Surgical_Hand / Mbed 2 deprecated krs3

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Dependencies:   mbed krs3

main.cpp@4:b4c8d6671241, 2019-12-29 (annotated)

Committer:
takaoha
Date:
Sun Dec 29 16:36:37 2019 +0000
Revision:
4:b4c8d6671241
Parent:
3:e356b3e7ecfd
Child:
5:42c8babe5160
krs

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Soutajin 0:651a188c5dc3 1 #include "mbed.h"
takaoha 1:fa3a640a55e0 2 #include "math.h"
takaoha 3:e356b3e7ecfd 3 #include "krs.h"
takaoha 2:33681dfc2aa5 4 AnalogIn fsr(PC_0);
takaoha 2:33681dfc2aa5 5 Serial pc(USBTX,USBRX);
takaoha 4:b4c8d6671241 6 //krs master(PA_9,PA_10,PC_7,1250000);
takaoha 4:b4c8d6671241 7 krs master(PA_9,PA_10,PC_7,112500);
Soutajin 0:651a188c5dc3 8 int main() {
takaoha 1:fa3a640a55e0 9 pc.printf("hello\r\n");
takaoha 1:fa3a640a55e0 10
takaoha 1:fa3a640a55e0 11 int deg=0;
takaoha 1:fa3a640a55e0 12 char degpart[3];
takaoha 1:fa3a640a55e0 13 int id;
takaoha 2:33681dfc2aa5 14 char a;
takaoha 1:fa3a640a55e0 15 while(1){
takaoha 2:33681dfc2aa5 16 pc.printf("choose1 or 2 or3\r\n");
takaoha 2:33681dfc2aa5 17 a=pc.getc();
takaoha 2:33681dfc2aa5 18 switch(a){
takaoha 2:33681dfc2aa5 19 case '1':
takaoha 1:fa3a640a55e0 20 pc.printf("degree\r\n");
takaoha 1:fa3a640a55e0 21 for(int i=0;i<3;i++){
takaoha 1:fa3a640a55e0 22 degpart[i]=pc.getc()-48;
takaoha 1:fa3a640a55e0 23 printf("%d",degpart[i]);
takaoha 1:fa3a640a55e0 24 }
takaoha 1:fa3a640a55e0 25 printf("\r\n");
takaoha 1:fa3a640a55e0 26 deg=100*degpart[0]+10*degpart[1]+degpart[2];
takaoha 3:e356b3e7ecfd 27
takaoha 1:fa3a640a55e0 28 pc.printf("%d\r\n",deg);
takaoha 1:fa3a640a55e0 29 pc.printf("id\r\n");
takaoha 1:fa3a640a55e0 30 id=pc.getc()-48;
takaoha 3:e356b3e7ecfd 31
takaoha 1:fa3a640a55e0 32 pc.printf("%d\r\n",id);
takaoha 3:e356b3e7ecfd 33 master.setpos(deg,id);
takaoha 1:fa3a640a55e0 34 //getID();
takaoha 4:b4c8d6671241 35 wait(0.3);
takaoha 4:b4c8d6671241 36 master.getpos(id);
takaoha 2:33681dfc2aa5 37 break;
takaoha 2:33681dfc2aa5 38
takaoha 2:33681dfc2aa5 39
takaoha 2:33681dfc2aa5 40 case '2':
takaoha 2:33681dfc2aa5 41 double i;
takaoha 2:33681dfc2aa5 42 i=fsr.read();
takaoha 2:33681dfc2aa5 43
takaoha 2:33681dfc2aa5 44 deg=i*270-135;
takaoha 2:33681dfc2aa5 45 pc.printf("%d\r\n",deg);
takaoha 3:e356b3e7ecfd 46 master.setpos(deg,5);
takaoha 2:33681dfc2aa5 47 break;
takaoha 2:33681dfc2aa5 48
takaoha 2:33681dfc2aa5 49 case '3':
takaoha 2:33681dfc2aa5 50 pc.printf("id\r\n");
takaoha 2:33681dfc2aa5 51 id=pc.getc()-48;
takaoha 3:e356b3e7ecfd 52
takaoha 2:33681dfc2aa5 53 pc.printf("%d\r\n",id);
takaoha 3:e356b3e7ecfd 54 master.getpos(id);
takaoha 2:33681dfc2aa5 55 break;
takaoha 2:33681dfc2aa5 56
takaoha 4:b4c8d6671241 57 case '4':
takaoha 4:b4c8d6671241 58 pc.printf("w\r\n");
takaoha 4:b4c8d6671241 59 while(1){
takaoha 4:b4c8d6671241 60 master.setpos(90,5);
takaoha 4:b4c8d6671241 61
takaoha 4:b4c8d6671241 62 master.setpos(135,6);
takaoha 4:b4c8d6671241 63 wait(0.4);
takaoha 4:b4c8d6671241 64 master.setpos(0,5);
takaoha 4:b4c8d6671241 65
takaoha 4:b4c8d6671241 66 master.setpos(0,6);
takaoha 4:b4c8d6671241 67 wait(0.4);
takaoha 4:b4c8d6671241 68 }
takaoha 4:b4c8d6671241 69 break;
takaoha 4:b4c8d6671241 70
takaoha 2:33681dfc2aa5 71 default:
takaoha 2:33681dfc2aa5 72 break;
takaoha 2:33681dfc2aa5 73 }
takaoha 3:e356b3e7ecfd 74 }
takaoha 1:fa3a640a55e0 75 }
takaoha 1:fa3a640a55e0 76