CanSat-C 2021 / Mbed 2 deprecated CanSat-C

調整中

Dependencies:   mbed HMC6352 US015 TB6612FNG2 getGPS ATP3011

MotorDriver.h@13:38c5ffe5873a, 2021-10-27 (annotated)

Committer:
user_
Date:
Wed Oct 27 06:47:49 2021 +0000
Revision:
13:38c5ffe5873a
Parent:
9:9221ef8d36a8 
test;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
user_ 6:1cda8471adc3 1 // モータを制御する関数
ushiroji 1:f6d4f374b130 2 #include "TB6612.h"
ushiroji 1:f6d4f374b130 3
ushiroji 1:f6d4f374b130 4 TB6612 motor_a(D10,D6,D7); //モータA制御用(pwma,ain1,ain2)
ushiroji 1:f6d4f374b130 5 TB6612 motor_b(D11,D8,D9); //モータB制御用(pwmb,bin1,bin2)
user_ 9:9221ef8d36a8 6 //Serial pc(USBTX, USBRX);
ushiroji 1:f6d4f374b130 7
ushiroji 1:f6d4f374b130 8 void MotorDriver(char input_data, float motor_speed) {
ushiroji 1:f6d4f374b130 9 switch (input_data) {
ushiroji 1:f6d4f374b130 10 case '1': // 停止
ushiroji 1:f6d4f374b130 11 motor_a = 0;
ushiroji 1:f6d4f374b130 12 motor_b = 0;
ushiroji 1:f6d4f374b130 13 break;
ushiroji 1:f6d4f374b130 14 case '2': // 前進
ushiroji 1:f6d4f374b130 15 motor_a = motor_speed;
ushiroji 1:f6d4f374b130 16 motor_b = motor_speed;
ushiroji 1:f6d4f374b130 17 break;
ushiroji 1:f6d4f374b130 18 case '3': // 後退
ushiroji 1:f6d4f374b130 19 motor_a = -motor_speed;
ushiroji 1:f6d4f374b130 20 motor_b = -motor_speed;
ushiroji 1:f6d4f374b130 21 break;
ushiroji 1:f6d4f374b130 22 case '4': // 時計回りに回転
ushiroji 1:f6d4f374b130 23 motor_a = motor_speed;
ushiroji 1:f6d4f374b130 24 motor_b = -motor_speed;
ushiroji 1:f6d4f374b130 25 break;
ushiroji 1:f6d4f374b130 26 case '5': // 反時計回りに回転
ushiroji 1:f6d4f374b130 27 motor_a = -motor_speed;
ushiroji 1:f6d4f374b130 28 motor_b = motor_speed;
ushiroji 1:f6d4f374b130 29 break;
ushiroji 1:f6d4f374b130 30 case '6': // Aのみ正転
ushiroji 1:f6d4f374b130 31 motor_a = motor_speed;
ushiroji 1:f6d4f374b130 32 break;
ushiroji 1:f6d4f374b130 33 case '7': // Bのみ正転
ushiroji 1:f6d4f374b130 34 motor_b = motor_speed;
ushiroji 1:f6d4f374b130 35 break;
ushiroji 1:f6d4f374b130 36 case '8': // Aのみ逆転
ushiroji 1:f6d4f374b130 37 motor_a = -motor_speed;
ushiroji 1:f6d4f374b130 38 break;
ushiroji 1:f6d4f374b130 39 case '9': // Bのみ逆転
ushiroji 1:f6d4f374b130 40 motor_b = -motor_speed;
ushiroji 1:f6d4f374b130 41 break;
ushiroji 1:f6d4f374b130 42 default:
ushiroji 1:f6d4f374b130 43 // エラーメッセージを返す
ushiroji 1:f6d4f374b130 44 break;
ushiroji 1:f6d4f374b130 45 }
ushiroji 1:f6d4f374b130 46 pc.printf("%d", input_data);
ushiroji 1:f6d4f374b130 47 }