mbedを用いた制御学生の制御 / Mbed 2 deprecated NHK2015_slave

kikjk

Dependencies:   Motor SoftPWM mbed

Files at this revision

API Documentation at this revision

Revision 1:3a5d4d01fb73, committed 2015-10-27

Comitter:
WAT34
Date:
Tue Oct 27 07:27:39 2015 +0000
Parent:
0:4b4f20abc93b
Commit message:
yanagi adjusted.;

Changed in this revision

Motor.lib Show annotated file Show diff for this revision Revisions of this file
main.cpp Show annotated file Show diff for this revision Revisions of this file 
diff -r 4b4f20abc93b -r 3a5d4d01fb73 Motor.lib
--- a/Motor.lib	Fri Oct 09 07:19:24 2015 +0000
+++ b/Motor.lib	Tue Oct 27 07:27:39 2015 +0000
@@ -1,1 +1,1 @@
-http://mbed.org/users/simon/code/Motor/#f265e441bcd9
+https://developer.mbed.org/users/WAT34/code/Motor/#826e2cff5b02

diff -r 4b4f20abc93b -r 3a5d4d01fb73 main.cpp
--- a/main.cpp	Fri Oct 09 07:19:24 2015 +0000
+++ b/main.cpp	Tue Oct 27 07:27:39 2015 +0000
@@ -8,39 +8,47 @@
 Motor aj(p21,p16,p15);
 Motor ya(p22,p18,p17);
 BusIn limits(p5,p8);
+DigitalOut nn(p19);
+int a;
+void rev(){
+    ya.speed(-0.40);
+    a = 0;
+}
 int main()
 {
-    int a;
+    nn = 0;
     int limit;
     char na=0,read=0;
     while(1) {
         limit = limits;
         // serial受信
         if(nara.readable()) {
-            na = nara.getc();
+            na = ~nara.getc();
+            mas.putc(na>>2);
         }
         if(mas.readable()) {
             read = mas.getc();
         }
+        
         //輪を回転
-        if(na==1) {
+        if(na%2) {
+            aj.speed(-0.8);
+            led = 1;
+        } else if((na>>1)%2) {
             aj.speed(0.8);
-            led = 1;
-        } else if(na == 2) {
-            aj.speed(-0.8);
             led =2;
         }else{
-            aj.speed(0);
+            aj.brake();
             led = 0;
         }
         //やなぎシステム
-        if(read==2) {
-            ya.speed(0.9);
+        if(read==1) {
+            ya.speed(0.40);
             a = 1;
         }
         if(limits == 2&& a == 1) {
-            ya.speed(-0.9);
-            a = 0;
+            yana.attach(&rev,1.0);
+            a = 3;
         }
         if(limits==1 && a==0) {
             ya.speed(0);