100% akira
/
BLUEPILL_NHK_quadrupedal_walk
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Dependencies: mbed mbed-STM32F103C8T6
Revision 0:0cb42d74d475, committed 2018-12-29
- Comitter:
- AK1412
- Date:
- Sat Dec 29 11:57:03 2018 +0000
- Commit message:
- a
Changed in this revision
--- /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);
+ }
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed-STM32F103C8T6.lib Sat Dec 29 11:57:03 2018 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/hudakz/code/mbed-STM32F103C8T6/#727468adfd1d
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Sat Dec 29 11:57:03 2018 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/mbed_official/code/mbed/builds/3a7713b1edbc \ No newline at end of file