sugiyama tatsuya
a
Diff: main.cpp
- Revision:
- 0:ac0ad47ee366
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Mon Feb 29 09:00:47 2016 +0000
@@ -0,0 +1,389 @@
+#include "mbed.h"
+//#include "AX18.h"
+#include "RX64.h"
+#include <stdio.h>
+
+Serial pc (USBTX, USBRX);
+
+//Mbedのピンと割り当ての文字設定
+AnalogIn vep1(p15);
+AnalogIn vep2(p16);
+AnalogIn vep3(p17);
+
+DigitalOut myled1(LED1);
+DigitalOut myled2(LED2);
+DigitalOut myled3(LED3);
+DigitalOut myled4(LED4);
+
+int main()
+{
+ pc.baud(57600);//Tera Term ボー・レート
+
+// int ngleax1;
+// int ngleax2;
+// int angleax3;
+// int angleax4;
+ int anglerx;//RX-64モータ角度-ターンテーブル(T-motor)
+ int input1;
+// int x;
+ int y;
+ char c;
+// AX18 myax181(p9, p10, 1);
+// AX18 myax182(p9, p10, 2);
+// AX18 myax183(p9, p10, 3);
+// AX18 myax184(p9, p10, 4);
+
+//サーボモーターを初期位置に戻す
+ RX64 myrx64(p13, p14, 1);
+ myrx64.SetMode(0);
+ myrx64.SetGoal(0);
+// wait(6);
+
+//モータが範囲内の角度に収まるまでプログラムの進行を抑える
+ do{
+ anglerx = myrx64.GetPosition();
+ }while(anglerx >= 3);
+
+ pc.printf("\nafter\nanglerx = %d\n", anglerx);//T-motor角度画面表示
+//繰り返し
+ while(1){
+
+// x = 1;
+ y = 0;
+ input1 = 4;
+
+//操縦者が光を見つめているか確認・光源を見つめてもらいつつzキーを押してもらう
+ do{
+ y = 1;
+ pc.printf("選択したい光を見つめつつ「zキー」を押してください\n");
+ c = pc.getc();
+ if(c == 'z') {
+ y = 0;
+ } else {
+ y = 1;
+ }
+ }while(y == 1);
+
+//ピンに入った電圧のアナログ値
+ pc.printf("aの入力電圧は%f ",vep1.read());
+ pc.printf("bの入力電圧は%f ",vep2.read());
+ pc.printf("cの入力電圧は%f\n",vep3.read());
+
+//入力を判定する・それぞれ4回判定・判定は5秒間
+ do{
+ wait(2);
+ if(vep1 == 1) {
+ pc.printf("入力1-A\n");
+ pc.printf("aの入力電圧は%f ",vep1.read());
+ pc.printf("bの入力電圧は%f ",vep2.read());
+ pc.printf("cの入力電圧は%f\n",vep3.read());
+ wait(0.5);
+ if(vep1 == 1) {
+ pc.printf("入力1-A\n");
+ pc.printf("aの入力電圧は%f ",vep1.read());
+ pc.printf("bの入力電圧は%f ",vep2.read());
+ pc.printf("cの入力電圧は%f\n",vep3.read());
+ wait(0.5);
+ do{
+ y = 1;
+ pc.printf("選択したい光を見つめつつ「zキー」を押してください\n");
+ c = pc.getc();
+ if(c == 'z') {
+ y = 0;
+ } else {
+ y = 1;
+ }
+ }while(y == 1);
+ if(vep1 == 1) {
+ pc.printf("入力2-A\n");
+ pc.printf("aの入力電圧は%f ",vep1.read());
+ pc.printf("bの入力電圧は%f ",vep2.read());
+ pc.printf("cの入力電圧は%f\n",vep3.read());
+ wait(0.5);
+ if(vep1 == 1) {
+ pc.printf("入力2-A\n");
+ pc.printf("aの入力電圧は%f ",vep1.read());
+ pc.printf("bの入力電圧は%f ",vep2.read());
+ pc.printf("cの入力電圧は%f\n",vep3.read());
+ input1 = 1;
+ y = 10;
+ }
+ }
+ if(vep2 == 1) {
+ pc.printf("入力2-B\n");
+ pc.printf("aの入力電圧は%f ",vep1.read());
+ pc.printf("bの入力電圧は%f ",vep2.read());
+ pc.printf("cの入力電圧は%f\n",vep3.read());
+ wait(0.5);
+ if(vep2 == 1) {
+ pc.printf("入力2-B\n");
+ pc.printf("aの入力電圧は%f ",vep1.read());
+ pc.printf("bの入力電圧は%f ",vep2.read());
+ pc.printf("cの入力電圧は%f\n",vep3.read());
+ input1 = 2;
+ y = 10;
+ }
+ }
+ }
+/* } else if(vep1 == 1) {
+ pc.printf("入力2-1\n");
+ pc.printf("aの入力電圧は%f ",vep1.read());
+ pc.printf("bの入力電圧は%f ",vep2.read());
+ pc.printf("cの入力電圧は%f\n",vep3.read());
+ wait(0.5);
+ if(vep1 == 1) {
+ pc.printf("入力2-2\n");
+ pc.printf("aの入力電圧は%f ",vep1.read());
+ pc.printf("bの入力電圧は%f ",vep2.read());
+ pc.printf("cの入力電圧は%f\n",vep3.read());
+ wait(0.5);
+ do{
+ y = 1;
+ pc.printf("選択したい光を見つめつつ「zキー」を押してください\n");
+ c = pc.getc();
+ if(c == 'z') {
+ y = 0;
+ } else {
+ y = 1;
+ }
+ }while(y == 1);
+ if(vep2 == 1) {
+ pc.printf("入力2-3\n");
+ pc.printf("aの入力電圧は%f ",vep1.read());
+ pc.printf("bの入力電圧は%f ",vep2.read());
+ pc.printf("cの入力電圧は%f\n",vep3.read());
+ wait(0.5);
+ if(vep2 == 1) {
+ pc.printf("入力2-4\n");
+ pc.printf("aの入力電圧は%f ",vep1.read());
+ pc.printf("bの入力電圧は%f ",vep2.read());
+ pc.printf("cの入力電圧は%f\n",vep3.read());
+ input1 = 2;
+ y = 10;
+ }
+ }
+ }*/
+ } else if(vep2 == 1) {
+ pc.printf("入力1-A\n");
+ pc.printf("aの入力電圧は%f ",vep1.read());
+ pc.printf("bの入力電圧は%f ",vep2.read());
+ pc.printf("cの入力電圧は%f\n",vep3.read());
+ wait(0.5);
+ if(vep2 == 1) {
+ pc.printf("入力1-A\n");
+ pc.printf("aの入力電圧は%f ",vep1.read());
+ pc.printf("bの入力電圧は%f ",vep2.read());
+ pc.printf("cの入力電圧は%f\n",vep3.read());
+ wait(0.5);
+ do{
+ y = 1;
+ pc.printf("選択したい光を見つめつつ「zキー」を押してください\n");
+ c = pc.getc();
+ if(c == 'z') {
+ y = 0;
+ } else {
+ y = 1;
+ }
+ }while(y == 1);
+ if(vep1 == 1) {
+ pc.printf("入力2-A\n");
+ pc.printf("aの入力電圧は%f ",vep1.read());
+ pc.printf("bの入力電圧は%f ",vep2.read());
+ pc.printf("cの入力電圧は%f\n",vep3.read());
+ wait(0.5);
+ if(vep1 == 1) {
+ pc.printf("入力2-A\n");
+ pc.printf("aの入力電圧は%f ",vep1.read());
+ pc.printf("bの入力電圧は%f ",vep2.read());
+ pc.printf("cの入力電圧は%f\n",vep3.read());
+ input1 = 3;
+ y = 10;
+ }
+ }
+ if(vep2 == 1) {
+ pc.printf("入力2-B\n");
+ pc.printf("aの入力電圧は%f ",vep1.read());
+ pc.printf("bの入力電圧は%f ",vep2.read());
+ pc.printf("cの入力電圧は%f\n",vep3.read());
+ wait(0.5);
+ if(vep2 == 1) {
+ pc.printf("入力2-B\n");
+ pc.printf("aの入力電圧は%f ",vep1.read());
+ pc.printf("bの入力電圧は%f ",vep2.read());
+ pc.printf("cの入力電圧は%f\n",vep3.read());
+ input1 = 1;
+ y = 10;
+ }
+ }
+ }
+ } else {
+ input1 = 4;
+ y += 2;
+ }
+ }while(y < 10);
+
+
+//入力A-Aに分岐・ターンテーブルを30度回転さる
+ switch(input1) {
+ case 1:
+ myled1 = 1;
+ pc.printf("Ａの入力を確認しました\nターンテーブルのAを正面に運びます\n");
+
+/* myrx64.SetMode(0);
+ myrx64.SetGoal(0);
+ wait(3);*/
+
+ anglerx = myrx64.GetPosition();
+ pc.printf("before\nanglerx = %d\n", anglerx);
+
+ myrx64.SetMode(0);
+ myrx64.SetGoal(0);//T-motor30度回転
+ wait(3);
+
+ do{
+ anglerx = myrx64.GetPosition();
+ }while(anglerx >= 3);//T-motor角度を20~40度に抑える
+
+ anglerx = myrx64.GetPosition();
+ pc.printf("after\nanglerx = %d\n", anglerx);//T-motor角度表示
+
+/* myrx183.SetMode(0);
+ myrx183.SetGoal(132);
+ myrx184.SetMode(0);z
+ myrx184.SetGoal(288);
+ wait(3);
+
+ angleax3 = myax183.GetPosition();
+ ngleax4 = myax184.GetPosition();
+ pc.printf("before\nangleax3 = %d\nangleax4 = %d\n", angleax3, angleax4);
+
+ myrx183.SetMode(0);
+ myrx183.SetGoal(221);
+ myrx184.SetMode(0);
+ myrx184.SetGoal(193);
+ wait(3);
+
+ angleax3 = myax183.GetPosition();
+ angleax4 = myax184.GetPosition();
+ pc.printf("after\nangleax3 = %d\n", angleax3);*/
+
+ wait(3);
+
+ myled1 = 0;
+ pc.printf("1連の動作の終了です\n初めの選択に戻ります\n\n");
+ wait(2);
+ break;
+
+//入力A-Ｂに分岐・ターンテーブルを120度回転さる
+ case 2:
+ myled2 = 1;
+ pc.printf("Bの入力を確認しました\nターンテーブルのBを正面に運びます\n");
+
+/* myrx64.SetMode(0);
+ myrx64.SetGoal(0);
+ wait(3);*/
+
+ anglerx = myrx64.GetPosition();
+ pc.printf("before\nanglerx = %d\n", anglerx);
+
+ myrx64.SetMode(0);
+ myrx64.SetGoal(121);//T-motor120度回転
+ wait(3);
+
+ do{
+ anglerx = myrx64.GetPosition();
+ }while(anglerx <= 110 || anglerx >= 130);//T-motor角度を110~130度に抑える
+
+ anglerx = myrx64.GetPosition();
+ pc.printf("after\nanglerx = %d\n", anglerx);//T-motor角度表示
+
+/* myrx183.SetMode(0);
+ myrx183.SetGoal(132);
+ myrx184.SetMode(0);
+ myrx184.SetGoal(288);
+ wait(3);
+
+ angleax3 = myax183.GetPosition();
+ angleax4 = myax184.GetPosition();
+ pc.printf("before\nangleax3 = %d\nangleax4 = %d\n", angleax3, angleax4);
+
+ myrx183.SetMode(0);
+ myrx183.SetGoal(221);
+ myrx184.SetMode(0);
+ myrx184.SetGoal(193);
+ wait(3);
+
+ angleax3 = myax183.GetPosition();
+ angleax4 = myax184.GetPosition();
+ pc.printf("after\nangleax3 = %d\nangleax4 = %d\n", angleax3, angleax4);*/
+
+ wait(3);
+ myled2 = 0;
+ pc.printf("1連の動作の終了です\n初めの選択に戻ります\n\n");
+ wait(2);
+ break;
+
+//入力C分岐・ターンテーブルを240度回転さる
+ case 3:
+ myled3 = 1;
+ pc.printf("Cの入力を確認しました\nターンテーブルのＣを正面に運びます\n");
+ wait(3);
+
+/* myrx64.SetMode(0);
+ myrx64.SetGoal(0);
+ wait(3);*/
+
+ anglerx = myrx64.GetPosition();
+ pc.printf("before\nanglerx = %d\n", anglerx);
+
+ myrx64.SetMode(0);
+ myrx64.SetGoal(240);//T-motor240度回転
+ wait(3);
+
+ do{
+ anglerx = myrx64.GetPosition();
+ }while(anglerx <= 230);//T-motor角度を230度以上にする
+
+ anglerx = myrx64.GetPosition();
+ pc.printf("after\nanglerx = %d\n", anglerx);//T-motor角度表示
+
+/* myrx183.SetMode(0);
+ myrx183.SetGoal(132);
+ myrx184.SetMode(0);
+ myrx184.SetGoal(288);
+ wait(3);
+
+ angleax3 = myax183.GetPosition();
+ angleax4 = myax184.GetPosition();
+ pc.printf("before\nangleax3 = %d\nangleax4 = %d\n", angleax3, angleax4);
+
+ myrx183.SetMode(0);
+ myrx183.SetGoal(221);
+ myrx184.SetMode(0);
+ myrx184.SetGoal(193);
+ wait(3);
+
+ angleax3 = myax183.GetPosition();
+ angleax4 = myax184.GetPosition();
+ pc.printf("after\nangleax3 = %d\nangleax4 = %d\n", angleax3, angleax4);*/
+
+ wait(3);
+ myled3 = 0;
+ pc.printf("1連の動作の終了です\n初めの選択に戻ります\n\n");
+ wait(2);
+ break;
+
+//入力判定なし
+ case 4:
+ myled4 = 1;
+
+ pc.printf("入力を確認できませんでした\n初めの選択に戻ります\n\n");
+ wait(2);
+
+ myled4 = 0;
+
+ break;
+
+ }
+ }
+}
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