Diff: main.cpp

Revision:

0:b03df060dbea

Child:

1:bf629e5bf337

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Jan 18 08:27:37 2022 +0000
@@ -0,0 +1,50 @@
+#include "mbed.h"
+#include "scrp_slave.hpp"
+#include "air.hpp"
+#include "sbdbt.hpp"
+sbdbt ds3(A0, A1);
+DigitalIn limitA(PA_9,PullUp);
+DigitalIn limitB(PC_5,PullUp);
+Air catch_no(PA_0);
+
+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;
+    }
+}
+void Up(int data){
+    if(data==1 && !limitA){
+        driveMotorS(0.06);
+    }else if(data==-1 && !limitB){
+        driveMotorS(-0.06);
+    }else{
+        driveMotorS(0);
+    }
+}
+void CATCH_NO(bool data){
+    catch_no.move(data);
+    }
+
+int main(){
+    int up;
+    bool catch_no=0,old_circle;
+    while(true){
+        up=ds3.up()+ds3.down();
+        if(old_circle<ds3.circle()) catch_no=!catch_no;
+        old_circle=ds3.circle();
+        
+        Up(up);
+        CATCH_NO(catch_no);
+        }
+}
\ No newline at end of file