go-roboB / Mbed 2 deprecated go_robo2022_kaisyu_no_ras

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Dependencies:   mbed SBDBT arrc_mbed air

Files at this revision

API Documentation at this revision

Revision 0:01e14841369a, committed 2022-03-03

Comitter:
asumamatsumura
Date:
Thu Mar 03 04:38:27 2022 +0000
Commit message:
hassya_ras;

Changed in this revision

SBDBT.lib Show annotated file Show diff for this revision Revisions of this file
air.lib Show annotated file Show diff for this revision Revisions of this file
arrc_mbed.lib Show annotated file Show diff for this revision Revisions of this file
main.cpp Show annotated file Show diff for this revision Revisions of this file
mbed.bld Show annotated file Show diff for this revision Revisions of this file 
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/SBDBT.lib	Thu Mar 03 04:38:27 2022 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/m2130/code/SBDBT/#9fd7393a3023

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/air.lib	Thu Mar 03 04:38:27 2022 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/teams/Akashi_2021_Bteam/code/air/#409232b72b2b

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/arrc_mbed.lib	Thu Mar 03 04:38:27 2022 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/TanakaRobo/code/arrc_mbed/#77c13e86ad12

--- /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

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Thu Mar 03 04:38:27 2022 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400
\ No newline at end of file