回避用のプログラムです。
Dependencies: mbed TB6612FNG US015
Diff: Move.h
- Revision:
- 0:92fbe3130656
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Move.h Thu Oct 21 12:10:23 2021 +0000 @@ -0,0 +1,46 @@ +#include "TB6612.h" + +TB6612 motor_a(D10,D6,D7); //モータA制御用(pwma,ain1,ain2) +TB6612 motor_b(D11,D8,D9); //モータB制御用(pwmb,bin1,bin2) +Serial pc(USBTX, USBRX); + +void MotorDriver(char input_data, float motor_speed) { + switch (input_data) { + case '1': // 停止 + motor_a = 0; + motor_b = 0; + break; + case '2': // 前進 + motor_a = motor_speed; + motor_b = motor_speed; + break; + case '3': // 後退 + motor_a = -motor_speed; + motor_b = -motor_speed; + break; + case '4': // 時計回りに回転 + motor_a = motor_speed; + motor_b = -motor_speed; + break; + case '5': // 反時計回りに回転 + motor_a = -motor_speed; + motor_b = motor_speed; + break; + case '6': // Aのみ正転 + motor_a = motor_speed; + break; + case '7': // Bのみ正転 + motor_b = motor_speed; + break; + case '8': // Aのみ逆転 + motor_a = -motor_speed; + break; + case '9': // Bのみ逆転 + motor_b = -motor_speed; + break; + default: + // エラーメッセージを返す + break; + } + pc.printf("%d", input_data); +} \ No newline at end of file