Revision 3:a564d484cd4a, committed 2021-10-20

Comitter:

nagix

Date:

Wed Oct 20 08:30:14 2021 +0000

Parent:

2:e7910c124624

Commit message:

Servo tuika

Changed in this revision

diff -r e7910c124624 -r a564d484cd4a NHK2021_ikarashiSV.lib
--- a/NHK2021_ikarashiSV.lib	Sun Oct 17 10:04:20 2021 +0000
+++ b/NHK2021_ikarashiSV.lib	Wed Oct 20 08:30:14 2021 +0000
@@ -1,1 +1,1 @@
-https://os.mbed.com/teams/NHK-Robocon2016_Nagaoka_B_Team/code/NHK2021_ikarashiSV/#696f7c0ab1bd
+https://os.mbed.com/teams/NHK-Robocon2016_Nagaoka_B_Team/code/NHK2021_ikarashiSV/#1fc2008f3a07

diff -r e7910c124624 -r a564d484cd4a Servo_softpwm.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Servo_softpwm.lib	Wed Oct 20 08:30:14 2021 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/ikarashikota/code/Servo_softpwm/#39d683a34a55

diff -r e7910c124624 -r a564d484cd4a main.cpp
--- a/main.cpp	Sun Oct 17 10:04:20 2021 +0000
+++ b/main.cpp	Wed Oct 20 08:30:14 2021 +0000
@@ -6,6 +6,7 @@
 #include "controller.h"
 #include "pinconfig.h"
 #include "omni_wheel.h"
+#include "Servo.h"
 #include "math.h"
 
 #define PI 3.141592653589
@@ -30,7 +31,9 @@
     ikarashiMDC(1,1,SM,&RS485),/*腕前後*/
 };
 
-ikarashiSV slv(PC_7,PB_10,PB_4,PB_5);
+ikarashiSV slv(slv1,slv2,slv3,slv4);
+
+Servo servo(Servo_Pin);
 
 OmniWheel omni(4);
 
@@ -52,8 +55,10 @@
 double speed[6];
 double spin_power;
 
+int val;
 
-//int i=0;
+servo.calibrate(0.00095, 90);
+servo.write(0);
 
 omni.wheel[0].setRadian(PI * 1.0 / 4.0);
 omni.wheel[1].setRadian(PI * 3.0 / 4.0);
@@ -127,7 +132,29 @@
         }
 
         for(int i=0; i<6; i++) motor[i].setSpeed(speed[i]);
+        
+        if(b[4]==1 || b[6]==1 || b[5]==1){
+            
+            b[6] += 1;
+            b[5] = 0;
+            
+//            val = slv.state_show();
+//            pc.printf("\t\tstate : %d",val);
+            if(b[4] >= 1) {    /*腕上げ*/
+                slv.solenoid(b[4]);
+            }else if(b[6] >= 2){    /*腕下げ*/
+                slv.solenoid(b[6]);
+            }else if(b[5] == 0){
+                slv.solenoid(b[5]); /*元に戻る*/
+            }
+//            slv.solenoid_show();
+        }
 
+        if(b[7] != 0){
+            servo.write(0.3);
+        }else{
+            servo.write(0);
+        }
         /*
         if(b[0]==1){
             motor[0].setSpeed(0.3);

diff -r e7910c124624 -r a564d484cd4a pinconfig.h
--- a/pinconfig.h	Sun Oct 17 10:04:20 2021 +0000
+++ b/pinconfig.h	Wed Oct 20 08:30:14 2021 +0000
@@ -20,6 +20,15 @@
 static PinName const sda = PB_9;
 static PinName const scl = PB_8;
 
+/*slv*/
+static PinName const slv1 = PC_7;
+static PinName const slv2 = PB_10;
+static PinName const slv3 = PB_4;
+static PinName const slv4 = PB_5;
+
+/*servo*/
+static PinName const Servo_Pin = PB_14;
+
 /*emergency_stop*/
 static PinName const em_stop = PA_5;
 #endif
\ No newline at end of file