Diff: main.cpp

Revision:

0:e4b3c79f95c0

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon Jan 25 07:18:17 2021 +0000
@@ -0,0 +1,112 @@
+#include "mbed.h"
+#include "PololuLedStrip.h"
+
+PololuLedStrip ledStrip1(PB_1);
+PololuLedStrip ledStrip2(PB_0);
+PololuLedStrip ledStrip3(PA_11);
+PololuLedStrip ledStrip4(PA_7);
+
+#define LED_COUNT 37 //LEDの数
+rgb_color colors[LED_COUNT];
+rgb_color colors2[LED_COUNT];
+rgb_color colors3[LED_COUNT];
+rgb_color colors4[LED_COUNT];
+
+Serial Xbee(PA_9,PA_10,19200); //TX,RX,クロックレート
+Serial pc(SERIAL_TX,SERIAL_RX); //pc(USBTX,USBRX)
+unsigned char RX_data;
+
+DigitalOut LED(PA_3);
+AnalogIn FT(PA_4);
+
+Ticker flipper; //タイマー
+
+//RS-555 rpm == 3610
+//rad/s  == 378.0383159819718
+//ギア比は１：２だから上の2倍のはず
+
+//フォトリフレクタ
+double fot;
+int h = 0;
+int b = 0;
+//↓LED色
+int R = 1;
+int G = 2;
+int B = 3;
+int Y = 4;
+int L = 5;
+int P = 6;
+int W = 7;
+int O = 8;
+
+int LED_CON = 1;
+int con = 0;
+int FT_con = 0;
+
+void Xbee_RX(){
+    RX_data = Xbee.getc(); //Xbeeから送られてきた文字Zに代入
+    pc.putc(RX_data); //値をpcに表示
+}
+
+rgb_color COLOR(float H,int n){
+
+    float r = 0, g = 0, b = 0;
+    H = 100; //光の強さ
+    switch (n){
+        case 1:r = H; g = 0; b = 0; break; //赤
+        case 2:r = 0; g = H; b = 0; break; //緑
+        case 3:r = 0; g = 0; b = H; break; //青
+        case 4:r = H; g = H; b = 0; break; //黄色
+        case 5:r = 0; g = H; b = H; break; //水色
+        case 6:r = H; g = 0; b = H; break; //紫
+        case 7:r = H; g = H; b = H; break; //白
+        case 8:r = H; g = H * 0.5; b = 0; break; //オレンジ
+        }
+    return (rgb_color){r,g,b};
+}
+
+//タイマー処理
+void LED_not(){
+    for(h = 0; h < LED_COUNT; h++){
+        uint8_t phase =(h << 1);
+        colors[h] = COLOR(phase, 0); 
+        ledStrip1.write(colors, LED_COUNT);
+    }
+}
+
+
+
+
+int main(){
+    Xbee.attach(&Xbee_RX, Serial::RxIrq); //割り込み
+    pc.baud(115200); //pcクロックレート
+
+    while(1){
+//        if(RX_data == 'A'){
+            
+        if(FT < 0.8){
+            FT_con++;
+            //Xbee.printf("%f",FT);
+            while(FT < 0.8){
+                //Xbee.printf("%f",FT);
+            }
+        }
+//        if(RX_data == 'A' && con == 0){
+//            con = 1;
+//        }
+        if(con == 0){
+            if(10 <= FT_con && FT_con < 20){
+                for(h = 0; h < LED_COUNT; h++){
+                    uint8_t phase =(h << 1);
+                    colors[1] = COLOR(phase, B);
+                    ledStrip1.write(colors, LED_COUNT);
+                    
+                }
+                LED_not();
+            }
+       }
+                
+                
+            
+    }
+}
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