Miya Miyagawa / Mbed 2 deprecated OREWOTAOSITAI

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Dependencies:   mbed Servo

System/Process/Process.cpp@12:8321e464475f, 2019-02-25 (annotated)

Committer:
Ryosei
Date:
Mon Feb 25 06:44:02 2019 +0000
Revision:
12:8321e464475f
Parent:
11:88f17bc0724f 
unko

Who changed what in which revision?

UserRevisionLine numberNew contents of line
niimurasyou 10:a765515594bd 1
t_yamamoto 8:cb53beff4bb2 2 //2018/02/24のやつ
t_yamamoto 5:a802ab60df1b 3
t_yamamoto 0:562021ed1ba9 4 #include "Process.h"
t_yamamoto 0:562021ed1ba9 5 #include "mbed.h"
t_yamamoto 0:562021ed1ba9 6 #include "../../Communication/XBee/XBee.h"
t_yamamoto 0:562021ed1ba9 7 #include "../../Input/Switch/Switch.h"
t_yamamoto 0:562021ed1ba9 8 #include "../../Output/Motor/Motor.h"
t_yamamoto 8:cb53beff4bb2 9 #include "../../Output/Servo/Servo.h"
t_yamamoto 8:cb53beff4bb2 10
t_yamamoto 0:562021ed1ba9 11 //_____________________
t_yamamoto 0:562021ed1ba9 12 /*---------------- HOW TO WRITE ----------------/
t_yamamoto 0:562021ed1ba9 13
t_yamamoto 0:562021ed1ba9 14 ・motor の割り当てを決める
t_yamamoto 0:562021ed1ba9 15 #define TIRE_L 1
t_yamamoto 0:562021ed1ba9 16
t_yamamoto 0:562021ed1ba9 17 ・リミットスイッチの割り当てを決める
t_yamamoto 0:562021ed1ba9 18 #define ARM_L 1
t_yamamoto 0:562021ed1ba9 19
t_yamamoto 0:562021ed1ba9 20 ・他にも自由に定義してもいいです (pwmとか)
t_yamamoto 0:562021ed1ba9 21
t_yamamoto 0:562021ed1ba9 22 /---------------- HOW TO WRITE ----------------*/
t_yamamoto 0:562021ed1ba9 23 //↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓
t_yamamoto 0:562021ed1ba9 24
niimurasyou 9:ec30ae33cc9e 25 #define a 0
niimurasyou 9:ec30ae33cc9e 26 #define b 1
niimurasyou 9:ec30ae33cc9e 27 #define c 2
niimurasyou 11:88f17bc0724f 28 #define d 3
niimurasyou 11:88f17bc0724f 29 #define e 4
niimurasyou 11:88f17bc0724f 30 #define ARMlim 0
niimurasyou 11:88f17bc0724f 31 #define lim 1
niimurasyou 9:ec30ae33cc9e 32
niimurasyou 9:ec30ae33cc9e 33
niimurasyou 11:88f17bc0724f 34 int Air0=0;
niimurasyou 11:88f17bc0724f 35 int Air1=1;
niimurasyou 11:88f17bc0724f 36 int homes=0;
niimurasyou 11:88f17bc0724f 37
niimurasyou 11:88f17bc0724f 38
niimurasyou 11:88f17bc0724f 39
niimurasyou 11:88f17bc0724f 40 //////////////////関数、タイマーの宣言///////////////
niimurasyou 11:88f17bc0724f 41 DigitalOut Air[]= {
niimurasyou 11:88f17bc0724f 42 DigitalOut(A5),
niimurasyou 11:88f17bc0724f 43 DigitalOut(A4),
niimurasyou 11:88f17bc0724f 44 };
niimurasyou 11:88f17bc0724f 45 Timer Airtime;
niimurasyou 11:88f17bc0724f 46 Timer home;
niimurasyou 11:88f17bc0724f 47 void AirOut(int pin,int mode)
niimurasyou 11:88f17bc0724f 48 {
niimurasyou 11:88f17bc0724f 49 Air[pin]=mode;
niimurasyou 11:88f17bc0724f 50 }
niimurasyou 11:88f17bc0724f 51 ////////////
niimurasyou 11:88f17bc0724f 52 float s=Airtime.read();//エアータイム
niimurasyou 11:88f17bc0724f 53
niimurasyou 9:ec30ae33cc9e 54 int a_array[15][15] = {
Ryosei 12:8321e464475f 55 {-80, -70, -60, -50, -40, -20, -10, 0, 10, 20, 40, 50, 60, 70, 80},
Ryosei 12:8321e464475f 56 {-79, -69, -55, -47, -35, -20, -10, 0, 10, 20, 35, 47, 55, 69, 79},
Ryosei 12:8321e464475f 57 {-77, -68, -50, -45, -30, -20, -10, 0, 10, 20, 30, 45, 50, 68, 77},
Ryosei 12:8321e464475f 58 {-75, -67, -49, -40, -25, -20, -10, 0, 10, 20, 25, 40, 49, 67, 75},
Ryosei 12:8321e464475f 59 {-73, -66, -48, -37, -20, -20, -10, 0, 10, 20, 20, 37, 48, 66, 73},
Ryosei 12:8321e464475f 60 {-71, -62, -46, -32, -20, -10, 0, 0, 0, 10, 20, 32, 46, 62, 71},
Ryosei 12:8321e464475f 61 {-70, -60, -45, -30, -20, -10, 0, 0, 0, 10, 20, 30, 45, 60, 70},
Ryosei 12:8321e464475f 62 {-71, -62, -46, -32, 10, -10, 0, 0, 0, 10, 20, 32, 46, 62, 71},
Ryosei 12:8321e464475f 63 {-72, -64, -47, -35, 20, -10, -10, 0, 10, 10, 20, 35, 47, 64, 72},
Ryosei 12:8321e464475f 64 {-73, -66, -48, -37, -20, -20, -10, 0, 10, 20, 20, 37, 48, 66, 73},
Ryosei 12:8321e464475f 65 {-75, -67, -49, -40, 40, -20, -10, 0, 10, 20, 25, 40, 49, 67, 75},
Ryosei 12:8321e464475f 66 {-77, -68, -50, -45, 60, -20, -10, 0, 10, 20, 30, 45, 50, 68, 77},
Ryosei 12:8321e464475f 67 {-79, -69, -55, -47, 70, -20, -10, 0, 10, 20, 35, 47, 55, 69, 79},
Ryosei 12:8321e464475f 68 {-80, -70, -60, -50, -40, -20, -10, 0, 10, 20, 40, 50, 60, 70, 80},
Ryosei 12:8321e464475f 69 {-80, -70, -60, -50, -40, -20,s-10, 0, 10, 20, 40, 50, 60, 70, 80}
Ryosei 12:8321e464475f 70 };
niimurasyou 9:ec30ae33cc9e 71
niimurasyou 9:ec30ae33cc9e 72 int b_array[15][15] = {
Ryosei 12:8321e464475f 73 {80, 80, 80, 77, 75, 72, 71, 70, 60, 50, 40, 30, 20, 10, 0},
Ryosei 12:8321e464475f 74 {80, 80, 75, 70, 65, 60, 55, 50, 45, 40, 30, 20, 10, 0, -10},
Ryosei 12:8321e464475f 75 {80, 71, 70, 60, 55, 50, 45, 40, 35, 30, 20, 10, 0, -10, -13},
Ryosei 12:8321e464475f 76 {60, 60, 57, 50, 45, 40, 35, 30, 25, 20, 10, 0, -10, -13, -17},
Ryosei 12:8321e464475f 77 {50, 50, 50, 40, 35, 30, 23, 20, 15, 10, 0, -10, -15, -17, -20},
Ryosei 12:8321e464475f 78 {45, 45, 43, 35, 30, 25, 10, 10, 10, 0, -10, -15, -20, -20, -25},
Ryosei 12:8321e464475f 79 {40, 37, 35, 30, 25, 20, 0, 0, 0, -10, -15, -20, -25, -25, -30},
Ryosei 12:8321e464475f 80 {35, 30, 30, 25, 20, 15, 0, 0, 0, -15, -20, -25, -30, -30, -35},
Ryosei 12:8321e464475f 81 {30, 25, 25, 20, 15, 10, 0, 0, 0, -20, -25, -30, -35, -37, -40},
Ryosei 12:8321e464475f 82 {20, 17, 15, 10, 0, -10, -15,-20, -23, -30,-35,-40,-50,-50, -50},
Ryosei 12:8321e464475f 83 {17, 13, 10, 0, -10, -20, -25,-30, -35, -40,-45,-50,-57,-60, -60},
Ryosei 12:8321e464475f 84 {13, 10, 0, -10, -20, -30, -35,-40, -45, -50,-55,-60, -70, -71, -80},
Ryosei 12:8321e464475f 85 {10, 0, -10, -20, -30, -40, -45,-50, -55, -60,-65,-70,-75,-80, -80},
Ryosei 12:8321e464475f 86 {0, -10, -20, -30, -40, -50, -60,-70, -71, -72,-75,-77,-80,-80, -80},
Ryosei 12:8321e464475f 87 {0, -10, -20, -30, -40, -50, -60,-70, -71, -72,-75,-77,-80,-80, -80}
Ryosei 12:8321e464475f 88 };
niimurasyou 10:a765515594bd 89
Ryosei 12:8321e464475f 90 int c_array[15][15] = {
Ryosei 12:8321e464475f 91 {0, 10, 20, 30, 40, 50, 60,70, 71, 72, 75, 77, 80, 80, 80},
Ryosei 12:8321e464475f 92 {-10, 0, 10, 20, 30, 40, 45,50, 55, 60,65,70,75,80,80},
Ryosei 12:8321e464475f 93 {-13, -10, 0, 10, 20, 30, 35,40, 45, 50,55,60,70,71,80},
Ryosei 12:8321e464475f 94 {-17, -13, -10, 0, 10, 20, 25,30, 35, 40,45,50,57,60,60},
Ryosei 12:8321e464475f 95 {-20, -17, -15, -10, 0, 10, 15,20, 23, 30,35,40,50,50,50},
Ryosei 12:8321e464475f 96 {-25, -20, -20, -15, -10, 0, 10,10, 10, 25,30,35,43,45,45},
Ryosei 12:8321e464475f 97 {-30, -25, -25, -20, -15, -10, 0,0, 0, 20,25,30,35,37,40},
Ryosei 12:8321e464475f 98 {-35, -30, -30, -25, -20, -15, 0,0, 0, 15,20,25,30,30,35},
Ryosei 12:8321e464475f 99 {-40, -37, -35, -30, -25, -20, 0,0, 0, 10,15,20,25,25,30},
Ryosei 12:8321e464475f 100 {-50, -50, -50, -40, -35, -30, -23,-20, -15, -10,0,10,15,17,20},
Ryosei 12:8321e464475f 101 {-60, -60, -57, -50, -45, -40, -35,-30, -25, -20,-10,0,10,13,17},
Ryosei 12:8321e464475f 102 {-80, -71, -70, -60, -55, -50, -45,-40, -35, -30,-20,-10,0,10,13},
Ryosei 12:8321e464475f 103 {-80, -80, -75, -70, -65, -60, -55,-50, -45, -40,-30,-20,-10,0,10},
Ryosei 12:8321e464475f 104 {-80, -80, -80, -77, -75, -72, -71,-70, -60, -50,-40,-30,-20,-10,0},
Ryosei 12:8321e464475f 105 {-80, -80, -80, -77, -75, -72, -71,-70, -60, -50,-40,-30,-20,-10,0}
Ryosei 12:8321e464475f 106 };
t_yamamoto 0:562021ed1ba9 107
t_yamamoto 0:562021ed1ba9 108
niimurasyou 10:a765515594bd 109
Ryosei 12:8321e464475f 110
Ryosei 12:8321e464475f 111
t_yamamoto 0:562021ed1ba9 112
niimurasyou 9:ec30ae33cc9e 113 #define usiro 0
niimurasyou 9:ec30ae33cc9e 114 #define mae 0
niimurasyou 9:ec30ae33cc9e 115 uint8_t motorData[5];
niimurasyou 9:ec30ae33cc9e 116 uint8_t pwmData[5];
niimurasyou 9:ec30ae33cc9e 117
niimurasyou 9:ec30ae33cc9e 118 int conlx;
niimurasyou 9:ec30ae33cc9e 119 int conly;
niimurasyou 9:ec30ae33cc9e 120 int conrx;
niimurasyou 9:ec30ae33cc9e 121 int conry;
niimurasyou 11:88f17bc0724f 122
Ryosei 12:8321e464475f 123 int mode=1;
t_yamamoto 0:562021ed1ba9 124
t_yamamoto 0:562021ed1ba9 125 //↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑
t_yamamoto 0:562021ed1ba9 126 //_____________________
t_yamamoto 0:562021ed1ba9 127
t_yamamoto 8:cb53beff4bb2 128 //#define USE_USB_SERIAL
t_yamamoto 0:562021ed1ba9 129 #ifdef USE_USB_SERIAL
t_yamamoto 0:562021ed1ba9 130 Serial pc(SERIAL_TX, SERIAL_RX);
t_yamamoto 0:562021ed1ba9 131 #endif
t_yamamoto 0:562021ed1ba9 132 XBEE::ControllerData *controller;
t_yamamoto 0:562021ed1ba9 133 MOTOR::MotorStatus motor[MOUNTING_MOTOR_NUM];
t_yamamoto 0:562021ed1ba9 134
t_yamamoto 0:562021ed1ba9 135 using namespace SWITCH;
t_yamamoto 0:562021ed1ba9 136
Ryosei 12:8321e464475f 137 void SystemProcess(void)
Ryosei 12:8321e464475f 138 {
t_yamamoto 0:562021ed1ba9 139 while(true) {
t_yamamoto 0:562021ed1ba9 140 controller = XBEE::Controller::GetData();
t_yamamoto 0:562021ed1ba9 141 //____________________________
Ryosei 12:8321e464475f 142 /*------------------------ HOW TO WRITE ------------------------/
t_yamamoto 0:562021ed1ba9 143
Ryosei 12:8321e464475f 144 ここにメインのプログラムを書く
t_yamamoto 0:562021ed1ba9 145
Ryosei 12:8321e464475f 146 ・コントローラから受け取ったデータをもとに動作のプログラムを書く
Ryosei 12:8321e464475f 147 (コントローラのデータは controller-> で取る)
t_yamamoto 0:562021ed1ba9 148
Ryosei 12:8321e464475f 149 if(controller->Button.RIGHT) {
Ryosei 12:8321e464475f 150 motor[TIRE_L].dir = FOR;
Ryosei 12:8321e464475f 151 motor[TIRE_R].dir = BACK;
Ryosei 12:8321e464475f 152 motor[TIRE_L].pwm = 12.3;
Ryosei 12:8321e464475f 153 motor[TIRE_R].pwm = 12.3;
Ryosei 12:8321e464475f 154 }
t_yamamoto 0:562021ed1ba9 155
Ryosei 12:8321e464475f 156 motor[0].dirは FOR (正転)
Ryosei 12:8321e464475f 157 BACK (逆転)
Ryosei 12:8321e464475f 158 BRAKE (ブレーキ)
Ryosei 12:8321e464475f 159 FREE (フリー)
t_yamamoto 0:562021ed1ba9 160
Ryosei 12:8321e464475f 161 motor[0].pwmは 0.0(%) ~ 100.0(%)
t_yamamoto 0:562021ed1ba9 162
Ryosei 12:8321e464475f 163 controllerは XBee.hの構造体の中身
t_yamamoto 0:562021ed1ba9 164
Ryosei 12:8321e464475f 165 (AnalogL・Rを使いたかったら、頑張って考える or 聞いてください)
t_yamamoto 0:562021ed1ba9 166
Ryosei 12:8321e464475f 167 ・リミットスイッチの値をもとに動作のプログラムを書く
t_yamamoto 0:562021ed1ba9 168
Ryosei 12:8321e464475f 169 if(Switch::CheckPushed(ARM_L))
Ryosei 12:8321e464475f 170 {
Ryosei 12:8321e464475f 171 if(controller->Button.L)
Ryosei 12:8321e464475f 172 {
Ryosei 12:8321e464475f 173 motor[ARM].dir = FOR;
Ryosei 12:8321e464475f 174 motor[ARM].pwm = 80.0;
Ryosei 12:8321e464475f 175 }
Ryosei 12:8321e464475f 176 if(motor[ARM].dir == BACK)
Ryosei 12:8321e464475f 177 {
Ryosei 12:8321e464475f 178 motor[ARM].dir = BRAKE;
Ryosei 12:8321e464475f 179 }
Ryosei 12:8321e464475f 180 }
t_yamamoto 0:562021ed1ba9 181
Ryosei 12:8321e464475f 182 →関数 Switch::CheckPushed の引数はリミットスイッチの名前 (limitSw[0]みたいな), 返り値はbool型 (true or false)
t_yamamoto 0:562021ed1ba9 183
Ryosei 12:8321e464475f 184 ・他にもやりたいことがあったら自由にどうぞ
t_yamamoto 0:562021ed1ba9 185
Ryosei 12:8321e464475f 186 ps.わからないことがあったら聞いてください
t_yamamoto 0:562021ed1ba9 187
Ryosei 12:8321e464475f 188 /------------------------ HOW TO WRITE ------------------------*/
t_yamamoto 0:562021ed1ba9 189 //↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓
t_yamamoto 0:562021ed1ba9 190
Ryosei 12:8321e464475f 191 conlx = controller->AnalogL.X;
Ryosei 12:8321e464475f 192 conly = controller->AnalogL.Y;
Ryosei 12:8321e464475f 193 conrx = controller->AnalogR.X;
Ryosei 12:8321e464475f 194 conry = controller->AnalogR.Y;
niimurasyou 9:ec30ae33cc9e 195 //conba = controller->Button.A;
niimurasyou 9:ec30ae33cc9e 196 //conbb = controller->Button.B;
niimurasyou 9:ec30ae33cc9e 197 //conby = controller->Button.Y;
niimurasyou 9:ec30ae33cc9e 198 //conbx = controller->Button.X;
t_yamamoto 0:562021ed1ba9 199
Ryosei 12:8321e464475f 200 if(a_array[conly][conlx]<0) {
Ryosei 12:8321e464475f 201 motor[a].pwm = (-1*a_array[conly][conlx]*100)/80;
niimurasyou 9:ec30ae33cc9e 202 motor[a].dir = FOR;
Ryosei 12:8321e464475f 203 } else if(a_array[conly][conlx] > 0) {
Ryosei 12:8321e464475f 204 motor[a].pwm = (a_array[conly][conlx]*100)/80;
Ryosei 12:8321e464475f 205 motor[a].dir = BACK;
Ryosei 12:8321e464475f 206 } else if(a_array[conly][conlx] == 0) {
Ryosei 12:8321e464475f 207 if(conry < 6) {
Ryosei 12:8321e464475f 208 motor[a].dir = BACK;
Ryosei 12:8321e464475f 209 motor[b].dir = BACK;
Ryosei 12:8321e464475f 210 motor[c].dir = BACK;
Ryosei 12:8321e464475f 211 motor[a].pwm = 100.0;
Ryosei 12:8321e464475f 212 motor[b].pwm = 100.0;
Ryosei 12:8321e464475f 213 motor[c].pwm = 100.0;
Ryosei 12:8321e464475f 214 } else if(conry > 8) {
Ryosei 12:8321e464475f 215 motor[a].dir = FOR;
Ryosei 12:8321e464475f 216 motor[b].dir = FOR;
Ryosei 12:8321e464475f 217 motor[c].dir = FOR;
Ryosei 12:8321e464475f 218 motor[a].pwm = 100.0;
Ryosei 12:8321e464475f 219 motor[b].pwm = 100.0;
Ryosei 12:8321e464475f 220 motor[c].pwm = 100.0;
Ryosei 12:8321e464475f 221 } else {
Ryosei 12:8321e464475f 222 motor[a].dir = BRAKE;
Ryosei 12:8321e464475f 223 motor[b].dir = BRAKE;
Ryosei 12:8321e464475f 224 motor[c].dir = BRAKE;
Ryosei 12:8321e464475f 225 motor[a].pwm = 100.0;
Ryosei 12:8321e464475f 226 motor[b].pwm = 100.0;
Ryosei 12:8321e464475f 227 motor[c].pwm = 100.0;
Ryosei 12:8321e464475f 228 }
niimurasyou 9:ec30ae33cc9e 229 }
Ryosei 12:8321e464475f 230
Ryosei 12:8321e464475f 231 if(b_array[conly][conlx] <0 ) {
Ryosei 12:8321e464475f 232 motor[b].pwm = (-1*b_array[conly][conlx]*100)/80;
niimurasyou 11:88f17bc0724f 233 motor[b].dir = FOR;
Ryosei 12:8321e464475f 234 } else if(b_array[conly][conlx] > 0) {
Ryosei 12:8321e464475f 235 motor[b].pwm = (b_array[conly][conlx]*100)/80;
niimurasyou 9:ec30ae33cc9e 236 motor[b].dir = BACK;
Ryosei 12:8321e464475f 237 } else if(a_array[conly][conlx] == 0 ) {
Ryosei 12:8321e464475f 238 if(conrx < 6 ) {
Ryosei 12:8321e464475f 239 motor[a].dir = BACK;
Ryosei 12:8321e464475f 240 motor[b].dir = BACK;
Ryosei 12:8321e464475f 241 motor[c].dir = BACK;
Ryosei 12:8321e464475f 242 motor[a].pwm = 100.0;
Ryosei 12:8321e464475f 243 motor[b].pwm = 100.0;
Ryosei 12:8321e464475f 244 motor[c].pwm = 100.0;
Ryosei 12:8321e464475f 245 } else if(conrx > 8) {
Ryosei 12:8321e464475f 246 motor[a].dir = FOR;
Ryosei 12:8321e464475f 247 motor[b].dir = FOR;
Ryosei 12:8321e464475f 248 motor[c].dir = FOR;
Ryosei 12:8321e464475f 249 motor[a].pwm = 100.0;
Ryosei 12:8321e464475f 250 motor[b].pwm = 100.0;
Ryosei 12:8321e464475f 251 motor[c].pwm = 100.0;
Ryosei 12:8321e464475f 252 } else {
Ryosei 12:8321e464475f 253 motor[a].dir = BRAKE;
Ryosei 12:8321e464475f 254 motor[b].dir = BRAKE;
Ryosei 12:8321e464475f 255 motor[c].dir = BRAKE;
Ryosei 12:8321e464475f 256 motor[a].pwm = 100.0;
Ryosei 12:8321e464475f 257 motor[b].pwm = 100.0;
Ryosei 12:8321e464475f 258 motor[c].pwm = 100.0;
Ryosei 12:8321e464475f 259 }
Ryosei 12:8321e464475f 260 }
Ryosei 12:8321e464475f 261
Ryosei 12:8321e464475f 262 if(c_array[conly][conlx] <0 ) {
Ryosei 12:8321e464475f 263 motor[c].pwm =(-1*c_array[conly][conlx]*100)/80;
niimurasyou 9:ec30ae33cc9e 264 motor[c].dir = BACK;
Ryosei 12:8321e464475f 265 } else if(c_array[conly][conlx] > 0) {
Ryosei 12:8321e464475f 266 motor[c].pwm =(c_array[conly][conlx]*100)/80;
niimurasyou 9:ec30ae33cc9e 267 motor[c].dir = FOR;
Ryosei 12:8321e464475f 268 } else if(a_array[conly][conlx] == 0 ) {
Ryosei 12:8321e464475f 269 if(conrx < 6 ) {
Ryosei 12:8321e464475f 270 motor[a].dir = BACK;
Ryosei 12:8321e464475f 271 motor[b].dir = BACK;
Ryosei 12:8321e464475f 272 motor[c].dir = BACK;
Ryosei 12:8321e464475f 273 motor[a].pwm = 100.0;
Ryosei 12:8321e464475f 274 motor[b].pwm = 100.0;
Ryosei 12:8321e464475f 275 motor[c].pwm = 100.0;
Ryosei 12:8321e464475f 276 } else if(conrx > 8) {
Ryosei 12:8321e464475f 277 motor[a].dir = FOR;
Ryosei 12:8321e464475f 278 motor[b].dir = FOR;
Ryosei 12:8321e464475f 279 motor[c].dir = FOR;
Ryosei 12:8321e464475f 280 motor[a].pwm = 100.0;
Ryosei 12:8321e464475f 281 motor[b].pwm = 100.0;
Ryosei 12:8321e464475f 282 motor[c].pwm = 100.0;
Ryosei 12:8321e464475f 283 } else {
Ryosei 12:8321e464475f 284 motor[a].dir = BRAKE;
Ryosei 12:8321e464475f 285 motor[b].dir = BRAKE;
Ryosei 12:8321e464475f 286 motor[c].dir = BRAKE;
Ryosei 12:8321e464475f 287 motor[a].pwm = 100.0;
Ryosei 12:8321e464475f 288 motor[b].pwm = 100.0;
Ryosei 12:8321e464475f 289 motor[c].pwm = 100.0;
Ryosei 12:8321e464475f 290 }
niimurasyou 9:ec30ae33cc9e 291 }
Ryosei 12:8321e464475f 292
niimurasyou 11:88f17bc0724f 293 ////////////課題１////////////
Ryosei 12:8321e464475f 294 if(controller->Button.X) {
Ryosei 12:8321e464475f 295 if(Switch::checkPushed(ARMlim)) {
niimurasyou 11:88f17bc0724f 296 motor[d].dir = BRAKE;
niimurasyou 11:88f17bc0724f 297 motor[d].pwm = 100;
Ryosei 12:8321e464475f 298 } else {
niimurasyou 11:88f17bc0724f 299 motor[d].dir = FOR;
niimurasyou 11:88f17bc0724f 300 motor[d].pwm = 100;
Ryosei 12:8321e464475f 301 }
Ryosei 12:8321e464475f 302 } else if(controller->Button.Y) {
niimurasyou 11:88f17bc0724f 303 motor[d].dir = BACK;
niimurasyou 11:88f17bc0724f 304 motor[d].pwm = 100;
Ryosei 12:8321e464475f 305 } else {
niimurasyou 11:88f17bc0724f 306 motor[d].dir = BRAKE;
niimurasyou 11:88f17bc0724f 307 motor[d].pwm = 100;
niimurasyou 11:88f17bc0724f 308 }
niimurasyou 11:88f17bc0724f 309 if(controller->Button.A) {
niimurasyou 11:88f17bc0724f 310 AirOut(Air0,1);
niimurasyou 11:88f17bc0724f 311 } else if(controller->Button.B) {
niimurasyou 11:88f17bc0724f 312 AirOut(Air0,0);
niimurasyou 11:88f17bc0724f 313 }
niimurasyou 11:88f17bc0724f 314 //////////////課題2/////////////////////
Ryosei 12:8321e464475f 315 s=Airtime.read();
Ryosei 12:8321e464475f 316 if((controller->Button.ZL)&&(mode==1)) {
Ryosei 12:8321e464475f 317 mode=2;
Ryosei 12:8321e464475f 318 Airtime.start();
Ryosei 12:8321e464475f 319 }
Ryosei 12:8321e464475f 320 if((mode==2)&&(s>=1)) {
Ryosei 12:8321e464475f 321 mode=3;
Ryosei 12:8321e464475f 322 }
Ryosei 12:8321e464475f 323 if((mode==3)&&(s>=3)) {
Ryosei 12:8321e464475f 324 mode=4;
Ryosei 12:8321e464475f 325 }
Ryosei 12:8321e464475f 326 if((mode==4)&&(!(Switch::checkPushed(lim)))) {
Ryosei 12:8321e464475f 327 mode=5;
Ryosei 12:8321e464475f 328 Airtime.stop();
Ryosei 12:8321e464475f 329 Airtime.reset();
Ryosei 12:8321e464475f 330 }
Ryosei 12:8321e464475f 331 if((mode==5)&&(Switch::checkPushed(lim))) {
Ryosei 12:8321e464475f 332 mode=1;
Ryosei 12:8321e464475f 333 }
niimurasyou 11:88f17bc0724f 334
Ryosei 12:8321e464475f 335 if(mode==1) {
Ryosei 12:8321e464475f 336 AirOut(1,1);
Ryosei 12:8321e464475f 337 motor[4].dir=BRAKE;
Ryosei 12:8321e464475f 338 motor[4].pwm=100;
Ryosei 12:8321e464475f 339 } else if(mode==2) {
Ryosei 12:8321e464475f 340 AirOut(1,0);
Ryosei 12:8321e464475f 341 } else if(mode==3) {
Ryosei 12:8321e464475f 342 AirOut(1,1);
Ryosei 12:8321e464475f 343 } else if(mode==4) {
Ryosei 12:8321e464475f 344 motor[4].dir=FOR;
Ryosei 12:8321e464475f 345 motor[4].pwm=50;
Ryosei 12:8321e464475f 346 } else if(mode==5) {
Ryosei 12:8321e464475f 347 motor[4].dir=FOR;
Ryosei 12:8321e464475f 348 motor[4].pwm=50;
Ryosei 12:8321e464475f 349 } else {
Ryosei 12:8321e464475f 350 mode=1;
Ryosei 12:8321e464475f 351 AirOut(1,1);
Ryosei 12:8321e464475f 352 }
Ryosei 12:8321e464475f 353
niimurasyou 9:ec30ae33cc9e 354 //↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑
niimurasyou 9:ec30ae33cc9e 355 //___________________________
t_yamamoto 0:562021ed1ba9 356
t_yamamoto 0:562021ed1ba9 357
Ryosei 12:8321e464475f 358
t_yamamoto 0:562021ed1ba9 359 MOTOR::Motor::Update(motor);
t_yamamoto 0:562021ed1ba9 360 }
niimurasyou 9:ec30ae33cc9e 361 }