Diff: main.cpp

Revision:

0:0dbcf2958540

Child:

1:752025c69f32

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Sat Nov 17 06:17:42 2018 +0000
@@ -0,0 +1,93 @@
+#include "mbed.h"
+
+int count1 = 0;
+int count2 = 0;
+PwmOut pwm11(D5);           //左正転
+PwmOut pwm12(D1);           //左逆転
+PwmOut pwm21(D6);           //右正転
+PwmOut pwm22(D9);           //右逆転
+DigitalOut LED(D2);
+InterruptIn button1(A1);    //フォトインタラプタ
+InterruptIn button2(A2);    //フォトインタラプタ
+AnalogIn   in1(A3);         //フォトリフレクタ左？要確認
+AnalogIn   in2(A4);         //フォトリフレクタ真ん中
+AnalogIn   in3(A5);         //フォトリフレクタ右？要確認
+
+float thr1 = 0.7f;
+float thr2 = 0.7f;
+float thr3 = 0.5f;
+
+void flip1() {
+    count1++;
+}
+
+void flip2() {
+    count2++;
+}
+
+
+int main() {
+    pwm11.period(0.01f);  //100Hz
+    pwm12.period(0.01f);  //100Hz
+    pwm21.period(0.01f);  //100Hz
+    pwm22.period(0.01f);  //100Hz
+    button1.rise(&flip1);
+    button2.rise(&flip2);
+    
+    while(1) {
+         
+         /*   
+            pwm11.write(0.40f);
+            pwm12.write(0.10f);
+            pwm21.write(0.40f);
+            pwm22.write(0.10f);
+            */
+     //ただただモータを回すプログラム
+    //43*2*12
+  
+    if(  count1 + count2 > 43*2*12){ //LEDを点滅うまくいかない気がする
+        LED = 1.0f;
+        wait(0.5f);
+        LED = 0;
+        
+        count1 = 0;
+        count2 = 0;
+        }
+        
+        printf("%d %d \n",count1,count2);
+        
+        
+        
+        if(in1<thr1 && in2>thr2 && in3<thr3){      //白黒白進む
+            pwm11.write(0.60f);
+            pwm12.write(0.30f);
+            pwm21.write(0.60f);
+            pwm22.write(0.30f);
+            }
+            
+        else if(in1<thr1 &&in2<thr2 && in3<thr3){ //白白白
+            pwm11.write(0.10f);
+            pwm12.write(0.10f);
+            pwm21.write(0.10f);
+            pwm22.write(0.10f);
+            }
+            
+        else if(in1>thr1 && in2<thr3 && in3<thr3){ //黒白白左回転
+            pwm11.write(0.60f);
+            pwm12.write(0.30f);
+            pwm21.write(0.00f);
+            pwm22.write(0.00f);
+            }
+            
+        else if(in1<thr1 && in2<thr2 && in3>thr3){ //白白黒右回転
+            pwm11.write(0.00f);
+            pwm12.write(0.00f);
+            pwm21.write(0.60f);
+            pwm22.write(0.30f);
+            }
+            
+            
+        
+        
+    }
+}
\ No newline at end of file