Ohnishi_Gundan / Mbed 2 deprecated Master-FM

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Dependencies:   MODSERIAL mbed-rtos mbed

Fork of Master by Ohnishi_Gundan

control.cpp@0:4f07ba929908, 2014-09-11 (annotated)

Committer:
9uS7
Date:
Thu Sep 11 10:15:34 2014 +0000
Revision:
0:4f07ba929908
Child:
1:e1cfb5850088
main_program

Who changed what in which revision?

UserRevisionLine numberNew contents of line
9uS7 0:4f07ba929908 1 #include "mbed.h"
9uS7 0:4f07ba929908 2 #include "control.h"
9uS7 0:4f07ba929908 3
9uS7 0:4f07ba929908 4 void pull(float buf){
9uS7 0:4f07ba929908 5 Sig1 = 0;
9uS7 0:4f07ba929908 6 Sig2 = 1;
9uS7 0:4f07ba929908 7 Pwm = zeroPWM+buf/3;
9uS7 0:4f07ba929908 8 }
9uS7 0:4f07ba929908 9
9uS7 0:4f07ba929908 10 void loose(float buf){
9uS7 0:4f07ba929908 11 Sig1 = 1;
9uS7 0:4f07ba929908 12 Sig2 = 0;
9uS7 0:4f07ba929908 13 Pwm = zeroPWM+buf/3;
9uS7 0:4f07ba929908 14 }
9uS7 0:4f07ba929908 15
9uS7 0:4f07ba929908 16 void brake(void){
9uS7 0:4f07ba929908 17 Sig1 = 0;
9uS7 0:4f07ba929908 18 Sig2 = 0;
9uS7 0:4f07ba929908 19 Pwm = 1;
9uS7 0:4f07ba929908 20 }
9uS7 0:4f07ba929908 21
9uS7 0:4f07ba929908 22 void open(void){
9uS7 0:4f07ba929908 23 Sig1 = 0;
9uS7 0:4f07ba929908 24 Sig2 = 0;
9uS7 0:4f07ba929908 25 Pwm = 0;
9uS7 0:4f07ba929908 26 }
9uS7 0:4f07ba929908 27
9uS7 0:4f07ba929908 28 void ResetPos(){
9uS7 0:4f07ba929908 29 int pos_flag=0;
9uS7 0:4f07ba929908 30 while(1){
9uS7 0:4f07ba929908 31 if(Red1>center_pos){
9uS7 0:4f07ba929908 32 pull(0.3);
9uS7 0:4f07ba929908 33 }else if(Red1<center_pos){
9uS7 0:4f07ba929908 34 loose(0.3);
9uS7 0:4f07ba929908 35 }
9uS7 0:4f07ba929908 36 if(abs(Red1-center_pos)<0.1){
9uS7 0:4f07ba929908 37 Open1();
9uS7 0:4f07ba929908 38 pos1_flag=1;
9uS7 0:4f07ba929908 39 }
9uS7 0:4f07ba929908 40
9uS7 0:4f07ba929908 41 if(Red2>center_pos){
9uS7 0:4f07ba929908 42 Back2();
9uS7 0:4f07ba929908 43 }else if(Red2<center_pos){
9uS7 0:4f07ba929908 44 Forward2();
9uS7 0:4f07ba929908 45 }
9uS7 0:4f07ba929908 46 if(abs(Red2-center_pos)<0.1){
9uS7 0:4f07ba929908 47 Open2();
9uS7 0:4f07ba929908 48 pos2_flag=1;
9uS7 0:4f07ba929908 49 }
9uS7 0:4f07ba929908 50
9uS7 0:4f07ba929908 51 if(pos1_flag == 1 && pos2_flag ==1) break;
9uS7 0:4f07ba929908 52 }
9uS7 0:4f07ba929908 53 }