Bチーム
/
Head_fur-seal
受け取り 外装動かし用
main.cpp@2:f20c880d251b, 2014-10-06 (annotated)
- Committer:
- lilac0112_1
- Date:
- Mon Oct 06 11:49:19 2014 +0000
- Revision:
- 2:f20c880d251b
- Parent:
- 1:703f56f14ee2
IO???????????
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
shiyuu | 0:5b2b8466d9fe | 1 | #include "mbed.h" |
shiyuu | 0:5b2b8466d9fe | 2 | #include "Servo.h" |
shiyuu | 0:5b2b8466d9fe | 3 | |
shiyuu | 0:5b2b8466d9fe | 4 | Servo Head(p21); |
shiyuu | 1:703f56f14ee2 | 5 | Servo Ball(p22); |
shiyuu | 0:5b2b8466d9fe | 6 | BusOut myled(LED4,LED3,LED2,LED1); |
shiyuu | 0:5b2b8466d9fe | 7 | |
lilac0112_1 | 2:f20c880d251b | 8 | //Serial TMsan(p9,p10); |
lilac0112_1 | 2:f20c880d251b | 9 | BusIn arm_mbed[2]={p9, p10}; //IO通信に対応させるよ |
shiyuu | 1:703f56f14ee2 | 10 | Serial pc(USBTX,USBRX); |
shiyuu | 1:703f56f14ee2 | 11 | //InterruptIn wedge(p5); |
shiyuu | 1:703f56f14ee2 | 12 | |
shiyuu | 1:703f56f14ee2 | 13 | void f_led(){ |
lilac0112_1 | 2:f20c880d251b | 14 | //myled=TMsan.getc(); //割り込み用関数の宣言 |
shiyuu | 1:703f56f14ee2 | 15 | } |
shiyuu | 1:703f56f14ee2 | 16 | |
shiyuu | 1:703f56f14ee2 | 17 | void Setup (void){ |
lilac0112_1 | 2:f20c880d251b | 18 | //uint8_t i=1; |
lilac0112_1 | 2:f20c880d251b | 19 | //i=TMsan.getc(); //せっとうっぷ |
shiyuu | 1:703f56f14ee2 | 20 | } |
shiyuu | 0:5b2b8466d9fe | 21 | |
shiyuu | 0:5b2b8466d9fe | 22 | int main() { |
shiyuu | 0:5b2b8466d9fe | 23 | |
lilac0112_1 | 2:f20c880d251b | 24 | //Setup(); |
lilac0112_1 | 2:f20c880d251b | 25 | |
lilac0112_1 | 2:f20c880d251b | 26 | wait(1); |
lilac0112_1 | 2:f20c880d251b | 27 | |
lilac0112_1 | 2:f20c880d251b | 28 | arm_mbed[0].mode(PullUp); |
lilac0112_1 | 2:f20c880d251b | 29 | arm_mbed[1].mode(PullUp); |
shiyuu | 1:703f56f14ee2 | 30 | |
shiyuu | 0:5b2b8466d9fe | 31 | /* 宣言 */ |
lilac0112_1 | 2:f20c880d251b | 32 | int i,kk;//,redata =0; //主に使うカウンターと、首カックンチョ・カウンター,高松さんレシーブ用 |
shiyuu | 0:5b2b8466d9fe | 33 | |
shiyuu | 0:5b2b8466d9fe | 34 | /*redata=TMsan.getc(); |
shiyuu | 0:5b2b8466d9fe | 35 | myled=redata;*/ |
lilac0112_1 | 2:f20c880d251b | 36 | myled=0; |
shiyuu | 0:5b2b8466d9fe | 37 | /* データ来るまで出れまテン */ |
shiyuu | 0:5b2b8466d9fe | 38 | while(1){ |
lilac0112_1 | 2:f20c880d251b | 39 | //TMsan.getc(); //高松さんからのデータを受信 |
lilac0112_1 | 2:f20c880d251b | 40 | myled = arm_mbed[0]; |
lilac0112_1 | 2:f20c880d251b | 41 | //pc.printf("%d\n",myled.read()); |
lilac0112_1 | 2:f20c880d251b | 42 | if(/*redata>0*/arm_mbed[0]){//どちらか押されたらループを抜けるよ |
shiyuu | 0:5b2b8466d9fe | 43 | break; |
shiyuu | 0:5b2b8466d9fe | 44 | } |
shiyuu | 0:5b2b8466d9fe | 45 | } |
lilac0112_1 | 2:f20c880d251b | 46 | myled=15;//ループから脱出 |
lilac0112_1 | 2:f20c880d251b | 47 | //pc.printf("%d\n",redata); |
shiyuu | 1:703f56f14ee2 | 48 | |
shiyuu | 1:703f56f14ee2 | 49 | |
shiyuu | 1:703f56f14ee2 | 50 | |
lilac0112_1 | 2:f20c880d251b | 51 | //TMsan.attach(&f_led,Serial::RxIrq); //割り込み用関数( LEDを光らす用 ) |
shiyuu | 0:5b2b8466d9fe | 52 | |
shiyuu | 0:5b2b8466d9fe | 53 | //myled=1; |
shiyuu | 0:5b2b8466d9fe | 54 | |
shiyuu | 0:5b2b8466d9fe | 55 | Ball.calibrate(0.0021,45.0);//ぶっ壊れサーボを、まわれ回れし続ける |
shiyuu | 0:5b2b8466d9fe | 56 | Ball=1.0; |
shiyuu | 0:5b2b8466d9fe | 57 | |
shiyuu | 0:5b2b8466d9fe | 58 | Head.position(0.3); |
shiyuu | 0:5b2b8466d9fe | 59 | Head.calibrate(0.0004,40.0);//正常なほうのサーボ (範囲,角度) |
shiyuu | 0:5b2b8466d9fe | 60 | |
shiyuu | 0:5b2b8466d9fe | 61 | while(1) { |
shiyuu | 1:703f56f14ee2 | 62 | //redata=TMsan.getc();// 確認 |
shiyuu | 1:703f56f14ee2 | 63 | //myled=redata; |
shiyuu | 0:5b2b8466d9fe | 64 | |
shiyuu | 0:5b2b8466d9fe | 65 | for(i=0;i<100;i++){ |
shiyuu | 0:5b2b8466d9fe | 66 | Head=i/100.0; |
shiyuu | 0:5b2b8466d9fe | 67 | wait(0.01); |
shiyuu | 0:5b2b8466d9fe | 68 | } |
shiyuu | 0:5b2b8466d9fe | 69 | |
shiyuu | 0:5b2b8466d9fe | 70 | for(kk=1;kk<=5;kk++){ //首をカックンチョするためのやつ |
shiyuu | 0:5b2b8466d9fe | 71 | |
shiyuu | 0:5b2b8466d9fe | 72 | for(i=100;i>80;i--){ |
shiyuu | 0:5b2b8466d9fe | 73 | Head=i/100.0; // --- 往路 --- |
shiyuu | 0:5b2b8466d9fe | 74 | wait(0.01); |
shiyuu | 0:5b2b8466d9fe | 75 | } |
shiyuu | 0:5b2b8466d9fe | 76 | |
shiyuu | 0:5b2b8466d9fe | 77 | //wait (0.5); |
shiyuu | 0:5b2b8466d9fe | 78 | |
shiyuu | 0:5b2b8466d9fe | 79 | for(i=80;i<100;i++){ // --- 復路 --- |
shiyuu | 0:5b2b8466d9fe | 80 | Head=i/100.0; |
shiyuu | 0:5b2b8466d9fe | 81 | wait(0.01); |
shiyuu | 0:5b2b8466d9fe | 82 | } |
shiyuu | 0:5b2b8466d9fe | 83 | |
shiyuu | 0:5b2b8466d9fe | 84 | } //カックンチョend |
shiyuu | 0:5b2b8466d9fe | 85 | |
shiyuu | 0:5b2b8466d9fe | 86 | for(i=100;i>0;i--){ |
shiyuu | 0:5b2b8466d9fe | 87 | Head=i/100.0; |
shiyuu | 0:5b2b8466d9fe | 88 | wait(0.01); |
shiyuu | 0:5b2b8466d9fe | 89 | } |
shiyuu | 1:703f56f14ee2 | 90 | |
shiyuu | 0:5b2b8466d9fe | 91 | |
shiyuu | 0:5b2b8466d9fe | 92 | }//while |
shiyuu | 0:5b2b8466d9fe | 93 | }//main |