go-roboB / Mbed 2 deprecated go-robo2022_hassya

shoot

Dependencies:   mbed SBDBT arrc_mbed Servo air

main.cpp@2:0428390d7c90, 2022-02-24 (annotated)

Committer:
asumamatsumura
Date:
Thu Feb 24 01:50:43 2022 +0000
Revision:
2:0428390d7c90
Parent:
1:cae30876c429 
servo;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
asumamatsumura 0:6f9a457b09e1 1 #include "mbed.h"
asumamatsumura 0:6f9a457b09e1 2 #include "air.hpp"
asumamatsumura 0:6f9a457b09e1 3 #include "sbdbt.hpp"
asumamatsumura 2:0428390d7c90 4 #include "Servo.h"
asumamatsumura 0:6f9a457b09e1 5 sbdbt ds3(A0, A1);
asumamatsumura 0:6f9a457b09e1 6 DigitalIn limitA(PA_9,PullUp);
asumamatsumura 0:6f9a457b09e1 7 Air hassya(PA_0);
asumamatsumura 2:0428390d7c90 8 Servo myservo(PB_0);
asumamatsumura 0:6f9a457b09e1 9 Timer timer;
asumamatsumura 0:6f9a457b09e1 10 //↓モータ用
asumamatsumura 0:6f9a457b09e1 11 void driveMotorS(double pwm){
asumamatsumura 0:6f9a457b09e1 12 PwmOut up_pin_A(PB_13);
asumamatsumura 0:6f9a457b09e1 13 PwmOut up_pin_B(PB_14);
asumamatsumura 0:6f9a457b09e1 14 up_pin_A.period_us(2048);
asumamatsumura 0:6f9a457b09e1 15 up_pin_B.period_us(2048);
asumamatsumura 0:6f9a457b09e1 16 if (!pwm) {
asumamatsumura 0:6f9a457b09e1 17 up_pin_A = 0;
asumamatsumura 0:6f9a457b09e1 18 up_pin_B = 0;
asumamatsumura 0:6f9a457b09e1 19 } else if (0 < pwm) {
asumamatsumura 0:6f9a457b09e1 20 up_pin_A = pwm;
asumamatsumura 0:6f9a457b09e1 21 up_pin_B = 0;
asumamatsumura 0:6f9a457b09e1 22 } else {
asumamatsumura 0:6f9a457b09e1 23 up_pin_A = 0;
asumamatsumura 0:6f9a457b09e1 24 up_pin_B= -pwm;
asumamatsumura 0:6f9a457b09e1 25 }
asumamatsumura 0:6f9a457b09e1 26 }
asumamatsumura 0:6f9a457b09e1 27 //　↓サーボ用（未実装）
asumamatsumura 0:6f9a457b09e1 28 void Servo(bool data){
asumamatsumura 2:0428390d7c90 29 if(data==0){
asumamatsumura 2:0428390d7c90 30 myservo = 0;
asumamatsumura 2:0428390d7c90 31 }else{
asumamatsumura 2:0428390d7c90 32 myservo = 0.2;
asumamatsumura 0:6f9a457b09e1 33 }
asumamatsumura 2:0428390d7c90 34 }
asumamatsumura 0:6f9a457b09e1 35 //↓発射用
asumamatsumura 0:6f9a457b09e1 36 void Hassya(bool data,int tim){
asumamatsumura 1:cae30876c429 37 if(data==1 || timer.read_ms()-tim<3000){
asumamatsumura 1:cae30876c429 38 if(timer.read_ms()-tim>2000){
asumamatsumura 1:cae30876c429 39 hassya.move(1);
asumamatsumura 1:cae30876c429 40 }else{
asumamatsumura 1:cae30876c429 41 hassya.move(0);
asumamatsumura 1:cae30876c429 42 }
asumamatsumura 0:6f9a457b09e1 43 if(timer.read_ms()-tim>1000) Servo(1);
asumamatsumura 0:6f9a457b09e1 44 }else{
asumamatsumura 0:6f9a457b09e1 45 if(limitA){
asumamatsumura 0:6f9a457b09e1 46 driveMotorS(0);
asumamatsumura 0:6f9a457b09e1 47 Servo(0);
asumamatsumura 0:6f9a457b09e1 48 }else{
asumamatsumura 0:6f9a457b09e1 49 driveMotorS(0.06);
asumamatsumura 0:6f9a457b09e1 50 }
asumamatsumura 0:6f9a457b09e1 51 }
asumamatsumura 0:6f9a457b09e1 52 }
asumamatsumura 0:6f9a457b09e1 53 int main(){
asumamatsumura 0:6f9a457b09e1 54 //↓宣言
asumamatsumura 0:6f9a457b09e1 55 bool shoot;
asumamatsumura 0:6f9a457b09e1 56 int tim,old_square=0;
asumamatsumura 0:6f9a457b09e1 57 timer.start();
asumamatsumura 0:6f9a457b09e1 58 while(true){
asumamatsumura 0:6f9a457b09e1 59 //コントローラ関係
asumamatsumura 1:cae30876c429 60 if(old_square<ds3.square() && (!shoot || limitA)){
asumamatsumura 1:cae30876c429 61
asumamatsumura 0:6f9a457b09e1 62 shoot=!shoot;
asumamatsumura 0:6f9a457b09e1 63 tim=timer.read_ms();
asumamatsumura 0:6f9a457b09e1 64 }
asumamatsumura 0:6f9a457b09e1 65 old_square=ds3.square();
asumamatsumura 0:6f9a457b09e1 66 //関数
asumamatsumura 0:6f9a457b09e1 67 Hassya(shoot,tim);
asumamatsumura 0:6f9a457b09e1 68 }
asumamatsumura 0:6f9a457b09e1 69 }