masamitsu shibata
タームB、ファイナルのプログラム
Revision 0:115e12879ffb, committed 2016-09-29
- Comitter:
- 12f2025e
- Date:
- Thu Sep 29 07:25:38 2016 +0000
- Commit message:
- ???B????????????
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
| mbed.bld | Show annotated file Show diff for this revision Revisions of this file |
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Thu Sep 29 07:25:38 2016 +0000
@@ -0,0 +1,283 @@
+#include "mbed.h"
+
+DigitalIn in1(PTE21);//左
+DigitalIn in2(PTE20);//左中
+DigitalIn in3(PTE23);//右中
+DigitalIn in4(PTE22);//右
+
+DigitalOut led1(PTB8);//左
+DigitalOut led2(PTB9);//左中
+DigitalOut led3(PTB10);//右中
+DigitalOut led4(PTB11);//右
+
+BusOut cmotor(PTA1,PTA2);
+PwmOut vc(PTD4);
+BusOut lmotor(PTC0,PTC7);
+PwmOut vl(PTA12);
+BusOut rmotor(PTC6,PTC5);
+PwmOut vr(PTA4);
+int lift_count = 0;
+
+int main() {
+ while(1) {
+ if(in1 == 1)//黒の時光る 1:白 0:黒
+ led1 = 0;//1:光る 0:光らない
+ else
+ led1 = 1;
+
+ if(in2 == 1)
+ led2 = 0;
+ else
+ led2 = 1;
+
+ if(in3 == 1)
+ led3 = 0;
+ else
+ led3 = 1;
+
+ if(in4 == 1)
+ led4 = 0;
+ else
+ led4 = 1;
+
+ if(in1 == 0 && in2 == 0)
+ {
+ while(in4 == 1)
+ {
+ if(in1 == 1)//黒の時光る 1:白 0:黒
+ led1 = 0;//1:光る 0:光らない
+ else
+ led1 = 1;
+
+ if(in2 == 1)
+ led2 = 0;
+ else
+ led2 = 1;
+
+ if(in3 == 1)
+ led3 = 0;
+ else
+ led3 = 1;
+
+ if(in4 == 1)
+ led4 = 0;
+ else
+ led4 = 1;
+
+ lmotor = 1;
+ vl = 0.0f;
+ rmotor = 1;
+ vr = 0.1f;
+ if(in1 == 0 && in2 == 1 && in3 == 0 && in4 == 0)
+ {
+ if(lift_count == 0)
+ {
+ cmotor = 1;
+ vc = 0.5f;
+ lmotor = 1;
+ vl = 0.0f;
+ rmotor = 1;
+ vr = 0.0f;
+ wait(0.5);
+ cmotor = 1;
+ vc = 0.0f;
+ lmotor = 1;
+ vl = 0.1f;
+ rmotor = 1;
+ vr = 0.1f;
+ wait(1.0);
+ lift_count = 1;
+ break;
+ }
+ else
+ {
+ cmotor = 2;
+ vc = 0.5f;
+ lmotor = 1;
+ vl = 0.0f;
+ rmotor = 1;
+ vr = 0.0f;
+ wait(0.5);
+ cmotor = 1;
+ vc = 0.0f;
+ lmotor = 2;
+ vl = 1.0f;
+ rmotor = 2;
+ vr = 1.0f;
+ wait(2);
+ lmotor = 1;
+ vl = 0.0f;
+ rmotor = 1;
+ vr = 0.0f;
+ wait(5);
+ lift_count = 0;
+ break;
+ }
+ }
+ }
+ lmotor = 1;
+ vl = 0.4f;
+ rmotor = 1;
+ vr = 0.0f;
+ wait(1);
+ }
+
+/* if(in3 == 0 && in4 == 0)
+ {
+ while(in1 == 1)
+ {
+ if(in1 == 1)//黒の時光る 1:白 0:黒
+ led1 = 0;//1:光る 0:光らない
+ else
+ led1 = 1;
+
+ if(in2 == 1)
+ led2 = 0;
+ else
+ led2 = 1;
+
+ if(in3 == 1)
+ led3 = 0;
+ else
+ led3 = 1;
+
+ if(in4 == 1)
+ led4 = 0;
+ else
+ led4 = 1;
+
+ lmotor = 1;
+ vl = 0.1f;
+ rmotor = 1;
+ vr = 0.0f;
+ if(in1 == 0 && in2 == 1 && in3 == 0 && in4 == 0)
+ {
+ if(lift_count == 0)
+ {
+ cmotor = 1;
+ vc = 0.5f;
+ lmotor = 1;
+ vl = 0.0f;
+ rmotor = 1;
+ vr = 0.0f;
+ wait(0.5);
+ cmotor = 1;
+ vc = 0.0f;
+ lmotor = 1;
+ vl = 0.1f;
+ rmotor = 1;
+ vr = 0.1f;
+ wait(1.0);
+ lift_count = 1;
+ break;
+ }
+ else
+ {
+ cmotor = 2;
+ vc = 0.5f;
+ lmotor = 1;
+ vl = 0.0f;
+ rmotor = 1;
+ vr = 0.0f;
+ wait(0.5);
+ cmotor = 1;
+ vc = 0.0f;
+ lmotor = 2;
+ vl = 1.0f;
+ rmotor = 2;
+ vr = 1.0f;
+ wait(2);
+ lmotor = 1;
+ vl = 0.0f;
+ rmotor = 1;
+ vr = 0.0f;
+ wait(5);
+ lift_count = 0;
+ break;
+ }
+ }
+ }
+ lmotor = 1;
+ vl = 0.0f;
+ rmotor = 1;
+ vr = 0.4f;
+ wait(1);
+ }
+*/
+ ///////////////////////
+ if(in2 == 0 && in3 == 0)
+ {
+ lmotor = 0;
+ vl = 0.0f;
+ rmotor = 1;
+ vr = 0.1f;
+ }
+ else if(in2 == 0 && in3 == 1)
+ {
+ lmotor = 2;
+ vl = 0.1f;
+ rmotor = 1;
+ vr = 0.1f;
+ }
+ else if(in2 == 1 && in3 == 0)
+ {
+ lmotor = 1;
+ vl = 0.1f;
+ rmotor = 1;
+ vr = 0.1f;
+ }
+ else
+ {
+ lmotor = 1;
+ vl = 0.1f;
+ rmotor = 0;
+ vr = 0.0f;
+ }
+
+ if(in1 == 0 && in2 == 1 && in3 == 0 && in4 == 0)
+ {
+ if(lift_count == 0)
+ {
+ cmotor = 1;
+ vc = 0.5f;
+ lmotor = 1;
+ vl = 0.0f;
+ rmotor = 1;
+ vr = 0.0f;
+ wait(0.5);
+ cmotor = 1;
+ vc = 0.0f;
+ lmotor = 1;
+ vl = 0.1f;
+ rmotor = 1;
+ vr = 0.1f;
+ wait(1.0);
+ lift_count = 1;
+ }
+ else
+ {
+ cmotor = 2;
+ vc = 0.5f;
+ lmotor = 1;
+ vl = 0.0f;
+ rmotor = 1;
+ vr = 0.0f;
+ wait(0.5);
+ cmotor = 1;
+ vc = 0.0f;
+ lmotor = 2;
+ vl = 1.0f;
+ rmotor = 2;
+ vr = 1.0f;
+ wait(2);
+ lmotor = 1;
+ vl = 0.0f;
+ rmotor = 1;
+ vr = 0.0f;
+ wait(5);
+ lift_count = 0;
+ }
+ }
+
+ }
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Thu Sep 29 07:25:38 2016 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/abea610beb85 \ No newline at end of file