Kotaro Yamamoto
おためしらいぶらり Q-rover-Kaiを50行以内で動かすという強い気持ち 使用非推奨 動作未確認 単純なPWM動作のライブラリ化実験用
Revision 0:48d84c228105, committed 2017-12-06
- Comitter:
- KOTAROYamamoto
- Date:
- Wed Dec 06 07:07:32 2017 +0000
- Commit message:
- ?????????
Changed in this revision
| QMotor.cpp | Show annotated file Show diff for this revision Revisions of this file |
| QMotor.h | Show annotated file Show diff for this revision Revisions of this file |
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/QMotor.cpp Wed Dec 06 07:07:32 2017 +0000
@@ -0,0 +1,166 @@
+#include "mbed.h"
+#include "QMotor.h"
+
+QMotor::QMotor(PinName R1,PinName R2,PinName L1,PinName L2):_R1(R1),_R2(R2),_L1(L1),_L2(L2){
+ _R1=0.0;//R1を初期化
+ _R2=0.0;//R2を初期化
+ _L1=0.0;//L1を初期化
+ _L2=0.0;//L2を初期化
+
+}
+
+void QMotor::Front1(){ //直進部
+ _R1=1.0;
+ _R2=0.0;
+ _L1=1.0;
+ _L2=0.0;
+ wait(25.000);
+
+ _R1=1.0;
+ _R2=1.0;
+ _L1=1.0;
+ _L2=1.0;
+ wait(0.200);
+ _R1=0.0;
+ _R2=0.0;
+ _L1=0.0;
+ _L2=0.0;
+}
+
+void QMotor::Front2(){ //直進部
+ _R1=0.5;
+ _R2=0.0;
+ _L1=0.5;
+ _L2=0.0;
+ wait(5.000);
+
+ _R1=1.0;
+ _R2=1.0;
+ _L1=1.0;
+ _L2=1.0;
+ wait(0.200);
+ _R1=0.0;
+ _R2=0.0;
+ _L1=0.0;
+ _L2=0.0;
+}
+void QMotor::Right1(float an,float san){ //第一while関数右折部
+ //sdprint(" an=");
+ //sdprint(an);
+ //sdprint(" R1 ");
+ //xbee.printf("COMMAND:Right1\n");
+ _R1=1.0;
+ _R2=0.0;
+ wait(-an*san);
+
+ _R1=1.0;
+ _R2=1.0;
+ wait(0.200);
+ _R1=0.0;
+ _R2=0.0;
+ }
+
+ void QMotor::Right2(float an,float san){ //第二while関数右折部
+ //sdprint(" an=");
+ //sdprint(an);
+ //sdprint(" R2 ");
+ //xbee.printf("COMMAND:Right2\n");
+ //analogWrite(5,76.5);//Lモーターを30%出力で回転
+ _R1=1.0;
+ _R2=0.0;
+ wait(-an*san);
+
+ _R1=1.0;
+ _R2=1.0;
+ wait(0.200);
+ _R1=0.0;
+ _R2=0.0;
+ }
+
+
+ void QMotor::Left1(float an,float san){ //第一while関数左折部
+ //sdprint(" an=");
+ //sdprint(an);
+ //sdprint(" L1 ");
+ //xbee.printf("COMMAND:Left1\n");
+ _L1=1.0;
+ _L2=0.0;
+ wait(an*san);
+
+ _L1=1.0;
+ _L2=1.0;
+ wait(0.200);
+ _L1=0.0;
+ _L2=0.0;
+ }
+
+ void QMotor::Left2(float an,float san){ //第二while関数左折部
+ //sdprint(" an=");
+ //sdprint(an);
+ //sdprint(" L2 ");
+ //xbee.printf("COMMAND:Left2\n");
+ //analogWrite(6,76.5);//Rモーターを30%出力で回転
+ _L1=1.0;
+ _L2=0.0;
+ wait(an*san);
+
+ _L1=1.0;
+ _L2=1.0;
+ wait(0.200);
+ _L1=0.0;
+ _L2=0.0;
+ }
+
+void QMotor::Reverse(){ //姿勢回復機動
+ _R1=0.0;
+ _R2=1.0;
+ _L1=0.0;
+ _L2=1.0;
+ wait(15.000);
+ _R1=1.0;
+ _R2=0.0;
+ _L1=1.0;
+ _L2=0.0;
+ wait(5.000);
+ _R1=0.0;
+ _R2=0.0;
+ _L1=0.0;
+ _L2=0.0;
+}
+
+void QMotor::Stack(){ //スタック回避挙動
+ _R1=1.0;
+ _R2=0.0;
+ _L1=0.0;
+ _L2=1.0;
+ wait(5.000);
+
+ _R1=1.0;
+ _R2=1.0;
+ _L1=1.0;
+ _L2=1.0;
+ wait(5.000);
+ _L1=0.0;
+ _L2=0.0;
+ _R1=0.0;
+ _R2=0.0;
+ }
+
+ void QMotor::Fred(){ //冗長系測角用直進部
+ _R1=1.0;
+ _R2=0.0;
+ _L1=1.0;
+ _L2=0.0;
+ wait(10.000);
+
+ _R1=1.0;
+ _R2=1.0;
+ _L1=1.0;
+ _L2=1.0;
+ wait(0.200);
+ _R1=0.0;
+ _R2=0.0;
+ _L1=0.0;
+ _L2=0.0;
+ }
+
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/QMotor.h Wed Dec 06 07:07:32 2017 +0000
@@ -0,0 +1,41 @@
+/***********
+*絶対にQ-rover-Kaiを50行以内で動かすという強い気持ち
+***********/
+#include "mbed.h"
+
+#ifndef QMOTOR_H
+#define QMOTOR_H
+
+
+
+class QMotor{
+ public:
+ QMotor(PinName R1,PinName R2,PinName L1,PinName L2);
+
+ void Front1();
+ void Front2();
+ void Right1(float an,float san);
+ void Right2(float an,float san);
+ void Left1(float an,float san);
+ void Left2(float an,float san);
+ void Reverse();
+ void Stack();
+ void Fred();
+
+ private:
+ PwmOut _R1;
+ PwmOut _R2;
+ PwmOut _L1;
+ PwmOut _L2;
+};
+void Front1();
+void Front2();
+void Right1(float *sec);
+void Right2(float *sec);
+void Left1(float *sec);
+void Left2(float *sec);
+void Reverse();
+void Fred();
+void Stack();
+
+#endif
\ No newline at end of file