動作と閉める動作 |
lilac0112_1 | 2:eb1c123c9140 | 28 | enum Revolution{CW=0, CCW};//正回転,逆回転(上体回転) |
lilac0112_1 | 2:eb1c123c9140 | 29 | enum Compass{N=0, E, W, S};//マシンの回転 |
lilac0112_1 | 1:006debaed874 | 30 | |
lilac0112_1 | 0:4baeb4381394 | 31 | BusOut LED(LED1, LED2, LED3, LED4);//確認用 |
Hatter | 3:a1489a94c436 | 32 | |
Hatter | 3:a1489a94c436 | 33 | /* |
Hatter | 3:a1489a94c436 | 34 | BusIn mt(p19, p20, p17, p18);//Switch |
Hatter | 3:a1489a94c436 | 35 | */ |
Hatter | 3:a1489a94c436 | 36 | |
Hatter | 3:a1489a94c436 | 37 | |
lilac0112_1 | 5:c2a278842131 | 38 | BusIn mt(p7, p8, p9, p10); |
lilac0112_1 | 2:eb1c123c9140 | 39 | //DigitalIn Ninety[2]={p5, p6};//R, L |
lilac0112_1 | 5:c2a278842131 | 40 | DigitalIn OneEighty[2]={p18, p19};//R, L |
lilac0112_1 | 5:c2a278842131 | 41 | InterruptIn HandSW[3]={p15, p16, p17};//p14, p15, p16//R, L, C |
lilac0112_1 | 2:eb1c123c9140 | 42 | DigitalIn TurnSW[2]={p11, p12};// |
lilac0112_1 | 2:eb1c123c9140 | 43 | PwmOut HandSpeed[2]={p23, p24}; |
lilac0112_1 | 2:eb1c123c9140 | 44 | PwmOut TurnSpeed(p22);//p22 |
lilac0112_1 | 2:eb1c123c9140 | 45 | DigitalOut Hand[2][2]={{p28, p27}, {p26, p25}};//{p17, p18}, {p19, p20} |
lilac0112_1 | 0:4baeb4381394 | 46 | //ex)Hand[R][Close]=ON; |
lilac0112_1 | 2:eb1c123c9140 | 47 | DigitalOut Turn[2]={p29, p30};//p29, p30 |
lilac0112_1 | 2:eb1c123c9140 | 48 | //ex)Turn[CW]=ON; |
lilac0112_1 | 1:006debaed874 | 49 | Serial pc(USBTX, USBRX); |
lilac0112_1 | 1:006debaed874 | 50 | Ticker flick; |
lilac0112_1 | 5:c2a278842131 | 51 | Ticker Save; |
lilac0112_1 | 4:1102ab499430 | 52 | Ticker Accelerator; |
lilac0112_1 | 0:4baeb4381394 | 53 | Timeout Touch;//腕で掴むときの安全対策 |
lilac0112_1 | 1:006debaed874 | 54 | |
lilac0112_1 | 5:c2a278842131 | 55 | void SW_saving(void); |
lilac0112_1 | 4:1102ab499430 | 56 | void Acceleration(void); |
lilac0112_1 | 1:006debaed874 | 57 | void StopCatching(void);//literally |
lilac0112_1 | 1:006debaed874 | 58 | void StopLeaving(void);//literally |
lilac0112_1 | 1:006debaed874 | 59 | void StartCatching(void);//literally |
lilac0112_1 | 1:006debaed874 | 60 | void StartLeaving(void);//literally |
lilac0112_1 | 1:006debaed874 | 61 | void RightCatch(void);//右腕のリミットスイッチ |
lilac0112_1 | 1:006debaed874 | 62 | void LeftCatch(void);//左腕のリミットスイッチ |
lilac0112_1 | 1:006debaed874 | 63 | void CenterCatch(void);//中央のリミットスイッチ |
lilac0112_1 | 1:006debaed874 | 64 | void illumination(void);//literally |
lilac0112_1 | 4:1102ab499430 | 65 | uint8_t LinkBit(bool eight, bool seven, bool six, bool five, bool fore, bool three, bool two, bool one); |
lilac0112_1 | 4:1102ab499430 | 66 | bool GetBit(uint8_t n, uint8_t bit); |
lilac0112_1 | 1:006debaed874 | 67 | void SetUp(void);//literally |
lilac0112_1 | 1:006debaed874 | 68 | |
lilac0112_1 | 4:1102ab499430 | 69 | |
lilac0112_1 | 1:006debaed874 | 70 | int main(void) { |
lilac0112_1 | 1:006debaed874 | 71 | |
lilac0112_1 | 5:c2a278842131 | 72 | wait(0.5); |
lilac0112_1 | 5:c2a278842131 | 73 | |
lilac0112_1 | 5:c2a278842131 | 74 | MultiSerial leg_mbed(p13,p14,read); |
lilac0112_1 | 4:1102ab499430 | 75 | |
lilac0112_1 | 1:006debaed874 | 76 | SetUp(); |
lilac0112_1 | 1:006debaed874 | 77 | |
lilac0112_1 | 1:006debaed874 | 78 | while(1) { |
lilac0112_1 | 1:006debaed874 | 79 | |
Hatter | 3:a1489a94c436 | 80 | leg_mbed.read_data(data,KEYCODE); |
Hatter | 3:a1489a94c436 | 81 | |
lilac0112_1 | 5:c2a278842131 | 82 | INdata[0] = data[0] | ~mt; |
lilac0112_1 | 1:006debaed874 | 83 | |
lilac0112_1 | 4:1102ab499430 | 84 | if(GetBit(INdata[0], 2)==OFF) StopLeaving();//停止 |
lilac0112_1 | 1:006debaed874 | 85 | |
lilac0112_1 | 4:1102ab499430 | 86 | if((GetBit(INdata[0], 1)+GetBit(INdata[0], 2))==1){//同時押し防止 |
lilac0112_1 | 6:606507fc8852 | 87 | if(GetBit(INdata[0], 1)==true){ |
lilac0112_1 | 6:606507fc8852 | 88 | 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 | 6:606507fc8852 | 89 | } |
lilac0112_1 | 4:1102ab499430 | 90 | 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 | 91 | StopCatching();//停止 |
lilac0112_1 | 1:006debaed874 | 92 | Touch.detach();//ワンショットタイマー停止 |
lilac0112_1 | 4:1102ab499430 | 93 | Hand[R][Open] = GetBit(INdata[0], 2)&&OneEighty[R]; |
lilac0112_1 | 4:1102ab499430 | 94 | Hand[L][Open] = GetBit(INdata[0], 2)&&OneEighty[L]; |
lilac0112_1 | 1:006debaed874 | 95 | } |
lilac0112_1 | 1:006debaed874 | 96 | } |
lilac0112_1 | 1:006debaed874 | 97 | |
lilac0112_1 | 1:006debaed874 | 98 | 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 | 99 | StopCatching();//停止 |
lilac0112_1 | 1:006debaed874 | 100 | Touch.detach();//ワンショットタイマー停止 |
lilac0112_1 | 1:006debaed874 | 101 | } |
lilac0112_1 | 1:006debaed874 | 102 | |
lilac0112_1 | 2:eb1c123c9140 | 103 | if(!OneEighty[R]) Hand[R][Open]=OFF; |
lilac0112_1 | 2:eb1c123c9140 | 104 | if(!OneEighty[L]) Hand[L][Open]=OFF; |
lilac0112_1 | 2:eb1c123c9140 | 105 | //if(!Ninety[R]) Hand[R][Close]=OFF; |
lilac0112_1 | 2:eb1c123c9140 | 106 | //if(!Ninety[L]) Hand[L][Close]=OFF; |
lilac0112_1 | 2:eb1c123c9140 | 107 | |
lilac0112_1 | 2:eb1c123c9140 | 108 | //if((!Ninety[R])&&(!Ninety[L])){//どちらも押されたら停止 |
lilac0112_1 | 2:eb1c123c9140 | 109 | // StopCatching();//停止 |
lilac0112_1 | 2:eb1c123c9140 | 110 | // Touch.detach();//ワンショットタイマー停止 |
lilac0112_1 | 2:eb1c123c9140 | 111 | //} |
lilac0112_1 | 2:eb1c123c9140 | 112 | |
lilac0112_1 | 4:1102ab499430 | 113 | //LED = ((0x01 * !HandSW[R]) | (0x02 * !HandSW[L]) | (0x04 * !HandSW[C]) | (0x08 * ((!OneEighty[R])&&(!OneEighty[L])) )); |
lilac0112_1 | 4:1102ab499430 | 114 | LED = INdata[0]; |
lilac0112_1 | 2:eb1c123c9140 | 115 | |
lilac0112_1 | 2:eb1c123c9140 | 116 | //上体回転 |
lilac0112_1 | 2:eb1c123c9140 | 117 | |
lilac0112_1 | 5:c2a278842131 | 118 | //IO = GetBit(INdata[0], 3)+GetBit(INdata[0], 4); |
lilac0112_1 | 4:1102ab499430 | 119 | |
lilac0112_1 | 4:1102ab499430 | 120 | //if(GetBit(INdata[0], 3)==OFF) Turn[CW] = OFF;//停止 |
lilac0112_1 | 4:1102ab499430 | 121 | //if(GetBit(INdata[0], 4)==OFF) Turn[CCW] = OFF;//停止 |
lilac0112_1 | 2:eb1c123c9140 | 122 | |
lilac0112_1 | 4:1102ab499430 | 123 | if((GetBit(INdata[0], 3)+GetBit(INdata[0], 4)==1)&&(TurnSpeed==0)){//同時押し防止 |
lilac0112_1 | 4:1102ab499430 | 124 | |
lilac0112_1 | 4:1102ab499430 | 125 | 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 | 126 | 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 | 4:1102ab499430 | 127 | TURN = LinkBit(0, 0, 0, 0, 0, 0, Turn[CW], Turn[CCW]); |
lilac0112_1 | 2:eb1c123c9140 | 128 | |
lilac0112_1 | 2:eb1c123c9140 | 129 | } |
lilac0112_1 | 4:1102ab499430 | 130 | if(TurnSpeed!=0){ |
lilac0112_1 | 4:1102ab499430 | 131 | |
lilac0112_1 | 4:1102ab499430 | 132 | Turn[CW] = GetBit(TURN, 2)&&TurnSW[N]; |
lilac0112_1 | 4:1102ab499430 | 133 | Turn[CCW] = GetBit(TURN, 1)&&TurnSW[E]; |
lilac0112_1 | 4:1102ab499430 | 134 | |
lilac0112_1 | 4:1102ab499430 | 135 | } |
lilac0112_1 | 4:1102ab499430 | 136 | if((GetBit(INdata[0], 3)+GetBit(INdata[0], 4)!=1)&&(TurnSpeed==0)){ |
lilac0112_1 | 4:1102ab499430 | 137 | Turn[CW] = OFF; |
lilac0112_1 | 4:1102ab499430 | 138 | Turn[CCW] = OFF; |
lilac0112_1 | 4:1102ab499430 | 139 | } |
lilac0112_1 | 5:c2a278842131 | 140 | |
lilac0112_1 | 5:c2a278842131 | 141 | //Acceleration(); |
lilac0112_1 | 5:c2a278842131 | 142 | |
lilac0112_1 | 5:c2a278842131 | 143 | //float i; |
lilac0112_1 | 5:c2a278842131 | 144 | |
lilac0112_1 | 5:c2a278842131 | 145 | /*SIG = LinkBit(0, 0, 0, 0, 0, 0, GetBit(INdata[0], 3), GetBit(INdata[0], 4)); |
lilac0112_1 | 5:c2a278842131 | 146 | IO = GetBit(INdata[0], 3)+GetBit(INdata[0], 4); |
lilac0112_1 | 5:c2a278842131 | 147 | |
lilac0112_1 | 5:c2a278842131 | 148 | if((IO==1)&&(0<=TurnSpeed)&&(TurnSpeed<TURN_REV_LIMIT)&&(TURN==SIG)){ |
lilac0112_1 | 5:c2a278842131 | 149 | |
lilac0112_1 | 5:c2a278842131 | 150 | TurnSpeed = TurnSpeed + TURN_SLOPE; |
lilac0112_1 | 5:c2a278842131 | 151 | wait(TURN_ACCELERATION); |
lilac0112_1 | 5:c2a278842131 | 152 | } |
lilac0112_1 | 5:c2a278842131 | 153 | if(((IO==0)||(IO==2)||(TURN!=SIG))&&(0<TurnSpeed)&&(TurnSpeed<=TURN_REV_LIMIT)){ |
lilac0112_1 | 5:c2a278842131 | 154 | |
lilac0112_1 | 5:c2a278842131 | 155 | TurnSpeed = TurnSpeed - TURN_SLOPE; |
lilac0112_1 | 5:c2a278842131 | 156 | wait(TURN_ACCELERATION); |
lilac0112_1 | 5:c2a278842131 | 157 | }*/ |
lilac0112_1 | 5:c2a278842131 | 158 | //i = TurnSpeed; |
lilac0112_1 | 5:c2a278842131 | 159 | //pc.printf("%f, %d\n", i, IO); |
lilac0112_1 | 5:c2a278842131 | 160 | |
lilac0112_1 | 4:1102ab499430 | 161 | if(!TurnSW[N]) Turn[CW]=OFF;//リミットスイッチによる停止 |
lilac0112_1 | 4:1102ab499430 | 162 | if(!TurnSW[E]) Turn[CCW]=OFF; |
lilac0112_1 | 4:1102ab499430 | 163 | |
lilac0112_1 | 4:1102ab499430 | 164 | |
lilac0112_1 | 1:006debaed874 | 165 | } |
lilac0112_1 | 1:006debaed874 | 166 | } |
lilac0112_1 | 1:006debaed874 | 167 | |
lilac0112_1 | 5:c2a278842131 | 168 | void SW_saving(void){ |
lilac0112_1 | 5:c2a278842131 | 169 | IO = GetBit(INdata[0], 3)+GetBit(INdata[0], 4); |
lilac0112_1 | 5:c2a278842131 | 170 | SIG = LinkBit(0, 0, 0, 0, 0, 0, GetBit(INdata[0], 3), GetBit(INdata[0], 4)); |
lilac0112_1 | 5:c2a278842131 | 171 | } |
lilac0112_1 | 4:1102ab499430 | 172 | void Acceleration(void){ |
lilac0112_1 | 4:1102ab499430 | 173 | |
lilac0112_1 | 4:1102ab499430 | 174 | float i; |
lilac0112_1 | 4:1102ab499430 | 175 | |
lilac0112_1 | 4:1102ab499430 | 176 | SIG = LinkBit(0, 0, 0, 0, 0, 0, GetBit(INdata[0], 3), GetBit(INdata[0], 4)); |
lilac0112_1 | 4:1102ab499430 | 177 | IO = GetBit(INdata[0], 3)+GetBit(INdata[0], 4); |
lilac0112_1 | 4:1102ab499430 | 178 | |
lilac0112_1 | 4:1102ab499430 | 179 | if((IO==1)&&(((unsigned long)(TurnSpeed*TURN_RATIO)==0)||(0<(unsigned long)(TurnSpeed*TURN_RATIO)))&&((unsigned long)(TurnSpeed*TURN_RATIO)<(unsigned long)(TURN_REV_LIMIT*TURN_RATIO))&&(TURN==SIG)){ |
lilac0112_1 | 4:1102ab499430 | 180 | |
lilac0112_1 | 4:1102ab499430 | 181 | TurnSpeed = TurnSpeed + TURN_SLOPE; |
lilac0112_1 | 5:c2a278842131 | 182 | wait(TURN_ACCELERATION); |
lilac0112_1 | 4:1102ab499430 | 183 | } |
lilac0112_1 | 4:1102ab499430 | 184 | if(((IO==0)||(IO==2)||(TURN!=SIG))&&(0<(unsigned long)(TurnSpeed*TURN_RATIO))&&((unsigned long)(TurnSpeed*TURN_RATIO)<=(unsigned long)(TURN_REV_LIMIT*TURN_RATIO))){ |
lilac0112_1 | 4:1102ab499430 | 185 | |
lilac0112_1 | 4:1102ab499430 | 186 | TurnSpeed = TurnSpeed - TURN_SLOPE; |
lilac0112_1 | 5:c2a278842131 | 187 | wait(TURN_ACCELERATION); |
lilac0112_1 | 4:1102ab499430 | 188 | } |
lilac0112_1 | 4:1102ab499430 | 189 | i = TurnSpeed; |
lilac0112_1 | 4:1102ab499430 | 190 | pc.printf("%f, %d\n", i, IO); |
lilac0112_1 | 4:1102ab499430 | 191 | } |
lilac0112_1 | 0:4baeb4381394 | 192 | void StopCatching(void){//停止 |
lilac0112_1 | 0:4baeb4381394 | 193 | Hand[R][Close]=Hand[L][Close]=OFF; |
lilac0112_1 | 0:4baeb4381394 | 194 | } |
lilac0112_1 | 0:4baeb4381394 | 195 | void StopLeaving(void){//停止 |
lilac0112_1 | 0:4baeb4381394 | 196 | Hand[R][Open]=Hand[L][Open]=OFF; |
lilac0112_1 | 0:4baeb4381394 | 197 | } |
lilac0112_1 | 2:eb1c123c9140 | 198 | void StartCatching(void){//掴む(リミットスイッチが押されてなければ) |
lilac0112_1 | 2:eb1c123c9140 | 199 | |
lilac0112_1 | 6:606507fc8852 | 200 | if((!HandSW[R])||(!HandSW[L])){ |
lilac0112_1 | 2:eb1c123c9140 | 201 | Hand[R][Close] = Hand[L][Close] = OFF; |
lilac0112_1 | 2:eb1c123c9140 | 202 | } |
lilac0112_1 | 2:eb1c123c9140 | 203 | else{ |
lilac0112_1 | 2:eb1c123c9140 | 204 | |
lilac0112_1 | 2:eb1c123c9140 | 205 | //Hand[R][Close]=Ninety[R]; |
lilac0112_1 | 2:eb1c123c9140 | 206 | //Hand[L][Close]=Ninety[L]; |
lilac0112_1 | 2:eb1c123c9140 | 207 | |
lilac0112_1 | 2:eb1c123c9140 | 208 | Hand[R][Close]=ON; |
lilac0112_1 | 2:eb1c123c9140 | 209 | Hand[L][Close]=ON; |
lilac0112_1 | 2:eb1c123c9140 | 210 | |
lilac0112_1 | 2:eb1c123c9140 | 211 | } |
lilac0112_1 | 2:eb1c123c9140 | 212 | |
lilac0112_1 | 0:4baeb4381394 | 213 | } |
lilac0112_1 | 2:eb1c123c9140 | 214 | void StartLeaving(void){//離す(リミットスイッチが押されてなければ) |
lilac0112_1 | 2:eb1c123c9140 | 215 | Hand[R][Open]=OneEighty[R]; |
lilac0112_1 | 2:eb1c123c9140 | 216 | Hand[L][Open]=OneEighty[L]; |
lilac0112_1 | 0:4baeb4381394 | 217 | } |
lilac0112_1 | 0:4baeb4381394 | 218 | void RightCatch(void){//右腕のリミットスイッチ |
lilac0112_1 | 0:4baeb4381394 | 219 | if((!HandSW[R])&&(!HandSW[L])){//どちらも押されたら停止 |
lilac0112_1 | 6:606507fc8852 | 220 | |
lilac0112_1 | 0:4baeb4381394 | 221 | StopCatching();//停止 |
lilac0112_1 | 0:4baeb4381394 | 222 | Touch.detach();//ワンショットタイマー停止 |
lilac0112_1 | 0:4baeb4381394 | 223 | } |
lilac0112_1 | 0:4baeb4381394 | 224 | } |
lilac0112_1 | 0:4baeb4381394 | 225 | void LeftCatch(void){//左腕のリミットスイッチ |
lilac0112_1 | 0:4baeb4381394 | 226 | if((!HandSW[R])&&(!HandSW[L])){//どちらも押されたら停止 |
lilac0112_1 | 6:606507fc8852 | 227 | |
lilac0112_1 | 0:4baeb4381394 | 228 | StopCatching();//停止 |
lilac0112_1 | 0:4baeb4381394 | 229 | Touch.detach();//ワンショットタイマー停止 |
lilac0112_1 | 0:4baeb4381394 | 230 | } |
lilac0112_1 | 0:4baeb4381394 | 231 | } |
lilac0112_1 | 0:4baeb4381394 | 232 | void CenterCatch(void){//中央のリミットスイッチ |
lilac0112_1 | 2:eb1c123c9140 | 233 | |
lilac0112_1 | 2:eb1c123c9140 | 234 | if((!OneEighty[R])&&(!OneEighty[L])){ |
lilac0112_1 | 2:eb1c123c9140 | 235 | Touch.attach(StopCatching, TIME_LIMIT);//TIME_LIMIT[s]で停止 |
lilac0112_1 | 2:eb1c123c9140 | 236 | StartCatching(); |
lilac0112_1 | 5:c2a278842131 | 237 | LED=15; |
lilac0112_1 | 2:eb1c123c9140 | 238 | } |
lilac0112_1 | 2:eb1c123c9140 | 239 | |
lilac0112_1 | 0:4baeb4381394 | 240 | } |
lilac0112_1 | 6:606507fc8852 | 241 | |
lilac0112_1 | 1:006debaed874 | 242 | void illumination(void){//literally |
lilac0112_1 | 0:4baeb4381394 | 243 | count++; |
lilac0112_1 | 0:4baeb4381394 | 244 | LED = count; |
lilac0112_1 | 0:4baeb4381394 | 245 | } |
lilac0112_1 | 4:1102ab499430 | 246 | uint8_t LinkBit(bool eight, bool seven, bool six, bool five, bool fore, bool three, bool two, bool one){ |
lilac0112_1 | 4:1102ab499430 | 247 | return 0x80*eight + 0x40*seven + 0x20*six + 0x10*five + 0x08*fore + 0x04*three + 0x02*two + 0x01*one; |
lilac0112_1 | 4:1102ab499430 | 248 | } |
lilac0112_1 | 4:1102ab499430 | 249 | 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 | 250 | return (n>>(bit-1))%2; |
lilac0112_1 | 4:1102ab499430 | 251 | } |
lilac0112_1 | 1:006debaed874 | 252 | void SetUp(void){//literally |
lilac0112_1 | 1:006debaed874 | 253 | |
lilac0112_1 | 5:c2a278842131 | 254 | mt.mode(PullUp); |
lilac0112_1 | 1:006debaed874 | 255 | |
lilac0112_1 | 1:006debaed874 | 256 | HandSpeed[R] = HandSpeed[L] = ARM_REV; |
lilac0112_1 | 2:eb1c123c9140 | 257 | TurnSpeed = TURN_REV; |
lilac0112_1 | 1:006debaed874 | 258 | |
lilac0112_1 | 2:eb1c123c9140 | 259 | //flick.attach(illumination, .5); |
lilac0112_1 | 5:c2a278842131 | 260 | //Accelerator.attach(Acceleration, TURN_ACCELERATION); |
lilac0112_1 | 5:c2a278842131 | 261 | //Save.attach(SW_saving, 0.015625); |
lilac0112_1 | 1:006debaed874 | 262 | |
lilac0112_1 | 0:4baeb4381394 | 263 | HandSW[R].mode(PullUp); |
lilac0112_1 | 0:4baeb4381394 | 264 | HandSW[L].mode(PullUp); |
lilac0112_1 | 0:4baeb4381394 | 265 | HandSW[C].mode(PullUp); |
lilac0112_1 | 1:006debaed874 | 266 | HandSW[R].fall(RightCatch); |
lilac0112_1 | 1:006debaed874 | 267 | HandSW[L].fall(LeftCatch); |
lilac0112_1 | 1:006debaed874 | 268 | HandSW[C].fall(CenterCatch); |
lilac0112_1 | 6:606507fc8852 | 269 | HandSW[C].rise(StopCatching); |
lilac0112_1 | 2:eb1c123c9140 | 270 | |
lilac0112_1 | 2:eb1c123c9140 | 271 | OneEighty[R].mode(PullUp); |
lilac0112_1 | 2:eb1c123c9140 | 272 | OneEighty[L].mode(PullUp); |
lilac0112_1 | 2:eb1c123c9140 | 273 | //Ninety[R].mode(PullUp); |
lilac0112_1 | 2:eb1c123c9140 | 274 | //Ninety[L].mode(PullUp); |
lilac0112_1 | 2:eb1c123c9140 | 275 | |
lilac0112_1 | 2:eb1c123c9140 | 276 | TurnSW[N].mode(PullUp); |
lilac0112_1 | 2:eb1c123c9140 | 277 | TurnSW[E].mode(PullUp); |
lilac0112_1 | 2:eb1c123c9140 | 278 | |
lilac0112_1 | 0:4baeb4381394 | 279 | } |