CanSat-C 2021
回避用のプログラムです。
Dependencies: mbed TB6612FNG US015
Revision 0:92fbe3130656, committed 2021-10-21
- Comitter:
- ushiroji
- Date:
- Thu Oct 21 12:10:23 2021 +0000
- Commit message:
- test;
Changed in this revision
diff -r 000000000000 -r 92fbe3130656 FrontGet.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/FrontGet.h Thu Oct 21 12:10:23 2021 +0000
@@ -0,0 +1,15 @@
+#include "us015.h"
+
+US015 hs(D2, D3);
+DigitalOut Ultra(D2);
+Serial pc(USBTX,USBRX);
+
+int FrontGet() {
+ Ultra = 1; //超音波on
+ hs.TrigerOut();
+ wait(1);
+ distance = hs.GetDistance();
+ pc.printf("distance=%d\r\n", distance); //距離出力
+ Ultra=0;//超音波off
+ return distance;
+}
\ No newline at end of file
diff -r 000000000000 -r 92fbe3130656 Move.h
--- /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
diff -r 000000000000 -r 92fbe3130656 TB6612FNG.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/TB6612FNG.lib Thu Oct 21 12:10:23 2021 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/jksoft/code/TB6612FNG/#95d5e9ee8c15
diff -r 000000000000 -r 92fbe3130656 US015.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/US015.lib Thu Oct 21 12:10:23 2021 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/firlight1034/code/US015/#d377daf497e2
diff -r 000000000000 -r 92fbe3130656 main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Thu Oct 21 12:10:23 2021 +0000
@@ -0,0 +1,18 @@
+#include "mbed.h"
+#include "Move.h"
+
+int main()
+{
+ int distance;
+ while(1) {
+ if(distance <= 200) {
+ MotorDriver(4, 0.5);
+ pc.printf("alart");
+ }
+ else {
+ MotorDriver(2, 1);
+ pc.printf("Start Move");
+ break;
+ }
+ }
+}
\ No newline at end of file
diff -r 000000000000 -r 92fbe3130656 mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Thu Oct 21 12:10:23 2021 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400 \ No newline at end of file