春ロボ ロケット団
/
NHK_arrow_test2
test
main.cpp@0:3dee13ff6060, 2020-12-15 (annotated)
- Committer:
- maxnagazumi
- Date:
- Tue Dec 15 06:05:50 2020 +0000
- Revision:
- 0:3dee13ff6060
- Child:
- 1:acb2ca86725f
arrow test;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
maxnagazumi | 0:3dee13ff6060 | 1 | #include "mbed.h" |
maxnagazumi | 0:3dee13ff6060 | 2 | #include "EC.h" |
maxnagazumi | 0:3dee13ff6060 | 3 | #define RESOLUTION 500 |
maxnagazumi | 0:3dee13ff6060 | 4 | #define V_ARRAY_COUNT_MAX 300 |
maxnagazumi | 0:3dee13ff6060 | 5 | |
maxnagazumi | 0:3dee13ff6060 | 6 | Serial pc(USBTX, USBRX); |
maxnagazumi | 0:3dee13ff6060 | 7 | DigitalIn Button1(p15); |
maxnagazumi | 0:3dee13ff6060 | 8 | DigitalIn Button2(p16); |
maxnagazumi | 0:3dee13ff6060 | 9 | DigitalOut clutch(p19); |
maxnagazumi | 0:3dee13ff6060 | 10 | PwmOut motord(p25); |
maxnagazumi | 0:3dee13ff6060 | 11 | PwmOut motoru(p26); |
maxnagazumi | 0:3dee13ff6060 | 12 | DigitalOut led1(LED1); |
maxnagazumi | 0:3dee13ff6060 | 13 | DigitalOut led2(LED2); |
maxnagazumi | 0:3dee13ff6060 | 14 | DigitalOut led3(LED3); |
maxnagazumi | 0:3dee13ff6060 | 15 | Ec1multi ec(p27,p28,RESOLUTION); |
maxnagazumi | 0:3dee13ff6060 | 16 | Timer timer; |
maxnagazumi | 0:3dee13ff6060 | 17 | |
maxnagazumi | 0:3dee13ff6060 | 18 | |
maxnagazumi | 0:3dee13ff6060 | 19 | int main() { |
maxnagazumi | 0:3dee13ff6060 | 20 | motoru.period_us(50); |
maxnagazumi | 0:3dee13ff6060 | 21 | Button1.mode(PullUp); |
maxnagazumi | 0:3dee13ff6060 | 22 | Button2.mode(PullUp); |
maxnagazumi | 0:3dee13ff6060 | 23 | clutch=0;//on |
maxnagazumi | 0:3dee13ff6060 | 24 | led1=1; |
maxnagazumi | 0:3dee13ff6060 | 25 | led2=1; |
maxnagazumi | 0:3dee13ff6060 | 26 | led3=1; |
maxnagazumi | 0:3dee13ff6060 | 27 | motoru=0; |
maxnagazumi | 0:3dee13ff6060 | 28 | int motor_state=2; |
maxnagazumi | 0:3dee13ff6060 | 29 | int omega; |
maxnagazumi | 0:3dee13ff6060 | 30 | int read_v_state=0; |
maxnagazumi | 0:3dee13ff6060 | 31 | pc.printf("ready to fire"); |
maxnagazumi | 0:3dee13ff6060 | 32 | int count=ec.getCount(); |
maxnagazumi | 0:3dee13ff6060 | 33 | float v_array[V_ARRAY_COUNT_MAX][2]; |
maxnagazumi | 0:3dee13ff6060 | 34 | int v_array_count=0; |
maxnagazumi | 0:3dee13ff6060 | 35 | while(1){ |
maxnagazumi | 0:3dee13ff6060 | 36 | //pc.printf("%d\r\n",count);//確認 |
maxnagazumi | 0:3dee13ff6060 | 37 | count=ec.getCount(); |
maxnagazumi | 0:3dee13ff6060 | 38 | omega = ec.getOmega(); |
maxnagazumi | 0:3dee13ff6060 | 39 | if(Button1==0){ |
maxnagazumi | 0:3dee13ff6060 | 40 | led1=1; |
maxnagazumi | 0:3dee13ff6060 | 41 | led2=0; |
maxnagazumi | 0:3dee13ff6060 | 42 | clutch=0; //on |
maxnagazumi | 0:3dee13ff6060 | 43 | count=0; |
maxnagazumi | 0:3dee13ff6060 | 44 | motoru=0; |
maxnagazumi | 0:3dee13ff6060 | 45 | motor_state=0; |
maxnagazumi | 0:3dee13ff6060 | 46 | pc.printf("stop\r\n"); |
maxnagazumi | 0:3dee13ff6060 | 47 | } |
maxnagazumi | 0:3dee13ff6060 | 48 | if(Button2==0){ |
maxnagazumi | 0:3dee13ff6060 | 49 | led2=1; |
maxnagazumi | 0:3dee13ff6060 | 50 | led1=0; |
maxnagazumi | 0:3dee13ff6060 | 51 | motoru=0.5; |
maxnagazumi | 0:3dee13ff6060 | 52 | motor_state=1; |
maxnagazumi | 0:3dee13ff6060 | 53 | pc.printf("start loading\r\n"); |
maxnagazumi | 0:3dee13ff6060 | 54 | } |
maxnagazumi | 0:3dee13ff6060 | 55 | if (count>4500&&read_v_state==0){ |
maxnagazumi | 0:3dee13ff6060 | 56 | motoru=0; |
maxnagazumi | 0:3dee13ff6060 | 57 | wait(3); |
maxnagazumi | 0:3dee13ff6060 | 58 | clutch=1; //off |
maxnagazumi | 0:3dee13ff6060 | 59 | motor_state=0; |
maxnagazumi | 0:3dee13ff6060 | 60 | led3=0; |
maxnagazumi | 0:3dee13ff6060 | 61 | pc.printf("fire\r\n"); |
maxnagazumi | 0:3dee13ff6060 | 62 | read_v_state=1; |
maxnagazumi | 0:3dee13ff6060 | 63 | timer.reset(); |
maxnagazumi | 0:3dee13ff6060 | 64 | timer.start(); |
maxnagazumi | 0:3dee13ff6060 | 65 | } |
maxnagazumi | 0:3dee13ff6060 | 66 | |
maxnagazumi | 0:3dee13ff6060 | 67 | ec.calOmega(); |
maxnagazumi | 0:3dee13ff6060 | 68 | wait_ms(10); |
maxnagazumi | 0:3dee13ff6060 | 69 | if (read_v_state == 1) |
maxnagazumi | 0:3dee13ff6060 | 70 | { |
maxnagazumi | 0:3dee13ff6060 | 71 | if (v_array_count < V_ARRAY_COUNT_MAX) |
maxnagazumi | 0:3dee13ff6060 | 72 | { |
maxnagazumi | 0:3dee13ff6060 | 73 | v_array[v_array_count][0] = omega * 0.02; |
maxnagazumi | 0:3dee13ff6060 | 74 | v_array[v_array_count][1] = timer.read(); |
maxnagazumi | 0:3dee13ff6060 | 75 | v_array_count++; |
maxnagazumi | 0:3dee13ff6060 | 76 | } |
maxnagazumi | 0:3dee13ff6060 | 77 | else |
maxnagazumi | 0:3dee13ff6060 | 78 | { |
maxnagazumi | 0:3dee13ff6060 | 79 | pc.printf("time\tspeed\r\n"); |
maxnagazumi | 0:3dee13ff6060 | 80 | for (int j = 0; j < V_ARRAY_COUNT_MAX; j++) |
maxnagazumi | 0:3dee13ff6060 | 81 | { |
maxnagazumi | 0:3dee13ff6060 | 82 | if (v_array[j][0] != 0) |
maxnagazumi | 0:3dee13ff6060 | 83 | { |
maxnagazumi | 0:3dee13ff6060 | 84 | pc.printf("%f\t", v_array[j][1]); |
maxnagazumi | 0:3dee13ff6060 | 85 | pc.printf("%f\r\n", v_array[j][0]); |
maxnagazumi | 0:3dee13ff6060 | 86 | } |
maxnagazumi | 0:3dee13ff6060 | 87 | } |
maxnagazumi | 0:3dee13ff6060 | 88 | read_v_state = 0; |
maxnagazumi | 0:3dee13ff6060 | 89 | } |
maxnagazumi | 0:3dee13ff6060 | 90 | } |
maxnagazumi | 0:3dee13ff6060 | 91 | } |
maxnagazumi | 0:3dee13ff6060 | 92 | } |