Miya Miyagawa / Mbed 2 deprecated mainboardnrp2018

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Dependencies:   mbed Servo

System/Process/Process.cpp@7:f4252ddc480d, 2018-01-27 (annotated)

Committer:
t_yamamoto
Date:
Sat Jan 27 05:29:03 2018 +0000
Revision:
7:f4252ddc480d
Parent:
6:c294736ba99d
Child:
8:cb53beff4bb2
pwm???

Who changed what in which revision?

UserRevisionLine numberNew contents of line
t_yamamoto 5:a802ab60df1b 1 //2018/01/26のやつ
t_yamamoto 5:a802ab60df1b 2
t_yamamoto 0:562021ed1ba9 3 #include "Process.h"
t_yamamoto 0:562021ed1ba9 4
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 0:562021ed1ba9 9 //_____________________
t_yamamoto 0:562021ed1ba9 10 /*---------------- HOW TO WRITE ----------------/
t_yamamoto 0:562021ed1ba9 11
t_yamamoto 0:562021ed1ba9 12 ・motor の割り当てを決める
t_yamamoto 0:562021ed1ba9 13 #define TIRE_L 1
t_yamamoto 0:562021ed1ba9 14
t_yamamoto 0:562021ed1ba9 15 ・リミットスイッチの割り当てを決める
t_yamamoto 0:562021ed1ba9 16 #define ARM_L 1
t_yamamoto 0:562021ed1ba9 17
t_yamamoto 0:562021ed1ba9 18 ・他にも自由に定義してもいいです (pwmとか)
t_yamamoto 0:562021ed1ba9 19
t_yamamoto 0:562021ed1ba9 20 /---------------- HOW TO WRITE ----------------*/
t_yamamoto 0:562021ed1ba9 21 //↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓
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t_yamamoto 0:562021ed1ba9 29
t_yamamoto 0:562021ed1ba9 30 //↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑
t_yamamoto 0:562021ed1ba9 31 //_____________________
t_yamamoto 0:562021ed1ba9 32
t_yamamoto 0:562021ed1ba9 33 // #define USE_USB_SERIAL
t_yamamoto 0:562021ed1ba9 34 #ifdef USE_USB_SERIAL
t_yamamoto 0:562021ed1ba9 35 Serial pc(SERIAL_TX, SERIAL_RX);
t_yamamoto 0:562021ed1ba9 36 #endif
t_yamamoto 0:562021ed1ba9 37 XBEE::ControllerData *controller;
t_yamamoto 0:562021ed1ba9 38 MOTOR::MotorStatus motor[MOUNTING_MOTOR_NUM];
t_yamamoto 0:562021ed1ba9 39
t_yamamoto 0:562021ed1ba9 40 using namespace SWITCH;
t_yamamoto 0:562021ed1ba9 41
t_yamamoto 0:562021ed1ba9 42 void SystemProcess(void) {
t_yamamoto 0:562021ed1ba9 43 while(true) {
t_yamamoto 0:562021ed1ba9 44 controller = XBEE::Controller::GetData();
t_yamamoto 0:562021ed1ba9 45 //____________________________
t_yamamoto 0:562021ed1ba9 46 /*------------------------ HOW TO WRITE ------------------------/
t_yamamoto 0:562021ed1ba9 47
t_yamamoto 0:562021ed1ba9 48 ここにメインのプログラムを書く
t_yamamoto 0:562021ed1ba9 49
t_yamamoto 0:562021ed1ba9 50 ・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
t_yamamoto 0:562021ed1ba9 51 (コントローラのデータは controller-> で取る)
t_yamamoto 0:562021ed1ba9 52
t_yamamoto 0:562021ed1ba9 53 if(controller->Button.RIGHT) {
t_yamamoto 0:562021ed1ba9 54 motor[TIRE_L].dir = FOR;
t_yamamoto 0:562021ed1ba9 55 motor[TIRE_R].dir = BACK;
t_yamamoto 7:f4252ddc480d 56 motor[TIRE_L].pwm = 12.3;
t_yamamoto 7:f4252ddc480d 57 motor[TIRE_R].pwm = 12.3;
t_yamamoto 0:562021ed1ba9 58 }
t_yamamoto 0:562021ed1ba9 59
t_yamamoto 6:c294736ba99d 60 motor[0].dirは FOR (正転)
t_yamamoto 0:562021ed1ba9 61 BACK (逆転)
t_yamamoto 0:562021ed1ba9 62 BRAKE (ブレーキ)
t_yamamoto 0:562021ed1ba9 63 FREE (フリー)
t_yamamoto 0:562021ed1ba9 64
t_yamamoto 0:562021ed1ba9 65 motor[0].pwmは 0.0(%) ~ 100.0(%)
t_yamamoto 0:562021ed1ba9 66
t_yamamoto 0:562021ed1ba9 67 controllerは XBee.hの構造体の中身
t_yamamoto 0:562021ed1ba9 68
t_yamamoto 0:562021ed1ba9 69 (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 70
t_yamamoto 0:562021ed1ba9 71 ・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 72
t_yamamoto 0:562021ed1ba9 73 if(Switch::CheckPushed(ARM_L))
t_yamamoto 0:562021ed1ba9 74 {
t_yamamoto 0:562021ed1ba9 75 if(controller->Button.L)
t_yamamoto 0:562021ed1ba9 76 {
t_yamamoto 6:c294736ba99d 77 motor[ARM].dir = FOR;
t_yamamoto 0:562021ed1ba9 78 motor[ARM].pwm = 80.0;
t_yamamoto 0:562021ed1ba9 79 }
t_yamamoto 0:562021ed1ba9 80 if(motor[ARM].dir == BACK)
t_yamamoto 0:562021ed1ba9 81 {
t_yamamoto 0:562021ed1ba9 82 motor[ARM].dir = BRAKE;
t_yamamoto 0:562021ed1ba9 83 }
t_yamamoto 0:562021ed1ba9 84 }
t_yamamoto 0:562021ed1ba9 85
t_yamamoto 0:562021ed1ba9 86 →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 87
t_yamamoto 0:562021ed1ba9 88 ・他にもやりたいことがあったら自由にどうぞ
t_yamamoto 0:562021ed1ba9 89
t_yamamoto 0:562021ed1ba9 90 ps.わからないことがあったら聞いてください
t_yamamoto 0:562021ed1ba9 91
t_yamamoto 0:562021ed1ba9 92 /------------------------ HOW TO WRITE ------------------------*/
t_yamamoto 0:562021ed1ba9 93 //↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓
t_yamamoto 0:562021ed1ba9 94
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t_yamamoto 2:db575b3b2171 102
t_yamamoto 0:562021ed1ba9 103
t_yamamoto 0:562021ed1ba9 104
t_yamamoto 0:562021ed1ba9 105 //↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑
t_yamamoto 0:562021ed1ba9 106 //____________________________
t_yamamoto 0:562021ed1ba9 107
t_yamamoto 0:562021ed1ba9 108 MOTOR::Motor::Update(motor);
t_yamamoto 0:562021ed1ba9 109 }
t_yamamoto 0:562021ed1ba9 110 }
t_yamamoto 0:562021ed1ba9 111