修正済みby皆川
Dependencies: mbed Servo cansat_integrated_2 BMP180
Dependents: cansat_integrated_2
Movement.cpp
- Committer:
- tsubasa_nakajima
- Date:
- 2021-11-05
- Revision:
- 11:8d21db3e64f5
- Parent:
- 8:7209c810309d
- Child:
- 12:79946f960100
File content as of revision 11:8d21db3e64f5:
#include "mbed.h" #include "Servo.h" #include "Movement.h" Servo servo1(D7); Servo servo2(A3); Servo servo3(A1); Servo servo4(D12); Servo servo5(D10); Servo servo6(A5); void Movement::stop(){ servo1 = 0.5; servo2 = 0.5; servo3 = 0.5; servo4 = 0.5; servo5 = 0.5; servo6 = 0.5; wait(1); } //前進 void Movement::move_forward(int time = 20) { servo1 = 0; servo2 = 0; servo3 = 0; servo4 = 0; servo5 = 0; servo6 = 0; wait(time); } //後退 void Movement::move_backward() { servo1 = 1; servo2 = 1; servo3 = 1; servo4 = 1; servo5 = 1; servo6 = 1; wait(5); } //右に曲がる void Movement::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 Movement::turn_left(int theta = 15) { servo1 = 0; servo2 = 0; servo3 = 0; servo4 = 1; servo5 = 1; servo6 = 1; wait(abs(theta)/15); } //倒れているときの処理 void Movement::wakeup(int time){ for(int i=1;i<=time;i++) { move_forward(5); move_backward(); turn_right(); turn_left(); } }