![](/media/cache/group/default_image.jpg.50x50_q85.jpg)
kakuninonegai
Dependencies: mbed SBDBT arrc_mbed air
main.cpp
- Committer:
- asumamatsumura
- Date:
- 2022-01-19
- Revision:
- 2:3dcf3fcb4921
- Parent:
- 1:bf629e5bf337
File content as of revision 2:3dcf3fcb4921:
#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); //↓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 void Up(int data){ if(data==1 && !limitA){ driveMotorS(0.06); }else if(data==-1 && !limitB){ driveMotorS(-0.06); }else{ driveMotorS(0); } } //↓回収用 void CATCH_NO(bool data){ catch_no.move(data); } int main(){ int up; bool catch_no=0,old_circle; while(true){ //↓コントローラー関係 up=ds3.up()+ds3.down(); if(old_circle<ds3.circle()) catch_no=!catch_no; old_circle=ds3.circle(); //↓関数関係 Up(up); CATCH_NO(catch_no); } }