Diff: main.cpp

Revision:

0:0cb42d74d475

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Sat Dec 29 11:57:03 2018 +0000
@@ -0,0 +1,131 @@
+#include "stm32f103c8t6.h"
+#include "mbed.h"
+
+#define pow1 0.5
+#define pow2 0.7
+#define time 0.7
+
+DigitalOut led( LED1);
+CANMessage msg;
+CAN Reseive ( PA_11, PA_12);
+
+PwmOut dcY( PA_8);//Y軸のpwmピン
+DigitalOut motordcY1( PB_15);
+DigitalOut motordcY2( PB_14);
+
+PwmOut dcZ( PB_3);//Z軸のpwmピン
+DigitalOut motordcZ1( PA_15);
+DigitalOut motordcZ2( PA_12);
+
+DigitalIn switch1( PA_1);
+DigitalIn switch2( PA_2);
+DigitalIn switch3( PA_3);
+DigitalIn switch4( PA_4);//micro switch x 4
+
+int mode = 0;
+
+void motorForward()
+{
+    dcY.period_us( 50);
+    dcY = pow1;
+    motordcY1 = 1;
+    motordcY2 = 0;
+}
+void motorBack()
+{
+    dcY.period_us( 50);
+    dcY = pow1;
+    motordcY1 = 0;
+    motordcY2 = 1;
+}
+void motorDown()
+{
+    dcZ.period_us( 50);
+    dcZ = pow2;
+    motordcZ1 = 0;
+    motordcZ2 = 1;
+}
+void motorUp()
+{
+    dcZ.period_us( 50);
+    dcZ = pow2;
+    motordcZ1 = 1;
+    motordcZ2 = 0;
+}
+void motorStopY()//Y軸が止まる
+{
+    motordcY1 = 0;
+    motordcY2 = 0;
+}
+void case0(){
+    if( switch1.read() == 0){
+        motorBack();
+        if( switch1.read() == 1)
+            motorStopY();
+        }
+    else if( switch1.read() == 1)
+        motorStopY();
+    mode = 1;
+}
+void case1(){
+    motorForward();
+    motorUp();
+    //wait( time);
+    mode = 2;
+}
+void case2(){
+    motorForward();
+    motorDown();
+    //wait( time);
+    mode = 3;
+}
+void case3(){
+    motorBack();
+    motorDown();
+    //wait( time);
+    mode = 4;
+}
+void case4(){
+    motorBack();
+    motorUp();
+    //wait( time);
+    mode = 1;
+}
+
+int main(){
+    /*led.write(0);
+    
+    while( true){
+        if( Reseive.id == 1 ){
+            data
+            }
+        wait( 0.1);
+        }*/
+
+    while(1){      
+        switch( mode){
+            case 0:
+            case0();
+            break;
+            case 1:
+            case1();
+            break;
+            case 2:
+            case2();
+            break;
+            case 3:
+            case3();
+            break;
+            case 4:
+            case4();
+            break;
+        }
+        
+        if( switch1.read() == 0)
+            led.write(0);
+        else if( switch1.read() == 1)
+            led.write(1);
+            
+        wait( time);
+        }
+}