go-roboB / Mbed 2 deprecated go_robo2022kaisyu_no

kakuninonegai

Dependencies:   mbed SBDBT arrc_mbed air

main.cpp@0:b03df060dbea, 2022-01-18 (annotated)

Committer:
asumamatsumura
Date:
Tue Jan 18 08:27:37 2022 +0000
Revision:
0:b03df060dbea
Child:
1:bf629e5bf337
no-sakumotu kaisyu-

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 0:b03df060dbea 10 void driveMotorS(double pwm){
asumamatsumura 0:b03df060dbea 11 PwmOut up_pin_A(PB_13);
asumamatsumura 0:b03df060dbea 12 PwmOut up_pin_B(PB_14);
asumamatsumura 0:b03df060dbea 13 up_pin_A.period_us(2048);
asumamatsumura 0:b03df060dbea 14 up_pin_B.period_us(2048);
asumamatsumura 0:b03df060dbea 15 if (!pwm) {
asumamatsumura 0:b03df060dbea 16 up_pin_A = 0;
asumamatsumura 0:b03df060dbea 17 up_pin_B = 0;
asumamatsumura 0:b03df060dbea 18 } else if (0 < pwm) {
asumamatsumura 0:b03df060dbea 19 up_pin_A = pwm;
asumamatsumura 0:b03df060dbea 20 up_pin_B = 0;
asumamatsumura 0:b03df060dbea 21 } else {
asumamatsumura 0:b03df060dbea 22 up_pin_A = 0;
asumamatsumura 0:b03df060dbea 23 up_pin_B= -pwm;
asumamatsumura 0:b03df060dbea 24 }
asumamatsumura 0:b03df060dbea 25 }
asumamatsumura 0:b03df060dbea 26 void Up(int data){
asumamatsumura 0:b03df060dbea 27 if(data==1 && !limitA){
asumamatsumura 0:b03df060dbea 28 driveMotorS(0.06);
asumamatsumura 0:b03df060dbea 29 }else if(data==-1 && !limitB){
asumamatsumura 0:b03df060dbea 30 driveMotorS(-0.06);
asumamatsumura 0:b03df060dbea 31 }else{
asumamatsumura 0:b03df060dbea 32 driveMotorS(0);
asumamatsumura 0:b03df060dbea 33 }
asumamatsumura 0:b03df060dbea 34 }
asumamatsumura 0:b03df060dbea 35 void CATCH_NO(bool data){
asumamatsumura 0:b03df060dbea 36 catch_no.move(data);
asumamatsumura 0:b03df060dbea 37 }
asumamatsumura 0:b03df060dbea 38
asumamatsumura 0:b03df060dbea 39 int main(){
asumamatsumura 0:b03df060dbea 40 int up;
asumamatsumura 0:b03df060dbea 41 bool catch_no=0,old_circle;
asumamatsumura 0:b03df060dbea 42 while(true){
asumamatsumura 0:b03df060dbea 43 up=ds3.up()+ds3.down();
asumamatsumura 0:b03df060dbea 44 if(old_circle<ds3.circle()) catch_no=!catch_no;
asumamatsumura 0:b03df060dbea 45 old_circle=ds3.circle();
asumamatsumura 0:b03df060dbea 46
asumamatsumura 0:b03df060dbea 47 Up(up);
asumamatsumura 0:b03df060dbea 48 CATCH_NO(catch_no);
asumamatsumura 0:b03df060dbea 49 }
asumamatsumura 0:b03df060dbea 50 }