SSSUP
サーボモーターの動作確認プログラム(nucleo版)
Dependencies: mbed
Revision 3:cf99afcea25f, committed 3 months ago
- Comitter:
- taquto
- Date:
- Sat Aug 31 07:45:12 2024 +0000
- Parent:
- 2:80b1aa8ca93d
- Commit message:
- ??????
Changed in this revision
| main_access_servo_tougou.cpp | Show annotated file Show diff for this revision Revisions of this file |
diff -r 80b1aa8ca93d -r cf99afcea25f main_access_servo_tougou.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main_access_servo_tougou.cpp Sat Aug 31 07:45:12 2024 +0000
@@ -0,0 +1,82 @@
+#include "mbed.h"
+
+PwmOut servo(PB_6);
+DigitalIn push(PA_6);
+Serial pc(SERIAL_TX, SERIAL_RX);
+
+
+float calc(float);
+int a,k,count;
+int main()
+{
+ servo.period_ms(20);
+ servo.pulsewidth((1.45+(2.4-0.5)/180*90)/1000); //90度回転
+ k=1;
+ a=0;
+ while(1) {
+
+ pc.printf("a=%d\r\n",a);
+/*
+ if(push == 1){
+ a=1; //押された証拠
+
+ while(push != 1){
+ count = 0;
+ wait(0.3); //チャタリング対策
+ }
+ while(push == 1){
+ count ++;
+ wait(0.3); //チャタリング対策
+ }
+ }
+
+ pc.printf("a=%d\r\n",a);
+
+ if(a == 1){
+ if(k == 0){
+ servo.pulsewidth((1.45+(2.4-0.5)/180*90)/1000); //90度回転
+ k=1;
+ }
+ else if(k == 1){
+ servo.pulsewidth((1.45+(2.4-0.5)/180*0)/1000); //0度回転
+ k=0;
+ }
+ a=0;
+ }*/
+
+ if(push==1){
+ a=1;
+ }
+
+ if(a==1){
+ if(push==0){
+ a = 2; //スイッチ押された判定
+ wait(0.3); //チャタリング対策
+ }
+ }
+
+ if(k == 0){
+ if(a == 2){
+ servo.pulsewidth((1.45+(2.4-0.5)/180*90)/1000); //90度回転
+ k = 1;
+ a = 0;
+ }
+ }
+ else if(k == 1){
+ if(a == 2){
+ servo.pulsewidth((1.45+(2.4-0.5)/180*0)/1000); //0度回転
+ k = 0;
+ a = 0;
+ }
+ }
+
+ }
+ return 0;
+}
+
+/*
+float calc(float x)
+{
+ return (1.45+(2.4-0.5)/180*x)/1000;
+}
+*/
\ No newline at end of file