main.cpp

00001 #include "mbed.h"
00002 #include "SoftPWM.h"
00003 
00004 //SoftwarePWMのピン設定
00005 SoftPWM motor1A(dp1);
00006 SoftPWM motor1B(dp2);
00007 SoftPWM motor2A(dp13);
00008 SoftPWM motor2B(dp14);
00009 SoftPWM motor3A(dp17);
00010 SoftPWM motor3B(dp18);
00011 SoftPWM motor4A(dp25);
00012 SoftPWM motor4B(dp26);
00013 
00014 int main() {
00015     //パルス周期の設定
00016     motor1A.period_ms(1);
00017     motor1B.period_ms(1);
00018     motor2A.period_ms(1);
00019     motor2B.period_ms(1);
00020     motor3A.period_ms(1);
00021     motor3B.period_ms(1);
00022     motor4A.period_ms(1);
00023     motor4B.period_ms(1);
00024     
00025     //初期化
00026     motor1A = 0.50;
00027     motor1B = 0.50;
00028     motor2A = 0.50;
00029     motor2B = 0.50;
00030     motor3A = 0.50;
00031     motor3B = 0.50;
00032     motor4A = 0.50;
00033     motor4B = 0.50;
00034     
00035     while(1) {
00036         //徐々に強くなるor弱くなる
00037         for(int i=0;i<=0.50;i=i+0.01){
00038             motor1A = 0.50+i;
00039             motor1B = 0.50-i;
00040             motor2A = 0.50+i;
00041             motor2B = 0.50-i;
00042             motor3A = 0.50+i;
00043             motor3B = 0.50-i;
00044             motor4A = 0.50+i;
00045             motor4B = 0.50+i;
00046             wait(0.05);
00047         }
00048         wait(0.1);
00049     }
00050 }