100% akira / Mbed 2 deprecated nhk_2020_tryrobot01

a

Dependencies:   mbed kbtakira

Files at this revision

API Documentation at this revision

Revision 0:4deb9001ddae, committed 2019-11-09

Comitter:
AK1412
Date:
Sat Nov 09 09:26:03 2019 +0000
Commit message:
a

Changed in this revision

kbtakira.lib Show annotated file Show diff for this revision Revisions of this file
main.cpp Show annotated file Show diff for this revision Revisions of this file
mbed.bld Show annotated file Show diff for this revision Revisions of this file 
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/kbtakira.lib	Sat Nov 09 09:26:03 2019 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/AK1412/code/kbtakira/#34697e4082fc

--- /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();
+        }
+    }

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Sat Nov 09 09:26:03 2019 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400
\ No newline at end of file