Diff: main.cpp

Revision:

2:9885740002da

Parent:

1:02b46ad7dcac

Child:

3:0989b6368529

--- a/main.cpp	Tue Feb 05 04:11:53 2013 +0000
+++ b/main.cpp	Fri Nov 08 16:54:04 2019 +0000
@@ -1,102 +1,20 @@
 #include "mbed.h"
-
-DigitalOut led1(LED1), led2(LED2), led3(LED3), led4(LED4);
-
-DigitalOut m1a(p29), m1b(p30), m2a(p27), m2b(p28);
-PwmOut m1p(p26), m2p(p25);
-PwmOut m3p(p23), m4p(p24);
-
-void motor (int num, float speed, int brake) {
-    if (num == 1) {
-        if (brake) {
-            m1p = 1;
-            m1a = 1;
-            m1b = 1;
-        } else
-        if (speed > 0) {
-            m1p = speed;
-            m1a = 1;
-            m1b = 0;
-        } else
-        if (speed < 0) {
-            m1p = - speed;
-            m1a = 0;
-            m1b = 1;
-        } else {
-            m1p = 1;
-            m1a = 0;
-            m1b = 0;
-        }
-    } else
-    if (num == 2) {
-        if (brake) {
-            m2p = 1;
-            m2a = 1;
-            m2b = 1;
-        } else
-        if (speed > 0) {
-            m2p = speed;
-            m2a = 1;
-            m2b = 0;
-        } else
-        if (speed < 0) {
-            m2p = - speed;
-            m2a = 0;
-            m2b = 1;
-        } else {
-            m2p = 1;
-            m2a = 0;
-            m2b = 0;
-        }
+#include "TB6612.h"
+ 
+DigitalOut myled(LED1);
+ 
+TB6612 left(p25,p17,p16);
+TB6612 right(p26,p19,p18);
+int main() {
+    while(1) {
+        left = 100; //左モーター１００％
+        right = 100;//右モーター１００％
+        wait(1.0);
+        left = 30;//左３０％
+        right = 30;//右３０％
+        wait(1.0);
+        printf("OK");
     }
 }
 
-void servo (int num, float deg) {
-    if (num == 3) {
-        m3p.period_ms(20);
-        m3p.pulsewidth_us(1500 + (int)(500.0 * deg));
-    } else
-    if (num == 4) {
-        m4p.period_ms(20);
-        m4p.pulsewidth_us(1500 + (int)(500.0 * deg));
-    }
-}
 
-int main() {
-    float f;
-
-    while(1) {
-        led1 = 1;
-        for (f = 0; f < 1; f += 0.02) {
-            motor(1, f, 0);
-            motor(2, f, 0);
-            servo(3, f);
-            servo(4, f);
-            wait(0.1);
-        }
-        led1 = 0;
-        led2 = 1;
-        for (f = 1; f > -1; f -= 0.02) {
-            motor(1, f, 0);
-            motor(2, f, 0);
-            servo(3, f);
-            servo(4, f);
-            wait(0.1);
-        }
-        led2 = 0;
-        led3 = 1;
-        for (f = -1; f < 0; f += 0.02) {
-            motor(1, f, 0);
-            motor(2, f, 0);
-            servo(3, f);
-            servo(4, f);
-            wait(0.1);
-        }
-        led3 = 0;
-        led4 = 1;
-        motor(1, 0, 1);
-        motor(2, 0, 1);
-        wait(1);
-        led4 = 0;
-    }
-}