mbedを用いた制御学生の制御
/
Boku-Transmit
AHHHhhhhh
main.cpp@0:bbaf8033ed44, 2015-09-28 (annotated)
- Committer:
- eil4nyqn
- Date:
- Mon Sep 28 05:36:49 2015 +0000
- Revision:
- 0:bbaf8033ed44
- Child:
- 1:6ba905bf8eb1
ok
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
eil4nyqn | 0:bbaf8033ed44 | 1 | #include "mbed.h" |
eil4nyqn | 0:bbaf8033ed44 | 2 | #include "ACM1602NI.h" |
eil4nyqn | 0:bbaf8033ed44 | 3 | BusIn sw(p6,p8,p21,p10,p23,p12,p24,p22); |
eil4nyqn | 0:bbaf8033ed44 | 4 | BusIn t(p9,p11); |
eil4nyqn | 0:bbaf8033ed44 | 5 | BusIn ajust(p29,p30); |
eil4nyqn | 0:bbaf8033ed44 | 6 | /* |
eil4nyqn | 0:bbaf8033ed44 | 7 | DigitalIn paul1(p17,PullUp); |
eil4nyqn | 0:bbaf8033ed44 | 8 | DigitalIn paul2(p18,PullUp); |
eil4nyqn | 0:bbaf8033ed44 | 9 | DigitalIn paul3(p19,PullUp); |
eil4nyqn | 0:bbaf8033ed44 | 10 | DigitalIn paul4(p20,PullUp); |
eil4nyqn | 0:bbaf8033ed44 | 11 | */ |
eil4nyqn | 0:bbaf8033ed44 | 12 | AnalogIn r(p17); |
eil4nyqn | 0:bbaf8033ed44 | 13 | AnalogIn l(p15); |
eil4nyqn | 0:bbaf8033ed44 | 14 | //BusOut led(LED1,LED2); |
eil4nyqn | 0:bbaf8033ed44 | 15 | BusOut led(p25,p26); |
eil4nyqn | 0:bbaf8033ed44 | 16 | Serial robo(p13,p14); |
eil4nyqn | 0:bbaf8033ed44 | 17 | ACM1602NI lcd(p28,p27); |
eil4nyqn | 0:bbaf8033ed44 | 18 | int main() { |
eil4nyqn | 0:bbaf8033ed44 | 19 | char data,ro,lo; |
eil4nyqn | 0:bbaf8033ed44 | 20 | int8_t tilt = 0,ajst = 0; |
eil4nyqn | 0:bbaf8033ed44 | 21 | double dt,ra,la; |
eil4nyqn | 0:bbaf8033ed44 | 22 | t.mode(PullUp); |
eil4nyqn | 0:bbaf8033ed44 | 23 | sw.mode(PullUp); |
eil4nyqn | 0:bbaf8033ed44 | 24 | ajust.mode(PullUp); |
eil4nyqn | 0:bbaf8033ed44 | 25 | while(1) { |
eil4nyqn | 0:bbaf8033ed44 | 26 | ra = r; |
eil4nyqn | 0:bbaf8033ed44 | 27 | la = l; |
eil4nyqn | 0:bbaf8033ed44 | 28 | ro = ((ra-0.20)/0.65)*254; |
eil4nyqn | 0:bbaf8033ed44 | 29 | lo = ((la-0.14)/0.68)*254; |
eil4nyqn | 0:bbaf8033ed44 | 30 | ajst = ajust; |
eil4nyqn | 0:bbaf8033ed44 | 31 | |
eil4nyqn | 0:bbaf8033ed44 | 32 | if(t == 2){ |
eil4nyqn | 0:bbaf8033ed44 | 33 | dt = dt+0.02; |
eil4nyqn | 0:bbaf8033ed44 | 34 | led = 1; |
eil4nyqn | 0:bbaf8033ed44 | 35 | } |
eil4nyqn | 0:bbaf8033ed44 | 36 | if(t == 1){ |
eil4nyqn | 0:bbaf8033ed44 | 37 | dt = dt-0.02; |
eil4nyqn | 0:bbaf8033ed44 | 38 | led = 2; |
eil4nyqn | 0:bbaf8033ed44 | 39 | } |
eil4nyqn | 0:bbaf8033ed44 | 40 | /*if (paul1 == 0){ |
eil4nyqn | 0:bbaf8033ed44 | 41 | dt = 10; |
eil4nyqn | 0:bbaf8033ed44 | 42 | } |
eil4nyqn | 0:bbaf8033ed44 | 43 | if (paul2 == 0){ |
eil4nyqn | 0:bbaf8033ed44 | 44 | dt = 20; |
eil4nyqn | 0:bbaf8033ed44 | 45 | } |
eil4nyqn | 0:bbaf8033ed44 | 46 | if (paul3 == 0){ |
eil4nyqn | 0:bbaf8033ed44 | 47 | dt = -10; |
eil4nyqn | 0:bbaf8033ed44 | 48 | } |
eil4nyqn | 0:bbaf8033ed44 | 49 | if (paul4 == 0){ |
eil4nyqn | 0:bbaf8033ed44 | 50 | dt = -20; |
eil4nyqn | 0:bbaf8033ed44 | 51 | }*/ |
eil4nyqn | 0:bbaf8033ed44 | 52 | tilt = dt; |
eil4nyqn | 0:bbaf8033ed44 | 53 | data = sw; |
eil4nyqn | 0:bbaf8033ed44 | 54 | robo.putc(255); |
eil4nyqn | 0:bbaf8033ed44 | 55 | robo.putc(~data); |
eil4nyqn | 0:bbaf8033ed44 | 56 | robo.putc(tilt); |
eil4nyqn | 0:bbaf8033ed44 | 57 | robo.putc(ro); |
eil4nyqn | 0:bbaf8033ed44 | 58 | robo.putc(lo); |
eil4nyqn | 0:bbaf8033ed44 | 59 | robo.putc(ajst); |
eil4nyqn | 0:bbaf8033ed44 | 60 | robo.putc(~data^tilt^ro^lo); |
eil4nyqn | 0:bbaf8033ed44 | 61 | //printf("%d\n\r",~data); |
eil4nyqn | 0:bbaf8033ed44 | 62 | //printf("%lf--%lf\n\r",ra,la); |
eil4nyqn | 0:bbaf8033ed44 | 63 | printf("%d---%d\n\r",ro,lo); |
eil4nyqn | 0:bbaf8033ed44 | 64 | lcd.printf("tiltness :%d\n",tilt); |
eil4nyqn | 0:bbaf8033ed44 | 65 | } |
eil4nyqn | 0:bbaf8033ed44 | 66 | } |