CanSat-C 2021 / Mbed 2 deprecated MoveTest-Function_ver

移動系の統合試験用プログラムです。

Dependencies:   mbed TB6612FNG HMC6352 getGPS

Move.h@5:9f9cf3912fda, 2021-10-27 (annotated)

Committer:
ushiroji
Date:
Wed Oct 27 12:26:48 2021 +0000
Revision:
5:9f9cf3912fda
Parent:
4:135619de1646 
test

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ushiroji 2:0c73afb20925 1 #include "TB6612.h"
ushiroji 2:0c73afb20925 2
ushiroji 2:0c73afb20925 3 TB6612 motor_a(D10,D6,D7); //モータA制御用(pwma,ain1,ain2)
ushiroji 2:0c73afb20925 4 TB6612 motor_b(D11,D8,D9); //モータB制御用(pwmb,bin1,bin2)
ushiroji 2:0c73afb20925 5
ushiroji 2:0c73afb20925 6 void Move(char input_data, float motor_speed) {
ushiroji 2:0c73afb20925 7 switch (input_data) {
ushiroji 2:0c73afb20925 8 case '1': // 停止
ushiroji 2:0c73afb20925 9 motor_a = 0;
ushiroji 2:0c73afb20925 10 motor_b = 0;
ushiroji 2:0c73afb20925 11 break;
ushiroji 2:0c73afb20925 12 case '2': // 前進
ushiroji 2:0c73afb20925 13 motor_a = motor_speed;
ushiroji 2:0c73afb20925 14 motor_b = motor_speed;
ushiroji 2:0c73afb20925 15 break;
ushiroji 2:0c73afb20925 16 case '3': // 後退
ushiroji 2:0c73afb20925 17 motor_a = -motor_speed;
ushiroji 2:0c73afb20925 18 motor_b = -motor_speed;
ushiroji 2:0c73afb20925 19 break;
ushiroji 2:0c73afb20925 20 case '4': // 時計回りに回転
ushiroji 2:0c73afb20925 21 motor_a = motor_speed;
ushiroji 2:0c73afb20925 22 motor_b = -motor_speed;
ushiroji 2:0c73afb20925 23 break;
ushiroji 2:0c73afb20925 24 case '5': // 反時計回りに回転
ushiroji 2:0c73afb20925 25 motor_a = -motor_speed;
ushiroji 2:0c73afb20925 26 motor_b = motor_speed;
ushiroji 2:0c73afb20925 27 break;
ushiroji 2:0c73afb20925 28 case '6': // Aのみ正転
ushiroji 2:0c73afb20925 29 motor_a = motor_speed;
ushiroji 2:0c73afb20925 30 break;
ushiroji 2:0c73afb20925 31 case '7': // Bのみ正転
ushiroji 2:0c73afb20925 32 motor_b = motor_speed;
ushiroji 2:0c73afb20925 33 break;
ushiroji 2:0c73afb20925 34 case '8': // Aのみ逆転
ushiroji 2:0c73afb20925 35 motor_a = -motor_speed;
ushiroji 2:0c73afb20925 36 break;
ushiroji 2:0c73afb20925 37 case '9': // Bのみ逆転
ushiroji 2:0c73afb20925 38 motor_b = -motor_speed;
ushiroji 2:0c73afb20925 39 break;
ushiroji 2:0c73afb20925 40 }
ushiroji 4:135619de1646 41 pc.printf("input_data=%d\r\n", input_data);
ushiroji 2:0c73afb20925 42 }