NagaokaRoboticsClub_mbedTeam / NHK2021_ikarashiSV

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Dependents:   NHK2021_ikarashiSV_code NHK2021_ikarashiSV_code_withservo 2021NHK_B_syudo

Files at this revision

API Documentation at this revision

Revision 9:252dd0bc8f93, committed 2021-10-23

Comitter:
ikarashikota
Date:
Sat Oct 23 03:44:50 2021 +0000
Parent:
8:f276fe03c43d
Commit message:
add doxygen

Changed in this revision

ikarashiSV.cpp Show annotated file Show diff for this revision Revisions of this file
ikarashiSV.h Show annotated file Show diff for this revision Revisions of this file 
--- a/ikarashiSV.cpp	Sat Oct 23 03:38:23 2021 +0000
+++ b/ikarashiSV.cpp	Sat Oct 23 03:44:50 2021 +0000
@@ -69,12 +69,12 @@
 void ikarashiSV2::solenoid(int _state2)
 {
     switch(_state2) {
-        case 1:
+        case 1://push
             port_e = 0;
             port_f = 1;
             solenoid_status2 = 1;
             break;
-        case 0:
+        case 0://pull
             port_e = 1;
             port_f = 0;
             solenoid_status2 = 0;
@@ -96,29 +96,40 @@
 #include "mbed.h"
 #include "ikarashiSV.h"
 
+DigitalOut led1(LED1);
 Serial pc(USBTX, USBRX,115200);
 
-ikarashiSV slv(PC_7,PB_10,PB_4,PB_5);
+ikarashiSV slv1(PB_5,PB_4,PB_10,PA_5);
+ikarashiSV2 slv2(PB_9,PB_8);
+Servo servo(PB_14);
+Ticker timer;
 
 //ボタンを押したときor離したときを読み取る定義の仕方
 InterruptIn button(USER_BUTTON);
 
+int check = 0;
+
 void add()
 {
-    slv.add_state();
+    if(check >= 1) {
+        slv1.add_state();
+    }
+    check++;
 }
 
 int main()
 {
     int val;
+    timer.attach(&add, 2);
     while(1) {
-        button.fall(&add);
-        val = slv.state_show();
-        pc.printf("\t\tstate : %d",val);
-        if(val >= 1) {
-            slv.solenoid(val%3);
-        }
-        slv.solenoid_show();
+        val = slv1.state_show();
+        pc.printf("state : %d",val);
+        pc.printf("\tservo : %0.2f\t",servo.read());
+        slv1.solenoid_show();
+        slv2.solenoid_show();
+        printf("\n\r");
+        slv1.solenoid(val%3);
+        slv2.solenoid(val%2);
     }
 }
 

--- a/ikarashiSV.h	Sat Oct 23 03:38:23 2021 +0000
+++ b/ikarashiSV.h	Sat Oct 23 03:44:50 2021 +0000
@@ -70,6 +70,11 @@
 class ikarashiSV2{
 public:
     ikarashiSV2(PinName pin_e, PinName pin_f);
+    
+    /** 大本命関数その２
+     * _state2 = 1 ・・・　push
+     * _state2 = 0 ・・・　pull
+     */
     void solenoid(int _state2);
     void solenoid_show();
 private: