bousiya03 / Mbed 2 deprecated servo_OBON

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Dependencies:   Servo mbed-rtos mbed

main.cpp@2:0edba6ddfd48, 2014-06-28 (annotated)

Committer:
Hatter
Date:
Sat Jun 28 07:08:59 2014 +0000
Revision:
2:0edba6ddfd48
Parent:
1:17b3afbf9278 
RTOS??????????????????

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Hatter 0:72dbc49bd254 1 /*
Hatter 0:72dbc49bd254 2 * Servo motor program for OBON by Tomoki Hokida
Hatter 0:72dbc49bd254 3 *
Hatter 2:0edba6ddfd48 4 * Use RTOS in this program
Hatter 0:72dbc49bd254 5 *
Hatter 0:72dbc49bd254 6 * RTOSをバリバリ使用しているのであしあらず
Hatter 0:72dbc49bd254 7 * サーボを４つ使うことになったらSERVO_4をdefineしましょう
Hatter 0:72dbc49bd254 8 */
Hatter 0:72dbc49bd254 9
Hatter 0:72dbc49bd254 10 #include "mbed.h"
Hatter 0:72dbc49bd254 11 #include "Servo.h"
Hatter 0:72dbc49bd254 12 #include "rtos.h"
Hatter 0:72dbc49bd254 13
Hatter 0:72dbc49bd254 14 #define DEFAULT_R 50
Hatter 0:72dbc49bd254 15 #define DEFAULT_L 50
Hatter 0:72dbc49bd254 16 #define DEFAULT_U 50
Hatter 0:72dbc49bd254 17 #define DEFAULT_D 50
Hatter 0:72dbc49bd254 18
Hatter 2:0edba6ddfd48 19 #define SERVO_4
Hatter 1:17b3afbf9278 20
Hatter 0:72dbc49bd254 21 DigitalOut led1(LED1);
Hatter 0:72dbc49bd254 22 DigitalOut led2(LED2);
Hatter 0:72dbc49bd254 23
Hatter 0:72dbc49bd254 24 #ifdef SERVO_4
Hatter 0:72dbc49bd254 25 DigitalOut led3(LED3);
Hatter 0:72dbc49bd254 26 DigitalOut led4(LED4);
Hatter 0:72dbc49bd254 27 #endif
Hatter 0:72dbc49bd254 28
Hatter 2:0edba6ddfd48 29 DigitalIn sw[4] = {p17, p19, p18, p20};
Hatter 0:72dbc49bd254 30
Hatter 2:0edba6ddfd48 31 //DigitalIn swU(p17);
Hatter 2:0edba6ddfd48 32 //DigitalIn swD(p18);
Hatter 2:0edba6ddfd48 33 //DigitalIn swR(p19);
Hatter 2:0edba6ddfd48 34 //DigitalIn swL(p20);
Hatter 2:0edba6ddfd48 35 //Servo obonU(p21);
Hatter 2:0edba6ddfd48 36 //Servo obonR(p22);
Hatter 2:0edba6ddfd48 37 //Servo obonD(p23);
Hatter 2:0edba6ddfd48 38 //Servo obonL(p24);
Hatter 2:0edba6ddfd48 39
Hatter 0:72dbc49bd254 40
Hatter 0:72dbc49bd254 41 #ifdef SERVO_4
Hatter 2:0edba6ddfd48 42
Hatter 2:0edba6ddfd48 43 Servo obon[4] = { p21, p22, p23, p24};
Hatter 2:0edba6ddfd48 44
Hatter 2:0edba6ddfd48 45 #else
Hatter 2:0edba6ddfd48 46
Hatter 2:0edba6ddfd48 47 Servo obon[2] = {p21,p22};
Hatter 2:0edba6ddfd48 48
Hatter 0:72dbc49bd254 49 #endif
Hatter 0:72dbc49bd254 50
Hatter 0:72dbc49bd254 51 void obonThreadR(void const *argument){
Hatter 0:72dbc49bd254 52
Hatter 0:72dbc49bd254 53 for(int j=DEFAULT_R;;){
Hatter 0:72dbc49bd254 54
Hatter 2:0edba6ddfd48 55 obon[1] = j/100.0;
Hatter 0:72dbc49bd254 56
Hatter 2:0edba6ddfd48 57 if((!sw[1])&&(j<100.0)){j++;}
Hatter 2:0edba6ddfd48 58 if((!sw[3])&&(j>0)){j--;}
Hatter 0:72dbc49bd254 59
Hatter 0:72dbc49bd254 60 led1 = !led1;
Hatter 0:72dbc49bd254 61
Hatter 0:72dbc49bd254 62 Thread::wait(10);
Hatter 0:72dbc49bd254 63 }
Hatter 0:72dbc49bd254 64 }
Hatter 0:72dbc49bd254 65
Hatter 0:72dbc49bd254 66 void obonThreadU(void const *argument){
Hatter 0:72dbc49bd254 67 for(int k=DEFAULT_U; ;){
Hatter 0:72dbc49bd254 68
Hatter 2:0edba6ddfd48 69 obon[0] = k/100.0;
Hatter 0:72dbc49bd254 70
Hatter 2:0edba6ddfd48 71 if((!sw[0])&&(k<100.0)){k++;}
Hatter 2:0edba6ddfd48 72 if((!sw[2])&&(k>0)){k--;}
Hatter 0:72dbc49bd254 73
Hatter 0:72dbc49bd254 74 led2 = !led2;
Hatter 0:72dbc49bd254 75
Hatter 0:72dbc49bd254 76 Thread::wait(10);
Hatter 0:72dbc49bd254 77 }
Hatter 0:72dbc49bd254 78 }
Hatter 0:72dbc49bd254 79
Hatter 0:72dbc49bd254 80 #ifdef SERVO_4
Hatter 0:72dbc49bd254 81
Hatter 0:72dbc49bd254 82 void obonThreadL(void const *argument){
Hatter 0:72dbc49bd254 83 for(int i=DEFAULT_L;;){
Hatter 0:72dbc49bd254 84
Hatter 2:0edba6ddfd48 85 obon[3] = i/100.0;
Hatter 0:72dbc49bd254 86
Hatter 2:0edba6ddfd48 87 if((!sw[3])&&(i<100.0)){i++;}
Hatter 2:0edba6ddfd48 88 if((!sw[1])&&(i>0)){i--;}
Hatter 0:72dbc49bd254 89
Hatter 0:72dbc49bd254 90 led3 = !led3;
Hatter 0:72dbc49bd254 91
Hatter 0:72dbc49bd254 92 Thread::wait(10);
Hatter 0:72dbc49bd254 93 }
Hatter 0:72dbc49bd254 94 }
Hatter 0:72dbc49bd254 95
Hatter 0:72dbc49bd254 96 void obonThreadD(void const *argument){
Hatter 0:72dbc49bd254 97 for(int l=DEFAULT_D;;){
Hatter 0:72dbc49bd254 98
Hatter 2:0edba6ddfd48 99 obon[2] = l/100.0;
Hatter 0:72dbc49bd254 100
Hatter 2:0edba6ddfd48 101 if((!sw[2])&&(l<=100.0)){l++;}
Hatter 2:0edba6ddfd48 102 if((!sw[1])&&(l>=0)){l--;}
Hatter 0:72dbc49bd254 103
Hatter 0:72dbc49bd254 104 led4 = !led4;
Hatter 0:72dbc49bd254 105
Hatter 0:72dbc49bd254 106 Thread::wait(10);
Hatter 0:72dbc49bd254 107 }
Hatter 0:72dbc49bd254 108 }
Hatter 0:72dbc49bd254 109 #endif
Hatter 0:72dbc49bd254 110
Hatter 0:72dbc49bd254 111 int main() {
Hatter 0:72dbc49bd254 112
Hatter 2:0edba6ddfd48 113 sw[0].mode(PullUp);
Hatter 2:0edba6ddfd48 114 sw[1].mode(PullUp);
Hatter 2:0edba6ddfd48 115 sw[2].mode(PullUp);
Hatter 2:0edba6ddfd48 116 sw[3].mode(PullUp);
Hatter 2:0edba6ddfd48 117
Hatter 0:72dbc49bd254 118
Hatter 0:72dbc49bd254 119 Thread thread1(obonThreadU);
Hatter 0:72dbc49bd254 120 Thread thread2(obonThreadR);
Hatter 0:72dbc49bd254 121
Hatter 2:0edba6ddfd48 122 #ifdef SERVO_4
Hatter 0:72dbc49bd254 123
Hatter 0:72dbc49bd254 124 Thread thread3(obonThreadD);
Hatter 0:72dbc49bd254 125 Thread thread4(obonThreadL);
Hatter 2:0edba6ddfd48 126
Hatter 2:0edba6ddfd48 127 #endif
Hatter 0:72dbc49bd254 128 for(;;);
Hatter 0:72dbc49bd254 129
Hatter 0:72dbc49bd254 130 }