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Dependencies:   mbed

main.cpp@2:2580959cb1f9, 2018-12-11 (annotated)

Committer:
hswell3221
Date:
Tue Dec 11 10:14:02 2018 +0000
Revision:
2:2580959cb1f9
Parent:
1:06b0309330c5 
kiban test

Who changed what in which revision?

UserRevisionLine numberNew contents of line
hswell3221 0:6fe0fbc55b6f 1 #include "mbed.h"
hswell3221 0:6fe0fbc55b6f 2
hswell3221 2:2580959cb1f9 3 /*
hswell3221 2:2580959cb1f9 4 DigitalOut stby(p23);//23 18
hswell3221 2:2580959cb1f9 5 DigitalOut Aout(p24);//22 17
hswell3221 2:2580959cb1f9 6 DigitalOut Bout(p22);//24 19
hswell3221 2:2580959cb1f9 7 DigitalOut Aout2(p26);
hswell3221 2:2580959cb1f9 8 DigitalOut Bout2(p27);
hswell3221 2:2580959cb1f9 9 PwmOut motorA(p25);//21 21
hswell3221 2:2580959cb1f9 10 PwmOut motorB(p21);//25 22
hswell3221 2:2580959cb1f9 11 *\
hswell3221 2:2580959cb1f9 12
hswell3221 2:2580959cb1f9 13 /*富田
hswell3221 2:2580959cb1f9 14 DigitalOut stby(p23);
hswell3221 2:2580959cb1f9 15 DigitalOut Aout(p24);
hswell3221 2:2580959cb1f9 16 DigitalOut Bout(p22);
hswell3221 2:2580959cb1f9 17 DigitalOut Aout2(p26);
hswell3221 2:2580959cb1f9 18 DigitalOut Bout2(p27);
hswell3221 2:2580959cb1f9 19 PwmOut motorA(p25);
hswell3221 2:2580959cb1f9 20 PwmOut motorB(p21);
hswell3221 2:2580959cb1f9 21 宮崎
hswell3221 2:2580959cb1f9 22 DigitalOut stby(p23);
hswell3221 2:2580959cb1f9 23 DigitalOut Aout(p24);
hswell3221 2:2580959cb1f9 24 DigitalOut Bout(p22);
hswell3221 2:2580959cb1f9 25 DigitalOut Aout2(p28);
hswell3221 2:2580959cb1f9 26 DigitalOut Bout2(p29);
hswell3221 2:2580959cb1f9 27 PwmOut motorA(p26);
hswell3221 2:2580959cb1f9 28 PwmOut motorB(p21);
hswell3221 2:2580959cb1f9 29 中西
hswell3221 2:2580959cb1f9 30 DigitalOut stby(p23);
hswell3221 2:2580959cb1f9 31 DigitalOut Aout(p24);
hswell3221 2:2580959cb1f9 32 DigitalOut Bout(p22);
hswell3221 2:2580959cb1f9 33 DigitalOut Aout2(p30);
hswell3221 2:2580959cb1f9 34 DigitalOut Bout2(p29);
hswell3221 2:2580959cb1f9 35 PwmOut motorA(p25);
hswell3221 2:2580959cb1f9 36 PwmOut motorB(p21);
hswell3221 2:2580959cb1f9 37 */
hswell3221 2:2580959cb1f9 38
hswell3221 2:2580959cb1f9 39 Serial xbee(p9,p10);
hswell3221 0:6fe0fbc55b6f 40 Serial pc(USBTX,USBRX);
hswell3221 0:6fe0fbc55b6f 41 DigitalOut stby(p23);
hswell3221 2:2580959cb1f9 42 DigitalOut Aout(p24);
hswell3221 2:2580959cb1f9 43 DigitalOut Bout(p22);
hswell3221 2:2580959cb1f9 44 DigitalOut Aout2(p30);
hswell3221 2:2580959cb1f9 45 DigitalOut Bout2(p29);
hswell3221 2:2580959cb1f9 46 PwmOut motorA(p25);
hswell3221 2:2580959cb1f9 47 PwmOut motorB(p21);
hswell3221 2:2580959cb1f9 48
hswell3221 2:2580959cb1f9 49 DigitalOut led1(LED1);
hswell3221 2:2580959cb1f9 50 DigitalOut led2(LED2);
hswell3221 2:2580959cb1f9 51 DigitalOut led3(LED3);
hswell3221 2:2580959cb1f9 52 DigitalOut led4(LED4);
hswell3221 0:6fe0fbc55b6f 53
hswell3221 0:6fe0fbc55b6f 54 int main()
hswell3221 0:6fe0fbc55b6f 55 {
hswell3221 0:6fe0fbc55b6f 56 char data;
hswell3221 0:6fe0fbc55b6f 57
hswell3221 2:2580959cb1f9 58 stby = 1; Aout = 1; Bout = 1; Aout2 = 0; Bout2 = 0;
hswell3221 2:2580959cb1f9 59 motorA.period(0.0005);
hswell3221 2:2580959cb1f9 60 motorB.period(0.0005);
hswell3221 2:2580959cb1f9 61 motorA.pulsewidth(0.0005);
hswell3221 2:2580959cb1f9 62 motorB.pulsewidth(0.0005);
hswell3221 2:2580959cb1f9 63 led1 = 1; led2 = 0; led3 = 0; led4 = 0;
hswell3221 2:2580959cb1f9 64 wait(2);
hswell3221 2:2580959cb1f9 65
hswell3221 2:2580959cb1f9 66 motorA.pulsewidth(0.00025);
hswell3221 2:2580959cb1f9 67 motorB.pulsewidth(0.00025);
hswell3221 2:2580959cb1f9 68 led1 = 0; led2 = 1; led3 = 0; led4 = 0;
hswell3221 2:2580959cb1f9 69 wait(2);
hswell3221 2:2580959cb1f9 70
hswell3221 2:2580959cb1f9 71 motorA.pulsewidth(0.00);
hswell3221 2:2580959cb1f9 72 motorB.pulsewidth(0.00);
hswell3221 2:2580959cb1f9 73 led1 = 0; led2 = 0; led3 = 0; led4 = 0;
hswell3221 0:6fe0fbc55b6f 74
hswell3221 0:6fe0fbc55b6f 75 pc.printf("start\n");
hswell3221 0:6fe0fbc55b6f 76
hswell3221 0:6fe0fbc55b6f 77 while(1)
hswell3221 0:6fe0fbc55b6f 78 {
hswell3221 1:06b0309330c5 79 if(xbee.readable())
hswell3221 0:6fe0fbc55b6f 80 {
hswell3221 0:6fe0fbc55b6f 81 data = xbee.getc();
hswell3221 0:6fe0fbc55b6f 82 }
hswell3221 0:6fe0fbc55b6f 83
hswell3221 1:06b0309330c5 84 /*if(data == 'F')
hswell3221 0:6fe0fbc55b6f 85 {
hswell3221 2:2580959cb1f9 86 motorA.pulsewidth(0.015);
hswell3221 2:2580959cb1f9 87 motorB.pulsewidth(0.015);
hswell3221 1:06b0309330c5 88 pc.printf("F:%c",data);
hswell3221 1:06b0309330c5 89 }*/
hswell3221 1:06b0309330c5 90
hswell3221 1:06b0309330c5 91 if(data == 'A')
hswell3221 1:06b0309330c5 92 {
hswell3221 2:2580959cb1f9 93 led1 = 1; led2 = 0; led3 = 0; led4 = 0;
hswell3221 2:2580959cb1f9 94 Aout = 1; Bout = 1; Aout2 = 0; Bout2 = 0;
hswell3221 2:2580959cb1f9 95 motorA.pulsewidth(0.020);
hswell3221 2:2580959cb1f9 96 motorB.pulsewidth(0.020);
hswell3221 1:06b0309330c5 97 pc.printf("A:%c",data);
hswell3221 0:6fe0fbc55b6f 98 }
hswell3221 0:6fe0fbc55b6f 99
hswell3221 2:2580959cb1f9 100 else if(data == 'R')
hswell3221 0:6fe0fbc55b6f 101 {
hswell3221 2:2580959cb1f9 102 led1 = 0; led2 = 1; led3 = 0; led4 = 0;
hswell3221 2:2580959cb1f9 103 Aout = 1; Bout = 1; Aout2 = 0; Bout2 = 0;
hswell3221 2:2580959cb1f9 104 motorA.pulsewidth(0.020);
hswell3221 2:2580959cb1f9 105 motorB.pulsewidth(0.00);
hswell3221 0:6fe0fbc55b6f 106 pc.printf("R:%c",data);
hswell3221 0:6fe0fbc55b6f 107 }
hswell3221 0:6fe0fbc55b6f 108
hswell3221 2:2580959cb1f9 109 else if(data == 'L')
hswell3221 0:6fe0fbc55b6f 110 {
hswell3221 2:2580959cb1f9 111 led1 = 0; led2 = 0; led3 = 1; led4 = 0;
hswell3221 2:2580959cb1f9 112 Aout = 1; Bout = 1; Aout2 = 0; Bout2 = 0;
hswell3221 2:2580959cb1f9 113 motorA.pulsewidth(0.00);
hswell3221 2:2580959cb1f9 114 motorB.pulsewidth(0.020);
hswell3221 0:6fe0fbc55b6f 115 pc.printf("L:%c",data);
hswell3221 0:6fe0fbc55b6f 116 }
hswell3221 0:6fe0fbc55b6f 117
hswell3221 2:2580959cb1f9 118 else if(data == 'B')
hswell3221 2:2580959cb1f9 119 {
hswell3221 2:2580959cb1f9 120 led1 = 0; led2 = 0; led3 = 0; led4 = 1;
hswell3221 2:2580959cb1f9 121 Aout = 0; Bout = 0; Aout2 = 1; Bout2 = 1;
hswell3221 2:2580959cb1f9 122 motorA.pulsewidth(0.015);
hswell3221 2:2580959cb1f9 123 motorB.pulsewidth(0.015);
hswell3221 2:2580959cb1f9 124 pc.printf("B:%c",data);
hswell3221 2:2580959cb1f9 125 }
hswell3221 2:2580959cb1f9 126
hswell3221 2:2580959cb1f9 127 else if(data == 'N')
hswell3221 2:2580959cb1f9 128 {
hswell3221 2:2580959cb1f9 129 led1 = 0; led2 = 0; led3 = 0; led4 = 0;
hswell3221 2:2580959cb1f9 130 Aout = 1; Bout = 1; Aout2 = 0; Bout2 = 0;
hswell3221 2:2580959cb1f9 131 motorA.pulsewidth(0.000);
hswell3221 2:2580959cb1f9 132 motorB.pulsewidth(0.000);
hswell3221 0:6fe0fbc55b6f 133 pc.printf("N:%c",data);
hswell3221 0:6fe0fbc55b6f 134 }
hswell3221 0:6fe0fbc55b6f 135
hswell3221 1:06b0309330c5 136 //data = 'N';
hswell3221 0:6fe0fbc55b6f 137
hswell3221 0:6fe0fbc55b6f 138 }
hswell3221 0:6fe0fbc55b6f 139 }