春ロボ1班(元F3RC4班+) / Mbed 2 deprecated harurobo_mbed_undercarriage_sub_2_26

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Dependencies:   Harurobo_CAN_2_26 mbed Maxon_setting_1_11 move4wheel2 EC PathFollowing_2_26 CruizCore_R1370P

main.cpp@3:112c4ddf324d, 2019-01-11 (annotated)

Committer:
yuki0701
Date:
Fri Jan 11 08:34:07 2019 +0000
Revision:
3:112c4ddf324d
Parent:
1:0c9f53f5c9d0
Child:
4:deac46c43ef4
a

Who changed what in which revision?

UserRevisionLine numberNew contents of line
yuki0701 3:112c4ddf324d 1 #include <mbed.h>
yuki0701 0:f0f40dddc0c4 2 #include "EC.h"
yuki0701 0:f0f40dddc0c4 3 #include "R1370P.h"
yuki0701 0:f0f40dddc0c4 4 #include "move4wheel.h"
yuki0701 0:f0f40dddc0c4 5 #include "PathFollowing.h"
yuki0701 1:0c9f53f5c9d0 6 #include "Maxon_setting.h"
yuki0701 3:112c4ddf324d 7 #include "Harurobo_CAN.h"
yuki0701 0:f0f40dddc0c4 8
yuki0701 3:112c4ddf324d 9 #define PROGRAM_INFO //プログラム使用時に使用プログラムの情報を最初に表示する際に定義
yuki0701 3:112c4ddf324d 10
yuki0701 3:112c4ddf324d 11 #define HARUROBO_TEST_MODE //テスト自動プログラム（練習・動作確認用）使用時に定義
yuki0701 3:112c4ddf324d 12 //#define HARUROBO_RIGHT_MODE //本番用自動プログラム（右側フィールド）使用時に定義
yuki0701 3:112c4ddf324d 13 //#define HARUROBO_LEFT_MODE //本番用自動プログラム（左側フィールド）使用時に定義
yuki0701 3:112c4ddf324d 14
yuki0701 1:0c9f53f5c9d0 15 Ticker ticker;
yuki0701 0:f0f40dddc0c4 16
yuki0701 3:112c4ddf324d 17 //////////////////////////////////////////////////////////////以下main文/////////////////////////////////////////////////////////////////
yuki0701 3:112c4ddf324d 18
yuki0701 3:112c4ddf324d 19 int main()
yuki0701 3:112c4ddf324d 20 {
yuki0701 3:112c4ddf324d 21 UserLoopSetting(); //Maxon関連設定関数
yuki0701 3:112c4ddf324d 22 UserLoopSetting2(); //PathFollowing関連設定関数
yuki0701 3:112c4ddf324d 23
yuki0701 3:112c4ddf324d 24 #ifdef PROGRAM_INFO //プログラム使用時に使用プログラムの情報を最初に表示(未動確)
yuki0701 3:112c4ddf324d 25
yuki0701 3:112c4ddf324d 26 printf("ソースファイル名 : %s¥n", __FILE__);
yuki0701 3:112c4ddf324d 27 printf("作成日付 : %s¥n", __DATE__);
yuki0701 3:112c4ddf324d 28 printf("作成時刻 : %s¥n", __TIME__);
yuki0701 3:112c4ddf324d 29
yuki0701 3:112c4ddf324d 30 #endif
yuki0701 3:112c4ddf324d 31
yuki0701 3:112c4ddf324d 32
yuki0701 0:f0f40dddc0c4 33
yuki0701 3:112c4ddf324d 34
yuki0701 3:112c4ddf324d 35 /////////////以下自動モードプログラム/////////////
yuki0701 3:112c4ddf324d 36
yuki0701 3:112c4ddf324d 37 #ifdef HARUROBO_TEST_MODE //テスト自動プログラム（練習・動作確認用）
yuki0701 3:112c4ddf324d 38
yuki0701 3:112c4ddf324d 39 //Debug_Control();
yuki0701 3:112c4ddf324d 40
yuki0701 3:112c4ddf324d 41 //purecurve2(5,1,1,0,0,-500,-500,9,1500,5,0.1,10,0.1,600,0);
yuki0701 3:112c4ddf324d 42
yuki0701 3:112c4ddf324d 43 //set_cond(0,1,-800,0,0);
yuki0701 3:112c4ddf324d 44 //gogo_straight(0,1,0,0,-500,0,500,500,5,0.1,10,0.1,600,0);
yuki0701 3:112c4ddf324d 45 ticker.attach(&can_read,0.01);
yuki0701 3:112c4ddf324d 46
yuki0701 3:112c4ddf324d 47 while(1){
yuki0701 3:112c4ddf324d 48 //printf("%f\n\r",usw_data1);
yuki0701 0:f0f40dddc0c4 49 }
yuki0701 3:112c4ddf324d 50
yuki0701 3:112c4ddf324d 51 //MotorControl(0,0,0,0);
yuki0701 3:112c4ddf324d 52
yuki0701 3:112c4ddf324d 53 #endif
yuki0701 0:f0f40dddc0c4 54
yuki0701 0:f0f40dddc0c4 55
yuki0701 3:112c4ddf324d 56 #ifdef HARUROBO_RIGHT_MODE //本番用自動プログラム（右側フィールド用）
yuki0701 3:112c4ddf324d 57
yuki0701 3:112c4ddf324d 58 //ここに本番用自動プログラム（右側フィールド用）を書く
yuki0701 3:112c4ddf324d 59
yuki0701 3:112c4ddf324d 60 #endif
yuki0701 3:112c4ddf324d 61
yuki0701 3:112c4ddf324d 62
yuki0701 3:112c4ddf324d 63 #ifdef HARUROBO_LEFT_MODE //本番用自動プログラム（左側フィールド用）
yuki0701 0:f0f40dddc0c4 64
yuki0701 3:112c4ddf324d 65 //ここに本番用自動プログラム（左側フィールド用）を書く
yuki0701 3:112c4ddf324d 66
yuki0701 3:112c4ddf324d 67 #endif
yuki0701 0:f0f40dddc0c4 68
yuki0701 3:112c4ddf324d 69
yuki0701 3:112c4ddf324d 70 /////////自動モードプログラム終了/////////
yuki0701 3:112c4ddf324d 71
yuki0701 1:0c9f53f5c9d0 72 }