CansatB_2021 / Mbed 2 deprecated cansat_integrated_2

修正済みby皆川

Dependencies:   mbed Servo cansat_integrated_2 BMP180

Dependents:   cansat_integrated_2

Movement.h@1:bb89b58cfa0e, 2021-10-27 (annotated)

Committer:
tsubasa_nakajima
Date:
Wed Oct 27 19:11:01 2021 +0000
Revision:
1:bb89b58cfa0e
Parent:
0:e7b7def631c2
Child:
2:d2cb6b50a8c4
almost complete

Who changed what in which revision?

UserRevisionLine numberNew contents of line
minanao 0:e7b7def631c2 1 #include "mbed.h"
minanao 0:e7b7def631c2 2 #include "Servo.h"
minanao 0:e7b7def631c2 3
tsubasa_nakajima 1:bb89b58cfa0e 4 Servo servo1(D7);
tsubasa_nakajima 1:bb89b58cfa0e 5 Servo servo2(A3);
tsubasa_nakajima 1:bb89b58cfa0e 6 Servo servo3(A1);
tsubasa_nakajima 1:bb89b58cfa0e 7 Servo servo4(D12);
tsubasa_nakajima 1:bb89b58cfa0e 8 Servo servo5(D10);
tsubasa_nakajima 1:bb89b58cfa0e 9 Servo servo6(A5);
minanao 0:e7b7def631c2 10
tsubasa_nakajima 1:bb89b58cfa0e 11 class Movement{
tsubasa_nakajima 1:bb89b58cfa0e 12
tsubasa_nakajima 1:bb89b58cfa0e 13 public:
minanao 0:e7b7def631c2 14
minanao 0:e7b7def631c2 15 //停止
tsubasa_nakajima 1:bb89b58cfa0e 16 void stop(){
tsubasa_nakajima 1:bb89b58cfa0e 17 servo1 = 0.5;
tsubasa_nakajima 1:bb89b58cfa0e 18 servo2 = 0.5;
tsubasa_nakajima 1:bb89b58cfa0e 19 servo3 = 0.5;
tsubasa_nakajima 1:bb89b58cfa0e 20 servo4 = 0.5;
tsubasa_nakajima 1:bb89b58cfa0e 21 servo5 = 0.5;
tsubasa_nakajima 1:bb89b58cfa0e 22 servo6 = 0.5;
tsubasa_nakajima 1:bb89b58cfa0e 23 wait(1);
minanao 0:e7b7def631c2 24 }
minanao 0:e7b7def631c2 25
minanao 0:e7b7def631c2 26 //前進
tsubasa_nakajima 1:bb89b58cfa0e 27 void move_forward(int time = 20)
minanao 0:e7b7def631c2 28 {
tsubasa_nakajima 1:bb89b58cfa0e 29 servo1 = 0;
tsubasa_nakajima 1:bb89b58cfa0e 30 servo2 = 0;
tsubasa_nakajima 1:bb89b58cfa0e 31 servo3 = 0;
tsubasa_nakajima 1:bb89b58cfa0e 32 servo4 = 0;
tsubasa_nakajima 1:bb89b58cfa0e 33 servo5 = 0;
tsubasa_nakajima 1:bb89b58cfa0e 34 servo6 = 0;
tsubasa_nakajima 1:bb89b58cfa0e 35 wait(time);
minanao 0:e7b7def631c2 36 }
minanao 0:e7b7def631c2 37
minanao 0:e7b7def631c2 38 //後退
minanao 0:e7b7def631c2 39 void move_backward()
minanao 0:e7b7def631c2 40 {
tsubasa_nakajima 1:bb89b58cfa0e 41 servo1 = 1;
tsubasa_nakajima 1:bb89b58cfa0e 42 servo2 = 1;
tsubasa_nakajima 1:bb89b58cfa0e 43 servo3 = 1;
tsubasa_nakajima 1:bb89b58cfa0e 44 servo4 = 1;
tsubasa_nakajima 1:bb89b58cfa0e 45 servo5 = 1;
tsubasa_nakajima 1:bb89b58cfa0e 46 servo6 = 1;
tsubasa_nakajima 1:bb89b58cfa0e 47 wait(5);
minanao 0:e7b7def631c2 48 }
minanao 0:e7b7def631c2 49
minanao 0:e7b7def631c2 50 //右に曲がる
tsubasa_nakajima 1:bb89b58cfa0e 51 void turn_right(int theta = 15)
minanao 0:e7b7def631c2 52 {
tsubasa_nakajima 1:bb89b58cfa0e 53 servo1 = 1;
tsubasa_nakajima 1:bb89b58cfa0e 54 servo2 = 1;
tsubasa_nakajima 1:bb89b58cfa0e 55 servo3 = 1;
tsubasa_nakajima 1:bb89b58cfa0e 56 servo4 = 0;
tsubasa_nakajima 1:bb89b58cfa0e 57 servo5 = 0;
tsubasa_nakajima 1:bb89b58cfa0e 58 servo6 = 0;
tsubasa_nakajima 1:bb89b58cfa0e 59 wait(theta/15);
minanao 0:e7b7def631c2 60 }
minanao 0:e7b7def631c2 61
minanao 0:e7b7def631c2 62 //左に曲がる
tsubasa_nakajima 1:bb89b58cfa0e 63 void turn_left(int theta = 15)
minanao 0:e7b7def631c2 64 {
tsubasa_nakajima 1:bb89b58cfa0e 65 servo1 = 0;
tsubasa_nakajima 1:bb89b58cfa0e 66 servo2 = 0;
tsubasa_nakajima 1:bb89b58cfa0e 67 servo3 = 0;
tsubasa_nakajima 1:bb89b58cfa0e 68 servo4 = 1;
tsubasa_nakajima 1:bb89b58cfa0e 69 servo5 = 1;
tsubasa_nakajima 1:bb89b58cfa0e 70 servo6 = 1;
tsubasa_nakajima 1:bb89b58cfa0e 71 wait(theta/15);
minanao 0:e7b7def631c2 72 }
minanao 0:e7b7def631c2 73
tsubasa_nakajima 1:bb89b58cfa0e 74 //倒れているときの処理
tsubasa_nakajima 1:bb89b58cfa0e 75 void wakeup(int time)
tsubasa_nakajima 1:bb89b58cfa0e 76 {
tsubasa_nakajima 1:bb89b58cfa0e 77 int i;
tsubasa_nakajima 1:bb89b58cfa0e 78 for(i=1;i<=time;i++)
tsubasa_nakajima 1:bb89b58cfa0e 79 {
tsubasa_nakajima 1:bb89b58cfa0e 80 move_forward(5);
tsubasa_nakajima 1:bb89b58cfa0e 81 move_backward();
tsubasa_nakajima 1:bb89b58cfa0e 82 turn_right();
tsubasa_nakajima 1:bb89b58cfa0e 83 turn_left();
tsubasa_nakajima 1:bb89b58cfa0e 84 }
minanao 0:e7b7def631c2 85 };