Diff: main.cpp

Revision:

0:72dbc49bd254

Child:

1:17b3afbf9278

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Jun 24 09:04:21 2014 +0000
@@ -0,0 +1,120 @@
+/*
+* Servo motor program for OBON  by Tomoki Hokida
+*
+* Use rtos in this program
+*
+* RTOSをバリバリ使用しているのであしあらず
+* サーボを４つ使うことになったらSERVO_4をdefineしましょう
+*/
+
+#include "mbed.h"
+#include "Servo.h"
+#include "rtos.h"
+
+#define DEFAULT_R 50
+#define DEFAULT_L 50
+#define DEFAULT_U 50
+#define DEFAULT_D 50
+
+DigitalOut led1(LED1);
+DigitalOut led2(LED2);
+
+#ifdef SERVO_4
+DigitalOut led3(LED3);
+DigitalOut led4(LED4);
+#endif
+
+DigitalIn swU(p17);
+DigitalIn swD(p18);
+DigitalIn swR(p19);
+DigitalIn swL(p20);
+
+Servo obonU(p21);
+Servo obonR(p22);
+
+#ifdef SERVO_4
+Servo obonD(p23);
+Servo obonL(p24);
+#endif
+
+void obonThreadR(void const *argument){
+
+    for(int j=DEFAULT_R;;){
+
+        obonR = j/100.0;
+        
+         if((!swR)&&(j<100.0)){j++;}
+         if((!swL)&&(j>0)){j--;}
+         
+         led1 = !led1;
+         
+        Thread::wait(10);
+    }
+}
+
+void obonThreadU(void const *argument){
+    for(int k=DEFAULT_U; ;){
+        
+        obonU = k/100.0;
+        
+        if((!swU)&&(k<100.0)){k++;}
+        if((!swD)&&(k>0)){k--;}
+        
+        led2 = !led2;
+        
+        Thread::wait(10);
+    }
+}
+
+#ifdef SERVO_4
+
+void obonThreadL(void const *argument){
+    for(int i=DEFAULT_L;;){
+        
+        obonL = i/100.0;
+        
+        if((!swL)&&(i<100.0)){i++;}
+        if((!swR)&&(i>0)){i--;}
+        
+        led3 = !led3;
+        
+        Thread::wait(10);
+    }
+}
+
+void obonThreadD(void const *argument){
+    for(int l=DEFAULT_D;;){
+        
+        obonL = l/100.0;
+        
+        if((!swD)&&(l<=100.0)){l++;}
+        if((!swU)&&(l>=0)){l--;}
+        
+        led4 = !led4;
+        
+        Thread::wait(10);
+    }
+}
+
+
+#endif
+
+int main() {
+    
+    swU.mode(PullUp);
+    swD.mode(PullUp);
+    swL.mode(PullUp);
+    swR.mode(PullUp);
+    
+    Thread thread1(obonThreadU);
+    Thread thread2(obonThreadR);
+    
+    #ifdef SERVO_4
+        
+    Thread thread3(obonThreadD);
+    Thread thread4(obonThreadL);
+    
+    #endif
+    for(;;);
+
+}
\ No newline at end of file