I want go to sea
Dependencies: arrc_mbed Servo air
main.cpp@0:d7ecfe1f9840, 2022-03-05 (annotated)
- Committer:
- darkumatar
- Date:
- Sat Mar 05 04:57:40 2022 +0000
- Revision:
- 0:d7ecfe1f9840
- Child:
- 1:d3985e5af20f
I want to go to bed
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
darkumatar | 0:d7ecfe1f9840 | 1 | #include "mbed.h" |
darkumatar | 0:d7ecfe1f9840 | 2 | #include "scrp_slave.hpp" |
darkumatar | 0:d7ecfe1f9840 | 3 | #include "air.hpp" |
darkumatar | 0:d7ecfe1f9840 | 4 | #include "Servo.h" |
darkumatar | 0:d7ecfe1f9840 | 5 | ScrpSlave slave(PC_12,PD_2,PH_1,SERIAL_TX,SERIAL_RX,0x0807ffff); |
darkumatar | 0:d7ecfe1f9840 | 6 | Serial pc(SERIAL_TX,SERIAL_RX); |
darkumatar | 0:d7ecfe1f9840 | 7 | DigitalIn limitA(PB_6,PullUp); |
darkumatar | 0:d7ecfe1f9840 | 8 | DigitalIn limitB(PB_12,PullUp); |
darkumatar | 0:d7ecfe1f9840 | 9 | Air catch_no(PA_9); |
darkumatar | 0:d7ecfe1f9840 | 10 | |
darkumatar | 0:d7ecfe1f9840 | 11 | DigitalIn limitC(PB_4,PullUp); |
darkumatar | 0:d7ecfe1f9840 | 12 | Air hassya(PA_8); |
darkumatar | 0:d7ecfe1f9840 | 13 | Servo myservo(PB_0); |
darkumatar | 0:d7ecfe1f9840 | 14 | Timer timer; |
darkumatar | 0:d7ecfe1f9840 | 15 | int tim=-3000; |
darkumatar | 0:d7ecfe1f9840 | 16 | |
darkumatar | 0:d7ecfe1f9840 | 17 | |
darkumatar | 0:d7ecfe1f9840 | 18 | |
darkumatar | 0:d7ecfe1f9840 | 19 | void driveMotorS2(double pwm){ |
darkumatar | 0:d7ecfe1f9840 | 20 | PwmOut up_pin_A(PB_13); |
darkumatar | 0:d7ecfe1f9840 | 21 | PwmOut up_pin_B(PB_14); |
darkumatar | 0:d7ecfe1f9840 | 22 | up_pin_A.period_us(2048); |
darkumatar | 0:d7ecfe1f9840 | 23 | up_pin_B.period_us(2048); |
darkumatar | 0:d7ecfe1f9840 | 24 | if (!pwm) { |
darkumatar | 0:d7ecfe1f9840 | 25 | up_pin_A = 0; |
darkumatar | 0:d7ecfe1f9840 | 26 | up_pin_B = 0; |
darkumatar | 0:d7ecfe1f9840 | 27 | } else if (0 < pwm) { |
darkumatar | 0:d7ecfe1f9840 | 28 | up_pin_A = pwm; |
darkumatar | 0:d7ecfe1f9840 | 29 | up_pin_B = 0; |
darkumatar | 0:d7ecfe1f9840 | 30 | } else { |
darkumatar | 0:d7ecfe1f9840 | 31 | up_pin_A = 0; |
darkumatar | 0:d7ecfe1f9840 | 32 | up_pin_B= -pwm; |
darkumatar | 0:d7ecfe1f9840 | 33 | } |
darkumatar | 0:d7ecfe1f9840 | 34 | } |
darkumatar | 0:d7ecfe1f9840 | 35 | // ↓サーボ用 |
darkumatar | 0:d7ecfe1f9840 | 36 | void Servo(bool data){ |
darkumatar | 0:d7ecfe1f9840 | 37 | if(data==0){ |
darkumatar | 0:d7ecfe1f9840 | 38 | myservo = 0; |
darkumatar | 0:d7ecfe1f9840 | 39 | }else{ |
darkumatar | 0:d7ecfe1f9840 | 40 | myservo = 0.2; |
darkumatar | 0:d7ecfe1f9840 | 41 | } |
darkumatar | 0:d7ecfe1f9840 | 42 | } |
darkumatar | 0:d7ecfe1f9840 | 43 | //↓発射用 |
darkumatar | 0:d7ecfe1f9840 | 44 | bool Hassya(int rx_data,int &tx_data){ |
darkumatar | 0:d7ecfe1f9840 | 45 | if(rx_data == 1 && limitC==0){ |
darkumatar | 0:d7ecfe1f9840 | 46 | tim=timer.read_ms(); |
darkumatar | 0:d7ecfe1f9840 | 47 | } |
darkumatar | 0:d7ecfe1f9840 | 48 | if(timer.read_ms()-tim<1000){ |
darkumatar | 0:d7ecfe1f9840 | 49 | hassya.move(1); |
darkumatar | 0:d7ecfe1f9840 | 50 | driveMotorS2(0); |
darkumatar | 0:d7ecfe1f9840 | 51 | Servo(1); |
darkumatar | 0:d7ecfe1f9840 | 52 | }else if(timer.read_ms()-tim<2000){ |
darkumatar | 0:d7ecfe1f9840 | 53 | hassya.move(0); |
darkumatar | 0:d7ecfe1f9840 | 54 | driveMotorS2(0); |
darkumatar | 0:d7ecfe1f9840 | 55 | Servo(0); |
darkumatar | 0:d7ecfe1f9840 | 56 | |
darkumatar | 0:d7ecfe1f9840 | 57 | }else if(timer.read_ms()-tim>2000 && limitC==1){ |
darkumatar | 0:d7ecfe1f9840 | 58 | hassya.move(0); |
darkumatar | 0:d7ecfe1f9840 | 59 | driveMotorS2(0.06); |
darkumatar | 0:d7ecfe1f9840 | 60 | Servo(0); |
darkumatar | 0:d7ecfe1f9840 | 61 | |
darkumatar | 0:d7ecfe1f9840 | 62 | }else { |
darkumatar | 0:d7ecfe1f9840 | 63 | hassya.move(1); |
darkumatar | 0:d7ecfe1f9840 | 64 | driveMotorS2(0); |
darkumatar | 0:d7ecfe1f9840 | 65 | Servo(0); |
darkumatar | 0:d7ecfe1f9840 | 66 | |
darkumatar | 0:d7ecfe1f9840 | 67 | } |
darkumatar | 0:d7ecfe1f9840 | 68 | return true; |
darkumatar | 0:d7ecfe1f9840 | 69 | } |
darkumatar | 0:d7ecfe1f9840 | 70 | |
darkumatar | 0:d7ecfe1f9840 | 71 | //↓モーター |
darkumatar | 0:d7ecfe1f9840 | 72 | void driveMotorS(double pwm){ |
darkumatar | 0:d7ecfe1f9840 | 73 | PwmOut up_pin_A1(PA_0); |
darkumatar | 0:d7ecfe1f9840 | 74 | PwmOut up_pin_B1(PA_1); |
darkumatar | 0:d7ecfe1f9840 | 75 | up_pin_A1.period_us(2048); |
darkumatar | 0:d7ecfe1f9840 | 76 | up_pin_B1.period_us(2048); |
darkumatar | 0:d7ecfe1f9840 | 77 | if (!pwm) { |
darkumatar | 0:d7ecfe1f9840 | 78 | up_pin_A1 = 0; |
darkumatar | 0:d7ecfe1f9840 | 79 | up_pin_B1 = 0; |
darkumatar | 0:d7ecfe1f9840 | 80 | } else if (0 < pwm) { |
darkumatar | 0:d7ecfe1f9840 | 81 | up_pin_A1 = pwm; |
darkumatar | 0:d7ecfe1f9840 | 82 | up_pin_B1 = 0; |
darkumatar | 0:d7ecfe1f9840 | 83 | } else { |
darkumatar | 0:d7ecfe1f9840 | 84 | up_pin_A1 = 0; |
darkumatar | 0:d7ecfe1f9840 | 85 | up_pin_B1= -pwm; |
darkumatar | 0:d7ecfe1f9840 | 86 | } |
darkumatar | 0:d7ecfe1f9840 | 87 | } |
darkumatar | 0:d7ecfe1f9840 | 88 | //↓昇降 |
darkumatar | 0:d7ecfe1f9840 | 89 | //速さはテキトー |
darkumatar | 0:d7ecfe1f9840 | 90 | bool Up(int rx_data,int &tx_data){ |
darkumatar | 0:d7ecfe1f9840 | 91 | if(rx_data==1 && !limitA){ |
darkumatar | 0:d7ecfe1f9840 | 92 | driveMotorS(0.3); |
darkumatar | 0:d7ecfe1f9840 | 93 | }else if(rx_data==-1 && !limitB){ |
darkumatar | 0:d7ecfe1f9840 | 94 | driveMotorS(-0.3); |
darkumatar | 0:d7ecfe1f9840 | 95 | }else{ |
darkumatar | 0:d7ecfe1f9840 | 96 | driveMotorS(0); |
darkumatar | 0:d7ecfe1f9840 | 97 | } |
darkumatar | 0:d7ecfe1f9840 | 98 | return true; |
darkumatar | 0:d7ecfe1f9840 | 99 | } |
darkumatar | 0:d7ecfe1f9840 | 100 | //↓回収用 |
darkumatar | 0:d7ecfe1f9840 | 101 | bool CATCH_NO(int rx_data,int &tx_data){ |
darkumatar | 0:d7ecfe1f9840 | 102 | catch_no.move(rx_data); |
darkumatar | 0:d7ecfe1f9840 | 103 | return true; |
darkumatar | 0:d7ecfe1f9840 | 104 | } |
darkumatar | 0:d7ecfe1f9840 | 105 | |
darkumatar | 0:d7ecfe1f9840 | 106 | int main(){ |
darkumatar | 0:d7ecfe1f9840 | 107 | timer.start(); |
darkumatar | 0:d7ecfe1f9840 | 108 | slave.addCMD(17,Hassya); |
darkumatar | 0:d7ecfe1f9840 | 109 | slave.addCMD(20,CATCH_NO); |
darkumatar | 0:d7ecfe1f9840 | 110 | slave.addCMD(21,Up); |
darkumatar | 0:d7ecfe1f9840 | 111 | while(true); |
darkumatar | 0:d7ecfe1f9840 | 112 | } |