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 
--- 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

--- 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);