Diff: main.cpp

Revision:

0:4deb9001ddae

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Sat Nov 09 09:26:03 2019 +0000
@@ -0,0 +1,123 @@
+#include "mbed.h"
+#include "kbt.h"
+#define ROOT 0.2886;
+
+KBT kbt ( PC_10, PC_11);  //TX4,RX4
+Serial pc( USBTX, USBRX);
+
+PwmOut F (PC_8);  //前pwm値
+DigitalOut FA (PC_5);
+DigitalOut FB (PB_12);
+
+PwmOut R (PC_6);  //右pwm値
+DigitalOut RA (PB_6);
+DigitalOut RB (PC_7);
+
+PwmOut L (PB_14);  //左pwm値
+DigitalOut LA (PB_15);
+DigitalOut LB (PB_1);
+
+void forward(){
+    F = 0.5;
+    R = 0.5;
+    L = 0.5;
+
+    FA = 1; 
+    FB = 1;
+    RA = 1;
+    RB = 0;
+    LA = 0;
+    LB = 1;
+}
+
+void back(){
+    F = 0.5;
+    R = 0.5;
+    L = 0.5;
+
+    FA = 1; 
+    FB = 1;
+    RA = 0;
+    RB = 1;
+    LA = 1;
+    LB = 0;
+}
+
+void leftmove(){
+    F = 0.5;
+    R = ROOT;
+    L = ROOT;
+
+    FA = 1;
+    FB = 0;
+    RA = 0;
+    RB = 1;
+    LA = 0;
+    LB = 1;
+}
+
+void rightmove(){
+    F = 0.5;
+    R = ROOT;
+    L = ROOT;
+
+    FA = 0; 
+    FB = 1;
+    RA = 1;
+    RB = 0;
+    LA = 1;
+    LB = 0;
+}
+
+void leftrotate(){
+    F = 0.5;
+    R = 0.5;
+    L = 0.5;
+
+    FA = 1; 
+    FB = 0;
+    RA = 1;
+    RB = 0;
+    LA = 1;
+    LB = 0;
+}
+
+void rightrotate(){
+    F = 0.5;
+    R = 0.5;
+    L = 0.5;
+
+    FA = 0; 
+    FB = 1;
+    RA = 0;
+    RB = 1;
+    LA = 0;
+    LB = 1;
+}
+
+void stop(){
+    F = 0.5;
+    R = 0.5;
+    L = 0.5;
+    
+    FA = 1; 
+    FB = 1;
+    RA = 1;
+    RB = 1;
+    LA = 1;
+    LB = 1;
+}
+
+int main(){
+    kbt.init(2400);
+    
+    while(true){
+        if (kbt.button(up) == 1)          forward();
+        else if (kbt.button(down) == 1)   back();
+        else if (kbt.button(right) == 1)  rightmove();
+        else if (kbt.button(left) == 1)   leftmove();
+        else if (kbt.button(L1) == 1)     rightrotate();
+        else if (kbt.button(R1) == 1)     leftrotate();
+        else                              stop();
+        }
+    }