Bチーム
腕のプログラムです.
Dependencies: mbed TextLCD MultiSerial Pswitch
main.cpp@7:c418a0d929b1, 2014-10-05 (annotated)
- Committer:
- lilac0112_1
- Date:
- Sun Oct 05 06:50:36 2014 +0000
- Revision:
- 7:c418a0d929b1
- Parent:
- 6:606507fc8852
- Child:
- 8:4f9c4b791bfe
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 | 7:c418a0d929b1 | 10 | |
| lilac0112_1 | 7:c418a0d929b1 | 11 | #define TURN_REV 0.2//回転の初期PWM |
| lilac0112_1 | 4:1102ab499430 | 12 | #define TURN_RATE 1//加速度の変更...1, 2, 4, 8, 16... |
| lilac0112_1 | 4:1102ab499430 | 13 | #define TURN_REV_LIMIT 0.5//PWMの最大数値 |
| lilac0112_1 | 7:c418a0d929b1 | 14 | #define TURN_ACCELERATION (1e-4)/1.5//[s] |
| lilac0112_1 | 7:c418a0d929b1 | 15 | #define TURN_RATIO 1e4//Holder/TURN_RATIO |
| lilac0112_1 | 1:006debaed874 | 16 | |
| lilac0112_1 | 7:c418a0d929b1 | 17 | |
| lilac0112_1 | 4:1102ab499430 | 18 | uint8_t INdata[DATA_NUM]={0}, EXdata[DATA_NUM]={0}; |
| lilac0112_1 | 7:c418a0d929b1 | 19 | uint8_t Interrupt=0; |
| lilac0112_1 | 5:c2a278842131 | 20 | uint8_t TURN=0, IO=0,SIG=0; |
| lilac0112_1 | 4:1102ab499430 | 21 | uint8_t data[DATA_NUM]; |
| lilac0112_1 | 7:c418a0d929b1 | 22 | uint16_t Holder=0; |
| lilac0112_1 | 7:c418a0d929b1 | 23 | #define COUNT_LIMIT 10e3 |
| 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 | 7:c418a0d929b1 | 30 | |
| lilac0112_1 | 0:4baeb4381394 | 31 | BusOut LED(LED1, LED2, LED3, LED4);//確認用 |
| lilac0112_1 | 7:c418a0d929b1 | 32 | |
| Hatter | 3:a1489a94c436 | 33 | /* |
| Hatter | 3:a1489a94c436 | 34 | BusIn mt(p19, p20, p17, p18);//Switch |
| Hatter | 3:a1489a94c436 | 35 | */ |
| lilac0112_1 | 7:c418a0d929b1 | 36 | |
| lilac0112_1 | 7:c418a0d929b1 | 37 | |
| lilac0112_1 | 7:c418a0d929b1 | 38 | BusIn mt(p5, p6, p7, p8);//mt(p7, p8); |
| lilac0112_1 | 5:c2a278842131 | 39 | DigitalIn OneEighty[2]={p18, p19};//R, L |
| lilac0112_1 | 7:c418a0d929b1 | 40 | Pswitch HandSW[3]={p15, p16, p17};//p14, p15, p16//R, L, C |
| lilac0112_1 | 2:eb1c123c9140 | 41 | DigitalIn TurnSW[2]={p11, p12};// |
| lilac0112_1 | 2:eb1c123c9140 | 42 | PwmOut HandSpeed[2]={p23, p24}; |
| lilac0112_1 | 2:eb1c123c9140 | 43 | PwmOut TurnSpeed(p22);//p22 |
| lilac0112_1 | 2:eb1c123c9140 | 44 | DigitalOut Hand[2][2]={{p28, p27}, {p26, p25}};//{p17, p18}, {p19, p20} |
| lilac0112_1 | 0:4baeb4381394 | 45 | //ex)Hand[R][Close]=ON; |
| lilac0112_1 | 2:eb1c123c9140 | 46 | DigitalOut Turn[2]={p29, p30};//p29, p30 |
| lilac0112_1 | 2:eb1c123c9140 | 47 | //ex)Turn[CW]=ON; |
| lilac0112_1 | 1:006debaed874 | 48 | Serial pc(USBTX, USBRX); |
| lilac0112_1 | 4:1102ab499430 | 49 | Ticker Accelerator; |
| lilac0112_1 | 0:4baeb4381394 | 50 | Timeout Touch;//腕で掴むときの安全対策 |
| lilac0112_1 | 1:006debaed874 | 51 | |
| lilac0112_1 | 4:1102ab499430 | 52 | void Acceleration(void); |
| lilac0112_1 | 1:006debaed874 | 53 | void StopCatching(void);//literally |
| lilac0112_1 | 1:006debaed874 | 54 | void StopLeaving(void);//literally |
| lilac0112_1 | 1:006debaed874 | 55 | void StartCatching(void);//literally |
| lilac0112_1 | 1:006debaed874 | 56 | void StartLeaving(void);//literally |
| lilac0112_1 | 1:006debaed874 | 57 | void RightCatch(void);//右腕のリミットスイッチ |
| lilac0112_1 | 1:006debaed874 | 58 | void LeftCatch(void);//左腕のリミットスイッチ |
| lilac0112_1 | 1:006debaed874 | 59 | void CenterCatch(void);//中央のリミットスイッチ |
| lilac0112_1 | 4:1102ab499430 | 60 | uint8_t LinkBit(bool eight, bool seven, bool six, bool five, bool fore, bool three, bool two, bool one); |
| lilac0112_1 | 4:1102ab499430 | 61 | bool GetBit(uint8_t n, uint8_t bit); |
| lilac0112_1 | 1:006debaed874 | 62 | void SetUp(void);//literally |
| lilac0112_1 | 7:c418a0d929b1 | 63 | |
| lilac0112_1 | 7:c418a0d929b1 | 64 | |
| lilac0112_1 | 1:006debaed874 | 65 | int main(void) { |
| lilac0112_1 | 1:006debaed874 | 66 | |
| lilac0112_1 | 5:c2a278842131 | 67 | wait(0.5); |
| lilac0112_1 | 5:c2a278842131 | 68 | |
| lilac0112_1 | 5:c2a278842131 | 69 | MultiSerial leg_mbed(p13,p14,read); |
| lilac0112_1 | 7:c418a0d929b1 | 70 | //Serial servo_mbed(p9, p10); |
| lilac0112_1 | 4:1102ab499430 | 71 | |
| lilac0112_1 | 1:006debaed874 | 72 | SetUp(); |
| lilac0112_1 | 1:006debaed874 | 73 | |
| lilac0112_1 | 1:006debaed874 | 74 | while(1) { |
| lilac0112_1 | 1:006debaed874 | 75 | |
| Hatter | 3:a1489a94c436 | 76 | leg_mbed.read_data(data,KEYCODE); |
| Hatter | 3:a1489a94c436 | 77 | |
| lilac0112_1 | 7:c418a0d929b1 | 78 | INdata[0] = data[0];// | ~mt; |
| lilac0112_1 | 7:c418a0d929b1 | 79 | |
| lilac0112_1 | 7:c418a0d929b1 | 80 | //INdata[0] = ~mt; |
| lilac0112_1 | 7:c418a0d929b1 | 81 | |
| lilac0112_1 | 7:c418a0d929b1 | 82 | //EXdata[0] = LinkBit(0, 0, 0, 0, 0, 0, !OneEighty[R], !OneEighty[L]); |
| lilac0112_1 | 7:c418a0d929b1 | 83 | //EXdata[0] = 3;//~mt; |
| lilac0112_1 | 7:c418a0d929b1 | 84 | LED = INdata[0];//~mt;//~mt;//EXdata[0]| servo_mbed.getc()*4; |
| lilac0112_1 | 7:c418a0d929b1 | 85 | |
| lilac0112_1 | 7:c418a0d929b1 | 86 | //servo_mbed.putc(~mt); |
| lilac0112_1 | 7:c418a0d929b1 | 87 | //pc.printf("%5d, %f\n", Holder, TurnSpeed.read()); |
| lilac0112_1 | 7:c418a0d929b1 | 88 | |
| lilac0112_1 | 7:c418a0d929b1 | 89 | if((GetBit(INdata[0], 1)==OFF)&&(Interrupt==OFF)) StopCatching(); |
| lilac0112_1 | 1:006debaed874 | 90 | |
| lilac0112_1 | 4:1102ab499430 | 91 | if(GetBit(INdata[0], 2)==OFF) StopLeaving();//停止 |
| lilac0112_1 | 1:006debaed874 | 92 | |
| lilac0112_1 | 4:1102ab499430 | 93 | if((GetBit(INdata[0], 1)+GetBit(INdata[0], 2))==1){//同時押し防止 |
| lilac0112_1 | 7:c418a0d929b1 | 94 | 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 | 95 | 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 | 96 | StopCatching();//停止 |
| lilac0112_1 | 1:006debaed874 | 97 | Touch.detach();//ワンショットタイマー停止 |
| lilac0112_1 | 7:c418a0d929b1 | 98 | Interrupt=OFF; |
| lilac0112_1 | 4:1102ab499430 | 99 | Hand[R][Open] = GetBit(INdata[0], 2)&&OneEighty[R]; |
| lilac0112_1 | 4:1102ab499430 | 100 | Hand[L][Open] = GetBit(INdata[0], 2)&&OneEighty[L]; |
| lilac0112_1 | 1:006debaed874 | 101 | } |
| lilac0112_1 | 1:006debaed874 | 102 | } |
| lilac0112_1 | 1:006debaed874 | 103 | |
| lilac0112_1 | 1:006debaed874 | 104 | 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 | 105 | StopCatching();//停止 |
| lilac0112_1 | 1:006debaed874 | 106 | Touch.detach();//ワンショットタイマー停止 |
| lilac0112_1 | 7:c418a0d929b1 | 107 | Interrupt=OFF; |
| lilac0112_1 | 1:006debaed874 | 108 | } |
| lilac0112_1 | 1:006debaed874 | 109 | |
| lilac0112_1 | 2:eb1c123c9140 | 110 | if(!OneEighty[R]) Hand[R][Open]=OFF; |
| lilac0112_1 | 2:eb1c123c9140 | 111 | if(!OneEighty[L]) Hand[L][Open]=OFF; |
| lilac0112_1 | 7:c418a0d929b1 | 112 | |
| lilac0112_1 | 7:c418a0d929b1 | 113 | if(!HandSW[R]) Hand[R][Close]=OFF; |
| lilac0112_1 | 7:c418a0d929b1 | 114 | if(!HandSW[L]) Hand[L][Close]=OFF; |
| lilac0112_1 | 2:eb1c123c9140 | 115 | |
| lilac0112_1 | 7:c418a0d929b1 | 116 | if(HandSW[R].count() > 0){ |
| lilac0112_1 | 7:c418a0d929b1 | 117 | RightCatch(); |
| lilac0112_1 | 7:c418a0d929b1 | 118 | } |
| lilac0112_1 | 7:c418a0d929b1 | 119 | if(HandSW[L].count() > 0){ |
| lilac0112_1 | 7:c418a0d929b1 | 120 | LeftCatch(); |
| lilac0112_1 | 7:c418a0d929b1 | 121 | } |
| lilac0112_1 | 7:c418a0d929b1 | 122 | if(HandSW[C].count() > 0){ |
| lilac0112_1 | 7:c418a0d929b1 | 123 | CenterCatch(); |
| lilac0112_1 | 7:c418a0d929b1 | 124 | } |
| lilac0112_1 | 2:eb1c123c9140 | 125 | |
| lilac0112_1 | 4:1102ab499430 | 126 | //LED = ((0x01 * !HandSW[R]) | (0x02 * !HandSW[L]) | (0x04 * !HandSW[C]) | (0x08 * ((!OneEighty[R])&&(!OneEighty[L])) )); |
| lilac0112_1 | 4:1102ab499430 | 127 | LED = INdata[0]; |
| lilac0112_1 | 2:eb1c123c9140 | 128 | |
| lilac0112_1 | 2:eb1c123c9140 | 129 | //上体回転 |
| lilac0112_1 | 2:eb1c123c9140 | 130 | |
| lilac0112_1 | 7:c418a0d929b1 | 131 | wait(TURN_ACCELERATION); |
| lilac0112_1 | 4:1102ab499430 | 132 | |
| lilac0112_1 | 7:c418a0d929b1 | 133 | Acceleration(); |
| lilac0112_1 | 7:c418a0d929b1 | 134 | |
| lilac0112_1 | 7:c418a0d929b1 | 135 | TurnSpeed.write( (float) ( (int)(100 * (TURN_REV_LIMIT*((float)(Holder)/TURN_RATIO)) ) /100.0 ) ); |
| lilac0112_1 | 2:eb1c123c9140 | 136 | |
| lilac0112_1 | 4:1102ab499430 | 137 | if((GetBit(INdata[0], 3)+GetBit(INdata[0], 4)==1)&&(TurnSpeed==0)){//同時押し防止 |
| lilac0112_1 | 4:1102ab499430 | 138 | |
| lilac0112_1 | 4:1102ab499430 | 139 | 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 | 140 | 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 | 141 | TURN = LinkBit(0, 0, 0, 0, 0, 0, Turn[CW], Turn[CCW]); |
| lilac0112_1 | 2:eb1c123c9140 | 142 | |
| lilac0112_1 | 2:eb1c123c9140 | 143 | } |
| lilac0112_1 | 4:1102ab499430 | 144 | if(TurnSpeed!=0){ |
| lilac0112_1 | 4:1102ab499430 | 145 | |
| lilac0112_1 | 4:1102ab499430 | 146 | Turn[CW] = GetBit(TURN, 2)&&TurnSW[N]; |
| lilac0112_1 | 4:1102ab499430 | 147 | Turn[CCW] = GetBit(TURN, 1)&&TurnSW[E]; |
| lilac0112_1 | 4:1102ab499430 | 148 | |
| lilac0112_1 | 4:1102ab499430 | 149 | } |
| lilac0112_1 | 4:1102ab499430 | 150 | if((GetBit(INdata[0], 3)+GetBit(INdata[0], 4)!=1)&&(TurnSpeed==0)){ |
| lilac0112_1 | 4:1102ab499430 | 151 | Turn[CW] = OFF; |
| lilac0112_1 | 4:1102ab499430 | 152 | Turn[CCW] = OFF; |
| lilac0112_1 | 4:1102ab499430 | 153 | } |
| lilac0112_1 | 5:c2a278842131 | 154 | |
| lilac0112_1 | 4:1102ab499430 | 155 | if(!TurnSW[N]) Turn[CW]=OFF;//リミットスイッチによる停止 |
| lilac0112_1 | 4:1102ab499430 | 156 | if(!TurnSW[E]) Turn[CCW]=OFF; |
| lilac0112_1 | 4:1102ab499430 | 157 | |
| lilac0112_1 | 4:1102ab499430 | 158 | |
| lilac0112_1 | 1:006debaed874 | 159 | } |
| lilac0112_1 | 1:006debaed874 | 160 | } |
| lilac0112_1 | 1:006debaed874 | 161 | |
| lilac0112_1 | 4:1102ab499430 | 162 | void Acceleration(void){ |
| lilac0112_1 | 4:1102ab499430 | 163 | |
| lilac0112_1 | 4:1102ab499430 | 164 | SIG = LinkBit(0, 0, 0, 0, 0, 0, GetBit(INdata[0], 3), GetBit(INdata[0], 4)); |
| lilac0112_1 | 4:1102ab499430 | 165 | IO = GetBit(INdata[0], 3)+GetBit(INdata[0], 4); |
| lilac0112_1 | 4:1102ab499430 | 166 | |
| lilac0112_1 | 7:c418a0d929b1 | 167 | if((IO==1)&&(Holder< 1e4)&&(TURN==SIG)) Holder++; |
| lilac0112_1 | 7:c418a0d929b1 | 168 | if(((IO!=1)||(TURN!=SIG))&&(0 <Holder)) Holder--; |
| lilac0112_1 | 7:c418a0d929b1 | 169 | |
| lilac0112_1 | 4:1102ab499430 | 170 | } |
| lilac0112_1 | 0:4baeb4381394 | 171 | void StopCatching(void){//停止 |
| lilac0112_1 | 0:4baeb4381394 | 172 | Hand[R][Close]=Hand[L][Close]=OFF; |
| lilac0112_1 | 7:c418a0d929b1 | 173 | if(Interrupt==ON) Interrupt=OFF; |
| lilac0112_1 | 0:4baeb4381394 | 174 | } |
| lilac0112_1 | 0:4baeb4381394 | 175 | void StopLeaving(void){//停止 |
| lilac0112_1 | 0:4baeb4381394 | 176 | Hand[R][Open]=Hand[L][Open]=OFF; |
| lilac0112_1 | 0:4baeb4381394 | 177 | } |
| lilac0112_1 | 2:eb1c123c9140 | 178 | 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 | 179 | |
| lilac0112_1 | 7:c418a0d929b1 | 180 | if(GetBit(INdata[0], 1)==true){ |
| lilac0112_1 | 7:c418a0d929b1 | 181 | Hand[R][Close]=HandSW[R]; |
| lilac0112_1 | 7:c418a0d929b1 | 182 | Hand[L][Close]=HandSW[L]; |
| lilac0112_1 | 7:c418a0d929b1 | 183 | } |
| lilac0112_1 | 7:c418a0d929b1 | 184 | |
| lilac0112_1 | 7:c418a0d929b1 | 185 | if((!HandSW[R])&&(!HandSW[L])){ |
| lilac0112_1 | 2:eb1c123c9140 | 186 | Hand[R][Close] = Hand[L][Close] = OFF; |
| lilac0112_1 | 2:eb1c123c9140 | 187 | } |
| lilac0112_1 | 2:eb1c123c9140 | 188 | else{ |
| lilac0112_1 | 2:eb1c123c9140 | 189 | |
| lilac0112_1 | 2:eb1c123c9140 | 190 | Hand[R][Close]=ON; |
| lilac0112_1 | 2:eb1c123c9140 | 191 | Hand[L][Close]=ON; |
| lilac0112_1 | 2:eb1c123c9140 | 192 | |
| lilac0112_1 | 2:eb1c123c9140 | 193 | } |
| lilac0112_1 | 2:eb1c123c9140 | 194 | |
| lilac0112_1 | 0:4baeb4381394 | 195 | } |
| lilac0112_1 | 2:eb1c123c9140 | 196 | 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 | 197 | Hand[R][Open]=OneEighty[R]; |
| lilac0112_1 | 2:eb1c123c9140 | 198 | Hand[L][Open]=OneEighty[L]; |
| lilac0112_1 | 0:4baeb4381394 | 199 | } |
| lilac0112_1 | 0:4baeb4381394 | 200 | void RightCatch(void){//右腕のリミットスイッチ |
| lilac0112_1 | 7:c418a0d929b1 | 201 | |
| lilac0112_1 | 7:c418a0d929b1 | 202 | Hand[R][Close] = OFF; |
| lilac0112_1 | 7:c418a0d929b1 | 203 | |
| lilac0112_1 | 0:4baeb4381394 | 204 | if((!HandSW[R])&&(!HandSW[L])){//どちらも押されたら停止 |
| lilac0112_1 | 0:4baeb4381394 | 205 | StopCatching();//停止 |
| lilac0112_1 | 0:4baeb4381394 | 206 | Touch.detach();//ワンショットタイマー停止 |
| lilac0112_1 | 7:c418a0d929b1 | 207 | Interrupt=OFF; |
| lilac0112_1 | 0:4baeb4381394 | 208 | } |
| lilac0112_1 | 0:4baeb4381394 | 209 | } |
| lilac0112_1 | 0:4baeb4381394 | 210 | void LeftCatch(void){//左腕のリミットスイッチ |
| lilac0112_1 | 7:c418a0d929b1 | 211 | |
| lilac0112_1 | 7:c418a0d929b1 | 212 | Hand[L][Close] = OFF; |
| lilac0112_1 | 7:c418a0d929b1 | 213 | |
| lilac0112_1 | 0:4baeb4381394 | 214 | if((!HandSW[R])&&(!HandSW[L])){//どちらも押されたら停止 |
| lilac0112_1 | 0:4baeb4381394 | 215 | StopCatching();//停止 |
| lilac0112_1 | 0:4baeb4381394 | 216 | Touch.detach();//ワンショットタイマー停止 |
| lilac0112_1 | 7:c418a0d929b1 | 217 | Interrupt=OFF; |
| lilac0112_1 | 0:4baeb4381394 | 218 | } |
| lilac0112_1 | 0:4baeb4381394 | 219 | } |
| lilac0112_1 | 0:4baeb4381394 | 220 | void CenterCatch(void){//中央のリミットスイッチ |
| lilac0112_1 | 7:c418a0d929b1 | 221 | |
| lilac0112_1 | 2:eb1c123c9140 | 222 | if((!OneEighty[R])&&(!OneEighty[L])){ |
| lilac0112_1 | 7:c418a0d929b1 | 223 | Interrupt=ON; |
| lilac0112_1 | 2:eb1c123c9140 | 224 | Touch.attach(StopCatching, TIME_LIMIT);//TIME_LIMIT[s]で停止 |
| lilac0112_1 | 2:eb1c123c9140 | 225 | StartCatching(); |
| lilac0112_1 | 2:eb1c123c9140 | 226 | } |
| lilac0112_1 | 7:c418a0d929b1 | 227 | if(GetBit(INdata[0], 1)==true){ |
| lilac0112_1 | 7:c418a0d929b1 | 228 | StartCatching(); |
| lilac0112_1 | 7:c418a0d929b1 | 229 | } |
| lilac0112_1 | 0:4baeb4381394 | 230 | } |
| lilac0112_1 | 4:1102ab499430 | 231 | uint8_t LinkBit(bool eight, bool seven, bool six, bool five, bool fore, bool three, bool two, bool one){ |
| lilac0112_1 | 4:1102ab499430 | 232 | return 0x80*eight + 0x40*seven + 0x20*six + 0x10*five + 0x08*fore + 0x04*three + 0x02*two + 0x01*one; |
| lilac0112_1 | 4:1102ab499430 | 233 | } |
| lilac0112_1 | 4:1102ab499430 | 234 | 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 | 235 | return (n>>(bit-1))%2; |
| lilac0112_1 | 4:1102ab499430 | 236 | } |
| lilac0112_1 | 1:006debaed874 | 237 | void SetUp(void){//literally |
| lilac0112_1 | 1:006debaed874 | 238 | |
| lilac0112_1 | 5:c2a278842131 | 239 | mt.mode(PullUp); |
| lilac0112_1 | 1:006debaed874 | 240 | |
| lilac0112_1 | 1:006debaed874 | 241 | HandSpeed[R] = HandSpeed[L] = ARM_REV; |
| lilac0112_1 | 7:c418a0d929b1 | 242 | //TurnSpeed = TURN_REV; |
| lilac0112_1 | 1:006debaed874 | 243 | |
| lilac0112_1 | 5:c2a278842131 | 244 | //Accelerator.attach(Acceleration, TURN_ACCELERATION); |
| lilac0112_1 | 1:006debaed874 | 245 | |
| lilac0112_1 | 7:c418a0d929b1 | 246 | //HandSW[R].mode(PullUp); |
| lilac0112_1 | 7:c418a0d929b1 | 247 | //HandSW[L].mode(PullUp); |
| lilac0112_1 | 7:c418a0d929b1 | 248 | //HandSW[C].mode(PullUp); |
| lilac0112_1 | 7:c418a0d929b1 | 249 | //HandSW[R].fall(RightCatch); |
| lilac0112_1 | 7:c418a0d929b1 | 250 | //HandSW[L].fall(LeftCatch); |
| lilac0112_1 | 7:c418a0d929b1 | 251 | //HandSW[C].fall(CenterCatch); |
| lilac0112_1 | 2:eb1c123c9140 | 252 | |
| lilac0112_1 | 2:eb1c123c9140 | 253 | OneEighty[R].mode(PullUp); |
| lilac0112_1 | 2:eb1c123c9140 | 254 | OneEighty[L].mode(PullUp); |
| lilac0112_1 | 2:eb1c123c9140 | 255 | |
| lilac0112_1 | 2:eb1c123c9140 | 256 | TurnSW[N].mode(PullUp); |
| lilac0112_1 | 2:eb1c123c9140 | 257 | TurnSW[E].mode(PullUp); |
| lilac0112_1 | 2:eb1c123c9140 | 258 | |
| lilac0112_1 | 7:c418a0d929b1 | 259 | } |
| lilac0112_1 | 7:c418a0d929b1 | 260 |