Diff: main.cpp

Revision:

0:d0441e7d5ea3

Child:

1:dfabac3b39e9

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon Aug 21 04:57:03 2017 +0000
@@ -0,0 +1,88 @@
+#include "mbed.h"
+
+Serial pc(USBTX,USBRX);
+SPISlave spi(PC_12,PC_11,PC_10,PA_13);
+DigitalOut photo_1(PC_2);
+DigitalOut photo_2(PC_3);
+DigitalOut moter_1(PA_10);
+DigitalOut moter_2(PA_2);
+DigitalOut cyli_1(PB_5);
+DigitalOut cyli_2(PB_3);
+DigitalOut cyli_3(PA_10);
+
+int a,b,c,d,e,f,g,h,i,j;
+
+//モーターの出力の設定
+double moter_power = 0.7;
+
+int main()
+{
+    spi.format(16,3);
+    spi.frequency(1000000);
+
+    while(1) {
+
+        if(spi.receive()) {
+
+            int a = spi.read() & 0b1;
+            int b = (spi.read() & 0b10)>>1;
+            int c = (spi.read() & 0b100)>>2;
+            int d = (spi.read() & 0b1000)>>3;
+            int e = (spi.read() & 0b10000)>>4;
+            int f = (spi.read() & 0b100000)>>5;
+            int g = (spi.read() & 0b1000000)>>6;
+            int h = (spi.read() & 0b10000000)>>7;
+            int i = (spi.read() & 0b100000000)>>8;
+            int j = (spi.read() & 0b1000000000)>>9;
+            pc.printf("a:%d\tb:%d\tc:%d\td:%d\te:%d\tf:%d\tg:%d\th:%d\ti:%d\tj:%d\r\n",a,b,c,d,spi.read());
+
+        }
+//フォトトランジスタ１
+        if(a == 1) {
+            photo_1=1;
+        } else {
+            photo_1=0;
+        }
+
+//フォトトランジスタ２
+        if(b == 1) {
+            photo_2=1;
+        } else {
+            photo_2=0;
+        }
+
+//腕１　上昇下降
+        if(c == 1) {
+            moter_1=1;
+            moter_2=0;
+        } else if(d == 1) {
+            moter_1=0;
+            moter_2=1;
+        } else {
+            moter_1=0;
+            moter_2=0;
+        }
+
+//腕１　開閉
+        if(e == 1) {
+            cyli_1=1;
+        } else if(f == 1) {
+            cyli_1=0;
+        }
+
+//腕２　上昇下降
+        if(g == 1) {
+            cyli_2=1;
+        } else if(h == 1) {
+            cyli_2=0;
+        }
+
+//腕２　開閉
+        if(i == 1) {
+            cyli_3=1;
+        } else if(j == 1) {
+            cyli_3=0;
+        } 
+    }
+
+}