Diff: main.cpp

Revision:

0:cedc1d2ef037

Child:

1:b77a3bd2e93e

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Fri Jan 09 08:57:41 2015 +0000
@@ -0,0 +1,99 @@
+#include "mbed.h"
+
+Serial trans(p9,p10);
+DigitalOut myled(LED1);
+BusOut mc(p23,p24,p25,p26);
+PwmOut m1(p21);
+PwmOut m2(p22);
+BusOut updown(p27,p28);
+void move(int a,int b,int c,int d)
+{
+    int width = 5.0;
+    int seiten = 10;
+    int gyaku = 5;
+    int l = 6;
+    int r = 9;
+    int stop = 0;
+    double mp1,mp2;
+    mp1 = (c-1)/100.0;
+    mp2 = 1.0-((d-1)/100.0);
+    if(d>b+width)
+    {
+        if(c>b+width)
+        {
+            mc = seiten;
+            m1 = mp1;
+            m2 = mp1*mp2;
+        }else if(c<b-width)
+        {
+           mc = gyaku;
+           m2 = 1-mp1;
+           m1 = mp1*mp2;
+        }else{
+            mc = l;
+            m1 = 1-mp2;
+            m2 = 1-mp2;
+        }
+    }else if(d < b -width){
+        if(c>b+width)
+        {
+            mc = seiten;
+            m1 = 1-mp1*mp2;
+            m2 = mp1;
+        }else if(c<b-width)
+        {
+           mc = gyaku;
+           m2 = mp1*mp2;
+           m1 = 1-mp1;
+        }else{
+            mc = r;
+            m1 = mp2;
+            m2 = mp2;
+        }
+    }else
+    {
+        if(c>b+width)
+        {
+            mc = seiten;
+            m1 = mp1;
+            m2 = mp1;
+        }else if(c<b-width)
+        {
+           mc = gyaku;
+           m1 = 1-mp1;
+           m2 = 1-mp1;
+        }else{
+            mc = stop;
+            m1 = 0;
+            m2 = 0;
+        }
+    }
+}
+void up_down(int a,int b)
+{
+    if (a == 0)
+    {
+        updown = 1;
+    }else
+    if (b == 0){
+        updown = 2;
+    }else{
+        updown = 0;
+    }
+}
+int main() {
+    int8_t nx,ny,x,y,down_val,up_val;
+    while(1) {
+        if (trans.getc()== 255){
+            nx =trans.getc();
+            ny =trans.getc();
+            x = trans.getc();
+            y = trans.getc();
+            up_val = trans.getc();
+            down_val = trans.getc();
+            move(nx,ny,x,y);
+            up_down(up_val,down_val);
+        }
+    }
+        
+}