mbedを用いた制御学生の制御
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Boku-Transmit
AHHHhhhhh
main.cpp
- Committer:
- WAT34
- Date:
- 2015-09-30
- Revision:
- 1:6ba905bf8eb1
- Parent:
- 0:bbaf8033ed44
File content as of revision 1:6ba905bf8eb1:
#include "mbed.h" #include "ACM1602NI.h" BusIn sw(p22,p29,p21,p10,p23,p12,p24,p22); BusIn t(p9,p11); BusIn ajust(p29,p30); DigitalIn paul1(p5,PullUp); DigitalIn paul2(p6,PullUp); DigitalIn paul3(p7,PullUp); DigitalIn paul4(p8,PullUp); AnalogIn r(p17); AnalogIn l(p15); //BusOut led(LED1,LED2); BusOut led(p25,p26); Serial robo(p13,p14); ACM1602NI lcd(p28,p27); int main() { char data,ro,lo; int8_t tilt = 0,ajst = 0; double dt,ra,la; t.mode(PullUp); sw.mode(PullUp); ajust.mode(PullUp); while(1) { ra = r; la = l; ro = ((ra-0.20)/0.65)*254; lo = ((la-0.14)/0.68)*254; ajst = ajust; if(t == 2){ dt = dt+0.02; led = 1; } if(t == 1){ dt = dt-0.02; led = 2; } if (paul1 == 0){ dt = 10; } if (paul2 == 0){ dt = 20; } if (paul3 == 0){ dt = -10; } if (paul4 == 0){ dt = -20; } tilt = dt; data = sw; robo.putc(255); robo.putc(~data); robo.putc(tilt); robo.putc(ro); robo.putc(lo); robo.putc(ajst); robo.putc(~data^tilt^ro^lo); //printf("%d\n\r",~data); //printf("%lf--%lf\n\r",ra,la); printf("%d---%d\n\r",ro,lo); lcd.printf("tilt :%3d\n",tilt); //lcd.printf("tilt :%d\n",tilt); lcd.locate(0,0); } }