Cat_Bot
/
Cat_Bot_sub2
サブマイコン
Fork of Cat_Bot_sub by
main.cpp@2:3f2d37164a10, 2017-03-23 (annotated)
- Committer:
- UCHITAKE
- Date:
- Thu Mar 23 06:45:42 2017 +0000
- Revision:
- 2:3f2d37164a10
- Parent:
- 1:f4ae12a86f80
newLPC2NUCLEO_SERIAL
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
number_key | 0:31a72c321609 | 1 | #include "mbed.h" |
number_key | 0:31a72c321609 | 2 | #include "hcsr04.h" |
number_key | 0:31a72c321609 | 3 | |
number_key | 0:31a72c321609 | 4 | Serial to_main(dp4,dp5); |
number_key | 0:31a72c321609 | 5 | |
number_key | 0:31a72c321609 | 6 | HCSR04 front(dp24,dp25); |
number_key | 0:31a72c321609 | 7 | HCSR04 back(dp22,dp23); |
number_key | 0:31a72c321609 | 8 | HCSR04 right(dp20,dp21); |
number_key | 0:31a72c321609 | 9 | HCSR04 left(dp18,dp19); |
number_key | 0:31a72c321609 | 10 | |
UCHITAKE | 2:3f2d37164a10 | 11 | Ticker tick; |
number_key | 0:31a72c321609 | 12 | |
UCHITAKE | 2:3f2d37164a10 | 13 | char dist[4]= {0}; |
number_key | 0:31a72c321609 | 14 | |
UCHITAKE | 2:3f2d37164a10 | 15 | void put() |
UCHITAKE | 2:3f2d37164a10 | 16 | { |
UCHITAKE | 2:3f2d37164a10 | 17 | to_main.putc(1); |
UCHITAKE | 2:3f2d37164a10 | 18 | to_main.putc(dist[0]); |
UCHITAKE | 2:3f2d37164a10 | 19 | to_main.putc(dist[1]); |
UCHITAKE | 2:3f2d37164a10 | 20 | to_main.putc(dist[2]); |
UCHITAKE | 2:3f2d37164a10 | 21 | to_main.putc(dist[3]); |
UCHITAKE | 2:3f2d37164a10 | 22 | } |
UCHITAKE | 2:3f2d37164a10 | 23 | |
UCHITAKE | 2:3f2d37164a10 | 24 | int main() |
UCHITAKE | 2:3f2d37164a10 | 25 | { |
UCHITAKE | 2:3f2d37164a10 | 26 | to_main.baud(9600); |
UCHITAKE | 2:3f2d37164a10 | 27 | tick.attach(&put, 0.05); |
number_key | 0:31a72c321609 | 28 | while(1) { |
number_key | 0:31a72c321609 | 29 | front.start(); |
number_key | 0:31a72c321609 | 30 | back.start(); |
number_key | 0:31a72c321609 | 31 | right.start(); |
number_key | 0:31a72c321609 | 32 | left.start(); |
number_key | 1:f4ae12a86f80 | 33 | if(front.get_dist_cm()>255) |
number_key | 1:f4ae12a86f80 | 34 | dist[0]=255; |
number_key | 1:f4ae12a86f80 | 35 | else |
number_key | 1:f4ae12a86f80 | 36 | dist[0]=front.get_dist_cm(); |
number_key | 1:f4ae12a86f80 | 37 | if(back.get_dist_cm()>255) |
number_key | 1:f4ae12a86f80 | 38 | dist[1]=255; |
number_key | 1:f4ae12a86f80 | 39 | else |
number_key | 1:f4ae12a86f80 | 40 | dist[1]=back.get_dist_cm(); |
number_key | 1:f4ae12a86f80 | 41 | if(right.get_dist_cm()>255) |
number_key | 1:f4ae12a86f80 | 42 | dist[2]=255; |
number_key | 1:f4ae12a86f80 | 43 | else |
number_key | 1:f4ae12a86f80 | 44 | dist[2]=right.get_dist_cm(); |
number_key | 1:f4ae12a86f80 | 45 | if(left.get_dist_cm()>255) |
number_key | 1:f4ae12a86f80 | 46 | dist[3]=255; |
number_key | 1:f4ae12a86f80 | 47 | else |
number_key | 1:f4ae12a86f80 | 48 | dist[3]=left.get_dist_cm(); |
number_key | 0:31a72c321609 | 49 | } |
number_key | 0:31a72c321609 | 50 | } |