mbedを用いた制御学生の制御
/
Boku-Transmit
AHHHhhhhh
main.cpp
- Committer:
- eil4nyqn
- Date:
- 2015-09-28
- Revision:
- 0:bbaf8033ed44
- Child:
- 1:6ba905bf8eb1
File content as of revision 0:bbaf8033ed44:
#include "mbed.h" #include "ACM1602NI.h" BusIn sw(p6,p8,p21,p10,p23,p12,p24,p22); BusIn t(p9,p11); BusIn ajust(p29,p30); /* DigitalIn paul1(p17,PullUp); DigitalIn paul2(p18,PullUp); DigitalIn paul3(p19,PullUp); DigitalIn paul4(p20,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("tiltness :%d\n",tilt); } }