CansatB_2021 / Mbed 2 deprecated gilatina_6legs_test

６足歩行試験用プログラム Movement のdefine の値を変えると方向変換

Dependencies:   mbed Servo

Movement.cpp@0:6b57aea7ad9b, 2021-12-06 (annotated)

Committer:
minanao
Date:
Mon Dec 06 08:54:49 2021 +0000
Revision:
0:6b57aea7ad9b
6legs_test

Who changed what in which revision?

UserRevisionLine numberNew contents of line
minanao 0:6b57aea7ad9b 1 #include "mbed.h"
minanao 0:6b57aea7ad9b 2 #include "Servo.h"
minanao 0:6b57aea7ad9b 3 #include "Movement.h"
minanao 0:6b57aea7ad9b 4
minanao 0:6b57aea7ad9b 5 //上から順にservo1.2.3.4.5.6の基準値　これを変えればすべての値が変わる
minanao 0:6b57aea7ad9b 6 #define S1 1.0
minanao 0:6b57aea7ad9b 7 #define S2 1.0
minanao 0:6b57aea7ad9b 8 #define S3 1.0
minanao 0:6b57aea7ad9b 9 #define S4 1.0
minanao 0:6b57aea7ad9b 10 #define S5 1.0
minanao 0:6b57aea7ad9b 11 #define S6 1.0
minanao 0:6b57aea7ad9b 12
minanao 0:6b57aea7ad9b 13
minanao 0:6b57aea7ad9b 14 //前と後ろ
minanao 0:6b57aea7ad9b 15 Servo servo1(D7);
minanao 0:6b57aea7ad9b 16 Servo servo3(A1);
minanao 0:6b57aea7ad9b 17 Servo servo4(D12);
minanao 0:6b57aea7ad9b 18 Servo servo6(A5);
minanao 0:6b57aea7ad9b 19
minanao 0:6b57aea7ad9b 20 //新しく取り付けるもの
minanao 0:6b57aea7ad9b 21 Servo servo2(A3);
minanao 0:6b57aea7ad9b 22 Servo servo5(D10);
minanao 0:6b57aea7ad9b 23
minanao 0:6b57aea7ad9b 24 void Movement::stop(){
minanao 0:6b57aea7ad9b 25 servo1 = S1/2;
minanao 0:6b57aea7ad9b 26 servo3 = S3/2;
minanao 0:6b57aea7ad9b 27 servo4 = S4/2;
minanao 0:6b57aea7ad9b 28 servo6 = S6/2;
minanao 0:6b57aea7ad9b 29
minanao 0:6b57aea7ad9b 30 //
minanao 0:6b57aea7ad9b 31 servo2 = S2/2;
minanao 0:6b57aea7ad9b 32 servo5 = S5/2;
minanao 0:6b57aea7ad9b 33 wait(1);
minanao 0:6b57aea7ad9b 34 }
minanao 0:6b57aea7ad9b 35
minanao 0:6b57aea7ad9b 36 //前進
minanao 0:6b57aea7ad9b 37 void Movement::move_forward(int time = 20)
minanao 0:6b57aea7ad9b 38 {
minanao 0:6b57aea7ad9b 39 servo1 = 0;
minanao 0:6b57aea7ad9b 40 servo2 = 0;
minanao 0:6b57aea7ad9b 41 servo3 = 0;
minanao 0:6b57aea7ad9b 42 servo4 = 0;
minanao 0:6b57aea7ad9b 43 servo5 = 0;
minanao 0:6b57aea7ad9b 44 servo6 = 0;
minanao 0:6b57aea7ad9b 45 wait(time);
minanao 0:6b57aea7ad9b 46 }
minanao 0:6b57aea7ad9b 47
minanao 0:6b57aea7ad9b 48 //後退
minanao 0:6b57aea7ad9b 49 void Movement::move_backward()
minanao 0:6b57aea7ad9b 50 {
minanao 0:6b57aea7ad9b 51 servo1 = S1;
minanao 0:6b57aea7ad9b 52 servo2 = S2;
minanao 0:6b57aea7ad9b 53 servo3 = S3;
minanao 0:6b57aea7ad9b 54 servo4 = S4;
minanao 0:6b57aea7ad9b 55 servo5 = S5;
minanao 0:6b57aea7ad9b 56 servo6 = S6;
minanao 0:6b57aea7ad9b 57 wait(5);
minanao 0:6b57aea7ad9b 58 }
minanao 0:6b57aea7ad9b 59
minanao 0:6b57aea7ad9b 60 //右に曲がる
minanao 0:6b57aea7ad9b 61 void Movement::turn_right(int theta = 15)
minanao 0:6b57aea7ad9b 62 {
minanao 0:6b57aea7ad9b 63 servo1 = S1;
minanao 0:6b57aea7ad9b 64 servo2 = S2;
minanao 0:6b57aea7ad9b 65 servo3 = S3;
minanao 0:6b57aea7ad9b 66 servo4 = 0;
minanao 0:6b57aea7ad9b 67 servo5 = 0;
minanao 0:6b57aea7ad9b 68 servo6 = 0;
minanao 0:6b57aea7ad9b 69 wait(int(theta/15));
minanao 0:6b57aea7ad9b 70 }
minanao 0:6b57aea7ad9b 71
minanao 0:6b57aea7ad9b 72 //左に曲がる
minanao 0:6b57aea7ad9b 73 void Movement::turn_left(int theta = 15)
minanao 0:6b57aea7ad9b 74 {
minanao 0:6b57aea7ad9b 75 servo1 = 0;
minanao 0:6b57aea7ad9b 76 servo2 = 0;
minanao 0:6b57aea7ad9b 77 servo3 = 0;
minanao 0:6b57aea7ad9b 78 servo4 = S4;
minanao 0:6b57aea7ad9b 79 servo5 = S5;
minanao 0:6b57aea7ad9b 80 servo6 = S6;
minanao 0:6b57aea7ad9b 81 wait(int(theta/15));
minanao 0:6b57aea7ad9b 82 }
minanao 0:6b57aea7ad9b 83
minanao 0:6b57aea7ad9b 84 //倒れているときの処理
minanao 0:6b57aea7ad9b 85 void Movement::wakeup(int time){
minanao 0:6b57aea7ad9b 86 for(int i=1;i<=time;i++)
minanao 0:6b57aea7ad9b 87 {
minanao 0:6b57aea7ad9b 88 move_forward(5);
minanao 0:6b57aea7ad9b 89 move_backward();
minanao 0:6b57aea7ad9b 90 turn_right();
minanao 0:6b57aea7ad9b 91 turn_left();
minanao 0:6b57aea7ad9b 92 }
minanao 0:6b57aea7ad9b 93 }