go-roboB / Mbed 2 deprecated go_robo2022kaisyu_no

kakuninonegai

Dependencies:   mbed SBDBT arrc_mbed air

main.cpp@2:3dcf3fcb4921, 2022-01-19 (annotated)

Committer:
asumamatsumura
Date:
Wed Jan 19 07:40:28 2022 +0000
Revision:
2:3dcf3fcb4921
Parent:
1:bf629e5bf337 
change comment;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
asumamatsumura 0:b03df060dbea 1 #include "mbed.h"
asumamatsumura 0:b03df060dbea 2 #include "scrp_slave.hpp"
asumamatsumura 0:b03df060dbea 3 #include "air.hpp"
asumamatsumura 0:b03df060dbea 4 #include "sbdbt.hpp"
asumamatsumura 0:b03df060dbea 5 sbdbt ds3(A0, A1);
asumamatsumura 0:b03df060dbea 6 DigitalIn limitA(PA_9,PullUp);
asumamatsumura 0:b03df060dbea 7 DigitalIn limitB(PC_5,PullUp);
asumamatsumura 0:b03df060dbea 8 Air catch_no(PA_0);
asumamatsumura 0:b03df060dbea 9
asumamatsumura 1:bf629e5bf337 10 //↓モーター
asumamatsumura 0:b03df060dbea 11 void driveMotorS(double pwm){
asumamatsumura 0:b03df060dbea 12 PwmOut up_pin_A(PB_13);
asumamatsumura 0:b03df060dbea 13 PwmOut up_pin_B(PB_14);
asumamatsumura 0:b03df060dbea 14 up_pin_A.period_us(2048);
asumamatsumura 0:b03df060dbea 15 up_pin_B.period_us(2048);
asumamatsumura 0:b03df060dbea 16 if (!pwm) {
asumamatsumura 0:b03df060dbea 17 up_pin_A = 0;
asumamatsumura 0:b03df060dbea 18 up_pin_B = 0;
asumamatsumura 0:b03df060dbea 19 } else if (0 < pwm) {
asumamatsumura 0:b03df060dbea 20 up_pin_A = pwm;
asumamatsumura 0:b03df060dbea 21 up_pin_B = 0;
asumamatsumura 0:b03df060dbea 22 } else {
asumamatsumura 0:b03df060dbea 23 up_pin_A = 0;
asumamatsumura 0:b03df060dbea 24 up_pin_B= -pwm;
asumamatsumura 0:b03df060dbea 25 }
asumamatsumura 0:b03df060dbea 26 }
asumamatsumura 1:bf629e5bf337 27 //↓昇降
asumamatsumura 2:3dcf3fcb4921 28 //速さはテキトー
asumamatsumura 0:b03df060dbea 29 void Up(int data){
asumamatsumura 0:b03df060dbea 30 if(data==1 && !limitA){
asumamatsumura 0:b03df060dbea 31 driveMotorS(0.06);
asumamatsumura 0:b03df060dbea 32 }else if(data==-1 && !limitB){
asumamatsumura 0:b03df060dbea 33 driveMotorS(-0.06);
asumamatsumura 0:b03df060dbea 34 }else{
asumamatsumura 0:b03df060dbea 35 driveMotorS(0);
asumamatsumura 0:b03df060dbea 36 }
asumamatsumura 0:b03df060dbea 37 }
asumamatsumura 1:bf629e5bf337 38 //↓回収用
asumamatsumura 0:b03df060dbea 39 void CATCH_NO(bool data){
asumamatsumura 0:b03df060dbea 40 catch_no.move(data);
asumamatsumura 0:b03df060dbea 41 }
asumamatsumura 0:b03df060dbea 42
asumamatsumura 0:b03df060dbea 43 int main(){
asumamatsumura 0:b03df060dbea 44 int up;
asumamatsumura 0:b03df060dbea 45 bool catch_no=0,old_circle;
asumamatsumura 0:b03df060dbea 46 while(true){
asumamatsumura 1:bf629e5bf337 47 //↓コントローラー関係
asumamatsumura 0:b03df060dbea 48 up=ds3.up()+ds3.down();
asumamatsumura 0:b03df060dbea 49 if(old_circle<ds3.circle()) catch_no=!catch_no;
asumamatsumura 0:b03df060dbea 50 old_circle=ds3.circle();
asumamatsumura 1:bf629e5bf337 51 //↓関数関係
asumamatsumura 0:b03df060dbea 52 Up(up);
asumamatsumura 0:b03df060dbea 53 CATCH_NO(catch_no);
asumamatsumura 0:b03df060dbea 54 }
asumamatsumura 0:b03df060dbea 55 }