春ロボ　ロケット団 / Mbed 2 deprecated move_ver2

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Dependencies:   mbed

main.cpp

Committer:
o2132613
Date:
2019-10-31
Revision:
0:86bb99faa77e

File content as of revision 0:86bb99faa77e:

#include "mbed.h"
#define speed 0.375
#include "mbed.h"

SPISlave spi(PA_7,PA_6,PA_5,PA_4);

PwmOut motorUP(PA_10);
PwmOut motorDOWN(PA_9);
PwmOut motorLEFT(PA_8);
PwmOut motorRIGHT(PA_1);

void setting(void)
{
    motorUP.period_ms(1);
    motorDOWN.period_ms(1);
    motorLEFT.period_ms(1);
    motorRIGHT.period_ms(1);
    spi.format(8,3);
    spi.frequency(1000000);
}
int main() {
    motorRIGHT = 0;
    motorLEFT = 0;
    motorDOWN = 0;
    motorUP = 0;
    while(1) {
        if (spi.read() == 128) {       //ARM_UP
            motorRIGHT = 0;
            motorLEFT = 0;
            motorDOWN = 0;
            motorUP = 0.2;
            printf("up/n");
        }else if (spi.read() == 1) {   //ARM_DOWN
            motorRIGHT = 0;
            motorLEFT = 0;
            motorDOWN = 0.2;
            motorUP = 0;
            printf("down/n");
        }else if (spi.read() == 129) { //LEFT
            motorRIGHT = 0;
            motorLEFT = speed;
            motorDOWN = 0;
            motorUP = 0;
            printf("left/n");
        }else if (spi.read() == 2) {   //RIGHT
            motorRIGHT = speed;
            motorLEFT = 0;
            motorDOWN = 0;
            motorUP = 0;
            printf("right/n");
        }else {                      //stop
            motorRIGHT = 0;
            motorLEFT = 0;
            motorDOWN = 0;
            motorUP = 0;
        }
        int result = spi.read();
        printf("%d\n",result);
    }
}