Final Project / Mbed 2 deprecated Remote-Control

Final Project로 실제 점검에 사용된 코드

Dependencies:   mbed Adafruit_GFX

main.cpp@0:22391cd705e2, 2019-06-15 (annotated)

Committer:
21400688
Date:
Sat Jun 15 20:52:15 2019 +0000
Revision:
0:22391cd705e2
vb

Who changed what in which revision?

UserRevisionLine numberNew contents of line
21400688 0:22391cd705e2 1 #include "mbed.h"
21400688 0:22391cd705e2 2 #include "ReceiverIR.h"
21400688 0:22391cd705e2 3 #include "TB6612FNG.h"
21400688 0:22391cd705e2 4 #include "Ultrasonic.h"
21400688 0:22391cd705e2 5
21400688 0:22391cd705e2 6 #include "Adafruit_SSD1306.h"
21400688 0:22391cd705e2 7 #include "Adafruit_GFX.h"
21400688 0:22391cd705e2 8 #include "glcdfont.h"
21400688 0:22391cd705e2 9 #define SSD1306_DISPLAYON 0xAF
21400688 0:22391cd705e2 10 #include "WS2812.h"
21400688 0:22391cd705e2 11 #include "PixelArray.h"
21400688 0:22391cd705e2 12
21400688 0:22391cd705e2 13 #define WS2812_BUF 150
21400688 0:22391cd705e2 14 #define NUM_COLORS 6
21400688 0:22391cd705e2 15 #define NUM_LEDS_PER_COLOR 10
21400688 0:22391cd705e2 16 #define button2 18
21400688 0:22391cd705e2 17
21400688 0:22391cd705e2 18 // PWMA, AIN1, AIN2, PWMBm, BIN1, BIN2, STBY
21400688 0:22391cd705e2 19 TB6612FNG motorDriver(D6, A0, A1, D5, A3, A2, A5);
21400688 0:22391cd705e2 20 ReceiverIR ir_rx(D4);
21400688 0:22391cd705e2 21 Serial pc(USBTX, USBRX);
21400688 0:22391cd705e2 22 SPI spi(D11,D12,D13);
21400688 0:22391cd705e2 23 DigitalOut spi_cs(D10,1);
21400688 0:22391cd705e2 24 Ultrasonic ultra(D3, D2);
21400688 0:22391cd705e2 25 PixelArray px(WS2812_BUF);
21400688 0:22391cd705e2 26 WS2812 ws(D7, WS2812_BUF, 7, 15, 10, 15);
21400688 0:22391cd705e2 27
21400688 0:22391cd705e2 28 I2C i2c(D14, D15);
21400688 0:22391cd705e2 29 Adafruit_SSD1306_I2c oled(i2c, D9, 0x78, 64, 128);
21400688 0:22391cd705e2 30
21400688 0:22391cd705e2 31 Timer timer;
21400688 0:22391cd705e2 32 Timer btimer;
21400688 0:22391cd705e2 33 int cal[5]; //센서 입력 모아놓은 배열
21400688 0:22391cd705e2 34 int maxv = 0; //칼리브레이션 최대값
21400688 0:22391cd705e2 35 int minv = 999; //칼리브레이션 최소값
21400688 0:22391cd705e2 36 float fPwmPeriod; //모터 주기
21400688 0:22391cd705e2 37 float fPwmPulsewidth; //모터 속도
21400688 0:22391cd705e2 38 RemoteIR::Format format;
21400688 0:22391cd705e2 39 uint8_t buf[32]; //리모컨 입력받는 버퍼
21400688 0:22391cd705e2 40 int num; //리모컨 입력 숫자
21400688 0:22391cd705e2 41 int bitcount, decoded; //리모컨 입력 필요변수
21400688 0:22391cd705e2 42
21400688 0:22391cd705e2 43 float aspeed=0.19;
21400688 0:22391cd705e2 44 float speed=0.19; //모터 속도
21400688 0:22391cd705e2 45 float lspd=0.17; //최소 속도
21400688 0:22391cd705e2 46 float mspd=0.25; //최대 속도
21400688 0:22391cd705e2 47 float tspeed; //임시 속도 변
21400688 0:22391cd705e2 48
21400688 0:22391cd705e2 49 void setspeed(float a){
21400688 0:22391cd705e2 50 speed=a;
21400688 0:22391cd705e2 51 motorDriver.setPwmApulsewidth(speed);
21400688 0:22391cd705e2 52 motorDriver.setPwmBpulsewidth(speed);
21400688 0:22391cd705e2 53 }
21400688 0:22391cd705e2 54
21400688 0:22391cd705e2 55 int going=0; //주행 중인지 아닌지 판별
21400688 0:22391cd705e2 56
21400688 0:22391cd705e2 57 int maxcal(int a[], int k){
21400688 0:22391cd705e2 58 int q;
21400688 0:22391cd705e2 59 int maxone = 2;
21400688 0:22391cd705e2 60 int range = 150;
21400688 0:22391cd705e2 61 if(a[2]- a[0]>range) maxone = 0;
21400688 0:22391cd705e2 62 else if(a[2]- a[1]>range) maxone = 1;
21400688 0:22391cd705e2 63 else if(a[2]- a[3]>range) maxone = 3;
21400688 0:22391cd705e2 64 else if(a[2]- a[4]>range) maxone = 4;
21400688 0:22391cd705e2 65 int maxa2 = 250;
21400688 0:22391cd705e2 66 int mina2 = 100;
21400688 0:22391cd705e2 67 //if(timer.read() > 15 && maxa2 > a[0] && maxa2 > a[1] && mina2 < a[0] && mina2 < a[1]){
21400688 0:22391cd705e2 68 // if(maxa2 > a[3] && mina2 < a[3] && maxa2 >a[4] && mina2 < a[4]){
21400688 0:22391cd705e2 69 // maxone = 6;
21400688 0:22391cd705e2 70 // }
21400688 0:22391cd705e2 71 // maxone = 5;
21400688 0:22391cd705e2 72 // }
21400688 0:22391cd705e2 73
21400688 0:22391cd705e2 74 return maxone;
21400688 0:22391cd705e2 75 }
21400688 0:22391cd705e2 76
21400688 0:22391cd705e2 77 void moveStop(void){
21400688 0:22391cd705e2 78 motorDriver.motorB_stop();
21400688 0:22391cd705e2 79 motorDriver.motorA_stop();
21400688 0:22391cd705e2 80 }
21400688 0:22391cd705e2 81
21400688 0:22391cd705e2 82 void moveBackward(void){
21400688 0:22391cd705e2 83 setspeed(speed);
21400688 0:22391cd705e2 84 motorDriver.motorA_ccw();
21400688 0:22391cd705e2 85 motorDriver.motorB_ccw();
21400688 0:22391cd705e2 86 //wait(0.3);
21400688 0:22391cd705e2 87 //moveStop();
21400688 0:22391cd705e2 88 }
21400688 0:22391cd705e2 89
21400688 0:22391cd705e2 90 void moveForward(void){
21400688 0:22391cd705e2 91 setspeed(speed);
21400688 0:22391cd705e2 92 motorDriver.motorA_cw();
21400688 0:22391cd705e2 93 motorDriver.motorB_cw();
21400688 0:22391cd705e2 94 //wait(0.3);
21400688 0:22391cd705e2 95 //moveStop();
21400688 0:22391cd705e2 96 }
21400688 0:22391cd705e2 97
21400688 0:22391cd705e2 98 void moveLeft(void){
21400688 0:22391cd705e2 99 setspeed(speed);
21400688 0:22391cd705e2 100 motorDriver.motorA_ccw();
21400688 0:22391cd705e2 101 motorDriver.motorB_cw();
21400688 0:22391cd705e2 102 wait(0.08);
21400688 0:22391cd705e2 103 moveStop();
21400688 0:22391cd705e2 104 }
21400688 0:22391cd705e2 105
21400688 0:22391cd705e2 106 void moveRight(void){
21400688 0:22391cd705e2 107 setspeed(speed);
21400688 0:22391cd705e2 108 motorDriver.motorA_cw();
21400688 0:22391cd705e2 109 motorDriver.motorB_ccw();
21400688 0:22391cd705e2 110 wait(0.08);
21400688 0:22391cd705e2 111 moveStop();
21400688 0:22391cd705e2 112 }
21400688 0:22391cd705e2 113 void finishlight(void)
21400688 0:22391cd705e2 114 {
21400688 0:22391cd705e2 115 ws.useII(WS2812::PER_PIXEL); // use per-pixel intensity scaling
21400688 0:22391cd705e2 116
21400688 0:22391cd705e2 117 int colorbuf[NUM_COLORS] = {0x2f0000,0x2f2f00,0x002f00,0x002f2f,0x00002f,0x2f002f};
21400688 0:22391cd705e2 118
21400688 0:22391cd705e2 119 for (int i = 0; i < WS2812_BUF; i++) {
21400688 0:22391cd705e2 120 px.Set(i, colorbuf[(i / NUM_LEDS_PER_COLOR) % NUM_COLORS]);
21400688 0:22391cd705e2 121 }
21400688 0:22391cd705e2 122
21400688 0:22391cd705e2 123 for (int j=0; j<WS2812_BUF; j++) {
21400688 0:22391cd705e2 124 px.SetI(j%WS2812_BUF, 0xf+(0xf*(j%NUM_LEDS_PER_COLOR)));
21400688 0:22391cd705e2 125 }
21400688 0:22391cd705e2 126
21400688 0:22391cd705e2 127 while (1) {
21400688 0:22391cd705e2 128 for (int z=WS2812_BUF; z >= 0 ; z--) {
21400688 0:22391cd705e2 129 ws.write_offsets(px.getBuf(),z,z,z);
21400688 0:22391cd705e2 130 wait(0.075);
21400688 0:22391cd705e2 131 }
21400688 0:22391cd705e2 132 }
21400688 0:22391cd705e2 133 }
21400688 0:22391cd705e2 134 int value;
21400688 0:22391cd705e2 135 int ch = 0;
21400688 0:22391cd705e2 136 int status;
21400688 0:22391cd705e2 137 void drive(void){
21400688 0:22391cd705e2 138 spi_cs = 0;
21400688 0:22391cd705e2 139 ultra.trig();
21400688 0:22391cd705e2 140 ultra.setMode(true);
21400688 0:22391cd705e2 141 value = spi.write(ch<<12);
21400688 0:22391cd705e2 142 pc.printf("calibration..\r\n");
21400688 0:22391cd705e2 143 timer.start();
21400688 0:22391cd705e2 144
21400688 0:22391cd705e2 145 //주행시작
21400688 0:22391cd705e2 146 motorDriver.setPwmApulsewidth(speed);
21400688 0:22391cd705e2 147 motorDriver.setPwmBpulsewidth(speed);
21400688 0:22391cd705e2 148 moveForward();
21400688 0:22391cd705e2 149 while(1){
21400688 0:22391cd705e2 150 oled.clearDisplay();
21400688 0:22391cd705e2 151 oled.setTextCursor(0,0);
21400688 0:22391cd705e2 152 oled.printf("speed: %f\r\n",speed);
21400688 0:22391cd705e2 153 oled.printf("0: %d, 1: %d\r\n2: %d, 3: %d\r\n4: %d st: %d\r\n",cal[0],cal[1],cal[2],cal[3],cal[4],status);
21400688 0:22391cd705e2 154 oled.printf("time: %.3f\r\n",timer.read_ms()/1000);
21400688 0:22391cd705e2 155 oled.display();
21400688 0:22391cd705e2 156
21400688 0:22391cd705e2 157 status = maxcal(cal,5);
21400688 0:22391cd705e2 158 pc.printf("status:%d\r\n");
21400688 0:22391cd705e2 159 switch(status){
21400688 0:22391cd705e2 160 //●○○○○, 오른쪽으로 가야함
21400688 0:22391cd705e2 161 case 4 :
21400688 0:22391cd705e2 162 setspeed(aspeed);
21400688 0:22391cd705e2 163 motorDriver.motorA_cw();
21400688 0:22391cd705e2 164 motorDriver.motorB_ccw();
21400688 0:22391cd705e2 165 wait(0.08);
21400688 0:22391cd705e2 166 moveStop();
21400688 0:22391cd705e2 167 wait(0.08);
21400688 0:22391cd705e2 168 break;
21400688 0:22391cd705e2 169
21400688 0:22391cd705e2 170 //○●○○○, 오른쪽으로 가야함
21400688 0:22391cd705e2 171 case 3 :
21400688 0:22391cd705e2 172 setspeed(aspeed);
21400688 0:22391cd705e2 173 motorDriver.motorA_cw();
21400688 0:22391cd705e2 174 motorDriver.motorB_ccw();
21400688 0:22391cd705e2 175 wait(0.08);
21400688 0:22391cd705e2 176 moveStop();
21400688 0:22391cd705e2 177 wait(0.08);
21400688 0:22391cd705e2 178 break;
21400688 0:22391cd705e2 179
21400688 0:22391cd705e2 180 //○○●○○, 정주행
21400688 0:22391cd705e2 181 // 중앙 값이 가장 낮지만 검은 줄이 아니면 (<350) 뒤로 0.5초간 가본다. 그 뒤에 다시 직진.
21400688 0:22391cd705e2 182 case 2 :
21400688 0:22391cd705e2 183 speed=aspeed;
21400688 0:22391cd705e2 184 if(speed<mspd){speed+=0.02;}
21400688 0:22391cd705e2 185 motorDriver.setPwmApulsewidth(speed);
21400688 0:22391cd705e2 186 motorDriver.setPwmBpulsewidth(speed);
21400688 0:22391cd705e2 187 if(cal[2]<350 || btimer.read_ms()>500){moveForward();btimer.reset();btimer.start();}
21400688 0:22391cd705e2 188 else{
21400688 0:22391cd705e2 189 if(btimer.read_ms()<500){
21400688 0:22391cd705e2 190 moveBackward();
21400688 0:22391cd705e2 191 btimer.reset();
21400688 0:22391cd705e2 192 btimer.start();
21400688 0:22391cd705e2 193 }
21400688 0:22391cd705e2 194
21400688 0:22391cd705e2 195 }
21400688 0:22391cd705e2 196
21400688 0:22391cd705e2 197 break;
21400688 0:22391cd705e2 198
21400688 0:22391cd705e2 199 //○○○●○, 왼쪽으로 가야함
21400688 0:22391cd705e2 200 case 1 :
21400688 0:22391cd705e2 201 setspeed(aspeed);
21400688 0:22391cd705e2 202 motorDriver.motorA_ccw();
21400688 0:22391cd705e2 203 motorDriver.motorB_cw();
21400688 0:22391cd705e2 204 wait(0.08);
21400688 0:22391cd705e2 205 moveStop();
21400688 0:22391cd705e2 206 wait(0.08);
21400688 0:22391cd705e2 207 break;
21400688 0:22391cd705e2 208
21400688 0:22391cd705e2 209 //○○○○●, 왼쪽으로 가야함
21400688 0:22391cd705e2 210 case 0 :
21400688 0:22391cd705e2 211 setspeed(aspeed);
21400688 0:22391cd705e2 212 motorDriver.motorA_ccw();
21400688 0:22391cd705e2 213 motorDriver.motorB_cw();
21400688 0:22391cd705e2 214 wait(0.08);
21400688 0:22391cd705e2 215 moveStop();
21400688 0:22391cd705e2 216 wait(0.08);
21400688 0:22391cd705e2 217 break;
21400688 0:22391cd705e2 218
21400688 0:22391cd705e2 219 // case 5 :
21400688 0:22391cd705e2 220 // speed=1.5;
21400688 0:22391cd705e2 221 // motorDriver.setPwmApulsewidth(speed);
21400688 0:22391cd705e2 222 // motorDriver.setPwmBpulsewidth(speed);
21400688 0:22391cd705e2 223 // moveLeft();
21400688 0:22391cd705e2 224 // moveForward();
21400688 0:22391cd705e2 225 // break;
21400688 0:22391cd705e2 226
21400688 0:22391cd705e2 227 case 6 :
21400688 0:22391cd705e2 228 moveStop();
21400688 0:22391cd705e2 229 finishlight();
21400688 0:22391cd705e2 230
21400688 0:22391cd705e2 231 default :
21400688 0:22391cd705e2 232 motorDriver.setPwmApulsewidth(speed);
21400688 0:22391cd705e2 233 motorDriver.setPwmBpulsewidth(speed);
21400688 0:22391cd705e2 234 }
21400688 0:22391cd705e2 235
21400688 0:22391cd705e2 236 //센서 입력 받기
21400688 0:22391cd705e2 237 for(ch=0;ch<6;ch++){
21400688 0:22391cd705e2 238 spi_cs = 0;
21400688 0:22391cd705e2 239 spi.format(16, 0);
21400688 0:22391cd705e2 240 spi.frequency(2000000);
21400688 0:22391cd705e2 241 wait_us(2);
21400688 0:22391cd705e2 242 value = spi.write(ch<<12);
21400688 0:22391cd705e2 243 value >>= 6;
21400688 0:22391cd705e2 244 spi_cs = 1;
21400688 0:22391cd705e2 245 wait_us(21);
21400688 0:22391cd705e2 246 switch(ch)
21400688 0:22391cd705e2 247 {
21400688 0:22391cd705e2 248 case 1 : cal[0] = value;break;
21400688 0:22391cd705e2 249 case 2 : cal[1] = value;break;
21400688 0:22391cd705e2 250 case 3 : cal[2] = value;break;
21400688 0:22391cd705e2 251 case 4 : cal[3] = value;break;
21400688 0:22391cd705e2 252 case 5 : cal[4] = value;break;
21400688 0:22391cd705e2 253 }
21400688 0:22391cd705e2 254 }
21400688 0:22391cd705e2 255
21400688 0:22391cd705e2 256 //각종 프린트
21400688 0:22391cd705e2 257 //if(timer.read()>1){
21400688 0:22391cd705e2 258 for(ch=0;ch<5;ch++){
21400688 0:22391cd705e2 259 pc.printf("cal[%d]: %d, ",ch, cal[ch]);
21400688 0:22391cd705e2 260 if(cal[ch] < minv) minv = cal[ch];
21400688 0:22391cd705e2 261 if(cal[ch] > maxv) maxv = cal[ch];
21400688 0:22391cd705e2 262 }
21400688 0:22391cd705e2 263 pc.printf("\r\n");
21400688 0:22391cd705e2 264 pc.printf("maxv: %d, minv: %d,\r\n",maxv, minv);
21400688 0:22391cd705e2 265 pc.printf("maxcal : %d\r\n",status);
21400688 0:22391cd705e2 266 pc.printf("\r\n");
21400688 0:22391cd705e2 267 //}
21400688 0:22391cd705e2 268
21400688 0:22391cd705e2 269 //장애물 만나면 스탑!!
21400688 0:22391cd705e2 270 if(ultra.getDistance()<8)
21400688 0:22391cd705e2 271 {
21400688 0:22391cd705e2 272 pc.printf("WARNING!\r\n");
21400688 0:22391cd705e2 273 tspeed = speed;
21400688 0:22391cd705e2 274 speed=0.2;
21400688 0:22391cd705e2 275 motorDriver.setPwmApulsewidth(speed);
21400688 0:22391cd705e2 276 motorDriver.setPwmBpulsewidth(speed);
21400688 0:22391cd705e2 277 moveBackward();
21400688 0:22391cd705e2 278 wait(0.2);
21400688 0:22391cd705e2 279 moveStop();
21400688 0:22391cd705e2 280 speed=tspeed;
21400688 0:22391cd705e2 281 motorDriver.setPwmApulsewidth(speed);
21400688 0:22391cd705e2 282 motorDriver.setPwmBpulsewidth(speed);
21400688 0:22391cd705e2 283 }
21400688 0:22391cd705e2 284
21400688 0:22391cd705e2 285 //리모컨 입력받기
21400688 0:22391cd705e2 286 if (ir_rx.getState() == ReceiverIR::Received) {
21400688 0:22391cd705e2 287 bitcount = ir_rx.getData(&format, buf, sizeof(buf) * 8);
21400688 0:22391cd705e2 288 if (bitcount>0) {
21400688 0:22391cd705e2 289 decoded=buf[3];
21400688 0:22391cd705e2 290 num = buf[2];
21400688 0:22391cd705e2 291 //pc.printf("\r\nDecoded: %X %X %X %X ", buf[0],buf[1],num,buf[3]);
21400688 0:22391cd705e2 292 pc.printf("\r\nnum: %X %d", num, num);
21400688 0:22391cd705e2 293 switch(num){
21400688 0:22391cd705e2 294 case 24:
21400688 0:22391cd705e2 295 moveForward();
21400688 0:22391cd705e2 296 break;
21400688 0:22391cd705e2 297 case 90:
21400688 0:22391cd705e2 298 moveRight();
21400688 0:22391cd705e2 299 break;
21400688 0:22391cd705e2 300 case 82:
21400688 0:22391cd705e2 301 moveBackward();
21400688 0:22391cd705e2 302 break;
21400688 0:22391cd705e2 303 case 8:
21400688 0:22391cd705e2 304 moveLeft();
21400688 0:22391cd705e2 305 break;
21400688 0:22391cd705e2 306 case 21: //속도상승
21400688 0:22391cd705e2 307 speed+=0.05;
21400688 0:22391cd705e2 308 motorDriver.setPwmApulsewidth(speed);
21400688 0:22391cd705e2 309 motorDriver.setPwmBpulsewidth(speed);
21400688 0:22391cd705e2 310 break;
21400688 0:22391cd705e2 311 case 7: //속도저하
21400688 0:22391cd705e2 312 speed-=0.05;
21400688 0:22391cd705e2 313 motorDriver.setPwmApulsewidth(speed);
21400688 0:22391cd705e2 314 motorDriver.setPwmBpulsewidth(speed);
21400688 0:22391cd705e2 315 break;
21400688 0:22391cd705e2 316 case 28:
21400688 0:22391cd705e2 317 pc.printf("stop");
21400688 0:22391cd705e2 318 moveStop();
21400688 0:22391cd705e2 319 going=0;
21400688 0:22391cd705e2 320 break;
21400688 0:22391cd705e2 321 case 68:
21400688 0:22391cd705e2 322 pc.printf("stop drive\n\r");
21400688 0:22391cd705e2 323 going=0;
21400688 0:22391cd705e2 324 break;
21400688 0:22391cd705e2 325 }
21400688 0:22391cd705e2 326 }
21400688 0:22391cd705e2 327 }
21400688 0:22391cd705e2 328 }
21400688 0:22391cd705e2 329 }
21400688 0:22391cd705e2 330
21400688 0:22391cd705e2 331 /*
21400688 0:22391cd705e2 332 1 = 12
21400688 0:22391cd705e2 333 2 = 24
21400688 0:22391cd705e2 334 3 = 94
21400688 0:22391cd705e2 335 4 = 8
21400688 0:22391cd705e2 336 5 = 28
21400688 0:22391cd705e2 337 6 = 90
21400688 0:22391cd705e2 338 7 = 66
21400688 0:22391cd705e2 339 8 = 82
21400688 0:22391cd705e2 340 9 = 74
21400688 0:22391cd705e2 341 0 = 22
21400688 0:22391cd705e2 342 +100 = 25
21400688 0:22391cd705e2 343 +200 = 13
21400688 0:22391cd705e2 344 next = 64
21400688 0:22391cd705e2 345 prev = 68
21400688 0:22391cd705e2 346 vol+ = 21
21400688 0:22391cd705e2 347 vol- = 7
21400688 0:22391cd705e2 348 */
21400688 0:22391cd705e2 349 int main()
21400688 0:22391cd705e2 350 {
21400688 0:22391cd705e2 351 pc.printf("HEllO\r\n\r\n");
21400688 0:22391cd705e2 352 pc.printf("maxv: %d, minv: %d,\r\n",maxv, minv);
21400688 0:22391cd705e2 353
21400688 0:22391cd705e2 354 while(1) {
21400688 0:22391cd705e2 355 if (ir_rx.getState() == ReceiverIR::Received) {
21400688 0:22391cd705e2 356 bitcount = ir_rx.getData(&format, buf, sizeof(buf) * 8);
21400688 0:22391cd705e2 357 if (bitcount>0) {
21400688 0:22391cd705e2 358 decoded=buf[3];
21400688 0:22391cd705e2 359 num = buf[2];
21400688 0:22391cd705e2 360 //pc.printf("\r\nDecoded: %X %X %X %X ", buf[0],buf[1],num,buf[3]);
21400688 0:22391cd705e2 361 pc.printf("\r\nnum: %X %d", num, num);
21400688 0:22391cd705e2 362 switch(num){
21400688 0:22391cd705e2 363 case 24:
21400688 0:22391cd705e2 364 moveForward();
21400688 0:22391cd705e2 365 break;
21400688 0:22391cd705e2 366 case 90:
21400688 0:22391cd705e2 367 moveRight();
21400688 0:22391cd705e2 368 break;
21400688 0:22391cd705e2 369 case 82:
21400688 0:22391cd705e2 370 moveBackward();
21400688 0:22391cd705e2 371 break;
21400688 0:22391cd705e2 372 case 8:
21400688 0:22391cd705e2 373 moveLeft();
21400688 0:22391cd705e2 374 break;
21400688 0:22391cd705e2 375 case 21: //속도상승
21400688 0:22391cd705e2 376 speed+=0.1;
21400688 0:22391cd705e2 377 motorDriver.setPwmApulsewidth(speed);
21400688 0:22391cd705e2 378 motorDriver.setPwmBpulsewidth(speed);
21400688 0:22391cd705e2 379 break;
21400688 0:22391cd705e2 380 case 7: //속도저하
21400688 0:22391cd705e2 381 speed-=0.1;
21400688 0:22391cd705e2 382 motorDriver.setPwmApulsewidth(speed);
21400688 0:22391cd705e2 383 motorDriver.setPwmBpulsewidth(speed);
21400688 0:22391cd705e2 384 break;
21400688 0:22391cd705e2 385 case 28:
21400688 0:22391cd705e2 386 pc.printf("stop");
21400688 0:22391cd705e2 387 moveStop();
21400688 0:22391cd705e2 388 going=0;
21400688 0:22391cd705e2 389 break;
21400688 0:22391cd705e2 390 case 64:
21400688 0:22391cd705e2 391 pc.printf("drive\n\r");
21400688 0:22391cd705e2 392 going=1;
21400688 0:22391cd705e2 393 timer.reset();
21400688 0:22391cd705e2 394 drive();
21400688 0:22391cd705e2 395 break;
21400688 0:22391cd705e2 396 case 68:
21400688 0:22391cd705e2 397 pc.printf("stop drive\n\r");
21400688 0:22391cd705e2 398 going=0;
21400688 0:22391cd705e2 399 break;
21400688 0:22391cd705e2 400 }
21400688 0:22391cd705e2 401 }
21400688 0:22391cd705e2 402 }
21400688 0:22391cd705e2 403 }
21400688 0:22391cd705e2 404 }