Kenya Harada
o
Dependencies: MotorDriver_SU mbed
Revision 0:57da1a182e99, committed 2014-11-27
- Comitter:
- 12F2045K
- Date:
- Thu Nov 27 04:22:11 2014 +0000
- Commit message:
- o
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MotorDriver_SU.lib Thu Nov 27 04:22:11 2014 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/NT32/code/MotorDriver_SU/#e6c391eb8fac
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/liftver2.0.cpp Thu Nov 27 04:22:11 2014 +0000
@@ -0,0 +1,84 @@
+#include "mbed.h"
+#include "MotorDriver_SU.h"
+DigitalIn sw(P0_1,PullUp);
+AnalogIn sensorleft(P0_23),sensorcenter(P0_14),sensorright(P0_12),sensorlift1(P0_22),sensorlift2(P0_21);
+MotorDriver_SU motor(MOTOR_DOUBLE);
+MotorDriver_SU lift(MOTOR_SINGLE);
+int main() {
+ float hoge,pool,fink,coen,ronin;
+ while(sw == 1){
+ ;
+ }
+ wait(0.1);
+ while(sw == 0){
+ ;
+ }
+ while(1){
+ hoge = sensorleft.read();
+ pool = sensorcenter.read();
+ fink = sensorright.read();
+ coen = sensorlift1.read();
+ ronin = sensorlift2.read();
+ if(coen < 0.7 && ronin < 0.7){
+ motor.Drive(0,STOP,0);
+ motor.Drive(1,STOP,0);
+ lift.Drive(0,CW,3000);
+ wait(1.5);
+ while(1){
+ lift.Drive(0,STOP,0);
+ motor.Drive(0,CW,1200);
+ motor.Drive(1,CW,1200);
+ wait(0.3);
+ while(1){
+ hoge = sensorleft.read();
+ pool = sensorcenter.read();
+ fink = sensorright.read();
+ coen = sensorlift1.read();
+ ronin = sensorlift2.read();
+ if(coen < 0.7 && ronin < 0.7){
+ motor.Drive(0,STOP,0);
+ motor.Drive(1,STOP,0);
+ lift.Drive(0,CCW,3000);
+ wait(1.5);
+ while(1){
+ lift.Drive(0,STOP,0);
+ motor.Drive(0,CCW,1500);
+ motor.Drive(1,CCW,1500);
+ }
+ }
+ else if(fink < 0.7){
+ motor.Drive(0,CW,0);
+ motor.Drive(1,CW,1100);
+ }
+ else if(hoge < 0.7){
+ motor.Drive(0,CW,1100);
+ motor.Drive(1,CW,0);
+ }
+ else if(pool < 0.7){
+ motor.Drive(0,CW,1150);
+ motor.Drive(1,CW,1200);
+ }
+ else{
+ lift.Drive(0,STOP,0);
+ }
+ }
+ }
+ }
+ else if(fink < 0.7){
+ motor.Drive(0,CW,0);
+ motor.Drive(1,CW,850);
+ }
+ else if(hoge < 0.7){
+ motor.Drive(0,CW,850);
+ motor.Drive(1,CW,0);
+ }
+ else if(pool < 0.7){
+ motor.Drive(0,CW,850);
+ motor.Drive(1,CW,850);
+ }
+ else{
+ lift.Drive(0,STOP,0);
+
+ }
+}
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Thu Nov 27 04:22:11 2014 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/031413cf7a89 \ No newline at end of file