I want go to sea
Dependencies: arrc_mbed Servo air
main.cpp
- Committer:
- darkumatar
- Date:
- 2022-03-19
- Revision:
- 3:ccd2dd7d3814
- Parent:
- 2:fe26901d9d49
- Child:
- 4:7e2aa008f84b
File content as of revision 3:ccd2dd7d3814:
#include "mbed.h" #include "scrp_slave.hpp" #include "air.hpp" #include "Servo.h" ScrpSlave slave(PC_12,PD_2,PH_1,SERIAL_TX,SERIAL_RX,0x0807ffff); Serial pc(SERIAL_TX,SERIAL_RX); DigitalIn limitA(PB_6,PullUp); DigitalIn limitB(PB_4,PullUp); DigitalIn limitA2(PC_2,PullUp); DigitalIn limitB2(PC_3,PullUp); Air catch_no(PA_9); Air catch_no2(PB_8); //Air catch_no3(PA_6); DigitalIn limitC(PB_5,PullUp); Air hassya(PA_8); Servo myservo(PA_11); Timer timer; int tim=-2000; bool limit_switch = true; int date=0; int date2=0; int air_date=0; int air_date2=0; int limit_air=0; int a=0; void driveMotorS2(double pwm){ PwmOut up_pin_A(PB_13); PwmOut up_pin_B(PB_14); up_pin_A.period_us(2048); up_pin_B.period_us(2048); if (pwm==0) { up_pin_A = 0; up_pin_B = 0; } else if (0 < pwm) { up_pin_A = pwm; up_pin_B = 0; } else { up_pin_A = 0; up_pin_B= -pwm; } } // ↓サーボ用 void Servo(bool data){ if(data==0){ myservo = 0; }else{ myservo = 0.5; } } //↓発射用 bool Hassya(int rx_data,int &tx_data){ if(rx_data==1 && a==1){ tim=timer.read_ms(); a=0; } if(!limitC==0){ a=1; } if(timer.read_ms()-tim<1000){ hassya.move(0); driveMotorS2(0); Servo(1); }else if(timer.read_ms()-tim<2000){ hassya.move(1); driveMotorS2(0); Servo(0); }else if(timer.read_ms()-tim>2000 && a==0){ hassya.move(1); driveMotorS2(-0.15); Servo(0); }else{ hassya.move(0); driveMotorS2(0); Servo(0); } return true; } //↓モーター void driveMotorS(double pwm){ PwmOut up_pin_A1(PA_0); PwmOut up_pin_B1(PA_1); up_pin_A1.period_us(2048); up_pin_B1.period_us(2048); if (pwm==0) { up_pin_A1 = 0; up_pin_B1 = 0; } else if (0 < pwm) { up_pin_A1 = pwm; up_pin_B1 = 0; } else { up_pin_A1 = 0; up_pin_B1= -pwm; } } void driveMotorS3(double pwm){ PwmOut up_pin_A3(PC_9); PwmOut up_pin_B3(PC_8); up_pin_A3.period_us(2048); up_pin_B3.period_us(2048); if (pwm==0) { up_pin_A3 = 0; up_pin_B3 = 0; } else if (0 < pwm) { up_pin_A3 = pwm; up_pin_B3 = 0; } else { up_pin_A3 = 0; up_pin_B3= -pwm; } } //↓昇降 //速さはテキトー bool Up(int rx_data,int &tx_data){ if(rx_data==1){ date=1; } if(rx_data==-1){ date=-1; } if(date==1 && !limitA){ driveMotorS(0.4); }else if(date==-1 && !limitB){ driveMotorS(-0.4); }else{ driveMotorS(0); } return true; } //↓昇降 //速さはテキトー bool Up2(int rx_data,int &tx_data){ if(rx_data==1){ date2=1; } if(rx_data==-1){ date2=-1; } if(!limitA2){ limit_air=1; } if(!limitB2){ limit_air=-1; } if(date2==1 && !limitA2){ driveMotorS3(0.6); limit_air=0; }else if(date2==-1 &&!limitB2){ driveMotorS3(-0.4); limit_air=0; }else{ driveMotorS3(0); } return true; } //↓回収用 bool CATCH_NO(int rx_data,int &tx_data){ if(tx_data==1){ air_date+=1; }else if(tx_data==2&&(air_date%2)==0){ air_date=1; } catch_no.move(air_date%2); return true; } bool CATCH_NO2(int rx_data,int &tx_data){ air_date2+=tx_data; catch_no2.move(air_date2%2); return true; } bool limit2(int id,int ppp){ if(ppp==1){ limit_switch=false; driveMotorS(0); driveMotorS2(0); } return true; } bool limit(int a,int &b){ return limit2(0,a); } int main(){ timer.start(); slave.addCMD(1,limit); slave.addCMD(22,Hassya); slave.addCMD(20,CATCH_NO); slave.addCMD(21,Up); slave.addCMD(23,CATCH_NO2); slave.addCMD(24,Up2); while(limit_switch){ } driveMotorS(0); driveMotorS2(0); }