Diff: main.cpp

Revision:

0:c67fd32beab1

diff -r 000000000000 -r c67fd32beab1 main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Sat Sep 10 12:52:18 2016 +0000
@@ -0,0 +1,46 @@
+#include "mbed.h"
+#include "stdio.h"
+#include "SonicDist.h"
+#include "beep_sound.h"
+
+PwmOut R1(PA_11);
+PwmOut R2(PC_6);
+PwmOut L1(PC_8);
+PwmOut L2(PC_9);
+SonicDist sd(D9,A3);
+DigitalOut ledR(A0);
+DigitalOut ledB(A1);
+beep_sound bs(D10);
+
+/* 前進関数 */
+void accel(double val){
+    R1 = 0;
+    R2 = val;
+    L1 = 0;
+    L2 = val;
+}
+/* 空転関数 */
+void idling(void){
+    R1 = 0;
+    R2 = 0;
+    L1 = 0;
+    L2 = 0;
+}
+
+int main(void){
+    double n, dis = sd.read();
+    while(1){
+        dis = sd.read();
+        n = dis/30;
+        if(n>=1){
+            idling();
+            ledR=0;
+            ledB=1;
+        }else{
+            accel(1.0-n);
+            ledR=1;
+            ledB=0;
+            bs.onpu(2,0,0.01);
+        }
+    } 
+}
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