![](/media/cache/group/default_image.jpg.50x50_q85.jpg)
修正済みby皆川
Dependencies: mbed Servo cansat_integrated_2 BMP180
Dependents: cansat_integrated_2
Diff: Movement.h
- Revision:
- 1:bb89b58cfa0e
- Parent:
- 0:e7b7def631c2
- Child:
- 2:d2cb6b50a8c4
--- a/Movement.h Thu Oct 21 01:58:35 2021 +0000 +++ b/Movement.h Wed Oct 27 19:11:01 2021 +0000 @@ -1,66 +1,85 @@ #include "mbed.h" #include "Servo.h" -class Movement -{ -private: +Servo servo1(D7); +Servo servo2(A3); +Servo servo3(A1); +Servo servo4(D12); +Servo servo5(D10); +Servo servo6(A5); - -public: +class Movement{ + + public: //停止 - void stop() - { - myservo1 = 0.5; - myservo2 = 0.5; - myservo3 = 0.5; - myservo4 = 0.5; - myservo5 = 0.5; - myservo6 = 0.5; + 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() + void move_forward(int time = 20) { - myservo1 = 0; - myservo2 = 0; - myservo3 = 0; - myservo4 = 0; - myservo5 = 0; - myservo6 = 0; + servo1 = 0; + servo2 = 0; + servo3 = 0; + servo4 = 0; + servo5 = 0; + servo6 = 0; + wait(time); } //後退 void move_backward() { - myservo1 = 1; - myservo2 = 1; - myservo3 = 1; - myservo4 = 1; - myservo5 = 1; - myservo6 = 1; + servo1 = 1; + servo2 = 1; + servo3 = 1; + servo4 = 1; + servo5 = 1; + servo6 = 1; + wait(5); } //右に曲がる - void turn_right() + void turn_right(int theta = 15) { - myservo1 = 1; - myservo2 = 1; - myservo3 = 1; - myservo4 = 0; - myservo5 = 0; - myservo6 = 0; + servo1 = 1; + servo2 = 1; + servo3 = 1; + servo4 = 0; + servo5 = 0; + servo6 = 0; + wait(theta/15); } //左に曲がる - void turn_left() + void turn_left(int theta = 15) { - myservo1 = 0; - myservo2 = 0; - myservo3 = 0; - myservo4 = 1; - myservo5 = 1; - myservo6 = 1; + 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(); + } }; \ No newline at end of file