Revision 0:d41a03c442f7, committed 2020-07-09

Comitter:

naoki_fukushima

Date:

Thu Jul 09 03:08:43 2020 +0000

Commit message:

motor control program

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/.gitignore	Thu Jul 09 03:08:43 2020 +0000
@@ -0,0 +1,4 @@
+.build
+.mbed
+projectfiles
+*.py*

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/CONTRIBUTING.md	Thu Jul 09 03:08:43 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).

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/README.md	Thu Jul 09 03:08:43 2020 +0000
@@ -0,0 +1,64 @@
+![](./resources/official_armmbed_example_badge.png)
+# 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.

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Thu Jul 09 03:08:43 2020 +0000
@@ -0,0 +1,94 @@
+#include "mbed.h"
+#include "rtos.h"
+
+DigitalIn sensor1(p20); //センサ1
+DigitalIn sensor2(p19); //センサ2
+
+DigitalOut ENA(p21); //ENA（右モーター）
+DigitalOut IN1(p22); //IN1（右モーター）   
+DigitalOut IN2(p23); //IN2（右モーター）
+DigitalOut IN3(p24); //IN3（左モーター）
+DigitalOut IN4(p25); //IN4（左モーター）
+DigitalOut ENB(p26); //ENB（左モーター）
+
+int value1; //センサ1の値をintとして所持
+int value2; //センサ2の値をintとして所持
+
+//直進
+void advance(){
+    ENA=1;
+    IN1=1;
+    IN2=0;
+    ENB=1;
+    IN3=1;
+    IN4=0;
+    printf("両センサ反応(sensor1=%d,sensor2=%d)\n\r",value1,value2);
+}
+
+//右折
+void right(){
+    ENA=1;
+    IN1=1;
+    IN2=0;
+    ENB=1;
+    IN3=0;
+    IN4=1;
+    printf("右センサ反応(sensor1=%d,sensor2=%d)\n\r",value1,value2);
+    }
+    
+//左折
+void left(){
+    ENA=1;
+    IN1=0;
+    IN2=1;
+    ENB=1;
+    IN3=1;
+    IN4=0;
+    printf("左センサ反応(sensor1=%d,sensor2=%d)\n\r",value1,value2);
+}
+
+//停止
+void stop(){…
+    ENA=0;
+    IN1=0;
+    IN2=0;
+    ENB=0;
+    IN3=0;
+    IN4=0;
+    printf("反応なし(sensor1=%d,sensor2=%d)\n\r",value1,value2);
+}
+
+//走行方法を決定
+void run(){
+    while(1){
+    if(value1 == 0 && value2 ==0){//両センサが反応
+        advance();
+    }else if(value1 == 0){//右センサが反応
+        right();
+    }else if(value2 == 0){//左センサが反応
+        left();
+    }else if(value1 == 1 && value2 ==1){//センサ反応なし
+        stop();
+    }
+    ThisThread::sleep_for(1);
+        }
+    }
+
+//読み込んだセンサの値をvalueに格納
+void sensor(void const *argument){
+    value1 = sensor1;
+    value2 = sensor2;
+    }
+
+//main関数
+int main(){
+    Thread thread; //スレッド作成
+    RtosTimer sensor_timer(sensor,osTimerPeriodic,(void*)0); //sensor関数をRtosTimerに設定
+    sensor_timer.start(5); //sensorを5msごとに起動
+    thread.start(run); //スレッドとしてrun関数を開始
+    
+    while(1){
+        ThisThread::sleep_for(5);
+        }
+    
+    }
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed-os.lib	Thu Jul 09 03:08:43 2020 +0000
@@ -0,0 +1,1 @@
+https://github.com/ARMmbed/mbed-os/#cf4f12a123c05fcae83fc56d76442015cb8a39e9

Binary file resources/official_armmbed_example_badge.png has changed