Diff: main.cpp

Revision:

2:0edba6ddfd48

Parent:

1:17b3afbf9278

diff -r 17b3afbf9278 -r 0edba6ddfd48 main.cpp
--- a/main.cpp	Tue Jun 24 09:05:13 2014 +0000
+++ b/main.cpp	Sat Jun 28 07:08:59 2014 +0000
@@ -1,7 +1,7 @@
 /*
 * Servo motor program for OBON  by Tomoki Hokida
 *
-* Use rtos in this program
+* 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
@@ -16,7 +16,7 @@
 #define DEFAULT_U 50
 #define DEFAULT_D 50
 
-//#define SERVO_4
+#define SERVO_4
 
 DigitalOut led1(LED1);
 DigitalOut led2(LED2);
@@ -26,27 +26,36 @@
 DigitalOut led4(LED4);
 #endif
 
-DigitalIn swU(p17);
-DigitalIn swD(p18);
-DigitalIn swR(p19);
-DigitalIn swL(p20);
+DigitalIn  sw[4] = {p17, p19, p18, p20};
 
-Servo obonU(p21);
-Servo obonR(p22);
+//DigitalIn swU(p17);
+//DigitalIn swD(p18);
+//DigitalIn swR(p19);
+//DigitalIn swL(p20);
+//Servo obonU(p21);
+//Servo obonR(p22);
+//Servo obonD(p23);
+//Servo obonL(p24);
+
 
 #ifdef SERVO_4
-Servo obonD(p23);
-Servo obonL(p24);
+
+Servo obon[4] = { p21, p22, p23, p24};
+
+#else
+
+Servo obon[2] = {p21,p22};
+
 #endif
 
 void obonThreadR(void const *argument){
 
     for(int j=DEFAULT_R;;){
 
-        obonR = j/100.0;
+        obon[1] = j/100.0;
         
-         if((!swR)&&(j<100.0)){j++;}
-         if((!swL)&&(j>0)){j--;}
+         if((!sw[1])&&(j<100.0)){j++;}
+         if((!sw[3])&&(j>0)){j--;}
          
          led1 = !led1;
          
@@ -57,10 +66,10 @@
 void obonThreadU(void const *argument){
     for(int k=DEFAULT_U; ;){
         
-        obonU = k/100.0;
+        obon[0] = k/100.0;
         
-        if((!swU)&&(k<100.0)){k++;}
-        if((!swD)&&(k>0)){k--;}
+        if((!sw[0])&&(k<100.0)){k++;}
+        if((!sw[2])&&(k>0)){k--;}
         
         led2 = !led2;
         
@@ -73,10 +82,10 @@
 void obonThreadL(void const *argument){
     for(int i=DEFAULT_L;;){
         
-        obonL = i/100.0;
+        obon[3] = i/100.0;
         
-        if((!swL)&&(i<100.0)){i++;}
-        if((!swR)&&(i>0)){i--;}
+        if((!sw[3])&&(i<100.0)){i++;}
+        if((!sw[1])&&(i>0)){i--;}
         
         led3 = !led3;
         
@@ -87,36 +96,35 @@
 void obonThreadD(void const *argument){
     for(int l=DEFAULT_D;;){
         
-        obonL = l/100.0;
+        obon[2] = l/100.0;
         
-        if((!swD)&&(l<=100.0)){l++;}
-        if((!swU)&&(l>=0)){l--;}
+        if((!sw[2])&&(l<=100.0)){l++;}
+        if((!sw[1])&&(l>=0)){l--;}
         
         led4 = !led4;
         
         Thread::wait(10);
     }
 }
-
-
 #endif
 
 int main() {
     
-    swU.mode(PullUp);
-    swD.mode(PullUp);
-    swL.mode(PullUp);
-    swR.mode(PullUp);
+    sw[0].mode(PullUp);
+    sw[1].mode(PullUp);
+    sw[2].mode(PullUp);
+    sw[3].mode(PullUp);
+ 
     
     Thread thread1(obonThreadU);
     Thread thread2(obonThreadR);
     
-    #ifdef SERVO_4
+#ifdef SERVO_4
         
     Thread thread3(obonThreadD);
     Thread thread4(obonThreadL);
-    
-    #endif
+
+#endif
     for(;;);
 
 }
\ No newline at end of file