100% akira
/
nhk_2020_tryrobot01
a
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?
User | Revision | Line number | New 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 | } |