mbed_robotcar
p制御（失敗）
Revision 0:2c87f9a531df, committed 2020-08-31
- Comitter:
- yangtzuli
- Date:
- Mon Aug 31 07:54:01 2020 +0000
- Commit message:
- P
Changed in this revision
diff -r 000000000000 -r 2c87f9a531df .gitignore --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/.gitignore Mon Aug 31 07:54:01 2020 +0000 @@ -0,0 +1,4 @@ +.build +.mbed +projectfiles +*.py*
diff -r 000000000000 -r 2c87f9a531df CONTRIBUTING.md --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/CONTRIBUTING.md Mon Aug 31 07:54:01 2020 +0000 @@ -0,0 +1,5 @@ +# Contributing to Mbed OS + +Mbed OS is an open-source, device software platform for the Internet of Things. Contributions are an important part of the platform, and our goal is to make it as simple as possible to become a contributor. + +To encourage productive collaboration, as well as robust, consistent and maintainable code, we have a set of guidelines for [contributing to Mbed OS](https://os.mbed.com/docs/mbed-os/latest/contributing/index.html).
diff -r 000000000000 -r 2c87f9a531df README.md --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/README.md Mon Aug 31 07:54:01 2020 +0000 @@ -0,0 +1,64 @@ + +# Blinky Mbed OS example + +The example project is part of the [Arm Mbed OS Official Examples](https://os.mbed.com/code/) and is the [getting started example for Mbed OS](https://os.mbed.com/docs/mbed-os/v5.14/quick-start/index.html). It contains an application that repeatedly blinks an LED on supported [Mbed boards](https://os.mbed.com/platforms/). + +You can build the project with all supported [Mbed OS build tools](https://os.mbed.com/docs/mbed-os/latest/tools/index.html). However, this example project specifically refers to the command-line interface tool [Arm Mbed CLI](https://github.com/ARMmbed/mbed-cli#installing-mbed-cli). +(Note: To see a rendered example you can import into the Arm Online Compiler, please see our [import quick start](https://os.mbed.com/docs/mbed-os/latest/quick-start/online-with-the-online-compiler.html#importing-the-code).) + +1. [Install Mbed CLI](https://os.mbed.com/docs/mbed-os/latest/quick-start/offline-with-mbed-cli.html). + +1. Clone this repository on your system, and change the current directory to where the project was cloned: + + ```bash + $ git clone git@github.com:armmbed/mbed-os-example-blinky && cd mbed-os-example-blinky + ``` + + Alternatively, you can download the example project with Arm Mbed CLI using the `import` subcommand: + + ```bash + $ mbed import mbed-os-example-blinky && cd mbed-os-example-blinky + ``` + + +## Application functionality + +The `main()` function is the single thread in the application. It toggles the state of a digital output connected to an LED on the board. + +## Building and running + +1. Connect a USB cable between the USB port on the board and the host computer. +2. <a name="build_cmd"></a> Run the following command to build the example project and program the microcontroller flash memory: + ```bash + $ mbed compile -m <TARGET> -t <TOOLCHAIN> --flash + ``` +The binary is located at `./BUILD/<TARGET>/<TOOLCHAIN>/mbed-os-example-blinky.bin`. + +Alternatively, you can manually copy the binary to the board, which you mount on the host computer over USB. + +Depending on the target, you can build the example project with the `GCC_ARM`, `ARM` or `IAR` toolchain. After installing Arm Mbed CLI, run the command below to determine which toolchain supports your target: + +```bash +$ mbed compile -S +``` + +## Expected output +The LED on your target turns on and off every 500 milliseconds. + + +## Troubleshooting +If you have problems, you can review the [documentation](https://os.mbed.com/docs/latest/tutorials/debugging.html) for suggestions on what could be wrong and how to fix it. + +## Related Links + +* [Mbed OS Stats API](https://os.mbed.com/docs/latest/apis/mbed-statistics.html). +* [Mbed OS Configuration](https://os.mbed.com/docs/latest/reference/configuration.html). +* [Mbed OS Serial Communication](https://os.mbed.com/docs/latest/tutorials/serial-communication.html). +* [Mbed OS bare metal](https://os.mbed.com/docs/mbed-os/latest/reference/mbed-os-bare-metal.html). +* [Mbed boards](https://os.mbed.com/platforms/). + +### License and contributions + +The software is provided under Apache-2.0 license. Contributions to this project are accepted under the same license. Please see contributing.md for more info. + +This project contains code from other projects. The original license text is included in those source files. They must comply with our license guide.
diff -r 000000000000 -r 2c87f9a531df main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Mon Aug 31 07:54:01 2020 +0000
@@ -0,0 +1,64 @@
+#include "mbed.h"
+#include "rtos.h"
+#include <stdint.h>
+#include "platform/mbed_thread.h"
+
+RawSerial pc(USBTX, USBRX);
+
+AnalogIn ss1(p20); // ライントレースセンサ(左)
+AnalogIn ss2(p19); // ライントレースセンサ
+AnalogIn ss3(p18); // ライントレースセンサ
+AnalogIn ss4(p17); // ライントレースセンサ
+AnalogIn ss5(p16); // ライントレースセンサ(右)
+PwmOut motorR2(p21); // 右モーター後退
+PwmOut motorR1(p22); // 右モーター前進
+PwmOut motorL2(p23); // 左モーター後退
+PwmOut motorL1(p24); // 左モーター前進
+
+
+void trace();
+
+/* ライントレーススレッド */
+void trace(){
+ while(1){
+ /* 各センサー値読み取り */
+ float sensor1 = ss1;
+ float sensor2 = ss2;
+ float sensor3 = ss3;
+ float sensor4 = ss4;
+ float sensor5 = ss5;
+ float speed;
+ pc.printf("%f %f %f %f %f\r\n",sensor1, sensor2, sensor3, sensor4, sensor5);
+ speed=(0.3-sensor3)*0.33;
+ pc.printf("%f\r\n",speed);
+ if((sensor2-sensor4)>0.01||(sensor1-sensor4)>0.01){
+ motorR1 = 0;
+ motorR2 = 0.3 + speed;
+ motorL1 = 0.3 - speed;
+ motorL2 = 0;
+ }else if((sensor4-sensor2)>=0.01||(sensor5-sensor2)>=0.01){
+ motorR1 = 0;
+ motorR2 = 0.3 - speed;
+ motorL1 = 0.3 + speed;
+ motorL2 = 0;
+ }else{
+
+ }
+ /*if(sensor2>=sensor4){
+ motorR1 = 0;
+ motorR2 = 0.6 + 制御量;
+ motorL1 = 0.6 - 制御量;
+ motorL2 = 0;
+ }
+ else if(sensor2<sensor4){
+ motorR1 = 0;
+ motorR2 = 0.6 - 制御量;
+ motorL1 = 0.6 + 制御量;
+ motorL2 = 0;
+ }*/
+ }
+
+}
+int main(){
+ trace();
+}
\ No newline at end of file
diff -r 000000000000 -r 2c87f9a531df mbed-os.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed-os.lib Mon Aug 31 07:54:01 2020 +0000 @@ -0,0 +1,1 @@ +https://github.com/ARMmbed/mbed-os/#cf4f12a123c05fcae83fc56d76442015cb8a39e9
diff -r 000000000000 -r 2c87f9a531df resources/official_armmbed_example_badge.png Binary file resources/official_armmbed_example_badge.png has changed