NagaokaRoboticsClub_mbedTeam
/
2021_NHK_A_MDandServoSet
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Dependencies: mbed SoftPWM Servo_softpwm IR2302
Diff: main.cpp
- Revision:
- 0:710db3044013
- Child:
- 1:e385a2004a95
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Tue Sep 28 02:09:17 2021 +0000
@@ -0,0 +1,41 @@
+#include "mbed.h"
+#include "Servo.h"
+#include "ikarashiMDC.h"
+
+DigitalOut stop(D13);
+Serial serial(PC_10,PC_11,115200);
+Serial pc(USBTX, USBRX,115200);
+Timer t;
+Servo servo[6]={PB_15,PB_10,PB_4,PB_5,PB_3,PA_10};
+
+ikarashiMDC motor[] = {
+ ikarashiMDC(0,0,SM,&serial),
+ ikarashiMDC(0,1,SM,&serial),
+ ikarashiMDC(0,2,SM,&serial),
+ ikarashiMDC(0,3,SM,&serial)
+};
+
+int main()
+{
+ stop=1;
+ float servoValue[6]={0.0,0.0,0.0,0.0,0.0,0.0};
+ float time;
+ int i;
+ for(i=0;i<6;i++){
+ servo[i].calibrate(0.00095, 90);
+ }
+ t.start();
+ while(1){
+ time=t.read();
+ for(i=0;i<6;i++){
+ servoValue[i]=(sin(time)+1.0)/2.0;
+ }
+ // サーボの値をservoValueに代入（0度が0，90度が0.5，180度が1.0）
+ for(int i=0; i<4; i++){
+ motor[i].setSpeed(sin(2.0*3.14*0.2*t.read())*0.5);
+ }
+ for(i=0;i<6;i++){
+ servo[i].write(servoValue[i]);
+ }
+ }
+}