Diff: main.cpp

Revision:

0:01e14841369a

diff -r 000000000000 -r 01e14841369a main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Thu Mar 03 04:38:27 2022 +0000
@@ -0,0 +1,55 @@
+#include "mbed.h"
+#include "scrp_slave.hpp"
+#include "air.hpp"
+#include "sbdbt.hpp"
+ScrpSlave slave(PC_12,PD_2,PH_1,SERIAL_TX,SERIAL_RX,0x0807ffff);
+Serial pc(SERIAL_TX,SERIAL_RX);
+DigitalIn limitA(PB_12,PullUp);
+DigitalIn limitB(PC_8,PullUp);
+Air catch_no(PA_0);
+DigitalOut Led1(PA_10);
+DigitalOut Led2(PB_15);
+//↓モーター
+void driveMotorS(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) {
+        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;
+    }
+}
+//↓昇降
+//速さはテキトー
+bool Up(int rx_data,int &tx_data){
+    if(rx_data==1 && !limitA){
+        driveMotorS(0.3);
+        Led2.write(1);
+    }else if(rx_data==-1 && !limitB){
+        driveMotorS(-0.3);
+        Led2.write(1);
+    }else{
+        driveMotorS(0);
+        Led2.write(0);
+    }
+    return true;
+}
+//↓回収用
+bool CATCH_NO(int rx_data,int &tx_data){
+    catch_no.move(rx_data);
+    Led1.write(rx_data);
+    return true;
+    }
+
+int main(){
+    slave.addCMD(7,CATCH_NO);
+    slave.addCMD(8,Up);
+    while(true);    
+}
\ No newline at end of file