100% akira / Mbed 2 deprecated nhk_2020_tryrobot01

a

Dependencies:   mbed kbtakira

main.cpp@0:4deb9001ddae, 2019-11-09 (annotated)

Committer:
AK1412
Date:
Sat Nov 09 09:26:03 2019 +0000
Revision:
0:4deb9001ddae
a

Who changed what in which revision?

UserRevisionLine numberNew contents of line
AK1412 0:4deb9001ddae 1 #include "mbed.h"
AK1412 0:4deb9001ddae 2 #include "kbt.h"
AK1412 0:4deb9001ddae 3 #define ROOT 0.2886;
AK1412 0:4deb9001ddae 4
AK1412 0:4deb9001ddae 5 KBT kbt ( PC_10, PC_11); //TX4,RX4
AK1412 0:4deb9001ddae 6 Serial pc( USBTX, USBRX);
AK1412 0:4deb9001ddae 7
AK1412 0:4deb9001ddae 8 PwmOut F (PC_8); //前pwm値
AK1412 0:4deb9001ddae 9 DigitalOut FA (PC_5);
AK1412 0:4deb9001ddae 10 DigitalOut FB (PB_12);
AK1412 0:4deb9001ddae 11
AK1412 0:4deb9001ddae 12 PwmOut R (PC_6); //右pwm値
AK1412 0:4deb9001ddae 13 DigitalOut RA (PB_6);
AK1412 0:4deb9001ddae 14 DigitalOut RB (PC_7);
AK1412 0:4deb9001ddae 15
AK1412 0:4deb9001ddae 16 PwmOut L (PB_14); //左pwm値
AK1412 0:4deb9001ddae 17 DigitalOut LA (PB_15);
AK1412 0:4deb9001ddae 18 DigitalOut LB (PB_1);
AK1412 0:4deb9001ddae 19
AK1412 0:4deb9001ddae 20 void forward(){
AK1412 0:4deb9001ddae 21 F = 0.5;
AK1412 0:4deb9001ddae 22 R = 0.5;
AK1412 0:4deb9001ddae 23 L = 0.5;
AK1412 0:4deb9001ddae 24
AK1412 0:4deb9001ddae 25 FA = 1;
AK1412 0:4deb9001ddae 26 FB = 1;
AK1412 0:4deb9001ddae 27 RA = 1;
AK1412 0:4deb9001ddae 28 RB = 0;
AK1412 0:4deb9001ddae 29 LA = 0;
AK1412 0:4deb9001ddae 30 LB = 1;
AK1412 0:4deb9001ddae 31 }
AK1412 0:4deb9001ddae 32
AK1412 0:4deb9001ddae 33 void back(){
AK1412 0:4deb9001ddae 34 F = 0.5;
AK1412 0:4deb9001ddae 35 R = 0.5;
AK1412 0:4deb9001ddae 36 L = 0.5;
AK1412 0:4deb9001ddae 37
AK1412 0:4deb9001ddae 38 FA = 1;
AK1412 0:4deb9001ddae 39 FB = 1;
AK1412 0:4deb9001ddae 40 RA = 0;
AK1412 0:4deb9001ddae 41 RB = 1;
AK1412 0:4deb9001ddae 42 LA = 1;
AK1412 0:4deb9001ddae 43 LB = 0;
AK1412 0:4deb9001ddae 44 }
AK1412 0:4deb9001ddae 45
AK1412 0:4deb9001ddae 46 void leftmove(){
AK1412 0:4deb9001ddae 47 F = 0.5;
AK1412 0:4deb9001ddae 48 R = ROOT;
AK1412 0:4deb9001ddae 49 L = ROOT;
AK1412 0:4deb9001ddae 50
AK1412 0:4deb9001ddae 51 FA = 1;
AK1412 0:4deb9001ddae 52 FB = 0;
AK1412 0:4deb9001ddae 53 RA = 0;
AK1412 0:4deb9001ddae 54 RB = 1;
AK1412 0:4deb9001ddae 55 LA = 0;
AK1412 0:4deb9001ddae 56 LB = 1;
AK1412 0:4deb9001ddae 57 }
AK1412 0:4deb9001ddae 58
AK1412 0:4deb9001ddae 59 void rightmove(){
AK1412 0:4deb9001ddae 60 F = 0.5;
AK1412 0:4deb9001ddae 61 R = ROOT;
AK1412 0:4deb9001ddae 62 L = ROOT;
AK1412 0:4deb9001ddae 63
AK1412 0:4deb9001ddae 64 FA = 0;
AK1412 0:4deb9001ddae 65 FB = 1;
AK1412 0:4deb9001ddae 66 RA = 1;
AK1412 0:4deb9001ddae 67 RB = 0;
AK1412 0:4deb9001ddae 68 LA = 1;
AK1412 0:4deb9001ddae 69 LB = 0;
AK1412 0:4deb9001ddae 70 }
AK1412 0:4deb9001ddae 71
AK1412 0:4deb9001ddae 72 void leftrotate(){
AK1412 0:4deb9001ddae 73 F = 0.5;
AK1412 0:4deb9001ddae 74 R = 0.5;
AK1412 0:4deb9001ddae 75 L = 0.5;
AK1412 0:4deb9001ddae 76
AK1412 0:4deb9001ddae 77 FA = 1;
AK1412 0:4deb9001ddae 78 FB = 0;
AK1412 0:4deb9001ddae 79 RA = 1;
AK1412 0:4deb9001ddae 80 RB = 0;
AK1412 0:4deb9001ddae 81 LA = 1;
AK1412 0:4deb9001ddae 82 LB = 0;
AK1412 0:4deb9001ddae 83 }
AK1412 0:4deb9001ddae 84
AK1412 0:4deb9001ddae 85 void rightrotate(){
AK1412 0:4deb9001ddae 86 F = 0.5;
AK1412 0:4deb9001ddae 87 R = 0.5;
AK1412 0:4deb9001ddae 88 L = 0.5;
AK1412 0:4deb9001ddae 89
AK1412 0:4deb9001ddae 90 FA = 0;
AK1412 0:4deb9001ddae 91 FB = 1;
AK1412 0:4deb9001ddae 92 RA = 0;
AK1412 0:4deb9001ddae 93 RB = 1;
AK1412 0:4deb9001ddae 94 LA = 0;
AK1412 0:4deb9001ddae 95 LB = 1;
AK1412 0:4deb9001ddae 96 }
AK1412 0:4deb9001ddae 97
AK1412 0:4deb9001ddae 98 void stop(){
AK1412 0:4deb9001ddae 99 F = 0.5;
AK1412 0:4deb9001ddae 100 R = 0.5;
AK1412 0:4deb9001ddae 101 L = 0.5;
AK1412 0:4deb9001ddae 102
AK1412 0:4deb9001ddae 103 FA = 1;
AK1412 0:4deb9001ddae 104 FB = 1;
AK1412 0:4deb9001ddae 105 RA = 1;
AK1412 0:4deb9001ddae 106 RB = 1;
AK1412 0:4deb9001ddae 107 LA = 1;
AK1412 0:4deb9001ddae 108 LB = 1;
AK1412 0:4deb9001ddae 109 }
AK1412 0:4deb9001ddae 110
AK1412 0:4deb9001ddae 111 int main(){
AK1412 0:4deb9001ddae 112 kbt.init(2400);
AK1412 0:4deb9001ddae 113
AK1412 0:4deb9001ddae 114 while(true){
AK1412 0:4deb9001ddae 115 if (kbt.button(up) == 1) forward();
AK1412 0:4deb9001ddae 116 else if (kbt.button(down) == 1) back();
AK1412 0:4deb9001ddae 117 else if (kbt.button(right) == 1) rightmove();
AK1412 0:4deb9001ddae 118 else if (kbt.button(left) == 1) leftmove();
AK1412 0:4deb9001ddae 119 else if (kbt.button(L1) == 1) rightrotate();
AK1412 0:4deb9001ddae 120 else if (kbt.button(R1) == 1) leftrotate();
AK1412 0:4deb9001ddae 121 else stop();
AK1412 0:4deb9001ddae 122 }
AK1412 0:4deb9001ddae 123 }