Ohnishi_Gundan / Mbed 2 deprecated Master-FM

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Dependencies:   MODSERIAL mbed-rtos mbed

Fork of Master by Ohnishi_Gundan

control.cpp

Committer:
9uS7
Date:
2014-09-13
Revision:
8:bfcfda6b38fe
Parent:
3:12e1f116ea42
Child:
9:6057314dc8ec

File content as of revision 8:bfcfda6b38fe:

#include "mbed.h"
#include "control.h"

//sensor
AnalogIn IR(p20);
AnalogIn FSR(p19);

//motor
DigitalOut Sig1(p21);
DigitalOut Sig2(p23);
PwmOut Pwm(p22);

RawSerial c_pc(USBTX, USBRX);   // tx, rx

void motorSetup(void){
    resetPos();    
}

void motor( char function , float power ){
    switch(function){
        case MOTOR_PULL :
            pull( power );
            break;
        case MOTOR_LOOSE :
            loose( power );
            break;
        case MOTOR_OPEN:
            open();
            break;
        case MOTOR_BRAKE:
            brake();
            break;
    }
}

void pull(float buf){
    Sig1 = 0;
    Sig2 = 1;
    Pwm = zeroPWM+buf/3;
}

void loose(float buf){
    Sig1 = 1;
    Sig2 = 0;
    Pwm = zeroPWM+buf/3;
}

void brake(void){
    Sig1 = 0;
    Sig2 = 0;
    Pwm = 1;
}

void open(void){
    Sig1 = 0;
    Sig2 = 0;
    Pwm = 0;
}

void resetPos(void){
    int pos_flag=0;
    
    while(1){
        if(IR>center_pos){
            pull(0.3);
        }else if(IR<center_pos){
            loose(0.3);
        }
        if(abs(IR-center_pos)<0.1){
            open();
            pos_flag=-1;
        }    
        if(pos_flag) break;
    }
}


void getSensor(float* _ir,float* _fsr){
    *_ir = IR;
    *_fsr = FSR;
    c_pc.printf("%f\n",*_fsr);
}