淳熙 姜
/
mbed_motordrive
部内ロボコンで使う回路のサンプルプログラム
main.cpp@0:4b8fa3d0e6f7, 2015-06-16 (annotated)
- Committer:
- Kansuni
- Date:
- Tue Jun 16 16:02:42 2015 +0000
- Revision:
- 0:4b8fa3d0e6f7
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Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Kansuni | 0:4b8fa3d0e6f7 | 1 | //***************************************** |
Kansuni | 0:4b8fa3d0e6f7 | 2 | // メイン基板のサンプルプログラム |
Kansuni | 0:4b8fa3d0e6f7 | 3 | //***************************************** |
Kansuni | 0:4b8fa3d0e6f7 | 4 | |
Kansuni | 0:4b8fa3d0e6f7 | 5 | #include "mbed.h" |
Kansuni | 0:4b8fa3d0e6f7 | 6 | |
Kansuni | 0:4b8fa3d0e6f7 | 7 | //デジタル読み取りピンの指定 |
Kansuni | 0:4b8fa3d0e6f7 | 8 | DigitalInOut Abutton(dp10); |
Kansuni | 0:4b8fa3d0e6f7 | 9 | DigitalInOut Bbutton(dp14); |
Kansuni | 0:4b8fa3d0e6f7 | 10 | |
Kansuni | 0:4b8fa3d0e6f7 | 11 | //デジタル出力ピン(空気圧シリンダー)の指定 |
Kansuni | 0:4b8fa3d0e6f7 | 12 | DigitalOut valve(dp11); |
Kansuni | 0:4b8fa3d0e6f7 | 13 | |
Kansuni | 0:4b8fa3d0e6f7 | 14 | //アナログ読み取りピンの指定 |
Kansuni | 0:4b8fa3d0e6f7 | 15 | AnalogIn JOYstick_LR(dp13); |
Kansuni | 0:4b8fa3d0e6f7 | 16 | |
Kansuni | 0:4b8fa3d0e6f7 | 17 | //PWM出力ピン(モーター)の指定 |
Kansuni | 0:4b8fa3d0e6f7 | 18 | PwmOut motorLRplus(dp1); |
Kansuni | 0:4b8fa3d0e6f7 | 19 | PwmOut motorLRminus(dp2); |
Kansuni | 0:4b8fa3d0e6f7 | 20 | |
Kansuni | 0:4b8fa3d0e6f7 | 21 | //シリアル入出力ピンの指定 |
Kansuni | 0:4b8fa3d0e6f7 | 22 | Serial Controller(dp16, dp15); |
Kansuni | 0:4b8fa3d0e6f7 | 23 | |
Kansuni | 0:4b8fa3d0e6f7 | 24 | int main(void){ |
Kansuni | 0:4b8fa3d0e6f7 | 25 | |
Kansuni | 0:4b8fa3d0e6f7 | 26 | //初期設定 |
Kansuni | 0:4b8fa3d0e6f7 | 27 | valve = 0; |
Kansuni | 0:4b8fa3d0e6f7 | 28 | motorLRplus = 0.5; |
Kansuni | 0:4b8fa3d0e6f7 | 29 | motorLRminus = 0.5; |
Kansuni | 0:4b8fa3d0e6f7 | 30 | |
Kansuni | 0:4b8fa3d0e6f7 | 31 | //出力レートの指定 |
Kansuni | 0:4b8fa3d0e6f7 | 32 | Controller.baud(9600); |
Kansuni | 0:4b8fa3d0e6f7 | 33 | |
Kansuni | 0:4b8fa3d0e6f7 | 34 | //デジタル入出力ピンの動作設定 |
Kansuni | 0:4b8fa3d0e6f7 | 35 | Abutton.input(); |
Kansuni | 0:4b8fa3d0e6f7 | 36 | Bbutton.input(); |
Kansuni | 0:4b8fa3d0e6f7 | 37 | |
Kansuni | 0:4b8fa3d0e6f7 | 38 | int l=0; |
Kansuni | 0:4b8fa3d0e6f7 | 39 | //なにかPCでシリアルを送るまでは動作しない |
Kansuni | 0:4b8fa3d0e6f7 | 40 | while(1){ |
Kansuni | 0:4b8fa3d0e6f7 | 41 | wait(0.5); |
Kansuni | 0:4b8fa3d0e6f7 | 42 | if(Controller.readable()){ |
Kansuni | 0:4b8fa3d0e6f7 | 43 | break; |
Kansuni | 0:4b8fa3d0e6f7 | 44 | } |
Kansuni | 0:4b8fa3d0e6f7 | 45 | l ^= 1; |
Kansuni | 0:4b8fa3d0e6f7 | 46 | } |
Kansuni | 0:4b8fa3d0e6f7 | 47 | |
Kansuni | 0:4b8fa3d0e6f7 | 48 | Controller.printf("LR UD\n"); |
Kansuni | 0:4b8fa3d0e6f7 | 49 | |
Kansuni | 0:4b8fa3d0e6f7 | 50 | int toggle = 0; |
Kansuni | 0:4b8fa3d0e6f7 | 51 | float tmp = 0.5; |
Kansuni | 0:4b8fa3d0e6f7 | 52 | while(1){ |
Kansuni | 0:4b8fa3d0e6f7 | 53 | |
Kansuni | 0:4b8fa3d0e6f7 | 54 | //ジョイスティックの左右方向を読み取ってモータに投げる |
Kansuni | 0:4b8fa3d0e6f7 | 55 | tmp = JOYstick_LR.read(); |
Kansuni | 0:4b8fa3d0e6f7 | 56 | Controller.printf("%f\n",tmp); |
Kansuni | 0:4b8fa3d0e6f7 | 57 | motorLRplus = tmp; |
Kansuni | 0:4b8fa3d0e6f7 | 58 | motorLRminus = 1-tmp; |
Kansuni | 0:4b8fa3d0e6f7 | 59 | |
Kansuni | 0:4b8fa3d0e6f7 | 60 | //タクトスイッチ(Aボタン)が押されていれば"A"を表示.シリンダをONに |
Kansuni | 0:4b8fa3d0e6f7 | 61 | if(Abutton == 1 && Bbutton == 0 && toggle == 0){ |
Kansuni | 0:4b8fa3d0e6f7 | 62 | Controller.printf("A \n"); |
Kansuni | 0:4b8fa3d0e6f7 | 63 | valve = 1; |
Kansuni | 0:4b8fa3d0e6f7 | 64 | toggle = 1; |
Kansuni | 0:4b8fa3d0e6f7 | 65 | wait(0.05); |
Kansuni | 0:4b8fa3d0e6f7 | 66 | } |
Kansuni | 0:4b8fa3d0e6f7 | 67 | //タクトスイッチ(Bボタン)が押されていれば"B"を表示.シリンダをOFFに |
Kansuni | 0:4b8fa3d0e6f7 | 68 | else if(Abutton == 0 && Bbutton == 1 && toggle == 1){ |
Kansuni | 0:4b8fa3d0e6f7 | 69 | Controller.printf("B \n"); |
Kansuni | 0:4b8fa3d0e6f7 | 70 | valve = 0; |
Kansuni | 0:4b8fa3d0e6f7 | 71 | toggle = 0; |
Kansuni | 0:4b8fa3d0e6f7 | 72 | wait(0.05); |
Kansuni | 0:4b8fa3d0e6f7 | 73 | } |
Kansuni | 0:4b8fa3d0e6f7 | 74 | |
Kansuni | 0:4b8fa3d0e6f7 | 75 | wait(0.05); |
Kansuni | 0:4b8fa3d0e6f7 | 76 | |
Kansuni | 0:4b8fa3d0e6f7 | 77 | } |
Kansuni | 0:4b8fa3d0e6f7 | 78 | |
Kansuni | 0:4b8fa3d0e6f7 | 79 | } |