Kohei Yamamoto
/
F303k8-toy-c-test
for20210702
main.cpp@1:fb2003e84b92, 2021-07-02 (annotated)
- Committer:
- asha_ndf
- Date:
- Fri Jul 02 09:57:56 2021 +0000
- Revision:
- 1:fb2003e84b92
- Parent:
- 0:4bb9fdb82508
debug
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
asha_ndf | 0:4bb9fdb82508 | 1 | #include "mbed.h" |
asha_ndf | 0:4bb9fdb82508 | 2 | Serial xbee(D1,D0);//TX,RXの順。要確認。 |
asha_ndf | 0:4bb9fdb82508 | 3 | PwmOut servo1(D11); |
asha_ndf | 0:4bb9fdb82508 | 4 | PwmOut servo2(D12); |
asha_ndf | 0:4bb9fdb82508 | 5 | DigitalOut led(LED3);//何かに使いたいね |
asha_ndf | 0:4bb9fdb82508 | 6 | int value; |
asha_ndf | 0:4bb9fdb82508 | 7 | |
asha_ndf | 0:4bb9fdb82508 | 8 | float calc(float x){ |
asha_ndf | 0:4bb9fdb82508 | 9 | return (1.45+(2.4-0.5)/180*x)/1000; |
asha_ndf | 0:4bb9fdb82508 | 10 | } |
asha_ndf | 0:4bb9fdb82508 | 11 | float nowarg = -1; |
asha_ndf | 0:4bb9fdb82508 | 12 | float cnowarg = -1; |
asha_ndf | 0:4bb9fdb82508 | 13 | |
asha_ndf | 0:4bb9fdb82508 | 14 | int main() |
asha_ndf | 0:4bb9fdb82508 | 15 | { |
asha_ndf | 0:4bb9fdb82508 | 16 | led = 1; |
asha_ndf | 0:4bb9fdb82508 | 17 | wait(0.25); |
asha_ndf | 0:4bb9fdb82508 | 18 | led = 0; |
asha_ndf | 0:4bb9fdb82508 | 19 | wait(0.25); |
asha_ndf | 0:4bb9fdb82508 | 20 | led = 1; |
asha_ndf | 0:4bb9fdb82508 | 21 | wait(0.25); |
asha_ndf | 0:4bb9fdb82508 | 22 | led = 0; |
asha_ndf | 0:4bb9fdb82508 | 23 | wait(0.25); |
asha_ndf | 1:fb2003e84b92 | 24 | xbee.printf("\nToy-C example\n"); |
asha_ndf | 0:4bb9fdb82508 | 25 | while(1) { |
asha_ndf | 0:4bb9fdb82508 | 26 | //Xbeeの受信 |
asha_ndf | 0:4bb9fdb82508 | 27 | if (xbee.readable()){ |
asha_ndf | 0:4bb9fdb82508 | 28 | value = xbee.getc(); |
asha_ndf | 1:fb2003e84b92 | 29 | if (value=='a'){//1を受信した時 |
asha_ndf | 0:4bb9fdb82508 | 30 | nowarg = 90; |
asha_ndf | 0:4bb9fdb82508 | 31 | cnowarg = calc(nowarg); |
asha_ndf | 0:4bb9fdb82508 | 32 | servo1.pulsewidth(cnowarg); |
asha_ndf | 0:4bb9fdb82508 | 33 | servo2.pulsewidth(cnowarg); |
asha_ndf | 0:4bb9fdb82508 | 34 | led =1; |
asha_ndf | 1:fb2003e84b92 | 35 | }else if (value =='b'){ |
asha_ndf | 0:4bb9fdb82508 | 36 | nowarg = 0;//0を受信した時 |
asha_ndf | 0:4bb9fdb82508 | 37 | cnowarg = calc(nowarg); |
asha_ndf | 0:4bb9fdb82508 | 38 | servo1.pulsewidth(cnowarg); |
asha_ndf | 0:4bb9fdb82508 | 39 | servo2.pulsewidth(cnowarg); |
asha_ndf | 0:4bb9fdb82508 | 40 | led =0; |
asha_ndf | 0:4bb9fdb82508 | 41 | } |
asha_ndf | 0:4bb9fdb82508 | 42 | } |
asha_ndf | 0:4bb9fdb82508 | 43 | //Xbeeの送信 |
asha_ndf | 0:4bb9fdb82508 | 44 | xbee.printf("Status%f\r\n",nowarg); |
asha_ndf | 1:fb2003e84b92 | 45 | wait(1); |
asha_ndf | 0:4bb9fdb82508 | 46 | } |
asha_ndf | 0:4bb9fdb82508 | 47 | } |