mbedを用いた制御学生の制御 / Mbed 2 deprecated NHK2015

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Dependencies:   Motor_NIT_Nagaoka_College PID Servo QEI SoftPWM mbed HBridge

main.cpp

Committer:
WAT34
Date:
2015-08-06
Revision:
2:74c543a0a671
Parent:
1:107a7d8f4c54
Child:
3:d2c733b52600

File content as of revision 2:74c543a0a671:

#define pi 3.141592
#include "mbed.h"
#include "rtos.h"
#include "QEI.h"
#include "Motor.h"
#include "HMC6352.h"
BusOut air(p15,p16);
Serial conn(p28,p27);
Serial pc(USBTX,USBRX);
BusOut mypaul(p17,p18);
BusIn sw(p24,p25);
Motor od(p21,p19,p20);
Motor ot(p22,p12,p11);
QEI sensort(p29,p30,NC,624);
HMC6352 sensord(p9,p10);
char read;
int main()
{
    //sensord.setOpMode(HMC6352_CONTINUOUS,1,20);
    double direct = 0,tilt = 0,cdirect = 0,adirect = 0,tdirect = 0,ttilt =0,itilt=0;
    //tdirect = sensord.sample()/10.0;
    sw.mode(PullUp);
    while(1) {
        if(conn.readable()) {
            read = conn.getc();
        }
        air = read%4;
        mypaul = (read>>2)%4;
        if((read>>4)%2 || 0/*sw == 2*/) {
            //tdirect++;
            od.speed(0.3);
        } else if((read>>5)%2 ||0 /*sw == 1*/) {
            //tdirect--;
            od.speed(-0.3);
        } else {
            od.speed(0);
        }
        if((read>>6)%2|| sw == 2 ) {
            //ttilt+=pi/180.0*0.01;
            ot.speed(0.3);
        } else if((read>>7)%2 || sw == 1) {
            //ttilt-=pi/180.0*0.01;
            ot.speed(-0.3);
        } else {
            ot.speed(0);
        }
        if(tdirect >= 180 ||tdirect <= -180) {
            //tdirect *= -1;
        }
        //cdirect = sensord.sample()/10.0;
        direct = cdirect+540-tdirect;
        direct = int(direct+0.5)%360;
        direct -= 180;
        //tilt = sensort.getPulses()/360.0/25.0*pi;
        pc.printf("%d\n\r",read);
        //od.speed(cdirect);
        //ot.speed((ttilt-tilt)*1.0+itilt*0.01);
        itilt += ttilt-tilt;
    }
}