手動機 ヌクレオ用のプログラムです
Dependencies: mbed
Fork of F3RC_syudou_slave by
main.cpp@5:72e5a850678a, 2017-09-14 (annotated)
- Committer:
- yuto17320508
- Date:
- Thu Sep 14 01:20:53 2017 +0000
- Revision:
- 5:72e5a850678a
- Parent:
- 4:5ba58456c3ee
a
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
yuto17320508 | 0:d0441e7d5ea3 | 1 | #include "mbed.h" |
yuto17320508 | 0:d0441e7d5ea3 | 2 | |
yuto17320508 | 0:d0441e7d5ea3 | 3 | Serial pc(USBTX,USBRX); |
yuto17320508 | 4:5ba58456c3ee | 4 | BusIn in(PA_7,PA_6,PA_5,PA_4); |
yuto17320508 | 5:72e5a850678a | 5 | PwmOut motor_1(PB_14); |
yuto17320508 | 5:72e5a850678a | 6 | PwmOut motor_2(PB_15); |
yuto17320508 | 0:d0441e7d5ea3 | 7 | DigitalOut cyli_1(PB_5); |
yuto17320508 | 0:d0441e7d5ea3 | 8 | DigitalOut cyli_2(PB_3); |
yuto17320508 | 0:d0441e7d5ea3 | 9 | DigitalOut cyli_3(PA_10); |
yuto17320508 | 2:96509fc6e151 | 10 | //フォトインタラプタ上 |
yuto17320508 | 2:96509fc6e151 | 11 | InterruptIn photo_1(PC_2); |
yuto17320508 | 2:96509fc6e151 | 12 | //フォトインタラプタ下 |
yuto17320508 | 2:96509fc6e151 | 13 | InterruptIn photo_2(PC_3); |
yuto17320508 | 0:d0441e7d5ea3 | 14 | |
yuto17320508 | 4:5ba58456c3ee | 15 | int num; |
yuto17320508 | 0:d0441e7d5ea3 | 16 | |
yuto17320508 | 0:d0441e7d5ea3 | 17 | //モーターの出力の設定 |
yuto17320508 | 5:72e5a850678a | 18 | double motor_power = 0.6; |
yuto17320508 | 0:d0441e7d5ea3 | 19 | |
yuto17320508 | 2:96509fc6e151 | 20 | |
yuto17320508 | 2:96509fc6e151 | 21 | //腕上昇下降の関数 |
yuto17320508 | 2:96509fc6e151 | 22 | void up() |
yuto17320508 | 2:96509fc6e151 | 23 | { |
yuto17320508 | 5:72e5a850678a | 24 | motor_1=0; |
yuto17320508 | 5:72e5a850678a | 25 | motor_2=motor_power; |
yuto17320508 | 2:96509fc6e151 | 26 | } |
yuto17320508 | 2:96509fc6e151 | 27 | void down() |
yuto17320508 | 2:96509fc6e151 | 28 | { |
yuto17320508 | 5:72e5a850678a | 29 | motor_1=motor_power; |
yuto17320508 | 5:72e5a850678a | 30 | motor_2=0; |
yuto17320508 | 2:96509fc6e151 | 31 | } |
yuto17320508 | 2:96509fc6e151 | 32 | void stop() |
yuto17320508 | 2:96509fc6e151 | 33 | { |
yuto17320508 | 5:72e5a850678a | 34 | motor_1=0; |
yuto17320508 | 5:72e5a850678a | 35 | motor_2=0; |
yuto17320508 | 2:96509fc6e151 | 36 | } |
yuto17320508 | 2:96509fc6e151 | 37 | //フラグ |
yuto17320508 | 2:96509fc6e151 | 38 | int up_flag=1; |
yuto17320508 | 2:96509fc6e151 | 39 | int down_flag=1; |
yuto17320508 | 2:96509fc6e151 | 40 | //フォトトランジスタのフラグ呼び出し |
yuto17320508 | 2:96509fc6e151 | 41 | void photo_1_rise() |
yuto17320508 | 2:96509fc6e151 | 42 | { |
yuto17320508 | 2:96509fc6e151 | 43 | stop(); |
yuto17320508 | 2:96509fc6e151 | 44 | up_flag=0; |
yuto17320508 | 2:96509fc6e151 | 45 | } |
yuto17320508 | 2:96509fc6e151 | 46 | void photo_1_fall() |
yuto17320508 | 2:96509fc6e151 | 47 | { |
yuto17320508 | 2:96509fc6e151 | 48 | up_flag=1; |
yuto17320508 | 2:96509fc6e151 | 49 | } |
yuto17320508 | 2:96509fc6e151 | 50 | void photo_2_rise() |
yuto17320508 | 2:96509fc6e151 | 51 | { |
yuto17320508 | 2:96509fc6e151 | 52 | stop(); |
yuto17320508 | 2:96509fc6e151 | 53 | down_flag=0; |
yuto17320508 | 2:96509fc6e151 | 54 | } |
yuto17320508 | 2:96509fc6e151 | 55 | void photo_2_fall() |
yuto17320508 | 2:96509fc6e151 | 56 | { |
yuto17320508 | 2:96509fc6e151 | 57 | down_flag=1; |
yuto17320508 | 2:96509fc6e151 | 58 | } |
yuto17320508 | 0:d0441e7d5ea3 | 59 | int main() |
yuto17320508 | 0:d0441e7d5ea3 | 60 | { |
yuto17320508 | 5:72e5a850678a | 61 | motor_1.period_us(100); |
yuto17320508 | 5:72e5a850678a | 62 | motor_2.period_us(100); |
yuto17320508 | 0:d0441e7d5ea3 | 63 | |
yuto17320508 | 2:96509fc6e151 | 64 | //フォトインタラプタ1 |
yuto17320508 | 2:96509fc6e151 | 65 | photo_1.rise(&photo_1_rise); |
yuto17320508 | 2:96509fc6e151 | 66 | photo_1.fall(&photo_1_fall); |
yuto17320508 | 2:96509fc6e151 | 67 | |
yuto17320508 | 2:96509fc6e151 | 68 | //フォトインタラプタ2 |
yuto17320508 | 2:96509fc6e151 | 69 | photo_2.rise(&photo_2_rise); |
yuto17320508 | 2:96509fc6e151 | 70 | photo_2.fall(&photo_2_fall); |
yuto17320508 | 0:d0441e7d5ea3 | 71 | while(1) { |
yuto17320508 | 0:d0441e7d5ea3 | 72 | |
yuto17320508 | 4:5ba58456c3ee | 73 | num=in; |
yuto17320508 | 0:d0441e7d5ea3 | 74 | |
yuto17320508 | 0:d0441e7d5ea3 | 75 | |
yuto17320508 | 0:d0441e7d5ea3 | 76 | //腕1 上昇下降 |
yuto17320508 | 5:72e5a850678a | 77 | if(num == 1 && up_flag==1) {//フラグ1で上昇 |
yuto17320508 | 2:96509fc6e151 | 78 | up(); |
yuto17320508 | 5:72e5a850678a | 79 | num=1; |
yuto17320508 | 5:72e5a850678a | 80 | pc.printf("up\n"); |
yuto17320508 | 5:72e5a850678a | 81 | } else if(num == 2 && down_flag==1) {//フラグ1で下降 |
yuto17320508 | 2:96509fc6e151 | 82 | down(); |
yuto17320508 | 5:72e5a850678a | 83 | num=2; |
yuto17320508 | 5:72e5a850678a | 84 | pc.printf("down\n"); |
yuto17320508 | 5:72e5a850678a | 85 | } else {//止まる |
yuto17320508 | 2:96509fc6e151 | 86 | stop(); |
yuto17320508 | 0:d0441e7d5ea3 | 87 | } |
yuto17320508 | 0:d0441e7d5ea3 | 88 | |
yuto17320508 | 0:d0441e7d5ea3 | 89 | //腕1 開閉 |
yuto17320508 | 5:72e5a850678a | 90 | if(num == 3) {//開く |
yuto17320508 | 0:d0441e7d5ea3 | 91 | cyli_1=1; |
yuto17320508 | 5:72e5a850678a | 92 | } else if(num == 4) {//閉じる |
yuto17320508 | 0:d0441e7d5ea3 | 93 | cyli_1=0; |
yuto17320508 | 0:d0441e7d5ea3 | 94 | } |
yuto17320508 | 0:d0441e7d5ea3 | 95 | |
yuto17320508 | 0:d0441e7d5ea3 | 96 | //腕2 上昇下降 |
yuto17320508 | 5:72e5a850678a | 97 | if(num == 5) {//上昇 |
yuto17320508 | 5:72e5a850678a | 98 | cyli_2=0; |
yuto17320508 | 5:72e5a850678a | 99 | } else if(num == 6) {//下降 |
yuto17320508 | 0:d0441e7d5ea3 | 100 | cyli_2=1; |
yuto17320508 | 0:d0441e7d5ea3 | 101 | } |
yuto17320508 | 0:d0441e7d5ea3 | 102 | |
yuto17320508 | 0:d0441e7d5ea3 | 103 | //腕2 開閉 |
yuto17320508 | 5:72e5a850678a | 104 | if(num == 7) {//開く |
yuto17320508 | 0:d0441e7d5ea3 | 105 | cyli_3=1; |
yuto17320508 | 5:72e5a850678a | 106 | } else if(num == 8) {//閉じる |
yuto17320508 | 0:d0441e7d5ea3 | 107 | cyli_3=0; |
yuto17320508 | 1:dfabac3b39e9 | 108 | } |
yuto17320508 | 4:5ba58456c3ee | 109 | pc.printf("%d\n\r",num); |
yuto17320508 | 0:d0441e7d5ea3 | 110 | } |
yuto17320508 | 0:d0441e7d5ea3 | 111 | } |