hirromu takaki
fep199 198
Dependencies: Controller ikarashiMDC
Revision 0:295089f87bda, committed 2019-03-07
- Comitter:
- THtakahiro702286
- Date:
- Thu Mar 07 07:49:11 2019 +0000
- Commit message:
- fep199 198
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/.gitignore Thu Mar 07 07:49:11 2019 +0000 @@ -0,0 +1,4 @@ +.build +.mbed +projectfiles +*.py*
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Controller.lib Thu Mar 07 07:49:11 2019 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/teams/NHK-Robocon2016_Nagaoka_B_Team/code/Controller/#875532e626ee
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/ikarashiMDC.lib Thu Mar 07 07:49:11 2019 +0000 @@ -0,0 +1,1 @@ +https://developer.mbed.org/teams/NHK-Robocon2016_Nagaoka_B_Team/code/ikarashiMDC/#ea34af94e90c
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Thu Mar 07 07:49:11 2019 +0000
@@ -0,0 +1,107 @@
+#include "mbed.h"
+#include "ikarashiMDC.h"
+#include "controller.h"
+Controller pad(PC_10, PC_11, 198);
+Serial pc(USBTX, USBRX, 115200);
+Serial serial(PC_6,PC_7);
+DigitalOut serialcontrol(D2);
+DigitalOut stop(PB_12,PB_2);
+
+ikarashiMDC ikarashi[] {
+ ikarashiMDC(&serialcontrol,2,0,SM,&serial),
+ ikarashiMDC(&serialcontrol,2,1,SM,&serial),
+ ikarashiMDC(&serialcontrol,2,2,SM,&serial),
+ ikarashiMDC(&serialcontrol,2,3,SM,&serial)
+};
+
+int main()
+{
+ serial.baud(115200);
+ ikarashi[0].braking = true;
+ int button[11];
+ float stickRadian[2],stickNorn[2];
+ double acc[4];
+ while(1){
+ //コントローラー通信
+ if(pad.receiveState()){
+ for(int i = 0; i < 13; i++){
+ button[i] = pad.getButton1(i);
+ pc.printf("%d ", button[i]);
+ }
+ for(int i = 0; i < 2; i++){
+ stickRadian[i] = pad.getRadian(i);
+ stickNorn[i] = pad.getNorm(i);
+ pc.printf("%f %f\t", stickRadian[i], stickNorn[i]);
+ }
+ pc.printf("\n\r");
+
+ //十字移動
+ if(button[2] == 1 && button[3] == 0 && button[4] == 1 && button[5] == 1){
+ stickNorn[0] = 1;
+ stickRadian[0] = 1.570796;
+ }else if(button[2] == 0 && button[3] == 1 && button[4] == 1 && button[5] == 1){
+ stickNorn[0] = 1;
+ stickRadian[0] = 0;
+ }else if(button[2] == 1 && button[3] == 1 && button[4] == 0 && button[5] == 1){
+ stickNorn[0] = 1;
+ stickRadian[0] = 3.141593;
+ }else if(button[2] == 1 && button[3] == 1 && button[4] == 1 && button[5] == 0){
+ stickNorn[0] = 1;
+ stickRadian[0] = -1.570796;
+ }else if(stickNorn[0] == 0 && button[7] == 1 && button[9] == 1) {
+ acc[0] = 0;
+ acc[1] = 0;
+ acc[2] = 0;
+ }
+ //全方位移動
+ if(stickNorn[0] != 0){
+ acc[0] = sin(stickRadian[0] - PI * 11 / 6);
+ acc[1] = sin(stickRadian[0] - PI * 1 / 2);
+ acc[2] = sin(stickRadian[0] - PI * 7 / 6);
+ }
+ //左右旋回
+ if(button[9] == 0 && button[7] == 1 && stickNorn[0] == 0) {
+ acc[0] = -0.5;
+ acc[1] = -0.5;
+ acc[2] = -0.5;
+ }
+ if(button[7] == 0 && button[9] == 1 && stickNorn[0] == 0) {
+ acc[0] = 0.5;
+ acc[1] = 0.5;
+ acc[2] = 0.5;
+ }
+ //機構制御
+ if(button[10] == 0 && button[8] == 1){
+ acc[3] = -0.4;
+ }
+ if(button[8] == 0 && button[10] == 1){
+ acc[3] = 0.4;
+ }
+ if(button[8] == button[10]) {
+ acc[3] = 0;
+ }
+ //減速
+ if(button[0] == 0) {
+ for(int i = 0;i < 4;i++) {
+ if(acc[i] >= 0.5){
+ acc[i] = 0.5;
+ }
+ if(acc[i] <= -0.5) {
+ acc[i] = -0.5;
+ }
+ }
+ }
+ pc.printf("%f %f %f %f",acc[0],acc[1],acc[2],acc[3]);
+ ikarashi[0].setSpeed(acc[0]);
+ ikarashi[1].setSpeed(acc[1]);
+ ikarashi[2].setSpeed(acc[2]);
+ ikarashi[3].setSpeed(acc[3]);
+ }else{
+ pc.printf("error\n\r");
+ ikarashi[0].setSpeed(acc[0]);
+ ikarashi[1].setSpeed(0);
+ ikarashi[2].setSpeed(0);
+ ikarashi[3].setSpeed(0);
+ }
+ }
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed-os.lib Thu Mar 07 07:49:11 2019 +0000 @@ -0,0 +1,1 @@ +https://github.com/ARMmbed/mbed-os/#c9e63f14085f5751ff5ead79a7c0382d50a813a2