Diff: main.cpp

Revision:

2:1d031514e4ff

Parent:

1:1766ac88bf57

--- a/main.cpp	Fri Mar 04 02:52:44 2022 +0000
+++ b/main.cpp	Fri Apr 01 02:50:57 2022 +0000
@@ -4,19 +4,19 @@
 #include "scrp_slave.hpp"
 ScrpSlave slave(PC_12,PD_2,PH_1,SERIAL_TX,SERIAL_RX,0x0807ffff);
 Serial pc(SERIAL_TX,SERIAL_RX);
-DigitalIn limitA(PA_9,PullUp);
-Air hassya(PB_8);
+DigitalIn limitA(PB_0,PullUp);
+Air hassya(PB_9);
 DigitalOut Led1(PA_10);
 DigitalOut Led2(PB_15);
 DigitalOut Led3(PB_2);
-Servo myservo(PB_6);
+Servo myservo(PB_13);
 Timer timer;
 int tim=-6000;
 int a=0;
 //↓モータ用
 void driveMotorS(double pwm){
-    PwmOut up_pin_A(PB_13);
-    PwmOut up_pin_B(PB_14);
+    PwmOut up_pin_A(PB_4);
+    PwmOut up_pin_B(PB_5);
     up_pin_A.period_us(2048);
     up_pin_B.period_us(2048);
     if (!pwm) {
@@ -45,7 +45,7 @@
         tim=timer.read_ms();
         a=0;        
     }
-    if(a==1 && !limitA==0){
+    if(a==1 || !limitA==0){
         hassya.move(0);
         driveMotorS(0);
         Servo(0);
@@ -86,6 +86,6 @@
 }
 int main(){
     timer.start();
-    slave.addCMD(6,Hassya);
+    slave.addCMD(22,Hassya);
     while(true);
 }
\ No newline at end of file