100% akira
/
nhk_2020_tryrobot01
Important changes to repositories hosted on mbed.com
Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.
To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.
It is also possible to export all your personal repositories from the account settings page.
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
--- /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