Revision 6:892eb32f6dc3, committed 2019-12-05

Comitter:

saeichi

Date:

Thu Dec 05 00:17:03 2019 +0000

Parent:

5:f3b266c917a6

Commit message:

GPSGO;

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/TB6612.cpp	Thu Dec 05 00:17:03 2019 +0000
@@ -0,0 +1,57 @@
+/**
+ * Motor Driver TB6612 Control Library
+ *
+ * -- TB6612 is a device of the TOSHIBA. 
+ *
+ * Copyright (C) 2012 Junichi Katsu (JKSOFT) 
+ */
+ 
+ 
+#include "TB6612.h"
+ 
+// TB6612 Class Constructor
+TB6612::TB6612(PinName pwm, PinName fwd, PinName rev):
+        _pwm(pwm), _fwd(fwd), _rev(rev) {
+ 
+    _fwd = 0;
+    _rev = 0;
+    _pwm = 0.0;
+    _pwm.period(0.001);
+}
+ 
+// Speed Control
+//  arg
+//   int speed -100 -- 0 -- 100
+void TB6612::speed(int speed) {
+        
+    if( speed > 0 )
+    {
+        _pwm = ((float)speed) / 100.0;
+        _fwd = 1;
+        _rev = 0;
+    }
+    else if( speed < 0 )
+    {
+        _pwm = -((float)speed) / 100.0;
+        _fwd = 0;
+        _rev = 1;
+    }
+    else
+    {
+        _fwd = 1;
+        _rev = 1;
+    }
+}
+ 
+ 
+// Speed Control with time-out
+//  arg
+//   int speed -100 -- 0 -- 100
+//   int time  0
+void TB6612::move(int sspeed , int time)
+{
+    speed(sspeed);
+    wait_ms(time);
+}
+ 
+            
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/TB6612.h	Thu Dec 05 00:17:03 2019 +0000
@@ -0,0 +1,30 @@
+/**
+ * Motor Driver TB6612 Control Library
+ *
+ * -- TB6612 is a device of the rohm. 
+ *
+ * Copyright (C) 2012 Junichi Katsu (JKSOFT) 
+ */
+ 
+#ifndef MBED_TB6612_H
+#define MBED_TB6612_H
+ 
+#include "mbed.h"
+ 
+class TB6612 {
+public:
+    TB6612(PinName pwm, PinName fwd, PinName rev);
+    void speed(int speed);
+    void move(int speed , int time);
+    void operator= ( int value )
+    {
+        speed(value);
+    }
+    
+protected:
+    PwmOut _pwm;
+    DigitalOut _fwd;
+    DigitalOut _rev;
+};
+ 
+#endif
\ No newline at end of file

--- a/gps.cpp	Wed Nov 13 12:14:34 2019 +0000
+++ b/gps.cpp	Thu Dec 05 00:17:03 2019 +0000
@@ -1,32 +1,49 @@
 #include "mbed.h"
 #include "getGPS.h"
 #include "math.h"
+#include "TB6612.h"
 
 Serial pc(USBTX,USBRX);
 GPS gps (p28,p27);
 Serial xbee(p13,p14);
+TB6612 left(p25,p17,p16);
+TB6612 right(p26,p19,p18);
 
 
 int main() {
      double a;
      double b;
      double distance;
-    
-    pc.printf("GPS Start\n");
-    xbee.printf("s\n");
+     int i = 0;
+     
+     pc.printf("GPS Start\n");
+     xbee.printf("s\n");
      while(1) {
          if(gps.getgps()){
+           
+          pc.printf("(%lf,%lf)\r\n",gps.latitude,gps.longitude);//緯度と経度を表示   
+          i ++;
+          if(i<29){
+           }else if(i == 30){
            a = gps.latitude;
            b = gps.longitude;
            
-          pc.printf("(%lf,%lf)\r\n",gps.latitude,gps.longitude);//緯度と経度を表示   
+           }else{
            break;
-           
+           }
          }else{
           pc.printf("NO DATA\r\n");//データ取得失敗
           wait(1);
             }
        }
+       
+        left = 100; //左モーター１００％
+        right = 100;//右モーター１００％
+        wait(30);
+        left = 0; //左モーター１０％
+        right = 0;//右モーター１０％(左折)
+        wait(15);
+        
       while(1){
          if(gps.getgps()) {
            
@@ -70,6 +87,14 @@
      }
      
      
+ 
+
+ 
+
+
+
+
+