統合プログラム
Dependencies: mbed Servo BMP180
Movement.h
- Committer:
- tsubasa_nakajima
- Date:
- 2021-10-27
- Revision:
- 1:bb89b58cfa0e
- Parent:
- 0:e7b7def631c2
- Child:
- 2:d2cb6b50a8c4
File content as of revision 1:bb89b58cfa0e:
#include "mbed.h" #include "Servo.h" Servo servo1(D7); Servo servo2(A3); Servo servo3(A1); Servo servo4(D12); Servo servo5(D10); Servo servo6(A5); class Movement{ public: //停止 void stop(){ servo1 = 0.5; servo2 = 0.5; servo3 = 0.5; servo4 = 0.5; servo5 = 0.5; servo6 = 0.5; wait(1); } //前進 void move_forward(int time = 20) { servo1 = 0; servo2 = 0; servo3 = 0; servo4 = 0; servo5 = 0; servo6 = 0; wait(time); } //後退 void move_backward() { servo1 = 1; servo2 = 1; servo3 = 1; servo4 = 1; servo5 = 1; servo6 = 1; wait(5); } //右に曲がる void turn_right(int theta = 15) { servo1 = 1; servo2 = 1; servo3 = 1; servo4 = 0; servo5 = 0; servo6 = 0; wait(theta/15); } //左に曲がる void turn_left(int theta = 15) { servo1 = 0; servo2 = 0; servo3 = 0; servo4 = 1; servo5 = 1; servo6 = 1; wait(theta/15); } //倒れているときの処理 void wakeup(int time) { int i; for(i=1;i<=time;i++) { move_forward(5); move_backward(); turn_right(); turn_left(); } };