Diff: main.cpp

Revision:

0:dfbe64c7cd06

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon Apr 25 09:11:47 2022 +0000
@@ -0,0 +1,110 @@
+#include "mbed.h"
+#include "board.h"
+#include "Serial6050.h"
+#include "Utility.h"
+
+/*void TurnAround()
+{
+    while(1) {
+        while(dire!=0)
+            dire=mpu.read();
+        if(dire<=180) {
+            cerica.Motor(3,255);
+        } else if(dire>=180) {+
+        65
+            cerica.Motor(3,-255);
+        }
+        cerica.Motor(3,0);
+    }
+}*/
+void Reload()
+{
+    //PWM.period_us(20000); //周期設定
+    pc.printf("OPEN\r\n");
+    PWM.pulsewidth_us(500);
+    wait(2);
+    pc.printf("CLOSE\r\n");
+    PWM.pulsewidth_us(2400);
+    wait(2);
+}
+
+void ReloadThread()
+{
+    while(true) {
+        if(Opflag==1) {
+            pc.printf("ReloadOP\r\n");
+            PWM.pulsewidth_us(500);
+            wait(1);
+            Opflag=0;
+        } else if(Clflag==1) {
+            pc.printf("ReloadCL\r\n");
+            PWM.pulsewidth_us(2400);
+            wait(1);
+            Clflag=0;
+        } else {
+            //Opflag=0;
+            //Clflag=0;
+        }
+    }
+}
+
+void Bow()
+{
+
+    Opflag=1;
+    cerica.Motor(0,-40);
+    wait(0.5);
+    while(limit_pin.read()==1) {
+
+        cerica.Motor(0,-40);
+        //pc.printf("BOW LOW\r\n");
+
+    }
+    pc.printf("%d\r\n",limit_pin.read());
+    while(1) {
+        cerica.Motor(0,0);
+        Clflag=1;
+        count--;
+        pc.printf("%d\r\n",count);
+        wait(0.4);
+        if(count==0) {
+            count=3;
+            pc.printf("break\r\n");
+            break;
+        }
+    }
+}
+int main()
+{
+    boardInit();
+    limit_pin.mode(PullUp);
+    Thread reload;
+    Thread led;
+    led.start(LEDThread);
+    reload.start(ReloadThread);;
+    PWM.period_us(20000); //周期設定
+    PWM.pulsewidth_us(2400);
+
+    //mpu.init();
+
+    MoveFlag = 1;
+    wait_ms(900);
+    MoveFlag = 0;
+
+    Thread comm;
+    comm.start(commArduinoThread);
+
+    while (true) {
+        if(MoveFlag==1||button.read() == 0) {
+            pc.printf("ON\r\n");
+            Bow();
+        } else {
+            //pc.printf("OFF\r\n");
+        }
+    }
+    //Reload();
+    //pc.printf("%d\n\r",SW1.read());
+    //pc.printf("aaaa\n\r");
+    //pc.printf("%d\n\r",limit_pin.read());
+
+}
\ No newline at end of file