taiyou komazawa
2017 hongo b team
Dependencies: Alpha_Movements BoolProcess DataCaller mbed
Revision 0:7318c0dde997, committed 2017-09-08
- Comitter:
- Komazawa_sun
- Date:
- Fri Sep 08 03:58:36 2017 +0000
- Commit message:
- ????
Changed in this revision
diff -r 000000000000 -r 7318c0dde997 Alpha_Movements.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Alpha_Movements.lib Fri Sep 08 03:58:36 2017 +0000 @@ -0,0 +1,1 @@ +https://developer.mbed.org/users/Komazawa_sun/code/Alpha_Movements/#bfcf3d8939d7
diff -r 000000000000 -r 7318c0dde997 ArrowShooter.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/ArrowShooter.cpp Fri Sep 08 03:58:36 2017 +0000
@@ -0,0 +1,41 @@
+#include "ArrowShooter.h"
+
+ArrowShooter::ArrowShooter(I2C *_master, double _strt_inval)
+: to_slave(alpha_a::sht_pwr, alpha_a::unsig, alpha_a::s2_addr, _master),
+ _MD(&i2c_md),
+ motor(_MD, _strt_inval)
+{
+ time.reset();
+ time.start();
+}
+
+double ArrowShooter::fire()
+{
+
+ if(2.5 > time.read())
+ {
+ //printf("ypaaa!!");
+ set_pwm(1.0);
+ }
+ else if(3.8 > time.read())
+ {
+ set_pwm(0.0);
+ }
+ else
+ {
+ time.reset();
+ }
+
+
+ printf("%d\r\n",i2c_md.get_output());
+
+ return time.read();
+
+}
+
+void ArrowShooter::set_pwm(double pwm, double inval)
+{
+ motor.reform_inval(inval);
+ motor.drive(pwm);
+ to_slave.write((uint8_t)i2c_md.get_output());
+}
\ No newline at end of file
diff -r 000000000000 -r 7318c0dde997 ArrowShooter.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/ArrowShooter.h Fri Sep 08 03:58:36 2017 +0000
@@ -0,0 +1,33 @@
+#ifndef ARROW_SHOOTER_H
+#define ARROW_SHOOTER_H
+
+#include "mbed.h"
+
+#include "Alpha_ApprI2C_ID.h"
+#include "ApprI2CMaster.h"
+
+#include "MotorDriver.h"
+#include "ThrowData_MD.h"
+#include "CtrlMD.h"
+
+
+class ArrowShooter
+{
+ public:
+ ArrowShooter(I2C *_master, double _strt_inval = 0.01);
+
+ double fire();
+ void set_pwm(double pwm, double inval = 0.01);
+
+ private:
+ ApprI2CMaster to_slave;
+ ThrowData i2c_md;
+ MotorDriver *_MD;
+ CtrlMD motor;
+
+ Timer time;
+
+};
+
+#endif
+
diff -r 000000000000 -r 7318c0dde997 BoolProcess.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/BoolProcess.lib Fri Sep 08 03:58:36 2017 +0000 @@ -0,0 +1,1 @@ +https://developer.mbed.org/users/Komazawa_sun/code/BoolProcess/#69948f240c2d
diff -r 000000000000 -r 7318c0dde997 DataCaller.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/DataCaller.lib Fri Sep 08 03:58:36 2017 +0000 @@ -0,0 +1,1 @@ +https://developer.mbed.org/users/Komazawa_sun/code/DataCaller/#1805ed23b37b
diff -r 000000000000 -r 7318c0dde997 main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Fri Sep 08 03:58:36 2017 +0000
@@ -0,0 +1,44 @@
+#include "mbed.h"
+
+#include "DataPool.h"
+#include "AlphaTransporter.h"
+#include "BoolProcess.h"
+
+#include "ArrowShooter.h"
+
+
+#define SDA PB_7
+#define SCL PB_6
+
+I2C *master;
+DataPool *alpha;
+
+Serial pc(USBTX, USBRX);
+
+double fire_work_time;
+int fire_work_allow = 0;
+
+int main()
+{
+ master = new I2C(SDA, SCL);
+ alpha = new AlphaTransporter(master);
+ ArrowShooter shooter(master);
+ while(1)
+ {
+ alpha->set();
+ if(alpha->read(3) == 1)
+ {
+ fire_work_allow = 1;
+ }
+
+ if(fire_work_allow == 1)
+ {
+ fire_work_time = shooter.fire();
+ fire_work_allow = 1;
+ }
+ if(fire_work_time >= 3.7)
+ fire_work_allow = 0;
+
+ //printf("%f\r\n", fire_work_time);
+ }
+}
diff -r 000000000000 -r 7318c0dde997 mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Fri Sep 08 03:58:36 2017 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/a330f0fddbec \ No newline at end of file